diff --git a/.devcontainer/.gitignore b/.devcontainer/.gitignore
new file mode 100644
index 0000000000..1f8ec242b8
--- /dev/null
+++ b/.devcontainer/.gitignore
@@ -0,0 +1 @@
+.Xauthority
\ No newline at end of file
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 0000000000..e72704bfd0
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,6 @@
+FROM ghcr.io/commaai/openpilot-base:latest
+
+# remove gitconfig if exists, since its gonna be replaced by host one
+RUN rm -f /root/.gitconfig
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN pip install ipython jupyter jupyterlab
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100755
index 0000000000..7c4d53960e
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,23 @@
+{
+  "name": "openpilot devcontainer",
+  "build": {
+    "dockerfile": "Dockerfile"
+  },
+  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
+  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
+  "initializeCommand": ".devcontainer/setup_host.sh",
+  "privileged": true,
+  "containerEnv": {
+    "DISPLAY": "${localEnv:DISPLAY}",
+    "PYTHONPATH": "${containerWorkspaceFolder}",
+    "force_color_prompt": "1"
+  },
+  "runArgs": [
+    "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
+    "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
+    "--shm-size=1G"
+  ]
+}
\ No newline at end of file
diff --git a/.devcontainer/setup_host.sh b/.devcontainer/setup_host.sh
new file mode 100755
index 0000000000..5c3c5e900c
--- /dev/null
+++ b/.devcontainer/setup_host.sh
@@ -0,0 +1,16 @@
+#!/usr/bin/env bash
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+    if ! [[ -f $HOME/.Xauthority ]]; then
+        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+    else
+        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+    fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
diff --git a/.dockerignore b/.dockerignore
index 4a19eb9c3f..1f261adf30 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -16,6 +16,9 @@
 *.so
 *.a
 
+venv/
+.venv/
+
 notebooks
 phone
 massivemap
diff --git a/.gitattributes b/.gitattributes
index 7a21b223d0..2d1df43fd3 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -1,2 +1,3 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
+selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
index 16edb45c21..581c88be15 100644
--- a/.github/workflows/badges.yaml
+++ b/.github/workflows/badges.yaml
@@ -7,7 +7,7 @@ on:
 env:
   BASE_IMAGE: openpilot-base
   DOCKER_REGISTRY: ghcr.io/commaai
-  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 -v /tmp/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
+  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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/sh -c
 
 jobs:
   badges:
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index c8b4c51e38..8b16ea90b9 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -5,23 +5,19 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: openpilot-base
-  DOCKER_REGISTRY: ghcr.io/commaai
-
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-20.04
-    timeout-minutes: 60
     if: github.repository == 'commaai/openpilot'
     env:
-      IMAGE_NAME: openpilot-prebuilt
+      PUSH_IMAGE: true
     steps:
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -31,11 +27,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: |
-        eval "$BUILD"
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f Dockerfile.openpilot .
-    - name: Push to container registry
+    - name: Build and Push docker image
       run: |
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+        eval "$BUILD"
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index 8df89dcc38..c57a17bbd2 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -7,11 +7,20 @@ on:
 jobs:
   build_masterci:
     name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+      ImageOS: ubuntu20
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-20.04
-    timeout-minutes: 60
     if: github.repository == 'commaai/openpilot'
     steps:
+    - name: Install wait-on-check-action dependencies
+      run: |
+        sudo apt-get update
+        sudo apt-get install -y libyaml-dev
     - name: Wait for green check mark
+      if: ${{ github.event_name != 'workflow_dispatch' }}
       uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
@@ -23,7 +32,19 @@ jobs:
         submodules: true
         fetch-depth: 0
     - name: Pull LFS
-      run: git lfs pull
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
     - name: Build master-ci
       run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
         BRANCH=master-ci release/build_devel.sh
diff --git a/.github/workflows/repo.yml b/.github/workflows/repo.yml
new file mode 100644
index 0000000000..1445aa635d
--- /dev/null
+++ b/.github/workflows/repo.yml
@@ -0,0 +1,28 @@
+name: repo
+
+on:
+  schedule:
+    - cron: "0 15 * * 2"
+  workflow_dispatch:
+
+jobs:
+  pre-commit-autoupdate:
+    name: pre-commit autoupdate
+    runs-on: ubuntu-20.04
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
+    steps:
+    - uses: actions/checkout@v3
+    - name: pre-commit autoupdate
+      run: |
+        git config --global --add safe.directory '*'
+        pre-commit autoupdate
+    - name: Create Pull Request
+      uses: peter-evans/create-pull-request@5b4a9f6a9e2af26e5f02351490b90d01eb8ec1e5
+      with:
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
+        commit-message: Update pre-commit hook versions
+        title: 'pre-commit: autoupdate hooks'
+        branch: pre-commit-updates
+        base: master
+        delete-branch: true
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index f2cc51285d..a046250ec2 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -2,8 +2,8 @@ name: selfdrive
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -11,20 +11,19 @@ concurrency:
   cancel-in-progress: true
 
 env:
+  PYTHONWARNINGS: error
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_REGISTRY: ghcr.io/commaai
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -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 -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
-  BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --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 -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+  BUILD_CL: selfdrive/test/docker_build.sh cl
+
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONWARNINGS=error -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
 
@@ -32,7 +31,6 @@ jobs:
   build_release:
     name: build release
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     env:
       STRIPPED_DIR: /tmp/releasepilot
     steps:
@@ -40,133 +38,173 @@ jobs:
       with:
         submodules: true
     - name: Build devel
+      timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
     - uses: ./.github/workflows/setup
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
+      timeout-minutes: 1
       run: release/check-submodules.sh
     - name: Build openpilot and run checks
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py"
     - name: Run tests
+      timeout-minutes: 2
       run: |
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh && \
                         python -m unittest discover selfdrive/car"
     - name: pre-commit
+      timeout-minutes: 3
       run: |
         cd $GITHUB_WORKSPACE
         cp .pre-commit-config.yaml $STRIPPED_DIR
-        cp .pylintrc $STRIPPED_DIR
-        cp mypy.ini $STRIPPED_DIR
+        cp pyproject.toml $STRIPPED_DIR
+        cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "SKIP=test_translations pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
   build_all:
     name: build all
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
-      with:
-        save-cache: true
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras && release/check-dirty.sh"
-    - name: Cleanup scons cache
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - name: Cleanup scons cache and rebuild
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
       run: |
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: ~/scons_cache
+        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
-  #build_mac:
-  #  name: build macos
-  #  runs-on: macos-latest
-  #  timeout-minutes: 60
-  #  steps:
-  #  - uses: actions/checkout@v3
-  #    with:
-  #      submodules: true
-  #  - name: Determine pre-existing Homebrew packages
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
-  #      echo 'EOF' >> $GITHUB_ENV
-  #  - name: Cache dependencies
-  #    id: dependency-cache
-  #    uses: actions/cache@v2
-  #    with:
-  #      path: |
-  #        ~/.pyenv
-  #        ~/.local/share/virtualenvs/
-  #        /usr/local/Cellar
-  #        ~/github_brew_cache_entries.txt
-  #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
-  #      restore-keys: macos-
-  #  - name: Brew link restored dependencies
-  #    run: |
-  #      if [ -f ~/github_brew_cache_entries.txt ]; then
-  #        while read pkg; do
-  #          brew link --force "$pkg" # `--force` for keg-only packages
-  #        done < ~/github_brew_cache_entries.txt
-  #      else
-  #        echo "Cache entries not found"
-  #      fi
-  #  - name: Install dependencies
-  #    run: ./tools/mac_setup.sh
-  #  - name: Build openpilot
-  #    run: |
-  #      source tools/openpilot_env.sh
-  #      poetry run selfdrive/manager/build.py
-  #
-  #      # cleanup scons cache
-  #      rm -rf /tmp/scons_cache/
-  #      poetry run scons -j$(nproc) --cache-populate
-  #  - name: Remove pre-existing Homebrew packages for caching
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      cd /usr/local/Cellar
-  #      new_cellar=$(ls -1)
-  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-  #          rm -rf "$pkg"
-  #        fi
-  #      done
-  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        brew list --formula -1 >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Restore scons cache
+      id: scons-restore-cache
+      uses: actions/cache/restore@v3
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+        restore-keys: macos_scons-
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v3
+      with:
+        path: |
+          .env
+          .venv
+          ~/github_brew_cache_entries.txt
+          ~/.pyenv
+          ~/Library/Caches/pypoetry
+          /usr/local/Cellar
+          /usr/local/opt
+          /usr/local/Caskroom/gcc-arm-*
+          /opt/homebrew/Cellar
+          /opt/homebrew/opt
+          /opt/homebrew/Caskroom/gcc-arm-*
+          /Applications/ArmGNUToolchain/*/*/*
+        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'tools/install_python_dependencies.sh', 'poetry.lock') }}
+        restore-keys: macos_deps-
+    - name: Brew link restored dependencies
+      run: |
+        if [ -f ~/github_brew_cache_entries.txt ]; then
+          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
+          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
+            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
+            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
+          fi
+        else
+          echo "Cache entries not found"
+        fi
+    - name: Install dependencies
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: ./tools/mac_setup.sh
+      env:
+        # package install has DeprecationWarnings
+        PYTHONWARNINGS: default
+    - name: Build openpilot
+      run: |
+        eval "$(pyenv init --path)"
+        poetry run scons -j$(nproc)
+    - name: Run tests
+      run: |
+        eval "$(pyenv init --path)"
+        poetry run tools/plotjuggler/test_plotjuggler.py
+    - name: Pre Cache - Cleanup scons cache
+      if: github.ref == 'refs/heads/master'
+      run: |
+        rm -rf /tmp/scons_cache/*
+        eval "$(pyenv init --path)"
+        poetry run scons -j$(nproc) --cache-populate
+    - name: Save scons cache
+      id: scons-save-cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+    - name: Pre Cache - Remove pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        new_cellar=$(brew list --formula -1)
+        exceptions="zstd lz4 xz" # caching step needs zstd
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ " $exceptions " != *" $pkg "* ]]; then
+            rm -rf "$(brew --cellar)/$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+        # .fseventsd directory causes permission errors in dep caching step
+        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
+        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
     name: docker push
     runs-on: ubuntu-20.04
-    timeout-minutes: 22
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
-    needs: static_analysis # hack to ensure slow tests run first since this and static_analysis are fast
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
-      timeout-minutes: 13
-    - name: Push to container registry
+    - name: Setup to push to repo
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$BASE_IMAGE:latest
-    - name: Build CL Docker image
-      run: eval "$BUILD_CL"
-      timeout-minutes: 4
-    - name: Push to container registry
+    - uses: ./.github/workflows/setup
+      with:
+        git-lfs: false
+    - name: Build and push CL Docker image
       run: |
-        $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest
+        eval "$BUILD_CL"
 
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -174,13 +212,12 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: pre-commit
-      timeout-minutes: 5
-      run: ${{ env.RUN }} "pre-commit run --all"
+      timeout-minutes: 4
+      run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
 
   valgrind:
     name: valgrind
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
@@ -189,6 +226,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
+      timeout-minutes: 1
       run: |
         ${{ env.RUN }} "python selfdrive/test/test_valgrind_replay.py"
     - name: Print logs
@@ -198,16 +236,16 @@ jobs:
   unit_tests:
     name: unit tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
     - name: Build openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 15
+      timeout-minutes: 40
       run: |
         ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
                         $UNIT_TEST common && \
@@ -215,10 +253,14 @@ jobs:
                         $UNIT_TEST selfdrive/boardd && \
                         $UNIT_TEST selfdrive/controls && \
                         $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST system/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST selfdrive/test/longitudinal_maneuvers && \
+                        $UNIT_TEST system/tests && \
+                        $UNIT_TEST system/ubloxd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
+                        ./system/ubloxd/tests/test_glonass_runner && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
                         $UNIT_TEST system/hardware/tici && \
@@ -227,21 +269,22 @@ jobs:
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
+                        ./common/tests/test_ratekeeper && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./system/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
                         ./tools/replay/tests/test_replay && \
                         ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
+                        ./selfdrive/test/process_replay/test_fuzzy.py && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   process_replay:
     name: process replay
     runs-on: ubuntu-20.04
-    timeout-minutes: 25
     steps:
     - uses: actions/checkout@v3
       with:
@@ -251,16 +294,18 @@ jobs:
       id: dependency-cache
       uses: actions/cache@v3
       with:
-        path: /tmp/comma_download_cache
+        path: ~/comma_download_cache
         key: proc-replay-${{ hashFiles('.github/workflows/selfdrive_tests.yaml', 'selfdrive/test/process_replay/ref_commit') }}
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run replay
+      timeout-minutes: 30
       run: |
         ${{ env.RUN }} "CI=1 coverage run selfdrive/test/process_replay/test_processes.py -j$(nproc) && \
                         coverage xml"
     - name: Print diff
+      id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
     - uses: actions/upload-artifact@v2
@@ -270,72 +315,47 @@ jobs:
         name: process_replay_diff.txt
         path: selfdrive/test/process_replay/diff.txt
     - name: Upload reference logs
-      if: ${{ failure() && github.event_name == 'pull_request' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
+      if: ${{ failure() && steps.print-diff.outcome == 'success' && github.repository == 'commaai/openpilot' && env.AZURE_TOKEN != '' }}
       run: |
-        ${{ env.RUN }} "CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   test_modeld:
     name: model tests
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - uses: ./.github/workflows/setup
+    - name: Build base Docker image
+      run: eval "$BUILD"
     - name: Build Docker image
       # Sim docker is needed to get the OpenCL drivers
       run: eval "$BUILD_CL"
     - name: Build openpilot
       run: |
         ${{ env.RUN }} "scons -j$(nproc)"
+    # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
       timeout-minutes: 2
       run: |
-        ${{ env.RUN_CL }} "ONNXCPU=1 CI=1 coverage run selfdrive/test/process_replay/model_replay.py && \
+        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+                           ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
                            coverage xml"
     - name: Run unit tests
-      timeout-minutes: 5
+      timeout-minutes: 4
       run: |
-        ${{ env.RUN_CL }} "$UNIT_TEST selfdrive/modeld && \
+        ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
+                           $UNIT_TEST selfdrive/modeld && \
                            coverage xml"
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-
-  test_longitudinal:
-    name: longitudinal
-    runs-on: ubuntu-20.04
-    timeout-minutes: 20
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-    - name: Test longitudinal
-      run: |
-        ${{ env.RUN }} "mkdir -p selfdrive/test/out && \
-                        cd selfdrive/test/longitudinal_maneuvers && \
-                        coverage run ./test_longitudinal.py && \
-                        coverage xml"
-      timeout-minutes: 2
-    - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
-    - uses: actions/upload-artifact@v2
-      if: always()
-      continue-on-error: true
-      with:
-        name: longitudinal
-        path: selfdrive/test/longitudinal_maneuvers/out/longitudinal/
+      uses: codecov/codecov-action@v3
 
   test_cars:
     name: cars
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     strategy:
       fail-fast: false
       matrix:
@@ -347,28 +367,26 @@ jobs:
     - uses: ./.github/workflows/setup
     - name: Cache test routes
       id: dependency-cache
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      uses: actions/cache@v3
       with:
-        path: /tmp/comma_download_cache
+        path: ~/comma_download_cache
         key: car_models-${{ hashFiles('selfdrive/car/tests/test_models.py', 'selfdrive/car/tests/routes.py') }}-${{ matrix.job }}
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Test car models
-      timeout-minutes: 12
+      timeout-minutes: 25
       run: |
-        ${{ env.RUN }} "coverage run -m pytest selfdrive/car/tests/test_models.py && \
-                        coverage xml && \
+        ${{ env.RUN }} "pytest --cov --cov-report=xml -n auto --dist=loadscope selfdrive/car/tests/test_models.py && \
                         chmod -R 777 /tmp/comma_download_cache"
       env:
         NUM_JOBS: 5
         JOB_ID: ${{ matrix.job }}
     - name: "Upload coverage to Codecov"
-      uses: codecov/codecov-action@v2
+      uses: codecov/codecov-action@v3
 
   car_docs_diff:
     name: PR comments
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
     if: github.event_name == 'pull_request'
     steps:
       - uses: actions/checkout@v3
@@ -387,7 +405,7 @@ jobs:
         id: save_diff
         run: |
           ${{ env.RUN }} "scons -j$(nproc)"
-          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info")
           output="${output//$'\n'/'%0A'}"
           echo "::set-output name=diff::$output"
       - name: Find comment
diff --git a/.github/workflows/setup/action.yaml b/.github/workflows/setup/action.yaml
index 186a9d9095..1181008f7e 100644
--- a/.github/workflows/setup/action.yaml
+++ b/.github/workflows/setup/action.yaml
@@ -1,15 +1,21 @@
 name: 'openpilot env setup'
 
 inputs:
-  save-cache:
-    default: false
+  setup_docker_scons_cache:
+    description: 'Whether or not to build the scons-cache docker image'
     required: false
+    default: 'false'
+  git_lfs:
+    description: 'Whether or not to pull the git lfs'
+    required: false
+    default: 'true'
 
 runs:
   using: "composite"
   steps:
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
+      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
     # build cache
@@ -18,20 +24,29 @@ runs:
       run: echo "CACHE_COMMIT_DATE=$(git log -1 --pretty='format:%cd' --date=format:'%Y-%m-%d-%H:%M')" >> $GITHUB_ENV
     - shell: bash
       run: echo "$CACHE_COMMIT_DATE"
-    - shell: bash
-      run: echo "CACHE_SKIP_SAVE=true" >> $GITHUB_ENV
-      if: github.ref != 'refs/heads/master' || inputs.save-cache == 'false'
-    - id: scons-cache
-      # TODO: change the version to the released version
-      # when https://github.com/actions/cache/pull/489 (or 571) is merged.
-      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+    - id: restore-scons-cache
+      uses: actions/cache/restore@v3
       with:
-        path: /tmp/scons_cache
+        path: ~/scons_cache
         key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
           scons-${{ env.CACHE_COMMIT_DATE }}-
           scons-
-
+    # as suggested here: https://github.com/moby/moby/issues/32816#issuecomment-910030001
+    - id: normalize-file-permissions
+      shell: bash
+      name: Normalize file permissions to ensure a consistent docker build cache
+      run: |
+        find . -type f -executable -not -perm 755 -exec chmod 755 {} \;
+        find . -type f -not -executable -not -perm 644 -exec chmod 644 {} \;
     # build our docker image
     - shell: bash
       run: eval ${{ env.BUILD }}
+    - id: setup-scons-cache-docker
+      name: Sets up a docker image with scons cache that can by mounted as a buildkit cache mount
+      shell: bash
+      if: ${{ inputs.setup_docker_scons_cache == 'true' }}
+      run: |
+        cp selfdrive/test/Dockerfile.scons_cache ~
+        cd ~
+        DOCKER_BUILDKIT=1 docker build -t scons-cache -f Dockerfile.scons_cache .
\ No newline at end of file
diff --git a/.github/workflows/tools_tests.yaml b/.github/workflows/tools_tests.yaml
index 94cc3c2580..e1ad67f930 100644
--- a/.github/workflows/tools_tests.yaml
+++ b/.github/workflows/tools_tests.yaml
@@ -2,8 +2,8 @@ name: tools
 
 on:
   push:
-    branches-ignore:
-      - 'testing-closet*'
+    branches:
+      - master
   pull_request:
 
 concurrency:
@@ -13,79 +13,92 @@ concurrency:
 env:
   BASE_IMAGE: openpilot-base
   CL_BASE_IMAGE: openpilot-base-cl
-  DOCKER_REGISTRY: ghcr.io/commaai
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
 
-  BUILD: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  BUILD: selfdrive/test/docker_build.sh base
 
-  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -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 -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/tmp/openpilot -w /tmp/openpilot -e FILEREADER_CACHE=1 -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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
-  BUILD_CL: |
-      DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --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 $GITHUB_WORKSPACE:/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 -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
+  BUILD_CL: selfdrive/test/docker_build.sh cl
+
+  RUN_CL: docker run --shm-size 1G -v $GITHUB_WORKSPACE:/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 ~/scons_cache:/tmp/scons_cache -v ~/comma_download_cache:/tmp/comma_download_cache -v ~/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
 
 jobs:
   plotjuggler:
     name: plotjuggler
     runs-on: ubuntu-20.04
-    timeout-minutes: 20
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
     - name: Build Docker image
       run: eval "$BUILD"
-    - name: Unit test
+    - name: Build openpilot
+      timeout-minutes: 5
+      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+    - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
-        ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal && \
-                        apt-get update && \
-                        apt-get install -y libdw-dev libqt5svg5-dev libqt5x11extras5-dev && \
-                        cd /tmp/openpilot/tools/plotjuggler && \
-                        ./test_plotjuggler.py"
+        ${{ env.RUN }} "pytest tools/plotjuggler/"
 
   simulator:
     name: simulator
     runs-on: ubuntu-20.04
-    timeout-minutes: 30
-    env:
-      IMAGE_NAME: openpilot-sim
     if: github.repository == 'commaai/openpilot'
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Pull LFS
-      run: git lfs pull
-    - name: Build base image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup
+      with:
+        setup_docker_scons_cache: true
     - name: Build base cl image
       run: eval "$BUILD_CL"
-    - name: Build simulator image
-      run: DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/$IMAGE_NAME:latest -t $DOCKER_REGISTRY/$IMAGE_NAME:latest -f tools/sim/Dockerfile.sim .
-    - name: Push to container registry
+    - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/$IMAGE_NAME:latest
+    - name: Build and push sim image
+      run: |
+        selfdrive/test/docker_build.sh sim
 
   docs:
     name: build docs
     runs-on: ubuntu-20.04
-    timeout-minutes: 25
+    timeout-minutes: 45
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build docker container
-      run: |
-        DOCKER_BUILDKIT=1 docker build --pull --build-arg BUILDKIT_INLINE_CACHE=1 --cache-from $DOCKER_REGISTRY/openpilot-docs:latest -t $DOCKER_REGISTRY/openpilot-docs:latest -f docs/docker/Dockerfile .
-    - name: Push docker container
+    - uses: ./.github/workflows/setup
+      with:
+        setup_docker_scons_cache: true
+        git_lfs: false
+    - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
+        echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-        docker push $DOCKER_REGISTRY/openpilot-docs:latest
-
+    - name: Build and push docs image
+      run: |
+        selfdrive/test/docker_build.sh docs
 
+  devcontainer:
+    name: devcontainer
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Setup Dev Container CLI
+      run: npm install -g @devcontainers/cli
+    - name: Build dev container image
+      run: devcontainer build --workspace-folder .
+    - name: Run dev container
+      run: devcontainer up --workspace-folder .
+    - name: Test environment
+      run: devcontainer exec --workspace-folder . scons --dry-run
diff --git a/.gitignore b/.gitignore
index 2b283d3b11..a7c8c1c6f0 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,5 @@
 venv/
+.venv/
 .env
 .clang-format
 .DS_Store
@@ -45,10 +46,9 @@ selfdrive/logcatd/logcatd
 selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
+selfdrive/ui/translations/alerts_generated.h
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
@@ -57,7 +57,6 @@ selfdrive/modeld/_dmonitoringmodeld
 /src/
 
 one
-openpilot
 notebooks
 xx
 yy
@@ -86,3 +85,4 @@ build/
 !**/.gitkeep
 
 poetry.toml
+Pipfile
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 91b9c61628..d4259dec17 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -4,11 +4,12 @@ repos:
     -   id: check-hooks-apply
     -   id: check-useless-excludes
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.1.0
+    rev: v4.4.0
     hooks:
     -   id: check-ast
-        exclude: '^(pyextra)/'
+        exclude: '^(third_party)/'
     -   id: check-json
+    -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
     -   id: check-merge-conflict
@@ -16,13 +17,13 @@ repos:
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.1
+    rev: v2.2.5
     hooks:
     -   id: codespell
-        exclude: '^(pyextra/)|(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(include/)|(selfdrive/ui/translations/.*.ts)|(selfdrive/controls/lib/cluster)'
+        exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'
         args:
         # if you've got a short variable name that's getting flagged, add it here
-        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup
+        - -L bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,warmup,bumb,nd,sie
         - --builtins clear,rare,informal,usage,code,names,en-GB_to_en-US
 -   repo: local
     hooks:
@@ -31,32 +32,13 @@ repos:
         entry: mypy
         language: system
         types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
--   repo: https://github.com/PyCQA/flake8
-    rev: 4.0.1
+        args: ['--explicit-package-bases']
+        exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
+-   repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.0.285
     hooks:
-    -   id: flake8
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(selfdrive/debug/)/'
-        additional_dependencies: ['flake8-no-implicit-concat']
-        args:
-        - --indent-size=2
-        - --enable-extensions=NIC
-        - --select=F,E112,E113,E304,E502,E701,E702,E703,E71,E72,E731,W191,W6
-        - --statistics
-        - -j4
--   repo: local
-    hooks:
-    -   id: pylint
-        name: pylint
-        entry: pylint
-        language: system
-        types: [python]
-        exclude: '^(pyextra/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
-        args:
-        - -j0
-        - -rn
-        - -sn
-        - --rcfile=.pylintrc
+    -   id: ruff
+        exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
 -   repo: local
     hooks:
     -   id: cppcheck
@@ -64,13 +46,25 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++
         - --quiet
         - --force
         - -j8
+-   repo: https://github.com/cpplint/cpplint
+    rev: 1.6.1
+    hooks:
+    -   id: cpplint
+        exclude: '^(third_party/)|(cereal/)|(body/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(generated/)'
+        args:
+        - --quiet
+        - --counting=total
+        - --linelength=240
+        # https://google.github.io/styleguide/cppguide.html
+        # relevant rules are whitelisted, see all options with: cpplint --filter=
+        - --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces
 -   repo: local
     hooks:
     -   id: test_translations
@@ -79,6 +73,10 @@ repos:
         language: script
         pass_filenames: false
 -   repo: https://github.com/python-poetry/poetry
-    rev: '1.2.2'
+    rev: '1.6.0'
     hooks:
     -   id: poetry-check
+    -   id: poetry-lock
+        name: validate poetry lock
+        args:
+        - --check
diff --git a/.pylintrc b/.pylintrc
deleted file mode 100644
index 58988c5d74..0000000000
--- a/.pylintrc
+++ /dev/null
@@ -1,469 +0,0 @@
-[MASTER]
-
-# 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,PyQt5,av
-
-# Add files or directories to the blacklist. They should be base names, not
-# paths.
-ignore=CVS
-
-# Add files or directories matching the regex patterns to the blacklist. The
-# regex matches against base names, not paths.
-ignore-patterns=
-
-# Python code to execute, usually for sys.path manipulation such as
-# pygtk.require().
-#init-hook=
-
-# Use multiple processes to speed up Pylint.
-jobs=4
-
-# List of plugins (as comma separated values of python modules names) to load,
-# usually to register additional checkers.
-load-plugins=
-
-# Pickle collected data for later comparisons.
-persistent=yes
-
-# Specify a configuration file.
-#rcfile=
-
-# When enabled, pylint would attempt to guess common misconfiguration and emit
-# user-friendly hints instead of false-positive error messages
-suggestion-mode=yes
-
-# Allow loading of arbitrary C extensions. Extensions are imported into the
-# active Python interpreter and may run arbitrary code.
-unsafe-load-any-extension=no
-
-
-[MESSAGES CONTROL]
-
-# Only show warnings with the listed confidence levels. Leave empty to show
-# all. Valid levels: HIGH, INFERENCE, INFERENCE_FAILURE, UNDEFINED
-confidence=
-
-# Disable the message, report, category or checker with the given id(s). You
-# can either give multiple identifiers separated by comma (,) or put this
-# option multiple times (only on the command line, not in the configuration
-# file where it should appear only once).You can also use "--disable=all" to
-# disable everything first and then reenable specific checks. For example, if
-# you want to run only the similarities checker, you can use "--disable=all
-# --enable=similarities". If you want to run only the classes checker, but have
-# no Warning level messages displayed, use"--disable=all --enable=classes
-# --disable=W"
-disable=C,R,W0613,W0511,W0212,W0201,W0106,W0603,W0621,W0703,W1201,W1203,E1136,W1514
-
-
-# Enable the message, report, category or checker with the given id(s). You can
-# either give multiple identifier separated by comma (,) or put this option
-# multiple time (only on the command line, not in the configuration file where
-# it should appear only once). See also the "--disable" option for examples.
-enable=c-extension-no-member
-
-
-[REPORTS]
-
-# Python expression which should return a note less than 10 (10 is the highest
-# note). You have access to the variables errors warning, statement which
-# respectively contain the number of errors / warnings messages and the total
-# number of statements analyzed. This is used by the global evaluation report
-# (RP0004).
-evaluation=10.0 - ((float(5 * error + warning + refactor + convention) / statement) * 10)
-
-# Template used to display messages. This is a python new-style format string
-# used to format the message information. See doc for all details
-#msg-template=
-
-# Set the output format. Available formats are text, parseable, colorized, json
-# and msvs (visual studio).You can also give a reporter class, eg
-# mypackage.mymodule.MyReporterClass.
-output-format=text
-
-# Tells whether to display a full report or only the messages
-reports=no
-
-# Activate the evaluation score.
-score=yes
-
-
-[REFACTORING]
-
-# Maximum number of nested blocks for function / method body
-max-nested-blocks=5
-
-# Complete name of functions that never returns. When checking for
-# inconsistent-return-statements if a never returning function is called then
-# it will be considered as an explicit return statement and no message will be
-# printed.
-never-returning-functions=optparse.Values,sys.exit
-
-
-[LOGGING]
-
-# Logging modules to check that the string format arguments are in logging
-# function parameter format
-logging-modules=logging
-
-
-[SPELLING]
-
-# Limits count of emitted suggestions for spelling mistakes
-max-spelling-suggestions=4
-
-# Spelling dictionary name. Available dictionaries: none. To make it working
-# install python-enchant package.
-spelling-dict=
-
-# List of comma separated words that should not be checked.
-spelling-ignore-words=
-
-# A path to a file that contains private dictionary; one word per line.
-spelling-private-dict-file=
-
-# Tells whether to store unknown words to indicated private dictionary in
-# --spelling-private-dict-file option instead of raising a message.
-spelling-store-unknown-words=no
-
-
-[MISCELLANEOUS]
-
-# List of note tags to take in consideration, separated by a comma.
-notes=FIXME,
-      XXX,
-      TODO
-
-
-[SIMILARITIES]
-
-# Ignore comments when computing similarities.
-ignore-comments=yes
-
-# Ignore docstrings when computing similarities.
-ignore-docstrings=yes
-
-# Ignore imports when computing similarities.
-ignore-imports=no
-
-# Minimum lines number of a similarity.
-min-similarity-lines=4
-
-
-[TYPECHECK]
-
-# List of decorators that produce context managers, such as
-# contextlib.contextmanager. Add to this list to register other decorators that
-# produce valid context managers.
-contextmanager-decorators=contextlib.contextmanager
-
-# List of members which are set dynamically and missed by pylint inference
-# system, and so shouldn't trigger E1101 when accessed. Python regular
-# expressions are accepted.
-generated-members=capnp.* cereal.* pygame.* zmq.* setproctitle.* smbus2.* usb1.* serial.* cv2.* ft4222.* carla.*
-
-# Tells whether missing members accessed in mixin class should be ignored. A
-# mixin class is detected if its name ends with "mixin" (case insensitive).
-ignore-mixin-members=yes
-
-# This flag controls whether pylint should warn about no-member and similar
-# checks whenever an opaque object is returned when inferring. The inference
-# can return multiple potential results while evaluating a Python object, but
-# some branches might not be evaluated, which results in partial inference. In
-# that case, it might be useful to still emit no-member and other checks for
-# the rest of the inferred objects.
-ignore-on-opaque-inference=yes
-
-# List of class names for which member attributes should not be checked (useful
-# for classes with dynamically set attributes). This supports the use of
-# qualified names.
-ignored-classes=optparse.Values,thread._local,_thread._local
-
-# List of module names for which member attributes should not be checked
-# (useful for modules/projects where namespaces are manipulated during runtime
-# and thus existing member attributes cannot be deduced by static analysis. It
-# supports qualified module names, as well as Unix pattern matching.
-ignored-modules=flask setproctitle usb1 flask.ext.socketio smbus2 usb1.*
-
-# Show a hint with possible names when a member name was not found. The aspect
-# of finding the hint is based on edit distance.
-missing-member-hint=yes
-
-# The minimum edit distance a name should have in order to be considered a
-# similar match for a missing member name.
-missing-member-hint-distance=1
-
-# The total number of similar names that should be taken in consideration when
-# showing a hint for a missing member.
-missing-member-max-choices=1
-
-
-[VARIABLES]
-
-# List of additional names supposed to be defined in builtins. Remember that
-# you should avoid to define new builtins when possible.
-additional-builtins=
-
-# Tells whether unused global variables should be treated as a violation.
-allow-global-unused-variables=yes
-
-# List of strings which can identify a callback function by name. A callback
-# name must start or end with one of those strings.
-callbacks=cb_,
-          _cb
-
-# A regular expression matching the name of dummy variables (i.e. expectedly
-# not used).
-dummy-variables-rgx=_+$|(_[a-zA-Z0-9_]*[a-zA-Z0-9]+?$)|dummy|^ignored_|^unused_
-
-# Argument names that match this expression will be ignored. Default to name
-# with leading underscore
-ignored-argument-names=_.*|^ignored_|^unused_
-
-# Tells whether we should check for unused import in __init__ files.
-init-import=no
-
-# List of qualified module names which can have objects that can redefine
-# builtins.
-redefining-builtins-modules=six.moves,past.builtins,future.builtins
-
-
-[FORMAT]
-
-# Expected format of line ending, e.g. empty (any line ending), LF or CRLF.
-expected-line-ending-format=
-
-# Regexp for a line that is allowed to be longer than the limit.
-ignore-long-lines=^\s*(# )?<?https?://\S+>?$
-
-# Number of spaces of indent required inside a hanging  or continued line.
-indent-after-paren=4
-
-# String used as indentation unit. This is usually "    " (4 spaces) or "\t" (1
-# tab).
-indent-string='  '
-
-# Maximum number of characters on a single line.
-max-line-length=100
-
-# Maximum number of lines in a module
-max-module-lines=1000
-
-# 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
-
-# Allow the body of an if to be on the same line as the test if there is no
-# else.
-single-line-if-stmt=no
-
-
-[BASIC]
-
-# Naming style matching correct argument names
-argument-naming-style=snake_case
-
-# Regular expression matching correct argument names. Overrides argument-
-# naming-style
-#argument-rgx=
-
-# Naming style matching correct attribute names
-attr-naming-style=snake_case
-
-# Regular expression matching correct attribute names. Overrides attr-naming-
-# style
-#attr-rgx=
-
-# Bad variable names which should always be refused, separated by a comma
-bad-names=foo,
-          bar,
-          baz,
-          toto,
-          tutu,
-          tata
-
-# Naming style matching correct class attribute names
-class-attribute-naming-style=any
-
-# Regular expression matching correct class attribute names. Overrides class-
-# attribute-naming-style
-#class-attribute-rgx=
-
-# Naming style matching correct class names
-class-naming-style=PascalCase
-
-# Regular expression matching correct class names. Overrides class-naming-style
-#class-rgx=
-
-# Naming style matching correct constant names
-const-naming-style=UPPER_CASE
-
-# Regular expression matching correct constant names. Overrides const-naming-
-# style
-#const-rgx=
-
-# Minimum line length for functions/classes that require docstrings, shorter
-# ones are exempt.
-docstring-min-length=-1
-
-# Naming style matching correct function names
-function-naming-style=snake_case
-
-# Regular expression matching correct function names. Overrides function-
-# naming-style
-#function-rgx=
-
-# Good variable names which should always be accepted, separated by a comma
-good-names=i,
-           j,
-           k,
-           ex,
-           Run,
-           _
-
-# Include a hint for the correct naming format with invalid-name
-include-naming-hint=no
-
-# Naming style matching correct inline iteration names
-inlinevar-naming-style=any
-
-# Regular expression matching correct inline iteration names. Overrides
-# inlinevar-naming-style
-#inlinevar-rgx=
-
-# Naming style matching correct method names
-method-naming-style=snake_case
-
-# Regular expression matching correct method names. Overrides method-naming-
-# style
-#method-rgx=
-
-# Naming style matching correct module names
-module-naming-style=snake_case
-
-# Regular expression matching correct module names. Overrides module-naming-
-# style
-#module-rgx=
-
-# Colon-delimited sets of names that determine each other's naming style when
-# the name regexes allow several styles.
-name-group=
-
-# Regular expression which should only match function or class names that do
-# not require a docstring.
-no-docstring-rgx=^_
-
-# List of decorators that produce properties, such as abc.abstractproperty. Add
-# to this list to register other decorators that produce valid properties.
-property-classes=abc.abstractproperty
-
-# Naming style matching correct variable names
-variable-naming-style=snake_case
-
-# Regular expression matching correct variable names. Overrides variable-
-# naming-style
-#variable-rgx=
-
-
-[DESIGN]
-
-# Maximum number of arguments for function / method
-max-args=5
-
-# Maximum number of attributes for a class (see R0902).
-max-attributes=7
-
-# Maximum number of boolean expressions in a if statement
-max-bool-expr=5
-
-# Maximum number of branch for function / method body
-max-branches=12
-
-# Maximum number of locals for function / method body
-max-locals=15
-
-# Maximum number of parents for a class (see R0901).
-max-parents=7
-
-# Maximum number of public methods for a class (see R0904).
-max-public-methods=20
-
-# Maximum number of return / yield for function / method body
-max-returns=6
-
-# Maximum number of statements in function / method body
-max-statements=50
-
-# Minimum number of public methods for a class (see R0903).
-min-public-methods=2
-
-
-[CLASSES]
-
-# List of method names used to declare (i.e. assign) instance attributes.
-defining-attr-methods=__init__,
-                      __new__,
-                      setUp
-
-# List of member names, which should be excluded from the protected access
-# warning.
-exclude-protected=_asdict,
-                  _fields,
-                  _replace,
-                  _source,
-                  _make
-
-# List of valid names for the first argument in a class method.
-valid-classmethod-first-arg=cls
-
-# List of valid names for the first argument in a metaclass class method.
-valid-metaclass-classmethod-first-arg=mcs
-
-
-[IMPORTS]
-
-# Allow wildcard imports from modules that define __all__.
-allow-wildcard-with-all=no
-
-# Analyse import fallback blocks. This can be used to support both Python 2 and
-# 3 compatible code, which means that the block might have code that exists
-# only in one or another interpreter, leading to false positives when analysed.
-analyse-fallback-blocks=no
-
-# Deprecated modules which should not be used, separated by a comma
-deprecated-modules=regsub,
-                   TERMIOS,
-                   Bastion,
-                   rexec
-
-# Create a graph of external dependencies in the given file (report RP0402 must
-# not be disabled)
-ext-import-graph=
-
-# Create a graph of every (i.e. internal and external) dependencies in the
-# given file (report RP0402 must not be disabled)
-import-graph=
-
-# Create a graph of internal dependencies in the given file (report RP0402 must
-# not be disabled)
-int-import-graph=
-
-# Force import order to recognize a module as part of the standard
-# compatibility libraries.
-known-standard-library=
-
-# Force import order to recognize a module as part of a third party library.
-known-third-party=enchant
-
-[STRING]
-
-# This flag controls whether the implicit-str-concat should generate a warning
-# on implicit string concatenation in sequences defined over several lines.
-check-str-concat-over-line-jumps=yes
-
-[EXCEPTIONS]
-
-# Exceptions that will emit a warning when being caught. Defaults to
-# "Exception"
-overgeneral-exceptions=Exception
diff --git a/.python-version b/.python-version
index d20cc2bf02..0c7d5f5f5d 100644
--- a/.python-version
+++ b/.python-version
@@ -1 +1 @@
-3.8.10
+3.11.4
diff --git a/Dockerfile.openpilot b/Dockerfile.openpilot
index 102da78d7d..3541be92b0 100644
--- a/Dockerfile.openpilot
+++ b/Dockerfile.openpilot
@@ -2,7 +2,7 @@ FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
 
-ENV OPENPILOT_PATH /home/batman/openpilot/
+ENV OPENPILOT_PATH /home/batman/openpilot
 ENV PYTHONPATH ${OPENPILOT_PATH}:${PYTHONPATH}
 
 RUN mkdir -p ${OPENPILOT_PATH}
@@ -10,7 +10,7 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
-COPY ./pyextra ${OPENPILOT_PATH}/pyextra
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
@@ -24,5 +24,6 @@ COPY ./cereal ${OPENPILOT_PATH}/cereal
 COPY ./panda ${OPENPILOT_PATH}/panda
 COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
+COPY ./body ${OPENPILOT_PATH}/body
 
 RUN scons --cache-readonly -j$(nproc)
diff --git a/Dockerfile.openpilot_base b/Dockerfile.openpilot_base
index 4cd82259e2..e21371ca4a 100644
--- a/Dockerfile.openpilot_base
+++ b/Dockerfile.openpilot_base
@@ -13,12 +13,12 @@ ENV LANGUAGE en_US:en
 ENV LC_ALL en_US.UTF-8
 
 ENV POETRY_VIRTUALENVS_CREATE=false
-ENV PYENV_VERSION=3.8.10
+ENV PYENV_VERSION=3.11.4
 ENV PYENV_ROOT="/root/.pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version update_requirements.sh /tmp/
-COPY tools/ubuntu_setup.sh /tmp/tools/
+COPY pyproject.toml poetry.lock .python-version /tmp/
+COPY tools/ubuntu_setup.sh tools/install_ubuntu_dependencies.sh tools/install_python_dependencies.sh /tmp/tools/
 RUN cd /tmp && \
     tools/ubuntu_setup.sh && \
     rm -rf /var/lib/apt/lists/* && \
diff --git a/Jenkinsfile b/Jenkinsfile
index e8323bca7d..c0bdd53253 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -6,15 +6,37 @@ ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <
 set -e
 
 export CI=1
+export PYTHONWARNINGS=error
+export LOGPRINT=debug
 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='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 source ~/.bash_profile
 if [ -f /TICI ]; then
   source /etc/profile
+
+  if ! systemctl is-active --quiet systemd-resolved; then
+    echo "restarting resolved"
+    sudo systemctl start systemd-resolved
+    sleep 3
+  fi
+
+  # restart aux USB
+  if [ -e /sys/bus/usb/drivers/hub/3-0:1.0 ]; then
+    echo "restarting aux usb"
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/unbind
+    sleep 0.5
+    echo "3-0:1.0" | sudo tee /sys/bus/usb/drivers/hub/bind
+  fi
+fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
 fi
 
 ln -snf ${env.TEST_DIR} /data/pythonpath
@@ -44,23 +66,38 @@ pipeline {
   agent none
   environment {
     CI = "1"
+    PYTHONWARNINGS = "error"
     TEST_DIR = "/data/openpilot"
     SOURCE_DIR = "/data/openpilot_source/"
     AZURE_TOKEN = credentials('azure_token')
+    MAPBOX_TOKEN = credentials('mapbox_token')
   }
   options {
-    timeout(time: 4, unit: 'HOURS')
+    timeout(time: 3, unit: 'HOURS')
+    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
   }
 
   stages {
-    stage('build release3') {
+    stage('build release3-staging') {
       agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
       when {
         branch 'devel-staging'
       }
       steps {
         phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('build nightly') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'master-ci'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
         ])
       }
     }
@@ -78,6 +115,7 @@ pipeline {
 
       parallel {
 
+        /*
         stage('simulator') {
           agent {
             dockerfile {
@@ -87,7 +125,8 @@ pipeline {
             }
           }
           steps {
-            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --recursive"
             sh "git lfs pull"
             lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
               sh "${WORKSPACE}/tools/sim/build_container.sh"
@@ -104,6 +143,50 @@ pipeline {
             }
           }
         }
+        */
+
+        stage('PC tests') {
+          agent {
+            dockerfile {
+              filename 'Dockerfile.openpilot_base'
+              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
+            }
+          }
+          steps {
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --depth=1 --recursive"
+            sh "git lfs pull"
+            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
+            sh "scons --clean && scons --no-cache --random -j42"
+            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+          }
+
+          post {
+            always {
+              sh "rm -rf ${WORKSPACE}/* || true"
+              sh "rm -rf .* || true"
+            }
+          }
+        }
+
+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+            ])
+          }
+        }
 
         stage('build') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
@@ -112,11 +195,11 @@ pipeline {
           }
           steps {
             phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
+              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
+              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
             ])
           }
         }
@@ -126,7 +209,7 @@ pipeline {
           steps {
             phone_steps("tici-loopback", [
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
             ])
           }
         }
@@ -136,33 +219,28 @@ pipeline {
           steps {
             phone_steps("tici-common", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test power draw", "python system/hardware/tici/test_power_draw.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 pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+              ["test nav", "pytest selfdrive/navd/tests/"],
             ])
           }
         }
 
-        stage('camerad-ar') {
+        stage('camerad') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-ar0321", [
+            phone_steps("tici-ar0231", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
-          }
-        }
-
-        stage('camerad-ox') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
             phone_steps("tici-ox03c10", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "python system/camerad/test/test_camerad.py"],
-              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
             ])
           }
         }
@@ -172,11 +250,11 @@ pipeline {
           steps {
             phone_steps("tici-lsmc", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
             phone_steps("tici-bmx-lsm", [
               ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
             ])
           }
         }
@@ -184,7 +262,7 @@ pipeline {
         stage('replay') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-common", [
+            phone_steps("tici-replay", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])
diff --git a/README.md b/README.md
index cfeb625bfe..5978a0e5dd 100755
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-![](https://i.imgur.com/b0ZyIx5.jpg)
+![openpilot on the comma 3X](https://github.com/commaai/openpilot/assets/4038174/f1081737-8718-4241-a22a-3ceba526361a)
 
 Table of Contents
 =======================
@@ -39,10 +39,10 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* 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.
+* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
+* This software. The setup procedure of the comma 3/3X 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 200+ 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.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford 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 [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
 
 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h
 
 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.
 
-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).
 
 And [follow us on Twitter](https://twitter.com/comma_ai).
 
@@ -103,13 +103,15 @@ Directory Structure
     ├── opendbc             # Files showing how to interpret data from cars
     ├── panda               # Code used to communicate on CAN
     ├── third_party         # External libraries
-    ├── pyextra             # Extra python packages
     └── system              # Generic services
         ├── camerad         # Driver to capture images from the camera sensors
         ├── clocksd         # Broadcasts current time
         ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
@@ -118,12 +120,10 @@ Directory Structure
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── loggerd         # Logger and uploader of car data
         ├── manager         # Daemon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
         ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation
-        ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
@@ -143,7 +143,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>
 
 [![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
diff --git a/RELEASES.md b/RELEASES.md
index 211e63a755..1b439c0fc8 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,10 +1,84 @@
-Version 0.9.1 (2022-12-XX)
+Version 0.9.5 (202X-XX-XX)
 ========================
-* Adjust alert volume using ambient noise level
-* Removed driver monitoring timer resetting on interaction if face detected and distracted
+* Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
+* Lexus IS 2023 support thanks to L3R5!
+
+Version 0.9.4 (2023-07-27)
+========================
+* comma 3X support
+* Navigate on openpilot in Experimental mode
+  * When navigation has a destination, openpilot will input the map information into the model, which provides useful context to help the model understand the scene
+  * When navigating on openpilot, openpilot will keep left or right appropriately at forks and exits
+  * When navigating on openpilot, lane change behavior is unchanged and still activated by the driver
+  * When navigate on openpilot is active, the path on the map is green
+* UI updates
+  * Navigation settings moved to home screen and map
+  * Border color always shows engagement status. Blue means disengaged, green means engaged, and grey means engaged with human overriding
+  * Alerts are shown inside the border. Black means info, orange means warning, and red means critical alert
+* Bookmarked segments are preserved on the device's storage
+* Ford Focus 2018 support
+* Kia Carnival 2023 support thanks to sunnyhaibin!
+
+Version 0.9.3 (2023-06-29)
+========================
+* New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
+* New driving personality setting
+  * Three settings: aggressive, standard, and relaxed
+  * Standard is recommended and the default
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
+
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
 * Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
 * Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
 * Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
 
 Version 0.9.0 (2022-11-21)
 ========================
diff --git a/SConstruct b/SConstruct
index 54b008004e..8d98eeae39 100644
--- a/SConstruct
+++ b/SConstruct
@@ -5,15 +5,15 @@ import sysconfig
 import platform
 import numpy as np
 
+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI
 
 Decider('MD5-timestamp')
 
-AddOption('--extras',
-          action='store_true',
-          help='build misc extras, like setup and installer files')
-
 AddOption('--kaitai',
           action='store_true',
           help='Regenerate kaitai struct parsers')
@@ -54,27 +54,32 @@ AddOption('--pc-thneed',
           dest='pc_thneed',
           help='use thneed on pc')
 
-AddOption('--no-test',
+AddOption('--minimal',
           action='store_false',
-          dest='test',
+          dest='extras',
           default=os.path.islink(Dir('#laika/').abspath),
-          help='skip building test files')
+          help='the minimum build to run openpilot. no tests, tools, etc.')
 
+## Architecture name breakdown (arch)
+## - larch64: linux tici aarch64
+## - aarch64: linux pc aarch64
+## - x86_64:  linux pc x64
+## - Darwin:  mac x64 or arm64
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
-
-if arch == "aarch64" and AGNOS:
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
+elif arch == "aarch64" and AGNOS:
   arch = "larch64"
-
+assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
 lenv = {
   "PATH": os.environ['PATH'],
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+  "PYTHONPATH": Dir("#").abspath + ':' + Dir(f"#third_party/acados").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
 
@@ -106,51 +111,47 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath += [
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]
 
   # MacOS
   if arch == "Darwin":
-    if real_arch == "x86_64":
-      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
-
-    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
-    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
-      f"#third_party/libyuv/{yuv_dir}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/acados/{arch}/lib",
       f"{brew_prefix}/lib",
-      f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
-      f"{brew_prefix}/Cellar",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
-    if real_arch == "x86_64":
-      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
-    else:
-      libpath.append(f"#third_party/acados/{arch}/lib")
 
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
     cpppath += [
       f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
     ]
-  # Linux 86_64
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
+  # Linux
   else:
     libpath = [
-      "#third_party/acados/x86_64/lib",
-      "#third_party/snpe/x86_64-linux-clang",
-      "#third_party/libyuv/x64/lib",
-      "#third_party/mapbox-gl-native-qt/x86_64",
+      f"#third_party/acados/{arch}/lib",
+      f"#third_party/libyuv/{arch}/lib",
+      f"#third_party/mapbox-gl-native-qt/{arch}",
       "#cereal",
       "#common",
       "/usr/lib",
       "/usr/local/lib",
     ]
 
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+    if arch == "x86_64":
+      libpath += [
+        f"#third_party/snpe/{arch}"
+      ]
+      rpath += [
+        Dir(f"#third_party/snpe/{arch}").abspath,
+      ]
 
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -196,11 +197,6 @@ env = Environment(
     "#third_party/catch2/include",
     "#third_party/libyuv/include",
     "#third_party/json11",
-    "#third_party/curl/include",
-    "#third_party/libgralloc/include",
-    "#third_party/android_frameworks_native/include",
-    "#third_party/android_hardware_libhardware/include",
-    "#third_party/android_system_core/include",
     "#third_party/linux/include",
     "#third_party/snpe/include",
     "#third_party/mapbox-gl-native-qt/include",
@@ -231,7 +227,9 @@ env = Environment(
 )
 
 if arch == "Darwin":
-  env['RPATHPREFIX'] = "-rpath "
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
 
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
@@ -268,13 +266,11 @@ py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
 envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-declarations"]
+envCython["CCFLAGS"].remove("-Werror")
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
-elif arch == "aarch64":
-  envCython["LINKFLAGS"] = ["-shared"]
-  envCython["LIBS"] = [os.path.basename(py_include)]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 else:
   envCython["LINKFLAGS"] = ["-pthread", "-shared"]
 
@@ -282,14 +278,11 @@ Export('envCython')
 
 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]
 
 qt_libs = []
 if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
   ]
@@ -311,10 +304,17 @@ else:
   qt_libs = [f"Qt5{m}" for m in qt_modules]
   if arch == "larch64":
     qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
   elif arch != "Darwin":
     qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')
 
-qt_env.Tool('qt')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
   "-D_REENTRANT",
@@ -330,7 +330,6 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
-qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'
 
 if GetOption("clazy"):
   checks = [
@@ -387,10 +386,10 @@ rednose_config = {
 if arch != "larch64":
   rednose_config['to_build'].update({
     'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'lane': ('#selfdrive/locationd/models/lane_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')
@@ -398,12 +397,17 @@ SConscript(['rednose/SConscript'])
 
 # Build system services
 SConscript([
-  'system/camerad/SConscript',
   'system/clocksd/SConscript',
   'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript(['system/logcatd/SConscript'])
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])
 
 # Build openpilot
 
@@ -420,26 +424,16 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])
 
-SConscript(['selfdrive/modeld/SConscript'])
-
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-
-SConscript(['selfdrive/loggerd/SConscript'])
-
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])
 
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] and Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
-
-  opendbc = abspath([File('opendbc/can/libdbc.so')])
-  Export('opendbc')
   SConscript(['tools/cabana/SConscript'])
 
 external_sconscript = GetOption('external_sconscript')
diff --git a/body b/body
index dc780f858c..396fa7b923 160000
--- a/body
+++ b/body
@@ -1 +1 @@
-Subproject commit dc780f858c1ef641471d09b72569e199e3e10acb
+Subproject commit 396fa7b923099640d6843f338950ed41300793ec
diff --git a/cereal b/cereal
index 7765176413..82bca3a971 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit 7765176413c0bb14143fe2469d5390ea0ea61a1e
+Subproject commit 82bca3a9714b73c05414fdf848b6016a0ffac17d
diff --git a/common/SConscript b/common/SConscript
index 8aee6f42a7..2f2b919154 100644
--- a/common/SConscript
+++ b/common/SConscript
@@ -10,11 +10,14 @@ common_libs = [
   'statlog.cc',
   'swaglog.cc',
   'util.cc',
-  'gpio.cc',
   'i2c.cc',
   'watchdog.cc',
+  'ratekeeper.cc'
 ]
 
+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
 _common = fxn('common', common_libs, LIBS="json11")
 
 files = [
@@ -24,10 +27,10 @@ files = [
 _gpucommon = fxn('gpucommon', files)
 Export('_common', '_gpucommon')
 
-if GetOption('test'):
+if GetOption('extras'):
   env.Program('tests/test_util', ['tests/test_util.cc'], LIBS=[_common])
   env.Program('tests/test_swaglog', ['tests/test_swaglog.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])
+  env.Program('tests/test_ratekeeper', ['tests/test_ratekeeper.cc'], LIBS=[_common, 'json11', 'zmq', 'pthread'])
 
 # Cython
-envCython.Program('clock.so', 'clock.pyx')
 envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
diff --git a/common/api/__init__.py b/common/api/__init__.py
index c1fa635bd6..0eb8aa7627 100644
--- a/common/api/__init__.py
+++ b/common/api/__init__.py
@@ -2,8 +2,8 @@ import jwt
 import os
 import requests
 from datetime import datetime, timedelta
-from common.basedir import PERSIST
-from system.version import get_version
+from openpilot.common.basedir import PERSIST
+from openpilot.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 371b54d3ef..b4486f9f08 100644
--- a/common/basedir.py
+++ b/common/basedir.py
@@ -1,7 +1,7 @@
 import os
 from pathlib import Path
 
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 BASEDIR = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "../"))
 
diff --git a/common/clock.pyx b/common/clock.pyx
deleted file mode 100644
index 81333565c5..0000000000
--- a/common/clock.pyx
+++ /dev/null
@@ -1,24 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from posix.time cimport clock_gettime, timespec, CLOCK_MONOTONIC_RAW, clockid_t
-
-IF UNAME_SYSNAME == "Darwin":
-  # Darwin doesn't have a CLOCK_BOOTTIME
-  CLOCK_BOOTTIME = CLOCK_MONOTONIC_RAW
-ELSE:
-  from posix.time cimport CLOCK_BOOTTIME
-
-cdef double readclock(clockid_t clock_id):
-  cdef timespec ts
-  cdef double current
-
-  clock_gettime(clock_id, &ts)
-  current = ts.tv_sec + (ts.tv_nsec / 1000000000.)
-  return current
-
-def monotonic_time():
-  return readclock(CLOCK_MONOTONIC_RAW)
-
-def sec_since_boot():
-  return readclock(CLOCK_BOOTTIME)
-
diff --git a/common/clutil.cc b/common/clutil.cc
index 9d3447d807..4f2a783d3e 100644
--- a/common/clutil.cc
+++ b/common/clutil.cc
@@ -5,6 +5,7 @@
 #include <memory>
 
 #include "common/util.h"
+#include "common/swaglog.h"
 
 namespace {  // helper functions
 
@@ -31,14 +32,14 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
     case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
   }
 
-  std::cout << "vendor: " << get_platform_info(platform, CL_PLATFORM_VENDOR) << std::endl
-            << "platform version: " << get_platform_info(platform, CL_PLATFORM_VERSION) << std::endl
-            << "profile: " << get_platform_info(platform, CL_PLATFORM_PROFILE) << std::endl
-            << "extensions: " << get_platform_info(platform, CL_PLATFORM_EXTENSIONS) << std::endl
-            << "name :" << get_device_info(device, CL_DEVICE_NAME) << std::endl
-            << "device version :" << get_device_info(device, CL_DEVICE_VERSION) << std::endl
-            << "max work group size :" << work_group_size << std::endl
-            << "type = " << device_type << " = " << type_str << std::endl;
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %zu", work_group_size);
+  LOGD("type = %d, %s", (int)device_type, type_str);
 }
 
 void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -49,7 +50,7 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
   std::string log(log_size, '\0');
   clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);
 
-  std::cout << "build failed; status=" << status << ", log:" << std::endl << log << std::endl;
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
 }
 
 }  // namespace
@@ -61,18 +62,23 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
   CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));
 
   for (size_t i = 0; i < num_platforms; ++i) {
-    std::cout << "platform[" << i << "] CL_PLATFORM_NAME: " << get_platform_info(platform_ids[i], CL_PLATFORM_NAME) << std::endl;
+    LOGD("platform[%zu] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
     // Get first device
     if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
       cl_print_info(platform_ids[i], device_id);
       return device_id;
     }
   }
-  std::cout << "No valid openCL platform found" << std::endl;
+  LOGE("No valid openCL platform found");
   assert(0);
   return nullptr;
 }
 
+cl_context cl_create_context(cl_device_id device_id) {
+  return CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
+}
+
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args) {
   return cl_program_from_source(ctx, device_id, util::read_file(path), args);
 }
diff --git a/common/clutil.h b/common/clutil.h
index be1a07c332..af986d6434 100644
--- a/common/clutil.h
+++ b/common/clutil.h
@@ -22,6 +22,7 @@
   })
 
 cl_device_id cl_get_device_id(cl_device_type device_type);
+cl_context cl_create_context(cl_device_id device_id);
 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args = nullptr);
 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args = nullptr);
 cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const char* path, const char* args);
diff --git a/common/file_helpers.py b/common/file_helpers.py
index 8a45fa313c..227d614d72 100644
--- a/common/file_helpers.py
+++ b/common/file_helpers.py
@@ -5,7 +5,7 @@ from atomicwrites import AtomicWriter
 
 
 def mkdirs_exists_ok(path):
-  if path.startswith('http://') or path.startswith('https://'):
+  if path.startswith(('http://', 'https://')):
     raise ValueError('URL path')
   try:
     os.makedirs(path)
diff --git a/common/gpio.cc b/common/gpio.cc
index 9f5c211a4b..5088362380 100644
--- a/common/gpio.cc
+++ b/common/gpio.cc
@@ -1,5 +1,22 @@
 #include "common/gpio.h"
 
+#include <string>
+
+#ifdef __APPLE__
+int gpio_init(int pin_nr, bool output) {
+  return 0;
+}
+
+int gpio_set(int pin_nr, bool high) {
+  return 0;
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+  return 0;
+}
+
+#else
+
 #include <fcntl.h>
 #include <unistd.h>
 
@@ -14,7 +31,7 @@ int gpio_init(int pin_nr, bool output) {
   char pin_dir_path[50];
   int pin_dir_path_len = snprintf(pin_dir_path, sizeof(pin_dir_path),
                            "/sys/class/gpio/gpio%d/direction", pin_nr);
-  if(pin_dir_path_len <= 0) {
+  if (pin_dir_path_len <= 0) {
     return -1;
   }
   const char *value = output ? "out" : "in";
@@ -25,7 +42,7 @@ int gpio_set(int pin_nr, bool high) {
   char pin_val_path[50];
   int pin_val_path_len = snprintf(pin_val_path, sizeof(pin_val_path),
                            "/sys/class/gpio/gpio%d/value", pin_nr);
-  if(pin_val_path_len <= 0) {
+  if (pin_val_path_len <= 0) {
     return -1;
   }
   return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
@@ -38,7 +55,7 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
   std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
   int fd = open(gpiochip_path.c_str(), O_RDONLY);
   if (fd < 0) {
-    LOGE("Error opening gpiochip0 fd")
+    LOGE("Error opening gpiochip0 fd");
     return -1;
   }
 
@@ -63,3 +80,5 @@ int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int p
   close(fd);
   return rq.fd;
 }
+
+#endif
diff --git a/common/gpio.py b/common/gpio.py
index 260f8898a1..88a9479a60 100644
--- a/common/gpio.py
+++ b/common/gpio.py
@@ -1,4 +1,6 @@
-from typing import Optional
+import os
+from functools import lru_cache
+from typing import Optional, List
 
 def gpio_init(pin: int, output: bool) -> None:
   try:
@@ -23,3 +25,31 @@ def gpio_read(pin: int) -> Optional[bool]:
     print(f"Failed to set gpio {pin} value: {e}")
 
   return val
+
+def gpio_export(pin: int) -> None:
+  if os.path.isdir(f"/sys/class/gpio/gpio{pin}"):
+    return
+
+  try:
+    with open("/sys/class/gpio/export", 'w') as f:
+      f.write(str(pin))
+  except Exception:
+    print(f"Failed to export gpio {pin}")
+
+@lru_cache(maxsize=None)
+def get_irq_action(irq: int) -> List[str]:
+  try:
+    with open(f"/sys/kernel/irq/{irq}/actions") as f:
+      actions = f.read().strip().split(',')
+      return actions
+  except FileNotFoundError:
+    return []
+
+def get_irqs_for_action(action: str) -> List[str]:
+  ret = []
+  with open("/proc/interrupts") as f:
+    for l in f.readlines():
+      irq = l.split(':')[0].strip()
+      if irq.isdigit() and action in get_irq_action(irq):
+        ret.append(irq)
+  return ret
diff --git a/common/i2c.cc b/common/i2c.cc
index eb10cd64bb..9508179c6e 100644
--- a/common/i2c.cc
+++ b/common/i2c.cc
@@ -8,14 +8,13 @@
 #include <cstdio>
 #include <stdexcept>
 
-#include "common/util.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
 #define UNUSED(x) (void)(x)
 
 #ifdef QCOM2
-// TODO: decide if we want to isntall libi2c-dev everywhere
+// TODO: decide if we want to install libi2c-dev everywhere
 extern "C" {
   #include <linux/i2c-dev.h>
   #include <i2c/smbus.h>
@@ -26,23 +25,23 @@ I2CBus::I2CBus(uint8_t bus_id) {
   snprintf(bus_name, 20, "/dev/i2c-%d", bus_id);
 
   i2c_fd = HANDLE_EINTR(open(bus_name, O_RDWR));
-  if(i2c_fd < 0) {
+  if (i2c_fd < 0) {
     throw std::runtime_error("Failed to open I2C bus");
   }
 }
 
 I2CBus::~I2CBus() {
-  if(i2c_fd >= 0) { close(i2c_fd); }
+  if (i2c_fd >= 0) { close(i2c_fd); }
 }
 
 int I2CBus::read_register(uint8_t device_address, uint register_address, uint8_t *buffer, uint8_t len) {
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_read_i2c_block_data(i2c_fd, register_address, len, buffer);
-  if((ret < 0) || (ret != len)) { goto fail; }
+  if ((ret < 0) || (ret != len)) { goto fail; }
 
 fail:
   return ret;
@@ -52,10 +51,10 @@ int I2CBus::set_register(uint8_t device_address, uint register_address, uint8_t
   int ret = 0;
 
   ret = HANDLE_EINTR(ioctl(i2c_fd, I2C_SLAVE, device_address));
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
   ret = i2c_smbus_write_byte_data(i2c_fd, register_address, data);
-  if(ret < 0) { goto fail; }
+  if (ret < 0) { goto fail; }
 
 fail:
   return ret;
diff --git a/common/kalman/simple_kalman.py b/common/kalman/simple_kalman.py
index 33289e4f50..5e1b6ce1fb 100644
--- a/common/kalman/simple_kalman.py
+++ b/common/kalman/simple_kalman.py
@@ -1,3 +1,12 @@
-# pylint: skip-file
-from common.kalman.simple_kalman_impl import KF1D as KF1D
+from openpilot.common.kalman.simple_kalman_impl import KF1D as KF1D
 assert KF1D
+import numpy as np
+
+def get_kalman_gain(dt, A, C, Q, R, iterations=100):
+  P = np.zeros_like(Q)
+  for _ in range(iterations):
+    P = A.dot(P).dot(A.T) + dt * Q
+    S = C.dot(P).dot(C.T) + R
+    K = P.dot(C.T).dot(np.linalg.inv(S))
+    P = (np.eye(len(P)) - K.dot(C)).dot(P)
+  return K
\ No newline at end of file
diff --git a/common/kalman/tests/test_simple_kalman.py b/common/kalman/tests/test_simple_kalman.py
index 96b2527655..32cc79fc3d 100644
--- a/common/kalman/tests/test_simple_kalman.py
+++ b/common/kalman/tests/test_simple_kalman.py
@@ -3,8 +3,8 @@ import random
 import timeit
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 
 class TestSimpleKalman(unittest.TestCase):
@@ -54,8 +54,8 @@ class TestSimpleKalman(unittest.TestCase):
     setup = """
 import numpy as np
 
-from common.kalman.simple_kalman import KF1D
-from common.kalman.simple_kalman_old import KF1D as KF1D_old
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.kalman.simple_kalman_old import KF1D as KF1D_old
 
 dt = 0.01
 x0_0 = 0.0
diff --git a/common/logging_extra.py b/common/logging_extra.py
index 5baaac1f90..5e0584c7bc 100644
--- a/common/logging_extra.py
+++ b/common/logging_extra.py
@@ -65,7 +65,7 @@ class SwagFormatter(logging.Formatter):
 
     return record_dict
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if self.swaglogger is None:
       raise Exception("must set swaglogger before calling format()")
     return json_robust_dumps(self.format_dict(record))
@@ -95,7 +95,7 @@ class SwagLogFileFormatter(SwagFormatter):
       k += "$a"
     return k, v
 
-  def format(self, record):
+  def format(self, record): # noqa: A003
     if isinstance(record, str):
       v = json.loads(record)
     else:
@@ -153,9 +153,9 @@ class SwagLogger(logging.Logger):
   def bind_global(self, **kwargs):
     self.global_ctx.update(kwargs)
 
-  def event(self, event_name, *args, **kwargs):
+  def event(self, event, *args, **kwargs):
     evt = NiceOrderedDict()
-    evt['event'] = event_name
+    evt['event'] = event
     if args:
       evt['args'] = args
     evt.update(kwargs)
@@ -197,7 +197,7 @@ class SwagLogger(logging.Logger):
       filename = os.path.normcase(co.co_filename)
 
       # TODO: is this pylint exception correct?
-      if filename == _srcfile:  # pylint: disable=comparison-with-callable
+      if filename == _srcfile:
         f = f.f_back
         continue
       sinfo = None
diff --git a/common/mat.h b/common/mat.h
index 626f3404fe..8e10d61971 100644
--- a/common/mat.h
+++ b/common/mat.h
@@ -1,7 +1,7 @@
 #pragma once
 
 typedef struct vec3 {
-	float v[3];
+  float v[3];
 } vec3;
 
 typedef struct vec4 {
@@ -9,7 +9,7 @@ typedef struct vec4 {
 } vec4;
 
 typedef struct mat3 {
-	float v[3*3];
+  float v[3*3];
 } mat3;
 
 typedef struct mat4 {
diff --git a/common/modeldata.h b/common/modeldata.h
index a00d3d49d3..6dc02cc792 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 
+const float RYG_GREEN = 0.01165;
+const float RYG_YELLOW = 0.06157;
+
 template <typename T, size_t size>
 constexpr std::array<T, size> build_idxs(float max_val) {
   std::array<T, size> result{};
@@ -24,23 +27,12 @@ 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);
 
-const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
+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}};
 
 // tici ecam focal probably wrong? magnification is not consistent across frame
 // Need to retrain model before this can be changed
-const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
+const mat3 ECAM_INTRINSIC_MATRIX = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform() {
-  float db_s = 1.0;
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  // Can this be removed since scale is 1?
-  return transform_scale_buffer(transform, db_s);
-}
diff --git a/common/params.cc b/common/params.cc
index 9e3e32d584..e8ab42c0b0 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -85,6 +85,9 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -92,26 +95,28 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
     {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
     {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"CarParamsCache", CLEAR_ON_MANAGER_START},
     {"CarParamsPersistent", PERSISTENT},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"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},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CurrentBootlog", PERSISTENT},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT}, // WARNING: THIS MAY DISABLE AEB
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
+    {"DmModelInitialized", CLEAR_ON_ONROAD_TRANSITION},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
-    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
     {"GitCommit", PERSISTENT},
     {"GitDiff", PERSISTENT},
@@ -132,15 +137,17 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
     {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -148,55 +155,57 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"NavSettingTime24h", PERSISTENT},
+    {"LongitudinalPersonality", PERSISTENT},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"PandaLogState", PERSISTENT},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
     {"Passive", PERSISTENT},
     {"PrimeType", PERSISTENT},
     {"RecordFront", PERSISTENT},
     {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
     {"UbloxAvailable", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
     {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"WideCameraOnly", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
-    {"ApiCache_Owner", PERSISTENT},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"WheeledBody", PERSISTENT},
 };
 
 } // namespace
@@ -300,14 +309,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
   FileLock file_lock(params_path + "/.lock");
 
-  if (key_type == ALL) {
-    util::remove_files_in_dir(getParamPath());
-  } else {
-    for (auto &[key, type] : keys) {
-      if (type & key_type) {
-        unlink(getParamPath(key).c_str());
+  // 1) delete params of key_type
+  // 2) delete files that are not defined in the keys.
+  if (DIR *d = opendir(getParamPath().c_str())) {
+    struct dirent *de = NULL;
+    while ((de = readdir(d))) {
+      if (de->d_type != DT_DIR) {
+        auto it = keys.find(de->d_name);
+        if (it == keys.end() || (it->second & key_type)) {
+          unlink(getParamPath(de->d_name).c_str());
+        }
       }
     }
+    closedir(d);
   }
 
   fsync_dir(getParamPath());
diff --git a/common/params.h b/common/params.h
index aecb3ee471..24b1bffeb1 100644
--- a/common/params.h
+++ b/common/params.h
@@ -7,8 +7,8 @@
 enum ParamKeyType {
   PERSISTENT = 0x02,
   CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
   DONT_LOG = 0x20,
   ALL = 0xFFFFFFFF
 };
diff --git a/common/params.py b/common/params.py
index b6be424d41..ea8ac7514a 100644
--- a/common/params.py
+++ b/common/params.py
@@ -1,4 +1,5 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
+from openpilot.common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, \
+                                        put_bool_nonblocking
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index 9d8933609f..abb3199d05 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -9,8 +9,8 @@ cdef extern from "common/params.h":
   cpdef enum ParamKeyType:
     PERSISTENT
     CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
     ALL
 
   cdef cppclass c_Params "Params":
diff --git a/common/prefix.h b/common/prefix.h
new file mode 100644
index 0000000000..f5abe14b2b
--- /dev/null
+++ b/common/prefix.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cassert>
+#include <string>
+
+#include "common/params.h"
+#include "common/util.h"
+
+class OpenpilotPrefix {
+public:
+  OpenpilotPrefix(std::string prefix = {}) {
+    if (prefix.empty()) {
+      prefix = util::random_string(15);
+    }
+    msgq_path = "/dev/shm/" + prefix;
+    bool ret = util::create_directories(msgq_path, 0777);
+    assert(ret);
+    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
+  }
+
+  ~OpenpilotPrefix() {
+    auto param_path = Params().getParamPath();
+    if (util::file_exists(param_path)) {
+      std::string real_path = util::readlink(param_path);
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      unlink(param_path.c_str());
+    }
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    unsetenv("OPENPILOT_PREFIX");
+  }
+
+private:
+  std::string msgq_path;
+};
diff --git a/common/ratekeeper.cc b/common/ratekeeper.cc
new file mode 100644
index 0000000000..7e63815168
--- /dev/null
+++ b/common/ratekeeper.cc
@@ -0,0 +1,40 @@
+#include "common/ratekeeper.h"
+
+#include <algorithm>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+RateKeeper::RateKeeper(const std::string &name, float rate, float print_delay_threshold)
+    : name(name),
+      print_delay_threshold(std::max(0.f, print_delay_threshold)) {
+  interval = 1 / rate;
+  last_monitor_time = seconds_since_boot();
+  next_frame_time = last_monitor_time + interval;
+}
+
+bool RateKeeper::keepTime() {
+  bool lagged = monitorTime();
+  if (remaining_ > 0) {
+    util::sleep_for(remaining_ * 1000);
+  }
+  return lagged;
+}
+
+bool RateKeeper::monitorTime() {
+  ++frame_;
+  last_monitor_time = seconds_since_boot();
+  remaining_ = next_frame_time - last_monitor_time;
+
+  bool lagged = remaining_ < 0;
+  if (lagged) {
+    if (print_delay_threshold > 0 && remaining_ < -print_delay_threshold) {
+      LOGW("%s lagging by %.2f ms", name.c_str(), -remaining_ * 1000);
+    }
+    next_frame_time = last_monitor_time + interval;
+  } else {
+    next_frame_time += interval;
+  }
+  return lagged;
+}
diff --git a/common/ratekeeper.h b/common/ratekeeper.h
new file mode 100644
index 0000000000..b6e8ac66a6
--- /dev/null
+++ b/common/ratekeeper.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <cstdint>
+#include <string>
+
+class RateKeeper {
+public:
+  RateKeeper(const std::string &name, float rate, float print_delay_threshold = 0);
+  ~RateKeeper() {}
+  bool keepTime();
+  bool monitorTime();
+  inline double frame() const { return frame_; }
+  inline double remaining() const { return remaining_; }
+
+private:
+  double interval;
+  double next_frame_time;
+  double last_monitor_time;
+  double remaining_ = 0;
+  float print_delay_threshold = 0;
+  uint64_t frame_ = 0;
+  std::string name;
+};
diff --git a/common/realtime.py b/common/realtime.py
index 7dd2eb98a6..05e19e770f 100644
--- a/common/realtime.py
+++ b/common/realtime.py
@@ -5,10 +5,9 @@ import time
 from collections import deque
 from typing import Optional, List, Union
 
-from setproctitle import getproctitle  # pylint: disable=no-name-in-module
+from setproctitle import getproctitle
 
-from common.clock import sec_since_boot  # pylint: disable=no-name-in-module, import-error
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 
 # time step for each process
@@ -31,12 +30,12 @@ class Priority:
 
 def set_realtime_priority(level: int) -> None:
   if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))
 
 
 def set_core_affinity(cores: List[int]) -> None:
   if not PC:
-    os.sched_setaffinity(0, cores)  # pylint: disable=no-member
+    os.sched_setaffinity(0, cores)
 
 
 def config_realtime_process(cores: Union[int, List[int]], priority: int) -> None:
@@ -50,13 +49,13 @@ class Ratekeeper:
   def __init__(self, rate: float, print_delay_threshold: Optional[float] = 0.0) -> None:
     """Rate in Hz for ratekeeping. print_delay_threshold must be nonnegative."""
     self._interval = 1. / rate
-    self._next_frame_time = sec_since_boot() + self._interval
+    self._next_frame_time = time.monotonic() + self._interval
     self._print_delay_threshold = print_delay_threshold
     self._frame = 0
     self._remaining = 0.0
     self._process_name = getproctitle()
     self._dts = deque([self._interval], maxlen=100)
-    self._last_monitor_time = sec_since_boot()
+    self._last_monitor_time = time.monotonic()
 
   @property
   def frame(self) -> int:
@@ -82,11 +81,11 @@ class Ratekeeper:
   # this only monitor the cumulative lag, but does not enforce a rate
   def monitor_time(self) -> bool:
     prev = self._last_monitor_time
-    self._last_monitor_time = sec_since_boot()
+    self._last_monitor_time = time.monotonic()
     self._dts.append(self._last_monitor_time - prev)
 
     lagged = False
-    remaining = self._next_frame_time - sec_since_boot()
+    remaining = self._next_frame_time - time.monotonic()
     self._next_frame_time += self._interval
     if self._print_delay_threshold is not None and remaining < -self._print_delay_threshold:
       print(f"{self._process_name} lagging by {-remaining * 1000:.2f} ms")
diff --git a/common/spinner.py b/common/spinner.py
index 57242d644d..43d4bb2cc2 100644
--- a/common/spinner.py
+++ b/common/spinner.py
@@ -1,6 +1,6 @@
 import os
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class Spinner():
@@ -29,11 +29,11 @@ class Spinner():
 
   def close(self):
     if self.spinner_proc is not None:
+      self.spinner_proc.kill()
       try:
-        self.spinner_proc.stdin.close()
-      except BrokenPipeError:
-        pass
-      self.spinner_proc.terminate()
+        self.spinner_proc.communicate(timeout=2.)
+      except subprocess.TimeoutExpired:
+        print("WARNING: failed to kill spinner")
       self.spinner_proc = None
 
   def __del__(self):
diff --git a/common/statlog.cc b/common/statlog.cc
index 26945882d9..587f3e8620 100644
--- a/common/statlog.cc
+++ b/common/statlog.cc
@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"
 
+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 22682dc54c..923f701ab2 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -5,13 +5,14 @@
 #include "common/swaglog.h"
 
 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>
 #include <string>
 
 #include <zmq.h>
-#include "json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 #include "common/util.h"
 #include "common/version.h"
@@ -63,8 +64,7 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   if (levelnum >= s.print_level) {
     printf("%s: %s\n", filename, msg);
   }
-  char levelnum_c = levelnum;
-  zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
+  zmq_send(s.sock, log_s.data(), log_s.length(), ZMQ_NOBLOCK);
 }
 
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
@@ -86,8 +86,11 @@ static void cloudlog_common(int levelnum, const char* filename, int lineno, cons
     log_j["msg"] = msg_j;
   }
 
-  std::string log_s = ((json11::Json)log_j).dump();
+  std::string log_s;
+  log_s += (char)levelnum;
+  ((json11::Json)log_j).dump(log_s);
   log(levelnum, filename, lineno, func, msg_buf, log_s);
+
   free(msg_buf);
 }
 
@@ -134,4 +137,3 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   cloudlog_t_common(levelnum, filename, lineno, func, frame_id, fmt, args);
   va_end(args);
 }
-
diff --git a/common/swaglog.h b/common/swaglog.h
index 68b05ed2e9..06d45b1d98 100644
--- a/common/swaglog.h
+++ b/common/swaglog.h
@@ -9,23 +9,29 @@
 #define CLOUDLOG_CRITICAL 50
 
 
+#ifdef __GNUC__
+#define SWAG_LOG_CHECK_FMT(a, b) __attribute__ ((format (printf, a, b)))
+#else
+#define SWAG_LOG_CHECK_FMT(a, b)
+#endif
+
 void cloudlog_e(int levelnum, const char* filename, int lineno, const char* func,
-                const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 const char* fmt, ...) SWAG_LOG_CHECK_FMT(5, 6);
 
 void cloudlog_te(int levelnum, const char* filename, int lineno, const char* func,
-                 uint32_t frame_id, const char* fmt, ...) /*__attribute__ ((format (printf, 6, 7)))*/;
+                 uint32_t frame_id, const char* fmt, ...) SWAG_LOG_CHECK_FMT(6, 7);
 
 
 #define cloudlog(lvl, fmt, ...) cloudlog_e(lvl, __FILE__, __LINE__, \
                                            __func__, \
-                                           fmt, ## __VA_ARGS__);
- 
+                                           fmt, ## __VA_ARGS__)
+
 #define cloudlog_t(lvl, ...) cloudlog_te(lvl, __FILE__, __LINE__, \
                                           __func__, \
-                                          __VA_ARGS__);
+                                          __VA_ARGS__)
 
 
 #define cloudlog_rl(burst, millis, lvl, fmt, ...)   \
@@ -38,7 +44,7 @@ void cloudlog_te(int levelnum, const char* filename, int lineno, const char* fun
   int __millis = (millis);                          \
   uint64_t __ts = nanos_since_boot();               \
                                                     \
-  if (!__begin) __begin = __ts;                     \
+  if (!__begin) { __begin = __ts; }                 \
                                                     \
   if (__begin + __millis*1000000ULL < __ts) {       \
     if (__missed) {                                 \
diff --git a/common/tests/.gitignore b/common/tests/.gitignore
index 1350b3b825..984c505f92 100644
--- a/common/tests/.gitignore
+++ b/common/tests/.gitignore
@@ -1,2 +1,3 @@
+test_ratekeeper
 test_util
 test_swaglog
diff --git a/common/tests/test_file_helpers.py b/common/tests/test_file_helpers.py
index d39e66de13..e36df57a32 100644
--- a/common/tests/test_file_helpers.py
+++ b/common/tests/test_file_helpers.py
@@ -2,8 +2,8 @@ import os
 import unittest
 from uuid import uuid4
 
-from common.file_helpers import atomic_write_on_fs_tmp
-from common.file_helpers import atomic_write_in_dir
+from openpilot.common.file_helpers import atomic_write_on_fs_tmp
+from openpilot.common.file_helpers import atomic_write_in_dir
 
 
 class TestFileHelpers(unittest.TestCase):
diff --git a/common/tests/test_numpy_fast.py b/common/tests/test_numpy_fast.py
index 2fb8a1cef3..de7bb972e7 100644
--- a/common/tests/test_numpy_fast.py
+++ b/common/tests/test_numpy_fast.py
@@ -1,7 +1,7 @@
 import numpy as np
 import unittest
 
-from common.numpy_fast import interp
+from openpilot.common.numpy_fast import interp
 
 
 class InterpTest(unittest.TestCase):
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index ec13e82217..72fa4e3f72 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -1,10 +1,12 @@
+import os
 import threading
 import time
 import tempfile
 import shutil
+import uuid
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
+from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -28,9 +30,16 @@ class TestParams(unittest.TestCase):
     self.params.put("CarParams", "test")
     self.params.put("DongleId", "cb38263377b873ee")
     assert self.params.get("CarParams") == b"test"
+
+    undefined_param = self.params.get_param_path(uuid.uuid4().hex)
+    with open(undefined_param, "w") as f:
+      f.write("test")
+    assert os.path.isfile(undefined_param)
+
     self.params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
     assert self.params.get("CarParams") is None
     assert self.params.get("DongleId") is not None
+    assert not os.path.isfile(undefined_param)
 
   def test_params_two_things(self):
     self.params.put("DongleId", "bob")
diff --git a/common/tests/test_ratekeeper.cc b/common/tests/test_ratekeeper.cc
new file mode 100644
index 0000000000..66d229bdbb
--- /dev/null
+++ b/common/tests/test_ratekeeper.cc
@@ -0,0 +1,17 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
+#include "common/ratekeeper.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+TEST_CASE("RateKeeper") {
+  float freq = GENERATE(10, 50, 100);
+  RateKeeper rk("Test RateKeeper", freq);
+  for (int i = 0; i < freq; ++i) {
+    double begin = seconds_since_boot();
+    util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
+    bool lagged = rk.keepTime();
+    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
+    REQUIRE(lagged == false);
+  }
+}
diff --git a/common/tests/test_swaglog.cc b/common/tests/test_swaglog.cc
index 20455ec74c..021656a78b 100644
--- a/common/tests/test_swaglog.cc
+++ b/common/tests/test_swaglog.cc
@@ -3,7 +3,7 @@
 #define CATCH_CONFIG_MAIN
 #include "catch2/catch.hpp"
 
-#include "json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "common/version.h"
diff --git a/common/tests/test_util.cc b/common/tests/test_util.cc
index b70cc9044a..25ecf09aa9 100644
--- a/common/tests/test_util.cc
+++ b/common/tests/test_util.cc
@@ -143,20 +143,3 @@ TEST_CASE("util::create_directories") {
     REQUIRE(util::create_directories("", 0755) == false);
   }
 }
-
-TEST_CASE("util::remove_files_in_dir") {
-  std::string tmp_dir = "/tmp/test_remove_all_in_dir";
-  system("rm /tmp/test_remove_all_in_dir -rf");
-  REQUIRE(util::create_directories(tmp_dir, 0755));
-  const int tmp_file_cnt = 10;
-  for (int i = 0; i < tmp_file_cnt; ++i) {
-    std::string tmp_file = tmp_dir + "/test_XXXXXX";
-    int fd = mkstemp((char*)tmp_file.c_str());
-    close(fd);
-    REQUIRE(util::file_exists(tmp_file.c_str()));
-  }
-
-  REQUIRE(util::read_files_in_dir(tmp_dir).size() == tmp_file_cnt);
-  util::remove_files_in_dir(tmp_dir);
-  REQUIRE(util::read_files_in_dir(tmp_dir).empty());
-}
diff --git a/common/text_window.py b/common/text_window.py
index bea3a149f8..d2762ebf7d 100755
--- a/common/text_window.py
+++ b/common/text_window.py
@@ -2,7 +2,7 @@
 import os
 import time
 import subprocess
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 
 class TextWindow:
diff --git a/common/time.py b/common/time.py
new file mode 100644
index 0000000000..b9da106fd0
--- /dev/null
+++ b/common/time.py
@@ -0,0 +1,6 @@
+import datetime
+
+MIN_DATE = datetime.datetime(year=2023, month=6, day=1)
+
+def system_time_valid():
+  return datetime.datetime.now() > MIN_DATE
\ No newline at end of file
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index b20ed5c64b..c643cb5702 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-import common.transformations.orientation as orient
+import openpilot.common.transformations.orientation as orient
 
 ## -- hardcoded hardware params --
 eon_f_focal_length = 910.0
@@ -61,14 +61,6 @@ device_frame_from_view_frame = np.array([
 view_frame_from_device_frame = device_frame_from_view_frame.T
 
 
-def get_calib_from_vp(vp):
-  vp_norm = normalize(vp)
-  yaw_calib = np.arctan(vp_norm[0])
-  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
-  roll_calib = 0
-  return roll_calib, pitch_calib, yaw_calib
-
-
 # aka 'extrinsic_matrix'
 # road : x->forward, y -> left, z->up
 def get_view_frame_from_road_frame(roll, pitch, yaw, height):
@@ -131,6 +123,14 @@ def denormalize(img_pts, intrinsics=fcam_intrinsics, width=np.inf, height=np.inf
   return img_pts_denormalized[:, :2].reshape(input_shape)
 
 
+def get_calib_from_vp(vp, intrinsics=fcam_intrinsics):
+  vp_norm = normalize(vp, intrinsics)
+  yaw_calib = np.arctan(vp_norm[0])
+  pitch_calib = -np.arctan(vp_norm[1]*np.cos(yaw_calib))
+  roll_calib = 0
+  return roll_calib, pitch_calib, yaw_calib
+
+
 def device_from_ecef(pos_ecef, orientation_ecef, pt_ecef):
   # device from ecef frame
   # device frame is x -> forward, y-> right, z -> down
diff --git a/common/transformations/coordinates.cc b/common/transformations/coordinates.cc
index b729ac3d87..5b00b53a4f 100644
--- a/common/transformations/coordinates.cc
+++ b/common/transformations/coordinates.cc
@@ -1,13 +1,11 @@
 #define _USE_MATH_DEFINES
 
+#include "common/transformations/coordinates.hpp"
+
 #include <iostream>
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "coordinates.hpp"
-
-
-
 double a = 6378137; // lgtm [cpp/short-global-name]
 double b = 6356752.3142; // lgtm [cpp/short-global-name]
 double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
diff --git a/common/transformations/coordinates.hpp b/common/transformations/coordinates.hpp
index f5ba0d3fe7..32ec2ff66e 100644
--- a/common/transformations/coordinates.hpp
+++ b/common/transformations/coordinates.hpp
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <eigen3/Eigen/Dense>
+
 #define DEG2RAD(x) ((x) * M_PI / 180.0)
 #define RAD2DEG(x) ((x) * 180.0 / M_PI)
 
diff --git a/common/transformations/coordinates.py b/common/transformations/coordinates.py
index 46cc0ded0d..696e7de2e5 100644
--- a/common/transformations/coordinates.py
+++ b/common/transformations/coordinates.py
@@ -1,8 +1,7 @@
-# pylint: skip-file
-from common.transformations.orientation import numpy_wrap
-from common.transformations.transformations import (ecef2geodetic_single,
+from openpilot.common.transformations.orientation import numpy_wrap
+from openpilot.common.transformations.transformations import (ecef2geodetic_single,
                                                     geodetic2ecef_single)
-from common.transformations.transformations import LocalCoord as LocalCoord_single
+from openpilot.common.transformations.transformations import LocalCoord as LocalCoord_single
 
 
 class LocalCoord(LocalCoord_single):
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 811a17eafe..114f8eae38 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,6 +1,6 @@
 import numpy as np
 
-from common.transformations.camera import (FULL_FRAME_SIZE,
+from openpilot.common.transformations.camera import (FULL_FRAME_SIZE,
                                            get_view_frame_from_calib_frame)
 
 # segnet
@@ -61,8 +61,8 @@ medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(b
 ### This function mimics the update_calibration logic in modeld.cc
 ### Manually verified to give similar results to xx.uncommon.utils.transform_img
 def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
+  from openpilot.common.transformations.orientation import rot_from_euler
+  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
   if tici and wide_cam:
     intrinsics = tici_ecam_intrinsics
@@ -85,8 +85,8 @@ def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
 
 ### This is old, just for debugging
 def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
-  from common.transformations.orientation import rot_from_euler
-  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
+  from openpilot.common.transformations.orientation import rot_from_euler
+  from openpilot.common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
 
   def get_view_frame_from_road_frame(roll, pitch, yaw, height):
diff --git a/common/transformations/orientation.cc b/common/transformations/orientation.cc
index 7909c0affb..00888c3a92 100644
--- a/common/transformations/orientation.cc
+++ b/common/transformations/orientation.cc
@@ -4,8 +4,8 @@
 #include <cmath>
 #include <eigen3/Eigen/Dense>
 
-#include "orientation.hpp"
-#include "coordinates.hpp"
+#include "common/transformations/orientation.hpp"
+#include "common/transformations/coordinates.hpp"
 
 Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat){
   if (quat.w() > 0){
diff --git a/common/transformations/orientation.hpp b/common/transformations/orientation.hpp
index ebd7da0aee..150b12cade 100644
--- a/common/transformations/orientation.hpp
+++ b/common/transformations/orientation.hpp
@@ -1,6 +1,6 @@
 #pragma once
 #include <eigen3/Eigen/Dense>
-#include "coordinates.hpp"
+#include "common/transformations/coordinates.hpp"
 
 
 Eigen::Quaterniond ensure_unique(Eigen::Quaterniond quat);
diff --git a/common/transformations/orientation.py b/common/transformations/orientation.py
index 134442b624..ce4378738d 100644
--- a/common/transformations/orientation.py
+++ b/common/transformations/orientation.py
@@ -1,8 +1,7 @@
-# pylint: skip-file
 import numpy as np
 from typing import Callable
 
-from common.transformations.transformations import (ecef_euler_from_ned_single,
+from openpilot.common.transformations.transformations import (ecef_euler_from_ned_single,
                                                     euler2quat_single,
                                                     euler2rot_single,
                                                     ned_euler_from_ecef_single,
diff --git a/common/transformations/tests/test_coordinates.py b/common/transformations/tests/test_coordinates.py
index dc70faed0b..7ae79403bd 100755
--- a/common/transformations/tests/test_coordinates.py
+++ b/common/transformations/tests/test_coordinates.py
@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-import common.transformations.coordinates as coord
+import openpilot.common.transformations.coordinates as coord
 
 geodetic_positions = np.array([[37.7610403, -122.4778699, 115],
                                  [27.4840915, -68.5867592, 2380],
diff --git a/common/transformations/tests/test_orientation.py b/common/transformations/tests/test_orientation.py
index 50978e1a63..f77827d2f9 100755
--- a/common/transformations/tests/test_orientation.py
+++ b/common/transformations/tests/test_orientation.py
@@ -3,7 +3,7 @@
 import numpy as np
 import unittest
 
-from common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
+from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
                                                ned_euler_from_ecef
 
diff --git a/common/transformations/transformations.pyx b/common/transformations/transformations.pyx
index ce80d90d29..c5cb9e0056 100644
--- a/common/transformations/transformations.pyx
+++ b/common/transformations/transformations.pyx
@@ -1,20 +1,20 @@
 # distutils: language = c++
 # cython: language_level = 3
-from common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from common.transformations.transformations cimport euler2quat as euler2quat_c
-from common.transformations.transformations cimport quat2euler as quat2euler_c
-from common.transformations.transformations cimport quat2rot as quat2rot_c
-from common.transformations.transformations cimport rot2quat as rot2quat_c
-from common.transformations.transformations cimport euler2rot as euler2rot_c
-from common.transformations.transformations cimport rot2euler as rot2euler_c
-from common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from common.transformations.transformations cimport LocalCoord_c
+from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
+from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
+
+from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
+from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
+from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
+from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
+from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
+from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
+from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
+from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
+from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
+from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
+from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
+from openpilot.common.transformations.transformations cimport LocalCoord_c
 
 
 import cython
diff --git a/common/util.cc b/common/util.cc
index 010fe8a11a..11e8ad4555 100644
--- a/common/util.cc
+++ b/common/util.cc
@@ -2,6 +2,7 @@
 
 #include <sys/ioctl.h>
 #include <sys/stat.h>
+#include <sys/resource.h>
 #include <dirent.h>
 
 #include <cassert>
@@ -10,6 +11,7 @@
 #include <dirent.h>
 #include <fstream>
 #include <iomanip>
+#include <random>
 #include <sstream>
 
 #ifdef __linux__
@@ -59,6 +61,20 @@ int set_core_affinity(std::vector<int> cores) {
 #endif
 }
 
+int set_file_descriptor_limit(uint64_t limit_val) {
+  struct rlimit limit;
+  int status;
+
+  if ((status = getrlimit(RLIMIT_NOFILE, &limit)) < 0)
+    return status;
+
+  limit.rlim_cur = limit_val;
+  if ((status = setrlimit(RLIMIT_NOFILE, &limit)) < 0)
+    return status;
+
+  return 0;
+}
+
 std::string read_file(const std::string& fn) {
   std::ifstream f(fn, std::ios::binary | std::ios::in);
   if (f.is_open()) {
@@ -98,22 +114,6 @@ std::map<std::string, std::string> read_files_in_dir(const std::string &path) {
   return ret;
 }
 
-void remove_files_in_dir(const std::string &path) {
-  DIR *d = opendir(path.c_str());
-  if (!d) return;
-
-  std::string fn;
-  struct dirent *de = NULL;
-  while ((de = readdir(d))) {
-    if (de->d_type != DT_DIR) {
-      fn = path + "/" + de->d_name;
-      unlink(fn.c_str());
-    }
-  }
-
-  closedir(d);
-}
-
 int write_file(const char* path, const void* data, size_t size, int flags, mode_t mode) {
   int fd = HANDLE_EINTR(open(path, flags, mode));
   if (fd == -1) {
@@ -204,7 +204,7 @@ bool create_directories(const std::string& dir, mode_t mode) {
   return createDirectory(dir, mode);
 }
 
-std::string getenv(const char* key, const char* default_val) {
+std::string getenv(const char* key, std::string default_val) {
   const char* val = ::getenv(key);
   return val ? val : default_val;
 }
@@ -228,12 +228,39 @@ std::string hexdump(const uint8_t* in, const size_t size) {
   return ss.str();
 }
 
+int random_int(int min, int max) {
+  std::random_device dev;
+  std::mt19937 rng(dev());
+  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
+  return dist(rng);
+}
+
+std::string random_string(std::string::size_type length) {
+  const std::string chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
+  std::mt19937 rg{std::random_device{}()};
+  std::uniform_int_distribution<std::string::size_type> pick(0, chrs.length() - 1);
+  std::string s;
+  s.reserve(length);
+  while (length--) {
+    s += chrs[pick(rg)];
+  }
+  return s;
+}
+
 std::string dir_name(std::string const &path) {
   size_t pos = path.find_last_of("/");
   if (pos == std::string::npos) return "";
   return path.substr(0, pos);
 }
 
+bool starts_with(const std::string &s1, const std::string &s2) {
+  return strncmp(s1.c_str(), s2.c_str(), s2.size()) == 0;
+}
+
+bool ends_with(const std::string &s1, const std::string &s2) {
+  return strcmp(s1.c_str() + (s1.size() - s2.size()), s2.c_str()) == 0;
+}
+
 std::string check_output(const std::string& command) {
   char buffer[128];
   std::string result;
@@ -263,7 +290,7 @@ struct tm get_time() {
 bool time_valid(struct tm sys_time) {
   int year = 1900 + sys_time.tm_year;
   int month = 1 + sys_time.tm_mon;
-  return (year > 2021) || (year == 2021 && month >= 6);
+  return (year > 2023) || (year == 2023 && month >= 6);
 }
 
 }  // namespace util
diff --git a/common/util.h b/common/util.h
index b46f7bde4a..30f514f8dc 100644
--- a/common/util.h
+++ b/common/util.h
@@ -44,6 +44,7 @@ namespace util {
 void set_thread_name(const char* name);
 int set_realtime_priority(int level);
 int set_core_affinity(std::vector<int> cores);
+int set_file_descriptor_limit(uint64_t limit);
 
 // ***** Time helpers *****
 struct tm get_time();
@@ -70,17 +71,22 @@ std::string string_format(const std::string& format, Args... args) {
   return std::string(buf.get(), buf.get() + size - 1);
 }
 
-std::string getenv(const char* key, const char* default_val = "");
+std::string getenv(const char* key, std::string default_val = "");
 int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);
 
 std::string hexdump(const uint8_t* in, const size_t size);
 std::string dir_name(std::string const& path);
+bool starts_with(const std::string &s1, const std::string &s2);
+bool ends_with(const std::string &s1, const std::string &s2);
 
-// **** file fhelpers *****
+// ***** random helpers *****
+int random_int(int min, int max);
+std::string random_string(std::string::size_type length);
+
+// **** file helpers *****
 std::string read_file(const std::string& fn);
 std::map<std::string, std::string> read_files_in_dir(const std::string& path);
-void remove_files_in_dir(const std::string& path);
 int write_file(const char* path, const void* data, size_t size, int flags = O_WRONLY, mode_t mode = 0664);
 
 FILE* safe_fopen(const char* filename, const char* mode);
@@ -111,7 +117,7 @@ public:
 #ifndef __APPLE__
     std::signal(SIGPWR, (sighandler_t)set_do_exit);
 #endif
-  };
+  }
   inline static std::atomic<bool> power_failure = false;
   inline static std::atomic<int> signal = 0;
   inline operator bool() { return do_exit; }
@@ -147,12 +153,18 @@ struct unique_fd {
 
 class FirstOrderFilter {
 public:
-  FirstOrderFilter(float x0, float ts, float dt) {
+  FirstOrderFilter(float x0, float ts, float dt, bool initialized = true) {
     k_ = (dt / ts) / (1.0 + dt / ts);
     x_ = x0;
+    initialized_ = initialized;
   }
   inline float update(float x) {
-    x_ = (1. - k_) * x_ + k_ * x;
+    if (initialized_) {
+      x_ = (1. - k_) * x_ + k_ * x;
+    } else {
+      initialized_ = true;
+      x_ = x;
+    }
     return x_;
   }
   inline void reset(float x) { x_ = x; }
@@ -160,12 +172,13 @@ public:
 
 private:
   float x_, k_;
+  bool initialized_;
 };
 
 template<typename T>
 void update_max_atomic(std::atomic<T>& max, T const& value) {
   T prev = max;
-  while(prev < value && !max.compare_exchange_weak(prev, value)) {}
+  while (prev < value && !max.compare_exchange_weak(prev, value)) {}
 }
 
 class LogState {
diff --git a/common/version.h b/common/version.h
index 7b5764785a..946f6a1fec 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.9.1"
+#define COMMA_VERSION "0.9.5"
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 920df4030a..3483ad21c2 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -1,3 +1,5 @@
+#include <string>
+
 #include "common/watchdog.h"
 #include "common/util.h"
 
diff --git a/common/window.py b/common/window.py
index 613b3b201b..95886c0c92 100644
--- a/common/window.py
+++ b/common/window.py
@@ -1,6 +1,6 @@
 import sys
-import pygame  # pylint: disable=import-error
-import cv2  # pylint: disable=import-error
+import pygame
+import cv2
 
 class Window:
   def __init__(self, w, h, caption="window", double=False, halve=False):
diff --git a/docs/CARS.md b/docs/CARS.md
index 4dccb30285..9ded53f201 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -2,242 +2,285 @@
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 219 Supported Cars
+# 258 Supported Cars
 
-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Genesis|GV70 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|GM|
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Honda Nidec|
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|i30 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Ioniq 5 (with HDA II) 2022-23|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|Hyundai|Ioniq 5 (without HDA II) 2022-23|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Santa Cruz 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson 2023|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 (with HDA II) 2022|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|Kia|EV6 (without HDA II) 2022|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Sorento Plug-in Hybrid 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sportage 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Ram|
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>5</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|Toyota|
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Polo GTI 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533[<sup>9</sup>](#footnotes)|
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Tiguan 2019-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|J533|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2017-18">Buy Here</a></sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Chrysler&model=Pacifica Hybrid 2019-23">Buy Here</a></sub></details>||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2022">Buy Here</a></sub></details>||
+|Ford|Maverick 2023|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ford&model=Maverick 2023">Buy Here</a></sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G70 2020">Buy Here</a></sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2015-16">Buy Here</a></sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V 2017-22">Buy Here</a></sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=CR-V Hybrid 2017-19">Buy Here</a></sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=e 2020">Buy Here</a></sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Fit 2018-20">Buy Here</a></sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Freed 2020">Buy Here</a></sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2019-22">Buy Here</a></sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=HR-V 2023">Buy Here</a></sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Insight 2019-22">Buy Here</a></sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Inspire 2018">Buy Here</a></sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Odyssey 2018-20">Buy Here</a></sub></details>||
+|Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|Stock|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Hybrid 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=CT Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES 2019-22">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
+|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2023">Buy Here</a></sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2020-21">Buy Here</a></sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RC 2018-20">Buy Here</a></sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2016">Buy Here</a></sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX 2020-22">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2016">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2017-19">Buy Here</a></sub></details>||
+|Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=RX Hybrid 2020-22">Buy Here</a></sub></details>||
+|Lexus|UX Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=UX Hybrid 2019-23">Buy Here</a></sub></details>||
+|Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>||
+|Škoda|Fabia 2022-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>9,11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Karoq 2019-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Karoq 2019-23">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020-23[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Scala 2020-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>11</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2017-18">Buy Here</a></sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon 2022">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Avalon Hybrid 2022">Buy Here</a></sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>8</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid 2020-22">Buy Here</a></sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander 2020-23">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2017-19">Buy Here</a></sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Highlander Hybrid 2020-23">Buy Here</a></sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Mirai 2021">Buy Here</a></sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Prius v 2017">Buy Here</a></sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2016">Buy Here</a></sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2017-18">Buy Here</a></sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 2022">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>13</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,12</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
-<a id="footnotes"></a>
+### Footnotes
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>8</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>9</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a comma 3X or <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD panda kit</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>9</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>10</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>11</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>12</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>13</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <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/).
@@ -256,6 +299,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
@@ -270,7 +314,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
diff --git a/docs/Makefile b/docs/Makefile
index d0aa841c4d..dee660f770 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -41,7 +41,7 @@ clean:
 
 	@echo "Building rst files..."
 	sphinx-apidoc -o "$(DOCSBUILDDIR)" ../ \
-		../xx ../laika_repo ../rednose_repo ../pyextra ../notebooks ../panda_jungle \
+		../xx ../laika_repo ../rednose_repo ../notebooks ../panda_jungle \
 		../third_party \
 		../panda/examples \
 		../scripts \
diff --git a/docs/SAFETY.md b/docs/SAFETY.md
index 49f88df8c0..4b568728a7 100644
--- a/docs/SAFETY.md
+++ b/docs/SAFETY.md
@@ -25,9 +25,12 @@ ensuring two main safety requirements.
    by stepping on the brake pedal or by pressing the cancel button.
 2. The vehicle must not alter its trajectory too quickly for the driver to safely
    react. This means that while the system is engaged, the actuators are constrained
-   to operate within reasonable limits.
+   to operate within reasonable limits[^1]. 
 
 For additional safety implementation details, refer to [panda safety model](https://github.com/commaai/panda#safety-model). For vehicle specific implementation of the safety concept, refer to [panda/board/safety/](https://github.com/commaai/panda/tree/master/board/safety).
 
 **Extra note**: comma.ai strongly discourages the use of openpilot forks with safety code either missing or
   not fully meeting the above requirements.
+
+[^1]: For these actuator limits we observe ISO11270 and ISO15622. Lateral limits described there translate to 0.9 seconds of maximum actuation to achieve a 1m lateral deviation. 
+
diff --git a/docs/assets/icon-youtube.svg b/docs/assets/icon-youtube.svg
new file mode 100644
index 0000000000..4e2c9fdfa9
--- /dev/null
+++ b/docs/assets/icon-youtube.svg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<svg viewBox="500.972 178.81 20 14.375" width="20" height="14.375" xmlns="http://www.w3.org/2000/svg" xmlns:bx="https://boxy-svg.com">
+  <defs>
+    <clipPath id="clip0_1674_1768">
+      <rect width="20" height="20" fill="white"/>
+    </clipPath>
+  </defs>
+  <g clip-path="url(#clip0_1674_1768)" transform="matrix(1, 0, 0, 1, 500.971771, 175.81041)">
+    <path fill-rule="evenodd" clip-rule="evenodd" d="M19.582 5.2447C19.352 4.3611 18.6743 3.66531 17.8138 3.42916C16.2542 3 10 3 10 3C10 3 3.7458 3 2.18614 3.42916C1.32557 3.66531 0.647841 4.3611 0.417841 5.2447C0 6.84612 0 10.1875 0 10.1875C0 10.1875 0 13.5288 0.417841 15.1303C0.647841 16.0139 1.32557 16.7097 2.18614 16.946C3.7458 17.375 10 17.375 10 17.375C10 17.375 16.2542 17.375 17.8138 16.946C18.6743 16.7097 19.352 16.0139 19.582 15.1303C20 13.5288 20 10.1875 20 10.1875C20 10.1875 20 6.84612 19.582 5.2447ZM8.12509 13.6255V7.37549L13.1251 10.5006L8.12509 13.6255Z" fill="#FF0000"/>
+  </g>
+  <path d="M 425.503 122.113 L 428.63 127.117 L 422.376 127.117 L 425.503 122.113 Z" style="stroke: rgb(0, 0, 0); stroke-width: 0px; fill: rgb(255, 255, 255);" transform="matrix(0, 1, -1, 0, 636.212463, -239.192383)" bx:shape="triangle 422.376 122.113 6.254 5.004 0.5 0 1@278e08c4"/>
+</svg>
\ No newline at end of file
diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 77be7e51d8..5619cc8a51 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -83,7 +83,7 @@ common
 sensorsd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_sensord_sensors
+   :project: system_sensord_sensors
 
 boardd
 ^^^^^^
diff --git a/docs/conf.py b/docs/conf.py
index fea921de1f..9a8d646697 100644
--- a/docs/conf.py
+++ b/docs/conf.py
@@ -1,5 +1,4 @@
 # type: ignore
-# pylint: skip-file
 
 # Configuration file for the Sphinx documentation builder.
 #
@@ -17,8 +16,8 @@ import os
 import sys
 from os.path import exists
 
-from common.basedir import BASEDIR
-from system.version import get_version
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import get_version
 
 sys.path.insert(0, os.path.abspath('.'))
 sys.path.insert(0, os.path.abspath('..'))
@@ -29,7 +28,7 @@ VERSION = get_version()
 # -- Project information -----------------------------------------------------
 
 project = 'openpilot docs'
-copyright = '2021, comma.ai'
+copyright = '2021, comma.ai' # noqa: A001
 author = 'comma.ai'
 version = VERSION
 release = VERSION
@@ -100,7 +99,7 @@ breathe_projects_source = {}
 
 # only document files that have accompanying .cc files next to them
 print("searching for c_docs...")
-for root, dirs, files in os.walk(BASEDIR):
+for root, _, files in os.walk(BASEDIR):
   found = False
   breath_src = {}
   breathe_srcs_list = []
diff --git a/docs/docker/Dockerfile b/docs/docker/Dockerfile
index 0d5883f566..94ddd3c3ad 100644
--- a/docs/docker/Dockerfile
+++ b/docs/docker/Dockerfile
@@ -1,3 +1,5 @@
+FROM scons-cache as scons-cache
+
 FROM ghcr.io/commaai/openpilot-base:latest
 
 ENV PYTHONUNBUFFERED 1
@@ -11,7 +13,8 @@ WORKDIR ${OPENPILOT_PATH}
 
 COPY SConstruct ${OPENPILOT_PATH}
 
-COPY ./pyextra ${OPENPILOT_PATH}/pyextra
+COPY ./openpilot ${OPENPILOT_PATH}/openpilot
+COPY ./body ${OPENPILOT_PATH}/body
 COPY ./third_party ${OPENPILOT_PATH}/third_party
 COPY ./site_scons ${OPENPILOT_PATH}/site_scons
 COPY ./laika ${OPENPILOT_PATH}/laika
@@ -28,7 +31,7 @@ COPY ./selfdrive ${OPENPILOT_PATH}/selfdrive
 COPY ./system ${OPENPILOT_PATH}/system
 COPY ./*.md ${OPENPILOT_PATH}/
 
-RUN scons -j$(nproc)
+RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j$(nproc)
 
 RUN apt update && apt install doxygen -y
 COPY ./docs ${OPENPILOT_PATH}/docs
@@ -37,5 +40,5 @@ WORKDIR ${OPENPILOT_PATH}/docs
 RUN make html
 
 FROM nginx:1.21
-COPY --from=0  /home/batman/openpilot/build/docs/html /usr/share/nginx/html
+COPY --from=1 /home/batman/openpilot/build/docs/html /usr/share/nginx/html
 COPY ./docs/docker/nginx.conf /etc/nginx/conf.d/default.conf
diff --git a/docs/overview.rst b/docs/overview.rst
index cda51ba3d4..b9a5700528 100644
--- a/docs/overview.rst
+++ b/docs/overview.rst
@@ -5,7 +5,7 @@ openpilot
    :maxdepth: 4
 
    Debugging <selfdrive/debug/README.md>
-   selfdrive/loggerd/README.md
+   system/loggerd/README.md
    Driver Monitoring <selfdrive/monitoring/README.md>
    Process Replay <selfdrive/test/process_replay/README.md>
 
@@ -77,3 +77,4 @@ tools
    Simulator <tools/sim/README.md>
    tools/ssh/README.md
    Webcam <tools/webcam/README.md>
+   tools/cabana/README.md
diff --git a/laika_repo b/laika_repo
index e1049cde0a..a028f6a2c9 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit e1049cde0a68f7d4a70b1ebd76befdc0e163ad55
+Subproject commit a028f6a2c95adf03fa240a9479ad33290969055e
diff --git a/launch_chffrplus.sh b/launch_chffrplus.sh
index 911774a4eb..9fe9b1bd15 100755
--- a/launch_chffrplus.sh
+++ b/launch_chffrplus.sh
@@ -74,7 +74,7 @@ function launch {
 
   # handle pythonpath
   ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD:$PWD/pyextra"
+  export PYTHONPATH="$PWD"
 
   # hardware specific init
   agnos_init
diff --git a/launch_env.sh b/launch_env.sh
index 3059ec268e..d07fbe33de 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="6.2"
+  export AGNOS_VERSION="8.2"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/lgtm.yml b/lgtm.yml
deleted file mode 100644
index 6ce9353562..0000000000
--- a/lgtm.yml
+++ /dev/null
@@ -1,19 +0,0 @@
-path_classifiers:
-  library:
-    - external
-    - third_party
-    - pyextra
-    - tools/lib/mkvparse
-extraction:
-  cpp:
-    after_prepare:
-    - "pip3 install --upgrade --user pkgconfig cython setuptools wheel"
-    - "pip3 install --upgrade --user jinja2 pyyaml cython pycapnp numpy sympy tqdm\
-      \ cffi logentries zmq scons"
-    - "export PATH=/opt/work/.local/bin:$PATH"
-    index:
-      build_command: "scons"
-  javascript:
-    index:
-      filters:
-      - exclude: "*"
diff --git a/mypy.ini b/mypy.ini
deleted file mode 100644
index 39b1b007a7..0000000000
--- a/mypy.ini
+++ /dev/null
@@ -1,16 +0,0 @@
-[mypy]
-python_version = 3.8
-plugins = numpy.typing.mypy_plugin
-files = body, common, docs, scripts, selfdrive, site_scons, system, tools
-exclude = ^(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)
-
-; third-party packages
-ignore_missing_imports = True
-
-; helpful warnings
-warn_redundant_casts = True
-warn_unreachable = True
-warn_unused_ignores = True
-
-; restrict dynamic typing
-warn_return_any = True
diff --git a/opendbc b/opendbc
index 94fff4782b..a30a6775a5 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 94fff4782be263efad10032a612b3c96a120c0b7
+Subproject commit a30a6775a5013bd42626ae7e36a1d21c9082a333
diff --git a/openpilot/__init__.py b/openpilot/__init__.py
new file mode 100644
index 0000000000..b28b04f643
--- /dev/null
+++ b/openpilot/__init__.py
@@ -0,0 +1,3 @@
+
+
+
diff --git a/openpilot/common b/openpilot/common
new file mode 120000
index 0000000000..60d3b0a6a8
--- /dev/null
+++ b/openpilot/common
@@ -0,0 +1 @@
+../common
\ No newline at end of file
diff --git a/openpilot/selfdrive b/openpilot/selfdrive
new file mode 120000
index 0000000000..e005fd0d04
--- /dev/null
+++ b/openpilot/selfdrive
@@ -0,0 +1 @@
+../selfdrive/
\ No newline at end of file
diff --git a/openpilot/system b/openpilot/system
new file mode 120000
index 0000000000..16f8cc2b23
--- /dev/null
+++ b/openpilot/system
@@ -0,0 +1 @@
+../system/
\ No newline at end of file
diff --git a/openpilot/third_party b/openpilot/third_party
new file mode 120000
index 0000000000..d838c05a86
--- /dev/null
+++ b/openpilot/third_party
@@ -0,0 +1 @@
+../third_party
\ No newline at end of file
diff --git a/openpilot/tools b/openpilot/tools
new file mode 120000
index 0000000000..4887d6e0c9
--- /dev/null
+++ b/openpilot/tools
@@ -0,0 +1 @@
+../tools
\ No newline at end of file
diff --git a/panda b/panda
index 4edd1a6021..09cd81752d 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 4edd1a602131ec2f09a604a4bd28e7d00e334458
+Subproject commit 09cd81752d1d53de4cc1c63f950dc717acc20ad8
diff --git a/poetry.lock b/poetry.lock
index 39fb78cf2a..60e1de7266 100644
--- a/poetry.lock
+++ b/poetry.lock
@@ -1,38 +1,106 @@
-[[package]]
-name = "adal"
-version = "1.2.7"
-description = "Note: This library is already replaced by MSAL Python, available here: https://pypi.org/project/msal/ .ADAL Python remains available here as a legacy. The ADAL for Python library makes it easy for python application to authenticate to Azure Active Directory (AAD) in order to access AAD protected web resources."
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-cryptography = ">=1.1.0"
-PyJWT = ">=1.0.0,<3"
-python-dateutil = ">=2.1.0,<3"
-requests = ">=2.0.0,<3"
-
-[[package]]
-name = "aenum"
-version = "3.1.11"
-description = "Advanced Enumerations (compatible with Python's stdlib Enum), NamedTuples, and NamedConstants"
-category = "dev"
-optional = false
-python-versions = "*"
+# This file is automatically @generated by Poetry 1.5.1 and should not be changed by hand.
 
 [[package]]
 name = "aiohttp"
-version = "3.8.3"
+version = "3.8.5"
 description = "Async http client/server framework (asyncio)"
-category = "dev"
 optional = false
 python-versions = ">=3.6"
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+]
 
 [package.dependencies]
 aiosignal = ">=1.1.2"
 async-timeout = ">=4.0.0a3,<5.0"
 attrs = ">=17.3.0"
-charset-normalizer = ">=2.0,<3.0"
+charset-normalizer = ">=2.0,<4.0"
 frozenlist = ">=1.1.1"
 multidict = ">=4.5,<7.0"
 yarl = ">=1.0,<2.0"
@@ -41,294 +109,230 @@ yarl = ">=1.0,<2.0"
 speedups = ["Brotli", "aiodns", "cchardet"]
 
 [[package]]
-name = "aiosignal"
-version = "1.2.0"
-description = "aiosignal: a list of registered asynchronous callbacks"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-frozenlist = ">=1.1.0"
-
-[[package]]
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-category = "dev"
-optional = false
-python-versions = "*"
-
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-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-numpy = ">=1.11.1"
-opencv-python-headless = ">=4.1.1"
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-qudida = ">=0.0.4"
-scikit-image = ">=0.16.1"
-scipy = "*"
-
-[package.extras]
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-imgaug = ["imgaug (>=0.4.0)"]
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-
-[[package]]
-name = "anyio"
-version = "3.6.2"
-description = "High level compatibility layer for multiple asynchronous event loop implementations"
-category = "dev"
+name = "aioice"
+version = "0.9.0"
+description = "An implementation of Interactive Connectivity Establishment (RFC 5245)"
 optional = false
-python-versions = ">=3.6.2"
+python-versions = ">=3.7"
+files = [
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-description = "PyTorch Extensions written by NVIDIA"
-category = "dev"
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-
-[package.source]
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-url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl"
+dnspython = ">=2.0.0"
+ifaddr = ">=0.2.0"
 
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-
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-python-versions = "*"
-
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-description = "Disable App Nap on macOS >= 10.9"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "argcomplete"
-version = "1.12.3"
-description = "Bash tab completion for argparse"
-category = "dev"
+name = "aiortc"
+version = "1.5.0"
+description = "An implementation of WebRTC and ORTC"
 optional = false
-python-versions = "*"
-
-[package.extras]
-test = ["coverage", "flake8", "pexpect", "wheel"]
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-name = "azure-mgmt-core"
-version = "1.3.2"
-description = "Microsoft Azure Management Core Library for Python"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-azure-core = ">=1.24.0,<2.0.0"
-
-[[package]]
-name = "azure-nspkg"
-version = "3.0.2"
-description = "Microsoft Azure Namespace Package [Internal]"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "azure-common-1.1.28.zip", hash = "sha256:4ac0cd3214e36b6a1b6a442686722a5d8cc449603aa833f3f0f40bda836704a3"},
+    {file = "azure_common-1.1.28-py2.py3-none-any.whl", hash = "sha256:5c12d3dcf4ec20599ca6b0d3e09e86e146353d443e7fcc050c9a19c1f9df20ad"},
+]
 
 [[package]]
 name = "azure-storage-blob"
 version = "2.1.0"
 description = "Microsoft Azure Storage Blob Client Library for Python"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "azure-storage-blob-2.1.0.tar.gz", hash = "sha256:b90323aad60f207f9f90a0c4cf94c10acc313c20b39403398dfba51f25f7b454"},
+    {file = "azure_storage_blob-2.1.0-py2.py3-none-any.whl", hash = "sha256:a8e91a51d4f62d11127c7fd8ba0077385c5b11022f0269f8a2a71b9fc36bef31"},
+]
 
 [package.dependencies]
 azure-common = ">=1.1.5"
@@ -338,9 +342,12 @@ azure-storage-common = ">=2.1,<3.0"
 name = "azure-storage-common"
 version = "2.1.0"
 description = "Microsoft Azure Storage Common Client Library for Python"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "azure-storage-common-2.1.0.tar.gz", hash = "sha256:ccedef5c67227bc4d6670ffd37cec18fb529a1b7c3a5e53e4096eb0cf23dc73f"},
+    {file = "azure_storage_common-2.1.0-py2.py3-none-any.whl", hash = "sha256:b01a491a18839b9d05a4fe3421458a0ddb5ab9443c14e487f40d16f9a1dc2fbe"},
+]
 
 [package.dependencies]
 azure-common = ">=1.1.5"
@@ -348,237 +355,316 @@ cryptography = "*"
 python-dateutil = "*"
 requests = "*"
 
-[[package]]
-name = "azure-storage-nspkg"
-version = "3.1.0"
-description = "Microsoft Azure Storage Namespace Package [Internal]"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[package.dependencies]
-azure-nspkg = ">=2.0.0"
-
 [[package]]
 name = "babel"
-version = "2.10.3"
+version = "2.12.1"
 description = "Internationalization utilities"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
-pytz = ">=2015.7"
-
-[[package]]
-name = "backcall"
-version = "0.2.0"
-description = "Specifications for callback functions passed in to an API"
-category = "dev"
-optional = false
-python-versions = "*"
-
-[[package]]
-name = "bcrypt"
-version = "4.0.1"
-description = "Modern password hashing for your software and your servers"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[package.extras]
-tests = ["pytest (>=3.2.1,!=3.3.0)"]
-typecheck = ["mypy"]
-
-[[package]]
-name = "beautifulsoup4"
-version = "4.11.1"
-description = "Screen-scraping library"
-category = "dev"
-optional = false
-python-versions = ">=3.6.0"
-
-[package.dependencies]
-soupsieve = ">1.2"
-
-[package.extras]
-html5lib = ["html5lib"]
-lxml = ["lxml"]
-
-[[package]]
-name = "bidict"
-version = "0.22.0"
-description = "The bidirectional mapping library for Python."
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[[package]]
-name = "bleach"
-version = "5.0.1"
-description = "An easy safelist-based HTML-sanitizing tool."
-category = "dev"
 optional = false
 python-versions = ">=3.7"
-
-[package.dependencies]
-six = ">=1.9.0"
-webencodings = "*"
-
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-
-[[package]]
-name = "blosc"
-version = "1.9.2"
-description = "Blosc data compressor"
-category = "dev"
-optional = false
-python-versions = "*"
+files = [
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 [[package]]
 name = "breathe"
-version = "4.34.0"
+version = "4.35.0"
 description = "Sphinx Doxygen renderer"
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be"},
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+]
 
 [package.dependencies]
 docutils = ">=0.12"
-Sphinx = ">=4.0,<5.0.0 || >5.0.0,<6"
-
-[[package]]
-name = "cachecontrol"
-version = "0.12.11"
-description = "httplib2 caching for requests"
-category = "main"
-optional = false
-python-versions = ">=3.6"
-
-[package.dependencies]
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-requests = "*"
-
-[package.extras]
-filecache = ["lockfile (>=0.9)"]
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-
-[[package]]
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-category = "main"
-optional = false
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-
-[package.extras]
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-msgpack = ["msgpack-python (>=0.5,<0.6)"]
-redis = ["redis (>=3.3.6,<4.0.0)"]
+Sphinx = ">=4.0,<5.0.0 || >5.0.0"
 
 [[package]]
 name = "carla"
-version = "0.9.13"
+version = "0.9.14"
 description = "Python API for communicating with the CARLA server."
-category = "dev"
 optional = false
 python-versions = "*"
+files = []
+
+[package.source]
+type = "url"
+url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl"
 
 [[package]]
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-version = "3.5.5"
+version = "3.6.3"
 description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
-category = "main"
 optional = false
 python-versions = "*"
+files = [
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+
+[package.dependencies]
+numpy = "*"
 
 [[package]]
 name = "certifi"
-version = "2022.9.24"
+version = "2023.7.22"
 description = "Python package for providing Mozilla's CA Bundle."
-category = "main"
 optional = false
 python-versions = ">=3.6"
+files = [
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 [[package]]
 name = "cffi"
 version = "1.15.1"
 description = "Foreign Function Interface for Python calling C code."
-category = "main"
 optional = false
 python-versions = "*"
-
-[package.dependencies]
-pycparser = "*"
-
-[[package]]
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-category = "dev"
-optional = false
-python-versions = ">=3.6.1"
-
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-category = "main"
-optional = false
-python-versions = ">=3.6.0"
-
-[package.extras]
-unicode-backport = ["unicodedata2"]
-
-[[package]]
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-description = "Cleo allows you to create beautiful and testable command-line interfaces."
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
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-
-[[package]]
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-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-colorama = {version = "*", markers = "platform_system == \"Windows\""}
-
-[[package]]
-name = "cloudpickle"
-version = "2.2.0"
-description = "Extended pickling support for Python objects"
-category = "dev"
-optional = false
-python-versions = ">=3.6"
-
-[[package]]
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-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[[package]]
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+
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 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
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@@ -586,188 +672,292 @@ humanfriendly = ">=9.1"
 [package.extras]
 cron = ["capturer (>=2.4)"]
 
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-[package.extras]
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-yaml = ["PyYAML"]
-
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 python-versions = "*"
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 [package.extras]
 all = ["flake8", "numpy", "pylint", "pytest", "pytest-cov"]
@@ -1151,9 +1361,14 @@ test = ["flake8", "pylint", "pytest", "pytest-cov"]
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 version = "2.4.0"
 description = "Effortlessly compress / decompress any RINEX file"
-category = "main"
 optional = false
 python-versions = ">=3.6"
+files = [
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+]
 
 [package.dependencies]
 importlib-resources = "*"
@@ -1167,46 +1382,33 @@ tests = ["pytest"]
 name = "hexdump"
 version = "3.3"
 description = "dump binary data to hex format and restore from there"
-category = "main"
 optional = false
 python-versions = "*"
-
-[[package]]
-name = "html5lib"
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-category = "main"
-optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
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-webencodings = "*"
-
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-all = ["chardet (>=2.2)", "genshi", "lxml"]
-chardet = ["chardet (>=2.2)"]
-genshi = ["genshi"]
-lxml = ["lxml"]
+files = [
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+]
 
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 name = "humanfriendly"
 version = "10.0"
 description = "Human friendly output for text interfaces using Python"
-category = "main"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*"
-
-[package.dependencies]
-pyreadline3 = {version = "*", markers = "sys_platform == \"win32\" and python_version >= \"3.8\""}
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+]
 
 [[package]]
 name = "hypothesis"
 version = "6.46.7"
 description = "A library for property-based testing"
-category = "dev"
 optional = false
 python-versions = ">=3.7"
+files = [
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+]
 
 [package.dependencies]
 attrs = ">=19.2.0"
@@ -1230,11 +1432,14 @@ zoneinfo = ["backports.zoneinfo (>=0.2.1)", "tzdata (>=2022.1)"]
 
 [[package]]
 name = "identify"
-version = "2.5.6"
+version = "2.5.26"
 description = "File identification library for Python"
-category = "dev"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.8"
+files = [
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+]
 
 [package.extras]
 license = ["ukkonen"]
@@ -1243,6788 +1448,2769 @@ license = ["ukkonen"]
 name = "idna"
 version = "3.4"
 description = "Internationalized Domain Names in Applications (IDNA)"
-category = "main"
 optional = false
 python-versions = ">=3.5"
+files = [
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+]
 
 [[package]]
-name = "imageio"
-version = "2.22.2"
-description = "Library for reading and writing a wide range of image, video, scientific, and volumetric data formats."
-category = "dev"
+name = "ifaddr"
+version = "0.2.0"
+description = "Cross-platform network interface and IP address enumeration library"
 optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-numpy = "*"
-pillow = ">=8.3.2"
-
-[package.extras]
-all-plugins = ["astropy", "av", "imageio-ffmpeg", "opencv-python", "psutil", "tifffile"]
-all-plugins-pypy = ["av", "imageio-ffmpeg", "psutil", "tifffile"]
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-dev = ["black", "flake8", "fsspec[github]", "invoke", "pytest", "pytest-cov"]
-docs = ["numpydoc", "pydata-sphinx-theme", "sphinx"]
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-itk = ["itk"]
-linting = ["black", "flake8"]
-opencv = ["opencv-python"]
-pyav = ["av"]
-test = ["fsspec[github]", "invoke", "pytest", "pytest-cov"]
-tifffile = ["tifffile"]
+python-versions = "*"
+files = [
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 [[package]]
 name = "imagesize"
 version = "1.4.1"
 description = "Getting image size from png/jpeg/jpeg2000/gif file"
-category = "dev"
 optional = false
 python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
-
-[[package]]
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-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
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-
-[package.extras]
-docs = ["furo", "jaraco.packaging (>=9)", "jaraco.tidelift (>=1.4)", "rst.linker (>=1.9)", "sphinx (>=3.5)"]
-perf = ["ipython"]
-testing = ["flake8 (<5)", "flufl.flake8", "importlib-resources (>=1.3)", "packaging", "pyfakefs", "pytest (>=6)", "pytest-black (>=0.3.7)", "pytest-checkdocs (>=2.4)", "pytest-cov", "pytest-enabler (>=1.3)", "pytest-flake8", "pytest-mypy (>=0.9.1)", "pytest-perf (>=0.9.2)"]
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+]
 
 [[package]]
 name = "importlib-resources"
-version = "5.10.0"
+version = "6.0.1"
 description = "Read resources from Python packages"
-category = "main"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
-zipp = {version = ">=3.1.0", markers = "python_version < \"3.10\""}
-
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-
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-category = "dev"
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-python-versions = ">=3.7"
-
-[package.dependencies]
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-python-dateutil = ">=2.5.3"
-reactivex = ">=4.0.4"
-setuptools = ">=21.0.0"
-urllib3 = ">=1.26.0"
+python-versions = ">=3.8"
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 [[package]]
 name = "iniconfig"
-version = "1.1.1"
-description = "iniconfig: brain-dead simple config-ini parsing"
-category = "dev"
+version = "2.0.0"
+description = "brain-dead simple config-ini parsing"
 optional = false
-python-versions = "*"
+python-versions = ">=3.7"
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+]
 
 [[package]]
 name = "inputs"
 version = "0.5"
 description = "Cross-platform Python support for keyboards, mice and gamepads."
-category = "dev"
 optional = false
 python-versions = "*"
+files = [
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 [[package]]
-name = "ipykernel"
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-description = "IPython Kernel for Jupyter"
-category = "dev"
-optional = false
-python-versions = ">=3.7"
-
-[package.dependencies]
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-
-[package.extras]
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-
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-category = "dev"
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-
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-
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-
-[[package]]
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-category = "dev"
+name = "ioctl-opt"
+version = "1.3"
+description = "Functions to compute fnctl.ioctl's opt argument"
 optional = false
 python-versions = "*"
+files = [
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 [[package]]
-name = "ipywidgets"
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-description = "Jupyter interactive widgets"
-category = "dev"
+name = "jinja2"
+version = "3.1.2"
+description = "A very fast and expressive template engine."
 optional = false
 python-versions = ">=3.7"
+files = [
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+python-versions = "!=3.0.*,!=3.1.*,!=3.2.*,!=3.3.*,!=3.4.*,!=3.5.*,>=2.7"
+files = [
+    {file = "sphinx_rtd_theme-1.2.2-py2.py3-none-any.whl", hash = "sha256:6a7e7d8af34eb8fc57d52a09c6b6b9c46ff44aea5951bc831eeb9245378f3689"},
+    {file = "sphinx_rtd_theme-1.2.2.tar.gz", hash = "sha256:01c5c5a72e2d025bd23d1f06c59a4831b06e6ce6c01fdd5ebfe9986c0a880fc7"},
+]
 
 [package.dependencies]
-numpy = [
-    {version = ">=1.21.2", markers = "python_version >= \"3.6\" and platform_system == \"Darwin\" and platform_machine == \"arm64\""},
-    {version = ">=1.19.3", markers = "python_version >= \"3.6\" and platform_system == \"Linux\" and platform_machine == \"aarch64\""},
-    {version = ">=1.14.5", markers = "python_version >= \"3.7\""},
-    {version = ">=1.17.3", markers = "python_version >= \"3.8\""},
-]
+docutils = "<0.19"
+sphinx = ">=1.6,<7"
+sphinxcontrib-jquery = ">=4,<5"
 
-[package.source]
-type = "url"
-url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl"
+[package.extras]
+dev = ["bump2version", "sphinxcontrib-httpdomain", "transifex-client", "wheel"]
 
 [[package]]
-name = "osmium"
-version = "3.4.1"
-description = "Python bindings for libosmium, the data processing library for OSM data"
-category = "dev"
+name = "sphinx-sitemap"
+version = "2.5.0"
+description = "Sitemap generator for Sphinx"
 optional = false
-python-versions = ">=3.6"
+python-versions = "*"
+files = [
+    {file = "sphinx-sitemap-2.5.0.tar.gz", hash = "sha256:95101f622d0d594161720cbe92a39d353efae9382f7f3563f06d150b1146fef6"},
+    {file = "sphinx_sitemap-2.5.0-py3-none-any.whl", hash = "sha256:98a7e3bb25acb467037b56f3585fc38d53d5a274542b1497393a66f71b79b125"},
+]
 
 [package.dependencies]
-requests = "*"
+sphinx = ">=1.2"
 
 [[package]]
-name = "packaging"
-version = "21.3"
-description = "Core utilities for Python packages"
-category = "main"
+name = "sphinxcontrib-applehelp"
+version = "1.0.6"
+description = "sphinxcontrib-applehelp is a Sphinx extension which outputs Apple help books"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_applehelp-1.0.6-py3-none-any.whl", hash = "sha256:c0578efa23cab5a2f3aaa8af5691b952433f4fdfaac255befd3452448e7ea4a4"},
+    {file = "sphinxcontrib_applehelp-1.0.6.tar.gz", hash = "sha256:a59274de7a952a99af36b8a5092352d9249279c0e3280b7dceaae8e15873c942"},
+]
 
 [package.dependencies]
-pyparsing = ">=2.0.2,<3.0.5 || >3.0.5"
+Sphinx = ">=5"
+
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
 
 [[package]]
-name = "pandas"
-version = "1.5.1"
-description = "Powerful data structures for data analysis, time series, and statistics"
-category = "dev"
+name = "sphinxcontrib-devhelp"
+version = "1.0.4"
+description = "sphinxcontrib-devhelp is a sphinx extension which outputs Devhelp documents"
 optional = false
-python-versions = ">=3.8"
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_devhelp-1.0.4-py3-none-any.whl", hash = "sha256:d4e20a17f78865d4096733989b5efa0d5e7743900e98e1f6ecd6f489380febc8"},
+    {file = "sphinxcontrib_devhelp-1.0.4.tar.gz", hash = "sha256:4fd751c63dc40895ac8740948f26bf1a3c87e4e441cc008672abd1cb2bc8a3d1"},
+]
 
 [package.dependencies]
-numpy = {version = ">=1.20.3", markers = "python_version < \"3.10\""}
-python-dateutil = ">=2.8.1"
-pytz = ">=2020.1"
+Sphinx = ">=5"
 
 [package.extras]
-test = ["hypothesis (>=5.5.3)", "pytest (>=6.0)", "pytest-xdist (>=1.31)"]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
 
 [[package]]
-name = "pandocfilters"
-version = "1.5.0"
-description = "Utilities for writing pandoc filters in python"
-category = "dev"
+name = "sphinxcontrib-htmlhelp"
+version = "2.0.3"
+description = "sphinxcontrib-htmlhelp is a sphinx extension which renders HTML help files"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*"
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_htmlhelp-2.0.3-py3-none-any.whl", hash = "sha256:abee4e6c5471203ad2fc40dc6a16ed99884a5d6b15a6f79c9269a7e82cf04149"},
+    {file = "sphinxcontrib_htmlhelp-2.0.3.tar.gz", hash = "sha256:14358d0f88ccf58447f2b54343cdcc0012f32de2f8d27cf934fdbc0b362f9597"},
+]
 
-[[package]]
-name = "parameterized"
-version = "0.8.1"
-description = "Parameterized testing with any Python test framework"
-category = "dev"
-optional = false
-python-versions = "*"
+[package.dependencies]
+Sphinx = ">=5"
 
 [package.extras]
-dev = ["jinja2"]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["html5lib", "pytest"]
 
 [[package]]
-name = "paramiko"
-version = "2.11.0"
-description = "SSH2 protocol library"
-category = "dev"
+name = "sphinxcontrib-jquery"
+version = "4.1"
+description = "Extension to include jQuery on newer Sphinx releases"
 optional = false
-python-versions = "*"
+python-versions = ">=2.7"
+files = [
+    {file = "sphinxcontrib-jquery-4.1.tar.gz", hash = "sha256:1620739f04e36a2c779f1a131a2dfd49b2fd07351bf1968ced074365933abc7a"},
+    {file = "sphinxcontrib_jquery-4.1-py2.py3-none-any.whl", hash = "sha256:f936030d7d0147dd026a4f2b5a57343d233f1fc7b363f68b3d4f1cb0993878ae"},
+]
 
 [package.dependencies]
-bcrypt = ">=3.1.3"
-cryptography = ">=2.5"
-pynacl = ">=1.0.1"
-six = "*"
-
-[package.extras]
-all = ["bcrypt (>=3.1.3)", "gssapi (>=1.4.1)", "invoke (>=1.3)", "pyasn1 (>=0.1.7)", "pynacl (>=1.0.1)", "pywin32 (>=2.1.8)"]
-ed25519 = ["bcrypt (>=3.1.3)", "pynacl (>=1.0.1)"]
-gssapi = ["gssapi (>=1.4.1)", "pyasn1 (>=0.1.7)", "pywin32 (>=2.1.8)"]
-invoke = ["invoke (>=1.3)"]
+Sphinx = ">=1.8"
 
 [[package]]
-name = "parso"
-version = "0.8.3"
-description = "A Python Parser"
-category = "dev"
+name = "sphinxcontrib-jsmath"
+version = "1.0.1"
+description = "A sphinx extension which renders display math in HTML via JavaScript"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.5"
+files = [
+    {file = "sphinxcontrib-jsmath-1.0.1.tar.gz", hash = "sha256:a9925e4a4587247ed2191a22df5f6970656cb8ca2bd6284309578f2153e0c4b8"},
+    {file = "sphinxcontrib_jsmath-1.0.1-py2.py3-none-any.whl", hash = "sha256:2ec2eaebfb78f3f2078e73666b1415417a116cc848b72e5172e596c871103178"},
+]
 
 [package.extras]
-qa = ["flake8 (==3.8.3)", "mypy (==0.782)"]
-testing = ["docopt", "pytest (<6.0.0)"]
+test = ["flake8", "mypy", "pytest"]
 
 [[package]]
-name = "pexpect"
-version = "4.8.0"
-description = "Pexpect allows easy control of interactive console applications."
-category = "main"
+name = "sphinxcontrib-qthelp"
+version = "1.0.5"
+description = "sphinxcontrib-qthelp is a sphinx extension which outputs QtHelp documents"
 optional = false
-python-versions = "*"
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_qthelp-1.0.5-py3-none-any.whl", hash = "sha256:962730a6ad15d21fd6760b14c9e95c00a097413595aa6ee871dd9dfa4b002a16"},
+    {file = "sphinxcontrib_qthelp-1.0.5.tar.gz", hash = "sha256:d31d1a1beaf3894866bb318fb712f1edc82687f1c06235a01e5b2c50c36d5c40"},
+]
 
 [package.dependencies]
-ptyprocess = ">=0.5"
+Sphinx = ">=5"
 
-[[package]]
-name = "pickleshare"
-version = "0.7.5"
-description = "Tiny 'shelve'-like database with concurrency support"
-category = "dev"
-optional = false
-python-versions = "*"
+[package.extras]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
 
 [[package]]
-name = "pillow"
-version = "9.2.0"
-description = "Python Imaging Library (Fork)"
-category = "main"
+name = "sphinxcontrib-serializinghtml"
+version = "1.1.7"
+description = "sphinxcontrib-serializinghtml is a sphinx extension which outputs \"serialized\" HTML files (json and pickle)"
 optional = false
-python-versions = ">=3.7"
+python-versions = ">=3.9"
+files = [
+    {file = "sphinxcontrib_serializinghtml-1.1.7-py3-none-any.whl", hash = "sha256:424164fc3a8b4355a29d5ea8b7f18199022d160c8f7b96e68bb6c50217729b87"},
+    {file = "sphinxcontrib_serializinghtml-1.1.7.tar.gz", hash = "sha256:ca31afee32e1508cff4034e258060ce2c81a3b1c49e77da60fdb61f0e7a73c22"},
+]
+
+[package.dependencies]
+Sphinx = ">=5"
 
 [package.extras]
-docs = ["furo", "olefile", "sphinx (>=2.4)", "sphinx-copybutton", "sphinx-issues (>=3.0.1)", "sphinx-removed-in", "sphinxext-opengraph"]
-tests = ["check-manifest", "coverage", "defusedxml", "markdown2", "olefile", "packaging", "pyroma", "pytest", "pytest-cov", "pytest-timeout"]
+lint = ["docutils-stubs", "flake8", "mypy"]
+test = ["pytest"]
 
 [[package]]
-name = "pillow-avif-plugin"
-version = "1.2.2"
-description = "A pillow plugin that adds avif support via libavif"
-category = "dev"
+name = "spidev"
+version = "3.6"
+description = "Python bindings for Linux SPI access through spidev"
 optional = false
 python-versions = "*"
+files = [
+    {file = "spidev-3.6-cp39-cp39-linux_armv7l.whl", hash = "sha256:280abc00a1ef7780ef62c3f294f52a2527b6c47d8c269fea98664970bcaf6da5"},
+    {file = "spidev-3.6.tar.gz", hash = "sha256:14dbc37594a4aaef85403ab617985d3c3ef464d62bc9b769ef552db53701115b"},
+]
 
 [[package]]
-name = "pipenv"
-version = "2022.10.12"
-description = "Python Development Workflow for Humans."
-category = "dev"
+name = "spidev2"
+version = "0.9.0"
+description = "Pure-python interface to Linux spidev."
 optional = false
-python-versions = ">=3.7"
+python-versions = "*"
+files = [
+    {file = "spidev2-0.9.0.tar.gz", hash = "sha256:152da2911a8660283ceac3a75dd869953379bcbcf079e5436af5aae736876086"},
+]
 
 [package.dependencies]
-certifi = "*"
-setuptools = ">=36.2.1"
-virtualenv = "*"
-virtualenv-clone = ">=0.2.5"
-
-[package.extras]
-dev = ["black", "bs4", "flake8 (>=3.3.0,<4.0)", "invoke", "parver", "sphinx", "towncrier"]
-tests = ["flaky", "mock", "pytest (>=5.0)", "pytest-timeout", "pytest-xdist"]
+ioctl-opt = "*"
 
 [[package]]
-name = "pkginfo"
-version = "1.8.3"
-description = "Query metadatdata from sdists / bdists / installed packages."
-category = "main"
+name = "sympy"
+version = "1.12"
+description = "Computer algebra system (CAS) in Python"
 optional = false
-python-versions = ">=2.7, !=3.0.*, !=3.1.*, !=3.2.*, !=3.3.*, !=3.4.*, !=3.5.*"
-
-[package.extras]
-testing = ["coverage", "nose"]
+python-versions = ">=3.8"
+files = [
+    {file = "sympy-1.12-py3-none-any.whl", hash = "sha256:c3588cd4295d0c0f603d0f2ae780587e64e2efeedb3521e46b9bb1d08d184fa5"},
+    {file = "sympy-1.12.tar.gz", hash = "sha256:ebf595c8dac3e0fdc4152c51878b498396ec7f30e7a914d6071e674d49420fb8"},
+]
 
-[[package]]
-name = "pkgutil-resolve-name"
-version = "1.3.10"
-description = "Resolve a name to an object."
-category = "main"
-optional = false
-python-versions = ">=3.6"
+[package.dependencies]
+mpmath = ">=0.19"
 
 [[package]]
-name = "platformdirs"
-version = "2.5.2"
-description = "A small Python module for determining appropriate platform-specific dirs, e.g. a \"user data dir\"."
-category = "main"
+name = "tabulate"
+version = "0.9.0"
+description = "Pretty-print tabular data"
 optional = false
 python-versions = ">=3.7"
+files = [
+    {file = "tabulate-0.9.0-py3-none-any.whl", hash = "sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f"},
+    {file = "tabulate-0.9.0.tar.gz", hash = "sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c"},
+]
 
 [package.extras]
-docs = ["furo (>=2021.7.5b38)", "proselint (>=0.10.2)", "sphinx (>=4)", "sphinx-autodoc-typehints (>=1.12)"]
-test = ["appdirs (==1.4.4)", "pytest (>=6)", "pytest-cov (>=2.7)", "pytest-mock (>=3.6)"]
+widechars = ["wcwidth"]
 
 [[package]]
-name = "plotly"
-version = "5.10.0"
-description = "An open-source, interactive data visualization library for Python"
-category = "dev"
+name = "tenacity"
+version = "8.2.2"
+description = "Retry code until it succeeds"
 optional = false
 python-versions = ">=3.6"
+files = [
+    {file = "tenacity-8.2.2-py3-none-any.whl", hash = "sha256:2f277afb21b851637e8f52e6a613ff08734c347dc19ade928e519d7d2d8569b0"},
+    {file = "tenacity-8.2.2.tar.gz", hash = "sha256:43af037822bd0029025877f3b2d97cc4d7bb0c2991000a3d59d71517c5c969e0"},
+]
 
-[package.dependencies]
-tenacity = ">=6.2.0"
+[package.extras]
+doc = ["reno", "sphinx", "tornado (>=4.5)"]
 
 [[package]]
-name = "pluggy"
-version = "1.0.0"
-description = "plugin and hook calling mechanisms for python"
-category = "dev"
+name = "timezonefinder"
+version = "6.2.0"
+description = "fast python package for finding the timezone of any point on earth (coordinates) offline"
 optional = false
-python-versions = ">=3.6"
+python-versions = ">=3.8,<4"
+files = [
+    {file = "timezonefinder-6.2.0-cp38-cp38-manylinux_2_35_x86_64.whl", hash = "sha256:06aa5926ed31687ea9eb00ab53203631f09a78f307285b4929da4ac4e2889240"},
+    {file = "timezonefinder-6.2.0.tar.gz", hash = "sha256:d41fd2650bb4221fae5a61f9c2767158f9727c4aaca95e24da86394feb704220"},
+]
+
+[package.dependencies]
+cffi = ">=1.15.1,<2"
+h3 = ">=3.7.6,<4"
+numpy = ">=1.18,<2"
+setuptools = ">=65.5"
 
 [package.extras]
-dev = ["pre-commit", "tox"]
-testing = ["pytest", "pytest-benchmark"]
+numba = ["numba (>=0.56,<1)"]
+pytz = ["pytz (>=2022.7.1)"]
 
 [[package]]
-name = "poetry"
-version = "1.2.2"
-description = "Python dependency management and packaging made easy."
-category = "main"
+name = "tqdm"
+version = "4.66.1"
+description = "Fast, Extensible Progress Meter"
 optional = false
-python-versions = ">=3.7,<4.0"
+python-versions = ">=3.7"
+files = [
+    {file = "tqdm-4.66.1-py3-none-any.whl", hash = "sha256:d302b3c5b53d47bce91fea46679d9c3c6508cf6332229aa1e7d8653723793386"},
+    {file = "tqdm-4.66.1.tar.gz", hash = "sha256:d88e651f9db8d8551a62556d3cff9e3034274ca5d66e93197cf2490e2dcb69c7"},
+]
 
 [package.dependencies]
-cachecontrol = {version = ">=0.12.9,<0.13.0", extras = ["filecache"]}
-cachy = ">=0.3.0,<0.4.0"
-cleo = ">=1.0.0a5,<2.0.0"
-crashtest = ">=0.3.0,<0.4.0"
-dulwich = ">=0.20.46,<0.21.0"
-html5lib = ">=1.0,<2.0"
-importlib-metadata = {version = ">=4.4,<5.0", markers = "python_version < \"3.10\""}
-jsonschema = ">=4.10.0,<5.0.0"
-keyring = ">=21.2.0"
-packaging = ">=20.4"
-pexpect = ">=4.7.0,<5.0.0"
-pkginfo = ">=1.5,<2.0"
-platformdirs = ">=2.5.2,<3.0.0"
-poetry-core = "1.3.2"
-poetry-plugin-export = ">=1.1.2,<2.0.0"
-requests = ">=2.18,<3.0"
-requests-toolbelt = ">=0.9.1,<0.10.0"
-shellingham = ">=1.5,<2.0"
-tomlkit = ">=0.11.1,<0.11.2 || >0.11.2,<0.11.3 || >0.11.3,<1.0.0"
-urllib3 = ">=1.26.0,<2.0.0"
-virtualenv = ">=20.4.3,<20.4.5 || >20.4.5,<20.4.6 || >20.4.6"
-xattr = {version = ">=0.9.7,<0.10.0", markers = "sys_platform == \"darwin\""}
-
-[[package]]
-name = "poetry-core"
-version = "1.3.2"
-description = "Poetry PEP 517 Build Backend"
-category = "main"
-optional = false
-python-versions = ">=3.7,<4.0"
+colorama = {version = "*", markers = "platform_system == \"Windows\""}
+
+[package.extras]
+dev = ["pytest (>=6)", "pytest-cov", "pytest-timeout", "pytest-xdist"]
+notebook = ["ipywidgets (>=6)"]
+slack = ["slack-sdk"]
+telegram = ["requests"]
 
 [[package]]
-name = "poetry-plugin-export"
-version = "1.1.2"
-description = "Poetry plugin to export the dependencies to various formats"
-category = "main"
+name = "types-atomicwrites"
+version = "1.4.5.1"
+description = "Typing stubs for atomicwrites"
 optional = false
-python-versions = ">=3.7,<4.0"
-
-[package.dependencies]
-poetry = ">=1.2.0,<2.0.0"
-poetry-core = ">=1.1.0,<2.0.0"
+python-versions = "*"
+files = [
+    {file = "types-atomicwrites-1.4.5.1.tar.gz", hash = "sha256:9e9f0923ebf93524b28bcece5a23ac8c3820f39b060df29f671936d2e4bc04bc"},
+    {file = "types_atomicwrites-1.4.5.1-py3-none-any.whl", hash = "sha256:2f1febbdc78b55453b189fa5b136dce34bab7d1d82319163d470e404aab55c83"},
+]
 
 [[package]]
-name = "portalocker"
-version = "2.6.0"
-description = "Wraps the portalocker recipe for easy usage"
-category = "dev"
+name = "types-certifi"
+version = "2021.10.8.3"
+description = "Typing stubs for certifi"
 optional = false
-python-versions = ">=3.5"
-
-[package.dependencies]
-pywin32 = {version = ">=226", markers = "platform_system == \"Windows\""}
-
-[package.extras]
-docs = ["sphinx (>=1.7.1)"]
-redis = ["redis"]
-tests = ["pytest (>=5.4.1)", "pytest-cov (>=2.8.1)", "pytest-mypy (>=0.8.0)", "pytest-timeout (>=2.1.0)", "redis", "sphinx (>=3.0.3)"]
+python-versions = "*"
+files = [
+    {file = "types-certifi-2021.10.8.3.tar.gz", hash = "sha256:72cf7798d165bc0b76e1c10dd1ea3097c7063c42c21d664523b928e88b554a4f"},
+    {file = "types_certifi-2021.10.8.3-py3-none-any.whl", hash = "sha256:b2d1e325e69f71f7c78e5943d410e650b4707bb0ef32e4ddf3da37f54176e88a"},
+]
 
 [[package]]
-name = "pprofile"
-version = "2.1.0"
-description = "Line-granularity, thread-aware deterministic and statistic pure-python profiler"
-category = "dev"
+name = "types-pycurl"
+version = "7.45.2.4"
+description = "Typing stubs for pycurl"
 optional = false
 python-versions = "*"
+files = [
+    {file = "types-pycurl-7.45.2.4.tar.gz", hash = "sha256:02c1611e7862f5ce02127746f079cd20dff511b049c7030cf24bb3d3ef41ceff"},
+    {file = "types_pycurl-7.45.2.4-py3-none-any.whl", hash = "sha256:d10efc8b71bfcd2fc4745a2f08967baa441a8c74bc6028829e5b65899affc40b"},
+]
 
 [[package]]
-name = "pre-commit"
-version = "2.20.0"
-description = "A framework for managing and maintaining multi-language pre-commit hooks."
-category = "dev"
+name = "types-pyyaml"
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-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:47ff078734a1030c48103422a99e71a7662d20258c00306546441adf689416f7"},
-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_12_i686.manylinux2010_i686.whl", hash = "sha256:687cab7f9ae18d2c146f315d0ca81e5ffe89a139b88277afa70d52f632515854"},
-    {file = "zope.interface-5.5.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_12_x86_64.manylinux2010_x86_64.whl", hash = "sha256:d80f6236b57a95eb19d5e47eb68d0296119e1eff6deaa2971ab8abe3af918420"},
-    {file = "zope.interface-5.5.0-cp39-cp39-win32.whl", hash = "sha256:9cdc4e898d3b1547d018829fd4a9f403e52e51bba24be0fbfa37f3174e1ef797"},
-    {file = "zope.interface-5.5.0-cp39-cp39-win_amd64.whl", hash = "sha256:6566b3d2657e7609cd8751bcb1eab1202b1692a7af223035a5887d64bb3a2f3b"},
-    {file = "zope.interface-5.5.0.tar.gz", hash = "sha256:700ebf9662cf8df70e2f0cb4988e078c53f65ee3eefd5c9d80cf988c4175c8e3"},
-]
+[metadata]
+lock-version = "2.0"
+python-versions = "~3.11"
+content-hash = "320aa5cc075d746403abb872211ebdaf55e9504face8dab8c9b270c71953675d"
diff --git a/pyextra/acados_template/c_templates_tera/CPPLINT.cfg b/pyextra/acados_template/c_templates_tera/CPPLINT.cfg
deleted file mode 100644
index bbd1caf057..0000000000
--- a/pyextra/acados_template/c_templates_tera/CPPLINT.cfg
+++ /dev/null
@@ -1 +0,0 @@
-exclude_files=[main, acados_solver, acados_solver_sfun, Makefile, model].*\.?
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
deleted file mode 100644
index 347446e3f4..0000000000
--- a/pyextra/acados_template/c_templates_tera/cost_y_0_fun.in.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_Y_0_COST
-#define {{ model.name }}_Y_0_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_type_0 == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_n_in(void);
-int {{ model.name }}_cost_y_0_fun_n_out(void);
-
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_0_hess_n_in(void);
-int {{ model.name }}_cost_y_0_hess_n_out(void);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_Y_0_COST
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
deleted file mode 100644
index acc99009fe..0000000000
--- a/pyextra/acados_template/c_templates_tera/cost_y_e_fun.in.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_Y_E_COST
-#define {{ model.name }}_Y_E_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_type_e == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_n_in(void);
-int {{ model.name }}_cost_y_e_fun_n_out(void);
-
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_e_hess_n_in(void);
-int {{ model.name }}_cost_y_e_hess_n_out(void);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_Y_E_COST
diff --git a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h b/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
deleted file mode 100644
index 1e03780cc1..0000000000
--- a/pyextra/acados_template/c_templates_tera/cost_y_fun.in.h
+++ /dev/null
@@ -1,69 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_Y_COST
-#define {{ model.name }}_Y_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_type == "NONLINEAR_LS" %}
-int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_n_in(void);
-int {{ model.name }}_cost_y_fun_n_out(void);
-
-int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
-const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
-int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
-
-int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
-int {{ model.name }}_cost_y_hess_n_in(void);
-int {{ model.name }}_cost_y_hess_n_out(void);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_Y_COST
diff --git a/pyextra/acados_template/c_templates_tera/external_cost.in.h b/pyextra/acados_template/c_templates_tera/external_cost.in.h
deleted file mode 100644
index d200dba45e..0000000000
--- a/pyextra/acados_template/c_templates_tera/external_cost.in.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_EXT_COST
-#define {{ model.name }}_EXT_COST
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_ext_fun_type == "casadi" %}
-{% if cost.cost_type == "EXTERNAL" %}
-int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
-{% endif %}
-
-{% else %}
-int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_EXT_COST
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h b/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
deleted file mode 100644
index 8152447e5f..0000000000
--- a/pyextra/acados_template/c_templates_tera/external_cost_0.in.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_EXT_COST_0
-#define {{ model.name }}_EXT_COST_0
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_ext_fun_type_0 == "casadi" %}
-
-{% if cost.cost_type_0 == "EXTERNAL" %}
-int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
-{% endif %}
-
-{% else %}
-int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_EXT_COST_0
diff --git a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h b/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
deleted file mode 100644
index 56485db4c7..0000000000
--- a/pyextra/acados_template/c_templates_tera/external_cost_e.in.h
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-
-#ifndef {{ model.name }}_EXT_COST_E
-#define {{ model.name }}_EXT_COST_E
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if cost.cost_ext_fun_type_e == "casadi" %}
-{% if cost.cost_type_e == "EXTERNAL" %}
-int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
-
-int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
-const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
-int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
-{% endif %}
-
-{% else %}
-int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_EXT_COST_E
diff --git a/pyextra/acados_template/c_templates_tera/h_constraint.in.h b/pyextra/acados_template/c_templates_tera/h_constraint.in.h
deleted file mode 100644
index e49176c6ef..0000000000
--- a/pyextra/acados_template/c_templates_tera/h_constraint.in.h
+++ /dev/null
@@ -1,70 +0,0 @@
-/*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
- *
- * This file is part of acados.
- *
- * The 2-Clause BSD License
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *
- * 1. Redistributions of source code must retain the above copyright notice,
- * this list of conditions and the following disclaimer.
- *
- * 2. Redistributions in binary form must reproduce the above copyright notice,
- * this list of conditions and the following disclaimer in the documentation
- * and/or other materials provided with the distribution.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
- * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
- * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
- * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
- * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
- * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
- * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
- * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
- * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
- * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.;
- */
-
-#ifndef {{ model.name }}_H_CONSTRAINT
-#define {{ model.name }}_H_CONSTRAINT
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nh > 0 %}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
-
-int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_n_in(void);
-int {{ model.name }}_constr_h_fun_n_out(void);
-
-{% if solver_options.hessian_approx == "EXACT" -%}
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
-const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
-int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
-{% endif %}
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_H_CONSTRAINT
diff --git a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h b/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
deleted file mode 100644
index dc8e293ad7..0000000000
--- a/pyextra/acados_template/c_templates_tera/phi_e_constraint.in.h
+++ /dev/null
@@ -1,21 +0,0 @@
-#ifndef {{ model.name }}_PHI_E_CONSTRAINT
-#define {{ model.name }}_PHI_E_CONSTRAINT
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-{% if dims.nphi_e > 0 %}
-int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
-int {{ model.name }}_phi_e_constraint_n_in(void);
-int {{ model.name }}_phi_e_constraint_n_out(void);
-{% endif %}
-
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
-
-#endif  // {{ model.name }}_PHI_E_CONSTRAINT
diff --git a/pyextra/acados_template/generate_c_code_constraint.py b/pyextra/acados_template/generate_c_code_constraint.py
deleted file mode 100644
index c79ddc129a..0000000000
--- a/pyextra/acados_template/generate_c_code_constraint.py
+++ /dev/null
@@ -1,180 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import *
-from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
-
-def generate_c_code_constraint( model, con_name, is_terminal, opts ):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-    # load constraint variables and expression
-    x = model.x
-    p = model.p
-
-    if isinstance(x, casadi.MX):
-        symbol = MX.sym
-    else:
-        symbol = SX.sym
-
-    if is_terminal:
-        con_h_expr = model.con_h_expr_e
-        con_phi_expr = model.con_phi_expr_e
-        # create dummy u, z
-        u = symbol('u', 0, 0)
-        z = symbol('z', 0, 0)
-    else:
-        con_h_expr = model.con_h_expr
-        con_phi_expr = model.con_phi_expr
-        u = model.u
-        z = model.z
-
-    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
-        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
-
-    if not (is_empty(con_h_expr) and is_empty(con_phi_expr)):
-        if is_empty(con_h_expr):
-            constr_type = 'BGP'
-        else:
-            constr_type = 'BGH'
-
-        if is_empty(p):
-            p = symbol('p', 0, 0)
-
-        if is_empty(z):
-            z = symbol('z', 0, 0)
-
-        if not (is_empty(con_h_expr)) and opts['generate_hess']:
-            # multipliers for hessian
-            nh = casadi_length(con_h_expr)
-            lam_h = symbol('lam_h', nh, 1)
-
-        # set up & change directory
-        code_export_dir = opts["code_export_directory"]
-        if not os.path.exists(code_export_dir):
-            os.makedirs(code_export_dir)
-
-        cwd = os.getcwd()
-        os.chdir(code_export_dir)
-        gen_dir = con_name + '_constraints'
-        if not os.path.exists(gen_dir):
-            os.mkdir(gen_dir)
-        gen_dir_location = os.path.join('.', gen_dir)
-        os.chdir(gen_dir_location)
-
-        # export casadi functions
-        if constr_type == 'BGH':
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
-            else:
-                fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
-
-            jac_ux_t = transpose(jacobian(con_h_expr, vertcat(u,x)))
-            jac_z_t = jacobian(con_h_expr, z)
-            constraint_fun_jac_tran = Function(fun_name, [x, u, z, p], \
-                    [con_h_expr, jac_ux_t, jac_z_t])
-
-            constraint_fun_jac_tran.generate(fun_name, casadi_opts)
-            if opts['generate_hess']:
-
-                if is_terminal:
-                    fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
-                else:
-                    fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
-
-                # adjoint
-                adj_ux = jtimes(con_h_expr, vertcat(u, x), lam_h, True)
-                # hessian
-                hess_ux = jacobian(adj_ux, vertcat(u, x))
-
-                adj_z = jtimes(con_h_expr, z, lam_h, True)
-                hess_z = jacobian(adj_z, z)
-
-                # set up functions
-                constraint_fun_jac_tran_hess = \
-                    Function(fun_name, [x, u, lam_h, z, p], \
-                      [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
-
-                # generate C code
-                constraint_fun_jac_tran_hess.generate(fun_name, casadi_opts)
-
-            if is_terminal:
-                fun_name = con_name + '_constr_h_e_fun'
-            else:
-                fun_name = con_name + '_constr_h_fun'
-            h_fun = Function(fun_name, [x, u, z, p], [con_h_expr])
-            h_fun.generate(fun_name, casadi_opts)
-
-        else: # BGP constraint
-            if is_terminal:
-                fun_name = con_name + '_phi_e_constraint'
-                r = model.con_r_in_phi_e
-                con_r_expr = model.con_r_expr_e
-            else:
-                fun_name = con_name + '_phi_constraint'
-                r = model.con_r_in_phi
-                con_r_expr = model.con_r_expr
-
-            nphi = casadi_length(con_phi_expr)
-            con_phi_expr_x_u_z = substitute(con_phi_expr, r, con_r_expr)
-            phi_jac_u = jacobian(con_phi_expr_x_u_z, u)
-            phi_jac_x = jacobian(con_phi_expr_x_u_z, x)
-            phi_jac_z = jacobian(con_phi_expr_x_u_z, z)
-
-            hess = hessian(con_phi_expr[0], r)[0]
-            for i in range(1, nphi):
-                hess = vertcat(hess, hessian(con_phi_expr[i], r)[0])
-
-            r_jac_u = jacobian(con_r_expr, u)
-            r_jac_x = jacobian(con_r_expr, x)
-
-            constraint_phi = \
-                Function(fun_name, [x, u, z, p], \
-                    [con_phi_expr_x_u_z, \
-                    vertcat(transpose(phi_jac_u), \
-                    transpose(phi_jac_x)), \
-                    transpose(phi_jac_z), \
-                    hess, vertcat(transpose(r_jac_u), \
-                    transpose(r_jac_x))])
-
-            constraint_phi.generate(fun_name, casadi_opts)
-
-        # change directory back
-        os.chdir(cwd)
-
-    return
diff --git a/pyextra/acados_template/generate_c_code_discrete_dynamics.py b/pyextra/acados_template/generate_c_code_discrete_dynamics.py
deleted file mode 100644
index c6a245ff81..0000000000
--- a/pyextra/acados_template/generate_c_code_discrete_dynamics.py
+++ /dev/null
@@ -1,98 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES LOSS OF USE, DATA, OR PROFITS OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-
-import os
-import casadi as ca
-from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
-
-def generate_c_code_discrete_dynamics( model, opts ):
-
-    casadi_version = ca.CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-    
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    phi = model.disc_dyn_expr
-    model_name = model.name
-    nx = casadi_length(x)
-
-    if isinstance(phi, ca.MX):
-        symbol = ca.MX.sym
-    elif isinstance(phi, ca.SX):
-        symbol = ca.SX.sym
-    else:
-        Exception("generate_c_code_disc_dyn: disc_dyn_expr must be a CasADi expression, you have type: {}".format(type(phi)))
-
-    # assume nx1 = nx !!!
-    lam = symbol('lam', nx, 1)
-
-    # generate jacobians
-    ux = ca.vertcat(u,x)
-    jac_ux = ca.jacobian(phi, ux)
-    # generate adjoint
-    adj_ux = ca.jtimes(phi, ux, lam, True)
-    # generate hessian
-    hess_ux = ca.jacobian(adj_ux, ux)
-    
-    ## change directory
-    code_export_dir = opts["code_export_directory"]
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    model_dir = model_name + '_model'
-    if not os.path.exists(model_dir):
-        os.mkdir(model_dir)
-    model_dir_location = os.path.join('.', model_dir)
-    os.chdir(model_dir_location)
-
-    # set up & generate Functions
-    fun_name = model_name + '_dyn_disc_phi_fun'
-    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
-    phi_fun.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac'
-    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
-    phi_fun_jac_ut_xt.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
-    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
-    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_opts)
-    
-    os.chdir(cwd)
diff --git a/pyextra/acados_template/generate_c_code_explicit_ode.py b/pyextra/acados_template/generate_c_code_explicit_ode.py
deleted file mode 100644
index 76e6400535..0000000000
--- a/pyextra/acados_template/generate_c_code_explicit_ode.py
+++ /dev/null
@@ -1,124 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import *
-from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning
-
-def generate_c_code_explicit_ode( model, opts ):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-
-    generate_hess = opts["generate_hess"]
-    code_export_dir = opts["code_export_directory"]
-
-    # load model
-    x = model.x
-    u = model.u
-    p = model.p
-    f_expl = model.f_expl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = x.size()[0]
-    nu = u.size()[0]
-
-    if isinstance(f_expl, casadi.MX):
-        symbol = MX.sym
-    elif isinstance(f_expl, casadi.SX):
-        symbol = SX.sym
-    else:
-        raise Exception("Invalid type for f_expl! Possible types are 'SX' and 'MX'. Exiting.")
-    ## set up functions to be exported
-    Sx = symbol('Sx', nx, nx)
-    Sp = symbol('Sp', nx, nu)
-    lambdaX = symbol('lambdaX', nx, 1)
-
-    fun_name = model_name + '_expl_ode_fun'
-
-    ## Set up functions
-    expl_ode_fun = Function(fun_name, [x, u, p], [f_expl])
-
-    vdeX = jtimes(f_expl,x,Sx)
-    vdeP = jacobian(f_expl,u) + jtimes(f_expl,x,Sp)
-
-    fun_name = model_name + '_expl_vde_forw'
-
-    expl_vde_forw = Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
-
-    adj = jtimes(f_expl, vertcat(x, u), lambdaX, True)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj = Function(fun_name, [x, lambdaX, u, p], [adj])
-
-    if generate_hess:
-        S_forw = vertcat(horzcat(Sx, Sp), horzcat(DM.zeros(nu,nx), DM.eye(nu)))
-        hess = mtimes(transpose(S_forw),jtimes(adj, vertcat(x,u), S_forw))
-        hess2 = []
-        for j in range(nx+nu):
-            for i in range(j,nx+nu):
-                hess2 = vertcat(hess2, hess[i,j])
-
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess = Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
-
-    ## generate C code
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    model_dir = model_name + '_model'
-    if not os.path.exists(model_dir):
-        os.mkdir(model_dir)
-    model_dir_location = os.path.join('.', model_dir)
-    os.chdir(model_dir_location)
-    fun_name = model_name + '_expl_ode_fun'
-    expl_ode_fun.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_expl_vde_forw'
-    expl_vde_forw.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_expl_vde_adj'
-    expl_vde_adj.generate(fun_name, casadi_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_expl_ode_hess'
-        expl_ode_hess.generate(fun_name, casadi_opts)
-    os.chdir(cwd)
-
-    return
diff --git a/pyextra/acados_template/generate_c_code_external_cost.py b/pyextra/acados_template/generate_c_code_external_cost.py
deleted file mode 100644
index 8396522619..0000000000
--- a/pyextra/acados_template/generate_c_code_external_cost.py
+++ /dev/null
@@ -1,116 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import SX, MX, Function, transpose, vertcat, horzcat, hessian, CasadiMeta
-from .utils import ALLOWED_CASADI_VERSIONS, casadi_version_warning
-
-
-def generate_c_code_external_cost(model, stage_type, opts):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int="int", casadi_real="double")
-
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-    x = model.x
-    p = model.p
-
-    if isinstance(x, MX):
-        symbol = MX.sym
-    else:
-        symbol = SX.sym
-
-    if stage_type == 'terminal':
-        suffix_name = "_cost_ext_cost_e_fun"
-        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
-        u = symbol("u", 0, 0)
-        ext_cost = model.cost_expr_ext_cost_e
-        custom_hess = model.cost_expr_ext_cost_custom_hess_e
-
-    elif stage_type == 'path':
-        suffix_name = "_cost_ext_cost_fun"
-        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_fun_jac"
-        u = model.u
-        ext_cost = model.cost_expr_ext_cost
-        custom_hess = model.cost_expr_ext_cost_custom_hess
-
-    elif stage_type == 'initial':
-        suffix_name = "_cost_ext_cost_0_fun"
-        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
-        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
-        u = model.u
-        ext_cost = model.cost_expr_ext_cost_0
-        custom_hess = model.cost_expr_ext_cost_custom_hess_0
-
-    # set up functions to be exported
-    fun_name = model.name + suffix_name
-    fun_name_hess = model.name + suffix_name_hess
-    fun_name_jac = model.name + suffix_name_jac
-
-    # generate expression for full gradient and Hessian
-    full_hess, grad = hessian(ext_cost, vertcat(u, x))
-
-    if custom_hess is not None:
-        full_hess = custom_hess
-
-    ext_cost_fun = Function(fun_name, [x, u, p], [ext_cost])
-    ext_cost_fun_jac_hess = Function(
-        fun_name_hess, [x, u, p], [ext_cost, grad, full_hess]
-    )
-    ext_cost_fun_jac = Function(
-        fun_name_jac, [x, u, p], [ext_cost, grad]
-    )
-
-    # generate C code
-    code_export_dir = opts["code_export_directory"]
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    gen_dir = model.name + '_cost'
-    if not os.path.exists(gen_dir):
-        os.mkdir(gen_dir)
-    gen_dir_location = "./" + gen_dir
-    os.chdir(gen_dir_location)
-
-    ext_cost_fun.generate(fun_name, casadi_opts)
-    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_opts)
-    ext_cost_fun_jac.generate(fun_name_jac, casadi_opts)
-
-    os.chdir(cwd)
-    return
diff --git a/pyextra/acados_template/generate_c_code_gnsf.py b/pyextra/acados_template/generate_c_code_gnsf.py
deleted file mode 100644
index 97acb8e330..0000000000
--- a/pyextra/acados_template/generate_c_code_gnsf.py
+++ /dev/null
@@ -1,131 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import *
-from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_version_warning
-
-def generate_c_code_gnsf( model, opts ):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-    model_name = model.name
-    code_export_dir = opts["code_export_directory"]
-
-    # set up directory
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    model_dir = model_name + '_model'
-    if not os.path.exists(model_dir):
-        os.mkdir(model_dir)
-    model_dir_location = os.path.join('.', model_dir)
-    os.chdir(model_dir_location)
-
-    # obtain gnsf dimensions
-    get_matrices_fun = model.get_matrices_fun
-    phi_fun = model.phi_fun
-
-    size_gnsf_A = get_matrices_fun.size_out(0)
-    gnsf_nx1 = size_gnsf_A[1]
-    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    gnsf_nuhat = max(phi_fun.size_in(1))
-    gnsf_ny = max(phi_fun.size_in(0))
-    gnsf_nout = max(phi_fun.size_out(0))
-
-    # set up expressions
-    # if the model uses MX because of cost/constraints
-    # the DAE can be exported as SX -> detect GNSF in Matlab
-    # -> evaluated SX GNSF functions with MX.
-    u = model.u
-
-    if isinstance(u, casadi.MX):
-        symbol = MX.sym
-    else:
-        symbol = SX.sym
-
-    y = symbol("y", gnsf_ny, 1)
-    uhat = symbol("uhat", gnsf_nuhat, 1)
-    p = model.p
-    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
-    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
-    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
-    dummy = symbol("gnsf_dummy", 1, 1)
-    empty_var = symbol("gnsf_empty_var", 0, 0)
-
-    ## generate C code
-    fun_name = model_name + '_gnsf_phi_fun'
-    phi_fun_ = Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
-    phi_fun_.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_gnsf_phi_fun_jac_y'
-    phi_fun_jac_y = model.phi_fun_jac_y
-    phi_fun_jac_y_ = Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
-    phi_fun_jac_y_.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
-    phi_jac_y_uhat = model.phi_jac_y_uhat
-    phi_jac_y_uhat_ = Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
-    phi_jac_y_uhat_.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
-    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
-    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
-
-    # avoid codegeneration issue
-    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
-        f_lo_fun_jac_x1k1uz_eval = [empty_var]
-
-    f_lo_fun_jac_x1k1uz_ = Function(fun_name, [x1, x1dot, z1, u, p],
-                 f_lo_fun_jac_x1k1uz_eval)
-    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_gnsf_get_matrices_fun'
-    get_matrices_fun_ = Function(fun_name, [dummy], get_matrices_fun(1))
-    get_matrices_fun_.generate(fun_name, casadi_opts)
-
-    # remove fields for json dump
-    del model.phi_fun
-    del model.phi_fun_jac_y
-    del model.phi_jac_y_uhat
-    del model.f_lo_fun_jac_x1k1uz
-    del model.get_matrices_fun
-
-    os.chdir(cwd)
-
-    return
diff --git a/pyextra/acados_template/generate_c_code_implicit_ode.py b/pyextra/acados_template/generate_c_code_implicit_ode.py
deleted file mode 100644
index f2d50b43ab..0000000000
--- a/pyextra/acados_template/generate_c_code_implicit_ode.py
+++ /dev/null
@@ -1,139 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import *
-from .utils import ALLOWED_CASADI_VERSIONS, is_empty, casadi_length, casadi_version_warning
-
-def generate_c_code_implicit_ode( model, opts ):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-    generate_hess = opts["generate_hess"]
-    code_export_dir = opts["code_export_directory"]
-
-    ## load model
-    x = model.x
-    xdot = model.xdot
-    u = model.u
-    z = model.z
-    p = model.p
-    f_impl = model.f_impl_expr
-    model_name = model.name
-
-    ## get model dimensions
-    nx = casadi_length(x)
-    nu = casadi_length(u)
-    nz = casadi_length(z)
-
-    ## generate jacobians
-    jac_x       = jacobian(f_impl, x)
-    jac_xdot    = jacobian(f_impl, xdot)
-    jac_u       = jacobian(f_impl, u)
-    jac_z       = jacobian(f_impl, z)
-
-    ## generate hessian
-    x_xdot_z_u = vertcat(x, xdot, z, u)
-
-    if isinstance(x, casadi.MX):
-        symbol = MX.sym
-    else:
-        symbol = SX.sym
-
-    multiplier  = symbol('multiplier', nx + nz)
-
-    ADJ = jtimes(f_impl, x_xdot_z_u, multiplier, True)
-    HESS = jacobian(ADJ, x_xdot_z_u)
-
-    ## Set up functions
-    p = model.p
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun = Function(fun_name, [x, xdot, u, z, p], [f_impl])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    # fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    # impl_dae_fun_jac_x_xdot = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
-
-    # fun_name = model_name + '_impl_dae_jac_x_xdot_u'
-    # impl_dae_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u = Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z = Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
-
-
-    fun_name = model_name + '_impl_dae_hess'
-    impl_dae_hess = Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
-
-    # generate C code
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    model_dir = model_name + '_model'
-    if not os.path.exists(model_dir):
-        os.mkdir(model_dir)
-    model_dir_location = os.path.join('.', model_dir)
-    os.chdir(model_dir_location)
-
-    fun_name = model_name + '_impl_dae_fun'
-    impl_dae_fun.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
-    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
-    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
-    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_opts)
-
-    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
-    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_opts)
-
-    if generate_hess:
-        fun_name = model_name + '_impl_dae_hess'
-        impl_dae_hess.generate(fun_name, casadi_opts)
-
-    os.chdir(cwd)
diff --git a/pyextra/acados_template/generate_c_code_nls_cost.py b/pyextra/acados_template/generate_c_code_nls_cost.py
deleted file mode 100644
index ffcd78ca7b..0000000000
--- a/pyextra/acados_template/generate_c_code_nls_cost.py
+++ /dev/null
@@ -1,113 +0,0 @@
-#
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
-#
-# This file is part of acados.
-#
-# The 2-Clause BSD License
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions are met:
-#
-# 1. Redistributions of source code must retain the above copyright notice,
-# this list of conditions and the following disclaimer.
-#
-# 2. Redistributions in binary form must reproduce the above copyright notice,
-# this list of conditions and the following disclaimer in the documentation
-# and/or other materials provided with the distribution.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
-# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
-# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
-# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
-# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
-# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
-# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.;
-#
-
-import os
-from casadi import *
-from .utils import ALLOWED_CASADI_VERSIONS, casadi_length, casadi_version_warning
-
-def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
-
-    casadi_version = CasadiMeta.version()
-    casadi_opts = dict(mex=False, casadi_int='int', casadi_real='double')
-
-    if casadi_version not in (ALLOWED_CASADI_VERSIONS):
-        casadi_version_warning(casadi_version)
-
-    x = model.x
-    p = model.p
-
-    if isinstance(x, casadi.MX):
-        symbol = MX.sym
-    else:
-        symbol = SX.sym
-
-    if stage_type == 'terminal':
-        middle_name = '_cost_y_e'
-        u = symbol('u', 0, 0)
-        cost_expr = model.cost_y_expr_e
-
-    elif stage_type == 'initial':
-        middle_name = '_cost_y_0'
-        u = model.u
-        cost_expr = model.cost_y_expr_0
-
-    elif stage_type == 'path':
-        middle_name = '_cost_y'
-        u = model.u
-        cost_expr = model.cost_y_expr
-
-    # set up directory
-    code_export_dir = opts["code_export_directory"]
-    if not os.path.exists(code_export_dir):
-        os.makedirs(code_export_dir)
-
-    cwd = os.getcwd()
-    os.chdir(code_export_dir)
-    gen_dir = cost_name + '_cost'
-    if not os.path.exists(gen_dir):
-        os.mkdir(gen_dir)
-    gen_dir_location = os.path.join('.', gen_dir)
-    os.chdir(gen_dir_location)
-
-    # set up expressions
-    cost_jac_expr = transpose(jacobian(cost_expr, vertcat(u, x)))
-
-    ny = casadi_length(cost_expr)
-
-    y = symbol('y', ny, 1)
-
-    y_adj = jtimes(cost_expr, vertcat(u, x), y, True)
-    y_hess = jacobian(y_adj, vertcat(u, x))
-
-    ## generate C code
-    suffix_name = '_fun'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun = Function( fun_name, [x, u, p], \
-            [ cost_expr ])
-    y_fun.generate( fun_name, casadi_opts )
-
-    suffix_name = '_fun_jac_ut_xt'
-    fun_name = cost_name + middle_name + suffix_name
-    y_fun_jac_ut_xt = Function(fun_name, [x, u, p], \
-            [ cost_expr, cost_jac_expr ])
-    y_fun_jac_ut_xt.generate( fun_name, casadi_opts )
-
-    suffix_name = '_hess'
-    fun_name = cost_name + middle_name + suffix_name
-    y_hess = Function(fun_name, [x, u, y, p], [ y_hess ])
-    y_hess.generate( fun_name, casadi_opts )
-
-    os.chdir(cwd)
-
-    return
-
diff --git a/pyproject.toml b/pyproject.toml
index d26fc7ff1d..b5d03e9b4d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,3 +1,40 @@
+[tool.pytest.ini_options]
+minversion = "6.0"
+addopts = "--ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/"
+python_files = "test_*.py"
+timeout = "30"  # you get this long by default
+
+[tool.mypy]
+python_version = "3.11"
+plugins = [
+  "numpy.typing.mypy_plugin",
+]
+exclude = [
+  "body/",
+  "cereal/",
+  "opendbc/",
+  "panda/",
+  "laika/",
+  "laika_repo/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "third_party/",
+]
+
+# third-party packages
+ignore_missing_imports=true
+
+# helpful warnings
+warn_redundant_casts=true
+warn_unreachable=true
+warn_unused_ignores=true
+
+# restrict dynamic typing
+warn_return_any=true
+
+
 [tool.poetry]
 name = "openpilot"
 version = "0.1.0"
@@ -10,171 +47,113 @@ documentation = "https://docs.comma.ai"
 
 
 [tool.poetry.dependencies]
-python = "~3.8"
-atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", markers = "platform_system != 'Darwin'" }
-cffi = "^1.15.1"
-crcmod = "^1.7"
-cryptography = "^37.0.4"
-Cython = "^0.29.30"
-flake8 = "^4.0.1"
-Flask = "^2.1.2"
-future-fstrings = "^1.2.0"  # for acados
-gunicorn = "^20.1.0"
+python = "~3.11"
+atomicwrites = "*"
+aiohttp = "*"
+aiortc = "*"
+casadi = "==3.6.3"
+cffi = "*"
+control = "*"
+crcmod = "*"
+cryptography = "*"
+Cython = "*"
+future-fstrings = "*"  # for acados
 hatanaka = "==2.4"
-hexdump = "^3.3"
-Jinja2 = "^3.1.2"
-json-rpc = "^1.13.0"
-libusb1 = "^3.0.0"
-nose = "^1.3.7"
-numpy = "^1.23.0"
-onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", markers = "platform_system != 'Darwin'" }
-pillow = "^9.2.0"
-poetry = "==1.2.2"
-protobuf = "==3.20.1"
-psutil = "^5.9.1"
-pycapnp = "==1.1.0"
-pycryptodome = "^3.15.0"
-PyJWT = "^2.5.0"
-pylint = "^2.15.4"
-pyopencl = "^2022.2.4"
-pyserial = "^3.5"
-python-dateutil = "^2.8.2"
-PyYAML = "^6.0"
-pyzmq = "^23.2.0"
-requests = "^2.28.1"
-scons = "^4.3.0"
-sentry-sdk = "^1.6.0"
-setproctitle = "^1.2.3"
-six = "^1.16.0"
-smbus2 = "^0.4.2"
-sounddevice = "^0.4.5"
-sympy = "^1.10.1"
-timezonefinder = "^6.0.1"
-tqdm = "^4.64.0"
-urllib3 = "^1.26.10"
-utm = "^0.7.0"
-websocket_client = "^1.3.3"
-spidev = "^3.6"
+hexdump = "*"
+Jinja2 = "*"
+json-rpc = "*"
+libusb1 = "*"
+numpy = "*"
+onnx = ">=1.14.0"
+onnxruntime-gpu = { version = ">=1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+pillow = "*"
+psutil = "*"
+pyaudio = "*"
+pycapnp = "*"
+pycryptodome = "*"
+pydub = "*"
+PyJWT = "*"
+pyopencl = "*"
+pyserial = "*"
+PyYAML = "*"
+pyzmq = "*"
+requests = "*"
+scons = "*"
+sentry-sdk = "==1.28.1"  # needs to be updated with AGNOS
+setproctitle = "*"
+smbus2 = "*"
+sounddevice = "*"
+spidev = { version = "*", platform = "linux" }
+spidev2 = { version = "*", platform = "linux" }
+sympy = "*"
+timezonefinder = "*"
+tqdm = "*"
+urllib3 = "*"
+websocket_client = "*"
+polyline = "*"
+sconscontrib = {git = "https://github.com/SCons/scons-contrib.git"}
 
 
 [tool.poetry.group.dev.dependencies]
-av = "^9.2.0"
+av = "*"
 azure-storage-blob = "~2.1"
-breathe = "^4.34.0"
-carla = "==0.9.13"
-control = "^0.9.2"
-coverage = "^6.4.1"
-dictdiffer = "^0.9.0"
-fastcluster = "^1.2.6"
-ft4222 = "^1.4.1"
-hexdump = "^3.3"
+breathe = "*"
+carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla-0.9.14-cp311-cp311-linux_x86_64.whl", platform = "linux", markers = "platform_machine == 'x86_64'" }
+coverage = "*"
+dictdiffer = "*"
+ft4222 = "*"
 hypothesis = "==6.46.7"
-inputs = "^0.5"
-lru-dict = "^1.1.7"
-lxml = "^4.9.1"
-markdown-it-py = "^2.1.0"
-matplotlib = "^3.5.2"
-mpld3 = "^0.5.8"
-mypy = "^0.961"
-myst-parser = "^0.18.0"
-natsort = "^8.1.0"
-numpy = "^1.23.0"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
-pandas = "^1.4.3"
-parameterized = "^0.8.1"
-paramiko = "^2.11.0"
-pprofile = "^2.1.0"
-pre-commit = "^2.19.0"
-pycurl = "^7.45.1"
-pygame = "^2.1.2"
-pyprof2calltree = "^1.4.5"
-pytest = "^7.1.2"
-pytest-xdist = "^2.5.0"
-reverse_geocoder = "^1.5.1"
-scipy = "^1.8.1"
-sphinx = "^5.0.2"
-sphinx-rtd-theme = "^1.0.0"
-sphinx-sitemap = "^2.2.0"
-subprocess32 = "^3.5.4"
-tabulate = "^0.8.10"
-tenacity = "^8.0.1"
-types-atomicwrites = "^1.4.5"
-types-certifi = "^2021.10.8"
-types-pycurl = "^7.45.1"
-types-PyYAML = "^6.0"
-types-requests = "^2.28.11"
-
-
-[tool.poetry.group.xx]
-optional = true
-
-[tool.poetry.group.xx.dependencies]
-aenum = "^3.1.11"
-aiohttp = "^3.8.1"
-albumentations = "^1.2.1"
-apex = { url = "https://github.com/commaai/apex/releases/download/pytorch1.10.0%2Bcu11.1/apex-0.1-cp38-cp38-linux_x86_64.whl" }
-azure-cli-core = "^2.38.0"
-azure-common = "^1.1.28"
-azure-core = "^1.24.2"
-azure-nspkg = "~3.0"
-azure-storage-blob = "~2.1"
-azure-storage-common = "~2.1"
-azure-storage-nspkg = "~3.1"
-blosc = "==1.9.2"
-cloudpickle = "^2.1.0"
-configargparse = "^1.5.3"
-cupy-cuda113 = "^10.6.0"
-datadog = "^0.44.0"
-dotmap = "^1.3.30"
-einops = "^0.5.0"
-elasticsearch = "^8.3.1"
-Flask-Cors = "^3.0.10"
-Flask-SocketIO = "^5.2.0"
-GeoAlchemy2 = "^0.12.1"
-imageio = "^2.19.5"
-influxdb-client = "^1.30.0"
-ipykernel = "^6.15.1"
-ipython = "^8.4.0"
-joblib = "^1.1.0"
-json-logging-py = "^0.2"
-jupyter = "^1.0.0"
-jupyterlab = "^3.4.4"
-jupyterlab-vim = "^0.15.1"
-Markdown = "^3.4.1"
-mpld3 = "^0.5.8"
-msgpack-python = "^0.5.6"
-networkx = "~2.3"
-nvidia-ml-py3 = "^7.352.0"
-onnx2torch = "^1.5.4"
-onnxoptimizer = "^0.3.1"
-opencv-python-headless = { url = "https://github.com/commaai/opencv-python-builder/releases/download/4.5.5.64%2Bcu113/opencv_python_headless-4.5.5.64-cp38-cp38-manylinux_2_31_x86_64.whl" }
-osmium = "^3.3.0"
-pandas = "^1.4.3"
-pillow-avif-plugin = "^1.2.2"
-pipenv = "==2022.10.12"
-plotly = "^5.9.0"
-pycuda = "^2022.1"
-Pygments = "^2.12.0"
-PyMySQL = "~0.9"
-pyproj = "^3.3.1"
-python-logstash = "^0.4.8"
-redis = "^4.3.4"
-s2sphere = "^0.2.5"
-scikit-image = "^0.19.3"
-scikit-learn = "^1.1.1"
-segmentation-models-pytorch = "==0.2.1"
-simplejson = "^3.17.6"
-SQLAlchemy = "^1.4.39"
-torch = { url = "https://download.pytorch.org/whl/cu113/torch-1.11.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
-torchsummary = "^1.5.1"
-torchvision = { url = "https://download.pytorch.org/whl/cu113/torchvision-0.12.0%2Bcu113-cp38-cp38-linux_x86_64.whl" }
-triton = "^1.1.1"
-Werkzeug = "^2.1.2"
-zerorpc = { git = "https://github.com/commaai/zerorpc-python.git", branch = "master" }
+inputs = "*"
+lru-dict = "*"
+markdown-it-py = "*"
+matplotlib = "*"
+mpld3 = "*"
+mypy = "*"
+myst-parser = "*"
+natsort = "*"
+opencv-python-headless = "*"
+pandas = "*"
+parameterized = "^0.8"
+pprofile = "*"
+pre-commit = "*"
+pycurl = "*"
+pygame = "*"
+pyprof2calltree = "*"
+pytest = "*"
+pytest-cov = "*"
+pytest-subtests = "*"
+pytest-xdist = "*"
+scipy = "*"
+sphinx = "*"
+sphinx-rtd-theme = "*"
+sphinx-sitemap = "*"
+tabulate = "*"
+tenacity = "*"
+types-atomicwrites = "*"
+types-certifi = "*"
+types-pycurl = "*"
+types-PyYAML = "*"
+types-requests = "*"
+types-tabulate = "*"
+pyqt5 = { version = "*", markers = "platform_machine == 'x86_64'" } # no aarch64 wheels for macOS/linux
 
 
 [build-system]
 requires = ["poetry-core"]
 build-backend = "poetry.core.masonry.api"
+
+# https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
+[tool.ruff]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
+line-length = 160
+target-version="py311"
+exclude = [
+  "panda",
+  "opendbc",
+  "laika_repo",
+  "rednose_repo",
+  "tinygrad_repo",
+  "third_party",
+]
+flake8-implicit-str-concat.allow-multiline=false
diff --git a/rednose_repo b/rednose_repo
index 3b6bd703b7..22f02dd650 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd
+Subproject commit 22f02dd650361e091f09f1ae94c5c96a9419c2d4
diff --git a/release/build_devel.sh b/release/build_devel.sh
index 668ac0de19..ca04c56f1e 100755
--- a/release/build_devel.sh
+++ b/release/build_devel.sh
@@ -44,9 +44,6 @@ git clean -xdff
 echo "[-] copying files T=$SECONDS"
 cd $SOURCE_DIR
 cp -pR --parents $(cat release/files_*) $TARGET_DIR/
-if [ ! -z "$EXTRA_FILES" ]; then
-  cp -pR --parents $EXTRA_FILES $TARGET_DIR/
-fi
 
 # in the directory
 cd $TARGET_DIR
diff --git a/release/build_release.sh b/release/build_release.sh
index 80106eefb2..b713876cd6 100755
--- a/release/build_release.sh
+++ b/release/build_release.sh
@@ -11,15 +11,19 @@ SOURCE_DIR="$(git rev-parse --show-toplevel)"
 
 if [ -f /TICI ]; then
   FILES_SRC="release/files_tici"
-  RELEASE_BRANCH=release3-staging
-  DASHCAM_BRANCH=dashcam3-staging
 else
-  exit 0
+  echo "no release files set"
+  exit 1
 fi
 
+if [ -z "$RELEASE_BRANCH" ]; then
+  echo "RELEASE_BRANCH is not set"
+  exit 1
+fi
+
+
 # set git identity
 source $DIR/identity.sh
-export GIT_SSH_COMMAND="ssh -i /data/gitkey"
 
 echo "[-] Setting up repo T=$SECONDS"
 rm -rf $BUILD_DIR
@@ -27,7 +31,6 @@ mkdir -p $BUILD_DIR
 cd $BUILD_DIR
 git init
 git remote add origin git@github.com:commaai/openpilot.git
-git fetch origin $RELEASE_BRANCH
 git checkout --orphan $RELEASE_BRANCH
 
 # do the files copy
@@ -48,19 +51,14 @@ echo "#define COMMA_VERSION \"$VERSION-release\"" > common/version.h
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
-git branch --set-upstream-to=origin/$RELEASE_BRANCH
-
-# Build panda firmware
-pushd panda/
-CERT=/data/pandaextra/certs/release RELEASE=1 scons -u .
-mv board/obj/panda.bin.signed /tmp/panda.bin.signed
-mv board/obj/panda_h7.bin.signed /tmp/panda_h7.bin.signed
-popd
 
 # Build
 export PYTHONPATH="$BUILD_DIR"
 scons -j$(nproc)
 
+# release panda fw
+CERT=/data/pandaextra/certs/release RELEASE=1 scons -j$(nproc) panda/
+
 # Ensure no submodules in release
 if test "$(git submodule--helper list | wc -l)" -gt "0"; then
   echo "submodules found:"
@@ -76,15 +74,9 @@ find . -name '*.os' -delete
 find . -name '*.pyc' -delete
 find . -name 'moc_*' -delete
 find . -name '__pycache__' -delete
-rm -rf panda/board panda/certs panda/crypto
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/supercombo.onnx
 
-# Move back signed panda fw
-mkdir -p panda/board/obj
-mv /tmp/panda.bin.signed panda/board/obj/panda.bin.signed
-mv /tmp/panda_h7.bin.signed panda/board/obj/panda_h7.bin.signed
-
 # Restore third_party
 git checkout third_party/
 
@@ -105,10 +97,12 @@ RELEASE=1 selfdrive/test/test_onroad.py
 selfdrive/car/tests/test_car_interfaces.py
 rm -rf $TEST_FILES
 
-if [ ! -z "$PUSH" ]; then
-  echo "[-] pushing T=$SECONDS"
-  git push -f origin $RELEASE_BRANCH
+if [ ! -z "$RELEASE_BRANCH" ]; then
+  echo "[-] pushing release T=$SECONDS"
+  git push -f origin $RELEASE_BRANCH:$RELEASE_BRANCH
+fi
 
+if [ ! -z "$DASHCAM_BRANCH" ]; then
   # Create dashcam
   git rm selfdrive/car/*/carcontroller.py
   git commit -m "create dashcam release from release"
diff --git a/release/check-submodules.sh b/release/check-submodules.sh
index 182042e6b4..5f4e307e49 100755
--- a/release/check-submodules.sh
+++ b/release/check-submodules.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 while read hash submodule ref; do
-  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule fetch --depth 1000 origin master
   git -C $submodule branch -r --contains $hash | grep "origin/master"
   if [ "$?" -eq 0 ]; then
     echo "$submodule ok"
diff --git a/release/files_common b/release/files_common
index 297a7a808e..f9acce8852 100644
--- a/release/files_common
+++ b/release/files_common
@@ -15,12 +15,14 @@ docs/INTEGRATION.md
 docs/LIMITATIONS.md
 site_scons/site_tools/cython.py
 
+openpilot/__init__.py
+openpilot/**
+
 common/.gitignore
 common/__init__.py
 common/conversions.py
 common/gpio.py
 common/realtime.py
-common/clock.pyx
 common/timeout.py
 common/ffi_wrapper.py
 common/file_helpers.py
@@ -35,6 +37,7 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
+common/time.py
 
 common/kalman/.gitignore
 common/kalman/*
@@ -59,6 +62,7 @@ release/*
 
 tools/__init__.py
 tools/lib/*
+tools/bodyteleop/*
 tools/joystick/*
 tools/replay/*.cc
 tools/replay/*.h
@@ -146,6 +150,7 @@ selfdrive/debug/vw_mqb_config.py
 common/SConscript
 common/version.h
 
+common/prefix.h
 common/swaglog.h
 common/swaglog.cc
 common/statlog.h
@@ -157,6 +162,8 @@ common/clutil.cc
 common/clutil.h
 common/params.h
 common/params.cc
+common/ratekeeper.cc
+common/ratekeeper.h
 common/watchdog.cc
 common/watchdog.h
 
@@ -180,7 +187,6 @@ selfdrive/controls/lib/desire_helper.py
 selfdrive/controls/lib/drive_helpers.py
 selfdrive/controls/lib/events.py
 selfdrive/controls/lib/latcontrol_angle.py
-selfdrive/controls/lib/latcontrol_indi.py
 selfdrive/controls/lib/latcontrol_torque.py
 selfdrive/controls/lib/latcontrol_pid.py
 selfdrive/controls/lib/latcontrol.py
@@ -188,11 +194,8 @@ selfdrive/controls/lib/lateral_planner.py
 selfdrive/controls/lib/longcontrol.py
 selfdrive/controls/lib/longitudinal_planner.py
 selfdrive/controls/lib/pid.py
-selfdrive/controls/lib/radar_helpers.py
 selfdrive/controls/lib/vehicle_model.py
 
-selfdrive/controls/lib/cluster/*
-
 selfdrive/controls/lib/lateral_mpc_lib/.gitignore
 selfdrive/controls/lib/longitudinal_mpc_lib/.gitignore
 selfdrive/controls/lib/lateral_mpc_lib/*
@@ -220,19 +223,16 @@ system/hardware/pc/__init__.py
 system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py
 
+system/ubloxd/.gitignore
+system/ubloxd/SConscript
+system/ubloxd/generated/*
+system/ubloxd/*.h
+system/ubloxd/*.cc
+
 selfdrive/locationd/__init__.py
-selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript
-selfdrive/locationd/ubloxd.cc
-selfdrive/locationd/ublox_msg.cc
-selfdrive/locationd/ublox_msg.h
-selfdrive/locationd/generated/ubx.cpp
-selfdrive/locationd/generated/ubx.h
-selfdrive/locationd/generated/gps.cpp
-selfdrive/locationd/generated/gps.h
-
+selfdrive/locationd/.gitignore
 selfdrive/locationd/laikad.py
-selfdrive/locationd/laikad_helpers.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
@@ -258,45 +258,47 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
-selfdrive/loggerd/.gitignore
-selfdrive/loggerd/SConscript
-selfdrive/loggerd/encoder/encoder.cc
-selfdrive/loggerd/encoder/encoder.h
-selfdrive/loggerd/encoder/v4l_encoder.cc
-selfdrive/loggerd/encoder/v4l_encoder.h
-selfdrive/loggerd/video_writer.cc
-selfdrive/loggerd/video_writer.h
-selfdrive/loggerd/logger.cc
-selfdrive/loggerd/logger.h
-selfdrive/loggerd/loggerd.cc
-selfdrive/loggerd/loggerd.h
-selfdrive/loggerd/encoderd.cc
-selfdrive/loggerd/bootlog.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.h
-
-selfdrive/loggerd/__init__.py
-selfdrive/loggerd/config.py
-selfdrive/loggerd/uploader.py
-selfdrive/loggerd/deleter.py
-selfdrive/loggerd/xattr_cache.py
-
-selfdrive/sensord/SConscript
-selfdrive/sensord/libdiag.h
-selfdrive/sensord/sensors_qcom2.cc
-selfdrive/sensord/sensors/*.cc
-selfdrive/sensord/sensors/*.h
-selfdrive/sensord/sensord
-selfdrive/sensord/pigeond.py
+system/loggerd/.gitignore
+system/loggerd/SConscript
+system/loggerd/encoder/encoder.cc
+system/loggerd/encoder/encoder.h
+system/loggerd/encoder/v4l_encoder.cc
+system/loggerd/encoder/v4l_encoder.h
+system/loggerd/video_writer.cc
+system/loggerd/video_writer.h
+system/loggerd/logger.cc
+system/loggerd/logger.h
+system/loggerd/loggerd.cc
+system/loggerd/loggerd.h
+system/loggerd/encoderd.cc
+system/loggerd/bootlog.cc
+system/loggerd/encoder/ffmpeg_encoder.cc
+system/loggerd/encoder/ffmpeg_encoder.h
+
+system/loggerd/__init__.py
+system/loggerd/config.py
+system/loggerd/uploader.py
+system/loggerd/deleter.py
+system/loggerd/xattr_cache.py
+
+system/sensord/.gitignore
+system/sensord/SConscript
+system/sensord/sensors_qcom2.cc
+system/sensord/sensors/*.cc
+system/sensord/sensors/*.h
+system/sensord/sensord
+system/sensord/pigeond.py
 
 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
+selfdrive/test/fuzzy_generation.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
+selfdrive/test/test_time_to_onroad.py
 
 selfdrive/ui/.gitignore
 selfdrive/ui/SConscript
@@ -323,12 +325,17 @@ selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
+selfdrive/ui/qt/setup/*.cc
+selfdrive/ui/qt/setup/*.h
+
+selfdrive/ui/installer/*.cc
+selfdrive/ui/installer/*.h
+selfdrive/ui/installer/*.cc
 
 system/camerad/SConscript
 system/camerad/main.cc
 
 system/camerad/snapshot/*
-system/camerad/include/*
 system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h
@@ -347,6 +354,7 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py
 
+selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
@@ -357,6 +365,10 @@ selfdrive/modeld/modeld
 selfdrive/modeld/navmodeld
 selfdrive/modeld/dmonitoringmodeld
 
+selfdrive/modeld/models/__init__.py
+selfdrive/modeld/models/*.pxd
+selfdrive/modeld/models/*.pyx
+
 selfdrive/modeld/models/commonmodel.cc
 selfdrive/modeld/models/commonmodel.h
 
@@ -384,7 +396,10 @@ selfdrive/modeld/thneed/thneed.h
 selfdrive/modeld/thneed/thneed_common.cc
 selfdrive/modeld/thneed/thneed_qcom2.cc
 selfdrive/modeld/thneed/serialize.cc
-selfdrive/modeld/thneed/include/*
+
+selfdrive/modeld/runners/__init__.py
+selfdrive/modeld/runners/*.pxd
+selfdrive/modeld/runners/*.pyx
 
 selfdrive/modeld/runners/snpemodel.cc
 selfdrive/modeld/runners/snpemodel.h
@@ -396,9 +411,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
+selfdrive/navd/.gitignore
 selfdrive/navd/__init__.py
-selfdrive/navd/navd.py
-selfdrive/navd/helpers.py
+selfdrive/navd/**
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
@@ -411,7 +426,9 @@ selfdrive/assets/images/*
 selfdrive/assets/offroad/*
 selfdrive/assets/sounds/*
 selfdrive/assets/training/*
+selfdrive/assets/navigation/*
 
+third_party/.gitignore
 third_party/SConscript
 
 third_party/linux/**
@@ -427,24 +444,20 @@ third_party/kaitai/*.h
 third_party/kaitai/*.cpp
 
 third_party/libyuv/include/**
-third_party/libyuv/lib/**
-third_party/libyuv/larch64/**
 
 third_party/snpe/include/**
 third_party/snpe/dsp**
 
-third_party/acados/x86_64/**
-third_party/acados/larch64/**
+third_party/acados/.gitignore
 third_party/acados/include/**
+third_party/acados/acados_template/**
 
+third_party/bootstrap/**
 third_party/qt5/larch64/bin/**
 
 scripts/update_now.sh
 scripts/stop_updater.sh
 
-pyextra/.gitignore
-pyextra/acados_template/**
-
 rednose/.gitignore
 rednose/**
 laika/**
@@ -465,6 +478,7 @@ body/crypto/**
 cereal/.gitignore
 cereal/__init__.py
 cereal/car.capnp
+cereal/custom.capnp
 cereal/legacy.capnp
 cereal/log.capnp
 cereal/services.py
@@ -474,6 +488,10 @@ cereal/logger/logger.h
 cereal/messaging/.gitignore
 cereal/messaging/__init__.py
 cereal/messaging/bridge.cc
+cereal/messaging/event.cc
+cereal/messaging/event.h
+cereal/messaging/impl_fake.cc
+cereal/messaging/impl_fake.h
 cereal/messaging/impl_msgq.cc
 cereal/messaging/impl_msgq.h
 cereal/messaging/impl_zmq.cc
@@ -556,10 +574,11 @@ opendbc/hyundai_kia_mando_front_radar_generated.dbc
 
 opendbc/mazda_2017.dbc
 
-opendbc/nissan_x_trail_2017.dbc
-opendbc/nissan_leaf_2018.dbc
+opendbc/nissan_x_trail_2017_generated.dbc
+opendbc/nissan_leaf_2018_generated.dbc
 
 opendbc/subaru_global_2017_generated.dbc
+opendbc/subaru_global_2020_hybrid_generated.dbc
 opendbc/subaru_outback_2015_generated.dbc
 opendbc/subaru_outback_2019_generated.dbc
 opendbc/subaru_forester_2017_generated.dbc
@@ -578,16 +597,13 @@ opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc
 
 tinygrad_repo/openpilot/compile.py
-tinygrad_repo/accel/opencl/*
 tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/onnx_ops.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
-tinygrad_repo/tinygrad/llops/ops_gpu.py
-tinygrad_repo/tinygrad/llops/ops_opencl.py
-tinygrad_repo/tinygrad/helpers.py
-tinygrad_repo/tinygrad/mlops.py
-tinygrad_repo/tinygrad/ops.py
-tinygrad_repo/tinygrad/shapetracker.py
-tinygrad_repo/tinygrad/tensor.py
-tinygrad_repo/tinygrad/nn/__init__.py
-tinygrad_repo/tinygrad/nn/optim.py
+tinygrad_repo/tinygrad/codegen/ast.py
+tinygrad_repo/tinygrad/codegen/gpu.py
+tinygrad_repo/tinygrad/nn/*
+tinygrad_repo/tinygrad/runtime/ops_gpu.py
+tinygrad_repo/tinygrad/shape/*
+tinygrad_repo/tinygrad/*.py
diff --git a/release/files_pc b/release/files_pc
index 01ecae4327..a331a45c0f 100644
--- a/release/files_pc
+++ b/release/files_pc
@@ -2,6 +2,7 @@ selfdrive/modeld/runners/onnx*
 
 third_party/mapbox-gl-native-qt/x86_64/*.so
 
-third_party/libyuv/x64/**
+third_party/libyuv/x86_64/**
 third_party/snpe/x86_64/**
 third_party/snpe/x86_64-linux-clang/**
+third_party/acados/x86_64/**
diff --git a/release/files_tici b/release/files_tici
index c8abd720d5..ab49de34f6 100644
--- a/release/files_tici
+++ b/release/files_tici
@@ -1,19 +1,18 @@
+third_party/libyuv/larch64/**
 third_party/snpe/larch64**
 third_party/snpe/aarch64-ubuntu-gcc7.5/*
 third_party/mapbox-gl-native-qt/include/*
+third_party/acados/larch64/**
 
 system/timezoned.py
 
-selfdrive/assets/navigation/*
-selfdrive/assets/training_wide/*
-
 system/camerad/cameras/camera_qcom2.cc
 system/camerad/cameras/camera_qcom2.h
 system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl
 
-selfdrive/sensord/rawgps/*
+system/sensord/rawgps/*
 
 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
diff --git a/scripts/cell.sh b/scripts/cell.sh
index cae701eccc..3f31978af5 100755
--- a/scripts/cell.sh
+++ b/scripts/cell.sh
@@ -1,5 +1,3 @@
 #!/usr/bin/bash
-
-nmcli connection modify --temporary lte ipv4.route-metric 1
-nmcli connection modify --temporary lte ipv6.route-metric 1
+nmcli connection modify --temporary lte ipv4.route-metric 1 ipv6.route-metric 1
 nmcli con up lte
diff --git a/scripts/code_stats.py b/scripts/code_stats.py
index 6c6db4335a..59b5724a68 100755
--- a/scripts/code_stats.py
+++ b/scripts/code_stats.py
@@ -8,7 +8,7 @@ fouts = {x.decode('utf-8') for x in subprocess.check_output(['git', 'ls-files'])
 
 pyf = []
 for d in ["cereal", "common", "scripts", "selfdrive", "tools"]:
-  for root, dirs, files in os.walk(d):
+  for root, _, files in os.walk(d):
     for f in files:
       if f.endswith(".py"):
         pyf.append(os.path.join(root, f))
@@ -40,7 +40,7 @@ for f in sorted(pyf):
   print("%5d %s %s" % (lns, f, xbit))
   if 'test' in f:
     testlns += lns
-  elif f.startswith('tools/') or f.startswith('scripts/') or f.startswith('selfdrive/debug'):
+  elif f.startswith(('tools/', 'scripts/', 'selfdrive/debug')):
     scriptlns += lns
   elif f.startswith('selfdrive/car'):
     carlns += lns
diff --git a/scripts/count_cars.py b/scripts/count_cars.py
index 25bad2c9b4..8c0892bb82 100755
--- a/scripts/count_cars.py
+++ b/scripts/count_cars.py
@@ -2,7 +2,7 @@
 from collections import Counter
 from pprint import pprint
 
-from selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_info
 
 if __name__ == "__main__":
   cars = get_all_car_info()
diff --git a/scripts/disable-powersave.py b/scripts/disable-powersave.py
index 93688504f3..367b4108b0 100755
--- a/scripts/disable-powersave.py
+++ b/scripts/disable-powersave.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from system.hardware import HARDWARE
+from openpilot.system.hardware import HARDWARE
 
 if __name__ == "__main__":
   HARDWARE.set_power_save(False)
diff --git a/scripts/dump_pll.c b/scripts/dump_pll.c
index 325ee2b4c0..3e2190235a 100644
--- a/scripts/dump_pll.c
+++ b/scripts/dump_pll.c
@@ -39,9 +39,9 @@ void hexdump(uint32_t *d, int l) {
 
 int main() {
   int fd = open("/dev/mem", O_RDWR);
-  volatile uint32_t *mb = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06400000);
-  volatile uint32_t *mc = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x06480000);
-  volatile uint32_t *md = (uint32_t*)mmap(0,0x1000,PROT_READ | PROT_WRITE,MAP_SHARED,fd,0x09A20000);
+  volatile uint32_t *mb = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06400000);
+  volatile uint32_t *mc = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x06480000);
+  volatile uint32_t *md = (uint32_t *)mmap(0, 0x1000, PROT_READ | PROT_WRITE, MAP_SHARED, fd, 0x09A20000);
   while (1) {
     printf("PLL MODE:%x L_VAL:%x ALPHA:%x USER_CTL:%x CONFIG_CTL:%x CONFIG_CTL_HI:%x STATUS:%x TEST_CTL_LO:%x TEST_CTL_HI:%x\n",
         mb[C0_PLL_MODE/4], mb[C0_PLL_L_VAL/4], mb[C0_PLL_ALPHA/4],
diff --git a/scripts/pyqt_demo.py b/scripts/pyqt_demo.py
index 43716fbeb2..783728bdb8 100755
--- a/scripts/pyqt_demo.py
+++ b/scripts/pyqt_demo.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
-from PyQt5.QtWidgets import QApplication, QLabel  # pylint: disable=no-name-in-module, import-error
-from selfdrive.ui.qt.python_helpers import set_main_window
+from PyQt5.QtWidgets import QApplication, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
 
 
 if __name__ == "__main__":
diff --git a/scripts/waste.py b/scripts/waste.py
index d3c96bf198..0764ff77c3 100755
--- a/scripts/waste.py
+++ b/scripts/waste.py
@@ -1,23 +1,23 @@
 #!/usr/bin/env python3
 import os
+import time
 import numpy as np
-from common.realtime import sec_since_boot
 from multiprocessing import Process
-from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+from setproctitle import setproctitle
 
 def waste(core):
-  os.sched_setaffinity(0, [core,])  # pylint: disable=no-member
+  os.sched_setaffinity(0, [core,])
 
   m1 = np.zeros((200, 200)) + 0.8
   m2 = np.zeros((200, 200)) + 1.2
 
   i = 1
-  st = sec_since_boot()
+  st = time.monotonic()
   j = 0
   while 1:
     if (i % 100) == 0:
       setproctitle("%3d: %8d" % (core, i))
-      lt = sec_since_boot()
+      lt = time.monotonic()
       print("%3d: %8d %f  %.2f" % (core, i, lt-st, j))
       st = lt
     i += 1
diff --git a/selfdrive/assets/assets.qrc b/selfdrive/assets/assets.qrc
index 39be41aa65..79a1a1e272 100644
--- a/selfdrive/assets/assets.qrc
+++ b/selfdrive/assets/assets.qrc
@@ -1,5 +1,6 @@
 <!DOCTYPE RCC><RCC version="1.0">
 <qresource>
+  <file alias="bootstrap-icons.svg">../../third_party/bootstrap/bootstrap-icons.svg</file>
   <file>img_continue_triangle.svg</file>
   <file>img_circled_check.svg</file>
   <file>img_circled_slash.svg</file>
diff --git a/selfdrive/assets/compress-images.sh b/selfdrive/assets/compress-images.sh
index 8601b2d61b..a1a4f8bb40 100755
--- a/selfdrive/assets/compress-images.sh
+++ b/selfdrive/assets/compress-images.sh
@@ -1,7 +1,7 @@
 #!/bin/bash
 
 echo "compressing training guide images"
-optipng -o7 -strip all training/* training_wide/*
+optipng -o7 -strip all training/*
 
 # This can sometimes provide smaller images
-# mogrify -quality 100 -format jpg training_wide/* training/*
+# mogrify -quality 100 -format jpg training/*
diff --git a/selfdrive/assets/img_driver_face.png b/selfdrive/assets/img_driver_face.png
index ddde478cd7..e2d943e537 100644
Binary files a/selfdrive/assets/img_driver_face.png and b/selfdrive/assets/img_driver_face.png differ
diff --git a/selfdrive/assets/img_driver_face_static.png b/selfdrive/assets/img_driver_face_static.png
new file mode 100644
index 0000000000..d8bc5f1371
Binary files /dev/null and b/selfdrive/assets/img_driver_face_static.png differ
diff --git a/selfdrive/assets/navigation/default_marker.svg b/selfdrive/assets/navigation/default_marker.svg
new file mode 100644
index 0000000000..43d5290a96
--- /dev/null
+++ b/selfdrive/assets/navigation/default_marker.svg
@@ -0,0 +1,5 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<svg fill="red" width="72" height="80" viewBox="0 0 15 15" xmlns="http://www.w3.org/2000/svg"  id="marker">
+  <path stroke="darkred" stroke-width="0.5" d="M7.5 1C5.42312 1 3 2.2883 3 5.56759C3 7.79276 6.46156 12.7117 7.5 14C8.42309 12.7117 12 7.90993 12 5.56759C12 2.2883 9.57688 1 7.5 1Z"/>
+  <circle cx="7.5" cy="5.5" r="2" fill="darkred"/>
+</svg>
diff --git a/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png b/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png
new file mode 100644
index 0000000000..37f1f83627
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_slight_left_inactive.png differ
diff --git a/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png b/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png
new file mode 100644
index 0000000000..8be2245811
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_slight_right_inactive.png differ
diff --git a/selfdrive/assets/navigation/icon_directions.svg b/selfdrive/assets/navigation/icon_directions.svg
new file mode 100644
index 0000000000..66009ac43b
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_directions.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)" transform="matrix(2.3325 0 0 2.3825 -72.89 -63.797)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
diff --git a/selfdrive/assets/navigation/icon_directions_outlined.svg b/selfdrive/assets/navigation/icon_directions_outlined.svg
new file mode 100644
index 0000000000..5c0c2fa3be
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_directions_outlined.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="300" height="300" fill="none" viewBox="0 0 100 100"><g fill="#fff" clip-path="url(#a)"><path d="M31.25 53.12A15.62 15.62 0 0 1 46.88 37.5h9.37v-9.16a1.56 1.56 0 0 1 2.56-1.2l14.75 12.28c.75.63.75 1.78 0 2.4l-14.75 12.3a1.56 1.56 0 0 1-2.56-1.2v-9.17h-9.38a9.37 9.37 0 0 0-9.37 9.37v15.63h-6.25V53.12Z"/><path fill-rule="evenodd" d="M43.44 2.72a9.28 9.28 0 0 1 13.12 0l40.72 40.72a9.26 9.26 0 0 1 0 13.12L56.56 97.28a9.26 9.26 0 0 1-13.1 0L2.71 56.56a9.26 9.26 0 0 1 0-13.11L43.44 2.72Zm8.75 4.37a3.1 3.1 0 0 0-4.38 0L7.1 47.81a3.1 3.1 0 0 0 0 4.38L47.8 92.9a3.1 3.1 0 0 0 4.38 0L92.9 52.2a3.1 3.1 0 0 0 0-4.38L52.2 7.1Z" clip-rule="evenodd"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
diff --git a/selfdrive/assets/navigation/icon_favorite.svg b/selfdrive/assets/navigation/icon_favorite.svg
new file mode 100644
index 0000000000..ba64df4ab9
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_favorite.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M49.1 0 36.35 31.82H0l27.27 27.27L13.64 100l35.45-23.64L86.36 100 72.73 59.1 100 31.81H63.64L49.09 0Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_home.svg b/selfdrive/assets/navigation/icon_home.svg
new file mode 100644
index 0000000000..cb87011090
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_home.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M7.7 98.08c0 1.06.85 1.92 1.92 1.92h28.84V76.92h23.08V100H90.4c1.06 0 1.92-.86 1.92-1.92V53.85H7.69v44.23ZM99.47 42.9l-7.17-6.3V7.7a7.7 7.7 0 0 0-15.39 0v15.4L51.4.68A1.92 1.92 0 0 0 48.68.6l-.08.08L.52 42.72a1.92 1.92 0 0 0 1.38 3.24l13.49.2h82.68a1.92 1.92 0 0 0 1.41-3.25Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_recent.svg b/selfdrive/assets/navigation/icon_recent.svg
new file mode 100644
index 0000000000..668aa38209
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_recent.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M53.22 6.37a43.75 43.75 0 0 0-3.21-.12V0a50 50 0 0 1 3.68.14l-.47 6.23Zm12.53 2.81c-2-.77-4.06-1.4-6.16-1.87l1.37-6.1c2.4.54 4.75 1.25 7.04 2.14l-2.25 5.83Zm8.56 4.44c-.9-.6-1.8-1.16-2.74-1.69l3.08-5.44a50.15 50.15 0 0 1 6.12 4.09l-3.85 4.93a43.75 43.75 0 0 0-2.61-1.89ZM85.77 24.8a43.7 43.7 0 0 0-4.08-4.97l4.53-4.31a52.14 52.14 0 0 1 4.66 5.68l-5.1 3.6Zm4.65 8.45a36.5 36.5 0 0 0-1.34-2.92l5.59-2.81a48.6 48.6 0 0 1 2.8 6.8l-5.93 1.95a43.9 43.9 0 0 0-1.12-3.02Zm3.31 15.67a43.68 43.68 0 0 0-.62-6.4l6.15-1.07c.42 2.41.67 4.86.73 7.31l-6.25.16Zm-.81 9.61c.2-1.06.37-2.12.5-3.19l6.2.77a49.3 49.3 0 0 1-1.43 7.22l-6.02-1.67c.28-1.03.53-2.07.75-3.13ZM86.97 73.4A44.16 44.16 0 0 0 90 67.72l5.72 2.53c-1 2.25-2.16 4.42-3.47 6.49l-5.28-3.34Zm-6.03 7.53c.76-.77 1.5-1.55 2.19-2.36l4.74 4.08a49.2 49.2 0 0 1-2.51 2.7l-4.42-4.42Z"/><path d="M50 6.25a43.75 43.75 0 1 0 30.94 74.68l4.42 4.42A50 50 0 1 1 50 0v6.25Z"/><path d="M46.88 18.75a3.13 3.13 0 0 1 3.13 3.12v32.56l20.3 11.6a3.12 3.12 0 0 1-3.1 5.42l-21.88-12.5a3.12 3.12 0 0 1-1.57-2.7V21.86a3.12 3.12 0 0 1 3.12-3.12Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/icon_settings.svg b/selfdrive/assets/navigation/icon_settings.svg
new file mode 100644
index 0000000000..134cc0f31f
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_settings.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128" fill="#fff" class="bi bi-gear-fill"><path d="M75.24 8.4c-3.304-11.2-19.176-11.2-22.48 0l-.8 2.72a11.712 11.712 0 0 1-16.84 6.976l-2.48-1.36c-10.264-5.584-21.488 5.64-15.896 15.896l1.352 2.488c3.568 6.56.184 14.728-6.976 16.84l-2.72.8c-11.2 3.304-11.2 19.176 0 22.48l2.72.8a11.712 11.712 0 0 1 6.976 16.84l-1.36 2.48c-5.584 10.264 5.64 21.488 15.896 15.896l2.488-1.352a11.712 11.712 0 0 1 16.84 6.976l.8 2.72c3.304 11.2 19.176 11.2 22.48 0l.8-2.72a11.712 11.712 0 0 1 16.84-6.976l2.48 1.36c10.264 5.584 21.488-5.64 15.896-15.896l-1.352-2.488a11.712 11.712 0 0 1 6.976-16.84l2.72-.8c11.2-3.304 11.2-19.176 0-22.48l-2.72-.8a11.712 11.712 0 0 1-6.976-16.84l1.36-2.48c5.584-10.264-5.64-21.488-15.896-15.896l-2.488 1.352a11.712 11.712 0 0 1-16.84-6.976ZM64 87.44a23.44 23.44 0 1 1 0-46.88 23.432 23.432 0 0 1 0 46.864z" style="stroke-width:8"/></svg>
diff --git a/selfdrive/assets/navigation/icon_work.svg b/selfdrive/assets/navigation/icon_work.svg
new file mode 100644
index 0000000000..c1ea6c5e3b
--- /dev/null
+++ b/selfdrive/assets/navigation/icon_work.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M77.78 22.22V6.42L70.67 0H29.33l-7.1 8.3v13.92H5.55L0 27.78v66.66L5.56 100h88.88l5.56-5.56V27.78l-5.56-5.56H77.78Zm-44.45-11.1h33.34v11.1H33.33v-11.1Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>
\ No newline at end of file
diff --git a/selfdrive/assets/navigation/screenshot.png b/selfdrive/assets/navigation/screenshot.png
deleted file mode 100644
index 3e89c04759..0000000000
Binary files a/selfdrive/assets/navigation/screenshot.png and /dev/null differ
diff --git a/selfdrive/assets/offroad/icon_wifi_uploading.svg b/selfdrive/assets/offroad/icon_wifi_uploading.svg
new file mode 100644
index 0000000000..95cb0e283e
--- /dev/null
+++ b/selfdrive/assets/offroad/icon_wifi_uploading.svg
@@ -0,0 +1,6 @@
+<svg width="68" height="68" viewBox="0 0 68 68" fill="none" xmlns="http://www.w3.org/2000/svg">
+<path d="M34.0004 8.63599C21.8284 8.63599 10.7444 13.26 2.31243 20.808C1.56443 21.488 1.4964 22.644 2.1084 23.392L4.76041 26.452C5.44041 27.2 6.59641 27.268 7.34441 26.588C14.4164 20.196 23.7324 16.32 33.9324 16.32C44.1324 16.32 53.4484 20.196 60.5204 26.588C61.2684 27.268 62.4244 27.2 63.1044 26.452L65.7564 23.392C66.4364 22.644 66.3004 21.488 65.5524 20.808C57.2564 13.26 46.1724 8.63599 34.0004 8.63599Z" fill="#465BEA"/>
+<path d="M34.0004 22.032C25.1604 22.032 17.0684 25.432 11.0164 30.94C10.2684 31.62 10.2004 32.708 10.8804 33.456L13.3964 36.38C14.0764 37.196 15.2324 37.196 16.0484 36.516C20.8084 32.164 27.1324 29.512 34.0684 29.512C41.0044 29.512 47.3284 32.164 52.0884 36.516C52.8364 37.196 54.0604 37.196 54.7404 36.38L57.2564 33.456C57.8684 32.708 57.8684 31.552 57.1204 30.94C50.9324 25.364 42.8404 22.032 34.0004 22.032Z" fill="#465BEA"/>
+<path d="M34.0007 35.36C28.4247 35.36 23.3927 37.536 19.6527 41.14C18.9727 41.82 18.9047 42.908 19.5847 43.656L21.9647 46.444C22.6447 47.26 23.8687 47.26 24.6167 46.58C27.0647 44.2 30.3287 42.772 34.0007 42.772C37.6727 42.772 40.9367 44.2 43.3847 46.58C44.1327 47.328 45.3567 47.26 46.0367 46.444L48.4167 43.656C49.0287 42.908 49.0287 41.82 48.3487 41.14C44.6087 37.536 39.5767 35.36 34.0007 35.36Z" fill="#465BEA"/>
+<path d="M34.0005 48.688C31.7565 48.688 29.7165 49.708 28.3565 51.34C27.7445 52.02 27.7445 53.04 28.3565 53.72L32.6405 58.684C33.3885 59.5 34.6804 59.5 35.4284 58.684L39.7125 53.72C40.3245 53.04 40.3245 52.02 39.7125 51.34C38.2845 49.708 36.2445 48.688 34.0005 48.688Z" fill="#465BEA"/>
+</svg>
diff --git a/selfdrive/assets/training/step0.png b/selfdrive/assets/training/step0.png
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diff --git a/selfdrive/assets/training/step2.png b/selfdrive/assets/training/step2.png
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diff --git a/selfdrive/assets/training/step3.png b/selfdrive/assets/training/step3.png
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diff --git a/selfdrive/assets/training/step4.png b/selfdrive/assets/training/step4.png
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diff --git a/selfdrive/assets/training/step5.png b/selfdrive/assets/training/step5.png
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diff --git a/selfdrive/assets/training/step6.png b/selfdrive/assets/training/step6.png
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diff --git a/selfdrive/assets/training_wide/step8.png b/selfdrive/assets/training_wide/step8.png
deleted file mode 100644
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diff --git a/selfdrive/assets/training_wide/step9.png b/selfdrive/assets/training_wide/step9.png
deleted file mode 100644
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diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index 5b351ca0f5..15088f69b1 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -1,4 +1,6 @@
 #!/usr/bin/env python3
+from __future__ import annotations
+
 import base64
 import bz2
 import hashlib
@@ -14,30 +16,35 @@ import sys
 import tempfile
 import threading
 import time
-from collections import namedtuple
+from dataclasses import asdict, dataclass, replace
 from datetime import datetime
 from functools import partial
-from typing import Any, Dict
+from queue import Queue
+from typing import BinaryIO, Callable, Dict, List, Optional, Set, Union, cast
 
 import requests
 from jsonrpc import JSONRPCResponseManager, dispatcher
-from websocket import (ABNF, WebSocketException, WebSocketTimeoutException,
+from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutException,
                        create_connection)
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
-from common.api import Api
-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 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 system.swaglog import SWAGLOG_DIR, cloudlog
-from system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.common.api import Api
+from openpilot.common.basedir import PERSIST
+from openpilot.common.file_helpers import CallbackReader
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.system.hardware import HARDWARE, PC, AGNOS
+from openpilot.system.loggerd.config import ROOT
+from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.selfdrive.statsd import STATS_DIR
+from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+
+
+# TODO: use socket constant when mypy recognizes this as a valid attribute
+TCP_USER_TIMEOUT = 18
 
 ATHENA_HOST = os.getenv('ATHENA_HOST', 'wss://athena.comma.ai')
 HANDLER_THREADS = int(os.getenv('HANDLER_THREADS', "4"))
@@ -54,19 +61,54 @@ WS_FRAME_SIZE = 4096
 
 NetworkType = log.DeviceState.NetworkType
 
+UploadFileDict = Dict[str, Union[str, int, float, bool]]
+UploadItemDict = Dict[str, Union[str, bool, int, float, Dict[str, str]]]
+
+UploadFilesToUrlResponse = Dict[str, Union[int, List[UploadItemDict], List[str]]]
+
+
+@dataclass
+class UploadFile:
+  fn: str
+  url: str
+  headers: Dict[str, str]
+  allow_cellular: bool
+
+  @classmethod
+  def from_dict(cls, d: Dict) -> UploadFile:
+    return cls(d.get("fn", ""), d.get("url", ""), d.get("headers", {}), d.get("allow_cellular", False))
+
+
+@dataclass
+class UploadItem:
+  path: str
+  url: str
+  headers: Dict[str, str]
+  created_at: int
+  id: Optional[str] # noqa: A003 (to match the response from the remote server)
+  retry_count: int = 0
+  current: bool = False
+  progress: float = 0
+  allow_cellular: bool = False
+
+  @classmethod
+  def from_dict(cls, d: Dict) -> UploadItem:
+    return cls(d["path"], d["url"], d["headers"], d["created_at"], d["id"], d["retry_count"], d["current"],
+               d["progress"], d["allow_cellular"])
+
+
 dispatcher["echo"] = lambda s: s
-recv_queue: Any = queue.Queue()
-send_queue: Any = queue.Queue()
-upload_queue: Any = queue.Queue()
-low_priority_send_queue: Any = queue.Queue()
-log_recv_queue: Any = queue.Queue()
-cancelled_uploads: Any = set()
-UploadItem = namedtuple('UploadItem', ['path', 'url', 'headers', 'created_at', 'id', 'retry_count', 'current', 'progress', 'allow_cellular'], defaults=(0, False, 0, False))
+recv_queue: Queue[str] = queue.Queue()
+send_queue: Queue[str] = queue.Queue()
+upload_queue: Queue[UploadItem] = queue.Queue()
+low_priority_send_queue: Queue[str] = queue.Queue()
+log_recv_queue: Queue[str] = queue.Queue()
+cancelled_uploads: Set[str] = set()
 
-cur_upload_items: Dict[int, Any] = {}
+cur_upload_items: Dict[int, Optional[UploadItem]] = {}
 
 
-def strip_bz2_extension(fn):
+def strip_bz2_extension(fn: str) -> str:
   if fn.endswith('.bz2'):
     return fn[:-4]
   return fn
@@ -76,32 +118,34 @@ class AbortTransferException(Exception):
   pass
 
 
-class UploadQueueCache():
+class UploadQueueCache:
   params = Params()
 
   @staticmethod
-  def initialize(upload_queue):
+  def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
       upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
-          upload_queue.put(UploadItem(**item))
+          upload_queue.put(UploadItem.from_dict(item))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.initialize.exception")
 
   @staticmethod
-  def cache(upload_queue):
+  def cache(upload_queue: Queue[UploadItem]) -> None:
     try:
-      items = [i._asdict() for i in upload_queue.queue if i.id not in cancelled_uploads]
+      queue: List[Optional[UploadItem]] = list(upload_queue.queue)
+      items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
       UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
 
-def handle_long_poll(ws):
+def handle_long_poll(ws: WebSocket, exit_event: Optional[threading.Event]) -> None:
   end_event = threading.Event()
 
   threads = [
+    threading.Thread(target=ws_manage, args=(ws, end_event), name='ws_manage'),
     threading.Thread(target=ws_recv, args=(ws, end_event), name='ws_recv'),
     threading.Thread(target=ws_send, args=(ws, end_event), name='ws_send'),
     threading.Thread(target=upload_handler, args=(end_event,), name='upload_handler'),
@@ -115,8 +159,9 @@ def handle_long_poll(ws):
   for thread in threads:
     thread.start()
   try:
-    while not end_event.is_set():
-      time.sleep(0.1)
+    while not end_event.wait(0.1):
+      if exit_event is not None and exit_event.is_set():
+        end_event.set()
   except (KeyboardInterrupt, SystemExit):
     end_event.set()
     raise
@@ -126,13 +171,13 @@ def handle_long_poll(ws):
       thread.join()
 
 
-def jsonrpc_handler(end_event):
+def jsonrpc_handler(end_event: threading.Event) -> None:
   dispatcher["startLocalProxy"] = partial(startLocalProxy, end_event)
   while not end_event.is_set():
     try:
       data = recv_queue.get(timeout=1)
       if "method" in data:
-        cloudlog.debug(f"athena.jsonrpc_handler.call_method {data}")
+        cloudlog.event("athena.jsonrpc_handler.call_method", data=data)
         response = JSONRPCResponseManager.handle(data, dispatcher)
         send_queue.put_nowait(response.json)
       elif "id" in data and ("result" in data or "error" in data):
@@ -147,11 +192,12 @@ def jsonrpc_handler(end_event):
 
 
 def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = True) -> None:
-  if cur_upload_items[tid].retry_count < MAX_RETRY_COUNT:
-    item = cur_upload_items[tid]
+  item = cur_upload_items[tid]
+  if item is not None and item.retry_count < MAX_RETRY_COUNT:
     new_retry_count = item.retry_count + 1 if increase_count else item.retry_count
 
-    item = item._replace(
+    item = replace(
+      item,
       retry_count=new_retry_count,
       progress=0,
       current=False
@@ -167,6 +213,16 @@ def retry_upload(tid: int, end_event: threading.Event, increase_count: bool = Tr
         break
 
 
+def cb(sm, item, tid, sz: int, cur: int) -> None:
+  # Abort transfer if connection changed to metered after starting upload
+  sm.update(0)
+  metered = sm['deviceState'].networkMetered
+  if metered and (not item.allow_cellular):
+    raise AbortTransferException
+
+  cur_upload_items[tid] = replace(item, progress=cur / sz if sz else 1)
+
+
 def upload_handler(end_event: threading.Event) -> None:
   sm = messaging.SubMaster(['deviceState'])
   tid = threading.get_ident()
@@ -175,44 +231,35 @@ def upload_handler(end_event: threading.Event) -> None:
     cur_upload_items[tid] = None
 
     try:
-      cur_upload_items[tid] = upload_queue.get(timeout=1)._replace(current=True)
+      cur_upload_items[tid] = item = replace(upload_queue.get(timeout=1), current=True)
 
-      if cur_upload_items[tid].id in cancelled_uploads:
-        cancelled_uploads.remove(cur_upload_items[tid].id)
+      if item.id in cancelled_uploads:
+        cancelled_uploads.remove(item.id)
         continue
 
       # Remove item if too old
-      age = datetime.now() - datetime.fromtimestamp(cur_upload_items[tid].created_at / 1000)
+      age = datetime.now() - datetime.fromtimestamp(item.created_at / 1000)
       if age.total_seconds() > MAX_AGE:
-        cloudlog.event("athena.upload_handler.expired", item=cur_upload_items[tid], error=True)
+        cloudlog.event("athena.upload_handler.expired", item=item, error=True)
         continue
 
       # Check if uploading over metered connection is allowed
       sm.update(0)
       metered = sm['deviceState'].networkMetered
       network_type = sm['deviceState'].networkType.raw
-      if metered and (not cur_upload_items[tid].allow_cellular):
+      if metered and (not item.allow_cellular):
         retry_upload(tid, end_event, False)
         continue
 
       try:
-        def cb(sz, cur):
-          # Abort transfer if connection changed to metered after starting upload
-          sm.update(0)
-          metered = sm['deviceState'].networkMetered
-          if metered and (not cur_upload_items[tid].allow_cellular):
-            raise AbortTransferException
-
-          cur_upload_items[tid] = cur_upload_items[tid]._replace(progress=cur / sz if sz else 1)
-
-        fn = cur_upload_items[tid].path
+        fn = item.path
         try:
           sz = os.path.getsize(fn)
         except OSError:
           sz = -1
 
-        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=cur_upload_items[tid].retry_count)
-        response = _do_upload(cur_upload_items[tid], cb)
+        cloudlog.event("athena.upload_handler.upload_start", fn=fn, sz=sz, network_type=network_type, metered=metered, retry_count=item.retry_count)
+        response = _do_upload(item, partial(cb, sm, item, tid))
 
         if response.status_code not in (200, 201, 401, 403, 412):
           cloudlog.event("athena.upload_handler.retry", status_code=response.status_code, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -234,7 +281,7 @@ def upload_handler(end_event: threading.Event) -> None:
       cloudlog.exception("athena.upload_handler.exception")
 
 
-def _do_upload(upload_item, callback=None):
+def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) -> requests.Response:
   path = upload_item.path
   compress = False
 
@@ -244,27 +291,25 @@ def _do_upload(upload_item, callback=None):
     compress = True
 
   with open(path, "rb") as f:
+    data: BinaryIO
     if compress:
       cloudlog.event("athena.upload_handler.compress", fn=path, fn_orig=upload_item.path)
-      data = bz2.compress(f.read())
-      size = len(data)
-      data = io.BytesIO(data)
+      compressed = bz2.compress(f.read())
+      size = len(compressed)
+      data = io.BytesIO(compressed)
     else:
       size = os.fstat(f.fileno()).st_size
       data = f
 
-    if callback:
-      data = CallbackReader(data, callback, size)
-
     return requests.put(upload_item.url,
-                        data=data,
+                        data=CallbackReader(data, callback, size) if callback else data,
                         headers={**upload_item.headers, 'Content-Length': str(size)},
                         timeout=30)
 
 
 # security: user should be able to request any message from their car
 @dispatcher.add_method
-def getMessage(service=None, timeout=1000):
+def getMessage(service: str, timeout: int = 1000) -> Dict:
   if service is None or service not in service_list:
     raise Exception("invalid service")
 
@@ -274,7 +319,8 @@ def getMessage(service=None, timeout=1000):
   if ret is None:
     raise TimeoutError
 
-  return ret.to_dict()
+  # this is because capnp._DynamicStructReader doesn't have typing information
+  return cast(Dict, ret.to_dict())
 
 
 @dispatcher.add_method
@@ -288,7 +334,7 @@ def getVersion() -> Dict[str, str]:
 
 
 @dispatcher.add_method
-def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=None):
+def setNavDestination(latitude: int = 0, longitude: int = 0, place_name: Optional[str] = None, place_details: Optional[str] = None) -> Dict[str, int]:
   destination = {
     "latitude": latitude,
     "longitude": longitude,
@@ -300,8 +346,8 @@ def setNavDestination(latitude=0, longitude=0, place_name=None, place_details=No
   return {"success": 1}
 
 
-def scan_dir(path, prefix):
-  files = list()
+def scan_dir(path: str, prefix: str) -> List[str]:
+  files = []
   # only walk directories that match the prefix
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
@@ -320,18 +366,18 @@ def scan_dir(path, prefix):
   return files
 
 @dispatcher.add_method
-def listDataDirectory(prefix=''):
+def listDataDirectory(prefix='') -> List[str]:
   return scan_dir(ROOT, prefix)
 
 
 @dispatcher.add_method
-def reboot():
+def reboot() -> Dict[str, int]:
   sock = messaging.sub_sock("deviceState", timeout=1000)
   ret = messaging.recv_one(sock)
   if ret is None or ret.deviceState.started:
     raise Exception("Reboot unavailable")
 
-  def do_reboot():
+  def do_reboot() -> None:
     time.sleep(2)
     HARDWARE.reboot()
 
@@ -341,50 +387,53 @@ def reboot():
 
 
 @dispatcher.add_method
-def uploadFileToUrl(fn, url, headers):
-  return uploadFilesToUrls([{
+def uploadFileToUrl(fn: str, url: str, headers: Dict[str, str]) -> UploadFilesToUrlResponse:
+  # this is because mypy doesn't understand that the decorator doesn't change the return type
+  response: UploadFilesToUrlResponse = uploadFilesToUrls([{
     "fn": fn,
     "url": url,
     "headers": headers,
   }])
+  return response
 
 
 @dispatcher.add_method
-def uploadFilesToUrls(files_data):
-  items = []
-  failed = []
-  for file in files_data:
-    fn = file.get('fn', '')
-    if len(fn) == 0 or fn[0] == '/' or '..' in fn or 'url' not in file:
-      failed.append(fn)
+def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlResponse:
+  files = map(UploadFile.from_dict, files_data)
+
+  items: List[UploadItemDict] = []
+  failed: List[str] = []
+  for file in files:
+    if len(file.fn) == 0 or file.fn[0] == '/' or '..' in file.fn or len(file.url) == 0:
+      failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, fn)
+    path = os.path.join(ROOT, file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
-      failed.append(fn)
+      failed.append(file.fn)
       continue
 
     # Skip item if already in queue
-    url = file['url'].split('?')[0]
+    url = file.url.split('?')[0]
     if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
       continue
 
     item = UploadItem(
       path=path,
-      url=file['url'],
-      headers=file.get('headers', {}),
+      url=file.url,
+      headers=file.headers,
       created_at=int(time.time() * 1000),
       id=None,
-      allow_cellular=file.get('allow_cellular', False),
+      allow_cellular=file.allow_cellular,
     )
     upload_id = hashlib.sha1(str(item).encode()).hexdigest()
-    item = item._replace(id=upload_id)
+    item = replace(item, id=upload_id)
     upload_queue.put_nowait(item)
-    items.append(item._asdict())
+    items.append(asdict(item))
 
   UploadQueueCache.cache(upload_queue)
 
-  resp = {"enqueued": len(items), "items": items}
+  resp: UploadFilesToUrlResponse = {"enqueued": len(items), "items": items}
   if failed:
     resp["failed"] = failed
 
@@ -392,32 +441,32 @@ def uploadFilesToUrls(files_data):
 
 
 @dispatcher.add_method
-def listUploadQueue():
+def listUploadQueue() -> List[UploadItemDict]:
   items = list(upload_queue.queue) + list(cur_upload_items.values())
-  return [i._asdict() for i in items if (i is not None) and (i.id not in cancelled_uploads)]
+  return [asdict(i) for i in items if (i is not None) and (i.id not in cancelled_uploads)]
 
 
 @dispatcher.add_method
-def cancelUpload(upload_id):
+def cancelUpload(upload_id: Union[str, List[str]]) -> Dict[str, Union[int, str]]:
   if not isinstance(upload_id, list):
     upload_id = [upload_id]
 
   uploading_ids = {item.id for item in list(upload_queue.queue)}
   cancelled_ids = uploading_ids.intersection(upload_id)
   if len(cancelled_ids) == 0:
-    return 404
+    return {"success": 0, "error": "not found"}
 
   cancelled_uploads.update(cancelled_ids)
   return {"success": 1}
 
 
 @dispatcher.add_method
-def primeActivated(activated):
+def primeActivated(activated: bool) -> Dict[str, int]:
   return {"success": 1}
 
 
 @dispatcher.add_method
-def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
+def setBandwithLimit(upload_speed_kbps: int, download_speed_kbps: int) -> Dict[str, Union[int, str]]:
   if not AGNOS:
     return {"success": 0, "error": "only supported on AGNOS"}
 
@@ -428,7 +477,7 @@ def setBandwithLimit(upload_speed_kbps, download_speed_kbps):
     return {"success": 0, "error": "failed to set limit", "stdout": e.stdout, "stderr": e.stderr}
 
 
-def startLocalProxy(global_end_event, remote_ws_uri, local_port):
+def startLocalProxy(global_end_event: threading.Event, remote_ws_uri: str, local_port: int) -> Dict[str, int]:
   try:
     if local_port not in LOCAL_PORT_WHITELIST:
       raise Exception("Requested local port not whitelisted")
@@ -462,7 +511,7 @@ def startLocalProxy(global_end_event, remote_ws_uri, local_port):
 
 
 @dispatcher.add_method
-def getPublicKey():
+def getPublicKey() -> Optional[str]:
   if not os.path.isfile(PERSIST + '/comma/id_rsa.pub'):
     return None
 
@@ -471,10 +520,15 @@ def getPublicKey():
 
 
 @dispatcher.add_method
-def getSshAuthorizedKeys():
+def getSshAuthorizedKeys() -> str:
   return Params().get("GithubSshKeys", encoding='utf8') or ''
 
 
+@dispatcher.add_method
+def getGithubUsername() -> str:
+  return Params().get("GithubUsername", encoding='utf8') or ''
+
+
 @dispatcher.add_method
 def getSimInfo():
   return HARDWARE.get_sim_info()
@@ -486,7 +540,7 @@ def getNetworkType():
 
 
 @dispatcher.add_method
-def getNetworkMetered():
+def getNetworkMetered() -> bool:
   network_type = HARDWARE.get_network_type()
   return HARDWARE.get_network_metered(network_type)
 
@@ -497,8 +551,8 @@ def getNetworks():
 
 
 @dispatcher.add_method
-def takeSnapshot():
-  from system.camerad.snapshot.snapshot import jpeg_write, snapshot
+def takeSnapshot() -> Optional[Union[str, Dict[str, str]]]:
+  from openpilot.system.camerad.snapshot.snapshot import jpeg_write, snapshot
   ret = snapshot()
   if ret is not None:
     def b64jpeg(x):
@@ -514,16 +568,19 @@ def takeSnapshot():
     raise Exception("not available while camerad is started")
 
 
-def get_logs_to_send_sorted():
+def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
   for log_entry in os.listdir(SWAGLOG_DIR):
     log_path = os.path.join(SWAGLOG_DIR, log_entry)
+    time_sent = 0
     try:
-      time_sent = int.from_bytes(getxattr(log_path, LOG_ATTR_NAME), sys.byteorder)
+      value = getxattr(log_path, LOG_ATTR_NAME)
+      if value is not None:
+        time_sent = int.from_bytes(value, sys.byteorder)
     except (ValueError, TypeError):
-      time_sent = 0
+      pass
     # assume send failed and we lost the response if sent more than one hour ago
     if not time_sent or curr_time - time_sent > 3600:
       logs.append(log_entry)
@@ -531,15 +588,15 @@ def get_logs_to_send_sorted():
   return sorted(logs)[:-1]
 
 
-def log_handler(end_event):
+def log_handler(end_event: threading.Event) -> None:
   if PC:
     return
 
   log_files = []
-  last_scan = 0
+  last_scan = 0.
   while not end_event.is_set():
     try:
-      curr_scan = sec_since_boot()
+      curr_scan = time.monotonic()
       if curr_scan - last_scan > 10:
         log_files = get_logs_to_send_sorted()
         last_scan = curr_scan
@@ -593,10 +650,10 @@ def log_handler(end_event):
       cloudlog.exception("athena.log_handler.exception")
 
 
-def stat_handler(end_event):
+def stat_handler(end_event: threading.Event) -> None:
   while not end_event.is_set():
-    last_scan = 0
-    curr_scan = sec_since_boot()
+    last_scan = 0.
+    curr_scan = time.monotonic()
     try:
       if curr_scan - last_scan > 10:
         stat_filenames = list(filter(lambda name: not name.startswith(tempfile.gettempprefix()), os.listdir(STATS_DIR)))
@@ -619,7 +676,7 @@ def stat_handler(end_event):
     time.sleep(0.1)
 
 
-def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
+def ws_proxy_recv(ws: WebSocket, local_sock: socket.socket, ssock: socket.socket, end_event: threading.Event, global_end_event: threading.Event) -> None:
   while not (end_event.is_set() or global_end_event.is_set()):
     try:
       data = ws.recv()
@@ -638,7 +695,7 @@ def ws_proxy_recv(ws, local_sock, ssock, end_event, global_end_event):
   end_event.set()
 
 
-def ws_proxy_send(ws, local_sock, signal_sock, end_event):
+def ws_proxy_send(ws: WebSocket, local_sock: socket.socket, signal_sock: socket.socket, end_event: threading.Event) -> None:
   while not end_event.is_set():
     try:
       r, _, _ = select.select((local_sock, signal_sock), (), ())
@@ -663,8 +720,8 @@ def ws_proxy_send(ws, local_sock, signal_sock, end_event):
   cloudlog.debug("athena.ws_proxy_send done closing sockets")
 
 
-def ws_recv(ws, end_event):
-  last_ping = int(sec_since_boot() * 1e9)
+def ws_recv(ws: WebSocket, end_event: threading.Event) -> None:
+  last_ping = int(time.monotonic() * 1e9)
   while not end_event.is_set():
     try:
       opcode, data = ws.recv_data(control_frame=True)
@@ -673,10 +730,10 @@ def ws_recv(ws, end_event):
           data = data.decode("utf-8")
         recv_queue.put_nowait(data)
       elif opcode == ABNF.OPCODE_PING:
-        last_ping = int(sec_since_boot() * 1e9)
+        last_ping = int(time.monotonic() * 1e9)
         Params().put("LastAthenaPingTime", str(last_ping))
     except WebSocketTimeoutException:
-      ns_since_last_ping = int(sec_since_boot() * 1e9) - last_ping
+      ns_since_last_ping = int(time.monotonic() * 1e9) - last_ping
       if ns_since_last_ping > RECONNECT_TIMEOUT_S * 1e9:
         cloudlog.exception("athenad.ws_recv.timeout")
         end_event.set()
@@ -685,7 +742,7 @@ def ws_recv(ws, end_event):
       end_event.set()
 
 
-def ws_send(ws, end_event):
+def ws_send(ws: WebSocket, end_event: threading.Event) -> None:
   while not end_event.is_set():
     try:
       try:
@@ -704,11 +761,30 @@ def ws_send(ws, end_event):
       end_event.set()
 
 
-def backoff(retries):
+def ws_manage(ws: WebSocket, end_event: threading.Event) -> None:
+  params = Params()
+  onroad_prev = None
+  sock = ws.sock
+
+  while True:
+    onroad = params.get_bool("IsOnroad")
+    if onroad != onroad_prev:
+      onroad_prev = onroad
+
+      sock.setsockopt(socket.IPPROTO_TCP, TCP_USER_TIMEOUT, 16000 if onroad else 0)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPIDLE, 7 if onroad else 30)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPINTVL, 7 if onroad else 10)
+      sock.setsockopt(socket.IPPROTO_TCP, socket.TCP_KEEPCNT, 2 if onroad else 3)
+
+    if end_event.wait(5):
+      break
+
+
+def backoff(retries: int) -> int:
   return random.randrange(0, min(128, int(2 ** retries)))
 
 
-def main():
+def main(exit_event: Optional[threading.Event] = None):
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -721,27 +797,31 @@ def main():
   ws_uri = ATHENA_HOST + "/ws/v2/" + dongle_id
   api = Api(dongle_id)
 
+  conn_start = None
   conn_retries = 0
-  while 1:
+  while exit_event is None or not exit_event.is_set():
     try:
-      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri)
+      if conn_start is None:
+        conn_start = time.monotonic()
+
+      cloudlog.event("athenad.main.connecting_ws", ws_uri=ws_uri, retries=conn_retries)
       ws = create_connection(ws_uri,
                              cookie="jwt=" + api.get_token(),
                              enable_multithread=True,
                              timeout=30.0)
-      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri)
+      cloudlog.event("athenad.main.connected_ws", ws_uri=ws_uri, retries=conn_retries,
+                     duration=time.monotonic() - conn_start)
+      conn_start = None
 
       conn_retries = 0
       cur_upload_items.clear()
 
-      handle_long_poll(ws)
+      handle_long_poll(ws, exit_event)
     except (KeyboardInterrupt, SystemExit):
       break
     except (ConnectionError, TimeoutError, WebSocketException):
       conn_retries += 1
       params.remove("LastAthenaPingTime")
-    except socket.timeout:
-      params.remove("LastAthenaPingTime")
     except Exception:
       cloudlog.exception("athenad.main.exception")
 
diff --git a/selfdrive/athena/manage_athenad.py b/selfdrive/athena/manage_athenad.py
index 59ca2430ce..877d8aca03 100755
--- a/selfdrive/athena/manage_athenad.py
+++ b/selfdrive/athena/manage_athenad.py
@@ -3,10 +3,10 @@
 import time
 from multiprocessing import Process
 
-from common.params import Params
-from selfdrive.manager.process import launcher
-from system.swaglog import cloudlog
-from system.version import get_version, is_dirty
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process import launcher
+from openpilot.system.swaglog import cloudlog
+from openpilot.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 32bc92059c..0ab69371c2 100755
--- a/selfdrive/athena/registration.py
+++ b/selfdrive/athena/registration.py
@@ -6,13 +6,13 @@ from pathlib import Path
 from typing import Optional
 
 from datetime import datetime, timedelta
-from common.api import api_get
-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 system.hardware import HARDWARE, PC
-from system.swaglog import cloudlog
+from openpilot.common.api import api_get
+from openpilot.common.params import Params
+from openpilot.common.spinner import Spinner
+from openpilot.common.basedir import PERSIST
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.swaglog import cloudlog
 
 
 UNREGISTERED_DONGLE_ID = "UnregisteredDevice"
diff --git a/selfdrive/athena/tests/helpers.py b/selfdrive/athena/tests/helpers.py
index a43527c260..34edeb2de5 100644
--- a/selfdrive/athena/tests/helpers.py
+++ b/selfdrive/athena/tests/helpers.py
@@ -6,7 +6,7 @@ import time
 from functools import wraps
 from multiprocessing import Process
 
-from common.timeout import Timeout
+from openpilot.common.timeout import Timeout
 
 
 class MockResponse:
@@ -52,7 +52,8 @@ class MockApi():
 class MockParams():
   default_params = {
     "DongleId": b"0000000000000000",
-    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private",  # noqa: E501
+    "GithubSshKeys": b"ssh-rsa AAAAB3NzaC1yc2EAAAADAQABAAABAQC307aE+nuHzTAgaJhzSf5v7ZZQW9gaperjhCmyPyl4PzY7T1mDGenTlVTN7yoVFZ9UfO9oMQqo0n1OwDIiqbIFxqnhrHU0cYfj88rI85m5BEKlNu5RdaVTj1tcbaPpQc5kZEolaI1nDDjzV0lwS7jo5VYDHseiJHlik3HH1SgtdtsuamGR2T80q1SyW+5rHoMOJG73IH2553NnWuikKiuikGHUYBd00K1ilVAK2xSiMWJp55tQfZ0ecr9QjEsJ+J/efL4HqGNXhffxvypCXvbUYAFSddOwXUPo5BTKevpxMtH+2YrkpSjocWA04VnTYFiPG6U4ItKmbLOTFZtPzoez private", # noqa: E501
+    "GithubUsername": b"commaci",
     "GsmMetered": True,
     "AthenadUploadQueue": '[]',
   }
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 5e86a2e821..f32df74217 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -8,6 +8,7 @@ import time
 import threading
 import queue
 import unittest
+from dataclasses import asdict, replace
 from datetime import datetime, timedelta
 from typing import Optional
 
@@ -17,10 +18,10 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-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
+from openpilot.system import swaglog
+from openpilot.selfdrive.athena import athenad
+from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
+from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
 
 
@@ -158,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
     self.assertEqual(resp['enqueued'], 1)
     self.assertNotIn('failed', resp)
-    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
+    self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
@@ -226,7 +227,7 @@ class TestAthenadMethods(unittest.TestCase):
     """When an upload times out or fails to connect it should be placed back in the queue"""
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
-    item_no_retry = item._replace(retry_count=MAX_RETRY_COUNT)
+    item_no_retry = replace(item, retry_count=MAX_RETRY_COUNT)
 
     end_event = threading.Event()
     thread = threading.Thread(target=athenad.upload_handler, args=(end_event,))
@@ -252,7 +253,8 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_cancelUpload(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
     dispatcher["cancelUpload"](item.id)
 
@@ -296,7 +298,7 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertEqual(len(items), 0)
 
   @with_http_server
-  def test_listUploadQueueCurrent(self, host):
+  def test_listUploadQueueCurrent(self, host: str):
     fn = self._create_file('qlog.bz2')
     item = athenad.UploadItem(path=fn, url=f"{host}/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='', allow_cellular=True)
 
@@ -316,12 +318,13 @@ class TestAthenadMethods(unittest.TestCase):
       end_event.set()
 
   def test_listUploadQueue(self):
-    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={}, created_at=int(time.time()*1000), id='id', allow_cellular=True)
+    item = athenad.UploadItem(path="qlog.bz2", url="http://localhost:44444/qlog.bz2", headers={},
+                              created_at=int(time.time()*1000), id='id', allow_cellular=True)
     athenad.upload_queue.put_nowait(item)
 
     items = dispatcher["listUploadQueue"]()
     self.assertEqual(len(items), 1)
-    self.assertDictEqual(items[0], item._asdict())
+    self.assertDictEqual(items[0], asdict(item))
     self.assertFalse(items[0]['current'])
 
     athenad.cancelled_uploads.add(item.id)
@@ -346,9 +349,9 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.UploadQueueCache.initialize(athenad.upload_queue)
 
     self.assertEqual(athenad.upload_queue.qsize(), 1)
-    self.assertDictEqual(athenad.upload_queue.queue[-1]._asdict(), item1._asdict())
+    self.assertDictEqual(asdict(athenad.upload_queue.queue[-1]), asdict(item1))
 
-  @mock.patch('selfdrive.athena.athenad.create_connection')
+  @mock.patch('openpilot.selfdrive.athena.athenad.create_connection')
   def test_startLocalProxy(self, mock_create_connection):
     end_event = threading.Event()
 
@@ -376,6 +379,10 @@ class TestAthenadMethods(unittest.TestCase):
     keys = dispatcher["getSshAuthorizedKeys"]()
     self.assertEqual(keys, MockParams().params["GithubSshKeys"].decode('utf-8'))
 
+  def test_getGithubUsername(self):
+    keys = dispatcher["getGithubUsername"]()
+    self.assertEqual(keys, MockParams().params["GithubUsername"].decode('utf-8'))
+
   def test_getVersion(self):
     resp = dispatcher["getVersion"]()
     keys = ["version", "remote", "branch", "commit"]
@@ -417,5 +424,6 @@ class TestAthenadMethods(unittest.TestCase):
     sl = athenad.get_logs_to_send_sorted()
     self.assertListEqual(sl, fl[:-1])
 
+
 if __name__ == '__main__':
   unittest.main()
diff --git a/selfdrive/athena/tests/test_athenad_ping.py b/selfdrive/athena/tests/test_athenad_ping.py
new file mode 100755
index 0000000000..3ec7cb115c
--- /dev/null
+++ b/selfdrive/athena/tests/test_athenad_ping.py
@@ -0,0 +1,112 @@
+#!/usr/bin/env python3
+import subprocess
+import threading
+import time
+import unittest
+from typing import Callable, cast, Optional
+from unittest.mock import MagicMock
+
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.athena import athenad
+from openpilot.selfdrive.manager.helpers import write_onroad_params
+from openpilot.system.hardware import TICI
+
+
+def wifi_radio(on: bool) -> None:
+  if not TICI:
+    return
+  print(f"wifi {'on' if on else 'off'}")
+  subprocess.run(["nmcli", "radio", "wifi", "on" if on else "off"], check=True)
+
+
+class TestAthenadPing(unittest.TestCase):
+  params: Params
+  dongle_id: str
+
+  athenad: threading.Thread
+  exit_event: threading.Event
+
+  _create_connection: Callable
+
+  def _get_ping_time(self) -> Optional[str]:
+    return cast(Optional[str], self.params.get("LastAthenaPingTime", encoding="utf-8"))
+
+  def _clear_ping_time(self) -> None:
+    self.params.remove("LastAthenaPingTime")
+
+  def _received_ping(self) -> bool:
+    return self._get_ping_time() is not None
+
+  @classmethod
+  def setUpClass(cls) -> None:
+    cls.params = Params()
+    cls.dongle_id = cls.params.get("DongleId", encoding="utf-8")
+    cls._create_connection = athenad.create_connection
+    athenad.create_connection = MagicMock(wraps=cls._create_connection)
+
+  @classmethod
+  def tearDownClass(cls) -> None:
+    wifi_radio(True)
+    athenad.create_connection = cls._create_connection
+
+  def setUp(self) -> None:
+    wifi_radio(True)
+    self._clear_ping_time()
+
+    self.exit_event = threading.Event()
+    self.athenad = threading.Thread(target=athenad.main, args=(self.exit_event,))
+
+    athenad.create_connection.reset_mock()
+
+  def tearDown(self) -> None:
+    if self.athenad.is_alive():
+      self.exit_event.set()
+      self.athenad.join()
+
+  def assertTimeout(self, reconnect_time: float) -> None:
+    self.athenad.start()
+
+    time.sleep(1)
+    athenad.create_connection.assert_called_once()
+    athenad.create_connection.reset_mock()
+
+    # check normal behaviour
+    with self.subTest("Wi-Fi: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+    athenad.create_connection.assert_not_called()
+
+    # websocket should attempt reconnect after short time
+    with self.subTest("LTE: attempt reconnect"):
+      wifi_radio(False)
+      print("waiting for reconnect attempt")
+      start_time = time.monotonic()
+      with Timeout(reconnect_time, "no reconnect attempt"):
+        while not athenad.create_connection.called:
+          time.sleep(0.1)
+        print(f"reconnect attempt after {time.monotonic() - start_time:.2f}s")
+
+    self._clear_ping_time()
+
+    # check ping received after reconnect
+    with self.subTest("LTE: receives ping"), Timeout(70, "no ping received"):
+      while not self._received_ping():
+        time.sleep(0.1)
+      print("ping received")
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_offroad(self) -> None:
+    write_onroad_params(False, self.params)
+    self.assertTimeout(100)  # expect approx 90s
+
+  @unittest.skipIf(not TICI, "only run on desk")
+  def test_onroad(self) -> None:
+    write_onroad_params(True, self.params)
+    self.assertTimeout(30)  # expect 20-30s
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/athena/tests/test_registration.py b/selfdrive/athena/tests/test_registration.py
index 7a38477305..195fca2df9 100755
--- a/selfdrive/athena/tests/test_registration.py
+++ b/selfdrive/athena/tests/test_registration.py
@@ -7,9 +7,9 @@ from Crypto.PublicKey import RSA
 from pathlib import Path
 from unittest import mock
 
-from common.params import Params
-from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
-from selfdrive.athena.tests.helpers import MockResponse
+from openpilot.common.params import Params
+from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.selfdrive.athena.tests.helpers import MockResponse
 
 
 class TestRegistration(unittest.TestCase):
@@ -23,7 +23,7 @@ class TestRegistration(unittest.TestCase):
     os.mkdir(os.path.join(self.persist.name, "comma"))
     self.priv_key = Path(os.path.join(self.persist.name, "comma/id_rsa"))
     self.pub_key = Path(os.path.join(self.persist.name, "comma/id_rsa.pub"))
-    self.persist_patcher = mock.patch("selfdrive.athena.registration.PERSIST", self.persist.name)
+    self.persist_patcher = mock.patch("openpilot.selfdrive.athena.registration.PERSIST", self.persist.name)
     self.persist_patcher.start()
 
   def tearDown(self):
@@ -44,7 +44,7 @@ class TestRegistration(unittest.TestCase):
     self.params.put("HardwareSerial", "serial")
     self._generate_keys()
 
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = "DONGLE_ID_123"
       self.params.put("DongleId", dongle)
       self.assertEqual(register(), dongle)
@@ -52,7 +52,7 @@ class TestRegistration(unittest.TestCase):
 
   def test_no_keys(self):
     # missing pubkey
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = register()
       self.assertEqual(m.call_count, 0)
       self.assertEqual(dongle, UNREGISTERED_DONGLE_ID)
@@ -61,7 +61,7 @@ class TestRegistration(unittest.TestCase):
   def test_missing_cache(self):
     # keys exist but no dongle id
     self._generate_keys()
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       dongle = "DONGLE_ID_123"
       m.return_value = MockResponse(json.dumps({'dongle_id': dongle}), 200)
       self.assertEqual(register(), dongle)
@@ -75,7 +75,7 @@ class TestRegistration(unittest.TestCase):
   def test_unregistered(self):
     # keys exist, but unregistered
     self._generate_keys()
-    with mock.patch("selfdrive.athena.registration.api_get", autospec=True) as m:
+    with mock.patch("openpilot.selfdrive.athena.registration.api_get", autospec=True) as m:
       m.return_value = MockResponse(None, 402)
       dongle = register()
       self.assertEqual(m.call_count, 1)
diff --git a/selfdrive/boardd/SConscript b/selfdrive/boardd/SConscript
index d99e67a9f0..666763d9b0 100644
--- a/selfdrive/boardd/SConscript
+++ b/selfdrive/boardd/SConscript
@@ -1,9 +1,11 @@
 Import('env', 'envCython', 'common', 'cereal', 'messaging')
 
 libs = ['usb-1.0', common, cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj']
-env.Program('boardd', ['main.cc', 'boardd.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+panda = env.Library('panda', ['panda.cc', 'panda_comms.cc', 'spi.cc'])
+
+env.Program('boardd', ['main.cc', 'boardd.cc'], LIBS=[panda] + libs)
 env.Library('libcan_list_to_can_capnp', ['can_list_to_can_capnp.cc'])
 
 envCython.Program('boardd_api_impl.so', 'boardd_api_impl.pyx', LIBS=["can_list_to_can_capnp", 'capnp', 'kj'] + envCython["LIBS"])
-if GetOption('test'):
-  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc', 'panda.cc', 'panda_comms.cc', 'spi.cc'], LIBS=libs)
+if GetOption('extras'):
+  env.Program('tests/test_boardd_usbprotocol', ['tests/test_boardd_usbprotocol.cc'], LIBS=[panda] + libs)
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index 1f1249194d..b64a81296e 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -7,6 +7,7 @@
 #include <unistd.h>
 
 #include <algorithm>
+#include <array>
 #include <atomic>
 #include <bitset>
 #include <cassert>
@@ -17,11 +18,13 @@
 #include <cstdio>
 #include <cstdlib>
 #include <future>
+#include <memory>
 #include <thread>
 
 #include "cereal/gen/cpp/car.capnp.h"
 #include "cereal/messaging/messaging.h"
 #include "common/params.h"
+#include "common/ratekeeper.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 #include "common/util.h"
@@ -48,9 +51,8 @@
 
 #define MAX_IR_POWER 0.5f
 #define MIN_IR_POWER 0.0f
-#define CUTOFF_IL 200
-#define SATURATE_IL 1600
-#define NIBBLE_TO_HEX(n) ((n) < 10 ? (n) + '0' : ((n) - 10) + 'a')
+#define CUTOFF_IL 400
+#define SATURATE_IL 1000
 using namespace std::chrono_literals;
 
 std::atomic<bool> ignition(false);
@@ -93,11 +95,12 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
       }
     }
   } else if (dir == SyncTimeDir::FROM_PANDA) {
+    LOGW("System time: %s, RTC time: %s", get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+
     if (!util::time_valid(sys_time) && util::time_valid(rtc_time)) {
       const struct timeval tv = {mktime(&rtc_time), 0};
       settimeofday(&tv, 0);
-      LOGE("System time wrong, setting from RTC. System: %s RTC: %s",
-           get_time_str(sys_time).c_str(), get_time_str(rtc_time).c_str());
+      LOGE("System time wrong, setting from RTC.");
     }
   }
 }
@@ -105,40 +108,42 @@ void sync_time(Panda *panda, SyncTimeDir dir) {
 bool safety_setter_thread(std::vector<Panda *> pandas) {
   LOGD("Starting safety setter thread");
 
+  Params p;
+
   // there should be at least one panda connected
   if (pandas.size() == 0) {
     return false;
   }
 
-  // set to ELM327 for fingerprinting
+  // initialize to ELM327 without OBD multiplexing for fingerprinting
+  bool obd_multiplexing_enabled = false;
   for (int i = 0; i < pandas.size(); i++) {
-    const uint16_t safety_param = (i > 0) ? 1U : 0U;
-    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+    pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
   }
 
-  Params p = Params();
-
-  // wait for VIN to be read
+  // openpilot can switch between multiplexing modes for different FW queries
   while (true) {
     if (do_exit || !check_all_connected(pandas) || !ignition) {
       return false;
     }
 
-    std::string value_vin = p.get("CarVin");
-    if (value_vin.size() > 0) {
-      // sanity check VIN format
-      assert(value_vin.size() == 17);
-      LOGW("got CarVin %s", value_vin.c_str());
+    bool obd_multiplexing_requested = p.getBool("ObdMultiplexingEnabled");
+    if (obd_multiplexing_requested != obd_multiplexing_enabled) {
+      for (int i = 0; i < pandas.size(); i++) {
+        const uint16_t safety_param = (i > 0 || !obd_multiplexing_requested) ? 1U : 0U;
+        pandas[i]->set_safety_model(cereal::CarParams::SafetyModel::ELM327, safety_param);
+      }
+      obd_multiplexing_enabled = obd_multiplexing_requested;
+      p.putBool("ObdMultiplexingChanged", true);
+    }
+
+    if (p.getBool("FirmwareQueryDone")) {
+      LOGW("finished FW query");
       break;
     }
     util::sleep_for(20);
   }
 
-  // set to ELM327 for ECU knockouts
-  for (Panda *panda : pandas) {
-    panda->set_safety_model(cereal::CarParams::SafetyModel::ELM327, 1U);
-  }
-
   std::string params;
   LOGW("waiting for params to set safety model");
   while (true) {
@@ -152,7 +157,7 @@ bool safety_setter_thread(std::vector<Panda *> pandas) {
     }
     util::sleep_for(100);
   }
-  LOGW("got %d bytes CarParams", params.size());
+  LOGW("got %lu bytes CarParams", params.size());
 
   AlignedBuffer aligned_buf;
   capnp::FlatArrayMessageReader cmsg(aligned_buf.align(params.data(), params.size()));
@@ -196,6 +201,10 @@ Panda *connect(std::string serial="", uint32_t index=0) {
   }
   //panda->enable_deepsleep();
 
+  if (!panda->up_to_date() && !getenv("BOARDD_SKIP_FW_CHECK")) {
+    throw std::runtime_error("Panda firmware out of date. Run pandad.py to update.");
+  }
+
   sync_time(panda.get(), SyncTimeDir::FROM_PANDA);
   return panda.release();
 }
@@ -222,13 +231,15 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
 
-    //Dont send if older than 1 second
+    // Don't send if older than 1 second
     if ((nanos_since_boot() - event.getLogMonoTime() < 1e9) && !fake_send) {
       for (const auto& panda : pandas) {
-        LOGT("sending sendcan to panda: %s", (panda->hw_serial).c_str());
+        LOGT("sending sendcan to panda: %s", (panda->hw_serial()).c_str());
         panda->can_send(event.getSendcan());
-        LOGT("sendcan sent to panda: %s", (panda->hw_serial).c_str());
+        LOGT("sendcan sent to panda: %s", (panda->hw_serial()).c_str());
       }
+    } else {
+      LOGE("sendcan too old to send: %" PRIu64 ", %" PRIu64, nanos_since_boot(), event.getLogMonoTime());
     }
   }
 }
@@ -236,12 +247,10 @@ void can_send_thread(std::vector<Panda *> pandas, bool fake_send) {
 void can_recv_thread(std::vector<Panda *> pandas) {
   util::set_thread_name("boardd_can_recv");
 
-  // can = 8006
   PubMaster pm({"can"});
 
-  // run at 100hz
-  const uint64_t dt = 10000000ULL;
-  uint64_t next_frame_time = nanos_since_boot() + dt;
+  // run at 100Hz
+  RateKeeper rk("boardd_can_recv", 100);
   std::vector<can_frame> raw_can_data;
 
   while (!do_exit && check_all_connected(pandas)) {
@@ -263,35 +272,10 @@ void can_recv_thread(std::vector<Panda *> pandas) {
     }
     pm.send("can", msg);
 
-    uint64_t cur_time = nanos_since_boot();
-    int64_t remaining = next_frame_time - cur_time;
-    if (remaining > 0) {
-      std::this_thread::sleep_for(std::chrono::nanoseconds(remaining));
-    } else {
-      if (ignition) {
-        LOGW("missed cycles (%d) %lld", (int)-1*remaining/dt, remaining);
-      }
-      next_frame_time = cur_time;
-    }
-
-    next_frame_time += dt;
+    rk.keepTime();
   }
 }
 
-void send_empty_peripheral_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto peripheralState  = msg.initEvent().initPeripheralState();
-  peripheralState.setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("peripheralState", msg);
-}
-
-void send_empty_panda_state(PubMaster *pm) {
-  MessageBuilder msg;
-  auto pandaStates = msg.initEvent().initPandaStates(1);
-  pandaStates[0].setPandaType(cereal::PandaState::PandaType::UNKNOWN);
-  pm->send("pandaStates", msg);
-}
-
 std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *> &pandas, bool spoofing_started) {
   bool ignition_local = false;
   const uint32_t pandas_cnt = pandas.size();
@@ -307,6 +291,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
   std::vector<std::array<can_health_t, PANDA_CAN_CNT>> pandaCanStates;
   pandaCanStates.reserve(pandas_cnt);
 
+  const bool red_panda_comma_three = (pandas.size() == 2) &&
+                                     (pandas[0]->hw_type == cereal::PandaState::PandaType::DOS) &&
+                                     (pandas[1]->hw_type == cereal::PandaState::PandaType::RED_PANDA);
+
   for (const auto& panda : pandas){
     auto health_opt = panda->get_state();
     if (!health_opt) {
@@ -329,6 +317,13 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       health.ignition_line_pkt = 1;
     }
 
+    // on comma three setups with a red panda, the dos can
+    // get false positive ignitions due to the harness box
+    // without a harness connector, so ignore it
+    if (red_panda_comma_three && (panda->hw_type == cereal::PandaState::PandaType::DOS)) {
+      health.ignition_line_pkt = 0;
+    }
+
     ignition_local |= ((health.ignition_line_pkt != 0) || (health.ignition_can_pkt != 0));
 
     pandaStates.push_back(health);
@@ -343,7 +338,6 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
 
-  #ifndef __x86_64__
     bool power_save_desired = !ignition_local;
     if (health.power_save_enabled_pkt != power_save_desired) {
       panda->set_power_saving(power_save_desired);
@@ -353,13 +347,14 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     if (!ignition_local && (health.safety_mode_pkt != (uint8_t)(cereal::CarParams::SafetyModel::NO_OUTPUT))) {
       panda->set_safety_model(cereal::CarParams::SafetyModel::NO_OUTPUT);
     }
-  #endif
 
     if (!panda->comms_healthy()) {
       evt.setValid(false);
     }
 
     auto ps = pss[i];
+    ps.setVoltage(health.voltage_pkt);
+    ps.setCurrent(health.current_pkt);
     ps.setUptime(health.uptime_pkt);
     ps.setSafetyTxBlocked(health.safety_tx_blocked_pkt);
     ps.setSafetyRxInvalid(health.safety_rx_invalid_pkt);
@@ -380,7 +375,11 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
     ps.setHarnessStatus(cereal::PandaState::HarnessStatus(health.car_harness_status_pkt));
     ps.setInterruptLoad(health.interrupt_load);
     ps.setFanPower(health.fan_power);
+    ps.setFanStallCount(health.fan_stall_count);
     ps.setSafetyRxChecksInvalid((bool)(health.safety_rx_checks_invalid));
+    ps.setSpiChecksumErrorCount(health.spi_checksum_error_count);
+    ps.setSbu1Voltage(health.sbu1_voltage_mV / 1000.0f);
+    ps.setSbu2Voltage(health.sbu2_voltage_mV / 1000.0f);
 
     std::array<cereal::PandaState::PandaCanState::Builder, PANDA_CAN_CNT> cs = {ps.initCanState0(), ps.initCanState1(), ps.initCanState2()};
 
@@ -407,6 +406,10 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
       cs[j].setCanfdEnabled(can_health.canfd_enabled);
       cs[j].setBrsEnabled(can_health.brs_enabled);
       cs[j].setCanfdNonIso(can_health.canfd_non_iso);
+      cs[j].setIrq0CallRate(can_health.irq0_call_rate);
+      cs[j].setIrq1CallRate(can_health.irq1_call_rate);
+      cs[j].setIrq2CallRate(can_health.irq2_call_rate);
+      cs[j].setCanCoreResetCnt(can_health.can_core_reset_cnt);
     }
 
     // Convert faults bitset to capnp list
@@ -415,7 +418,7 @@ std::optional<bool> send_panda_states(PubMaster *pm, const std::vector<Panda *>
 
     size_t j = 0;
     for (size_t f = size_t(cereal::PandaState::FaultType::RELAY_MALFUNCTION);
-        f <= size_t(cereal::PandaState::FaultType::INTERRUPT_RATE_EXTI); f++) {
+         f <= size_t(cereal::PandaState::FaultType::HEARTBEAT_LOOP_WATCHDOG); f++) {
       if (fault_bits.test(f)) {
         faults.set(j, cereal::PandaState::FaultType(f));
         j++;
@@ -450,53 +453,80 @@ void send_peripheral_state(PubMaster *pm, Panda *panda) {
   pm->send("peripheralState", msg);
 }
 
-void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofing_started) {
+void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
   util::set_thread_name("boardd_panda_state");
 
   Params params;
   SubMaster sm({"controlsState"});
+  PubMaster pm({"pandaStates", "peripheralState"});
 
   Panda *peripheral_panda = pandas[0];
-  bool ignition_last = false;
+  bool is_onroad = false;
+  bool is_onroad_last = false;
   std::future<bool> safety_future;
 
+  std::vector<std::string> connected_serials;
+  for (Panda *p : pandas) {
+    connected_serials.push_back(p->hw_serial());
+  }
+
   LOGD("start panda state thread");
 
   // run at 2hz
-  while (!do_exit && check_all_connected(pandas)) {
-    uint64_t start_time = nanos_since_boot();
+  RateKeeper rk("panda_state_thread", 2);
 
+  while (!do_exit && check_all_connected(pandas)) {
     // send out peripheralState
-    send_peripheral_state(pm, peripheral_panda);
-    auto ignition_opt = send_panda_states(pm, pandas, spoofing_started);
+    send_peripheral_state(&pm, peripheral_panda);
+    auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {
+      LOGE("Failed to get ignition_opt");
+      rk.keepTime();
       continue;
     }
 
     ignition = *ignition_opt;
 
-    // TODO: make this check fast, currently takes 16ms
-    // check if we have new pandas and are offroad
-    if (!ignition && (pandas.size() != Panda::list().size())) {
-      LOGW("Reconnecting to changed amount of pandas!");
-      do_exit = true;
-      break;
+    // check if we should have pandad reconnect
+    if (!ignition) {
+      bool comms_healthy = true;
+      for (const auto &panda : pandas) {
+        comms_healthy &= panda->comms_healthy();
+      }
+
+      if (!comms_healthy) {
+        LOGE("Reconnecting, communication to pandas not healthy");
+        do_exit = true;
+
+      } else {
+        // check for new pandas
+        for (std::string &s : Panda::list(true)) {
+          if (!std::count(connected_serials.begin(), connected_serials.end(), s)) {
+            LOGW("Reconnecting to new panda: %s", s.c_str());
+            do_exit = true;
+            break;
+          }
+        }
+      }
+
+      if (do_exit) {
+        break;
+      }
     }
 
-    // clear ignition-based params and set new safety on car start
-    if (ignition && !ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_ON);
+    is_onroad = params.getBool("IsOnroad");
+
+    // set new safety on onroad transition, after params are cleared
+    if (is_onroad && !is_onroad_last) {
       if (!safety_future.valid() || safety_future.wait_for(0ms) == std::future_status::ready) {
         safety_future = std::async(std::launch::async, safety_setter_thread, pandas);
       } else {
         LOGW("Safety setter thread already running");
       }
-    } else if (!ignition && ignition_last) {
-      params.clearAll(CLEAR_ON_IGNITION_OFF);
     }
 
-    ignition_last = ignition;
+    is_onroad_last = is_onroad;
 
     sm.update(0);
     const bool engaged = sm.allAliveAndValid({"controlsState"}) && sm["controlsState"].getControlsState().getEnabled();
@@ -505,8 +535,7 @@ void panda_state_thread(PubMaster *pm, std::vector<Panda *> pandas, bool spoofin
       panda->send_heartbeat(engaged);
     }
 
-    uint64_t dt = nanos_since_boot() - start_time;
-    util::sleep_for(500 - dt / 1000000ULL);
+    rk.keepTime();
   }
 }
 
@@ -516,22 +545,20 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
 
   SubMaster sm({"deviceState", "driverCameraState"});
 
-  uint64_t last_front_frame_t = 0;
+  uint64_t last_driver_camera_t = 0;
   uint16_t prev_fan_speed = 999;
   uint16_t ir_pwr = 0;
   uint16_t prev_ir_pwr = 999;
-  unsigned int cnt = 0;
 
   FirstOrderFilter integ_lines_filter(0, 30.0, 0.05);
 
   while (!do_exit && panda->connected()) {
-    cnt++;
-    sm.update(1000); // TODO: what happens if EINTR is sent while in sm.update?
+    sm.update(1000);
 
     if (sm.updated("deviceState") && !no_fan_control) {
       // Fan speed
       uint16_t fan_speed = sm["deviceState"].getDeviceState().getFanSpeedPercentDesired();
-      if (fan_speed != prev_fan_speed || cnt % 100 == 0) {
+      if (fan_speed != prev_fan_speed || sm.frame % 100 == 0) {
         panda->set_fan_speed(fan_speed);
         prev_fan_speed = fan_speed;
       }
@@ -540,10 +567,9 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
     if (sm.updated("driverCameraState")) {
       auto event = sm["driverCameraState"];
       int cur_integ_lines = event.getDriverCameraState().getIntegLines();
-      float cur_gain = event.getDriverCameraState().getGain();
 
-      cur_integ_lines = integ_lines_filter.update(cur_integ_lines * cur_gain);
-      last_front_frame_t = event.getLogMonoTime();
+      cur_integ_lines = integ_lines_filter.update(cur_integ_lines);
+      last_driver_camera_t = event.getLogMonoTime();
 
       if (cur_integ_lines <= CUTOFF_IL) {
         ir_pwr = 100.0 * MIN_IR_POWER;
@@ -554,48 +580,48 @@ void peripheral_control_thread(Panda *panda, bool no_fan_control) {
       }
     }
 
-    // Disable ir_pwr on front frame timeout
-    uint64_t cur_t = nanos_since_boot();
-    if (cur_t - last_front_frame_t > 1e9) {
+    // Disable IR on input timeout
+    if (nanos_since_boot() - last_driver_camera_t > 1e9) {
       ir_pwr = 0;
     }
 
-    if (ir_pwr != prev_ir_pwr || cnt % 100 == 0 || ir_pwr >= 50.0) {
+    if (ir_pwr != prev_ir_pwr || sm.frame % 100 == 0 || ir_pwr >= 50.0) {
       panda->set_ir_pwr(ir_pwr);
       prev_ir_pwr = ir_pwr;
     }
 
     // Write to rtc once per minute when no ignition present
-    if (!ignition && (cnt % 120 == 1)) {
+    if (!ignition && (sm.frame % 120 == 1)) {
       sync_time(panda, SyncTimeDir::TO_PANDA);
     }
   }
 }
 
 void boardd_main_thread(std::vector<std::string> serials) {
-  PubMaster pm({"pandaStates", "peripheralState"});
-  LOGW("attempting to connect");
+  LOGW("launching boardd");
 
   if (serials.size() == 0) {
-    // connect to all
     serials = Panda::list();
 
-    // exit if no pandas are connected
     if (serials.size() == 0) {
       LOGW("no pandas found, exiting");
       return;
     }
   }
 
+  std::string serials_str;
+  for (int i = 0; i < serials.size(); i++) {
+    serials_str += serials[i];
+    if (i < serials.size() - 1) serials_str += ", ";
+  }
+  LOGW("connecting to pandas: %s", serials_str.c_str());
+
   // connect to all provided serials
   std::vector<Panda *> pandas;
   for (int i = 0; i < serials.size() && !do_exit; /**/) {
     Panda *p = connect(serials[i], i);
     if (!p) {
-      // send empty pandaState & peripheralState and try again
-      send_empty_panda_state(&pm);
-      send_empty_peripheral_state(&pm);
-      util::sleep_for(500);
+      util::sleep_for(100);
       continue;
     }
 
@@ -604,12 +630,12 @@ void boardd_main_thread(std::vector<std::string> serials) {
   }
 
   if (!do_exit) {
-    LOGW("connected to board");
-    Panda *peripheral_panda = pandas[0];
+    LOGW("connected to all pandas");
+
     std::vector<std::thread> threads;
 
-    threads.emplace_back(panda_state_thread, &pm, pandas, getenv("STARTED") != nullptr);
-    threads.emplace_back(peripheral_control_thread, peripheral_panda, getenv("NO_FAN_CONTROL") != nullptr);
+    threads.emplace_back(panda_state_thread, pandas, getenv("STARTED") != nullptr);
+    threads.emplace_back(peripheral_control_thread, pandas[0], getenv("NO_FAN_CONTROL") != nullptr);
 
     threads.emplace_back(can_send_thread, pandas, getenv("FAKESEND") != nullptr);
     threads.emplace_back(can_recv_thread, pandas);
@@ -617,7 +643,6 @@ void boardd_main_thread(std::vector<std::string> serials) {
     for (auto &t : threads) t.join();
   }
 
-  // we have exited, clean up pandas
   for (Panda *panda : pandas) {
     delete panda;
   }
diff --git a/selfdrive/boardd/boardd.h b/selfdrive/boardd/boardd.h
index d3c9e1f94a..0646fc6189 100644
--- a/selfdrive/boardd/boardd.h
+++ b/selfdrive/boardd/boardd.h
@@ -1,5 +1,8 @@
 #pragma once
 
+#include <string>
+#include <vector>
+
 #include "selfdrive/boardd/panda.h"
 
 bool safety_setter_thread(std::vector<Panda *> pandas);
diff --git a/selfdrive/boardd/boardd.py b/selfdrive/boardd/boardd.py
index 527f1f4f52..0cdaf5e912 100644
--- a/selfdrive/boardd/boardd.py
+++ b/selfdrive/boardd/boardd.py
@@ -1,7 +1,5 @@
-# pylint: skip-file
-
 # Cython, now uses scons to build
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
 assert can_list_to_can_capnp
 
 def can_capnp_to_can_list(can, src_filter=None):
diff --git a/selfdrive/boardd/boardd_api_impl.pyx b/selfdrive/boardd/boardd_api_impl.pyx
index 0d428a9259..6a552bb447 100644
--- a/selfdrive/boardd/boardd_api_impl.pyx
+++ b/selfdrive/boardd/boardd_api_impl.pyx
@@ -4,13 +4,15 @@ from libcpp.vector cimport vector
 from libcpp.string cimport string
 from libcpp cimport bool
 
-cdef struct can_frame:
-  long address
-  string dat
-  long busTime
-  long src
+cdef extern from "panda.h":
+  cdef struct can_frame:
+    long address
+    string dat
+    long busTime
+    long src
 
-cdef extern void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
+cdef extern from "can_list_to_can_capnp.cc":
+  void can_list_to_can_capnp_cpp(const vector[can_frame] &can_list, string &out, bool sendCan, bool valid)
 
 def can_list_to_can_capnp(can_msgs, msgtype='can', valid=True):
   cdef vector[can_frame] can_list
diff --git a/selfdrive/boardd/can_list_to_can_capnp.cc b/selfdrive/boardd/can_list_to_can_capnp.cc
index faa0e37373..72ca72688a 100644
--- a/selfdrive/boardd/can_list_to_can_capnp.cc
+++ b/selfdrive/boardd/can_list_to_can_capnp.cc
@@ -1,7 +1,5 @@
 #include "cereal/messaging/messaging.h"
-#include "panda.h"
-
-extern "C" {
+#include "selfdrive/boardd/panda.h"
 
 void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::string &out, bool sendCan, bool valid) {
   MessageBuilder msg;
@@ -21,5 +19,3 @@ void can_list_to_can_capnp_cpp(const std::vector<can_frame> &can_list, std::stri
   kj::ArrayOutputStream output_stream(kj::ArrayPtr<capnp::byte>((unsigned char *)out.data(), msg_size));
   capnp::writeMessage(output_stream, msg);
 }
-
-}
diff --git a/selfdrive/boardd/panda.cc b/selfdrive/boardd/panda.cc
index 3e447c830e..e075887a4d 100644
--- a/selfdrive/boardd/panda.cc
+++ b/selfdrive/boardd/panda.cc
@@ -4,28 +4,33 @@
 
 #include <cassert>
 #include <stdexcept>
+#include <vector>
 
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
 Panda::Panda(std::string serial, uint32_t bus_offset) : bus_offset(bus_offset) {
-  // TODO: support SPI here one day...
-  if (serial.find("spi") != std::string::npos) {
-    handle = std::make_unique<PandaSpiHandle>(serial);
-  } else {
+  // try USB first, then SPI
+  try {
     handle = std::make_unique<PandaUsbHandle>(serial);
+    LOGW("connected to %s over USB", serial.c_str());
+  } catch (std::exception &e) {
+#ifndef __APPLE__
+    handle = std::make_unique<PandaSpiHandle>(serial);
+    LOGW("connected to %s over SPI", serial.c_str());
+#else
+    throw e;
+#endif
   }
 
   hw_type = get_hw_type();
-
-  assert((hw_type != cereal::PandaState::PandaType::WHITE_PANDA) &&
-         (hw_type != cereal::PandaState::PandaType::GREY_PANDA));
-
   has_rtc = (hw_type == cereal::PandaState::PandaType::UNO) ||
             (hw_type == cereal::PandaState::PandaType::DOS) ||
             (hw_type == cereal::PandaState::PandaType::TRES);
 
+  can_reset_communications();
+
   return;
 }
 
@@ -37,8 +42,24 @@ bool Panda::comms_healthy() {
   return handle->comms_healthy;
 }
 
-std::vector<std::string> Panda::list() {
-  return PandaUsbHandle::list();
+std::string Panda::hw_serial() {
+  return handle->hw_serial;
+}
+
+std::vector<std::string> Panda::list(bool usb_only) {
+  std::vector<std::string> serials = PandaUsbHandle::list();
+
+#ifndef __APPLE__
+  if (!usb_only) {
+    for (auto s : PandaSpiHandle::list()) {
+      if (std::find(serials.begin(), serials.end(), s) == serials.end()) {
+        serials.push_back(s);
+      }
+    }
+  }
+#endif
+
+  return serials;
 }
 
 void Panda::set_safety_model(cereal::CarParams::SafetyModel safety_model, uint16_t safety_param) {
@@ -134,6 +155,19 @@ std::optional<std::string> Panda::get_serial() {
   return err >= 0 ? std::make_optional(serial_buf) : std::nullopt;
 }
 
+bool Panda::up_to_date() {
+  if (auto fw_sig = get_firmware_version()) {
+    for (auto fn : { "panda.bin.signed", "panda_h7.bin.signed" }) {
+      auto content = util::read_file(std::string("../../panda/board/obj/") + fn);
+      if (content.size() >= fw_sig->size() &&
+          memcmp(content.data() + content.size() - fw_sig->size(), fw_sig->data(), fw_sig->size()) == 0) {
+        return true;
+      }
+    }
+  }
+  return false;
+}
+
 void Panda::set_power_saving(bool power_saving) {
   handle->control_write(0xe7, power_saving, 0);
 }
@@ -174,10 +208,6 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
   int32_t pos = 0;
   uint8_t send_buf[2 * USB_TX_SOFT_LIMIT];
 
-  uint32_t magic = CAN_TRANSACTION_MAGIC;
-  memcpy(&send_buf[0], &magic, sizeof(uint32_t));
-  pos += sizeof(uint32_t);
-
   for (auto cmsg : can_data_list) {
     // check if the message is intended for this panda
     uint8_t bus = cmsg.getSrc();
@@ -189,25 +219,30 @@ void Panda::pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data
     assert(can_data.size() <= 64);
     assert(can_data.size() == dlc_to_len[data_len_code]);
 
-    can_header header;
+    can_header header = {};
     header.addr = cmsg.getAddress();
     header.extended = (cmsg.getAddress() >= 0x800) ? 1 : 0;
     header.data_len_code = data_len_code;
     header.bus = bus - bus_offset;
+    header.checksum = 0;
 
     memcpy(&send_buf[pos], (uint8_t *)&header, sizeof(can_header));
-    pos += sizeof(can_header);
-    memcpy(&send_buf[pos], (uint8_t *)can_data.begin(), can_data.size());
-    pos += can_data.size();
+    memcpy(&send_buf[pos + sizeof(can_header)], (uint8_t *)can_data.begin(), can_data.size());
+    uint32_t msg_size = sizeof(can_header) + can_data.size();
+
+    // set checksum
+    ((can_header *) &send_buf[pos])->checksum = calculate_checksum(&send_buf[pos], msg_size);
+
+    pos += msg_size;
 
     if (pos >= USB_TX_SOFT_LIMIT) {
       write_func(send_buf, pos);
-      pos = sizeof(uint32_t);
+      pos = 0;
     }
   }
 
   // send remaining packets
-  if (pos > sizeof(uint32_t)) write_func(send_buf, pos);
+  if (pos > 0) write_func(send_buf, pos);
 }
 
 void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
@@ -217,36 +252,38 @@ void Panda::can_send(capnp::List<cereal::CanData>::Reader can_data_list) {
 }
 
 bool Panda::can_receive(std::vector<can_frame>& out_vec) {
-  uint8_t data[RECV_SIZE];
-  int recv = handle->bulk_read(0x81, (uint8_t*)data, RECV_SIZE);
+  // Check if enough space left in buffer to store RECV_SIZE data
+  assert(receive_buffer_size + RECV_SIZE <= sizeof(receive_buffer));
+
+  int recv = handle->bulk_read(0x81, &receive_buffer[receive_buffer_size], RECV_SIZE);
   if (!comms_healthy()) {
     return false;
   }
   if (recv == RECV_SIZE) {
     LOGW("Panda receive buffer full");
   }
+  receive_buffer_size += recv;
 
-  return (recv <= 0) ? true : unpack_can_buffer(data, recv, out_vec);
+  return (recv <= 0) ? true : unpack_can_buffer(receive_buffer, receive_buffer_size, out_vec);
 }
 
-bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec) {
-  if (size < sizeof(uint32_t)) {
-    return true;
-  }
+void Panda::can_reset_communications() {
+  handle->control_write(0xc0, 0, 0);
+}
 
-  uint32_t magic;
-  memcpy(&magic, &data[0], sizeof(uint32_t));
-  if (magic != CAN_TRANSACTION_MAGIC) {
-    LOGE("CAN recv: buffer didn't start with magic");
-    handle->comms_healthy = false;
-    return false;
-  }
+bool Panda::unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec) {
+  int pos = 0;
 
-  int pos = sizeof(uint32_t);
-  while (pos < size) {
+  while (pos <= size - sizeof(can_header)) {
     can_header header;
     memcpy(&header, &data[pos], sizeof(can_header));
 
+    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (pos + sizeof(can_header) + data_len > size) {
+      // we don't have all the data for this message yet
+      break;
+    }
+
     can_frame &canData = out_vec.emplace_back();
     canData.busTime = 0;
     canData.address = header.addr;
@@ -258,10 +295,28 @@ bool Panda::unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &o
       canData.src += CAN_RETURNED_BUS_OFFSET;
     }
 
-    const uint8_t data_len = dlc_to_len[header.data_len_code];
+    if (calculate_checksum(&data[pos], sizeof(can_header) + data_len) != 0) {
+      LOGE("Panda CAN checksum failed");
+      size = 0;
+      return false;
+    }
+
     canData.dat.assign((char *)&data[pos + sizeof(can_header)], data_len);
 
     pos += sizeof(can_header) + data_len;
   }
+
+  // move the overflowing data to the beginning of the buffer for the next round
+  memmove(data, &data[pos], size - pos);
+  size -= pos;
+
   return true;
 }
+
+uint8_t Panda::calculate_checksum(uint8_t *data, uint32_t len) {
+  uint8_t checksum = 0U;
+  for (uint32_t i = 0U; i < len; i++) {
+    checksum ^= data[i];
+  }
+  return checksum;
+}
diff --git a/selfdrive/boardd/panda.h b/selfdrive/boardd/panda.h
index 75fec57a3e..9d4b1b2092 100644
--- a/selfdrive/boardd/panda.h
+++ b/selfdrive/boardd/panda.h
@@ -6,6 +6,7 @@
 #include <list>
 #include <memory>
 #include <optional>
+#include <string>
 #include <vector>
 
 #include "cereal/gen/cpp/car.capnp.h"
@@ -30,6 +31,7 @@ struct __attribute__((packed)) can_header {
   uint8_t returned : 1;
   uint8_t extended : 1;
   uint32_t addr : 29;
+  uint8_t checksum : 8;
 };
 
 struct can_frame {
@@ -47,16 +49,16 @@ private:
 public:
   Panda(std::string serial="", uint32_t bus_offset=0);
 
-  std::string hw_serial;
   cereal::PandaState::PandaType hw_type = cereal::PandaState::PandaType::UNKNOWN;
   bool has_rtc = false;
   const uint32_t bus_offset;
 
   bool connected();
   bool comms_healthy();
+  std::string hw_serial();
 
   // Static functions
-  static std::vector<std::string> list();
+  static std::vector<std::string> list(bool usb_only=false);
 
   // Panda functionality
   cereal::PandaState::PandaType get_hw_type();
@@ -71,6 +73,7 @@ public:
   std::optional<can_health_t> get_can_state(uint16_t can_number);
   void set_loopback(bool loopback);
   std::optional<std::vector<uint8_t>> get_firmware_version();
+  bool up_to_date();
   std::optional<std::string> get_serial();
   void set_power_saving(bool power_saving);
   void enable_deepsleep();
@@ -80,11 +83,16 @@ public:
   void set_canfd_non_iso(uint16_t bus, bool non_iso);
   void can_send(capnp::List<cereal::CanData>::Reader can_data_list);
   bool can_receive(std::vector<can_frame>& out_vec);
+  void can_reset_communications();
 
 protected:
   // for unit tests
+  uint8_t receive_buffer[RECV_SIZE + sizeof(can_header) + 64];
+  uint32_t receive_buffer_size = 0;
+
   Panda(uint32_t bus_offset) : bus_offset(bus_offset) {}
   void pack_can_buffer(const capnp::List<cereal::CanData>::Reader &can_data_list,
                          std::function<void(uint8_t *, size_t)> write_func);
-  bool unpack_can_buffer(uint8_t *data, int size, std::vector<can_frame> &out_vec);
+  bool unpack_can_buffer(uint8_t *data, uint32_t &size, std::vector<can_frame> &out_vec);
+  uint8_t calculate_checksum(uint8_t *data, uint32_t len);
 };
diff --git a/selfdrive/boardd/panda_comms.cc b/selfdrive/boardd/panda_comms.cc
index e73cb69318..bc4e5f5867 100644
--- a/selfdrive/boardd/panda_comms.cc
+++ b/selfdrive/boardd/panda_comms.cc
@@ -44,7 +44,7 @@ PandaUsbHandle::PandaUsbHandle(std::string serial) : PandaCommsHandle(serial) {
       ret = libusb_get_string_descriptor_ascii(dev_handle, desc.iSerialNumber, desc_serial, std::size(desc_serial));
       if (ret < 0) { goto fail; }
 
-      auto hw_serial = std::string((char *)desc_serial, ret);
+      hw_serial = std::string((char *)desc_serial, ret);
       if (serial.empty() || serial == hw_serial) {
         break;
       }
@@ -199,7 +199,7 @@ int PandaUsbHandle::bulk_write(unsigned char endpoint, unsigned char* data, int
     } else if (err != 0 || length != transferred) {
       handle_usb_issue(err, __func__);
     }
-  } while(err != 0 && connected);
+  } while (err != 0 && connected);
 
   return transferred;
 }
@@ -226,7 +226,7 @@ int PandaUsbHandle::bulk_read(unsigned char endpoint, unsigned char* data, int l
       handle_usb_issue(err, __func__);
     }
 
-  } while(err != 0 && connected);
+  } while (err != 0 && connected);
 
   return transferred;
 }
diff --git a/selfdrive/boardd/panda_comms.h b/selfdrive/boardd/panda_comms.h
index bd262dfa0e..e61d25402f 100644
--- a/selfdrive/boardd/panda_comms.h
+++ b/selfdrive/boardd/panda_comms.h
@@ -1,26 +1,30 @@
 #pragma once
 
-#include <mutex>
 #include <atomic>
 #include <cstdint>
+#include <mutex>
+#include <string>
 #include <vector>
 
+#ifndef __APPLE__
 #include <linux/spi/spidev.h>
+#endif
 
 #include <libusb-1.0/libusb.h>
 
 
 #define TIMEOUT 0
-#define SPI_BUF_SIZE 1024
+#define SPI_BUF_SIZE 2048
 
 
 // comms base class
 class PandaCommsHandle {
 public:
-  PandaCommsHandle(std::string serial) {};
-  virtual ~PandaCommsHandle() {};
+  PandaCommsHandle(std::string serial) {}
+  virtual ~PandaCommsHandle() {}
   virtual void cleanup() = 0;
 
+  std::string hw_serial;
   std::atomic<bool> connected = true;
   std::atomic<bool> comms_healthy = true;
   static std::vector<std::string> list();
@@ -30,9 +34,6 @@ public:
   virtual int control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout=TIMEOUT) = 0;
   virtual int bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
   virtual int bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout=TIMEOUT) = 0;
-
-protected:
-  std::recursive_mutex hw_lock;
 };
 
 class PandaUsbHandle : public PandaCommsHandle {
@@ -50,9 +51,11 @@ public:
 private:
   libusb_context *ctx = NULL;
   libusb_device_handle *dev_handle = NULL;
+  std::recursive_mutex hw_lock;
   void handle_usb_issue(int err, const char func[]);
 };
 
+#ifndef __APPLE__
 class PandaSpiHandle : public PandaCommsHandle {
 public:
   PandaSpiHandle(std::string serial);
@@ -69,9 +72,11 @@ private:
   int spi_fd = -1;
   uint8_t tx_buf[SPI_BUF_SIZE];
   uint8_t rx_buf[SPI_BUF_SIZE];
+  inline static std::recursive_mutex hw_lock;
 
-  int wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack);
-  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len);
-  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
-  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len);
+  int wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length);
+  int bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout);
+  int spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
+  int spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout);
 };
+#endif
diff --git a/selfdrive/boardd/pandad.py b/selfdrive/boardd/pandad.py
index 971756002b..ce9137a30b 100755
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@@ -3,32 +3,80 @@
 import os
 import usb1
 import time
+import json
 import subprocess
 from typing import List, NoReturn
 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 system.hardware import HARDWARE
-from system.swaglog import cloudlog
+from panda import Panda, PandaDFU, PandaProtocolMismatch, FW_PATH
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.boardd.set_time import set_time
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.swaglog import cloudlog
 
 
 def get_expected_signature(panda: Panda) -> bytes:
-  fn = DEFAULT_H7_FW_FN if (panda.get_mcu_type() == MCU_TYPE_H7) else DEFAULT_FW_FN
-
   try:
+    fn = os.path.join(FW_PATH, panda.get_mcu_type().config.app_fn)
     return Panda.get_signature_from_firmware(fn)
   except Exception:
     cloudlog.exception("Error computing expected signature")
     return b""
 
+def read_panda_logs(panda: Panda) -> None:
+  """
+    Forward panda logs to the cloud
+  """
+
+  params = Params()
+  serial = panda.get_usb_serial()
+
+  log_state = {}
+  try:
+    l = json.loads(params.get("PandaLogState"))
+    for k, v in l.items():
+      if isinstance(k, str) and isinstance(v, int):
+        log_state[k] = v
+  except (TypeError, json.JSONDecodeError):
+    cloudlog.exception("failed to parse PandaLogState")
+
+  try:
+    if serial in log_state:
+      logs = panda.get_logs(last_id=log_state[serial])
+    else:
+      logs = panda.get_logs(get_all=True)
+
+    # truncate logs to 100 entries if needed
+    MAX_LOGS = 100
+    if len(logs) > MAX_LOGS:
+      cloudlog.warning(f"Panda {serial} has {len(logs)} logs, truncating to {MAX_LOGS}")
+      logs = logs[-MAX_LOGS:]
+
+    # update log state
+    if len(logs) > 0:
+      log_state[serial] = logs[-1]["id"]
+
+    for log in logs:
+      if log['timestamp'] is not None:
+        log['timestamp'] = log['timestamp'].isoformat()
+      cloudlog.event("panda_log", **log, serial=serial)
+
+    params.put("PandaLogState", json.dumps(log_state))
+  except Exception:
+    cloudlog.exception(f"Error getting logs for panda {serial}")
+
 
 def flash_panda(panda_serial: str) -> Panda:
-  panda = Panda(panda_serial)
+  try:
+    panda = Panda(panda_serial)
+  except PandaProtocolMismatch:
+    cloudlog.warning("detected protocol mismatch, reflashing panda")
+    HARDWARE.recover_internal_panda()
+    raise
 
   fw_signature = get_expected_signature(panda)
-  internal_panda = panda.is_internal() and not panda.bootstub
+  internal_panda = panda.is_internal()
 
   panda_version = "bootstub" if panda.bootstub else panda.get_version()
   panda_signature = b"" if panda.bootstub else panda.get_signature()
@@ -41,11 +89,11 @@ def flash_panda(panda_serial: str) -> Panda:
 
   if panda.bootstub:
     bootstub_version = panda.get_version()
-    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. Bootstub version: {bootstub_version}")
+    cloudlog.info(f"Flashed firmware not booting, flashing development bootloader. {bootstub_version=}, {internal_panda=}")
     if internal_panda:
       HARDWARE.recover_internal_panda()
     panda.recover(reset=(not internal_panda))
-    cloudlog.info("Done flashing bootloader")
+    cloudlog.info("Done flashing bootstub")
 
   if panda.bootstub:
     cloudlog.info("Panda still not booting, exiting")
@@ -78,23 +126,28 @@ def panda_sort_cmp(a: Panda, b: Panda):
 
 
 def main() -> NoReturn:
+  count = 0
   first_run = True
   params = Params()
 
   while True:
     try:
+      count += 1
+      cloudlog.event("pandad.flash_and_connect", count=count)
       params.remove("PandaSignatures")
 
       # Flash all Pandas in DFU mode
-      for p in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
-        PandaDFU(p).recover()
-      time.sleep(1)
+      dfu_serials = PandaDFU.list()
+      if len(dfu_serials) > 0:
+        for serial in dfu_serials:
+          cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+          PandaDFU(serial).recover()
+        time.sleep(1)
 
       panda_serials = Panda.list()
       if len(panda_serials) == 0:
         if first_run:
-          cloudlog.info("Resetting internal panda")
+          cloudlog.info("No pandas found, resetting internal panda")
           HARDWARE.reset_internal_panda()
           time.sleep(2)  # wait to come back up
         continue
@@ -106,31 +159,55 @@ def main() -> NoReturn:
       for serial in panda_serials:
         pandas.append(flash_panda(serial))
 
-      # check health for lost heartbeat
+      # Ensure internal panda is present if expected
+      internal_pandas = [panda for panda in pandas if panda.is_internal()]
+      if HARDWARE.has_internal_panda() and len(internal_pandas) == 0:
+        cloudlog.error("Internal panda is missing, resetting")
+        HARDWARE.reset_internal_panda()
+        time.sleep(2)  # wait to come back up
+        continue
+
+      # sort pandas to have deterministic order
+      pandas.sort(key=cmp_to_key(panda_sort_cmp))
+      panda_serials = [p.get_usb_serial() for p in pandas]
+
+      # log panda fw versions
+      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
+
       for panda in pandas:
+        # check health for lost heartbeat
         health = panda.health()
         if health["heartbeat_lost"]:
           params.put_bool("PandaHeartbeatLost", True)
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
-        if first_run:
-          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
-          panda.reset()
+        read_panda_logs(panda)
 
-      # sort pandas to have deterministic order
-      pandas.sort(key=cmp_to_key(panda_sort_cmp))
-      panda_serials = list(map(lambda p: p.get_usb_serial(), pandas))  # type: ignore
+        if first_run:
+          if panda.is_internal():
+            # update time from RTC
+            set_time(cloudlog)
 
-      # log panda fw versions
-      params.put("PandaSignatures", b','.join(p.get_signature() for p in pandas))
+          # reset panda to ensure we're in a good state
+          cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
+          if panda.is_internal():
+            HARDWARE.reset_internal_panda()
+          else:
+            panda.reset(reconnect=False)
 
-      # close all pandas
       for p in pandas:
         p.close()
+    # TODO: wrap all panda exceptions in a base panda exception
     except (usb1.USBErrorNoDevice, usb1.USBErrorPipe):
       # a panda was disconnected while setting everything up. let's try again
       cloudlog.exception("Panda USB exception while setting up")
       continue
+    except PandaProtocolMismatch:
+      cloudlog.exception("pandad.protocol_mismatch")
+      continue
+    except Exception:
+      cloudlog.exception("pandad.uncaught_exception")
+      continue
 
     first_run = False
 
diff --git a/selfdrive/boardd/set_time.py b/selfdrive/boardd/set_time.py
index 7d17be4de9..fe17f64e82 100755
--- a/selfdrive/boardd/set_time.py
+++ b/selfdrive/boardd/set_time.py
@@ -1,11 +1,9 @@
 #!/usr/bin/env python3
-import datetime
 import os
-import struct
-import usb1
+import datetime
+from panda import Panda
 
-REQUEST_IN = usb1.ENDPOINT_IN | usb1.TYPE_VENDOR | usb1.RECIPIENT_DEVICE
-MIN_DATE = datetime.datetime(year=2021, month=4, day=1)
+from openpilot.common.time import MIN_DATE
 
 def set_time(logger):
   sys_time = datetime.datetime.today()
@@ -14,24 +12,27 @@ def set_time(logger):
     return
 
   try:
-    ctx = usb1.USBContext()
-    dev = ctx.openByVendorIDAndProductID(0xbbaa, 0xddcc)
-    if dev is None:
-      logger.info("No panda found")
+    ps = Panda.list()
+    if len(ps) == 0:
+      logger.error("Failed to set time, no pandas found")
       return
 
-    # Set system time from panda RTC time
-    dat = dev.controlRead(REQUEST_IN, 0xa0, 0, 0, 8)
-    a = struct.unpack("HBBBBBB", dat)
-    panda_time = datetime.datetime(a[0], a[1], a[2], a[4], a[5], a[6])
-    if panda_time > MIN_DATE:
-      logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
-      os.system(f"TZ=UTC date -s '{panda_time}'")
+    for s in ps:
+      with Panda(serial=s) as p:
+        if not p.is_internal():
+          continue
+
+        # Set system time from panda RTC time
+        panda_time = p.get_datetime()
+        if panda_time > MIN_DATE:
+          logger.info(f"adjusting time from '{sys_time}' to '{panda_time}'")
+          os.system(f"TZ=UTC date -s '{panda_time}'")
+        break
   except Exception:
-    logger.warn("Failed to fetch time from panda")
+    logger.exception("Failed to fetch time from panda")
 
 if __name__ == "__main__":
   import logging
-  logging.basicConfig(level=logging.INFO)
+  logging.basicConfig(level=logging.DEBUG)
 
   set_time(logging)
diff --git a/selfdrive/boardd/spi.cc b/selfdrive/boardd/spi.cc
index 717b6ce820..d11e955c49 100644
--- a/selfdrive/boardd/spi.cc
+++ b/selfdrive/boardd/spi.cc
@@ -1,9 +1,13 @@
+#ifndef __APPLE__
+#include <sys/file.h>
 #include <sys/ioctl.h>
 #include <linux/spi/spidev.h>
 
 #include <cassert>
 #include <cmath>
 #include <cstring>
+#include <iomanip>
+#include <sstream>
 
 #include "common/util.h"
 #include "common/timing.h"
@@ -18,6 +22,12 @@
 #define SPI_NACK 0x1FU
 #define SPI_CHECKSUM_START 0xABU
 
+
+enum SpiError {
+  NACK = -2,
+  ACK_TIMEOUT = -3,
+};
+
 struct __attribute__((packed)) spi_header {
   uint8_t sync;
   uint8_t endpoint;
@@ -25,43 +35,85 @@ struct __attribute__((packed)) spi_header {
   uint16_t max_rx_len;
 };
 
-const int SPI_MAX_RETRIES = 5;
-const int SPI_ACK_TIMEOUT = 50; // milliseconds
+const unsigned int SPI_ACK_TIMEOUT = 500; // milliseconds
+const std::string SPI_DEVICE = "/dev/spidev0.0";
+
+class LockEx {
+public:
+  LockEx(int fd, std::recursive_mutex &m) : fd(fd), m(m) {
+    m.lock();
+    flock(fd, LOCK_EX);
+  }
+
+  ~LockEx() {
+    flock(fd, LOCK_UN);
+    m.unlock();
+  }
+
+private:
+  int fd;
+  std::recursive_mutex &m;
+};
 
 
 PandaSpiHandle::PandaSpiHandle(std::string serial) : PandaCommsHandle(serial) {
-  LOGD("opening SPI panda: %s", serial.c_str());
+  int ret;
+  const int uid_len = 12;
+  uint8_t uid[uid_len] = {0};
 
-  int err;
   uint32_t spi_mode = SPI_MODE_0;
-  uint32_t spi_speed = 30000000;
   uint8_t spi_bits_per_word = 8;
 
-  spi_fd = open(serial.c_str(), O_RDWR);
+  // 50MHz is the max of the 845. note that some older
+  // revs of the comma three may not support this speed
+  uint32_t spi_speed = 50000000;
+
+  if (!util::file_exists(SPI_DEVICE)) {
+    goto fail;
+  }
+
+  spi_fd = open(SPI_DEVICE.c_str(), O_RDWR);
   if (spi_fd < 0) {
-    LOGE("failed opening SPI device %d", err);
+    LOGE("failed opening SPI device %d", spi_fd);
     goto fail;
   }
 
   // SPI settings
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
-  if (err < 0) {
-    LOGE("failed setting SPI mode %d", err);
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MODE, &spi_mode);
+  if (ret < 0) {
+    LOGE("failed setting SPI mode %d", ret);
     goto fail;
   }
 
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
-  if (err < 0) {
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed);
+  if (ret < 0) {
     LOGE("failed setting SPI speed");
     goto fail;
   }
 
-  err = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
-  if (err < 0) {
+  ret = util::safe_ioctl(spi_fd, SPI_IOC_WR_BITS_PER_WORD, &spi_bits_per_word);
+  if (ret < 0) {
     LOGE("failed setting SPI bits per word");
     goto fail;
   }
 
+  // get hw UID/serial
+  ret = control_read(0xc3, 0, 0, uid, uid_len, 100);
+  if (ret == uid_len) {
+    std::stringstream stream;
+    for (int i = 0; i < uid_len; i++) {
+      stream << std::hex << std::setw(2) << std::setfill('0') << int(uid[i]);
+    }
+    hw_serial = stream.str();
+  } else {
+    LOGD("failed to get serial %d", ret);
+    goto fail;
+  }
+
+  if (!serial.empty() && (serial != hw_serial)) {
+    goto fail;
+  }
+
   return;
 
 fail:
@@ -90,7 +142,7 @@ int PandaSpiHandle::control_write(uint8_t request, uint16_t param1, uint16_t par
     .param2 = param2,
     .length = 0
   };
-  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0);
+  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), NULL, 0, timeout);
 }
 
 int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t param2, unsigned char *data, uint16_t length, unsigned int timeout) {
@@ -100,20 +152,18 @@ int PandaSpiHandle::control_read(uint8_t request, uint16_t param1, uint16_t para
     .param2 = param2,
     .length = length
   };
-  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length);
+  return spi_transfer_retry(0, (uint8_t *) &packet, sizeof(packet), data, length, timeout);
 }
 
 int PandaSpiHandle::bulk_write(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  return bulk_transfer(endpoint, data, length, NULL, 0);
+  return bulk_transfer(endpoint, data, length, NULL, 0, timeout);
 }
 int PandaSpiHandle::bulk_read(unsigned char endpoint, unsigned char* data, int length, unsigned int timeout) {
-  return bulk_transfer(endpoint, NULL, 0, data, length);
+  return bulk_transfer(endpoint, NULL, 0, data, length, timeout);
 }
 
-int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len) {
-  std::lock_guard lk(hw_lock);
-
-  const int xfer_size = 0x40 * 15;
+int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t rx_len, unsigned int timeout) {
+  const int xfer_size = SPI_BUF_SIZE - 0x40;
 
   int ret = 0;
   uint16_t length = (tx_data != NULL) ? tx_len : rx_len;
@@ -121,16 +171,16 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
     int d;
     if (tx_data != NULL) {
       int len = std::min(xfer_size, tx_len - (xfer_size * i));
-      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0);
+      d = spi_transfer_retry(endpoint, tx_data + (xfer_size * i), len, NULL, 0, timeout);
     } else {
       uint16_t to_read = std::min(xfer_size, rx_len - ret);
-      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read);
+      d = spi_transfer_retry(endpoint, NULL, 0, rx_data + (xfer_size * i), to_read, timeout);
     }
 
     if (d < 0) {
       LOGE("SPI: bulk transfer failed with %d", d);
       comms_healthy = false;
-      return -1;
+      return d;
     }
 
     ret += d;
@@ -143,7 +193,12 @@ int PandaSpiHandle::bulk_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t t
 }
 
 std::vector<std::string> PandaSpiHandle::list() {
-  // TODO: list all pandas available over SPI
+  try {
+    PandaSpiHandle sh("");
+    return {sh.hw_serial};
+  } catch (std::exception &e) {
+    // no panda on SPI
+  }
   return {};
 }
 
@@ -163,22 +218,55 @@ bool check_checksum(uint8_t *data, int data_len) {
 }
 
 
-int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
+int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
+  int nack_count = 0;
+  int timeout_count = 0;
+  bool timed_out = false;
+  double start_time = millis_since_boot();
 
-  int count = SPI_MAX_RETRIES;
-  std::lock_guard lk(hw_lock);
   do {
-    // TODO: handle error
-    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len);
-    count--;
-  } while (ret < 0 && connected && count > 0);
+    ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
+
+    if (ret < 0) {
+      timed_out = (timeout != 0) && (timeout_count > 5);
+      timeout_count += ret == SpiError::ACK_TIMEOUT;
+
+      // give other threads a chance to run
+      std::this_thread::yield();
+
+      if (ret == SpiError::NACK) {
+        // prevent busy waiting while the panda is NACK'ing
+        // due to full TX buffers
+        nack_count += 1;
+        if (nack_count > 3) {
+          usleep(std::clamp(nack_count*10, 200, 2000));
+        }
+      }
+    }
+  } while (ret < 0 && connected && !timed_out);
+
+  if (ret < 0) {
+    LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
+  }
 
   return ret;
 }
 
-int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
+int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout, unsigned int length) {
   double start_millis = millis_since_boot();
+  if (timeout == 0) {
+    timeout = SPI_ACK_TIMEOUT;
+  }
+  timeout = std::clamp(timeout, 100U, SPI_ACK_TIMEOUT);
+
+  spi_ioc_transfer transfer = {
+    .tx_buf = (uint64_t)tx_buf,
+    .rx_buf = (uint64_t)rx_buf,
+    .len = length
+  };
+  tx_buf[0] = tx;
+
   while (true) {
     int ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
     if (ret < 0) {
@@ -189,23 +277,24 @@ int PandaSpiHandle::wait_for_ack(spi_ioc_transfer &transfer, uint8_t ack) {
     if (rx_buf[0] == ack) {
       break;
     } else if (rx_buf[0] == SPI_NACK) {
-      LOGW("SPI: got NACK");
-      return -1;
+      LOGD("SPI: got NACK");
+      return SpiError::NACK;
     }
 
     // handle timeout
-    if (millis_since_boot() - start_millis > SPI_ACK_TIMEOUT) {
-      LOGE("SPI: timed out waiting for ACK");
-      return -1;
+    if (millis_since_boot() - start_millis > timeout) {
+      LOGD("SPI: timed out waiting for ACK");
+      return SpiError::ACK_TIMEOUT;
     }
   }
 
   return 0;
 }
 
-int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len) {
+int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
   uint16_t rx_data_len;
+  LockEx lock(spi_fd, hw_lock);
 
   // needs to be less, since we need to have space for the checksum
   assert(tx_len < SPI_BUF_SIZE);
@@ -234,9 +323,7 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0x12;
-  transfer.len = 1;
-  ret = wait_for_ack(transfer, SPI_HACK);
+  ret = wait_for_ack(SPI_HACK, 0x11, timeout, 1);
   if (ret < 0) {
     goto transfer_fail;
   }
@@ -254,25 +341,18 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
   }
 
   // Wait for (N)ACK
-  tx_buf[0] = 0xab;
-  transfer.len = 1;
-  ret = wait_for_ack(transfer, SPI_DACK);
+  ret = wait_for_ack(SPI_DACK, 0x13, timeout, 3);
   if (ret < 0) {
     goto transfer_fail;
   }
 
-  // Read data len
-  transfer.len = 2;
-  transfer.rx_buf = (uint64_t)(rx_buf + 1);
-  ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
-  if (ret < 0) {
-    LOGE("SPI: failed to read rx data len");
+  // Read data
+  rx_data_len = *(uint16_t *)(rx_buf+1);
+  if (rx_data_len >= SPI_BUF_SIZE) {
+    LOGE("SPI: RX data len larger than buf size %d", rx_data_len);
     goto transfer_fail;
   }
-  rx_data_len = *(uint16_t *)(rx_buf+1);
-  assert(rx_data_len < SPI_BUF_SIZE);
 
-  // Read data
   transfer.len = rx_data_len + 1;
   transfer.rx_buf = (uint64_t)(rx_buf + 2 + 1);
   ret = util::safe_ioctl(spi_fd, SPI_IOC_MESSAGE(1), &transfer);
@@ -294,3 +374,4 @@ int PandaSpiHandle::spi_transfer(uint8_t endpoint, uint8_t *tx_data, uint16_t tx
 transfer_fail:
   return ret;
 }
+#endif
diff --git a/selfdrive/boardd/tests/bootstub.panda.bin b/selfdrive/boardd/tests/bootstub.panda.bin
new file mode 100755
index 0000000000..43db537061
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda.bin differ
diff --git a/selfdrive/boardd/tests/bootstub.panda_h7.bin b/selfdrive/boardd/tests/bootstub.panda_h7.bin
new file mode 100755
index 0000000000..1d9445004e
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7.bin differ
diff --git a/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin
new file mode 100755
index 0000000000..5cf2fa4519
Binary files /dev/null and b/selfdrive/boardd/tests/bootstub.panda_h7_spiv0.bin differ
diff --git a/selfdrive/boardd/tests/test_boardd_loopback.py b/selfdrive/boardd/tests/test_boardd_loopback.py
index e9bbcb4586..dfce0e3710 100755
--- a/selfdrive/boardd/tests/test_boardd_loopback.py
+++ b/selfdrive/boardd/tests/test_boardd_loopback.py
@@ -1,19 +1,20 @@
 #!/usr/bin/env python3
 import os
+import copy
 import random
 import time
 import unittest
 from collections import defaultdict
+from pprint import pprint
 
 import cereal.messaging as messaging
-from cereal import car
-from common.params import Params
-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 system.hardware import TICI
-from selfdrive.test.helpers import phone_only, with_processes
+from cereal import car, log
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
 
 
 class TestBoardd(unittest.TestCase):
@@ -22,51 +23,49 @@ class TestBoardd(unittest.TestCase):
   def setUpClass(cls):
     os.environ['STARTED'] = '1'
     os.environ['BOARDD_LOOPBACK'] = '1'
-    cls.spinner = Spinner()
-
-  @classmethod
-  def tearDownClass(cls):
-    cls.spinner.close()
 
   @phone_only
   @with_processes(['pandad'])
   def test_loopback(self):
-    # wait for boardd to init
-    time.sleep(2)
+    params = Params()
+    params.put_bool("IsOnroad", False)
 
-    with Timeout(60, "boardd didn't start"):
+    with Timeout(90, "boardd didn't start"):
       sm = messaging.SubMaster(['pandaStates'])
-      while sm.rcv_frame['pandaStates'] < 1 and len(sm['pandaStates']) == 0:
+      while sm.rcv_frame['pandaStates'] < 1 or len(sm['pandaStates']) == 0 or \
+          any(ps.pandaType == log.PandaState.PandaType.unknown for ps in sm['pandaStates']):
         sm.update(1000)
 
     num_pandas = len(sm['pandaStates'])
-    if TICI:
-      self.assertGreater(num_pandas, 1, "connect another panda for multipanda tests")
+    expected_pandas = 2 if TICI and "SINGLE_PANDA" not in os.environ else 1
+    self.assertEqual(num_pandas, expected_pandas, "connected pandas ({num_pandas}) doesn't match expected panda count ({expected_pandas}). \
+                                                   connect another panda for multipanda tests.")
 
-    # boardd blocks on CarVin and CarParams
+    # boardd safety setting relies on these params
     cp = car.CarParams.new_message()
 
     safety_config = car.CarParams.SafetyConfig.new_message()
     safety_config.safetyModel = car.CarParams.SafetyModel.allOutput
     cp.safetyConfigs = [safety_config]*num_pandas
 
-    params = Params()
-    params.put("CarVin", b"0"*17)
+    params.put_bool("IsOnroad", True)
+    params.put_bool("FirmwareQueryDone", True)
     params.put_bool("ControlsReady", True)
     params.put("CarParams", cp.to_bytes())
 
     sendcan = messaging.pub_sock('sendcan')
     can = messaging.sub_sock('can', conflate=False, timeout=100)
-    time.sleep(0.2)
+    sm = messaging.SubMaster(['pandaStates'])
+    time.sleep(0.5)
 
     n = 200
     for i in range(n):
-      self.spinner.update(f"boardd loopback {i}/{n}")
+      print(f"boardd loopback {i}/{n}")
 
       sent_msgs = defaultdict(set)
-      for _ in range(random.randrange(10)):
+      for _ in range(random.randrange(20, 100)):
         to_send = []
-        for __ in range(random.randrange(100)):
+        for __ in range(random.randrange(20)):
           bus = random.choice([b for b in range(3*num_pandas) if b % 4 != 3])
           addr = random.randrange(1, 1<<29)
           dat = bytes(random.getrandbits(8) for _ in range(random.randrange(1, 9)))
@@ -74,21 +73,29 @@ class TestBoardd(unittest.TestCase):
           to_send.append(make_can_msg(addr, dat, bus))
         sendcan.send(can_list_to_can_capnp(to_send, msgtype='sendcan'))
 
-      for _ in range(100 * 2):
+      sent_loopback = copy.deepcopy(sent_msgs)
+      sent_loopback.update({k+128: copy.deepcopy(v) for k, v in sent_msgs.items()})
+      sent_total = {k: len(v) for k, v in sent_loopback.items()}
+      for _ in range(100 * 5):
+        sm.update(0)
         recvd = messaging.drain_sock(can, wait_for_one=True)
         for msg in recvd:
           for m in msg.can:
-            if m.src >= 128:
-              key = (m.address, m.dat)
-              assert key in sent_msgs[m.src-128], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
-              sent_msgs[m.src-128].discard(key)
+            key = (m.address, m.dat)
+            assert key in sent_loopback[m.src], f"got unexpected msg: {m.src=} {m.address=} {m.dat=}"
+            sent_loopback[m.src].discard(key)
 
-        if all(len(v) == 0 for v in sent_msgs.values()):
+        if all(len(v) == 0 for v in sent_loopback.values()):
           break
 
       # if a set isn't empty, messages got dropped
-      for bus in sent_msgs.keys():
-        assert not len(sent_msgs[bus]), f"loop {i}: bus {bus} missing {len(sent_msgs[bus])} messages"
+      pprint(sent_msgs)
+      pprint(sent_loopback)
+      print({k: len(x) for k, x in sent_loopback.items()})
+      print(sum([len(x) for x in sent_loopback.values()]))
+      pprint(sm['pandaStates'])  # may drop messages due to RX buffer overflow
+      for bus in sent_loopback.keys():
+        assert not len(sent_loopback[bus]), f"loop {i}: bus {bus} missing {len(sent_loopback[bus])} out of {sent_total[bus]} messages"
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
index cc3b4bce9a..86476d05cd 100644
--- a/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
+++ b/selfdrive/boardd/tests/test_boardd_usbprotocol.cc
@@ -1,22 +1,16 @@
 #define CATCH_CONFIG_MAIN
 #define CATCH_CONFIG_ENABLE_BENCHMARKING
-#include <random>
 
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
+#include "common/util.h"
 #include "selfdrive/boardd/panda.h"
 
-int random_int(int min, int max) {
-  std::random_device dev;
-  std::mt19937 rng(dev());
-  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
-  return dist(rng);
-}
-
 struct PandaTest : public Panda {
   PandaTest(uint32_t bus_offset, int can_list_size, cereal::PandaState::PandaType hw_type);
   void test_can_send();
-  void test_can_recv();
+  void test_can_recv(uint32_t chunk_size = 0);
+  void test_chunked_can_recv();
 
   std::map<int, std::string> test_data;
   int can_list_size = 0;
@@ -43,10 +37,10 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
   auto can_list = msg.initEvent().initSendcan(can_list_size);
   for (uint8_t i = 0; i < can_list_size; ++i) {
     auto can = can_list[i];
-    uint32_t id = random_int(0, std::size(dlc_to_len) - 1);
+    uint32_t id = util::random_int(0, std::size(dlc_to_len) - 1);
     const std::string &dat = test_data[dlc_to_len[id]];
     can.setAddress(i);
-    can.setSrc(random_int(0, 3) + bus_offset);
+    can.setSrc(util::random_int(0, 3) + bus_offset);
     can.setDat(kj::ArrayPtr((uint8_t *)dat.data(), dat.size()));
     total_pakets_size += sizeof(can_header) + dat.size();
   }
@@ -58,11 +52,7 @@ PandaTest::PandaTest(uint32_t bus_offset_, int can_list_size, cereal::PandaState
 void PandaTest::test_can_send() {
   std::vector<uint8_t> unpacked_data;
   this->pack_can_buffer(can_data_list, [&](uint8_t *chunk, size_t size) {
-    uint32_t magic;
-    memcpy(&magic, &chunk[0], sizeof(uint32_t));
-
-    REQUIRE(magic == CAN_TRANSACTION_MAGIC);
-    unpacked_data.insert(unpacked_data.end(), &chunk[sizeof(uint32_t)], &chunk[size]);
+    unpacked_data.insert(unpacked_data.end(), chunk, &chunk[size]);
   });
   REQUIRE(unpacked_data.size() == total_pakets_size);
 
@@ -77,16 +67,30 @@ void PandaTest::test_can_send() {
     REQUIRE(header.addr == cnt);
     REQUIRE(test_data.find(data_len) != test_data.end());
     const std::string &dat = test_data[data_len];
-    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + 5], dat.size()) == 0);
+    REQUIRE(memcmp(dat.data(), &unpacked_data[pos + sizeof(can_header)], dat.size()) == 0);
     ++cnt;
   }
   REQUIRE(cnt == can_list_size);
 }
 
-void PandaTest::test_can_recv() {
+void PandaTest::test_can_recv(uint32_t rx_chunk_size) {
   std::vector<can_frame> frames;
-  this->pack_can_buffer(can_data_list, [&](uint8_t *data, size_t size) {
-    this->unpack_can_buffer(data, size, frames);
+  this->pack_can_buffer(can_data_list, [&](uint8_t *data, uint32_t size) {
+    if (rx_chunk_size == 0) {
+      REQUIRE(this->unpack_can_buffer(data, size, frames));
+    } else {
+      this->receive_buffer_size = 0;
+      uint32_t pos = 0;
+
+      while (pos < size) {
+        uint32_t chunk_size = std::min(rx_chunk_size, size - pos);
+        memcpy(&this->receive_buffer[this->receive_buffer_size], &data[pos], chunk_size);
+        this->receive_buffer_size += chunk_size;
+        pos += chunk_size;
+
+        REQUIRE(this->unpack_can_buffer(this->receive_buffer, this->receive_buffer_size, frames));
+      }
+    }
   });
 
   REQUIRE(frames.size() == can_list_size);
@@ -109,6 +113,9 @@ TEST_CASE("send/recv CAN 2.0 packets") {
   SECTION("can_receive") {
     test.test_can_recv();
   }
+  SECTION("chunked_can_receive") {
+    test.test_can_recv(0x40);
+  }
 }
 
 TEST_CASE("send/recv CAN FD packets") {
@@ -122,4 +129,7 @@ TEST_CASE("send/recv CAN FD packets") {
   SECTION("can_receive") {
     test.test_can_recv();
   }
+  SECTION("chunked_can_receive") {
+    test.test_can_recv(0x40);
+  }
 }
diff --git a/selfdrive/boardd/tests/test_pandad.py b/selfdrive/boardd/tests/test_pandad.py
new file mode 100755
index 0000000000..970af385d8
--- /dev/null
+++ b/selfdrive/boardd/tests/test_pandad.py
@@ -0,0 +1,118 @@
+#!/usr/bin/env python3
+import os
+import time
+import unittest
+
+import cereal.messaging as messaging
+from cereal import log
+from openpilot.common.gpio import gpio_set, gpio_init
+from openpilot.common.params import Params
+from panda import Panda, PandaDFU, PandaProtocolMismatch
+from openpilot.selfdrive.test.helpers import phone_only
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.hardware.tici.pins import GPIO
+
+HERE = os.path.dirname(os.path.realpath(__file__))
+
+
+class TestPandad(unittest.TestCase):
+
+  def setUp(self):
+    self.params = Params()
+    self.start_log_state = self.params.get("PandaLogState")
+
+  def tearDown(self):
+    managed_processes['pandad'].stop()
+
+  def _wait_for_boardd(self, timeout=30):
+    sm = messaging.SubMaster(['peripheralState'])
+    for _ in range(timeout*10):
+      sm.update(100)
+      if sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
+        break
+
+    if sm['peripheralState'].pandaType == log.PandaState.PandaType.unknown:
+      raise Exception("boardd failed to start")
+
+    # simple check that we did something with the panda logs
+    cur_log_state = self.params.get("PandaLogState")
+    assert cur_log_state != self.start_log_state
+
+  def _go_to_dfu(self):
+    HARDWARE.recover_internal_panda()
+    assert Panda.wait_for_dfu(None, 10)
+
+  def _flash_and_test(self, fn, expect_mismatch=False):
+    self._go_to_dfu()
+    pd = PandaDFU(None)
+    if fn is None:
+      fn = os.path.join(HERE, pd.get_mcu_type().config.bootstub_fn)
+    with open(fn, "rb") as f:
+      pd.program_bootstub(f.read())
+    pd.reset()
+    HARDWARE.reset_internal_panda()
+
+    assert Panda.wait_for_panda(None, 10)
+    if expect_mismatch:
+      with self.assertRaises(PandaProtocolMismatch):
+        Panda()
+    else:
+      with Panda() as p:
+        assert p.bootstub
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(45)
+
+  @phone_only
+  def test_in_dfu(self):
+    HARDWARE.recover_internal_panda()
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(60)
+
+  @phone_only
+  def test_in_bootstub(self):
+    with Panda() as p:
+      p.reset(enter_bootstub=True)
+      assert p.bootstub
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  @phone_only
+  def test_internal_panda_reset(self):
+    gpio_init(GPIO.STM_RST_N, True)
+    gpio_set(GPIO.STM_RST_N, 1)
+    time.sleep(0.5)
+    assert all(not Panda(s).is_internal() for s in Panda.list())
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+    assert any(Panda(s).is_internal() for s in Panda.list())
+
+  @phone_only
+  def test_best_case_startup_time(self):
+    # run once so we're setup
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+    managed_processes['pandad'].stop()
+
+    # should be fast this time
+    managed_processes['pandad'].start()
+    self._wait_for_boardd(8)
+
+  @phone_only
+  def test_protocol_version_check(self):
+    if HARDWARE.get_device_type() == 'tici':
+      self.skipTest("")
+
+    # flash old fw
+    fn = os.path.join(HERE, "bootstub.panda_h7_spiv0.bin")
+    self._flash_and_test(fn, expect_mismatch=True)
+
+  @phone_only
+  def test_release_to_devel_bootstub(self):
+    self._flash_and_test(None)
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 2fce0f9036..ef64f6aa1e 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,22 +1,27 @@
-{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
+{% set footnote_tag = '[<sup>{}</sup>](#footnotes)' %}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' %}
+{% set video_icon = '<a href="{}" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>' %}
+{# Force hardware column wider by using a blank image with max width. #}
+{% set width_tag = '<a href="##"><img width=2000></a>%s<br>&nbsp;' %}
+{% set hardware_col_name = 'Hardware Needed' %}
+{% set wide_hardware_col_name = width_tag|format(hardware_col_name) -%}
 
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
-A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
 # {{all_car_info | length}} Supported Cars
 
-|{{Column | map(attribute='value') | join('|')}}|
+|{{Column | map(attribute='value') | join('|') | replace(hardware_col_name, wide_hardware_col_name)}}|
 |---|---|---|{% for _ in range((Column | length) - 3) %}{{':---:|'}}{% endfor +%}
 {% for car_info in all_car_info %}
-|{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
+|{% for column in Column %}{{car_info.get_column(column, star_icon, video_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
-<a id="footnotes"></a>
+### Footnotes
 {% for footnote in footnotes %}
 <sup>{{loop.index}}</sup>{{footnote}} <br />
 {% endfor %}
@@ -38,6 +43,7 @@ If your car has the following packages or features, then it's a good candidate f
 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
@@ -52,7 +58,7 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi
 ### Toyota Security
 
 openpilot does not yet support these Toyota models due to a new message authentication method.
-[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+[Vote](https://comma.ai/shop#toyota-security) if you'd like to see openpilot support on these models.
 
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
diff --git a/selfdrive/car/__init__.py b/selfdrive/car/__init__.py
index efb2ec60b4..c5f0fbb46a 100644
--- a/selfdrive/car/__init__.py
+++ b/selfdrive/car/__init__.py
@@ -1,16 +1,20 @@
 # functions common among cars
+from collections import namedtuple
+from typing import Dict, Optional
+
 import capnp
 from typing import List
 
 from cereal import car
-from common.numpy_fast import clip
-from typing import Dict
+from openpilot.common.numpy_fast import clip, interp
+
 
 # kg of standard extra cargo to count for drive, gas, etc...
 STD_CARGO_KG = 136.
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
+AngleRateLimit = namedtuple('AngleRateLimit', ['speed_bp', 'angle_v'])
 
 
 def apply_hysteresis(val: float, val_steady: float, hyst_gap: float) -> float:
@@ -40,9 +44,8 @@ def gen_empty_fingerprint():
   return {i: {} for i in range(0, 8)}
 
 
-# FIXME: hardcoding honda civic 2016 touring params so they can be used to
-# scale unknown params for other cars
-class CivicParams:
+# these params were derived for the Civic and used to calculate params for other cars
+class VehicleDynamicsParams:
   MASS = 1326. + STD_CARGO_KG
   WHEELBASE = 2.70
   CENTER_TO_FRONT = WHEELBASE * 0.4
@@ -55,18 +58,18 @@ class CivicParams:
 # TODO: get actual value, for now starting with reasonable value for
 # civic and scaling by mass and wheelbase
 def scale_rot_inertia(mass, wheelbase):
-  return CivicParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (CivicParams.MASS * CivicParams.WHEELBASE ** 2)
+  return VehicleDynamicsParams.ROTATIONAL_INERTIA * mass * wheelbase ** 2 / (VehicleDynamicsParams.MASS * VehicleDynamicsParams.WHEELBASE ** 2)
 
 
 # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
 # mass and CG position, so all cars will have approximately similar dyn behaviors
-def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor=1.0):
+def scale_tire_stiffness(mass, wheelbase, center_to_front, tire_stiffness_factor):
   center_to_rear = wheelbase - center_to_front
-  tire_stiffness_front = (CivicParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / CivicParams.MASS * \
-                         (center_to_rear / wheelbase) / (CivicParams.CENTER_TO_REAR / CivicParams.WHEELBASE)
+  tire_stiffness_front = (VehicleDynamicsParams.TIRE_STIFFNESS_FRONT * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                         (center_to_rear / wheelbase) / (VehicleDynamicsParams.CENTER_TO_REAR / VehicleDynamicsParams.WHEELBASE)
 
-  tire_stiffness_rear = (CivicParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / CivicParams.MASS * \
-                        (center_to_front / wheelbase) / (CivicParams.CENTER_TO_FRONT / CivicParams.WHEELBASE)
+  tire_stiffness_rear = (VehicleDynamicsParams.TIRE_STIFFNESS_REAR * tire_stiffness_factor) * mass / VehicleDynamicsParams.MASS * \
+                        (center_to_front / wheelbase) / (VehicleDynamicsParams.CENTER_TO_FRONT / VehicleDynamicsParams.WHEELBASE)
 
   return tire_stiffness_front, tire_stiffness_rear
 
@@ -75,7 +78,7 @@ def dbc_dict(pt_dbc, radar_dbc, chassis_dbc=None, body_dbc=None) -> Dict[str, st
   return {'pt': pt_dbc, 'radar': radar_dbc, 'chassis': chassis_dbc, 'body': body_dbc}
 
 
-def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
+def apply_driver_steer_torque_limits(apply_torque, apply_torque_last, driver_torque, LIMITS):
 
   # limits due to driver torque
   driver_max_torque = LIMITS.STEER_MAX + (LIMITS.STEER_DRIVER_ALLOWANCE + driver_torque * LIMITS.STEER_DRIVER_FACTOR) * LIMITS.STEER_DRIVER_MULTIPLIER
@@ -95,24 +98,65 @@ def apply_std_steer_torque_limits(apply_torque, apply_torque_last, driver_torque
   return int(round(float(apply_torque)))
 
 
-def apply_toyota_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
-  # limits due to comparison of commanded torque VS motor reported torque
-  max_lim = min(max(motor_torque + LIMITS.STEER_ERROR_MAX, LIMITS.STEER_ERROR_MAX), LIMITS.STEER_MAX)
-  min_lim = max(min(motor_torque - LIMITS.STEER_ERROR_MAX, -LIMITS.STEER_ERROR_MAX), -LIMITS.STEER_MAX)
+def apply_dist_to_meas_limits(val, val_last, val_meas,
+                              STEER_DELTA_UP, STEER_DELTA_DOWN,
+                              STEER_ERROR_MAX, STEER_MAX):
+  # limits due to comparison of commanded val VS measured val (torque/angle/curvature)
+  max_lim = min(max(val_meas + STEER_ERROR_MAX, STEER_ERROR_MAX), STEER_MAX)
+  min_lim = max(min(val_meas - STEER_ERROR_MAX, -STEER_ERROR_MAX), -STEER_MAX)
 
-  apply_torque = clip(apply_torque, min_lim, max_lim)
+  val = clip(val, min_lim, max_lim)
 
-  # slow rate if steer torque increases in magnitude
-  if apply_torque_last > 0:
-    apply_torque = clip(apply_torque,
-                        max(apply_torque_last - LIMITS.STEER_DELTA_DOWN, -LIMITS.STEER_DELTA_UP),
-                        apply_torque_last + LIMITS.STEER_DELTA_UP)
+  # slow rate if val increases in magnitude
+  if val_last > 0:
+    val = clip(val,
+               max(val_last - STEER_DELTA_DOWN, -STEER_DELTA_UP),
+               val_last + STEER_DELTA_UP)
   else:
-    apply_torque = clip(apply_torque,
-                        apply_torque_last - LIMITS.STEER_DELTA_UP,
-                        min(apply_torque_last + LIMITS.STEER_DELTA_DOWN, LIMITS.STEER_DELTA_UP))
+    val = clip(val,
+               val_last - STEER_DELTA_UP,
+               min(val_last + STEER_DELTA_DOWN, STEER_DELTA_UP))
 
-  return int(round(float(apply_torque)))
+  return float(val)
+
+
+def apply_meas_steer_torque_limits(apply_torque, apply_torque_last, motor_torque, LIMITS):
+  return int(round(apply_dist_to_meas_limits(apply_torque, apply_torque_last, motor_torque,
+                                             LIMITS.STEER_DELTA_UP, LIMITS.STEER_DELTA_DOWN,
+                                             LIMITS.STEER_ERROR_MAX, LIMITS.STEER_MAX)))
+
+
+def apply_std_steer_angle_limits(apply_angle, apply_angle_last, v_ego, LIMITS):
+  # pick angle rate limits based on wind up/down
+  steer_up = apply_angle_last * apply_angle >= 0. and abs(apply_angle) > abs(apply_angle_last)
+  rate_limits = LIMITS.ANGLE_RATE_LIMIT_UP if steer_up else LIMITS.ANGLE_RATE_LIMIT_DOWN
+
+  angle_rate_lim = interp(v_ego, rate_limits.speed_bp, rate_limits.angle_v)
+  return clip(apply_angle, apply_angle_last - angle_rate_lim, apply_angle_last + angle_rate_lim)
+
+
+def common_fault_avoidance(fault_condition: bool, request: bool, above_limit_frames: int,
+                           max_above_limit_frames: int, max_mismatching_frames: int = 1):
+  """
+  Several cars have the ability to work around their EPS limits by cutting the
+  request bit of their LKAS message after a certain number of frames above the limit.
+  """
+
+  # Count up to max_above_limit_frames, at which point we need to cut the request for above_limit_frames to avoid a fault
+  if request and fault_condition:
+    above_limit_frames += 1
+  else:
+    above_limit_frames = 0
+
+  # Once we cut the request bit, count additionally to max_mismatching_frames before setting the request bit high again.
+  # Some brands do not respect our workaround without multiple messages on the bus, for example
+  if above_limit_frames > max_above_limit_frames:
+    request = False
+
+  if above_limit_frames >= max_above_limit_frames + max_mismatching_frames:
+    above_limit_frames = 0
+
+  return above_limit_frames, request
 
 
 def crc8_pedal(data):
@@ -160,3 +204,36 @@ def get_safety_config(safety_model, safety_param = None):
   if safety_param is not None:
     ret.safetyParam = safety_param
   return ret
+
+
+class CanBusBase:
+  offset: int
+
+  def __init__(self, CP, fingerprint: Optional[Dict[int, Dict[int, int]]]) -> None:
+    if CP is None:
+      assert fingerprint is not None
+      num = max([k for k, v in fingerprint.items() if len(v)], default=0) // 4 + 1
+    else:
+      num = len(CP.safetyConfigs)
+    self.offset = 4 * (num - 1)
+
+
+class CanSignalRateCalculator:
+  """
+  Calculates the instantaneous rate of a CAN signal by using the counter
+  variable and the known frequency of the CAN message that contains it.
+  """
+  def __init__(self, frequency):
+    self.frequency = frequency
+    self.previous_counter = 0
+    self.previous_value = 0
+    self.rate = 0
+
+  def update(self, current_value, current_counter):
+    if current_counter != self.previous_counter:
+      self.rate = (current_value - self.previous_value) * self.frequency
+
+    self.previous_counter = current_counter
+    self.previous_value = current_value
+
+    return self.rate
\ No newline at end of file
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 0d5d780bd3..1dad8e796a 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,10 +1,11 @@
 import numpy as np
 
-from common.realtime import DT_CTRL
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_CTRL
 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
+from openpilot.selfdrive.car.body import bodycan
+from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
 MAX_TORQUE = 500
@@ -23,10 +24,14 @@ class CarController:
     self.speed_pid = PIDController(0.115, k_i=0.23, rate=1/DT_CTRL)
     self.balance_pid = PIDController(1300, k_i=0, k_d=280, rate=1/DT_CTRL)
     self.turn_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
+    self.wheeled_speed_pid = PIDController(110, k_i=11.5, rate=1/DT_CTRL)
 
     self.torque_r_filtered = 0.
     self.torque_l_filtered = 0.
 
+    params = Params()
+    self.wheeled_body = params.get("WheeledBody")
+
   @staticmethod
   def deadband_filter(torque, deadband):
     if torque > 0:
@@ -35,29 +40,32 @@ class CarController:
       torque -= deadband
     return torque
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
 
     torque_l = 0
     torque_r = 0
 
-    llk_valid = len(CC.orientationNED) > 0 and len(CC.angularVelocity) > 0
+    llk_valid = len(CC.orientationNED) > 1 and len(CC.angularVelocity) > 1
     if CC.enabled and llk_valid:
       # Read these from the joystick
       # TODO: this isn't acceleration, okay?
       speed_desired = CC.actuators.accel / 5.
-      speed_diff_desired = -CC.actuators.steer
+      speed_diff_desired = -CC.actuators.steer / 2.
 
       speed_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl + CS.out.wheelSpeeds.fr) / 2.
       speed_error = speed_desired - speed_measured
 
-      freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
-      angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
+      if self.wheeled_body is None:
+        freeze_integrator = ((speed_error < 0 and self.speed_pid.error_integral <= -MAX_POS_INTEGRATOR) or
+                             (speed_error > 0 and self.speed_pid.error_integral >= MAX_POS_INTEGRATOR))
+        angle_setpoint = self.speed_pid.update(speed_error, freeze_integrator=freeze_integrator)
 
-      # Clip angle error, this is enough to get up from stands
-      angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
-      angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
-      torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+        # Clip angle error, this is enough to get up from stands
+        angle_error = np.clip((-CC.orientationNED[1]) - angle_setpoint, -MAX_ANGLE_ERROR, MAX_ANGLE_ERROR)
+        angle_error_rate = np.clip(-CC.angularVelocity[1], -1., 1.)
+        torque = self.balance_pid.update(angle_error, error_rate=angle_error_rate)
+      else:
+        torque = self.wheeled_speed_pid.update(speed_error, freeze_integrator=False)
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired
@@ -85,6 +93,7 @@ class CarController:
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
     new_actuators.steer = torque_r
+    new_actuators.steerOutputCan = torque_r
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/body/carstate.py b/selfdrive/car/body/carstate.py
index dbbd85950d..fca9bcc627 100644
--- a/selfdrive/car/body/carstate.py
+++ b/selfdrive/car/body/carstate.py
@@ -1,7 +1,7 @@
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.body.values import DBC
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.body.values import DBC
 
 STARTUP_TICKS = 100
 
@@ -32,29 +32,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("SPEED_L", "MOTORS_DATA"),
-      ("SPEED_R", "MOTORS_DATA"),
-      ("ELEC_ANGLE_L", "MOTORS_DATA"),
-      ("ELEC_ANGLE_R", "MOTORS_DATA"),
-      ("COUNTER", "MOTORS_DATA"),
-      ("CHECKSUM", "MOTORS_DATA"),
-      ("IGNITION", "VAR_VALUES"),
-      ("ENABLE_MOTORS", "VAR_VALUES"),
-      ("FAULT", "VAR_VALUES"),
-      ("MOTOR_ERR_L", "VAR_VALUES"),
-      ("MOTOR_ERR_R", "VAR_VALUES"),
-      ("MCU_TEMP", "BODY_DATA"),
-      ("BATT_VOLTAGE", "BODY_DATA"),
-      ("BATT_PERCENTAGE", "BODY_DATA"),
-      ("CHARGER_CONNECTED", "BODY_DATA"),
-    ]
-
-    checks = [
+    messages = [
       ("MOTORS_DATA", 100),
       ("VAR_VALUES", 10),
       ("BODY_DATA", 1),
     ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
diff --git a/selfdrive/car/body/interface.py b/selfdrive/car/body/interface.py
index bc5b36e2ee..bf33eea38f 100644
--- a/selfdrive/car/body/interface.py
+++ b/selfdrive/car/body/interface.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from common.realtime import DT_CTRL
-from selfdrive.car import get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.body.values import SPEED_FROM_RPM
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.body.values import SPEED_FROM_RPM
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.notCar = True
     ret.carName = "body"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.body)]
@@ -24,7 +24,7 @@ class CarInterface(CarInterfaceBase):
     ret.wheelSpeedFactor = SPEED_FROM_RPM
     ret.centerToFront = ret.wheelbase * 0.44
 
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
     ret.openpilotLongitudinalControl = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
 
@@ -43,5 +43,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/body/radar_interface.py b/selfdrive/car/body/radar_interface.py
index b2f7651136..b461fcd5f8 100644
--- a/selfdrive/car/body/radar_interface.py
+++ b/selfdrive/car/body/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/body/values.py b/selfdrive/car/body/values.py
index 548039bc70..56d9723818 100644
--- a/selfdrive/car/body/values.py
+++ b/selfdrive/car/body/values.py
@@ -1,9 +1,9 @@
 from typing import Dict
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 
@@ -17,6 +17,9 @@ class CarControllerParams:
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
+  def __init__(self, CP):
+    pass
+
 
 class CAR:
   BODY = "COMMA BODY"
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 61e7a3d55d..7017580368 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -1,17 +1,20 @@
 import os
-from typing import Dict, List
+import time
+from typing import Callable, Dict, List, Optional, Tuple
 
 from cereal import car
-from common.params import Params
-from common.basedir import BASEDIR
-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, is_valid_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
-from system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.version import is_comma_remote, is_tested_branch
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
+from openpilot.selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from openpilot.selfdrive.car.fw_versions import get_fw_versions_ordered, get_present_ecus, match_fw_to_car, set_obd_multiplexing
+from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car import gen_empty_fingerprint
+
+FRAME_FINGERPRINT = 100  # 1s
 
 EventName = car.CarEvent.EventName
 
@@ -42,7 +45,7 @@ def get_one_can(logcan):
 def load_interfaces(brand_names):
   ret = {}
   for brand_name in brand_names:
-    path = f'selfdrive.car.{brand_name}'
+    path = f'openpilot.selfdrive.car.{brand_name}'
     CarInterface = __import__(path + '.interface', fromlist=['CarInterface']).CarInterface
 
     if os.path.exists(BASEDIR + '/' + path.replace('.', '/') + '/carstate.py'):
@@ -75,31 +78,76 @@ interface_names = _get_interface_names()
 interfaces = load_interfaces(interface_names)
 
 
+def can_fingerprint(next_can: Callable) -> Tuple[Optional[str], Dict[int, dict]]:
+  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
+  car_fingerprint = None
+  done = False
+
+  while not done:
+    a = next_can()
+
+    for can in a.can:
+      # The fingerprint dict is generated for all buses, this way the car interface
+      # can use it to detect a (valid) multipanda setup and initialize accordingly
+      if can.src < 128:
+        if can.src not in finger:
+          finger[can.src] = {}
+        finger[can.src][can.address] = len(can.dat)
+
+      for b in candidate_cars:
+        # Ignore extended messages and VIN query response.
+        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
+          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
+
+    # if we only have one car choice and the time since we got our first
+    # message has elapsed, exit
+    for b in candidate_cars:
+      if len(candidate_cars[b]) == 1 and frame > FRAME_FINGERPRINT:
+        # fingerprint done
+        car_fingerprint = candidate_cars[b][0]
+
+    # bail if no cars left or we've been waiting for more than 2s
+    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > FRAME_FINGERPRINT) or frame > 200
+    succeeded = car_fingerprint is not None
+    done = failed or succeeded
+
+    frame += 1
+
+  return car_fingerprint, finger
+
+
 # **** for use live only ****
 def fingerprint(logcan, sendcan, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
+  params = Params()
 
+  start_time = time.monotonic()
   if not skip_fw_query:
     # Vin query only reliably works through OBDII
     bus = 1
 
-    cached_params = Params().get("CarParamsCache")
+    cached_params = params.get("CarParamsCache")
     if cached_params is not None:
-      cached_params = car.CarParams.from_bytes(cached_params)
-      if cached_params.carName == "mock":
-        cached_params = None
+      with car.CarParams.from_bytes(cached_params) as cached_params:
+        if cached_params.carName == "mock":
+          cached_params = None
 
-    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
+    if cached_params is not None and len(cached_params.carFw) > 0 and \
+       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
       vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
       cached = True
     else:
       cloudlog.warning("Getting VIN & FW versions")
+      set_obd_multiplexing(params, True)
       vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
-      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan, num_pandas=num_pandas)
       car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, num_pandas=num_pandas)
       cached = False
 
@@ -113,47 +161,18 @@ def fingerprint(logcan, sendcan, num_pandas):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
-  Params().put("CarVin", vin)
-
-  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 = 100  # 1s
-  car_fingerprint = None
-  done = False
-
-  # drain CAN socket so we always get the latest messages
-  messaging.drain_sock_raw(logcan)
+  params.put("CarVin", vin)
 
-  while not done:
-    a = get_one_can(logcan)
+  # disable OBD multiplexing for potential ECU knockouts
+  set_obd_multiplexing(params, False)
+  params.put_bool("FirmwareQueryDone", True)
 
-    for can in a.can:
-      # The fingerprint dict is generated for all buses, this way the car interface
-      # can use it to detect a (valid) multipanda setup and initialize accordingly
-      if can.src < 128:
-        if can.src not in finger:
-          finger[can.src] = {}
-        finger[can.src][can.address] = len(can.dat)
+  fw_query_time = time.monotonic() - start_time
 
-      for b in candidate_cars:
-        # Ignore extended messages and VIN query response.
-        if can.src == b and can.address < 0x800 and can.address not in (0x7df, 0x7e0, 0x7e8):
-          candidate_cars[b] = eliminate_incompatible_cars(can, candidate_cars[b])
-
-    # if we only have one car choice and the time since we got our first
-    # message has elapsed, exit
-    for b in candidate_cars:
-      if len(candidate_cars[b]) == 1 and frame > frame_fingerprint:
-        # fingerprint done
-        car_fingerprint = candidate_cars[b][0]
-
-    # bail if no cars left or we've been waiting for more than 2s
-    failed = (all(len(cc) == 0 for cc in candidate_cars.values()) and frame > frame_fingerprint) or frame > 200
-    succeeded = car_fingerprint is not None
-    done = failed or succeeded
-
-    frame += 1
+  # CAN fingerprint
+  # drain CAN socket so we get the latest messages
+  messaging.drain_sock_raw(logcan)
+  car_fingerprint, finger = can_fingerprint(lambda: get_one_can(logcan))
 
   exact_match = True
   source = car.CarParams.FingerprintSource.can
@@ -169,21 +188,20 @@ def fingerprint(logcan, sendcan, num_pandas):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match, cached=cached,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, fingerprints=finger,
+                 fw_query_time=fw_query_time, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
-def get_car(logcan, sendcan, num_pandas=1):
+def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)
 
   if candidate is None:
-    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
+    cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
     candidate = "mock"
 
-  experimental_long = Params().get_bool("ExperimentalLongitudinalEnabled")
-
   CarInterface, CarController, CarState = interfaces[candidate]
-  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long)
+  CP = CarInterface.get_params(candidate, fingerprints, car_fw, experimental_long_allowed, docs=False)
   CP.carVin = vin
   CP.carFw = car_fw
   CP.fingerprintSource = source
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 5a2d90c64c..a568f927b8 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,8 +1,8 @@
 from opendbc.can.packer import CANPacker
-from common.realtime import DT_CTRL
-from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits
+from openpilot.selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS, CarControllerParams, ChryslerFlags
 
 
 class CarController:
@@ -19,7 +19,7 @@ class CarController:
     self.packer = CANPacker(dbc_name)
     self.params = CarControllerParams(CP)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     lkas_active = CC.latActive and self.lkas_control_bit_prev
@@ -45,13 +45,13 @@ class CarController:
         self.hud_count += 1
 
     # steering
-    if self.frame % 2 == 0:
+    if self.frame % self.params.STEER_STEP == 0:
 
       # TODO: can we make this more sane? why is it different for all the cars?
       lkas_control_bit = self.lkas_control_bit_prev
       if CS.out.vEgo > self.CP.minSteerSpeed:
         lkas_control_bit = True
-      elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+      elif self.CP.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
         if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
           lkas_control_bit = False
       elif self.CP.carFingerprint in RAM_CARS:
@@ -67,7 +67,7 @@ class CarController:
 
       # steer torque
       new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      apply_steer = apply_meas_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
       if not lkas_active or not lkas_control_bit:
         apply_steer = 0
       self.apply_steer_last = apply_steer
@@ -78,5 +78,6 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 0f0d30782a..eb1cf7e7d5 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -1,9 +1,9 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
@@ -80,9 +80,11 @@ class CarState(CarStateBase):
     ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
     if self.CP.carFingerprint in RAM_CARS:
-      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
-      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+      # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']
+      ret.steerFaultTemporary = cp.vl["EPS_3"]["DASM_FAULT"] == 1
     else:
+      ret.steerFaultTemporary = cp.vl["EPS_2"]["LKAS_TEMPORARY_FAULT"] == 1
       ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
     # blindspot sensors
@@ -96,50 +98,16 @@ class CarState(CarStateBase):
     return ret
 
   @staticmethod
-  def get_cruise_signals():
-    signals = [
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
-      ("ACC_STANDSTILL", "DAS_3"),
-      ("COUNTER", "DAS_3"),
-      ("ACC_SET_SPEED_KPH", "DAS_4"),
-      ("ACC_STATE", "DAS_4"),
-    ]
-    checks = [
+  def get_cruise_messages():
+    messages = [
       ("DAS_3", 50),
       ("DAS_4", 50),
     ]
-    return signals, checks
+    return messages
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("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"),
-      ("WHEEL_SPEED_FL", "ESP_6"),
-      ("WHEEL_SPEED_RR", "ESP_6"),
-      ("WHEEL_SPEED_RL", "ESP_6"),
-      ("WHEEL_SPEED_FR", "ESP_6"),
-      ("STEERING_ANGLE", "STEERING"),
-      ("STEERING_ANGLE_HP", "STEERING"),
-      ("STEERING_RATE", "STEERING"),
-      ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
-      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
-      ("COUNTER", "EPS_2",),
-      ("COLUMN_TORQUE", "EPS_2"),
-      ("EPS_TORQUE_MOTOR", "EPS_2"),
-      ("LKAS_STATE", "EPS_2"),
-      ("COUNTER", "CRUISE_BUTTONS"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("ESP_1", 50),
       ("EPS_2", 100),
@@ -153,53 +121,30 @@ class CarState(CarStateBase):
     ]
 
     if CP.enableBsm:
-      signals += [
-        ("RIGHT_STATUS", "BSM_1"),
-        ("LEFT_STATUS", "BSM_1"),
-      ]
-      checks.append(("BSM_1", 2))
+      messages.append(("BSM_1", 2))
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("DASM_FAULT", "EPS_3"),
-        ("Vehicle_Speed", "ESP_8"),
-        ("Gear_State", "Transmission_Status"),
-      ]
-      checks += [
+      messages += [
         ("ESP_8", 50),
         ("EPS_3", 50),
         ("Transmission_Status", 50),
       ]
     else:
-      signals += [
-        ("PRNDL", "GEAR"),
-        ("SPEED_LEFT", "SPEED_1"),
-        ("SPEED_RIGHT", "SPEED_1"),
-      ]
-      checks += [
+      messages += [
         ("GEAR", 50),
         ("SPEED_1", 100),
       ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address, default
-      ("CAR_MODEL", "DAS_6"),
-    ]
-    checks = [
+    messages = [
       ("DAS_6", 4),
     ]
 
     if CP.carFingerprint in RAM_CARS:
-      signals += [
-        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
-      ]
-      signals += CarState.get_cruise_signals()[0]
-      checks += CarState.get_cruise_signals()[1]
+      messages += CarState.get_cruise_messages()
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 10ed73e9f2..96439f35d8 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.chrysler.values import RAM_CARS
+from openpilot.selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 5e8fe3c44e..a87759910b 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,18 +1,19 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.chrysler.values import CAR, DBC, RAM_HD, RAM_DT
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.chrysler.values import CAR, RAM_HD, RAM_DT, RAM_CARS, ChryslerFlags
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "chrysler"
     ret.dashcamOnly = candidate in RAM_HD
 
-    ret.radarOffCan = DBC[candidate]['radar'] is None
+    # radar parsing needs some work, see https://github.com/commaai/openpilot/issues/26842
+    ret.radarUnavailable = True # DBC[candidate]['radar'] is None
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
 
@@ -24,25 +25,33 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_CHRYSLER_RAM_DT
 
     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.
-      ret.minSteerSpeed = 17.5  # m/s 17 on the way up, 13 on the way down once engaged.
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+    if candidate not in RAM_CARS:
+      # Newer FW versions standard on the following platforms, or flashed by a dealer onto older platforms have a higher minimum steering speed.
+      new_eps_platform = candidate in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019)
+      new_eps_firmware = any(fw.ecu == 'eps' and fw.fwVersion[:4] >= b"6841" for fw in car_fw)
+      if new_eps_platform or new_eps_firmware:
+        ret.flags |= ChryslerFlags.HIGHER_MIN_STEERING_SPEED.value
 
     # 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.mass = 2242.
       ret.wheelbase = 3.089
       ret.steerRatio = 16.2  # Pacifica Hybrid 2017
+
+      ret.lateralTuning.init('pid')
       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.mass = 1778
       ret.wheelbase = 2.71
       ret.steerRatio = 16.7
       ret.steerActuatorDelay = 0.2
+
+      ret.lateralTuning.init('pid')
       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
@@ -52,25 +61,27 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.88
       ret.steerRatio = 16.3
-      ret.mass = 2493. + STD_CARGO_KG
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      ret.mass = 2493.
       ret.minSteerSpeed = 14.5
-      if car_fw is not None:
-        for fw in car_fw:
-          if fw.ecu == 'eps' and fw.fwVersion[:8] in (b"68312176", b"68273275"):
-            ret.minSteerSpeed = 0.
+      # Older EPS FW allow steer to zero
+      if any(fw.ecu == 'eps' and fw.fwVersion[:4] <= b"6831" for fw in car_fw):
+        ret.minSteerSpeed = 0.
 
     elif candidate == CAR.RAM_HD:
       ret.steerActuatorDelay = 0.2
       ret.wheelbase = 3.785
       ret.steerRatio = 15.61
-      ret.mass = 3405. + STD_CARGO_KG
+      ret.mass = 3405.
       ret.minSteerSpeed = 16
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, 1.0, False)
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
+    if ret.flags & ChryslerFlags.HIGHER_MIN_STEERING_SPEED:
+      # TODO: allow these 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.
+
     ret.centerToFront = ret.wheelbase * 0.44
     ret.enableBsm = 720 in fingerprint[0]
 
@@ -94,5 +105,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 348e3c3632..d982958422 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
 from cereal import car
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.chrysler.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.chrysler.values import DBC
 
 RADAR_MSGS_C = list(range(0x2c2, 0x2d4+2, 2))  # c_ messages 706,...,724
 RADAR_MSGS_D = list(range(0x2a2, 0x2b4+2, 2))  # d_ messages
@@ -22,18 +22,12 @@ def _create_radar_can_parser(car_fingerprint):
   #  ('LONG_DIST', 1074),
   #  ('LONG_DIST', 1075),
 
-  signals = list(zip(['LONG_DIST'] * msg_n +
-                     ['LAT_DIST'] * msg_n +
-                     ['REL_SPEED'] * msg_n,
-                     RADAR_MSGS_C * 2 +  # LONG_DIST, LAT_DIST
-                     RADAR_MSGS_D))  # REL_SPEED
+  messages = list(zip(RADAR_MSGS_C +
+                      RADAR_MSGS_D,
+                      [20] * msg_n +  # 20Hz (0.05s)
+                      [20] * msg_n, strict=True))  # 20Hz (0.05s)
 
-  checks = list(zip(RADAR_MSGS_C +
-                    RADAR_MSGS_D,
-                    [20] * msg_n +  # 20Hz (0.05s)
-                    [20] * msg_n))  # 20Hz (0.05s)
-
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 def _address_to_track(address):
   if address in RADAR_MSGS_C:
@@ -45,12 +39,13 @@ def _address_to_track(address):
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     self.rcp = _create_radar_can_parser(CP.carFingerprint)
     self.updated_messages = set()
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
-    if self.rcp is None:
+    if self.rcp is None or self.CP.radarUnavailable:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
@@ -88,4 +83,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
\ No newline at end of file
+    return ret
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index 16530ed989..657ada2706 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,16 +1,21 @@
-from dataclasses import dataclass
-from enum import Enum
+# ruff: noqa: E501
+from enum import IntFlag
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 
 
+class ChryslerFlags(IntFlag):
+  HIGHER_MIN_STEERING_SPEED = 1
+
+
 class CAR:
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
@@ -30,6 +35,7 @@ class CAR:
 
 class CarControllerParams:
   def __init__(self, CP):
+    self.STEER_STEP = 2  # 50 Hz
     self.STEER_ERROR_MAX = 80
     if CP.carFingerprint in RAM_HD:
       self.STEER_DELTA_UP = 14
@@ -44,21 +50,24 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
       self.STEER_MAX = 261  # higher than this faults the EPS
 
+
 STEER_THRESHOLD = 120
 
 RAM_DT = {CAR.RAM_1500, }
 RAM_HD = {CAR.RAM_HD, }
 RAM_CARS = RAM_DT | RAM_HD
 
+
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC)"
-  harness: Enum = Harness.fca
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.fca]))
+
 
 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 2019-22"),
+  CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-23"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
   CAR.PACIFICA_2020: [
     ChryslerCarInfo("Chrysler Pacifica 2019-20"),
@@ -66,10 +75,10 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   ],
   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 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.ram),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-23", car_parts=CarParts.common([CarHarness.ram])),
   CAR.RAM_HD: [
-    ChryslerCarInfo("Ram 2500 2020-22", harness=Harness.ram),
-    ChryslerCarInfo("Ram 3500 2020-22", harness=Harness.ram),
+    ChryslerCarInfo("Ram 2500 2020-22", car_parts=CarParts.common([CarHarness.ram])),
+    ChryslerCarInfo("Ram 3500 2019-22", car_parts=CarParts.common([CarHarness.ram])),
   ],
 }
 
@@ -86,13 +95,13 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
 
 FINGERPRINTS = {
   CAR.PACIFICA_2017_HYBRID: [{
-    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, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788:3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 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, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 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, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 653: 8, 654: 8, 655: 8, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 701: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 746: 5, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 840: 8, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 897: 8, 908: 8, 924: 3, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 958: 8, 959: 8, 969: 4, 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, 1284: 8, 1537: 8, 1538: 8, 1562: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1892: 8, 2016: 8, 2024: 8
   }],
   CAR.PACIFICA_2018: [{
     55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
   },
   {
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
+    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 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, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 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, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
   }],
   CAR.PACIFICA_2020: [{
     55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 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, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 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, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 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, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 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, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
@@ -118,9 +127,12 @@ 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, 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
+  },
+  {
+    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, 450: 8, 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, 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, 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, 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, 1284: 8, 1568: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 2018: 8, 2020: 8, 2026: 8, 2028: 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
+    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, 1576: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   },
     # Based on c88f65eeaee4003a|2022-08-04--15-37-16
   {
@@ -128,7 +140,7 @@ FINGERPRINTS = {
   }],
   CAR.JEEP_CHEROKEE_2019: [{
     # Jeep Grand Cherokee 2019, including most 2020 models
-    55: 8, 168: 8, 179: 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, 341: 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, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 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, 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, 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, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 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, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
+    55: 8, 168: 8, 179: 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, 341: 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, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 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, 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, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 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, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1538: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
 }
 
@@ -156,7 +168,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [CHRYSLER_VERSION_REQUEST],
       [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
     Request(
@@ -167,93 +179,197 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hcp, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids
+    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
+    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
   ],
 )
 
 FW_VERSIONS = {
+  CAR.JEEP_CHEROKEE_2019: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68402971AD',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68355363AB',
+    ],
+    (Ecu.abs, 0x747, None): [
+      b'68408639AD',
+    ],
+    (Ecu.fwdRadar, 0x753, None): [
+      b'68456722AC',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68453431AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'05035674AB ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'05035707AA',
+    ],
+  },
+
   CAR.RAM_1500: {
     (Ecu.combinationMeter, 0x742, None): [
-      b'68294063AH',
+      b'68294051AG',
+      b'68294051AI',
+      b'68294052AG',
       b'68294063AG',
+      b'68294063AH',
+      b'68294063AI',
+      b'68434846AC',
+      b'68434858AC',
       b'68434860AC',
-      b'68527375AD',
       b'68453503AC',
+      b'68453505AC',
+      b'68453511AC',
+      b'68453513AD',
+      b'68453514AD',
+      b'68510280AG',
+      b'68510283AG',
+      b'68527346AE',
+      b'68527375AD',
+      b'68527382AE',
     ],
     (Ecu.srs, 0x744, None): [
+      b'68428609AB',
       b'68441329AB',
+      b'68473844AB',
       b'68490898AA',
-      b'68428609AB',
       b'68500728AA',
+      b'68615033AA',
+      b'68615034AA',
     ],
     (Ecu.abs, 0x747, None): [
-      b'68432418AD',
+      b'68292406AH',
       b'68432418AB',
+      b'68432418AD',
+      b'68436004AD',
       b'68436004AE',
+      b'68438454AC',
       b'68438454AD',
-      b'68436004AD',
+      b'68438456AE',
+      b'68438456AF',
       b'68535469AB',
-      b'68438454AC',
+      b'68535470AC',
+      b'68548900AB',
+      b'68586307AB',
     ],
     (Ecu.fwdRadar, 0x753, None): [
-      b'68320950AL',
+      b'04672892AB',
+      b'04672932AB',
+      b'04672932AC',
+      b'22DTRHD_AA',
+      b'68320950AH',
+      b'68320950AI',
       b'68320950AJ',
+      b'68320950AL',
+      b'68320950AM',
       b'68454268AB',
-      b'68475160AG',
-      b'04672892AB',
       b'68475160AE',
+      b'68475160AF',
+      b'68475160AG',
     ],
     (Ecu.eps, 0x75A, None): [
+      b'21590101AA',
+      b'68273275AF',
       b'68273275AG',
+      b'68273275AH',
+      b'68312176AE',
+      b'68312176AG',
+      b'68440789AC',
+      b'68466110AB',
       b'68469901AA',
+      b'68522583AB',
+      b'68522585AB',
       b'68552788AA',
+      b'68552789AA',
+      b'68552790AA',
+      b'68585106AB',
+      b'68585109AB',
+      b'68585112AB',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'05036065AE ',
+      b'05036066AE ',
+      b'05149592AE ',
+      b'05149591AD ',
+      b'05149846AA ',
+      b'05149848AA ',
+      b'68378701AI ',
+      b'68378748AL ',
+      b'68378758AM ',
       b'68448163AJ',
+      b'68448165AK',
       b'68500630AD',
+      b'68500630AE',
       b'68539650AD',
-      b'68378758AM ',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'05149536AC',
       b'68360078AL',
-      b'68384328AD',
-      b'68360085AL',
+      b'68360080AM',
       b'68360081AM',
-      b'68502994AD',
+      b'68360085AL',
+      b'68384328AD',
+      b'68384332AD',
       b'68445533AB',
-      b'68540431AB',
       b'68484467AC',
+      b'68502994AD',
+      b'68520867AE',
+      b'68540431AB',
     ],
   },
 
   CAR.RAM_HD: {
     (Ecu.combinationMeter, 0x742, None): [
       b'68361606AH',
+      b'68437735AC',
       b'68492693AD',
+      b'68525485AB',
+      b'68525487AB',
+      b'68525498AB',
+      b'68528791AF',
     ],
     (Ecu.srs, 0x744, None): [
       b'68399794AC',
       b'68428503AA',
       b'68428505AA',
+      b'68428507AA',
     ],
     (Ecu.abs, 0x747, None): [
       b'68334977AH',
+      b'68455481AC',
+      b'68504022AA',
       b'68504022AB',
-      b'68530686AB',
       b'68504022AC',
+      b'68530686AB',
+      b'68530686AC',
+      b'68544596AC',
     ],
     (Ecu.fwdRadar, 0x753, None): [
       b'04672895AB',
+      b'04672934AB',
       b'56029827AG',
+      b'56029827AH',
+      b'68462657AE',
+      b'68484694AD',
       b'68484694AE',
     ],
     (Ecu.eps, 0x761, None): [
       b'68421036AC',
       b'68507906AB',
+      b'68534023AC',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'52370131AF',
+      b'52370231AF',
+      b'52370231AG',
+      b'52370931CT',
+      b'52401032AE',
       b'52421132AF',
+      b'52421332AF',
+      b'68527616AD ',
       b'M2370131MB',
       b'M2421132MB',
     ],
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
index cd3e93fa80..1a1252327f 100755
--- 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 system.swaglog import cloudlog
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from openpilot.system.swaglog import cloudlog
 
 EXT_DIAG_REQUEST = b'\x10\x03'
 EXT_DIAG_RESPONSE = b'\x50\x03'
@@ -7,22 +7,22 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 COM_CONT_RESPONSE = b''
 
 
-def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
+def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
 
   This is used to disable the radar in some cars. Openpilot will emulate the radar.
   WARNING: THIS DISABLES AEB!"""
-  cloudlog.warning(f"ecu disable {hex(addr)} ...")
+  cloudlog.warning(f"ecu disable {hex(addr), sub_addr} ...")
 
   for i in range(retry):
     try:
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
+      query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
 
       for _, _ in query.get_data(timeout).items():
         cloudlog.warning("communication control disable tx/rx ...")
 
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [addr], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
+        query = IsoTpParallelQuery(sendcan, logcan, bus, [(addr, sub_addr)], [com_cont_req], [COM_CONT_RESPONSE], debug=debug)
         query.get_data(0)
 
         cloudlog.warning("ecu disabled")
@@ -31,8 +31,8 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
     except Exception:
       cloudlog.exception("ecu disable exception")
 
-    print(f"ecu disable retry ({i+1}) ...")
-  cloudlog.warning("ecu disable failed")
+    cloudlog.error(f"ecu disable retry ({i + 1}) ...")
+  cloudlog.error("ecu disable failed")
   return False
 
 
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 03313e2ff6..8475a69d8a 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -8,10 +8,10 @@ from natsort import natsorted
 from typing import Dict, List
 
 from cereal import car
-from common.basedir import BASEDIR
-from selfdrive.car import gen_empty_fingerprint
-from selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote
-from selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.docs_definitions import CarInfo, Column, CommonFootnote, PartType
+from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
 
 
 def get_all_footnotes() -> Dict[Enum, int]:
@@ -29,7 +29,9 @@ def get_all_car_info() -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
   footnotes = get_all_footnotes()
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
-    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(), car_fw=[car.CarParams.CarFw(ecu="unknown")])
+    # If available, uses experimental longitudinal limits for the docs
+    CP = interfaces[model][0].get_params(model, fingerprint=gen_empty_fingerprint(),
+                                         car_fw=[car.CarParams.CarFw(ecu="unknown")], experimental_long=True, docs=True)
 
     if CP.dashcamOnly or car_info is None:
       continue
@@ -61,8 +63,9 @@ def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
   footnotes = [fn.value.text for fn in get_all_footnotes()]
-  cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make,
-                                 footnotes=footnotes, Column=Column)
+  cars_md: str = template.render(all_car_info=all_car_info, PartType=PartType,
+                                 group_by_make=group_by_make, footnotes=footnotes,
+                                 Column=Column)
   return cars_md
 
 
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 7cf44514d6..3319ba31c8 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,11 +1,12 @@
 import re
 from collections import namedtuple
+import copy
 from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Optional, Tuple, Union
 
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
 MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
@@ -20,7 +21,8 @@ class Column(Enum):
   FSR_STEERING = "No ALC below"
   STEERING_TORQUE = "Steering Torque"
   AUTO_RESUME = "Resume from stop"
-  HARNESS = "Harness"
+  HARDWARE = "Hardware Needed"
+  VIDEO = "Video"
 
 
 class Star(Enum):
@@ -29,54 +31,155 @@ class Star(Enum):
   EMPTY = "empty"
 
 
-class Harness(Enum):
-  nidec = "Honda Nidec"
-  bosch_a = "Honda Bosch A"
-  bosch_b = "Honda Bosch B"
-  toyota = "Toyota"
-  subaru_a = "Subaru A"
-  subaru_b = "Subaru B"
-  fca = "FCA"
-  ram = "Ram"
-  vw = "VW"
-  j533 = "J533"
-  hyundai_a = "Hyundai A"
-  hyundai_b = "Hyundai B"
-  hyundai_c = "Hyundai C"
-  hyundai_d = "Hyundai D"
-  hyundai_e = "Hyundai E"
-  hyundai_f = "Hyundai F"
-  hyundai_g = "Hyundai G"
-  hyundai_h = "Hyundai H"
-  hyundai_i = "Hyundai I"
-  hyundai_j = "Hyundai J"
-  hyundai_k = "Hyundai K"
-  hyundai_l = "Hyundai L"
-  hyundai_m = "Hyundai M"
-  hyundai_n = "Hyundai N"
-  hyundai_o = "Hyundai O"
-  hyundai_p = "Hyundai P"
-  hyundai_q = "Hyundai Q"
-  custom = "Developer"
-  obd_ii = "OBD-II"
-  gm = "GM"
-  nissan_a = "Nissan A"
-  nissan_b = "Nissan B"
-  mazda = "Mazda"
-  ford_q3 = "Ford Q3"
-  ford_q4 = "Ford Q4"
-  none = "None"
-
-
-CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only"], defaults=(None, False))
+# A part + its comprised parts
+@dataclass
+class BasePart:
+  name: str
+  parts: List[Enum] = field(default_factory=list)
+
+  def all_parts(self):
+    # Recursively get all parts
+    _parts = 'parts'
+    parts = []
+    parts.extend(getattr(self, _parts))
+    for part in getattr(self, _parts):
+      parts.extend(part.value.all_parts())
+
+    return parts
+
+
+class EnumBase(Enum):
+  @property
+  def part_type(self):
+    return PartType(self.__class__)
+
+
+class Mount(EnumBase):
+  mount = BasePart("mount")
+  angled_mount_8_degrees = BasePart("angled mount (8 degrees)")
+
+
+class Cable(EnumBase):
+  rj45_cable_7ft = BasePart("RJ45 cable (7 ft)")
+  long_obdc_cable = BasePart("long OBD-C cable")
+  usb_a_2_a_cable = BasePart("USB A-A cable")
+  usbc_otg_cable = BasePart("USB C OTG cable")
+  usbc_coupler = BasePart("USB-C coupler")
+  obd_c_cable_1_5ft = BasePart("OBD-C cable (1.5 ft)")
+  right_angle_obd_c_cable_1_5ft = BasePart("right angle OBD-C cable (1.5 ft)")
+
+
+class Accessory(EnumBase):
+  harness_box = BasePart("harness box")
+  comma_power_v2 = BasePart("comma power v2")
+
+
+@dataclass
+class BaseCarHarness(BasePart):
+  parts: List[Enum] = field(default_factory=lambda: [Accessory.harness_box, Accessory.comma_power_v2, Cable.rj45_cable_7ft])
+  has_connector: bool = True  # without are hidden on the harness connector page
+
+
+class CarHarness(EnumBase):
+  nidec = BaseCarHarness("Honda Nidec connector")
+  bosch_a = BaseCarHarness("Honda Bosch A connector")
+  bosch_b = BaseCarHarness("Honda Bosch B connector")
+  toyota_a = BaseCarHarness("Toyota A connector")
+  subaru_a = BaseCarHarness("Subaru A connector")
+  subaru_b = BaseCarHarness("Subaru B connector")
+  subaru_c = BaseCarHarness("Subaru C connector")
+  subaru_d = BaseCarHarness("Subaru D connector")
+  fca = BaseCarHarness("FCA connector")
+  ram = BaseCarHarness("Ram connector")
+  vw = BaseCarHarness("VW connector")
+  j533 = BaseCarHarness("J533 connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
+  hyundai_a = BaseCarHarness("Hyundai A connector")
+  hyundai_b = BaseCarHarness("Hyundai B connector")
+  hyundai_c = BaseCarHarness("Hyundai C connector")
+  hyundai_d = BaseCarHarness("Hyundai D connector")
+  hyundai_e = BaseCarHarness("Hyundai E connector")
+  hyundai_f = BaseCarHarness("Hyundai F connector")
+  hyundai_g = BaseCarHarness("Hyundai G connector")
+  hyundai_h = BaseCarHarness("Hyundai H connector")
+  hyundai_i = BaseCarHarness("Hyundai I connector")
+  hyundai_j = BaseCarHarness("Hyundai J connector")
+  hyundai_k = BaseCarHarness("Hyundai K connector")
+  hyundai_l = BaseCarHarness("Hyundai L connector")
+  hyundai_m = BaseCarHarness("Hyundai M connector")
+  hyundai_n = BaseCarHarness("Hyundai N connector")
+  hyundai_o = BaseCarHarness("Hyundai O connector")
+  hyundai_p = BaseCarHarness("Hyundai P connector")
+  hyundai_q = BaseCarHarness("Hyundai Q connector")
+  custom = BaseCarHarness("Developer connector")
+  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.long_obdc_cable], has_connector=False)
+  gm = BaseCarHarness("GM connector")
+  nissan_a = BaseCarHarness("Nissan A connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
+  nissan_b = BaseCarHarness("Nissan B connector", parts=[Accessory.harness_box, Cable.rj45_cable_7ft, Cable.long_obdc_cable, Cable.usbc_coupler])
+  mazda = BaseCarHarness("Mazda connector")
+  ford_q3 = BaseCarHarness("Ford Q3 connector")
+  ford_q4 = BaseCarHarness("Ford Q4 connector")
+
+
+class Device(EnumBase):
+  three = BasePart("comma three", parts=[Mount.mount, Cable.right_angle_obd_c_cable_1_5ft])
+  # variant of comma three with angled mounts
+  three_angled_mount = BasePart("comma three", parts=[Mount.angled_mount_8_degrees, Cable.right_angle_obd_c_cable_1_5ft])
+  red_panda = BasePart("red panda")
+
+
+class Kit(EnumBase):
+  red_panda_kit = BasePart("CAN FD panda kit", parts=[Device.red_panda, Accessory.harness_box,
+                                                      Cable.usb_a_2_a_cable, Cable.usbc_otg_cable, Cable.obd_c_cable_1_5ft])
+
+
+class Tool(EnumBase):
+  socket_8mm_deep = BasePart("Socket Wrench 8mm or 5/16\" (deep)")
+  pry_tool = BasePart("Pry Tool")
+
+
+class PartType(Enum):
+  accessory = Accessory
+  cable = Cable
+  connector = CarHarness
+  device = Device
+  kit = Kit
+  mount = Mount
+  tool = Tool
+
+
+DEFAULT_CAR_PARTS: List[EnumBase] = [Device.three]
+
+
+@dataclass
+class CarParts:
+  parts: List[EnumBase] = field(default_factory=list)
+
+  def __call__(self):
+    return copy.deepcopy(self)
+
+  @classmethod
+  def common(cls, add: Optional[List[EnumBase]] = None, remove: Optional[List[EnumBase]] = None):
+    p = [part for part in (add or []) + DEFAULT_CAR_PARTS if part not in (remove or [])]
+    return cls(p)
+
+  def all_parts(self):
+    parts = []
+    for part in self.parts:
+      parts.extend(part.value.all_parts())
+    return self.parts + parts
+
+
+CarFootnote = namedtuple("CarFootnote", ["text", "column", "docs_only", "shop_footnote"], defaults=(False, False))
 
 
 class CommonFootnote(Enum):
   EXP_LONG_AVAIL = CarFootnote(
-    "Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
+    "Experimental openpilot longitudinal control is available behind a toggle; " +
+    "the toggle is only available in non-release branches such as `devel` or `master-ci`. ",
     Column.LONGITUDINAL, docs_only=True)
   EXP_LONG_DSU = CarFootnote(
-    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
+    "By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. " +
+    "If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace " +
     "stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
     Column.LONGITUDINAL)
 
@@ -116,15 +219,46 @@ def split_name(name: str) -> Tuple[str, str, str]:
 
 @dataclass
 class CarInfo:
+  # make + model + model years
   name: str
+
+  # Example for Toyota Corolla MY20
+  # requirements: Lane Tracing Assist (LTA) and Dynamic Radar Cruise Control (DRCC)
+  # US Market reference: "All", since all Corolla in the US come standard with LTA and DRCC
+
+  # the simplest description of the requirements for the US market
   package: str
+
+  # the minimum compatibility requirements for this model, regardless
+  # of market. can be a package, trim, or list of features
+  requirements: Optional[str] = None
+
   video_link: Optional[str] = None
   footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  harness: Enum = Harness.none
+  auto_resume: Optional[bool] = None
+
+  # all the parts needed for the supported car
+  car_parts: CarParts = field(default_factory=CarParts)
 
   def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
+    self.car_name = CP.carName
+    self.car_fingerprint = CP.carFingerprint
+    self.make, self.model, self.years = split_name(self.name)
+
+    # longitudinal column
+    op_long = "Stock"
+    if CP.experimentalLongitudinalAvailable or CP.enableDsu:
+      op_long = "openpilot available"
+      if CP.enableDsu:
+        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
+      else:
+        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+    elif CP.openpilotLongitudinalControl and not CP.enableDsu:
+      op_long = "openpilot"
+
+    # min steer & enable speed columns
     # TODO: set all the min steer speeds in carParams and remove this
     if self.min_steer_speed is not None:
       assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
@@ -135,21 +269,26 @@ class CarInfo:
     if self.min_enable_speed is None:
       self.min_enable_speed = CP.minEnableSpeed
 
-    self.car_name = CP.carName
-    self.car_fingerprint = CP.carFingerprint
-    self.make, self.model, self.years = split_name(self.name)
+    if self.auto_resume is None:
+      self.auto_resume = CP.autoResumeSng
 
-    op_long = "Stock"
-    if CP.openpilotLongitudinalControl and not CP.enableDsu:
-      op_long = "openpilot"
-    elif CP.experimentalLongitudinalAvailable or CP.enableDsu:
-      op_long = "openpilot available"
-      if CP.enableDsu:
-        self.footnotes.append(CommonFootnote.EXP_LONG_DSU)
-      else:
-        self.footnotes.append(CommonFootnote.EXP_LONG_AVAIL)
+    # hardware column
+    hardware_col = "None"
+    if self.car_parts.parts:
+      model_years = self.model + (' ' + self.years if self.years else '')
+      buy_link = f'<a href="https://comma.ai/shop/comma-3x.html?make={self.make}&model={model_years}">Buy Here</a>'
+
+      tools_docs = [part for part in self.car_parts.all_parts() if isinstance(part, Tool)]
+      parts_docs = [part for part in self.car_parts.all_parts() if not isinstance(part, Tool)]
 
-    self.row = {
+      def display_func(parts):
+        return '<br>'.join([f"- {parts.count(part)} {part.value.name}" for part in sorted(set(parts), key=lambda part: str(part.value.name))])
+
+      hardware_col = f'<details><summary>Parts</summary><sub>{display_func(parts_docs)}<br>{buy_link}</sub></details>'
+      if len(tools_docs):
+        hardware_col += f'<details><summary>Tools</summary><sub>{display_func(tools_docs)}</sub></details>'
+
+    self.row: Dict[Enum, Union[str, Star]] = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
@@ -157,8 +296,9 @@ class CarInfo:
       Column.FSR_LONGITUDINAL: f"{max(self.min_enable_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.FSR_STEERING: f"{max(self.min_steer_speed * CV.MS_TO_MPH, 0):.0f} mph",
       Column.STEERING_TORQUE: Star.EMPTY,
-      Column.AUTO_RESUME: Star.FULL if CP.autoResumeSng else Star.EMPTY,
-      Column.HARNESS: self.harness.value,
+      Column.AUTO_RESUME: Star.FULL if self.auto_resume else Star.EMPTY,
+      Column.HARDWARE: hardware_col,
+      Column.VIDEO: self.video_link if self.video_link is not None else "",  # replaced with an image and link from template in get_column
     }
 
     # Set steering torque star from max lateral acceleration
@@ -188,12 +328,17 @@ class CarInfo:
       acc = ""
       if self.min_enable_speed > 0:
         acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
-      elif CP.autoResumeSng:
+      elif self.auto_resume:
         acc = " <strong>that automatically resumes from a stop</strong>"
 
       if self.row[Column.STEERING_TORQUE] != Star.FULL:
         sentence_builder += " This car may not be able to take tight turns on its own."
 
+      # experimental mode
+      exp_link = "<a href='https://blog.comma.ai/090release/#experimental-mode' target='_blank' class='link-light-new-regular-text'>Experimental mode</a>"
+      if CP.openpilotLongitudinalControl or CP.experimentalLongitudinalAvailable:
+        sentence_builder += f" Traffic light and stop sign handling is also available in {exp_link}."
+
       return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
 
     else:
@@ -202,12 +347,14 @@ class CarInfo:
       else:
         raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
 
-  def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
+  def get_column(self, column: Column, star_icon: str, video_icon: str, footnote_tag: str) -> str:
     item: Union[str, Star] = self.row[column]
     if isinstance(item, Star):
       item = star_icon.format(item.value)
     elif column == Column.MODEL and len(self.years):
       item += f" {self.years}"
+    elif column == Column.VIDEO and len(item) > 0:
+      item = video_icon.format(item)
 
     footnotes = get_footnotes(self.footnotes, column)
     if len(footnotes):
diff --git a/selfdrive/car/ecu_addrs.py b/selfdrive/car/ecu_addrs.py
index 9f6ace2b5f..cff1df79a5 100755
--- a/selfdrive/car/ecu_addrs.py
+++ b/selfdrive/car/ecu_addrs.py
@@ -1,13 +1,14 @@
 #!/usr/bin/env python3
 import capnp
 import time
-from typing import Optional, Set, Tuple
+from typing import Optional, Set
 
 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
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.fw_query_definitions import EcuAddrBusType
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.system.swaglog import cloudlog
 
 
 def make_tester_present_msg(addr, bus, subaddr=None):
@@ -33,16 +34,16 @@ def is_tester_present_response(msg: capnp.lib.capnp._DynamicStructReader, subadd
   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]]:
+def get_all_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, bus: int, timeout: float = 1, debug: bool = True) -> Set[EcuAddrBusType]:
   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}
+  queries: Set[EcuAddrBusType] = {(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),)
+def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, queries: Set[EcuAddrBusType],
+                  responses: Set[EcuAddrBusType], timeout: float = 1, debug: bool = False) -> Set[EcuAddrBusType]:
+  ecu_responses: Set[EcuAddrBusType] = set()  # set((addr, subaddr, bus),)
   try:
     msgs = [make_tester_present_msg(addr, bus, subaddr) for addr, subaddr, bus in queries]
 
@@ -53,6 +54,10 @@ def get_ecu_addrs(logcan: messaging.SubSocket, sendcan: messaging.PubSocket, que
       can_packets = messaging.drain_sock(logcan, wait_for_one=True)
       for packet in can_packets:
         for msg in packet.can:
+          if not len(msg.dat):
+            cloudlog.warning("ECU addr scan: skipping empty remote frame")
+            continue
+
           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:
@@ -84,8 +89,8 @@ if __name__ == "__main__":
 
   print()
   print("Found ECUs on addresses:")
-  for addr, subaddr, bus in ecu_addrs:
+  for addr, subaddr, _ in ecu_addrs:
     msg = f"  0x{hex(addr)}"
     if subaddr is not None:
-      msg += f" (sub-address: 0x{hex(subaddr)})"
+      msg += f" (sub-address: {hex(subaddr)})"
     print(msg)
diff --git a/selfdrive/car/fingerprints.py b/selfdrive/car/fingerprints.py
index 1a9bb8c4e7..1d627e4b37 100644
--- a/selfdrive/car/fingerprints.py
+++ b/selfdrive/car/fingerprints.py
@@ -1,4 +1,4 @@
-from selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.interfaces import get_interface_attr
 
 
 FW_VERSIONS = get_interface_attr('FW_VERSIONS', combine_brands=True, ignore_none=True)
@@ -29,9 +29,8 @@ def eliminate_incompatible_cars(msg, candidate_cars):
     car_fingerprints = _FINGERPRINTS[car_name]
 
     for fingerprint in car_fingerprints:
-      fingerprint.update(_DEBUG_ADDRESS)  # add alien debug address
-
-      if is_valid_for_fingerprint(msg, fingerprint):
+      # add alien debug address
+      if is_valid_for_fingerprint(msg, fingerprint | _DEBUG_ADDRESS):
         compatible_cars.append(car_name)
         break
 
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index f18014601c..86008c6352 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,26 +1,25 @@
-import math
 from cereal import car
-from common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from selfdrive.car.ford import fordcan
-from selfdrive.car.ford.values import CANBUS, CarControllerParams
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.ford.fordcan import CanBus, create_acc_msg, create_acc_ui_msg, create_button_msg, \
+                                       create_lat_ctl_msg, create_lat_ctl2_msg, create_lka_msg, create_lkas_ui_msg
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams
 
+LongCtrlState = car.CarControl.Actuators.LongControlState
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-def apply_ford_steer_angle_limits(apply_angle, apply_angle_last, vEgo):
-  # rate limit
-  steer_up = apply_angle_last * apply_angle > 0. and abs(apply_angle) > abs(apply_angle_last)
-  rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
-  max_angle_diff = interp(vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-  apply_angle = clip(apply_angle, (apply_angle_last - max_angle_diff), (apply_angle_last + max_angle_diff))
+def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw):
+  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
+  if v_ego_raw > 9:
+    apply_curvature = clip(apply_curvature, current_curvature - CarControllerParams.CURVATURE_ERROR,
+                           current_curvature + CarControllerParams.CURVATURE_ERROR)
 
-  # absolute limit (LatCtlPath_An_Actl)
-  apply_path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
-  apply_path_angle = clip(apply_path_angle, -0.5, 0.5235)
-  apply_angle = math.degrees(apply_path_angle) * CarControllerParams.LKAS_STEER_RATIO
+  # Curvature rate limit after driver torque limit
+  apply_curvature = apply_std_steer_angle_limits(apply_curvature, apply_curvature_last, v_ego_raw, CarControllerParams)
 
-  return apply_angle
+  return clip(apply_curvature, -CarControllerParams.CURVATURE_MAX, CarControllerParams.CURVATURE_MAX)
 
 
 class CarController:
@@ -28,14 +27,15 @@ class CarController:
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.CAN = CanBus(CP)
     self.frame = 0
 
-    self.apply_angle_last = 0
+    self.apply_curvature_last = 0
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     actuators = CC.actuators
@@ -43,69 +43,73 @@ class CarController:
 
     main_on = CS.out.cruiseState.available
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
+    fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
     ### acc buttons ###
     if CC.cruiseControl.cancel:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True))
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, cancel=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
+      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
     elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True))
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, resume=True, bus=CANBUS.main))
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
+      can_sends.append(create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
     # if stock lane centering isn't off, send a button press to toggle it off
     # the stock system checks for steering pressed, and eventually disengages cruise control
     elif CS.acc_tja_status_stock_values["Tja_D_Stat"] != 0 and (self.frame % CarControllerParams.ACC_UI_STEP) == 0:
-      can_sends.append(fordcan.create_button_command(self.packer, CS.buttons_stock_values, tja_toggle=True))
-
+      can_sends.append(create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, tja_toggle=True))
 
     ### lateral control ###
-    if CC.latActive:
-      lca_rq = 1
-      apply_angle = apply_ford_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo)
-    else:
-      lca_rq = 0
-      apply_angle = 0.
-
-    # send steering commands at 20Hz
-    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
-      # use LatCtlPath_An_Actl to actuate steering
-      path_angle = math.radians(apply_angle) / CarControllerParams.LKAS_STEER_RATIO
-
-      # set slower ramp type when small steering angle change
-      # 0=Slow, 1=Medium, 2=Fast, 3=Immediately
-      steer_change = abs(CS.out.steeringAngleDeg - actuators.steeringAngleDeg)
-      if steer_change < 2.0:
-        ramp_type = 0
-      elif steer_change < 4.0:
-        ramp_type = 1
-      elif steer_change < 6.0:
-        ramp_type = 2
+    # send steer msg at 20Hz
+    if (self.frame % CarControllerParams.STEER_STEP) == 0:
+      if CC.latActive:
+        # apply rate limits, curvature error limit, and clip to signal range
+        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+        apply_curvature = apply_ford_curvature_limits(actuators.curvature, self.apply_curvature_last, current_curvature, CS.out.vEgoRaw)
+      else:
+        apply_curvature = 0.
+
+      self.apply_curvature_last = apply_curvature
+
+      if self.CP.carFingerprint in CANFD_CAR:
+        # TODO: extended mode
+        mode = 1 if CC.latActive else 0
+        counter = (self.frame // CarControllerParams.STEER_STEP) % 0xF
+        can_sends.append(create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -apply_curvature, 0., counter))
       else:
-        ramp_type = 3
-      precision = 1  # 0=Comfortable, 1=Precise (the stock system always uses comfortable)
+        can_sends.append(create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -apply_curvature, 0.))
 
-      self.apply_angle_last = apply_angle
-      can_sends.append(fordcan.create_lka_command(self.packer, 0, 0))
-      can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
-                                                  0, path_angle, 0, 0))
+    # send lka msg at 33Hz
+    if (self.frame % CarControllerParams.LKA_STEP) == 0:
+      can_sends.append(create_lka_msg(self.packer, self.CAN))
 
+    ### longitudinal control ###
+    # send acc msg at 50Hz
+    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
+      # Both gas and accel are in m/s^2, accel is used solely for braking
+      accel = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
+      gas = accel
+      if not CC.longActive or gas < CarControllerParams.MIN_GAS:
+        gas = CarControllerParams.INACTIVE_GAS
+
+      stopping = CC.actuators.longControlState == LongCtrlState.stopping
+      can_sends.append(create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping))
 
     ### ui ###
     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
+    # send lkas ui msg at 1Hz or if ui state changes
     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, hud_control, CS.lkas_status_stock_values))
-
-    # send acc ui command at 20Hz or if ui state changes
+      can_sends.append(create_lkas_ui_msg(self.packer, self.CAN, main_on, CC.latActive, steer_alert, hud_control, CS.lkas_status_stock_values))
+    # send acc ui msg at 5Hz or if ui state changes
     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, hud_control, CS.acc_tja_status_stock_values))
+      can_sends.append(create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
+                                         fcw_alert, CS.out.cruiseState.standstill, hud_control,
+                                         CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive
     self.steer_alert_last = steer_alert
 
     new_actuators = actuators.copy()
-    new_actuators.steeringAngleDeg = self.apply_angle_last
+    new_actuators.curvature = self.apply_curvature_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 2276b1208a..5c787b787a 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,9 +1,10 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.ford.values import CANBUS, DBC, CarControllerParams
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CarControllerParams, DBC
 
 GearShifter = car.CarState.GearShifter
 TransmissionType = car.CarParams.TransmissionType
@@ -14,11 +15,23 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"]
+      self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+
+    self.vehicle_sensors_valid = False
+    self.hybrid_platform = False
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    # Hybrid variants experience a bug where a message from the PCM sends invalid checksums,
+    # we do not support these cars at this time.
+    # TrnAin_Tq_Actl and its quality flag are only set on ICE platform variants
+    self.hybrid_platform = cp.vl["VehicleOperatingModes"]["TrnAinTq_D_Qf"] == 0
+
+    # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
+    # The vehicle usually recovers out of this state within a minute of normal driving
+    self.vehicle_sensors_valid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] == 3
+
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
@@ -37,21 +50,28 @@ class CarState(CarStateBase):
     # steering wheel
     ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
     ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
-    ret.steeringPressed = abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
     ret.steerFaultPermanent = cp.vl["EPAS_INFO"]["EPAS_Failure"] in (2, 3)
     # ret.espDisabled = False  # TODO: find traction control signal
 
+    if self.CP.carFingerprint in CANFD_CAR:
+      # this signal is always 0 on non-CAN FD cars
+      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
+
     # cruise state
     ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * CV.MPH_TO_MS
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
     ret.cruiseState.nonAdaptive = cp.vl["Cluster_Info1_FD1"]["AccEnbl_B_RqDrv"] == 0
     ret.cruiseState.standstill = cp.vl["EngBrakeData"]["AccStopMde_D_Rq"] == 3
+    ret.accFaulted = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (1, 2)
+    if not self.CP.openpilotLongitudinalControl:
+      ret.accFaulted = ret.accFaulted or cp_cam.vl["ACCDATA"]["CmbbDeny_B_Actl"] == 1
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
@@ -62,7 +82,7 @@ class CarState(CarStateBase):
 
     # safety
     ret.stockFcw = bool(cp_cam.vl["ACCDATA_3"]["FcwVisblWarn_B_Rq"])
-    ret.stockAeb = ret.stockFcw and ret.cruiseState.enabled
+    ret.stockAeb = bool(cp_cam.vl["ACCDATA_2"]["CmbbBrkDecel_B_Rq"])
 
     # button presses
     ret.leftBlinker = cp.vl["Steering_Data_FD1"]["TurnLghtSwtch_D_Stat"] == 1
@@ -77,8 +97,9 @@ class CarState(CarStateBase):
 
     # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
-      ret.rightBlindspot = cp.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
+      cp_bsm = cp_cam if self.CP.carFingerprint in CANFD_CAR else cp
+      ret.leftBlindspot = cp_bsm.vl["Side_Detect_L_Stat"]["SodDetctLeft_D_Stat"] != 0
+      ret.rightBlindspot = cp_bsm.vl["Side_Detect_R_Stat"]["SodDetctRight_D_Stat"] != 0
 
     # Stock steering buttons so that we can passthru blinkers etc.
     self.buttons_stock_values = cp.vl["Steering_Data_FD1"]
@@ -90,70 +111,9 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("Veh_V_ActlBrk", "BrakeSysFeatures"),                 # ABS vehicle speed (kph)
-      ("VehYaw_W_Actl", "Yaw_Data_FD1"),                     # ABS vehicle yaw rate (rad/s)
-      ("VehStop_D_Stat", "DesiredTorqBrk"),                  # ABS vehicle stopped
-      ("PrkBrkStatus", "DesiredTorqBrk"),                    # ABS park brake status
-      ("ApedPos_Pc_ActlArb", "EngVehicleSpThrottle"),        # PCM throttle (pct)
-      ("BrkTot_Tq_Actl", "BrakeSnData_4"),                   # ABS brake torque (Nm)
-      ("BpedDrvAppl_D_Actl", "EngBrakeData"),                # PCM driver brake pedal pressed
-      ("Veh_V_DsplyCcSet", "EngBrakeData"),                  # PCM ACC set speed (mph)
-                                                             # The units might change with IPC settings?
-      ("CcStat_D_Actl", "EngBrakeData"),                     # PCM ACC status
-      ("AccStopMde_D_Rq", "EngBrakeData"),                   # PCM ACC standstill
-      ("AccEnbl_B_RqDrv", "Cluster_Info1_FD1"),              # PCM ACC enable
-      ("StePinComp_An_Est", "SteeringPinion_Data"),          # PSCM estimated steering angle (deg)
-                                                             # Calculates steering angle (and offset) from pinion
-                                                             # angle and driving measurements.
-                                                             # StePinRelInit_An_Sns is the pinion angle, initialised
-                                                             # to zero at the beginning of the drive.
-      ("SteeringColumnTorque", "EPAS_INFO"),                 # PSCM steering column torque (Nm)
-      ("EPAS_Failure", "EPAS_INFO"),                         # PSCM EPAS status
-      ("TurnLghtSwtch_D_Stat", "Steering_Data_FD1"),         # SCCM Turn signal switch
-      ("TjaButtnOnOffPress", "Steering_Data_FD1"),           # SCCM ACC button, lane-centering/traffic jam assist toggle
-      ("DrStatDrv_B_Actl", "BodyInfo_3_FD1"),                # BCM Door open, driver
-      ("DrStatPsngr_B_Actl", "BodyInfo_3_FD1"),              # BCM Door open, passenger
-      ("DrStatRl_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear left
-      ("DrStatRr_B_Actl", "BodyInfo_3_FD1"),                 # BCM Door open, rear right
-      ("FirstRowBuckleDriver", "RCMStatusMessage2_FD1"),     # RCM Seatbelt status, driver
-      ("HeadLghtHiFlash_D_Stat", "Steering_Data_FD1"),       # SCCM Passthru the remaining buttons
-      ("WiprFront_D_Stat", "Steering_Data_FD1"),
-      ("LghtAmb_D_Sns", "Steering_Data_FD1"),
-      ("AccButtnGapDecPress", "Steering_Data_FD1"),
-      ("AccButtnGapIncPress", "Steering_Data_FD1"),
-      ("AslButtnOnOffCnclPress", "Steering_Data_FD1"),
-      ("AslButtnOnOffPress", "Steering_Data_FD1"),
-      ("CcAslButtnCnclPress", "Steering_Data_FD1"),
-      ("LaSwtchPos_D_Stat", "Steering_Data_FD1"),
-      ("CcAslButtnCnclResPress", "Steering_Data_FD1"),
-      ("CcAslButtnDeny_B_Actl", "Steering_Data_FD1"),
-      ("CcAslButtnIndxDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnIndxIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnOffCnclPress", "Steering_Data_FD1"),
-      ("CcAslButtnOnOffCncl", "Steering_Data_FD1"),
-      ("CcAslButtnOnPress", "Steering_Data_FD1"),
-      ("CcAslButtnResDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnResIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetDecPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetIncPress", "Steering_Data_FD1"),
-      ("CcAslButtnSetPress", "Steering_Data_FD1"),
-      ("CcAsllButtnResPress", "Steering_Data_FD1"),
-      ("CcButtnOffPress", "Steering_Data_FD1"),
-      ("CcButtnOnOffCnclPress", "Steering_Data_FD1"),
-      ("CcButtnOnOffPress", "Steering_Data_FD1"),
-      ("CcButtnOnPress", "Steering_Data_FD1"),
-      ("HeadLghtHiFlash_D_Actl", "Steering_Data_FD1"),
-      ("HeadLghtHiOn_B_StatAhb", "Steering_Data_FD1"),
-      ("AhbStat_B_Dsply", "Steering_Data_FD1"),
-      ("AccButtnGapTogglePress", "Steering_Data_FD1"),
-      ("WiprFrontSwtch_D_Stat", "Steering_Data_FD1"),
-      ("HeadLghtHiCtrl_D_RqAhb", "Steering_Data_FD1"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
+      ("VehicleOperatingModes", 100),
       ("BrakeSysFeatures", 50),
       ("Yaw_Data_FD1", 100),
       ("DesiredTorqBrk", 50),
@@ -163,93 +123,48 @@ class CarState(CarStateBase):
       ("Cluster_Info1_FD1", 10),
       ("SteeringPinion_Data", 100),
       ("EPAS_INFO", 50),
-      ("Lane_Assist_Data3_FD1", 33),
       ("Steering_Data_FD1", 10),
       ("BodyInfo_3_FD1", 2),
       ("RCMStatusMessage2_FD1", 10),
     ]
 
-    if CP.transmissionType == TransmissionType.automatic:
-      signals += [
-        ("TrnGear_D_RqDrv", "Gear_Shift_by_Wire_FD1"),       # GWM transmission gear position
+    if CP.carFingerprint in CANFD_CAR:
+      messages += [
+        ("Lane_Assist_Data3_FD1", 33),
       ]
-      checks += [
+
+    if CP.transmissionType == TransmissionType.automatic:
+      messages += [
         ("Gear_Shift_by_Wire_FD1", 10),
       ]
     elif CP.transmissionType == TransmissionType.manual:
-      signals += [
-        ("CluPdlPos_Pc_Meas", "Engine_Clutch_Data"),         # PCM clutch (pct)
-        ("RvrseLghtOn_B_Stat", "BCM_Lamp_Stat_FD1"),         # BCM reverse light
-      ]
-      checks += [
+      messages += [
         ("Engine_Clutch_Data", 33),
         ("BCM_Lamp_Stat_FD1", 1),
       ]
 
-    if CP.enableBsm:
-      signals += [
-        ("SodDetctLeft_D_Stat", "Side_Detect_L_Stat"),       # Blindspot sensor, left
-        ("SodDetctRight_D_Stat", "Side_Detect_R_Stat"),      # Blindspot sensor, right
-      ]
-      checks += [
+    if CP.enableBsm and CP.carFingerprint not in CANFD_CAR:
+      messages += [
         ("Side_Detect_L_Stat", 5),
         ("Side_Detect_R_Stat", 5),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.main)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).main)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("HaDsply_No_Cs", "ACCDATA_3"),
-      ("HaDsply_No_Cnt", "ACCDATA_3"),
-      ("AccStopStat_D_Dsply", "ACCDATA_3"),         # ACC stopped status message
-      ("AccTrgDist2_D_Dsply", "ACCDATA_3"),         # ACC target distance
-      ("AccStopRes_B_Dsply", "ACCDATA_3"),
-      ("TjaWarn_D_Rq", "ACCDATA_3"),                # TJA warning
-      ("Tja_D_Stat", "ACCDATA_3"),                  # TJA status
-      ("TjaMsgTxt_D_Dsply", "ACCDATA_3"),           # TJA text
-      ("IaccLamp_D_Rq", "ACCDATA_3"),               # iACC status icon
-      ("AccMsgTxt_D2_Rq", "ACCDATA_3"),             # ACC text
-      ("FcwDeny_B_Dsply", "ACCDATA_3"),             # FCW disabled
-      ("FcwMemStat_B_Actl", "ACCDATA_3"),           # FCW enabled setting
-      ("AccTGap_B_Dsply", "ACCDATA_3"),             # ACC time gap display setting
-      ("CadsAlignIncplt_B_Actl", "ACCDATA_3"),
-      ("AccFllwMde_B_Dsply", "ACCDATA_3"),          # ACC follow mode display setting
-      ("CadsRadrBlck_B_Actl", "ACCDATA_3"),
-      ("CmbbPostEvnt_B_Dsply", "ACCDATA_3"),        # AEB event status
-      ("AccStopMde_B_Dsply", "ACCDATA_3"),          # ACC stop mode display setting
-      ("FcwMemSens_D_Actl", "ACCDATA_3"),           # FCW sensitivity setting
-      ("FcwMsgTxt_D_Rq", "ACCDATA_3"),              # FCW text
-      ("AccWarn_D_Dsply", "ACCDATA_3"),             # ACC warning
-      ("FcwVisblWarn_B_Rq", "ACCDATA_3"),           # FCW visible alert
-      ("FcwAudioWarn_B_Rq", "ACCDATA_3"),           # FCW audio alert
-      ("AccTGap_D_Dsply", "ACCDATA_3"),             # ACC time gap
-      ("AccMemEnbl_B_RqDrv", "ACCDATA_3"),          # ACC adaptive/normal setting
-      ("FdaMem_B_Stat", "ACCDATA_3"),               # FDA enabled setting
-
-      ("FeatConfigIpmaActl", "IPMA_Data"),
-      ("FeatNoIpmaActl", "IPMA_Data"),
-      ("PersIndexIpma_D_Actl", "IPMA_Data"),
-      ("AhbcRampingV_D_Rq", "IPMA_Data"),           # AHB ramping
-      ("LaActvStats_D_Dsply", "IPMA_Data"),         # LKAS status (lines)
-      ("LaDenyStats_B_Dsply", "IPMA_Data"),         # LKAS error
-      ("LaHandsOff_D_Dsply", "IPMA_Data"),          # LKAS hands on chime
-      ("CamraDefog_B_Req", "IPMA_Data"),            # Windshield heater?
-      ("CamraStats_D_Dsply", "IPMA_Data"),          # Camera status
-      ("DasAlrtLvl_D_Dsply", "IPMA_Data"),          # DAS alert level
-      ("DasStats_D_Dsply", "IPMA_Data"),            # DAS status
-      ("DasWarn_D_Dsply", "IPMA_Data"),             # DAS warning
-      ("AhbHiBeam_D_Rq", "IPMA_Data"),              # AHB status
-      ("Passthru_63", "IPMA_Data"),
-      ("Passthru_48", "IPMA_Data"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
+      ("ACCDATA", 50),
+      ("ACCDATA_2", 50),
       ("ACCDATA_3", 5),
       ("IPMA_Data", 1),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.camera)
+    if CP.enableBsm and CP.carFingerprint in CANFD_CAR:
+      messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).camera)
diff --git a/selfdrive/car/ford/fordcan.py b/selfdrive/car/ford/fordcan.py
index 373ce096c6..e0086ecbb5 100644
--- a/selfdrive/car/ford/fordcan.py
+++ b/selfdrive/car/ford/fordcan.py
@@ -1,67 +1,228 @@
 from cereal import car
-from selfdrive.car.ford.values import CANBUS
+from openpilot.selfdrive.car import CanBusBase
 
 HUDControl = car.CarControl.HUDControl
 
 
-def create_lka_command(packer, angle_deg: float, curvature: float):
+class CanBus(CanBusBase):
+  def __init__(self, CP=None, fingerprint=None) -> None:
+    super().__init__(CP, fingerprint)
+
+  @property
+  def main(self) -> int:
+    return self.offset
+
+  @property
+  def radar(self) -> int:
+    return self.offset + 1
+
+  @property
+  def camera(self) -> int:
+    return self.offset + 2
+
+
+def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
+  curvature = (dat[2] << 3) | ((dat[3]) >> 5)
+  curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
+  path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)
+  path_offset = ((dat[4] & 0x3) << 8) | dat[5]
+
+  checksum = mode + counter
+  for sig_val in (curvature, curvature_rate, path_angle, path_offset):
+    checksum += sig_val + (sig_val >> 8)
+
+  return 0xFF - (checksum & 0xFF)
+
+
+def create_lka_msg(packer, CAN: CanBus):
   """
-  Creates a CAN message for the Ford LKAS Command.
+  Creates an empty CAN message for the Ford LKA Command.
 
   This command can apply "Lane Keeping Aid" manoeuvres, which are subject to the PSCM lockout.
 
-  Frequency is 20Hz.
+  Frequency is 33Hz.
   """
 
-  values = {
-    "LkaDrvOvrrd_D_Rq": 0,              # driver override level? [0|3]
-    "LkaActvStats_D2_Req": 0,           # action [0|7]
-    "LaRefAng_No_Req": angle_deg,       # angle [-102.4|102.3] degrees
-    "LaRampType_B_Req": 0,              # Ramp speed: 0=Smooth, 1=Quick
-    "LaCurvature_No_Calc": curvature,   # curvature [-0.01024|0.01023] 1/meter
-    "LdwActvStats_D_Req": 0,            # LDW status [0|7]
-    "LdwActvIntns_D_Req": 0,            # LDW intensity [0|3], shake alert strength
-  }
-  return packer.make_can_msg("Lane_Assist_Data1", CANBUS.main, values)
+  return packer.make_can_msg("Lane_Assist_Data1", CAN.main, {})
 
 
-def create_tja_command(packer, lca_rq: int, ramp_type: int, precision: int, path_offset: float, path_angle: float, curvature_rate: float, curvature: float):
+def create_lat_ctl_msg(packer, CAN: CanBus, lat_active: bool, path_offset: float, path_angle: float, curvature: float,
+                       curvature_rate: float):
   """
   Creates a CAN message for the Ford TJA/LCA Command.
 
-  This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam
-  assist and highway driving. It is not subject to the PSCM lockout.
+  This command can apply "Lane Centering" manoeuvres: continuous lane centering for traffic jam assist and highway
+  driving. It is not subject to the PSCM lockout.
 
-  Ford lane centering command uses a third order polynomial to describe the road centerline. The
-  polynomial is defined by the following coefficients:
-    c0: lateral offset between the vehicle and the centerline
-    c1: heading angle between the vehicle and the centerline
-    c2: curvature of the centerline
+  Ford lane centering command uses a third order polynomial to describe the road centerline. The polynomial is defined
+  by the following coefficients:
+    c0: lateral offset between the vehicle and the centerline (positive is right)
+    c1: heading angle between the vehicle and the centerline (positive is right)
+    c2: curvature of the centerline (positive is left)
     c3: rate of change of curvature of the centerline
-  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and
-  speed, the steering angle cannot be easily controlled.
+  As the PSCM combines this information with other sensor data, such as the vehicle's yaw rate and speed, the steering
+  angle cannot be easily controlled.
+
+  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed. This can be done
+  using tools such as Forscan.
 
-  The PSCM should be configured to accept TJA/LCA commands before these commands will be processed.
-  This can be done using tools such as Forscan.
+  Frequency is 20Hz.
+  """
+
+  values = {
+    "LatCtlRng_L_Max": 0,                       # Unknown [0|126] meter
+    "HandsOffCnfm_B_Rq": 0,                     # Unknown: 0=Inactive, 1=Active [0|1]
+    "LatCtl_D_Rq": 1 if lat_active else 0,      # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft,
+                                                #       3=InterventionRight, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": 0,                   # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+                                                #             Makes no difference with curvature control
+    "LatCtlPrecision_D_Rq": 1,                  # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+                                                #            The stock system always uses comfortable
+    "LatCtlPathOffst_L_Actl": path_offset,      # Path offset [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # Path angle [-0.5|0.5235] radians
+    "LatCtlCurv_NoRate_Actl": curvature_rate,   # Curvature rate [-0.001024|0.00102375] 1/meter^2
+    "LatCtlCurv_No_Actl": curvature,            # Curvature [-0.02|0.02094] 1/meter
+  }
+  return packer.make_can_msg("LateralMotionControl", CAN.main, values)
+
+
+def create_lat_ctl2_msg(packer, CAN: CanBus, mode: int, path_offset: float, path_angle: float, curvature: float,
+                        curvature_rate: float, counter: int):
+  """
+  Create a CAN message for the new Ford Lane Centering command.
+
+  This message is used on the CAN FD platform and replaces the old LateralMotionControl message. It is similar but has
+  additional signals for a counter and checksum.
 
   Frequency is 20Hz.
   """
 
   values = {
-    "LatCtlRng_L_Max": 0,                                   # Unknown [0|126] meter
-    "HandsOffCnfm_B_Rq": 0,                                 # Unknown: 0=Inactive, 1=Active [0|1]
-    "LatCtl_D_Rq": lca_rq,                                  # Mode: 0=None, 1=ContinuousPathFollowing, 2=InterventionLeft, 3=InterventionRight, 4-7=NotUsed [0|7]
-    "LatCtlRampType_D_Rq": ramp_type,                       # Ramp speed: 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
-    "LatCtlPrecision_D_Rq": precision,                      # Precision: 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
-    "LatCtlPathOffst_L_Actl": path_offset,                  # Path offset [-5.12|5.11] meter
-    "LatCtlPath_An_Actl": path_angle,                       # Path angle [-0.5|0.5235] radians
-    "LatCtlCurv_NoRate_Actl": curvature_rate,               # Curvature rate [-0.001024|0.00102375] 1/meter^2
-    "LatCtlCurv_No_Actl": curvature,                        # Curvature [-0.02|0.02094] 1/meter
+    "LatCtl_D2_Rq": mode,                       # Mode: 0=None, 1=PathFollowingLimitedMode, 2=PathFollowingExtendedMode,
+                                                #       3=SafeRampOut, 4-7=NotUsed [0|7]
+    "LatCtlRampType_D_Rq": 0,                   # 0=Slow, 1=Medium, 2=Fast, 3=Immediate [0|3]
+    "LatCtlPrecision_D_Rq": 1,                  # 0=Comfortable, 1=Precise, 2/3=NotUsed [0|3]
+    "LatCtlPathOffst_L_Actl": path_offset,      # [-5.12|5.11] meter
+    "LatCtlPath_An_Actl": path_angle,           # [-0.5|0.5235] radians
+    "LatCtlCurv_No_Actl": curvature,            # [-0.02|0.02094] 1/meter
+    "LatCtlCrv_NoRate2_Actl": curvature_rate,   # [-0.001024|0.001023] 1/meter^2
+    "HandsOffCnfm_B_Rq": 0,                     # 0=Inactive, 1=Active [0|1]
+    "LatCtlPath_No_Cnt": counter,               # [0|15]
+    "LatCtlPath_No_Cs": 0,                      # [0|255]
   }
-  return packer.make_can_msg("LateralMotionControl", CANBUS.main, values)
 
+  # calculate checksum
+  dat = packer.make_can_msg("LateralMotionControl2", 0, values)[2]
+  values["LatCtlPath_No_Cs"] = calculate_lat_ctl2_checksum(mode, counter, dat)
+
+  return packer.make_can_msg("LateralMotionControl2", CAN.main, values)
 
-def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bool, hud_control, stock_values: dict):
+
+def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: float, stopping: bool):
+  """
+  Creates a CAN message for the Ford ACC Command.
+
+  This command can be used to enable ACC, to set the ACC gas/brake/decel values
+  and to disable ACC.
+
+  Frequency is 50Hz.
+  """
+
+  decel = accel < 0 and long_active
+  values = {
+    "AccBrkTot_A_Rq": accel,                          # Brake total accel request: [-20|11.9449] m/s^2
+    "Cmbb_B_Enbl": 1 if long_active else 0,           # Enabled: 0=No, 1=Yes
+    "AccPrpl_A_Rq": gas,                              # Acceleration request: [-5|5.23] m/s^2
+    "AccResumEnbl_B_Rq": 1 if long_active else 0,
+    # TODO: we may be able to improve braking response by utilizing pre-charging better
+    "AccBrkPrchg_B_Rq": 1 if decel else 0,            # Pre-charge brake request: 0=No, 1=Yes
+    "AccBrkDecel_B_Rq": 1 if decel else 0,            # Deceleration request: 0=Inactive, 1=Active
+    "AccStopStat_B_Rq": 1 if stopping else 0,
+  }
+  return packer.make_can_msg("ACCDATA", CAN.main, values)
+
+
+def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
+                      hud_control, stock_values: dict):
+  """
+  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
+  assist status.
+
+  Stock functionality is maintained by passing through unmodified signals.
+
+  Frequency is 5Hz.
+  """
+
+  # Tja_D_Stat
+  if enabled:
+    if hud_control.leftLaneDepart:
+      status = 3  # ActiveInterventionLeft
+    elif hud_control.rightLaneDepart:
+      status = 4  # ActiveInterventionRight
+    else:
+      status = 2  # Active
+  elif main_on:
+    if hud_control.leftLaneDepart:
+      status = 5  # ActiveWarningLeft
+    elif hud_control.rightLaneDepart:
+      status = 6  # ActiveWarningRight
+    else:
+      status = 1  # Standby
+  else:
+    status = 0    # Off
+
+  values = {s: stock_values[s] for s in [
+    "HaDsply_No_Cs",
+    "HaDsply_No_Cnt",
+    "AccStopStat_D_Dsply",       # ACC stopped status message
+    "AccTrgDist2_D_Dsply",       # ACC target distance
+    "AccStopRes_B_Dsply",
+    "TjaWarn_D_Rq",              # TJA warning
+    "TjaMsgTxt_D_Dsply",         # TJA text
+    "IaccLamp_D_Rq",             # iACC status icon
+    "AccMsgTxt_D2_Rq",           # ACC text
+    "FcwDeny_B_Dsply",           # FCW disabled
+    "FcwMemStat_B_Actl",         # FCW enabled setting
+    "AccTGap_B_Dsply",           # ACC time gap display setting
+    "CadsAlignIncplt_B_Actl",
+    "AccFllwMde_B_Dsply",        # ACC follow mode display setting
+    "CadsRadrBlck_B_Actl",
+    "CmbbPostEvnt_B_Dsply",      # AEB event status
+    "AccStopMde_B_Dsply",        # ACC stop mode display setting
+    "FcwMemSens_D_Actl",         # FCW sensitivity setting
+    "FcwMsgTxt_D_Rq",            # FCW text
+    "AccWarn_D_Dsply",           # ACC warning
+    "FcwVisblWarn_B_Rq",         # FCW visible alert
+    "FcwAudioWarn_B_Rq",         # FCW audio alert
+    "AccTGap_D_Dsply",           # ACC time gap
+    "AccMemEnbl_B_RqDrv",        # ACC adaptive/normal setting
+    "FdaMem_B_Stat",             # FDA enabled setting
+  ]}
+
+  values.update({
+    "Tja_D_Stat": status,        # TJA status
+  })
+
+  if CP.openpilotLongitudinalControl:
+    values.update({
+      "AccStopStat_D_Dsply": 2 if standstill else 0,              # Stopping status text
+      "AccMsgTxt_D2_Rq": 0,                                       # ACC text
+      "AccTGap_B_Dsply": 0,                                       # Show time gap control UI
+      "AccFllwMde_B_Dsply": 1 if hud_control.leadVisible else 0,  # Lead indicator
+      "AccStopMde_B_Dsply": 1 if standstill else 0,
+      "AccWarn_D_Dsply": 0,                                       # ACC warning
+      "AccTGap_D_Dsply": 4,                                       # Fixed time gap in UI
+    })
+
+  # Forwards FCW alert from IPMA
+  if fcw_alert:
+    values["FcwVisblWarn_B_Rq"] = 1  # FCW visible alert
+
+  return packer.make_can_msg("ACCDATA_3", CAN.main, values)
+
+
+def create_lkas_ui_msg(packer, CAN: CanBus, main_on: bool, enabled: bool, steer_alert: bool, hud_control,
+                       stock_values: dict):
   """
   Creates a CAN message for the Ford IPC IPMA/LKAS status.
 
@@ -102,63 +263,77 @@ def create_lkas_ui_command(packer, main_on: bool, enabled: bool, steer_alert: bo
     else:
       lines = 30  # LA_Off
 
-  # TODO: use level 1 for no sound when less severe?
-  hands_on_wheel_dsply = 2 if steer_alert else 0
-
-  values = {
-    **stock_values,
-    "LaActvStats_D_Dsply": lines,                           # LKAS status (lines) [0|31]
-    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,             # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
-  }
-  return packer.make_can_msg("IPMA_Data", CANBUS.main, values)
-
-
-def create_acc_ui_command(packer, main_on: bool, enabled: bool, hud_control, stock_values: dict):
-  """
-  Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
-  assist status.
-
-  Stock functionality is maintained by passing through unmodified signals.
-
-  Frequency is 20Hz.
-  """
+  hands_on_wheel_dsply = 1 if steer_alert else 0
 
-  # Tja_D_Stat
-  if enabled:
-    if hud_control.leftLaneDepart:
-      status = 3  # ActiveInterventionLeft
-    elif hud_control.rightLaneDepart:
-      status = 4  # ActiveInterventionRight
-    else:
-      status = 2  # Active
-  elif main_on:
-    if hud_control.leftLaneDepart:
-      status = 5  # ActiveWarningLeft
-    elif hud_control.rightLaneDepart:
-      status = 6  # ActiveWarningRight
-    else:
-      status = 1  # Standby
-  else:
-    status = 0    # Off
+  values = {s: stock_values[s] for s in [
+    "FeatConfigIpmaActl",
+    "FeatNoIpmaActl",
+    "PersIndexIpma_D_Actl",
+    "AhbcRampingV_D_Rq",     # AHB ramping
+    "LaDenyStats_B_Dsply",   # LKAS error
+    "CamraDefog_B_Req",      # Windshield heater?
+    "CamraStats_D_Dsply",    # Camera status
+    "DasAlrtLvl_D_Dsply",    # DAS alert level
+    "DasStats_D_Dsply",      # DAS status
+    "DasWarn_D_Dsply",       # DAS warning
+    "AhbHiBeam_D_Rq",        # AHB status
+    "Passthru_63",
+    "Passthru_48",
+  ]}
 
-  values = {
-    **stock_values,
-    "Tja_D_Stat": status,
-  }
-  return packer.make_can_msg("ACCDATA_3", CANBUS.main, values)
+  values.update({
+    "LaActvStats_D_Dsply": lines,                 # LKAS status (lines) [0|31]
+    "LaHandsOff_D_Dsply": hands_on_wheel_dsply,   # 0=HandsOn, 1=Level1 (w/o chime), 2=Level2 (w/ chime), 3=Suppressed
+  })
+  return packer.make_can_msg("IPMA_Data", CAN.main, values)
 
 
-def create_button_command(packer, stock_values: dict, cancel = False, resume = False, tja_toggle = False, bus: int = CANBUS.camera):
+def create_button_msg(packer, bus: int, stock_values: dict, cancel=False, resume=False, tja_toggle=False):
   """
   Creates a CAN message for the Ford SCCM buttons/switches.
 
   Includes cruise control buttons, turn lights and more.
+
+  Frequency is 10Hz.
   """
 
-  values = {
-    **stock_values,
+  values = {s: stock_values[s] for s in [
+    "HeadLghtHiFlash_D_Stat",  # SCCM Passthrough the remaining buttons
+    "TurnLghtSwtch_D_Stat",    # SCCM Turn signal switch
+    "WiprFront_D_Stat",
+    "LghtAmb_D_Sns",
+    "AccButtnGapDecPress",
+    "AccButtnGapIncPress",
+    "AslButtnOnOffCnclPress",
+    "AslButtnOnOffPress",
+    "LaSwtchPos_D_Stat",
+    "CcAslButtnCnclResPress",
+    "CcAslButtnDeny_B_Actl",
+    "CcAslButtnIndxDecPress",
+    "CcAslButtnIndxIncPress",
+    "CcAslButtnOffCnclPress",
+    "CcAslButtnOnOffCncl",
+    "CcAslButtnOnPress",
+    "CcAslButtnResDecPress",
+    "CcAslButtnResIncPress",
+    "CcAslButtnSetDecPress",
+    "CcAslButtnSetIncPress",
+    "CcAslButtnSetPress",
+    "CcButtnOffPress",
+    "CcButtnOnOffCnclPress",
+    "CcButtnOnOffPress",
+    "CcButtnOnPress",
+    "HeadLghtHiFlash_D_Actl",
+    "HeadLghtHiOn_B_StatAhb",
+    "AhbStat_B_Dsply",
+    "AccButtnGapTogglePress",
+    "WiprFrontSwtch_D_Stat",
+    "HeadLghtHiCtrl_D_RqAhb",
+  ]}
+
+  values.update({
     "CcAslButtnCnclPress": 1 if cancel else 0,      # CC cancel button
     "CcAsllButtnResPress": 1 if resume else 0,      # CC resume button
-    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # TJA toggle button
-  }
+    "TjaButtnOnOffPress": 1 if tja_toggle else 0,   # LCA/TJA toggle button
+  })
   return packer.make_can_msg("Steering_Data_FD1", bus, values)
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index f3d77bc05a..755d7d1d00 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -1,46 +1,78 @@
 #!/usr/bin/env python3
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.ford.values import CAR, Ecu, TransmissionType, GearShifter
-from selfdrive.car.interfaces import CarInterfaceBase
+from panda import Panda
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import CANFD_CAR, CAR, Ecu
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-CarParams = car.CarParams
+TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
-    ret.dashcamOnly = True
-    ret.safetyConfigs = [get_safety_config(CarParams.SafetyModel.ford)]
+    ret.dashcamOnly = candidate in {CAR.F_150_MK14}
 
-    # Angle-based steering
-    ret.steerControlType = CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.4
+    ret.radarUnavailable = True
+    ret.steerControlType = car.CarParams.SteerControlType.angle
+    ret.steerActuatorDelay = 0.2
     ret.steerLimitTimer = 1.0
 
-    if candidate == CAR.ESCAPE_MK4:
+    CAN = CanBus(fingerprint=fingerprint)
+    cfgs = [get_safety_config(car.CarParams.SafetyModel.ford)]
+    if CAN.main >= 4:
+      cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+    ret.safetyConfigs = cfgs
+
+    ret.experimentalLongitudinalAvailable = True
+    if experimental_long:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_LONG_CONTROL
+      ret.openpilotLongitudinalControl = True
+
+    if candidate in CANFD_CAR:
+      ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_FORD_CANFD
+
+    if candidate == CAR.BRONCO_SPORT_MK1:
+      ret.wheelbase = 2.67
+      ret.steerRatio = 17.7
+      ret.mass = 1625
+
+    elif candidate == CAR.ESCAPE_MK4:
       ret.wheelbase = 2.71
-      ret.steerRatio = 14.3  # Copied from Focus
-      ret.mass = 1750 + STD_CARGO_KG
+      ret.steerRatio = 16.7
+      ret.mass = 1750
 
     elif candidate == CAR.EXPLORER_MK6:
       ret.wheelbase = 3.025
-      ret.steerRatio = 16.8  # learned
-      ret.mass = 2050 + STD_CARGO_KG
+      ret.steerRatio = 16.8
+      ret.mass = 2050
+
+    elif candidate == CAR.F_150_MK14:
+      # required trim only on SuperCrew
+      ret.wheelbase = 3.69
+      ret.steerRatio = 17.0
+      ret.mass = 2000
 
     elif candidate == CAR.FOCUS_MK4:
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.8  # learned
-      ret.mass = 1350 + STD_CARGO_KG
+      ret.steerRatio = 15.0
+      ret.mass = 1350
+
+    elif candidate == CAR.MAVERICK_MK1:
+      ret.wheelbase = 3.076
+      ret.steerRatio = 17.0
+      ret.mass = 1650
 
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
     # Auto Transmission: 0x732 ECU or Gear_Shift_by_Wire_FD1
     found_ecus = [fw.ecu for fw in car_fw]
-    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[0]:
+    if Ecu.shiftByWire in found_ecus or 0x5A in fingerprint[CAN.main] or docs:
       ret.transmissionType = TransmissionType.automatic
     else:
       ret.transmissionType = TransmissionType.manual
@@ -48,7 +80,7 @@ class CarInterface(CarInterfaceBase):
 
     # BSM: Side_Detect_L_Stat, Side_Detect_R_Stat
     # TODO: detect bsm in car_fw?
-    ret.enableBsm = 0x3A6 in fingerprint[0] and 0x3A7 in fingerprint[0]
+    ret.enableBsm = 0x3A6 in fingerprint[CAN.main] and 0x3A7 in fingerprint[CAN.main]
 
     # LCA can steer down to zero
     ret.minSteerSpeed = 0.
@@ -61,9 +93,14 @@ class CarInterface(CarInterfaceBase):
     ret = self.CS.update(self.cp, self.cp_cam)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
+    if not self.CS.vehicle_sensors_valid:
+      events.add(car.CarEvent.EventName.vehicleSensorsInvalid)
+    if self.CS.hybrid_platform:
+      events.add(car.CarEvent.EventName.startupNoControl)
+
     ret.events = events.to_msg()
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/ford/radar_interface.py b/selfdrive/car/ford/radar_interface.py
index c942703002..a166fc20dd 100644
--- a/selfdrive/car/ford/radar_interface.py
+++ b/selfdrive/car/ford/radar_interface.py
@@ -2,9 +2,10 @@
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser
-from common.conversions import Conversions as CV
-from selfdrive.car.ford.values import CANBUS, DBC, RADAR
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.ford.fordcan import CanBus
+from openpilot.selfdrive.car.ford.values import DBC, RADAR
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 DELPHI_ESR_RADAR_MSGS = list(range(0x500, 0x540))
 
@@ -12,32 +13,21 @@ DELPHI_MRR_RADAR_START_ADDR = 0x120
 DELPHI_MRR_RADAR_MSG_COUNT = 64
 
 
-def _create_delphi_esr_radar_can_parser():
+def _create_delphi_esr_radar_can_parser(CP) -> CANParser:
   msg_n = len(DELPHI_ESR_RADAR_MSGS)
-  signals = list(zip(['X_Rel'] * msg_n + ['Angle'] * msg_n + ['V_Rel'] * msg_n,
-                     DELPHI_ESR_RADAR_MSGS * 3))
-  checks = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n))
+  messages = list(zip(DELPHI_ESR_RADAR_MSGS, [20] * msg_n, strict=True))
 
-  return CANParser(RADAR.DELPHI_ESR, signals, checks, CANBUS.radar)
+  return CANParser(RADAR.DELPHI_ESR, messages, CanBus(CP).radar)
 
 
-def _create_delphi_mrr_radar_can_parser():
-  signals = []
-  checks = []
+def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
+  messages = []
 
   for i in range(1, DELPHI_MRR_RADAR_MSG_COUNT + 1):
     msg = f"MRR_Detection_{i:03d}"
-    signals += [
-      (f"CAN_DET_VALID_LEVEL_{i:02d}", msg),
-      (f"CAN_DET_AZIMUTH_{i:02d}", msg),
-      (f"CAN_DET_RANGE_{i:02d}", msg),
-      (f"CAN_DET_RANGE_RATE_{i:02d}", msg),
-      (f"CAN_DET_AMPLITUDE_{i:02d}", msg),
-      (f"CAN_SCAN_INDEX_2LSB_{i:02d}", msg),
-    ]
-    checks += [(msg, 20)]
+    messages += [(msg, 20)]
 
-  return CANParser(RADAR.DELPHI_MRR, signals, checks, CANBUS.radar)
+  return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -47,14 +37,14 @@ class RadarInterface(RadarInterfaceBase):
     self.updated_messages = set()
     self.track_id = 0
     self.radar = DBC[CP.carFingerprint]['radar']
-    if self.radar is None:
+    if self.radar is None or CP.radarUnavailable:
       self.rcp = None
     elif self.radar == RADAR.DELPHI_ESR:
-      self.rcp = _create_delphi_esr_radar_can_parser()
+      self.rcp = _create_delphi_esr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_ESR_RADAR_MSGS[-1]
       self.valid_cnt = {key: 0 for key in DELPHI_ESR_RADAR_MSGS}
     elif self.radar == RADAR.DELPHI_MRR:
-      self.rcp = _create_delphi_mrr_radar_can_parser()
+      self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_START_ADDR + DELPHI_MRR_RADAR_MSG_COUNT - 1
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
diff --git a/selfdrive/controls/lib/cluster/__init__.py b/selfdrive/car/ford/tests/__init__.py
similarity index 100%
rename from selfdrive/controls/lib/cluster/__init__.py
rename to selfdrive/car/ford/tests/__init__.py
diff --git a/selfdrive/car/ford/tests/test_ford.py b/selfdrive/car/ford/tests/test_ford.py
new file mode 100755
index 0000000000..e645b4cbe6
--- /dev/null
+++ b/selfdrive/car/ford/tests/test_ford.py
@@ -0,0 +1,80 @@
+#!/usr/bin/env python3
+import unittest
+from parameterized import parameterized
+from typing import Dict, Iterable, Optional, Tuple
+
+import capnp
+
+from cereal import car
+from openpilot.selfdrive.car.ford.values import FW_QUERY_CONFIG, FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+
+
+ECU_ADDRESSES = {
+  Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
+  Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)
+  Ecu.fwdRadar: 0x764,     # Cruise Control Module (CCM)
+  Ecu.fwdCamera: 0x706,    # Image Processing Module A (IPMA)
+  Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
+  Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
+}
+
+
+ECU_FW_CORE = {
+  Ecu.eps: [
+    b"14D003",
+  ],
+  Ecu.abs: [
+    b"2D053",
+  ],
+  Ecu.fwdRadar: [
+    b"14D049",
+  ],
+  Ecu.fwdCamera: [
+    b"14F397",  # Ford Q3
+    b"14H102",  # Ford Q4
+  ],
+  Ecu.engine: [
+    b"14C204",
+  ],
+}
+
+
+class TestFordFW(unittest.TestCase):
+  def test_fw_query_config(self):
+    for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
+      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
+      self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
+      self.assertIsNone(subaddr, "Unexpected ECU subaddress")
+
+  @parameterized.expand(FW_VERSIONS.items())
+  def test_fw_versions(self, car_model: str, fw_versions: Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], Iterable[bytes]]):
+    for (ecu, addr, subaddr), fws in fw_versions.items():
+      self.assertIn(ecu, ECU_ADDRESSES, "Unknown ECU")
+      self.assertEqual(addr, ECU_ADDRESSES[ecu], "ECU address mismatch")
+      self.assertIsNone(subaddr, "Unexpected ECU subaddress")
+
+      # Software part number takes the form: PREFIX-CORE-SUFFIX
+      # Prefix changes based on the family of part. It includes the model year
+      #   and likely the platform.
+      # Core identifies the type of the item (e.g. 14D003 = PSCM, 14C204 = PCM).
+      # Suffix specifies the version of the part. -AA would be followed by -AB.
+      #   Small increments in the suffix are usually compatible.
+      # Details: https://forscan.org/forum/viewtopic.php?p=70008#p70008
+      for fw in fws:
+        self.assertEqual(len(fw), 24, "Expected ECU response to be 24 bytes")
+
+        # TODO: parse with regex, don't need detailed error message
+        fw_parts = fw.rstrip(b'\x00').split(b'-')
+        self.assertEqual(len(fw_parts), 3, "Expected FW to be in format: prefix-core-suffix")
+
+        prefix, core, suffix = fw_parts
+        self.assertEqual(len(prefix), 4, "Expected FW prefix to be 4 characters")
+        self.assertIn(len(core), (5, 6), "Expected FW core to be 5-6 characters")
+        self.assertIn(core, ECU_FW_CORE[ecu], f"Unexpected FW core for {ecu}")
+        self.assertIn(len(suffix), (2, 3), "Expected FW suffix to be 2-3 characters")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index 5114f8d065..8968d1dc29 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -1,48 +1,55 @@
-from collections import defaultdict, namedtuple
-from dataclasses import dataclass
+from collections import defaultdict
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+                                           Device
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
-TransmissionType = car.CarParams.TransmissionType
-GearShifter = car.CarState.GearShifter
-
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
 
 class CarControllerParams:
-  # Messages: Lane_Assist_Data1, LateralMotionControl
-  LKAS_STEER_STEP = 5
-  # Message: IPMA_Data
-  LKAS_UI_STEP = 100
-  # Message: ACCDATA_3
-  ACC_UI_STEP = 5
-  # Message: Steering_Data_FD1, but send twice as fast
-  BUTTONS_STEP = 10 / 2
+  STEER_STEP = 5        # LateralMotionControl, 20Hz
+  LKA_STEP = 3          # Lane_Assist_Data1, 33Hz
+  ACC_CONTROL_STEP = 2  # ACCDATA, 50Hz
+  LKAS_UI_STEP = 100    # IPMA_Data, 1Hz
+  ACC_UI_STEP = 20      # ACCDATA_3, 5Hz
+  BUTTONS_STEP = 5      # Steering_Data_FD1, 10Hz, but send twice as fast
 
-  LKAS_STEER_RATIO = 2.75       # Approximate ratio between LatCtlPath_An_Actl and steering angle in radians
-                                # TODO: remove this once we understand how the EPS calculates the steering angle better
-  STEER_DRIVER_ALLOWANCE = 0.8  # Driver intervention threshold in Nm
+  CURVATURE_MAX = 0.02  # Max curvature for steering command, m^-1
+  STEER_DRIVER_ALLOWANCE = 1.0  # Driver intervention threshold, Nm
 
-  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  # Curvature rate limits
+  # The curvature signal is limited to 0.003 to 0.009 m^-1/sec by the EPS depending on speed and direction
+  # Limit to ~2 m/s^3 up, ~3 m/s^3 down at 75 mph
+  # Worst case, the low speed limits will allow 4.3 m/s^3 up, 4.9 m/s^3 down at 75 mph
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.0002, 0.0001])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.000225, 0.00015])
+  CURVATURE_ERROR = 0.002  # ~6 degrees at 10 m/s, ~10 degrees at 35 m/s
 
+  ACCEL_MAX = 2.0               # m/s^2 max acceleration
+  ACCEL_MIN = -3.5              # m/s^2 max deceleration
+  MIN_GAS = -0.5
+  INACTIVE_GAS = -5.0
 
-class CANBUS:
-  main = 0
-  radar = 1
-  camera = 2
+  def __init__(self, CP):
+    pass
 
 
 class CAR:
+  BRONCO_SPORT_MK1 = "FORD BRONCO SPORT 1ST GEN"
   ESCAPE_MK4 = "FORD ESCAPE 4TH GEN"
   EXPLORER_MK6 = "FORD EXPLORER 6TH GEN"
+  F_150_MK14 = "FORD F-150 14TH GEN"
   FOCUS_MK4 = "FORD FOCUS 4TH GEN"
+  MAVERICK_MK1 = "FORD MAVERICK 1ST GEN"
+
+
+CANFD_CAR = {CAR.F_150_MK14}
 
 
 class RADAR:
@@ -52,48 +59,103 @@ class RADAR:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
+# F-150 radar is not yet supported
+DBC[CAR.F_150_MK14] = dbc_dict("ford_lincoln_base_pt", None)
+
+
+class Footnote(Enum):
+  FOCUS = CarFootnote(
+    "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
+    "North and South America/Southeast Asia.",
+    Column.MODEL,
+  )
+
 
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
-  harness: Enum = Harness.ford_q3
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.ford_q3]))
+
+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in (CAR.BRONCO_SPORT_MK1, CAR.MAVERICK_MK1):
+      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.ford_q3])
 
 
 CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
+  CAR.BRONCO_SPORT_MK1: FordCarInfo("Ford Bronco Sport 2021-22"),
   CAR.ESCAPE_MK4: [
-    FordCarInfo("Ford Escape 2020-21"),
-    FordCarInfo("Ford Kuga 2020-21", "Driver Assistance Pack"),
+    FordCarInfo("Ford Escape 2020-22"),
+    FordCarInfo("Ford Kuga 2020-22", "Adaptive Cruise Control with Lane Centering"),
+  ],
+  CAR.EXPLORER_MK6: [
+    FordCarInfo("Ford Explorer 2020-22"),
+    FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
+  ],
+  CAR.F_150_MK14: FordCarInfo("Ford F-150 2023", "Co-Pilot360 Active 2.0"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
+  CAR.MAVERICK_MK1: [
+    FordCarInfo("Ford Maverick 2022", "LARIAT Luxury"),
+    FordCarInfo("Ford Maverick 2023", "Co-Pilot360 Assist"),
   ],
-  CAR.EXPLORER_MK6: FordCarInfo("Ford Explorer 2020-22"),
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2019", "Driver Assistance Pack"),
 }
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # CAN and CAN FD queries are combined.
+    # FIXME: For CAN FD, ECUs respond with frames larger than 8 bytes on the powertrain bus
+    # TODO: properly handle auxiliary requests to separate queries and add back whitelists
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      # whitelist_ecus=[Ecu.engine],
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      # whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
       bus=0,
-      whitelist_ecus=[Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.shiftByWire],
+      auxiliary=True,
     ),
   ],
+  extra_ecus=[
+    (Ecu.shiftByWire, 0x732, None),
+  ],
 )
 
 FW_VERSIONS = {
+  CAR.BRONCO_SPORT_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'M1PT-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'LX6C-2D053-NS\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-NT\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-NY\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-SA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-SD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -101,24 +163,31 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'LJ6T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LJ6T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LV4T-14F397-GG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-CNG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-DPK\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'LX6P-14G395-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'LX6P-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MX6A-14C204-CAB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX6A-14C204-BLE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
+      b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M1MC-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -127,18 +196,38 @@ FW_VERSIONS = {
       b'LB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
+      b'LB5T-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-ATJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-AZL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NB5A-14C204-AZD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB5A-14C204-HB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
-      b'L1MP-14G395-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MP-14G395-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'L1MP-14G395-JB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+  },
+  CAR.F_150_MK14: {
+    (Ecu.eps, 0x730, None): [
+      b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'PL34-2D053-CA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'PL3A-14C204-BRB\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FOCUS_MK4: {
@@ -157,7 +246,26 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'JX6A-14C204-BPL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
-    (Ecu.shiftByWire, 0x732, None): [
+  },
+  CAR.MAVERICK_MK1: {
+    (Ecu.eps, 0x730, None): [
+      b'NZ6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'NZ6C-2D053-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6C-2D053-ED\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'NZ6T-14D049-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'NZ6T-14F397-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'NZ6A-14C204-AAA\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-PA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NZ6A-14C204-ZA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ6A-14C204-JC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
 }
diff --git a/selfdrive/car/fw_query_definitions.py b/selfdrive/car/fw_query_definitions.py
index c7e4d4eb30..1caedcd321 100755
--- a/selfdrive/car/fw_query_definitions.py
+++ b/selfdrive/car/fw_query_definitions.py
@@ -1,11 +1,15 @@
 #!/usr/bin/env python3
 import capnp
+import copy
 from dataclasses import dataclass, field
 import struct
-from typing import Dict, List, Optional, Tuple
+from typing import Callable, Dict, List, Optional, Set, Tuple
 
 import panda.python.uds as uds
 
+AddrType = Tuple[int, Optional[int]]
+EcuAddrBusType = Tuple[int, Optional[int], int]
+
 
 def p16(val):
   return struct.pack("!H", val)
@@ -57,12 +61,29 @@ class Request:
   whitelist_ecus: List[int] = field(default_factory=list)
   rx_offset: int = 0x8
   bus: int = 1
+  # Whether this query should be run on the first auxiliary panda (CAN FD cars for example)
+  auxiliary: bool = False
+  # FW responses from these queries will not be used for fingerprinting
+  logging: bool = False
+  # boardd toggles OBD multiplexing on/off as needed
+  obd_multiplexing: bool = True
 
 
 @dataclass
 class FwQueryConfig:
   requests: List[Request]
+  # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # returns set of candidates. Only will match if one candidate is returned
+  match_fw_to_car_fuzzy: Optional[Callable[[Dict[AddrType, Set[bytes]]], Set[str]]] = None
+
+  def __post_init__(self):
+    for i in range(len(self.requests)):
+      if self.requests[i].auxiliary:
+        new_request = copy.deepcopy(self.requests[i])
+        new_request.bus += 4
+        self.requests.append(new_request)
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index f4d92ab960..45c4967cb8 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -1,24 +1,28 @@
 #!/usr/bin/env python3
 from collections import defaultdict
-from typing import Any, Optional, Set, Tuple
+from typing import Any, DefaultDict, Dict, List, Optional, Set
 from tqdm import tqdm
+import capnp
 
 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 system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.ecu_addrs import get_ecu_addrs
+from openpilot.selfdrive.car.fw_query_definitions import AddrType, EcuAddrBusType
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from openpilot.system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 ESSENTIAL_ECUS = [Ecu.engine, Ecu.eps, Ecu.abs, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.vsa]
+FUZZY_EXCLUDE_ECUS = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
 FW_QUERY_CONFIGS = get_interface_attr('FW_QUERY_CONFIG', ignore_none=True)
 VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
 MODEL_TO_BRAND = {c: b for b, e in VERSIONS.items() for c in e}
-REQUESTS = [(brand, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
+REQUESTS = [(brand, config, r) for brand, config in FW_QUERY_CONFIGS.items() for r in config.requests]
 
 
 def chunks(l, n=128):
@@ -26,85 +30,97 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def build_fw_dict(fw_versions, filter_brand=None):
-  fw_versions_dict = defaultdict(set)
+def is_brand(brand: str, filter_brand: Optional[str]) -> bool:
+  """Returns if brand matches filter_brand or no brand filter is specified"""
+  return filter_brand is None or brand == filter_brand
+
+
+def build_fw_dict(fw_versions: List[capnp.lib.capnp._DynamicStructBuilder],
+                  filter_brand: Optional[str] = None) -> Dict[AddrType, Set[bytes]]:
+  fw_versions_dict: DefaultDict[AddrType, Set[bytes]] = defaultdict(set)
   for fw in fw_versions:
-    if filter_brand is None or fw.brand == filter_brand:
-      addr = fw.address
+    if is_brand(fw.brand, filter_brand) and not fw.logging:
       sub_addr = fw.subAddress if fw.subAddress != 0 else None
-      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+      fw_versions_dict[(fw.address, sub_addr)].add(fw.fwVersion)
   return dict(fw_versions_dict)
 
 
-def get_brand_addrs():
-  brand_addrs = defaultdict(set)
+def get_brand_addrs() -> Dict[str, Set[AddrType]]:
+  brand_addrs: DefaultDict[str, Set[AddrType]] = defaultdict(set)
   for brand, cars in VERSIONS.items():
+    # Add ecus in database + extra ecus to match against
+    brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in FW_QUERY_CONFIGS[brand].extra_ecus}
     for fw in cars.values():
       brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
-  return brand_addrs
+  return dict(brand_addrs)
 
 
-def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
+def match_fw_to_car_fuzzy(live_fw_versions, match_brand=None, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
   the match is rejected."""
 
-  # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
-  # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
-  # impossible to get 3 matching versions, even if two models with shared parts are released at the same
-  # time and only one is in our database.
-  exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
-
   # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
+    if not is_brand(MODEL_TO_BRAND[candidate], match_brand):
+      continue
+
     if candidate == exclude:
       continue
 
     for addr, fws in fw_by_addr.items():
-      if addr[0] in exclude_types:
+      # These ECUs are known to be shared between models (EPS only between hybrid/ICE version)
+      # Getting this exactly right isn't crucial, but excluding camera and radar makes it almost
+      # impossible to get 3 matching versions, even if two models with shared parts are released at the same
+      # time and only one is in our database.
+      if addr[0] in FUZZY_EXCLUDE_ECUS:
         continue
       for f in fws:
         all_fw_versions[(addr[1], addr[2], f)].append(candidate)
 
-  match_count = 0
+  matched_ecus = set()
   candidate = None
-  for addr, versions in fw_versions_dict.items():
+  for addr, versions in live_fw_versions.items():
+    ecu_key = (addr[0], addr[1])
     for version in versions:
       # All cars that have this FW response on the specified address
-      candidates = all_fw_versions[(addr[0], addr[1], version)]
+      candidates = all_fw_versions[(*ecu_key, version)]
 
       if len(candidates) == 1:
-        match_count += 1
+        matched_ecus.add(ecu_key)
         if candidate is None:
           candidate = candidates[0]
         # We uniquely matched two different cars. No fuzzy match possible
         elif candidate != candidates[0]:
           return set()
 
-  if match_count >= 2:
+  # Note that it is possible to match to a candidate without all its ECUs being present
+  # if there are enough matches. FIXME: parameterize this or require all ECUs to exist like exact matching
+  if len(matched_ecus) >= 2:
     if log:
-      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {match_count} matching ECUs")
+      cloudlog.error(f"Fingerprinted {candidate} using fuzzy match. {len(matched_ecus)} matching ECUs")
     return {candidate}
   else:
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict):
+def match_fw_to_car_exact(live_fw_versions, match_brand=None, log=True) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
   needs to match the database."""
-  invalid = []
-  candidates = FW_VERSIONS
+  invalid = set()
+  candidates = {c: f for c, f in FW_VERSIONS.items() if
+                is_brand(MODEL_TO_BRAND[c], match_brand)}
 
   for candidate, fws in candidates.items():
+    config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
     for ecu, expected_versions in fws.items():
-      config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
       ecu_type = ecu[0]
       addr = ecu[1:]
 
-      found_versions = fw_versions_dict.get(addr, set())
+      found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
@@ -118,14 +134,14 @@ def match_fw_to_car_exact(fw_versions_dict):
       if ecu_type == Ecu.debug:
         continue
 
-      if not any([found_version in expected_versions for found_version in found_versions]):
-        invalid.append(candidate)
+      if not any(found_version in expected_versions for found_version in found_versions):
+        invalid.add(candidate)
         break
 
-  return set(candidates.keys()) - set(invalid)
+  return set(candidates.keys()) - invalid
 
 
-def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
+def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
   # Try exact matching first
   exact_matches = []
   if allow_exact:
@@ -138,7 +154,12 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
     matches = set()
     for brand in VERSIONS.keys():
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
-      matches |= match_func(fw_versions_dict)
+      matches |= match_func(fw_versions_dict, match_brand=brand, log=log)
+
+      # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
+      config = FW_QUERY_CONFIGS[brand]
+      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict)
 
     if len(matches):
       return exact_match, matches
@@ -146,34 +167,43 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True):
   return True, set()
 
 
-def get_present_ecus(logcan, sendcan):
-  queries = list()
-  parallel_queries = list()
+def get_present_ecus(logcan, sendcan, num_pandas=1) -> Set[EcuAddrBusType]:
+  params = Params()
+  # queries are split by OBD multiplexing mode
+  queries: Dict[bool, List[List[EcuAddrBusType]]] = {True: [], False: []}
+  parallel_queries: Dict[bool, List[EcuAddrBusType]] = {True: [], False: []}
   responses = set()
 
-  for brand, r in REQUESTS:
+  for brand, config, r in REQUESTS:
+    # Skip query if no panda available
+    if r.bus > num_pandas * 4 - 1:
+      continue
+
     for brand_versions in VERSIONS[brand].values():
-      for ecu_type, addr, sub_addr in brand_versions:
+      for ecu_type, addr, sub_addr in list(brand_versions) + config.extra_ecus:
         # 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)
+            if a not in parallel_queries[r.obd_multiplexing]:
+              parallel_queries[r.obd_multiplexing].append(a)
           else:  # subaddresses must be queried one by one
-            if [a] not in queries:
-              queries.append([a])
+            if [a] not in queries[r.obd_multiplexing]:
+              queries[r.obd_multiplexing].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)
+  for obd_multiplexing in queries:
+    queries[obd_multiplexing].insert(0, parallel_queries[obd_multiplexing])
 
-  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))
+  ecu_responses = set()
+  for obd_multiplexing in queries:
+    set_obd_multiplexing(params, obd_multiplexing)
+    for query in queries[obd_multiplexing]:
+      ecu_responses.update(get_ecu_addrs(logcan, sendcan, set(query), responses, timeout=0.1))
   return ecu_responses
 
 
@@ -181,9 +211,9 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
   brand_addrs = get_brand_addrs()
-  brand_matches = {brand: set() for brand, _ in REQUESTS}
+  brand_matches = {brand: set() for brand, _, _ in REQUESTS}
 
-  brand_rx_offsets = set((brand, r.rx_offset) for brand, r in REQUESTS)
+  brand_rx_offsets = {(brand, r.rx_offset) for brand, _, r in REQUESTS}
   for addr, sub_addr, _ in ecu_rx_addrs:
     # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
     for brand, rx_offset in brand_rx_offsets:
@@ -194,29 +224,42 @@ def get_brand_ecu_matches(ecu_rx_addrs):
   return brand_matches
 
 
-def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False):
+def set_obd_multiplexing(params: Params, obd_multiplexing: bool):
+  if params.get_bool("ObdMultiplexingEnabled") != obd_multiplexing:
+    cloudlog.warning(f"Setting OBD multiplexing to {obd_multiplexing}")
+    params.remove("ObdMultiplexingChanged")
+    params.put_bool("ObdMultiplexingEnabled", obd_multiplexing)
+    params.get_bool("ObdMultiplexingChanged", block=True)
+    cloudlog.warning("OBD multiplexing set successfully")
+
+
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
+  List[capnp.lib.capnp._DynamicStructBuilder]:
   """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
 
   all_car_fw = []
   brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
 
   for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    # Skip this brand if there are no matching present ECUs
+    if not len(brand_matches[brand]):
+      continue
+
     car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, num_pandas=num_pandas, debug=debug, progress=progress)
     all_car_fw.extend(car_fw)
-    # Try to match using FW returned from this brand only
-    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
+
+    # If there is a match using this brand's FW alone, finish querying early
+    _, matches = match_fw_to_car(car_fw, log=False)
     if len(matches) == 1:
       break
 
   return all_car_fw
 
 
-def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, num_pandas=1, debug=False, progress=False) -> \
+  List[capnp.lib.capnp._DynamicStructBuilder]:
   versions = VERSIONS.copy()
-
-  # Each brand can define extra ECUs to query for data collection
-  for brand, config in FW_QUERY_CONFIGS.items():
-    versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus}
+  params = Params()
 
   if query_brand is not None:
     versions = {query_brand: versions[query_brand]}
@@ -231,8 +274,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   ecu_types = {}
 
   for brand, brand_versions in versions.items():
-    for c in brand_versions.values():
-      for ecu_type, addr, sub_addr in c.keys():
+    config = FW_QUERY_CONFIGS[brand]
+    for ecu in brand_versions.values():
+      # Each brand can define extra ECUs to query for data collection
+      for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
           ecu_types[a] = ecu_type
@@ -248,20 +293,24 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
 
   # Get versions and build capnp list to put into CarParams
   car_fw = []
-  requests = [(brand, r) for brand, r in REQUESTS if query_brand is None or brand == query_brand]
+  requests = [(brand, config, r) for brand, config, r in REQUESTS if is_brand(brand, query_brand)]
   for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
-      for brand, r in requests:
+      for brand, config, r in requests:
         # Skip query if no panda available
         if r.bus > num_pandas * 4 - 1:
           continue
 
+        # Toggle OBD multiplexing for each request
+        if r.bus % 4 == 1:
+          set_obd_multiplexing(params, r.obd_multiplexing)
+
         try:
-          addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
-                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
+          query_addrs = [(a, s) for (b, a, s) in addr_chunk if b in (brand, 'any') and
+                         (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
-          if addrs:
-            query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
+          if query_addrs:
+            query = IsoTpParallelQuery(sendcan, logcan, r.bus, query_addrs, r.request, r.response, r.rx_offset, debug=debug)
             for (tx_addr, sub_addr), version in query.get_data(timeout).items():
               f = car.CarParams.CarFw.new_message()
 
@@ -272,6 +321,8 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
               f.request = r.request
               f.brand = brand
               f.bus = r.bus
+              f.logging = r.logging or (f.ecu, tx_addr, sub_addr) in config.extra_ecus
+              f.obdMultiplexing = r.obd_multiplexing
 
               if sub_addr is not None:
                 f.subAddress = sub_addr
@@ -287,7 +338,7 @@ if __name__ == "__main__":
   import time
   import argparse
   import cereal.messaging as messaging
-  from selfdrive.car.vin import get_vin
+  from openpilot.selfdrive.car.vin import get_vin
 
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index a6cd2f19b9..f51cb75372 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,11 +1,11 @@
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import interp
-from common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.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, CruiseButtons
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.gm import gmcan
+from openpilot.selfdrive.car.gm.values import DBC, CanBus, CarControllerParams, CruiseButtons
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 NetworkLocation = car.CarParams.NetworkLocation
@@ -13,6 +13,8 @@ LongCtrlState = car.CarControl.Actuators.LongControlState
 
 # Camera cancels up to 0.1s after brake is pressed, ECM allows 0.5s
 CAMERA_CANCEL_DELAY_FRAMES = 10
+# Enforce a minimum interval between steering messages to avoid a fault
+MIN_STEER_MSG_INTERVAL_MS = 15
 
 
 class CarController:
@@ -28,7 +30,6 @@ class CarController:
     self.cancel_counter = 0
 
     self.lka_steering_cmd_counter = 0
-    self.sent_lka_steering_cmd = False
     self.lka_icon_status_last = (False, False)
 
     self.params = CarControllerParams(self.CP)
@@ -37,7 +38,7 @@ class CarController:
     self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
     self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     hud_alert = hud_control.visualAlert
@@ -49,25 +50,30 @@ class CarController:
     can_sends = []
 
     # Steering (Active: 50Hz, inactive: 10Hz)
-    # Attempt to sync with camera on startup at 50Hz, first few msgs are blocked
-    init_lka_counter = not self.sent_lka_steering_cmd and self.CP.networkLocation == NetworkLocation.fwdCamera
-    steer_step = self.params.INACTIVE_STEER_STEP
-    if CC.latActive or init_lka_counter:
-      steer_step = self.params.ACTIVE_STEER_STEP
-
-    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we just received the
-    # next Panda loopback confirmation in the current CS frame.
-    if CS.loopback_lka_steering_cmd_updated:
-      self.lka_steering_cmd_counter += 1
-      self.sent_lka_steering_cmd = True
-    elif (self.frame - self.last_steer_frame) >= steer_step:
+    steer_step = self.params.STEER_STEP if CC.latActive else self.params.INACTIVE_STEER_STEP
+
+    if self.CP.networkLocation == NetworkLocation.fwdCamera:
+      # Also send at 50Hz:
+      # - on startup, first few msgs are blocked
+      # - until we're in sync with camera so counters align when relay closes, preventing a fault.
+      #   openpilot can subtly drift, so this is activated throughout a drive to stay synced
+      out_of_sync = self.lka_steering_cmd_counter % 4 != (CS.cam_lka_steering_cmd_counter + 1) % 4
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0 or out_of_sync:
+        steer_step = self.params.STEER_STEP
+
+    self.lka_steering_cmd_counter += 1 if CS.loopback_lka_steering_cmd_updated else 0
+
+    # Avoid GM EPS faults when transmitting messages too close together: skip this transmit if we
+    # received the ASCMLKASteeringCmd loopback confirmation too recently
+    last_lka_steer_msg_ms = (now_nanos - CS.loopback_lka_steering_cmd_ts_nanos) * 1e-6
+    if (self.frame - self.last_steer_frame) >= steer_step and last_lka_steer_msg_ms > MIN_STEER_MSG_INTERVAL_MS:
       # Initialize ASCMLKASteeringCmd counter using the camera until we get a msg on the bus
-      if init_lka_counter:
-        self.lka_steering_cmd_counter = CS.camera_lka_steering_cmd_counter + 1
+      if CS.loopback_lka_steering_cmd_ts_nanos == 0:
+        self.lka_steering_cmd_counter = CS.pt_lka_steering_cmd_counter + 1
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
       else:
         apply_steer = 0
 
@@ -79,6 +85,7 @@ class CarController:
     if self.CP.openpilotLongitudinalControl:
       # Gas/regen, brakes, and UI commands - all at 25Hz
       if self.frame % 4 == 0:
+        stopping = actuators.longControlState == LongCtrlState.stopping
         if not CC.longActive:
           # ASCM sends max regen when not enabled
           self.apply_gas = self.params.INACTIVE_REGEN
@@ -86,6 +93,10 @@ class CarController:
         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)))
+          # Don't allow any gas above inactive regen while stopping
+          # FIXME: brakes aren't applied immediately when enabling at a stop
+          if stopping:
+            self.apply_gas = self.params.INACTIVE_REGEN
 
         idx = (self.frame // 4) % 4
 
@@ -95,12 +106,13 @@ class CarController:
         # GM Camera exceptions
         # TODO: can we always check the longControlState?
         if self.CP.networkLocation == NetworkLocation.fwdCamera:
-          at_full_stop = at_full_stop and actuators.longControlState == LongCtrlState.stopping
+          at_full_stop = at_full_stop and stopping
           friction_brake_bus = CanBus.POWERTRAIN
 
         # 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, friction_brake_bus, self.apply_brake, idx, CC.enabled, near_stop, at_full_stop, self.CP))
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, friction_brake_bus, self.apply_brake,
+                                                             idx, CC.enabled, near_stop, at_full_stop, self.CP))
 
         # Send dashboard UI commands (ACC status)
         send_fcw = hud_alert == VisualAlert.fcw
@@ -109,7 +121,7 @@ class CarController:
 
       # Radar needs to know current speed and yaw rate (50hz),
       # and that ADAS is alive (10hz)
-      if not self.CP.radarOffCan:
+      if not self.CP.radarUnavailable:
         tt = self.frame * DT_CTRL
         time_and_headlights_step = 10
         if self.frame % time_and_headlights_step == 0:
@@ -151,13 +163,15 @@ class CarController:
     lka_icon_status = (lka_active, lka_critical)
 
     # SW_GMLAN not yet on cam harness, no HUD alerts
-    if self.CP.networkLocation != NetworkLocation.fwdCamera and (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
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
     new_actuators.gas = self.apply_gas
     new_actuators.brake = self.apply_brake
 
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index de0fd2eed6..8585e9f205 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -1,11 +1,11 @@
 import copy
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import mean
+from openpilot.common.conversions import Conversions as CV
+from openpilot.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, AccState, CanBus, STEER_THRESHOLD
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.gm.values import DBC, AccState, CanBus, STEER_THRESHOLD
 
 TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
@@ -17,8 +17,13 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["ECMPRDNL2"]["PRNDL2"]
+    self.cluster_speed_hyst_gap = CV.KPH_TO_MS / 2.
+    self.cluster_min_speed = CV.KPH_TO_MS / 2.
+
     self.loopback_lka_steering_cmd_updated = False
-    self.camera_lka_steering_cmd_counter = 0
+    self.loopback_lka_steering_cmd_ts_nanos = 0
+    self.pt_lka_steering_cmd_counter = 0
+    self.cam_lka_steering_cmd_counter = 0
     self.buttons_counter = 0
 
   def update(self, pt_cp, cam_cp, loopback_cp):
@@ -32,8 +37,11 @@ class CarState(CarStateBase):
 
     # Variables used for avoiding LKAS faults
     self.loopback_lka_steering_cmd_updated = len(loopback_cp.vl_all["ASCMLKASteeringCmd"]["RollingCounter"]) > 0
+    if self.loopback_lka_steering_cmd_updated:
+      self.loopback_lka_steering_cmd_ts_nanos = loopback_cp.ts_nanos["ASCMLKASteeringCmd"]["RollingCounter"]
     if self.CP.networkLocation == NetworkLocation.fwdCamera:
-      self.camera_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.pt_lka_steering_cmd_counter = pt_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
+      self.cam_lka_steering_cmd_counter = cam_cp.vl["ASCMLKASteeringCmd"]["RollingCounter"]
 
     ret.wheelSpeeds = self.get_wheel_speeds(
       pt_cp.vl["EBCMWheelSpdFront"]["FLWheelSpd"],
@@ -93,7 +101,8 @@ class CarState(CarStateBase):
     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
+    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
+                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
 
     ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
     ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -108,63 +117,19 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        ("AEBCmdActive", "AEBCmd"),
-        ("RollingCounter", "ASCMLKASteeringCmd"),
-        ("ACCSpeedSetpoint", "ASCMActiveCruiseControlStatus"),
-        ("ACCCruiseState", "ASCMActiveCruiseControlStatus"),
-      ]
-      checks += [
+      messages += [
         ("AEBCmd", 10),
         ("ASCMLKASteeringCmd", 10),
         ("ASCMActiveCruiseControlStatus", 25),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.CAMERA)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.CAMERA)
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("BrakePedalPos", "ECMAcceleratorPos"),
-      ("FrontLeftDoor", "BCMDoorBeltStatus"),
-      ("FrontRightDoor", "BCMDoorBeltStatus"),
-      ("RearLeftDoor", "BCMDoorBeltStatus"),
-      ("RearRightDoor", "BCMDoorBeltStatus"),
-      ("LeftSeatBelt", "BCMDoorBeltStatus"),
-      ("RightSeatBelt", "BCMDoorBeltStatus"),
-      ("TurnSignals", "BCMTurnSignals"),
-      ("AcceleratorPedal2", "AcceleratorPedal2"),
-      ("CruiseState", "AcceleratorPedal2"),
-      ("ACCButtons", "ASCMSteeringButton"),
-      ("RollingCounter", "ASCMSteeringButton"),
-      ("SteeringWheelAngle", "PSCMSteeringAngle"),
-      ("SteeringWheelRate", "PSCMSteeringAngle"),
-      ("FLWheelSpd", "EBCMWheelSpdFront"),
-      ("FRWheelSpd", "EBCMWheelSpdFront"),
-      ("RLWheelSpd", "EBCMWheelSpdRear"),
-      ("RRWheelSpd", "EBCMWheelSpdRear"),
-      ("MovingBackward", "EBCMWheelSpdRear"),
-      ("PRNDL2", "ECMPRDNL2"),
-      ("ManualMode", "ECMPRDNL2"),
-      ("LKADriverAppldTrq", "PSCMStatus"),
-      ("LKATorqueDelivered", "PSCMStatus"),
-      ("LKATorqueDeliveredStatus", "PSCMStatus"),
-      ("HandsOffSWlDetectionStatus", "PSCMStatus"),
-      ("HandsOffSWDetectionMode", "PSCMStatus"),
-      ("LKATotalTorqueDelivered", "PSCMStatus"),
-      ("PSCMStatusChecksum", "PSCMStatus"),
-      ("RollingCounter", "PSCMStatus"),
-      ("TractionControlOn", "ESPStatus"),
-      ("ParkBrake", "VehicleIgnitionAlt"),
-      ("CruiseMainOn", "ECMEngineStatus"),
-      ("BrakePressed", "ECMEngineStatus"),
-    ]
-
-    checks = [
+    messages = [
       ("BCMTurnSignals", 1),
       ("ECMPRDNL2", 10),
       ("PSCMStatus", 10),
@@ -173,6 +138,7 @@ class CarState(CarStateBase):
       ("VehicleIgnitionAlt", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
+      ("EBCMFrictionBrakeStatus", 20),
       ("AcceleratorPedal2", 33),
       ("ASCMSteeringButton", 33),
       ("ECMEngineStatus", 100),
@@ -180,20 +146,21 @@ class CarState(CarStateBase):
       ("ECMAcceleratorPos", 80),
     ]
 
+    # Used to read back last counter sent to PT by camera
+    if CP.networkLocation == NetworkLocation.fwdCamera:
+      messages += [
+        ("ASCMLKASteeringCmd", 0),
+      ]
+
     if CP.transmissionType == TransmissionType.direct:
-      signals.append(("RegenPaddle", "EBCMRegenPaddle"))
-      checks.append(("EBCMRegenPaddle", 50))
+      messages.append(("EBCMRegenPaddle", 50))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.POWERTRAIN)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.POWERTRAIN)
 
   @staticmethod
   def get_loopback_can_parser(CP):
-    signals = [
-      ("RollingCounter", "ASCMLKASteeringCmd"),
-    ]
-
-    checks = [
+    messages = [
       ("ASCMLKASteeringCmd", 0),
     ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK, enforce_checks=False)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/gmcan.py b/selfdrive/car/gm/gmcan.py
index 56c981326f..bd1e29ce3b 100644
--- a/selfdrive/car/gm/gmcan.py
+++ b/selfdrive/car/gm/gmcan.py
@@ -1,20 +1,39 @@
-from selfdrive.car import make_can_msg
-from selfdrive.car.gm.values import CAR
+from openpilot.selfdrive.car import make_can_msg
+from openpilot.selfdrive.car.gm.values import CAR
 
 
 def create_buttons(packer, bus, idx, button):
   values = {
     "ACCButtons": button,
     "RollingCounter": idx,
+    "ACCAlwaysOne": 1,
+    "DistanceButton": 0,
   }
+
+  checksum = 240 + int(values["ACCAlwaysOne"] * 0xf)
+  checksum += values["RollingCounter"] * (0x4ef if values["ACCAlwaysOne"] != 0 else 0x3f0)
+  checksum -= int(values["ACCButtons"] - 1) << 4  # not correct if value is 0
+  checksum -= 2 * values["DistanceButton"]
+
+  values["SteeringButtonChecksum"] = checksum
   return packer.make_can_msg("ASCMSteeringButton", bus, values)
 
 
 def create_pscm_status(packer, bus, pscm_status):
-  checksum_mod = int(1 - pscm_status["HandsOffSWlDetectionStatus"]) << 5
-  pscm_status["HandsOffSWlDetectionStatus"] = 1
-  pscm_status["PSCMStatusChecksum"] += checksum_mod
-  return packer.make_can_msg("PSCMStatus", bus, pscm_status)
+  values = {s: pscm_status[s] for s in [
+    "HandsOffSWDetectionMode",
+    "HandsOffSWlDetectionStatus",
+    "LKATorqueDeliveredStatus",
+    "LKADriverAppldTrq",
+    "LKATorqueDelivered",
+    "LKATotalTorqueDelivered",
+    "RollingCounter",
+    "PSCMStatusChecksum",
+  ]}
+  checksum_mod = int(1 - values["HandsOffSWlDetectionStatus"]) << 5
+  values["HandsOffSWlDetectionStatus"] = 1
+  values["PSCMStatusChecksum"] += checksum_mod
+  return packer.make_can_msg("PSCMStatus", bus, values)
 
 
 def create_steering_control(packer, bus, apply_steer, idx, lkas_active):
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index 633f6927c9..9b5cae0961 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -1,12 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
-from math import fabs
+from math import fabs, exp
 from panda import Panda
 
-from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, create_button_events, scale_tire_stiffness, get_safety_config
-from selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.gm.radar_interface import RADAR_HEADER_MSG
+from openpilot.selfdrive.car.gm.values import CAR, CruiseButtons, CarControllerParams, EV_CAR, CAMERA_ACC_CAR, CanBus
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase, TorqueFromLateralAccelCallbackType, FRICTION_THRESHOLD
+from openpilot.selfdrive.controls.lib.drive_helpers import get_friction
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -17,6 +19,13 @@ BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.D
                 CruiseButtons.MAIN: ButtonType.altButton3, CruiseButtons.CANCEL: ButtonType.cancel}
 
 
+NON_LINEAR_TORQUE_PARAMS = {
+  CAR.BOLT_EUV: [2.6531724862969748, 1.0, 0.1919764879840985, 0.009054123646805178],
+  CAR.ACADIA: [4.78003305, 1.0, 0.3122, 0.05591772],
+  CAR.SILVERADO: [3.29974374, 1.0, 0.25571356, 0.0465122]
+}
+
+
 class CarInterface(CarInterfaceBase):
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
@@ -29,22 +38,37 @@ class CarInterface(CarInterfaceBase):
     sigmoid = desired_angle / (1 + fabs(desired_angle))
     return 0.10006696 * sigmoid * (v_ego + 3.12485927)
 
-  @staticmethod
-  def get_steer_feedforward_acadia(desired_angle, v_ego):
-    desired_angle *= 0.09760208
-    sigmoid = desired_angle / (1 + fabs(desired_angle))
-    return 0.04689655 * sigmoid * (v_ego + 10.028217)
-
   def get_steer_feedforward_function(self):
     if self.CP.carFingerprint == CAR.VOLT:
       return self.get_steer_feedforward_volt
-    elif self.CP.carFingerprint == CAR.ACADIA:
-      return self.get_steer_feedforward_acadia
     else:
       return CarInterfaceBase.get_steer_feedforward_default
 
+  def torque_from_lateral_accel_siglin(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+
+    def sig(val):
+      return 1 / (1 + exp(-val)) - 0.5
+
+    # The "lat_accel vs torque" relationship is assumed to be the sum of "sigmoid + linear" curves
+    # An important thing to consider is that the slope at 0 should be > 0 (ideally >1)
+    # This has big effect on the stability about 0 (noise when going straight)
+    # ToDo: To generalize to other GMs, explore tanh function as the nonlinear
+    non_linear_torque_params = NON_LINEAR_TORQUE_PARAMS.get(self.CP.carFingerprint)
+    assert non_linear_torque_params, "The params are not defined"
+    a, b, c, _ = non_linear_torque_params
+    steer_torque = (sig(lateral_accel_value * a) * b) + (lateral_accel_value * c)
+    return float(steer_torque) + friction
+
+  def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
+    if self.CP.carFingerprint in NON_LINEAR_TORQUE_PARAMS:
+      return self.torque_from_lateral_accel_siglin
+    else:
+      return self.torque_from_lateral_accel_linear
+
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
     ret.autoResumeSng = False
@@ -63,32 +87,32 @@ class CarInterface(CarInterfaceBase):
     if candidate in CAMERA_ACC_CAR:
       ret.experimentalLongitudinalAvailable = True
       ret.networkLocation = NetworkLocation.fwdCamera
-      ret.radarOffCan = True  # no radar
+      ret.radarUnavailable = True  # no radar
       ret.pcmCruise = True
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM
       ret.minEnableSpeed = 5 * CV.KPH_TO_MS
+      ret.minSteerSpeed = 10 * CV.KPH_TO_MS
+
+      # Tuning for experimental long
+      ret.longitudinalTuning.kpV = [2.0, 1.5]
+      ret.longitudinalTuning.kiV = [0.72]
+      ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
+      ret.vEgoStopping = 0.25
+      ret.vEgoStarting = 0.25
 
       if experimental_long:
         ret.pcmCruise = False
         ret.openpilotLongitudinalControl = True
         ret.safetyConfigs[0].safetyParam |= Panda.FLAG_GM_HW_CAM_LONG
 
-        # Tuning
-        ret.longitudinalTuning.kpV = [2.0, 1.5]
-        ret.longitudinalTuning.kiV = [0.72]
-        ret.stopAccel = -2.0
-        ret.stoppingDecelRate = 2.0  # reach brake quickly after enabling
-        ret.vEgoStopping = 0.25
-        ret.vEgoStarting = 0.25
-        ret.longitudinalActuatorDelayUpperBound = 0.5
-
     else:  # ASCM, OBD-II harness
       ret.openpilotLongitudinalControl = True
       ret.networkLocation = NetworkLocation.gateway
-      ret.radarOffCan = False
+      ret.radarUnavailable = RADAR_HEADER_MSG not in fingerprint[CanBus.OBSTACLE] and not docs
       ret.pcmCruise = False  # stock non-adaptive cruise control is kept off
       # supports stop and go, but initial engage must (conservatively) be above 18mph
       ret.minEnableSpeed = 18 * CV.MPH_TO_MS
+      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
 
       # Tuning
       ret.longitudinalTuning.kpV = [2.4, 1.5]
@@ -97,25 +121,25 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX}
+    ret.dashcamOnly = candidate in {CAR.CADILLAC_ATS, CAR.HOLDEN_ASTRA, CAR.MALIBU, CAR.BUICK_REGAL, CAR.EQUINOX} or \
+                      (ret.networkLocation == NetworkLocation.gateway and ret.radarUnavailable)
 
     # Start with a baseline tuning for all GM vehicles. Override tuning as needed in each model section below.
-    # Some GMs need some tolerance above 10 kph to avoid a fault
-    ret.minSteerSpeed = 10.1 * CV.KPH_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.steerActuatorDelay = 0.1  # Default delay, not measured yet
-    tire_stiffness_factor = 0.444  # not optimized yet
+    ret.tireStiffnessFactor = 0.444  # not optimized yet
 
     ret.steerLimitTimer = 0.4
     ret.radarTimeStep = 0.0667  # GM radar runs at 15Hz instead of standard 20Hz
+    ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
 
     if candidate == CAR.VOLT:
-      ret.mass = 1607. + STD_CARGO_KG
+      ret.mass = 1607.
       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.tireStiffnessFactor = 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.]
@@ -126,13 +150,13 @@ class CarInterface(CarInterfaceBase):
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
-      ret.mass = 1496. + STD_CARGO_KG
+      ret.mass = 1496.
       ret.wheelbase = 2.83
       ret.steerRatio = 15.8
       ret.centerToFront = ret.wheelbase * 0.4  # wild guess
 
     elif candidate == CAR.HOLDEN_ASTRA:
-      ret.mass = 1363. + STD_CARGO_KG
+      ret.mass = 1363.
       ret.wheelbase = 2.662
       # Remaining parameters copied from Volt for now
       ret.centerToFront = ret.wheelbase * 0.4
@@ -140,64 +164,88 @@ class CarInterface(CarInterfaceBase):
 
     elif candidate == CAR.ACADIA:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 4353. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 4353. * CV.LB_TO_KG
       ret.wheelbase = 2.86
       ret.steerRatio = 14.4  # end to end is 13.46
       ret.centerToFront = ret.wheelbase * 0.4
-      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_acadia()
-      ret.longitudinalActuatorDelayUpperBound = 0.5  # large delay to initially start braking
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate == CAR.BUICK_LACROSSE:
+      ret.mass = 1712.
+      ret.wheelbase = 2.91
+      ret.steerRatio = 15.8
+      ret.centerToFront = ret.wheelbase * 0.4  # wild guess
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.BUICK_REGAL:
-      ret.mass = 3779. * CV.LB_TO_KG + STD_CARGO_KG  # (3849+3708)/2
+      ret.mass = 3779. * CV.LB_TO_KG  # (3849+3708)/2
       ret.wheelbase = 2.83  # 111.4 inches in meters
       ret.steerRatio = 14.4  # guess for tourx
       ret.centerToFront = ret.wheelbase * 0.4  # guess for tourx
 
     elif candidate == CAR.CADILLAC_ATS:
-      ret.mass = 1601. + STD_CARGO_KG
+      ret.mass = 1601.
       ret.wheelbase = 2.78
       ret.steerRatio = 15.3
       ret.centerToFront = ret.wheelbase * 0.5
 
+    elif candidate == CAR.ESCALADE:
+      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
+      ret.mass = 5653. * CV.LB_TO_KG  # (5552+5815)/2
+      ret.wheelbase = 2.95  # 116 inches in meters
+      ret.steerRatio = 17.3
+      ret.centerToFront = ret.wheelbase * 0.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     elif candidate == CAR.ESCALADE_ESV:
       ret.minEnableSpeed = -1.  # engage speed is decided by pcm
-      ret.mass = 2739. + STD_CARGO_KG
+      ret.mass = 2739.
       ret.wheelbase = 3.302
       ret.steerRatio = 17.3
       ret.centerToFront = ret.wheelbase * 0.5
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[10., 41.0], [10., 41.0]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.13, 0.24], [0.01, 0.02]]
       ret.lateralTuning.pid.kf = 0.000045
-      tire_stiffness_factor = 1.0
+      ret.tireStiffnessFactor = 1.0
 
     elif candidate == CAR.BOLT_EUV:
-      ret.mass = 1669. + STD_CARGO_KG
+      ret.mass = 1669.
       ret.wheelbase = 2.63779
       ret.steerRatio = 16.8
-      ret.centerToFront = 2.15  # measured
-      tire_stiffness_factor = 1.0
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.tireStiffnessFactor = 1.0
       ret.steerActuatorDelay = 0.2
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.SILVERADO:
-      ret.mass = 2200. + STD_CARGO_KG
+      ret.mass = 2450.
       ret.wheelbase = 3.75
       ret.steerRatio = 16.3
       ret.centerToFront = ret.wheelbase * 0.5
-      tire_stiffness_factor = 1.0
+      ret.tireStiffnessFactor = 1.0
+      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
+      # with foot on brake to allow engagement, but this platform only has that check in the camera.
+      # TODO: check if this is split by EV/ICE with more platforms in the future
+      if ret.openpilotLongitudinalControl:
+        ret.minEnableSpeed = -1.
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.EQUINOX:
-      ret.mass = 3500. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3500. * CV.LB_TO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 14.4
       ret.centerToFront = ret.wheelbase * 0.4
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
+    elif candidate == CAR.TRAILBLAZER:
+      ret.mass = 1345.
+      ret.wheelbase = 2.64
+      ret.steerRatio = 16.8
+      ret.centerToFront = ret.wheelbase * 0.4
+      ret.tireStiffnessFactor = 1.0
+      ret.steerActuatorDelay = 0.2
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret
 
@@ -233,5 +281,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/gm/radar_interface.py b/selfdrive/car/gm/radar_interface.py
index 6904e6f899..b893babd31 100755
--- a/selfdrive/car/gm/radar_interface.py
+++ b/selfdrive/car/gm/radar_interface.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import math
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.gm.values import DBC, CAR, CanBus
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.gm.values import DBC, CanBus
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_HEADER_MSG = 1120
 SLOT_1_MSG = RADAR_HEADER_MSG + 1
@@ -16,9 +16,6 @@ LAST_RADAR_MSG = RADAR_HEADER_MSG + NUM_SLOTS
 
 
 def create_radar_can_parser(car_fingerprint):
-  if car_fingerprint not in (CAR.VOLT, CAR.MALIBU, CAR.HOLDEN_ASTRA, CAR.ACADIA, CAR.CADILLAC_ATS, CAR.ESCALADE_ESV):
-    return None
-
   # C1A-ARS3-A by Continental
   radar_targets = list(range(SLOT_1_MSG, SLOT_1_MSG + NUM_SLOTS))
   signals = list(zip(['FLRRNumValidTargets',
@@ -28,17 +25,18 @@ def create_radar_can_parser(car_fingerprint):
                      ['TrkRange'] * NUM_SLOTS + ['TrkRangeRate'] * NUM_SLOTS +
                      ['TrkRangeAccel'] * NUM_SLOTS + ['TrkAzimuth'] * NUM_SLOTS +
                      ['TrkWidth'] * NUM_SLOTS + ['TrkObjectID'] * NUM_SLOTS,
-                     [RADAR_HEADER_MSG] * 7 + radar_targets * 6))
+                     [RADAR_HEADER_MSG] * 7 + radar_targets * 6, strict=True))
+
+  messages = list({(s[1], 14) for s in signals})
 
-  checks = list({(s[1], 14) for s in signals})
+  return CANParser(DBC[car_fingerprint]['radar'], messages, CanBus.OBSTACLE)
 
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, CanBus.OBSTACLE)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
 
-    self.rcp = create_radar_can_parser(CP.carFingerprint)
+    self.rcp = None if CP.radarUnavailable else create_radar_can_parser(CP.carFingerprint)
 
     self.trigger_msg = LAST_RADAR_MSG
     self.updated_messages = set()
diff --git a/selfdrive/loggerd/__init__.py b/selfdrive/car/gm/tests/__init__.py
similarity index 100%
rename from selfdrive/loggerd/__init__.py
rename to selfdrive/car/gm/tests/__init__.py
diff --git a/selfdrive/car/gm/tests/test_gm.py b/selfdrive/car/gm/tests/test_gm.py
new file mode 100755
index 0000000000..fce5fea720
--- /dev/null
+++ b/selfdrive/car/gm/tests/test_gm.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from openpilot.selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
+
+CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
+
+
+class TestGMFingerprint(unittest.TestCase):
+  @parameterized.expand(FINGERPRINTS.items())
+  def test_can_fingerprints(self, car_model, fingerprints):
+    self.assertGreater(len(fingerprints), 0)
+
+    # Trailblazer is in dashcam
+    if car_model != CAR.TRAILBLAZER:
+      self.assertTrue(all(len(finger) for finger in fingerprints))
+
+    # The camera can sometimes be communicating on startup
+    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+      for finger in fingerprints:
+        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
+          self.assertEqual(finger.get(required_addr), 8, required_addr)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index 84fa36a994..d12c21dc23 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,21 +1,22 @@
+# ruff: noqa: E501
 from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
   STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
-  ACTIVE_STEER_STEP = 2  # Active control frames per command (50hz)
+  STEER_STEP = 3  # Active control frames per command (~33hz)
   INACTIVE_STEER_STEP = 10  # Inactive control frames per command (10hz)
-  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
-  STEER_DELTA_DOWN = 17
-  STEER_DRIVER_ALLOWANCE = 50
+  STEER_DELTA_UP = 10  # Delta rates require review due to observed EPS weakness
+  STEER_DELTA_DOWN = 15
+  STEER_DRIVER_ALLOWANCE = 65
   STEER_DRIVER_MULTIPLIER = 4
   STEER_DRIVER_FACTOR = 100
   NEAR_STOP_BRAKE_PHASE = 0.5  # m/s
@@ -66,16 +67,19 @@ class CAR:
   CADILLAC_ATS = "CADILLAC ATS Premium Performance 2018"
   MALIBU = "CHEVROLET MALIBU PREMIER 2017"
   ACADIA = "GMC ACADIA DENALI 2018"
+  BUICK_LACROSSE = "BUICK LACROSSE 2017"
   BUICK_REGAL = "BUICK REGAL ESSENCE 2018"
+  ESCALADE = "CADILLAC ESCALADE 2017"
   ESCALADE_ESV = "CADILLAC ESCALADE ESV 2016"
   BOLT_EUV = "CHEVROLET BOLT EUV 2022"
   SILVERADO = "CHEVROLET SILVERADO 1500 2020"
   EQUINOX = "CHEVROLET EQUINOX 2019"
+  TRAILBLAZER = "CHEVROLET TRAILBLAZER 2021"
 
 
 class Footnote(Enum):
   OBD_II = CarFootnote(
-    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. ' +
+    'Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. ' +
     '<b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b>',
     Column.MODEL)
 
@@ -86,9 +90,9 @@ class GMCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.networkLocation == car.CarParams.NetworkLocation.fwdCamera:
-      self.harness = Harness.gm
+      self.car_parts = CarParts.common([CarHarness.gm])
     else:
-      self.harness = Harness.obd_ii
+      self.car_parts = CarParts.common([CarHarness.obd_ii])
       self.footnotes.append(Footnote.OBD_II)
 
 
@@ -98,17 +102,20 @@ CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
   CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
   CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017"),
   CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  CAR.BUICK_LACROSSE: GMCarInfo("Buick LaCrosse 2017-19", "Driver Confidence Package 2"),
   CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE: GMCarInfo("Cadillac Escalade 2017", "Driver Assist Package"),
   CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),
   CAR.BOLT_EUV: [
-    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", "https://youtu.be/xvwzGMUA210"),
+    GMCarInfo("Chevrolet Bolt EUV 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video_link="https://youtu.be/xvwzGMUA210"),
     GMCarInfo("Chevrolet Bolt EV 2022-23", "2LT Trim with Adaptive Cruise Control Package"),
   ],
   CAR.SILVERADO: [
     GMCarInfo("Chevrolet Silverado 1500 2020-21", "Safety Package II"),
-    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", "https://youtu.be/5HbNoBLzRwE"),
+    GMCarInfo("GMC Sierra 1500 2020-21", "Driver Alert Package II", video_link="https://youtu.be/5HbNoBLzRwE"),
   ],
   CAR.EQUINOX: GMCarInfo("Chevrolet Equinox 2019-22"),
+  CAR.TRAILBLAZER: GMCarInfo("Chevrolet Trailblazer 2021-22"),
 }
 
 
@@ -149,6 +156,15 @@ FINGERPRINTS = {
   # Volt Premier w/ ACC 2018
   {
     170: 8, 171: 8, 189: 7, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 528: 4, 532: 6, 546: 7, 550: 8, 554: 3, 558: 8, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 577: 8, 578: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 715: 8, 717: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1516: 8, 1601: 8, 1618: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1930: 7, 2016: 8, 2018: 8, 2020: 8, 2024: 8, 2028: 8
+  },
+  # Volt Premier 2018 w/ flashed firmware, no radar
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 368: 8, 381: 2, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 5, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 4, 563: 5, 564: 5, 565: 5, 566: 5, 567: 3, 568: 1, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 711: 6, 761: 7, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 5, 844: 8, 853: 8, 866: 4, 961: 8, 967: 4, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1905: 7, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7
+  }],
+  CAR.BUICK_LACROSSE: [
+  # LaCrosse Premium AWD 2017
+  {
+    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
   }],
   CAR.BUICK_REGAL : [
   # Regal TourX Essence w/ ACC 2018
@@ -174,29 +190,41 @@ FINGERPRINTS = {
   {
     190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 313: 8, 320: 3, 322: 7, 328: 1, 338: 6, 340: 6, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 567: 5, 573: 1, 577: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1919: 7, 1920: 7, 1930: 7, 2016: 8, 2024: 8
   }],
+  CAR.ESCALADE: [
+  {
+    170: 8, 190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 4, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 454: 8, 455: 7, 460: 5, 462: 4, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 497: 8, 499: 3, 500: 6, 501: 8, 508: 8, 510: 8, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 6, 707: 8, 715: 8, 717: 5, 719: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1906: 7, 1907: 7, 1912: 7, 1914: 7, 1917: 7, 1918: 7, 1919: 7, 1920: 7, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
+  }],
   CAR.ESCALADE_ESV: [
   {
     309: 1, 848: 8, 849: 8, 850: 8, 851: 8, 852: 8, 853: 8, 854: 3, 1056: 6, 1057: 8, 1058: 8, 1059: 8, 1060: 8, 1061: 8, 1062: 8, 1063: 8, 1064: 8, 1065: 8, 1066: 8, 1067: 8, 1068: 8, 1120: 8, 1121: 8, 1122: 8, 1123: 8, 1124: 8, 1125: 8, 1126: 8, 1127: 8, 1128: 8, 1129: 8, 1130: 8, 1131: 8, 1132: 8, 1133: 8, 1134: 8, 1135: 8, 1136: 8, 1137: 8, 1138: 8, 1139: 8, 1140: 8, 1141: 8, 1142: 8, 1143: 8, 1146: 8, 1147: 8, 1148: 8, 1149: 8, 1150: 8, 1151: 8, 1216: 8, 1217: 8, 1218: 8, 1219: 8, 1220: 8, 1221: 8, 1222: 8, 1223: 8, 1224: 8, 1225: 8, 1226: 8, 1232: 8, 1233: 8, 1234: 8, 1235: 8, 1236: 8, 1237: 8, 1238: 8, 1239: 8, 1240: 8, 1241: 8, 1242: 8, 1787: 8, 1788: 8
   }],
   CAR.BOLT_EUV: [
   {
-    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.SILVERADO: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.EQUINOX: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
+  # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
+  # TODO: split with FW versions
+  # CAR.TRAILBLAZER: [
+  # {
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  # }],
 }
 
+GM_RX_OFFSET = 0x400
+
 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'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}
 
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
-CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX}
+CAMERA_ACC_CAR = {CAR.BOLT_EUV, CAR.SILVERADO, CAR.EQUINOX, CAR.TRAILBLAZER}
 
 STEER_THRESHOLD = 1.0
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 66a1485dc6..056b47c4b3 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -1,14 +1,13 @@
 from collections import namedtuple
 
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.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_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
-from selfdrive.controls.lib.drive_helpers import rate_limit
+from openpilot.selfdrive.car import create_gas_interceptor_command
+from openpilot.selfdrive.car.honda import hondacan
+from openpilot.selfdrive.car.honda.values import CruiseButtons, VISUAL_HUD, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, HONDA_NIDEC_ALT_PCM_ACCEL, CarControllerParams
+from openpilot.selfdrive.controls.lib.drive_helpers import rate_limit
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -117,6 +116,7 @@ class CarController:
     self.brake_last = 0.
     self.apply_brake_last = 0
     self.last_pump_ts = 0.
+    self.stopping_counter = 0
 
     self.accel = 0.0
     self.speed = 0.0
@@ -124,10 +124,11 @@ class CarController:
     self.brake = 0.0
     self.last_steer = 0.0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
-    hud_v_cruise = hud_control.setSpeed * CV.MS_TO_KPH if hud_control.speedVisible else 255
+    conversion = hondacan.get_cruise_speed_conversion(self.CP.carFingerprint, CS.is_metric)
+    hud_v_cruise = hud_control.setSpeed / conversion if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
     if CC.longActive:
@@ -161,7 +162,7 @@ class CarController:
     can_sends = []
 
     # tester present - w/ no response (keeps radar disabled)
-    if self.CP.carFingerprint in HONDA_BOSCH and self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
       if self.frame % 10 == 0:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
@@ -217,8 +218,9 @@ class CarController:
           self.gas = interp(accel, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V)
 
           stopping = actuators.longControlState == LongCtrlState.stopping
+          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        stopping, self.CP.carFingerprint))
+                                                        self.stopping_counter, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -262,6 +264,7 @@ class CarController:
     new_actuators.gas = self.gas
     new_actuators.brake = self.brake
     new_actuators.steer = self.last_steer
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/honda/carstate.py b/selfdrive/car/honda/carstate.py
index a37667fd3a..03aedb31d2 100644
--- a/selfdrive/car/honda/carstate.py
+++ b/selfdrive/car/honda/carstate.py
@@ -1,50 +1,21 @@
 from collections import defaultdict
 
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import interp
+from openpilot.common.conversions import Conversions as CV
+from openpilot.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 openpilot.selfdrive.car.honda.hondacan import get_cruise_speed_conversion, get_pt_bus
+from openpilot.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 openpilot.selfdrive.car.interfaces import CarStateBase
 
 TransmissionType = car.CarParams.TransmissionType
 
 
-def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
-  signals = [
-    ("XMISSION_SPEED", "ENGINE_DATA"),
-    ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-    ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-    ("STEER_ANGLE", "STEERING_SENSORS"),
-    ("STEER_ANGLE_RATE", "STEERING_SENSORS"),
-    ("MOTOR_TORQUE", "STEER_MOTOR_TORQUE"),
-    ("STEER_TORQUE_SENSOR", "STEER_STATUS"),
-    ("IMPERIAL_UNIT", "CAR_SPEED"),
-    ("ROUGH_CAR_SPEED_2", "CAR_SPEED"),
-    ("LEFT_BLINKER", "SCM_FEEDBACK"),
-    ("RIGHT_BLINKER", "SCM_FEEDBACK"),
-    ("SEATBELT_DRIVER_LAMP", "SEATBELT_STATUS"),
-    ("SEATBELT_DRIVER_LATCHED", "SEATBELT_STATUS"),
-    ("BRAKE_PRESSED", "POWERTRAIN_DATA"),
-    ("BRAKE_SWITCH", "POWERTRAIN_DATA"),
-    ("CRUISE_BUTTONS", "SCM_BUTTONS"),
-    ("ESP_DISABLED", "VSA_STATUS"),
-    ("USER_BRAKE", "VSA_STATUS"),
-    ("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"),
-    ("MAIN_ON", main_on_sig_msg),
-  ]
-
-  checks = [
+def get_can_messages(CP, gearbox_msg):
+  messages = [
     ("ENGINE_DATA", 100),
     ("WHEEL_SPEEDS", 50),
     ("STEERING_SENSORS", 100),
@@ -58,76 +29,59 @@ def get_can_signals(CP, gearbox_msg, main_on_sig_msg):
   ]
 
   if CP.carFingerprint == CAR.ODYSSEY_CHN:
-    checks += [
+    messages += [
       ("SCM_FEEDBACK", 25),
       ("SCM_BUTTONS", 50),
     ]
   else:
-    checks += [
+    messages += [
       ("SCM_FEEDBACK", 10),
       ("SCM_BUTTONS", 25),
     ]
 
   if CP.carFingerprint in (CAR.CRV_HYBRID, CAR.CIVIC_BOSCH_DIESEL, CAR.ACURA_RDX_3G, CAR.HONDA_E):
-    checks.append((gearbox_msg, 50))
+    messages.append((gearbox_msg, 50))
   else:
-    checks.append((gearbox_msg, 100))
+    messages.append((gearbox_msg, 100))
 
   if CP.carFingerprint in HONDA_BOSCH_ALT_BRAKE_SIGNAL:
-    signals.append(("BRAKE_PRESSED", "BRAKE_MODULE"))
-    checks.append(("BRAKE_MODULE", 50))
+    messages.append(("BRAKE_MODULE", 50))
 
   if CP.carFingerprint in (HONDA_BOSCH | {CAR.CIVIC, CAR.ODYSSEY, CAR.ODYSSEY_CHN}):
-    signals.append(("EPB_STATE", "EPB_STATUS"))
-    checks.append(("EPB_STATUS", 50))
+    messages.append(("EPB_STATUS", 50))
 
   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"),
-        ("ACCEL_COMMAND", "ACC_CONTROL"),
-        ("AEB_STATUS", "ACC_CONTROL"),
-      ]
-      checks += [
+      messages += [
         ("ACC_HUD", 10),
         ("ACC_CONTROL", 50),
       ]
   else:  # Nidec signals
-    signals += [("CRUISE_SPEED_PCM", "CRUISE"),
-                ("CRUISE_SPEED_OFFSET", "CRUISE_PARAMS")]
-
     if CP.carFingerprint == CAR.ODYSSEY_CHN:
-      checks.append(("CRUISE_PARAMS", 10))
+      messages.append(("CRUISE_PARAMS", 10))
     else:
-      checks.append(("CRUISE_PARAMS", 50))
+      messages.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, CAR.CIVIC_2022):
-    signals.append(("DRIVERS_DOOR_OPEN", "SCM_FEEDBACK"))
+  # TODO: clean this up
+  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, CAR.HRV_3G):
+    pass
   elif CP.carFingerprint in (CAR.ODYSSEY_CHN, CAR.FREED, CAR.HRV):
-    signals.append(("DRIVERS_DOOR_OPEN", "SCM_BUTTONS"))
+    pass
   else:
-    signals += [("DOOR_OPEN_FL", "DOORS_STATUS"),
-                ("DOOR_OPEN_FR", "DOORS_STATUS"),
-                ("DOOR_OPEN_RL", "DOORS_STATUS"),
-                ("DOOR_OPEN_RR", "DOORS_STATUS")]
-    checks.append(("DOORS_STATUS", 3))
+    messages.append(("DOORS_STATUS", 3))
 
   # add gas interceptor reading if we are using it
   if CP.enableGasInterceptor:
-    signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
-    signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
-    checks.append(("GAS_SENSOR", 50))
-
-  if CP.openpilotLongitudinalControl:
-    signals += [
-      ("BRAKE_ERROR_1", "STANDSTILL"),
-      ("BRAKE_ERROR_2", "STANDSTILL")
-    ]
-    checks.append(("STANDSTILL", 50))
+    messages.append(("GAS_SENSOR", 50))
+
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+    messages.append(("CRUISE_FAULT_STATUS", 50))
+  elif CP.openpilotLongitudinalControl:
+    messages.append(("STANDSTILL", 50))
 
-  return signals, checks
+  return messages
 
 
 class CarState(CarStateBase):
@@ -145,7 +99,6 @@ class CarState(CarStateBase):
     self.shifter_values = can_define.dv[self.gearbox_msg]["GEAR_SHIFTER"]
     self.steer_status_values = defaultdict(lambda: "UNKNOWN", can_define.dv["STEER_STATUS"]["STEER_STATUS"])
 
-    self.brake_error = False
     self.brake_switch_prev = False
     self.brake_switch_active = False
     self.cruise_setting = 0
@@ -176,7 +129,8 @@ class CarState(CarStateBase):
     # panda checks if the signal is non-zero
     ret.standstill = cp.vl["ENGINE_DATA"]["XMISSION_SPEED"] < 1e-5
     # 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):
+    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, CAR.HRV_3G):
       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"])
@@ -191,8 +145,18 @@ class CarState(CarStateBase):
     # NO_TORQUE_ALERT_2 can be caused by bump or steering nudge from driver
     ret.steerFaultTemporary = steer_status not in ("NORMAL", "LOW_SPEED_LOCKOUT", "NO_TORQUE_ALERT_2")
 
-    if self.CP.openpilotLongitudinalControl:
-      self.brake_error = cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"]
+    if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
+      ret.accFaulted = bool(cp.vl["CRUISE_FAULT_STATUS"]["CRUISE_FAULT"])
+    else:
+      # On some cars, these two signals are always 1, this flag is masking a bug in release
+      # FIXME: find and set the ACC faulted signals on more platforms
+      if self.CP.openpilotLongitudinalControl:
+        ret.accFaulted = bool(cp.vl["STANDSTILL"]["BRAKE_ERROR_1"] or cp.vl["STANDSTILL"]["BRAKE_ERROR_2"])
+
+      # Log non-critical stock ACC/LKAS faults if Nidec (camera)
+      if self.CP.carFingerprint not in HONDA_BOSCH:
+        ret.carFaultedNonCritical = bool(cp_cam.vl["ACC_HUD"]["ACC_PROBLEM"] or cp_cam.vl["LKAS_HUD"]["LKAS_PROBLEM"])
+
     ret.espDisabled = cp.vl["VSA_STATUS"]["ESP_DISABLED"] != 0
 
     ret.wheelSpeeds = self.get_wheel_speeds(
@@ -246,8 +210,7 @@ class CarState(CarStateBase):
         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 = CV.MPH_TO_MS if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS and not self.is_metric else CV.KPH_TO_MS
+        conversion = get_cruise_speed_conversion(self.CP.carFingerprint, self.is_metric)
         # 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 acc_hud["CRUISE_SPEED"] > 160.0 else acc_hud["CRUISE_SPEED"] * conversion
         self.v_cruise_pcm_prev = ret.cruiseState.speed
@@ -274,7 +237,7 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(cp.vl[self.main_on_sig_msg]["MAIN_ON"])
 
     # Gets rid of Pedal Grinding noise when brake is pressed at slow speeds for some models
-    if self.CP.carFingerprint in (CAR.PILOT, CAR.PASSPORT, CAR.RIDGELINE):
+    if self.CP.carFingerprint in (CAR.PILOT, CAR.RIDGELINE):
       if ret.brake > 0.1:
         ret.brakePressed = True
 
@@ -294,7 +257,7 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in HONDA_BOSCH_RADARLESS:
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
-    if self.CP.enableBsm and self.CP.carFingerprint in (CAR.CRV_5G, ):
+    if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
       ret.leftBlindspot = cp_body.vl["BSM_STATUS_LEFT"]["BSM_ALERT"] == 1
@@ -303,52 +266,36 @@ class CarState(CarStateBase):
     return ret
 
   def get_can_parser(self, CP):
-    signals, checks = get_can_signals(CP, self.gearbox_msg, self.main_on_sig_msg)
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, get_pt_bus(CP.carFingerprint))
+    messages = get_can_messages(CP, self.gearbox_msg)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, get_pt_bus(CP.carFingerprint))
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = [
+    messages = [
       ("STEERING_CONTROL", 100),
     ]
 
     if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
-      signals.append(("LKAS_PROBLEM", "LKAS_HUD"))
-      checks.append(("LKAS_HUD", 10))
+      messages.append(("LKAS_HUD", 10))
       if not CP.openpilotLongitudinalControl:
-        signals += [
-          ("CRUISE_SPEED", "ACC_HUD"),
-          ("CRUISE_CONTROL_LABEL", "ACC_HUD"),
-        ]
-        checks.append(("ACC_HUD", 10))
+        messages.append(("ACC_HUD", 10))
 
     elif CP.carFingerprint not in HONDA_BOSCH:
-      signals += [("COMPUTER_BRAKE", "BRAKE_COMMAND"),
-                  ("AEB_REQ_1", "BRAKE_COMMAND"),
-                  ("FCW", "BRAKE_COMMAND"),
-                  ("CHIME", "BRAKE_COMMAND"),
-                  ("FCM_OFF", "ACC_HUD"),
-                  ("FCM_OFF_2", "ACC_HUD"),
-                  ("FCM_PROBLEM", "ACC_HUD"),
-                  ("ICONS", "ACC_HUD")]
-      checks += [
+      messages += [
         ("ACC_HUD", 10),
+        ("LKAS_HUD", 10),
         ("BRAKE_COMMAND", 50),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   @staticmethod
   def get_body_can_parser(CP):
-    if CP.enableBsm and CP.carFingerprint == CAR.CRV_5G:
-      signals = [("BSM_ALERT", "BSM_STATUS_RIGHT"),
-                 ("BSM_ALERT", "BSM_STATUS_LEFT")]
-
-      checks = [
+    if CP.enableBsm:
+      messages = [
         ("BSM_STATUS_LEFT", 3),
         ("BSM_STATUS_RIGHT", 3),
       ]
       bus_body = 0 # B-CAN is forwarded to ACC-CAN radar side (CAN 0 on fake ethernet port)
-      return CANParser(DBC[CP.carFingerprint]["body"], signals, checks, bus_body)
+      return CANParser(DBC[CP.carFingerprint]["body"], messages, bus_body)
     return None
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 87f8e6c5de..a8cbad78ce 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, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.honda.values import HondaFlags, HONDA_BOSCH, HONDA_BOSCH_RADARLESS, CAR, CarControllerParams
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -13,13 +13,19 @@ def get_pt_bus(car_fingerprint):
 
 
 def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
-  if radar_disabled:
+  no_radar = car_fingerprint in HONDA_BOSCH_RADARLESS
+  if radar_disabled or no_radar:
     # when radar is disabled, steering commands are sent directly to powertrain bus
     return get_pt_bus(car_fingerprint)
   # normally steering commands are sent to radar, which forwards them to powertrain bus
   return 0
 
 
+def get_cruise_speed_conversion(car_fingerprint: str, is_metric: bool) -> float:
+  # on certain cars, CRUISE_SPEED changes to imperial with car's unit setting
+  return CV.MPH_TO_MS if car_fingerprint in HONDA_BOSCH_RADARLESS and not is_metric else CV.KPH_TO_MS
+
+
 def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
@@ -45,7 +51,7 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
   return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping_counter, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -54,30 +60,39 @@ def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_finge
   gas_command = gas if active and accel > min_gas_accel else -30000
   accel_command = accel if active else 0
   braking = 1 if active and accel < min_gas_accel else 0
-  standstill = 1 if active and stopping else 0
-  standstill_release = 1 if active and not stopping else 0
+  standstill = 1 if active and stopping_counter > 0 else 0
+  standstill_release = 1 if active and stopping_counter == 0 else 0
 
+  # common ACC_CONTROL values
   acc_control_values = {
-    # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
-    "CONTROL_ON": control_on,
-    "GAS_COMMAND": gas_command,  # used for gas
-    "ACCEL_COMMAND": accel_command,  # used for brakes
-    "BRAKE_LIGHTS": braking,
-    "BRAKE_REQUEST": braking,
-    "STANDSTILL": standstill,
-    "STANDSTILL_RELEASE": standstill_release,
+    'ACCEL_COMMAND': accel_command,
+    'STANDSTILL': standstill,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
-  acc_control_on_values = {
-    "SET_TO_3": 0x03,
-    "CONTROL_ON": enabled,
-    "SET_TO_FF": 0xff,
-    "SET_TO_75": 0x75,
-    "SET_TO_30": 0x30,
-  }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
+  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+    acc_control_values.update({
+      "CONTROL_ON": enabled,
+      "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
+    })
+  else:
+    acc_control_values.update({
+      # setting CONTROL_ON causes car to set POWERTRAIN_DATA->ACC_STATUS = 1
+      "CONTROL_ON": control_on,
+      "GAS_COMMAND": gas_command,  # used for gas
+      "BRAKE_LIGHTS": braking,
+      "BRAKE_REQUEST": braking,
+      "STANDSTILL_RELEASE": standstill_release,
+    })
+    acc_control_on_values = {
+      "SET_TO_3": 0x03,
+      "CONTROL_ON": enabled,
+      "SET_TO_FF": 0xff,
+      "SET_TO_75": 0x75,
+      "SET_TO_30": 0x30,
+    }
+    commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
   return commands
 
 
@@ -104,13 +119,13 @@ def create_bosch_supplemental_1(packer, car_fingerprint):
 def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud, lkas_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
-  radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
+  radar_disabled = CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) 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,
+      'ENABLE_MINI_CAR': 1 if enabled else 0,
       '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,
@@ -153,7 +168,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, acc_hud,
   else:
     commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
 
-  if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
+  if radar_disabled:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
diff --git a/selfdrive/car/honda/interface.py b/selfdrive/car/honda/interface.py
index 071248153c..d1a287a76a 100755
--- a/selfdrive/car/honda/interface.py
+++ b/selfdrive/car/honda/interface.py
@@ -1,12 +1,13 @@
 #!/usr/bin/env python3
 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, HONDA_BOSCH_RADARLESS
-from selfdrive.car import STD_CARGO_KG, CivicParams, create_button_events, scale_tire_stiffness, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.disable_ecu import disable_ecu
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import interp
+from openpilot.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 openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 
 ButtonType = car.CarState.ButtonEvent.Type
@@ -21,6 +22,8 @@ class CarInterface(CarInterfaceBase):
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
     if CP.carFingerprint in HONDA_BOSCH:
       return CarControllerParams.BOSCH_ACCEL_MIN, CarControllerParams.BOSCH_ACCEL_MAX
+    elif CP.enableGasInterceptor:
+      return CarControllerParams.NIDEC_ACCEL_MIN, CarControllerParams.NIDEC_ACCEL_MAX
     else:
       # NIDECs don't allow acceleration near cruise_speed,
       # so limit limits of pid to prevent windup
@@ -29,19 +32,17 @@ class CarInterface(CarInterfaceBase):
       return CarControllerParams.NIDEC_ACCEL_MIN, interp(current_speed, ACCEL_MAX_BP, ACCEL_MAX_VALS)
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "honda"
 
     if candidate in HONDA_BOSCH:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaBosch)]
-      ret.radarOffCan = True
-
-      if candidate not in HONDA_BOSCH_RADARLESS:
-        # Disable the radar and let openpilot control longitudinal
-        # WARNING: THIS DISABLES AEB!
-        ret.experimentalLongitudinalAvailable = True
-        ret.openpilotLongitudinalControl = experimental_long
-
+      ret.radarUnavailable = True
+      # Disable the radar and let openpilot control longitudinal
+      # WARNING: THIS DISABLES AEB!
+      # If Bosch radarless, this blocks ACC messages from the camera
+      ret.experimentalLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = experimental_long
       ret.pcmCruise = not ret.openpilotLongitudinalControl
     else:
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.hondaNidec)]
@@ -73,6 +74,8 @@ class CarInterface(CarInterfaceBase):
       ret.longitudinalTuning.kpV = [0.25]
       ret.longitudinalTuning.kiV = [0.05]
       ret.longitudinalActuatorDelayUpperBound = 0.5 # s
+      if candidate in HONDA_BOSCH_RADARLESS:
+        ret.stopAccel = CarControllerParams.BOSCH_ACCEL_MIN  # stock uses -4.0 m/s^2 once stopped but limited by safety model
     else:
       # default longitudinal tuning for all hondas
       ret.longitudinalTuning.kpBP = [0., 5., 35.]
@@ -86,9 +89,9 @@ class CarInterface(CarInterfaceBase):
         eps_modified = True
 
     if candidate == CAR.CIVIC:
-      ret.mass = CivicParams.MASS
-      ret.wheelbase = CivicParams.WHEELBASE
-      ret.centerToFront = CivicParams.CENTER_TO_FRONT
+      ret.mass = 1326.
+      ret.wheelbase = 2.70
+      ret.centerToFront = ret.wheelbase * 0.4
       ret.steerRatio = 15.38  # 10.93 is end-to-end spec
       if eps_modified:
         # stock request input values:     0x0000, 0x00DE, 0x014D, 0x01EF, 0x0290, 0x0377, 0x0454, 0x0610, 0x06EE
@@ -102,24 +105,22 @@ class CarInterface(CarInterfaceBase):
       else:
         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, CAR.CIVIC_2022):
-      ret.mass = CivicParams.MASS
-      ret.wheelbase = CivicParams.WHEELBASE
-      ret.centerToFront = CivicParams.CENTER_TO_FRONT
+      ret.mass = 1326.
+      ret.wheelbase = 2.70
+      ret.centerToFront = ret.wheelbase * 0.4
       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.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.ACCORD, CAR.ACCORDH):
-      ret.mass = 3279. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3279. * CV.LB_TO_KG
       ret.wheelbase = 2.83
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 16.33  # 11.82 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 = 0.8467
+      ret.tireStiffnessFactor = 0.8467
 
       if eps_modified:
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.09]]
@@ -127,26 +128,26 @@ class CarInterface(CarInterfaceBase):
         ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.ACURA_ILX:
-      ret.mass = 3095. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3095. * CV.LB_TO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.37
       ret.steerRatio = 18.61  # 15.3 is spec end-to-end
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.72
+      ret.tireStiffnessFactor = 0.72
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
 
     elif candidate in (CAR.CRV, CAR.CRV_EU):
-      ret.mass = 3572. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3572. * CV.LB_TO_KG
       ret.wheelbase = 2.62
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.89  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 1000], [0, 1000]]  # TODO: determine if there is a dead zone at the top end
-      tire_stiffness_factor = 0.444
+      ret.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_5G:
-      ret.mass = 3410. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3410. * CV.LB_TO_KG
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0  # 12.3 is spec end-to-end
@@ -159,112 +160,115 @@ class CarInterface(CarInterfaceBase):
       else:
         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
+      ret.tireStiffnessFactor = 0.677
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.CRV_HYBRID:
-      ret.mass = 1667. + STD_CARGO_KG  # mean of 4 models in kg
+      ret.mass = 1667.  # mean of 4 models in kg
       ret.wheelbase = 2.66
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 16.0  # 12.3 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 = 0.677
+      ret.tireStiffnessFactor = 0.677
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
       ret.wheelSpeedFactor = 1.025
 
     elif candidate == CAR.FIT:
-      ret.mass = 2644. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 2644. * CV.LB_TO_KG
       ret.wheelbase = 2.53
       ret.centerToFront = ret.wheelbase * 0.39
       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.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
     elif candidate == CAR.FREED:
-      ret.mass = 3086. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3086. * CV.LB_TO_KG
       ret.wheelbase = 2.74
       # the remaining parameters were copied from FIT
       ret.centerToFront = ret.wheelbase * 0.39
       ret.steerRatio = 13.06
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      tire_stiffness_factor = 0.75
+      ret.tireStiffnessFactor = 0.75
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.05]]
 
-    elif candidate == CAR.HRV:
-      ret.mass = 3125 * CV.LB_TO_KG + STD_CARGO_KG
+    elif candidate in (CAR.HRV, CAR.HRV_3G):
+      ret.mass = 3125 * CV.LB_TO_KG
       ret.wheelbase = 2.61
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 15.2
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]
-      tire_stiffness_factor = 0.5
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
-      ret.wheelSpeedFactor = 1.025
+      ret.tireStiffnessFactor = 0.5
+      if candidate == CAR.HRV:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.16], [0.025]]
+        ret.wheelSpeedFactor = 1.025
+      else:
+        ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.8], [0.24]]  # TODO: can probably use some tuning
 
     elif candidate == CAR.ACURA_RDX:
-      ret.mass = 3935. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3935. * CV.LB_TO_KG
       ret.wheelbase = 2.68
       ret.centerToFront = ret.wheelbase * 0.38
       ret.steerRatio = 15.0  # as spec
-      tire_stiffness_factor = 0.444
+      ret.tireStiffnessFactor = 0.444
       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]]
 
     elif candidate == CAR.ACURA_RDX_3G:
-      ret.mass = 4068. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 4068. * CV.LB_TO_KG
       ret.wheelbase = 2.75
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 11.95  # as spec
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2], [0.06]]
-      tire_stiffness_factor = 0.677
+      ret.tireStiffnessFactor = 0.677
 
     elif candidate in (CAR.ODYSSEY, CAR.ODYSSEY_CHN):
-      ret.mass = 1900. + STD_CARGO_KG
+      ret.mass = 1900.
       ret.wheelbase = 3.00
       ret.centerToFront = ret.wheelbase * 0.41
       ret.steerRatio = 14.35  # as spec
-      tire_stiffness_factor = 0.82
+      ret.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.28], [0.08]]
       if candidate == CAR.ODYSSEY_CHN:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 32767], [0, 32767]]  # TODO: determine if there is a dead zone at the top end
       else:
         ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 4096], [0, 4096]]  # TODO: determine if there is a dead zone at the top end
 
-    elif candidate in (CAR.PILOT, CAR.PASSPORT):
-      ret.mass = 4204. * CV.LB_TO_KG + STD_CARGO_KG  # average weight
-      ret.wheelbase = 2.82
+    elif candidate == CAR.PILOT:
+      ret.mass = 4278. * CV.LB_TO_KG  # average weight
+      ret.wheelbase = 2.86
       ret.centerToFront = ret.wheelbase * 0.428
-      ret.steerRatio = 17.25  # as spec
+      ret.steerRatio = 16.0  # 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.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.RIDGELINE:
-      ret.mass = 4515. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 4515. * CV.LB_TO_KG
       ret.wheelbase = 3.18
       ret.centerToFront = ret.wheelbase * 0.41
       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.tireStiffnessFactor = 0.444
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.38], [0.11]]
 
     elif candidate == CAR.INSIGHT:
-      ret.mass = 2987. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 2987. * CV.LB_TO_KG
       ret.wheelbase = 2.7
       ret.centerToFront = ret.wheelbase * 0.39
       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.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]]
 
     elif candidate == CAR.HONDA_E:
-      ret.mass = 3338.8 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3338.8 * CV.LB_TO_KG
       ret.wheelbase = 2.5
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 16.71
       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.tireStiffnessFactor = 0.82
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.6], [0.18]] # TODO: can probably use some tuning
 
     else:
@@ -287,13 +291,8 @@ class CarInterface(CarInterfaceBase):
     # 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
-    stop_and_go = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
-    ret.minEnableSpeed = -1. if stop_and_go else 25.5 * CV.MPH_TO_MS
-
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
+    ret.autoResumeSng = candidate in (HONDA_BOSCH | {CAR.CIVIC}) or ret.enableGasInterceptor
+    ret.minEnableSpeed = -1. if ret.autoResumeSng else 25.5 * CV.MPH_TO_MS
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
@@ -316,9 +315,6 @@ class CarInterface(CarInterfaceBase):
 
     # events
     events = self.create_common_events(ret, pcm_enable=False)
-    if self.CS.brake_error:
-      events.add(EventName.brakeUnavailable)
-
     if self.CP.pcmCruise and ret.vEgo < self.CP.minEnableSpeed:
       events.add(EventName.belowEngageSpeed)
 
@@ -343,5 +339,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/honda/radar_interface.py b/selfdrive/car/honda/radar_interface.py
index 629ab01d4c..8090f8e03e 100755
--- a/selfdrive/car/honda/radar_interface.py
+++ b/selfdrive/car/honda/radar_interface.py
@@ -1,18 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.honda.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.honda.values import DBC
 
 
 def _create_nidec_can_parser(car_fingerprint):
   radar_messages = [0x400] + list(range(0x430, 0x43A)) + list(range(0x440, 0x446))
-  signals = list(zip(['RADAR_STATE'] +
-                     ['LONG_DIST'] * 16 + ['NEW_TRACK'] * 16 + ['LAT_DIST'] * 16 +
-                     ['REL_SPEED'] * 16,
-                     [0x400] + radar_messages[1:] * 4))
-  checks = [(s[1], 20) for s in signals]
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  messages = [(m, 20) for m in radar_messages]
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -21,7 +17,7 @@ class RadarInterface(RadarInterfaceBase):
     self.track_id = 0
     self.radar_fault = False
     self.radar_wrong_config = False
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.radar_ts = CP.radarTimeStep
 
     self.delay = int(round(0.1 / CP.radarTimeStep))   # 0.1s delay of radar
diff --git a/selfdrive/loggerd/tests/__init__.py b/selfdrive/car/honda/tests/__init__.py
similarity index 100%
rename from selfdrive/loggerd/tests/__init__.py
rename to selfdrive/car/honda/tests/__init__.py
diff --git a/selfdrive/car/honda/tests/test_honda.py b/selfdrive/car/honda/tests/test_honda.py
new file mode 100755
index 0000000000..da64b8f70b
--- /dev/null
+++ b/selfdrive/car/honda/tests/test_honda.py
@@ -0,0 +1,20 @@
+#!/usr/bin/env python3
+import re
+import unittest
+
+from openpilot.selfdrive.car.honda.values import FW_VERSIONS
+
+HONDA_FW_VERSION_RE = br"\d{5}-[A-Z0-9]{3}(-|,)[A-Z0-9]{4}(\x00){2}$"
+
+
+class TestHondaFingerprint(unittest.TestCase):
+  def test_fw_version_format(self):
+    # Asserts all FW versions follow an expected format
+    for fw_by_ecu in FW_VERSIONS.values():
+      for fws in fw_by_ecu.values():
+        for fw in fws:
+          self.assertTrue(re.match(HONDA_FW_VERSION_RE, fw) is not None, fw)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index 905c9f4b4f..403745bd42 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -3,10 +3,11 @@ from enum import Enum, IntFlag
 from typing import Dict, List, Optional, Union
 
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.common.conversions import Conversions as CV
+from panda.python import uds
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 VisualAlert = car.CarControl.HUDControl.VisualAlert
@@ -86,12 +87,12 @@ class CAR:
   FIT = "HONDA FIT 2018"
   FREED = "HONDA FREED 2020"
   HRV = "HONDA HRV 2019"
+  HRV_3G = "HONDA HR-V 2023"
   ODYSSEY = "HONDA ODYSSEY 2018"
   ODYSSEY_CHN = "HONDA ODYSSEY CHN 2019"
   ACURA_RDX = "ACURA RDX 2018"
   ACURA_RDX_3G = "ACURA RDX 2020"
   PILOT = "HONDA PILOT 2017"
-  PASSPORT = "HONDA PASSPORT 2021"
   RIDGELINE = "HONDA RIDGELINE 2017"
   INSIGHT = "HONDA INSIGHT 2019"
   HONDA_E = "HONDA E 2020"
@@ -109,26 +110,27 @@ class HondaCarInfo(CarInfo):
 
   def init_make(self, CP: car.CarParams):
     if CP.carFingerprint in HONDA_BOSCH:
-      self.harness = Harness.bosch_b if CP.carFingerprint in HONDA_BOSCH_RADARLESS else Harness.bosch_a
+      self.car_parts = CarParts.common([CarHarness.bosch_b]) if CP.carFingerprint in HONDA_BOSCH_RADARLESS else CarParts.common([CarHarness.bosch_a])
     else:
-      self.harness = Harness.nidec
+      self.car_parts = CarParts.common([CarHarness.nidec])
 
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-22", "All", "https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   ],
   CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", min_steer_speed=12. * CV.MPH_TO_MS, video_link="https://youtu.be/-IkImTe1NYE"),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-21", "All", "https://www.youtube.com/watch?v=4Iz1Mz5LGF8", [Footnote.CIVIC_DIESEL], 2. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8",
+                 footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS),
     HondaCarInfo("Honda Civic Hatchback 2017-21", min_steer_speed=12. * CV.MPH_TO_MS),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
   CAR.CIVIC_2022: [
-    HondaCarInfo("Honda Civic 2022", "All"),
-    HondaCarInfo("Honda Civic Hatchback 2022", "All"),
+    HondaCarInfo("Honda Civic 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
+    HondaCarInfo("Honda Civic Hatchback 2022", "All", video_link="https://youtu.be/ytiOT5lcp6Q"),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS),
   CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", min_steer_speed=12. * CV.MPH_TO_MS),
@@ -138,24 +140,62 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.FIT: HondaCarInfo("Honda Fit 2018-20", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.HRV_3G: HondaCarInfo("Honda HR-V 2023", "All"),
   CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20"),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
-  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", min_steer_speed=12. * CV.MPH_TO_MS),
+  CAR.PILOT: [
+    HondaCarInfo("Honda Pilot 2016-22", min_steer_speed=12. * CV.MPH_TO_MS),
+    HondaCarInfo("Honda Passport 2019-23", "All", min_steer_speed=12. * CV.MPH_TO_MS),
+  ],
+  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-23", min_steer_speed=12. * CV.MPH_TO_MS),
   CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS),
 }
 
+HONDA_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xF112)
+HONDA_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xF112)
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
+    # Currently used to fingerprint
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+    ),
+
+    # Data collection requests:
+    # Log extra identifiers for current ECUs
+    Request(
+      [HONDA_VERSION_REQUEST],
+      [HONDA_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+    ),
+    # Nidec PT bus
     Request(
       [StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.UDS_VERSION_RESPONSE],
+      bus=0,
+      logging=True,
+    ),
+    # Bosch PT bus
+    Request(
+      [StdQueries.UDS_VERSION_REQUEST],
+      [StdQueries.UDS_VERSION_RESPONSE],
+      bus=1,
+      logging=True,
+      obd_multiplexing=False,
     ),
   ],
+  extra_ecus=[
+    # The only other ECU on PT bus accessible by camera on radarless Civic
+    (Ecu.unknown, 0x18DAB3F1, None),
+  ],
 )
 
 FW_VERSIONS = {
@@ -331,10 +371,12 @@ FW_VERSIONS = {
       b'57114-TWA-A050\x00\x00',
       b'57114-TWA-A530\x00\x00',
       b'57114-TWA-B520\x00\x00',
+      b'57114-TWB-H030\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TWA-A440\x00\x00',
       b'77959-TWA-L420\x00\x00',
+      b'77959-TWB-H220\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TWA-A010\x00\x00',
@@ -348,6 +390,7 @@ FW_VERSIONS = {
       b'78109-TWA-A230\x00\x00',
       b'78109-TWA-L010\x00\x00',
       b'78109-TWA-L210\x00\x00',
+      b'78109-TWA-H210\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TWA-A910\x00\x00',
@@ -359,16 +402,19 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TWA-A070\x00\x00',
       b'36161-TWA-A330\x00\x00',
+      b'36161-TWB-H040\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TWA-A070\x00\x00',
       b'36802-TWA-A080\x00\x00',
       b'36802-TWA-A330\x00\x00',
+      b'36802-TWB-H060\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TVA-A160\x00\x00',
       b'39990-TVA-A150\x00\x00',
       b'39990-TVA-A340\x00\x00',
+      b'39990-TWB-H120\x00\x00',
     ],
   },
   CAR.CIVIC: {
@@ -1067,6 +1113,9 @@ FW_VERSIONS = {
       b'28101-5EZ-A060\x00\x00',
       b'28101-5EZ-A100\x00\x00',
       b'28101-5EZ-A210\x00\x00',
+      b'28101-5EZ-A600\x00\x00',
+      b'28101-5EZ-A430\x00\x00',
+      b'28101-5EZ-A700\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-RLV-4060\x00\x00',
@@ -1078,6 +1127,11 @@ FW_VERSIONS = {
       b'37805-RLV-C520\x00\x00',
       b'37805-RLV-C530\x00\x00',
       b'37805-RLV-C910\x00\x00',
+      b'37805-RLV-B220\x00\x00',
+      b'37805-RLV-B210\x00\x00',
+      b'37805-RLV-L160\x00\x00',
+      b'37805-RLV-B420\x00\x00',
+      b'37805-RLV-F120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TG7-A030\x00\x00',
@@ -1091,6 +1145,7 @@ FW_VERSIONS = {
       b'39990-TG7-A060\x00\x00',
       b'39990-TG7-A070\x00\x00',
       b'39990-TGS-A230\x00\x00',
+      b'39990-TGS-A320\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36161-TG7-A310\x00\x00',
@@ -1110,6 +1165,8 @@ FW_VERSIONS = {
       b'36161-TGS-A130\x00\x00',
       b'36161-TGT-A030\x00\x00',
       b'36161-TGT-A130\x00\x00',
+      b'36161-TGS-A030\x00\x00',
+      b'36161-TGS-A220\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TG7-A020\x00\x00',
@@ -1117,6 +1174,7 @@ FW_VERSIONS = {
       b'77959-TG7-A210\x00\x00',
       b'77959-TG7-Y210\x00\x00',
       b'77959-TGS-A010\x00\x00',
+      b'77959-TGS-A110\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18da60f1, None): [
       b'78109-TG7-A040\x00\x00',
@@ -1147,6 +1205,10 @@ FW_VERSIONS = {
       b'78109-TGS-AP20\x00\x00',
       b'78109-TGT-AJ20\x00\x00',
       b'78109-TGT-AK30\x00\x00',
+      b'78109-TGS-AT20\x00\x00',
+      b'78109-TGS-AX20\x00\x00',
+      b'78109-TGS-AJ20\x00\x00',
+      b'78109-TGS-AC10\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TG7-A130\x00\x00',
@@ -1163,38 +1225,6 @@ FW_VERSIONS = {
       b'57114-TGT-A530\x00\x00',
     ],
   },
-  CAR.PASSPORT: {
-    (Ecu.programmedFuelInjection, 0x18da10f1, None): [
-      b'37805-RLV-B220\x00\x00',
-      b'37805-RLV-B210\x00\x00',
-    ],
-    (Ecu.eps, 0x18da30f1, None): [
-      b'39990-TGS-A230\x00\x00',
-    ],
-    (Ecu.fwdRadar, 0x18dab0f1, None): [
-      b'36161-TGS-A030\x00\x00',
-      b'36161-TGS-A130\x00\x00',
-    ],
-    (Ecu.gateway, 0x18daeff1, None): [
-      b'38897-TG7-A040\x00\x00',
-    ],
-    (Ecu.srs, 0x18da53f1, None): [
-      b'77959-TGS-A010\x00\x00',
-    ],
-    (Ecu.shiftByWire, 0x18da0bf1, None): [
-      b'54008-TG7-A530\x00\x00',
-    ],
-    (Ecu.transmission, 0x18da1ef1, None): [
-      b'28101-5EZ-A600\x00\x00',
-    ],
-    (Ecu.combinationMeter, 0x18da60f1, None): [
-      b'78109-TGS-AT20\x00\x00',
-      b'78109-TGS-AX20\x00\x00',
-    ],
-    (Ecu.vsa, 0x18da28f1, None): [
-      b'57114-TGS-A530\x00\x00',
-    ],
-  },
   CAR.ACURA_RDX: {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TX5-A220\x00\x00',
@@ -1226,6 +1256,7 @@ FW_VERSIONS = {
       b'37805-5YF-A750\x00\x00',
       b'37805-5YF-A850\x00\x00',
       b'37805-5YF-A870\x00\x00',
+      b'37805-5YF-AD20\x00\x00',
       b'37805-5YF-C210\x00\x00',
       b'37805-5YF-C220\x00\x00',
       b'37805-5YF-C410\000\000',
@@ -1234,16 +1265,20 @@ FW_VERSIONS = {
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-TJB-A030\x00\x00',
       b'57114-TJB-A040\x00\x00',
+      b'57114-TJB-A120\x00\x00',
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TJB-A040\x00\x00',
       b'36802-TJB-A050\x00\x00',
+      b'36802-TJB-A540\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TJB-A040\x00\x00',
+      b'36161-TJB-A530\x00\x00',
     ],
     (Ecu.shiftByWire, 0x18da0bf1, None): [
       b'54008-TJB-A520\x00\x00',
+      b'54008-TJB-A530\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28102-5YK-A610\x00\x00',
@@ -1251,6 +1286,7 @@ FW_VERSIONS = {
       b'28102-5YK-A630\x00\x00',
       b'28102-5YK-A700\x00\x00',
       b'28102-5YK-A711\x00\x00',
+      b'28102-5YK-A800\x00\x00',
       b'28102-5YL-A620\x00\x00',
       b'28102-5YL-A700\x00\x00',
       b'28102-5YL-A711\x00\x00',
@@ -1262,6 +1298,7 @@ FW_VERSIONS = {
       b'78109-TJB-AB10\x00\x00',
       b'78109-TJB-AD10\x00\x00',
       b'78109-TJB-AF10\x00\x00',
+      b'78109-TJB-AQ20\x00\x00',
       b'78109-TJB-AR10\x00\x00',
       b'78109-TJB-AS10\000\000',
       b'78109-TJB-AU10\x00\x00',
@@ -1273,22 +1310,26 @@ FW_VERSIONS = {
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-TJB-A040\x00\x00',
+      b'77959-TJB-A120\x00\x00',
       b'77959-TJB-A210\x00\x00',
     ],
     (Ecu.electricBrakeBooster, 0x18da2bf1, None): [
       b'46114-TJB-A040\x00\x00',
       b'46114-TJB-A050\x00\x00',
       b'46114-TJB-A060\x00\x00',
+      b'46114-TJB-A120\x00\x00',
     ],
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TJB-A040\x00\x00',
       b'38897-TJB-A110\x00\x00',
       b'38897-TJB-A120\x00\x00',
+      b'38897-TJB-A220\x00\x00',
     ],
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TJB-A030\x00\x00',
       b'39990-TJB-A040\x00\x00',
-      b'39990-TJB-A130\x00\x00'
+      b'39990-TJB-A070\x00\x00',
+      b'39990-TJB-A130\x00\x00',
     ],
   },
   CAR.RIDGELINE: {
@@ -1388,6 +1429,32 @@ FW_VERSIONS = {
       b'78109-THW-A110\x00\x00',
     ],
   },
+  CAR.HRV_3G: {
+    (Ecu.eps, 0x18DA30F1, None): [
+      b'39990-3W0-A030\x00\x00',
+    ],
+    (Ecu.gateway, 0x18DAEFF1, None): [
+      b'38897-3W1-A010\x00\x00',
+    ],
+    (Ecu.srs, 0x18DA53F1, None): [
+      b'77959-3V0-A820\x00\x00',
+    ],
+    (Ecu.combinationMeter, 0x18DA60F1, None): [
+      b'78108-3V1-A220\x00\x00',
+    ],
+    (Ecu.vsa, 0x18DA28F1, None): [
+      b'57114-3W0-A040\x00\x00',
+    ],
+    (Ecu.transmission, 0x18DA1EF1, None): [
+      b'28101-6EH-A010\x00\x00',
+    ],
+    (Ecu.programmedFuelInjection, 0x18DA10F1, None): [
+      b'37805-6CT-A710\x00\x00',
+    ],
+    (Ecu.electricBrakeBooster, 0x18DA2BF1, None): [
+      b'46114-3W0-A020\x00\x00',
+    ],
+  },
   CAR.ACURA_ILX: {
     (Ecu.gateway, 0x18daeff1, None): [
       b'38897-TX6-A010\x00\x00',
@@ -1436,6 +1503,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x18DA30F1, None): [
       b'39990-T39-A130\x00\x00',
       b'39990-T43-J020\x00\x00',
+      b'39990-T24-T120\x00\x00',
     ],
     (Ecu.gateway, 0x18DAEFF1, None): [
       b'38897-T20-A020\x00\x00',
@@ -1443,11 +1511,13 @@ FW_VERSIONS = {
       b'38897-T21-A010\x00\x00',
       b'38897-T20-A210\x00\x00',
       b'38897-T20-A310\x00\x00',
+      b'38897-T24-Z120\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
       b'77959-T47-A940\x00\x00',
       b'77959-T47-A950\x00\x00',
+      b'77959-T20-M820\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',
@@ -1455,16 +1525,26 @@ FW_VERSIONS = {
       b'78108-T23-A110\x00\x00',
       b'78108-T21-A230\x00\x00',
       b'78108-T22-A020\x00\x00',
+      b'78108-T21-MB10\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x18dab0f1, None): [
+      b'36161-T20-A070\x00\x00',
+      b'36161-T20-A080\x00\x00',
+      b'36161-T20-A060\x00\x00',
+      b'36161-T47-A070\x00\x00',
+      b'36161-T24-T070\x00\x00',
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-T20-AB40\x00\x00',
       b'57114-T43-JB30\x00\x00',
+      b'57114-T24-TB30\x00\x00',
     ],
     (Ecu.transmission, 0x18da1ef1, None): [
       b'28101-65D-A020\x00\x00',
       b'28101-65D-A120\x00\x00',
       b'28101-65H-A020\x00\x00',
       b'28101-65H-A120\x00\x00',
+      b'28101-65J-N010\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-64L-A540\x00\x00',
@@ -1472,6 +1552,7 @@ FW_VERSIONS = {
       b'37805-64S-A720\x00\x00',
       b'37805-64A-A540\x00\x00',
       b'37805-64A-A620\x00\x00',
+      b'37805-64D-P510\x00\x00',
     ],
   },
 }
@@ -1492,10 +1573,10 @@ DBC = {
   CAR.FIT: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.FREED: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
   CAR.HRV: dbc_dict('honda_fit_ex_2018_can_generated', 'acura_ilx_2016_nidec'),
+  CAR.HRV_3G: dbc_dict('honda_civic_ex_2022_can_generated', None),
   CAR.ODYSSEY: dbc_dict('honda_odyssey_exl_2018_generated', 'acura_ilx_2016_nidec'),
   CAR.ODYSSEY_CHN: dbc_dict('honda_odyssey_extreme_edition_2018_china_can_generated', 'acura_ilx_2016_nidec'),
   CAR.PILOT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
-  CAR.PASSPORT: dbc_dict('acura_ilx_2016_can_generated', 'acura_ilx_2016_nidec'),
   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),
@@ -1510,8 +1591,8 @@ STEER_THRESHOLD = {
 
 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}
+                                CAR.PILOT, 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.CIVIC_2022}
-HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G}
-HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022}
+               CAR.CRV_HYBRID, CAR.INSIGHT, CAR.ACURA_RDX_3G, CAR.HONDA_E, CAR.CIVIC_2022, CAR.HRV_3G}
+HONDA_BOSCH_ALT_BRAKE_SIGNAL = {CAR.ACCORD, CAR.CRV_5G, CAR.ACURA_RDX_3G, CAR.HRV_3G}
+HONDA_BOSCH_RADARLESS = {CAR.CIVIC_2022, CAR.HRV_3G}
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 3f128b1598..1ff211e860 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,11 +1,12 @@
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import clip
-from common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip
+from openpilot.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 hyundaicanfd, hyundaican
-from selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
+from openpilot.selfdrive.car.hyundai import hyundaicanfd, hyundaican
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CANFD_CAR, CAR
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -44,6 +45,7 @@ def process_hud_alert(enabled, fingerprint, hud_control):
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
+    self.CAN = CanBus(CP)
     self.params = CarControllerParams(CP)
     self.packer = CANPacker(dbc_name)
     self.angle_limit_counter = 0
@@ -54,18 +56,25 @@ class CarController:
     self.car_fingerprint = CP.carFingerprint
     self.last_button_frame = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
 
     # steering torque
-    steer = actuators.steer
-    new_steer = int(round(steer * self.params.STEER_MAX))
-    apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+    apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
+
+    # >90 degree steering fault prevention
+    self.angle_limit_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringAngleDeg) >= MAX_ANGLE, CC.latActive,
+                                                                       self.angle_limit_counter, MAX_ANGLE_FRAMES,
+                                                                       MAX_ANGLE_CONSECUTIVE_FRAMES)
 
     if not CC.latActive:
       apply_steer = 0
 
+    # Hold torque with induced temporary fault when cutting the actuation bit
+    torque_fault = CC.latActive and not apply_steer_req
+
     self.apply_steer_last = apply_steer
 
     # accel + longitudinal
@@ -83,24 +92,15 @@ class CarController:
 
     # tester present - w/ no response (keeps relevant ECU disabled)
     if self.frame % 100 == 0 and not (self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and self.CP.openpilotLongitudinalControl:
+      # for longitudinal control, either radar or ADAS driving ECU
       addr, bus = 0x7d0, 0
       if self.CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, self.CAN.ECAN
       can_sends.append([addr, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", bus])
 
-    # >90 degree steering fault prevention
-    # Count up to MAX_ANGLE_FRAMES, at which point we need to cut torque to avoid a steering fault
-    if CC.latActive and abs(CS.out.steeringAngleDeg) >= MAX_ANGLE:
-      self.angle_limit_counter += 1
-    else:
-      self.angle_limit_counter = 0
-
-    # Cut steer actuation bit for two frames and hold torque with induced temporary fault
-    torque_fault = CC.latActive and self.angle_limit_counter > MAX_ANGLE_FRAMES
-    lat_active = CC.latActive and not torque_fault
-
-    if self.angle_limit_counter >= MAX_ANGLE_FRAMES + MAX_ANGLE_CONSECUTIVE_FRAMES:
-      self.angle_limit_counter = 0
+      # for blinkers
+      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.append([0x7b1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", self.CAN.ECAN])
 
     # CAN-FD platforms
     if self.CP.carFingerprint in CANFD_CAR:
@@ -108,21 +108,25 @@ class CarController:
       hda2_long = hda2 and self.CP.openpilotLongitudinalControl
 
       # steering control
-      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, CC.enabled, lat_active, apply_steer))
+      can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_steer))
 
       # disable LFA on HDA2
       if self.frame % 5 == 0 and hda2:
-        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
+        can_sends.append(hyundaicanfd.create_cam_0x2a4(self.packer, self.CAN, CS.cam_0x2a4))
 
       # LFA and HDA icons
       if self.frame % 5 == 0 and (not hda2 or hda2_long):
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CP, CC.enabled))
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled))
+
+      # blinkers
+      if hda2 and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+        can_sends.extend(hyundaicanfd.create_spas_messages(self.packer, self.CAN, self.frame, CC.leftBlinker, CC.rightBlinker))
 
       if self.CP.openpilotLongitudinalControl:
         if hda2:
-          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.frame))
+          can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
         if self.frame % 2 == 0:
-          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CP, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
+          can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
                                                            set_speed_in_units))
           self.accel_last = accel
       else:
@@ -131,11 +135,11 @@ class CarController:
           # cruise cancel
           if CC.cruiseControl.cancel:
             if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, CS.cruise_info))
+              can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
               self.last_button_frame = self.frame
             else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.CANCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.CANCEL))
               self.last_button_frame = self.frame
 
           # cruise standstill resume
@@ -145,10 +149,10 @@ class CarController:
               pass
             else:
               for _ in range(20):
-                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, CS.buttons_counter+1, Buttons.RES_ACCEL))
+                can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter+1, Buttons.RES_ACCEL))
               self.last_button_frame = self.frame
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, lat_active,
+      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.car_fingerprint, apply_steer, apply_steer_req,
                                                 torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                 hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                 left_lane_warning, right_lane_warning))
@@ -161,19 +165,19 @@ class CarController:
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
             can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
-            self.last_button_frame = self.frame
+            if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
+              self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
         # TODO: unclear if this is needed
         jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
+        use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
         can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
-                                                        hud_control.leadVisible, set_speed_in_units, stopping, CC.cruiseControl.override))
+                                                        hud_control.leadVisible, set_speed_in_units, stopping,
+                                                        CC.cruiseControl.override, use_fca))
 
       # 20 Hz LFA MFA message
-      if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
-                                                          CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                                                          CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
+      if self.frame % 5 == 0 and self.CP.flags & HyundaiFlags.SEND_LFA.value:
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
 
       # 5 Hz ACC options
@@ -186,6 +190,7 @@ class CarController:
 
     new_actuators = actuators.copy()
     new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
     new_actuators.accel = accel
 
     self.frame += 1
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index dfb33f2eb4..ee35bf6663 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -3,14 +3,17 @@ import copy
 import math
 
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.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 HyundaiFlags, CAR, DBC, FEATURES, CAMERA_SCC_CAR, CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CAN_GEARS, CAMERA_SCC_CAR, \
+                                                   CANFD_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from openpilot.selfdrive.car.interfaces import CarStateBase
 
 PREV_BUTTON_SAMPLES = 8
 CLUSTER_SAMPLE_RATE = 20  # frames
+STANDSTILL_THRESHOLD = 12 * 0.03125 * CV.KPH_TO_MS
 
 
 class CarState(CarStateBase):
@@ -21,18 +24,24 @@ class CarState(CarStateBase):
     self.cruise_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
     self.main_buttons = deque([Buttons.NONE] * PREV_BUTTON_SAMPLES, maxlen=PREV_BUTTON_SAMPLES)
 
-    self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
+    self.gear_msg_canfd = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else \
+                          "GEAR_ALT_2" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS_2 else \
+                          "GEAR_SHIFTER"
     if CP.carFingerprint in CANFD_CAR:
       self.shifter_values = can_define.dv[self.gear_msg_canfd]["GEAR"]
-    elif self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       self.shifter_values = can_define.dv["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       self.shifter_values = can_define.dv["TCU12"]["CUR_GR"]
     else:  # preferred and elect gear methods use same definition
       self.shifter_values = can_define.dv["LVR12"]["CF_Lvr_Gear"]
 
+    self.accelerator_msg_canfd = "ACCELERATOR" if CP.carFingerprint in EV_CAR else \
+                                 "ACCELERATOR_ALT" if CP.carFingerprint in HYBRID_CAR else \
+                                 "ACCELERATOR_BRAKE_ALT"
+    self.cruise_btns_msg_canfd = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else \
+                                 "CRUISE_BUTTONS"
     self.is_metric = False
-    self.brake_error = False
     self.buttons_counter = 0
 
     self.cruise_info = {}
@@ -65,15 +74,17 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     self.cluster_speed_counter += 1
     if self.cluster_speed_counter > CLUSTER_SAMPLE_RATE:
       self.cluster_speed = cp.vl["CLU15"]["CF_Clu_VehicleSpeed"]
       self.cluster_speed_counter = 0
 
-      # mimic how dash converts to imperial
-      if not self.is_metric:
+      # Mimic how dash converts to imperial.
+      # Sorento is the only platform where CF_Clu_VehicleSpeed is already imperial when not is_metric
+      # TODO: CGW_USM1->CF_Gway_DrLockSoundRValue may describe this
+      if not self.is_metric and self.CP.carFingerprint not in (CAR.KIA_SORENTO,):
         self.cluster_speed = math.floor(self.cluster_speed * CV.KPH_TO_MPH + CV.KPH_TO_MPH)
 
     ret.vEgoCluster = self.cluster_speed * speed_conv
@@ -85,7 +96,7 @@ 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) > self.params.STEER_THRESHOLD
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
     # cruise state
@@ -103,8 +114,9 @@ class CarState(CarStateBase):
     # TODO: Find brake pressure
     ret.brake = 0
     ret.brakePressed = cp.vl["TCS13"]["DriverBraking"] != 0
-    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2 # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
+    ret.brakeHoldActive = cp.vl["TCS15"]["AVH_LAMP"] == 2  # 0 OFF, 1 ERROR, 2 ACTIVE, 3 READY
     ret.parkingBrake = cp.vl["TCS13"]["PBRAKE_ACT"] == 1
+    ret.accFaulted = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
       if self.CP.carFingerprint in HYBRID_CAR:
@@ -118,11 +130,11 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in FEATURES["use_cluster_gears"]:
+    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
-    elif self.CP.carFingerprint in FEATURES["use_tcu_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in FEATURES["use_elect_gears"]:
+    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
       gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
@@ -130,8 +142,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
 
     if not self.CP.openpilotLongitudinalControl:
-      aeb_src = "FCA11" if self.CP.carFingerprint in FEATURES["use_fca"] else "SCC12"
-      aeb_sig = "FCA_CmdAct" if self.CP.carFingerprint in FEATURES["use_fca"] else "AEB_CmdAct"
+      aeb_src = "FCA11" if self.CP.flags & HyundaiFlags.USE_FCA.value else "SCC12"
+      aeb_sig = "FCA_CmdAct" if self.CP.flags & HyundaiFlags.USE_FCA.value else "AEB_CmdAct"
       aeb_warning = cp_cruise.vl[aeb_src]["CF_VSM_Warn"] != 0
       aeb_braking = cp_cruise.vl[aeb_src]["CF_VSM_DecCmdAct"] != 0 or cp_cruise.vl[aeb_src][aeb_sig] != 0
       ret.stockFcw = aeb_warning and not aeb_braking
@@ -145,7 +157,6 @@ class CarState(CarStateBase):
     self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    self.brake_error = cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
     self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
@@ -155,19 +166,20 @@ class CarState(CarStateBase):
   def update_canfd(self, cp, cp_cam):
     ret = car.CarState.new_message()
 
+    self.is_metric = cp.vl["CRUISE_BUTTONS_ALT"]["DISTANCE_UNIT"] != 1
+    speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+
     if self.CP.carFingerprint in (EV_CAR | HYBRID_CAR):
-      if self.CP.carFingerprint in EV_CAR:
-        ret.gas = cp.vl["ACCELERATOR"]["ACCELERATOR_PEDAL"] / 255.
-      else:
-        ret.gas = cp.vl["ACCELERATOR_ALT"]["ACCELERATOR_PEDAL"] / 1023.
+      offset = 255. if self.CP.carFingerprint in EV_CAR else 1023.
+      ret.gas = cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL"] / offset
       ret.gasPressed = ret.gas > 1e-5
     else:
-      ret.gasPressed = bool(cp.vl["ACCELERATOR_BRAKE_ALT"]["ACCELERATOR_PEDAL_PRESSED"])
+      ret.gasPressed = bool(cp.vl[self.accelerator_msg_canfd]["ACCELERATOR_PEDAL_PRESSED"])
 
     ret.brakePressed = cp.vl["TCS"]["DriverBraking"] == 1
 
-    ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR_OPEN"] == 1
-    ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT_LATCHED"] == 0
+    ret.doorOpen = cp.vl["DOORS_SEATBELTS"]["DRIVER_DOOR"] == 1
+    ret.seatbeltUnlatched = cp.vl["DOORS_SEATBELTS"]["DRIVER_SEATBELT"] == 0
 
     gear = cp.vl[self.gear_msg_canfd]["GEAR"]
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear))
@@ -181,13 +193,13 @@ class CarState(CarStateBase):
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgoRaw < 0.1
+    ret.standstill = ret.wheelSpeeds.fl <= STANDSTILL_THRESHOLD and ret.wheelSpeeds.rr <= STANDSTILL_THRESHOLD
 
     ret.steeringRateDeg = cp.vl["STEERING_SENSORS"]["STEERING_RATE"]
     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) > self.params.STEER_THRESHOLD
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0
 
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"]["LEFT_LAMP"],
@@ -196,89 +208,36 @@ class CarState(CarStateBase):
       ret.leftBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FL_INDICATOR"] != 0
       ret.rightBlindspot = cp.vl["BLINDSPOTS_REAR_CORNERS"]["FR_INDICATOR"] != 0
 
-    ret.cruiseState.available = True
-    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    distance_unit_msg = cruise_btn_msg if self.CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN else "CLUSTER_INFO"
-    self.is_metric = cp.vl[distance_unit_msg]["DISTANCE_UNIT"] != 1
-    if not self.CP.openpilotLongitudinalControl:
-      speed_factor = CV.KPH_TO_MS if self.is_metric else CV.MPH_TO_MS
+    # cruise state
+    # CAN FD cars enable on main button press, set available if no TCS faults preventing engagement
+    ret.cruiseState.available = cp.vl["TCS"]["ACCEnable"] == 0
+    if self.CP.openpilotLongitudinalControl:
+      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      ret.cruiseState.enabled = cp.vl["TCS"]["ACC_REQ"] == 1
+      ret.cruiseState.standstill = False
+    else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
-      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
-      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
+      ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
+      ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
     self.prev_cruise_buttons = self.cruise_buttons[-1]
-    self.cruise_buttons.extend(cp.vl_all[cruise_btn_msg]["CRUISE_BUTTONS"])
-    self.main_buttons.extend(cp.vl_all[cruise_btn_msg]["ADAPTIVE_CRUISE_MAIN_BTN"])
-    self.buttons_counter = cp.vl[cruise_btn_msg]["COUNTER"]
+    self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
+    self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
+    ret.accFaulted = cp.vl["TCS"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
 
     if self.CP.flags & HyundaiFlags.CANFD_HDA2:
       self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
-  @staticmethod
-  def get_can_parser(CP):
+  def get_can_parser(self, CP):
     if CP.carFingerprint in CANFD_CAR:
-      return CarState.get_can_parser_canfd(CP)
-
-    signals = [
-      # signal_name, signal_address
-      ("WHL_SPD_FL", "WHL_SPD11"),
-      ("WHL_SPD_FR", "WHL_SPD11"),
-      ("WHL_SPD_RL", "WHL_SPD11"),
-      ("WHL_SPD_RR", "WHL_SPD11"),
-
-      ("YAW_RATE", "ESP12"),
-
-      ("CF_Gway_DrvSeatBeltInd", "CGW4"),
-
-      ("CF_Gway_DrvSeatBeltSw", "CGW1"),
-      ("CF_Gway_DrvDrSw", "CGW1"),       # Driver Door
-      ("CF_Gway_AstDrSw", "CGW1"),       # Passenger Door
-      ("CF_Gway_RLDrSw", "CGW2"),        # Rear left Door
-      ("CF_Gway_RRDrSw", "CGW2"),        # Rear right Door
-      ("CF_Gway_TurnSigLh", "CGW1"),
-      ("CF_Gway_TurnSigRh", "CGW1"),
-      ("CF_Gway_ParkBrakeSw", "CGW1"),
-
-      ("CYL_PRES", "ESP12"),
-
-      ("CF_Clu_CruiseSwState", "CLU11"),
-      ("CF_Clu_CruiseSwMain", "CLU11"),
-      ("CF_Clu_SldMainSW", "CLU11"),
-      ("CF_Clu_ParityBit1", "CLU11"),
-      ("CF_Clu_VanzDecimal" , "CLU11"),
-      ("CF_Clu_Vanz", "CLU11"),
-      ("CF_Clu_SPEED_UNIT", "CLU11"),
-      ("CF_Clu_DetentOut", "CLU11"),
-      ("CF_Clu_RheostatLevel", "CLU11"),
-      ("CF_Clu_CluInfo", "CLU11"),
-      ("CF_Clu_AmpInfo", "CLU11"),
-      ("CF_Clu_AliveCnt1", "CLU11"),
-
-      ("CF_Clu_VehicleSpeed", "CLU15"),
-
-      ("ACCEnable", "TCS13"),
-      ("ACC_REQ", "TCS13"),
-      ("DriverBraking", "TCS13"),
-      ("StandStill", "TCS13"),
-      ("PBRAKE_ACT", "TCS13"),
-
-      ("ESC_Off_Step", "TCS15"),
-      ("AVH_LAMP", "TCS15"),
-
-      ("CR_Mdps_StrColTq", "MDPS12"),
-      ("CF_Mdps_ToiActive", "MDPS12"),
-      ("CF_Mdps_ToiUnavail", "MDPS12"),
-      ("CF_Mdps_ToiFlt", "MDPS12"),
-      ("CR_Mdps_OutTq", "MDPS12"),
-
-      ("SAS_Angle", "SAS11"),
-      ("SAS_Speed", "SAS11"),
-    ]
-    checks = [
+      return self.get_can_parser_canfd(CP)
+
+    messages = [
       # address, frequency
       ("MDPS12", 50),
       ("TCS13", 50),
@@ -294,241 +253,89 @@ class CarState(CarStateBase):
     ]
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
-      signals += [
-        ("MainMode_ACC", "SCC11"),
-        ("VSetDis", "SCC11"),
-        ("SCCInfoDisplay", "SCC11"),
-        ("ACC_ObjDist", "SCC11"),
-        ("ACCMode", "SCC12"),
-      ]
-      checks += [
+      messages += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
-
-      if CP.carFingerprint in FEATURES["use_fca"]:
-        signals += [
-          ("FCA_CmdAct", "FCA11"),
-          ("CF_VSM_Warn", "FCA11"),
-          ("CF_VSM_DecCmdAct", "FCA11"),
-        ]
-        checks.append(("FCA11", 50))
-      else:
-        signals += [
-          ("AEB_CmdAct", "SCC12"),
-          ("CF_VSM_Warn", "SCC12"),
-          ("CF_VSM_DecCmdAct", "SCC12"),
-        ]
+      if CP.flags & HyundaiFlags.USE_FCA.value:
+        messages.append(("FCA11", 50))
 
     if CP.enableBsm:
-      signals += [
-        ("CF_Lca_IndLeft", "LCA11"),
-        ("CF_Lca_IndRight", "LCA11"),
-      ]
-      checks.append(("LCA11", 50))
+      messages.append(("LCA11", 50))
 
     if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
-      if CP.carFingerprint in HYBRID_CAR:
-        signals.append(("CR_Vcu_AccPedDep_Pos", "E_EMS11"))
-      else:
-        signals.append(("Accel_Pedal_Pos", "E_EMS11"))
-      checks.append(("E_EMS11", 50))
+      messages.append(("E_EMS11", 50))
     else:
-      signals += [
-        ("PV_AV_CAN", "EMS12"),
-        ("CF_Ems_AclAct", "EMS16"),
-      ]
-      checks += [
+      messages += [
         ("EMS12", 100),
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in FEATURES["use_cluster_gears"]:
-      signals.append(("CF_Clu_Gear", "CLU15"))
-    elif CP.carFingerprint in FEATURES["use_tcu_gears"]:
-      signals.append(("CUR_GR", "TCU12"))
-      checks.append(("TCU12", 100))
-    elif CP.carFingerprint in FEATURES["use_elect_gears"]:
-      signals.append(("Elect_Gear_Shifter", "ELECT_GEAR"))
-      checks.append(("ELECT_GEAR", 20))
+    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+      pass
+    elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
+      messages.append(("TCU12", 100))
+    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
+      messages.append(("ELECT_GEAR", 20))
     else:
-      signals.append(("CF_Lvr_Gear", "LVR12"))
-      checks.append(("LVR12", 100))
+      messages.append(("LVR12", 100))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in CANFD_CAR:
       return CarState.get_cam_can_parser_canfd(CP)
 
-    signals = [
-      # signal_name, signal_address
-      ("CF_Lkas_LdwsActivemode", "LKAS11"),
-      ("CF_Lkas_LdwsSysState", "LKAS11"),
-      ("CF_Lkas_SysWarning", "LKAS11"),
-      ("CF_Lkas_LdwsLHWarning", "LKAS11"),
-      ("CF_Lkas_LdwsRHWarning", "LKAS11"),
-      ("CF_Lkas_HbaLamp", "LKAS11"),
-      ("CF_Lkas_FcwBasReq", "LKAS11"),
-      ("CF_Lkas_HbaSysState", "LKAS11"),
-      ("CF_Lkas_FcwOpt", "LKAS11"),
-      ("CF_Lkas_HbaOpt", "LKAS11"),
-      ("CF_Lkas_FcwSysState", "LKAS11"),
-      ("CF_Lkas_FcwCollisionWarning", "LKAS11"),
-      ("CF_Lkas_FusionState", "LKAS11"),
-      ("CF_Lkas_FcwOpt_USM", "LKAS11"),
-      ("CF_Lkas_LdwsOpt_USM", "LKAS11"),
-    ]
-    checks = [
+    messages = [
       ("LKAS11", 100)
     ]
 
     if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
-      signals += [
-        ("MainMode_ACC", "SCC11"),
-        ("VSetDis", "SCC11"),
-        ("SCCInfoDisplay", "SCC11"),
-        ("ACC_ObjDist", "SCC11"),
-        ("ACCMode", "SCC12"),
-      ]
-      checks += [
+      messages += [
         ("SCC11", 50),
         ("SCC12", 50),
       ]
 
-      if CP.carFingerprint in FEATURES["use_fca"]:
-        signals += [
-          ("FCA_CmdAct", "FCA11"),
-          ("CF_VSM_Warn", "FCA11"),
-          ("CF_VSM_DecCmdAct", "FCA11"),
-        ]
-        checks.append(("FCA11", 50))
-      else:
-        signals += [
-          ("AEB_CmdAct", "SCC12"),
-          ("CF_VSM_Warn", "SCC12"),
-          ("CF_VSM_DecCmdAct", "SCC12"),
-        ]
-
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
-
-  @staticmethod
-  def get_can_parser_canfd(CP):
-
-    cruise_btn_msg = "CRUISE_BUTTONS_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS else "CRUISE_BUTTONS"
-    gear_msg = "GEAR_ALT" if CP.flags & HyundaiFlags.CANFD_ALT_GEARS else "GEAR_SHIFTER"
-    signals = [
-      ("WHEEL_SPEED_1", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_2", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_3", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_4", "WHEEL_SPEEDS"),
-
-      ("GEAR", gear_msg),
-
-      ("STEERING_RATE", "STEERING_SENSORS"),
-      ("STEERING_ANGLE", "STEERING_SENSORS"),
-      ("STEERING_COL_TORQUE", "MDPS"),
-      ("STEERING_OUT_TORQUE", "MDPS"),
-      ("LKA_FAULT", "MDPS"),
-
-      ("DriverBraking", "TCS"),
-
-      ("COUNTER", cruise_btn_msg),
-      ("CRUISE_BUTTONS", cruise_btn_msg),
-      ("ADAPTIVE_CRUISE_MAIN_BTN", cruise_btn_msg),
-
-      ("DISTANCE_UNIT", "CLUSTER_INFO"),
-
-      ("LEFT_LAMP", "BLINKERS"),
-      ("RIGHT_LAMP", "BLINKERS"),
-
-      ("DRIVER_DOOR_OPEN", "DOORS_SEATBELTS"),
-      ("DRIVER_SEATBELT_LATCHED", "DOORS_SEATBELTS"),
-    ]
+      if CP.flags & HyundaiFlags.USE_FCA.value:
+        messages.append(("FCA11", 50))
 
-    if CP.carFingerprint == CAR.KIA_SORENTO_PHEV_4TH_GEN:
-      signals.append(("DISTANCE_UNIT", cruise_btn_msg))
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
-    checks = [
+  def get_can_parser_canfd(self, CP):
+    messages = [
+      (self.gear_msg_canfd, 100),
+      (self.cruise_btns_msg_canfd, 50),
+      (self.accelerator_msg_canfd, 100),
       ("WHEEL_SPEEDS", 100),
-      (gear_msg, 100),
       ("STEERING_SENSORS", 100),
       ("MDPS", 100),
       ("TCS", 50),
-      (cruise_btn_msg, 50),
-      ("CLUSTER_INFO", 4),
+      ("CRUISE_BUTTONS_ALT", 50),
       ("BLINKERS", 4),
       ("DOORS_SEATBELTS", 4),
     ]
 
     if CP.enableBsm:
-      signals += [
-        ("FL_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
-        ("FR_INDICATOR", "BLINDSPOTS_REAR_CORNERS"),
-      ]
-      checks += [
+      messages += [
         ("BLINDSPOTS_REAR_CORNERS", 20),
       ]
 
     if not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value) and not CP.openpilotLongitudinalControl:
-      signals += [
-        ("ACCMode", "SCC_CONTROL"),
-        ("VSetDis", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
-      ]
-      checks += [
+      messages += [
         ("SCC_CONTROL", 50),
       ]
 
-    if CP.carFingerprint in EV_CAR:
-      signals += [
-        ("ACCELERATOR_PEDAL", "ACCELERATOR"),
-      ]
-      checks += [
-        ("ACCELERATOR", 100),
-      ]
-    elif CP.carFingerprint in HYBRID_CAR:
-      signals += [
-        ("ACCELERATOR_PEDAL", "ACCELERATOR_ALT"),
-      ]
-      checks += [
-        ("ACCELERATOR_ALT", 100),
-      ]
-    else:
-      signals += [
-        ("ACCELERATOR_PEDAL_PRESSED", "ACCELERATOR_BRAKE_ALT"),
-      ]
-      checks += [
-        ("ACCELERATOR_BRAKE_ALT", 100),
-      ]
-
-    bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, bus)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).ECAN)
 
   @staticmethod
   def get_cam_can_parser_canfd(CP):
-    signals = []
-    checks = []
+    messages = []
     if CP.flags & HyundaiFlags.CANFD_HDA2:
-      signals += [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
-      checks += [("CAM_0x2a4", 20)]
+      messages += [("CAM_0x2a4", 20)]
     elif CP.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-      signals += [
-        ("COUNTER", "SCC_CONTROL"),
-        ("NEW_SIGNAL_1", "SCC_CONTROL"),
-        ("MainMode_ACC", "SCC_CONTROL"),
-        ("ACCMode", "SCC_CONTROL"),
-        ("CRUISE_INACTIVE", "SCC_CONTROL"),
-        ("ZEROS_9", "SCC_CONTROL"),
-        ("CRUISE_STANDSTILL", "SCC_CONTROL"),
-        ("ZEROS_5", "SCC_CONTROL"),
-        ("DISTANCE_SETTING", "SCC_CONTROL"),
-        ("VSetDis", "SCC_CONTROL"),
-      ]
-
-      checks += [
+      messages += [
         ("SCC_CONTROL", 50),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus(CP).CAM)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index c2ffffbf22..0083974020 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
+from openpilot.selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -7,7 +7,23 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
                   left_lane_depart, right_lane_depart):
-  values = lkas11
+  values = {s: lkas11[s] for s in [
+    "CF_Lkas_LdwsActivemode",
+    "CF_Lkas_LdwsSysState",
+    "CF_Lkas_SysWarning",
+    "CF_Lkas_LdwsLHWarning",
+    "CF_Lkas_LdwsRHWarning",
+    "CF_Lkas_HbaLamp",
+    "CF_Lkas_FcwBasReq",
+    "CF_Lkas_HbaSysState",
+    "CF_Lkas_FcwOpt",
+    "CF_Lkas_HbaOpt",
+    "CF_Lkas_FcwSysState",
+    "CF_Lkas_FcwCollisionWarning",
+    "CF_Lkas_FusionState",
+    "CF_Lkas_FcwOpt_USM",
+    "CF_Lkas_LdwsOpt_USM",
+  ]}
   values["CF_Lkas_LdwsSysState"] = sys_state
   values["CF_Lkas_SysWarning"] = 3 if sys_warning else 0
   values["CF_Lkas_LdwsLHWarning"] = left_lane_depart
@@ -21,7 +37,7 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -79,7 +95,20 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
 
 def create_clu11(packer, frame, clu11, button, car_fingerprint):
-  values = clu11
+  values = {s: clu11[s] for s in [
+    "CF_Clu_CruiseSwState",
+    "CF_Clu_CruiseSwMain",
+    "CF_Clu_SldMainSW",
+    "CF_Clu_ParityBit1",
+    "CF_Clu_VanzDecimal",
+    "CF_Clu_Vanz",
+    "CF_Clu_SPEED_UNIT",
+    "CF_Clu_DetentOut",
+    "CF_Clu_RheostatLevel",
+    "CF_Clu_CluInfo",
+    "CF_Clu_AmpInfo",
+    "CF_Clu_AliveCnt1",
+  ]}
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
   # send buttons to camera on camera-scc based cars
@@ -96,7 +125,7 @@ def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
   }
   return packer.make_can_msg("LFAHDA_MFC", 0, values)
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, set_speed, stopping, long_override, use_fca):
   commands = []
 
   scc11_values = {
@@ -119,6 +148,13 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
     "aReqValue": accel,  # stock ramps up and down respecting jerk limit until it reaches aReqRaw
     "CR_VSM_Alive": idx % 0xF,
   }
+
+  # show AEB disabled indicator on dash with SCC12 if not sending FCA messages.
+  # these signals also prevent a TCS fault on non-FCA cars with alpha longitudinal
+  if not use_fca:
+    scc12_values["CF_VSM_ConfMode"] = 1
+    scc12_values["AEB_Status"] = 1  # AEB disabled
+
   scc12_dat = packer.make_can_msg("SCC12", 0, scc12_values)[2]
   scc12_values["CR_VSM_ChkSum"] = 0x10 - sum(sum(divmod(i, 16)) for i in scc12_dat) % 0x10
 
@@ -134,17 +170,19 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, lead_visible, s
   }
   commands.append(packer.make_can_msg("SCC14", 0, scc14_values))
 
-  # note that some vehicles most likely have an alternate checksum/counter definition
-  # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
-  fca11_values = {
-    "CR_FCA_Alive": idx % 0xF,
-    "PAINT1_Status": 1,
-    "FCA_DrvSetStatus": 1,
-    "FCA_Status": 1, # AEB disabled
-  }
-  fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
-  fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
-  commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
+  # Only send FCA11 on cars where it exists on the bus
+  if use_fca:
+    # note that some vehicles most likely have an alternate checksum/counter definition
+    # https://github.com/commaai/opendbc/commit/9ddcdb22c4929baf310295e832668e6e7fcfa602
+    fca11_values = {
+      "CR_FCA_Alive": idx % 0xF,
+      "PAINT1_Status": 1,
+      "FCA_DrvSetStatus": 1,
+      "FCA_Status": 1,  # AEB disabled
+    }
+    fca11_dat = packer.make_can_msg("FCA11", 0, fca11_values)[2]
+    fca11_values["CR_FCA_ChkSum"] = hyundai_checksum(fca11_dat[:7])
+    commands.append(packer.make_can_msg("FCA11", 0, fca11_values))
 
   return commands
 
@@ -158,6 +196,7 @@ def create_acc_opt(packer):
   }
   commands.append(packer.make_can_msg("SCC13", 0, scc13_values))
 
+  # TODO: this needs to be detected and conditionally sent on unsupported long cars
   fca12_values = {
     "FCA_DrvSetState": 2,
     "FCA_USM": 1, # AEB disabled
diff --git a/selfdrive/car/hyundai/hyundaicanfd.py b/selfdrive/car/hyundai/hyundaicanfd.py
index 8b53e7c378..7aca5b850c 100644
--- a/selfdrive/car/hyundai/hyundaicanfd.py
+++ b/selfdrive/car/hyundai/hyundaicanfd.py
@@ -1,15 +1,41 @@
-from common.numpy_fast import clip
-from selfdrive.car.hyundai.values import HyundaiFlags
+from openpilot.common.numpy_fast import clip
+from openpilot.selfdrive.car import CanBusBase
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags
 
 
-def get_e_can_bus(CP):
-  # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
-  # have a different harness than the HDA1 and non-HDA variants in order to split
-  # a different bus, since the steering is done by different ECUs.
-  return 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 4
+class CanBus(CanBusBase):
+  def __init__(self, CP, hda2=None, fingerprint=None) -> None:
+    super().__init__(CP, fingerprint)
 
+    if hda2 is None:
+      assert CP is not None
+      hda2 = CP.flags & HyundaiFlags.CANFD_HDA2.value
 
-def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
+    # On the CAN-FD platforms, the LKAS camera is on both A-CAN and E-CAN. HDA2 cars
+    # have a different harness than the HDA1 and non-HDA variants in order to split
+    # a different bus, since the steering is done by different ECUs.
+    self._a, self._e = 1, 0
+    if hda2:
+      self._a, self._e = 0, 1
+
+    self._a += self.offset
+    self._e += self.offset
+    self._cam = 2 + self.offset
+
+  @property
+  def ECAN(self):
+    return self._e
+
+  @property
+  def ACAN(self):
+    return self._a
+
+  @property
+  def CAM(self):
+    return self._cam
+
+
+def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_steer):
 
   ret = []
 
@@ -27,45 +53,68 @@ def create_steering_messages(packer, CP, enabled, lat_active, apply_steer):
 
   if CP.flags & HyundaiFlags.CANFD_HDA2:
     if CP.openpilotLongitudinalControl:
-      ret.append(packer.make_can_msg("LFA", 5, values))
-    ret.append(packer.make_can_msg("LKAS", 4, values))
+      ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
+    ret.append(packer.make_can_msg("LKAS", CAN.ACAN, values))
   else:
-    ret.append(packer.make_can_msg("LFA", 4, values))
+    ret.append(packer.make_can_msg("LFA", CAN.ECAN, values))
 
   return ret
 
-def create_cam_0x2a4(packer, camera_values):
-  camera_values.update({
-    "BYTE7": 0,
-  })
-  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
+def create_cam_0x2a4(packer, CAN, cam_0x2a4):
+  values = {f"BYTE{i}": cam_0x2a4[f"BYTE{i}"] for i in range(3, 24)}
+  values['COUNTER'] = cam_0x2a4['COUNTER']
+  values["BYTE7"] = 0
+  return packer.make_can_msg("CAM_0x2a4", CAN.ACAN, values)
 
-def create_buttons(packer, CP, cnt, btn):
+def create_buttons(packer, CP, CAN, cnt, btn):
   values = {
     "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
   }
 
-  bus = 5 if CP.flags & HyundaiFlags.CANFD_HDA2 else 6
+  bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_HDA2 else CAN.CAM
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
-def create_acc_cancel(packer, CP, cruise_info_copy):
-  values = cruise_info_copy
+def create_acc_cancel(packer, CP, CAN, cruise_info_copy):
+  # TODO: why do we copy different values here?
+  if CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "NEW_SIGNAL_1",
+      "MainMode_ACC",
+      "ACCMode",
+      "ZEROS_9",
+      "CRUISE_STANDSTILL",
+      "ZEROS_5",
+      "DISTANCE_SETTING",
+      "VSetDis",
+    ]}
+  else:
+    values = {s: cruise_info_copy[s] for s in [
+      "COUNTER",
+      "CHECKSUM",
+      "ACCMode",
+      "VSetDis",
+      "CRUISE_STANDSTILL",
+    ]}
   values.update({
     "ACCMode": 4,
+    "aReqRaw": 0.0,
+    "aReqValue": 0.0,
   })
-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
 
-def create_lfahda_cluster(packer, CP, enabled):
+def create_lfahda_cluster(packer, CAN, enabled):
   values = {
     "HDA_ICON": 1 if enabled else 0,
     "LFA_ICON": 2 if enabled else 0,
   }
-  return packer.make_can_msg("LFAHDA_CLUSTER", get_e_can_bus(CP), values)
+  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)
 
 
-def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_override, set_speed):
+def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed):
   jerk = 5
   jn = jerk / 50
   if not enabled or gas_override:
@@ -73,8 +122,6 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
   else:
     a_raw = accel
     a_val = clip(accel, accel_last - jn, accel_last + jn)
-    if stopping:
-      a_raw = 0
 
   values = {
     "ACCMode": 0 if not enabled else (2 if gas_override else 1),
@@ -84,6 +131,7 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "aReqRaw": a_raw,
     "VSetDis": set_speed,
     "JerkLowerLimit": jerk if enabled else 1,
+    "JerkUpperLimit": 3.0,
 
     "ACC_ObjDist": 1,
     "ObjValid": 0,
@@ -91,15 +139,33 @@ def create_acc_control(packer, CP, enabled, accel_last, accel, stopping, gas_ove
     "SET_ME_2": 0x4,
     "SET_ME_3": 0x3,
     "SET_ME_TMP_64": 0x64,
-    "NEW_SIGNAL_10": 4,
     "DISTANCE_SETTING": 4,
   }
 
-  return packer.make_can_msg("SCC_CONTROL", get_e_can_bus(CP), values)
+  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)
+
+
+def create_spas_messages(packer, CAN, frame, left_blink, right_blink):
+  ret = []
+
+  values = {
+  }
+  ret.append(packer.make_can_msg("SPAS1", CAN.ECAN, values))
+
+  blink = 0
+  if left_blink:
+    blink = 3
+  elif right_blink:
+    blink = 4
+  values = {
+    "BLINKER_CONTROL": blink,
+  }
+  ret.append(packer.make_can_msg("SPAS2", CAN.ECAN, values))
 
+  return ret
 
 
-def create_adrv_messages(packer, frame):
+def create_adrv_messages(packer, CAN, frame):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
@@ -107,7 +173,7 @@ def create_adrv_messages(packer, frame):
 
   values = {
   }
-  ret.append(packer.make_can_msg("ADRV_0x51", 4, values))
+  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
   if frame % 2 == 0:
     values = {
@@ -117,7 +183,7 @@ def create_adrv_messages(packer, frame):
       'SET_ME_FC': 0xfc,
       'SET_ME_9': 0x9,
     }
-    ret.append(packer.make_can_msg("ADRV_0x160", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x160", CAN.ECAN, values))
 
   if frame % 5 == 0:
     values = {
@@ -126,25 +192,25 @@ def create_adrv_messages(packer, frame):
       'SET_ME_TMP_F': 0xf,
       'SET_ME_TMP_F_2': 0xf,
     }
-    ret.append(packer.make_can_msg("ADRV_0x1ea", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1ea", CAN.ECAN, values))
 
     values = {
       'SET_ME_E1': 0xe1,
       'SET_ME_3A': 0x3a,
     }
-    ret.append(packer.make_can_msg("ADRV_0x200", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x200", CAN.ECAN, values))
 
   if frame % 20 == 0:
     values = {
       'SET_ME_15': 0x15,
     }
-    ret.append(packer.make_can_msg("ADRV_0x345", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x345", CAN.ECAN, values))
 
   if frame % 100 == 0:
     values = {
       'SET_ME_22': 0x22,
       'SET_ME_41': 0x41,
     }
-    ret.append(packer.make_can_msg("ADRV_0x1da", 5, values))
+    ret.append(packer.make_can_msg("ADRV_0x1da", CAN.ECAN, values))
 
   return ret
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 9915a490d1..2c8b478838 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -1,12 +1,15 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons
-from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
-from selfdrive.car import STD_CARGO_KG, create_button_events, scale_tire_stiffness, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.disable_ecu import disable_ecu
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.hyundai.hyundaicanfd import CanBus
+from openpilot.selfdrive.car.hyundai.values import HyundaiFlags, CAR, DBC, CANFD_CAR, CAMERA_SCC_CAR, CANFD_RADAR_SCC_CAR, \
+                                         EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, \
+                                         Buttons
+from openpilot.selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
+from openpilot.selfdrive.car import create_button_events, get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
 
 Ecu = car.CarParams.Ecu
 ButtonType = car.CarState.ButtonEvent.Type
@@ -18,200 +21,226 @@ BUTTONS_DICT = {Buttons.RES_ACCEL: ButtonType.accelCruise, Buttons.SET_DECEL: Bu
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "hyundai"
-    ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
+    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.IONIQ_6}
+
+    hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
+    CAN = CanBus(None, hda2, fingerprint)
 
     if candidate in CANFD_CAR:
       # detect HDA2 with ADAS Driving ECU
-      if Ecu.adas in [fw.ecu for fw in car_fw]:
+      if hda2:
         ret.flags |= HyundaiFlags.CANFD_HDA2.value
       else:
         # non-HDA2
-        if 0x1cf not in fingerprint[4]:
+        if 0x1cf not in fingerprint[CAN.ECAN]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
-        # ICE cars do not have 0x130; GEARS message on 0x40 instead
-        if 0x130 not in fingerprint[4]:
-          ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
+        # ICE cars do not have 0x130; GEARS message on 0x40 or 0x70 instead
+        if 0x130 not in fingerprint[CAN.ECAN]:
+          if 0x40 not in fingerprint[CAN.ECAN]:
+            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS_2.value
+          else:
+            ret.flags |= HyundaiFlags.CANFD_ALT_GEARS.value
         if candidate not in CANFD_RADAR_SCC_CAR:
           ret.flags |= HyundaiFlags.CANFD_CAMERA_SCC.value
+    else:
+      # Send LFA message on cars with HDA
+      if 0x485 in fingerprint[2]:
+        ret.flags |= HyundaiFlags.SEND_LFA.value
+
+      # These cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
+      if 0x38d in fingerprint[0] or 0x38d in fingerprint[2]:
+        ret.flags |= HyundaiFlags.USE_FCA.value
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
-    tire_stiffness_factor = 1.
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
-      ret.mass = 3982. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
       ret.steerRatio = 16.55  # 13.8 is spec end-to-end
-      tire_stiffness_factor = 0.82
+      ret.tireStiffnessFactor = 0.82
     elif candidate in (CAR.SONATA, CAR.SONATA_HYBRID):
-      ret.mass = 1513. + STD_CARGO_KG
+      ret.mass = 1513.
       ret.wheelbase = 2.84
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
-      tire_stiffness_factor = 0.65
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.SONATA_LF:
-      ret.mass = 4497. * CV.LB_TO_KG
+      ret.mass = 1536.
       ret.wheelbase = 2.804
       ret.steerRatio = 13.27 * 1.15   # 15% higher at the center seems reasonable
     elif candidate == CAR.PALISADE:
-      ret.mass = 1999. + STD_CARGO_KG
+      ret.mass = 1999.
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
-      tire_stiffness_factor = 0.63
+      ret.tireStiffnessFactor = 0.63
     elif candidate == CAR.ELANTRA:
-      ret.mass = 1275. + STD_CARGO_KG
+      ret.mass = 1275.
       ret.wheelbase = 2.7
       ret.steerRatio = 15.4            # 14 is Stock | Settled Params Learner values are steerRatio: 15.401566348670535
-      tire_stiffness_factor = 0.385    # stiffnessFactor settled on 1.0081302973865127
+      ret.tireStiffnessFactor = 0.385    # stiffnessFactor settled on 1.0081302973865127
       ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.ELANTRA_2021:
-      ret.mass = (2800. * CV.LB_TO_KG) + STD_CARGO_KG
+      ret.mass = 2800. * CV.LB_TO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
-      tire_stiffness_factor = 0.65
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.ELANTRA_HEV_2021:
-      ret.mass = (3017. * CV.LB_TO_KG) + STD_CARGO_KG
+      ret.mass = 3017. * CV.LB_TO_KG
       ret.wheelbase = 2.72
       ret.steerRatio = 12.9
-      tire_stiffness_factor = 0.65
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.HYUNDAI_GENESIS:
-      ret.mass = 2060. + STD_CARGO_KG
+      ret.mass = 2060.
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
     elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.)
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
-      tire_stiffness_factor = 0.385
-    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
-      ret.mass = 1490. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
+      ret.tireStiffnessFactor = 0.385
+    elif candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019, CAR.IONIQ_HEV_2022, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV):
+      ret.mass = 1490.  # weight per hyundai site https://www.hyundaiusa.com/ioniq-electric/specifications.aspx
       ret.wheelbase = 2.7
       ret.steerRatio = 13.73  # Spec
-      tire_stiffness_factor = 0.385
-      if candidate not in (CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.IONIQ_HEV_2022):
+      ret.tireStiffnessFactor = 0.385
+      if candidate in (CAR.IONIQ, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV_2019):
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
-    elif candidate == CAR.IONIQ_PHEV_2019:
-      ret.mass = 1550. + STD_CARGO_KG  # weight per hyundai site https://www.hyundaiusa.com/us/en/vehicles/2019-ioniq-plug-in-hybrid/compare-specs
-      ret.wheelbase = 2.7
-      ret.steerRatio = 13.73
-      ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.VELOSTER:
-      ret.mass = 3558. * CV.LB_TO_KG
+      ret.mass = 2917. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75 * 1.15
-      tire_stiffness_factor = 0.5
+      ret.tireStiffnessFactor = 0.5
     elif candidate == CAR.TUCSON:
       ret.mass = 3520. * CV.LB_TO_KG
       ret.wheelbase = 2.67
       ret.steerRatio = 14.00 * 1.15
-      tire_stiffness_factor = 0.385
+      ret.tireStiffnessFactor = 0.385
     elif candidate in (CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN):
-      ret.mass = 1630. + STD_CARGO_KG  # average
+      ret.mass = 1630.  # average
       ret.wheelbase = 2.756
       ret.steerRatio = 16.
-      tire_stiffness_factor = 0.385
+      ret.tireStiffnessFactor = 0.385
     elif candidate == CAR.SANTA_CRUZ_1ST_GEN:
-      ret.mass = 1870. + STD_CARGO_KG  # weight from Limited trim - the only supported trim
+      ret.mass = 1870.  # weight from Limited trim - the only supported trim
       ret.wheelbase = 3.000
-      ret.steerRatio = 14.2  # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
+      ret.steerRatio = 14.2
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
-      ret.mass = 1985. + STD_CARGO_KG
+      ret.mass = 1985.
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.1   # 10% higher at the center seems reasonable
-    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021):
-      ret.mass = 1737. + STD_CARGO_KG
+    elif candidate in (CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_NIRO_HEV_2ND_GEN):
+      ret.mass = 3543. * CV.LB_TO_KG  # average of all the cars
       ret.wheelbase = 2.7
-      ret.steerRatio = 13.9 if CAR.KIA_NIRO_HEV_2021 else 13.73  # Spec
-      tire_stiffness_factor = 0.385
+      ret.steerRatio = 13.6  # average of all the cars
+      ret.tireStiffnessFactor = 0.385
       if candidate == CAR.KIA_NIRO_PHEV:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate == CAR.KIA_SELTOS:
-      ret.mass = 1337. + STD_CARGO_KG
+      ret.mass = 1337.
       ret.wheelbase = 2.63
       ret.steerRatio = 14.56
-      tire_stiffness_factor = 1
     elif candidate == CAR.KIA_SPORTAGE_5TH_GEN:
-      ret.mass = 1700. + STD_CARGO_KG  # weight from SX and above trims, average of FWD and AWD versions
+      ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
     elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
-      tire_stiffness_factor = 0.5
+      ret.tireStiffnessFactor = 0.5
       if candidate == CAR.KIA_OPTIMA_G4:
         ret.minSteerSpeed = 32 * CV.MPH_TO_MS
     elif candidate in (CAR.KIA_STINGER, CAR.KIA_STINGER_2022):
-      ret.mass = 1825. + STD_CARGO_KG
+      ret.mass = 1825.
       ret.wheelbase = 2.78
       ret.steerRatio = 14.4 * 1.15   # 15% higher at the center seems reasonable
     elif candidate == CAR.KIA_FORTE:
-      ret.mass = 3558. * CV.LB_TO_KG
+      ret.mass = 2878. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
-      tire_stiffness_factor = 0.5
+      ret.tireStiffnessFactor = 0.5
     elif candidate == CAR.KIA_CEED:
-      ret.mass = 1450. + STD_CARGO_KG
+      ret.mass = 1450.
       ret.wheelbase = 2.65
       ret.steerRatio = 13.75
-      tire_stiffness_factor = 0.5
-    elif candidate == CAR.KIA_K5_2021:
-      ret.mass = 3228. * CV.LB_TO_KG
+      ret.tireStiffnessFactor = 0.5
+    elif candidate in (CAR.KIA_K5_2021, CAR.KIA_K5_HEV_2020):
+      ret.mass = 3381. * CV.LB_TO_KG
       ret.wheelbase = 2.85
       ret.steerRatio = 13.27  # 2021 Kia K5 Steering Ratio (all trims)
-      tire_stiffness_factor = 0.5
+      ret.tireStiffnessFactor = 0.5
     elif candidate == CAR.KIA_EV6:
-      ret.mass = 2055 + STD_CARGO_KG
+      ret.mass = 2055
       ret.wheelbase = 2.9
       ret.steerRatio = 16.
-      tire_stiffness_factor = 0.65
-    elif candidate == CAR.IONIQ_5:
-      ret.mass = 2012 + STD_CARGO_KG
-      ret.wheelbase = 3.0
-      ret.steerRatio = 16.
-      tire_stiffness_factor = 0.65
+      ret.tireStiffnessFactor = 0.65
+    elif candidate in (CAR.IONIQ_5, CAR.IONIQ_6):
+      ret.mass = 1948
+      ret.wheelbase = 2.97
+      ret.steerRatio = 14.26
+      ret.tireStiffnessFactor = 0.65
     elif candidate == CAR.KIA_SPORTAGE_HYBRID_5TH_GEN:
-      ret.mass = 1767. + STD_CARGO_KG  # SX Prestige trim support only
+      ret.mass = 1767.  # SX Prestige trim support only
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6
-    elif candidate == CAR.KIA_SORENTO_PHEV_4TH_GEN:
-      ret.mass = 4095.8 * CV.LB_TO_KG + STD_CARGO_KG # weight from EX and above trims, average of FWD and AWD versions (EX, X-Line EX AWD, SX, SX Pestige, X-Line SX Prestige AWD)
+    elif candidate in (CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN):
       ret.wheelbase = 2.81
-      ret.steerRatio = 13.27 # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sorento-phev/2022/specifications
+      ret.steerRatio = 13.5  # average of the platforms
+      if candidate == CAR.KIA_SORENTO_4TH_GEN:
+        ret.mass = 3957 * CV.LB_TO_KG
+      elif candidate == CAR.KIA_SORENTO_HEV_4TH_GEN:
+        ret.mass = 4255 * CV.LB_TO_KG
+      else:
+        ret.mass = 4537 * CV.LB_TO_KG
+    elif candidate == CAR.KIA_CARNIVAL_4TH_GEN:
+      ret.mass = 2087.
+      ret.wheelbase = 3.09
+      ret.steerRatio = 14.23
 
     # Genesis
+    elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
+      ret.mass = 2205
+      ret.wheelbase = 2.9
+      # https://www.motor1.com/reviews/586376/2023-genesis-gv60-first-drive/#:~:text=Relative%20to%20the%20related%20Ioniq,5%2FEV6%27s%2014.3%3A1.
+      ret.steerRatio = 12.6
     elif candidate == CAR.GENESIS_G70:
       ret.steerActuatorDelay = 0.1
-      ret.mass = 1640.0 + STD_CARGO_KG
+      ret.mass = 1640.0
       ret.wheelbase = 2.84
       ret.steerRatio = 13.56
     elif candidate == CAR.GENESIS_G70_2020:
-      ret.mass = 3673.0 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3673.0 * CV.LB_TO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 12.9
     elif candidate == CAR.GENESIS_GV70_1ST_GEN:
-      ret.mass = 1950. + STD_CARGO_KG
+      ret.mass = 1950.
       ret.wheelbase = 2.87
       ret.steerRatio = 14.6
     elif candidate == CAR.GENESIS_G80:
-      ret.mass = 2060. + STD_CARGO_KG
+      ret.mass = 2060.
       ret.wheelbase = 3.01
       ret.steerRatio = 16.5
     elif candidate == CAR.GENESIS_G90:
-      ret.mass = 2200
+      ret.mass = 2200.
       ret.wheelbase = 3.15
       ret.steerRatio = 12.069
+    elif candidate == CAR.GENESIS_GV80:
+      ret.mass = 2258.
+      ret.wheelbase = 2.95
+      ret.steerRatio = 14.14
 
     # *** longitudinal control ***
     if candidate in CANFD_CAR:
@@ -221,35 +250,36 @@ class CarInterface(CarInterfaceBase):
     else:
       ret.longitudinalTuning.kpV = [0.5]
       ret.longitudinalTuning.kiV = [0.0]
-      ret.experimentalLongitudinalAvailable = candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR)
+      ret.experimentalLongitudinalAvailable = candidate not in (UNSUPPORTED_LONGITUDINAL_CAR | CAMERA_SCC_CAR)
     ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     ret.stoppingControl = True
     ret.startingState = True
     ret.vEgoStarting = 0.1
-    ret.startAccel = 2.0
+    ret.startAccel = 1.0
     ret.longitudinalActuatorDelayLowerBound = 0.5
     ret.longitudinalActuatorDelayUpperBound = 0.5
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
-      bus = 5 if ret.flags & HyundaiFlags.CANFD_HDA2 else 4
-      ret.enableBsm = 0x1e5 in fingerprint[bus]
+      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 
     # *** panda safety config ***
     if candidate in CANFD_CAR:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput),
-                           get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd)]
+      cfgs = [get_safety_config(car.CarParams.SafetyModel.hyundaiCanfd), ]
+      if CAN.ECAN >= 4:
+        cfgs.insert(0, get_safety_config(car.CarParams.SafetyModel.noOutput))
+      ret.safetyConfigs = cfgs
 
       if ret.flags & HyundaiFlags.CANFD_HDA2:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_HDA2
       if ret.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CANFD_ALT_BUTTONS
       if ret.flags & HyundaiFlags.CANFD_CAMERA_SCC:
-        ret.safetyConfigs[1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+        ret.safetyConfigs[-1].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
     else:
       if candidate in LEGACY_SAFETY_MODE_CAR:
         # these cars require a special panda safety mode due to missing counters and checksums in the messages
@@ -273,10 +303,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.4
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
     return ret
 
   @staticmethod
@@ -284,9 +310,13 @@ class CarInterface(CarInterfaceBase):
     if CP.openpilotLongitudinalControl and not (CP.flags & HyundaiFlags.CANFD_CAMERA_SCC.value):
       addr, bus = 0x7d0, 0
       if CP.flags & HyundaiFlags.CANFD_HDA2.value:
-        addr, bus = 0x730, 5
+        addr, bus = 0x730, CanBus(CP).ECAN
       disable_ecu(logcan, sendcan, bus=bus, addr=addr, com_cont_req=b'\x28\x83\x01')
 
+    # for blinkers
+    if CP.flags & HyundaiFlags.ENABLE_BLINKERS:
+      disable_ecu(logcan, sendcan, bus=CanBus(CP).ECAN, addr=0x7B1, com_cont_req=b'\x28\x83\x01')
+
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
@@ -299,9 +329,6 @@ class CarInterface(CarInterfaceBase):
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
     events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
-    if self.CS.brake_error:
-      events.add(EventName.brakeUnavailable)
-
     # low speed steer alert hysteresis logic (only for cars with steer cut off above 10 m/s)
     if ret.vEgo < (self.CP.minSteerSpeed + 2.) and self.CP.minSteerSpeed > 10.:
       self.low_speed_alert = True
@@ -314,5 +341,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/hyundai/radar_interface.py b/selfdrive/car/hyundai/radar_interface.py
index 0d22611fb5..e1cae9ffaf 100644
--- a/selfdrive/car/hyundai/radar_interface.py
+++ b/selfdrive/car/hyundai/radar_interface.py
@@ -3,8 +3,8 @@ import math
 
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import RadarInterfaceBase
-from selfdrive.car.hyundai.values import DBC
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.hyundai.values import DBC
 
 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
@@ -14,20 +14,8 @@ def get_radar_can_parser(CP):
   if DBC[CP.carFingerprint]['radar'] is None:
     return None
 
-  signals = []
-  checks = []
-
-  for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
-    msg = f"RADAR_TRACK_{addr:x}"
-    signals += [
-      ("STATE", msg),
-      ("AZIMUTH", msg),
-      ("LONG_DIST", msg),
-      ("REL_ACCEL", msg),
-      ("REL_SPEED", msg),
-    ]
-    checks += [(msg, 50)]
-  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, 1)
+  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, 1)
 
 
 class RadarInterface(RadarInterfaceBase):
@@ -37,7 +25,7 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
     self.track_id = 0
 
-    self.radar_off_can = CP.radarOffCan
+    self.radar_off_can = CP.radarUnavailable
     self.rcp = get_radar_can_parser(CP)
 
   def update(self, can_strings):
diff --git a/selfdrive/sensord/__init__.py b/selfdrive/car/hyundai/tests/__init__.py
similarity index 100%
rename from selfdrive/sensord/__init__.py
rename to selfdrive/car/hyundai/tests/__init__.py
diff --git a/selfdrive/car/hyundai/tests/print_platform_codes.py b/selfdrive/car/hyundai/tests/print_platform_codes.py
new file mode 100755
index 0000000000..6fe4582f54
--- /dev/null
+++ b/selfdrive/car/hyundai/tests/print_platform_codes.py
@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from cereal import car
+from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {codes}')
+      print(f'    Dates: {dates}')
diff --git a/selfdrive/car/hyundai/tests/test_hyundai.py b/selfdrive/car/hyundai/tests/test_hyundai.py
index a52027f448..b61b09a897 100755
--- a/selfdrive/car/hyundai/tests/test_hyundai.py
+++ b/selfdrive/car/hyundai/tests/test_hyundai.py
@@ -2,27 +2,175 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.car_helpers import get_interface_attr
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS
-from selfdrive.car.hyundai.values import CANFD_CAR
+from openpilot.selfdrive.car.fw_versions import build_fw_dict
+from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
+                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
 
 Ecu = car.CarParams.Ecu
-
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
+
+# Some platforms have date codes in a different format we don't yet parse (or are missing).
+# For now, assert list of expected missing date cars
+NO_DATES_PLATFORMS = {
+  # CAN FD
+  CAR.KIA_SPORTAGE_5TH_GEN,
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+  CAR.SANTA_CRUZ_1ST_GEN,
+  CAR.TUCSON_4TH_GEN,
+  CAR.TUCSON_HYBRID_4TH_GEN,
+  # CAN
+  CAR.ELANTRA,
+  CAR.KIA_CEED,
+  CAR.KIA_FORTE,
+  CAR.KIA_OPTIMA_G4,
+  CAR.KIA_OPTIMA_G4_FL,
+  CAR.KIA_SORENTO,
+  CAR.KONA,
+  CAR.KONA_EV,
+  CAR.KONA_EV_2022,
+  CAR.KONA_HEV,
+  CAR.SONATA_LF,
+  CAR.VELOSTER,
+}
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
+  def test_canfd_not_in_can_features(self):
+    can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
+    for car_model in CANFD_CAR:
+      self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
+
   def test_auxiliary_request_ecu_whitelist(self):
     # Asserts only auxiliary Ecus can exist in database for CAN-FD cars
-    config = FW_QUERY_CONFIGS['hyundai']
-    whitelisted_ecus = {ecu for r in config.requests for ecu in r.whitelist_ecus if r.bus > 3}
+    whitelisted_ecus = {ecu for r in FW_QUERY_CONFIG.requests for ecu in r.whitelist_ecus if r.auxiliary}
 
     for car_model in CANFD_CAR:
-      ecus = {fw[0] for fw in VERSIONS['hyundai'][car_model].keys()}
+      ecus = {fw[0] for fw in FW_VERSIONS[car_model].keys()}
       ecus_not_in_whitelist = ecus - whitelisted_ecus
-      ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_in_whitelist])
-      self.assertEqual(len(ecus_not_in_whitelist), 0, f'{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}')
+      ecu_strings = ", ".join([f"Ecu.{ECU_NAME[ecu]}" for ecu in ecus_not_in_whitelist])
+      self.assertEqual(len(ecus_not_in_whitelist), 0,
+                       f"{car_model}: Car model has ECUs not in auxiliary request whitelists: {ecu_strings}")
+
+  def test_blacklisted_parts(self):
+    # Asserts no ECUs known to be shared across platforms exist in the database.
+    # Tucson having Santa Cruz camera and EPS for example
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        if car_model == CAR.SANTA_CRUZ_1ST_GEN:
+          raise unittest.SkipTest("Skip checking Santa Cruz for its parts")
+
+        for code, _ in get_platform_codes(ecus[(Ecu.fwdCamera, 0x7c4, None)]):
+          if b"-" not in code:
+            continue
+          part = code.split(b"-")[1]
+          self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
+
+  # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
+  # fingerprint in the absence of full FW matches:
+  def test_platform_code_ecus_available(self):
+    # TODO: add queries for these non-CAN FD cars to get EPS
+    no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL,
+                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+
+    # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for platform_code_ecu in PLATFORM_CODE_ECUS:
+          if platform_code_ecu in (Ecu.fwdRadar, Ecu.eps) and car_model == CAR.HYUNDAI_GENESIS:
+            continue
+          if platform_code_ecu == Ecu.eps and car_model in no_eps_platforms:
+            continue
+          self.assertIn(platform_code_ecu, [e[0] for e in ecus])
+
+  def test_fw_format(self):
+    # Asserts:
+    # - every supported ECU FW version returns one platform code
+    # - every supported ECU FW version has a part number
+    # - expected parsing of ECU FW dates
+
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for ecu, fws in ecus.items():
+          if ecu[0] not in PLATFORM_CODE_ECUS:
+            continue
+
+          codes = set()
+          for fw in fws:
+            result = get_platform_codes([fw])
+            self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
+            codes |= result
+
+          if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
+            self.assertTrue(all(date is None for _, date in codes))
+          else:
+            self.assertTrue(all(date is not None for _, date in codes))
+
+          if car_model == CAR.HYUNDAI_GENESIS:
+            raise unittest.SkipTest("No part numbers for car model")
+
+          # Hyundai places the ECU part number in their FW versions, assert all parsable
+          # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
+          self.assertTrue(all(b"-" in code for code, _ in codes),
+                          f"FW does not have part number: {fw}")
+
+  def test_platform_codes_spot_check(self):
+    # Asserts basic platform code parsing behavior for a few cases
+    results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
+    self.assertEqual(results, {(b"DH", b"150210")})
+
+    # Some cameras and all radars do not have dates
+    results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
+    self.assertEqual(results, {(b"AEhe-G2000", None)})
+
+    results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
+    self.assertEqual(results, {(b"CV1-CV000", None)})
+
+    results = get_platform_codes([
+      b"\xf1\x00DH LKAS 1.1 -150210",
+      b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
+      b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
+    ])
+    self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
+
+    results = get_platform_codes([
+      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
+      b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 211103",
+      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
+      b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
+    ])
+    self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
+                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    # This list can be shrunk as we combine platforms and detect features
+    excluded_platforms = {
+      CAR.GENESIS_G70,            # shared platform code, part number, and date
+      CAR.GENESIS_G70_2020,
+      CAR.TUCSON_4TH_GEN,         # shared platform code and part number
+      CAR.TUCSON_HYBRID_4TH_GEN,
+    }
+    excluded_platforms |= CANFD_CAR - EV_CAR  # shared platform codes
+    excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
+
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        platforms_with_shared_codes.add(platform)
+
+    self.assertEqual(platforms_with_shared_codes, excluded_platforms)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 74c881e2b6..5f5b48dba7 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,13 +1,15 @@
-from enum import IntFlag
+# ruff: noqa: E501
+import re
 from dataclasses import dataclass
-from typing import Dict, List, Optional, Union
+from enum import Enum, IntFlag
+from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
 from panda.python import uds
-from common.conversions import Conversions as CV
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -23,6 +25,7 @@ class CarControllerParams:
     self.STEER_DRIVER_MULTIPLIER = 2
     self.STEER_DRIVER_FACTOR = 1
     self.STEER_THRESHOLD = 150
+    self.STEER_STEP = 1  # 100 Hz
 
     if CP.carFingerprint in CANFD_CAR:
       self.STEER_MAX = 270
@@ -34,7 +37,7 @@ class CarControllerParams:
 
     # To determine the limit for your car, find the maximum value that the stock LKAS will request.
     # If the max stock LKAS request is <384, add your car to this list.
-    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.HYUNDAI_GENESIS, CAR.IONIQ,
+    elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
@@ -57,6 +60,10 @@ class HyundaiFlags(IntFlag):
   CANFD_CAMERA_SCC = 8
 
   ALT_LIMITS = 16
+  ENABLE_BLINKERS = 32
+  CANFD_ALT_GEARS_2 = 64
+  SEND_LFA = 128
+  USE_FCA = 256
 
 
 class CAR:
@@ -86,6 +93,7 @@ class CAR:
   VELOSTER = "HYUNDAI VELOSTER 2019"
   SONATA_HYBRID = "HYUNDAI SONATA HYBRID 2021"
   IONIQ_5 = "HYUNDAI IONIQ 5 2022"
+  IONIQ_6 = "HYUNDAI IONIQ 6 2023"
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
@@ -93,123 +101,182 @@ class CAR:
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
+  KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
+  KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
   KIA_NIRO_HEV_2021 = "KIA NIRO HYBRID 2021"
+  KIA_NIRO_HEV_2ND_GEN = "KIA NIRO HYBRID 2ND GEN"
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
+  KIA_SORENTO_4TH_GEN = "KIA SORENTO 4TH GEN"
+  KIA_SORENTO_HEV_4TH_GEN = "KIA SORENTO HYBRID 4TH GEN"
   KIA_SORENTO_PHEV_4TH_GEN = "KIA SORENTO PLUG-IN HYBRID 4TH GEN"
   KIA_SPORTAGE_HYBRID_5TH_GEN = "KIA SPORTAGE HYBRID 5TH GEN"
   KIA_STINGER = "KIA STINGER GT2 2018"
   KIA_STINGER_2022 = "KIA STINGER 2022"
   KIA_CEED = "KIA CEED INTRO ED 2019"
   KIA_EV6 = "KIA EV6 2022"
+  KIA_CARNIVAL_4TH_GEN = "KIA CARNIVAL 4TH GEN"
 
   # Genesis
+  GENESIS_GV60_EV_1ST_GEN = "GENESIS GV60 ELECTRIC 1ST GEN"
   GENESIS_G70 = "GENESIS G70 2018"
   GENESIS_G70_2020 = "GENESIS G70 2020"
   GENESIS_GV70_1ST_GEN = "GENESIS GV70 1ST GEN"
   GENESIS_G80 = "GENESIS G80 2017"
   GENESIS_G90 = "GENESIS G90 2017"
+  GENESIS_GV80 = "GENESIS GV80 2023"
+
+
+class Footnote(Enum):
+  CANFD = CarFootnote(
+    "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
+    "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
+    Column.MODEL, shop_footnote=True)
 
 
 @dataclass
 class HyundaiCarInfo(CarInfo):
   package: str = "Smart Cruise Control (SCC)"
 
+  def init_make(self, CP: car.CarParams):
+    if CP.carFingerprint in CANFD_CAR:
+      self.footnotes.insert(0, Footnote.CANFD)
+
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA: [
-    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
-    HyundaiCarInfo("Hyundai Elantra GT 2017-19", harness=Harness.hyundai_e),
-    HyundaiCarInfo("Hyundai i30 2019", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
+    HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
+    HyundaiCarInfo("Hyundai i30 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
-  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),  # TODO: check 2015 packages
-  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", harness=Harness.hyundai_h),  # TODO: confirm 2020-21 harness
-  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", harness=Harness.hyundai_h),
-  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "All", harness=Harness.hyundai_h),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
-  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", harness=Harness.hyundai_o),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),  # TODO: check packages
-  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
-  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", "https://youtu.be/VnHzSTygTS4", harness=Harness.hyundai_l),
-  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
-  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", "https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
-  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
+  CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-23", video_link="https://youtu.be/_EdYQtV52-c", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-23", video_link="https://youtu.be/_EdYQtV52-c",
+                                       car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.HYUNDAI_GENESIS: [
+    # TODO: check 2015 packages
+    HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+    HyundaiCarInfo("Genesis G80 2017", "All", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_j])),
+  ],
+  CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_h])),  # TODO: confirm 2020-21 harness
+  CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
+  CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
+  CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
+                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   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),
+    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", car_parts=CarParts.common([CarHarness.hyundai_l])),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", "https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Telluride 2020-22", "All", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    HyundaiCarInfo("Kia Telluride 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
-  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_e])),
+  CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.IONIQ_5: [
-    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", harness=Harness.hyundai_k),
-    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", harness=Harness.hyundai_q),
+    HyundaiCarInfo("Hyundai Ioniq 5 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    HyundaiCarInfo("Hyundai Ioniq 5 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    HyundaiCarInfo("Hyundai Ioniq 5 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
+  ],
+  CAR.IONIQ_6: [
+    # TODO: unknown
+    HyundaiCarInfo("Hyundai Ioniq 6 (without HDA II) 2023", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_k])),
+    HyundaiCarInfo("Hyundai Ioniq 6 (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p])),
   ],
   CAR.TUCSON_4TH_GEN: [
-    HyundaiCarInfo("Hyundai Tucson 2022", harness=Harness.hyundai_n),
-    HyundaiCarInfo("Hyundai Tucson 2023", "All", harness=Harness.hyundai_n),
+    HyundaiCarInfo("Hyundai Tucson 2022", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    HyundaiCarInfo("Hyundai Tucson 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   ],
-  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022", "All", harness=Harness.hyundai_n),
-  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2021-22", harness=Harness.hyundai_n),
+  CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
 
   # Kia
-  CAR.KIA_FORTE: HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", harness=Harness.hyundai_a),
+  CAR.KIA_FORTE: [
+    HyundaiCarInfo("Kia Forte 2019-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
+    HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
+  ],
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_NIRO_EV: [
-    HyundaiCarInfo("Kia Niro EV 2019", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Niro EV 2020", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
-    HyundaiCarInfo("Kia Niro EV 2021", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Niro EV 2022", "All", "https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+    HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
+    HyundaiCarInfo("Kia Niro EV 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Niro EV 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  ],
+  CAR.KIA_NIRO_EV_2ND_GEN: HyundaiCarInfo("Kia Niro EV 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_NIRO_PHEV: [
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Niro Plug-in Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   ],
-  CAR.KIA_NIRO_PHEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", "All", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
   CAR.KIA_NIRO_HEV_2021: [
-    HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
-    HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Niro Hybrid 2021-22", car_parts=CarParts.common([CarHarness.hyundai_f])),  # TODO: 2021 could be hyundai_d, verify
   ],
-  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control", harness=Harness.hyundai_b),  # TODO: may support 2016, 2018
-  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", harness=Harness.hyundai_g),
+  CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
+                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+  CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
   CAR.KIA_OPTIMA_H: [
     HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
     HyundaiCarInfo("Kia Optima Hybrid 2019"),
   ],
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", harness=Harness.hyundai_n),
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
-    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", "https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
-    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
+    HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
+                    car_parts=CarParts.common([CarHarness.hyundai_c])),
+    HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
-  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
-  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", harness=Harness.hyundai_n),
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
-  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", harness=Harness.hyundai_k),
-  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
+  CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.KIA_SORENTO_HEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Hybrid 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_SORENTO_PHEV_4TH_GEN: HyundaiCarInfo("Kia Sorento Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: HyundaiCarInfo("Kia Sportage Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0",
+                                  car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.KIA_STINGER_2022: HyundaiCarInfo("Kia Stinger 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.KIA_EV6: [
-    HyundaiCarInfo("Kia EV6 (without HDA II) 2022", "Highway Driving Assist", harness=Harness.hyundai_l),
-    HyundaiCarInfo("Kia EV6 (with HDA II) 2022", "Highway Driving Assist II", harness=Harness.hyundai_p)
+    HyundaiCarInfo("Kia EV6 (Southeast Asia only) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_p])),
+    HyundaiCarInfo("Kia EV6 (without HDA II) 2022-23", "Highway Driving Assist", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
+  ],
+  CAR.KIA_CARNIVAL_4TH_GEN: [
+    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
   # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_GV70_1ST_GEN: HyundaiCarInfo("Genesis GV70 2022-23", "All", harness=Harness.hyundai_l),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
+  CAR.GENESIS_GV60_EV_1ST_GEN: [
+    HyundaiCarInfo("Genesis GV60 (Advanced Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Genesis GV60 (Performance Trim) 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  ],
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+  CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_f])),
+  CAR.GENESIS_GV70_1ST_GEN: [
+    HyundaiCarInfo("Genesis GV70 (2.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+    HyundaiCarInfo("Genesis GV70 (3.5T Trim) 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+  ],
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", car_parts=CarParts.common([CarHarness.hyundai_c])),
+  CAR.GENESIS_GV80: HyundaiCarInfo("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
 }
 
 class Buttons:
@@ -297,14 +364,102 @@ FINGERPRINTS = {
   }],
 }
 
+
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+  # Returns unique, platform-specific identification codes for a set of versions
+  codes = set()  # (code-Optional[part], date)
+  for fw in fw_versions:
+    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
+    part_match = PART_NUMBER_FW_PATTERN.search(fw)
+    date_match = DATE_FW_PATTERN.search(fw)
+    if code_match is not None:
+      code: bytes = code_match.group()
+      part = part_match.group() if part_match else None
+      date = date_match.group() if date_match else None
+      if part is not None:
+        # part number starts with generic ECU part type, add what is specific to platform
+        code += b"-" + part[-5:]
+
+      codes.add((code, date))
+  return codes
+
+
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  # Non-electric CAN FD platforms often do not have platform code specifiers needed
+  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
+  # electric or specify electric in the platform code.
+  # TODO: whitelist platforms that we've seen hybrid and ICE versions of that have these specifiers
+  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
+  candidates = set()
+
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within date range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & dates
+      codes = get_platform_codes(expected_versions)
+      expected_platform_codes = {code for code, _ in codes}
+      expected_dates = {date for _, date in codes if date is not None}
+
+      # Found platform codes & dates
+      codes = get_platform_codes(live_fw_versions.get(addr, set()))
+      found_platform_codes = {code for code, _ in codes}
+      found_dates = {date for _, date in codes if date is not None}
+
+      # Check platform code + part number matches for any found versions
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      if ecu[0] in DATE_FW_ECUS:
+        # If ECU can have a FW date, require it to exist
+        # (this excludes candidates in the database without dates)
+        if not len(expected_dates) or not len(found_dates):
+          break
+
+        # Check any date within range in the database, format is %y%m%d
+        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
+          break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return candidates - fuzzy_platform_blacklist
+
+
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(0xf100)  # Long description
+
+HYUNDAI_VERSION_REQUEST_ALT = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf110)  # Alt long description
+
 HYUNDAI_VERSION_REQUEST_MULTI = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_SOFTWARE_IDENTIFICATION) + \
   p16(0xf100)
+
 HYUNDAI_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40])
 
+# Regex patterns for parsing platform code, FW date, and part number from FW versions
+PLATFORM_CODE_FW_PATTERN = re.compile(b'((?<=' + HYUNDAI_VERSION_REQUEST_LONG[1:] +
+                                      b')[A-Z]{2}[A-Za-z0-9]{0,2})')
+DATE_FW_PATTERN = re.compile(b'(?<=[ -])([0-9]{6}$)')
+PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z][A-Z0-9]{3}[0-9])')
+
+# List of ECUs expected to have platform codes, camera and radar should exist on all cars
+# TODO: use abs, it has the platform code and part number on many platforms
+PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
+# So far we've only seen dates in fwdCamera
+DATE_FW_ECUS = [Ecu.fwdCamera]
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
     # TODO: minimize shared whitelists for CAN and cornerRadar for CAN-FD
@@ -319,27 +474,60 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [HYUNDAI_VERSION_RESPONSE],
       whitelist_ecus=[Ecu.engine, Ecu.transmission, Ecu.eps, Ecu.abs, Ecu.fwdRadar],
     ),
-    # CAN-FD queries (camera)
+
+    # CAN-FD queries (from camera)
+    # TODO: combine shared whitelists with CAN requests
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar],
-      bus=4,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.cornerRadar, Ecu.hvac],
+      bus=0,
+      auxiliary=True,
     ),
     Request(
       [HYUNDAI_VERSION_REQUEST_LONG],
       [HYUNDAI_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar],
-      bus=5,
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.adas, Ecu.cornerRadar, Ecu.hvac],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
+    ),
+
+    # CAN-FD debugging queries
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
+      bus=0,
+      auxiliary=True,
+    ),
+    Request(
+      [HYUNDAI_VERSION_REQUEST_ALT],
+      [HYUNDAI_VERSION_RESPONSE],
+      whitelist_ecus=[Ecu.parkingAdas, Ecu.hvac],
+      bus=1,
+      auxiliary=True,
+      obd_multiplexing=False,
     ),
   ],
   extra_ecus=[
     (Ecu.adas, 0x730, None),         # ADAS Driving ECU on HDA2 platforms
+    (Ecu.parkingAdas, 0x7b1, None),  # ADAS Parking ECU (may exist on all platforms)
+    (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
   ],
+  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 FW_VERSIONS = {
+  CAR.HYUNDAI_GENESIS: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH LKAS 1.1 -150210',
+      b'\xf1\x00DH LKAS 1.4 -140110',
+      b'\xf1\x00DH LKAS 1.5 -140425',
+    ],
+  },
   CAR.IONIQ: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ',
@@ -377,29 +565,33 @@ FW_VERSIONS = {
   },
   CAR.IONIQ_PHEV: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.02 99110-G2100         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2200         ',
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC F-CUP      1.00 1.02 99110-G2100         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\000AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
-      b'\xf1\000AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x816U3J9051\000\000\xf1\0006U3H1_C2\000\0006U3J9051\000\000PAE0G16NL0\x82zT\xd2',
       b'\xf1\x816U3J8051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
-      b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -415,6 +607,7 @@ FW_VERSIONS = {
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.03 95740-G2500 190516',
       b'\xf1\x00AEE MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2600 190730',
     ],
   },
   CAR.IONIQ_EV_LTD: {
@@ -427,16 +620,19 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7501 4AEEC104',
       b'\xf1\x00AE  MDPS C 1.00 1.03 56310/G7300 4AEEC103',
       b'\xf1\x00AE  MDPS C 1.00 1.03 56310G7300\x00 4AEEC103',
+      b'\xf1\x00AE  MDPS C 1.00 1.04 56310/G7301 4AEEC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G7200 160418',
       b'\xf1\x00AEE MFC  AT USA LHD 1.00 1.00 95740-G2400 180222',
       b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2300 170703',
+      b'\xf1\x00AEE MFC  AT EUR LHD 1.00 1.00 95740-G2400 180222',
     ],
   },
   CAR.IONIQ_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00AEhe SCC F-CUP      1.00 1.00 99110-G2600         ',
+      b'\xf1\x00AEhe SCC FHCUP      1.00 1.00 99110-G2600         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
@@ -449,20 +645,17 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x00\x00\x00\x00',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00HAE0G16NL2\x96\xda\xd4\xee',
     ],
   },
   CAR.SONATA: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x00DN8 1.00 99110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
-      b'\xf1\x00DN8 1.00 99110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00DN8_ SCC F-CU-      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC F-CUP      1.00 1.02 99110-L1000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
       b'\xf1\x00DN8_ SCC FHCUP      1.00 1.01 99110-L1000         ',
-      b'\xf1\x00DN89110-L0000         \xaa\xaa\xaa\xaa\xaa\xaa\xaa     ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC F-CUP      1.00 1.00 99110-L0000         ',
-      b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
+      b'\xf1\x00DN8_ SCC FHCUP      1.00 1.02 99110-L1000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
@@ -471,12 +664,13 @@ FW_VERSIONS = {
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
       b'\xf1\x00DN ESC \x08 103\x19\x06\x01 58910-L1300',
+      b'\xf1\x00DN ESC \x07 107"\x08\x07 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
       b'\xf1\x8758910-L0100\xf1\x00DN ESC \x07 104\x19\x08\x01 58910-L0100',
-      b'\xf1\x8758910-L0300\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x06 107 \x07\x03 58910-L1300',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81HM6M1_0a0_F00',
@@ -487,22 +681,26 @@ FW_VERSIONS = {
       b'\xf1\x82DNCVN5GMCCXXXG2B',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DNDWN5TMDCXXXJ1A',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M10',
       b'\xf1\x87391162M003',
       b'\xf1\x87391162M013',
       b'\xf1\x87391162M023',
+      b'\xf1\x87391162M010',
       b'HM6M1_0a0_F00',
       b'HM6M1_0a0_G20',
       b'HM6M2_0a0_BD0',
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
+      b'\xf1\x8739110-2S041\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x8739110-2S042\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x81HM6M1_0a0_G20',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
       b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
-      b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x8756310-L0010\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x8756310-L0210\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC101',
       b'\xf1\x8756310-L1010\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
@@ -511,27 +709,36 @@ FW_VERSIONS = {
       b'\xf1\x8756310L0210\x00\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC101',
       b'\xf1\x8757700-L0000\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
       b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
+      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0210 4DNAC102',
+      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0200\x00 4DNAC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.03 99211-L0000 210603',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB1\xe3\xc10\xa1',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16KB05\x95h%',
       b'\xf1\x00HT6TA260BLHT6TA800A1TDN8C20KS4\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00HT6TA260BLHT6TA810A1TDN8M25GS0\x00\x00\x00\x00\x00\x00\xaa\x8c\xd9p',
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00HT6WA250BLHT6WA910A1SDN8G25NB1\x00\x00\x00\x00\x00\x00\x96\xa1\xf1\x92',
       b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB2\x00\x00\x00\x00\x00\x00\x08\xc9O:',
+      b'\xf1\x00HT6WA280BLHT6WAD10A1SDN8G25NB4\x00\x00\x00\x00\x00\x00g!l[',
+      b'\xf1\x00HT6WA280BLHT6WAE10A1SDN8G25NB5\x00\x00\x00\x00\x00\x00\xe0t\xa9\xba',
       b'\xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
       b'\xf1\x00T02601BL  T02832A1  VDN8T25XXX832NS8G\x0e\xfeE',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSCF\xe4!Y',
       b'\xf1\x87954A02N060\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VDN8T25XXX730NS5\xf7_\x92\xf5',
       b'\xf1\x87SAKFBA2926554GJ2VefVww\x87xwwwww\x88\x87xww\x87wTo\xfb\xffvUo\xff\x8d\x16\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
       b'\xf1\x87SAKFBA3030524GJ2UVugww\x97yx\x88\x87\x88vw\x87gww\x87wto\xf9\xfffUo\xff\xa2\x0c\xf1\x81U903\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00SDN8T16NB0z{\xd4v',
@@ -581,6 +788,7 @@ FW_VERSIONS = {
       b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x00T02601BL  T02900A1  VDN8T25XXX900NSA\xb9\x13\xf9p',
     ],
   },
   CAR.SONATA_LF: {
@@ -630,14 +838,16 @@ FW_VERSIONS = {
   },
   CAR.SANTA_FE: {
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1210         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.01 99110-S2000         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.02 99110-S2000         ',
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.03 99110-S2000         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00TM ESC \r 100\x18\x031 58910-S2650',
+      b'\xf1\x00TM ESC \r 105\x19\x05# 58910-S1500',
       b'\xf1\x00TM ESC \r 103\x18\x11\x08 58910-S2650',
-      b'\xf1\x00TM ESC \r 104\x19\a\b 58910-S2650',
+      b'\xf1\x00TM ESC \r 104\x19\x07\x08 58910-S2650',
       b'\xf1\x00TM ESC \x02 100\x18\x030 58910-S2600',
       b'\xf1\x00TM ESC \x02 102\x18\x07\x01 58910-S2600',
       b'\xf1\x00TM ESC \x02 103\x18\x11\x07 58910-S2600',
@@ -654,11 +864,15 @@ FW_VERSIONS = {
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
       b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8A12',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56340-S2000 9129',
+      b'\xf1\x00TM  MDPS R 1.00 1.02 57700-S1100 4TMDP102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.01 99211-S1010 181207',
       b'\xf1\x00TM  MFC  AT USA LHD 1.00 1.00 99211-S2000 180409',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U833\x00\x00\x00\x00\x00\x00TTM4V22US3_<]\xf1',
+      b'\xf1\x006W351_C2\x00\x006W3E1051\x00\x00TTM4T20NS5\x00\x00\x00\x00',
       b'\xf1\x87LBJSGA7082574HG0\x87www\x98\x88\x88\x88\x99\xaa\xb9\x9afw\x86gx\x99\xa7\x89co\xf8\xffvU_\xffR\xaf\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\xa6\xe0\x91',
       b'\xf1\x87LBKSGA0458404HG0vfvg\x87www\x89\x99\xa8\x99y\xaa\xa7\x9ax\x88\xa7\x88t_\xf9\xff\x86w\x8f\xff\x15x\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM2T20NS1\x00\x00\x00\x00',
       b'\xf1\x87LDJUEA6010814HG1\x87w\x87x\x86gvw\x88\x88\x98\x88gw\x86wx\x88\x97\x88\x85o\xf8\xff\x86f_\xff\xd37\xf1\x816W3C2051\x00\x00\xf1\x006W351_C2\x00\x006W3C2051\x00\x00TTM4T20NS0\xf8\x19\x92g',
@@ -688,11 +902,10 @@ FW_VERSIONS = {
   CAR.SANTA_FE_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x8799110S1500\xf1\x00TM__ SCC F-CUP      1.00 1.00 99110-S1500         ',
-      b'\xf1\x8799110S1500\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
       b'\xf1\x00TM__ SCC FHCUP      1.00 1.00 99110-S1500         ',
     ],
     (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00TM ESC \x01 102!\x04\x03 58910-S2DA0',
       b'\xf1\x00TM ESC \x02 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
       b'\xf1\x8758910-S2DA0\xf1\x00TM ESC \x03 101 \x08\x02 58910-S2DA0',
@@ -700,15 +913,21 @@ FW_VERSIONS = {
       b'\xf1\x8758910-S1DA0\xf1\x00TM ESC \x1e 102 \x08\x08 58910-S1DA0',
       b'\xf1\x8758910-S2GA0\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
+      b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
+      b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
+      b'\xf1\x81HM6M1_0a0_H00',
       b'\xf1\x82TACVN5GMI3XXXH0A',
       b'\xf1\x82TMBZN5TMD3XXXG2E',
       b'\xf1\x82TACVN5GSI3XXXH0A',
       b'\xf1\x82TMCFD5MMCXXXXG0A',
+      b'\xf1\x81HM6M1_0a0_G20',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
+      b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -719,8 +938,12 @@ FW_VERSIONS = {
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.01 99211-S2500 210205',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM2G25NH2\x00\x00\x00\x00\x00\x00\xf8\xc0\xc3\xaa',
+      b'\xf1\x00HT6WA280BLHT6WAD00A1STM4G25NH1\x00\x00\x00\x00\x00\x00\x9cl\x04\xbc',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NSA\xf3\xf4Uj',
       b'\xf1\x87SDMXCA9087684GN1VfvgUUeVwwgwwwwwffffU?\xfb\xff\x97\x88\x7f\xff+\xa4\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
       b'\xf1\x87SDMXCA8653204GN1EVugEUuWwwwwww\x87wwwwwv/\xfb\xff\xa8\x88\x9f\xff\xa5\x9c\xf1\x89HT6WAD00A1\xf1\x82STM4G25NH1\x00\x00\x00\x00\x00\x00',
@@ -730,23 +953,35 @@ FW_VERSIONS = {
       b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
       b'\xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02900A1  \xf1\x00T02601BL  T02900A1  VTMPT25XXX900NS8\xb7\xaa\xfe\xfc',
+      b'\xf1\x00T02601BL  T02800A1  VTMPT25XXX800NS4\xed\xaf\xed\xf5',
+      b'\xf1\x00T02601BL  T02900A1  VTMPT25XXW900NS1c\x918\xc5',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS R 1.00 1.05 57700-CL000 4TSHP105',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310-GA000 4TSHA100',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TMH MFC  AT EUR LHD 1.00 1.06 99211-S1500 220727',
       b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMH MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
+      b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.03 99211-S2500 220414',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16SA3\xa3\x1b\xe14',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2H16UA3I\x94\xac\x8f',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TTM2H16SA2\x80\xd7l\xb2',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTC1',
+      b'\xf1\x87391312MTE0',
+      b'\xf1\x87391312MTL0',
     ],
   },
   CAR.SANTA_FE_PHEV_2022: {
@@ -773,6 +1008,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.03 96400-J5100         ',
       b'\xf1\x00CK__ SCC F_CUP      1.00 1.01 96400-J5000         ',
+      b'\xf1\x00CK__ SCC F_CUP      1.00 1.02 96400-J5100         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81606DE051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -780,6 +1016,7 @@ FW_VERSIONS = {
       b'\xf1\x82CKJN3TMSDE0B\x00\x00\x00\x00',
       b'\xf1\x82CKKN3TMD_H0A\x00\x00\x00\x00',
       b'\xe0\x19\xff\xe7\xe7g\x01\xa2\x00\x0f\x00\x9e\x00\x06\x00\xff\xff\xff\xff\xff\xff\x00\x00\xff\xff\xff\xff\xff\xff\x00\x00\x0f\x0e\x0f\x0f\x0e\r\x00\x00\x7f\x02.\xff\x00\x00~p\x00\x00\x00\x00u\xff\xf9\xff\x00\x00\x00\x00V\t\xd5\x01\xc0\x00\x00\x00\x007\xfb\xfc\x0b\x8d\x00',
+      b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5200 4C2CL104',
@@ -787,6 +1024,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MDPS R 1.00 1.04 57700-J5420 4C4VL104',
       b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5420 4C4VL106',
       b'\xf1\x00CK  MDPS R 1.00 1.07 57700-J5220 4C2VL107',
+      b'\xf1\x00CK  MDPS R 1.00 1.06 57700-J5220 4C2VL106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT USA LHD 1.00 1.03 95740-J5000 170822',
@@ -794,6 +1032,7 @@ FW_VERSIONS = {
       b'\xf1\x00CK  MFC  AT EUR LHD 1.00 1.03 95740-J5000 170822',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SCK0T33NB2\xb3\xee\xba\xdc',
       b'\xf1\x87VCJLE17622572DK0vd6D\x99\x98y\x97vwVffUfvfC%CuT&Dx\x87o\xff{\x1c\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x81E21\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SCK0T33NB0\x88\xa2\xe6\xf0',
       b'\xf1\x87VDHLG17000192DK2xdFffT\xa5VUD$DwT\x86wveVeeD&T\x99\xba\x8f\xff\xcc\x99\xf1\x89E21\x00\x00\x00\x00\x00\x00\x00\xf1\x82SCK0T33NB0',
@@ -810,18 +1049,23 @@ FW_VERSIONS = {
   CAR.KIA_STINGER_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CK__ SCC F-CUP      1.00 1.00 99110-J5500         ',
+      b'\xf1\x00CK__ SCC FHCUP      1.00 1.00 99110-J5500         ',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640R0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81HM6M1_0a0_H00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5380 4C2VR503',
+      b'\xf1\x00CK  MDPS R 1.00 5.03 57700-J5300 4C2CL503',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CK  MFC  AT AUS RHD 1.00 1.00 99211-J5500 210622',
+      b'\xf1\x00CK  MFC  AT KOR LHD 1.00 1.00 99211-J5500 210622',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCNLF11383972DK1vffV\x99\x99\x89\x98\x86eUU\x88wg\x89vfff\x97fff\x99\x87o\xff"\xc1\xf1\x81E30\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E30\x00\x00\x00\x00\x00\x00\x00SCK0T33GH0\xbe`\xfb\xc6',
+      b'\xf1\x00bcsh8p54  E31\x00\x00\x00\x00\x00\x00\x00SCK0T25KH2B\xfbI\xe2',
     ],
   },
   CAR.PALISADE: {
@@ -834,6 +1078,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00ON__ FCA FHCUP      1.00 1.02 99110-S9100         ',
+      b'\xf1\x00ON__ FCA FHCUP      1.00 1.01 99110-S9110         ',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
@@ -847,6 +1092,7 @@ FW_VERSIONS = {
       b'\xf1\x00ON ESC \x0b 100\x18\x12\x18 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x08 58910-S9360',
       b'\xf1\x00ON ESC \x0b 101\x19\t\x05 58910-S9320',
+      b'\xf1\x00ON ESC \x01 101\x19\t\x08 58910-S9360',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -869,11 +1115,13 @@ FW_VERSIONS = {
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
+      b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.04 99211-S9100 211227',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB3X\xa8\xc08',
       b'\xf1\x00bcsh8p54  U903\x00\x00\x00\x00\x00\x00TON4G38NB2[v\\\xb6',
+      b'\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00TON2G38NB5j\x94.\xde',
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
@@ -949,23 +1197,37 @@ FW_VERSIONS = {
     ],
   },
   CAR.GENESIS_G70: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ', ],
-    (Ecu.engine, 0x7e0, None): [b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00', ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106', ],
-    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920', ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda', ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
+      b'\xf1\x00IK__ SCC F-CUP      1.00 1.01 96400-G9100         ',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IK  MDPS R 1.00 1.06 57700-G9420 4I4VL106',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IK  MFC  AT USA LHD 1.00 1.01 95740-G9000 170920',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+      b'\xf1\x87VDJLT17895112DN4\x88fVf\x99\x88\x88\x88\x87fVe\x88vhwwUFU\x97eFex\x99\xff\xb7\x82\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB2\x11\x1am\xda',
+    ],
   },
   CAR.GENESIS_G70_2020: {
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9220 4I2VL107',
       b'\xf1\x00IK  MDPS R 1.00 1.07 57700-G9420 4I4VL107',
       b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9420 4I4VL108',
+      b'\xf1\x00IK  MDPS R 1.00 1.08 57700-G9200 4I2CL108',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x87VCJLP18407832DN3\x88vXfvUVT\x97eFU\x87d7v\x88eVeveFU\x89\x98\x7f\xff\xb2\xb0\xf1\x81E25\x00\x00\x00',
       b'\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
       b'\xf1\x87VDKLT18912362DN4wfVfwefeveVUwfvw\x88vWfvUFU\x89\xa9\x8f\xff\x87w\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33NB4\xecE\xefL',
       b'\xf1\x87VDJLC18480772DK9\x88eHfwfff\x87eFUeDEU\x98eFe\x86T5DVyo\xff\x87s\xf1\x81E25\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T33KB5\x9f\xa5&\x81',
+      b'\xf1\x00bcsh8p54  E25\x00\x00\x00\x00\x00\x00\x00SIK0T20KB3Wuvz',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00IK__ SCC F-CUP      1.00 1.02 96400-G9100         ',
@@ -979,10 +1241,33 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x81640J0051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x81606G2051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.GENESIS_G80: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DH__ SCC F-CUP      1.00 1.01 96400-B1120         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.03 95895-B1500 180713',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.02 95895-B1500 170810',
+      b'\xf1\x00DH  LKAS AT USA LHD 1.01 1.01 95895-B1500 161014',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  E21\x00\x00\x00\x00\x00\x00\x00SDH0T33NH4\xd7O\x9e\xc9',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00TDH0G38NH3:-\xa9n',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0G38NH2j\x9dA\x1c',
+      b'\xf1\x00bcsh8p54  E18\x00\x00\x00\x00\x00\x00\x00SDH0T33NH3\x97\xe6\xbc\xb8',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81640F0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.GENESIS_G90: {
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x87VDGMD15352242DD3w\x87gxwvgv\x87wvw\x88wXwffVfffUfw\x88o\xff\x06J\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
+      b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7',
+    ],
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
     (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
     (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
@@ -1011,21 +1296,27 @@ FW_VERSIONS = {
       b'\xf1\x00BD  MDPS C 1.00 1.02 56310-XX000 4BD2C102',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310/M6300 4BDDC108',
       b'\xf1\x00BD  MDPS C 1.00 1.08 56310M6300\x00 4BDDC108',
+      b'\xf1\x00BDm MDPS C A.01 1.03 56310M7800\x00 4BPMC103',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00BD  LKAS AT USA LHD 1.00 1.04 95740-M6000 J33',
+      b'\xf1\x00BDP LKAS AT USA LHD 1.00 1.05 99211-M6500 744',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00BD__ SCC H-CUP      1.00 1.02 99110-M6000         ',
+      b'\xf1\x00BDPE_SCC FHCUPC     1.00 1.04 99110-M6500\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\x01TBDM1NU06F200H01',
       b'391182B945\x00',
+      b'\xf1\x81616F2051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x816VGRAH00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x8758900-M7AB0 \xf1\x816VQRAD00127.ELF\xf1\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006V2B0_C2\x00\x006V2C6051\x00\x00CBD0N20NL1\x00\x00\x00\x00',
       b'\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\x00\x00\x00\x00',
       b"\xf1\x816U2VC051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VC051\x00\x00DBD0T16SS0\xcf\x1e'\xc3",
     ],
@@ -1069,6 +1360,23 @@ FW_VERSIONS = {
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
     ],
   },
+  CAR.KIA_K5_HEV_2020: {
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00DLhe SCC FHCUP      1.00 1.02 99110-L7000         ',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+    ],
+    (Ecu.engine, 0x7E0, None): [
+      b'\xf1\x87391162JLA0',
+    ],
+    (Ecu.transmission, 0x7E1, None): [
+      b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+    ],
+  },
   CAR.KONA_EV: {
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\x00OS IEB \r 105\x18\t\x18 58520-K4000',
@@ -1151,26 +1459,40 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT KOR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
+  CAR.KIA_NIRO_EV_2ND_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2EMFC  AT EUR LHD 1.01 1.09 99211-AT000 220801',
+      b'\xf1\x00SG2EMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
+    ],
+  },
   CAR.KIA_NIRO_PHEV: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
       b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
       b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
       b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
+      b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PDE0G16NL2&[\xc3\x01',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
+      b'\xf1\x00DE  MDPS C 1.00 1.01 56310G5520\x00 4DEPC101',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
       b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.05 99211-G5000 190826',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+      b'\xf1\x00DEhe SCC F-CUP      1.00 1.02 99110-G5100         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
@@ -1259,43 +1581,47 @@ FW_VERSIONS = {
   CAR.ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
+      b'\xf1\x00PD  LKAS AT KOR LHD 1.00 1.02 95740-G3000 A51',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DPD0H16NS0e\x0e\xcd\x8e',
+      b'\xf1\x006U2U0_C2\x00\x006U2T0051\x00\x00DPD0D16KS0u\xce\x1fk',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00PD  MDPS C 1.00 1.04 56310/G3300 4PDDC104',
+      b'\xf1\x00PD  MDPS C 1.00 1.00 56310G3300\x00 4PDDC100',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00PD ESC \x0b 104\x18\t\x03 58920-G3350',
+      b'\xf1\x00PD ESC \t 104\x18\t\x03 58920-G3350',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00PD__ SCC F-CUP      1.00 1.00 96400-G3300         ',
+      b'\xf1\x00PD__ SCC FNCUP      1.01 1.00 96400-G3000         ',
     ],
   },
   CAR.ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
+      b'\xf1\x00CN7_ SCC FNCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC FHCUP      1.00 1.01 99110-AA000         ',
       b'\xf1\x8799110AA000\xf1\x00CN7_ SCC F-CUP      1.00 1.01 99110-AA000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x87\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x00CN7 MDPS C 1.00 1.06 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4CNDC106',
-      b'\xf1\x8756310/AA070\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
-      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
-      b'\xf1\x8756310AA050\x00\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106\xf1\xa01.06',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310AA050\x00 4CNDC106',
+      b'\xf1\x00CN7 MDPS C 1.00 1.06 56310/AA070 4CNDC106',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.00 99210-AB000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.01 99210-AB000 210205',
       b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.06 99210-AA000 220111',
+      b'\xf1\x00CN7 MFC  AT USA LHD 1.00 1.03 99210-AB000 220426',
     ],
     (Ecu.abs, 0x7d1, None): [
       b'\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 104 \x08\x03 58910-AA800',
-      b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800',
       b'\xf1\x8758910-AA800\xf1\x00CN ESC \t 105 \x10\x03 58910-AA800',
       b'\xf1\x8758910-AB800\xf1\x00CN ESC \t 101 \x10\x03 58910-AB800\xf1\xa01.01',
     ],
@@ -1313,6 +1639,7 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_FF0',
       b'\xf1\x82CNCVD0AMFCXCSFFB',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_G80',
+      b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M2_0a0_HC0',
     ],
   },
   CAR.ELANTRA_HEV_2021: {
@@ -1320,25 +1647,30 @@ FW_VERSIONS = {
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.05 99210-AA000 210930',
       b'\xf1\000CN7HMFC  AT USA LHD 1.00 1.03 99210-AA000 200819',
       b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.07 99210-AA000 220426',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.08 99210-AA000 220728',
+      b'\xf1\x00CN7HMFC  AT USA LHD 1.00 1.09 99210-AA000 221108',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
+      b'\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
       b'\xf1\x8799110BY000\xf1\x00CNhe SCC FHCUP      1.00 1.01 99110-BY000         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00CN7 MDPS C 1.00 1.03 56310BY0500 4CNHC103',
       b'\xf1\x8756310/BY050\xf1\x00CN7 MDPS C 1.00 1.03 56310/BY050 4CNHC103',
       b'\xf1\x8756310/BY050\xf1\000CN7 MDPS C 1.00 1.02 56310/BY050 4CNHC102',
+      b'\xf1\x00CN7 MDPS C 1.00 1.04 56310BY050\x00 4CNHC104',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\000\000\000\000',
       b'\xf1\x816U3K3051\000\000\xf1\0006U3L0_C2\000\0006U3K3051\000\000HCN0G16NS0\xb9?A\xaa',
       b'\xf1\x816U3K3051\x00\x00\xf1\x006U3L0_C2\x00\x006U3K3051\x00\x00HCN0G16NS0\x00\x00\x00\x00',
+      b'\xf1\x006U3L0_C2\x00\x006U3K9051\x00\x00HCN0G16NS1\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6G5051\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\xf1\x816H6G6051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6G8051\x00\x00\x00\x00\x00\x00\x00\x00',
     ]
   },
   CAR.KONA_HEV: {
@@ -1363,8 +1695,8 @@ FW_VERSIONS = {
   },
   CAR.SONATA_HYBRID: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
-      b'\xf1\x8799110L5000\xf1\000DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
+      b'\xf1\x8799110L5000\xf1\x00DNhe SCC FHCUP      1.00 1.02 99110-L5000         ',
       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         ',
     ],
@@ -1372,23 +1704,27 @@ FW_VERSIONS = {
       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',
       b'\xf1\x8756310-L5450\xf1\000DN8 MDPS C 1.00 1.03 56310-L5450 4DNHC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
+      b'\xf1\x8756310L5450\x00\xf1\x00DN8 MDPS C 1.00 1.03 56310L5450\x00 4DNHC104',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.04 99211-L1000 191016',
       b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.05 99211-L1000 201109',
       b'\xf1\000DN8HMFC  AT USA LHD 1.00 1.06 99211-L1000 210325',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.07 99211-L1000 211223',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\000PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E09\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2323  E09\x00\x00\x00\x00\x00\x00\x00TDN2H20SA5\x97R\x88\x9e',
       b'\xf1\000PSBG2323  E09\000\000\000\000\000\000\000TDN2H20SA5\x97R\x88\x9e',
-      b'\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
-      b'\xf1\x87PCU\000\000\000\000\000\000\000\000\000\xf1\x81E16\000\000\000\000\000\000\000\xf1\000PSBG2333  E16\000\000\000\000\000\000\000TDN2H20SA7\0323\xf9\xab',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
+      b'\xf1\x87PCU\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDN2H20SA7\x1a3\xf9\xab',
       b'\xf1\x87959102T250\x00\x00\x00\x00\x00\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E14\x00\x00\x00\x00\x00\x00\x00TDN2H20SA6N\xc2\xeeW',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391162J012',
       b'\xf1\x87391162J013',
+      b'\xf1\x87391162J014',
       b'\xf1\x87391062J002',
     ],
   },
@@ -1420,31 +1756,50 @@ FW_VERSIONS = {
   CAR.KIA_EV6: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
-      b'\xf1\x8799110CV000\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.06 99210-CV000 220328',
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.05 99210-CV000 211027',
       b'\xf1\x00CV1 MFC  AT EUR LHD 1.00 1.06 99210-CV000 220328',
+      b'\xf1\x00CV1 MFC  AT EUR RHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT USA LHD 1.00 1.00 99210-CV100 220630',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.04 99210-CV000 210823',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.05 99210-CV000 211027',
+      b'\xf1\x00CV1 MFC  AT KOR LHD 1.00 1.06 99210-CV000 220328',
     ],
   },
   CAR.IONIQ_5: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
-      b'\xf1\x8799110GI000\xf1\x00NE1_ RDR -----      1.00 1.00 99110-GI000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.02 99211-GI010 211206',
       b'\xf1\x00NE1 MFC  AT EUR LHD 1.00 1.06 99211-GI000 210813',
       b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT KOR LHD 1.00 1.05 99211-GI010 220614',
+      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.01 99211-GI010 211007',
+      b'\xf1\x00NE1 MFC  AT EUR RHD 1.00 1.02 99211-GI010 211206',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.03 99211-GI010 220401',
+      b'\xf1\x00NE1 MFC  AT USA LHD 1.00 1.06 99211-GI010 230110',
+    ],
+  },
+  CAR.IONIQ_6: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
   CAR.TUCSON_4TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9210 14G',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9240 14T',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
       b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
@@ -1453,13 +1808,16 @@ FW_VERSIONS = {
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9240 14Q',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9220 14K',
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N9100 14A',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N9250 14W',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-N9100         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-N9100         ',
     ],
   },
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ5 FR_CMR AT GEN LHD 1.00 1.00 99211-P1060 665',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1060 665',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1469,9 +1827,11 @@ FW_VERSIONS = {
   CAR.SANTA_CRUZ_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW000 14M',
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-CW010 14X',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NX4__               1.00 1.00 99110-K5000         ',
+      b'\xf1\x00NX4__               1.01 1.00 99110-K5000         ',
     ],
   },
   CAR.KIA_SPORTAGE_5TH_GEN: {
@@ -1482,46 +1842,121 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
       b'\xf1\x00NQ5__               1.00 1.03 99110-P1000         ',
+      b'\xf1\x00NQ5__               1.01 1.03 99110-P1000         ',
     ],
   },
   CAR.GENESIS_GV70_1ST_GEN: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.04 99211-AR000 210204',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR200 220125',
+      b'\xf1\x00JK1 MFC  AT USA LHD 1.00 1.01 99211-AR300 220125',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JK1_ SCC FHCUP      1.00 1.02 99110-AR000         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR200         ',
+      b'\xf1\x00JK1_ SCC FHCUP      1.00 1.00 99110-AR300         ',
+    ],
+  },
+  CAR.GENESIS_GV60_EV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU100 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.02 99211-CU000 211215',
+      b'\xf1\x00JW1 MFC  AT USA LHD 1.00 1.03 99211-CU000 221118',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JW1_ RDR -----      1.00 1.00 99110-CU000         ',
+    ],
+  },
+  CAR.KIA_SORENTO_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.05 99210-R5000 210623',
+      b'\xf1\x00MQ4 MFC  AT USA LHD 1.00 1.03 99210-R5000 200903',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ SCC FHCUP      1.00 1.06 99110-P2000         ',
+      b'\xf1\x00MQ4_ SCC F-CUP      1.00 1.06 99110-P2000         ',
+    ],
+  },
+  CAR.KIA_NIRO_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.08 99211-AT000 220531',
+      b'\xf1\x00SG2HMFC  AT USA LHD 1.01 1.09 99211-AT000 220801',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SG2_ RDR -----      1.00 1.01 99110-AT000         ',
+    ],
+  },
+  CAR.GENESIS_GV80: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JX1 MFC  AT USA LHD 1.00 1.02 99211-T6110 220513',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JX1_ SCC FHCUP      1.00 1.01 99110-T6100         ',
+    ],
+  },
+  CAR.KIA_CARNIVAL_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
+      b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
+      b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+    ],
+  },
+  CAR.KIA_SORENTO_HEV_4TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT KOR LHD 1.00 1.12 99210-P2000 230331',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
     ],
   },
 }
 
 CHECKSUM = {
-  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022],
+  "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
-FEATURES = {
+CAN_GEARS = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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, CAR.KONA_EV_2022},
-
-  # 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.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, CAR.KONA_EV_2022, CAR.KIA_STINGER_2022},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, 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,
+                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
-CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}
+CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+             CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
+             CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
-CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}
+CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 
-HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022, CAR.KIA_EV6, CAR.IONIQ_5}
+# these cars use a different gas signal
+HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
+              CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
+              CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
+              CAR.KIA_SORENTO_HEV_4TH_GEN}
+
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
+          CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
+                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
+
+# these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
+UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
@@ -1542,6 +1977,7 @@ DBC = {
   CAR.IONIQ_HEV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_FORTE: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_K5_2021: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_K5_HEV_2020: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_EV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_PHEV: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar_generated'),
   CAR.KIA_NIRO_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -1571,9 +2007,17 @@ DBC = {
   CAR.TUCSON_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.TUCSON_HYBRID_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.IONIQ_5: dbc_dict('hyundai_canfd', None),
+  CAR.IONIQ_6: dbc_dict('hyundai_canfd', None),
   CAR.SANTA_CRUZ_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SPORTAGE_HYBRID_5TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.GENESIS_GV70_1ST_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_PHEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.GENESIS_GV60_EV_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SORENTO_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_NIRO_HEV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_NIRO_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.GENESIS_GV80: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
 }
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 0458178ee3..53b3e381f6 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -5,15 +5,15 @@ from abc import abstractmethod, ABC
 from typing import Any, Dict, Optional, Tuple, List, Callable
 
 from cereal import car
-from common.basedir import BASEDIR
-from common.conversions import Conversions as CV
-from common.kalman.simple_kalman import KF1D
-from common.numpy_fast import interp
-from common.realtime import DT_CTRL
-from selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness
-from selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, apply_center_deadzone
-from selfdrive.controls.lib.events import Events
-from selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.kalman.simple_kalman import KF1D
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_hysteresis, gen_empty_fingerprint, scale_rot_inertia, scale_tire_stiffness, STD_CARGO_KG
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, get_friction
+from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
 
 ButtonType = car.CarState.ButtonEvent.Type
 GearShifter = car.CarState.GearShifter
@@ -64,6 +64,7 @@ class CarInterfaceBase(ABC):
     self.frame = 0
     self.steering_unpressed = 0
     self.low_speed_alert = False
+    self.no_steer_warning = False
     self.silent_steer_warning = True
     self.v_ego_cluster_seen = False
 
@@ -88,32 +89,31 @@ class CarInterfaceBase(ABC):
     return ACCEL_MIN, ACCEL_MAX
 
   @classmethod
-  def get_params(cls, candidate: str, fingerprint: Optional[Dict[int, Dict[int, int]]] = None, car_fw: Optional[List[car.CarParams.CarFw]] = None, experimental_long: bool = False):
-    if fingerprint is None:
-      fingerprint = gen_empty_fingerprint()
-
-    if car_fw is None:
-      car_fw = list()
+  def get_non_essential_params(cls, candidate: str):
+    """
+    Parameters essential to controlling the car may be incomplete or wrong without FW versions or fingerprints.
+    """
+    return cls.get_params(candidate, gen_empty_fingerprint(), list(), False, False)
 
+  @classmethod
+  def get_params(cls, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     ret = CarInterfaceBase.get_std_params(candidate)
-    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long)
+    ret = cls._get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs)
 
-    # Set common params using fields set by the car interface
-    # TODO: get actual value, for now starting with reasonable value for
-    # civic and scaling by mass and wheelbase
-    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    # Vehicle mass is published curb weight plus assumed payload such as a human driver; notCars have no assumed payload
+    if not ret.notCar:
+      ret.mass = ret.mass + STD_CARGO_KG
 
-    # TODO: some car interfaces set stiffness factor
-    if ret.tireStiffnessFront == 0 or ret.tireStiffnessRear == 0:
-      # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-      # mass and CG position, so all cars will have approximately similar dyn behaviors
-      ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront)
+    # Set params dependent on values set by the car interface
+    ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
+    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
     return ret
 
   @staticmethod
   @abstractmethod
-  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]], car_fw: List[car.CarParams.CarFw], experimental_long: bool):
+  def _get_params(ret: car.CarParams, candidate: str, fingerprint: Dict[int, Dict[int, int]],
+                  car_fw: List[car.CarParams.CarFw], experimental_long: bool, docs: bool):
     raise NotImplementedError
 
   @staticmethod
@@ -129,16 +129,11 @@ class CarInterfaceBase(ABC):
   def get_steer_feedforward_function(self):
     return self.get_steer_feedforward_default
 
-  @staticmethod
-  def torque_from_lateral_accel_linear(lateral_accel_value, torque_params, lateral_accel_error, lateral_accel_deadzone, friction_compensation):
+  def torque_from_lateral_accel_linear(self, lateral_accel_value: float, torque_params: car.CarParams.LateralTorqueTuning,
+                                       lateral_accel_error: float, lateral_accel_deadzone: float, friction_compensation: bool) -> float:
     # The default is a linear relationship between torque and lateral acceleration (accounting for road roll and steering friction)
-    friction_interp = interp(
-      apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
-      [-FRICTION_THRESHOLD, FRICTION_THRESHOLD],
-      [-torque_params.friction, torque_params.friction]
-    )
-    friction = friction_interp if friction_compensation else 0.0
-    return (lateral_accel_value / torque_params.latAccelFactor) + friction
+    friction = get_friction(lateral_accel_error, lateral_accel_deadzone, FRICTION_THRESHOLD, torque_params, friction_compensation)
+    return (lateral_accel_value / float(torque_params.latAccelFactor)) + friction
 
   def torque_from_lateral_accel(self) -> TorqueFromLateralAccelCallbackType:
     return self.torque_from_lateral_accel_linear
@@ -154,6 +149,7 @@ class CarInterfaceBase(ABC):
     ret.autoResumeSng = True  # describes whether car can resume from a stop automatically
 
     # standard ALC params
+    ret.tireStiffnessFactor = 1.0
     ret.steerControlType = car.CarParams.SteerControlType.torque
     ret.minSteerSpeed = 0.
     ret.wheelSpeedFactor = 1.0
@@ -232,7 +228,7 @@ class CarInterfaceBase(ABC):
     return reader
 
   @abstractmethod
-  def apply(self, c: car.CarControl) -> Tuple[car.CarControl.Actuators, List[bytes]]:
+  def apply(self, c: car.CarControl, now_nanos: int) -> Tuple[car.CarControl.Actuators, List[bytes]]:
     pass
 
   def create_common_events(self, cs_out, extra_gears=None, pcm_enable=True, allow_enable=True,
@@ -281,13 +277,19 @@ class CarInterfaceBase(ABC):
     # Handle permanent and temporary steering faults
     self.steering_unpressed = 0 if cs_out.steeringPressed else self.steering_unpressed + 1
     if cs_out.steerFaultTemporary:
-      # if the user overrode recently, show a less harsh alert
-      if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
-        self.silent_steer_warning = True
-        events.add(EventName.steerTempUnavailableSilent)
+      if cs_out.steeringPressed and (not self.CS.out.steerFaultTemporary or self.no_steer_warning):
+        self.no_steer_warning = True
       else:
-        events.add(EventName.steerTempUnavailable)
+        self.no_steer_warning = False
+
+        # if the user overrode recently, show a less harsh alert
+        if self.silent_steer_warning or cs_out.standstill or self.steering_unpressed < int(1.5 / DT_CTRL):
+          self.silent_steer_warning = True
+          events.add(EventName.steerTempUnavailableSilent)
+        else:
+          events.add(EventName.steerTempUnavailable)
     else:
+      self.no_steer_warning = False
       self.silent_steer_warning = False
     if cs_out.steerFaultPermanent:
       events.add(EventName.steerUnavailable)
@@ -327,6 +329,7 @@ class CarStateBase(ABC):
     self.cruise_buttons = 0
     self.left_blinker_cnt = 0
     self.right_blinker_cnt = 0
+    self.steering_pressed_cnt = 0
     self.left_blinker_prev = False
     self.right_blinker_prev = False
     self.cluster_speed_hyst_gap = 0.0
@@ -364,6 +367,12 @@ class CarStateBase(ABC):
     self.right_blinker_cnt = blinker_time if right_blinker_lamp else max(self.right_blinker_cnt - 1, 0)
     return self.left_blinker_cnt > 0, self.right_blinker_cnt > 0
 
+  def update_steering_pressed(self, steering_pressed, steering_pressed_min_count):
+    """Applies filtering on steering pressed for noisy driver torque signals."""
+    self.steering_pressed_cnt += 1 if steering_pressed else -1
+    self.steering_pressed_cnt = clip(self.steering_pressed_cnt, 0, steering_pressed_min_count * 2)
+    return self.steering_pressed_cnt > steering_pressed_min_count
+
   def update_blinker_from_stalk(self, blinker_time: int, left_blinker_stalk: bool, right_blinker_stalk: bool):
     """Update blinkers from stalk position. When stalk is seen the blinker will be on for at least blinker_time,
     or until the stalk is turned off, whichever is longer. If the opposite stalk direction is seen the blinker
@@ -393,15 +402,15 @@ class CarStateBase(ABC):
       return GearShifter.unknown
 
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'PARK': GearShifter.park,
-        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
-        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
-        'E': GearShifter.eco, 'ECO': GearShifter.eco,
-        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
-        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
-        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
-        'L': GearShifter.low, 'LOW': GearShifter.low,
-        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
+      'P': GearShifter.park, 'PARK': GearShifter.park,
+      'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+      'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+      'E': GearShifter.eco, 'ECO': GearShifter.eco,
+      'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+      'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+      'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+      'L': GearShifter.low, 'LOW': GearShifter.low,
+      'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
     return d.get(gear.upper(), GearShifter.unknown)
 
@@ -432,7 +441,7 @@ def get_interface_attr(attr: str, combine_brands: bool = False, ignore_none: boo
   for car_folder in sorted([x[0] for x in os.walk(BASEDIR + '/selfdrive/car')]):
     try:
       brand_name = car_folder.split('/')[-1]
-      brand_values = __import__(f'selfdrive.car.{brand_name}.values', fromlist=[attr])
+      brand_values = __import__(f'openpilot.selfdrive.car.{brand_name}.values', fromlist=[attr])
       if hasattr(brand_values, attr) or not ignore_none:
         attr_data = getattr(brand_values, attr, None)
       else:
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index d9c658a14c..adbc598ea6 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -3,8 +3,8 @@ from collections import defaultdict
 from functools import partial
 
 import cereal.messaging as messaging
-from system.swaglog import cloudlog
-from selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
 from panda.python.uds import CanClient, IsoTpMessage, FUNCTIONAL_ADDRS, get_rx_addr_for_tx_addr
 
 
@@ -60,7 +60,7 @@ class IsoTpParallelQuery:
     return msgs
 
   def _drain_rx(self):
-    messaging.drain_sock(self.logcan)
+    messaging.drain_sock_raw(self.logcan)
     self.msg_buffer = defaultdict(list)
 
   def _create_isotp_msg(self, tx_addr, sub_addr, rx_addr):
@@ -90,39 +90,47 @@ class IsoTpParallelQuery:
       for addr in self.functional_addrs:
         self._create_isotp_msg(addr, None, -1).send(self.request[0])
 
-    # If querying functional addrs, set up physical IsoTpMessages to send consecutive frames
+    # Send first frame (single or first) to all addresses and receive asynchronously in the loop below.
+    # If querying functional addrs, only set up physical IsoTpMessages to send consecutive frames
     for msg in msgs.values():
       msg.send(self.request[0], setup_only=len(self.functional_addrs) > 0)
 
     results = {}
     start_time = time.monotonic()
+    addrs_responded = set()  # track addresses that have ever sent a valid iso-tp frame for timeout logging
     response_timeouts = {tx_addr: start_time + timeout for tx_addr in self.msg_addrs}
     while True:
       self.rx()
 
-      if all(request_done.values()):
-        break
-
       for tx_addr, msg in msgs.items():
         try:
-          dat, updated = msg.recv()
+          dat, rx_in_progress = msg.recv()
         except Exception:
           cloudlog.exception(f"Error processing UDS response: {tx_addr}")
           request_done[tx_addr] = True
           continue
 
-        if updated:
+        # Extend timeout for each consecutive ISO-TP frame to avoid timing out on long responses
+        if rx_in_progress:
+          addrs_responded.add(tx_addr)
           response_timeouts[tx_addr] = time.monotonic() + timeout
 
-        if not dat:
+        if dat is None:
+          continue
+
+        # Log unexpected empty responses
+        if len(dat) == 0:
+          cloudlog.error(f"iso-tp query empty response: {tx_addr}")
+          request_done[tx_addr] = True
           continue
 
         counter = request_counter[tx_addr]
         expected_response = self.response[counter]
-        response_valid = dat[:len(expected_response)] == expected_response
+        response_valid = dat.startswith(expected_response)
 
         if response_valid:
           if counter + 1 < len(self.request):
+            response_timeouts[tx_addr] = time.monotonic() + timeout
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
@@ -132,18 +140,27 @@ class IsoTpParallelQuery:
           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}")
+            cloudlog.error(f"iso-tp query response pending: {tx_addr}")
           else:
-            response_timeouts[tx_addr] = 0
             request_done[tx_addr] = True
             cloudlog.error(f"iso-tp query bad response: {tx_addr} - 0x{dat.hex()}")
 
+      # Mark request done if address timed out
       cur_time = time.monotonic()
-      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]:
-            cloudlog.error(f"iso-tp query timeout after receiving response: {tx_addr}")
+      for tx_addr in response_timeouts:
+        if cur_time - response_timeouts[tx_addr] > 0:
+          if not request_done[tx_addr]:
+            if request_counter[tx_addr] > 0:
+              cloudlog.error(f"iso-tp query timeout after receiving partial response: {tx_addr}")
+            elif tx_addr in addrs_responded:
+              cloudlog.error(f"iso-tp query timeout while receiving response: {tx_addr}")
+            # TODO: handle functional addresses
+            # else:
+            #   cloudlog.error(f"iso-tp query timeout with no response: {tx_addr}")
+          request_done[tx_addr] = True
+
+      # Break if all requests are done (finished or timed out)
+      if all(request_done.values()):
         break
 
       if cur_time - start_time > total_timeout:
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 2add59ccb0..320ad19bb4 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,8 +1,8 @@
 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 openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.mazda import mazdacan
+from openpilot.selfdrive.car.mazda.values import CarControllerParams, Buttons
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -15,7 +15,7 @@ class CarController:
     self.brake_counter = 0
     self.frame = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     can_sends = []
 
     apply_steer = 0
@@ -23,8 +23,8 @@ class CarController:
     if CC.latActive:
       # calculate steer and also set limits due to driver torque
       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)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last,
+                                                     CS.out.steeringTorque, CarControllerParams)
 
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
@@ -59,6 +59,7 @@ class CarController:
 
     new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/mazda/carstate.py b/selfdrive/car/mazda/carstate.py
index 944d79809b..1f7846ca06 100644
--- a/selfdrive/car/mazda/carstate.py
+++ b/selfdrive/car/mazda/carstate.py
@@ -1,9 +1,9 @@
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.mazda.values import DBC, LKAS_LIMITS, GEN1
 
 class CarState(CarStateBase):
   def __init__(self, CP):
@@ -38,8 +38,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
-    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
-    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
+    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
+    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
                                                                       cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
 
@@ -107,22 +107,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("LEFT_BLINK", "BLINK_INFO"),
-      ("RIGHT_BLINK", "BLINK_INFO"),
-      ("HIGH_BEAMS", "BLINK_INFO"),
-      ("STEER_ANGLE", "STEER"),
-      ("STEER_ANGLE_RATE", "STEER_RATE"),
-      ("STEER_TORQUE_SENSOR", "STEER_TORQUE"),
-      ("STEER_TORQUE_MOTOR", "STEER_TORQUE"),
-      ("FL", "WHEEL_SPEEDS"),
-      ("FR", "WHEEL_SPEEDS"),
-      ("RL", "WHEEL_SPEEDS"),
-      ("RR", "WHEEL_SPEEDS"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("BLINK_INFO", 10),
       ("STEER", 67),
@@ -132,30 +117,7 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in GEN1:
-      signals += [
-        ("LKAS_BLOCK", "STEER_RATE"),
-        ("LKAS_TRACK_STATE", "STEER_RATE"),
-        ("HANDS_OFF_5_SECONDS", "STEER_RATE"),
-        ("CRZ_ACTIVE", "CRZ_CTRL"),
-        ("CRZ_AVAILABLE", "CRZ_CTRL"),
-        ("CRZ_SPEED", "CRZ_EVENTS"),
-        ("STANDSTILL", "PEDALS"),
-        ("BRAKE_ON", "PEDALS"),
-        ("BRAKE_PRESSURE", "BRAKE"),
-        ("GEAR", "GEAR"),
-        ("DRIVER_SEATBELT", "SEATBELT"),
-        ("FL", "DOORS"),
-        ("FR", "DOORS"),
-        ("BL", "DOORS"),
-        ("BR", "DOORS"),
-        ("PEDAL_GAS", "ENGINE_DATA"),
-        ("SPEED", "ENGINE_DATA"),
-        ("CTR", "CRZ_BTNS"),
-        ("LEFT_BS1", "BSM"),
-        ("RIGHT_BS1", "BSM"),
-      ]
-
-      checks += [
+      messages += [
         ("ENGINE_DATA", 100),
         ("CRZ_CTRL", 50),
         ("CRZ_EVENTS", 50),
@@ -168,41 +130,17 @@ class CarState(CarStateBase):
         ("BSM", 10),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
     if CP.carFingerprint in GEN1:
-      signals += [
-        # sig_name, sig_address
-        ("LKAS_REQUEST", "CAM_LKAS"),
-        ("CTR", "CAM_LKAS"),
-        ("ERR_BIT_1", "CAM_LKAS"),
-        ("LINE_NOT_VISIBLE", "CAM_LKAS"),
-        ("BIT_1", "CAM_LKAS"),
-        ("ERR_BIT_2", "CAM_LKAS"),
-        ("STEERING_ANGLE", "CAM_LKAS"),
-        ("ANGLE_ENABLED", "CAM_LKAS"),
-        ("CHKSUM", "CAM_LKAS"),
-
-        ("LINE_VISIBLE", "CAM_LANEINFO"),
-        ("LINE_NOT_VISIBLE", "CAM_LANEINFO"),
-        ("LANE_LINES", "CAM_LANEINFO"),
-        ("BIT1", "CAM_LANEINFO"),
-        ("BIT2", "CAM_LANEINFO"),
-        ("BIT3", "CAM_LANEINFO"),
-        ("NO_ERR_BIT", "CAM_LANEINFO"),
-        ("S1", "CAM_LANEINFO"),
-        ("S1_HBEAM", "CAM_LANEINFO"),
-      ]
-
-      checks += [
+      messages += [
         # sig_address, frequency
         ("CAM_LANEINFO", 2),
         ("CAM_LKAS", 16),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index fdd2439ff9..7ac93d9dee 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car.mazda.values import CAR, LKAS_LIMITS
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.mazda.values import CAR, LKAS_LIMITS
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -11,33 +11,33 @@ EventName = car.CarEvent.EventName
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mazda"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.mazda)]
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     ret.dashcamOnly = candidate not in (CAR.CX5_2022, CAR.CX9_2021)
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.8
-    tire_stiffness_factor = 0.70   # not optimized yet
+    ret.tireStiffnessFactor = 0.70   # not optimized yet
 
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate in (CAR.CX5, CAR.CX5_2022):
-      ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3655 * CV.LB_TO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
     elif candidate in (CAR.CX9, CAR.CX9_2021):
-      ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 4217 * CV.LB_TO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
     elif candidate == CAR.MAZDA3:
-      ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 2875 * CV.LB_TO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 14.0
     elif candidate == CAR.MAZDA6:
-      ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.mass = 3443 * CV.LB_TO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.5
 
@@ -46,11 +46,6 @@ class CarInterface(CarInterfaceBase):
 
     ret.centerToFront = ret.wheelbase * 0.41
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
-
     return ret
 
   # returns a car.CarState
@@ -69,5 +64,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/mazda/mazdacan.py b/selfdrive/car/mazda/mazdacan.py
index e2ee93e022..e350c5587f 100644
--- a/selfdrive/car/mazda/mazdacan.py
+++ b/selfdrive/car/mazda/mazdacan.py
@@ -1,6 +1,4 @@
-import copy
-
-from selfdrive.car.mazda.values import GEN1, Buttons
+from openpilot.selfdrive.car.mazda.values import GEN1, Buttons
 
 
 def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
@@ -46,6 +44,7 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
 
   csum = csum % 256
 
+  values = {}
   if car_fingerprint in GEN1:
     values = {
       "LKAS_REQUEST": apply_steer,
@@ -64,7 +63,17 @@ def create_steering_control(packer, car_fingerprint, frame, apply_steer, lkas):
 
 
 def create_alert_command(packer, cam_msg: dict, ldw: bool, steer_required: bool):
-  values = copy.copy(cam_msg)
+  values = {s: cam_msg[s] for s in [
+    "LINE_VISIBLE",
+    "LINE_NOT_VISIBLE",
+    "LANE_LINES",
+    "BIT1",
+    "BIT2",
+    "BIT3",
+    "NO_ERR_BIT",
+    "S1",
+    "S1_HBEAM",
+  ]}
   values.update({
     # TODO: what's the difference between all these? do we need to send all?
     "HANDS_WARN_3_BITS": 0b111 if steer_required else 0,
diff --git a/selfdrive/car/mazda/radar_interface.py b/selfdrive/car/mazda/radar_interface.py
index b2f7651136..b461fcd5f8 100755
--- a/selfdrive/car/mazda/radar_interface.py
+++ b/selfdrive/car/mazda/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 129273efee..0230be2297 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -1,11 +1,10 @@
-from dataclasses import dataclass
-from enum import Enum
+from dataclasses import dataclass, field
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 
@@ -20,6 +19,10 @@ class CarControllerParams:
   STEER_DRIVER_MULTIPLIER = 1     # weight driver torque
   STEER_DRIVER_FACTOR = 1         # from dbc
   STEER_ERROR_MAX = 350           # max delta between torque cmd and torque motor
+  STEER_STEP = 1  # 100 Hz
+
+  def __init__(self, CP):
+    pass
 
 
 class CAR:
@@ -34,7 +37,7 @@ class CAR:
 @dataclass
 class MazdaCarInfo(CarInfo):
   package: str = "All"
-  harness: Enum = Harness.mazda
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.mazda]))
 
 
 CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
@@ -42,7 +45,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
   CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
   CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
   CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22", video_link="https://youtu.be/dA3duO4a0O4"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-23", video_link="https://youtu.be/dA3duO4a0O4"),
   CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022-23"),
 }
 
@@ -67,6 +70,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
     ),
+    # Log responses on powertrain bus
+    Request(
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
+      [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
+      bus=0,
+      logging=True,
+    ),
   ],
 )
 
@@ -78,6 +88,8 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX85-188K2-E\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',
       b'PXFG-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -90,10 +102,13 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-U\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYB2-21PS1-J\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',
+      b'PXDL-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXFG-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
@@ -175,6 +190,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PX23-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX24-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM4-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXN8-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXN8-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYD7-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -199,10 +215,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x706, None): [
       b'B61L-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'B61L-67XK2-V\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-J\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-K\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'TK80-67XK2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
     (Ecu.transmission, 0x7e1, None): [
+      b'PXM4-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM7-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYFM-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -254,11 +272,14 @@ FW_VERSIONS = {
   CAR.MAZDA6: {
     (Ecu.eps, 0x730, None): [
       b'GBEF-3210X-B-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBEF-3210X-C-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GFBC-3210X-A-00\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'PA34-188K2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PX4F-188K2-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PYH7-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -266,13 +287,16 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'GBVH-437K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GBVH-437K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GDDM-437K2-A\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'B61L-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'B61L-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\000\000\000\000\000\000\000\000\000\000\000\000',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'PA28-21PS1-A\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PYH3-21PS1-D\000\000\000\000\000\000\000\000\000\000\000\000',
       b'PYH7-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -283,9 +307,11 @@ FW_VERSIONS = {
       b'TC3M-3210X-A-00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
+      b'PXGW-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXGW-188K2-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -299,6 +325,7 @@ FW_VERSIONS = {
       b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-T\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/mock/interface.py b/selfdrive/car/mock/interface.py
index 3ac487dbb7..d36f972a87 100755
--- a/selfdrive/car/mock/interface.py
+++ b/selfdrive/car/mock/interface.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from system.swaglog import cloudlog
+from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from selfdrive.car import get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 # mocked car interface to work with chffrplus
@@ -19,15 +19,13 @@ class CarInterface(CarInterfaceBase):
     self.prev_speed = 0.
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
     ret.steerRatio = 13.  # reasonable
-    ret.tireStiffnessFront = 1e6    # very stiff to neglect slip
-    ret.tireStiffnessRear = 1e6     # very stiff to neglect slip
 
     return ret
 
@@ -57,7 +55,7 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
+  def apply(self, c, now_nanos):
     # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []
diff --git a/selfdrive/car/mock/radar_interface.py b/selfdrive/car/mock/radar_interface.py
index b2f7651136..b461fcd5f8 100755
--- a/selfdrive/car/mock/radar_interface.py
+++ b/selfdrive/car/mock/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/mock/values.py b/selfdrive/car/mock/values.py
index dfc7902e41..8426041b32 100644
--- a/selfdrive/car/mock/values.py
+++ b/selfdrive/car/mock/values.py
@@ -1,6 +1,6 @@
 from typing import Dict, List, Optional, Union
 
-from selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.docs_definitions import CarInfo
 
 
 class CAR:
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index dbc2b33c6b..2da518bbf1 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/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.nissan import nissancan
-from selfdrive.car.nissan.values import CAR, CarControllerParams
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.nissan import nissancan
+from openpilot.selfdrive.car.nissan.values import CAR, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -14,11 +14,11 @@ class CarController:
     self.frame = 0
 
     self.lkas_max_torque = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -26,20 +26,11 @@ class CarController:
     can_sends = []
 
     ### STEER ###
-    lkas_hud_msg = CS.lkas_hud_msg
-    lkas_hud_info_msg = CS.lkas_hud_info_msg
-    apply_angle = actuators.steeringAngleDeg
-
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
     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)
-      else:
-        angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_VU)
-
-      apply_angle = clip(apply_angle, self.last_angle - angle_rate_lim, self.last_angle + angle_rate_lim)
+      apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CarControllerParams)
 
       # Max torque from driver before EPS will give up and not apply torque
       if not bool(CS.out.steeringPressed):
@@ -57,7 +48,7 @@ class CarController:
       apply_angle = CS.out.steeringAngleDeg
       self.lkas_max_torque = 0
 
-    self.last_angle = apply_angle
+    self.apply_angle_last = apply_angle
 
     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))
@@ -70,16 +61,17 @@ class CarController:
       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, self.frame, CC.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.latActive, self.lkas_max_torque))
 
-    if lkas_hud_msg and lkas_hud_info_msg:
+    # Below are the HUD messages. We copy the stock message and modify
+    if self.CP.carFingerprint != CAR.ALTIMA:
       if self.frame % 2 == 0:
-        can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        can_sends.append(nissancan.create_lkas_hud_msg(self.packer, CS.lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                       hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
       if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
-          self.packer, lkas_hud_info_msg, steer_hud_alert
+          self.packer, CS.lkas_hud_info_msg, steer_hud_alert
         ))
 
     new_actuators = actuators.copy()
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index d6b6d17d55..b2ba9ce290 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -2,10 +2,10 @@ import copy
 from collections import deque
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.interfaces import CarStateBase
-from common.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
-from selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
+from openpilot.selfdrive.car.nissan.values import CAR, DBC, CarControllerParams
 
 TORQUE_SAMPLES = 12
 
@@ -14,8 +14,8 @@ class CarState(CarStateBase):
     super().__init__(CP)
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
-    self.lkas_hud_msg = None
-    self.lkas_hud_info_msg = None
+    self.lkas_hud_msg = {}
+    self.lkas_hud_info_msg = {}
 
     self.steeringTorqueSamples = deque(TORQUE_SAMPLES*[0], TORQUE_SAMPLES)
     self.shifter_values = can_define.dv["GEARBOX"]["GEAR_SHIFTER"]
@@ -119,29 +119,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS_FRONT"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS_FRONT"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS_REAR"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS_REAR"),
-
-      ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
-
-      ("DOOR_OPEN_FR", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_FL", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_RR", "DOORS_LIGHTS"),
-      ("DOOR_OPEN_RL", "DOORS_LIGHTS"),
-
-      ("RIGHT_BLINKER", "LIGHTS"),
-      ("LEFT_BLINKER", "LIGHTS"),
-
-      ("ESP_DISABLED", "ESP"),
-
-      ("GEAR_SHIFTER", "GEARBOX"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("STEER_ANGLE_SENSOR", 100),
       ("WHEEL_SPEEDS_REAR", 50),
@@ -153,50 +131,14 @@ class CarState(CarStateBase):
     ]
 
     if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA):
-      signals += [
-        ("USER_BRAKE_PRESSED", "DOORS_LIGHTS"),
-
-        ("GAS_PEDAL", "GAS_PEDAL"),
-        ("SEATBELT_DRIVER_LATCHED", "HUD"),
-        ("SPEED_MPH", "HUD"),
-
-        ("PROPILOT_BUTTON", "CRUISE_THROTTLE"),
-        ("CANCEL_BUTTON", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL_INVERTED", "CRUISE_THROTTLE"),
-        ("SET_BUTTON", "CRUISE_THROTTLE"),
-        ("RES_BUTTON", "CRUISE_THROTTLE"),
-        ("FOLLOW_DISTANCE_BUTTON", "CRUISE_THROTTLE"),
-        ("NO_BUTTON_PRESSED", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL", "CRUISE_THROTTLE"),
-        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
-        ("NEW_SIGNAL_2", "CRUISE_THROTTLE"),
-        ("GAS_PRESSED_INVERTED", "CRUISE_THROTTLE"),
-        ("unsure1", "CRUISE_THROTTLE"),
-        ("unsure2", "CRUISE_THROTTLE"),
-        ("unsure3", "CRUISE_THROTTLE"),
-      ]
-
-      checks += [
+      messages += [
         ("GAS_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("HUD", 25),
       ]
 
     elif CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC):
-      signals += [
-        ("USER_BRAKE_PRESSED", "CRUISE_THROTTLE"),
-        ("GAS_PEDAL", "CRUISE_THROTTLE"),
-        ("CRUISE_AVAILABLE", "CRUISE_THROTTLE"),
-        ("SPEED_MPH", "HUD_SETTINGS"),
-        ("SEATBELT_DRIVER_LATCHED", "SEATBELT"),
-
-        # Copy other values, we use this to cancel
-        ("CANCEL_SEATBELT", "CANCEL_MSG"),
-        ("NEW_SIGNAL_1", "CANCEL_MSG"),
-        ("NEW_SIGNAL_2", "CANCEL_MSG"),
-        ("NEW_SIGNAL_3", "CANCEL_MSG"),
-      ]
-      checks += [
+      messages += [
         ("BRAKE_PEDAL", 100),
         ("CRUISE_THROTTLE", 50),
         ("CANCEL_MSG", 50),
@@ -205,126 +147,28 @@ class CarState(CarStateBase):
       ]
 
     if CP.carFingerprint == CAR.ALTIMA:
-      signals += [
-        ("LKAS_ENABLED", "LKAS_SETTINGS"),
-        ("CRUISE_ENABLED", "CRUISE_STATE"),
-        ("SET_SPEED", "PROPILOT_HUD"),
-      ]
-      checks += [
+      messages += [
         ("CRUISE_STATE", 10),
         ("LKAS_SETTINGS", 10),
         ("PROPILOT_HUD", 50),
       ]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
 
-    signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
-    checks.append(("STEER_TORQUE_SENSOR", 100))
+    messages.append(("STEER_TORQUE_SENSOR", 100))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_adas_can_parser(CP):
     # this function generates lists for signal, messages and initial values
 
     if CP.carFingerprint == CAR.ALTIMA:
-      signals = [
-        ("DESIRED_ANGLE", "LKAS"),
-        ("SET_0x80_2", "LKAS"),
-        ("MAX_TORQUE", "LKAS"),
-        ("SET_0x80", "LKAS"),
-        ("COUNTER", "LKAS"),
-        ("LKA_ACTIVE", "LKAS"),
-
-        ("CRUISE_ON", "PRO_PILOT"),
-      ]
-      checks = [
+      messages = [
         ("LKAS", 100),
         ("PRO_PILOT", 100),
       ]
     else:
-      signals = [
-        # sig_name, sig_address
-        ("LKAS_ENABLED", "LKAS_SETTINGS"),
-
-        ("CRUISE_ENABLED", "CRUISE_STATE"),
-
-        ("DESIRED_ANGLE", "LKAS"),
-        ("SET_0x80_2", "LKAS"),
-        ("MAX_TORQUE", "LKAS"),
-        ("SET_0x80", "LKAS"),
-        ("COUNTER", "LKAS"),
-        ("LKA_ACTIVE", "LKAS"),
-
-        # Below are the HUD messages. We copy the stock message and modify
-        ("LARGE_WARNING_FLASHING", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING1", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING2", "PROPILOT_HUD"),
-        ("LEAD_CAR", "PROPILOT_HUD"),
-        ("LEAD_CAR_ERROR", "PROPILOT_HUD"),
-        ("FRONT_RADAR_ERROR", "PROPILOT_HUD"),
-        ("FRONT_RADAR_ERROR_FLASHING", "PROPILOT_HUD"),
-        ("SIDE_RADAR_ERROR_FLASHING3", "PROPILOT_HUD"),
-        ("LKAS_ERROR_FLASHING", "PROPILOT_HUD"),
-        ("SAFETY_SHIELD_ACTIVE", "PROPILOT_HUD"),
-        ("RIGHT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
-        ("LEFT_LANE_GREEN_FLASH", "PROPILOT_HUD"),
-        ("FOLLOW_DISTANCE", "PROPILOT_HUD"),
-        ("AUDIBLE_TONE", "PROPILOT_HUD"),
-        ("SPEED_SET_ICON", "PROPILOT_HUD"),
-        ("SMALL_STEERING_WHEEL_ICON", "PROPILOT_HUD"),
-        ("unknown59", "PROPILOT_HUD"),
-        ("unknown55", "PROPILOT_HUD"),
-        ("unknown26", "PROPILOT_HUD"),
-        ("unknown28", "PROPILOT_HUD"),
-        ("unknown31", "PROPILOT_HUD"),
-        ("SET_SPEED", "PROPILOT_HUD"),
-        ("unknown43", "PROPILOT_HUD"),
-        ("unknown08", "PROPILOT_HUD"),
-        ("unknown05", "PROPILOT_HUD"),
-        ("unknown02", "PROPILOT_HUD"),
-
-        ("NA_HIGH_ACCEL_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("LKAS_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_RADAR_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_NA_CLEAN_REAR_CAMERA", "PROPILOT_HUD_INFO_MSG"),
-        ("NA_POOR_ROAD_CONDITIONS", "PROPILOT_HUD_INFO_MSG"),
-        ("CURRENTLY_UNAVAILABLE", "PROPILOT_HUD_INFO_MSG"),
-        ("SAFETY_SHIELD_OFF", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_NA_RADAR_OBSTRUCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_DO_NOT_ENTER", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_SYSTEM_OFF", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_IMPACT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_COLLISION_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("SIDE_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("LKAS_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("FRONT_RADAR_MALFUNCTION2", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_MSGS", "PROPILOT_HUD_INFO_MSG"),
-        ("BOTTOM_MSG", "PROPILOT_HUD_INFO_MSG"),
-        ("HANDS_ON_WHEEL_WARNING", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_STEP_ON_BRAKE_NOW", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED", "PROPILOT_HUD_INFO_MSG"),
-        ("PROPILOT_NA_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("WARNING_PROPILOT_MALFUNCTION", "PROPILOT_HUD_INFO_MSG"),
-        ("ACC_UNAVAILABLE_HIGH_CABIN_TEMP", "PROPILOT_HUD_INFO_MSG"),
-        ("ACC_NA_FRONT_CAMERA_IMPARED", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown07", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown10", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown15", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown23", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown19", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown31", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown32", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown46", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown61", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown55", "PROPILOT_HUD_INFO_MSG"),
-        ("unknown50", "PROPILOT_HUD_INFO_MSG"),
-      ]
-
-      checks = [
+      messages = [
         ("PROPILOT_HUD_INFO_MSG", 2),
         ("LKAS_SETTINGS", 10),
         ("CRUISE_STATE", 50),
@@ -332,19 +176,16 @@ class CarState(CarStateBase):
         ("LKAS", 100),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
     if CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL):
-      signals.append(("CRUISE_ON", "PRO_PILOT"))
-      checks.append(("PRO_PILOT", 100))
+      messages.append(("PRO_PILOT", 100))
     elif CP.carFingerprint == CAR.ALTIMA:
-      signals.append(("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"))
-      checks.append(("STEER_TORQUE_SENSOR", 100))
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+      messages.append(("STEER_TORQUE_SENSOR", 100))
+      return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 1)
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 386e859089..3d6b6cb70c 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.nissan.values import CAR
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.nissan.values import CAR
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "nissan"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.nissan)]
     ret.autoResumeSng = False
@@ -19,20 +19,20 @@ class CarInterface(CarInterfaceBase):
     ret.steerRatio = 17
 
     ret.steerControlType = car.CarParams.SteerControlType.angle
-    ret.radarOffCan = True
+    ret.radarUnavailable = True
 
     if candidate in (CAR.ROGUE, CAR.XTRAIL):
-      ret.mass = 1610 + STD_CARGO_KG
+      ret.mass = 1610
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate in (CAR.LEAF, CAR.LEAF_IC):
-      ret.mass = 1610 + STD_CARGO_KG
+      ret.mass = 1610
       ret.wheelbase = 2.705
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
-      ret.mass = 1492 + STD_CARGO_KG
+      ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44
 
@@ -47,7 +47,7 @@ class CarInterface(CarInterfaceBase):
     be.type = car.CarState.ButtonEvent.Type.accelCruise
     buttonEvents.append(be)
 
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.brake])
 
     if self.CS.lkas_enabled:
       events.add(car.CarEvent.EventName.invalidLkasSetting)
@@ -56,5 +56,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index 01fb3463a9..49dcd6fe93 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -1,6 +1,5 @@
-import copy
 import crcmod
-from selfdrive.car.nissan.values import CAR
+from openpilot.selfdrive.car.nissan.values import CAR
 
 # TODO: add this checksum to the CANPacker
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
@@ -23,7 +22,23 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
 
 
 def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
-  values = copy.copy(cruise_throttle_msg)
+  values = {s: cruise_throttle_msg[s] for s in [
+    "COUNTER",
+    "PROPILOT_BUTTON",
+    "CANCEL_BUTTON",
+    "GAS_PEDAL_INVERTED",
+    "SET_BUTTON",
+    "RES_BUTTON",
+    "FOLLOW_DISTANCE_BUTTON",
+    "NO_BUTTON_PRESSED",
+    "GAS_PEDAL",
+    "USER_BRAKE_PRESSED",
+    "NEW_SIGNAL_2",
+    "GAS_PRESSED_INVERTED",
+    "unsure1",
+    "unsure2",
+    "unsure3",
+  ]}
   can_bus = 1 if car_fingerprint == CAR.ALTIMA else 2
 
   values["CANCEL_BUTTON"] = 1
@@ -37,7 +52,12 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
 
 
 def create_cancel_msg(packer, cancel_msg, cruise_cancel):
-  values = copy.copy(cancel_msg)
+  values = {s: cancel_msg[s] for s in [
+    "CANCEL_SEATBELT",
+    "NEW_SIGNAL_1",
+    "NEW_SIGNAL_2",
+    "NEW_SIGNAL_3",
+  ]}
 
   if cruise_cancel:
     values["CANCEL_SEATBELT"] = 1
@@ -46,7 +66,34 @@ def create_cancel_msg(packer, cancel_msg, cruise_cancel):
 
 
 def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, left_lane_depart, right_lane_depart):
-  values = lkas_hud_msg
+  values = {s: lkas_hud_msg[s] for s in [
+    "LARGE_WARNING_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING1",
+    "SIDE_RADAR_ERROR_FLASHING2",
+    "LEAD_CAR",
+    "LEAD_CAR_ERROR",
+    "FRONT_RADAR_ERROR",
+    "FRONT_RADAR_ERROR_FLASHING",
+    "SIDE_RADAR_ERROR_FLASHING3",
+    "LKAS_ERROR_FLASHING",
+    "SAFETY_SHIELD_ACTIVE",
+    "RIGHT_LANE_GREEN_FLASH",
+    "LEFT_LANE_GREEN_FLASH",
+    "FOLLOW_DISTANCE",
+    "AUDIBLE_TONE",
+    "SPEED_SET_ICON",
+    "SMALL_STEERING_WHEEL_ICON",
+    "unknown59",
+    "unknown55",
+    "unknown26",
+    "unknown28",
+    "unknown31",
+    "SET_SPEED",
+    "unknown43",
+    "unknown08",
+    "unknown05",
+    "unknown02",
+  ]}
 
   values["RIGHT_LANE_YELLOW_FLASH"] = 1 if right_lane_depart else 0
   values["LEFT_LANE_YELLOW_FLASH"] = 1 if left_lane_depart else 0
@@ -59,7 +106,47 @@ def create_lkas_hud_msg(packer, lkas_hud_msg, enabled, left_line, right_line, le
 
 
 def create_lkas_hud_info_msg(packer, lkas_hud_info_msg, steer_hud_alert):
-  values = lkas_hud_info_msg
+  values = {s: lkas_hud_info_msg[s] for s in [
+    "NA_HIGH_ACCEL_TEMP",
+    "SIDE_RADAR_NA_HIGH_CABIN_TEMP",
+    "SIDE_RADAR_MALFUNCTION",
+    "LKAS_MALFUNCTION",
+    "FRONT_RADAR_MALFUNCTION",
+    "SIDE_RADAR_NA_CLEAN_REAR_CAMERA",
+    "NA_POOR_ROAD_CONDITIONS",
+    "CURRENTLY_UNAVAILABLE",
+    "SAFETY_SHIELD_OFF",
+    "FRONT_COLLISION_NA_FRONT_RADAR_OBSTRUCTION",
+    "PEDAL_MISSAPPLICATION_SYSTEM_ACTIVATED",
+    "SIDE_IMPACT_NA_RADAR_OBSTRUCTION",
+    "WARNING_DO_NOT_ENTER",
+    "SIDE_IMPACT_SYSTEM_OFF",
+    "SIDE_IMPACT_MALFUNCTION",
+    "FRONT_COLLISION_MALFUNCTION",
+    "SIDE_RADAR_MALFUNCTION2",
+    "LKAS_MALFUNCTION2",
+    "FRONT_RADAR_MALFUNCTION2",
+    "PROPILOT_NA_MSGS",
+    "BOTTOM_MSG",
+    "HANDS_ON_WHEEL_WARNING",
+    "WARNING_STEP_ON_BRAKE_NOW",
+    "PROPILOT_NA_FRONT_CAMERA_OBSTRUCTED",
+    "PROPILOT_NA_HIGH_CABIN_TEMP",
+    "WARNING_PROPILOT_MALFUNCTION",
+    "ACC_UNAVAILABLE_HIGH_CABIN_TEMP",
+    "ACC_NA_FRONT_CAMERA_IMPARED",
+    "unknown07",
+    "unknown10",
+    "unknown15",
+    "unknown23",
+    "unknown19",
+    "unknown31",
+    "unknown32",
+    "unknown46",
+    "unknown61",
+    "unknown55",
+    "unknown50",
+  ]}
 
   if steer_hud_alert:
     values["HANDS_ON_WHEEL_WARNING"] = 1
diff --git a/selfdrive/car/nissan/radar_interface.py b/selfdrive/car/nissan/radar_interface.py
index b2f7651136..b461fcd5f8 100644
--- a/selfdrive/car/nissan/radar_interface.py
+++ b/selfdrive/car/nissan/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 09bd7ca838..979e09eb66 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -1,23 +1,25 @@
-from dataclasses import dataclass
+# ruff: noqa: E501
+from dataclasses import dataclass, field
 from typing import Dict, List, Optional, Union
-from enum import Enum
 
 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarInfo, CarHarness, CarParts
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 
 
 class CarControllerParams:
-  ANGLE_DELTA_BP = [0., 5., 15.]
-  ANGLE_DELTA_V = [5., .8, .15]     # windup limit
-  ANGLE_DELTA_VU = [5., 3.5, 0.4]   # unwind limit
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., .8, .15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[5., 3.5, 0.4])
   LKAS_MAX_TORQUE = 1               # A value of 1 is easy to overpower
   STEER_THRESHOLD = 1.0
 
+  def __init__(self, CP):
+    pass
+
 
 class CAR:
   XTRAIL = "NISSAN X-TRAIL 2017"
@@ -32,15 +34,15 @@ class CAR:
 @dataclass
 class NissanCarInfo(CarInfo):
   package: str = "ProPILOT Assist"
-  harness: Enum = Harness.nissan_a
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.nissan_a]))
 
 
 CAR_INFO: Dict[str, Optional[Union[NissanCarInfo, List[NissanCarInfo]]]] = {
   CAR.XTRAIL: NissanCarInfo("Nissan X-Trail 2017"),
-  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-22"),
+  CAR.LEAF: NissanCarInfo("Nissan Leaf 2018-23", video_link="https://youtu.be/vaMbtAh_0cY"),
   CAR.LEAF_IC: None,  # same platforms
   CAR.ROGUE: NissanCarInfo("Nissan Rogue 2018-20"),
-  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", harness=Harness.nissan_b),
+  CAR.ALTIMA: NissanCarInfo("Nissan Altima 2019-20", car_parts=CarParts.common([CarHarness.nissan_b])),
 }
 
 FINGERPRINTS = {
@@ -78,8 +80,13 @@ FINGERPRINTS = {
   ]
 }
 
-NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
+# Default diagnostic session
+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0x81])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0x81])
+
+# Manufacturer specific
+NISSAN_DIAGNOSTIC_REQUEST_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xda])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP_2 = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xda])
 
 NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
 NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
@@ -97,6 +104,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
       rx_offset=NISSAN_RX_OFFSET,
     ),
+    # Rogue's engine solely responds to this
+    Request(
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP_2, NISSAN_VERSION_REQUEST_KWP],
+      [NISSAN_DIAGNOSTIC_RESPONSE_KWP_2, NISSAN_VERSION_RESPONSE_KWP],
+    ),
     Request(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
@@ -119,23 +131,41 @@ FW_VERSIONS = {
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U29HE0A',
     ],
+  },
+    CAR.LEAF: {
+    (Ecu.abs, 0x740, None): [
+      b'476606WK9B',
+    ],
+    (Ecu.eps, 0x742, None): [
+      b'5SN2A\xb7A\x05\x02N126F\x15\xb2\x00\x00\x00\x00\x00\x00\x00\x80',
+    ],
+    (Ecu.fwdCamera, 0x707, None): [
+      b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80',
+    ],
+    (Ecu.gateway, 0x18dad0f1, None): [
+      b'284U26WK0C',
+    ],
   },
   CAR.LEAF_IC: {
     (Ecu.fwdCamera, 0x707, None): [
       b'5SH1BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
       b'5SK0ADB\x04\x18\x00\x00\x00\x00\x00_(5\x07\x9aQ\x00\x00\x00\x80',
+      b'5SH4BDB\x04\x18\x00\x00\x00\x00\x00_-?\x04\x91\xf2\x00\x00\x00\x80',
     ],
     (Ecu.abs, 0x740, None): [
       b'476605SH1D',
       b'476605SK2A',
+      b'476605SD2E',
     ],
     (Ecu.eps, 0x742, None): [
       b'5SH2A\x99A\x05\x02N123F\x15\x81\x00\x00\x00\x00\x00\x00\x00\x80',
       b'5SK3A\x99A\x05\x02N123F\x15u\x00\x00\x00\x00\x00\x00\x00\x80',
+      b'5SH2C\xb7A\x05\x02N123F\x15\xa3\x00\x00\x00\x00\x00\x00\x00\x80',
     ],
     (Ecu.gateway, 0x18dad0f1, None): [
       b'284U25SH3A',
       b'284U25SK2D',
+      b'284U25SF0C',
     ],
   },
   CAR.XTRAIL: {
@@ -163,9 +193,9 @@ FW_VERSIONS = {
 }
 
 DBC = {
-  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017', None),
-  CAR.LEAF: dbc_dict('nissan_leaf_2018', None),
-  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018', None),
-  CAR.ROGUE: dbc_dict('nissan_x_trail_2017', None),
-  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017', None),
+  CAR.XTRAIL: dbc_dict('nissan_x_trail_2017_generated', None),
+  CAR.LEAF: dbc_dict('nissan_leaf_2018_generated', None),
+  CAR.LEAF_IC: dbc_dict('nissan_leaf_2018_generated', None),
+  CAR.ROGUE: dbc_dict('nissan_x_trail_2017_generated', None),
+  CAR.ALTIMA: dbc_dict('nissan_x_trail_2017_generated', None),
 }
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index b5429daef2..6de5bf89e2 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,7 +1,8 @@
+from openpilot.common.numpy_fast import clip, interp
 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, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.subaru import subarucan
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
 
 
 class CarController:
@@ -10,16 +11,12 @@ class CarController:
     self.apply_steer_last = 0
     self.frame = 0
 
-    self.es_lkas_cnt = -1
-    self.es_distance_cnt = -1
-    self.es_dashstatus_cnt = -1
     self.cruise_button_prev = 0
-    self.last_cancel_frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
@@ -28,29 +25,42 @@ class CarController:
 
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
-
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
       # limits due to driver torque
 
       new_steer = int(round(apply_steer))
-      apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
+      apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
 
       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))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
 
       self.apply_steer_last = apply_steer
 
+    # *** longitudinal ***
 
-    # *** alerts and pcm cancel ***
+    if CC.longActive:
+      apply_throttle = int(round(interp(actuators.accel, CarControllerParams.THROTTLE_LOOKUP_BP, CarControllerParams.THROTTLE_LOOKUP_V)))
+      apply_rpm = int(round(interp(actuators.accel, CarControllerParams.RPM_LOOKUP_BP, CarControllerParams.RPM_LOOKUP_V)))
+      apply_brake = int(round(interp(actuators.accel, CarControllerParams.BRAKE_LOOKUP_BP, CarControllerParams.BRAKE_LOOKUP_V)))
 
+      # limit min and max values
+      cruise_throttle = clip(apply_throttle, CarControllerParams.THROTTLE_MIN, CarControllerParams.THROTTLE_MAX)
+      cruise_rpm = clip(apply_rpm, CarControllerParams.RPM_MIN, CarControllerParams.RPM_MAX)
+      cruise_brake = clip(apply_brake, CarControllerParams.BRAKE_MIN, CarControllerParams.BRAKE_MAX)
+    else:
+      cruise_throttle = CarControllerParams.THROTTLE_INACTIVE
+      cruise_rpm = CarControllerParams.RPM_MIN
+      cruise_brake = CarControllerParams.BRAKE_MIN
+
+    # *** alerts and pcm cancel ***
     if self.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
+      if self.frame % 5 == 0:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
@@ -67,26 +77,36 @@ class CarController:
         self.cruise_button_prev = cruise_button
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
-        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
-        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
-        self.last_cancel_frame = self.frame
+      if self.frame % 10 == 0:
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+                                                        CC.longActive, hud_control.leadVisible))
 
-      if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
-        self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
-        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"]
+        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
+
+      if self.CP.openpilotLongitudinalControl:
+        if self.frame % 5 == 0:
+          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+
+          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+
+          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+                                                        self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
+      else:
+        if pcm_cancel_cmd:
+          if self.CP.carFingerprint not in HYBRID_CARS:
+            bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index ba873c48d7..ff203f387d 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/selfdrive/car/subaru/carstate.py
@@ -1,10 +1,11 @@
 import copy
 from cereal import car
 from opendbc.can.can_define import CANDefine
-from common.conversions import Conversions as CV
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from openpilot.selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, SubaruFlags
+from openpilot.selfdrive.car import CanSignalRateCalculator
 
 
 class CarState(CarStateBase):
@@ -13,10 +14,14 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
+    self.angle_rate_calulator = CanSignalRateCalculator(50)
+
   def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
-    ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
+    throttle_msg = cp.vl["Throttle"] if self.car_fingerprint not in HYBRID_CARS else cp_body.vl["Throttle_Hybrid"]
+    ret.gas = throttle_msg["Throttle_Pedal"] / 255.
+
     ret.gasPressed = ret.gas > 1e-5
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
@@ -43,10 +48,16 @@ class CarState(CarStateBase):
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSD_RCTA"]["R_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["R_APPROACHING"] == 1)
 
-    can_gear = int(cp.vl["Transmission"]["Gear"])
+    cp_transmission = cp_body if self.car_fingerprint in HYBRID_CARS else cp
+    can_gear = int(cp_transmission.vl["Transmission"]["Gear"])
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
+
+    if self.car_fingerprint not in PREGLOBAL_CARS:
+      # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, cp.vl["Steering_Torque"]["COUNTER"])
+
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
     ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
 
@@ -54,8 +65,12 @@ class CarState(CarStateBase):
     ret.steeringPressed = abs(ret.steeringTorque) > steer_threshold
 
     cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
-    ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
-    ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
+    if self.car_fingerprint in HYBRID_CARS:
+      ret.cruiseState.enabled = cp_cam.vl["ES_DashStatus"]['Cruise_Activated'] != 0
+      ret.cruiseState.available = cp_cam.vl["ES_DashStatus"]['Cruise_On'] != 0
+    else:
+      ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
+      ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
     if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
@@ -69,6 +84,7 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
+    cp_es_distance = cp_body if self.car_fingerprint in (GLOBAL_GEN2 | HYBRID_CARS) else cp_cam
     if self.car_fingerprint in PREGLOBAL_CARS:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -76,239 +92,140 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
-      self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
+                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
+
+      self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
+      cp_es_brake = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+      self.es_brake_msg = copy.copy(cp_es_brake.vl["ES_Brake"])
+      cp_es_status = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
+
+      # TODO: Hybrid cars don't have ES_Distance, need a replacement
+      if self.car_fingerprint not in HYBRID_CARS:
+        # 8 is known AEB, there are a few other values related to AEB we ignore
+        ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
+                       (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
+
+        self.es_status_msg = copy.copy(cp_es_status.vl["ES_Status"])
+        self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])
+
+    if self.car_fingerprint not in HYBRID_CARS:
+      self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
 
-    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
-    self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
+    if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+      self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
     return ret
 
   @staticmethod
-  def get_common_global_signals():
-    signals = [
-      ("Cruise_On", "CruiseControl"),
-      ("Cruise_Activated", "CruiseControl"),
-      ("FL", "Wheel_Speeds"),
-      ("FR", "Wheel_Speeds"),
-      ("RL", "Wheel_Speeds"),
-      ("RR", "Wheel_Speeds"),
-      ("Brake", "Brake_Status"),
-    ]
-    checks = [
-      ("CruiseControl", 20),
+  def get_common_global_body_messages(CP):
+    messages = [
       ("Wheel_Speeds", 50),
       ("Brake_Status", 50),
     ]
 
-    return signals, checks
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages.append(("CruiseControl", 20))
+
+    return messages
 
   @staticmethod
-  def get_global_es_distance_signals():
-    signals = [
-      ("COUNTER", "ES_Distance"),
-      ("Signal1", "ES_Distance"),
-      ("Cruise_Fault", "ES_Distance"),
-      ("Cruise_Throttle", "ES_Distance"),
-      ("Signal2", "ES_Distance"),
-      ("Car_Follow", "ES_Distance"),
-      ("Signal3", "ES_Distance"),
-      ("Cruise_Soft_Disable", "ES_Distance"),
-      ("Signal7", "ES_Distance"),
-      ("Cruise_Brake_Active", "ES_Distance"),
-      ("Distance_Swap", "ES_Distance"),
-      ("Cruise_EPB", "ES_Distance"),
-      ("Signal4", "ES_Distance"),
-      ("Close_Distance", "ES_Distance"),
-      ("Signal5", "ES_Distance"),
-      ("Cruise_Cancel", "ES_Distance"),
-      ("Cruise_Set", "ES_Distance"),
-      ("Cruise_Resume", "ES_Distance"),
-      ("Signal6", "ES_Distance"),
-    ]
-    checks = [
-      ("ES_Distance", 20),
+  def get_common_global_es_messages(CP):
+    messages = [
+      ("ES_Brake", 20),
     ]
 
-    return signals, checks
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages += [
+        ("ES_Distance", 20),
+        ("ES_Status", 20)
+      ]
+
+    return messages
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("Steer_Torque_Sensor", "Steering_Torque"),
-      ("Steer_Torque_Output", "Steering_Torque"),
-      ("Steering_Angle", "Steering_Torque"),
-      ("Steer_Error_1", "Steering_Torque"),
-      ("Brake_Pedal", "Brake_Pedal"),
-      ("Throttle_Pedal", "Throttle"),
-      ("LEFT_BLINKER", "Dashlights"),
-      ("RIGHT_BLINKER", "Dashlights"),
-      ("SEATBELT_FL", "Dashlights"),
-      ("DOOR_OPEN_FR", "BodyInfo"),
-      ("DOOR_OPEN_FL", "BodyInfo"),
-      ("DOOR_OPEN_RR", "BodyInfo"),
-      ("DOOR_OPEN_RL", "BodyInfo"),
-      ("Gear", "Transmission"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
-      ("Throttle", 100),
       ("Dashlights", 10),
-      ("Brake_Pedal", 50),
-      ("Transmission", 100),
       ("Steering_Torque", 50),
       ("BodyInfo", 1),
+      ("Brake_Pedal", 50),
     ]
 
-    if CP.enableBsm:
-      signals += [
-        ("L_ADJACENT", "BSD_RCTA"),
-        ("R_ADJACENT", "BSD_RCTA"),
-        ("L_APPROACHING", "BSD_RCTA"),
-        ("R_APPROACHING", "BSD_RCTA"),
+    if CP.carFingerprint not in HYBRID_CARS:
+      messages += [
+        ("Throttle", 100),
+        ("Transmission", 100)
       ]
-      checks.append(("BSD_RCTA", 17))
+
+    if CP.enableBsm:
+      messages.append(("BSD_RCTA", 17))
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_common_global_signals()[0]
-        checks += CarState.get_common_global_signals()[1]
+        messages += CarState.get_common_global_body_messages(CP)
 
-      signals += [
-        ("Steer_Warning", "Steering_Torque"),
-        ("UNITS", "Dashlights"),
-      ]
-
-      checks += [
+      messages += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
       ]
     else:
-      signals += [
-        ("FL", "Wheel_Speeds"),
-        ("FR", "Wheel_Speeds"),
-        ("RL", "Wheel_Speeds"),
-        ("RR", "Wheel_Speeds"),
-        ("UNITS", "Dash_State2"),
-        ("Cruise_On", "CruiseControl"),
-        ("Cruise_Activated", "CruiseControl"),
-      ]
-      checks += [
+      messages += [
         ("Wheel_Speeds", 50),
         ("Dash_State2", 1),
       ]
 
       if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
-        checks += [
+        messages += [
           ("Dashlights", 20),
           ("BodyInfo", 1),
           ("CruiseControl", 50),
         ]
 
       if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
-        checks += [
+        messages += [
           ("Dashlights", 10),
           ("CruiseControl", 50),
         ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.main)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in PREGLOBAL_CARS:
-      signals = [
-        ("Cruise_Set_Speed", "ES_DashStatus"),
-        ("Not_Ready_Startup", "ES_DashStatus"),
-
-        ("Cruise_Throttle", "ES_Distance"),
-        ("Signal1", "ES_Distance"),
-        ("Car_Follow", "ES_Distance"),
-        ("Signal2", "ES_Distance"),
-        ("Brake_On", "ES_Distance"),
-        ("Distance_Swap", "ES_Distance"),
-        ("Standstill", "ES_Distance"),
-        ("Signal3", "ES_Distance"),
-        ("Close_Distance", "ES_Distance"),
-        ("Signal4", "ES_Distance"),
-        ("Standstill_2", "ES_Distance"),
-        ("Cruise_Fault", "ES_Distance"),
-        ("Signal5", "ES_Distance"),
-        ("COUNTER", "ES_Distance"),
-        ("Signal6", "ES_Distance"),
-        ("Cruise_Button", "ES_Distance"),
-        ("Signal7", "ES_Distance"),
-      ]
-
-      checks = [
+      messages = [
         ("ES_DashStatus", 20),
         ("ES_Distance", 20),
       ]
     else:
-      signals = [
-        ("Counter", "ES_DashStatus"),
-        ("PCB_Off", "ES_DashStatus"),
-        ("LDW_Off", "ES_DashStatus"),
-        ("Signal1", "ES_DashStatus"),
-        ("Cruise_State_Msg", "ES_DashStatus"),
-        ("LKAS_State_Msg", "ES_DashStatus"),
-        ("Signal2", "ES_DashStatus"),
-        ("Cruise_Soft_Disable", "ES_DashStatus"),
-        ("EyeSight_Status_Msg", "ES_DashStatus"),
-        ("Signal3", "ES_DashStatus"),
-        ("Cruise_Distance", "ES_DashStatus"),
-        ("Signal4", "ES_DashStatus"),
-        ("Conventional_Cruise", "ES_DashStatus"),
-        ("Signal5", "ES_DashStatus"),
-        ("Cruise_Disengaged", "ES_DashStatus"),
-        ("Cruise_Activated", "ES_DashStatus"),
-        ("Signal6", "ES_DashStatus"),
-        ("Cruise_Set_Speed", "ES_DashStatus"),
-        ("Cruise_Fault", "ES_DashStatus"),
-        ("Cruise_On", "ES_DashStatus"),
-        ("Display_Own_Car", "ES_DashStatus"),
-        ("Brake_Lights", "ES_DashStatus"),
-        ("Car_Follow", "ES_DashStatus"),
-        ("Signal7", "ES_DashStatus"),
-        ("Far_Distance", "ES_DashStatus"),
-        ("Cruise_State", "ES_DashStatus"),
-
-        ("COUNTER", "ES_LKAS_State"),
-        ("LKAS_Alert_Msg", "ES_LKAS_State"),
-        ("Signal1", "ES_LKAS_State"),
-        ("LKAS_ACTIVE", "ES_LKAS_State"),
-        ("LKAS_Dash_State", "ES_LKAS_State"),
-        ("Signal2", "ES_LKAS_State"),
-        ("Backward_Speed_Limit_Menu", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Enable", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Light_Blink", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Enable", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Light_Blink", "ES_LKAS_State"),
-        ("LKAS_Left_Line_Visible", "ES_LKAS_State"),
-        ("LKAS_Right_Line_Visible", "ES_LKAS_State"),
-        ("LKAS_Alert", "ES_LKAS_State"),
-        ("Signal3", "ES_LKAS_State"),
-      ]
-
-      checks = [
+      messages = [
         ("ES_DashStatus", 10),
         ("ES_LKAS_State", 10),
       ]
 
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_global_es_distance_signals()[0]
-        checks += CarState.get_global_es_distance_signals()[1]
+        messages += CarState.get_common_global_es_messages(CP)
+
+      if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
+        messages.append(("ES_Infotainment", 10))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.camera)
 
   @staticmethod
   def get_body_can_parser(CP):
+    messages = []
+
     if CP.carFingerprint in GLOBAL_GEN2:
-      signals, checks = CarState.get_common_global_signals()
-      signals += CarState.get_global_es_distance_signals()[0]
-      checks += CarState.get_global_es_distance_signals()[1]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+      messages += CarState.get_common_global_body_messages(CP)
+      messages += CarState.get_common_global_es_messages(CP)
+
+    if CP.carFingerprint in HYBRID_CARS:
+      messages += [
+        ("Throttle_Hybrid", 40),
+        ("Transmission", 100)
+      ]
+
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CanBus.alt)
 
-    return None
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 22468801ec..d9f3c5f41d 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,23 +1,31 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.subaru.values import CAR, LKAS_ANGLE, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, SubaruFlags
 
 
 class CarInterface(CarInterfaceBase):
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "subaru"
-    ret.radarOffCan = True
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
+    ret.radarUnavailable = True
+    # for HYBRID CARS to be upstreamed, we need:
+    # - replacement for ES_Distance so we can cancel the cruise control
+    # - to find the Cruise_Activated bit from the car
+    # - proper panda safety setup (use the correct cruise_activated bit, throttle from Throttle_Hybrid, etc)
+    ret.dashcamOnly = candidate in (PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
     ret.autoResumeSng = False
 
+    # Detect infotainment message sent from the camera
+    if candidate not in PREGLOBAL_CARS and 0x323 in fingerprint[2]:
+      ret.flags |= SubaruFlags.SEND_INFOTAINMENT.value
+
     if candidate in PREGLOBAL_CARS:
       ret.enableBsm = 0x25c in fingerprint[0]
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruPreglobal)]
     else:
       ret.enableBsm = 0x228 in fingerprint[0]
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
@@ -26,10 +34,14 @@ class CarInterface(CarInterfaceBase):
 
     ret.steerLimitTimer = 0.4
     ret.steerActuatorDelay = 0.1
-    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    if candidate in LKAS_ANGLE:
+      ret.steerControlType = car.CarParams.SteerControlType.angle
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
-      ret.mass = 2031. + STD_CARGO_KG
+      ret.mass = 2031.
       ret.wheelbase = 2.89
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 13.5
@@ -40,7 +52,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
     elif candidate == CAR.IMPREZA:
-      ret.mass = 1568. + STD_CARGO_KG
+      ret.mass = 1568.
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
@@ -51,7 +63,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
     elif candidate == CAR.IMPREZA_2020:
-      ret.mass = 1480. + STD_CARGO_KG
+      ret.mass = 1480.
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
@@ -60,8 +72,15 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    elif candidate == CAR.FORESTER:
-      ret.mass = 1568. + STD_CARGO_KG
+    elif candidate == CAR.CROSSTREK_HYBRID:
+      ret.mass = 1668.
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17
+      ret.steerActuatorDelay = 0.1
+
+    elif candidate in (CAR.FORESTER, CAR.FORESTER_2022, CAR.FORESTER_HYBRID):
+      ret.mass = 1568.
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
@@ -70,37 +89,47 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    elif candidate in (CAR.OUTBACK, CAR.LEGACY):
-      ret.mass = 1568. + STD_CARGO_KG
+    elif candidate in (CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023):
+      ret.mass = 1568.
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17
       ret.steerActuatorDelay = 0.1
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
-      ret.mass = 1568 + STD_CARGO_KG
+      ret.mass = 1568
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
 
     elif candidate == CAR.LEGACY_PREGLOBAL:
-      ret.mass = 1568 + STD_CARGO_KG
+      ret.mass = 1568
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
 
     elif candidate == CAR.OUTBACK_PREGLOBAL:
-      ret.mass = 1568 + STD_CARGO_KG
+      ret.mass = 1568
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-
     else:
       raise ValueError(f"unknown car: {candidate}")
 
+    #ret.experimentalLongitudinalAvailable = candidate not in (GLOBAL_GEN2 | PREGLOBAL_CARS | LKAS_ANGLE | HYBRID_CARS)
+    ret.openpilotLongitudinalControl = experimental_long and ret.experimentalLongitudinalAvailable
+
+    if ret.openpilotLongitudinalControl:
+      ret.longitudinalTuning.kpBP = [0., 5., 35.]
+      ret.longitudinalTuning.kpV = [0.8, 1.0, 1.5]
+      ret.longitudinalTuning.kiBP = [0., 35.]
+      ret.longitudinalTuning.kiV = [0.54, 0.36]
+
+      ret.stoppingControl = True
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_LONG
+
     return ret
 
   # returns a car.CarState
@@ -112,5 +141,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/subaru/radar_interface.py b/selfdrive/car/subaru/radar_interface.py
index b2f7651136..b461fcd5f8 100644
--- a/selfdrive/car/subaru/radar_interface.py
+++ b/selfdrive/car/subaru/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index d83b639a41..4ae5023281 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -1,29 +1,81 @@
-import copy
 from cereal import car
+from openpilot.selfdrive.car.subaru.values import CanBus
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_steering_control(packer, apply_steer):
+
+def create_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Output": apply_steer,
-    "LKAS_Request": 1 if apply_steer != 0 else 0,
+    "LKAS_Request": steer_req,
     "SET_1": 1
   }
   return packer.make_can_msg("ES_LKAS", 0, values)
 
+
 def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
-  values = copy.copy(es_distance_msg)
+def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd, long_enabled = False, brake_cmd = False, cruise_throttle = 0):
+  values = {s: es_distance_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "Signal1",
+    "Cruise_Fault",
+    "Cruise_Throttle",
+    "Signal2",
+    "Car_Follow",
+    "Low_Speed_Follow",
+    "Cruise_Soft_Disable",
+    "Signal7",
+    "Cruise_Brake_Active",
+    "Distance_Swap",
+    "Cruise_EPB",
+    "Signal4",
+    "Close_Distance",
+    "Signal5",
+    "Cruise_Cancel",
+    "Cruise_Set",
+    "Cruise_Resume",
+    "Signal6",
+  ]}
   values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
+
+  if long_enabled:
+    values["Cruise_Throttle"] = cruise_throttle
+
+    # Do not disable openpilot on Eyesight Soft Disable, if openpilot is controlling long
+    values["Cruise_Soft_Disable"] = 0
+
+    if brake_cmd:
+      values["Cruise_Brake_Active"] = 1
+
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
+    values["Cruise_Throttle"] = 1818 # inactive throttle
+
   return packer.make_can_msg("ES_Distance", bus, values)
 
-def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
-  values = copy.copy(es_lkas_msg)
+def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  values = {s: es_lkas_state_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "LKAS_Alert_Msg",
+    "Signal1",
+    "LKAS_ACTIVE",
+    "LKAS_Dash_State",
+    "Signal2",
+    "Backward_Speed_Limit_Menu",
+    "LKAS_Left_Line_Enable",
+    "LKAS_Left_Line_Light_Blink",
+    "LKAS_Right_Line_Enable",
+    "LKAS_Right_Line_Light_Blink",
+    "LKAS_Left_Line_Visible",
+    "LKAS_Right_Line_Visible",
+    "LKAS_Alert",
+    "Signal3",
+  ]}
 
   # Filter the stock LKAS "Keep hands on wheel" alert
   if values["LKAS_Alert_Msg"] == 1:
@@ -52,29 +104,138 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
   # Ensure we don't overwrite potentially more important alerts from stock (e.g. FCW)
   if visual_alert == VisualAlert.ldw and values["LKAS_Alert"] == 0:
     if left_lane_depart:
-      values["LKAS_Alert"] = 12 # Left lane departure dash alert
+      values["LKAS_Alert"] = 12  # Left lane departure dash alert
     elif right_lane_depart:
-      values["LKAS_Alert"] = 11 # Right lane departure dash alert
+      values["LKAS_Alert"] = 11  # Right lane departure dash alert
 
   if enabled:
-    values["LKAS_ACTIVE"] = 1 # Show LKAS lane lines
-    values["LKAS_Dash_State"] = 2 # Green enabled indicator
+    values["LKAS_ACTIVE"] = 1  # Show LKAS lane lines
+    values["LKAS_Dash_State"] = 2  # Green enabled indicator
   else:
-    values["LKAS_Dash_State"] = 0 # LKAS Not enabled
+    values["LKAS_Dash_State"] = 0  # LKAS Not enabled
 
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
-  return packer.make_can_msg("ES_LKAS_State", 0, values)
+  return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
+
+def create_es_dashstatus(packer, dashstatus_msg, enabled, long_enabled, long_active, lead_visible):
+  values = {s: dashstatus_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "PCB_Off",
+    "LDW_Off",
+    "Signal1",
+    "Cruise_State_Msg",
+    "LKAS_State_Msg",
+    "Signal2",
+    "Cruise_Soft_Disable",
+    "Cruise_Status_Msg",
+    "Signal3",
+    "Cruise_Distance",
+    "Signal4",
+    "Conventional_Cruise",
+    "Signal5",
+    "Cruise_Disengaged",
+    "Cruise_Activated",
+    "Signal6",
+    "Cruise_Set_Speed",
+    "Cruise_Fault",
+    "Cruise_On",
+    "Display_Own_Car",
+    "Brake_Lights",
+    "Car_Follow",
+    "Signal7",
+    "Far_Distance",
+    "Cruise_State",
+  ]}
 
-def create_es_dashstatus(packer, dashstatus_msg):
-  values = copy.copy(dashstatus_msg)
+  if enabled and long_active:
+    values["Cruise_State"] = 0
+    values["Cruise_Activated"] = 1
+    values["Cruise_Disengaged"] = 0
+    values["Car_Follow"] = int(lead_visible)
+
+  if long_enabled:
+    values["PCB_Off"] = 1 # AEB is not presevered, so show the PCB_Off on dash
 
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  if values["LKAS_State_Msg"] in [2, 3]:
+  if values["LKAS_State_Msg"] in (2, 3):
     values["LKAS_State_Msg"] = 0
 
-  return packer.make_can_msg("ES_DashStatus", 0, values)
+  return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
+
+def create_es_brake(packer, es_brake_msg, enabled, brake_value):
+  values = {s: es_brake_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "Signal1",
+    "Brake_Pressure",
+    "AEB_Status",
+    "Cruise_Brake_Lights",
+    "Cruise_Brake_Fault",
+    "Cruise_Brake_Active",
+    "Cruise_Activated",
+    "Signal3",
+  ]}
+
+  if enabled:
+    values["Cruise_Activated"] = 1
+
+  values["Brake_Pressure"] = brake_value
+
+  if brake_value > 0:
+    values["Cruise_Brake_Active"] = 1
+    values["Cruise_Brake_Lights"] = 1 if brake_value >= 70 else 0
+
+  return packer.make_can_msg("ES_Brake", CanBus.main, values)
+
+def create_es_status(packer, es_status_msg, long_enabled, long_active, cruise_rpm):
+  values = {s: es_status_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "Signal1",
+    "Cruise_Fault",
+    "Cruise_RPM",
+    "Signal2",
+    "Cruise_Activated",
+    "Brake_Lights",
+    "Cruise_Hold",
+    "Signal3",
+  ]}
+
+  if long_enabled:
+    values["Cruise_RPM"] = cruise_rpm
+
+    if long_active:
+      values["Cruise_Activated"] = 1
+
+  return packer.make_can_msg("ES_Status", CanBus.main, values)
+
+
+def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
+  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
+  values = {s: es_infotainment_msg[s] for s in [
+    "CHECKSUM",
+    "COUNTER",
+    "LKAS_State_Infotainment",
+    "LKAS_Blue_Lines",
+    "Signal1",
+    "Signal2",
+  ]}
+  if values["LKAS_State_Infotainment"] in (3, 4):
+    values["LKAS_State_Infotainment"] = 0
+
+  # Show Keep hands on wheel alert for openpilot steerRequired alert
+  if visual_alert == VisualAlert.steerRequired:
+    values["LKAS_State_Infotainment"] = 3
+
+  # Show Obstacle Detected for fcw
+  if visual_alert == VisualAlert.fcw:
+    values["LKAS_State_Infotainment"] = 2
+
+  return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
+
 
 # *** Subaru Pre-global ***
 
@@ -82,20 +243,39 @@ def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
-def create_preglobal_steering_control(packer, apply_steer):
+
+def create_preglobal_steering_control(packer, apply_steer, steer_req):
   values = {
     "LKAS_Command": apply_steer,
-    "LKAS_Active": 1 if apply_steer != 0 else 0
+    "LKAS_Active": steer_req,
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", CanBus.main, values)
+
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
+  values = {s: es_distance_msg[s] for s in [
+    "Cruise_Throttle",
+    "Signal1",
+    "Car_Follow",
+    "Signal2",
+    "Brake_On",
+    "Distance_Swap",
+    "Standstill",
+    "Signal3",
+    "Close_Distance",
+    "Signal4",
+    "Standstill_2",
+    "Cruise_Fault",
+    "Signal5",
+    "COUNTER",
+    "Signal6",
+    "Cruise_Button",
+    "Signal7",
+  ]}
 
-  values = copy.copy(es_distance_msg)
   values["Cruise_Button"] = cruise_button
-
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
 
-  return packer.make_can_msg("ES_Distance", 0, values)
+  return packer.make_can_msg("ES_Distance", CanBus.main, values)
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 6ac2637fa2..33ac2b390e 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -1,12 +1,12 @@
-from dataclasses import dataclass
-from enum import Enum
+from dataclasses import dataclass, field
+from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Tool, Column
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries, p16
 
 Ecu = car.CarParams.Ecu
 
@@ -29,6 +29,39 @@ class CarControllerParams:
     else:
       self.STEER_MAX = 2047
 
+  THROTTLE_MIN = 808
+  THROTTLE_MAX = 3400
+
+  THROTTLE_INACTIVE     = 1818   # corresponds to zero acceleration
+  THROTTLE_ENGINE_BRAKE = 808    # while braking, eyesight sets throttle to this, probably for engine braking
+
+  BRAKE_MIN = 0
+  BRAKE_MAX = 600                # about -3.5m/s2 from testing
+
+  RPM_MIN = 0
+  RPM_MAX = 2400
+
+  RPM_INACTIVE = 600             # a good base rpm for zero acceleration
+
+  THROTTLE_LOOKUP_BP = [0, 1]
+  THROTTLE_LOOKUP_V = [THROTTLE_INACTIVE, THROTTLE_MAX]
+
+  RPM_LOOKUP_BP = [0, 1]
+  RPM_LOOKUP_V = [RPM_INACTIVE, RPM_MAX]
+
+  BRAKE_LOOKUP_BP = [-1, 0]
+  BRAKE_LOOKUP_V = [BRAKE_MAX, BRAKE_MIN]
+
+
+class SubaruFlags(IntFlag):
+  SEND_INFOTAINMENT = 1
+
+
+class CanBus:
+  main = 0
+  alt = 1
+  camera = 2
+
 
 class CAR:
   # Global platform
@@ -37,7 +70,11 @@ class CAR:
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
   OUTBACK = "SUBARU OUTBACK 6TH GEN"
+  CROSSTREK_HYBRID = "SUBARU CROSSTREK HYBRID 2020"
+  FORESTER_HYBRID = "SUBARU FORESTER HYBRID 2020"
   LEGACY = "SUBARU LEGACY 7TH GEN"
+  FORESTER_2022 = "SUBARU FORESTER 2022"
+  OUTBACK_2023 = "SUBARU OUTBACK 7TH GEN"
 
   # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
@@ -46,16 +83,25 @@ class CAR:
   OUTBACK_PREGLOBAL_2018 = "SUBARU OUTBACK 2018 - 2019"
 
 
+class Footnote(Enum):
+  GLOBAL = CarFootnote(
+    "In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance.",
+    Column.PACKAGE)
+
+
 @dataclass
 class SubaruCarInfo(CarInfo):
   package: str = "EyeSight Driver Assistance"
-  harness: Enum = Harness.subaru_a
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.subaru_a]))
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.GLOBAL])
 
+  def init_make(self, CP: car.CarParams):
+    self.car_parts.parts.extend([Tool.socket_8mm_deep, Tool.pry_tool])
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
   CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
-  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.subaru_b),
-  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", harness=Harness.subaru_b),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
+  CAR.LEGACY: SubaruCarInfo("Subaru Legacy 2020-22", "All", car_parts=CarParts.common([CarHarness.subaru_b])),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
@@ -66,11 +112,16 @@ CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
     SubaruCarInfo("Subaru Crosstrek 2020-23"),
     SubaruCarInfo("Subaru XV 2020-21"),
   ],
+  # TODO: is there an XV and Impreza too?
+  CAR.CROSSTREK_HYBRID: SubaruCarInfo("Subaru Crosstrek Hybrid 2020"),
+  CAR.FORESTER_HYBRID: SubaruCarInfo("Subaru Forester Hybrid 2020"),
   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"),
   CAR.OUTBACK_PREGLOBAL_2018: SubaruCarInfo("Subaru Outback 2018-19"),
+  CAR.FORESTER_2022: SubaruCarInfo("Subaru Forester 2022", "All", car_parts=CarParts.common([CarHarness.subaru_c])),
+  CAR.OUTBACK_2023: SubaruCarInfo("Subaru Outback 2023", "All", car_parts=CarParts.common([CarHarness.subaru_d])),
 }
 
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -84,6 +135,11 @@ FW_QUERY_CONFIG = FwQueryConfig(
       [StdQueries.TESTER_PRESENT_REQUEST, SUBARU_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, SUBARU_VERSION_RESPONSE],
     ),
+    # Some Eyesight modules fail on TESTER_PRESENT_REQUEST
+    Request(
+      [SUBARU_VERSION_REQUEST],
+      [SUBARU_VERSION_RESPONSE],
+    ),
   ],
 )
 
@@ -185,6 +241,7 @@ FW_VERSIONS = {
       b'\x00\x00d\xdc\x00\x00\x00\x00',
       b'\x00\x00dd\x00\x00\x00\x00',
       b'\x00\x00c\xf4\x1f@ \x07',
+      b'\x00\x00e\x1c\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xaa\x61\x66\x73\x07',
@@ -205,6 +262,8 @@ FW_VERSIONS = {
       b'\xc5!dr\x07',
       b'\xaa!aw\x07',
       b'\xaa!av\x07',
+      b'\xaa\x01bt\x07',
+      b'\xc5!ap\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe3\xe5\x46\x31\x00',
@@ -220,6 +279,7 @@ FW_VERSIONS = {
       b'\xe4\xf5\002\000\000',
       b'\xe3\xd0\x081\x00',
       b'\xe3\xf5\x06\x00\x00',
+      b'\xe3\xd5\x161\x00',
     ],
   },
   CAR.IMPREZA_2020: {
@@ -239,7 +299,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\000\000eb\037@ \"',
-      b'\000\000e\x8f\037@ )',
+      b'\x00\x00e\x8f\x1f@ )',
       b'\x00\x00eq\x1f@ "',
       b'\x00\x00eq\x00\x00\x00\x00',
       b'\x00\x00e\x8f\x00\x00\x00\x00',
@@ -253,6 +313,10 @@ FW_VERSIONS = {
       b'\xca!f@\x07',
       b'\xca!fp\x07',
       b'\xf3"f@\x07',
+      b'\xe6!fp\x07',
+      b'\xf3"fp\x07',
+      b'\xe6"f0\x07',
+      b'\xe6"fp\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xe6\xf5\004\000\000',
@@ -262,6 +326,26 @@ FW_VERSIONS = {
       b'\xf1\x00\xd7\x10@',
       b'\xe6\xf5D0\x00',
       b'\xe9\xf6F0\x00',
+      b'\xe9\xf5B0\x00',
+      b'\xe9\xf6B0\x00',
+    ],
+  },
+  CAR.CROSSTREK_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa2 \x19e\x01',
+      b'\xa2 !e\x01',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9a\xc2\x01\x00',
+      b'\n\xc2\x01\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00el\x1f@ #',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd7!`@\x07',
+      b'\xd7!`p\a',
+      b'\xf4!`0\x07',
     ],
   },
   CAR.FORESTER: {
@@ -271,9 +355,12 @@ FW_VERSIONS = {
       b'\xa3 \031\024\000',
       b'\xa3  \x14\x01',
       b'\xf1\x00\xbb\r\x05',
+      b'\xa3 \x18&\x00',
+      b'\xa3 \x19&\x00',
     ],
     (Ecu.eps, 0x746, None): [
       b'\x8d\xc0\x04\x00',
+      b'\x8d\xc0\x00\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00e!\x1f@ \x11',
@@ -282,6 +369,8 @@ FW_VERSIONS = {
       b'\xf1\x00\xac\x02\x00',
       b'\x00\x00e!\x00\x00\x00\x00',
       b'\x00\x00e\x97\x00\x00\x00\x00',
+      b'\x00\x00e^\x1f@ !',
+      b'\x00\x00e^\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xb6"`A\x07',
@@ -290,6 +379,7 @@ FW_VERSIONS = {
       b'\xcb\"`p\a',
       b'\xf1\x00\xa2\x10\n',
       b'\xcf"`p\x07',
+      b'\xb6\xa2`A\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\032\xf6B0\000',
@@ -297,6 +387,25 @@ FW_VERSIONS = {
       b'\032\xf6b`\000',
       b'\x1a\xf6B`\x00',
       b'\x1a\xf6b0\x00',
+      b'\x1a\xe6B1\x00',
+      b'\x1a\xe6F1\x00',
+    ],
+  },
+  CAR.FORESTER_HYBRID: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 \x19T\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x8d\xc2\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eY\x1f@ !',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd2\xa1`r\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+       b'\x1b\xa7@a\x00',
     ],
   },
   CAR.FORESTER_PREGLOBAL: {
@@ -464,6 +573,7 @@ FW_VERSIONS = {
       b'\xa1 "\t\x01',
       b'\xa1  \x08\x02',
       b'\xa1 \x06\x02',
+      b'\xa1  \x07\x02',
       b'\xa1  \x08\x00',
       b'\xa1 "\t\x00',
     ],
@@ -475,6 +585,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00eJ\x00\x1f@ \x19\x00',
       b'\000\000e\x80\000\037@ \031\000',
+      b'\x00\x00e\x9a\x00\x00\x00\x00\x00\x00',
       b'\x00\x00e\x9a\x00\x1f@ 1\x00',
       b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
     ],
@@ -484,10 +595,12 @@ FW_VERSIONS = {
       b'\xde"`0\a',
       b'\xf1\x82\xbc,\xa0q\a',
       b'\xf1\x82\xe3,\xa0@\x07',
+      b'\xe2"`0\x07',
       b'\xe2"`p\x07',
       b'\xf1\x82\xe2,\xa0@\x07',
       b'\xbc"`q\x07',
       b'\xe3,\xa0@\x07',
+      b'\xbc,\xa0u\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xa5\xfe\xf7@\x00',
@@ -495,9 +608,57 @@ FW_VERSIONS = {
       b'\xa5\xfe\xf6@\x00',
       b'\xa7\x8e\xf40\x00',
       b'\xf1\x82\xa7\xf6D@\x00',
+      b'\xa7\xf6D@\x00',
       b'\xa7\xfe\xf4@\x00',
+      b'\xa5\xfe\xf8@\x00',
     ],
   },
+  CAR.FORESTER_2022: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa3 !x\x00',
+      b'\xa3 !v\x00',
+      b'\xa3 "v\x00',
+      b'\xa3 "x\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'-\xc0%0',
+      b'-\xc0\x040',
+      b'=\xc0%\x02',
+      b'=\xc04\x02',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x04!\x01\x1eD\x07!\x00\x04,'
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xd5"a0\x07',
+      b'\xd5"`0\x07',
+      b'\xf1"aq\x07',
+      b'\xf1"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\x1d\x86B0\x00',
+      b'\x1d\xf6B0\x00',
+      b'\x1e\x86B0\x00',
+      b'\x1e\xf6D0\x00',
+    ],
+  },
+  CAR.OUTBACK_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\xa1 #\x17\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'+\xc0\x12\x11\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\t!\x08\x046\x05!\x08\x01/',
+    ],
+    (Ecu.engine, 0x7a2, None): [
+      b'\xed,\xa2q\x07',
+    ],
+    (Ecu.transmission, 0x7a3, None): [
+      b'\xa8\x8e\xf41\x00',
+    ]
+  }
 }
 
 DBC = {
@@ -505,7 +666,11 @@ DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER_2022: dbc_dict('subaru_global_2017_generated', None),
   CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
+  CAR.FORESTER_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
+  CAR.CROSSTREK_HYBRID: dbc_dict('subaru_global_2020_hybrid_generated', None),
+  CAR.OUTBACK_2023: dbc_dict('subaru_global_2017_generated', None),
   CAR.LEGACY: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
@@ -513,5 +678,7 @@ DBC = {
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-GLOBAL_GEN2 = (CAR.OUTBACK, CAR.LEGACY)
-PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
+LKAS_ANGLE = {CAR.FORESTER_2022, CAR.OUTBACK_2023}
+GLOBAL_GEN2 = {CAR.OUTBACK, CAR.LEGACY, CAR.OUTBACK_2023}
+PREGLOBAL_CARS = {CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018}
+HYBRID_CARS = {CAR.CROSSTREK_HYBRID, CAR.FORESTER_HYBRID}
diff --git a/selfdrive/car/tesla/carcontroller.py b/selfdrive/car/tesla/carcontroller.py
index cf43b8ef00..95a248a614 100644
--- a/selfdrive/car/tesla/carcontroller.py
+++ b/selfdrive/car/tesla/carcontroller.py
@@ -1,19 +1,20 @@
-from common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip
 from opendbc.can.packer import CANPacker
-from selfdrive.car.tesla.teslacan import TeslaCAN
-from selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
+from openpilot.selfdrive.car import apply_std_steer_angle_limits
+from openpilot.selfdrive.car.tesla.teslacan import TeslaCAN
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, CarControllerParams
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.frame = 0
-    self.last_angle = 0
+    self.apply_angle_last = 0
     self.packer = CANPacker(dbc_name)
     self.pt_packer = CANPacker(DBC[CP.carFingerprint]['pt'])
     self.tesla_can = TeslaCAN(self.packer, self.pt_packer)
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     pcm_cancel_cmd = CC.cruiseControl.cancel
 
@@ -23,22 +24,18 @@ class CarController:
     hands_on_fault = CS.steer_warning == "EAC_ERROR_HANDS_ON" and CS.hands_on_level >= 3
     lkas_enabled = CC.latActive and not hands_on_fault
 
-    if lkas_enabled:
-      apply_angle = actuators.steeringAngleDeg
+    if self.frame % 2 == 0:
+      if lkas_enabled:
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgo, CarControllerParams)
 
-      # Angular rate limit based on speed
-      steer_up = self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle)
-      rate_limit = CarControllerParams.RATE_LIMIT_UP if steer_up else CarControllerParams.RATE_LIMIT_DOWN
-      max_angle_diff = interp(CS.out.vEgo, rate_limit.speed_points, rate_limit.max_angle_diff_points)
-      apply_angle = clip(apply_angle, self.last_angle - max_angle_diff, self.last_angle + max_angle_diff)
+        # To not fault the EPS
+        apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
+      else:
+        apply_angle = CS.out.steeringAngleDeg
 
-      # To not fault the EPS
-      apply_angle = clip(apply_angle, CS.out.steeringAngleDeg - 20, CS.out.steeringAngleDeg + 20)
-    else:
-      apply_angle = CS.out.steeringAngleDeg
-
-    self.last_angle = apply_angle
-    can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, self.frame))
+      self.apply_angle_last = apply_angle
+      can_sends.append(self.tesla_can.create_steering_control(apply_angle, lkas_enabled, (self.frame // 2) % 16))
 
     # Longitudinal control (in sync with stock message, about 40Hz)
     if self.CP.openpilotLongitudinalControl:
@@ -63,7 +60,7 @@ class CarController:
     # TODO: HUD control
 
     new_actuators = actuators.copy()
-    new_actuators.steeringAngleDeg = apply_angle
+    new_actuators.steeringAngleDeg = self.apply_angle_last
 
     self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/tesla/carstate.py b/selfdrive/car/tesla/carstate.py
index 0f373842f2..2cb4f09d79 100644
--- a/selfdrive/car/tesla/carstate.py
+++ b/selfdrive/car/tesla/carstate.py
@@ -1,9 +1,9 @@
 import copy
 from collections import deque
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS, GEAR_MAP, DOORS, BUTTONS
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 
@@ -78,7 +78,7 @@ class CarState(CarStateBase):
     ret.buttonEvents = buttonEvents
 
     # Doors
-    ret.doorOpen = any([(self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS])
+    ret.doorOpen = any((self.can_define.dv["GTW_carState"][door].get(int(cp.vl["GTW_carState"][door]), "OPEN") == "OPEN") for door in DOORS)
 
     # Blinkers
     ret.leftBlinker = (cp.vl["GTW_carState"]["BC_indicatorLStatus"] == 1)
@@ -101,68 +101,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("ESP_vehicleSpeed", "ESP_B"),
-      ("DI_pedalPos", "DI_torque1"),
-      ("DI_brakePedal", "DI_torque2"),
-      ("StW_AnglHP", "STW_ANGLHP_STAT"),
-      ("StW_AnglHP_Spd", "STW_ANGLHP_STAT"),
-      ("EPAS_handsOnLevel", "EPAS_sysStatus"),
-      ("EPAS_torsionBarTorque", "EPAS_sysStatus"),
-      ("EPAS_internalSAS", "EPAS_sysStatus"),
-      ("EPAS_eacStatus", "EPAS_sysStatus"),
-      ("EPAS_eacErrorCode", "EPAS_sysStatus"),
-      ("DI_cruiseState", "DI_state"),
-      ("DI_digitalSpeed", "DI_state"),
-      ("DI_speedUnits", "DI_state"),
-      ("DI_gear", "DI_torque2"),
-      ("DOOR_STATE_FL", "GTW_carState"),
-      ("DOOR_STATE_FR", "GTW_carState"),
-      ("DOOR_STATE_RL", "GTW_carState"),
-      ("DOOR_STATE_RR", "GTW_carState"),
-      ("DOOR_STATE_FrontTrunk", "GTW_carState"),
-      ("BOOT_STATE", "GTW_carState"),
-      ("BC_indicatorLStatus", "GTW_carState"),
-      ("BC_indicatorRStatus", "GTW_carState"),
-      ("SDM_bcklDrivStatus", "SDM1"),
-      ("driverBrakeStatus", "BrakeMessage"),
-
-      # We copy this whole message when spamming cancel
-      ("SpdCtrlLvr_Stat", "STW_ACTN_RQ"),
-      ("VSL_Enbl_Rq", "STW_ACTN_RQ"),
-      ("SpdCtrlLvrStat_Inv", "STW_ACTN_RQ"),
-      ("DTR_Dist_Rq", "STW_ACTN_RQ"),
-      ("TurnIndLvr_Stat", "STW_ACTN_RQ"),
-      ("HiBmLvr_Stat", "STW_ACTN_RQ"),
-      ("WprWashSw_Psd", "STW_ACTN_RQ"),
-      ("WprWash_R_Sw_Posn_V2", "STW_ACTN_RQ"),
-      ("StW_Lvr_Stat", "STW_ACTN_RQ"),
-      ("StW_Cond_Flt", "STW_ACTN_RQ"),
-      ("StW_Cond_Psd", "STW_ACTN_RQ"),
-      ("HrnSw_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw00_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw01_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw02_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw03_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw04_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw05_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw06_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw07_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw08_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw09_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw10_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw11_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw12_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw13_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw14_Psd", "STW_ACTN_RQ"),
-      ("StW_Sw15_Psd", "STW_ACTN_RQ"),
-      ("WprSw6Posn", "STW_ACTN_RQ"),
-      ("MC_STW_ACTN_RQ", "STW_ACTN_RQ"),
-      ("CRC_STW_ACTN_RQ", "STW_ACTN_RQ"),
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("ESP_B", 50),
       ("DI_torque1", 100),
@@ -175,19 +114,12 @@ class CarState(CarStateBase):
       ("SDM1", 10),
       ("BrakeMessage", 50),
     ]
-
-    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.chassis)
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.chassis)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("DAS_accState", "DAS_control"),
-      ("DAS_aebEvent", "DAS_control"),
-      ("DAS_controlCounter", "DAS_control"),
-    ]
-    checks = [
+    messages = [
       # sig_address, frequency
       ("DAS_control", 40),
     ]
-    return CANParser(DBC[CP.carFingerprint]['chassis'], signals, checks, CANBUS.autopilot_chassis)
+    return CANParser(DBC[CP.carFingerprint]['chassis'], messages, CANBUS.autopilot_chassis)
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index 49e06d8923..e06139729c 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
 from cereal import car
 from panda import Panda
-from selfdrive.car.tesla.values import CANBUS, CAR
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.tesla.values import CANBUS, CAR
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 
 class CarInterface(CarInterfaceBase):
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "tesla"
 
     # There is no safe way to do steer blending with user torque,
@@ -23,7 +23,6 @@ class CarInterface(CarInterfaceBase):
     ret.longitudinalTuning.kpV = [0]
     ret.longitudinalTuning.kiBP = [0]
     ret.longitudinalTuning.kiV = [0]
-    ret.stopAccel = 0.0
     ret.longitudinalActuatorDelayUpperBound = 0.5 # s
     ret.radarTimeStep = (1.0 / 8) # 8Hz
 
@@ -43,7 +42,7 @@ class CarInterface(CarInterfaceBase):
     ret.steerActuatorDelay = 0.25
 
     if candidate in (CAR.AP2_MODELS, CAR.AP1_MODELS):
-      ret.mass = 2100. + STD_CARGO_KG
+      ret.mass = 2100.
       ret.wheelbase = 2.959
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15.0
@@ -59,5 +58,5 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/tesla/radar_interface.py b/selfdrive/car/tesla/radar_interface.py
index a09f53e758..b3e7c7fcb1 100755
--- a/selfdrive/car/tesla/radar_interface.py
+++ b/selfdrive/car/tesla/radar_interface.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
 from opendbc.can.parser import CANParser
-from selfdrive.car.tesla.values import DBC, CANBUS
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.tesla.values import DBC, CANBUS
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 RADAR_MSGS_A = list(range(0x310, 0x36E, 3))
 RADAR_MSGS_B = list(range(0x311, 0x36F, 3))
@@ -10,13 +10,7 @@ NUM_POINTS = len(RADAR_MSGS_A)
 
 def get_radar_can_parser(CP):
   # Status messages
-  signals = [
-    ('RADC_HWFail', 'TeslaRadarSguInfo'),
-    ('RADC_SGUFail', 'TeslaRadarSguInfo'),
-    ('RADC_SensorDirty', 'TeslaRadarSguInfo'),
-  ]
-
-  checks = [
+  messages = [
     ('TeslaRadarSguInfo', 10),
   ]
 
@@ -25,28 +19,12 @@ def get_radar_can_parser(CP):
   for i in range(NUM_POINTS):
     msg_id_a = RADAR_MSGS_A[i]
     msg_id_b = RADAR_MSGS_B[i]
-
-    # There is a bunch more info in the messages,
-    # but these are the only things actually used in openpilot
-    signals.extend([
-      ('LongDist', msg_id_a),
-      ('LongSpeed', msg_id_a),
-      ('LatDist', msg_id_a),
-      ('LongAccel', msg_id_a),
-      ('Meas', msg_id_a),
-      ('Tracked', msg_id_a),
-      ('Index', msg_id_a),
-
-      ('LatSpeed', msg_id_b),
-      ('Index2', msg_id_b),
-    ])
-
-    checks.extend([
+    messages.extend([
       (msg_id_a, 8),
       (msg_id_b, 8),
     ])
 
-  return CANParser(DBC[CP.carFingerprint]['radar'], signals, checks, CANBUS.radar)
+  return CANParser(DBC[CP.carFingerprint]['radar'], messages, CANBUS.radar)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
diff --git a/selfdrive/car/tesla/teslacan.py b/selfdrive/car/tesla/teslacan.py
index e5d904f80e..6bb27b995f 100644
--- a/selfdrive/car/tesla/teslacan.py
+++ b/selfdrive/car/tesla/teslacan.py
@@ -1,8 +1,7 @@
-import copy
 import crcmod
 
-from common.conversions import Conversions as CV
-from selfdrive.car.tesla.values import CANBUS, CarControllerParams
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.tesla.values import CANBUS, CarControllerParams
 
 
 class TeslaCAN:
@@ -18,12 +17,12 @@ class TeslaCAN:
     ret += sum(dat)
     return ret & 0xFF
 
-  def create_steering_control(self, angle, enabled, frame):
+  def create_steering_control(self, angle, enabled, counter):
     values = {
       "DAS_steeringAngleRequest": -angle,
       "DAS_steeringHapticRequest": 0,
       "DAS_steeringControlType": 1 if enabled else 0,
-      "DAS_steeringControlCounter": (frame % 16),
+      "DAS_steeringControlCounter": counter,
     }
 
     data = self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)[2]
@@ -31,7 +30,40 @@ class TeslaCAN:
     return self.packer.make_can_msg("DAS_steeringControl", CANBUS.chassis, values)
 
   def create_action_request(self, msg_stw_actn_req, cancel, bus, counter):
-    values = copy.copy(msg_stw_actn_req)
+    # We copy this whole message when spamming cancel
+    values = {s: msg_stw_actn_req[s] for s in [
+      "SpdCtrlLvr_Stat",
+      "VSL_Enbl_Rq",
+      "SpdCtrlLvrStat_Inv",
+      "DTR_Dist_Rq",
+      "TurnIndLvr_Stat",
+      "HiBmLvr_Stat",
+      "WprWashSw_Psd",
+      "WprWash_R_Sw_Posn_V2",
+      "StW_Lvr_Stat",
+      "StW_Cond_Flt",
+      "StW_Cond_Psd",
+      "HrnSw_Psd",
+      "StW_Sw00_Psd",
+      "StW_Sw01_Psd",
+      "StW_Sw02_Psd",
+      "StW_Sw03_Psd",
+      "StW_Sw04_Psd",
+      "StW_Sw05_Psd",
+      "StW_Sw06_Psd",
+      "StW_Sw07_Psd",
+      "StW_Sw08_Psd",
+      "StW_Sw09_Psd",
+      "StW_Sw10_Psd",
+      "StW_Sw11_Psd",
+      "StW_Sw12_Psd",
+      "StW_Sw13_Psd",
+      "StW_Sw14_Psd",
+      "StW_Sw15_Psd",
+      "WprSw6Posn",
+      "MC_STW_ACTN_RQ",
+      "CRC_STW_ACTN_RQ",
+    ]}
 
     if cancel:
       values["SpdCtrlLvr_Stat"] = 1
diff --git a/selfdrive/car/tesla/values.py b/selfdrive/car/tesla/values.py
index 750fe885e8..15283ae4b2 100644
--- a/selfdrive/car/tesla/values.py
+++ b/selfdrive/car/tesla/values.py
@@ -1,15 +1,15 @@
+# ruff: noqa: E501
 from collections import namedtuple
 from typing import Dict, List, Union
 
 from cereal import car
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarInfo
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 
 Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
-AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
 
 class CAR:
@@ -104,8 +104,11 @@ BUTTONS = [
 ]
 
 class CarControllerParams:
-  RATE_LIMIT_UP = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., .8, .15])
-  RATE_LIMIT_DOWN = AngleRateLimit(speed_points=[0., 5., 15.], max_angle_diff_points=[5., 3.5, 0.4])
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 1.6, .3])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[0., 5., 15.], angle_v=[10., 7.0, 0.8])
   JERK_LIMIT_MAX = 8
   JERK_LIMIT_MIN = -8
   ACCEL_TO_SPEED_MULTIPLIER = 3
+
+  def __init__(self, CP):
+    pass
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 89b895864a..2c6a7472b5 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -1,33 +1,42 @@
 #!/usr/bin/env python3
-from collections import namedtuple
-
-from selfdrive.car.chrysler.values import CAR as CHRYSLER
-from selfdrive.car.gm.values import CAR as GM
-from selfdrive.car.ford.values import CAR as FORD
-from selfdrive.car.honda.values import CAR as HONDA
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.nissan.values import CAR as NISSAN
-from selfdrive.car.mazda.values import CAR as MAZDA
-from selfdrive.car.subaru.values import CAR as SUBARU
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
-from selfdrive.car.tesla.values import CAR as TESLA
-from selfdrive.car.body.values import CAR as COMMA
+from typing import NamedTuple, Optional
+
+from openpilot.selfdrive.car.chrysler.values import CAR as CHRYSLER
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.ford.values import CAR as FORD
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VOLKSWAGEN
+from openpilot.selfdrive.car.tesla.values import CAR as TESLA
+from openpilot.selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.ESCAPE_MK4,
-  FORD.FOCUS_MK4,
+  FORD.F_150_MK14,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
   GM.EQUINOX,
   HYUNDAI.GENESIS_G90,
+  HYUNDAI.IONIQ_6,
   HYUNDAI.KIA_OPTIMA_H,
   HONDA.ODYSSEY_CHN,
+  VOLKSWAGEN.CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
+  TOYOTA.RAV4_TSS2_2023,
+  TOYOTA.RAV4H_TSS2_2023,
+  SUBARU.FORESTER_HYBRID,
 ]
 
-CarTestRoute = namedtuple('CarTestRoute', ['route', 'car_model', 'segment'], defaults=(None,))
+
+class CarTestRoute(NamedTuple):
+  route: str
+  car_model: Optional[str]
+  segment: Optional[int] = None
+
 
 routes = [
   CarTestRoute("efdf9af95e71cd84|2022-05-13--19-03-31", COMMA.BODY),
@@ -42,16 +51,23 @@ routes = [
   CarTestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
   CarTestRoute("8fb5eabf914632ae|2022-08-04--17-28-53", CHRYSLER.RAM_HD, segment=6),
 
+  CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
+  CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
+  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
+  CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
   CarTestRoute("7cc2a8365b4dd8a9|2018-12-02--12-10-44", GM.ACADIA),
   CarTestRoute("aa20e335f61ba898|2019-02-05--16-59-04", GM.BUICK_REGAL),
+  CarTestRoute("75a6bcb9b8b40373|2023-03-11--22-47-33", GM.BUICK_LACROSSE),
+  CarTestRoute("ef8f2185104d862e|2023-02-09--18-37-13", GM.ESCALADE),
   CarTestRoute("46460f0da08e621e|2021-10-26--07-21-46", GM.ESCALADE_ESV),
   CarTestRoute("c950e28c26b5b168|2018-05-30--22-03-41", GM.VOLT),
   CarTestRoute("f08912a233c1584f|2022-08-11--18-02-41", GM.BOLT_EUV, segment=1),
   CarTestRoute("555d4087cf86aa91|2022-12-02--12-15-07", GM.BOLT_EUV, segment=14),  # Bolt EV
   CarTestRoute("38aa7da107d5d252|2022-08-15--16-01-12", GM.SILVERADO),
+  CarTestRoute("5085c761395d1fe6|2023-04-07--18-20-06", GM.TRAILBLAZER),
 
   CarTestRoute("0e7a2ba168465df5|2020-10-18--14-14-22", HONDA.ACURA_RDX_3G),
   CarTestRoute("a74b011b32b51b56|2020-07-26--17-09-36", HONDA.CIVIC),
@@ -61,6 +77,7 @@ routes = [
   CarTestRoute("52f3e9ae60c0d886|2021-05-23--15-59-43", HONDA.FIT),
   CarTestRoute("2c4292a5cd10536c|2021-08-19--21-32-15", HONDA.FREED),
   CarTestRoute("03be5f2fd5c508d1|2020-04-19--18-44-15", HONDA.HRV),
+  CarTestRoute("320098ff6c5e4730|2023-04-13--17-47-46", HONDA.HRV_3G),
   CarTestRoute("917b074700869333|2021-05-24--20-40-20", HONDA.ACURA_ILX),
   CarTestRoute("08a3deb07573f157|2020-03-06--16-11-19", HONDA.ACCORD),  # 1.5T
   CarTestRoute("1da5847ac2488106|2021-05-24--19-31-50", HONDA.ACCORD),  # 2.0T
@@ -72,7 +89,7 @@ routes = [
   CarTestRoute("d83f36766f8012a5|2020-02-05--18-42-21", HONDA.CIVIC_BOSCH_DIESEL),
   CarTestRoute("f0890d16a07a236b|2021-05-25--17-27-22", HONDA.INSIGHT),
   CarTestRoute("07d37d27996096b6|2020-03-04--21-57-27", HONDA.PILOT),
-  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PASSPORT),
+  CarTestRoute("684e8f96bd491a0e|2021-11-03--11-08-42", HONDA.PILOT),  # Passport
   CarTestRoute("0a78dfbacc8504ef|2020-03-04--13-29-55", HONDA.CIVIC_BOSCH),
   CarTestRoute("f34a60d68d83b1e5|2020-10-06--14-35-55", HONDA.ACURA_RDX),
   CarTestRoute("54fd8451b3974762|2021-04-01--14-50-10", HONDA.RIDGELINE),
@@ -80,6 +97,7 @@ routes = [
   CarTestRoute("f44aa96ace22f34a|2021-12-22--06-22-31", HONDA.CIVIC_2022),
 
   CarTestRoute("6fe86b4e410e4c37|2020-07-22--16-27-13", HYUNDAI.HYUNDAI_GENESIS),
+  CarTestRoute("b5d6dc830ad63071|2022-12-12--21-28-25", HYUNDAI.GENESIS_GV60_EV_1ST_GEN, segment=12),
   CarTestRoute("70c5bec28ec8e345|2020-08-08--12-22-23", HYUNDAI.GENESIS_G70),
   CarTestRoute("ca4de5b12321bd98|2022-10-18--21-15-59", HYUNDAI.GENESIS_GV70_1ST_GEN),
   CarTestRoute("6b301bf83f10aa90|2020-11-22--16-45-07", HYUNDAI.GENESIS_G80),
@@ -88,6 +106,8 @@ routes = [
   CarTestRoute("bf43d9df2b660eb0|2021-09-23--14-16-37", HYUNDAI.SANTA_FE_2022),
   CarTestRoute("37398f32561a23ad|2021-11-18--00-11-35", HYUNDAI.SANTA_FE_HEV_2022),
   CarTestRoute("656ac0d830792fcc|2021-12-28--14-45-56", HYUNDAI.SANTA_FE_PHEV_2022, segment=1),
+  CarTestRoute("de59124955b921d8|2023-06-24--00-12-50", HYUNDAI.KIA_CARNIVAL_4TH_GEN),
+  CarTestRoute("409c9409979a8abc|2023-07-11--09-06-44", HYUNDAI.KIA_CARNIVAL_4TH_GEN),  # Chinese model
   CarTestRoute("e0e98335f3ebc58f|2021-03-07--16-38-29", HYUNDAI.KIA_CEED),
   CarTestRoute("7653b2bce7bcfdaa|2020-03-04--15-34-32", HYUNDAI.KIA_OPTIMA_G4),
   CarTestRoute("018654717bc93d7d|2022-09-19--23-11-10", HYUNDAI.KIA_OPTIMA_G4_FL, segment=0),
@@ -99,6 +119,8 @@ routes = [
   CarTestRoute("db68bbe12250812c|2022-12-05--00-54-12", HYUNDAI.TUCSON_4TH_GEN),  # 2023
   CarTestRoute("36e10531feea61a4|2022-07-25--13-37-42", HYUNDAI.TUCSON_HYBRID_4TH_GEN),
   CarTestRoute("5875672fc1d4bf57|2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
+  CarTestRoute("1d0d000db3370fd0|2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
+  CarTestRoute("fc19648042eb6896|2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
   CarTestRoute("628935d7d3e5f4f7|2022-11-30--01-12-46", HYUNDAI.KIA_SORENTO_PHEV_4TH_GEN),
   CarTestRoute("9c917ba0d42ffe78|2020-04-17--12-43-19", HYUNDAI.PALISADE),
   CarTestRoute("05a8f0197fdac372|2022-10-19--14-14-09", HYUNDAI.IONIQ_5),  # HDA2
@@ -117,10 +139,14 @@ routes = [
   CarTestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
   CarTestRoute("d545129f3ca90f28|2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # HDA2
   CarTestRoute("68d6a96e703c00c9|2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # HDA1
+  CarTestRoute("9b25e8c1484a1b67|2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
   CarTestRoute("007d5e4ad9f86d13|2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c58dfc9fc16590e0|2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
   CarTestRoute("50c6c9b85fd1ff03|2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
+  CarTestRoute("b153671049a867b3|2023-04-05--10-00-30", HYUNDAI.KIA_NIRO_EV_2ND_GEN),
   CarTestRoute("173219cf50acdd7b|2021-07-05--10-27-41", HYUNDAI.KIA_NIRO_PHEV),
   CarTestRoute("34a875f29f69841a|2021-07-29--13-02-09", HYUNDAI.KIA_NIRO_HEV_2021),
+  CarTestRoute("db04d2c63990e3ba|2023-02-08--16-52-39", HYUNDAI.KIA_NIRO_HEV_2ND_GEN),
   CarTestRoute("50a2212c41f65c7b|2021-05-24--16-22-06", HYUNDAI.KIA_FORTE),
   CarTestRoute("192283cdbb7a58c2|2022-10-15--01-43-18", HYUNDAI.KIA_SPORTAGE_5TH_GEN),
   CarTestRoute("c5ac319aa9583f83|2021-06-01--18-18-31", HYUNDAI.ELANTRA),
@@ -129,6 +155,7 @@ routes = [
   CarTestRoute("715ac05b594e9c59|2021-06-20--16-21-07", HYUNDAI.ELANTRA_HEV_2021),
   CarTestRoute("7120aa90bbc3add7|2021-08-02--07-12-31", HYUNDAI.SONATA_HYBRID),
   CarTestRoute("715ac05b594e9c59|2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
+  CarTestRoute("6b0d44d22df18134|2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),
 
   CarTestRoute("00c829b1b7613dea|2021-06-24--09-10-10", TOYOTA.ALPHARD_TSS2),
   CarTestRoute("912119ebd02c7a42|2022-03-19--07-24-50", TOYOTA.ALPHARDH_TSS2),
@@ -145,12 +172,12 @@ routes = [
   CarTestRoute("5f5afb36036506e4|2019-05-14--02-09-54", TOYOTA.COROLLA_TSS2),
   CarTestRoute("5ceff72287a5c86c|2019-10-19--10-59-02", TOYOTA.COROLLAH_TSS2),
   CarTestRoute("d2525c22173da58b|2021-04-25--16-47-04", TOYOTA.PRIUS),
-  CarTestRoute("b14c5b4742e6fc85|2020-07-28--19-50-11", TOYOTA.RAV4),
   CarTestRoute("32a7df20486b0f70|2020-02-06--16-06-50", TOYOTA.RAV4H),
   CarTestRoute("cdf2f7de565d40ae|2019-04-25--03-53-41", TOYOTA.RAV4_TSS2),
   CarTestRoute("a5c341bb250ca2f0|2022-05-18--16-05-17", TOYOTA.RAV4_TSS2_2022),
   CarTestRoute("7e34a988419b5307|2019-12-18--19-13-30", TOYOTA.RAV4H_TSS2),
   CarTestRoute("2475fb3eb2ffcc2e|2022-04-29--12-46-23", TOYOTA.RAV4H_TSS2_2022),
+  CarTestRoute("7a31f030957b9c85|2023-04-01--14-12-51", TOYOTA.LEXUS_ES),
   CarTestRoute("e6a24be49a6cd46e|2019-10-29--10-52-42", TOYOTA.LEXUS_ES_TSS2),
   CarTestRoute("da23c367491f53e2|2021-05-21--09-09-11", TOYOTA.LEXUS_CTH, segment=3),
   CarTestRoute("f49e8041283f2939|2019-05-30--11-51-51", TOYOTA.LEXUS_ESH_TSS2),
@@ -170,10 +197,14 @@ routes = [
   CarTestRoute("80d16a262e33d57f|2021-05-23--20-01-43", TOYOTA.HIGHLANDERH),
   CarTestRoute("eb6acd681135480d|2019-06-20--20-00-00", TOYOTA.SIENNA),
   CarTestRoute("2e07163a1ba9a780|2019-08-25--13-15-13", TOYOTA.LEXUS_IS),
+  CarTestRoute("649bf2997ada6e3a|2023-08-08--18-04-22", TOYOTA.LEXUS_IS_TSS2),
   CarTestRoute("0a0de17a1e6a2d15|2020-09-21--21-24-41", TOYOTA.PRIUS_TSS2),
   CarTestRoute("9b36accae406390e|2021-03-30--10-41-38", TOYOTA.MIRAI),
   CarTestRoute("cd9cff4b0b26c435|2021-05-13--15-12-39", TOYOTA.CHR),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-08--15-11-46", TOYOTA.CHR_TSS2),
+  CarTestRoute("ea8fbe72b96a185c|2023-02-22--09-20-34", TOYOTA.CHR_TSS2),  # openpilot longitudinal, with smartDSU
   CarTestRoute("57858ede0369a261|2021-05-18--20-34-20", TOYOTA.CHRH),
+  CarTestRoute("6719965b0e1d1737|2023-02-09--22-44-05", TOYOTA.CHRH_TSS2),
   CarTestRoute("14623aae37e549f3|2021-10-24--01-20-49", TOYOTA.PRIUS_V),
 
   CarTestRoute("202c40641158a6e5|2021-09-21--09-43-24", VOLKSWAGEN.ARTEON_MK1),
@@ -196,6 +227,7 @@ routes = [
   CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
   CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
   CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
   CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
   CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
   CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
@@ -209,6 +241,9 @@ routes = [
   CarTestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
   CarTestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=10),
   CarTestRoute("c56e69bbc74b8fad|2022-08-18--09-43-51", SUBARU.LEGACY, segment=3),
+  CarTestRoute("f4e3a0c511a076f4|2022-08-04--16-16-48", SUBARU.CROSSTREK_HYBRID, segment=2),
+  CarTestRoute("7fd1e4f3a33c1673|2022-12-04--15-09-53", SUBARU.FORESTER_2022, segment=4),
+  CarTestRoute("f3b34c0d2632aa83|2023-07-23--20-43-25", SUBARU.OUTBACK_2023, segment=7),
   # Pre-global, dashcam
   CarTestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
   CarTestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
diff --git a/selfdrive/car/tests/test_can_fingerprint.py b/selfdrive/car/tests/test_can_fingerprint.py
new file mode 100755
index 0000000000..406ccd07f0
--- /dev/null
+++ b/selfdrive/car/tests/test_can_fingerprint.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from cereal import log, messaging
+from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, can_fingerprint
+from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+
+
+class TestCanFingerprint(unittest.TestCase):
+  @parameterized.expand([(c, f) for c, f in FINGERPRINTS.items()])
+  def test_can_fingerprint(self, car_model, fingerprints):
+    """Tests online fingerprinting function on offline fingerprints"""
+
+    for fingerprint in fingerprints:  # can have multiple fingerprints for each platform
+      can = messaging.new_message('can', 1)
+      can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
+                 for address, length in fingerprint.items() for src in (0, 1)]
+
+      fingerprint_iter = iter([can])
+      empty_can = messaging.new_message('can', 0)
+      car_fingerprint, finger = can_fingerprint(lambda: next(fingerprint_iter, empty_can))  # noqa: B023
+
+      self.assertEqual(car_fingerprint, car_model)
+      self.assertEqual(finger[0], fingerprint)
+      self.assertEqual(finger[1], fingerprint)
+      self.assertEqual(finger[2], {})
+
+  def test_timing(self):
+    # just pick any CAN fingerprinting car
+    car_model = 'CHEVROLET BOLT EUV 2022'
+    fingerprint = FINGERPRINTS[car_model][0]
+
+    cases = []
+
+    # case 1 - one match, make sure we keep going for 100 frames
+    can = messaging.new_message('can', 1)
+    can.can = [log.CanData(address=address, dat=b'\x00' * length, src=src)
+               for address, length in fingerprint.items() for src in (0, 1)]
+    cases.append((FRAME_FINGERPRINT, car_model, can))
+
+    # case 2 - no matches, make sure we keep going for 100 frames
+    can = messaging.new_message('can', 1)
+    can.can = [log.CanData(address=1, dat=b'\x00' * 1, src=src) for src in (0, 1)]  # uncommon address
+    cases.append((FRAME_FINGERPRINT, None, can))
+
+    # case 3 - multiple matches, make sure we keep going for 200 frames to try to eliminate some
+    can = messaging.new_message('can', 1)
+    can.can = [log.CanData(address=2016, dat=b'\x00' * 8, src=src) for src in (0, 1)]  # common address
+    cases.append((FRAME_FINGERPRINT * 2, None, can))
+
+    for expected_frames, car_model, can in cases:
+      with self.subTest(expected_frames=expected_frames, car_model=car_model):
+        frames = 0
+
+        def test():
+          nonlocal frames
+          frames += 1
+          return can  # noqa: B023
+
+        car_fingerprint, _ = can_fingerprint(test)
+        self.assertEqual(car_fingerprint, car_model)
+        self.assertEqual(frames, expected_frames + 2)  # TODO: fix extra frames
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/tests/test_car_interfaces.py b/selfdrive/car/tests/test_car_interfaces.py
index 48d85584b3..d44c50ed90 100755
--- a/selfdrive/car/tests/test_car_interfaces.py
+++ b/selfdrive/car/tests/test_car_interfaces.py
@@ -1,40 +1,81 @@
 #!/usr/bin/env python3
+import os
 import math
 import unittest
+import hypothesis.strategies as st
+from hypothesis import Phase, given, settings
 import importlib
 from parameterized import parameterized
 
 from cereal import car
-from selfdrive.car import gen_empty_fingerprint
-from selfdrive.car.fingerprints import all_known_cars
-from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import gen_empty_fingerprint
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.fw_versions import FW_VERSIONS
+from openpilot.selfdrive.car.interfaces import get_interface_attr
+from openpilot.selfdrive.test.fuzzy_generation import DrawType, FuzzyGenerator
+
+ALL_ECUS = list({ecu for ecus in FW_VERSIONS.values() for ecu in ecus.keys()})
+
+MAX_EXAMPLES = int(os.environ.get('MAX_EXAMPLES', '5'))
+
+
+def get_fuzzy_car_interface_args(draw: DrawType) -> dict:
+  # Fuzzy CAN fingerprints and FW versions to test more states of the CarInterface
+  fingerprint_strategy = st.fixed_dictionaries({key: st.dictionaries(st.integers(min_value=0, max_value=0x800),
+                                                                     st.integers(min_value=0, max_value=64)) for key in
+                                                gen_empty_fingerprint()})
+
+  # only pick from possible ecus to reduce search space
+  car_fw_strategy = st.lists(st.sampled_from(ALL_ECUS))
+
+  params_strategy = st.fixed_dictionaries({
+    'fingerprints': fingerprint_strategy,
+    'car_fw': car_fw_strategy,
+    'experimental_long': st.booleans(),
+  })
+
+  params: dict = draw(params_strategy)
+  params['car_fw'] = [car.CarParams.CarFw(ecu=fw[0], address=fw[1], subAddress=fw[2] or 0) for fw in params['car_fw']]
+  return params
+
 
 class TestCarInterfaces(unittest.TestCase):
 
-  @parameterized.expand([(car,) for car in all_known_cars()])
-  def test_car_interfaces(self, car_name):
-    if car_name in FINGERPRINTS:
-      fingerprint = FINGERPRINTS[car_name][0]
-    else:
-      fingerprint = {}
+  @classmethod
+  def setUpClass(cls):
+    os.environ['NO_RADAR_SLEEP'] = '1'
 
+  # FIXME: Due to the lists used in carParams, Phase.target is very slow and will cause
+  #  many generated examples to overrun when max_examples > ~20, don't use it
+  @parameterized.expand([(car,) for car in sorted(all_known_cars())])
+  @settings(max_examples=MAX_EXAMPLES, deadline=500,
+            phases=(Phase.reuse, Phase.generate, Phase.shrink))
+  @given(data=st.data())
+  def test_car_interfaces(self, car_name, data):
     CarInterface, CarController, CarState = interfaces[car_name]
-    fingerprints = gen_empty_fingerprint()
-    fingerprints.update({k: fingerprint for k in fingerprints.keys()})
 
-    car_fw = []
+    args = get_fuzzy_car_interface_args(data.draw)
 
-    car_params = CarInterface.get_params(car_name, fingerprints, car_fw)
+    car_params = CarInterface.get_params(car_name, args['fingerprints'], args['car_fw'],
+                                         experimental_long=args['experimental_long'], docs=False)
     car_interface = CarInterface(car_params, CarController, CarState)
     assert car_params
     assert car_interface
 
     self.assertGreater(car_params.mass, 1)
     self.assertGreater(car_params.wheelbase, 0)
-    self.assertGreater(car_params.centerToFront, 0)
+    # centerToFront is center of gravity to front wheels, assert a reasonable range
+    self.assertTrue(car_params.wheelbase * 0.3 < car_params.centerToFront < car_params.wheelbase * 0.7)
     self.assertGreater(car_params.maxLateralAccel, 0)
 
+    # Longitudinal sanity checks
+    self.assertEqual(len(car_params.longitudinalTuning.kpV), len(car_params.longitudinalTuning.kpBP))
+    self.assertEqual(len(car_params.longitudinalTuning.kiV), len(car_params.longitudinalTuning.kiBP))
+    self.assertEqual(len(car_params.longitudinalTuning.deadzoneV), len(car_params.longitudinalTuning.deadzoneBP))
+
+    # Lateral sanity checks
     if car_params.steerControlType != car.CarParams.SteerControlType.angle:
       tune = car_params.lateralTuning
       if tune.which() == 'pid':
@@ -44,24 +85,28 @@ class TestCarInterfaces(unittest.TestCase):
 
       elif tune.which() == 'torque':
         self.assertTrue(not math.isnan(tune.torque.kf) and tune.torque.kf > 0)
-        self.assertTrue(not math.isnan(tune.torque.friction))
+        self.assertTrue(not math.isnan(tune.torque.friction) and tune.torque.friction > 0)
 
       elif tune.which() == 'indi':
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
+    cc_msg = FuzzyGenerator.get_random_msg(data.draw, car.CarControl, real_floats=True)
     # Run car interface
-    CC = car.CarControl.new_message()
+    now_nanos = 0
+    CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC)
-      car_interface.apply(CC)
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
+      now_nanos += DT_CTRL * 1e9  # 10 ms
 
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])
-      car_interface.apply(CC)
-      car_interface.apply(CC)
+      car_interface.apply(CC, now_nanos)
+      car_interface.apply(CC, now_nanos)
+      now_nanos += DT_CTRL * 1e9  # 10ms
 
     # Test radar interface
     RadarInterface = importlib.import_module(f'selfdrive.car.{car_params.carName}.radar_interface').RadarInterface
@@ -70,9 +115,35 @@ class TestCarInterfaces(unittest.TestCase):
 
     # Run radar interface once
     radar_interface.update([])
-    if not car_params.radarOffCan and radar_interface.rcp is not None and \
+    if not car_params.radarUnavailable and radar_interface.rcp is not None and \
        hasattr(radar_interface, '_update') and hasattr(radar_interface, 'trigger_msg'):
       radar_interface._update([radar_interface.trigger_msg])
 
+  def test_interface_attrs(self):
+    """Asserts basic behavior of interface attribute getter"""
+    num_brands = len(get_interface_attr('CAR'))
+    self.assertGreaterEqual(num_brands, 13)
+
+    # Should return value for all brands when not combining, even if attribute doesn't exist
+    ret = get_interface_attr('FAKE_ATTR')
+    self.assertEqual(len(ret), num_brands)
+
+    # Make sure we can combine dicts
+    ret = get_interface_attr('DBC', combine_brands=True)
+    self.assertGreaterEqual(len(ret), 170)
+
+    # We don't support combining non-dicts
+    ret = get_interface_attr('CAR', combine_brands=True)
+    self.assertEqual(len(ret), 0)
+
+    # If brand has None value, it shouldn't return when ignore_none=True is specified
+    none_brands = {b for b, v in get_interface_attr('FINGERPRINTS').items() if v is None}
+    self.assertGreaterEqual(len(none_brands), 1)
+
+    ret = get_interface_attr('FINGERPRINTS', ignore_none=True)
+    none_brands_in_ret = none_brands.intersection(ret)
+    self.assertEqual(len(none_brands_in_ret), 0, f'Brands with None values in ignore_none=True result: {none_brands_in_ret}')
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index e56f98f7a8..d9d67fe87d 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,12 +1,16 @@
 #!/usr/bin/env python3
 from collections import defaultdict
+import os
 import re
 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, Harness, Star
-from selfdrive.car.honda.values import CAR as HONDA
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.car.car_helpers import interfaces, get_interface_attr
+from openpilot.selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
+from openpilot.selfdrive.car.docs_definitions import Cable, Column, PartType, Star
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.debug.dump_car_info import dump_car_info
+from openpilot.selfdrive.debug.print_docs_diff import print_car_info_diff
 
 
 class TestCarDocs(unittest.TestCase):
@@ -22,6 +26,12 @@ class TestCarDocs(unittest.TestCase):
     self.assertEqual(generated_cars_md, current_cars_md,
                      "Run selfdrive/car/docs.py to update the compatibility documentation")
 
+  def test_docs_diff(self):
+    dump_path = os.path.join(BASEDIR, "selfdrive", "car", "tests", "cars_dump")
+    dump_car_info(dump_path)
+    print_car_info_diff(dump_path)
+    os.remove(dump_path)
+
   def test_duplicate_years(self):
     make_model_years = defaultdict(list)
     for car in self.all_cars:
@@ -74,7 +84,12 @@ class TestCarDocs(unittest.TestCase):
         if car.name == "comma body":
           raise unittest.SkipTest
 
-        self.assertNotIn(car.harness, [None, Harness.none], f"Need to specify car harness: {car.name}")
+        car_part_type = [p.part_type for p in car.car_parts.all_parts()]
+        car_parts = list(car.car_parts.all_parts())
+        self.assertTrue(len(car_parts) > 0, f"Need to specify car parts: {car.name}")
+        self.assertTrue(car_part_type.count(PartType.connector) == 1, f"Need to specify one harness connector: {car.name}")
+        self.assertTrue(car_part_type.count(PartType.mount) == 1, f"Need to specify one mount: {car.name}")
+        self.assertTrue(Cable.right_angle_obd_c_cable_1_5ft in car_parts, f"Need to specify a right angle OBD-C cable (1.5ft): {car.name}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/tests/test_fingerprints.py b/selfdrive/car/tests/test_fingerprints.py
index 26ade29e4a..61e9a4d165 100755
--- a/selfdrive/car/tests/test_fingerprints.py
+++ b/selfdrive/car/tests/test_fingerprints.py
@@ -3,7 +3,7 @@ import os
 import sys
 from typing import Dict, List
 
-from common.basedir import BASEDIR
+from openpilot.common.basedir import BASEDIR
 
 # messages reserved for CAN based ignition (see can_ignition_hook function in panda/board/drivers/can)
 # (addr, len)
@@ -70,7 +70,7 @@ if __name__ == "__main__":
   for brand in fingerprints:
     for car in fingerprints[brand]:
       fingerprints_flat += fingerprints[brand][car]
-      for i in range(len(fingerprints[brand][car])):
+      for _ in range(len(fingerprints[brand][car])):
         car_names.append(car)
         brand_names.append(brand)
 
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index 2e43103852..883a72897c 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -1,19 +1,31 @@
 #!/usr/bin/env python3
 import random
+import time
 import unittest
 from collections import defaultdict
 from parameterized import parameterized
+import threading
 
 from cereal import car
-from selfdrive.car.car_helpers import get_interface_attr, interfaces
-from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, match_fw_to_car
+from openpilot.common.params import Params
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.fingerprints import FW_VERSIONS
+from openpilot.selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, \
+                                                match_fw_to_car, get_fw_versions, get_present_ecus
+from openpilot.selfdrive.car.vin import get_vin
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
-VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
+
+
+class FakeSocket:
+  def receive(self, non_blocking=False):
+    pass
+
+  def send(self, msg):
+    pass
 
 
 class TestFwFingerprint(unittest.TestCase):
@@ -23,27 +35,73 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(candidates[0], expected)
 
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
-  def test_fw_fingerprint(self, brand, car_model, ecus):
+  def test_exact_match(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
-        if not len(fw_versions):
-          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
         fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
-      _, matches = match_fw_to_car(CP.carFw)
+      _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
       self.assertFingerprints(matches, car_model)
 
-  def test_no_duplicate_fw_versions(self):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_custom_fuzzy_match(self, brand, car_model, ecus):
+    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
+    config = FW_QUERY_CONFIGS[brand]
+    if config.match_fw_to_car_fuzzy is None:
+      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
+
+    CP = car.CarParams.new_message()
+    for _ in range(5):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        ecu_name, addr, sub_addr = ecu
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP.carFw = fw
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+
+      # If both have matches, they must agree
+      if len(matches) == 1 and len(brand_matches) == 1:
+        self.assertEqual(matches, brand_matches)
+
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
+    # Asserts that fuzzy matching does not count matching FW, but ECU address keys
+    valid_ecus = [e for e in ecus if e[0] not in FUZZY_EXCLUDE_ECUS]
+    if not len(valid_ecus):
+      raise unittest.SkipTest("Car model has no compatible ECUs for fuzzy matching")
+
+    fw = []
+    for ecu in valid_ecus:
+      ecu_name, addr, sub_addr = ecu
+      for _ in range(5):
+        # Add multiple FW versions to simulate ECU returning to multiple queries in a brand
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(ecus[ecu]), 'brand': brand,
+                   "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
+      CP = car.CarParams.new_message(carFw=fw)
+      _, matches = match_fw_to_car(CP.carFw, allow_exact=False, log=False)
+
+      # Assert no match if there are not enough unique ECUs
+      unique_ecus = {(f['address'], f['subAddress']) for f in fw}
+      if len(unique_ecus) < 2:
+        self.assertEqual(len(matches), 0, car_model)
+      # There won't always be a match due to shared FW, but if there is it should be correct
+      elif len(matches):
+        self.assertFingerprints(matches, car_model)
+
+  def test_fw_version_lists(self):
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
         for ecu, ecu_fw in ecus.items():
           with self.subTest(ecu):
             duplicates = {fw for fw in ecu_fw if ecu_fw.count(fw) > 1}
-            self.assertFalse(len(duplicates), f"{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}")
+            self.assertFalse(len(duplicates), f'{car_model}: Duplicate FW versions: Ecu.{ECU_NAME[ecu[0]]}, {duplicates}')
+            self.assertGreater(len(ecu_fw), 0, f'{car_model}: No FW versions: Ecu.{ECU_NAME[ecu[0]]}')
 
   def test_all_addrs_map_to_one_ecu(self):
     for brand, cars in VERSIONS.items():
@@ -67,7 +125,7 @@ class TestFwFingerprint(unittest.TestCase):
     blacklisted_addrs = (0x7c4, 0x7d0)  # includes A/C ecu and an unknown ecu
     for car_model, ecus in FW_VERSIONS.items():
       with self.subTest(car_model=car_model):
-        CP = interfaces[car_model][0].get_params(car_model)
+        CP = interfaces[car_model][0].get_non_essential_params(car_model)
         if CP.carName == 'subaru':
           for ecu in ecus.keys():
             self.assertNotIn(ecu[1], blacklisted_addrs, f'{car_model}: Blacklisted ecu: (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])})')
@@ -101,7 +159,109 @@ class TestFwFingerprint(unittest.TestCase):
 
         ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
         self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
-                         f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
+
+  def test_fw_requests(self):
+    # Asserts equal length request and response lists
+    for brand, config in FW_QUERY_CONFIGS.items():
+      with self.subTest(brand=brand):
+        for request_obj in config.requests:
+          self.assertEqual(len(request_obj.request), len(request_obj.response))
+
+          # No request on the OBD port (bus 1, multiplexed) should be run on an aux panda
+          self.assertFalse(request_obj.auxiliary and request_obj.bus == 1 and request_obj.obd_multiplexing,
+                           f"{brand.title()}: OBD multiplexed request is marked auxiliary: {request_obj}")
+
+
+class TestFwFingerprintTiming(unittest.TestCase):
+  N: int = 5
+  TOL: float = 0.1
+
+  @staticmethod
+  def _run_thread(thread: threading.Thread) -> float:
+    params = Params()
+    params.put_bool("ObdMultiplexingEnabled", True)
+    thread.start()
+    t = time.perf_counter()
+    while thread.is_alive():
+      time.sleep(0.02)
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+    return time.perf_counter() - t
+
+  def _benchmark_brand(self, brand, num_pandas):
+    fake_socket = FakeSocket()
+    brand_time = 0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                kwargs=dict(num_pandas=num_pandas))
+      brand_time += self._run_thread(thread)
+
+    return round(brand_time / self.N, 2)
+
+  def _assert_timing(self, avg_time, ref_time):
+    self.assertLess(avg_time, ref_time + self.TOL)
+    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
+
+  def test_startup_timing(self):
+    # Tests worse-case VIN query time and typical present ECU query time
+    vin_ref_time = 1.0
+    present_ecu_ref_time = 0.8
+
+    fake_socket = FakeSocket()
+    present_ecu_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
+                                kwargs=dict(num_pandas=2))
+      present_ecu_time += self._run_thread(thread)
+    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
+
+    vin_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
+      vin_time += self._run_thread(thread)
+    self._assert_timing(vin_time / self.N, vin_ref_time)
+    print(f'get_vin, query time={vin_time / self.N} seconds')
+
+  def test_fw_query_timing(self):
+    total_ref_time = 6.1
+    brand_ref_times = {
+      1: {
+        'body': 0.1,
+        'chrysler': 0.3,
+        'ford': 0.2,
+        'honda': 0.5,
+        'hyundai': 0.7,
+        'mazda': 0.2,
+        'nissan': 0.4,
+        'subaru': 0.2,
+        'tesla': 0.2,
+        'toyota': 1.6,
+        'volkswagen': 0.2,
+      },
+      2: {
+        'ford': 0.3,
+        'hyundai': 1.1,
+      }
+    }
+
+    total_time = 0
+    for num_pandas in (1, 2):
+      for brand, config in FW_QUERY_CONFIGS.items():
+        with self.subTest(brand=brand, num_pandas=num_pandas):
+          multi_panda_requests = [r for r in config.requests if r.bus > 3]
+          if not len(multi_panda_requests) and num_pandas > 1:
+            raise unittest.SkipTest("No multi-panda FW queries")
+
+          avg_time = self._benchmark_brand(brand, num_pandas)
+          total_time += avg_time
+          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
+          print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
+
+    with self.subTest(brand='all_brands'):
+      self._assert_timing(total_time, total_ref_time)
+      print(f'all brands, total FW query time={total_time} seconds')
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/car/tests/test_lateral_limits.py b/selfdrive/car/tests/test_lateral_limits.py
new file mode 100755
index 0000000000..9de6063f3d
--- /dev/null
+++ b/selfdrive/car/tests/test_lateral_limits.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+from collections import defaultdict
+import importlib
+from parameterized import parameterized_class
+import sys
+from typing import DefaultDict, Dict
+import unittest
+
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.interfaces import get_torque_params
+from openpilot.selfdrive.car.subaru.values import CAR as SUBARU
+
+CAR_MODELS = all_known_cars()
+
+# ISO 11270 - allowed up jerk is strictly lower than recommended limits
+MAX_LAT_ACCEL = 3.0              # m/s^2
+MAX_LAT_JERK_UP = 2.5            # m/s^3
+MAX_LAT_JERK_DOWN = 5.0          # m/s^3
+MAX_LAT_JERK_UP_TOLERANCE = 0.5  # m/s^3
+
+# jerk is measured over half a second
+JERK_MEAS_T = 0.5
+
+# TODO: put these cars within limits
+ABOVE_LIMITS_CARS = [
+  SUBARU.LEGACY,
+  SUBARU.OUTBACK,
+]
+
+car_model_jerks: DefaultDict[str, Dict[str, float]] = defaultdict(dict)
+
+
+@parameterized_class('car_model', [(c,) for c in CAR_MODELS])
+class TestLateralLimits(unittest.TestCase):
+  car_model: str
+
+  @classmethod
+  def setUpClass(cls):
+    CarInterface, _, _ = interfaces[cls.car_model]
+    CP = CarInterface.get_non_essential_params(cls.car_model)
+
+    if CP.dashcamOnly:
+      raise unittest.SkipTest("Platform is behind dashcamOnly")
+
+    # TODO: test all platforms
+    if CP.lateralTuning.which() != 'torque':
+      raise unittest.SkipTest
+
+    if CP.notCar:
+      raise unittest.SkipTest
+
+    if CP.carFingerprint in ABOVE_LIMITS_CARS:
+      raise unittest.SkipTest
+
+    CarControllerParams = importlib.import_module(f'selfdrive.car.{CP.carName}.values').CarControllerParams
+    cls.control_params = CarControllerParams(CP)
+    cls.torque_params = get_torque_params(cls.car_model)
+
+  @staticmethod
+  def calculate_0_5s_jerk(control_params, torque_params):
+    steer_step = control_params.STEER_STEP
+    max_lat_accel = torque_params['MAX_LAT_ACCEL_MEASURED']
+
+    # Steer up/down delta per 10ms frame, in percentage of max torque
+    steer_up_per_frame = control_params.STEER_DELTA_UP / control_params.STEER_MAX / steer_step
+    steer_down_per_frame = control_params.STEER_DELTA_DOWN / control_params.STEER_MAX / steer_step
+
+    # Lateral acceleration reached in 0.5 seconds, clipping to max torque
+    accel_up_0_5_sec = min(steer_up_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
+    accel_down_0_5_sec = min(steer_down_per_frame * JERK_MEAS_T / DT_CTRL, 1.0) * max_lat_accel
+
+    # Convert to m/s^3
+    return accel_up_0_5_sec / JERK_MEAS_T, accel_down_0_5_sec / JERK_MEAS_T
+
+  def test_jerk_limits(self):
+    up_jerk, down_jerk = self.calculate_0_5s_jerk(self.control_params, self.torque_params)
+    car_model_jerks[self.car_model] = {"up_jerk": up_jerk, "down_jerk": down_jerk}
+    self.assertLessEqual(up_jerk, MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE)
+    self.assertLessEqual(down_jerk, MAX_LAT_JERK_DOWN)
+
+  def test_max_lateral_accel(self):
+    self.assertLessEqual(self.torque_params["MAX_LAT_ACCEL_MEASURED"], MAX_LAT_ACCEL)
+
+
+if __name__ == "__main__":
+  result = unittest.main(exit=False)
+
+  print(f"\n\n---- Lateral limit report ({len(CAR_MODELS)} cars) ----\n")
+
+  max_car_model_len = max([len(car_model) for car_model in car_model_jerks])
+  for car_model, _jerks in sorted(car_model_jerks.items(), key=lambda i: i[1]['up_jerk'], reverse=True):
+    violation = _jerks["up_jerk"] > MAX_LAT_JERK_UP + MAX_LAT_JERK_UP_TOLERANCE or \
+                _jerks["down_jerk"] > MAX_LAT_JERK_DOWN
+    violation_str = " - VIOLATION" if violation else ""
+
+    print(f"{car_model:{max_car_model_len}} - up jerk: {round(_jerks['up_jerk'], 2):5} \
+              m/s^3, down jerk: {round(_jerks['down_jerk'], 2):5} m/s^3{violation_str}")
+
+  # exit with test result
+  sys.exit(not result.result.wasSuccessful())
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index 641c109316..57b7037530 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# pylint: disable=E1101
+import capnp
 import os
 import importlib
 import unittest
@@ -8,16 +8,17 @@ from typing import List, Optional, Tuple
 from parameterized import parameterized_class
 
 from cereal import log, car
-from common.realtime import DT_CTRL
-from selfdrive.car.fingerprints import all_known_cars
-from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.gm.values import CAR as GM
-from selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
-from selfdrive.car.hyundai.values import CAR as HYUNDAI
-from selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
-from selfdrive.test.openpilotci import get_url
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.fingerprints import all_known_cars
+from openpilot.selfdrive.car.car_helpers import FRAME_FINGERPRINT, interfaces
+from openpilot.selfdrive.car.gm.values import CAR as GM
+from openpilot.selfdrive.car.honda.values import CAR as HONDA, HONDA_BOSCH
+from openpilot.selfdrive.car.hyundai.values import CAR as HYUNDAI
+from openpilot.selfdrive.car.tests.routes import non_tested_cars, routes, CarTestRoute
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentName, RouteName
 
 from panda.tests.libpanda import libpanda_py
 
@@ -25,29 +26,51 @@ PandaType = log.PandaState.PandaType
 
 NUM_JOBS = int(os.environ.get("NUM_JOBS", "1"))
 JOB_ID = int(os.environ.get("JOB_ID", "0"))
+INTERNAL_SEG_LIST = os.environ.get("INTERNAL_SEG_LIST", "")
+INTERNAL_SEG_CNT = int(os.environ.get("INTERNAL_SEG_CNT", "0"))
 
 ignore_addr_checks_valid = [
   GM.BUICK_REGAL,
   HYUNDAI.GENESIS_G70_2020,
 ]
 
-# build list of test cases
-routes_by_car = defaultdict(set)
-for r in routes:
-  routes_by_car[r.car_model].add(r)
 
-test_cases: List[Tuple[str, Optional[CarTestRoute]]] = []
-for i, c in enumerate(sorted(all_known_cars())):
-  if i % NUM_JOBS == JOB_ID:
-    test_cases.extend((c, r) for r in routes_by_car.get(c, (None, )))
+def get_test_cases() -> List[Tuple[str, Optional[CarTestRoute]]]:
+  # build list of test cases
+  test_cases = []
+  if not len(INTERNAL_SEG_LIST):
+    routes_by_car = defaultdict(set)
+    for r in routes:
+      routes_by_car[r.car_model].add(r)
+
+    for i, c in enumerate(sorted(all_known_cars())):
+      if i % NUM_JOBS == JOB_ID:
+        test_cases.extend(sorted((c, r) for r in routes_by_car.get(c, (None,))))
+
+  else:
+    with open(os.path.join(BASEDIR, INTERNAL_SEG_LIST), "r") as f:
+      seg_list = f.read().splitlines()
+
+    cnt = INTERNAL_SEG_CNT or len(seg_list)
+    seg_list_iter = iter(seg_list[:cnt])
+
+    for platform in seg_list_iter:
+      platform = platform[2:]  # get rid of comment
+      segment_name = SegmentName(next(seg_list_iter))
+      test_cases.append((platform, CarTestRoute(segment_name.route_name.canonical_name, platform,
+                                                segment=segment_name.segment_num)))
+  return test_cases
+
 
 SKIP_ENV_VAR = "SKIP_LONG_TESTS"
 
 
 class TestCarModelBase(unittest.TestCase):
-  car_model = None
-  test_route = None
-  ci = True
+  car_model: Optional[str] = None
+  test_route: Optional[CarTestRoute] = None
+  ci: bool = True
+
+  can_msgs: List[capnp.lib.capnp._DynamicStructReader]
 
   @unittest.skipIf(SKIP_ENV_VAR in os.environ, f"Long running test skipped. Unset {SKIP_ENV_VAR} to run")
   @classmethod
@@ -65,14 +88,16 @@ class TestCarModelBase(unittest.TestCase):
         raise unittest.SkipTest
       raise Exception(f"missing test route for {cls.car_model}")
 
-    experimental_long = False
     test_segs = (2, 1, 0)
     if cls.test_route.segment is not None:
       test_segs = (cls.test_route.segment,)
 
     for seg in test_segs:
       try:
-        if cls.ci:
+        if len(INTERNAL_SEG_LIST):
+          route_name = RouteName(cls.test_route.route)
+          lr = LogReader(f"cd:/{route_name.dongle_id}/{route_name.time_str}/{seg}/rlog.bz2")
+        elif cls.ci:
           lr = LogReader(get_url(cls.test_route.route, seg))
         else:
           lr = LogReader(Route(cls.test_route.route).log_paths()[seg])
@@ -82,28 +107,42 @@ class TestCarModelBase(unittest.TestCase):
       car_fw = []
       can_msgs = []
       fingerprint = defaultdict(dict)
+      experimental_long = False
+      enabled_toggle = True
+      dashcam_only = False
       for msg in lr:
         if msg.which() == "can":
-          for m in msg.can:
-            if m.src < 64:
-              fingerprint[m.src][m.address] = len(m.dat)
           can_msgs.append(msg)
+          if len(can_msgs) <= FRAME_FINGERPRINT:
+            for m in msg.can:
+              if m.src < 64:
+                fingerprint[m.src][m.address] = len(m.dat)
+
         elif msg.which() == "carParams":
           car_fw = msg.carParams.carFw
+          dashcam_only = msg.carParams.dashcamOnly
           if msg.carParams.openpilotLongitudinalControl:
             experimental_long = True
           if cls.car_model is None and not cls.ci:
             cls.car_model = msg.carParams.carFingerprint
 
+        elif msg.which() == 'initData':
+          for param in msg.initData.params.entries:
+            if param.key == 'OpenpilotEnabledToggle':
+              enabled_toggle = param.value.strip(b'\x00') == b'1'
+
       if len(can_msgs) > int(50 / DT_CTRL):
         break
     else:
       raise Exception(f"Route: {repr(cls.test_route.route)} with segments: {test_segs} not found or no CAN msgs found. Is it uploaded?")
 
+    # if relay is expected to be open in the route
+    cls.openpilot_enabled = enabled_toggle and not dashcam_only
+
     cls.can_msgs = sorted(can_msgs, key=lambda msg: msg.logMonoTime)
 
     cls.CarInterface, cls.CarController, cls.CarState = interfaces[cls.car_model]
-    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long)
+    cls.CP = cls.CarInterface.get_params(cls.car_model, fingerprint, car_fw, experimental_long, docs=False)
     assert cls.CP
     assert cls.CP.carFingerprint == cls.car_model
 
@@ -149,7 +188,7 @@ class TestCarModelBase(unittest.TestCase):
 
     for i, msg in enumerate(self.can_msgs):
       CS = self.CI.update(CC, (msg.as_builder().to_bytes(),))
-      self.CI.apply(CC)
+      self.CI.apply(CC, msg.logMonoTime)
 
       if CS.canValid:
         can_valid = True
@@ -199,8 +238,52 @@ class TestCarModelBase(unittest.TestCase):
         self.safety.safety_tick_current_rx_checks()
         if t > 1e6:
           self.assertTrue(self.safety.addr_checks_valid())
+
+          # No need to check relay malfunction on disabled routes (relay closed) or for reasonable fingerprinting time
+          # TODO: detect when relay has flipped to properly check relay malfunction
+          if self.openpilot_enabled and t > 5e6:
+            self.assertFalse(self.safety.get_relay_malfunction())
+          else:
+            self.safety.set_relay_malfunction(False)
+
     self.assertFalse(len(failed_addrs), f"panda safety RX check failed: {failed_addrs}")
 
+  def test_panda_safety_tx_cases(self, data=None):
+    """Asserts we can tx common messages"""
+    if self.CP.notCar:
+      self.skipTest("Skipping test for notCar")
+
+    def test_car_controller(car_control):
+      now_nanos = 0
+      msgs_sent = 0
+      CI = self.CarInterface(self.CP, self.CarController, self.CarState)
+      for _ in range(round(10.0 / DT_CTRL)):  # make sure we hit the slowest messages
+        CI.update(car_control, [])
+        _, sendcan = CI.apply(car_control, now_nanos)
+
+        now_nanos += DT_CTRL * 1e9
+        msgs_sent += len(sendcan)
+        for addr, _, dat, bus in sendcan:
+          to_send = libpanda_py.make_CANPacket(addr, bus % 4, dat)
+          self.assertTrue(self.safety.safety_tx_hook(to_send), (addr, dat, bus))
+
+      # Make sure we attempted to send messages
+      self.assertGreater(msgs_sent, 50)
+
+    # Make sure we can send all messages while inactive
+    CC = car.CarControl.new_message()
+    test_car_controller(CC)
+
+    # Test cancel + general messages (controls_allowed=False & cruise_engaged=True)
+    self.safety.set_cruise_engaged_prev(True)
+    CC = car.CarControl.new_message(cruiseControl={'cancel': True})
+    test_car_controller(CC)
+
+    # Test resume + general messages (controls_allowed=True & cruise_engaged=True)
+    self.safety.set_controls_allowed(True)
+    CC = car.CarControl.new_message(cruiseControl={'resume': True})
+    test_car_controller(CC)
+
   def test_panda_safety_carstate(self):
     """
       Assert that panda safety matches openpilot's carState
@@ -214,7 +297,7 @@ class TestCarModelBase(unittest.TestCase):
     for can in self.can_msgs[:300]:
       self.CI.update(CC, (can.as_builder().to_bytes(), ))
       for msg in filter(lambda m: m.src in range(64), can.can):
-        to_send = libpanda_py.make_CANPacket(msg.address, msg.src, msg.dat)
+        to_send = libpanda_py.make_CANPacket(msg.address, msg.src % 4, msg.dat)
         self.safety.safety_rx_hook(to_send)
 
     controls_allowed_prev = False
@@ -238,14 +321,12 @@ 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()
-      if self.CP.carName not in ("hyundai", "volkswagen", "body"):
-        # TODO: fix standstill mismatches for other makes
-        checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
+      checks['standstill'] += CS.standstill == self.safety.get_vehicle_moving()
 
       # TODO: remove this exception once this mismatch is resolved
       brake_pressed = CS.brakePressed
       if CS.brakePressed and not self.safety.get_brake_pressed_prev():
-        if self.CP.carFingerprint in (HONDA.PILOT, HONDA.PASSPORT, HONDA.RIDGELINE) and CS.brake > 0.05:
+        if self.CP.carFingerprint in (HONDA.PILOT, HONDA.RIDGELINE) and CS.brake > 0.05:
           brake_pressed = False
       checks['brakePressed'] += brake_pressed != self.safety.get_brake_pressed_prev()
       checks['regenBraking'] += CS.regenBraking != self.safety.get_regen_braking_prev()
@@ -260,6 +341,10 @@ class TestCarModelBase(unittest.TestCase):
             checks['controlsAllowed'] += not self.safety.get_controls_allowed()
         else:
           checks['controlsAllowed'] += not CS.cruiseState.enabled and self.safety.get_controls_allowed()
+
+        # TODO: fix notCar mismatch
+        if not self.CP.notCar:
+          checks['cruiseState'] += CS.cruiseState.enabled != self.safety.get_cruise_engaged_prev()
       else:
         # Check for enable events on rising edge of controls allowed
         button_enable = any(evt.enable for evt in CS.events)
@@ -278,7 +363,7 @@ class TestCarModelBase(unittest.TestCase):
     self.assertFalse(len(failed_checks), f"panda safety doesn't agree with openpilot: {failed_checks}")
 
 
-@parameterized_class(('car_model', 'test_route'), test_cases)
+@parameterized_class(('car_model', 'test_route'), get_test_cases())
 class TestCarModel(TestCarModelBase):
   pass
 
diff --git a/selfdrive/car/tests/test_models_segs.txt b/selfdrive/car/tests/test_models_segs.txt
new file mode 100644
index 0000000000..11c19685da
--- /dev/null
+++ b/selfdrive/car/tests/test_models_segs.txt
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93de5a9a259934896d8573d9b0f696289b88693908968009fe144e2e10a3355
+size 127597
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 1eda931e3e..372484fa6e 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -7,26 +7,38 @@ NISSAN LEAF 2018 Instrument Cluster: [.nan, 1.5, .nan]
 NISSAN LEAF 2018: [.nan, 1.5, .nan]
 NISSAN ROGUE 2019: [.nan, 1.5, .nan]
 
+# New subarus angle based controllers
+SUBARU FORESTER 2022: [.nan, 3.0, .nan]
+SUBARU OUTBACK 7TH GEN: [.nan, 3.0, .nan]
+
+# Toyota LTA also has torque
+TOYOTA RAV4 2023: [.nan, 3.0, .nan]
+TOYOTA RAV4 HYBRID 2023: [.nan, 3.0, .nan]
+
 # Tesla has high torque
 TESLA AP1 MODEL S: [.nan, 2.5, .nan]
 TESLA AP2 MODEL S: [.nan, 2.5, .nan]
 
 # Guess
+FORD BRONCO SPORT 1ST GEN: [.nan, 1.5, .nan]
 FORD ESCAPE 4TH GEN: [.nan, 1.5, .nan]
 FORD EXPLORER 6TH GEN: [.nan, 1.5, .nan]
+FORD F-150 14TH GEN: [.nan, 1.5, .nan]
 FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
+FORD MAVERICK 1ST GEN: [.nan, 1.5, .nan]
 ###
 
 # No steering wheel
 COMMA BODY: [.nan, 1000, .nan]
 
 # Totally new cars
-RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
-RAM HD 5TH GEN: [1.4, 1.4, 0.0]
-SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
-CHEVROLET BOLT EV 2022: [2.0, 2.0, 0.05]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
+RAM HD 5TH GEN: [1.4, 1.4, 0.05]
+SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
+CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]
+CHEVROLET TRAILBLAZER 2021: [1.33, 1.9, 0.16]
 CHEVROLET EQUINOX 2019: [2.0, 2.0, 0.05]
 VOLKSWAGEN PASSAT NMS: [2.5, 2.5, 0.1]
 VOLKSWAGEN SHARAN 2ND GEN: [2.5, 2.5, 0.1]
@@ -35,9 +47,19 @@ KIA SPORTAGE 5TH GEN: [2.7, 2.7, 0.1]
 KIA SPORTAGE HYBRID 5TH GEN: [2.5, 2.5, 0.1]
 GENESIS GV70 1ST GEN: [2.42, 2.42, 0.1]
 KIA SORENTO PLUG-IN HYBRID 4TH GEN: [2.5, 2.5, 0.1]
+GENESIS GV60 ELECTRIC 1ST GEN: [2.5, 2.5, 0.1]
+KIA SORENTO 4TH GEN: [2.5, 2.5, 0.1]
+KIA NIRO HYBRID 2ND GEN: [2.42, 2.5, 0.12]
+KIA NIRO EV 2ND GEN: [2.05, 2.5, 0.14]
+GENESIS GV80 2023: [2.5, 2.5, 0.1]
+KIA CARNIVAL 4TH GEN: [1.75, 1.75, 0.15]
+GMC ACADIA DENALI 2018: [1.6, 1.6, 0.2]
+LEXUS IS 2023: [2.0, 2.0, 0.1]
+KIA SORENTO HYBRID 4TH GEN: [2.5, 2.5, 0.1]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
 
 # Manually checked
 HONDA CIVIC 2022: [2.5, 1.2, 0.15]
+HONDA HR-V 2023: [2.5, 1.2, 0.2]
diff --git a/selfdrive/car/torque_data/params.yaml b/selfdrive/car/torque_data/params.yaml
index c081359937..800507d91d 100644
--- a/selfdrive/car/torque_data/params.yaml
+++ b/selfdrive/car/torque_data/params.yaml
@@ -4,13 +4,12 @@ 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]
+CHRYSLER PACIFICA 2018: [2.07140, 1.3366521181047952, 0.13776367250652022]
+CHRYSLER PACIFICA 2020: [1.86206, 1.509076559398423, 0.14328246159386085]
+CHRYSLER PACIFICA HYBRID 2017: [1.79422, 1.06831764583744, 0.116237]
+CHRYSLER PACIFICA HYBRID 2018: [2.08887, 1.2943025830995154, 0.114818]
+CHRYSLER PACIFICA HYBRID 2019: [1.90120, 1.1958788168371808, 0.131520]
 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]
@@ -22,16 +21,15 @@ 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 ELANTRA 2021: [3.169, 2.1259108157250735, 0.0819]
-HYUNDAI GENESIS 2015-2016: [1.8466226943929824, 1.5552063647830634, 0.0984484465421171]
-HYUNDAI IONIQ 5 2022: [3.172929, 3.0, 0.096019]
+HYUNDAI GENESIS 2015-2016: [2.7807965280270794, 2.325, 0.0984484465421171]
+HYUNDAI IONIQ 5 2022: [3.172929, 2.713050, 0.096019]
 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: [3.078814714619148, 3.2961956260770484, 0.08651833437845884]
+HYUNDAI KONA ELECTRIC 2019: [3.078814714619148, 2.307336938253934, 0.12359762054065548]
 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]
@@ -40,9 +38,9 @@ HYUNDAI SONATA 2019: [2.2200457811703953, 1.2967330275895228, 0.1403992098658639
 HYUNDAI SONATA 2020: [2.9638737459977467, 2.1259108157250735, 0.07813665616927593]
 HYUNDAI SONATA HYBRID 2021: [2.8990264092395734, 2.061410192222139, 0.0899805488717382]
 HYUNDAI TUCSON HYBRID 4TH GEN: [2.035545, 2.035545, 0.110272]
-JEEP GRAND CHEROKEE 2019: [1.7321233388827006, 1.289689569171081, 0.15046331002097185]
-JEEP GRAND CHEROKEE V6 2018: [1.8776598027756923, 1.4057367824262523, 0.11725947414922003]
-KIA EV6 2022: [3.2, 3.0, 0.05]
+JEEP GRAND CHEROKEE 2019: [2.30972, 1.289689569171081, 0.117048]
+JEEP GRAND CHEROKEE V6 2018: [2.27116, 1.4057367824262523, 0.11725947414922003]
+KIA EV6 2022: [3.2, 2.093457, 0.05]
 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]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index aeb2e6f280..f02af01609 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -9,8 +9,10 @@ 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
+TOYOTA C-HR HYBRID 2022: TOYOTA C-HR 2021
 LEXUS IS 2018: LEXUS NX 2018
 LEXUS CT HYBRID 2018 : LEXUS NX 2018
+LEXUS ES 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS ES HYBRID 2018: TOYOTA CAMRY HYBRID 2018
 LEXUS NX HYBRID 2020: LEXUS NX 2020
 LEXUS RC 2020: LEXUS NX 2020
@@ -32,11 +34,13 @@ HYUNDAI KONA ELECTRIC 2022: 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 IONIQ 6 2023: HYUNDAI IONIQ 5 2022
 HYUNDAI ELANTRA 2017: HYUNDAI SONATA 2019
 HYUNDAI ELANTRA HYBRID 2021: HYUNDAI SONATA 2020
 HYUNDAI TUCSON 2019: HYUNDAI SANTA FE 2019
 HYUNDAI TUCSON 4TH GEN: HYUNDAI TUCSON HYBRID 4TH GEN
 HYUNDAI SANTA FE 2022: HYUNDAI SANTA FE HYBRID 2022
+KIA K5 HYBRID 2020: KIA K5 2021
 KIA STINGER 2022: KIA STINGER GT2 2018
 GENESIS G90 2017: GENESIS G70 2018
 GENESIS G80 2017: GENESIS G70 2018
@@ -48,17 +52,20 @@ 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 LACROSSE 2017: CHEVROLET VOLT PREMIER 2017
 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 FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
 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 CRAFTER 2ND GEN: VOLKSWAGEN TIGUAN 2ND 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
@@ -69,6 +76,8 @@ VOLKSWAGEN POLO 6TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT LEON 3RD GEN: VOLKSWAGEN GOLF 7TH GEN
 SEAT ATECA 1ST GEN: VOLKSWAGEN GOLF 7TH GEN
 
+SUBARU CROSSTREK HYBRID 2020: SUBARU IMPREZA SPORT 2020
+SUBARU FORESTER HYBRID 2020: SUBARU IMPREZA SPORT 2020
 SUBARU LEGACY 7TH GEN: SUBARU OUTBACK 6TH GEN
 
 # Old subarus don't have much data guessing it's like low torque impreza
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 4ec9500171..b765d70b9a 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -1,16 +1,19 @@
 from cereal import car
-from common.numpy_fast import clip, interp
-from selfdrive.car import apply_toyota_steer_torque_limits, create_gas_interceptor_command, make_can_msg
-from selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.selfdrive.car import apply_meas_steer_torque_limits, apply_std_steer_angle_limits, common_fault_avoidance, \
+                          create_gas_interceptor_command, make_can_msg
+from openpilot.selfdrive.car.toyota.toyotacan import create_steer_command, create_ui_command, \
                                            create_accel_command, create_acc_cancel_command, \
                                            create_fcw_command, create_lta_steer_command
-from selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
-                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, \
+from openpilot.selfdrive.car.toyota.values import CAR, STATIC_DSU_MSGS, NO_STOP_TIMER_CAR, TSS2_CAR, \
+                                        MIN_ACC_SPEED, PEDAL_TRANSITION, CarControllerParams, ToyotaFlags, \
                                         UNSUPPORTED_DSU_CAR
 from opendbc.can.packer import CANPacker
 
+SteerControlType = car.CarParams.SteerControlType
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
+# LKA limits
 # EPS faults if you apply torque while the steering rate is above 100 deg/s for too long
 MAX_STEER_RATE = 100  # deg/s
 MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
@@ -18,13 +21,19 @@ MAX_STEER_RATE_FRAMES = 18  # tx control frames needed before torque can be cut
 # EPS allows user torque above threshold for 50 frames before permanently faulting
 MAX_USER_TORQUE = 500
 
+# LTA limits
+# EPS ignores commands above this angle and causes PCS to fault
+MAX_STEER_ANGLE = 94.9461  # deg
+MAX_DRIVER_TORQUE_ALLOWANCE = 150  # slightly above steering pressed allows some resistance when changing lanes
+
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
-    self.torque_rate_limits = CarControllerParams(self.CP)
+    self.params = CarControllerParams(self.CP)
     self.frame = 0
     self.last_steer = 0
+    self.last_angle = 0
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
@@ -34,13 +43,57 @@ class CarController:
     self.gas = 0
     self.accel = 0
 
-  def update(self, CC, CS):
+  def update(self, CC, CS, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     pcm_cancel_cmd = CC.cruiseControl.cancel
     lat_active = CC.latActive and abs(CS.out.steeringTorque) < MAX_USER_TORQUE
 
-    # gas and brake
+    # *** control msgs ***
+    can_sends = []
+
+    # *** steer torque ***
+    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+    apply_steer = apply_meas_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.params)
+
+    # >100 degree/sec steering fault prevention
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, CC.latActive,
+                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+    if not CC.latActive:
+      apply_steer = 0
+
+    # *** steer angle ***
+    if self.CP.steerControlType == SteerControlType.angle:
+      # If using LTA control, disable LKA and set steering angle command
+      apply_steer = 0
+      apply_steer_req = False
+      if self.frame % 2 == 0:
+        # EPS uses the torque sensor angle to control with, offset to compensate
+        apply_angle = actuators.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+
+        # Angular rate limit based on speed
+        apply_angle = apply_std_steer_angle_limits(apply_angle, self.last_angle, CS.out.vEgo, self.params)
+
+        if not lat_active:
+          apply_angle = CS.out.steeringAngleDeg + CS.out.steeringAngleOffsetDeg
+
+        self.last_angle = clip(apply_angle, -MAX_STEER_ANGLE, MAX_STEER_ANGLE)
+
+    self.last_steer = apply_steer
+
+    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
+    # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
+    # on consecutive messages
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
+    if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
+      lta_active = lat_active and self.CP.steerControlType == SteerControlType.angle
+      full_torque_condition = (abs(CS.out.steeringTorqueEps) < self.params.STEER_MAX and
+                               abs(CS.out.steeringTorque) < MAX_DRIVER_TORQUE_ALLOWANCE)
+      setme_x64 = 100 if lta_active and full_torque_condition else 0
+      can_sends.append(create_lta_steer_command(self.packer, self.last_angle, lta_active, self.frame // 2, setme_x64))
+
+    # *** gas and brake ***
     if self.CP.enableGasInterceptor and CC.longActive:
       MAX_INTERCEPTOR_GAS = 0.5
       # RAV4 has very sensitive gas pedal
@@ -56,25 +109,7 @@ class CarController:
       interceptor_gas_cmd = clip(pedal_command, 0., MAX_INTERCEPTOR_GAS)
     else:
       interceptor_gas_cmd = 0.
-    pcm_accel_cmd = clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX)
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
-
-    # Count up to MAX_STEER_RATE_FRAMES, at which point we need to cut torque to avoid a steering fault
-    if lat_active and abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE:
-      self.steer_rate_counter += 1
-    else:
-      self.steer_rate_counter = 0
-
-    apply_steer_req = 1
-    if not lat_active:
-      apply_steer = 0
-      apply_steer_req = 0
-    elif self.steer_rate_counter > MAX_STEER_RATE_FRAMES:
-      apply_steer_req = 0
-      self.steer_rate_counter = 0
+    pcm_accel_cmd = clip(actuators.accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX)
 
     # TODO: probably can delete this. CS.pcm_acc_status uses a different signal
     # than CS.cruiseState.enabled. confirm they're not meaningfully different
@@ -88,26 +123,8 @@ class CarController:
       # pcm entered standstill or it's disabled
       self.standstill_req = False
 
-    self.last_steer = apply_steer
     self.last_standstill = CS.out.standstill
 
-    can_sends = []
-
-    # *** control msgs ***
-    # print("steer {0} {1} {2} {3}".format(apply_steer, min_lim, max_lim, CS.steer_torque_motor)
-
-    # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
-    # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
-    # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
-    if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
-      can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
-
-    # LTA mode. Set ret.steerControlType = car.CarParams.SteerControlType.angle and whitelist 0x191 in the panda
-    # if self.frame % 2 == 0:
-    #   can_sends.append(create_steer_command(self.packer, 0, 0, self.frame // 2))
-    #   can_sends.append(create_lta_steer_command(self.packer, actuators.steeringAngleDeg, apply_steer_req, self.frame // 2))
-
     # we can spam can to cancel the system even if we are using lat only control
     if (self.frame % 3 == 0 and self.CP.openpilotLongitudinalControl) or pcm_cancel_cmd:
       lead = hud_control.leadVisible or CS.out.vEgo < 12.  # at low speed we always assume the lead is present so ACC can be engaged
@@ -127,6 +144,7 @@ class CarController:
       can_sends.append(create_gas_interceptor_command(self.packer, interceptor_gas_cmd, self.frame // 2))
       self.gas = interceptor_gas_cmd
 
+    # *** hud ui ***
     if self.CP.carFingerprint != CAR.PRIUS_V:
       # ui mesg is at 1Hz but we send asap if:
       # - there is something to display
@@ -143,12 +161,12 @@ class CarController:
         # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
         send_ui = True
 
-      if self.frame % 100 == 0 or send_ui:
+      if self.frame % 20 == 0 or send_ui:
         can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                            hud_control.rightLaneVisible, hud_control.leftLaneDepart,
-                                           hud_control.rightLaneDepart, CC.enabled))
+                                           hud_control.rightLaneDepart, CC.enabled, CS.lkas_hud))
 
-      if (self.frame % 100 == 0 or send_ui) and self.CP.enableDsu:
+      if (self.frame % 100 == 0 or send_ui) and (self.CP.enableDsu or self.CP.flags & ToyotaFlags.DISABLE_RADAR.value):
         can_sends.append(create_fcw_command(self.packer, fcw_alert))
 
     # *** static msgs ***
@@ -156,8 +174,14 @@ class CarController:
       if self.frame % fr_step == 0 and self.CP.enableDsu and self.CP.carFingerprint in cars:
         can_sends.append(make_can_msg(addr, vl, bus))
 
+    # keep radar disabled
+    if self.frame % 20 == 0 and self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      can_sends.append([0x750, 0, b"\x0F\x02\x3E\x00\x00\x00\x00\x00", 0])
+
     new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators.steer = apply_steer / self.params.STEER_MAX
+    new_actuators.steerOutputCan = apply_steer
+    new_actuators.steeringAngleDeg = self.last_angle
     new_actuators.accel = self.accel
     new_actuators.gas = self.gas
 
diff --git a/selfdrive/car/toyota/carstate.py b/selfdrive/car/toyota/carstate.py
index fec006fbb4..c96df6f10f 100644
--- a/selfdrive/car/toyota/carstate.py
+++ b/selfdrive/car/toyota/carstate.py
@@ -1,12 +1,28 @@
+import copy
+
 from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import mean
-from common.filter_simple import FirstOrderFilter
-from common.realtime import DT_CTRL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import mean
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_CTRL
 from opendbc.can.can_define import CANDefine
 from opendbc.can.parser import CANParser
-from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.toyota.values import ToyotaFlags, DBC, STEER_THRESHOLD, TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+from openpilot.selfdrive.car.interfaces import CarStateBase
+from openpilot.selfdrive.car.toyota.values import ToyotaFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
+                                                  TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR
+
+SteerControlType = car.CarParams.SteerControlType
+
+# These steering fault definitions seem to be common across LKA (torque) and LTA (angle):
+# - high steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
+# - lka/lta msg drop out: goes to 9 then 11 for a combined total of 2 seconds, then 3.
+#     if using the other control command, goes directly to 3 after 1.5 seconds
+# - initializing: LTA can report 0 as long as STEER_TORQUE_SENSOR->STEER_ANGLE_INITIALIZING is 1,
+#     and is a catch-all for LKA
+TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
+# - lka/lta msg drop out: 3 (recoverable)
+# - prolonged high driver torque: 17 (permanent)
+PERM_STEER_FAULTS = (3, 17)
 
 
 class CarState(CarStateBase):
@@ -26,6 +42,7 @@ class CarState(CarStateBase):
 
     self.low_speed_lockout = False
     self.acc_type = 1
+    self.lkas_hud = {}
 
   def update(self, cp, cp_cam):
     ret = car.CarState.new_message()
@@ -85,12 +102,14 @@ class CarState(CarStateBase):
     ret.steeringTorqueEps = cp.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_EPS"] * self.eps_torque_scale
     # we could use the override bit from dbc, but it's triggered at too high torque values
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    # steer rate fault: goes to 21 or 25 for 1 frame, then 9 for 2 seconds
-    # lka msg drop out: goes to 9 then 11 for a combined total of 2 seconds
-    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in (0, 9, 11, 21, 25)
-    # 17 is a fault from a prolonged high torque delta between cmd and user
-    # 3 is a fault from the lka command message not being received by the EPS
-    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in (3, 17)
+
+    # Check EPS LKA/LTA fault status
+    ret.steerFaultTemporary = cp.vl["EPS_STATUS"]["LKA_STATE"] in TEMP_STEER_FAULTS
+    ret.steerFaultPermanent = cp.vl["EPS_STATUS"]["LKA_STATE"] in PERM_STEER_FAULTS
+
+    if self.CP.steerControlType == SteerControlType.angle:
+      ret.steerFaultTemporary = ret.steerFaultTemporary or cp.vl["EPS_STATUS"]["LTA_STATE"] in TEMP_STEER_FAULTS
+      ret.steerFaultPermanent = ret.steerFaultPermanent or cp.vl["EPS_STATUS"]["LTA_STATE"] in PERM_STEER_FAULTS
 
     if self.CP.carFingerprint in UNSUPPORTED_DSU_CAR:
       # TODO: find the bit likely in DSU_CRUISE that describes an ACC fault. one may also exist in CLUTCH
@@ -111,9 +130,10 @@ class CarState(CarStateBase):
 
     cp_acc = cp_cam if self.CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR) else cp
 
-    if self.CP.carFingerprint in (TSS2_CAR | RADAR_ACC_CAR):
-      self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
-      ret.stockFcw = bool(cp_acc.vl["ACC_HUD"]["FCW"])
+    if self.CP.carFingerprint in TSS2_CAR and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      if not (self.CP.flags & ToyotaFlags.SMART_DSU.value):
+        self.acc_type = cp_acc.vl["ACC_CONTROL"]["ACC_TYPE"]
+      ret.stockFcw = bool(cp_acc.vl["PCS_HUD"]["FCW"])
 
     # some TSS2 cars have low speed lockout permanently set, so ignore on those cars
     # these cars are identified by an ACC_TYPE value of 2.
@@ -124,58 +144,30 @@ class CarState(CarStateBase):
       self.low_speed_lockout = cp.vl["PCM_CRUISE_2"]["LOW_SPEED_LOCKOUT"] == 2
 
     self.pcm_acc_status = cp.vl["PCM_CRUISE"]["CRUISE_STATE"]
-    ret.cruiseState.standstill = self.pcm_acc_status == 7
+    if self.CP.carFingerprint not in (NO_STOP_TIMER_CAR - TSS2_CAR):
+      # ignore standstill state in certain vehicles, since pcm allows to restart with just an acceleration request
+      ret.cruiseState.standstill = self.pcm_acc_status == 7
     ret.cruiseState.enabled = bool(cp.vl["PCM_CRUISE"]["CRUISE_ACTIVE"])
     ret.cruiseState.nonAdaptive = cp.vl["PCM_CRUISE"]["CRUISE_STATE"] in (1, 2, 3, 4, 5, 6)
 
     ret.genericToggle = bool(cp.vl["LIGHT_STALK"]["AUTO_HIGH_BEAM"])
     ret.espDisabled = cp.vl["ESP_CONTROL"]["TC_DISABLED"] != 0
 
-    if not self.CP.enableDsu:
+    if not self.CP.enableDsu and not self.CP.flags & ToyotaFlags.DISABLE_RADAR.value:
       ret.stockAeb = bool(cp_acc.vl["PRE_COLLISION"]["PRECOLLISION_ACTIVE"] and cp_acc.vl["PRE_COLLISION"]["FORCE"] < -1e-5)
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSM"]["L_ADJACENT"] == 1) or (cp.vl["BSM"]["L_APPROACHING"] == 1)
       ret.rightBlindspot = (cp.vl["BSM"]["R_ADJACENT"] == 1) or (cp.vl["BSM"]["R_APPROACHING"] == 1)
 
+    if self.CP.carFingerprint != CAR.PRIUS_V:
+      self.lkas_hud = copy.copy(cp_cam.vl["LKAS_HUD"])
+
     return ret
 
   @staticmethod
   def get_can_parser(CP):
-    signals = [
-      # sig_name, sig_address
-      ("STEER_ANGLE", "STEER_ANGLE_SENSOR"),
-      ("GEAR", "GEAR_PACKET"),
-      ("BRAKE_PRESSED", "BRAKE_MODULE"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("DOOR_OPEN_FL", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_FR", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_RL", "BODY_CONTROL_STATE"),
-      ("DOOR_OPEN_RR", "BODY_CONTROL_STATE"),
-      ("SEATBELT_DRIVER_UNLATCHED", "BODY_CONTROL_STATE"),
-      ("PARKING_BRAKE", "BODY_CONTROL_STATE"),
-      ("UNITS", "BODY_CONTROL_STATE_2"),
-      ("TC_DISABLED", "ESP_CONTROL"),
-      ("BRAKE_HOLD_ACTIVE", "ESP_CONTROL"),
-      ("STEER_FRACTION", "STEER_ANGLE_SENSOR"),
-      ("STEER_RATE", "STEER_ANGLE_SENSOR"),
-      ("CRUISE_ACTIVE", "PCM_CRUISE"),
-      ("CRUISE_STATE", "PCM_CRUISE"),
-      ("GAS_RELEASED", "PCM_CRUISE"),
-      ("UI_SET_SPEED", "PCM_CRUISE_SM"),
-      ("STEER_TORQUE_DRIVER", "STEER_TORQUE_SENSOR"),
-      ("STEER_TORQUE_EPS", "STEER_TORQUE_SENSOR"),
-      ("STEER_ANGLE", "STEER_TORQUE_SENSOR"),
-      ("STEER_ANGLE_INITIALIZING", "STEER_TORQUE_SENSOR"),
-      ("TURN_SIGNALS", "BLINKERS_STATE"),
-      ("LKA_STATE", "EPS_STATUS"),
-      ("AUTO_HIGH_BEAM", "LIGHT_STALK"),
-    ]
-
-    checks = [
+    messages = [
       ("GEAR_PACKET", 1),
       ("LIGHT_STALK", 1),
       ("BLINKERS_STATE", 0.15),
@@ -192,77 +184,53 @@ class CarState(CarStateBase):
     ]
 
     if CP.flags & ToyotaFlags.HYBRID:
-      signals.append(("GAS_PEDAL", "GAS_PEDAL_HYBRID"))
-      checks.append(("GAS_PEDAL_HYBRID", 33))
+      messages.append(("GAS_PEDAL_HYBRID", 33))
     else:
-      signals.append(("GAS_PEDAL", "GAS_PEDAL"))
-      checks.append(("GAS_PEDAL", 33))
+      messages.append(("GAS_PEDAL", 33))
 
     if CP.carFingerprint in UNSUPPORTED_DSU_CAR:
-      signals.append(("MAIN_ON", "DSU_CRUISE"))
-      signals.append(("SET_SPEED", "DSU_CRUISE"))
-      signals.append(("UI_SET_SPEED", "PCM_CRUISE_ALT"))
-      checks.append(("DSU_CRUISE", 5))
-      checks.append(("PCM_CRUISE_ALT", 1))
+      messages.append(("DSU_CRUISE", 5))
+      messages.append(("PCM_CRUISE_ALT", 1))
     else:
-      signals.append(("MAIN_ON", "PCM_CRUISE_2"))
-      signals.append(("SET_SPEED", "PCM_CRUISE_2"))
-      signals.append(("ACC_FAULTED", "PCM_CRUISE_2"))
-      signals.append(("LOW_SPEED_LOCKOUT", "PCM_CRUISE_2"))
-      checks.append(("PCM_CRUISE_2", 33))
+      messages.append(("PCM_CRUISE_2", 33))
 
     # add gas interceptor reading if we are using it
     if CP.enableGasInterceptor:
-      signals.append(("INTERCEPTOR_GAS", "GAS_SENSOR"))
-      signals.append(("INTERCEPTOR_GAS2", "GAS_SENSOR"))
-      checks.append(("GAS_SENSOR", 50))
+      messages.append(("GAS_SENSOR", 50))
 
     if CP.enableBsm:
-      signals += [
-        ("L_ADJACENT", "BSM"),
-        ("L_APPROACHING", "BSM"),
-        ("R_ADJACENT", "BSM"),
-        ("R_APPROACHING", "BSM"),
-      ]
-      checks.append(("BSM", 1))
-
-    if CP.carFingerprint in RADAR_ACC_CAR:
-      signals += [
-        ("ACC_TYPE", "ACC_CONTROL"),
-        ("FCW", "ACC_HUD"),
-      ]
-      checks += [
-        ("ACC_CONTROL", 33),
-        ("ACC_HUD", 1),
+      messages.append(("BSM", 1))
+
+    if CP.carFingerprint in RADAR_ACC_CAR and not CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      if not CP.flags & ToyotaFlags.SMART_DSU.value:
+        messages += [
+          ("ACC_CONTROL", 33),
+        ]
+      messages += [
+        ("PCS_HUD", 1),
       ]
 
     if CP.carFingerprint not in (TSS2_CAR - RADAR_ACC_CAR) and not CP.enableDsu:
-      signals += [
-        ("FORCE", "PRE_COLLISION"),
-        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
-      ]
-      checks += [
+      messages += [
         ("PRE_COLLISION", 33),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
-    signals = []
-    checks = []
+    messages = []
 
-    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
-      signals += [
-        ("PRECOLLISION_ACTIVE", "PRE_COLLISION"),
-        ("FORCE", "PRE_COLLISION"),
-        ("ACC_TYPE", "ACC_CONTROL"),
-        ("FCW", "ACC_HUD"),
+    if CP.carFingerprint != CAR.PRIUS_V:
+      messages += [
+        ("LKAS_HUD", 1),
       ]
-      checks += [
+
+    if CP.carFingerprint in (TSS2_CAR - RADAR_ACC_CAR):
+      messages += [
         ("PRE_COLLISION", 33),
         ("ACC_CONTROL", 33),
-        ("ACC_HUD", 1),
+        ("PCS_HUD", 1),
       ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, 2)
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index d3835d175b..ab242a09a2 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -1,12 +1,16 @@
 #!/usr/bin/env python3
 from cereal import car
-from common.conversions import Conversions as CV
+from openpilot.common.conversions import Conversions as CV
 from panda import Panda
-from selfdrive.car.toyota.values import Ecu, CAR, ToyotaFlags, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, CarControllerParams, NO_STOP_TIMER_CAR
-from selfdrive.car import STD_CARGO_KG, scale_tire_stiffness, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
+from panda.python import uds
+from openpilot.selfdrive.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, NO_DSU_CAR, \
+                                        MIN_ACC_SPEED, EPS_SCALE, EV_HYBRID_CAR, UNSUPPORTED_DSU_CAR, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.disable_ecu import disable_ecu
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
 EventName = car.CarEvent.EventName
+SteerControlType = car.CarParams.SteerControlType
 
 
 class CarInterface(CarInterfaceBase):
@@ -15,83 +19,93 @@ class CarInterface(CarInterfaceBase):
     return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
 
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "toyota"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.toyota)]
     ret.safetyConfigs[0].safetyParam = EPS_SCALE[candidate]
 
-    if candidate in (CAR.RAV4, CAR.PRIUS_V, CAR.COROLLA, CAR.LEXUS_ESH, CAR.LEXUS_CTH):
+    # BRAKE_MODULE is on a different address for these cars
+    if DBC[candidate]["pt"] == "toyota_new_mc_pt_generated":
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_ALT_BRAKE
 
-    ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
-    ret.steerLimitTimer = 0.4
+    if candidate in ANGLE_CONTROL_CAR:
+      ret.dashcamOnly = True
+      ret.steerControlType = SteerControlType.angle
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_TOYOTA_LTA
+
+      # LTA control can be more delayed and winds up more often
+      ret.steerActuatorDelay = 0.25
+      ret.steerLimitTimer = 0.8
+    else:
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.steerActuatorDelay = 0.12  # Default delay, Prius has larger delay
+      ret.steerLimitTimer = 0.4
+
     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)
+    stop_and_go = candidate in TSS2_CAR
 
     if candidate == CAR.PRIUS:
       stop_and_go = True
       ret.wheelbase = 2.70
       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.tireStiffnessFactor = 0.6371   # hand-tune
+      ret.mass = 3045. * CV.LB_TO_KG
       # 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 = 0.2
           ret.steerActuatorDelay = 0.25
-          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg)
+          CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning, steering_angle_deadzone_deg=0.2)
 
     elif candidate == CAR.PRIUS_V:
       stop_and_go = True
       ret.wheelbase = 2.78
       ret.steerRatio = 17.4
-      tire_stiffness_factor = 0.5533
-      ret.mass = 3340. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.5533
+      ret.mass = 3340. * CV.LB_TO_KG
 
     elif candidate in (CAR.RAV4, CAR.RAV4H):
       stop_and_go = True if (candidate in CAR.RAV4H) else False
       ret.wheelbase = 2.65
       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.tireStiffnessFactor = 0.5533
+      ret.mass = 3650. * CV.LB_TO_KG  # mean between normal and hybrid
 
     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.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 2860. * CV.LB_TO_KG  # mean between normal and hybrid
 
     elif candidate in (CAR.LEXUS_RX, CAR.LEXUS_RXH, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.79
       ret.steerRatio = 16.  # 14.8 is spec end-to-end
       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.tireStiffnessFactor = 0.5533
+      ret.mass = 4481. * CV.LB_TO_KG  # mean between min and max
 
-    elif candidate in (CAR.CHR, CAR.CHRH):
+    elif candidate in (CAR.CHR, CAR.CHRH, CAR.CHR_TSS2, CAR.CHRH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.63906
       ret.steerRatio = 13.6
-      tire_stiffness_factor = 0.7933
-      ret.mass = 3300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.7933
+      ret.mass = 3300. * CV.LB_TO_KG
 
     elif candidate in (CAR.CAMRY, CAR.CAMRYH, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.82448
       ret.steerRatio = 13.7
-      tire_stiffness_factor = 0.7933
-      ret.mass = 3400. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
+      ret.tireStiffnessFactor = 0.7933
+      ret.mass = 3400. * CV.LB_TO_KG  # mean between normal and hybrid
 
     elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
       ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.8
-      ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
+      ret.tireStiffnessFactor = 0.8
+      ret.mass = 4516. * CV.LB_TO_KG  # mean between normal and hybrid
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
       # starting from 2019, all Avalon variants have stop and go
@@ -99,15 +113,15 @@ class CarInterface(CarInterfaceBase):
       stop_and_go = candidate != CAR.AVALON
       ret.wheelbase = 2.82
       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.tireStiffnessFactor = 0.7983
+      ret.mass = 3505. * CV.LB_TO_KG  # mean between normal and hybrid
 
-    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022):
-      stop_and_go = True
+    elif candidate in (CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+                       CAR.RAV4_TSS2_2023, CAR.RAV4H_TSS2_2023):
       ret.wheelbase = 2.68986
       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.tireStiffnessFactor = 0.7933
+      ret.mass = 3585. * CV.LB_TO_KG  # Average between ICE and Hybrid
       ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kiBP = [0.0]
       ret.lateralTuning.pid.kpBP = [0.0]
@@ -125,83 +139,105 @@ class CarInterface(CarInterfaceBase):
           break
 
     elif candidate in (CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2):
-      stop_and_go = True
       ret.wheelbase = 2.67  # Average between 2.70 for sedan and 2.64 for hatchback
       ret.steerRatio = 13.9
-      tire_stiffness_factor = 0.444  # not optimized yet
-      ret.mass = 3060. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 3060. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_ESH):
-      stop_and_go = True
+    elif candidate in (CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2):
+      if candidate not in (CAR.LEXUS_ES,):  # TODO: LEXUS_ES may have sng
+        stop_and_go = True
       ret.wheelbase = 2.8702
       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.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 3677. * CV.LB_TO_KG  # mean between min and max
 
     elif candidate == CAR.SIENNA:
       stop_and_go = True
       ret.wheelbase = 3.03
       ret.steerRatio = 15.5
-      tire_stiffness_factor = 0.444
-      ret.mass = 4590. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.444
+      ret.mass = 4590. * CV.LB_TO_KG
 
-    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_RC):
+    elif candidate in (CAR.LEXUS_IS, CAR.LEXUS_IS_TSS2, CAR.LEXUS_RC):
       ret.wheelbase = 2.79908
       ret.steerRatio = 13.3
-      tire_stiffness_factor = 0.444
-      ret.mass = 3736.8 * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.444
+      ret.mass = 3736.8 * CV.LB_TO_KG
 
     elif candidate == CAR.LEXUS_CTH:
       stop_and_go = True
       ret.wheelbase = 2.60
       ret.steerRatio = 18.6
-      tire_stiffness_factor = 0.517
-      ret.mass = 3108 * CV.LB_TO_KG + STD_CARGO_KG  # mean between min and max
+      ret.tireStiffnessFactor = 0.517
+      ret.mass = 3108 * CV.LB_TO_KG  # mean between min and max
 
     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.tireStiffnessFactor = 0.444  # not optimized yet
+      ret.mass = 4070 * CV.LB_TO_KG
 
     elif candidate == CAR.PRIUS_TSS2:
-      stop_and_go = True
       ret.wheelbase = 2.70002  # from toyota online sepc.
       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.tireStiffnessFactor = 0.6371   # hand-tune
+      ret.mass = 3115. * CV.LB_TO_KG
 
     elif candidate == CAR.MIRAI:
       stop_and_go = True
       ret.wheelbase = 2.91
       ret.steerRatio = 14.8
-      tire_stiffness_factor = 0.8
-      ret.mass = 4300. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.8
+      ret.mass = 4300. * CV.LB_TO_KG
 
     elif candidate in (CAR.ALPHARD_TSS2, CAR.ALPHARDH_TSS2):
-      stop_and_go = True
       ret.wheelbase = 3.00
       ret.steerRatio = 14.2
-      tire_stiffness_factor = 0.444
-      ret.mass = 4305. * CV.LB_TO_KG + STD_CARGO_KG
+      ret.tireStiffnessFactor = 0.444
+      ret.mass = 4305. * CV.LB_TO_KG
 
     ret.centerToFront = ret.wheelbase * 0.44
 
-    # TODO: start from empirically derived lateral slip stiffness for the civic and scale by
-    # mass and CG position, so all cars will have approximately similar dyn behaviors
-    ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront,
-                                                                         tire_stiffness_factor=tire_stiffness_factor)
-
+    # TODO: Some TSS-P platforms have BSM, but are flipped based on region or driving direction.
+    # Detect flipped signals and enable for C-HR and others
     ret.enableBsm = 0x3F6 in fingerprint[0] and candidate in TSS2_CAR
-    # Detect smartDSU, which intercepts ACC_CMD from the DSU allowing openpilot to send it
-    smartDsu = 0x2FF in fingerprint[0]
-    # In TSS2 cars the camera does long control
+
+    # Detect smartDSU, which intercepts ACC_CMD from the DSU (or radar) allowing openpilot to send it
+    if 0x2FF in fingerprint[0]:
+      ret.flags |= ToyotaFlags.SMART_DSU.value
+
+    # No radar dbc for cars without DSU which are not TSS 2.0
+    # TODO: make an adas dbc file for dsu-less models
+    ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
+
+    # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
-    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not smartDsu
+    ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) \
+                                        and not (ret.flags & ToyotaFlags.SMART_DSU)
     ret.enableGasInterceptor = 0x201 in fingerprint[0]
-    # if the smartDSU is detected, openpilot can send ACC_CMD (and the smartDSU will block it from the DSU) or not (the DSU is "connected")
-    ret.openpilotLongitudinalControl = smartDsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR)
+
+    # if the smartDSU is detected, openpilot can send ACC_CONTROL and the smartDSU will block it from the DSU or radar.
+    # since we don't yet parse radar on TSS2 radar-based ACC cars, gate longitudinal behind experimental toggle
+    use_sdsu = bool(ret.flags & ToyotaFlags.SMART_DSU)
+    if candidate in RADAR_ACC_CAR:
+      ret.experimentalLongitudinalAvailable = use_sdsu
+
+      if not use_sdsu:
+        if experimental_long and False:  # TODO: disabling radar isn't supported yet
+          ret.flags |= ToyotaFlags.DISABLE_RADAR.value
+      else:
+        use_sdsu = use_sdsu and experimental_long
+
+    # openpilot longitudinal enabled by default:
+    #  - non-(TSS2 radar ACC cars) w/ smartDSU installed
+    #  - cars w/ DSU disconnected
+    #  - TSS2 cars with camera sending ACC_CONTROL where we can block it
+    # openpilot longitudinal behind experimental long toggle:
+    #  - TSS2 radar ACC cars w/ smartDSU installed
+    #  - TSS2 radar ACC cars w/o smartDSU installed (disables radar)
+    ret.openpilotLongitudinalControl = use_sdsu or ret.enableDsu or candidate in (TSS2_CAR - RADAR_ACC_CAR) or bool(ret.flags & ToyotaFlags.DISABLE_RADAR.value)
     ret.autoResumeSng = ret.openpilotLongitudinalControl and candidate in NO_STOP_TIMER_CAR
 
     if not ret.openpilotLongitudinalControl:
@@ -225,6 +261,8 @@ class CarInterface(CarInterfaceBase):
       tune.kiBP = [0., 5., 12., 20., 27.]
       tune.kiV = [.35, .23, .20, .17, .1]
       if candidate in TSS2_CAR:
+        ret.vEgoStopping = 0.25
+        ret.vEgoStarting = 0.25
         ret.stoppingDecelRate = 0.3  # reach stopping target smoothly
     else:
       tune.kpBP = [0., 5., 35.]
@@ -234,6 +272,13 @@ class CarInterface(CarInterfaceBase):
 
     return ret
 
+  @staticmethod
+  def init(CP, logcan, sendcan):
+    # disable radar if alpha longitudinal toggled on radar-ACC car without CAN filter/smartDSU
+    if CP.flags & ToyotaFlags.DISABLE_RADAR.value:
+      communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      disable_ecu(logcan, sendcan, bus=0, addr=0x750, sub_addr=0xf, com_cont_req=communication_control)
+
   # returns a car.CarState
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
@@ -241,6 +286,11 @@ class CarInterface(CarInterfaceBase):
     # events
     events = self.create_common_events(ret)
 
+    # Lane Tracing Assist control is unavailable (EPS_STATUS->LTA_STATE=0) until
+    # the more accurate angle sensor signal is initialized
+    if self.CP.steerControlType == SteerControlType.angle and not self.CS.accurate_steer_angle_seen:
+      events.add(EventName.vehicleSensorsInvalid)
+
     if self.CP.openpilotLongitudinalControl:
       if ret.cruiseState.standstill and not ret.brakePressed and not self.CP.enableGasInterceptor:
         events.add(EventName.resumeRequired)
@@ -261,5 +311,5 @@ class CarInterface(CarInterfaceBase):
 
   # pass in a car.CarControl
   # to be called @ 100hz
-  def apply(self, c):
-    return self.CC.update(c, self.CS)
+  def apply(self, c, now_nanos):
+    return self.CC.update(c, self.CS, now_nanos)
diff --git a/selfdrive/car/toyota/radar_interface.py b/selfdrive/car/toyota/radar_interface.py
index 8c87704ff2..fae6eecaf6 100755
--- a/selfdrive/car/toyota/radar_interface.py
+++ b/selfdrive/car/toyota/radar_interface.py
@@ -1,14 +1,11 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
 from cereal import car
-from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.toyota.values import DBC, TSS2_CAR
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 
 def _create_radar_can_parser(car_fingerprint):
-  if DBC[car_fingerprint]['radar'] is None:
-    return None
-
   if car_fingerprint in TSS2_CAR:
     RADAR_A_MSGS = list(range(0x180, 0x190))
     RADAR_B_MSGS = list(range(0x190, 0x1a0))
@@ -18,14 +15,9 @@ def _create_radar_can_parser(car_fingerprint):
 
   msg_a_n = len(RADAR_A_MSGS)
   msg_b_n = len(RADAR_B_MSGS)
+  messages = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n), strict=True))
 
-  signals = list(zip(['LONG_DIST'] * msg_a_n + ['NEW_TRACK'] * msg_a_n + ['LAT_DIST'] * msg_a_n +
-                     ['REL_SPEED'] * msg_a_n + ['VALID'] * msg_a_n + ['SCORE'] * msg_b_n,
-                     RADAR_A_MSGS * 5 + RADAR_B_MSGS))
-
-  checks = list(zip(RADAR_A_MSGS + RADAR_B_MSGS, [20] * (msg_a_n + msg_b_n)))
-
-  return CANParser(DBC[car_fingerprint]['radar'], signals, checks, 1)
+  return CANParser(DBC[car_fingerprint]['radar'], messages, 1)
 
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
@@ -42,16 +34,12 @@ class RadarInterface(RadarInterfaceBase):
 
     self.valid_cnt = {key: 0 for key in self.RADAR_A_MSGS}
 
-    self.rcp = _create_radar_can_parser(CP.carFingerprint)
+    self.rcp = None if CP.radarUnavailable else _create_radar_can_parser(CP.carFingerprint)
     self.trigger_msg = self.RADAR_B_MSGS[-1]
     self.updated_messages = set()
 
-    # No radar dbc for cars without DSU which are not TSS 2.0
-    # TODO: make a adas dbc file for dsu-less models
-    self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
-
   def update(self, can_strings):
-    if self.no_radar or self.rcp is None:
+    if self.rcp is None:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)
diff --git a/selfdrive/sensord/tests/__init__.py b/selfdrive/car/toyota/tests/__init__.py
similarity index 100%
rename from selfdrive/sensord/tests/__init__.py
rename to selfdrive/car/toyota/tests/__init__.py
diff --git a/selfdrive/car/toyota/tests/test_toyota.py b/selfdrive/car/toyota/tests/test_toyota.py
new file mode 100755
index 0000000000..c621734e2b
--- /dev/null
+++ b/selfdrive/car/toyota/tests/test_toyota.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+from cereal import car
+import unittest
+
+from openpilot.selfdrive.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, FW_VERSIONS
+
+Ecu = car.CarParams.Ecu
+
+
+class TestToyotaInterfaces(unittest.TestCase):
+  def test_car_sets(self):
+    self.assertTrue(len(ANGLE_CONTROL_CAR - TSS2_CAR) == 0)
+    self.assertTrue(len(RADAR_ACC_CAR - TSS2_CAR) == 0)
+
+  def test_tss2_dbc(self):
+    # We make some assumptions about TSS2 platforms,
+    # like looking up certain signals only in this DBC
+    for car_model, dbc in DBC.items():
+      if car_model in TSS2_CAR:
+        self.assertEqual(dbc["pt"], "toyota_nodsu_pt_generated")
+
+  def test_essential_ecus(self):
+    # Asserts standard ECUs exist for each platform
+    common_ecus = {Ecu.fwdRadar, Ecu.fwdCamera}
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        present_ecus = {ecu[0] for ecu in ecus}
+        missing_ecus = common_ecus - present_ecus
+        self.assertEqual(len(missing_ecus), 0)
+
+        # Some exceptions for other common ECUs
+        if car_model not in (CAR.ALPHARD_TSS2,):
+          self.assertIn(Ecu.abs, present_ecus)
+
+        if car_model not in (CAR.MIRAI,):
+          self.assertIn(Ecu.engine, present_ecus)
+
+        if car_model not in (CAR.PRIUS_V, CAR.LEXUS_CTH):
+          self.assertIn(Ecu.eps, present_ecus)
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index 7ab3ab3e78..0792ac869f 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -9,20 +9,20 @@ def create_steer_command(packer, steer, steer_req):
   return packer.make_can_msg("STEERING_LKA", 0, values)
 
 
-def create_lta_steer_command(packer, steer, steer_req, raw_cnt):
+def create_lta_steer_command(packer, steer_angle, steer_req, frame, setme_x64):
   """Creates a CAN message for the Toyota LTA Steer Command."""
 
   values = {
-    "COUNTER": raw_cnt + 128,
+    "COUNTER": frame + 128,
     "SETME_X1": 1,
     "SETME_X3": 3,
     "PERCENTAGE": 100,
-    "SETME_X64": 0x64,
+    "SETME_X64": setme_x64,
     "ANGLE": 0,
-    "STEER_ANGLE_CMD": steer,
+    "STEER_ANGLE_CMD": steer_angle,
     "STEER_REQUEST": steer_req,
     "STEER_REQUEST_2": steer_req,
-    "BIT": 0,
+    "CLEAR_HOLD_STEERING_ALERT": 0,
   }
   return packer.make_can_msg("STEERING_LTA", 0, values)
 
@@ -46,7 +46,7 @@ def create_acc_cancel_command(packer):
   values = {
     "GAS_RELEASED": 0,
     "CRUISE_ACTIVE": 0,
-    "STANDSTILL_ON": 0,
+    "ACC_BRAKING": 0,
     "ACCEL_NET": 0,
     "CRUISE_STATE": 0,
     "CANCEL_REQ": 1,
@@ -56,23 +56,23 @@ def create_acc_cancel_command(packer):
 
 def create_fcw_command(packer, fcw):
   values = {
-    "PCS_INDICATOR": 1,
+    "PCS_INDICATOR": 1,  # PCS turned off
     "FCW": fcw,
     "SET_ME_X20": 0x20,
     "SET_ME_X10": 0x10,
     "PCS_OFF": 1,
     "PCS_SENSITIVITY": 0,
   }
-  return packer.make_can_msg("ACC_HUD", 0, values)
+  return packer.make_can_msg("PCS_HUD", 0, values)
 
 
-def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled):
+def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_depart, right_lane_depart, enabled, stock_lkas_hud):
   values = {
     "TWO_BEEPS": chime,
     "LDA_ALERT": steer,
     "RIGHT_LINE": 3 if right_lane_depart else 1 if right_line else 2,
     "LEFT_LINE": 3 if left_lane_depart else 1 if left_line else 2,
-    "BARRIERS" : 1 if enabled else 0,
+    "BARRIERS": 1 if enabled else 0,
 
     # static signals
     "SET_ME_X02": 2,
@@ -87,7 +87,7 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
     "LANE_SWAY_SENSITIVITY": 2,
     "LANE_SWAY_TOGGLE": 1,
     "LDA_ON_MESSAGE": 0,
-    "LDA_SPEED_TOO_LOW": 0,
+    "LDA_MESSAGES": 0,
     "LDA_SA_TOGGLE": 1,
     "LDA_SENSITIVITY": 2,
     "LDA_UNAVAILABLE": 0,
@@ -96,4 +96,16 @@ def create_ui_command(packer, steer, chime, left_line, right_line, left_lane_dep
     "ADJUSTING_CAMERA": 0,
     "LDW_EXIST": 1,
   }
+
+  # lane sway functionality
+  # not all cars have LKAS_HUD — update with camera values if available
+  if len(stock_lkas_hud):
+    values.update({s: stock_lkas_hud[s] for s in [
+      "LANE_SWAY_FLD",
+      "LANE_SWAY_BUZZER",
+      "LANE_SWAY_WARNING",
+      "LANE_SWAY_SENSITIVITY",
+      "LANE_SWAY_TOGGLE",
+    ]})
+
   return packer.make_can_msg("LKAS_HUD", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 56bb2697c7..b0f7a70985 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -1,13 +1,13 @@
 from collections import defaultdict
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum, IntFlag
 from typing import Dict, List, Union
 
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import AngleRateLimit, dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, CarParts, CarHarness
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
 MIN_ACC_SPEED = 19. * CV.MPH_TO_MS
@@ -18,9 +18,18 @@ class CarControllerParams:
   ACCEL_MAX = 1.5  # m/s2, lower than allowed 2.0 m/s2 for tuning reasons
   ACCEL_MIN = -3.5  # m/s2
 
+  STEER_STEP = 1
   STEER_MAX = 1500
   STEER_ERROR_MAX = 350     # max delta between torque cmd and torque motor
 
+  # Lane Tracing Assist (LTA) control limits
+  # Assuming a steering ratio of 13.7:
+  # Limit to ~2.0 m/s^3 up (7.5 deg/s), ~3.5 m/s^3 down (13 deg/s) at 75 mph
+  # Worst case, the low speed limits will allow ~4.0 m/s^3 up (15 deg/s) and ~4.9 m/s^3 down (18 deg/s) at 75 mph,
+  # however the EPS has its own internal limits at all speeds which are less than that
+  ANGLE_RATE_LIMIT_UP = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.3, 0.15])
+  ANGLE_RATE_LIMIT_DOWN = AngleRateLimit(speed_bp=[5, 25], angle_v=[0.36, 0.26])
+
   def __init__(self, CP):
     if CP.lateralTuning.which == 'torque':
       self.STEER_DELTA_UP = 15       # 1.0s time to peak torque
@@ -32,6 +41,8 @@ class CarControllerParams:
 
 class ToyotaFlags(IntFlag):
   HYBRID = 1
+  SMART_DSU = 2
+  DISABLE_RADAR = 4
 
 
 class CAR:
@@ -48,7 +59,9 @@ class CAR:
   CAMRY_TSS2 = "TOYOTA CAMRY 2021"  # TSS 2.5
   CAMRYH_TSS2 = "TOYOTA CAMRY HYBRID 2021"
   CHR = "TOYOTA C-HR 2018"
+  CHR_TSS2 = "TOYOTA C-HR 2021"
   CHRH = "TOYOTA C-HR HYBRID 2018"
+  CHRH_TSS2 = "TOYOTA C-HR HYBRID 2022"
   COROLLA = "TOYOTA COROLLA 2017"
   COROLLA_TSS2 = "TOYOTA COROLLA TSS2 2019"
   # LSS2 Lexus UX Hybrid is same as a TSS2 Corolla Hybrid
@@ -64,17 +77,21 @@ class CAR:
   RAV4H = "TOYOTA RAV4 HYBRID 2017"
   RAV4_TSS2 = "TOYOTA RAV4 2019"
   RAV4_TSS2_2022 = "TOYOTA RAV4 2022"
+  RAV4_TSS2_2023 = "TOYOTA RAV4 2023"
   RAV4H_TSS2 = "TOYOTA RAV4 HYBRID 2019"
   RAV4H_TSS2_2022 = "TOYOTA RAV4 HYBRID 2022"
+  RAV4H_TSS2_2023 = "TOYOTA RAV4 HYBRID 2023"
   MIRAI = "TOYOTA MIRAI 2021"  # TSS 2.5
   SIENNA = "TOYOTA SIENNA 2018"
 
   # Lexus
   LEXUS_CTH = "LEXUS CT HYBRID 2018"
+  LEXUS_ES = "LEXUS ES 2018"
   LEXUS_ESH = "LEXUS ES HYBRID 2018"
   LEXUS_ES_TSS2 = "LEXUS ES 2019"
   LEXUS_ESH_TSS2 = "LEXUS ES HYBRID 2019"
   LEXUS_IS = "LEXUS IS 2018"
+  LEXUS_IS_TSS2 = "LEXUS IS 2023"
   LEXUS_NX = "LEXUS NX 2018"
   LEXUS_NXH = "LEXUS NX HYBRID 2018"
   LEXUS_NX_TSS2 = "LEXUS NX 2020"
@@ -95,7 +112,7 @@ class Footnote(Enum):
 @dataclass
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
-  harness: Enum = Harness.toyota
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.toyota_a]))
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
@@ -112,10 +129,12 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH: ToyotaCarInfo("Toyota Camry Hybrid 2018-20", video_link="https://www.youtube.com/watch?v=Q2DYY0AWKgk"),
-  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-22", footnotes=[Footnote.CAMRY]),
+  CAR.CAMRY_TSS2: ToyotaCarInfo("Toyota Camry 2021-23", footnotes=[Footnote.CAMRY]),
   CAR.CAMRYH_TSS2: ToyotaCarInfo("Toyota Camry Hybrid 2021-23"),
-  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-21"),
-  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-19"),
+  CAR.CHR: ToyotaCarInfo("Toyota C-HR 2017-20"),
+  CAR.CHR_TSS2: ToyotaCarInfo("Toyota C-HR 2021"),
+  CAR.CHRH: ToyotaCarInfo("Toyota C-HR Hybrid 2017-20"),
+  CAR.CHRH_TSS2: ToyotaCarInfo("Toyota C-HR Hybrid 2021-22"),
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19"),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
@@ -124,15 +143,16 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   ],
   CAR.COROLLAH_TSS2: [
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
+    ToyotaCarInfo("Toyota Corolla Hybrid (Non-US only) 2020-23", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
-    ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
+    ToyotaCarInfo("Lexus UX Hybrid 2019-23"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo"),
-  CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
+  CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-23"),
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19"),
-  CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
+  CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-23"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", "https://www.youtube.com/watch?v=8zopPJI8XQ0"),
+    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
     ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0"),
   ],
@@ -146,27 +166,31 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Toyota RAV4 2017-18")
   ],
   CAR.RAV4H: [
-    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", "https://youtu.be/LhT5VzJVfNI?t=26"),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26"),
     ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26")
   ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
+  CAR.RAV4_TSS2_2023: ToyotaCarInfo("Toyota RAV4 2023"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
   CAR.RAV4H_TSS2_2022: ToyotaCarInfo("Toyota RAV4 Hybrid 2022", video_link="https://youtu.be/U0nH9cnrFB0"),
+  CAR.RAV4H_TSS2_2023: ToyotaCarInfo("Toyota RAV4 Hybrid 2023"),
   CAR.MIRAI: ToyotaCarInfo("Toyota Mirai 2021"),
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", min_enable_speed=MIN_ACC_SPEED),
 
   # Lexus
   CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+"),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+"),
+  CAR.LEXUS_ES: ToyotaCarInfo("Lexus ES 2017-18"),
+  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18"),
   CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
+  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-23", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
+  CAR.LEXUS_IS_TSS2: ToyotaCarInfo("Lexus IS 2023"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19"),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19"),
   CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
   CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2018-20"),
   CAR.LEXUS_RX: [
     ToyotaCarInfo("Lexus RX 2016", "Lexus Safety System+"),
     ToyotaCarInfo("Lexus RX 2017-19"),
@@ -176,52 +200,68 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
     ToyotaCarInfo("Lexus RX Hybrid 2017-19"),
   ],
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
-  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-21"),
+  CAR.LEXUS_RXH_TSS2: ToyotaCarInfo("Lexus RX Hybrid 2020-22"),
 }
 
 # (addr, cars, bus, 1/freq*100, vl)
 STATIC_DSU_MSGS = [
   (0x128, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON), 1,   3, b'\xf4\x01\x90\x83\x00\x37'),
-  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
-  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
-  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
-  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
+  (0x128, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH), 1,   3, b'\x03\x00\x20\x00\x00\x52'),
+  (0x141, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   2, b'\x00\x00\x00\x46'),
+  (0x160, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 1,   7, b'\x00\x00\x08\x12\x01\x31\x9c\x51'),
+  (0x161, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.AVALON, CAR.LEXUS_RX, CAR.PRIUS_V, CAR.LEXUS_ES),
+                                                                                               1,   7, b'\x00\x1e\x00\x00\x00\x80\x07'),
   (0X161, (CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH), 1,  7, b'\x00\x1e\x00\xd4\x00\x00\x5b'),
-  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
+  (0x283, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   3, b'\x00\x00\x00\x00\x00\x00\x8c'),
   (0x2E6, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xff\xf8\x00\x08\x7f\xe0\x00\x4e'),
   (0x2E7, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,   3, b'\xa8\x9c\x31\x9c\x00\x00\x00\x02'),
   (0x33E, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH), 0,  20, b'\x0f\xff\x26\x40\x00\x1f\x00'),
-  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
+  (0x344, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,   5, b'\x00\x00\x01\x00\x00\x00\x00\x50'),
   (0x365, (CAR.PRIUS, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x00\x80\x03\x00\x08'),
-  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
+  (0x365, (CAR.RAV4, CAR.RAV4H, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX,
+           CAR.PRIUS_V), 0,  20, b'\x00\x00\x00\x80\xfc\x00\x08'),
   (0x366, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.HIGHLANDERH), 0,  20, b'\x00\x00\x4d\x82\x40\x02\x00'),
-  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x366, (CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V),
+          0,  20, b'\x00\x72\x07\xff\x09\xfe\x00'),
+  (0x366, (CAR.LEXUS_ES,), 0,  20, b'\x00\x95\x07\xfe\x08\x05\x00'),
   (0x470, (CAR.PRIUS, CAR.LEXUS_RXH), 1, 100, b'\x00\x00\x02\x7a'),
-  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
-  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
+  (0x470, (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.RAV4H, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.PRIUS_V), 1,  100, b'\x00\x00\x01\x79'),
+  (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON,
+           CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
-TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
+# Some ECUs that use KWP2000 have their FW versions on non-standard data identifiers.
+# Toyota diagnostic software first gets the supported data ids, then queries them one by one.
+# For example, sends: 0x1a8800, receives: 0x1a8800010203, queries: 0x1a8801, 0x1a8802, 0x1a8803
+TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
+TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'
 
 FW_QUERY_CONFIG = FwQueryConfig(
+  # TODO: look at data to whitelist new ECUs effectively
   requests=[
     Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
+                      Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
   ],
@@ -229,8 +269,40 @@ FW_QUERY_CONFIG = FwQueryConfig(
     # FIXME: On some models, abs can sometimes be missing
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
-    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.LEXUS_IS],
-  }
+    Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
+  },
+  extra_ecus=[
+    # All known ECUs on a late-model Toyota vehicle not queried here:
+    # Responds to UDS:
+    # - HV Battery (0x713, 0x747)
+    # - Motor Generator (0x716, 0x724)
+    # - 2nd ABS "Brake/EPB" (0x730)
+    # Responds to KWP (0x1a8801):
+    # - Steering Angle Sensor (0x7b3)
+    # - EPS/EMPS (0x7a0, 0x7a1)
+    # Responds to KWP (0x1a8881):
+    # - Body Control Module ((0x750, 0x40))
+
+    # Hybrid control computer can be on 0x7e2 (KWP) or 0x7d2 (UDS) depending on platform
+    (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
+    # TODO: if these duplicate ECUs always exist together, remove one
+    (Ecu.srs, 0x780, None),     # SRS Airbag
+    (Ecu.srs, 0x784, None),     # SRS Airbag 2
+    # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid))
+    # On some cars, EPB is controlled by the ABS module
+    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
+    # This isn't accessible on all cars
+    (Ecu.gateway, 0x750, 0x5f),
+    # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query
+    (Ecu.telematics, 0x750, 0xc7),
+    # Transmission is combined with engine on some platforms, such as TSS-P RAV4
+    (Ecu.transmission, 0x701, None),
+    # A few platforms have a tester present response on this address, add to log
+    (Ecu.transmission, 0x7e1, None),
+    # On some cars, this only responds to b'\x1a\x88\x80'
+    (Ecu.combinationMeter, 0x7c0, None),
+    (Ecu.hvac, 0x7c4, None),
+  ],
 )
 
 FW_VERSIONS = {
@@ -317,6 +389,7 @@ FW_VERSIONS = {
   CAR.AVALON_TSS2: {
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152607240\x00\x00\x00\x00\x00\x00',
+      b'\x01F152607250\x00\x00\x00\x00\x00\x00',
       b'\x01F152607280\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
@@ -324,6 +397,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896630742000\x00\x00\x00\x00',
+      b'\x01896630743000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
@@ -346,6 +420,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4104100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
@@ -374,6 +449,7 @@ FW_VERSIONS = {
       b'\x018966333Q6000\x00\x00\x00\x00',
       b'\x018966333Q6200\x00\x00\x00\x00',
       b'\x018966333Q6300\x00\x00\x00\x00',
+      b'\x018966333Q6500\x00\x00\x00\x00',
       b'\x018966333W6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x7e0, None): [
@@ -520,14 +596,19 @@ FW_VERSIONS = {
   CAR.CAMRY_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B33630\x00\x00\x00\x00\x00\x00',
+      b'8965B33640\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152606370\x00\x00\x00\x00\x00\x00',
       b'\x01F152606390\x00\x00\x00\x00\x00\x00',
       b'\x01F152606400\x00\x00\x00\x00\x00\x00',
+      b'\x01F152606431\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x018966306Q5000\x00\x00\x00\x00',
+      b'\x018966306Q9000\x00\x00\x00\x00',
+      b'\x018966306R3000\x00\x00\x00\x00',
+      b'\x018966306R8000\x00\x00\x00\x00',
       b'\x018966306T3100\x00\x00\x00\x00',
       b'\x018966306T3200\x00\x00\x00\x00',
       b'\x018966306T4000\x00\x00\x00\x00',
@@ -535,12 +616,16 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F6201200\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F0602100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F0602200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F0602300\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3305300\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
+      b'\x028646F3305500\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.CAMRYH_TSS2: {
@@ -556,12 +641,14 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x018966306Q6000\x00\x00\x00\x00',
       b'\x018966306Q7000\x00\x00\x00\x00',
+      b'\x018966306T0000\x00\x00\x00\x00',
       b'\x018966306V1000\x00\x00\x00\x00',
       b'\x01896633T20000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 15): [
       b'\x018821F6201200\x00\x00\x00\x00',
       b'\x018821F6201300\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 109): [
       b'\x028646F3305200\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
@@ -630,6 +717,30 @@ FW_VERSIONS = {
       b'8646FF407000    ',
     ],
   },
+  CAR.CHR_TSS2: {
+    (Ecu.abs, 0x7b0, None): [
+      b'F152610260\x00\x00\x00\x00\x00\x00',
+      b'F1526F4270\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10091\x00\x00\x00\x00\x00\x00',
+      b'8965B10110\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663F459000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\x0331014000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821FF410200\x00\x00\x00\x00',
+      b'\x018821FF410300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646FF410200\x00\x00\x00\x008646GF408200\x00\x00\x00\x00',
+      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
+    ],
+  },
   CAR.CHRH: {
     (Ecu.engine, 0x700, None): [
       b'\x0289663F405100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -647,6 +758,7 @@ FW_VERSIONS = {
       b'F152610040\x00\x00\x00\x00\x00\x00',
       b'F152610190\x00\x00\x00\x00\x00\x00',
       b'F152610200\x00\x00\x00\x00\x00\x00',
+      b'F152610220\x00\x00\x00\x00\x00\x00',
       b'F152610230\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
@@ -681,6 +793,30 @@ FW_VERSIONS = {
       b'8646FF404000    ',
       b'8646FF406000    ',
       b'8646FF407000    ',
+      b'8646FF407100    ',
+    ],
+  },
+  CAR.CHRH_TSS2: {
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B10092\x00\x00\x00\x00\x00\x00',
+      b'8965B10091\x00\x00\x00\x00\x00\x00',
+      b'8965B10111\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152610041\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x0189663F438000\x00\x00\x00\x00',
+      b'\x02896631025000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x0289663F453000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 15): [
+      b'\x018821FF410500\x00\x00\x00\x00',
+      b'\x018821FF410300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 109): [
+      b'\x028646FF413100\x00\x00\x00\x008646GF411100\x00\x00\x00\x00',
+      b'\x028646FF411100\x00\x00\x00\x008646GF409000\x00\x00\x00\x00',
     ],
   },
   CAR.COROLLA: {
@@ -741,6 +877,7 @@ FW_VERSIONS = {
       b'\x018966312Q8000\x00\x00\x00\x00',
       b'\x018966312R0000\x00\x00\x00\x00',
       b'\x018966312R0100\x00\x00\x00\x00',
+      b'\x018966312R0200\x00\x00\x00\x00',
       b'\x018966312R1000\x00\x00\x00\x00',
       b'\x018966312R1100\x00\x00\x00\x00',
       b'\x018966312R3100\x00\x00\x00\x00',
@@ -763,6 +900,7 @@ FW_VERSIONS = {
       b'\x03312N6100\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203202\x00\x00\x00\x00',
       b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203302\x00\x00\x00\x00',
+      b'\x03312N6200\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00895231203402\x00\x00\x00\x00',
       b'\x02312K4000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02312U5000\x00\x00\x00\x00\x00\x00\x00\x00A0202000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
@@ -794,11 +932,11 @@ FW_VERSIONS = {
       b'\x01F152612B60\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B61\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B62\x00\x00\x00\x00\x00\x00',
+      b'\x01F152612B70\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B71\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
       b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
-      b'F152602191\x00\x00\x00\x00\x00\x00',
       b'\x01F152612862\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
@@ -828,6 +966,7 @@ FW_VERSIONS = {
       b'\x01896630ZJ1000\x00\x00\x00\x00',
       b'\x01896630ZU8000\x00\x00\x00\x00',
       b'\x01896637621000\x00\x00\x00\x00',
+      b'\x01896637623000\x00\x00\x00\x00',
       b'\x01896637624000\x00\x00\x00\x00',
       b'\x01896637626000\x00\x00\x00\x00',
       b'\x01896637639000\x00\x00\x00\x00',
@@ -836,14 +975,17 @@ FW_VERSIONS = {
       b'\x02896630A07000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630A21000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZJ5000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZK8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZN8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZQ3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZR2000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZT8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x02896630ZT9000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x02896630ZZ0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312K6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312L0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312Q3000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966312Q3100\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966312Q4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x038966312L7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1205001\x00\x00\x00\x00',
       b'\x038966312N1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
@@ -853,8 +995,11 @@ FW_VERSIONS = {
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
       b'8965B16011\x00\x00\x00\x00\x00\x00',
+      b'8965B16101\x00\x00\x00\x00\x00\x00',
+      b'8965B16170\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
+      b'8965B76091\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
       b'\x018965B12470\x00\x00\x00\x00\x00\x00',
       b'\x018965B12490\x00\x00\x00\x00\x00\x00',
@@ -880,16 +1025,19 @@ FW_VERSIONS = {
       b'F152612D00\x00\x00\x00\x00\x00\x00',
       b'F152616011\x00\x00\x00\x00\x00\x00',
       b'F152616060\x00\x00\x00\x00\x00\x00',
+      b'F152616030\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
+      b'F152676371\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301300\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F12010D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -900,11 +1048,13 @@ FW_VERSIONS = {
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
       b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F1601200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F7603100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F7603200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F7605100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.HIGHLANDER: {
@@ -977,18 +1127,21 @@ FW_VERSIONS = {
       b'8965B48241\x00\x00\x00\x00\x00\x00',
       b'8965B48310\x00\x00\x00\x00\x00\x00',
       b'8965B48320\x00\x00\x00\x00\x00\x00',
+      b'8965B48400\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E051\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E061\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E110\x00\x00\x00\x00\x00\x00',
       b'\x01F15260E170\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260E05300\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896630E62100\x00\x00\x00\x00',
       b'\x01896630E62200\x00\x00\x00\x00',
       b'\x01896630E64100\x00\x00\x00\x00',
       b'\x01896630E64200\x00\x00\x00\x00',
+      b'\x01896630E64400\x00\x00\x00\x00',
       b'\x01896630EB1000\x00\x00\x00\x00',
       b'\x01896630EB1100\x00\x00\x00\x00',
       b'\x01896630EB1200\x00\x00\x00\x00',
@@ -1000,6 +1153,8 @@ FW_VERSIONS = {
       b'\x01896630ED9100\x00\x00\x00\x00',
       b'\x01896630EE1000\x00\x00\x00\x00',
       b'\x01896630EE1100\x00\x00\x00\x00',
+      b'\x01896630EG3000\x00\x00\x00\x00',
+      b'\x01896630EG5000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
@@ -1010,22 +1165,26 @@ FW_VERSIONS = {
       b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.HIGHLANDERH_TSS2: {
     (Ecu.eps, 0x7a1, None): [
       b'8965B48241\x00\x00\x00\x00\x00\x00',
       b'8965B48310\x00\x00\x00\x00\x00\x00',
+      b'8965B48400\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15264872300\x00\x00\x00\x00',
       b'\x01F15264872400\x00\x00\x00\x00',
       b'\x01F15264872500\x00\x00\x00\x00',
+      b'\x01F15264872600\x00\x00\x00\x00',
       b'\x01F15264873500\x00\x00\x00\x00',
       b'\x01F152648C6300\x00\x00\x00\x00',
       b'\x01F152648J4000\x00\x00\x00\x00',
       b'\x01F152648J5000\x00\x00\x00\x00',
       b'\x01F152648J6000\x00\x00\x00\x00',
+      b'\x01F15264872700\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
       b'\x01896630E67000\x00\x00\x00\x00',
@@ -1034,9 +1193,9 @@ FW_VERSIONS = {
       b'\x01896630EE4100\x00\x00\x00\x00',
       b'\x01896630EE5000\x00\x00\x00\x00',
       b'\x01896630EE6000\x00\x00\x00\x00',
+      b'\x01896630EF8000\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
-      b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3100\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
     ],
@@ -1049,6 +1208,7 @@ FW_VERSIONS = {
       b'\x028646F0E02100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F4803000\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F4803000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F4803200\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_IS: {
@@ -1097,6 +1257,23 @@ FW_VERSIONS = {
       b'8646F5301400\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_IS_TSS2: {
+    (Ecu.engine, 0x700, None): [
+      b'\x018966353S1000\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15265342000\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B53450\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F6201300\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F5303400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+    ],
+  },
   CAR.PRIUS: {
     (Ecu.engine, 0x700, None): [
       b'\x02896634761000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
@@ -1388,6 +1565,24 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
+  CAR.RAV4_TSS2_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15260R450\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634A88100\x00\x00\x00\x00',
+      b'\x01896634AJ2000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R03100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+    ],
+  },
   CAR.RAV4H_TSS2: {
     (Ecu.engine, 0x700, None): [
       b'\x01896634A15000\x00\x00\x00\x00',
@@ -1475,6 +1670,31 @@ FW_VERSIONS = {
       b'\x028646F0R02100\x00\x00\x00\x008646G0R01100\x00\x00\x00\x00',
     ],
   },
+  CAR.RAV4H_TSS2_2023: {
+    (Ecu.abs, 0x7b0, None): [
+      b'\x01F15264283200\x00\x00\x00\x00',
+      b'\x01F15264283300\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
+      b'8965B42371\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x700, None): [
+      b'\x01896634AE1001\x00\x00\x00\x00',
+      b'\x01896634AF0000\x00\x00\x00\x00',
+    ],
+    (Ecu.hybrid, 0x7d2, None): [
+      b'\x02899830R41000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+      b'\x028998342C0000\x00\x00\x00\x00899854224000\x00\x00\x00\x00',
+      b'\x02899830R39000\x00\x00\x00\x00899850R20000\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'\x018821F0R03100\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0R05100\x00\x00\x00\x008646G0R02100\x00\x00\x00\x00',
+    ],
+  },
   CAR.SIENNA: {
     (Ecu.engine, 0x700, None): [
       b'\x01896630832100\x00\x00\x00\x00',
@@ -1571,14 +1791,17 @@ FW_VERSIONS = {
       b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
       b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
       b'\x01896633T38000\x00\x00\x00\x00',
+      b'\x01896633T58000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
       b'F152633F50\x00\x00\x00\x00\x00\x00',
+      b'F152633F51\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B33252\x00\x00\x00\x00\x00\x00',
@@ -1594,6 +1817,7 @@ FW_VERSIONS = {
       b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'\x028646F0610000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303100\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -1603,6 +1827,26 @@ FW_VERSIONS = {
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
+  CAR.LEXUS_ES: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\x02333R0000\x00\x00\x00\x00\x00\x00\x00\x00A0C01000\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x7b0, None): [
+      b'F152606202\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.dsu, 0x791, None): [
+      b'881513309500\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x7a1, None): [
+      b'8965B33502\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x750, 0xf): [
+      b'8821F4701200\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F3302200\x00\x00\x00\x00',
+    ],
+  },
   CAR.LEXUS_ESH: {
       (Ecu.engine, 0x7e0, None): [
         b'\x02333M4200\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -1658,7 +1902,10 @@ FW_VERSIONS = {
     (Ecu.engine, 0x700, None): [
       b'\x018966378B2100\x00\x00\x00\x00',
       b'\x018966378B3000\x00\x00\x00\x00',
+      b'\x018966378B4100\x00\x00\x00\x00',
+      b'\x018966378G2000\x00\x00\x00\x00',
       b'\x018966378G3000\x00\x00\x00\x00',
+      b'\x018966378B2000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F152678221\x00\x00\x00\x00\x00\x00',
@@ -1679,18 +1926,23 @@ FW_VERSIONS = {
   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',
+      b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678210\x00\x00\x00\x00\x00\x00',
+      b'F152678211\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',
+      b'\x018821F3301300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_NXH: {
@@ -1725,22 +1977,29 @@ FW_VERSIONS = {
     ],
   },
   CAR.LEXUS_RC: {
+    (Ecu.engine, 0x700, None): [
+      b'\x01896632478200\x00\x00\x00\x00',
+    ],
     (Ecu.engine, 0x7e0, None): [
       b'\x0232484000\x00\x00\x00\x00\x00\x00\x00\x0052422000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
+      b'F152624150\x00\x00\x00\x00\x00\x00',
       b'F152624221\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
+      b'881512407000\x00\x00\x00\x00',
       b'881512409100\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B24081\x00\x00\x00\x00\x00\x00',
+      b'8965B24320\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
+      b'8646F2401200\x00\x00\x00\x00',
       b'8646F2402200\x00\x00\x00\x00',
     ],
   },
@@ -1852,12 +2111,15 @@ FW_VERSIONS = {
       b'\x01896630ED0000\x00\x00\x00\x00',
       b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
+      b'\x018966348T8000\x00\x00\x00\x00',
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
       b'\x01896634D44000\x00\x00\x00\x00',
+      b'\x018966348X0000\x00\x00\x00\x00',
+      b'\x01896630ED5000\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
@@ -1883,11 +2145,12 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_RXH_TSS2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02348X5000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348X8000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02348Y3000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D14000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x0234D16000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
-      b'\x02348X4000\x00\x00\x00\x00\x00\x00\x00\x00A4802000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152648831\x00\x00\x00\x00\x00\x00',
@@ -1897,15 +2160,16 @@ FW_VERSIONS = {
       b'F152648811\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
-      b'8965B48271\x00\x00\x00\x00\x00\x00',
       b'8965B48261\x00\x00\x00\x00\x00\x00',
+      b'8965B48271\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301400\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
-      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4810100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
+      b'\x028646F4810300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.PRIUS_TSS2: {
@@ -1913,6 +2177,7 @@ FW_VERSIONS = {
       b'\x028966347B1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C4000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C6000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
+      b'\x028966347C7000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x028966347C8000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00',
       b'\x038966347C0000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
       b'\x038966347C1000\x00\x00\x00\x008966A4703000\x00\x00\x00\x00897CF4710101\x00\x00\x00\x00',
@@ -1999,7 +2264,9 @@ DBC = {
   CAR.LEXUS_RX_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_RXH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.CHR: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+  CAR.CHR_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.CHRH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+  CAR.CHRH_TSS2: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.CAMRY: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRYH: dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   CAR.CAMRY_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
@@ -2015,16 +2282,20 @@ DBC = {
   CAR.AVALONH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
+  CAR.RAV4_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.COROLLA_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.COROLLAH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
+  CAR.LEXUS_ES: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.LEXUS_ES_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_ESH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.SIENNA: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
   CAR.LEXUS_IS: dbc_dict('toyota_tnga_k_pt_generated', 'toyota_adas'),
+  CAR.LEXUS_IS_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.LEXUS_CTH: dbc_dict('toyota_new_mc_pt_generated', 'toyota_adas'),
   CAR.RAV4H_TSS2: dbc_dict('toyota_nodsu_pt_generated', 'toyota_tss2_adas'),
   CAR.RAV4H_TSS2_2022: dbc_dict('toyota_nodsu_pt_generated', None),
+  CAR.RAV4H_TSS2_2023: dbc_dict('toyota_nodsu_pt_generated', None),
   CAR.LEXUS_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'),
@@ -2039,9 +2310,10 @@ DBC = {
 EPS_SCALE = defaultdict(lambda: 73, {CAR.PRIUS: 66, CAR.COROLLA: 88, CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.PRIUS_V: 100})
 
 # 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.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2}
+TSS2_CAR = {CAR.RAV4_TSS2, CAR.RAV4_TSS2_2022, CAR.RAV4_TSS2_2023, CAR.COROLLA_TSS2, CAR.COROLLAH_TSS2, CAR.LEXUS_ES_TSS2, CAR.LEXUS_ESH_TSS2,
+            CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.LEXUS_RX_TSS2, CAR.LEXUS_RXH_TSS2, CAR.HIGHLANDER_TSS2,
+            CAR.HIGHLANDERH_TSS2, CAR.PRIUS_TSS2, CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2, CAR.LEXUS_IS_TSS2, CAR.MIRAI, CAR.LEXUS_NX_TSS2,
+            CAR.LEXUS_NXH_TSS2, CAR.ALPHARD_TSS2, CAR.AVALON_TSS2, CAR.AVALONH_TSS2, CAR.ALPHARDH_TSS2, CAR.CHR_TSS2, CAR.CHRH_TSS2}
 
 NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 
@@ -2049,10 +2321,14 @@ NO_DSU_CAR = TSS2_CAR | {CAR.CHR, CAR.CHRH, CAR.CAMRY, CAR.CAMRYH}
 UNSUPPORTED_DSU_CAR = {CAR.LEXUS_IS, CAR.LEXUS_RC}
 
 # these cars have a radar which sends ACC messages instead of the camera
-RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022}
+RADAR_ACC_CAR = {CAR.RAV4H_TSS2_2022, CAR.RAV4_TSS2_2022, CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023, CAR.CHR_TSS2, CAR.CHRH_TSS2}
+
+# these cars use the Lane Tracing Assist (LTA) message for lateral control
+ANGLE_CONTROL_CAR = {CAR.RAV4H_TSS2_2023, CAR.RAV4_TSS2_2023}
 
-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,
+EV_HYBRID_CAR = {CAR.AVALONH_2019, CAR.AVALONH_TSS2, CAR.CAMRYH, CAR.CAMRYH_TSS2, CAR.CHRH, CAR.CHRH_TSS2, CAR.COROLLAH_TSS2,
+                 CAR.HIGHLANDERH, CAR.HIGHLANDERH_TSS2, CAR.PRIUS, CAR.PRIUS_V, CAR.RAV4H, CAR.RAV4H_TSS2, CAR.RAV4H_TSS2_2022,
+                 CAR.RAV4H_TSS2_2023, CAR.LEXUS_CTH, CAR.MIRAI, CAR.LEXUS_ESH, CAR.LEXUS_ESH_TSS2, CAR.LEXUS_NXH, CAR.LEXUS_RXH,
                  CAR.LEXUS_RXH_TSS2, CAR.LEXUS_NXH_TSS2, CAR.PRIUS_TSS2, CAR.ALPHARDH_TSS2}
 
 # no resume button press required
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index cf1c25e851..28edf157ae 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -3,9 +3,9 @@ import re
 
 import cereal.messaging as messaging
 from panda.python.uds import get_rx_addr_for_tx_addr, FUNCTIONAL_ADDRS
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from selfdrive.car.fw_query_definitions import StdQueries
-from system.swaglog import cloudlog
+from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
+from openpilot.selfdrive.car.fw_query_definitions import StdQueries
+from openpilot.system.swaglog import cloudlog
 
 VIN_UNKNOWN = "0" * 17
 VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index fff5548671..e7a7f2a998 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,10 +1,11 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
-from common.numpy_fast import clip
-from common.conversions import Conversions as CV
-from selfdrive.car import apply_std_steer_torque_limits
-from selfdrive.car.volkswagen import mqbcan, pqcan
-from selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
+from openpilot.common.numpy_fast import clip
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car.volkswagen import mqbcan, pqcan
+from openpilot.selfdrive.car.volkswagen.values import CANBUS, PQ_CARS, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -20,53 +21,49 @@ class CarController:
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
     self.frame = 0
-    self.hcaSameTorqueCount = 0
-    self.hcaEnabledFrameCount = 0
+    self.eps_timer_soft_disable_alert = False
+    self.hca_frame_timer_running = 0
+    self.hca_frame_same_torque = 0
 
-  def update(self, CC, CS, ext_bus):
+  def update(self, CC, CS, ext_bus, now_nanos):
     actuators = CC.actuators
     hud_control = CC.hudControl
     can_sends = []
 
     # **** Steering Controls ************************************************ #
 
-    if self.frame % self.CCP.HCA_STEP == 0:
+    if self.frame % self.CCP.STEER_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
       #   * Don't send > 3.00 Newton-meters torque
       #   * Don't send the same torque for > 6 seconds
       #   * Don't send uninterrupted steering for > 360 seconds
-      # One frame of HCA disabled is enough to reset the timer, without zeroing the
-      # torque value. Do that anytime we happen to have 0 torque, or failing that,
-      # when exceeding ~1/3 the 360 second timer.
+      # MQB racks reset the uninterrupted steering timer after a single frame
+      # of HCA disabled; this is done whenever output happens to be zero.
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
-        apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
-        if apply_steer == 0:
-          hcaEnabled = False
-          self.hcaEnabledFrameCount = 0
+        apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
+        self.hca_frame_timer_running += self.CCP.STEER_STEP
+        if self.apply_steer_last == apply_steer:
+          self.hca_frame_same_torque += self.CCP.STEER_STEP
+          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
+            apply_steer -= (1, -1)[apply_steer < 0]
+            self.hca_frame_same_torque = 0
         else:
-          self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.HCA_STEP):  # 118s
-            hcaEnabled = False
-            self.hcaEnabledFrameCount = 0
-          else:
-            hcaEnabled = True
-            if self.apply_steer_last == apply_steer:
-              self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.HCA_STEP):  # 1.9s
-                apply_steer -= (1, -1)[apply_steer < 0]
-                self.hcaSameTorqueCount = 0
-            else:
-              self.hcaSameTorqueCount = 0
+          self.hca_frame_same_torque = 0
+        hca_enabled = abs(apply_steer) > 0
       else:
-        hcaEnabled = False
+        hca_enabled = False
         apply_steer = 0
 
+      if not hca_enabled:
+        self.hca_frame_timer_running = 0
+
+      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
       self.apply_steer_last = apply_steer
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
     # **** Acceleration Controls ******************************************** #
 
@@ -88,22 +85,26 @@ class CarController:
                                                        CS.out.steeringPressed, hud_alert, hud_control))
 
     if self.frame % self.CCP.ACC_HUD_STEP == 0 and self.CP.openpilotLongitudinalControl:
+      lead_distance = 0
+      if hud_control.leadVisible and self.frame * DT_CTRL > 1.0:  # Don't display lead until we know the scaling factor
+        lead_distance = 512 if CS.upscale_lead_car_signal else 8
       acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive)
-      set_speed = hud_control.setSpeed * CV.MS_TO_KPH  # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      # FIXME: follow the recent displayed-speed updates, also use mph_kmh toggle to fix display rounding problem?
+      set_speed = hud_control.setSpeed * CV.MS_TO_KPH
       can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, CANBUS.pt, acc_hud_status, set_speed,
-                                                       hud_control.leadVisible))
+                                                       lead_distance))
 
     # **** Stock ACC Button Controls **************************************** #
 
     gra_send_ready = self.CP.pcmCruise and CS.gra_stock_values["COUNTER"] != self.gra_acc_counter_last
     if gra_send_ready and (CC.cruiseControl.cancel or CC.cruiseControl.resume):
-      counter = (CS.gra_stock_values["COUNTER"] + 1) % 16
-      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, counter,
+      can_sends.append(self.CCS.create_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values,
                                                            cancel=CC.cruiseControl.cancel, resume=CC.cruiseControl.resume))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.CCP.STEER_MAX
+    new_actuators.steerOutputCan = self.apply_steer_last
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
-    return new_actuators, can_sends
+    return new_actuators, can_sends, self.eps_timer_soft_disable_alert
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 263edbfc9d..cbe8918d48 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -1,9 +1,9 @@
 import numpy as np
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.car.interfaces import CarStateBase
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
+from openpilot.selfdrive.car.volkswagen.values import DBC, CANBUS, PQ_CARS, NetworkLocation, TransmissionType, GearShifter, \
                                             CarControllerParams
 
 
@@ -13,6 +13,7 @@ class CarState(CarStateBase):
     self.CCP = CarControllerParams(CP)
     self.button_states = {button.event_type: False for button in self.CCP.BUTTONS}
     self.esp_hold_confirmation = False
+    self.upscale_lead_car_signal = False
 
   def create_button_events(self, pt_cp, buttons):
     button_events = []
@@ -43,7 +44,7 @@ class CarState(CarStateBase):
 
     ret.vEgoRaw = float(np.mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr]))
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgo < 0.1
+    ret.standstill = ret.vEgoRaw == 0
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
@@ -141,6 +142,9 @@ class CarState(CarStateBase):
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
 
+    # Digital instrument clusters expect the ACC HUD lead car distance to be scaled differently
+    self.upscale_lead_car_signal = bool(pt_cp.vl["Kombi_03"]["KBI_Variante"])
+
     return ret
 
   def update_pq(self, pt_cp, cam_cp, ext_cp, trans_type):
@@ -156,7 +160,7 @@ class CarState(CarStateBase):
     # vEgo obtained from Bremse_1 vehicle speed rather than Bremse_3 wheel speeds because Bremse_3 isn't present on NSF
     ret.vEgoRaw = pt_cp.vl["Bremse_1"]["Geschwindigkeit_neu__Bremse_1_"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = ret.vEgo < 0.1
+    ret.standstill = ret.vEgoRaw == 0
 
     # Update steering angle, rate, yaw rate, and driver input torque. VW send
     # the sign/direction in a separate signal so they must be recombined.
@@ -224,13 +228,13 @@ class CarState(CarStateBase):
     ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
     ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
     if self.CP.pcmCruise:
-      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
+      ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
     else:
       ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3
 
     # Update ACC setpoint. When the setpoint reads as 255, the driver has not
     # yet established an ACC setpoint, so treat it as zero.
-    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
     if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
       ret.cruiseState.speed = 0
 
@@ -250,53 +254,7 @@ class CarState(CarStateBase):
     if CP.carFingerprint in PQ_CARS:
       return CarState.get_can_parser_pq(CP)
 
-    signals = [
-      # sig_name, sig_address
-      ("LWI_Lenkradwinkel", "LWI_01"),           # Absolute steering angle
-      ("LWI_VZ_Lenkradwinkel", "LWI_01"),        # Steering angle sign
-      ("LWI_Lenkradw_Geschw", "LWI_01"),         # Absolute steering rate
-      ("LWI_VZ_Lenkradw_Geschw", "LWI_01"),      # Steering rate sign
-      ("ESP_VL_Radgeschw_02", "ESP_19"),         # ABS wheel speed, front left
-      ("ESP_VR_Radgeschw_02", "ESP_19"),         # ABS wheel speed, front right
-      ("ESP_HL_Radgeschw_02", "ESP_19"),         # ABS wheel speed, rear left
-      ("ESP_HR_Radgeschw_02", "ESP_19"),         # ABS wheel speed, rear right
-      ("ESP_Gierrate", "ESP_02"),                # Absolute yaw rate
-      ("ESP_VZ_Gierrate", "ESP_02"),             # Yaw rate sign
-      ("ZV_FT_offen", "Gateway_72"),             # Door open, driver
-      ("ZV_BT_offen", "Gateway_72"),             # Door open, passenger
-      ("ZV_HFS_offen", "Gateway_72"),            # Door open, rear left
-      ("ZV_HBFS_offen", "Gateway_72"),           # Door open, rear right
-      ("ZV_HD_offen", "Gateway_72"),             # Trunk or hatch open
-      ("Comfort_Signal_Left", "Blinkmodi_02"),   # Left turn signal including comfort blink interval
-      ("Comfort_Signal_Right", "Blinkmodi_02"),  # Right turn signal including comfort blink interval
-      ("AB_Gurtschloss_FA", "Airbag_02"),        # Seatbelt status, driver
-      ("AB_Gurtschloss_BF", "Airbag_02"),        # Seatbelt status, passenger
-      ("ESP_Fahrer_bremst", "ESP_05"),           # Driver applied brake pressure over threshold
-      ("MO_Fahrer_bremst", "Motor_14"),          # Brake pedal switch
-      ("ESP_Bremsdruck", "ESP_05"),              # Brake pressure
-      ("MO_Fahrpedalrohwert_01", "Motor_20"),    # Accelerator pedal value
-      ("EPS_Lenkmoment", "LH_EPS_03"),           # Absolute driver torque input
-      ("EPS_VZ_Lenkmoment", "LH_EPS_03"),        # Driver torque input sign
-      ("EPS_HCA_Status", "LH_EPS_03"),           # EPS HCA control status
-      ("ESP_Tastung_passiv", "ESP_21"),          # Stability control disabled
-      ("ESP_Haltebestaetigung", "ESP_21"),       # ESP hold confirmation
-      ("KBI_Handbremse", "Kombi_01"),            # Manual handbrake applied
-      ("TSK_Status", "TSK_06"),                  # ACC engagement status from drivetrain coordinator
-      ("GRA_Hauptschalter", "GRA_ACC_01"),       # ACC button, on/off
-      ("GRA_Abbrechen", "GRA_ACC_01"),           # ACC button, cancel
-      ("GRA_Tip_Setzen", "GRA_ACC_01"),          # ACC button, set
-      ("GRA_Tip_Hoch", "GRA_ACC_01"),            # ACC button, increase or accel
-      ("GRA_Tip_Runter", "GRA_ACC_01"),          # ACC button, decrease or decel
-      ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"),  # ACC button, resume
-      ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"),  # ACC button, time gap adj
-      ("GRA_Typ_Hauptschalter", "GRA_ACC_01"),   # ACC main button type
-      ("GRA_Codierung", "GRA_ACC_01"),           # ACC button configuration/coding
-      ("GRA_Tip_Stufe_2", "GRA_ACC_01"),         # unknown related to stalk type
-      ("GRA_ButtonTypeInfo", "GRA_ACC_01"),      # unknown related to stalk type
-      ("COUNTER", "GRA_ACC_01"),                 # GRA_ACC_01 CAN message counter
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("LWI_01", 100),      # From J500 Steering Assist with integrated sensors
       ("LH_EPS_03", 100),   # From J500 Steering Assist with integrated sensors
@@ -312,111 +270,45 @@ class CarState(CarStateBase):
       ("Airbag_02", 5),     # From J234 Airbag control module
       ("Kombi_01", 2),      # From J285 Instrument cluster
       ("Blinkmodi_02", 1),  # From J519 BCM (sent at 1Hz when no lights active, 50Hz when active)
+      ("Kombi_03", 0),      # From J285 instrument cluster (not present on older cars, 1Hz when present)
     ]
 
     if CP.transmissionType == TransmissionType.automatic:
-      signals.append(("GE_Fahrstufe", "Getriebe_11"))  # Auto trans gear selector position
-      checks.append(("Getriebe_11", 20))  # From J743 Auto transmission control module
+      messages.append(("Getriebe_11", 20))  # From J743 Auto transmission control module
     elif CP.transmissionType == TransmissionType.direct:
-      signals.append(("GearPosition", "EV_Gearshift"))  # EV gear selector position
-      checks.append(("EV_Gearshift", 10))  # From J??? unknown EV control module
-    elif CP.transmissionType == TransmissionType.manual:
-      signals += [("MO_Kuppl_schalter", "Motor_14"),  # Clutch switch
-                  ("BCM1_Rueckfahrlicht_Schalter", "Gateway_72")]  # Reverse light from BCM
+      messages.append(("EV_Gearshift", 10))  # From J??? unknown EV control module
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
       # Radars are here on CANBUS.pt
-      signals += MqbExtraSignals.fwd_radar_signals
-      checks += MqbExtraSignals.fwd_radar_checks
+      messages += MqbExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += MqbExtraSignals.bsm_radar_signals
-        checks += MqbExtraSignals.bsm_radar_checks
+        messages += MqbExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in PQ_CARS:
       return CarState.get_cam_can_parser_pq(CP)
 
-    signals = []
-    checks = []
+    messages = []
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        # sig_name, sig_address
-        ("LDW_SW_Warnung_links", "LDW_02"),      # Blind spot in warning mode on left side due to lane departure
-        ("LDW_SW_Warnung_rechts", "LDW_02"),     # Blind spot in warning mode on right side due to lane departure
-        ("LDW_Seite_DLCTLC", "LDW_02"),          # Direction of most likely lane departure (left or right)
-        ("LDW_DLC", "LDW_02"),                   # Lane departure, distance to line crossing
-        ("LDW_TLC", "LDW_02"),                   # Lane departure, time to line crossing
-      ]
-      checks += [
+      messages += [
         # sig_address, frequency
         ("LDW_02", 10)      # From R242 Driver assistance camera
       ]
     else:
       # Radars are here on CANBUS.cam
-      signals += MqbExtraSignals.fwd_radar_signals
-      checks += MqbExtraSignals.fwd_radar_checks
+      messages += MqbExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += MqbExtraSignals.bsm_radar_signals
-        checks += MqbExtraSignals.bsm_radar_checks
+        messages += MqbExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
 
   @staticmethod
   def get_can_parser_pq(CP):
-    signals = [
-      # sig_name, sig_address, default
-      ("LH3_BLW", "Lenkhilfe_3"),                # Absolute steering angle
-      ("LH3_BLWSign", "Lenkhilfe_3"),            # Steering angle sign
-      ("LH3_LM", "Lenkhilfe_3"),                 # Absolute driver torque input
-      ("LH3_LMSign", "Lenkhilfe_3"),             # Driver torque input sign
-      ("LH2_Sta_HCA", "Lenkhilfe_2"),            # Steering rack HCA status
-      ("Lenkradwinkel_Geschwindigkeit", "Lenkwinkel_1"),  # Absolute steering rate
-      ("Lenkradwinkel_Geschwindigkeit_S", "Lenkwinkel_1"),  # Steering rate sign
-      ("Geschwindigkeit_neu__Bremse_1_", "Bremse_1"),  # Vehicle speed from ABS
-      ("Radgeschw__VL_4_1", "Bremse_3"),         # ABS wheel speed, front left
-      ("Radgeschw__VR_4_1", "Bremse_3"),         # ABS wheel speed, front right
-      ("Radgeschw__HL_4_1", "Bremse_3"),         # ABS wheel speed, rear left
-      ("Radgeschw__HR_4_1", "Bremse_3"),         # ABS wheel speed, rear right
-      ("Giergeschwindigkeit", "Bremse_5"),       # Absolute yaw rate
-      ("Vorzeichen_der_Giergeschwindigk", "Bremse_5"),  # Yaw rate sign
-      ("Gurtschalter_Fahrer", "Airbag_1"),       # Seatbelt status, driver
-      ("Gurtschalter_Beifahrer", "Airbag_1"),    # Seatbelt status, passenger
-      ("Bremstestschalter", "Motor_2"),          # Brake pedal pressed (brake light test switch)
-      ("Bremslichtschalter", "Motor_2"),         # Brakes applied (brake light switch)
-      ("Bremsdruck", "Bremse_5"),                # Brake pressure applied
-      ("Vorzeichen_Bremsdruck", "Bremse_5"),     # Brake pressure applied sign (???)
-      ("Fahrpedal_Rohsignal", "Motor_3"),        # Accelerator pedal value
-      ("ESP_Passiv_getastet", "Bremse_1"),       # Stability control disabled
-      ("GRA_Hauptschalter", "Motor_5"),          # ACC main switch
-      ("GRA_Status", "Motor_2"),                 # ACC engagement status
-      ("GK1_Fa_Tuerkont", "Gate_Komf_1"),        # Door open, driver
-      ("BSK_BT_geoeffnet", "Gate_Komf_1"),       # Door open, passenger
-      ("BSK_HL_geoeffnet", "Gate_Komf_1"),       # Door open, rear left
-      ("BSK_HR_geoeffnet", "Gate_Komf_1"),       # Door open, rear right
-      ("BSK_HD_Hauptraste", "Gate_Komf_1"),      # Trunk or hatch open
-      ("GK1_Blinker_li", "Gate_Komf_1"),         # Left turn signal on
-      ("GK1_Blinker_re", "Gate_Komf_1"),         # Right turn signal on
-      ("Bremsinfo", "Kombi_1"),                  # Manual handbrake applied
-      ("GRA_Hauptschalt", "GRA_Neu"),            # ACC button, on/off
-      ("GRA_Typ_Hauptschalt", "GRA_Neu"),        # ACC button, momentary vs latching
-      ("GRA_Kodierinfo", "GRA_Neu"),             # ACC button, configuration
-      ("GRA_Abbrechen", "GRA_Neu"),              # ACC button, cancel
-      ("GRA_Neu_Setzen", "GRA_Neu"),             # ACC button, set
-      ("GRA_Up_lang", "GRA_Neu"),                # ACC button, increase or accel, long press
-      ("GRA_Down_lang", "GRA_Neu"),              # ACC button, decrease or decel, long press
-      ("GRA_Up_kurz", "GRA_Neu"),                # ACC button, increase or accel, short press
-      ("GRA_Down_kurz", "GRA_Neu"),              # ACC button, decrease or decel, short press
-      ("GRA_Recall", "GRA_Neu"),                 # ACC button, resume
-      ("GRA_Zeitluecke", "GRA_Neu"),             # ACC button, time gap adj
-      ("COUNTER", "GRA_Neu"),                    # ACC button, message counter
-      ("GRA_Sender", "GRA_Neu"),                 # ACC button, CAN message originator
-    ]
-
-    checks = [
+    messages = [
       # sig_address, frequency
       ("Bremse_1", 100),    # From J104 ABS/ESP controller
       ("Bremse_3", 100),    # From J104 ABS/ESP controller
@@ -434,95 +326,55 @@ class CarState(CarStateBase):
     ]
 
     if CP.transmissionType == TransmissionType.automatic:
-      signals += [("Waehlhebelposition__Getriebe_1_", "Getriebe_1", 0)]  # Auto trans gear selector position
-      checks += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
+      messages += [("Getriebe_1", 100)]  # From J743 Auto transmission control module
     elif CP.transmissionType == TransmissionType.manual:
-      signals += [("Kupplungsschalter", "Motor_1", 0),  # Clutch switch
-                  ("GK1_Rueckfahr", "Gate_Komf_1", 0)]  # Reverse light from BCM
-      checks += [("Motor_1", 100)]  # From J623 Engine control module
+      messages += [("Motor_1", 100)]  # From J623 Engine control module
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
       # Extended CAN devices other than the camera are here on CANBUS.pt
-      signals += PqExtraSignals.fwd_radar_signals
-      checks += PqExtraSignals.fwd_radar_checks
+      messages += PqExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += PqExtraSignals.bsm_radar_signals
-        checks += PqExtraSignals.bsm_radar_checks
+        messages += PqExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.pt)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.pt)
 
   @staticmethod
   def get_cam_can_parser_pq(CP):
 
-    signals = []
-    checks = []
+    messages = []
 
     if CP.networkLocation == NetworkLocation.fwdCamera:
-      signals += [
-        # sig_name, sig_address
-        ("LDW_SW_Warnung_links", "LDW_Status"),      # Blind spot in warning mode on left side due to lane departure
-        ("LDW_SW_Warnung_rechts", "LDW_Status"),     # Blind spot in warning mode on right side due to lane departure
-        ("LDW_Seite_DLCTLC", "LDW_Status"),          # Direction of most likely lane departure (left or right)
-        ("LDW_DLC", "LDW_Status"),                   # Lane departure, distance to line crossing
-        ("LDW_TLC", "LDW_Status"),                   # Lane departure, time to line crossing
-      ]
-      checks += [
+      messages += [
         # sig_address, frequency
         ("LDW_Status", 10)      # From R242 Driver assistance camera
       ]
 
     if CP.networkLocation == NetworkLocation.gateway:
       # Radars are here on CANBUS.cam
-      signals += PqExtraSignals.fwd_radar_signals
-      checks += PqExtraSignals.fwd_radar_checks
+      messages += PqExtraSignals.fwd_radar_messages
       if CP.enableBsm:
-        signals += PqExtraSignals.bsm_radar_signals
-        checks += PqExtraSignals.bsm_radar_checks
+        messages += PqExtraSignals.bsm_radar_messages
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CANBUS.cam)
+    return CANParser(DBC[CP.carFingerprint]["pt"], messages, CANBUS.cam)
 
 
 class MqbExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_signals = [
-    ("ACC_Wunschgeschw_02", "ACC_02"),           # ACC set speed
-    ("ACC_Typ", "ACC_06"),                       # Basic vs FtS vs SnG
-    ("AWV2_Freigabe", "ACC_10"),                 # FCW brake jerk release
-    ("ANB_Teilbremsung_Freigabe", "ACC_10"),     # AEB partial braking release
-    ("ANB_Zielbremsung_Freigabe", "ACC_10"),     # AEB target braking release
-  ]
-  fwd_radar_checks = [
+  fwd_radar_messages = [
     ("ACC_06", 50),                              # From J428 ACC radar control module
     ("ACC_10", 50),                              # From J428 ACC radar control module
     ("ACC_02", 17),                              # From J428 ACC radar control module
   ]
-  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_01"),          # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_01"),            # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_01"),          # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_01"),            # Blind spot object warning, right
-  ]
-  bsm_radar_checks = [
+  bsm_radar_messages = [
     ("SWA_01", 20),                              # From J1086 Lane Change Assist
   ]
 
 class PqExtraSignals:
   # Additional signal and message lists for optional or bus-portable controllers
-  fwd_radar_signals = [
-    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
-    ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
-  ]
-  fwd_radar_checks = [
+  fwd_radar_messages = [
     ("ACC_System", 50),                          # From J428 ACC radar control module
-    ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
-  ]
-  bsm_radar_signals = [
-    ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
-    ("SWA_Warnung_SWA_li", "SWA_1"),             # Blind spot object warning, left
-    ("SWA_Infostufe_SWA_re", "SWA_1"),           # Blind spot object info, right
-    ("SWA_Warnung_SWA_re", "SWA_1"),             # Blind spot object warning, right
+    ("ACC_GRA_Anzeige", 25),                     # From J428 ACC radar control module
   ]
-  bsm_radar_checks = [
+  bsm_radar_messages = [
     ("SWA_1", 20),                               # From J1086 Lane Change Assist
   ]
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index da0ce25afa..d5377453c1 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,9 +1,9 @@
 from cereal import car
 from panda import Panda
-from common.conversions import Conversions as CV
-from selfdrive.car import STD_CARGO_KG, get_safety_config
-from selfdrive.car.interfaces import CarInterfaceBase
-from selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.car import get_safety_config
+from openpilot.selfdrive.car.interfaces import CarInterfaceBase
+from openpilot.selfdrive.car.volkswagen.values import CAR, PQ_CARS, CANBUS, NetworkLocation, TransmissionType, GearShifter
 
 ButtonType = car.CarState.ButtonEvent.Type
 EventName = car.CarEvent.EventName
@@ -20,19 +20,19 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
+    self.eps_timer_soft_disable_alert = False
+
   @staticmethod
-  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long):
+  def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
-    ret.radarOffCan = True
-
-    use_off_car_defaults = len(fingerprint[0]) == 0  # Pick sensible carParams during offline doc generation/CI jobs
+    ret.radarUnavailable = True
 
     if candidate in PQ_CARS:
       # Set global PQ35/PQ46/NMS parameters
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagenPq)]
       ret.enableBsm = 0x3BA in fingerprint[0]  # SWA_1
 
-      if 0x440 in fingerprint[0] or use_off_car_defaults:  # Getriebe_1
+      if 0x440 in fingerprint[0] or docs:  # Getriebe_1
         ret.transmissionType = TransmissionType.automatic
       else:
         ret.transmissionType = TransmissionType.manual
@@ -55,7 +55,7 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.volkswagen)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
 
-      if 0xAD in fingerprint[0] or use_off_car_defaults:  # Getriebe_11
+      if 0xAD in fingerprint[0] or docs:  # Getriebe_11
         ret.transmissionType = TransmissionType.automatic
       elif 0x187 in fingerprint[0]:  # EV_Gearshift
         ret.transmissionType = TransmissionType.direct
@@ -80,7 +80,7 @@ class CarInterface(CarInterfaceBase):
 
     # Global longitudinal tuning defaults, can be overridden per-vehicle
 
-    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or use_off_car_defaults
+    ret.experimentalLongitudinalAvailable = ret.networkLocation == NetworkLocation.gateway or docs
     if experimental_long:
       # Proof-of-concept, prep for E2E only. No radar points available. Panda ALLOW_DEBUG firmware required.
       ret.openpilotLongitudinalControl = True
@@ -92,6 +92,7 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startingState = True
     ret.startAccel = 1.0
+    ret.stopAccel = -0.55
     ret.vEgoStarting = 1.0
     ret.vEgoStopping = 1.0
     ret.longitudinalTuning.kpV = [0.1]
@@ -100,27 +101,32 @@ class CarInterface(CarInterfaceBase):
     # Per-chassis tuning values, override tuning defaults here if desired
 
     if candidate == CAR.ARTEON_MK1:
-      ret.mass = 1733 + STD_CARGO_KG
+      ret.mass = 1733
       ret.wheelbase = 2.84
 
     elif candidate == CAR.ATLAS_MK1:
-      ret.mass = 2011 + STD_CARGO_KG
+      ret.mass = 2011
       ret.wheelbase = 2.98
 
+    elif candidate == CAR.CRAFTER_MK2:
+      ret.mass = 2100
+      ret.wheelbase = 3.64  # SWB, LWB is 4.49, TBD how to detect difference
+      ret.minSteerSpeed = 50 * CV.KPH_TO_MS
+
     elif candidate == CAR.GOLF_MK7:
-      ret.mass = 1397 + STD_CARGO_KG
+      ret.mass = 1397
       ret.wheelbase = 2.62
 
     elif candidate == CAR.JETTA_MK7:
-      ret.mass = 1328 + STD_CARGO_KG
+      ret.mass = 1328
       ret.wheelbase = 2.71
 
     elif candidate == CAR.PASSAT_MK8:
-      ret.mass = 1551 + STD_CARGO_KG
+      ret.mass = 1551
       ret.wheelbase = 2.79
 
     elif candidate == CAR.PASSAT_NMS:
-      ret.mass = 1503 + STD_CARGO_KG
+      ret.mass = 1503
       ret.wheelbase = 2.80
       ret.minEnableSpeed = 20 * CV.KPH_TO_MS  # ACC "basic", no FtS
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
@@ -128,82 +134,86 @@ class CarInterface(CarInterfaceBase):
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     elif candidate == CAR.POLO_MK6:
-      ret.mass = 1230 + STD_CARGO_KG
+      ret.mass = 1230
       ret.wheelbase = 2.55
 
     elif candidate == CAR.SHARAN_MK2:
-      ret.mass = 1639 + STD_CARGO_KG
+      ret.mass = 1639
       ret.wheelbase = 2.92
       ret.minSteerSpeed = 50 * CV.KPH_TO_MS
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.TAOS_MK1:
-      ret.mass = 1498 + STD_CARGO_KG
+      ret.mass = 1498
       ret.wheelbase = 2.69
 
     elif candidate == CAR.TCROSS_MK1:
-      ret.mass = 1150 + STD_CARGO_KG
+      ret.mass = 1150
       ret.wheelbase = 2.60
 
     elif candidate == CAR.TIGUAN_MK2:
-      ret.mass = 1715 + STD_CARGO_KG
+      ret.mass = 1715
       ret.wheelbase = 2.74
 
     elif candidate == CAR.TOURAN_MK2:
-      ret.mass = 1516 + STD_CARGO_KG
+      ret.mass = 1516
       ret.wheelbase = 2.79
 
     elif candidate == CAR.TRANSPORTER_T61:
-      ret.mass = 1926 + STD_CARGO_KG
+      ret.mass = 1926
       ret.wheelbase = 3.00  # SWB, LWB is 3.40, TBD how to detect difference
       ret.minSteerSpeed = 14.0
 
     elif candidate == CAR.TROC_MK1:
-      ret.mass = 1413 + STD_CARGO_KG
+      ret.mass = 1413
       ret.wheelbase = 2.63
 
     elif candidate == CAR.AUDI_A3_MK3:
-      ret.mass = 1335 + STD_CARGO_KG
+      ret.mass = 1335
       ret.wheelbase = 2.61
 
     elif candidate == CAR.AUDI_Q2_MK1:
-      ret.mass = 1205 + STD_CARGO_KG
+      ret.mass = 1205
       ret.wheelbase = 2.61
 
     elif candidate == CAR.AUDI_Q3_MK2:
-      ret.mass = 1623 + STD_CARGO_KG
+      ret.mass = 1623
       ret.wheelbase = 2.68
 
     elif candidate == CAR.SEAT_ATECA_MK1:
-      ret.mass = 1900 + STD_CARGO_KG
+      ret.mass = 1900
       ret.wheelbase = 2.64
 
     elif candidate == CAR.SEAT_LEON_MK3:
-      ret.mass = 1227 + STD_CARGO_KG
+      ret.mass = 1227
       ret.wheelbase = 2.64
 
+    elif candidate == CAR.SKODA_FABIA_MK4:
+      ret.mass = 1266
+      ret.wheelbase = 2.56
+
     elif candidate == CAR.SKODA_KAMIQ_MK1:
-      ret.mass = 1265 + STD_CARGO_KG
+      ret.mass = 1265
       ret.wheelbase = 2.66
 
     elif candidate == CAR.SKODA_KAROQ_MK1:
-      ret.mass = 1278 + STD_CARGO_KG
+      ret.mass = 1278
       ret.wheelbase = 2.66
 
     elif candidate == CAR.SKODA_KODIAQ_MK1:
-      ret.mass = 1569 + STD_CARGO_KG
+      ret.mass = 1569
       ret.wheelbase = 2.79
 
     elif candidate == CAR.SKODA_OCTAVIA_MK3:
-      ret.mass = 1388 + STD_CARGO_KG
+      ret.mass = 1388
       ret.wheelbase = 2.68
 
     elif candidate == CAR.SKODA_SCALA_MK1:
-      ret.mass = 1192 + STD_CARGO_KG
+      ret.mass = 1192
       ret.wheelbase = 2.65
 
     elif candidate == CAR.SKODA_SUPERB_MK3:
-      ret.mass = 1505 + STD_CARGO_KG
+      ret.mass = 1505
       ret.wheelbase = 2.84
 
     else:
@@ -235,9 +245,13 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
+    if self.eps_timer_soft_disable_alert:
+      events.add(EventName.steerTimeLimit)
+
     ret.events = events.to_msg()
 
     return ret
 
-  def apply(self, c):
-    return self.CC.update(c, self.CS, self.ext_bus)
+  def apply(self, c, now_nanos):
+    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/mqbcan.py b/selfdrive/car/volkswagen/mqbcan.py
index 25a710dbb8..849d99592f 100644
--- a/selfdrive/car/volkswagen/mqbcan.py
+++ b/selfdrive/car/volkswagen/mqbcan.py
@@ -1,20 +1,25 @@
 def create_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
-    "SET_ME_0X3": 0x3,
-    "Assist_Torque": abs(apply_steer),
-    "Assist_Requested": lkas_enabled,
-    "Assist_VZ": 1 if apply_steer < 0 else 0,
-    "HCA_Available": 1,
-    "HCA_Standby": not lkas_enabled,
-    "HCA_Active": lkas_enabled,
-    "SET_ME_0XFE": 0xFE,
-    "SET_ME_0X07": 0x07,
+    "HCA_01_Status_HCA": 5 if lkas_enabled else 3,
+    "HCA_01_LM_Offset": abs(apply_steer),
+    "HCA_01_LM_OffSign": 1 if apply_steer < 0 else 0,
+    "HCA_01_Vib_Freq": 18,
+    "HCA_01_Sendestatus": 1 if lkas_enabled else 0,
+    "EA_ACC_Wunschgeschwindigkeit": 327.36,
   }
   return packer.make_can_msg("HCA_01", bus, values)
 
 
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
-  values = ldw_stock_values.copy()
+  values = {}
+  if len(ldw_stock_values):
+    values = {s: ldw_stock_values[s] for s in [
+      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
+      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
+      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
+      "LDW_DLC",                # Lane departure, distance to line crossing
+      "LDW_TLC",                # Lane departure, time to line crossing
+    ]}
 
   values.update({
     "LDW_Status_LED_gelb": 1 if enabled and steering_pressed else 0,
@@ -26,11 +31,17 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_02", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
-  values = gra_stock_values.copy()
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalter",           # ACC button, on/off
+    "GRA_Typ_Hauptschalter",       # ACC main button type
+    "GRA_Codierung",               # ACC button configuration/coding
+    "GRA_Tip_Stufe_2",             # unknown related to stalk type
+    "GRA_ButtonTypeInfo",          # unknown related to stalk type
+  ]}
 
   values.update({
-    "COUNTER": counter,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
     "GRA_Tip_Wiederaufnahme": resume,
   })
@@ -56,18 +67,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return acc_control_value(main_switch_on, acc_faulted, long_active)
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   acc_06_values = {
     "ACC_Typ": acc_type,
     "ACC_Status_ACC": acc_control,
-    "ACC_StartStopp_Info": enabled,
-    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_StartStopp_Info": acc_enabled,
+    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
     "ACC_zul_Regelabw_unten": 0.2,  # TODO: dynamic adjustment of comfort-band
     "ACC_zul_Regelabw_oben": 0.2,  # TODO: dynamic adjustment of comfort-band
-    "ACC_neg_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
-    "ACC_pos_Sollbeschl_Grad_02": 4.0 if enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_neg_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
+    "ACC_pos_Sollbeschl_Grad_02": 4.0 if acc_enabled else 0,  # TODO: dynamic adjustment of jerk limits
     "ACC_Anfahren": starting,
     "ACC_Anhalten": stopping,
   }
@@ -84,9 +95,9 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
 
   acc_07_values = {
     "ACC_Anhalteweg": 0.75 if stopping else 20.46,  # Distance to stop (stopping coordinator handles terminal roll-out)
-    "ACC_Freilauf_Info": 2 if enabled else 0,
+    "ACC_Freilauf_Info": 2 if acc_enabled else 0,
     "ACC_Folgebeschl": 3.02,  # Not using secondary controller accel unless and until we understand its impact
-    "ACC_Sollbeschleunigung_02": accel if enabled else 3.01,
+    "ACC_Sollbeschleunigung_02": accel if acc_enabled else 3.01,
     "ACC_Anforderung_HMS": acc_hold_type,
     "ACC_Anfahren": starting,
     "ACC_Anhalten": stopping,
@@ -96,13 +107,13 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
   values = {
     "ACC_Status_Anzeige": acc_hud_status,
     "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
     "ACC_Gesetzte_Zeitluecke": 3,
     "ACC_Display_Prio": 3,
-    # TODO: ACC_Abstandsindex for lead car distance, must determine analog vs digital cluster for scaling
+    "ACC_Abstandsindex": lead_distance,
   }
 
   return packer.make_can_msg("ACC_02", bus, values)
diff --git a/selfdrive/car/volkswagen/pqcan.py b/selfdrive/car/volkswagen/pqcan.py
index 6beb90c092..f42c3cf781 100644
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@@ -10,7 +10,15 @@ def create_steering_control(packer, bus, apply_steer, lkas_enabled):
 
 
 def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control):
-  values = ldw_stock_values.copy()
+  values = {}
+  if len(ldw_stock_values):
+    values = {s: ldw_stock_values[s] for s in [
+      "LDW_SW_Warnung_links",   # Blind spot in warning mode on left side due to lane departure
+      "LDW_SW_Warnung_rechts",  # Blind spot in warning mode on right side due to lane departure
+      "LDW_Seite_DLCTLC",       # Direction of most likely lane departure (left or right)
+      "LDW_DLC",                # Lane departure, distance to line crossing
+      "LDW_TLC",                # Lane departure, time to line crossing
+    ]}
 
   values.update({
     "LDW_Lampe_gelb": 1 if enabled and steering_pressed else 0,
@@ -23,11 +31,16 @@ def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pres
   return packer.make_can_msg("LDW_Status", bus, values)
 
 
-def create_acc_buttons_control(packer, bus, gra_stock_values, counter, cancel=False, resume=False):
-  values = gra_stock_values.copy()
+def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False):
+  values = {s: gra_stock_values[s] for s in [
+    "GRA_Hauptschalt",      # ACC button, on/off
+    "GRA_Typ_Hauptschalt",  # ACC button, momentary vs latching
+    "GRA_Kodierinfo",       # ACC button, configuration
+    "GRA_Sender",           # ACC button, CAN message originator
+  ]}
 
   values.update({
-    "COUNTER": counter,
+    "COUNTER": (gra_stock_values["COUNTER"] + 1) % 16,
     "GRA_Abbrechen": cancel,
     "GRA_Recall": resume,
   })
@@ -59,17 +72,18 @@ def acc_hud_status_value(main_switch_on, acc_faulted, long_active):
   return hud_status
 
 
-def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control, stopping, starting, esp_hold):
+def create_acc_accel_control(packer, bus, acc_type, acc_enabled, accel, acc_control, stopping, starting, esp_hold):
   commands = []
 
   values = {
     "ACS_Sta_ADR": acc_control,
-    "ACS_StSt_Info": acc_control != 1,
+    "ACS_StSt_Info": acc_enabled,
     "ACS_Typ_ACC": acc_type,
     "ACS_Anhaltewunsch": acc_type == 1 and stopping,
-    "ACS_Sollbeschl": accel if acc_control == 1 else 3.01,
-    "ACS_zul_Regelabw": 0.2 if acc_control == 1 else 1.27,
-    "ACS_max_AendGrad": 3.0 if acc_control == 1 else 5.08,
+    "ACS_FreigSollB": acc_enabled,
+    "ACS_Sollbeschl": accel if acc_enabled else 3.01,
+    "ACS_zul_Regelabw": 0.2 if acc_enabled else 1.27,
+    "ACS_max_AendGrad": 3.0 if acc_enabled else 5.08,
   }
 
   commands.append(packer.make_can_msg("ACC_System", bus, values))
@@ -77,15 +91,15 @@ def create_acc_accel_control(packer, bus, acc_type, enabled, accel, acc_control,
   return commands
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_visible):
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance):
   values = {
     "ACA_StaACC": acc_hud_status,
     "ACA_Zeitluecke": 2,
     "ACA_V_Wunsch": set_speed,
-    "ACA_gemZeitl": 8 if lead_visible else 0,
-    # TODO: ACA_ID_StaACC, ACA_AnzDisplay, ACA_kmh_mph, ACA_PrioDisp, ACA_Aend_Zeitluecke
-    # display/display-prio handling probably needed to stop confusing the instrument cluster
-    # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
+    "ACA_gemZeitl": lead_distance,
+    "ACA_PrioDisp": 3,
+    # TODO: restore dynamic pop-to-foreground/highlight behavior with ACA_PrioDisp and ACA_AnzDisplay
+    # TODO: ACA_kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
   }
 
-  return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
+  return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)
diff --git a/selfdrive/car/volkswagen/radar_interface.py b/selfdrive/car/volkswagen/radar_interface.py
index b2f7651136..b461fcd5f8 100644
--- a/selfdrive/car/volkswagen/radar_interface.py
+++ b/selfdrive/car/volkswagen/radar_interface.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-from selfdrive.car.interfaces import RadarInterfaceBase
+from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):
   pass
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 18a444bf7c..3ffc09a43d 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,14 +1,15 @@
 from collections import defaultdict, namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
 from cereal import car
 from panda.python import uds
 from opendbc.can.can_define import CANDefine
-from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
-from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
+from openpilot.selfdrive.car import dbc_dict
+from openpilot.selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+                                           Device
+from openpilot.selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
 
 Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
@@ -18,25 +19,30 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
-  HCA_STEP = 2                            # HCA_01/HCA_1 message frequency 50Hz
-  ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz
+  STEER_STEP = 2                           # HCA_01/HCA_1 message frequency 50Hz
+  ACC_CONTROL_STEP = 2                     # ACC_06/ACC_07/ACC_System frequency 50Hz
 
-  ACCEL_MAX = 2.0                         # 2.0 m/s max acceleration
-  ACCEL_MIN = -3.5                        # 3.5 m/s max deceleration
+  # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+  # MQB vs PQ maximums are shared, but rate-of-change limited differently
+  # based on safety requirements driven by lateral accel testing.
 
-  def __init__(self, CP):
-    # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-    # MQB vs PQ maximums are shared, but rate-of-change limited differently
-    # based on safety requirements driven by lateral accel testing.
-    self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
-    self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1          # from dbc
+  STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
+  STEER_DRIVER_MULTIPLIER = 3              # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1                  # from dbc
+
+  STEER_TIME_MAX = 360                     # Max time that EPS allows uninterrupted HCA steering control
+  STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
+  STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
+  ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
+
+  def __init__(self, CP):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
     if CP.carFingerprint in PQ_CARS:
       self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
-      self.ACC_HUD_STEP = 4               # ACC_GRA_Anziege frequency 25Hz
+      self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
       self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
       self.STEER_DELTA_UP = 6             # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
       self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@@ -111,6 +117,7 @@ class CANBUS:
 class CAR:
   ARTEON_MK1 = "VOLKSWAGEN ARTEON 1ST GEN"          # Chassis AN, Mk1 VW Arteon and variants
   ATLAS_MK1 = "VOLKSWAGEN ATLAS 1ST GEN"            # Chassis CA, Mk1 VW Atlas and Atlas Cross Sport
+  CRAFTER_MK2 = "VOLKSWAGEN CRAFTER 2ND GEN"        # Chassis SY/SZ, Mk2 VW Crafter, VW Grand California, MAN TGE
   GOLF_MK7 = "VOLKSWAGEN GOLF 7TH GEN"              # Chassis 5G/AU/BA/BE, Mk7 VW Golf and variants
   JETTA_MK7 = "VOLKSWAGEN JETTA 7TH GEN"            # Chassis BU, Mk7 VW Jetta
   PASSAT_MK8 = "VOLKSWAGEN PASSAT 8TH GEN"          # Chassis 3G, Mk8 VW Passat and variants
@@ -122,12 +129,13 @@ class CAR:
   TIGUAN_MK2 = "VOLKSWAGEN TIGUAN 2ND GEN"          # Chassis AD/BW, Mk2 VW Tiguan and variants
   TOURAN_MK2 = "VOLKSWAGEN TOURAN 2ND GEN"          # Chassis 1T, Mk2 VW Touran and variants
   TRANSPORTER_T61 = "VOLKSWAGEN TRANSPORTER T6.1"   # Chassis 7H/7L, T6-facelift Transporter/Multivan/Caravelle/California
-  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW VW T-Roc and variants
+  TROC_MK1 = "VOLKSWAGEN T-ROC 1ST GEN"             # Chassis A1, Mk1 VW T-Roc and variants
   AUDI_A3_MK3 = "AUDI A3 3RD GEN"                   # Chassis 8V/FF, Mk3 Audi A3 and variants
   AUDI_Q2_MK1 = "AUDI Q2 1ST GEN"                   # Chassis GA, Mk1 Audi Q2 (RoW) and Q2L (China only)
   AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
   SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
   SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
+  SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN"           # Chassis PJ, Mk4 Skoda Fabia
   SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
   SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN"           # Chassis NU, Mk1 Skoda Karoq
   SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"         # Chassis NS, Mk1 Skoda Kodiaq
@@ -151,30 +159,39 @@ class Footnote(Enum):
   PASSAT = CarFootnote(
     "Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets.",
     Column.MODEL)
-  VW_EXP_LONG = CarFootnote (
+  SKODA_HEATED_WINDSHIELD = CarFootnote(
+    "Some Škoda vehicles are equipped with heated windshields, which are known " +
+    "to block GPS signal needed for some comma three functionality.",
+    Column.MODEL)
+  VW_EXP_LONG = CarFootnote(
     "Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness " +
     "are limited to using stock ACC.",
     Column.LONGITUDINAL)
   VW_MQB_A0 = CarFootnote(
     "Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot " +
     "in software, but doesn't yet have a harness available from the comma store.",
-    Column.HARNESS)
+    Column.HARDWARE)
 
 
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Adaptive Cruise Control (ACC) & Lane Assist"
-  harness: Enum = Harness.j533
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.j533]))
 
   def init_make(self, CP: car.CarParams):
-    self.footnotes.insert(0, Footnote.VW_EXP_LONG)
+    self.footnotes.append(Footnote.VW_EXP_LONG)
+    if "SKODA" in CP.carFingerprint:
+      self.footnotes.append(Footnote.SKODA_HEATED_WINDSHIELD)
+
+    if CP.carFingerprint in (CAR.CRAFTER_MK2, CAR.TRANSPORTER_T61):
+      self.car_parts = CarParts([Device.three_angled_mount, CarHarness.j533])
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.ARTEON_MK1: [
-    VWCarInfo("Volkswagen Arteon 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
-    VWCarInfo("Volkswagen Arteon R 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
-    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon 2018-23", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon R 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-23", video_link="https://youtu.be/FAomFKPFlDA"),
     VWCarInfo("Volkswagen CC 2018-22", video_link="https://youtu.be/FAomFKPFlDA"),
   ],
   CAR.ATLAS_MK1: [
@@ -184,13 +201,20 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Teramont Cross Sport 2021-22"),
     VWCarInfo("Volkswagen Teramont X 2021-22"),
   ],
+  CAR.CRAFTER_MK2: [
+    VWCarInfo("Volkswagen Crafter 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("Volkswagen e-Crafter 2018-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("Volkswagen Grand California 2019-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("MAN TGE 2017-23", video_link="https://youtu.be/4100gLeabmo"),
+    VWCarInfo("MAN eTGE 2020-23", video_link="https://youtu.be/4100gLeabmo"),
+  ],
   CAR.GOLF_MK7: [
     VWCarInfo("Volkswagen e-Golf 2014-20"),
-    VWCarInfo("Volkswagen Golf 2015-20"),
-    VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
+    VWCarInfo("Volkswagen Golf 2015-20", auto_resume=False),
+    VWCarInfo("Volkswagen Golf Alltrack 2015-19", auto_resume=False),
     VWCarInfo("Volkswagen Golf GTD 2015-20"),
     VWCarInfo("Volkswagen Golf GTE 2015-20"),
-    VWCarInfo("Volkswagen Golf GTI 2015-21"),
+    VWCarInfo("Volkswagen Golf GTI 2015-21", auto_resume=False),
     VWCarInfo("Volkswagen Golf R 2015-19"),
     VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
   ],
@@ -205,17 +229,20 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   ],
   CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017-22"),
   CAR.POLO_MK6: [
-    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_MQB_A0]),
-    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo 2018-23", footnotes=[Footnote.VW_MQB_A0]),
+    VWCarInfo("Volkswagen Polo GTI 2018-23", footnotes=[Footnote.VW_MQB_A0]),
   ],
   CAR.SHARAN_MK2: [
     VWCarInfo("Volkswagen Sharan 2018-22"),
     VWCarInfo("SEAT Alhambra 2018-20"),
   ],
-  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
+  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
-  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22"),
-  CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2017"),
+  CAR.TIGUAN_MK2: [
+    VWCarInfo("Volkswagen Tiguan 2018-23"),
+    VWCarInfo("Volkswagen Tiguan eHybrid 2021-23"),
+  ],
+  CAR.TOURAN_MK2: VWCarInfo("Volkswagen Touran 2016-23"),
   CAR.TRANSPORTER_T61: [
     VWCarInfo("Volkswagen Caravelle 2020"),
     VWCarInfo("Volkswagen California 2021"),
@@ -231,10 +258,11 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
+  CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
-  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
-  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-23"),
+  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
+  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020-23", footnotes=[Footnote.VW_MQB_A0]),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
   CAR.SKODA_OCTAVIA_MK3: [
     VWCarInfo("Škoda Octavia 2015, 2018-19"),
@@ -279,32 +307,44 @@ FW_QUERY_CONFIG = FwQueryConfig(
 FW_VERSIONS = {
   CAR.ARTEON_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x873G0906259AH\xf1\x890001',
       b'\xf1\x873G0906259F \xf1\x890004',
+      b'\xf1\x873G0906259G \xf1\x890004',
+      b'\xf1\x873G0906259G \xf1\x890005',
+      b'\xf1\x873G0906259M \xf1\x890003',
       b'\xf1\x873G0906259N \xf1\x890004',
       b'\xf1\x873G0906259P \xf1\x890001',
       b'\xf1\x875NA907115H \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158L \xf1\x893611',
+      b'\xf1\x870DL300014C \xf1\x893704',
       b'\xf1\x870GC300011L \xf1\x891401',
       b'\xf1\x870GC300014M \xf1\x892802',
+      b'\xf1\x870GC300019G \xf1\x892804',
       b'\xf1\x870GC300040P \xf1\x891401',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121157161111572900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1616001613121177161113772900',
-      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\0161812141812171105141123052J00',
+      b'\xf1\x873Q0959655CK\xf1\x890711\xf1\x82\x0e1712141712141105121122052900',
+      b'\xf1\x873Q0959655DA\xf1\x890720\xf1\x82\x0e1712141712141105121122052900',
+      b'\xf1\x873Q0959655DL\xf1\x890732\xf1\x82\x0e1812141812171105141123052J00',
+      b'\xf1\x875QF959655AP\xf1\x890755\xf1\x82\x1311110011111311111100110200--1611125F49',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571B41815A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571B00817A1',
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567B0020800',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020800',
       b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002MB4092M7N',
+      b'\xf1\x875WA907145M \xf1\x891051\xf1\x82\x002NB4202N7N',
+      b'\xf1\x875WA907145Q \xf1\x891063\xf1\x82\x002KB4092KOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x875Q0907572J \xf1\x890654',
+      b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
   CAR.ATLAS_MK1: {
@@ -321,11 +361,13 @@ FW_VERSIONS = {
       b'\xf1\x8703H906026S \xf1\x896693',
       b'\xf1\x8703H906026S \xf1\x899970',
       b'\xf1\x873CN906259  \xf1\x890005',
+      b'\xf1\x873CN906259F \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
       b'\xf1\x8709G927158DR\xf1\x893742',
+      b'\xf1\x8709G927158EN\xf1\x893691',
       b'\xf1\x8709G927158F \xf1\x893489',
       b'\xf1\x8709G927158FT\xf1\x893835',
       b'\xf1\x8709G927158GL\xf1\x893939',
@@ -352,11 +394,34 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572P \xf1\x890682',
     ],
   },
+  CAR.CRAFTER_MK2: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056EK\xf1\x896391',
+      b'\xf1\x8705L906023BC\xf1\x892688',
+    ],
+    # Only current upstreamed vehicle has a manual transmission
+    #(Ecu.transmission, 0x7e1, None): [
+    #],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655BG\xf1\x890703\xf1\x82\x0e16120016130012051G1313052900',
+      b'\xf1\x875QF959655AS\xf1\x890755\xf1\x82\x1315140015150011111100050200--1311120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872N0909143E \xf1\x897021\xf1\x82\x05163AZ306A2',
+      b'\xf1\x872N0909144K \xf1\x897045\xf1\x82\x05233AZ810A2',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572M \xf1\x890233',
+    ],
+  },
   CAR.GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
+      b'\xf1\x8704E906016N \xf1\x899105',
       b'\xf1\x8704E906016AD\xf1\x895758',
       b'\xf1\x8704E906016CE\xf1\x899096',
+      b'\xf1\x8704E906016CH\xf1\x899226',
       b'\xf1\x8704E906023AG\xf1\x891726',
       b'\xf1\x8704E906023BN\xf1\x894518',
       b'\xf1\x8704E906024K \xf1\x896811',
@@ -367,12 +432,15 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021DT\xf1\x895520',
       b'\xf1\x8704L906021DT\xf1\x898127',
       b'\xf1\x8704L906021N \xf1\x895518',
+      b'\xf1\x8704L906021N \xf1\x898138',
+      b'\xf1\x8704L906026BN\xf1\x891197',
       b'\xf1\x8704L906026BP\xf1\x897608',
       b'\xf1\x8704L906026NF\xf1\x899528',
       b'\xf1\x8704L906056CL\xf1\x893823',
       b'\xf1\x8704L906056CR\xf1\x895813',
       b'\xf1\x8704L906056HE\xf1\x893758',
       b'\xf1\x8704L906056HN\xf1\x896590',
+      b'\xf1\x8704L906056HT\xf1\x896591',
       b'\xf1\x870EA906016A \xf1\x898343',
       b'\xf1\x870EA906016E \xf1\x894219',
       b'\xf1\x870EA906016F \xf1\x894238',
@@ -390,6 +458,7 @@ FW_VERSIONS = {
       b'\xf1\x878V0906259H \xf1\x890002',
       b'\xf1\x878V0906259J \xf1\x890003',
       b'\xf1\x878V0906259K \xf1\x890001',
+      b'\xf1\x878V0906259K \xf1\x890003',
       b'\xf1\x878V0906259P \xf1\x890001',
       b'\xf1\x878V0906259Q \xf1\x890002',
       b'\xf1\x878V0906264F \xf1\x890003',
@@ -402,18 +471,23 @@ FW_VERSIONS = {
       b'\xf1\x8709G927749AP\xf1\x892943',
       b'\xf1\x8709S927158A \xf1\x893585',
       b'\xf1\x870CW300040H \xf1\x890606',
+      b'\xf1\x870CW300041D \xf1\x891004',
       b'\xf1\x870CW300041H \xf1\x891010',
       b'\xf1\x870CW300042F \xf1\x891604',
       b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870CW300043E \xf1\x891603',
       b'\xf1\x870CW300044S \xf1\x894530',
       b'\xf1\x870CW300044T \xf1\x895245',
       b'\xf1\x870CW300045  \xf1\x894531',
       b'\xf1\x870CW300047D \xf1\x895261',
+      b'\xf1\x870CW300047E \xf1\x895261',
       b'\xf1\x870CW300048J \xf1\x890611',
+      b'\xf1\x870CW300049H \xf1\x890905',
       b'\xf1\x870D9300012  \xf1\x894904',
       b'\xf1\x870D9300012  \xf1\x894913',
       b'\xf1\x870D9300012  \xf1\x894937',
       b'\xf1\x870D9300012  \xf1\x895045',
+      b'\xf1\x870D9300012  \xf1\x895046',
       b'\xf1\x870D9300014M \xf1\x895004',
       b'\xf1\x870D9300014Q \xf1\x895006',
       b'\xf1\x870D9300020J \xf1\x894902',
@@ -425,6 +499,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300041P \xf1\x894507',
       b'\xf1\x870DD300045K \xf1\x891120',
       b'\xf1\x870DD300046F \xf1\x891601',
+      b'\xf1\x870GC300012A \xf1\x891401',
       b'\xf1\x870GC300012A \xf1\x891403',
       b'\xf1\x870GC300014B \xf1\x892401',
       b'\xf1\x870GC300014B \xf1\x892405',
@@ -440,8 +515,11 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
       b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\x13141500111233003142114A2131219333313100',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333423100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2251229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
       b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
       b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
@@ -484,8 +562,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
@@ -501,6 +581,7 @@ FW_VERSIONS = {
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
       b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
+      b'\xf1\x875Q0907567L \xf1\x890098\xf1\x82\x0101',
       b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
       b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
       b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
@@ -509,6 +590,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572J \xf1\x890653',
       b'\xf1\x875Q0907572J \xf1\x890654',
       b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
@@ -565,10 +647,12 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703N906026E \xf1\x892114',
       b'\xf1\x8704E906023AH\xf1\x893379',
+      b'\xf1\x8704L906026DP\xf1\x891538',
       b'\xf1\x8704L906026ET\xf1\x891990',
       b'\xf1\x8704L906026FP\xf1\x892012',
       b'\xf1\x8704L906026GA\xf1\x892013',
       b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x873G0906259B \xf1\x890002',
       b'\xf1\x873G0906264  \xf1\x890004',
     ],
     (Ecu.transmission, 0x7e1, None): [
@@ -579,32 +663,46 @@ FW_VERSIONS = {
       b'\xf1\x870D9300041A \xf1\x894801',
       b'\xf1\x870DD300045T \xf1\x891601',
       b'\xf1\x870DL300011H \xf1\x895201',
+      b'\xf1\x870CW300042H \xf1\x891601',
+      b'\xf1\x870CW300042H \xf1\x891607',
       b'\xf1\x870GC300042H \xf1\x891404',
+      b'\xf1\x870D9300018C \xf1\x895297',
+      b'\xf1\x870GC300043  \xf1\x892301',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AE\xf1\x890195\xf1\x82\r56140056130012416612124111',
+      b'\xf1\x873Q0959655AF\xf1\x890195\xf1\x82\r56140056130012026612120211',
+      b'\xf1\x873Q0959655AN\xf1\x890305\xf1\x82\r58160058140013036914110311',
       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\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e5915005914001305701311052900',
+      b'\xf1\x873Q0959655BG\xf1\x890712\xf1\x82\x0e5915005914001305701311052900',
       b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\0165915005914001344701311442900',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e5915005914001354701311542900',
       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\x873Q0909144J \xf1\x895063\xf1\x82\x0566B00711A1',
+      b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514B0060703',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0060803',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522B0080803',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526B0060905',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521B00606A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516B00501A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521B00703A1',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563B0000600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567B0020600',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x873Q0907572A \xf1\x890126',
       b'\xf1\x873Q0907572A \xf1\x890130',
       b'\xf1\x873Q0907572B \xf1\x890192',
       b'\xf1\x873Q0907572C \xf1\x890195',
       b'\xf1\x873Q0907572C \xf1\x890196',
+      b'\xf1\x875Q0907572P \xf1\x890682',
       b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
@@ -631,17 +729,24 @@ FW_VERSIONS = {
   CAR.POLO_MK6: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025H \xf1\x895177',
+      b'\xf1\x8705C906032J \xf1\x891702',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300042D \xf1\x891612',
       b'\xf1\x870CW300050D \xf1\x891908',
+      b'\xf1\x870CW300051G \xf1\x891909',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AG\xf1\x890248\xf1\x82\x1218130411110411--04040404231811152H14',
       b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1248130411110416--04040404784811152H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1384830511110516041405820599841215391471',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q2909144AB\xf1\x896050',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
     ],
   },
@@ -660,9 +765,11 @@ FW_VERSIONS = {
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
+      b'\xf1\x8704E906027NP\xf1\x891286',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
@@ -671,10 +778,12 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
@@ -697,46 +806,68 @@ FW_VERSIONS = {
   },
   CAR.TIGUAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8703N906026D \xf1\x893680',
       b'\xf1\x8704E906027NB\xf1\x899504',
       b'\xf1\x8704L906026EJ\xf1\x893661',
       b'\xf1\x8704L906027G \xf1\x899893',
       b'\xf1\x875N0906259  \xf1\x890002',
+      b'\xf1\x875NA906259H \xf1\x890002',
+      b'\xf1\x875NA907115E \xf1\x890003',
       b'\xf1\x875NA907115E \xf1\x890005',
       b'\xf1\x8783A907115B \xf1\x890005',
+      b'\xf1\x8783A907115F \xf1\x890002',
       b'\xf1\x8783A907115G \xf1\x890001',
+      b'\xf1\x8783A907115K \xf1\x890001',
+      b'\xf1\x8704E906024AP\xf1\x891461',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158DT\xf1\x893698',
+      b'\xf1\x8709G927158FM\xf1\x893757',
       b'\xf1\x8709G927158GC\xf1\x893821',
       b'\xf1\x8709G927158GD\xf1\x893820',
+      b'\xf1\x8709G927158GM\xf1\x893936',
       b'\xf1\x870D9300043  \xf1\x895202',
       b'\xf1\x870DL300011N \xf1\x892001',
       b'\xf1\x870DL300011N \xf1\x892012',
+      b'\xf1\x870DL300012M \xf1\x892107',
+      b'\xf1\x870DL300012P \xf1\x892103',
       b'\xf1\x870DL300013A \xf1\x893005',
       b'\xf1\x870DL300013G \xf1\x892119',
       b'\xf1\x870DL300013G \xf1\x892120',
+      b'\xf1\x870DL300014C \xf1\x893703',
+      b'\xf1\x870DD300046K \xf1\x892302',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AR\xf1\x890317\xf1\x82\02331310031333334313132573732379333313100',
+      b'\xf1\x875Q0959655BJ\xf1\x890336\xf1\x82\x1312110031333300314232583732379333423100',
+      b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1331310031333334313132013730379333423100',
       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',
+      b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x1331310031333300314240024050409333613100',
+      b'\xf1\x875Q0959655CD\xf1\x890421\xf1\x82\x13123112313333003145406F6154619333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820529A6060603',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527A6050705',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6000600',
+      b'\xf1\x875QF909144A \xf1\x895581\xf1\x82\x0571A60834A1',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\00571A60634A1',
+      b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571A62A32A1',
       b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521A60604A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\00521A60804A1',
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x002SA6092SOM',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A6017A00',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572J \xf1\x890156',
+      b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x872Q0907572Q \xf1\x890342',
       b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
@@ -745,38 +876,53 @@ FW_VERSIONS = {
   CAR.TOURAN_MK2: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704L906026HM\xf1\x893017',
+      b'\xf1\x8705E906018CQ\xf1\x890808',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300041E \xf1\x891005',
+      b'\xf1\x870CW300051M \xf1\x891926',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AS\xf1\x890318\xf1\x82\023363500213533353141324C4732479333313100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1336350021353336314740025250529333613100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820531B0062105',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A8090400',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.TRANSPORTER_T61: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704L906056AG\xf1\x899970',
+      b'\xf1\x8704L906056AL\xf1\x899970',
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
+      b'\xf1\x8705L906023E \xf1\x891352',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870BT300012G \xf1\x893102',
       b'\xf1\x870BT300012E \xf1\x893105',
+      b'\xf1\x870BT300046R \xf1\x893102',
+      b'\xf1\x870DV300012B \xf1\x893701',
     ],
     (Ecu.srs, 0x715, None): [
-      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\02316170411110411--04041704161611152S1411',
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
+      b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
       b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
+      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
     ],
     (Ecu.eps, 0x712, None): [
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
+      b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.TROC_MK1: {
@@ -784,9 +930,11 @@ FW_VERSIONS = {
       b'\xf1\x8705E906018AT\xf1\x899640',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300050J \xf1\x891911',
       b'\xf1\x870CW300051M \xf1\x891925',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x1311110012333300314240681152119333463100',
       b'\xf1\x875Q0959655CG\xf1\x890421\xf1\x82\x13111100123333003142404M1152119333613100',
     ],
     (Ecu.eps, 0x712, None): [
@@ -804,20 +952,27 @@ FW_VERSIONS = {
       b'\xf1\x8704E906027CJ\xf1\x897798',
       b'\xf1\x8704L997022N \xf1\x899459',
       b'\xf1\x875G0906259A \xf1\x890004',
+      b'\xf1\x875G0906259D \xf1\x890002',
       b'\xf1\x875G0906259L \xf1\x890002',
       b'\xf1\x875G0906259Q \xf1\x890002',
+      b'\xf1\x878V0906259E \xf1\x890001',
       b'\xf1\x878V0906259F \xf1\x890002',
+      b'\xf1\x878V0906259H \xf1\x890002',
       b'\xf1\x878V0906259J \xf1\x890002',
       b'\xf1\x878V0906259K \xf1\x890001',
       b'\xf1\x878V0906264B \xf1\x890003',
       b'\xf1\x878V0907115B \xf1\x890007',
       b'\xf1\x878V0907404A \xf1\x890005',
+      b'\xf1\x878V0907404G \xf1\x890005',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300044T \xf1\x895245',
       b'\xf1\x870CW300048  \xf1\x895201',
       b'\xf1\x870D9300012  \xf1\x894912',
+      b'\xf1\x870D9300012  \xf1\x894931',
+      b'\xf1\x870D9300012L \xf1\x894521',
       b'\xf1\x870D9300012K \xf1\x894513',
+      b'\xf1\x870D9300013B \xf1\x894902',
       b'\xf1\x870D9300013B \xf1\x894931',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300043T \xf1\x899699',
@@ -826,6 +981,7 @@ FW_VERSIONS = {
       b'\xf1\x870DD300046F \xf1\x891602',
       b'\xf1\x870DD300046G \xf1\x891601',
       b'\xf1\x870DL300012E \xf1\x892012',
+      b'\xf1\x870DL300012H \xf1\x892112',
       b'\xf1\x870GC300011  \xf1\x890403',
       b'\xf1\x870GC300013M \xf1\x892402',
       b'\xf1\x870GC300042J \xf1\x891402',
@@ -838,26 +994,33 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13111112111111--241115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111111--341117141212231291163221',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13121111111211--261117141112231291163221',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112110004110411111421149114',
       b'\xf1\x875Q0959655N \xf1\x890361\xf1\x82\0211212001112111104110411111521159114',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561G01A13A0',
       b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566G0HA14A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566G0HA14A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G01A16A1',
       b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0HA16A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571G0JA13A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571G0JA14A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521G0G809A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00303A0',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00503G00803A0',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0503G0G803A0',
       b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516G00804A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516G00804A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521G00807A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\00101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
+      b'\xf1\x875Q0907567M \xf1\x890398\xf1\x82\x0101',
+      b'\xf1\x875Q0907567N \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572P \xf1\x890682',
@@ -886,14 +1049,17 @@ FW_VERSIONS = {
       b'\xf1\x8705L906022M \xf1\x890901',
       b'\xf1\x8783A906259  \xf1\x890001',
       b'\xf1\x8783A906259  \xf1\x890005',
+      b'\xf1\x8783A906259F \xf1\x890001',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158CN\xf1\x893608',
+      b'\xf1\x8709G927158GP\xf1\x893937',
       b'\xf1\x870GC300045D \xf1\x892802',
       b'\xf1\x870GC300046F \xf1\x892701',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655BF\xf1\x890403\xf1\x82\x1321211111211200311121232152219321422111',
+      b'\xf1\x875Q0959655BQ\xf1\x890421\xf1\x82\x132121111121120031112124218C219321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111224118A119321532111',
       b'\xf1\x875Q0959655CC\xf1\x890421\xf1\x82\x131111111111120031111237116A119321532111',
     ],
@@ -901,8 +1067,10 @@ FW_VERSIONS = {
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000300',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567G6000800',
       b'\xf1\x875QF909144B \xf1\x895582\xf1\x82\x0571G60533A1',
+      b'\xf1\x875TA907145D \xf1\x891051\xf1\x82\x001PG60A1P7N',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
@@ -929,26 +1097,57 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021EL\xf1\x897542',
       b'\xf1\x8704L906026BP\xf1\x891198',
       b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906056CR\xf1\x892181',
+      b'\xf1\x8704L906056CR\xf1\x892797',
       b'\xf1\x8705E906018AS\xf1\x899596',
+      b'\xf1\x878V0906264H \xf1\x890005',
+      b'\xf1\x878V0907115E \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300041D \xf1\x891004',
+      b'\xf1\x870CW300041G \xf1\x891003',
       b'\xf1\x870CW300050J \xf1\x891908',
       b'\xf1\x870D9300042M \xf1\x895016',
+      b'\xf1\x870GC300043A \xf1\x892304',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655AC\xf1\x890189\xf1\x82\r11110011110011021511110200',
+      b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11110011110011021511110200',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r12110012120012021612110200',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1312001313001305171311052900',
+      b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\x0e1312001313001305171311052900',
       b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\0161312001313001305171311052900',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521N01842A1',
       b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521N01342A1',
       b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511N01805A0',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521N01309A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521N05808A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
       b'\xf1\x875Q0907572H \xf1\x890620',
+      b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+    ],
+  },
+  CAR.SKODA_FABIA_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018CF\xf1\x891905',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891936',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144S \xf1\x896042',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.SKODA_KAMIQ_MK1: {
@@ -970,22 +1169,30 @@ FW_VERSIONS = {
   },
   CAR.SKODA_KAROQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906013H \xf1\x892407',
+      b'\xf1\x8705E906018P \xf1\x895472',
       b'\xf1\x8705E906018P \xf1\x896020',
       b'\xf1\x8705L906022BS\xf1\x890913',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020T \xf1\x892202',
       b'\xf1\x870CW300041S \xf1\x891615',
       b'\xf1\x870GC300014L \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1312110012120011111100010200--2521210749',
+      b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\x0e1213001211001101131112012100',
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
       b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
     ],
     (Ecu.eps, 0x712, None): [
-      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
+      b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563T6090500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
       b'\xf1\x872Q0907572M \xf1\x890233',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
@@ -993,32 +1200,56 @@ FW_VERSIONS = {
   CAR.SKODA_KODIAQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027DD\xf1\x893123',
+      b'\xf1\x8704E906027NB\xf1\x899504',
+      b'\xf1\x8704E906027NB\xf1\x896517',
       b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
+      b'\xf1\x8704L906026HT\xf1\x893617',
+      b'\xf1\x8783A907115E \xf1\x890001',
+      b'\xf1\x8705E906018DJ\xf1\x890915',
+      b'\xf1\x8705E906018DJ\xf1\x891903',
       b'\xf1\x875NA907115E \xf1\x890003',
+      b'\xf1\x875NA907115E \xf1\x890005',
+      b'\xf1\x875NA906259E \xf1\x890003',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300011N \xf1\x892014',
       b'\xf1\x870DL300012M \xf1\x892107',
       b'\xf1\x870DL300012N \xf1\x892110',
       b'\xf1\x870DL300013G \xf1\x892119',
+      b'\xf1\x870GC300014N \xf1\x892801',
+      b'\xf1\x870GC300019H \xf1\x892806',
+      b'\xf1\x870GC300046Q \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
-      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\0161213001211001205212111052100',
-      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\0161213001211001205212112052100',
+      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
+      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
+      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
+      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
       b'\xf1\x873Q0959655CQ\xf1\x890720\xf1\x82\x0e1213111211001205212112052111',
+      b'\xf1\x873Q0959655DJ\xf1\x890731\xf1\x82\x0e1513001511001205232113052J00',
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100010200--1121240749',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6050405',
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6060405',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820527T6070405',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G500',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T600G600',
+      b'\xf1\x875TA907145F \xf1\x891063\xf1\x82\x002LT61A2LOM',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572Q \xf1\x890342',
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+      b'\xf1\x872Q0907572AB\xf1\x890397',
     ],
   },
   CAR.SKODA_OCTAVIA_MK3: {
     (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8704C906025L \xf1\x896198',
       b'\xf1\x8704E906016ER\xf1\x895823',
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MH\xf1\x894786',
@@ -1030,6 +1261,7 @@ FW_VERSIONS = {
       b'\xf1\x870CW300041L \xf1\x891601',
       b'\xf1\x870CW300041N \xf1\x891605',
       b'\xf1\x870CW300043B \xf1\x891601',
+      b'\xf1\x870CW300043P \xf1\x891605',
       b'\xf1\x870D9300041C \xf1\x894936',
       b'\xf1\x870D9300041J \xf1\x894902',
       b'\xf1\x870D9300041P \xf1\x894507',
@@ -1039,6 +1271,7 @@ FW_VERSIONS = {
       b'\xf1\x873Q0959655AQ\xf1\x890200\xf1\x82\r11120011100010312212113100',
       b'\xf1\x873Q0959655AS\xf1\x890200\xf1\x82\r11120011100010022212110200',
       b'\xf1\x873Q0959655BH\xf1\x890703\xf1\x82\0163221003221002105755331052100',
+      b'\xf1\x873Q0959655CM\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
       b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e3221003221002105755331052100',
       b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111101000011110006110411111111119111',
     ],
@@ -1060,18 +1293,24 @@ FW_VERSIONS = {
   CAR.SKODA_SCALA_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704C906025AK\xf1\x897053',
+      b'\xf1\x8705C906032M \xf1\x892365',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300020  \xf1\x891907',
       b'\xf1\x870CW300050  \xf1\x891709',
     ],
     (Ecu.srs, 0x715, None): [
+      b'\xf1\x872Q0959655AJ\xf1\x890250\xf1\x82\x1211110411110411--04040404131111112H14',
       b'\xf1\x872Q0959655AM\xf1\x890351\xf1\x82\022111104111104112104040404111111112H14',
+      b'\xf1\x872Q0959655AS\xf1\x890411\xf1\x82\x1311150411110411210404040417151215391413',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x872Q1909144M \xf1\x896041',
+      b'\xf1\x872Q1909144AB\xf1\x896050',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.SKODA_SUPERB_MK3: {
@@ -1080,33 +1319,50 @@ FW_VERSIONS = {
       b'\xf1\x8704L906026FP\xf1\x891196',
       b'\xf1\x8704L906026KB\xf1\x894071',
       b'\xf1\x8704L906026KD\xf1\x894798',
+      b'\xf1\x8704L906026MT\xf1\x893076',
+      b'\xf1\x873G0906259  \xf1\x890004',
       b'\xf1\x873G0906259B \xf1\x890002',
+      b'\xf1\x873G0906259L \xf1\x890003',
       b'\xf1\x873G0906264A \xf1\x890002',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300042H \xf1\x891601',
       b'\xf1\x870D9300011T \xf1\x894801',
       b'\xf1\x870D9300012  \xf1\x894940',
+      b'\xf1\x870D9300013A \xf1\x894905',
+      b'\xf1\x870D9300014K \xf1\x895006',
       b'\xf1\x870D9300041H \xf1\x894905',
+      b'\xf1\x870D9300043F \xf1\x895202',
+      b'\xf1\x870GC300014M \xf1\x892801',
+      b'\xf1\x870GC300019G \xf1\x892803',
       b'\xf1\x870GC300043  \xf1\x892301',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\x12111200111121001121110012211292221111',
       b'\xf1\x875Q0959655AE\xf1\x890130\xf1\x82\022111200111121001121118112231292221111',
       b'\xf1\x875Q0959655AK\xf1\x890130\xf1\x82\022111200111121001121110012211292221111',
+      b'\xf1\x875Q0959655AS\xf1\x890317\xf1\x82\x1331310031313100313131823133319331313100',
       b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655BK\xf1\x890336\xf1\x82\x1331310031313100313131013141319331413100',
+      b'\xf1\x875Q0959655CA\xf1\x890403\xf1\x82\x1331310031313100313151013141319331423100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152025350539331463100',
+      b'\xf1\x875Q0959655CH\xf1\x890421\xf1\x82\x1333310031313100313152855372539331463100',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820514UZ070203',
       b'\xf1\x875Q0909143M \xf1\x892041\xf1\x820522UZ070303',
+      b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820526UZ070505',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\00563UZ060700',
       b'\xf1\x875Q0910143B \xf1\x892201\xf1\x82\x0563UZ060600',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070600',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567UZ070700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x873Q0907572B \xf1\x890192',
       b'\xf1\x873Q0907572B \xf1\x890194',
       b'\xf1\x873Q0907572C \xf1\x890195',
+      b'\xf1\x875Q0907572R \xf1\x890771',
+      b'\xf1\x875Q0907572S \xf1\x890780',
     ],
   },
 }
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 342ecc52fe..8094030731 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -1,34 +1,33 @@
 #!/usr/bin/env python3
 import os
 import math
+import time
 from typing import SupportsFloat
 
 from cereal import car, log
-from common.numpy_fast import clip
-from common.realtime import sec_since_boot, config_realtime_process, Priority, Ratekeeper, DT_CTRL
-from common.profiler import Profiler
-from common.params import Params, put_nonblocking
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import config_realtime_process, Priority, Ratekeeper, DT_CTRL
+from openpilot.common.profiler import Profiler
+from openpilot.common.params import Params, put_nonblocking, put_bool_nonblocking
 import cereal.messaging as messaging
-from common.conversions import Conversions as CV
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
-from system.swaglog import cloudlog
-from system.version import is_release_branch, get_short_branch
-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.lateral_planner import CAMERA_OFFSET
-from selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
-from selfdrive.controls.lib.latcontrol import LatControl
-from selfdrive.controls.lib.longcontrol import LongControl
-from selfdrive.controls.lib.latcontrol_pid import LatControlPID
-from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
-from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
-from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-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 system.hardware import HARDWARE
-from selfdrive.manager.process_config import managed_processes
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.version import is_release_branch, get_short_branch
+from openpilot.selfdrive.boardd.boardd import can_list_to_can_capnp
+from openpilot.selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
+from openpilot.selfdrive.controls.lib.lateral_planner import CAMERA_OFFSET
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, get_lag_adjusted_curvature
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl, MIN_LATERAL_CONTROL_SPEED
+from openpilot.selfdrive.controls.lib.longcontrol import LongControl
+from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle, STEER_ANGLE_SATURATION_THRESHOLD
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.events import Events, ET
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager, set_offroad_alert
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.system.hardware import HARDWARE
 
 SOFT_DISABLE_TIME = 3  # seconds
 LDW_MIN_SPEED = 31 * CV.MPH_TO_MS
@@ -36,10 +35,9 @@ LANE_DEPARTURE_THRESHOLD = 0.1
 
 REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
+TESTING_CLOSET = "TESTING_CLOSET" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
-IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \
-                   {k for k, v in managed_processes.items() if not v.enabled}
+IGNORE_PROCESSES = {"loggerd", "encoderd", "statsd"}
 
 ThermalStatus = log.DeviceState.ThermalStatus
 State = log.ControlsState.OpenpilotState
@@ -86,12 +84,10 @@ class Controls:
       ignore = ['testJoystick']
       if SIMULATION:
         ignore += ['driverCameraState', 'managerState']
-      if self.params.get_bool('WideCameraOnly'):
-        ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState', 'liveTorqueParameters', 'testJoystick'] + self.camera_packets,
-                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'longitudinalPlan', 'testJoystick'])
+                                    ignore_alive=ignore, ignore_avg_freq=['radarState', 'testJoystick'])
 
     if CI is None:
       # wait for one pandaState and one CAN packet
@@ -99,11 +95,12 @@ class Controls:
       get_one_can(self.can_sock)
 
       num_pandas = len(messaging.recv_one_retry(self.sm.sock['pandaStates']).pandaStates)
-      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], num_pandas)
+      experimental_long_allowed = self.params.get_bool("ExperimentalLongitudinalEnabled") and not is_release_branch()
+      self.CI, self.CP = get_car(self.can_sock, self.pm.sock['sendcan'], experimental_long_allowed, num_pandas)
     else:
       self.CI, self.CP = CI, CI.CP
 
-    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or (self.CP.notCar and sm is None)
+    self.joystick_mode = self.params.get_bool("JoystickDebugMode") or self.CP.notCar
 
     # set alternative experiences from parameters
     self.disengage_on_accelerator = self.params.get_bool("DisengageOnAccelerator")
@@ -111,9 +108,6 @@ class Controls:
     if not self.disengage_on_accelerator:
       self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS
 
-    if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
-      self.CP.dashcamOnly = False
-
     # read params
     self.is_metric = self.params.get_bool("IsMetric")
     self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
@@ -132,9 +126,6 @@ class Controls:
       safety_config.safetyModel = car.CarParams.SafetyModel.noOutput
       self.CP.safetyConfigs = [safety_config]
 
-    if is_release_branch():
-      self.CP.experimentalLongitudinalAvailable = False
-
     # Write CarParams for radard
     cp_bytes = self.CP.to_bytes()
     self.params.put("CarParams", cp_bytes)
@@ -142,7 +133,7 @@ class Controls:
     put_nonblocking("CarParamsPersistent", cp_bytes)
 
     # cleanup old params
-    if not self.CP.experimentalLongitudinalAvailable:
+    if not self.CP.experimentalLongitudinalAvailable or is_release_branch():
       self.params.remove("ExperimentalLongitudinalEnabled")
     if not self.CP.openpilotLongitudinalControl:
       self.params.remove("ExperimentalMode")
@@ -160,8 +151,6 @@ class Controls:
       self.LaC = LatControlAngle(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'pid':
       self.LaC = LatControlPID(self.CP, self.CI)
-    elif self.CP.lateralTuning.which() == 'indi':
-      self.LaC = LatControlINDI(self.CP, self.CI)
     elif self.CP.lateralTuning.which() == 'torque':
       self.LaC = LatControlTorque(self.CP, self.CI)
 
@@ -169,25 +158,30 @@ class Controls:
     self.state = State.disabled
     self.enabled = False
     self.active = False
-    self.can_rcv_timeout = False
     self.soft_disable_timer = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
-    self.can_rcv_timeout_counter = 0
+    self.can_rcv_timeout_counter = 0      # conseuctive timeout count
+    self.can_rcv_cum_timeout_counter = 0  # cumulative timeout count
     self.last_blinker_frame = 0
+    self.last_steering_pressed_frame = 0
     self.distance_traveled = 0
     self.last_functional_fan_frame = 0
     self.events_prev = []
     self.current_alert_types = [ET.PERMANENT]
     self.logged_comm_issue = None
+    self.not_running_prev = None
     self.last_actuators = car.CarControl.Actuators.new_message()
     self.steer_limited = False
     self.desired_curvature = 0.0
     self.desired_curvature_rate = 0.0
+    self.experimental_mode = False
     self.v_cruise_helper = VCruiseHelper(self.CP)
+    self.recalibrating_seen = False
 
     # TODO: no longer necessary, aside from process replay
     self.sm['liveParameters'].valid = True
+    self.can_log_mono_time = 0
 
     self.startup_event = get_startup_event(car_recognized, controller_available, len(self.CP.carFw) > 0)
 
@@ -213,8 +207,8 @@ class Controls:
     if REPLAY:
       controls_state = Params().get("ReplayControlsState")
       if controls_state is not None:
-        controls_state = log.ControlsState.from_bytes(controls_state)
-        self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
+        with log.ControlsState.from_bytes(controls_state) as controls_state:
+          self.v_cruise_helper.v_cruise_kph = controls_state.vCruise
 
       if any(ps.controlsAllowed for ps in self.sm['pandaStates']):
         self.state = State.enabled
@@ -268,7 +262,6 @@ class Controls:
     if self.sm['deviceState'].freeSpacePercent < 7 and not SIMULATION:
       # under 7% of space free no enable allowed
       self.events.add(EventName.outOfSpace)
-    # TODO: make tici threshold the same
     if self.sm['deviceState'].memoryUsagePercent > 90 and not SIMULATION:
       self.events.add(EventName.lowMemory)
 
@@ -279,17 +272,23 @@ class Controls:
 
     # Alert if fan isn't spinning for 5 seconds
     if self.sm['peripheralState'].pandaType != log.PandaState.PandaType.unknown:
-      if self.sm['peripheralState'].fanSpeedRpm == 0 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
-        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 5.0:
+      if self.sm['peripheralState'].fanSpeedRpm < 500 and self.sm['deviceState'].fanSpeedPercentDesired > 50:
+        # allow enough time for the fan controller in the panda to recover from stalls
+        if (self.sm.frame - self.last_functional_fan_frame) * DT_CTRL > 15.0:
           self.events.add(EventName.fanMalfunction)
       else:
         self.last_functional_fan_frame = self.sm.frame
 
     # Handle calibration status
     cal_status = self.sm['liveCalibration'].calStatus
-    if cal_status != Calibration.CALIBRATED:
-      if cal_status == Calibration.UNCALIBRATED:
+    if cal_status != log.LiveCalibrationData.Status.calibrated:
+      if cal_status == log.LiveCalibrationData.Status.uncalibrated:
         self.events.add(EventName.calibrationIncomplete)
+      elif cal_status == log.LiveCalibrationData.Status.recalibrating:
+        if not self.recalibrating_seen:
+          set_offroad_alert("Offroad_Recalibration", True)
+        self.recalibrating_seen = True
+        self.events.add(EventName.calibrationRecalibrating)
       else:
         self.events.add(EventName.calibrationInvalid)
 
@@ -331,15 +330,18 @@ class Controls:
     not_running = {p.name for p in self.sm['managerState'].processes if not p.running and p.shouldBeRunning}
     if self.sm.rcv_frame['managerState'] and (not_running - IGNORE_PROCESSES):
       self.events.add(EventName.processNotRunning)
+      if not_running != self.not_running_prev:
+        cloudlog.event("process_not_running", not_running=not_running, error=True)
+      self.not_running_prev = not_running
     else:
       if not SIMULATION and not self.rk.lagging:
         if not self.sm.all_alive(self.camera_packets):
           self.events.add(EventName.cameraMalfunction)
         elif not self.sm.all_freq_ok(self.camera_packets):
           self.events.add(EventName.cameraFrameRate)
-    if self.rk.lagging:
+    if not REPLAY and self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
+    if len(self.sm['radarState'].radarErrors) or (not self.rk.lagging and not self.sm.all_checks(['radarState'])):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
@@ -349,9 +351,10 @@ class Controls:
       self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
+    can_rcv_timeout = self.can_rcv_timeout_counter >= 5
+    has_disable_events = self.events.contains(ET.NO_ENTRY) and (self.events.contains(ET.SOFT_DISABLE) or self.events.contains(ET.IMMEDIATE_DISABLE))
     no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
-    if (not self.sm.all_checks() or self.can_rcv_timeout) and no_system_errors:
+    if (not self.sm.all_checks() or can_rcv_timeout) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
@@ -363,7 +366,7 @@ class Controls:
         'invalid': [s for s, valid in self.sm.valid.items() if not valid],
         'not_alive': [s for s, alive in self.sm.alive.items() if not alive],
         'not_freq_ok': [s for s, freq_ok in self.sm.freq_ok.items() if not freq_ok],
-        'can_rcv_timeout': self.can_rcv_timeout,
+        'can_rcv_timeout': can_rcv_timeout,
       }
       if logs != self.logged_comm_issue:
         cloudlog.event("commIssue", error=True, **logs)
@@ -371,7 +374,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid:
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and (not SIMULATION or REPLAY):
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
@@ -409,9 +412,9 @@ class Controls:
         pass
 
     # TODO: fix simulator
-    if not SIMULATION:
+    if not SIMULATION or REPLAY:
       if not NOSENSOR:
-        if not self.sm['liveLocationKalman'].gpsOK and (self.distance_traveled > 1000):
+        if not self.sm['liveLocationKalman'].gpsOK and self.sm['liveLocationKalman'].inputsOK and (self.distance_traveled > 1000):
           # Not show in first 1 km to allow for driving out of garage. This event shows after 5 minutes
           self.events.add(EventName.noGps)
 
@@ -426,26 +429,34 @@ class Controls:
     # Update carState from CAN
     can_strs = messaging.drain_sock_raw(self.can_sock, wait_for_one=True)
     CS = self.CI.update(self.CC, can_strs)
+    if len(can_strs) and REPLAY:
+      self.can_log_mono_time = messaging.log_from_bytes(can_strs[0]).logMonoTime
 
     self.sm.update(0)
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
       timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
-      if all_valid or timed_out or SIMULATION:
+      if all_valid or timed_out or (SIMULATION and not REPLAY):
+        available_streams = VisionIpcClient.available_streams("camerad", block=False)
+        if VisionStreamType.VISION_STREAM_ROAD not in available_streams:
+          self.sm.ignore_alive.append('roadCameraState')
+        if VisionStreamType.VISION_STREAM_WIDE_ROAD not in available_streams:
+          self.sm.ignore_alive.append('wideRoadCameraState')
+
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
 
         self.initialized = True
         self.set_initial_state()
-        Params().put_bool("ControlsReady", True)
+        put_bool_nonblocking("ControlsReady", True)
 
     # Check for CAN timeout
     if not can_strs:
       self.can_rcv_timeout_counter += 1
-      self.can_rcv_timeout = True
+      self.can_rcv_cum_timeout_counter += 1
     else:
-      self.can_rcv_timeout = False
+      self.can_rcv_timeout_counter = 0
 
     # When the panda and controlsd do not agree on controls_allowed
     # we want to disengage openpilot. However the status from the panda goes through
@@ -477,29 +488,29 @@ class Controls:
     # ENABLED, SOFT DISABLING, PRE ENABLING, OVERRIDING
     if self.state != State.disabled:
       # user and immediate disable always have priority in a non-disabled state
-      if self.events.any(ET.USER_DISABLE):
+      if self.events.contains(ET.USER_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.USER_DISABLE)
 
-      elif self.events.any(ET.IMMEDIATE_DISABLE):
+      elif self.events.contains(ET.IMMEDIATE_DISABLE):
         self.state = State.disabled
         self.current_alert_types.append(ET.IMMEDIATE_DISABLE)
 
       else:
         # ENABLED
         if self.state == State.enabled:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
 
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
         # SOFT DISABLING
         elif self.state == State.softDisabling:
-          if not self.events.any(ET.SOFT_DISABLE):
+          if not self.events.contains(ET.SOFT_DISABLE):
             # no more soft disabling condition, so go back to ENABLED
             self.state = State.enabled
 
@@ -511,37 +522,37 @@ class Controls:
 
         # PRE ENABLING
         elif self.state == State.preEnabled:
-          if not self.events.any(ET.PRE_ENABLE):
+          if not self.events.contains(ET.PRE_ENABLE):
             self.state = State.enabled
           else:
             self.current_alert_types.append(ET.PRE_ENABLE)
 
         # OVERRIDING
         elif self.state == State.overriding:
-          if self.events.any(ET.SOFT_DISABLE):
+          if self.events.contains(ET.SOFT_DISABLE):
             self.state = State.softDisabling
             self.soft_disable_timer = int(SOFT_DISABLE_TIME / DT_CTRL)
             self.current_alert_types.append(ET.SOFT_DISABLE)
-          elif not (self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL)):
+          elif not (self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL)):
             self.state = State.enabled
           else:
             self.current_alert_types += [ET.OVERRIDE_LATERAL, ET.OVERRIDE_LONGITUDINAL]
 
     # DISABLED
     elif self.state == State.disabled:
-      if self.events.any(ET.ENABLE):
-        if self.events.any(ET.NO_ENTRY):
+      if self.events.contains(ET.ENABLE):
+        if self.events.contains(ET.NO_ENTRY):
           self.current_alert_types.append(ET.NO_ENTRY)
 
         else:
-          if self.events.any(ET.PRE_ENABLE):
+          if self.events.contains(ET.PRE_ENABLE):
             self.state = State.preEnabled
-          elif self.events.any(ET.OVERRIDE_LATERAL) or self.events.any(ET.OVERRIDE_LONGITUDINAL):
+          elif self.events.contains(ET.OVERRIDE_LATERAL) or self.events.contains(ET.OVERRIDE_LONGITUDINAL):
             self.state = State.overriding
           else:
             self.state = State.enabled
           self.current_alert_types.append(ET.ENABLE)
-          self.v_cruise_helper.initialize_v_cruise(CS)
+          self.v_cruise_helper.initialize_v_cruise(CS, self.experimental_mode)
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -562,21 +573,29 @@ class Controls:
     if self.CP.lateralTuning.which() == 'torque':
       torque_params = self.sm['liveTorqueParameters']
       if self.sm.all_checks(['liveTorqueParameters']) and torque_params.useParams:
-        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered, torque_params.frictionCoefficientFiltered)
+        self.LaC.update_live_torque_params(torque_params.latAccelFactorFiltered, torque_params.latAccelOffsetFiltered,
+                                           torque_params.frictionCoefficientFiltered)
 
     lat_plan = self.sm['lateralPlan']
     long_plan = self.sm['longitudinalPlan']
 
     CC = car.CarControl.new_message()
     CC.enabled = self.enabled
+
     # Check which actuators can be enabled
+    standstill = CS.vEgo <= max(self.CP.minSteerSpeed, MIN_LATERAL_CONTROL_SPEED) or CS.standstill
     CC.latActive = self.active and not CS.steerFaultTemporary and not CS.steerFaultPermanent and \
-                   CS.vEgo > self.CP.minSteerSpeed and not CS.standstill
-    CC.longActive = self.enabled and not self.events.any(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
+                   (not standstill or self.joystick_mode)
+    CC.longActive = self.enabled and not self.events.contains(ET.OVERRIDE_LONGITUDINAL) and self.CP.openpilotLongitudinalControl
 
     actuators = CC.actuators
     actuators.longControlState = self.LoC.long_control_state
 
+    # Enable blinkers while lane changing
+    if self.sm['lateralPlan'].laneChangeState != LaneChangeState.off:
+      CC.leftBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.left
+      CC.rightBlinker = self.sm['lateralPlan'].laneChangeDirection == LaneChangeDirection.right
+
     if CS.leftBlinker or CS.rightBlinker:
       self.last_blinker_frame = self.sm.frame
 
@@ -601,6 +620,7 @@ class Controls:
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, lp,
                                                                              self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
+      actuators.curvature = self.desired_curvature
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
       if self.sm.rcv_frame['testJoystick'] > 0:
@@ -617,29 +637,34 @@ class Controls:
         lac_log.output = actuators.steer
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
+    if CS.steeringPressed:
+      self.last_steering_pressed_frame = self.sm.frame
+    recent_steer_pressed = (self.sm.frame - self.last_steering_pressed_frame)*DT_CTRL < 2.0
+
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
-      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 not CS.steeringPressed and lac_log.saturated:
-      dpath_points = lat_plan.dPathPoints
-      if len(dpath_points):
-        # Check if we deviated from the path
-        # TODO use desired vs actual curvature
-        if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
-          steering_value = actuators.steeringAngleDeg
-        else:
-          steering_value = actuators.steer
+    if lac_log.active and not recent_steer_pressed and not self.CP.notCar:
+      if self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
+        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:
+          lac_log.active and self.events.add(EventName.steerSaturated)
+      elif lac_log.saturated:
+        dpath_points = lat_plan.dPathPoints
+        if len(dpath_points):
+          # Check if we deviated from the path
+          # TODO use desired vs actual curvature
+          if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+            steering_value = actuators.steeringAngleDeg
+          else:
+            steering_value = actuators.steer
 
-        left_deviation = steering_value > 0 and dpath_points[0] < -0.20
-        right_deviation = steering_value < 0 and dpath_points[0] > 0.20
+          left_deviation = steering_value > 0 and dpath_points[0] < -0.20
+          right_deviation = steering_value < 0 and dpath_points[0] > 0.20
 
-        if left_deviation or right_deviation:
-          self.events.add(EventName.steerSaturated)
+          if left_deviation or right_deviation:
+            self.events.add(EventName.steerSaturated)
 
     # Ensure no NaNs/Infs
     for p in ACTUATOR_FIELDS:
@@ -685,15 +710,15 @@ class Controls:
 
     recent_blinker = (self.sm.frame - self.last_blinker_frame) * DT_CTRL < 5.0  # 5s blinker cooldown
     ldw_allowed = self.is_ldw_enabled and CS.vEgo > LDW_MIN_SPEED and not recent_blinker \
-                  and not CC.latActive and self.sm['liveCalibration'].calStatus == Calibration.CALIBRATED
+                  and not CC.latActive and self.sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.calibrated
 
     model_v2 = self.sm['modelV2']
     desire_prediction = model_v2.meta.desirePrediction
     if len(desire_prediction) and ldw_allowed:
       right_lane_visible = model_v2.laneLineProbs[2] > 0.5
       left_lane_visible = model_v2.laneLineProbs[1] > 0.5
-      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft - 1]
-      r_lane_change_prob = desire_prediction[Desire.laneChangeRight - 1]
+      l_lane_change_prob = desire_prediction[Desire.laneChangeLeft]
+      r_lane_change_prob = desire_prediction[Desire.laneChangeRight]
 
       lane_lines = model_v2.laneLines
       l_lane_close = left_lane_visible and (lane_lines[1].y[0] > -(1.08 + CAMERA_OFFSET))
@@ -719,10 +744,15 @@ class Controls:
 
     if not self.read_only and self.initialized:
       # send car controls over can
-      self.last_actuators, can_sends = self.CI.apply(CC)
+      now_nanos = self.can_log_mono_time if REPLAY else int(time.monotonic() * 1e9)
+      self.last_actuators, can_sends = self.CI.apply(CC, now_nanos)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
       CC.actuatorsOutput = self.last_actuators
-      self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
+      if self.CP.steerControlType == car.CarParams.SteerControlType.angle:
+        self.steer_limited = abs(CC.actuators.steeringAngleDeg - CC.actuatorsOutput.steeringAngleDeg) > \
+                             STEER_ANGLE_SATURATION_THRESHOLD
+      else:
+        self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
@@ -746,7 +776,6 @@ class Controls:
       controlsState.alertType = current_alert.alert_type
       controlsState.alertSound = current_alert.audible_alert
 
-    controlsState.canMonoTimes = list(CS.canMonoTimes)
     controlsState.longitudinalPlanMonoTime = self.sm.logMonoTime['longitudinalPlan']
     controlsState.lateralPlanMonoTime = self.sm.logMonoTime['lateralPlan']
     controlsState.enabled = self.enabled
@@ -755,7 +784,7 @@ class Controls:
     controlsState.desiredCurvature = self.desired_curvature
     controlsState.desiredCurvatureRate = self.desired_curvature_rate
     controlsState.state = self.state
-    controlsState.engageable = not self.events.any(ET.NO_ENTRY)
+    controlsState.engageable = not self.events.contains(ET.NO_ENTRY)
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_helper.v_cruise_kph)
@@ -766,8 +795,8 @@ class Controls:
     controlsState.cumLagMs = -self.rk.remaining * 1000.
     controlsState.startMonoTime = int(start_time * 1e9)
     controlsState.forceDecel = bool(force_decel)
-    controlsState.canErrorCounter = self.can_rcv_timeout_counter
-    controlsState.experimentalMode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
+    controlsState.canErrorCounter = self.can_rcv_cum_timeout_counter
+    controlsState.experimentalMode = self.experimental_mode
 
     lat_tuning = self.CP.lateralTuning.which()
     if self.joystick_mode:
@@ -814,10 +843,11 @@ class Controls:
     self.CC = CC
 
   def step(self):
-    start_time = sec_since_boot()
+    start_time = time.monotonic()
     self.prof.checkpoint("Ratekeeper", ignore=True)
 
     self.is_metric = self.params.get_bool("IsMetric")
+    self.experimental_mode = self.params.get_bool("ExperimentalMode") and self.CP.openpilotLongitudinalControl
 
     # Sample data from sockets and get a carState
     CS = self.data_sample()
diff --git a/selfdrive/controls/lib/alertmanager.py b/selfdrive/controls/lib/alertmanager.py
index cb878483de..6abcf4cbba 100644
--- a/selfdrive/controls/lib/alertmanager.py
+++ b/selfdrive/controls/lib/alertmanager.py
@@ -5,9 +5,9 @@ from collections import defaultdict
 from dataclasses import dataclass
 from typing import List, Dict, Optional
 
-from common.basedir import BASEDIR
-from common.params import Params
-from selfdrive.controls.lib.events import Alert
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert
 
 
 with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
@@ -16,10 +16,8 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
 
 def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
   if show_alert:
-    a = OFFROAD_ALERTS[alert]
-    if extra_text is not None:
-      a = copy.copy(OFFROAD_ALERTS[alert])
-      a['text'] += extra_text
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
     Params().put(alert, json.dumps(a))
   else:
     Params().remove(alert)
diff --git a/selfdrive/controls/lib/alerts_offroad.json b/selfdrive/controls/lib/alerts_offroad.json
index 2f85ea917a..35446ca22b 100644
--- a/selfdrive/controls/lib/alerts_offroad.json
+++ b/selfdrive/controls/lib/alerts_offroad.json
@@ -1,21 +1,21 @@
 {
   "Offroad_TemperatureTooHigh": {
-    "text": "Device temperature too high. System won't start.",
+    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
     "severity": 1
   },
   "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ",
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
     "severity": 0,
-    "_comment": "Append the number of days at the end of the text"
+    "_comment": "Set extra field to number of days"
   },
   "Offroad_ConnectivityNeeded": {
     "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
     "severity": 1
   },
   "Offroad_UpdateFailed": {
-    "text": "Unable to download updates\n",
+    "text": "Unable to download updates\n%1",
     "severity": 1,
-    "_comment": "Append the command and error to the text."
+    "_comment": "Set extra field to the failed reason."
   },
   "Offroad_InvalidTime": {
     "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",
@@ -30,7 +30,7 @@
     "severity": 0
   },
   "Offroad_UnofficialHardware": {
-    "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, contact support@comma.ai.",
+    "text": "Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.",
     "severity": 1
   },
   "Offroad_StorageMissing": {
@@ -48,5 +48,9 @@
   "Offroad_NoFirmware": {
     "text": "openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.",
     "severity": 0
+  },
+  "Offroad_Recalibration": {
+    "text": "openpilot detected a change in the device's mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.",
+    "severity": 0
   }
 }
diff --git a/selfdrive/controls/lib/cluster/.gitignore b/selfdrive/controls/lib/cluster/.gitignore
deleted file mode 100644
index 9daeafb986..0000000000
--- a/selfdrive/controls/lib/cluster/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-test
diff --git a/selfdrive/controls/lib/cluster/LICENSE b/selfdrive/controls/lib/cluster/LICENSE
deleted file mode 100644
index ab8b4db7d7..0000000000
--- a/selfdrive/controls/lib/cluster/LICENSE
+++ /dev/null
@@ -1,13 +0,0 @@
-Copyright:
-  * fastcluster_dm.cpp & fastcluster_R_dm.cpp:
-     © 2011 Daniel Müllner <http://danifold.net>
-  * fastcluster.(h|cpp) & demo.cpp & plotresult.r:
-     © 2018 Christoph Dalitz <http://www.hsnr.de/ipattern/>
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
-
-  * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
-  * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/selfdrive/controls/lib/cluster/README b/selfdrive/controls/lib/cluster/README
deleted file mode 100644
index acb18bc72b..0000000000
--- a/selfdrive/controls/lib/cluster/README
+++ /dev/null
@@ -1,79 +0,0 @@
-C++ interface to fast hierarchical clustering algorithms
-========================================================
-
-This is a simplified C++ interface to fast implementations of hierarchical
-clustering by Daniel Müllner. The original library with interfaces to R
-and Python is described in:
-
-Daniel Müllner: "fastcluster: Fast Hierarchical, Agglomerative Clustering
-Routines for R and Python." Journal of Statistical Software 53 (2013),
-no. 9, pp. 1–18, http://www.jstatsoft.org/v53/i09/
-
-
-Usage of the library
---------------------
-
-For using the library, the following source files are needed:
-
-fastcluster_dm.cpp, fastcluster_R_dm.cpp
-   original code by Daniel Müllner
-   these are included by fastcluster.cpp via #include, and therefore
-   need not be compiled to object code
-
-fastcluster.[h|cpp]
-   simplified C++ interface
-   fastcluster.cpp is the only file that must be compiled
-
-The library provides the clustering function *hclust_fast* for
-creating the dendrogram information in an encoding as used by the
-R function *hclust*. For a description of the parameters, see fastcluster.h.
-Its parameter *method* can be one of
-
-HCLUST_METHOD_SINGLE
-  single link with the minimum spanning tree algorithm (Rohlf, 1973)
-
-HHCLUST_METHOD_COMPLETE
-  complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984)
-
-HCLUST_METHOD_AVERAGE
-  complete link with the nearest-neighbor-chain algorithm (Murtagh, 1984)
-
-HCLUST_METHOD_MEDIAN
-  median link with the generic algorithm (Müllner, 2011)
-
-For splitting the dendrogram into clusters, the two functions *cutree_k*
-and *cutree_cdist* are provided.
-
-Note that output parameters must be allocated beforehand, e.g.
-  int* merge = new int[2*(npoints-1)];
-For a complete usage example, see lines 135-142 of demo.cpp.
-
-
-Demonstration program
----------------------
-
-A simple demo is implemented in demo.cpp, which can be compiled and run with
-
-   make
-   ./hclust-demo -m complete lines.csv
-
-It creates two clusters of line segments such that the segment angle between
-line segments of different clusters have a maximum (cosine) dissimilarity.
-For visualizing the result, plotresult.r can be used as follows
-(requires R <https://r-project.org> to be installed):
-
-  ./hclust-demo -m complete lines.csv | Rscript plotresult.r
-
-
-Authors & Copyright
--------------------
-
-Daniel Müllner, 2011, <http://danifold.net>
-Christoph Dalitz, 2018, <http://www.hsnr.de/ipattern/>
-
-
-License
--------
-
-This code is provided under a BSD-style license.
-See the file LICENSE for details.
diff --git a/selfdrive/controls/lib/cluster/SConscript b/selfdrive/controls/lib/cluster/SConscript
deleted file mode 100644
index 97eb4300d4..0000000000
--- a/selfdrive/controls/lib/cluster/SConscript
+++ /dev/null
@@ -1,8 +0,0 @@
-Import('env')
-
-fc = env.SharedLibrary("fastcluster", "fastcluster.cpp")
-
-# TODO: how do I gate on test
-#env.Program("test", ["test.cpp"], LIBS=[fc])
-#valgrind --leak-check=full ./test
-
diff --git a/selfdrive/controls/lib/cluster/fastcluster.cpp b/selfdrive/controls/lib/cluster/fastcluster.cpp
deleted file mode 100644
index d2b557d6f5..0000000000
--- a/selfdrive/controls/lib/cluster/fastcluster.cpp
+++ /dev/null
@@ -1,218 +0,0 @@
-//
-// C++ standalone verion of fastcluster by Daniel Müllner
-//
-// Copyright: Christoph Dalitz, 2018
-//            Daniel Müllner, 2011
-// License:   BSD style license
-//            (see the file LICENSE for details)
-//
-
-
-#include <vector>
-#include <algorithm>
-#include <cmath>
-
-
-extern "C" {
-#include "fastcluster.h"
-}
-
-// Code by Daniel Müllner
-// workaround to make it usable as a standalone version (without R)
-bool fc_isnan(double x) { return false; }
-#include "fastcluster_dm.cpp"
-#include "fastcluster_R_dm.cpp"
-
-extern "C" {
-//
-// Assigns cluster labels (0, ..., nclust-1) to the n points such
-// that the cluster result is split into nclust clusters.
-//
-// Input arguments:
-//   n      = number of observables
-//   merge  = clustering result in R format
-//   nclust = number of clusters
-// Output arguments:
-//   labels = allocated integer array of size n for result
-//
-  void cutree_k(int n, const int* merge, int nclust, int* labels) {
-
-    int k,m1,m2,j,l;
-
-    if (nclust > n || nclust < 2) {
-      for (j=0; j<n; j++) labels[j] = 0;
-      return;
-    }
-
-    // assign to each observable the number of its last merge step
-    // beware: indices of observables in merge start at 1 (R convention)
-    std::vector<int> last_merge(n, 0);
-    for (k=1; k<=(n-nclust); k++) {
-      // (m1,m2) = merge[k,]
-      m1 = merge[k-1];
-      m2 = merge[n-1+k-1];
-      if (m1 < 0 && m2 < 0) { // both single observables
-        last_merge[-m1-1] = last_merge[-m2-1] = k;
-      }
-      else if (m1 < 0 || m2 < 0) { // one is a cluster
-        if(m1 < 0) { j = -m1; m1 = m2; } else j = -m2;
-        // merging single observable and cluster
-        for(l = 0; l < n; l++)
-          if (last_merge[l] == m1)
-            last_merge[l] = k;
-        last_merge[j-1] = k;
-      }
-      else { // both cluster
-        for(l=0; l < n; l++) {
-          if( last_merge[l] == m1 || last_merge[l] == m2 )
-            last_merge[l] = k;
-        }
-      }
-    }
-
-    // assign cluster labels
-    int label = 0;
-    std::vector<int> z(n,-1);
-    for (j=0; j<n; j++) {
-      if (last_merge[j] == 0) { // still singleton
-        labels[j] = label++;
-      } else {
-        if (z[last_merge[j]] < 0) {
-          z[last_merge[j]] = label++;
-        }
-        labels[j] = z[last_merge[j]];
-      }
-    }
-  }
-
-  //
-  // Assigns cluster labels (0, ..., nclust-1) to the n points such
-  // that the hierarchical clustering is stopped when cluster distance >= cdist
-  //
-  // Input arguments:
-  //   n      = number of observables
-  //   merge  = clustering result in R format
-  //   height = cluster distance at each merge step
-  //   cdist  = cutoff cluster distance
-  // Output arguments:
-  //   labels = allocated integer array of size n for result
-  //
-  void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels) {
-
-    int k;
-
-    for (k=0; k<(n-1); k++) {
-      if (height[k] >= cdist) {
-        break;
-      }
-    }
-    cutree_k(n, merge, n-k, labels);
-  }
-
-
-  //
-  // Hierarchical clustering with one of Daniel Muellner's fast algorithms
-  //
-  // Input arguments:
-  //   n       = number of observables
-  //   distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing
-  //             the upper triangle (without diagonal elements) of the distance
-  //             matrix, e.g. for n=4:
-  //               d00 d01 d02 d03
-  //               d10 d11 d12 d13   ->  d01 d02 d03 d12 d13 d23
-  //               d20 d21 d22 d23
-  //               d30 d31 d32 d33
-  //   method  = cluster metric (see enum method_code)
-  // Output arguments:
-  //   merge   = allocated (n-1)x2 matrix (2*(n-1) array) for storing result.
-  //             Result follows R hclust convention:
-  //              - observabe indices start with one
-  //              - merge[i][] contains the merged nodes in step i
-  //              - merge[i][j] is negative when the node is an atom
-  //   height  = allocated (n-1) array with distances at each merge step
-  // Return code:
-  //   0 = ok
-  //   1 = invalid method
-  //
-  int hclust_fast(int n, double* distmat, int method, int* merge, double* height) {
-
-    // call appropriate culstering function
-    cluster_result Z2(n-1);
-    if (method == HCLUST_METHOD_SINGLE) {
-      // single link
-      MST_linkage_core(n, distmat, Z2);
-    }
-    else if (method == HCLUST_METHOD_COMPLETE) {
-      // complete link
-      NN_chain_core<METHOD_METR_COMPLETE, t_float>(n, distmat, NULL, Z2);
-    }
-    else if (method == HCLUST_METHOD_AVERAGE) {
-      // best average distance
-      double* members = new double[n];
-      for (int i=0; i<n; i++) members[i] = 1;
-      NN_chain_core<METHOD_METR_AVERAGE, t_float>(n, distmat, members, Z2);
-      delete[] members;
-    }
-    else if (method == HCLUST_METHOD_MEDIAN) {
-      // best median distance (beware: O(n^3))
-      generic_linkage<METHOD_METR_MEDIAN, t_float>(n, distmat, NULL, Z2);
-    }
-    else if (method == HCLUST_METHOD_CENTROID) {
-      // best centroid distance (beware: O(n^3))
-      double* members = new double[n];
-      for (int i=0; i<n; i++) members[i] = 1;
-      generic_linkage<METHOD_METR_CENTROID, t_float>(n, distmat, members, Z2);
-      delete[] members;
-    }
-    else {
-      return 1;
-    }
-
-    int* order = new int[n];
-    if (method == HCLUST_METHOD_MEDIAN || method == HCLUST_METHOD_CENTROID) {
-      generate_R_dendrogram<true>(merge, height, order, Z2, n);
-    } else {
-      generate_R_dendrogram<false>(merge, height, order, Z2, n);
-    }
-    delete[] order; // only needed for visualization
-
-    return 0;
-  }
-
-
-  // Build condensed distance matrix
-  // Input arguments:
-  //   n  = number of observables
-  //   m  = dimension of observable
-  // Output arguments:
-  //   out = allocated integer array of size n * (n - 1) / 2 for result
-  void hclust_pdist(int n, int m, double* pts, double* out) {
-    int ii = 0;
-    for (int i = 0; i < n; i++) {
-      for (int j = i + 1; j < n; j++) {
-        // Compute euclidian distance
-        double d = 0;
-        for (int k = 0; k < m; k ++) {
-          double error = pts[i * m + k] - pts[j * m + k];
-          d += (error * error);
-        }
-        out[ii] = d;//sqrt(d);
-        ii++;
-      }
-    }
-  }
-
-  void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx) {
-    double* pdist = new double[n * (n - 1) / 2];
-    int* merge = new int[2 * (n - 1)];
-    double* height = new double[n - 1];
-
-    hclust_pdist(n, m, pts, pdist);
-    hclust_fast(n, pdist, HCLUST_METHOD_CENTROID, merge, height);
-    cutree_cdist(n, merge, height, dist, idx);
-
-    delete[] pdist;
-    delete[] merge;
-    delete[] height;
-  }
-}
diff --git a/selfdrive/controls/lib/cluster/fastcluster.h b/selfdrive/controls/lib/cluster/fastcluster.h
deleted file mode 100644
index 56c63b6a5e..0000000000
--- a/selfdrive/controls/lib/cluster/fastcluster.h
+++ /dev/null
@@ -1,77 +0,0 @@
-//
-// C++ standalone verion of fastcluster by Daniel Muellner
-//
-// Copyright: Daniel Muellner, 2011
-//            Christoph Dalitz, 2018
-// License:   BSD style license
-//            (see the file LICENSE for details)
-//
-
-#ifndef fastclustercpp_H
-#define fastclustercpp_H
-
-//
-// Assigns cluster labels (0, ..., nclust-1) to the n points such
-// that the cluster result is split into nclust clusters.
-//
-// Input arguments:
-//   n      = number of observables
-//   merge  = clustering result in R format
-//   nclust = number of clusters
-// Output arguments:
-//   labels = allocated integer array of size n for result
-//
-void cutree_k(int n, const int* merge, int nclust, int* labels);
-
-//
-// Assigns cluster labels (0, ..., nclust-1) to the n points such
-// that the hierarchical clsutering is stopped at cluster distance cdist
-//
-// Input arguments:
-//   n      = number of observables
-//   merge  = clustering result in R format
-//   height = cluster distance at each merge step
-//   cdist  = cutoff cluster distance
-// Output arguments:
-//   labels = allocated integer array of size n for result
-//
-void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels);
-
-//
-// Hierarchical clustering with one of Daniel Muellner's fast algorithms
-//
-// Input arguments:
-//   n       = number of observables
-//   distmat = condensed distance matrix, i.e. an n*(n-1)/2 array representing
-//             the upper triangle (without diagonal elements) of the distance
-//             matrix, e.g. for n=4:
-//               d00 d01 d02 d03
-//               d10 d11 d12 d13   ->  d01 d02 d03 d12 d13 d23
-//               d20 d21 d22 d23
-//               d30 d31 d32 d33
-//   method  = cluster metric (see enum method_code)
-// Output arguments:
-//   merge   = allocated (n-1)x2 matrix (2*(n-1) array) for storing result.
-//             Result follows R hclust convention:
-//              - observabe indices start with one
-//              - merge[i][] contains the merged nodes in step i
-//              - merge[i][j] is negative when the node is an atom
-//   height  = allocated (n-1) array with distances at each merge step
-// Return code:
-//   0 = ok
-//   1 = invalid method
-//
-int hclust_fast(int n, double* distmat, int method, int* merge, double* height);
-enum hclust_fast_methods {
-  HCLUST_METHOD_SINGLE = 0,
-  HCLUST_METHOD_COMPLETE = 1,
-  HCLUST_METHOD_AVERAGE = 2,
-  HCLUST_METHOD_MEDIAN = 3,
-  HCLUST_METHOD_CENTROID = 5,
-};
-
-void hclust_pdist(int n, int m, double* pts, double* out);
-void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx);
-
-
-#endif
diff --git a/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp b/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp
deleted file mode 100644
index cbe126c15e..0000000000
--- a/selfdrive/controls/lib/cluster/fastcluster_R_dm.cpp
+++ /dev/null
@@ -1,115 +0,0 @@
-//
-// Excerpt from fastcluster_R.cpp
-//
-// Copyright: Daniel Müllner, 2011 <http://danifold.net>
-//
-
-struct pos_node {
-  t_index pos;
-  int node;
-};
-
-void order_nodes(const int N, const int * const merge, const t_index * const node_size, int * const order) {
-  /* Parameters:
-     N         : number of data points
-     merge     : (N-1)×2 array which specifies the node indices which are
-                 merged in each step of the clustering procedure.
-                 Negative entries -1...-N point to singleton nodes, while
-                 positive entries 1...(N-1) point to nodes which are themselves
-                 parents of other nodes.
-     node_size : array of node sizes - makes it easier
-     order     : output array of size N
-
-     Runtime: Θ(N)
-  */
-  auto_array_ptr<pos_node> queue(N/2);
-
-  int parent;
-  int child;
-  t_index pos = 0;
-
-  queue[0].pos = 0;
-  queue[0].node = N-2;
-  t_index idx = 1;
-
-  do {
-    --idx;
-    pos = queue[idx].pos;
-    parent = queue[idx].node;
-
-    // First child
-    child = merge[parent];
-    if (child<0) { // singleton node, write this into the 'order' array.
-      order[pos] = -child;
-      ++pos;
-    }
-    else { /* compound node: put it on top of the queue and decompose it
-              in a later iteration. */
-      queue[idx].pos = pos;
-      queue[idx].node = child-1; // convert index-1 based to index-0 based
-      ++idx;
-      pos += node_size[child-1];
-    }
-    // Second child
-    child = merge[parent+N-1];
-    if (child<0) {
-      order[pos] = -child;
-    }
-    else {
-      queue[idx].pos = pos;
-      queue[idx].node = child-1;
-      ++idx;
-    }
-  } while (idx>0);
-}
-
-#define size_(r_) ( ((r_<N) ? 1 : node_size[r_-N]) )
-
-template <const bool sorted>
-void generate_R_dendrogram(int * const merge, double * const height, int * const order, cluster_result & Z2, const int N) {
-  // The array "nodes" is a union-find data structure for the cluster
-  // identites (only needed for unsorted cluster_result input).
-  union_find nodes(sorted ? 0 : N);
-  if (!sorted) {
-    std::stable_sort(Z2[0], Z2[N-1]);
-  }
-
-  t_index node1, node2;
-  auto_array_ptr<t_index> node_size(N-1);
-
-  for (t_index i=0; i<N-1; ++i) {
-    // Get two data points whose clusters are merged in step i.
-    // Find the cluster identifiers for these points.
-    if (sorted) {
-      node1 = Z2[i]->node1;
-      node2 = Z2[i]->node2;
-    }
-    else {
-      node1 = nodes.Find(Z2[i]->node1);
-      node2 = nodes.Find(Z2[i]->node2);
-      // Merge the nodes in the union-find data structure by making them
-      // children of a new node.
-      nodes.Union(node1, node2);
-    }
-    // Sort the nodes in the output array.
-    if (node1>node2) {
-      t_index tmp = node1;
-      node1 = node2;
-      node2 = tmp;
-    }
-    /* Conversion between labeling conventions.
-       Input:  singleton nodes 0,...,N-1
-               compound nodes  N,...,2N-2
-       Output: singleton nodes -1,...,-N
-               compound nodes  1,...,N
-    */
-    merge[i]     = (node1<N) ? -static_cast<int>(node1)-1
-                              : static_cast<int>(node1)-N+1;
-    merge[i+N-1] = (node2<N) ? -static_cast<int>(node2)-1
-                              : static_cast<int>(node2)-N+1;
-    height[i] = Z2[i]->dist;
-    node_size[i] = size_(node1) + size_(node2);
-  }
-
-  order_nodes(N, merge, node_size, order);
-}
diff --git a/selfdrive/controls/lib/cluster/fastcluster_dm.cpp b/selfdrive/controls/lib/cluster/fastcluster_dm.cpp
deleted file mode 100644
index ee6670c204..0000000000
--- a/selfdrive/controls/lib/cluster/fastcluster_dm.cpp
+++ /dev/null
@@ -1,1794 +0,0 @@
-/*
-  fastcluster: Fast hierarchical clustering routines for R and Python
-
-  Copyright © 2011 Daniel Müllner
-  <http://danifold.net>
-
-  This library implements various fast algorithms for hierarchical,
-  agglomerative clustering methods:
-
-  (1) Algorithms for the "stored matrix approach": the input is the array of
-      pairwise dissimilarities.
-
-      MST_linkage_core: single linkage clustering with the "minimum spanning
-      tree algorithm (Rohlfs)
-
-      NN_chain_core: nearest-neighbor-chain algorithm, suitable for single,
-      complete, average, weighted and Ward linkage (Murtagh)
-
-      generic_linkage: generic algorithm, suitable for all distance update
-      formulas (Müllner)
-
-  (2) Algorithms for the "stored data approach": the input are points in a
-      vector space.
-
-      MST_linkage_core_vector: single linkage clustering for vector data
-
-      generic_linkage_vector: generic algorithm for vector data, suitable for
-      the Ward, centroid and median methods.
-
-      generic_linkage_vector_alternative: alternative scheme for updating the
-      nearest neighbors. This method seems faster than "generic_linkage_vector"
-      for the centroid and median methods but slower for the Ward method.
-
-  All these implementation treat infinity values correctly. They throw an
-  exception if a NaN distance value occurs.
-*/
-
-// Older versions of Microsoft Visual Studio do not have the fenv header.
-#ifdef _MSC_VER
-#if (_MSC_VER == 1500 || _MSC_VER == 1600)
-#define NO_INCLUDE_FENV
-#endif
-#endif
-// NaN detection via fenv might not work on systems with software
-// floating-point emulation (bug report for Debian armel).
-#ifdef __SOFTFP__
-#define NO_INCLUDE_FENV
-#endif
-#ifdef NO_INCLUDE_FENV
-#pragma message("Do not use fenv header.")
-#else
-//#pragma message("Use fenv header. If there is a warning about unknown #pragma STDC FENV_ACCESS, this can be ignored.")
-//#pragma STDC FENV_ACCESS on
-#include <fenv.h>
-#endif
-
-#include <cmath> // for std::pow, std::sqrt
-#include <cstddef> // for std::ptrdiff_t
-#include <limits> // for std::numeric_limits<...>::infinity()
-#include <algorithm> // for std::fill_n
-#include <stdexcept> // for std::runtime_error
-#include <string> // for std::string
-
-#include <cfloat> // also for DBL_MAX, DBL_MIN
-#ifndef DBL_MANT_DIG
-#error The constant DBL_MANT_DIG could not be defined.
-#endif
-#define T_FLOAT_MANT_DIG DBL_MANT_DIG
-
-#ifndef LONG_MAX
-#include <climits>
-#endif
-#ifndef LONG_MAX
-#error The constant LONG_MAX could not be defined.
-#endif
-#ifndef INT_MAX
-#error The constant INT_MAX could not be defined.
-#endif
-
-#ifndef INT32_MAX
-#ifdef _MSC_VER
-#if _MSC_VER >= 1600
-#define __STDC_LIMIT_MACROS
-#include <stdint.h>
-#else
-typedef __int32 int_fast32_t;
-typedef __int64 int64_t;
-#endif
-#else
-#define __STDC_LIMIT_MACROS
-#include <stdint.h>
-#endif
-#endif
-
-#define FILL_N std::fill_n
-#ifdef _MSC_VER
-#if _MSC_VER < 1600
-#undef FILL_N
-#define FILL_N stdext::unchecked_fill_n
-#endif
-#endif
-
-// Suppress warnings about (potentially) uninitialized variables.
-#ifdef _MSC_VER
-	#pragma warning (disable:4700)
-#endif
-
-#ifndef HAVE_DIAGNOSTIC
-#if __GNUC__ > 4 || (__GNUC__ == 4 && (__GNUC_MINOR__ >= 6))
-#define HAVE_DIAGNOSTIC 1
-#endif
-#endif
-
-#ifndef HAVE_VISIBILITY
-#if __GNUC__ >= 4
-#define HAVE_VISIBILITY 1
-#endif
-#endif
-
-/* Since the public interface is given by the Python respectively R interface,
- * we do not want other symbols than the interface initalization routines to be
- * visible in the shared object file. The "visibility" switch is a GCC concept.
- * Hiding symbols keeps the relocation table small and decreases startup time.
- * See http://gcc.gnu.org/wiki/Visibility
- */
-#if HAVE_VISIBILITY
-#pragma GCC visibility push(hidden)
-#endif
-
-typedef int_fast32_t t_index;
-#ifndef INT32_MAX
-#define MAX_INDEX 0x7fffffffL
-#else
-#define MAX_INDEX INT32_MAX
-#endif
-#if (LONG_MAX < MAX_INDEX)
-#error The integer format "t_index" must not have a greater range than "long int".
-#endif
-#if (INT_MAX > MAX_INDEX)
-#error The integer format "int" must not have a greater range than "t_index".
-#endif
-typedef double t_float;
-
-/* Method codes.
-
-   These codes must agree with the METHODS array in fastcluster.R and the
-   dictionary mthidx in fastcluster.py.
-*/
-enum method_codes {
-  // non-Euclidean methods
-  METHOD_METR_SINGLE           = 0,
-  METHOD_METR_COMPLETE         = 1,
-  METHOD_METR_AVERAGE          = 2,
-  METHOD_METR_WEIGHTED         = 3,
-  METHOD_METR_WARD             = 4,
-  METHOD_METR_WARD_D           = METHOD_METR_WARD,
-  METHOD_METR_CENTROID         = 5,
-  METHOD_METR_MEDIAN           = 6,
-  METHOD_METR_WARD_D2          = 7,
-
-  MIN_METHOD_CODE              = 0,
-  MAX_METHOD_CODE              = 7
-};
-
-enum method_codes_vector {
-  // Euclidean methods
-  METHOD_VECTOR_SINGLE         = 0,
-  METHOD_VECTOR_WARD           = 1,
-  METHOD_VECTOR_CENTROID       = 2,
-  METHOD_VECTOR_MEDIAN         = 3,
-
-  MIN_METHOD_VECTOR_CODE       = 0,
-  MAX_METHOD_VECTOR_CODE       = 3
-};
-
-// self-destructing array pointer
-template <typename type>
-class auto_array_ptr{
-private:
-  type * ptr;
-  auto_array_ptr(auto_array_ptr const &); // non construction-copyable
-  auto_array_ptr& operator=(auto_array_ptr const &); // non copyable
-public:
-  auto_array_ptr()
-    : ptr(NULL)
-  { }
-  template <typename index>
-  auto_array_ptr(index const size)
-    : ptr(new type[size])
-  { }
-  template <typename index, typename value>
-  auto_array_ptr(index const size, value const val)
-    : ptr(new type[size])
-  {
-    FILL_N(ptr, size, val);
-  }
-  ~auto_array_ptr() {
-    delete [] ptr; }
-  void free() {
-    delete [] ptr;
-    ptr = NULL;
-  }
-  template <typename index>
-  void init(index const size) {
-    ptr = new type [size];
-  }
-  template <typename index, typename value>
-  void init(index const size, value const val) {
-    init(size);
-    FILL_N(ptr, size, val);
-  }
-  inline operator type *() const { return ptr; }
-};
-
-struct node {
-  t_index node1, node2;
-  t_float dist;
-};
-
-inline bool operator< (const node a, const node b) {
-  return (a.dist < b.dist);
-}
-
-class cluster_result {
-private:
-  auto_array_ptr<node> Z;
-  t_index pos;
-
-public:
-  cluster_result(const t_index size)
-    : Z(size)
-    , pos(0)
-  {}
-
-  void append(const t_index node1, const t_index node2, const t_float dist) {
-    Z[pos].node1 = node1;
-    Z[pos].node2 = node2;
-    Z[pos].dist  = dist;
-    ++pos;
-  }
-
-  node * operator[] (const t_index idx) const { return Z + idx; }
-
-  /* Define several methods to postprocess the distances. All these functions
-     are monotone, so they do not change the sorted order of distances. */
-
-  void sqrt() const {
-    for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) {
-      ZZ->dist = std::sqrt(ZZ->dist);
-    }
-  }
-
-  void sqrt(const t_float) const { // ignore the argument
-    sqrt();
-  }
-
-  void sqrtdouble(const t_float) const { // ignore the argument
-    for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) {
-      ZZ->dist = std::sqrt(2*ZZ->dist);
-    }
-  }
-
-  #ifdef R_pow
-  #define my_pow R_pow
-  #else
-  #define my_pow std::pow
-  #endif
-
-  void power(const t_float p) const {
-    t_float const q = 1/p;
-    for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) {
-      ZZ->dist = my_pow(ZZ->dist,q);
-    }
-  }
-
-  void plusone(const t_float) const { // ignore the argument
-    for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) {
-      ZZ->dist += 1;
-    }
-  }
-
-  void divide(const t_float denom) const {
-    for (node * ZZ=Z; ZZ!=Z+pos; ++ZZ) {
-      ZZ->dist /= denom;
-    }
-  }
-};
-
-class doubly_linked_list {
-  /*
-    Class for a doubly linked list. Initially, the list is the integer range
-    [0, size]. We provide a forward iterator and a method to delete an index
-    from the list.
-
-    Typical use: for (i=L.start; L<size; i=L.succ[I])
-    or
-    for (i=somevalue; L<size; i=L.succ[I])
-  */
-public:
-  t_index start;
-  auto_array_ptr<t_index> succ;
-
-private:
-  auto_array_ptr<t_index> pred;
-  // Not necessarily private, we just do not need it in this instance.
-
-public:
-  doubly_linked_list(const t_index size)
-    // Initialize to the given size.
-    : start(0)
-    , succ(size+1)
-    , pred(size+1)
-  {
-    for (t_index i=0; i<size; ++i) {
-      pred[i+1] = i;
-      succ[i] = i+1;
-    }
-    // pred[0] is never accessed!
-    //succ[size] is never accessed!
-  }
-
-  ~doubly_linked_list() {}
-
-  void remove(const t_index idx) {
-    // Remove an index from the list.
-    if (idx==start) {
-      start = succ[idx];
-    }
-    else {
-      succ[pred[idx]] = succ[idx];
-      pred[succ[idx]] = pred[idx];
-    }
-    succ[idx] = 0; // Mark as inactive
-  }
-
-  bool is_inactive(t_index idx) const {
-    return (succ[idx]==0);
-  }
-};
-
-// Indexing functions
-// D is the upper triangular part of a symmetric (NxN)-matrix
-// We require r_ < c_ !
-#define D_(r_,c_) ( D[(static_cast<std::ptrdiff_t>(2*N-3-(r_))*(r_)>>1)+(c_)-1] )
-// Z is an ((N-1)x4)-array
-#define Z_(_r, _c) (Z[(_r)*4 + (_c)])
-
-/*
-  Lookup function for a union-find data structure.
-
-  The function finds the root of idx by going iteratively through all
-  parent elements until a root is found. An element i is a root if
-  nodes[i] is zero. To make subsequent searches faster, the entry for
-  idx and all its parents is updated with the root element.
- */
-class union_find {
-private:
-  auto_array_ptr<t_index> parent;
-  t_index nextparent;
-
-public:
-  union_find(const t_index size)
-    : parent(size>0 ? 2*size-1 : 0, 0)
-    , nextparent(size)
-  { }
-
-  t_index Find (t_index idx) const {
-    if (parent[idx] != 0 ) { // a → b
-      t_index p = idx;
-      idx = parent[idx];
-      if (parent[idx] != 0 ) { // a → b → c
-        do {
-          idx = parent[idx];
-        } while (parent[idx] != 0);
-        do {
-          t_index tmp = parent[p];
-          parent[p] = idx;
-          p = tmp;
-        } while (parent[p] != idx);
-      }
-    }
-    return idx;
-  }
-
-  void Union (const t_index node1, const t_index node2) {
-    parent[node1] = parent[node2] = nextparent++;
-  }
-};
-
-class nan_error{};
-#ifdef FE_INVALID
-class fenv_error{};
-#endif
-
-static void MST_linkage_core(const t_index N, const t_float * const D,
-                             cluster_result & Z2) {
-/*
-    N: integer, number of data points
-    D: condensed distance matrix N*(N-1)/2
-    Z2: output data structure
-
-    The basis of this algorithm is an algorithm by Rohlf:
-
-    F. James Rohlf, Hierarchical clustering using the minimum spanning tree,
-    The Computer Journal, vol. 16, 1973, p. 93–95.
-*/
-  t_index i;
-  t_index idx2;
-  doubly_linked_list active_nodes(N);
-  auto_array_ptr<t_float> d(N);
-
-  t_index prev_node;
-  t_float min;
-
-  // first iteration
-  idx2 = 1;
-  min = std::numeric_limits<t_float>::infinity();
-  for (i=1; i<N; ++i) {
-    d[i] = D[i-1];
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-    if (d[i] < min) {
-      min = d[i];
-      idx2 = i;
-    }
-    else if (fc_isnan(d[i]))
-      throw (nan_error());
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  }
-  Z2.append(0, idx2, min);
-
-  for (t_index j=1; j<N-1; ++j) {
-    prev_node = idx2;
-    active_nodes.remove(prev_node);
-
-    idx2 = active_nodes.succ[0];
-    min = d[idx2];
-    for (i=idx2; i<prev_node; i=active_nodes.succ[i]) {
-      t_float tmp = D_(i, prev_node);
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-      if (tmp < d[i])
-        d[i] = tmp;
-      else if (fc_isnan(tmp))
-        throw (nan_error());
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-      if (d[i] < min) {
-        min = d[i];
-        idx2 = i;
-      }
-    }
-    for (; i<N; i=active_nodes.succ[i]) {
-      t_float tmp = D_(prev_node, i);
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-      if (d[i] > tmp)
-        d[i] = tmp;
-      else if (fc_isnan(tmp))
-        throw (nan_error());
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-      if (d[i] < min) {
-        min = d[i];
-        idx2 = i;
-      }
-    }
-    Z2.append(prev_node, idx2, min);
-  }
-}
-
-/* Functions for the update of the dissimilarity array */
-
-inline static void f_single( t_float * const b, const t_float a ) {
-  if (*b > a) *b = a;
-}
-inline static void f_complete( t_float * const b, const t_float a ) {
-  if (*b < a) *b = a;
-}
-inline static void f_average( t_float * const b, const t_float a, const t_float s, const t_float t) {
-  *b = s*a + t*(*b);
-  #ifndef FE_INVALID
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-  if (fc_isnan(*b)) {
-    throw(nan_error());
-  }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  #endif
-}
-inline static void f_weighted( t_float * const b, const t_float a) {
-  *b = (a+*b)*.5;
-  #ifndef FE_INVALID
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-  if (fc_isnan(*b)) {
-    throw(nan_error());
-  }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  #endif
-}
-inline static void f_ward( t_float * const b, const t_float a, const t_float c, const t_float s, const t_float t, const t_float v) {
-  *b = ( (v+s)*a - v*c + (v+t)*(*b) ) / (s+t+v);
-  //*b = a+(*b)-(t*a+s*(*b)+v*c)/(s+t+v);
-  #ifndef FE_INVALID
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-  if (fc_isnan(*b)) {
-    throw(nan_error());
-  }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  #endif
-}
-inline static void f_centroid( t_float * const b, const t_float a, const t_float stc, const t_float s, const t_float t) {
-  *b = s*a - stc + t*(*b);
-  #ifndef FE_INVALID
-  if (fc_isnan(*b)) {
-    throw(nan_error());
-  }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  #endif
-}
-inline static void f_median( t_float * const b, const t_float a, const t_float c_4) {
-  *b = (a+(*b))*.5 - c_4;
-  #ifndef FE_INVALID
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-  if (fc_isnan(*b)) {
-    throw(nan_error());
-  }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  #endif
-}
-
-template <method_codes method, typename t_members>
-static void NN_chain_core(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) {
-/*
-    N: integer
-    D: condensed distance matrix N*(N-1)/2
-    Z2: output data structure
-
-    This is the NN-chain algorithm, described on page 86 in the following book:
-
-    Fionn Murtagh, Multidimensional Clustering Algorithms,
-    Vienna, Würzburg: Physica-Verlag, 1985.
-*/
-  t_index i;
-
-  auto_array_ptr<t_index> NN_chain(N);
-  t_index NN_chain_tip = 0;
-
-  t_index idx1, idx2;
-
-  t_float size1, size2;
-  doubly_linked_list active_nodes(N);
-
-  t_float min;
-
-  for (t_float const * DD=D; DD!=D+(static_cast<std::ptrdiff_t>(N)*(N-1)>>1);
-       ++DD) {
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-    if (fc_isnan(*DD)) {
-      throw(nan_error());
-    }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  }
-
-  #ifdef FE_INVALID
-  if (feclearexcept(FE_INVALID)) throw fenv_error();
-  #endif
-
-  for (t_index j=0; j<N-1; ++j) {
-    if (NN_chain_tip <= 3) {
-      NN_chain[0] = idx1 = active_nodes.start;
-      NN_chain_tip = 1;
-
-      idx2 = active_nodes.succ[idx1];
-      min = D_(idx1,idx2);
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i]) {
-        if (D_(idx1,i) < min) {
-          min = D_(idx1,i);
-          idx2 = i;
-        }
-      }
-    }  // a: idx1   b: idx2
-    else {
-      NN_chain_tip -= 3;
-      idx1 = NN_chain[NN_chain_tip-1];
-      idx2 = NN_chain[NN_chain_tip];
-      min = idx1<idx2 ? D_(idx1,idx2) : D_(idx2,idx1);
-    }  // a: idx1   b: idx2
-
-    do {
-      NN_chain[NN_chain_tip] = idx2;
-
-      for (i=active_nodes.start; i<idx2; i=active_nodes.succ[i]) {
-        if (D_(i,idx2) < min) {
-          min = D_(i,idx2);
-          idx1 = i;
-        }
-      }
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i]) {
-        if (D_(idx2,i) < min) {
-          min = D_(idx2,i);
-          idx1 = i;
-        }
-      }
-
-      idx2 = idx1;
-      idx1 = NN_chain[NN_chain_tip++];
-
-    } while (idx2 != NN_chain[NN_chain_tip-2]);
-
-    Z2.append(idx1, idx2, min);
-
-    if (idx1>idx2) {
-      t_index tmp = idx1;
-      idx1 = idx2;
-      idx2 = tmp;
-    }
-
-    if (method==METHOD_METR_AVERAGE ||
-        method==METHOD_METR_WARD) {
-      size1 = static_cast<t_float>(members[idx1]);
-      size2 = static_cast<t_float>(members[idx2]);
-      members[idx2] += members[idx1];
-    }
-
-    // Remove the smaller index from the valid indices (active_nodes).
-    active_nodes.remove(idx1);
-
-    switch (method) {
-    case METHOD_METR_SINGLE:
-      /*
-      Single linkage.
-
-      Characteristic: new distances are never longer than the old distances.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (i=active_nodes.start; i<idx1; i=active_nodes.succ[i])
-        f_single(&D_(i, idx2), D_(i, idx1) );
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; i<idx2; i=active_nodes.succ[i])
-        f_single(&D_(i, idx2), D_(idx1, i) );
-      // Update the distance matrix in the range (idx2, N).
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i])
-        f_single(&D_(idx2, i), D_(idx1, i) );
-      break;
-
-    case METHOD_METR_COMPLETE:
-      /*
-      Complete linkage.
-
-      Characteristic: new distances are never shorter than the old distances.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (i=active_nodes.start; i<idx1; i=active_nodes.succ[i])
-        f_complete(&D_(i, idx2), D_(i, idx1) );
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; i<idx2; i=active_nodes.succ[i])
-        f_complete(&D_(i, idx2), D_(idx1, i) );
-      // Update the distance matrix in the range (idx2, N).
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i])
-        f_complete(&D_(idx2, i), D_(idx1, i) );
-      break;
-
-    case METHOD_METR_AVERAGE: {
-      /*
-      Average linkage.
-
-      Shorter and longer distances can occur.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      t_float s = size1/(size1+size2);
-      t_float t = size2/(size1+size2);
-      for (i=active_nodes.start; i<idx1; i=active_nodes.succ[i])
-        f_average(&D_(i, idx2), D_(i, idx1), s, t );
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; i<idx2; i=active_nodes.succ[i])
-        f_average(&D_(i, idx2), D_(idx1, i), s, t );
-      // Update the distance matrix in the range (idx2, N).
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i])
-        f_average(&D_(idx2, i), D_(idx1, i), s, t );
-      break;
-    }
-
-    case METHOD_METR_WEIGHTED:
-      /*
-      Weighted linkage.
-
-      Shorter and longer distances can occur.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (i=active_nodes.start; i<idx1; i=active_nodes.succ[i])
-        f_weighted(&D_(i, idx2), D_(i, idx1) );
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; i<idx2; i=active_nodes.succ[i])
-        f_weighted(&D_(i, idx2), D_(idx1, i) );
-      // Update the distance matrix in the range (idx2, N).
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i])
-        f_weighted(&D_(idx2, i), D_(idx1, i) );
-      break;
-
-    case METHOD_METR_WARD:
-      /*
-      Ward linkage.
-
-      Shorter and longer distances can occur, not smaller than min(d1,d2)
-      but maybe bigger than max(d1,d2).
-      */
-      // Update the distance matrix in the range [start, idx1).
-      //t_float v = static_cast<t_float>(members[i]);
-      for (i=active_nodes.start; i<idx1; i=active_nodes.succ[i])
-        f_ward(&D_(i, idx2), D_(i, idx1), min,
-               size1, size2, static_cast<t_float>(members[i]) );
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; i<idx2; i=active_nodes.succ[i])
-        f_ward(&D_(i, idx2), D_(idx1, i), min,
-               size1, size2, static_cast<t_float>(members[i]) );
-      // Update the distance matrix in the range (idx2, N).
-      for (i=active_nodes.succ[idx2]; i<N; i=active_nodes.succ[i])
-        f_ward(&D_(idx2, i), D_(idx1, i), min,
-               size1, size2, static_cast<t_float>(members[i]) );
-      break;
-
-    default:
-      throw std::runtime_error(std::string("Invalid method."));
-    }
-  }
-  #ifdef FE_INVALID
-  if (fetestexcept(FE_INVALID)) throw fenv_error();
-  #endif
-}
-
-class binary_min_heap {
-  /*
-  Class for a binary min-heap. The data resides in an array A. The elements of
-  A are not changed but two lists I and R of indices are generated which point
-  to elements of A and backwards.
-
-  The heap tree structure is
-
-     H[2*i+1]     H[2*i+2]
-         \            /
-          \          /
-           ≤        ≤
-            \      /
-             \    /
-              H[i]
-
-  where the children must be less or equal than their parent. Thus, H[0]
-  contains the minimum. The lists I and R are made such that H[i] = A[I[i]]
-  and R[I[i]] = i.
-
-  This implementation is not designed to handle NaN values.
-  */
-private:
-  t_float * const A;
-  t_index size;
-  auto_array_ptr<t_index> I;
-  auto_array_ptr<t_index> R;
-
-  // no default constructor
-  binary_min_heap();
-  // noncopyable
-  binary_min_heap(binary_min_heap const &);
-  binary_min_heap & operator=(binary_min_heap const &);
-
-public:
-  binary_min_heap(t_float * const A_, const t_index size_)
-    : A(A_), size(size_), I(size), R(size)
-  { // Allocate memory and initialize the lists I and R to the identity. This
-    // does not make it a heap. Call heapify afterwards!
-    for (t_index i=0; i<size; ++i)
-      R[i] = I[i] = i;
-  }
-
-  binary_min_heap(t_float * const A_, const t_index size1, const t_index size2,
-                  const t_index start)
-    : A(A_), size(size1), I(size1), R(size2)
-  { // Allocate memory and initialize the lists I and R to the identity. This
-    // does not make it a heap. Call heapify afterwards!
-    for (t_index i=0; i<size; ++i) {
-      R[i+start] = i;
-      I[i] = i + start;
-    }
-  }
-
-  ~binary_min_heap() {}
-
-  void heapify() {
-    // Arrange the indices I and R so that H[i] := A[I[i]] satisfies the heap
-    // condition H[i] < H[2*i+1] and H[i] < H[2*i+2] for each i.
-    //
-    // Complexity: Θ(size)
-    // Reference: Cormen, Leiserson, Rivest, Stein, Introduction to Algorithms,
-    // 3rd ed., 2009, Section 6.3 “Building a heap”
-    t_index idx;
-    for (idx=(size>>1); idx>0; ) {
-      --idx;
-      update_geq_(idx);
-    }
-  }
-
-  inline t_index argmin() const {
-    // Return the minimal element.
-    return I[0];
-  }
-
-  void heap_pop() {
-    // Remove the minimal element from the heap.
-    --size;
-    I[0] = I[size];
-    R[I[0]] = 0;
-    update_geq_(0);
-  }
-
-  void remove(t_index idx) {
-    // Remove an element from the heap.
-    --size;
-    R[I[size]] = R[idx];
-    I[R[idx]] = I[size];
-    if ( H(size)<=A[idx] ) {
-      update_leq_(R[idx]);
-    }
-    else {
-      update_geq_(R[idx]);
-    }
-  }
-
-  void replace ( const t_index idxold, const t_index idxnew,
-                 const t_float val) {
-    R[idxnew] = R[idxold];
-    I[R[idxnew]] = idxnew;
-    if (val<=A[idxold])
-      update_leq(idxnew, val);
-    else
-      update_geq(idxnew, val);
-  }
-
-  void update ( const t_index idx, const t_float val ) const {
-    // Update the element A[i] with val and re-arrange the indices to preserve
-    // the heap condition.
-    if (val<=A[idx])
-      update_leq(idx, val);
-    else
-      update_geq(idx, val);
-  }
-
-  void update_leq ( const t_index idx, const t_float val ) const {
-    // Use this when the new value is not more than the old value.
-    A[idx] = val;
-    update_leq_(R[idx]);
-  }
-
-  void update_geq ( const t_index idx, const t_float val ) const {
-    // Use this when the new value is not less than the old value.
-    A[idx] = val;
-    update_geq_(R[idx]);
-  }
-
-private:
-  void update_leq_ (t_index i) const {
-    t_index j;
-    for ( ; (i>0) && ( H(i)<H(j=(i-1)>>1) ); i=j)
-      heap_swap(i,j);
-  }
-
-  void update_geq_ (t_index i) const {
-    t_index j;
-    for ( ; (j=2*i+1)<size; i=j) {
-      if ( H(j)>=H(i) ) {
-        ++j;
-        if ( j>=size || H(j)>=H(i) ) break;
-      }
-      else if ( j+1<size && H(j+1)<H(j) ) ++j;
-      heap_swap(i, j);
-    }
-  }
-
-  void heap_swap(const t_index i, const t_index j) const {
-    // Swap two indices.
-    t_index tmp = I[i];
-    I[i] = I[j];
-    I[j] = tmp;
-    R[I[i]] = i;
-    R[I[j]] = j;
-  }
-
-  inline t_float H(const t_index i) const {
-    return A[I[i]];
-  }
-
-};
-
-template <method_codes method, typename t_members>
-static void generic_linkage(const t_index N, t_float * const D, t_members * const members, cluster_result & Z2) {
-  /*
-    N: integer, number of data points
-    D: condensed distance matrix N*(N-1)/2
-    Z2: output data structure
-  */
-
-  const t_index N_1 = N-1;
-  t_index i, j; // loop variables
-  t_index idx1, idx2; // row and column indices
-
-  auto_array_ptr<t_index> n_nghbr(N_1); // array of nearest neighbors
-  auto_array_ptr<t_float> mindist(N_1); // distances to the nearest neighbors
-  auto_array_ptr<t_index> row_repr(N); // row_repr[i]: node number that the
-                                       // i-th row represents
-  doubly_linked_list active_nodes(N);
-  binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for
-                        // the distance to the nearest neighbor of each point
-  t_index node1, node2; // node numbers in the output
-  t_float size1, size2; // and their cardinalities
-
-  t_float min; // minimum and row index for nearest-neighbor search
-  t_index idx;
-
-  for (i=0; i<N; ++i)
-    // Build a list of row ↔ node label assignments.
-    // Initially i ↦ i
-    row_repr[i] = i;
-
-  // Initialize the minimal distances:
-  // Find the nearest neighbor of each point.
-  // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1)
-  t_float const * DD = D;
-  for (i=0; i<N_1; ++i) {
-    min = std::numeric_limits<t_float>::infinity();
-    for (idx=j=i+1; j<N; ++j, ++DD) {
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-      if (*DD<min) {
-        min = *DD;
-        idx = j;
-      }
-      else if (fc_isnan(*DD))
-        throw(nan_error());
-    }
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-    mindist[i] = min;
-    n_nghbr[i] = idx;
-  }
-
-  // Put the minimal distances into a heap structure to make the repeated
-  // global minimum searches fast.
-  nn_distances.heapify();
-
-  #ifdef FE_INVALID
-  if (feclearexcept(FE_INVALID)) throw fenv_error();
-  #endif
-
-  // Main loop: We have N-1 merging steps.
-  for (i=0; i<N_1; ++i) {
-    /*
-      Here is a special feature that allows fast bookkeeping and updates of the
-      minimal distances.
-
-      mindist[i] stores a lower bound on the minimum distance of the point i to
-      all points of higher index:
-
-          mindist[i] ≥ min_{j>i} D(i,j)
-
-      Normally, we have equality. However, this minimum may become invalid due
-      to the updates in the distance matrix. The rules are:
-
-      1) If mindist[i] is equal to D(i, n_nghbr[i]), this is the correct
-         minimum and n_nghbr[i] is a nearest neighbor.
-
-      2) If mindist[i] is smaller than D(i, n_nghbr[i]), this might not be the
-         correct minimum. The minimum needs to be recomputed.
-
-      3) mindist[i] is never bigger than the true minimum. Hence, we never
-         miss the true minimum if we take the smallest mindist entry,
-         re-compute the value if necessary (thus maybe increasing it) and
-         looking for the now smallest mindist entry until a valid minimal
-         entry is found. This step is done in the lines below.
-
-      The update process for D below takes care that these rules are
-      fulfilled. This makes sure that the minima in the rows D(i,i+1:)of D are
-      re-calculated when necessary but re-calculation is avoided whenever
-      possible.
-
-      The re-calculation of the minima makes the worst-case runtime of this
-      algorithm cubic in N. We avoid this whenever possible, and in most cases
-      the runtime appears to be quadratic.
-    */
-    idx1 = nn_distances.argmin();
-    if (method != METHOD_METR_SINGLE) {
-      while ( mindist[idx1] < D_(idx1, n_nghbr[idx1]) ) {
-        // Recompute the minimum mindist[idx1] and n_nghbr[idx1].
-        n_nghbr[idx1] = j = active_nodes.succ[idx1]; // exists, maximally N-1
-        min = D_(idx1,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          if (D_(idx1,j)<min) {
-            min = D_(idx1,j);
-            n_nghbr[idx1] = j;
-          }
-        }
-        /* Update the heap with the new true minimum and search for the
-           (possibly different) minimal entry. */
-        nn_distances.update_geq(idx1, min);
-        idx1 = nn_distances.argmin();
-      }
-    }
-
-    nn_distances.heap_pop(); // Remove the current minimum from the heap.
-    idx2 = n_nghbr[idx1];
-
-    // Write the newly found minimal pair of nodes to the output array.
-    node1 = row_repr[idx1];
-    node2 = row_repr[idx2];
-
-    if (method==METHOD_METR_AVERAGE ||
-        method==METHOD_METR_WARD ||
-        method==METHOD_METR_CENTROID) {
-      size1 = static_cast<t_float>(members[idx1]);
-      size2 = static_cast<t_float>(members[idx2]);
-      members[idx2] += members[idx1];
-    }
-    Z2.append(node1, node2, mindist[idx1]);
-
-    // Remove idx1 from the list of active indices (active_nodes).
-    active_nodes.remove(idx1);
-    // Index idx2 now represents the new (merged) node with label N+i.
-    row_repr[idx2] = N+i;
-
-    // Update the distance matrix
-    switch (method) {
-    case METHOD_METR_SINGLE:
-      /*
-        Single linkage.
-
-        Characteristic: new distances are never longer than the old distances.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_single(&D_(j, idx2), D_(j, idx1));
-        if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_single(&D_(j, idx2), D_(idx1, j));
-        // If the new value is below the old minimum in a row, update
-        // the mindist and n_nghbr arrays.
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      // Recompute the minimum mindist[idx2] and n_nghbr[idx2].
-      if (idx2<N_1) {
-        min = mindist[idx2];
-        for (j=active_nodes.succ[idx2]; j<N; j=active_nodes.succ[j]) {
-          f_single(&D_(idx2, j), D_(idx1, j) );
-          if (D_(idx2, j) < min) {
-            n_nghbr[idx2] = j;
-            min = D_(idx2, j);
-          }
-        }
-        nn_distances.update_leq(idx2, min);
-      }
-      break;
-
-    case METHOD_METR_COMPLETE:
-      /*
-        Complete linkage.
-
-        Characteristic: new distances are never shorter than the old distances.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_complete(&D_(j, idx2), D_(j, idx1) );
-        if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j])
-        f_complete(&D_(j, idx2), D_(idx1, j) );
-      // Update the distance matrix in the range (idx2, N).
-      for (j=active_nodes.succ[idx2]; j<N; j=active_nodes.succ[j])
-        f_complete(&D_(idx2, j), D_(idx1, j) );
-      break;
-
-    case METHOD_METR_AVERAGE: {
-      /*
-        Average linkage.
-
-        Shorter and longer distances can occur.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      t_float s = size1/(size1+size2);
-      t_float t = size2/(size1+size2);
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_average(&D_(j, idx2), D_(j, idx1), s, t);
-        if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_average(&D_(j, idx2), D_(idx1, j), s, t);
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        f_average(&D_(idx2, j), D_(idx1, j), s, t);
-        min = D_(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          f_average(&D_(idx2, j), D_(idx1, j), s, t);
-          if (D_(idx2,j) < min) {
-            min = D_(idx2,j);
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-    }
-
-    case METHOD_METR_WEIGHTED:
-      /*
-        Weighted linkage.
-
-        Shorter and longer distances can occur.
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_weighted(&D_(j, idx2), D_(j, idx1) );
-        if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_weighted(&D_(j, idx2), D_(idx1, j) );
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        f_weighted(&D_(idx2, j), D_(idx1, j) );
-        min = D_(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          f_weighted(&D_(idx2, j), D_(idx1, j) );
-          if (D_(idx2,j) < min) {
-            min = D_(idx2,j);
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-
-    case METHOD_METR_WARD:
-      /*
-        Ward linkage.
-
-        Shorter and longer distances can occur, not smaller than min(d1,d2)
-        but maybe bigger than max(d1,d2).
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_ward(&D_(j, idx2), D_(j, idx1), mindist[idx1],
-               size1, size2, static_cast<t_float>(members[j]) );
-        if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_ward(&D_(j, idx2), D_(idx1, j), mindist[idx1], size1, size2,
-               static_cast<t_float>(members[j]) );
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        f_ward(&D_(idx2, j), D_(idx1, j), mindist[idx1],
-               size1, size2, static_cast<t_float>(members[j]) );
-        min = D_(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          f_ward(&D_(idx2, j), D_(idx1, j), mindist[idx1],
-                 size1, size2, static_cast<t_float>(members[j]) );
-          if (D_(idx2,j) < min) {
-            min = D_(idx2,j);
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-
-    case METHOD_METR_CENTROID: {
-      /*
-        Centroid linkage.
-
-        Shorter and longer distances can occur, not bigger than max(d1,d2)
-        but maybe smaller than min(d1,d2).
-      */
-      // Update the distance matrix in the range [start, idx1).
-      t_float s = size1/(size1+size2);
-      t_float t = size2/(size1+size2);
-      t_float stc = s*t*mindist[idx1];
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_centroid(&D_(j, idx2), D_(j, idx1), stc, s, t);
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-        else if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_centroid(&D_(j, idx2), D_(idx1, j), stc, s, t);
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        f_centroid(&D_(idx2, j), D_(idx1, j), stc, s, t);
-        min = D_(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          f_centroid(&D_(idx2, j), D_(idx1, j), stc, s, t);
-          if (D_(idx2,j) < min) {
-            min = D_(idx2,j);
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-    }
-
-    case METHOD_METR_MEDIAN: {
-      /*
-        Median linkage.
-
-        Shorter and longer distances can occur, not bigger than max(d1,d2)
-        but maybe smaller than min(d1,d2).
-      */
-      // Update the distance matrix in the range [start, idx1).
-      t_float c_4 = mindist[idx1]*.25;
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        f_median(&D_(j, idx2), D_(j, idx1), c_4 );
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-        else if (n_nghbr[j] == idx1)
-          n_nghbr[j] = idx2;
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for (; j<idx2; j=active_nodes.succ[j]) {
-        f_median(&D_(j, idx2), D_(idx1, j), c_4 );
-        if (D_(j, idx2) < mindist[j]) {
-          nn_distances.update_leq(j, D_(j, idx2));
-          n_nghbr[j] = idx2;
-        }
-      }
-      // Update the distance matrix in the range (idx2, N).
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        f_median(&D_(idx2, j), D_(idx1, j), c_4 );
-        min = D_(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          f_median(&D_(idx2, j), D_(idx1, j), c_4 );
-          if (D_(idx2,j) < min) {
-            min = D_(idx2,j);
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-    }
-
-    default:
-      throw std::runtime_error(std::string("Invalid method."));
-    }
-  }
-  #ifdef FE_INVALID
-  if (fetestexcept(FE_INVALID)) throw fenv_error();
-  #endif
-}
-
-/*
-  Clustering methods for vector data
-*/
-
-template <typename t_dissimilarity>
-static void MST_linkage_core_vector(const t_index N,
-                                    t_dissimilarity & dist,
-                                    cluster_result & Z2) {
-/*
-    N: integer, number of data points
-    dist: function pointer to the metric
-    Z2: output data structure
-
-    The basis of this algorithm is an algorithm by Rohlf:
-
-    F. James Rohlf, Hierarchical clustering using the minimum spanning tree,
-    The Computer Journal, vol. 16, 1973, p. 93–95.
-*/
-  t_index i;
-  t_index idx2;
-  doubly_linked_list active_nodes(N);
-  auto_array_ptr<t_float> d(N);
-
-  t_index prev_node;
-  t_float min;
-
-  // first iteration
-  idx2 = 1;
-  min = std::numeric_limits<t_float>::infinity();
-  for (i=1; i<N; ++i) {
-    d[i] = dist(0,i);
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-    if (d[i] < min) {
-      min = d[i];
-      idx2 = i;
-    }
-    else if (fc_isnan(d[i]))
-      throw (nan_error());
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-  }
-
-  Z2.append(0, idx2, min);
-
-  for (t_index j=1; j<N-1; ++j) {
-    prev_node = idx2;
-    active_nodes.remove(prev_node);
-
-    idx2 = active_nodes.succ[0];
-    min = d[idx2];
-
-    for (i=idx2; i<N; i=active_nodes.succ[i]) {
-      t_float tmp = dist(i, prev_node);
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wfloat-equal"
-#endif
-      if (d[i] > tmp)
-        d[i] = tmp;
-      else if (fc_isnan(tmp))
-        throw (nan_error());
-#if HAVE_DIAGNOSTIC
-#pragma GCC diagnostic pop
-#endif
-      if (d[i] < min) {
-        min = d[i];
-        idx2 = i;
-      }
-    }
-    Z2.append(prev_node, idx2, min);
-  }
-}
-
-template <method_codes_vector method, typename t_dissimilarity>
-static void generic_linkage_vector(const t_index N,
-                                   t_dissimilarity & dist,
-                                   cluster_result & Z2) {
-  /*
-    N: integer, number of data points
-    dist: function pointer to the metric
-    Z2: output data structure
-
-    This algorithm is valid for the distance update methods
-    "Ward", "centroid" and "median" only!
-  */
-  const t_index N_1 = N-1;
-  t_index i, j; // loop variables
-  t_index idx1, idx2; // row and column indices
-
-  auto_array_ptr<t_index> n_nghbr(N_1); // array of nearest neighbors
-  auto_array_ptr<t_float> mindist(N_1); // distances to the nearest neighbors
-  auto_array_ptr<t_index> row_repr(N); // row_repr[i]: node number that the
-                                       // i-th row represents
-  doubly_linked_list active_nodes(N);
-  binary_min_heap nn_distances(&*mindist, N_1); // minimum heap structure for
-                        // the distance to the nearest neighbor of each point
-  t_index node1, node2;     // node numbers in the output
-  t_float min; // minimum and row index for nearest-neighbor search
-
-  for (i=0; i<N; ++i)
-    // Build a list of row ↔ node label assignments.
-    // Initially i ↦ i
-    row_repr[i] = i;
-
-  // Initialize the minimal distances:
-  // Find the nearest neighbor of each point.
-  // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1)
-  for (i=0; i<N_1; ++i) {
-    min = std::numeric_limits<t_float>::infinity();
-    t_index idx;
-    for (idx=j=i+1; j<N; ++j) {
-      t_float tmp;
-      switch (method) {
-      case METHOD_VECTOR_WARD:
-        tmp = dist.ward_initial(i,j);
-        break;
-      default:
-        tmp = dist.template sqeuclidean<true>(i,j);
-      }
-      if (tmp<min) {
-        min = tmp;
-        idx = j;
-      }
-    }
-    switch (method) {
-    case METHOD_VECTOR_WARD:
-      mindist[i] = t_dissimilarity::ward_initial_conversion(min);
-      break;
-    default:
-      mindist[i] = min;
-    }
-    n_nghbr[i] = idx;
-  }
-
-  // Put the minimal distances into a heap structure to make the repeated
-  // global minimum searches fast.
-  nn_distances.heapify();
-
-  // Main loop: We have N-1 merging steps.
-  for (i=0; i<N_1; ++i) {
-    idx1 = nn_distances.argmin();
-
-    while ( active_nodes.is_inactive(n_nghbr[idx1]) ) {
-      // Recompute the minimum mindist[idx1] and n_nghbr[idx1].
-      n_nghbr[idx1] = j = active_nodes.succ[idx1]; // exists, maximally N-1
-      switch (method) {
-      case METHOD_VECTOR_WARD:
-        min = dist.ward(idx1,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          t_float const tmp = dist.ward(idx1,j);
-          if (tmp<min) {
-            min = tmp;
-            n_nghbr[idx1] = j;
-          }
-        }
-        break;
-      default:
-        min = dist.template sqeuclidean<true>(idx1,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          t_float const tmp = dist.template sqeuclidean<true>(idx1,j);
-          if (tmp<min) {
-            min = tmp;
-            n_nghbr[idx1] = j;
-          }
-        }
-      }
-      /* Update the heap with the new true minimum and search for the (possibly
-         different) minimal entry. */
-      nn_distances.update_geq(idx1, min);
-      idx1 = nn_distances.argmin();
-    }
-
-    nn_distances.heap_pop(); // Remove the current minimum from the heap.
-    idx2 = n_nghbr[idx1];
-
-    // Write the newly found minimal pair of nodes to the output array.
-    node1 = row_repr[idx1];
-    node2 = row_repr[idx2];
-
-    Z2.append(node1, node2, mindist[idx1]);
-
-    switch (method) {
-    case METHOD_VECTOR_WARD:
-    case METHOD_VECTOR_CENTROID:
-      dist.merge_inplace(idx1, idx2);
-      break;
-    case METHOD_VECTOR_MEDIAN:
-      dist.merge_inplace_weighted(idx1, idx2);
-      break;
-    default:
-      throw std::runtime_error(std::string("Invalid method."));
-    }
-
-    // Index idx2 now represents the new (merged) node with label N+i.
-    row_repr[idx2] = N+i;
-    // Remove idx1 from the list of active indices (active_nodes).
-    active_nodes.remove(idx1);  // TBD later!!!
-
-    // Update the distance matrix
-    switch (method) {
-    case METHOD_VECTOR_WARD:
-      /*
-        Ward linkage.
-
-        Shorter and longer distances can occur, not smaller than min(d1,d2)
-        but maybe bigger than max(d1,d2).
-      */
-      // Update the distance matrix in the range [start, idx1).
-      for (j=active_nodes.start; j<idx1; j=active_nodes.succ[j]) {
-        if (n_nghbr[j] == idx2) {
-          n_nghbr[j] = idx1; // invalidate
-        }
-      }
-      // Update the distance matrix in the range (idx1, idx2).
-      for ( ; j<idx2; j=active_nodes.succ[j]) {
-        t_float const tmp = dist.ward(j, idx2);
-        if (tmp < mindist[j]) {
-          nn_distances.update_leq(j, tmp);
-          n_nghbr[j] = idx2;
-        }
-        else if (n_nghbr[j]==idx2) {
-          n_nghbr[j] = idx1; // invalidate
-        }
-      }
-      // Find the nearest neighbor for idx2.
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        min = dist.ward(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          t_float const tmp = dist.ward(idx2,j);
-          if (tmp < min) {
-            min = tmp;
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-      break;
-
-    default:
-      /*
-        Centroid and median linkage.
-
-        Shorter and longer distances can occur, not bigger than max(d1,d2)
-        but maybe smaller than min(d1,d2).
-      */
-      for (j=active_nodes.start; j<idx2; j=active_nodes.succ[j]) {
-        t_float const tmp = dist.template sqeuclidean<true>(j, idx2);
-        if (tmp < mindist[j]) {
-          nn_distances.update_leq(j, tmp);
-          n_nghbr[j] = idx2;
-        }
-        else if (n_nghbr[j] == idx2)
-          n_nghbr[j] = idx1; // invalidate
-      }
-      // Find the nearest neighbor for idx2.
-      if (idx2<N_1) {
-        n_nghbr[idx2] = j = active_nodes.succ[idx2]; // exists, maximally N-1
-        min = dist.template sqeuclidean<true>(idx2,j);
-        for (j=active_nodes.succ[j]; j<N; j=active_nodes.succ[j]) {
-          t_float const tmp = dist.template sqeuclidean<true>(idx2, j);
-          if (tmp < min) {
-            min = tmp;
-            n_nghbr[idx2] = j;
-          }
-        }
-        nn_distances.update(idx2, min);
-      }
-    }
-  }
-}
-
-template <method_codes_vector method, typename t_dissimilarity>
-static void generic_linkage_vector_alternative(const t_index N,
-                                               t_dissimilarity & dist,
-                                               cluster_result & Z2) {
-  /*
-    N: integer, number of data points
-    dist: function pointer to the metric
-    Z2: output data structure
-
-    This algorithm is valid for the distance update methods
-    "Ward", "centroid" and "median" only!
-  */
-  const t_index N_1 = N-1;
-  t_index i, j=0; // loop variables
-  t_index idx1, idx2; // row and column indices
-
-  auto_array_ptr<t_index> n_nghbr(2*N-2); // array of nearest neighbors
-  auto_array_ptr<t_float> mindist(2*N-2); // distances to the nearest neighbors
-
-  doubly_linked_list active_nodes(N+N_1);
-  binary_min_heap nn_distances(&*mindist, N_1, 2*N-2, 1); // minimum heap
-      // structure for the distance to the nearest neighbor of each point
-
-  t_float min; // minimum for nearest-neighbor searches
-
-  // Initialize the minimal distances:
-  // Find the nearest neighbor of each point.
-  // n_nghbr[i] = argmin_{j>i} D(i,j) for i in range(N-1)
-  for (i=1; i<N; ++i) {
-    min = std::numeric_limits<t_float>::infinity();
-    t_index idx;
-    for (idx=j=0; j<i; ++j) {
-      t_float tmp;
-      switch (method) {
-      case METHOD_VECTOR_WARD:
-        tmp = dist.ward_initial(i,j);
-        break;
-      default:
-        tmp = dist.template sqeuclidean<true>(i,j);
-      }
-      if (tmp<min) {
-        min = tmp;
-        idx = j;
-      }
-    }
-    switch (method) {
-    case METHOD_VECTOR_WARD:
-      mindist[i] = t_dissimilarity::ward_initial_conversion(min);
-      break;
-    default:
-      mindist[i] = min;
-    }
-    n_nghbr[i] = idx;
-  }
-
-  // Put the minimal distances into a heap structure to make the repeated
-  // global minimum searches fast.
-  nn_distances.heapify();
-
-  // Main loop: We have N-1 merging steps.
-  for (i=N; i<N+N_1; ++i) {
-    /*
-      The bookkeeping is different from the "stored matrix approach" algorithm
-      generic_linkage.
-
-      mindist[i] stores a lower bound on the minimum distance of the point i to
-      all points of *lower* index:
-
-          mindist[i] ≥ min_{j<i} D(i,j)
-
-      Moreover, new nodes do not re-use one of the old indices, but they are
-      given a new, unique index (SciPy convention: initial nodes are 0,…,N−1,
-      new nodes are N,…,2N−2).
-
-      Invalid nearest neighbors are not recognized by the fact that the stored
-      distance is smaller than the actual distance, but the list active_nodes
-      maintains a flag whether a node is inactive. If n_nghbr[i] points to an
-      active node, the entries nn_distances[i] and n_nghbr[i] are valid,
-      otherwise they must be recomputed.
-    */
-    idx1 = nn_distances.argmin();
-    while ( active_nodes.is_inactive(n_nghbr[idx1]) ) {
-      // Recompute the minimum mindist[idx1] and n_nghbr[idx1].
-      n_nghbr[idx1] = j = active_nodes.start;
-      switch (method) {
-      case METHOD_VECTOR_WARD:
-        min = dist.ward_extended(idx1,j);
-        for (j=active_nodes.succ[j]; j<idx1; j=active_nodes.succ[j]) {
-          t_float tmp = dist.ward_extended(idx1,j);
-          if (tmp<min) {
-            min = tmp;
-            n_nghbr[idx1] = j;
-          }
-        }
-        break;
-      default:
-        min = dist.sqeuclidean_extended(idx1,j);
-        for (j=active_nodes.succ[j]; j<idx1; j=active_nodes.succ[j]) {
-          t_float const tmp = dist.sqeuclidean_extended(idx1,j);
-          if (tmp<min) {
-            min = tmp;
-            n_nghbr[idx1] = j;
-          }
-        }
-      }
-      /* Update the heap with the new true minimum and search for the (possibly
-         different) minimal entry. */
-      nn_distances.update_geq(idx1, min);
-      idx1 = nn_distances.argmin();
-    }
-
-    idx2 = n_nghbr[idx1];
-    active_nodes.remove(idx1);
-    active_nodes.remove(idx2);
-
-    Z2.append(idx1, idx2, mindist[idx1]);
-
-    if (i<2*N_1) {
-      switch (method) {
-      case METHOD_VECTOR_WARD:
-      case METHOD_VECTOR_CENTROID:
-        dist.merge(idx1, idx2, i);
-        break;
-
-      case METHOD_VECTOR_MEDIAN:
-        dist.merge_weighted(idx1, idx2, i);
-        break;
-
-      default:
-        throw std::runtime_error(std::string("Invalid method."));
-      }
-
-      n_nghbr[i] = active_nodes.start;
-      if (method==METHOD_VECTOR_WARD) {
-        /*
-          Ward linkage.
-
-          Shorter and longer distances can occur, not smaller than min(d1,d2)
-          but maybe bigger than max(d1,d2).
-        */
-        min = dist.ward_extended(active_nodes.start, i);
-        for (j=active_nodes.succ[active_nodes.start]; j<i;
-             j=active_nodes.succ[j]) {
-          t_float tmp = dist.ward_extended(j, i);
-          if (tmp < min) {
-            min = tmp;
-            n_nghbr[i] = j;
-          }
-        }
-      }
-      else {
-        /*
-          Centroid and median linkage.
-
-          Shorter and longer distances can occur, not bigger than max(d1,d2)
-          but maybe smaller than min(d1,d2).
-        */
-        min = dist.sqeuclidean_extended(active_nodes.start, i);
-        for (j=active_nodes.succ[active_nodes.start]; j<i;
-             j=active_nodes.succ[j]) {
-          t_float tmp = dist.sqeuclidean_extended(j, i);
-          if (tmp < min) {
-            min = tmp;
-            n_nghbr[i] = j;
-          }
-        }
-      }
-      if (idx2<active_nodes.start)  {
-        nn_distances.remove(active_nodes.start);
-      } else {
-        nn_distances.remove(idx2);
-      }
-      nn_distances.replace(idx1, i, min);
-    }
-  }
-}
-
-#if HAVE_VISIBILITY
-#pragma GCC visibility pop
-#endif
diff --git a/selfdrive/controls/lib/cluster/fastcluster_py.py b/selfdrive/controls/lib/cluster/fastcluster_py.py
deleted file mode 100644
index 1c9ecee369..0000000000
--- a/selfdrive/controls/lib/cluster/fastcluster_py.py
+++ /dev/null
@@ -1,28 +0,0 @@
-import os
-import numpy as np
-
-from cffi import FFI
-from common.ffi_wrapper import suffix
-
-cluster_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-cluster_fn = os.path.join(cluster_dir, "libfastcluster"+suffix())
-
-ffi = FFI()
-ffi.cdef("""
-int hclust_fast(int n, double* distmat, int method, int* merge, double* height);
-void cutree_cdist(int n, const int* merge, double* height, double cdist, int* labels);
-void hclust_pdist(int n, int m, double* pts, double* out);
-void cluster_points_centroid(int n, int m, double* pts, double dist, int* idx);
-""")
-
-hclust = ffi.dlopen(cluster_fn)
-
-
-def cluster_points_centroid(pts, dist):
-  pts = np.ascontiguousarray(pts, dtype=np.float64)
-  pts_ptr = ffi.cast("double *", pts.ctypes.data)
-  n, m = pts.shape
-
-  labels_ptr = ffi.new("int[]", n)
-  hclust.cluster_points_centroid(n, m, pts_ptr, dist**2, labels_ptr)
-  return list(labels_ptr)
diff --git a/selfdrive/controls/lib/cluster/test.cpp b/selfdrive/controls/lib/cluster/test.cpp
deleted file mode 100644
index d4e4fa5361..0000000000
--- a/selfdrive/controls/lib/cluster/test.cpp
+++ /dev/null
@@ -1,35 +0,0 @@
-#include <cassert>
-
-extern "C" {
-#include "fastcluster.h"
-}
-
-
-int main(int argc, const char* argv[]) {
-  const int n = 11;
-  const int m = 3;
-  double* pts = new double[n*m]{59.26000137, -9.35999966, -5.42500019,
-                                91.61999817, -0.31999999, -2.75,
-                                31.38000031, 0.40000001, -0.2,
-                                89.57999725, -8.07999992, -18.04999924,
-                                53.42000122, 0.63999999, -0.175,
-                                31.38000031, 0.47999999, -0.2,
-                                36.33999939, 0.16, -0.2,
-                                53.33999939, 0.95999998, -0.175,
-                                59.26000137, -9.76000023, -5.44999981,
-                                33.93999977, 0.40000001, -0.22499999,
-                                106.74000092, -5.76000023, -18.04999924};
-
-  int * idx = new int[n];
-  int * correct_idx = new int[n]{0, 1, 2, 3, 4, 2, 5, 4, 0, 5, 6};
-
-  cluster_points_centroid(n, m, pts, 2.5 * 2.5, idx);
-
-  for (int i = 0; i < n; i++) {
-    assert(idx[i] == correct_idx[i]);
-  }
-
-  delete[] idx;
-  delete[] correct_idx;
-  delete[] pts;
-}
diff --git a/selfdrive/controls/lib/desire_helper.py b/selfdrive/controls/lib/desire_helper.py
index 4790b8f0eb..d538035070 100644
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -1,6 +1,6 @@
 from cereal import log
-from common.conversions import Conversions as CV
-from common.realtime import DT_MDL
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.realtime import DT_MDL
 
 LaneChangeState = log.LateralPlan.LaneChangeState
 LaneChangeDirection = log.LateralPlan.LaneChangeDirection
@@ -69,6 +69,7 @@ class DesireHelper:
 
         if not one_blinker or below_lane_change_speed:
           self.lane_change_state = LaneChangeState.off
+          self.lane_change_direction = LaneChangeDirection.none
         elif torque_applied and not blindspot_detected:
           self.lane_change_state = LaneChangeState.laneChangeStarting
 
diff --git a/selfdrive/controls/lib/drive_helpers.py b/selfdrive/controls/lib/drive_helpers.py
index 3d5ec8ac1d..00916ddf78 100644
--- a/selfdrive/controls/lib/drive_helpers.py
+++ b/selfdrive/controls/lib/drive_helpers.py
@@ -1,28 +1,30 @@
 import math
 
-from cereal import car
-from common.conversions import Conversions as CV
-from common.numpy_fast import clip, interp
-from common.realtime import DT_MDL
-from selfdrive.modeld.constants import T_IDXS
+from cereal import car, log
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.modeld.constants import T_IDXS
 
 # WARNING: this value was determined based on the model's training distribution,
 #          model predictions above this speed can be unpredictable
-V_CRUISE_MAX = 145  # kph
-V_CRUISE_MIN = 8  # kph
-V_CRUISE_ENABLE_MIN = 40  # kph
-V_CRUISE_INITIAL = 255  # kph
+# V_CRUISE's are in kph
+V_CRUISE_MIN = 8
+V_CRUISE_MAX = 145
+V_CRUISE_UNSET = 255
+V_CRUISE_INITIAL = 40
+V_CRUISE_INITIAL_EXPERIMENTAL_MODE = 105
 IMPERIAL_INCREMENT = 1.6  # should be CV.MPH_TO_KPH, but this causes rounding errors
 
 MIN_SPEED = 1.0
-LAT_MPC_N = 16
-LON_MPC_N = 32
 CONTROL_N = 17
 CAR_ROTATION_RADIUS = 0.0
 
 # EU guidelines
 MAX_LATERAL_JERK = 5.0
 
+MAX_VEL_ERR = 5.0
+
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
 CRUISE_LONG_PRESS = 50
@@ -39,15 +41,15 @@ CRUISE_INTERVAL_SIGN = {
 class VCruiseHelper:
   def __init__(self, CP):
     self.CP = CP
-    self.v_cruise_kph = V_CRUISE_INITIAL
-    self.v_cruise_cluster_kph = V_CRUISE_INITIAL
+    self.v_cruise_kph = V_CRUISE_UNSET
+    self.v_cruise_cluster_kph = V_CRUISE_UNSET
     self.v_cruise_kph_last = 0
     self.button_timers = {ButtonType.decelCruise: 0, ButtonType.accelCruise: 0}
     self.button_change_states = {btn: {"standstill": False, "enabled": False} for btn in self.button_timers}
 
   @property
   def v_cruise_initialized(self):
-    return self.v_cruise_kph != V_CRUISE_INITIAL
+    return self.v_cruise_kph != V_CRUISE_UNSET
 
   def update_v_cruise(self, CS, enabled, is_metric):
     self.v_cruise_kph_last = self.v_cruise_kph
@@ -62,8 +64,8 @@ class VCruiseHelper:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
         self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
     else:
-      self.v_cruise_kph = V_CRUISE_INITIAL
-      self.v_cruise_cluster_kph = V_CRUISE_INITIAL
+      self.v_cruise_kph = V_CRUISE_UNSET
+      self.v_cruise_cluster_kph = V_CRUISE_UNSET
 
   def _update_v_cruise_non_pcm(self, CS, enabled, is_metric):
     # handle button presses. TODO: this should be in state_control, but a decelCruise press
@@ -125,16 +127,18 @@ class VCruiseHelper:
         self.button_timers[b.type.raw] = 1 if b.pressed else 0
         self.button_change_states[b.type.raw] = {"standstill": CS.cruiseState.standstill, "enabled": enabled}
 
-  def initialize_v_cruise(self, CS):
+  def initialize_v_cruise(self, CS, experimental_mode: bool) -> None:
     # initializing is handled by the PCM
     if self.CP.pcmCruise:
       return
 
+    initial = V_CRUISE_INITIAL_EXPERIMENTAL_MODE if experimental_mode else V_CRUISE_INITIAL
+
     # 250kph or above probably means we never had a set speed
     if any(b.type in (ButtonType.accelCruise, ButtonType.resumeCruise) for b in CS.buttonEvents) and self.v_cruise_kph_last < 250:
       self.v_cruise_kph = self.v_cruise_kph_last
     else:
-      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, V_CRUISE_ENABLE_MIN, V_CRUISE_MAX)))
+      self.v_cruise_kph = int(round(clip(CS.vEgo * CV.MS_TO_KPH, initial, V_CRUISE_MAX)))
 
     self.v_cruise_cluster_kph = self.v_cruise_kph
 
@@ -188,3 +192,22 @@ def get_lag_adjusted_curvature(CP, v_ego, psis, curvatures, curvature_rates):
                                 current_curvature_desired + max_curvature_rate * DT_MDL)
 
   return safe_desired_curvature, safe_desired_curvature_rate
+
+
+def get_friction(lateral_accel_error: float, lateral_accel_deadzone: float, friction_threshold: float,
+                 torque_params: car.CarParams.LateralTorqueTuning, friction_compensation: bool) -> float:
+  friction_interp = interp(
+    apply_center_deadzone(lateral_accel_error, lateral_accel_deadzone),
+    [-friction_threshold, friction_threshold],
+    [-torque_params.friction, torque_params.friction]
+  )
+  friction = float(friction_interp) if friction_compensation else 0.0
+  return friction
+
+
+def get_speed_error(modelV2: log.ModelDataV2, v_ego: float) -> float:
+  # ToDo: Try relative error, and absolute speed
+  if len(modelV2.temporalPose.trans):
+    vel_err = clip(modelV2.temporalPose.trans[0] - v_ego, -MAX_VEL_ERR, MAX_VEL_ERR)
+    return float(vel_err)
+  return 0.0
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
old mode 100644
new mode 100755
index 5578a83a23..7c30effce5
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -5,10 +5,10 @@ from typing import Dict, Union, Callable, List, Optional
 
 from cereal import log, car
 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 system.version import get_short_branch
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.locationd.calibrationd import MIN_SPEED_FILTER
+from openpilot.system.version import get_short_branch
 
 AlertSize = log.ControlsState.AlertSize
 AlertStatus = log.ControlsState.AlertStatus
@@ -67,7 +67,7 @@ class Events:
     self.events_prev = {k: (v + 1 if k in self.events else 0) for k, v in self.events_prev.items()}
     self.events = self.static_events.copy()
 
-  def any(self, event_type: str) -> bool:
+  def contains(self, event_type: str) -> bool:
     return any(event_type in EVENTS.get(e, {}) for e in self.events)
 
   def create_alerts(self, event_types: List[str], callback_args=None):
@@ -193,7 +193,7 @@ class StartupAlert(Alert):
   def __init__(self, alert_text_1: str, alert_text_2: str = "Always keep hands on wheel and eyes on road", alert_status=AlertStatus.normal):
     super().__init__(alert_text_1, alert_text_2,
                      alert_status, AlertSize.mid,
-                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 10.),
+                     Priority.LOWER, VisualAlert.none, AudibleAlert.none, 5.),
 
 
 # ********** helper functions **********
@@ -230,7 +230,7 @@ def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
   return StartupAlert("WARNING: This branch is not tested", branch, alert_status=AlertStatus.userPrompt)
 
 def below_engage_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  return NoEntryAlert(f"Speed Below {get_display_speed(CP.minEnableSpeed, metric)}")
+  return NoEntryAlert(f"Drive above {get_display_speed(CP.minEnableSpeed, metric)} to engage")
 
 
 def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
@@ -238,12 +238,13 @@ def below_steer_speed_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.S
     f"Steer Unavailable Below {get_display_speed(CP.minSteerSpeed, metric)}",
     "",
     AlertStatus.userPrompt, AlertSize.small,
-    Priority.MID, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
+    Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 0.4)
 
 
 def calibration_incomplete_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
+  first_word = 'Recalibration' if sm['liveCalibration'].calStatus == log.LiveCalibrationData.Status.recalibrating else 'Calibration'
   return Alert(
-    "Calibration in Progress: %d%%" % sm['liveCalibration'].calPerc,
+    f"{first_word} in Progress: {sm['liveCalibration'].calPerc:.0f}%",
     f"Drive Above {get_display_speed(MIN_SPEED_FILTER, metric)}",
     AlertStatus.normal, AlertSize.mid,
     Priority.LOWEST, VisualAlert.none, AudibleAlert.none, .2)
@@ -292,7 +293,7 @@ def calibration_invalid_alert(CP: car.CarParams, CS: car.CarState, sm: messaging
   rpy = sm['liveCalibration'].rpyCalib
   yaw = math.degrees(rpy[2] if len(rpy) == 3 else math.nan)
   pitch = math.degrees(rpy[1] if len(rpy) == 3 else math.nan)
-  angles = f"Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°"
+  angles = f"Remount Device (Pitch: {pitch:.1f}°, Yaw: {yaw:.1f}°)"
   return NormalPermanentAlert("Calibration Invalid", angles)
 
 
@@ -317,9 +318,9 @@ def modeld_lagging_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubM
 
 
 def wrong_car_mode_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  text = "Cruise Mode Disabled"
+  text = "Enable Adaptive Cruise to Engage"
   if CP.carName == "honda":
-    text = "Main Switch Off"
+    text = "Enable Main Switch to Engage"
   return NoEntryAlert(text)
 
 
@@ -358,6 +359,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   # Car is recognized, but marked as dashcam only
   EventName.startupNoControl: {
     ET.PERMANENT: StartupAlert("Dashcam mode"),
+    ET.NO_ENTRY: NoEntryAlert("Dashcam mode"),
   },
 
   # Car is not recognized
@@ -500,10 +502,10 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.resumeRequired: {
     ET.WARNING: Alert(
-      "STOPPED",
       "Press Resume to Exit Standstill",
-      AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.none, AudibleAlert.none, .2),
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.MID, VisualAlert.none, AudibleAlert.none, .2),
   },
 
   EventName.belowSteerSpeed: {
@@ -547,7 +549,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       "Take Control",
       "Turn Exceeds Steering Limit",
       AlertStatus.userPrompt, AlertSize.mid,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.promptRepeat, 2.),
   },
 
   # Thrown when the fan is driven at >50% but is not rotating
@@ -658,6 +660,11 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("Steering Temporarily Unavailable"),
   },
 
+  EventName.steerTimeLimit: {
+    ET.SOFT_DISABLE: soft_disable_alert("Vehicle Steering Time Limit"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Steering Time Limit"),
+  },
+
   EventName.outOfSpace: {
     ET.PERMANENT: out_of_space_alert,
     ET.NO_ENTRY: NoEntryAlert("Out of Storage"),
@@ -714,10 +721,16 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.calibrationIncomplete: {
     ET.PERMANENT: calibration_incomplete_alert,
-    ET.SOFT_DISABLE: soft_disable_alert("Calibration in Progress"),
+    ET.SOFT_DISABLE: soft_disable_alert("Calibration Incomplete"),
     ET.NO_ENTRY: NoEntryAlert("Calibration in Progress"),
   },
 
+  EventName.calibrationRecalibrating: {
+    ET.PERMANENT: calibration_incomplete_alert,
+    ET.SOFT_DISABLE: soft_disable_alert("Device Remount Detected: Recalibrating"),
+    ET.NO_ENTRY: NoEntryAlert("Remount Detected: Recalibrating"),
+  },
+
   EventName.doorOpen: {
     ET.SOFT_DISABLE: user_soft_disable_alert("Door Open"),
     ET.NO_ENTRY: NoEntryAlert("Door Open"),
@@ -729,8 +742,8 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.espDisabled: {
-    ET.SOFT_DISABLE: soft_disable_alert("ESP Off"),
-    ET.NO_ENTRY: NoEntryAlert("ESP Off"),
+    ET.SOFT_DISABLE: soft_disable_alert("Electronic Stability Control Disabled"),
+    ET.NO_ENTRY: NoEntryAlert("Electronic Stability Control Disabled"),
   },
 
   EventName.lowBattery: {
@@ -806,13 +819,9 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
   },
 
   EventName.accFaulted: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Faulted"),
-    ET.PERMANENT: NormalPermanentAlert("Cruise Faulted", ""),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Faulted"),
-  },
-
-  EventName.accFaultedTemp: {
-    ET.NO_ENTRY: NoEntryAlert("Cruise Temporarily Faulted"),
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
+    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
+    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
   },
 
   EventName.controlsMismatch: {
@@ -876,12 +885,6 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("LKAS Fault: Restart the Car"),
   },
 
-  EventName.brakeUnavailable: {
-    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Cruise Fault: Restart the Car"),
-    ET.PERMANENT: NormalPermanentAlert("Cruise Fault: Restart the car to engage"),
-    ET.NO_ENTRY: NoEntryAlert("Cruise Fault: Restart the Car"),
-  },
-
   EventName.reverseGear: {
     ET.PERMANENT: Alert(
       "Reverse\nGear",
@@ -944,4 +947,43 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
     ET.NO_ENTRY: NoEntryAlert("LKAS Disabled"),
   },
 
+  EventName.vehicleSensorsInvalid: {
+    ET.IMMEDIATE_DISABLE: ImmediateDisableAlert("Vehicle Sensors Invalid"),
+    ET.PERMANENT: NormalPermanentAlert("Vehicle Sensors Calibrating", "Drive to Calibrate"),
+    ET.NO_ENTRY: NoEntryAlert("Vehicle Sensors Calibrating"),
+  },
+
 }
+
+
+if __name__ == '__main__':
+  # print all alerts by type and priority
+  from cereal.services import service_list
+  from collections import defaultdict, OrderedDict
+
+  event_names = {v: k for k, v in EventName.schema.enumerants.items()}
+  alerts_by_type: Dict[str, Dict[int, List[str]]] = defaultdict(lambda: defaultdict(list))
+
+  CP = car.CarParams.new_message()
+  CS = car.CarState.new_message()
+  sm = messaging.SubMaster(list(service_list.keys()))
+
+  for i, alerts in EVENTS.items():
+    for et, alert in alerts.items():
+      if callable(alert):
+        alert = alert(CP, CS, sm, False, 1)
+      priority = alert.priority
+      alerts_by_type[et][priority].append(event_names[i])
+
+  all_alerts = {}
+  for et, priority_alerts in alerts_by_type.items():
+    all_alerts[et] = OrderedDict([
+      (str(priority), l)
+      for priority, l in sorted(priority_alerts.items(), key=lambda x: -int(x[0]))
+    ])
+
+  for status, evs in sorted(all_alerts.items(), key=lambda x: x[0]):
+    print(f"**** {status} ****")
+    for p, alert_list in evs.items():
+      print(f"  {p}:")
+      print("   ", ', '.join(alert_list), "\n")
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 78b59fda59..30e1918442 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -1,9 +1,9 @@
 from abc import abstractmethod, ABC
 
-from common.numpy_fast import clip
-from common.realtime import DT_CTRL
+from openpilot.common.numpy_fast import clip
+from openpilot.common.realtime import DT_CTRL
 
-MIN_STEER_SPEED = 0.3
+MIN_LATERAL_CONTROL_SPEED = 0.3  # m/s
 
 
 class LatControl(ABC):
@@ -11,6 +11,7 @@ class LatControl(ABC):
     self.sat_count_rate = 1.0 * DT_CTRL
     self.sat_limit = CP.steerLimitTimer
     self.sat_count = 0.
+    self.sat_check_min_speed = 10.
 
     # we define the steer torque scale as [-1.0...1.0]
     self.steer_max = 1.0
@@ -23,7 +24,7 @@ class LatControl(ABC):
     self.sat_count = 0.
 
   def _check_saturation(self, saturated, CS, steer_limited):
-    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
+    if saturated and CS.vEgo > self.sat_check_min_speed and not steer_limited and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 0e5be4a977..b13d41e51c 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -1,16 +1,20 @@
 import math
 
 from cereal import log
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
 
 STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
+  def __init__(self, CP, CI):
+    super().__init__(CP, CI)
+    self.sat_check_min_speed = 5.
+
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
-    if CS.vEgo < MIN_STEER_SPEED or not active:
+    if not active:
       angle_log.active = False
       angle_steers_des = float(CS.steeringAngleDeg)
     else:
@@ -19,7 +23,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, False)
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
deleted file mode 100644
index 2bc3cef76b..0000000000
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ /dev/null
@@ -1,120 +0,0 @@
-import math
-import numpy as np
-
-from cereal import log
-from common.filter_simple import FirstOrderFilter
-from common.numpy_fast import clip, interp
-from common.realtime import DT_CTRL
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
-
-
-class LatControlINDI(LatControl):
-  def __init__(self, CP, CI):
-    super().__init__(CP, CI)
-    self.angle_steers_des = 0.
-
-    A = np.array([[1.0, DT_CTRL, 0.0],
-                  [0.0, 1.0, DT_CTRL],
-                  [0.0, 0.0, 1.0]])
-    C = np.array([[1.0, 0.0, 0.0],
-                  [0.0, 1.0, 0.0]])
-
-    # Q = np.matrix([[1e-2, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 10.0]])
-    # R = np.matrix([[1e-2, 0.0], [0.0, 1e3]])
-
-    # (x, l, K) = control.dare(np.transpose(A), np.transpose(C), Q, R)
-    # K = np.transpose(K)
-    K = np.array([[7.30262179e-01, 2.07003658e-04],
-                  [7.29394177e+00, 1.39159419e-02],
-                  [1.71022442e+01, 3.38495381e-02]])
-
-    self.speed = 0.
-
-    self.K = K
-    self.A_K = A - np.dot(K, C)
-    self.x = np.array([[0.], [0.], [0.]])
-
-    self._RC = (CP.lateralTuning.indi.timeConstantBP, CP.lateralTuning.indi.timeConstantV)
-    self._G = (CP.lateralTuning.indi.actuatorEffectivenessBP, CP.lateralTuning.indi.actuatorEffectivenessV)
-    self._outer_loop_gain = (CP.lateralTuning.indi.outerLoopGainBP, CP.lateralTuning.indi.outerLoopGainV)
-    self._inner_loop_gain = (CP.lateralTuning.indi.innerLoopGainBP, CP.lateralTuning.indi.innerLoopGainV)
-
-    self.steer_filter = FirstOrderFilter(0., self.RC, DT_CTRL)
-    self.reset()
-
-  @property
-  def RC(self):
-    return interp(self.speed, self._RC[0], self._RC[1])
-
-  @property
-  def G(self):
-    return interp(self.speed, self._G[0], self._G[1])
-
-  @property
-  def outer_loop_gain(self):
-    return interp(self.speed, self._outer_loop_gain[0], self._outer_loop_gain[1])
-
-  @property
-  def inner_loop_gain(self):
-    return interp(self.speed, self._inner_loop_gain[0], self._inner_loop_gain[1])
-
-  def reset(self):
-    super().reset()
-    self.steer_filter.x = 0.
-    self.speed = 0.
-
-  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
-    self.speed = CS.vEgo
-    # Update Kalman filter
-    y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
-    self.x = np.dot(self.A_K, self.x) + np.dot(self.K, y)
-
-    indi_log = log.ControlsState.LateralINDIState.new_message()
-    indi_log.steeringAngleDeg = math.degrees(self.x[0])
-    indi_log.steeringRateDeg = math.degrees(self.x[1])
-    indi_log.steeringAccelDeg = math.degrees(self.x[2])
-
-    steers_des = VM.get_steer_from_curvature(-desired_curvature, CS.vEgo, params.roll)
-    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)
-
-    if CS.vEgo < MIN_STEER_SPEED or not active:
-      indi_log.active = False
-      self.steer_filter.x = 0.0
-      output_steer = 0
-    else:
-      # Expected actuator value
-      self.steer_filter.update_alpha(self.RC)
-      self.steer_filter.update(last_actuators.steer)
-
-      # Compute acceleration error
-      rate_sp = self.outer_loop_gain * (steers_des - self.x[0]) + rate_des
-      accel_sp = self.inner_loop_gain * (rate_sp - self.x[1])
-      accel_error = accel_sp - self.x[2]
-
-      # Compute change in actuator
-      g_inv = 1. / self.G
-      delta_u = g_inv * accel_error
-
-      # If steering pressed, only allow wind down
-      if CS.steeringPressed and (delta_u * last_actuators.steer > 0):
-        delta_u = 0
-
-      output_steer = self.steer_filter.x + delta_u
-
-      output_steer = clip(output_steer, -self.steer_max, self.steer_max)
-
-      indi_log.active = True
-      indi_log.rateSetPoint = float(rate_sp)
-      indi_log.accelSetPoint = float(accel_sp)
-      indi_log.accelError = float(accel_error)
-      indi_log.delayedOutput = float(self.steer_filter.x)
-      indi_log.delta = float(delta_u)
-      indi_log.output = float(output_steer)
-      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
-
-    return float(output_steer), float(steers_des), indi_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 6bd678073e..c41130af95 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -1,8 +1,8 @@
 import math
 
 from cereal import log
-from selfdrive.controls.lib.latcontrol import LatControl, MIN_STEER_SPEED
-from selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
 
 
 class LatControlPID(LatControl):
@@ -28,7 +28,7 @@ class LatControlPID(LatControl):
 
     pid_log.steeringAngleDesiredDeg = angle_steers_des
     pid_log.angleError = error
-    if CS.vEgo < MIN_STEER_SPEED or not active:
+    if not active:
       output_steer = 0.0
       pid_log.active = False
       self.pid.reset()
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index d10d39d945..2c77630632 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -1,10 +1,10 @@
 import math
 
 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.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.numpy_fast import interp
+from openpilot.selfdrive.controls.lib.latcontrol import LatControl
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 # At higher speeds (25+mph) we can assume:
 # Lateral acceleration achieved by a specific car correlates to
@@ -39,7 +39,7 @@ class LatControlTorque(LatControl):
   def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
-    if CS.vEgo < MIN_STEER_SPEED or not active:
+    if not active:
       output_torque = 0.0
       pid_log.active = False
     else:
@@ -61,10 +61,12 @@ class LatControlTorque(LatControl):
       low_speed_factor = interp(CS.vEgo, LOW_SPEED_X, LOW_SPEED_Y)**2
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      error = setpoint - measurement
       gravity_adjusted_lateral_accel = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
-      pid_log.error = self.torque_from_lateral_accel(error, self.torque_params, error,
+      torque_from_setpoint = self.torque_from_lateral_accel(setpoint, self.torque_params, setpoint,
                                                      lateral_accel_deadzone, friction_compensation=False)
+      torque_from_measurement = self.torque_from_lateral_accel(measurement, self.torque_params, measurement,
+                                                     lateral_accel_deadzone, friction_compensation=False)
+      pid_log.error = torque_from_setpoint - torque_from_measurement
       ff = self.torque_from_lateral_accel(gravity_adjusted_lateral_accel, self.torque_params,
                                           desired_lateral_accel - actual_lateral_accel,
                                           lateral_accel_deadzone, friction_compensation=True)
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/SConscript b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
index df1e2a2a1a..a923baca62 100644
--- a/selfdrive/controls/lib/lateral_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/lateral_mpc_lib/SConscript
@@ -38,27 +38,26 @@ generated_files = [
   f'{gen}/lat_model/lat_expl_vde_adj.c',
 
   f'{gen}/lat_model/lat_model.h',
-  f'{gen}/lat_cost/lat_cost_y_fun.h',
-  f'{gen}/lat_cost/lat_cost_y_e_fun.h',
-  f'{gen}/lat_cost/lat_cost_y_0_fun.h',
+  f'{gen}/lat_constraints/lat_constraints.h',
+  f'{gen}/lat_cost/lat_cost.h',
 ] + build_files
 
 acados_dir = '#third_party/acados'
-acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 
 source_list = ['lat_mpc.py',
+  '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+generated_lat = lenv.Command(generated_files,
+                             source_list,
+                             f"cd {Dir('.').abspath} && python3 lat_mpc.py")
+lenv.Depends(generated_lat, "#common")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
@@ -70,8 +69,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_lat",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
index 9607532ace..5e6f884df4 100755
--- a/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
+++ b/selfdrive/controls/lib/lateral_mpc_lib/lat_mpc.py
@@ -1,28 +1,28 @@
 #!/usr/bin/env python3
 import os
+import time
 import numpy as np
 
 from casadi import SX, vertcat, sin, cos
-
-from common.realtime import sec_since_boot
-from selfdrive.modeld.constants import T_IDXS
+# WARNING: imports outside of constants will not trigger a rebuild
+from openpilot.selfdrive.modeld.constants import T_IDXS
 
 if __name__ == '__main__':  # generating code
-  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 LAT_MPC_DIR = os.path.dirname(os.path.abspath(__file__))
 EXPORT_DIR = os.path.join(LAT_MPC_DIR, "c_generated_code")
 JSON_FILE = os.path.join(LAT_MPC_DIR, "acados_ocp_lat.json")
 X_DIM = 4
 P_DIM = 2
-N = 16
 COST_E_DIM = 3
 COST_DIM = COST_E_DIM + 2
 SPEED_OFFSET = 10.0
 MODEL_NAME = 'lat'
 ACADOS_SOLVER_TYPE = 'SQP_RTI'
+N = 32
 
 def gen_lat_model():
   model = AcadosModel()
@@ -129,11 +129,15 @@ def gen_lat_ocp():
 
 
 class LateralMpc():
-  def __init__(self, x0=np.zeros(X_DIM)):
+  def __init__(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
     self.solver = AcadosOcpSolverCython(MODEL_NAME, ACADOS_SOLVER_TYPE, N)
     self.reset(x0)
 
-  def reset(self, x0=np.zeros(X_DIM)):
+  def reset(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(X_DIM)
     self.x_sol = np.zeros((N+1, X_DIM))
     self.u_sol = np.zeros((N, 1))
     self.yref = np.zeros((N+1, COST_DIM))
@@ -168,19 +172,19 @@ class LateralMpc():
     self.solver.constraints_set(0, "lbx", x0_cp)
     self.solver.constraints_set(0, "ubx", x0_cp)
     self.yref[:,0] = y_pts
-    v_ego = p_cp[0]
+    v_ego = p_cp[0, 0]
     # rotation_radius = p_cp[1]
     self.yref[:,1] = heading_pts * (v_ego + SPEED_OFFSET)
     self.yref[:,2] = yaw_rate_pts * (v_ego + SPEED_OFFSET)
     for i in range(N):
       self.solver.cost_set(i, "yref", self.yref[i])
-      self.solver.set(i, "p", p_cp)
-    self.solver.set(N, "p", p_cp)
+      self.solver.set(i, "p", p_cp[i])
+    self.solver.set(N, "p", p_cp[N])
     self.solver.cost_set(N, "yref", self.yref[N][:COST_E_DIM])
 
-    t = sec_since_boot()
+    t = time.monotonic()
     self.solution_status = self.solver.solve()
-    self.solve_time = sec_since_boot() - t
+    self.solve_time = time.monotonic() - t
 
     for i in range(N+1):
       self.x_sol[i] = self.solver.get(i, 'x')
diff --git a/selfdrive/controls/lib/lateral_planner.py b/selfdrive/controls/lib/lateral_planner.py
index 932ad49535..92786f73d8 100644
--- a/selfdrive/controls/lib/lateral_planner.py
+++ b/selfdrive/controls/lib/lateral_planner.py
@@ -1,11 +1,12 @@
+import time
 import numpy as np
-from common.realtime import sec_since_boot, DT_MDL
-from common.numpy_fast import interp
-from system.swaglog import cloudlog
-from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
-from selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED
-from selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.numpy_fast import interp
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, MIN_SPEED, get_speed_error
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 import cereal.messaging as messaging
 from cereal import log
 
@@ -16,16 +17,16 @@ CAMERA_OFFSET = 0.04
 PATH_COST = 1.0
 LATERAL_MOTION_COST = 0.11
 LATERAL_ACCEL_COST = 0.0
-LATERAL_JERK_COST = 0.05
+LATERAL_JERK_COST = 0.04
 # Extreme steering rate is unpleasant, even
 # when it does not cause bad jerk.
 # TODO this cost should be lowered when low
 # speed lateral control is stable on all cars
-STEERING_RATE_COST = 800.0
+STEERING_RATE_COST = 700.0
 
 
 class LateralPlanner:
-  def __init__(self, CP):
+  def __init__(self, CP, debug=False):
     self.DH = DesireHelper()
 
     # Vehicle model parameters used to calculate lateral movement of car
@@ -35,22 +36,31 @@ class LateralPlanner:
     self.solution_invalid_cnt = 0
 
     self.path_xyz = np.zeros((TRAJECTORY_SIZE, 3))
+    self.velocity_xyz = np.zeros((TRAJECTORY_SIZE, 3))
     self.plan_yaw = np.zeros((TRAJECTORY_SIZE,))
     self.plan_yaw_rate = np.zeros((TRAJECTORY_SIZE,))
     self.t_idxs = np.arange(TRAJECTORY_SIZE)
-    self.y_pts = np.zeros(TRAJECTORY_SIZE)
+    self.y_pts = np.zeros((TRAJECTORY_SIZE,))
+    self.v_plan = np.zeros((TRAJECTORY_SIZE,))
+    self.v_ego = 0.0
+    self.l_lane_change_prob = 0.0
+    self.r_lane_change_prob = 0.0
+
+    self.debug_mode = debug
 
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))
 
-  def reset_mpc(self, x0=np.zeros(4)):
+  def reset_mpc(self, x0=None):
+    if x0 is None:
+      x0 = np.zeros(4)
     self.x0 = x0
     self.lat_mpc.reset(x0=self.x0)
 
   def update(self, sm):
     # clip speed , lateral planning is not possible at 0 speed
-    self.v_ego = max(MIN_SPEED, sm['carState'].vEgo)
     measured_curvature = sm['controlsState'].curvature
+    v_ego_car = sm['carState'].vEgo
 
     # Parse model predictions
     md = sm['modelV2']
@@ -59,6 +69,10 @@ class LateralPlanner:
       self.t_idxs = np.array(md.position.t)
       self.plan_yaw = np.array(md.orientation.z)
       self.plan_yaw_rate = np.array(md.orientationRate.z)
+      self.velocity_xyz = np.column_stack([md.velocity.x, md.velocity.y, md.velocity.z])
+      car_speed = np.linalg.norm(self.velocity_xyz, axis=1) - get_speed_error(md, v_ego_car)
+      self.v_plan = np.clip(car_speed, MIN_SPEED, np.inf)
+      self.v_ego = self.v_plan[0]
 
     # Lane change logic
     desire_state = md.meta.desireState
@@ -68,21 +82,20 @@ class LateralPlanner:
     lane_change_prob = self.l_lane_change_prob + self.r_lane_change_prob
     self.DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
 
-    d_path_xyz = self.path_xyz
     self.lat_mpc.set_weights(PATH_COST, LATERAL_MOTION_COST,
                              LATERAL_ACCEL_COST, LATERAL_JERK_COST,
                              STEERING_RATE_COST)
 
-    y_pts = np.interp(self.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(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw)
-    yaw_rate_pts = np.interp(self.v_ego * self.t_idxs[:LAT_MPC_N + 1], np.linalg.norm(self.path_xyz, axis=1), self.plan_yaw_rate)
+    y_pts = self.path_xyz[:LAT_MPC_N+1, 1]
+    heading_pts = self.plan_yaw[:LAT_MPC_N+1]
+    yaw_rate_pts = self.plan_yaw_rate[:LAT_MPC_N+1]
     self.y_pts = y_pts
 
     assert len(y_pts) == LAT_MPC_N + 1
     assert len(heading_pts) == LAT_MPC_N + 1
     assert len(yaw_rate_pts) == LAT_MPC_N + 1
-    lateral_factor = max(0, self.factor1 - (self.factor2 * self.v_ego**2))
-    p = np.array([self.v_ego, lateral_factor])
+    lateral_factor = np.clip(self.factor1 - (self.factor2 * self.v_plan**2), 0.0, np.inf)
+    p = np.column_stack([self.v_plan, lateral_factor])
     self.lat_mpc.run(self.x0,
                      p,
                      y_pts,
@@ -96,7 +109,7 @@ class LateralPlanner:
 
     #  Check for infeasible MPC solution
     mpc_nans = np.isnan(self.lat_mpc.x_sol[:, 3]).any()
-    t = sec_since_boot()
+    t = time.monotonic()
     if mpc_nans or self.lat_mpc.solution_status != 0:
       self.reset_mpc()
       self.x0[3] = measured_curvature * self.v_ego
@@ -104,7 +117,7 @@ class LateralPlanner:
         self.last_cloudlog_t = t
         cloudlog.warning("Lateral mpc - nan: True")
 
-    if self.lat_mpc.cost > 20000. or mpc_nans:
+    if self.lat_mpc.cost > 1e6 or mpc_nans:
       self.solution_invalid_cnt += 1
     else:
       self.solution_invalid_cnt = 0
@@ -120,10 +133,15 @@ class LateralPlanner:
     lateralPlan.psis = self.lat_mpc.x_sol[0:CONTROL_N, 2].tolist()
 
     lateralPlan.curvatures = (self.lat_mpc.x_sol[0:CONTROL_N, 3]/self.v_ego).tolist()
-    lateralPlan.curvatureRates = [float(x/self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
+    lateralPlan.curvatureRates = [float(x.item() / self.v_ego) for x in self.lat_mpc.u_sol[0:CONTROL_N - 1]] + [0.0]
 
     lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
     lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
+    if self.debug_mode:
+      lateralPlan.solverCost = self.lat_mpc.cost
+      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
+      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
+      lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
 
     lateralPlan.desire = self.DH.desire
     lateralPlan.useLaneLines = False
diff --git a/selfdrive/controls/lib/longcontrol.py b/selfdrive/controls/lib/longcontrol.py
index 545a4c43ff..61c150aadc 100644
--- a/selfdrive/controls/lib/longcontrol.py
+++ b/selfdrive/controls/lib/longcontrol.py
@@ -1,9 +1,9 @@
 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, apply_deadzone
-from selfdrive.controls.lib.pid import PIDController
-from selfdrive.modeld.constants import T_IDXS
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.controls.lib.drive_helpers import CONTROL_N, apply_deadzone
+from openpilot.selfdrive.controls.lib.pid import PIDController
+from openpilot.selfdrive.modeld.constants import T_IDXS
 
 LongCtrlState = car.CarControl.Actuators.LongControlState
 
@@ -30,10 +30,8 @@ def long_control_state_trans(CP, active, long_control_state, v_ego, v_target,
     long_control_state = LongCtrlState.off
 
   else:
-    if long_control_state == LongCtrlState.off:
+    if long_control_state in (LongCtrlState.off, LongCtrlState.pid):
       long_control_state = LongCtrlState.pid
-
-    elif long_control_state == LongCtrlState.pid:
       if stopping_condition:
         long_control_state = LongCtrlState.stopping
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
index 5a9e69c297..c78be70fe3 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/SConscript
@@ -44,28 +44,26 @@ generated_files = [
   f'{gen}/long_model/long_expl_vde_adj.c',
 
   f'{gen}/long_model/long_model.h',
-  f'{gen}/long_constraints/long_h_constraint.h',
-  f'{gen}/long_cost/long_cost_y_fun.h',
-  f'{gen}/long_cost/long_cost_y_e_fun.h',
-  f'{gen}/long_cost/long_cost_y_0_fun.h',
+  f'{gen}/long_constraints/long_constraints.h',
+  f'{gen}/long_cost/long_cost.h',
 ] + build_files
 
 acados_dir = '#third_party/acados'
-acados_templates_dir = '#pyextra/acados_template/c_templates_tera'
+acados_templates_dir = '#third_party/acados/acados_template/c_templates_tera'
 
 source_list = ['long_mpc.py',
+  '#/selfdrive/modeld/constants.py',
   f'{acados_dir}/include/acados_c/ocp_nlp_interface.h',
-  f'{acados_dir}/x86_64/lib/libacados.so',
-  f'{acados_dir}/larch64/lib/libacados.so',
   f'{acados_templates_dir}/acados_solver.in.c',
 ]
 
 lenv = env.Clone()
 lenv.Clean(generated_files, Dir(gen))
 
-lenv.Command(generated_files,
-             source_list,
-             f"cd {Dir('.').abspath} && python3 long_mpc.py")
+generated_long = lenv.Command(generated_files,
+                              source_list,
+                              f"cd {Dir('.').abspath} && python3 long_mpc.py")
+lenv.Depends(generated_long, "#cereal")
 
 lenv["CFLAGS"].append("-DACADOS_WITH_QPOASES")
 lenv["CXXFLAGS"].append("-DACADOS_WITH_QPOASES")
@@ -77,8 +75,8 @@ lib_solver = lenv.SharedLibrary(f"{gen}/acados_ocp_solver_long",
                                 LIBS=['m', 'acados', 'hpipm', 'blasfeo', 'qpOASES_e'])
 
 # generate cython stuff
-acados_ocp_solver_pyx = File("#pyextra/acados_template/acados_ocp_solver_pyx.pyx")
-acados_ocp_solver_common = File("#pyextra/acados_template/acados_solver_common.pxd")
+acados_ocp_solver_pyx = File("#third_party/acados/acados_template/acados_ocp_solver_pyx.pyx")
+acados_ocp_solver_common = File("#third_party/acados/acados_template/acados_solver_common.pxd")
 libacados_ocp_solver_pxd = File(f'{gen}/acados_solver.pxd')
 libacados_ocp_solver_c = File(f'{gen}/acados_ocp_solver_pyx.c')
 
diff --git a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
index 79a9ec4f0c..eaa782efee 100644
--- a/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
+++ b/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py
@@ -1,17 +1,19 @@
 #!/usr/bin/env python3
 import os
+import time
 import numpy as np
-
-from common.realtime import sec_since_boot
-from common.numpy_fast import clip
-from system.swaglog import cloudlog
-from selfdrive.modeld.constants import index_function
-from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+from cereal import log
+from openpilot.common.numpy_fast import clip
+from openpilot.system.swaglog import cloudlog
+# WARNING: imports outside of constants will not trigger a rebuild
+from openpilot.selfdrive.modeld.constants import index_function
+from openpilot.selfdrive.car.interfaces import ACCEL_MIN
+from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 if __name__ == '__main__':  # generating code
-  from pyextra.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
+  from openpilot.third_party.acados.acados_template import AcadosModel, AcadosOcp, AcadosOcpSolver
 else:
-  from selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython  # pylint: disable=no-name-in-module, import-error
+  from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx import AcadosOcpSolverCython
 
 from casadi import SX, vertcat
 
@@ -51,20 +53,40 @@ T_IDXS_LST = [index_function(idx, max_val=MAX_T, max_idx=N) for idx in range(N+1
 T_IDXS = np.array(T_IDXS_LST)
 FCW_IDXS = T_IDXS < 5.0
 T_DIFFS = np.diff(T_IDXS, prepend=[0.])
-MIN_ACCEL = -3.5
-MAX_ACCEL = 2.0
-T_FOLLOW = 1.45
 COMFORT_BRAKE = 2.5
 STOP_DISTANCE = 6.0
 
+def get_jerk_factor(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.0
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 0.5
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
+
+def get_T_FOLLOW(personality=log.LongitudinalPersonality.standard):
+  if personality==log.LongitudinalPersonality.relaxed:
+    return 1.75
+  elif personality==log.LongitudinalPersonality.standard:
+    return 1.45
+  elif personality==log.LongitudinalPersonality.aggressive:
+    return 1.25
+  else:
+    raise NotImplementedError("Longitudinal personality not supported")
+
 def get_stopped_equivalence_factor(v_lead):
   return (v_lead**2) / (2 * COMFORT_BRAKE)
 
-def get_safe_obstacle_distance(v_ego, t_follow=T_FOLLOW):
+def get_safe_obstacle_distance(v_ego, t_follow):
   return (v_ego**2) / (2 * COMFORT_BRAKE) + t_follow * v_ego + STOP_DISTANCE
 
-def desired_follow_distance(v_ego, v_lead):
-  return get_safe_obstacle_distance(v_ego) - get_stopped_equivalence_factor(v_lead)
+def desired_follow_distance(v_ego, v_lead, t_follow=None):
+  if t_follow is None:
+    t_follow = get_T_FOLLOW()
+  return get_safe_obstacle_distance(v_ego, t_follow) - get_stopped_equivalence_factor(v_lead)
 
 
 def gen_long_model():
@@ -160,7 +182,8 @@ def gen_long_ocp():
 
   x0 = np.zeros(X_DIM)
   ocp.constraints.x0 = x0
-  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, T_FOLLOW, LEAD_DANGER_FACTOR])
+  ocp.parameter_values = np.array([-1.2, 1.2, 0.0, 0.0, get_T_FOLLOW(), LEAD_DANGER_FACTOR])
+
 
   # We put all constraint cost weights to 0 and only set them at runtime
   cost_weights = np.zeros(CONSTR_DIM)
@@ -248,10 +271,11 @@ class LongitudinalMpc:
     for i in range(N):
       self.solver.cost_set(i, 'Zl', Zl)
 
-  def set_weights(self, prev_accel_constraint=True):
+  def set_weights(self, prev_accel_constraint=True, personality=log.LongitudinalPersonality.standard):
+    jerk_factor = get_jerk_factor(personality)
     if self.mode == 'acc':
       a_change_cost = A_CHANGE_COST if prev_accel_constraint else 0
-      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, a_change_cost, J_EGO_COST]
+      cost_weights = [X_EGO_OBSTACLE_COST, X_EGO_COST, V_EGO_COST, A_EGO_COST, jerk_factor * a_change_cost, jerk_factor * J_EGO_COST]
       constraint_cost_weights = [LIMIT_COST, LIMIT_COST, LIMIT_COST, DANGER_ZONE_COST]
     elif self.mode == 'blended':
       a_change_cost = 40.0 if prev_accel_constraint else 0
@@ -293,7 +317,7 @@ class LongitudinalMpc:
 
     # MPC will not converge if immediate crash is expected
     # Clip lead distance to what is still possible to brake for
-    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-MIN_ACCEL * 2)
+    min_x_lead = ((v_ego + v_lead)/2) * (v_ego - v_lead) / (-ACCEL_MIN * 2)
     x_lead = clip(x_lead, min_x_lead, 1e8)
     v_lead = clip(v_lead, 0.0, 1e8)
     a_lead = clip(a_lead, -10., 5.)
@@ -306,7 +330,8 @@ class LongitudinalMpc:
     self.cruise_min_a = min_a
     self.max_a = max_a
 
-  def update(self, carstate, radarstate, v_cruise, x, v, a, j):
+  def update(self, radarstate, v_cruise, x, v, a, j, personality=log.LongitudinalPersonality.standard):
+    t_follow = get_T_FOLLOW(personality)
     v_ego = self.x0[1]
     self.status = radarstate.leadOne.status or radarstate.leadTwo.status
 
@@ -319,7 +344,7 @@ class LongitudinalMpc:
     lead_0_obstacle = lead_xv_0[:,0] + get_stopped_equivalence_factor(lead_xv_0[:,1])
     lead_1_obstacle = lead_xv_1[:,0] + get_stopped_equivalence_factor(lead_xv_1[:,1])
 
-    self.params[:,0] = MIN_ACCEL
+    self.params[:,0] = ACCEL_MIN
     self.params[:,1] = self.max_a
 
     # Update in ACC mode or ACC/e2e blend
@@ -333,7 +358,7 @@ class LongitudinalMpc:
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped)
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, t_follow)
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 
@@ -367,7 +392,7 @@ class LongitudinalMpc:
 
     self.params[:,2] = np.min(x_obstacles, axis=1)
     self.params[:,3] = np.copy(self.prev_a)
-    self.params[:,4] = T_FOLLOW
+    self.params[:,4] = t_follow
 
     self.run()
     if (np.any(lead_xv_0[FCW_IDXS,0] - self.x_sol[FCW_IDXS,0] < CRASH_DISTANCE) and
@@ -379,14 +404,14 @@ class LongitudinalMpc:
     # Check if it got within lead comfort range
     # TODO This should be done cleaner
     if self.mode == 'blended':
-      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0):
+      if any((lead_0_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0):
         self.source = 'lead0'
-      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], T_FOLLOW))- self.x_sol[:,0] < 0.0) and \
+      if any((lead_1_obstacle - get_safe_obstacle_distance(self.x_sol[:,1], t_follow))- self.x_sol[:,0] < 0.0) and \
          (lead_1_obstacle[0] - lead_0_obstacle[0]):
         self.source = 'lead1'
 
   def run(self):
-    # t0 = sec_since_boot()
+    # t0 = time.monotonic()
     # reset = 0
     for i in range(N+1):
       self.solver.set(i, 'p', self.params[i])
@@ -400,7 +425,8 @@ class LongitudinalMpc:
     self.time_integrator = float(self.solver.get_stats('time_sim')[0])
 
     # qp_iter = self.solver.get_stats('statistics')[-1][-1] # SQP_RTI specific
-    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
+    # print(f"long_mpc timings: tot {self.solve_time:.2e}, qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e}, \
+    # integrator {self.time_integrator:.2e}, qp_iter {qp_iter}")
     # res = self.solver.get_residuals()
     # print(f"long_mpc residuals: {res[0]:.2e}, {res[1]:.2e}, {res[2]:.2e}, {res[3]:.2e}")
     # self.solver.print_statistics()
@@ -416,14 +442,15 @@ class LongitudinalMpc:
 
     self.prev_a = np.interp(T_IDXS + 0.05, T_IDXS, self.a_solution)
 
-    t = sec_since_boot()
+    t = time.monotonic()
     if self.solution_status != 0:
       if t > self.last_cloudlog_t + 5.0:
         self.last_cloudlog_t = t
         cloudlog.warning(f"Long mpc reset, solution_status: {self.solution_status}")
       self.reset()
       # reset = 1
-    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(sec_since_boot() - t0):.2e} qp {self.time_qp_solution:.2e}, lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
+    # print(f"long_mpc timings: total internal {self.solve_time:.2e}, external: {(time.monotonic() - t0):.2e} qp {self.time_qp_solution:.2e}, \
+    # lin {self.time_linearization:.2e} qp_iter {qp_iter}, reset {reset}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index a0f6318323..c1e782fa5c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -1,21 +1,23 @@
 #!/usr/bin/env python3
 import math
 import numpy as np
-from common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip, interp
+from openpilot.common.params import Params
+from cereal import log
 
 import cereal.messaging as messaging
-from common.conversions import Conversions as CV
-from common.filter_simple import FirstOrderFilter
-from common.realtime import DT_MDL
-from selfdrive.modeld.constants import T_IDXS
-from selfdrive.controls.lib.longcontrol import LongCtrlState
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc, MIN_ACCEL, MAX_ACCEL
-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 system.swaglog import cloudlog
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.car.interfaces import ACCEL_MIN, ACCEL_MAX
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS as T_IDXS_MPC
+from openpilot.selfdrive.controls.lib.drive_helpers import V_CRUISE_MAX, CONTROL_N, get_speed_error
+from openpilot.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
 A_CRUISE_MIN = -1.2
 A_CRUISE_MAX_VALS = [1.6, 1.2, 0.8, 0.6]
 A_CRUISE_MAX_BP = [0., 10.0, 25., 40.]
@@ -58,6 +60,16 @@ class LongitudinalPlanner:
     self.a_desired_trajectory = np.zeros(CONTROL_N)
     self.j_desired_trajectory = np.zeros(CONTROL_N)
     self.solverExecutionTime = 0.0
+    self.params = Params()
+    self.param_read_counter = 0
+    self.read_param()
+    self.personality = log.LongitudinalPersonality.standard
+
+  def read_param(self):
+    try:
+      self.personality = int(self.params.get('LongitudinalPersonality'))
+    except (ValueError, TypeError):
+      self.personality = log.LongitudinalPersonality.standard
 
   @staticmethod
   def parse_model(model_msg, model_error):
@@ -76,11 +88,13 @@ class LongitudinalPlanner:
     return x, v, a, j
 
   def update(self, sm):
+    if self.param_read_counter % 50 == 0:
+      self.read_param()
+    self.param_read_counter += 1
     self.mpc.mode = 'blended' if sm['controlsState'].experimentalMode else 'acc'
 
     v_ego = sm['carState'].vEgo
-    v_cruise_kph = sm['controlsState'].vCruise
-    v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
+    v_cruise_kph = min(sm['controlsState'].vCruise, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
     long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
@@ -96,8 +110,8 @@ class LongitudinalPlanner:
       accel_limits = [A_CRUISE_MIN, get_max_accel(v_ego)]
       accel_limits_turns = limit_accel_in_turns(v_ego, sm['carState'].steeringAngleDeg, accel_limits, self.CP)
     else:
-      accel_limits = [MIN_ACCEL, MAX_ACCEL]
-      accel_limits_turns = [MIN_ACCEL, MAX_ACCEL]
+      accel_limits = [ACCEL_MIN, ACCEL_MAX]
+      accel_limits_turns = [ACCEL_MIN, ACCEL_MAX]
 
     if reset_state:
       self.v_desired_filter.x = v_ego
@@ -107,25 +121,24 @@ class LongitudinalPlanner:
     # Prevent divergence, smooth in current v_ego
     self.v_desired_filter.x = max(0.0, self.v_desired_filter.update(v_ego))
     # Compute model v_ego error
-    if len(sm['modelV2'].temporalPose.trans):
-      self.v_model_error = sm['modelV2'].temporalPose.trans[0] - v_ego
+    self.v_model_error = get_speed_error(sm['modelV2'], v_ego)
 
     if force_slow_decel:
-      # if required so, force a smooth deceleration
-      accel_limits_turns[1] = min(accel_limits_turns[1], AWARENESS_DECEL)
-      accel_limits_turns[0] = min(accel_limits_turns[0], accel_limits_turns[1])
+      v_cruise = 0.0
     # clip limits, cannot init MPC outside of bounds
     accel_limits_turns[0] = min(accel_limits_turns[0], self.a_desired + 0.05)
     accel_limits_turns[1] = max(accel_limits_turns[1], self.a_desired - 0.05)
 
-    self.mpc.set_weights(prev_accel_constraint)
+    self.mpc.set_weights(prev_accel_constraint, personality=self.personality)
     self.mpc.set_accel_limits(accel_limits_turns[0], accel_limits_turns[1])
     self.mpc.set_cur_state(self.v_desired_filter.x, self.a_desired)
     x, v, a, j = self.parse_model(sm['modelV2'], self.v_model_error)
-    self.mpc.update(sm['carState'], sm['radarState'], v_cruise, x, v, a, j)
+    self.mpc.update(sm['radarState'], v_cruise, x, v, a, j, personality=self.personality)
 
-    self.v_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.v_solution)
-    self.a_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC, self.mpc.a_solution)
+    self.v_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.v_solution)
+    self.a_desired_trajectory_full = np.interp(T_IDXS, T_IDXS_MPC, self.mpc.a_solution)
+    self.v_desired_trajectory = self.v_desired_trajectory_full[:CONTROL_N]
+    self.a_desired_trajectory = self.a_desired_trajectory_full[:CONTROL_N]
     self.j_desired_trajectory = np.interp(T_IDXS[:CONTROL_N], T_IDXS_MPC[:-1], self.mpc.j_solution)
 
     # TODO counter is only needed because radar is glitchy, remove once radar is gone
@@ -156,5 +169,6 @@ class LongitudinalPlanner:
     longitudinalPlan.fcw = self.fcw
 
     longitudinalPlan.solverExecutionTime = self.mpc.solve_time
+    longitudinalPlan.personality = self.personality
 
     pm.send('longitudinalPlan', plan_send)
diff --git a/selfdrive/controls/lib/pid.py b/selfdrive/controls/lib/pid.py
index 965158131b..f4ec7e5996 100644
--- a/selfdrive/controls/lib/pid.py
+++ b/selfdrive/controls/lib/pid.py
@@ -1,7 +1,7 @@
 import numpy as np
 from numbers import Number
 
-from common.numpy_fast import clip, interp
+from openpilot.common.numpy_fast import clip, interp
 
 
 class PIDController():
diff --git a/selfdrive/controls/lib/radar_helpers.py b/selfdrive/controls/lib/radar_helpers.py
deleted file mode 100644
index 4bb0179267..0000000000
--- a/selfdrive/controls/lib/radar_helpers.py
+++ /dev/null
@@ -1,158 +0,0 @@
-from common.numpy_fast import mean
-from common.kalman.simple_kalman import KF1D
-
-
-# Default lead acceleration decay set to 50% at 1s
-_LEAD_ACCEL_TAU = 1.5
-
-# radar tracks
-SPEED, ACCEL = 0, 1   # Kalman filter states enum
-
-# stationary qualification parameters
-v_ego_stationary = 4.   # no stationary object flag below this speed
-
-RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
-RADAR_TO_CAMERA = 1.52   # RADAR is ~ 1.5m ahead from center of mesh frame
-
-class Track():
-  def __init__(self, v_lead, kalman_params):
-    self.cnt = 0
-    self.aLeadTau = _LEAD_ACCEL_TAU
-    self.K_A = kalman_params.A
-    self.K_C = kalman_params.C
-    self.K_K = kalman_params.K
-    self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
-
-  def update(self, d_rel, y_rel, v_rel, v_lead, measured):
-    # relative values, copy
-    self.dRel = d_rel   # LONG_DIST
-    self.yRel = y_rel   # -LAT_DIST
-    self.vRel = v_rel   # REL_SPEED
-    self.vLead = v_lead
-    self.measured = measured   # measured or estimate
-
-    # computed velocity and accelerations
-    if self.cnt > 0:
-      self.kf.update(self.vLead)
-
-    self.vLeadK = float(self.kf.x[SPEED][0])
-    self.aLeadK = float(self.kf.x[ACCEL][0])
-
-    # Learn if constant acceleration
-    if abs(self.aLeadK) < 0.5:
-      self.aLeadTau = _LEAD_ACCEL_TAU
-    else:
-      self.aLeadTau *= 0.9
-
-    self.cnt += 1
-
-  def get_key_for_cluster(self):
-    # Weigh y higher since radar is inaccurate in this dimension
-    return [self.dRel, self.yRel*2, self.vRel]
-
-  def reset_a_lead(self, aLeadK, aLeadTau):
-    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
-    self.aLeadK = aLeadK
-    self.aLeadTau = aLeadTau
-
-
-class Cluster():
-  def __init__(self):
-    self.tracks = set()
-
-  def add(self, t):
-    # add the first track
-    self.tracks.add(t)
-
-  # TODO: make generic
-  @property
-  def dRel(self):
-    return mean([t.dRel for t in self.tracks])
-
-  @property
-  def yRel(self):
-    return mean([t.yRel for t in self.tracks])
-
-  @property
-  def vRel(self):
-    return mean([t.vRel for t in self.tracks])
-
-  @property
-  def aRel(self):
-    return mean([t.aRel for t in self.tracks])
-
-  @property
-  def vLead(self):
-    return mean([t.vLead for t in self.tracks])
-
-  @property
-  def dPath(self):
-    return mean([t.dPath for t in self.tracks])
-
-  @property
-  def vLat(self):
-    return mean([t.vLat for t in self.tracks])
-
-  @property
-  def vLeadK(self):
-    return mean([t.vLeadK for t in self.tracks])
-
-  @property
-  def aLeadK(self):
-    if all(t.cnt <= 1 for t in self.tracks):
-      return 0.
-    else:
-      return mean([t.aLeadK for t in self.tracks if t.cnt > 1])
-
-  @property
-  def aLeadTau(self):
-    if all(t.cnt <= 1 for t in self.tracks):
-      return _LEAD_ACCEL_TAU
-    else:
-      return mean([t.aLeadTau for t in self.tracks if t.cnt > 1])
-
-  @property
-  def measured(self):
-    return any(t.measured for t in self.tracks)
-
-  def get_RadarState(self, model_prob=0.0):
-    return {
-      "dRel": float(self.dRel),
-      "yRel": float(self.yRel),
-      "vRel": float(self.vRel),
-      "vLead": float(self.vLead),
-      "vLeadK": float(self.vLeadK),
-      "aLeadK": float(self.aLeadK),
-      "status": True,
-      "fcw": self.is_potential_fcw(model_prob),
-      "modelProb": model_prob,
-      "radar": True,
-      "aLeadTau": float(self.aLeadTau)
-    }
-
-  def get_RadarState_from_vision(self, lead_msg, v_ego):
-    return {
-      "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
-      "yRel": float(-lead_msg.y[0]),
-      "vRel": float(lead_msg.v[0] - v_ego),
-      "vLead": float(lead_msg.v[0]),
-      "vLeadK": float(lead_msg.v[0]),
-      "aLeadK": float(0),
-      "aLeadTau": _LEAD_ACCEL_TAU,
-      "fcw": False,
-      "modelProb": float(lead_msg.prob),
-      "radar": False,
-      "status": True
-    }
-
-  def __str__(self):
-    ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
-    return ret
-
-  def potential_low_speed_lead(self, v_ego):
-    # stop for stuff in front of you and low speed, even without model confirmation
-    # Radar points closer than 0.75, are almost always glitches on toyota radars
-    return abs(self.yRel) < 1.0 and (v_ego < v_ego_stationary) and (0.75 < self.dRel < 25)
-
-  def is_potential_fcw(self, model_prob):
-    return model_prob > .9
diff --git a/selfdrive/controls/lib/tests/__init__.py b/selfdrive/controls/lib/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/controls/lib/tests/test_alertmanager.py b/selfdrive/controls/lib/tests/test_alertmanager.py
index 6c1b6fc4a2..dbd42858a0 100755
--- a/selfdrive/controls/lib/tests/test_alertmanager.py
+++ b/selfdrive/controls/lib/tests/test_alertmanager.py
@@ -2,8 +2,8 @@
 import random
 import unittest
 
-from selfdrive.controls.lib.events import Alert, EVENTS
-from selfdrive.controls.lib.alertmanager import AlertManager
+from openpilot.selfdrive.controls.lib.events import Alert, EVENTS
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
 
 
 class TestAlertManager(unittest.TestCase):
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index f15ab2fa56..9580e604ff 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -4,23 +4,23 @@ import unittest
 from parameterized import parameterized
 
 from cereal import car, log
-from selfdrive.car.car_helpers import interfaces
-from selfdrive.car.honda.values import CAR as HONDA
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.nissan.values import CAR as NISSAN
-from selfdrive.controls.lib.latcontrol_pid import LatControlPID
-from selfdrive.controls.lib.latcontrol_torque import LatControlTorque
-from selfdrive.controls.lib.latcontrol_indi import LatControlINDI
-from selfdrive.controls.lib.latcontrol_angle import LatControlAngle
-from selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.nissan.values import CAR as NISSAN
+from openpilot.selfdrive.controls.lib.latcontrol_pid import LatControlPID
+from openpilot.selfdrive.controls.lib.latcontrol_torque import LatControlTorque
+from openpilot.selfdrive.controls.lib.latcontrol_angle import LatControlAngle
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel
+from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk
 
 
 class TestLatControl(unittest.TestCase):
 
-  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque), (TOYOTA.PRIUS, LatControlINDI), (NISSAN.LEAF, LatControlAngle)])
+  @parameterized.expand([(HONDA.CIVIC, LatControlPID), (TOYOTA.RAV4, LatControlTorque),  (NISSAN.LEAF, LatControlAngle)])
   def test_saturation(self, car_name, controller):
     CarInterface, CarController, CarState = interfaces[car_name]
-    CP = CarInterface.get_params(car_name)
+    CP = CarInterface.get_non_essential_params(car_name)
     CI = CarInterface(CP, CarController, CarState)
     VM = VehicleModel(CP)
 
@@ -28,13 +28,15 @@ class TestLatControl(unittest.TestCase):
 
     CS = car.CarState.new_message()
     CS.vEgo = 30
+    CS.steeringPressed = False
 
     last_actuators = car.CarControl.Actuators.new_message()
 
     params = log.LiveParametersData.new_message()
 
+    llk = gen_llk()
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0)
+      _, _, lac_log = controller.update(True, CS, VM, params, last_actuators, False, 1, 0, llk)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/controls/lib/tests/test_vehicle_model.py b/selfdrive/controls/lib/tests/test_vehicle_model.py
index 3e08cb0aa0..d016e87527 100755
--- a/selfdrive/controls/lib/tests/test_vehicle_model.py
+++ b/selfdrive/controls/lib/tests/test_vehicle_model.py
@@ -5,14 +5,14 @@ import unittest
 import numpy as np
 from control import StateSpace
 
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.car.honda.values import CAR
-from selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
+from openpilot.selfdrive.car.honda.interface import CarInterface
+from openpilot.selfdrive.car.honda.values import CAR
+from openpilot.selfdrive.controls.lib.vehicle_model import VehicleModel, dyn_ss_sol, create_dyn_state_matrices
 
 
 class TestVehicleModel(unittest.TestCase):
   def setUp(self):
-    CP = CarInterface.get_params(CAR.CIVIC)
+    CP = CarInterface.get_non_essential_params(CAR.CIVIC)
     self.VM = VehicleModel(CP)
 
   def test_round_trip_yaw_rate(self):
@@ -38,7 +38,7 @@ class TestVehicleModel(unittest.TestCase):
 
           # Compute yaw rate using direct computations
           yr2 = self.VM.yaw_rate(sa, u, roll)
-          self.assertAlmostEqual(float(yr1), yr2)
+          self.assertAlmostEqual(float(yr1[0]), yr2)
 
   def test_syn_ss_sol_simulate(self):
     """Verifies that dyn_ss_sol matches a simulation"""
diff --git a/selfdrive/controls/plannerd.py b/selfdrive/controls/plannerd.py
index 93d0c80dac..2b23a0440e 100755
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@@ -1,30 +1,52 @@
 #!/usr/bin/env python3
+import os
+import numpy as np
 from cereal import car
-from common.params import Params
-from common.realtime import Priority, config_realtime_process
-from system.swaglog import cloudlog
-from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from selfdrive.controls.lib.lateral_planner import LateralPlanner
+from openpilot.common.params import Params
+from openpilot.common.realtime import Priority, config_realtime_process
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.lib.lateral_planner import LateralPlanner
 import cereal.messaging as messaging
 
+def cumtrapz(x, t):
+  return np.concatenate([[0], np.cumsum(((x[0:-1] + x[1:])/2) * np.diff(t))])
+
+def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
+  plan_odo = cumtrapz(longitudinal_planner.v_desired_trajectory_full, T_IDXS)
+  model_odo = cumtrapz(lateral_planner.v_plan, T_IDXS)
+
+  ui_send = messaging.new_message('uiPlan')
+  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
+  uiPlan = ui_send.uiPlan
+  uiPlan.frameId = sm['modelV2'].frameId
+  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
+  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
+  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
+  uiPlan.accel = longitudinal_planner.a_desired_trajectory_full.tolist()
+  pm.send('uiPlan', ui_send)
 
 def plannerd_thread(sm=None, pm=None):
   config_realtime_process(5, Priority.CTRL_LOW)
 
   cloudlog.info("plannerd is waiting for CarParams")
   params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
+  debug_mode = bool(int(os.getenv("DEBUG", "0")))
+
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP)
+  lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
   if sm is None:
     sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],
                              poll=['radarState', 'modelV2'], ignore_avg_freq=['radarState'])
 
   if pm is None:
-    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan'])
+    pm = messaging.PubMaster(['longitudinalPlan', 'lateralPlan', 'uiPlan'])
 
   while True:
     sm.update()
@@ -34,7 +56,7 @@ def plannerd_thread(sm=None, pm=None):
       lateral_planner.publish(sm, pm)
       longitudinal_planner.update(sm)
       longitudinal_planner.publish(sm, pm)
-
+      publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner)
 
 def main(sm=None, pm=None):
   plannerd_thread(sm, pm)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index 3d958139d6..8a21fdd8ab 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -1,20 +1,34 @@
 #!/usr/bin/env python3
 import importlib
 import math
-from collections import defaultdict, deque
+from collections import deque
+from typing import Optional, Dict, Any
 
-import cereal.messaging as messaging
-from cereal import car
-from common.numpy_fast import interp
-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 system.swaglog import cloudlog
+import capnp
+from cereal import messaging, log, car
+from openpilot.common.numpy_fast import interp
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper, Priority, config_realtime_process
+from openpilot.system.swaglog import cloudlog
 
+from openpilot.common.kalman.simple_kalman import KF1D
 
-class KalmanParams():
-  def __init__(self, dt):
+
+# Default lead acceleration decay set to 50% at 1s
+_LEAD_ACCEL_TAU = 1.5
+
+# radar tracks
+SPEED, ACCEL = 0, 1     # Kalman filter states enum
+
+# stationary qualification parameters
+V_EGO_STATIONARY = 4.   # no stationary object flag below this speed
+
+RADAR_TO_CENTER = 2.7   # (deprecated) RADAR is ~ 2.7m ahead from center of car
+RADAR_TO_CAMERA = 1.52  # RADAR is ~ 1.5m ahead from center of mesh frame
+
+
+class KalmanParams:
+  def __init__(self, dt: float):
     # Lead Kalman Filter params, calculating K from A, C, Q, R requires the control library.
     # hardcoding a lookup table to compute K for values of radar_ts between 0.01s and 0.2s
     assert dt > .01 and dt < .2, "Radar time step must be between .01s and 0.2s"
@@ -35,76 +49,170 @@ class KalmanParams():
     self.K = [[interp(dt, dts, K0)], [interp(dt, dts, K1)]]
 
 
-def laplacian_cdf(x, mu, b):
+class Track:
+  def __init__(self, v_lead: float, kalman_params: KalmanParams):
+    self.cnt = 0
+    self.aLeadTau = _LEAD_ACCEL_TAU
+    self.K_A = kalman_params.A
+    self.K_C = kalman_params.C
+    self.K_K = kalman_params.K
+    self.kf = KF1D([[v_lead], [0.0]], self.K_A, self.K_C, self.K_K)
+
+  def update(self, d_rel: float, y_rel: float, v_rel: float, v_lead: float, measured: float):
+    # relative values, copy
+    self.dRel = d_rel   # LONG_DIST
+    self.yRel = y_rel   # -LAT_DIST
+    self.vRel = v_rel   # REL_SPEED
+    self.vLead = v_lead
+    self.measured = measured   # measured or estimate
+
+    # computed velocity and accelerations
+    if self.cnt > 0:
+      self.kf.update(self.vLead)
+
+    self.vLeadK = float(self.kf.x[SPEED][0])
+    self.aLeadK = float(self.kf.x[ACCEL][0])
+
+    # Learn if constant acceleration
+    if abs(self.aLeadK) < 0.5:
+      self.aLeadTau = _LEAD_ACCEL_TAU
+    else:
+      self.aLeadTau *= 0.9
+
+    self.cnt += 1
+
+  def get_key_for_cluster(self):
+    # Weigh y higher since radar is inaccurate in this dimension
+    return [self.dRel, self.yRel*2, self.vRel]
+
+  def reset_a_lead(self, aLeadK: float, aLeadTau: float):
+    self.kf = KF1D([[self.vLead], [aLeadK]], self.K_A, self.K_C, self.K_K)
+    self.aLeadK = aLeadK
+    self.aLeadTau = aLeadTau
+
+  def get_RadarState(self, model_prob: float = 0.0):
+    return {
+      "dRel": float(self.dRel),
+      "yRel": float(self.yRel),
+      "vRel": float(self.vRel),
+      "vLead": float(self.vLead),
+      "vLeadK": float(self.vLeadK),
+      "aLeadK": float(self.aLeadK),
+      "status": True,
+      "fcw": self.is_potential_fcw(model_prob),
+      "modelProb": model_prob,
+      "radar": True,
+      "aLeadTau": float(self.aLeadTau)
+    }
+
+  def potential_low_speed_lead(self, v_ego: float):
+    # stop for stuff in front of you and low speed, even without model confirmation
+    # Radar points closer than 0.75, are almost always glitches on toyota radars
+    return abs(self.yRel) < 1.0 and (v_ego < V_EGO_STATIONARY) and (0.75 < self.dRel < 25)
+
+  def is_potential_fcw(self, model_prob: float):
+    return model_prob > .9
+
+  def __str__(self):
+    ret = f"x: {self.dRel:4.1f}  y: {self.yRel:4.1f}  v: {self.vRel:4.1f}  a: {self.aLeadK:4.1f}"
+    return ret
+
+
+def laplacian_pdf(x: float, mu: float, b: float):
   b = max(b, 1e-4)
   return math.exp(-abs(x-mu)/b)
 
 
-def match_vision_to_cluster(v_ego, lead, clusters):
-  # match vision point to best statistical cluster match
+def match_vision_to_track(v_ego: float, lead: capnp._DynamicStructReader, tracks: Dict[int, Track]):
   offset_vision_dist = lead.x[0] - RADAR_TO_CAMERA
 
   def prob(c):
-    prob_d = laplacian_cdf(c.dRel, offset_vision_dist, lead.xStd[0])
-    prob_y = laplacian_cdf(c.yRel, -lead.y[0], lead.yStd[0])
-    prob_v = laplacian_cdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
+    prob_d = laplacian_pdf(c.dRel, offset_vision_dist, lead.xStd[0])
+    prob_y = laplacian_pdf(c.yRel, -lead.y[0], lead.yStd[0])
+    prob_v = laplacian_pdf(c.vRel + v_ego, lead.v[0], lead.vStd[0])
 
     # This is isn't exactly right, but good heuristic
     return prob_d * prob_y * prob_v
 
-  cluster = max(clusters, key=prob)
+  track = max(tracks.values(), key=prob)
 
   # if no 'sane' match is found return -1
   # stationary radar points can be false positives
-  dist_sane = abs(cluster.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
-  vel_sane = (abs(cluster.vRel + v_ego - lead.v[0]) < 10) or (v_ego + cluster.vRel > 3)
+  dist_sane = abs(track.dRel - offset_vision_dist) < max([(offset_vision_dist)*.25, 5.0])
+  vel_sane = (abs(track.vRel + v_ego - lead.v[0]) < 10) or (v_ego + track.vRel > 3)
   if dist_sane and vel_sane:
-    return cluster
+    return track
   else:
     return None
 
 
-def get_lead(v_ego, ready, clusters, lead_msg, low_speed_override=True):
+def get_RadarState_from_vision(lead_msg: capnp._DynamicStructReader, v_ego: float, model_v_ego: float):
+  lead_v_rel_pred = lead_msg.v[0] - model_v_ego
+  return {
+    "dRel": float(lead_msg.x[0] - RADAR_TO_CAMERA),
+    "yRel": float(-lead_msg.y[0]),
+    "vRel": float(lead_v_rel_pred),
+    "vLead": float(v_ego + lead_v_rel_pred),
+    "vLeadK": float(v_ego + lead_v_rel_pred),
+    "aLeadK": 0.0,
+    "aLeadTau": 0.3,
+    "fcw": False,
+    "modelProb": float(lead_msg.prob),
+    "radar": False,
+    "status": True
+  }
+
+
+def get_lead(v_ego: float, ready: bool, tracks: Dict[int, Track], lead_msg: capnp._DynamicStructReader,
+             model_v_ego: float, low_speed_override: bool = True) -> Dict[str, Any]:
   # Determine leads, this is where the essential logic happens
-  if len(clusters) > 0 and ready and lead_msg.prob > .5:
-    cluster = match_vision_to_cluster(v_ego, lead_msg, clusters)
+  if len(tracks) > 0 and ready and lead_msg.prob > .5:
+    track = match_vision_to_track(v_ego, lead_msg, tracks)
   else:
-    cluster = None
+    track = None
 
   lead_dict = {'status': False}
-  if cluster is not None:
-    lead_dict = cluster.get_RadarState(lead_msg.prob)
-  elif (cluster is None) and ready and (lead_msg.prob > .5):
-    lead_dict = Cluster().get_RadarState_from_vision(lead_msg, v_ego)
+  if track is not None:
+    lead_dict = track.get_RadarState(lead_msg.prob)
+  elif (track is None) and ready and (lead_msg.prob > .5):
+    lead_dict = get_RadarState_from_vision(lead_msg, v_ego, model_v_ego)
 
   if low_speed_override:
-    low_speed_clusters = [c for c in clusters if c.potential_low_speed_lead(v_ego)]
-    if len(low_speed_clusters) > 0:
-      closest_cluster = min(low_speed_clusters, key=lambda c: c.dRel)
+    low_speed_tracks = [c for c in tracks.values() if c.potential_low_speed_lead(v_ego)]
+    if len(low_speed_tracks) > 0:
+      closest_track = min(low_speed_tracks, key=lambda c: c.dRel)
 
-      # Only choose new cluster if it is actually closer than the previous one
-      if (not lead_dict['status']) or (closest_cluster.dRel < lead_dict['dRel']):
-        lead_dict = closest_cluster.get_RadarState()
+      # Only choose new track if it is actually closer than the previous one
+      if (not lead_dict['status']) or (closest_track.dRel < lead_dict['dRel']):
+        lead_dict = closest_track.get_RadarState()
 
   return lead_dict
 
 
-class RadarD():
-  def __init__(self, radar_ts, delay=0):
-    self.current_time = 0
+class RadarD:
+  def __init__(self, radar_ts: float, delay: int = 0):
+    self.current_time = 0.0
 
-    self.tracks = defaultdict(dict)
+    self.tracks: Dict[int, Track] = {}
     self.kalman_params = KalmanParams(radar_ts)
 
-    # v_ego
-    self.v_ego = 0.
-    self.v_ego_hist = deque([0], maxlen=delay+1)
+    self.v_ego = 0.0
+    self.v_ego_hist = deque([0.0], maxlen=delay+1)
+
+    self.radar_state: Optional[capnp._DynamicStructBuilder] = None
+    self.radar_state_valid = False
 
     self.ready = False
 
-  def update(self, sm, rr):
+  def update(self, sm: messaging.SubMaster, rr: Optional[car.RadarData]):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
+    radar_points = []
+    radar_errors = []
+    if rr is not None:
+      radar_points = rr.points
+      radar_errors = rr.errors
+
     if sm.updated['carState']:
       self.v_ego = sm['carState'].vEgo
       self.v_ego_hist.append(self.v_ego)
@@ -112,7 +220,7 @@ class RadarD():
       self.ready = True
 
     ar_pts = {}
-    for pt in rr.points:
+    for pt in radar_points:
       ar_pts[pt.trackId] = [pt.dRel, pt.yRel, pt.vRel, pt.measured]
 
     # *** remove missing points from meta data ***
@@ -132,57 +240,51 @@ class RadarD():
         self.tracks[ids] = Track(v_lead, self.kalman_params)
       self.tracks[ids].update(rpt[0], rpt[1], rpt[2], v_lead, rpt[3])
 
-    idens = list(sorted(self.tracks.keys()))
-    track_pts = [self.tracks[iden].get_key_for_cluster() for iden in idens]
-
-    # If we have multiple points, cluster them
-    if len(track_pts) > 1:
-      cluster_idxs = cluster_points_centroid(track_pts, 2.5)
-      clusters = [None] * (max(cluster_idxs) + 1)
-
-      for idx in range(len(track_pts)):
-        cluster_i = cluster_idxs[idx]
-        if clusters[cluster_i] is None:
-          clusters[cluster_i] = Cluster()
-        clusters[cluster_i].add(self.tracks[idens[idx]])
-    elif len(track_pts) == 1:
-      # FIXME: cluster_point_centroid hangs forever if len(track_pts) == 1
-      cluster_idxs = [0]
-      clusters = [Cluster()]
-      clusters[0].add(self.tracks[idens[0]])
-    else:
-      clusters = []
-
-    # if a new point, reset accel to the rest of the cluster
-    for idx in range(len(track_pts)):
-      if self.tracks[idens[idx]].cnt <= 1:
-        aLeadK = clusters[cluster_idxs[idx]].aLeadK
-        aLeadTau = clusters[cluster_idxs[idx]].aLeadTau
-        self.tracks[idens[idx]].reset_a_lead(aLeadK, aLeadTau)
-
     # *** publish radarState ***
-    dat = messaging.new_message('radarState')
-    dat.valid = sm.all_checks() and len(rr.errors) == 0
-    radarState = dat.radarState
-    radarState.mdMonoTime = sm.logMonoTime['modelV2']
-    radarState.canMonoTimes = list(rr.canMonoTimes)
-    radarState.radarErrors = list(rr.errors)
-    radarState.carStateMonoTime = sm.logMonoTime['carState']
-
+    self.radar_state_valid = sm.all_checks() and len(radar_errors) == 0
+    self.radar_state = log.RadarState.new_message()
+    self.radar_state.mdMonoTime = sm.logMonoTime['modelV2']
+    self.radar_state.radarErrors = list(radar_errors)
+    self.radar_state.carStateMonoTime = sm.logMonoTime['carState']
+
+    if len(sm['modelV2'].temporalPose.trans):
+      model_v_ego = sm['modelV2'].temporalPose.trans[0]
+    else:
+      model_v_ego = self.v_ego
     leads_v3 = sm['modelV2'].leadsV3
     if len(leads_v3) > 1:
-      radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
-      radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
-    return dat
+      self.radar_state.leadOne = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[0], model_v_ego, low_speed_override=True)
+      self.radar_state.leadTwo = get_lead(self.v_ego, self.ready, self.tracks, leads_v3[1], model_v_ego, low_speed_override=False)
+
+  def publish(self, pm: messaging.PubMaster, lag_ms: float):
+    assert self.radar_state is not None
+
+    radar_msg = messaging.new_message("radarState")
+    radar_msg.valid = self.radar_state_valid
+    radar_msg.radarState = self.radar_state
+    radar_msg.radarState.cumLagMs = lag_ms
+    pm.send("radarState", radar_msg)
+
+    # publish tracks for UI debugging (keep last)
+    tracks_msg = messaging.new_message('liveTracks', len(self.tracks))
+    for index, tid in enumerate(sorted(self.tracks.keys())):
+      tracks_msg.liveTracks[index] = {
+        "trackId": tid,
+        "dRel": float(self.tracks[tid].dRel),
+        "yRel": float(self.tracks[tid].yRel),
+        "vRel": float(self.tracks[tid].vRel),
+      }
+    pm.send('liveTracks', tracks_msg)
 
 
 # fuses camera and radar data for best lead detection
-def radard_thread(sm=None, pm=None, can_sock=None):
+def radard_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: Optional[messaging.SubSocket] = None):
   config_realtime_process(5, Priority.CTRL_LOW)
 
   # wait for stats about the car to come in from controls
   cloudlog.info("radard is waiting for CarParams")
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+  with car.CarParams.from_bytes(Params().get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("radard got CarParams")
 
   # import the radar from the fingerprint
@@ -211,28 +313,13 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(sm, rr)
-    dat.radarState.cumLagMs = -rk.remaining*1000.
-
-    pm.send('radarState', dat)
-
-    # *** publish tracks for UI debugging (keep last) ***
-    tracks = RD.tracks
-    dat = messaging.new_message('liveTracks', len(tracks))
-
-    for cnt, ids in enumerate(sorted(tracks.keys())):
-      dat.liveTracks[cnt] = {
-        "trackId": ids,
-        "dRel": float(tracks[ids].dRel),
-        "yRel": float(tracks[ids].yRel),
-        "vRel": float(tracks[ids].vRel),
-      }
-    pm.send('liveTracks', dat)
+    RD.update(sm, rr)
+    RD.publish(pm, -rk.remaining*1000.0)
 
     rk.monitor_time()
 
 
-def main(sm=None, pm=None, can_sock=None):
+def main(sm: Optional[messaging.SubMaster] = None, pm: Optional[messaging.PubMaster] = None, can_sock: messaging.SubSocket = None):
   radard_thread(sm, pm, can_sock)
 
 
diff --git a/selfdrive/controls/tests/test_alerts.py b/selfdrive/controls/tests/test_alerts.py
index 9ed7eee122..7b4fba0dce 100755
--- a/selfdrive/controls/tests/test_alerts.py
+++ b/selfdrive/controls/tests/test_alerts.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import copy
 import json
 import os
 import unittest
@@ -6,11 +7,12 @@ import random
 from PIL import Image, ImageDraw, ImageFont
 
 from cereal import log, car
-from common.basedir import BASEDIR
-from common.params import Params
-from selfdrive.controls.lib.events import Alert, EVENTS, ET
-from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.test.process_replay.process_replay import FakeSubMaster, CONFIGS
+from cereal.messaging import SubMaster
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import Alert, EVENTS, ET
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
 
 AlertSize = log.ControlsState.AlertSize
 
@@ -34,7 +36,7 @@ class TestAlerts(unittest.TestCase):
       cls.CS = car.CarState.new_message()
       cls.CP = car.CarParams.new_message()
       cfg = [c for c in CONFIGS if c.proc_name == 'controlsd'][0]
-      cls.sm = FakeSubMaster(cfg.pub_sub.keys())
+      cls.sm = SubMaster(cfg.pubs)
 
   def test_events_defined(self):
     # Ensure all events in capnp schema are defined in events.py
@@ -75,9 +77,10 @@ class TestAlerts(unittest.TestCase):
           break
 
         font = fonts[alert.alert_size][i]
-        w, _ = draw.textsize(txt, font)
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
         msg = f"type: {alert.alert_type} msg: {txt}"
-        self.assertLessEqual(w, max_text_width, msg=msg)
+        self.assertLessEqual(width, max_text_width, msg=msg)
 
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
@@ -107,8 +110,9 @@ class TestAlerts(unittest.TestCase):
     params = Params()
     for a in self.offroad_alerts:
       # set the alert
-      alert = self.offroad_alerts[a]
+      alert = copy.copy(self.offroad_alerts[a])
       set_offroad_alert(a, True)
+      alert['extra'] = ''
       self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
 
       # then delete it
@@ -123,9 +127,9 @@ class TestAlerts(unittest.TestCase):
       alert = self.offroad_alerts[a]
       set_offroad_alert(a, True, extra_text="a"*i)
 
-      expected_txt = alert['text'] + "a"*i
-      written_txt = json.loads(params.get(a, encoding='utf8'))['text']
-      self.assertTrue(expected_txt == written_txt)
+      written_alert = json.loads(params.get(a, encoding='utf8'))
+      self.assertTrue("a"*i == written_alert['extra'])
+      self.assertTrue(alert["text"] == written_alert['text'])
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/controls/tests/test_clustering.py b/selfdrive/controls/tests/test_clustering.py
deleted file mode 100644
index 290b267029..0000000000
--- a/selfdrive/controls/tests/test_clustering.py
+++ /dev/null
@@ -1,140 +0,0 @@
-# pylint: skip-file
-
-import time
-import unittest
-import numpy as np
-from fastcluster import linkage_vector
-from scipy.cluster import _hierarchy
-from scipy.spatial.distance import pdist
-
-from selfdrive.controls.lib.cluster.fastcluster_py import hclust, ffi
-from selfdrive.controls.lib.cluster.fastcluster_py import cluster_points_centroid
-
-
-def fcluster(Z, t, criterion='inconsistent', depth=2, R=None, monocrit=None):
-  # supersimplified function to get fast clustering. Got it from scipy
-  Z = np.asarray(Z, order='c')
-  n = Z.shape[0] + 1
-  T = np.zeros((n,), dtype='i')
-  _hierarchy.cluster_dist(Z, T, float(t), int(n))
-  return T
-
-
-TRACK_PTS = np.array([[59.26000137, -9.35999966, -5.42500019],
-                      [91.61999817, -0.31999999, -2.75],
-                      [31.38000031, 0.40000001, -0.2],
-                      [89.57999725, -8.07999992, -18.04999924],
-                      [53.42000122, 0.63999999, -0.175],
-                      [31.38000031, 0.47999999, -0.2],
-                      [36.33999939, 0.16, -0.2],
-                      [53.33999939, 0.95999998, -0.175],
-                      [59.26000137, -9.76000023, -5.44999981],
-                      [33.93999977, 0.40000001, -0.22499999],
-                      [106.74000092, -5.76000023, -18.04999924]])
-
-CORRECT_LINK = np.array([[2., 5., 0.07999998, 2.],
-                         [4., 7., 0.32984889, 2.],
-                         [0., 8., 0.40078104, 2.],
-                         [6., 9., 2.41209933, 2.],
-                         [11., 14., 3.76342275, 4.],
-                         [12., 13., 13.02297651, 4.],
-                         [1., 3., 17.27626057, 2.],
-                         [10., 17., 17.92918845, 3.],
-                         [15., 16., 23.68525366, 8.],
-                         [18., 19., 52.52351319, 11.]])
-
-CORRECT_LABELS = np.array([7, 1, 4, 2, 6, 4, 5, 6, 7, 5, 3], dtype=np.int32)
-
-
-def plot_cluster(pts, idx_old, idx_new):
-    import matplotlib.pyplot as plt
-    m = 'Set1'
-
-    plt.figure()
-    plt.subplot(1, 2, 1)
-    plt.scatter(pts[:, 0], pts[:, 1], c=idx_old, cmap=m)
-    plt.title("Old")
-    plt.colorbar()
-    plt.subplot(1, 2, 2)
-    plt.scatter(pts[:, 0], pts[:, 1], c=idx_new, cmap=m)
-    plt.title("New")
-    plt.colorbar()
-
-    plt.show()
-
-
-def same_clusters(correct, other):
-  correct = np.asarray(correct)
-  other = np.asarray(other)
-  if len(correct) != len(other):
-    return False
-
-  for i in range(len(correct)):
-    c = np.where(correct == correct[i])
-    o = np.where(other == other[i])
-    if not np.array_equal(c, o):
-      return False
-  return True
-
-
-class TestClustering(unittest.TestCase):
-  def test_scipy_clustering(self):
-    old_link = linkage_vector(TRACK_PTS, method='centroid')
-    old_cluster_idxs = fcluster(old_link, 2.5, criterion='distance')
-
-    np.testing.assert_allclose(old_link, CORRECT_LINK)
-    np.testing.assert_allclose(old_cluster_idxs, CORRECT_LABELS)
-
-  def test_pdist(self):
-    pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64)
-    pts_ptr = ffi.cast("double *", pts.ctypes.data)
-
-    n, m = pts.shape
-    out = np.zeros((n * (n - 1) // 2, ), dtype=np.float64)
-    out_ptr = ffi.cast("double *", out.ctypes.data)
-    hclust.hclust_pdist(n, m, pts_ptr, out_ptr)
-
-    np.testing.assert_allclose(out, np.power(pdist(TRACK_PTS), 2))
-
-  def test_cpp_clustering(self):
-    pts = np.ascontiguousarray(TRACK_PTS, dtype=np.float64)
-    pts_ptr = ffi.cast("double *", pts.ctypes.data)
-    n, m = pts.shape
-
-    labels = np.zeros((n, ), dtype=np.int32)
-    labels_ptr = ffi.cast("int *", labels.ctypes.data)
-    hclust.cluster_points_centroid(n, m, pts_ptr, 2.5**2, labels_ptr)
-    self.assertTrue(same_clusters(CORRECT_LABELS, labels))
-
-  def test_cpp_wrapper_clustering(self):
-    labels = cluster_points_centroid(TRACK_PTS, 2.5)
-    self.assertTrue(same_clusters(CORRECT_LABELS, labels))
-
-  def test_random_cluster(self):
-    np.random.seed(1337)
-    N = 1000
-
-    t_old = 0.
-    t_new = 0.
-
-    for _ in range(N):
-      n = int(np.random.uniform(2, 32))
-      x = np.random.uniform(-10, 50, (n, 1))
-      y = np.random.uniform(-5, 5, (n, 1))
-      vrel = np.random.uniform(-5, 5, (n, 1))
-      pts = np.hstack([x, y, vrel])
-
-      t = time.time()
-      old_link = linkage_vector(pts, method='centroid')
-      old_cluster_idx = fcluster(old_link, 2.5, criterion='distance')
-      t_old += time.time() - t
-
-      t = time.time()
-      cluster_idx = cluster_points_centroid(pts, 2.5)
-      t_new += time.time() - t
-
-      self.assertTrue(same_clusters(old_cluster_idx, cluster_idx))
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/controls/tests/test_cruise_speed.py b/selfdrive/controls/tests/test_cruise_speed.py
index cd1d31cf07..1d43b49ccf 100755
--- a/selfdrive/controls/tests/test_cruise_speed.py
+++ b/selfdrive/controls/tests/test_cruise_speed.py
@@ -1,12 +1,14 @@
 #!/usr/bin/env python3
 import numpy as np
-from parameterized import parameterized_class
 import unittest
 
-from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_ENABLE_MIN, IMPERIAL_INCREMENT
+from parameterized import parameterized_class
+from cereal import log
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
-from common.conversions import Conversions as CV
-from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.common.conversions import Conversions as CV
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 ButtonEvent = car.CarState.ButtonEvent
 ButtonType = car.CarState.ButtonEvent.Type
@@ -31,20 +33,26 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
 
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
-    for e2e in [False, True]:
-      for speed in np.arange(5, 40, 5):
-        print(f'Testing {speed} m/s')
-        cruise_speed = float(speed)
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [5,35]:
+          print(f'Testing {speed} m/s')
+          cruise_speed = float(speed)
 
-        simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-        self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
+          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
 
 
 # TODO: test pcmCruise
 @parameterized_class(('pcm_cruise',), [(False,)])
 class TestVCruiseHelper(unittest.TestCase):
   def setUp(self):
-    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)  # pylint: disable=E1101
+    self.CP = car.CarParams(pcmCruise=self.pcm_cruise)
     self.v_cruise_helper = VCruiseHelper(self.CP)
     self.reset_cruise_speed_state()
 
@@ -53,16 +61,16 @@ class TestVCruiseHelper(unittest.TestCase):
     for _ in range(2):
       self.v_cruise_helper.update_v_cruise(car.CarState(cruiseState={"available": False}), enabled=False, is_metric=False)
 
-  def enable(self, v_ego):
+  def enable(self, v_ego, experimental_mode):
     # Simulates user pressing set with a current speed
-    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego))
+    self.v_cruise_helper.initialize_v_cruise(car.CarState(vEgo=v_ego), experimental_mode)
 
   def test_adjust_speed(self):
     """
     Asserts speed changes on falling edges of buttons.
     """
 
-    self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+    self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
     for btn in (ButtonType.accelCruise, ButtonType.decelCruise):
       for pressed in (True, False):
@@ -86,7 +94,7 @@ class TestVCruiseHelper(unittest.TestCase):
       CS.buttonEvents = [ButtonEvent(type=ButtonType.decelCruise, pressed=pressed)]
       self.v_cruise_helper.update_v_cruise(CS, enabled=enabled, is_metric=False)
       if pressed:
-        self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+        self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # Expected diff on enabling. Speed should not change on falling edge of pressed
       self.assertEqual(not pressed, self.v_cruise_helper.v_cruise_kph == self.v_cruise_helper.v_cruise_kph_last)
@@ -96,7 +104,7 @@ class TestVCruiseHelper(unittest.TestCase):
     Asserts we don't increment set speed if user presses resume/accel to exit cruise standstill.
     """
 
-    self.enable(0)
+    self.enable(0, False)
 
     for standstill in (True, False):
       for pressed in (True, False):
@@ -116,7 +124,7 @@ class TestVCruiseHelper(unittest.TestCase):
 
     for v_ego in np.linspace(0, 100, 101):
       self.reset_cruise_speed_state()
-      self.enable(V_CRUISE_ENABLE_MIN * CV.KPH_TO_MS)
+      self.enable(V_CRUISE_INITIAL * CV.KPH_TO_MS, False)
 
       # first decrement speed, then perform gas pressed logic
       expected_v_cruise_kph = self.v_cruise_helper.v_cruise_kph - IMPERIAL_INCREMENT
@@ -137,13 +145,14 @@ class TestVCruiseHelper(unittest.TestCase):
     Asserts allowed cruise speeds on enabling with SET.
     """
 
-    for v_ego in np.linspace(0, 100, 101):
-      self.reset_cruise_speed_state()
-      self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
+    for experimental_mode in (True, False):
+      for v_ego in np.linspace(0, 100, 101):
+        self.reset_cruise_speed_state()
+        self.assertFalse(self.v_cruise_helper.v_cruise_initialized)
 
-      self.enable(float(v_ego))
-      self.assertTrue(V_CRUISE_ENABLE_MIN <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
-      self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
+        self.enable(float(v_ego), experimental_mode)
+        self.assertTrue(V_CRUISE_INITIAL <= self.v_cruise_helper.v_cruise_kph <= V_CRUISE_MAX)
+        self.assertTrue(self.v_cruise_helper.v_cruise_initialized)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/tests/test_following_distance.py b/selfdrive/controls/tests/test_following_distance.py
index 5185867d2d..be949764c5 100644
--- a/selfdrive/controls/tests/test_following_distance.py
+++ b/selfdrive/controls/tests/test_following_distance.py
@@ -1,9 +1,10 @@
 #!/usr/bin/env python3
 import unittest
-import numpy as np
+from openpilot.common.params import Params
+from cereal import log
 
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
-from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
 def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
@@ -24,14 +25,20 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
 
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
-    for e2e in [False, True]:
-      for speed in np.arange(0, 40, 5):
-        print(f'Testing {speed} m/s')
-        v_lead = float(speed)
-        simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-        correct_steady_state = desired_follow_distance(v_lead, v_lead)
-        err_ratio = 0.2 if e2e else 0.1
-        self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [0,10,35]:
+          print(f'Testing {speed} m/s')
+          v_lead = float(speed)
+          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
+          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
+          err_ratio = 0.2 if e2e else 0.1
+          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/controls/tests/test_lateral_mpc.py b/selfdrive/controls/tests/test_lateral_mpc.py
index df5154b2b4..8c09f46b60 100644
--- a/selfdrive/controls/tests/test_lateral_mpc.py
+++ b/selfdrive/controls/tests/test_lateral_mpc.py
@@ -1,8 +1,8 @@
 import unittest
 import numpy as np
-from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
-from selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
-from selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import LateralMpc
+from openpilot.selfdrive.controls.lib.drive_helpers import CAR_ROTATION_RADIUS
+from openpilot.selfdrive.controls.lib.lateral_mpc_lib.lat_mpc import N as LAT_MPC_N
 
 
 def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvature_init=0.,
@@ -17,7 +17,8 @@ def run_mpc(lat_mpc=None, v_ref=30., x_init=0., y_init=0., psi_init=0., curvatur
   curv_rate_pts = np.zeros(LAT_MPC_N + 1)
 
   x0 = np.array([x_init, y_init, psi_init, curvature_init])
-  p = np.array([v_ref, CAR_ROTATION_RADIUS])
+  p = np.column_stack([v_ref * np.ones(LAT_MPC_N + 1),
+                      CAR_ROTATION_RADIUS * np.ones(LAT_MPC_N + 1)])
 
   # converge in no more than 10 iterations
   for _ in range(10):
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index ba2d2f5c02..6eb803e8aa 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -5,13 +5,13 @@ from parameterized import parameterized
 
 from cereal import log, car
 import cereal.messaging as messaging
-from common.params import Params
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp # pylint: disable=no-name-in-module,import-error
-from selfdrive.car.fingerprints import _FINGERPRINTS
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.mazda.values import CAR as MAZDA
-from selfdrive.controls.lib.events import EVENT_NAME
-from selfdrive.test.helpers import with_processes
+from openpilot.common.params import Params
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car.fingerprints import _FINGERPRINTS
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.mazda.values import CAR as MAZDA
+from openpilot.selfdrive.controls.lib.events import EVENT_NAME
+from openpilot.selfdrive.test.helpers import with_processes
 
 EventName = car.CarEvent.EventName
 Ecu = car.CarParams.Ecu
@@ -108,6 +108,10 @@ class TestStartup(unittest.TestCase):
       finger = _FINGERPRINTS[car_model][0]
 
     for _ in range(1000):
+      # controlsd waits for boardd to echo back that it has changed the multiplexing mode
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+
       msgs = [[addr, 0, b'\x00'*length, 0] for addr, length in finger.items()]
       pm.send('can', can_list_to_can_capnp(msgs))
 
diff --git a/selfdrive/controls/tests/test_state_machine.py b/selfdrive/controls/tests/test_state_machine.py
index 8f263a98e7..bdeed9fb7a 100755
--- a/selfdrive/controls/tests/test_state_machine.py
+++ b/selfdrive/controls/tests/test_state_machine.py
@@ -2,10 +2,10 @@
 import unittest
 
 from cereal import car, log
-from common.realtime import DT_CTRL
-from selfdrive.car.car_helpers import interfaces
-from selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
-from selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.car_helpers import interfaces
+from openpilot.selfdrive.controls.controlsd import Controls, SOFT_DISABLE_TIME
+from openpilot.selfdrive.controls.lib.events import Events, ET, Alert, Priority, AlertSize, AlertStatus, VisualAlert, \
                                           AudibleAlert, EVENTS
 
 State = log.ControlsState.OpenpilotState
@@ -31,7 +31,7 @@ class TestStateMachine(unittest.TestCase):
 
   def setUp(self):
     CarInterface, CarController, CarState = interfaces["mock"]
-    CP = CarInterface.get_params("mock")
+    CP = CarInterface.get_non_essential_params("mock")
     CI = CarInterface(CP, CarController, CarState)
 
     self.controlsd = Controls(CI=CI)
diff --git a/selfdrive/debug/can_print_changes.py b/selfdrive/debug/can_print_changes.py
index ff98c20e60..ea1160d60b 100755
--- a/selfdrive/debug/can_print_changes.py
+++ b/selfdrive/debug/can_print_changes.py
@@ -5,8 +5,8 @@ import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from selfdrive.debug.can_table import can_table
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.selfdrive.debug.can_table import can_table
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 
 RED = '\033[91m'
 CLEAR = '\033[0m'
diff --git a/selfdrive/debug/can_printer.py b/selfdrive/debug/can_printer.py
index 3f991d4e6c..220008979d 100755
--- a/selfdrive/debug/can_printer.py
+++ b/selfdrive/debug/can_printer.py
@@ -1,17 +1,17 @@
 #!/usr/bin/env python3
 import argparse
 import binascii
+import time
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from common.realtime import sec_since_boot
 
 
 def can_printer(bus, max_msg, addr, ascii_decode):
   logcan = messaging.sub_sock('can', addr=addr)
 
-  start = sec_since_boot()
-  lp = sec_since_boot()
+  start = time.monotonic()
+  lp = time.monotonic()
   msgs = defaultdict(list)
   while 1:
     can_recv = messaging.drain_sock(logcan, wait_for_one=True)
@@ -20,17 +20,17 @@ def can_printer(bus, max_msg, addr, ascii_decode):
         if y.src == bus:
           msgs[y.address].append(y.dat)
 
-    if sec_since_boot() - lp > 0.1:
+    if time.monotonic() - lp > 0.1:
       dd = chr(27) + "[2J"
-      dd += f"{sec_since_boot() - start:5.2f}\n"
+      dd += f"{time.monotonic() - start:5.2f}\n"
       for addr in sorted(msgs.keys()):
         a = f"\"{msgs[addr][-1].decode('ascii', 'backslashreplace')}\"" if ascii_decode else ""
         x = binascii.hexlify(msgs[addr][-1]).decode('ascii')
-        freq = len(msgs[addr]) / (sec_since_boot() - start)
+        freq = len(msgs[addr]) / (time.monotonic() - start)
         if max_msg is None or addr < max_msg:
           dd += "%04X(%4d)(%6d)(%3dHz) %s %s\n" % (addr, addr, len(msgs[addr]), freq, x.ljust(20), a)
       print(dd)
-      lp = sec_since_boot()
+      lp = time.monotonic()
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="simple CAN data viewer",
diff --git a/selfdrive/debug/check_can_parser_performance.py b/selfdrive/debug/check_can_parser_performance.py
new file mode 100755
index 0000000000..c4b688ce29
--- /dev/null
+++ b/selfdrive/debug/check_can_parser_performance.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import numpy as np
+import time
+from tqdm import tqdm
+
+from cereal import car
+from openpilot.selfdrive.car.tests.routes import CarTestRoute
+from openpilot.selfdrive.car.tests.test_models import TestCarModelBase
+from openpilot.tools.plotjuggler.juggle import DEMO_ROUTE
+
+N_RUNS = 10
+
+
+class CarModelTestCase(TestCarModelBase):
+  test_route = CarTestRoute(DEMO_ROUTE, None)
+  ci = False
+
+
+if __name__ == '__main__':
+  # Get CAN messages and parsers
+  tm = CarModelTestCase()
+  tm.setUpClass()
+  tm.setUp()
+
+  CC = car.CarControl.new_message()
+  ets = []
+  for _ in tqdm(range(N_RUNS)):
+    start_t = time.process_time_ns()
+    for msg in tm.can_msgs:
+      for cp in tm.CI.can_parsers:
+        if cp is not None:
+          cp.update_strings((msg.as_builder().to_bytes(),))
+    ets.append((time.process_time_ns() - start_t) * 1e-6)
+
+  print(f'{len(tm.can_msgs)} CAN packets, {N_RUNS} runs')
+  print(f'{np.mean(ets):.2f} mean ms, {max(ets):.2f} max ms, {min(ets):.2f} min ms, {np.std(ets):.2f} std ms')
+  print(f'{np.mean(ets) / len(tm.can_msgs):.4f} mean ms / CAN packet')
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index 6436abb4f1..7e7b05e950 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
 import argparse
 import numpy as np
+import time
 from collections import defaultdict, deque
 from typing import DefaultDict, Deque, MutableSequence
 
-from common.realtime import sec_since_boot
 import cereal.messaging as messaging
 
 
@@ -22,7 +22,7 @@ if __name__ == "__main__":
   rcv_times: DefaultDict[str, MutableSequence[float]] = defaultdict(lambda: deque(maxlen=100))
   valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
-  t = sec_since_boot()
+  t = time.monotonic()
   for name in socket_names:
     sock = messaging.sub_sock(name, poller=poller)
     sockets[sock] = name
@@ -36,7 +36,7 @@ if __name__ == "__main__":
 
       name = msg.which()
 
-      t = sec_since_boot()
+      t = time.monotonic()
       rcv_times[name].append(msg.logMonoTime / 1e9)
       valids[name].append(msg.valid)
 
diff --git a/selfdrive/debug/clear_dtc.py b/selfdrive/debug/clear_dtc.py
index d84828079d..dea21331b7 100755
--- a/selfdrive/debug/clear_dtc.py
+++ b/selfdrive/debug/clear_dtc.py
@@ -35,6 +35,6 @@ try:
 except MessageTimeoutError:
   # functional address isn't properly handled so a timeout occurs
   if args.addr != 0x7DF:
-    pass 
+    pass
 print("")
 print("you may need to power cycle your vehicle now")
diff --git a/selfdrive/debug/count_events.py b/selfdrive/debug/count_events.py
index 93dd5bdc47..a8af5e6fe9 100755
--- a/selfdrive/debug/count_events.py
+++ b/selfdrive/debug/count_events.py
@@ -5,11 +5,11 @@ import datetime
 from collections import Counter
 from pprint import pprint
 from tqdm import tqdm
-from typing import cast
+from typing import List, Tuple, cast
 
 from cereal.services import service_list
-from tools.lib.route import Route
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
 if __name__ == "__main__":
   r = Route(sys.argv[1])
@@ -20,25 +20,36 @@ if __name__ == "__main__":
   cams = [s for s in service_list if s.endswith('CameraState')]
   cnt_cameras = dict.fromkeys(cams, 0)
 
+  alerts: List[Tuple[float, str]] = []
   start_time = math.inf
   end_time = -math.inf
+  ignition_off = None
   for q in tqdm(r.qlog_paths()):
     if q is None:
       continue
     lr = list(LogReader(q))
     for msg in lr:
+      end_time = max(end_time, msg.logMonoTime)
+      start_time = min(start_time, msg.logMonoTime)
+
       if msg.which() == 'carEvents':
         for e in msg.carEvents:
           cnt_events[e.name] += 1
+      elif msg.which() == 'controlsState':
+        if len(alerts) == 0 or alerts[-1][1] != msg.controlsState.alertType:
+          t = (msg.logMonoTime - start_time) / 1e9
+          alerts.append((t, msg.controlsState.alertType))
+      elif msg.which() == 'pandaStates':
+        if ignition_off is None:
+          ign = any(ps.ignitionLine or ps.ignitionCan for ps in msg.pandaStates)
+          if not ign:
+            ignition_off = msg.logMonoTime
       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")
@@ -55,5 +66,13 @@ if __name__ == "__main__":
     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("Alerts")
+  for t, a in alerts:
+    print(f"{t:8.2f} {a}")
+  if ignition_off is not None:
+    ignition_off = round((ignition_off - start_time) / 1e9, 2)
+  print("Ignition off at",  ignition_off)
+
   print("\n")
   print("Route duration", datetime.timedelta(seconds=duration))
diff --git a/selfdrive/debug/cpu_usage_stat.py b/selfdrive/debug/cpu_usage_stat.py
index b3294c8728..9050fbb064 100755
--- a/selfdrive/debug/cpu_usage_stat.py
+++ b/selfdrive/debug/cpu_usage_stat.py
@@ -24,7 +24,7 @@ import argparse
 import re
 from collections import defaultdict
 
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 # Do statistics every 5 seconds
 PRINT_INTERVAL = 5
diff --git a/selfdrive/debug/cycle_alerts.py b/selfdrive/debug/cycle_alerts.py
index b40c8e304c..5037208643 100755
--- a/selfdrive/debug/cycle_alerts.py
+++ b/selfdrive/debug/cycle_alerts.py
@@ -4,11 +4,11 @@ import random
 
 from cereal import car, log
 import cereal.messaging as messaging
-from common.realtime import DT_CTRL
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.controls.lib.events import ET, Events
-from selfdrive.controls.lib.alertmanager import AlertManager
-from selfdrive.manager.process_config import managed_processes
+from openpilot.common.realtime import DT_CTRL
+from openpilot.selfdrive.car.honda.interface import CarInterface
+from openpilot.selfdrive.controls.lib.events import ET, Events
+from openpilot.selfdrive.controls.lib.alertmanager import AlertManager
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 EventName = car.CarEvent.EventName
 
@@ -51,7 +51,7 @@ def cycle_alerts(duration=200, is_metric=False):
   cameras = ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']
 
   CS = car.CarState.new_message()
-  CP = CarInterface.get_params("HONDA CIVIC 2016")
+  CP = CarInterface.get_non_essential_params("HONDA CIVIC 2016")
   sm = messaging.SubMaster(['deviceState', 'pandaStates', 'roadCameraState', 'modelV2', 'liveCalibration',
                             'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                             'managerState'] + cameras)
diff --git a/selfdrive/debug/dump.py b/selfdrive/debug/dump.py
index fdb825eead..8436fbd0b0 100755
--- a/selfdrive/debug/dump.py
+++ b/selfdrive/debug/dump.py
@@ -3,14 +3,15 @@ import os
 import sys
 import argparse
 import json
-from hexdump import hexdump
 import codecs
-codecs.register_error("strict", codecs.backslashreplace_errors)
+import cereal.messaging as messaging
 
+from hexdump import hexdump
 from cereal import log
-import cereal.messaging as messaging
 from cereal.services import service_list
 
+codecs.register_error("strict", codecs.backslashreplace_errors)
+
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser(description='Dump communication sockets. See cereal/services.py for a complete list of available sockets.')
@@ -41,7 +42,8 @@ if __name__ == "__main__":
     polld = poller.poll(100)
     for sock in polld:
       msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt
 
       if not args.no_print:
         if args.pipe:
diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py
index c9a21c2848..6af328926b 100755
--- a/selfdrive/debug/dump_car_info.py
+++ b/selfdrive/debug/dump_car_info.py
@@ -2,7 +2,7 @@
 import argparse
 import pickle
 
-from selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs import get_all_car_info
 
 
 def dump_car_info(path):
diff --git a/selfdrive/debug/filter_log_message.py b/selfdrive/debug/filter_log_message.py
index af52953936..20cef0fcc0 100755
--- a/selfdrive/debug/filter_log_message.py
+++ b/selfdrive/debug/filter_log_message.py
@@ -4,8 +4,8 @@ import argparse
 import json
 
 import cereal.messaging as messaging
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
 
 LEVELS = {
   "DEBUG": 10,
@@ -59,7 +59,7 @@ if __name__ == "__main__":
       logs = [args.route[0]]
     else:
       r = Route(args.route[0])
-      logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths())]
+      logs = [q_log if r_log is None else r_log for (q_log, r_log) in zip(r.qlog_paths(), r.log_paths(), strict=True)]
 
   if len(args.route) == 2 and logs:
     n = int(args.route[1])
diff --git a/selfdrive/debug/fingerprint_from_route.py b/selfdrive/debug/fingerprint_from_route.py
index 326e68f8e7..c2bff7c638 100755
--- a/selfdrive/debug/fingerprint_from_route.py
+++ b/selfdrive/debug/fingerprint_from_route.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python3
 
 import sys
-from tools.lib.route import Route
-from tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
 
 
 def get_fingerprint(lr):
@@ -17,7 +17,7 @@ def get_fingerprint(lr):
       for c in msg.can:
         # read also msgs sent by EON on CAN bus 0x80 and filter out the
         # addr with more than 11 bits
-        if c.src % 0x80 == 0 and c.address < 0x800:
+        if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
           msgs[c.address] = len(c.dat)
 
   # show CAN fingerprint
diff --git a/selfdrive/debug/get_fingerprint.py b/selfdrive/debug/get_fingerprint.py
index e678db4f17..f7f7a1604f 100755
--- a/selfdrive/debug/get_fingerprint.py
+++ b/selfdrive/debug/get_fingerprint.py
@@ -22,7 +22,7 @@ while True:
   for c in lc.can:
     # read also msgs sent by EON on CAN bus 0x80 and filter out the
     # addr with more than 11 bits
-    if c.src in [0, 2] and c.address < 0x800:
+    if c.src % 0x80 == 0 and c.address < 0x800 and c.address not in (0x7df, 0x7e0, 0x7e8):
       msgs[c.address] = len(c.dat)
 
   fingerprint = ', '.join("%d: %d" % v for v in sorted(msgs.items()))
diff --git a/selfdrive/debug/hyundai_enable_radar_points.py b/selfdrive/debug/hyundai_enable_radar_points.py
index ac7e7102d0..ac3651bf2f 100755
--- a/selfdrive/debug/hyundai_enable_radar_points.py
+++ b/selfdrive/debug/hyundai_enable_radar_points.py
@@ -32,6 +32,9 @@ SUPPORTED_FW_VERSIONS = {
   b"DN8_ SCC FHCUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"DN8_ SCC F-CUP      1.00 1.00 99110-L0000\x19\x08)\x15T    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
   # 2021 SONATA HYBRID
   b"DNhe SCC FHCUP      1.00 1.02 99110-L5000 \x01#\x15#    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
@@ -52,6 +55,13 @@ SUPPORTED_FW_VERSIONS = {
   b'IK__ SCC F-CUP      1.00 1.02 96400-G9100\x18\x07\x06\x17\x12    ': ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  # 2019 SANTA FE
+  b"TM__ SCC F-CUP      1.00 1.00 99110-S1210\x19\x01%\x168    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":
diff --git a/selfdrive/debug/internal/check_alive_valid.py b/selfdrive/debug/internal/check_alive_valid.py
deleted file mode 100755
index da488c2140..0000000000
--- a/selfdrive/debug/internal/check_alive_valid.py
+++ /dev/null
@@ -1,19 +0,0 @@
-#!/usr/bin/env python3
-import time
-import cereal.messaging as messaging
-
-
-if __name__ == "__main__":
-  sm = messaging.SubMaster(['deviceState', 'pandaStates', 'modelV2', 'liveCalibration', 'driverMonitoringState', 'longitudinalPlan', 'lateralPlan'])
-
-  i = 0
-  while True:
-    sm.update(0)
-
-    i += 1
-    if i % 100 == 0:
-      print()
-      print("alive", sm.alive)
-      print("valid", sm.valid)
-
-    time.sleep(0.01)
diff --git a/selfdrive/debug/internal/design_lqr.py b/selfdrive/debug/internal/design_lqr.py
deleted file mode 100755
index e86926f607..0000000000
--- a/selfdrive/debug/internal/design_lqr.py
+++ /dev/null
@@ -1,32 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import control  # pylint: disable=import-error
-
-dt = 0.01
-A = np.array([[ 0.        ,  1.        ],       [-0.78823806,  1.78060701]])
-B = np.array([[-2.23399437e-05],       [ 7.58330763e-08]])
-C = np.array([[1., 0.]])
-
-
-# Kalman tuning
-Q = np.diag([1, 1])
-R = np.atleast_2d(1e5)
-
-(_, _, L) = control.dare(A.T, C.T, Q, R)
-L = L.T
-
-# LQR tuning
-Q = np.diag([2e5, 1e-5])
-R = np.atleast_2d(1)
-(_, _, K) = control.dare(A, B, Q, R)
-
-A_cl = (A - B.dot(K))
-sys = control.ss(A_cl, B, C, 0, dt)
-dc_gain = control.dcgain(sys)
-
-print(("self.A = np." + A.__repr__()).replace('\n', ''))
-print(("self.B = np." + B.__repr__()).replace('\n', ''))
-print(("self.C = np." + C.__repr__()).replace('\n', ''))
-print(("self.K = np." + K.__repr__()).replace('\n', ''))
-print(("self.L = np." + L.__repr__()).replace('\n', ''))
-print("self.dc_gain = " + str(dc_gain))
diff --git a/selfdrive/debug/internal/fuzz_fw_fingerprint.py b/selfdrive/debug/internal/fuzz_fw_fingerprint.py
index 1ea133cc19..aedb3ada1d 100755
--- a/selfdrive/debug/internal/fuzz_fw_fingerprint.py
+++ b/selfdrive/debug/internal/fuzz_fw_fingerprint.py
@@ -5,11 +5,11 @@ from collections import defaultdict
 
 from tqdm import tqdm
 
-from selfdrive.car.fw_versions import match_fw_to_car_fuzzy
-from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
-from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
-from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
-from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
+from openpilot.selfdrive.car.fw_versions import match_fw_to_car_fuzzy
+from openpilot.selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
+from openpilot.selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
+from openpilot.selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
+from openpilot.selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
 
 
 FWS = {}
@@ -27,8 +27,8 @@ if __name__ == "__main__":
   for _ in tqdm(range(1000)):
     for candidate, fws in FWS.items():
       fw_dict = {}
-      for (tp, addr, subaddr), fw_list in fws.items():
-        fw_dict[(addr, subaddr)] = random.choice(fw_list)
+      for (_, addr, subaddr), fw_list in fws.items():
+        fw_dict[(addr, subaddr)] = [random.choice(fw_list)]
 
       matches = match_fw_to_car_fuzzy(fw_dict, log=False, exclude=candidate)
 
diff --git a/selfdrive/debug/internal/measure_torque_time_to_max.py b/selfdrive/debug/internal/measure_torque_time_to_max.py
index 2cc68df438..ef3152b50c 100755
--- a/selfdrive/debug/internal/measure_torque_time_to_max.py
+++ b/selfdrive/debug/internal/measure_torque_time_to_max.py
@@ -34,7 +34,8 @@ if __name__ == "__main__":
     polld = poller.poll(1000)
     for sock in polld:
       msg = sock.receive()
-      evt = log.Event.from_bytes(msg)
+      with log.Event.from_bytes(msg) as log_evt:
+        evt = log_evt
 
       for item in evt.can:
         if item.address == 0xe4 and item.src == 128:
diff --git a/selfdrive/debug/internal/power_monitor.py b/selfdrive/debug/internal/power_monitor.py
deleted file mode 100755
index 34d2a12adc..0000000000
--- a/selfdrive/debug/internal/power_monitor.py
+++ /dev/null
@@ -1,64 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import sys
-from datetime import datetime
-
-def average(avg, sample):
-  # Weighted avg between existing value and new sample
-  return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
-
-
-if __name__ == '__main__':
-  start_time = datetime.now()
-  try:
-    if len(sys.argv) > 1 and sys.argv[1] == "--charge":
-      print("not disabling charging")
-    else:
-      print("disabling charging")
-      os.system('echo "0" > /sys/class/power_supply/battery/charging_enabled')
-
-    voltage_average = (0., 0)  # average, count
-    current_average = (0., 0)
-    power_average = (0., 0)
-    capacity_average = (0., 0)
-    bat_temp_average = (0., 0)
-    while 1:
-      with open("/sys/class/power_supply/bms/voltage_now") as f:
-        voltage = int(f.read()) / 1e6   # volts
-
-      with open("/sys/class/power_supply/bms/current_now") as f:
-        current = int(f.read()) / 1e3   # ma
-
-      power = voltage * current
-
-      with open("/sys/class/power_supply/bms/capacity_raw") as f:
-        capacity = int(f.read()) / 1e2  # percent
-
-      with open("/sys/class/power_supply/bms/temp") as f:
-        bat_temp = int(f.read()) / 1e1  # celsius
-
-      # compute averages
-      voltage_average = average(voltage_average, voltage)
-      current_average = average(current_average, current)
-      power_average = average(power_average, power)
-      capacity_average = average(capacity_average, capacity)
-      bat_temp_average = average(bat_temp_average, bat_temp)
-
-      print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC")
-      time.sleep(0.1)
-  finally:
-    stop_time = datetime.now()
-    print("\n----------------------Average-----------------------------------")
-    voltage = voltage_average[0]
-    current = current_average[0]
-    power = power_average[0]
-    capacity = capacity_average[0]
-    bat_temp = bat_temp_average[0]
-    print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {capacity:8.2f}% battery {bat_temp:8.1f} degC")
-    print(f"  {(stop_time - start_time).total_seconds():.2f} Seconds     {voltage_average[1]} samples")
-    print("----------------------------------------------------------------")
-
-    # re-enable charging
-    os.system('echo "1" > /sys/class/power_supply/battery/charging_enabled')
-    print("charging enabled\n")
diff --git a/selfdrive/debug/internal/qlog_size.py b/selfdrive/debug/internal/qlog_size.py
index a98a71181d..9b7f369525 100755
--- a/selfdrive/debug/internal/qlog_size.py
+++ b/selfdrive/debug/internal/qlog_size.py
@@ -6,8 +6,8 @@ from collections import defaultdict
 import matplotlib.pyplot as plt
 
 from cereal.services import service_list
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
 
 MIN_SIZE = 0.5  # Percent size of total to show as separate entry
 
@@ -27,7 +27,7 @@ def make_pie(msgs, typ):
   sizes_large = [(k, sz) for (k, sz) in sizes if sz >= total * MIN_SIZE / 100]
   sizes_large += [('other', sum(sz for (_, sz) in sizes if sz < total * MIN_SIZE / 100))]
 
-  labels, sizes = zip(*sizes_large)
+  labels, sizes = zip(*sizes_large, strict=True)
 
   plt.figure()
   plt.title(f"{typ}")
diff --git a/selfdrive/debug/internal/run_paramsd_on_route.py b/selfdrive/debug/internal/run_paramsd_on_route.py
deleted file mode 100755
index 54519e3777..0000000000
--- a/selfdrive/debug/internal/run_paramsd_on_route.py
+++ /dev/null
@@ -1,150 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-# flake8: noqa
-# type: ignore
-
-import math
-import multiprocessing
-
-import numpy as np
-from tqdm import tqdm
-
-from selfdrive.locationd.paramsd import ParamsLearner, States
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
-
-ROUTE = "b2f1615665781088|2021-03-14--17-27-47"
-PLOT = True
-
-
-def load_segment(segment_name):
-  print(f"Loading {segment_name}")
-  if segment_name is None:
-    return []
-
-  try:
-    return list(LogReader(segment_name))
-  except ValueError as e:
-    print(f"Error parsing {segment_name}: {e}")
-    return []
-
-
-if __name__ == "__main__":
-  route = Route(ROUTE)
-
-  msgs = []
-  with multiprocessing.Pool(24) as pool:
-    for d in pool.map(load_segment, route.log_paths()):
-      msgs += d
-
-  for m in msgs:
-    if m.which() == 'carParams':
-      CP = m.carParams
-      break
-
-  params = {
-    'carFingerprint': CP.carFingerprint,
-    'steerRatio': CP.steerRatio,
-    'stiffnessFactor': 1.0,
-    'angleOffsetAverageDeg': 0.0,
-  }
-
-  for m in msgs:
-    if m.which() == 'liveParameters':
-      params['steerRatio'] = m.liveParameters.steerRatio
-      params['angleOffsetAverageDeg'] = m.liveParameters.angleOffsetAverageDeg
-      break
-
-  for m in msgs:
-    if m.which() == 'carState':
-      last_carstate = m
-      break
-
-  print(params)
-  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
-  msgs = [m for m in tqdm(msgs) if m.which() in ('liveLocationKalman', 'carState', 'liveParameters')]
-  msgs = sorted(msgs, key=lambda m: m.logMonoTime)
-
-  ts = []
-  ts_log = []
-  results = []
-  results_log = []
-  for m in tqdm(msgs):
-    if m.which() == 'carState':
-      last_carstate = m
-
-    elif m.which() == 'liveLocationKalman':
-      t = last_carstate.logMonoTime / 1e9
-      learner.handle_log(t, 'carState', last_carstate.carState)
-
-      t = m.logMonoTime / 1e9
-      learner.handle_log(t, 'liveLocationKalman', m.liveLocationKalman)
-
-      x = learner.kf.x
-      sr = float(x[States.STEER_RATIO])
-      st = float(x[States.STIFFNESS])
-      ao_avg = math.degrees(x[States.ANGLE_OFFSET])
-      ao = ao_avg + math.degrees(x[States.ANGLE_OFFSET_FAST])
-      r = [sr, st, ao_avg, ao]
-      if any(math.isnan(v) for v in r):
-        print("NaN", t)
-
-      ts.append(t)
-      results.append(r)
-
-    elif m.which() == 'liveParameters':
-      t = m.logMonoTime / 1e9
-      mm = m.liveParameters
-
-      r = [mm.steerRatio, mm.stiffnessFactor, mm.angleOffsetAverageDeg, mm.angleOffsetDeg]
-      if any(math.isnan(v) for v in r):
-        print("NaN in log", t)
-      ts_log.append(t)
-      results_log.append(r)
-
-  results = np.asarray(results)
-  results_log = np.asarray(results_log)
-
-  if PLOT:
-    import matplotlib.pyplot as plt
-    plt.figure()
-
-    plt.subplot(3, 2, 1)
-    plt.plot(ts, results[:, 0], label='Steer Ratio')
-    plt.grid()
-    plt.ylim([0, 20])
-    plt.legend()
-
-    plt.subplot(3, 2, 3)
-    plt.plot(ts, results[:, 1], label='Stiffness')
-    plt.ylim([0, 2])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 5)
-    plt.plot(ts, results[:, 2], label='Angle offset (average)')
-    plt.plot(ts, results[:, 3], label='Angle offset (instant)')
-    plt.ylim([-5, 5])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 2)
-    plt.plot(ts_log, results_log[:, 0], label='Steer Ratio')
-    plt.grid()
-    plt.ylim([0, 20])
-    plt.legend()
-
-    plt.subplot(3, 2, 4)
-    plt.plot(ts_log, results_log[:, 1], label='Stiffness')
-    plt.ylim([0, 2])
-    plt.grid()
-    plt.legend()
-
-    plt.subplot(3, 2, 6)
-    plt.plot(ts_log, results_log[:, 2], label='Angle offset (average)')
-    plt.plot(ts_log, results_log[:, 3], label='Angle offset (instant)')
-    plt.ylim([-5, 5])
-    plt.grid()
-    plt.legend()
-    plt.show()
-
diff --git a/selfdrive/debug/internal/test_paramsd.py b/selfdrive/debug/internal/test_paramsd.py
deleted file mode 100755
index 3d8e422c35..0000000000
--- a/selfdrive/debug/internal/test_paramsd.py
+++ /dev/null
@@ -1,133 +0,0 @@
-#!/usr/bin/env python3
-# pylint: skip-file
-# type: ignore
-
-import numpy as np
-import math
-from tqdm import tqdm
-from typing import cast
-
-import seaborn as sns
-import matplotlib.pyplot as plt
-
-
-from selfdrive.car.honda.interface import CarInterface
-from selfdrive.car.honda.values import CAR
-from selfdrive.controls.lib.vehicle_model import VehicleModel, create_dyn_state_matrices
-from selfdrive.locationd.kalman.models.car_kf import CarKalman, ObservationKind, States
-
-T_SIM = 5 * 60  # s
-DT = 0.01
-
-
-CP = CarInterface.get_params(CAR.CIVIC)
-VM = VehicleModel(CP)
-
-x, y = 0, 0  # m, m
-psi = math.radians(0)  # rad
-
-# The state is x = [v, r]^T
-# with v lateral speed [m/s], and r rotational speed [rad/s]
-state = np.array([[0.0], [0.0]])
-
-
-ts = np.arange(0, T_SIM, DT)
-speeds = 10 * np.sin(2 * np.pi * ts / 200.) + 25
-
-angle_offsets = math.radians(1.0) * np.ones_like(ts)
-angle_offsets[ts > 60] = 0
-steering_angles = cast(np.ndarray, np.radians(5 * np.cos(2 * np.pi * ts / 100.)))
-
-xs = []
-ys = []
-psis = []
-yaw_rates = []
-speed_ys = []
-
-
-kf_states = []
-kf_ps = []
-
-kf = CarKalman()
-
-for i, t in tqdm(list(enumerate(ts))):
-  u = speeds[i]
-  sa = steering_angles[i]
-  ao = angle_offsets[i]
-
-  A, B = create_dyn_state_matrices(u, VM)
-
-  state += DT * (A.dot(state) + B.dot(sa + ao))
-
-  x += u * math.cos(psi) * DT
-  y += (float(state[0]) * math.sin(psi) + u * math.sin(psi)) * DT
-  psi += float(state[1]) * DT
-
-  kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_YAW_RATE, [float(state[1])])
-  kf.predict_and_observe(t, ObservationKind.CAL_DEVICE_FRAME_XY_SPEED, [[u, float(state[0])]])
-  kf.predict_and_observe(t, ObservationKind.STEER_ANGLE, [sa])
-  kf.predict_and_observe(t, ObservationKind.ANGLE_OFFSET_FAST, [0])
-  kf.predict(t)
-
-  speed_ys.append(float(state[0]))
-  yaw_rates.append(float(state[1]))
-  kf_states.append(kf.x.copy())
-  kf_ps.append(kf.P.copy())
-
-  xs.append(x)
-  ys.append(y)
-  psis.append(psi)
-
-
-xs = np.asarray(xs)
-ys = np.asarray(ys)
-psis = np.asarray(psis)
-speed_ys = np.asarray(speed_ys)
-kf_states = np.asarray(kf_states)
-kf_ps = np.asarray(kf_ps)
-
-
-palette = sns.color_palette()
-
-def plot_with_bands(ts, state, label, ax, idx=1, converter=None):
-  mean = kf_states[:, state].flatten()
-  stds = np.sqrt(kf_ps[:, state, state].flatten())
-
-  if converter is not None:
-    mean = converter(mean)
-    stds = converter(stds)
-
-  sns.lineplot(ts, mean, label=label, ax=ax)
-  ax.fill_between(ts, mean - stds, mean + stds, alpha=.2, color=palette[idx])
-
-
-print(kf.x)
-
-sns.set_context("paper")
-f, axes = plt.subplots(6, 1)
-
-sns.lineplot(ts, np.degrees(steering_angles), label='Steering Angle [deg]', ax=axes[0])
-plot_with_bands(ts, States.STEER_ANGLE, 'Steering Angle kf [deg]', axes[0], converter=np.degrees)
-
-sns.lineplot(ts, np.degrees(yaw_rates), label='Yaw Rate [deg]', ax=axes[1])
-plot_with_bands(ts, States.YAW_RATE, 'Yaw Rate kf [deg]', axes[1], converter=np.degrees)
-
-sns.lineplot(ts, np.ones_like(ts) * VM.sR, label='Steer ratio [-]', ax=axes[2])
-plot_with_bands(ts, States.STEER_RATIO, 'Steer ratio kf [-]', axes[2])
-axes[2].set_ylim([10, 20])
-
-
-sns.lineplot(ts, np.ones_like(ts), label='Tire stiffness[-]', ax=axes[3])
-plot_with_bands(ts, States.STIFFNESS, 'Tire stiffness kf [-]', axes[3])
-axes[3].set_ylim([0.8, 1.2])
-
-
-sns.lineplot(ts, np.degrees(angle_offsets), label='Angle offset [deg]', ax=axes[4])
-plot_with_bands(ts, States.ANGLE_OFFSET, 'Angle offset kf deg', axes[4], converter=np.degrees)
-plot_with_bands(ts, States.ANGLE_OFFSET_FAST, 'Fast Angle offset kf deg', axes[4], converter=np.degrees, idx=2)
-
-axes[4].set_ylim([-2, 2])
-
-sns.lineplot(ts, speeds, ax=axes[5])
-
-plt.show()
diff --git a/selfdrive/debug/live_cpu_and_temp.py b/selfdrive/debug/live_cpu_and_temp.py
index c35afc474b..06f1be0b00 100755
--- a/selfdrive/debug/live_cpu_and_temp.py
+++ b/selfdrive/debug/live_cpu_and_temp.py
@@ -4,7 +4,7 @@ import capnp
 from collections import defaultdict
 
 from cereal.messaging import SubMaster
-from common.numpy_fast import mean
+from openpilot.common.numpy_fast import mean
 from typing import Optional, Dict
 
 def cputime_total(ct):
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
index b804286458..8fb6277d3b 100755
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@@ -4,11 +4,13 @@ from collections import defaultdict
 import difflib
 import pickle
 
-from selfdrive.car.docs import get_all_car_info
-from selfdrive.car.docs_definitions import Column
+from openpilot.selfdrive.car.docs import get_all_car_info
+from openpilot.selfdrive.car.docs_definitions import Column
 
 FOOTNOTE_TAG = "<sup>{}</sup>"
 STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
+VIDEO_ICON = '<a href="{}" target="_blank">\
+                          <img height="18px" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-youtube.svg"></img></a>'
 COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
 COLUMN_HEADER = "|---|---|---|{}|".format("|".join([":---:"] * (len(Column) - 3)))
 ARROW_SYMBOL = "➡️"
@@ -39,8 +41,8 @@ def match_cars(base_cars, new_cars):
 def build_column_diff(base_car, new_car):
   row_builder = []
   for column in Column:
-    base_column = base_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
-    new_column = new_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
+    base_column = base_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
+    new_column = new_car.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG)
 
     if base_column != new_column:
       row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
@@ -74,11 +76,11 @@ def print_car_info_diff(path):
 
     # Removals
     for car_info in car_removals:
-      changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+      changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
 
     # Additions
     for car_info in car_additions:
-      changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+      changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, VIDEO_ICON, FOOTNOTE_TAG) for column in Column]))
 
     for new_car, base_car in car_changes:
       # Column changes
@@ -98,7 +100,8 @@ def print_car_info_diff(path):
   if any(len(c) for c in changes.values()):
     markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
 
-    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
+    for title, category in (("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"),
+                            ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
       if len(changes[category]):
         markdown_builder.append(title)
         if category not in ("detail",):
diff --git a/selfdrive/debug/profiling/watch-irqs.sh b/selfdrive/debug/profiling/watch-irqs.sh
new file mode 100755
index 0000000000..34cc4596f4
--- /dev/null
+++ b/selfdrive/debug/profiling/watch-irqs.sh
@@ -0,0 +1,4 @@
+#!/usr/bin/bash
+set -e
+
+RUBYOPT="-W0" irqtop -d1 -R
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 63b0733bba..c7b6250d3f 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -2,10 +2,10 @@
 
 import argparse
 
-from selfdrive.test.process_replay.compare_logs import save_log
-from selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from tools.lib.logreader import MultiLogIterator
-from tools.lib.route import Route
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.helpers import save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
@@ -25,7 +25,7 @@ if __name__ == "__main__":
   # Remove message generated by the process under test and merge in the new messages
   produces = {o.which() for o in outputs}
   inputs = [i for i in inputs if i.which() not in produces]
-  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)  # type: ignore
+  outputs = sorted(inputs + outputs, key=lambda x: x.logMonoTime)
 
   fn = f"{args.route}_{args.process}.bz2"
   save_log(fn, outputs)
diff --git a/selfdrive/debug/sensor_data_to_hist.py b/selfdrive/debug/sensor_data_to_hist.py
index ceed4b0ec3..73f98b285c 100755
--- a/selfdrive/debug/sensor_data_to_hist.py
+++ b/selfdrive/debug/sensor_data_to_hist.py
@@ -10,8 +10,8 @@ import sys
 import numpy as np
 from collections import defaultdict
 
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
 
 import matplotlib.pyplot as plt
 
diff --git a/selfdrive/debug/set_car_params.py b/selfdrive/debug/set_car_params.py
index 24258db9f2..6060dfbc36 100755
--- a/selfdrive/debug/set_car_params.py
+++ b/selfdrive/debug/set_car_params.py
@@ -2,9 +2,9 @@
 import sys
 
 from cereal import car
-from common.params import Params
-from tools.lib.route import Route
-from tools.lib.logreader import LogReader
+from openpilot.common.params import Params
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
 if __name__ == "__main__":
   CP = None
diff --git a/selfdrive/debug/show_matching_cars.py b/selfdrive/debug/show_matching_cars.py
index d5199b2a9e..19144ead7e 100755
--- a/selfdrive/debug/show_matching_cars.py
+++ b/selfdrive/debug/show_matching_cars.py
@@ -1,10 +1,10 @@
 #!/usr/bin/env python3
-from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
+from openpilot.selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 import cereal.messaging as messaging
 
 
 # rav4 2019 and corolla tss2
-fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8}
+fingerprint = {896: 8, 898: 8, 900: 6, 976: 1, 1541: 8, 902: 6, 905: 8, 810: 2, 1164: 8, 1165: 8, 1166: 8, 1167: 8, 1552: 8, 1553: 8, 1556: 8, 1571: 8, 921: 8, 1056: 8, 544: 4, 1570: 8, 1059: 1, 36: 8, 37: 8, 550: 8, 935: 8, 552: 4, 170: 8, 812: 8, 944: 8, 945: 8, 562: 6, 180: 8, 1077: 8, 951: 8, 1592: 8, 1076: 8, 186: 4, 955: 8, 956: 8, 1001: 8, 705: 8, 452: 8, 1788: 8, 464: 8, 824: 8, 466: 8, 467: 8, 761: 8, 728: 8, 1572: 8, 1114: 8, 933: 8, 800: 8, 608: 8, 865: 8, 610: 8, 1595: 8, 934: 8, 998: 5, 1745: 8, 1000: 8, 764: 8, 1002: 8, 999: 7, 1789: 8, 1649: 8, 1779: 8, 1568: 8, 1017: 8, 1786: 8, 1787: 8, 1020: 8, 426: 6, 1279: 8} # noqa: E501
 
 candidate_cars = all_legacy_fingerprint_cars()
 
diff --git a/selfdrive/debug/test_car_model.py b/selfdrive/debug/test_car_model.py
index 4de5b26762..66fe2ea65f 100755
--- a/selfdrive/debug/test_car_model.py
+++ b/selfdrive/debug/test_car_model.py
@@ -1,18 +1,19 @@
 #!/usr/bin/env python3
 import argparse
 import sys
-from typing import List, Tuple
+from typing import List
 import unittest
 
-from selfdrive.car.tests.routes import CarTestRoute
-from selfdrive.car.tests.test_models import TestCarModel
+from openpilot.selfdrive.car.tests.routes import CarTestRoute
+from openpilot.selfdrive.car.tests.test_models import TestCarModel
+from openpilot.tools.lib.route import SegmentName
 
 
-def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -> unittest.TestSuite:
+def create_test_models_suite(routes: List[CarTestRoute], ci=False) -> unittest.TestSuite:
   test_suite = unittest.TestSuite()
-  for car_model, test_route in routes:
+  for test_route in routes:
     # create new test case and discover tests
-    test_case_args = {"car_model": car_model, "test_route": test_route, "ci": ci}
+    test_case_args = {"car_model": test_route.car_model, "test_route": test_route, "ci": ci}
     CarModelTestCase = type("CarModelTestCase", (TestCarModel,), test_case_args)
     test_suite.addTest(unittest.TestLoader().loadTestsFromTestCase(CarModelTestCase))
   return test_suite
@@ -21,16 +22,17 @@ def create_test_models_suite(routes: List[Tuple[str, CarTestRoute]], ci=False) -
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Test any route against common issues with a new car port. " +
                                                "Uses selfdrive/car/tests/test_models.py")
-  parser.add_argument("route", help="Specify route to run tests on")
+  parser.add_argument("route_or_segment_name", help="Specify route to run tests on")
   parser.add_argument("--car", help="Specify car model for test route")
-  parser.add_argument("--segment", type=int, nargs="?", help="Specify segment of route to test")
   parser.add_argument("--ci", action="store_true", help="Attempt to get logs using openpilotci, need to specify car")
   args = parser.parse_args()
   if len(sys.argv) == 1:
     parser.print_help()
     sys.exit()
 
-  test_route = CarTestRoute(args.route, args.car, segment=args.segment)
-  test_suite = create_test_models_suite([(args.car, test_route)], ci=args.ci)
+  route_or_segment_name = SegmentName(args.route_or_segment_name.strip(), allow_route_name=True)
+  segment_num = route_or_segment_name.segment_num if route_or_segment_name.segment_num != -1 else None
+  test_route = CarTestRoute(route_or_segment_name.route_name.canonical_name, args.car, segment=segment_num)
+  test_suite = create_test_models_suite([test_route], ci=args.ci)
 
   unittest.TextTestRunner().run(test_suite)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index ba7d96dba0..83e173244e 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -6,23 +6,21 @@ import argparse
 import os
 import traceback
 from tqdm import tqdm
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
-from selfdrive.car.interfaces import get_interface_attr
-from selfdrive.car.car_helpers import interface_names
-from selfdrive.car.fw_versions import match_fw_to_car
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
+from openpilot.selfdrive.car.car_helpers import interface_names
+from openpilot.selfdrive.car.fw_versions import VERSIONS, match_fw_to_car
 
 
 NO_API = "NO_API" in os.environ
-VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
 SUPPORTED_BRANDS = VERSIONS.keys()
 SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
 UNKNOWN_BRAND = "unknown"
 
 try:
-  from xx.pipeline.c.CarState import migration
+  from xx.pipeline.lib.fingerprint import MIGRATION
 except ImportError:
-  migration = {}
+  MIGRATION = {}
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Run FW fingerprint on Qlog of route or list of routes')
@@ -74,13 +72,13 @@ if __name__ == "__main__":
 
         elif msg.which() == "carParams":
           CP = msg.carParams
-          car_fw = CP.carFw
+          car_fw = [fw for fw in CP.carFw if not fw.logging]
           if len(car_fw) == 0:
             print("no fw")
             break
 
           live_fingerprint = CP.carFingerprint
-          live_fingerprint = migration.get(live_fingerprint, live_fingerprint)
+          live_fingerprint = MIGRATION.get(live_fingerprint, live_fingerprint)
 
           if args.car is not None:
             live_fingerprint = args.car
@@ -114,7 +112,8 @@ if __name__ == "__main__":
           padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
           for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - \
+                      (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
diff --git a/selfdrive/debug/toyota_eps_factor.py b/selfdrive/debug/toyota_eps_factor.py
index 0a459bb719..d60d2d372b 100755
--- a/selfdrive/debug/toyota_eps_factor.py
+++ b/selfdrive/debug/toyota_eps_factor.py
@@ -2,11 +2,11 @@
 import sys
 import numpy as np
 import matplotlib.pyplot as plt
-from sklearn import linear_model  # pylint: disable=import-error
-from selfdrive.car.toyota.values import STEER_THRESHOLD
+from sklearn import linear_model
+from openpilot.selfdrive.car.toyota.values import STEER_THRESHOLD
 
-from tools.lib.route import Route
-from tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
 
 MIN_SAMPLES = 30 * 100
 
diff --git a/selfdrive/debug/uiview.py b/selfdrive/debug/uiview.py
index 93d901f7c9..f4440a912c 100755
--- a/selfdrive/debug/uiview.py
+++ b/selfdrive/debug/uiview.py
@@ -2,8 +2,8 @@
 import time
 
 from cereal import car, log, messaging
-from common.params import Params
-from selfdrive.manager.process_config import managed_processes
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 if __name__ == "__main__":
   CP = car.CarParams(notCar=True)
diff --git a/selfdrive/debug/vw_mqb_config.py b/selfdrive/debug/vw_mqb_config.py
index 8c4dbc55ee..6b5ec36935 100755
--- a/selfdrive/debug/vw_mqb_config.py
+++ b/selfdrive/debug/vw_mqb_config.py
@@ -49,7 +49,7 @@ if __name__ == "__main__":
     sw_pn = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_SPARE_PART_NUMBER).decode("utf-8")
     sw_ver = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_VERSION_NUMBER).decode("utf-8")
     component = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.SYSTEM_NAME_OR_ENGINE_TYPE).decode("utf-8")
-    odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8")
+    odx_file = uds_client.read_data_by_identifier(DATA_IDENTIFIER_TYPE.ODX_FILE).decode("utf-8").rstrip('\x00')
     current_coding = uds_client.read_data_by_identifier(VOLKSWAGEN_DATA_IDENTIFIER_TYPE.CODING)  # type: ignore
     coding_text = current_coding.hex()
 
@@ -70,14 +70,14 @@ if __name__ == "__main__":
   coding_variant, current_coding_array, coding_byte, coding_bit = None, None, 0, 0
   coding_length = len(current_coding)
 
-  # EV_SteerAssisMQB/MNB cover the majority of MQB racks (EPS_MQB_ZFLS)
-  if odx_file in ("EV_SteerAssisMQB\x00", "EV_SteerAssisMNB\x00"):
-    coding_variant = "ZF"
+  # EPS_MQB_ZFLS
+  if odx_file in ("EV_SteerAssisMQB", "EV_SteerAssisMNB"):
+    coding_variant = "ZFLS"
     coding_byte = 0
     coding_bit = 4
 
-  # APA racks (MQB_PP_APA) have a different coding layout
-  elif odx_file == "EV_SteerAssisVWBSMQBA\x00\x00\x00\x00":
+  # MQB_PP_APA, MQB_VWBS_GEN2
+  elif odx_file in ("EV_SteerAssisVWBSMQBA", "EV_SteerAssisVWBSMQBGen2"):
     coding_variant = "APA"
     coding_byte = 3
     coding_bit = 0
@@ -111,8 +111,8 @@ if __name__ == "__main__":
   if args.action in ["enable", "disable"]:
     print("\nAttempting configuration update")
 
-    assert(coding_variant in ("ZF", "APA"))
-    # ZF EPS config coding length can be anywhere from 1 to 4 bytes, but the
+    assert(coding_variant in ("ZFLS", "APA"))
+    # ZFLS EPS config coding length can be anywhere from 1 to 4 bytes, but the
     # bit we care about is always in the same place in the first byte
     if args.action == "enable":
       new_byte = current_coding_array[coding_byte] | (1 << coding_bit)
@@ -126,6 +126,7 @@ if __name__ == "__main__":
       uds_client.security_access(ACCESS_TYPE_LEVEL_1.SEND_KEY, struct.pack("!I", key))  # type: ignore
     except (NegativeResponseError, MessageTimeoutError):
       print("Security access failed!")
+      print("Open the hood and retry (disables the \"diagnostic firewall\" on newer vehicles)")
       quit()
 
     try:
diff --git a/selfdrive/locationd/.gitignore b/selfdrive/locationd/.gitignore
index 5268902785..11b9f127b2 100644
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@@ -1,5 +1,3 @@
-ubloxd
-ubloxd_test
 params_learner
 paramsd
 locationd
diff --git a/selfdrive/locationd/SConscript b/selfdrive/locationd/SConscript
index 4b7fba19b6..740f827a49 100644
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@@ -1,14 +1,6 @@
 Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')
 
-loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
-
-if GetOption('kaitai'):
-  generated = Dir('generated').srcnode().abspath
-  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
-  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
-  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
-
-env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp"], LIBS=loc_libs)
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']
 
 ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
 locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@@ -19,4 +11,4 @@ lenv.Depends(locationd, libkf)
 
 if File("liblocationd.cc").exists():
   liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
+  lenv.Depends(liblocationd, libkf)
\ No newline at end of file
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index 1c68eb67bd..6469ece402 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -14,37 +14,34 @@ from typing import List, NoReturn, Optional
 
 from cereal import log
 import cereal.messaging as messaging
-from common.conversions import Conversions as CV
-from common.params import Params, put_nonblocking
-from common.realtime import set_realtime_priority
-from common.transformations.orientation import rot_from_euler, euler_from_rot
-from system.swaglog import cloudlog
+from openpilot.common.conversions import Conversions as CV
+from openpilot.common.params import Params, put_nonblocking
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.common.transformations.orientation import rot_from_euler, euler_from_rot
+from openpilot.system.swaglog import cloudlog
 
 MIN_SPEED_FILTER = 15 * CV.MPH_TO_MS
 MAX_VEL_ANGLE_STD = np.radians(0.25)
 MAX_YAW_RATE_FILTER = np.radians(2)  # per second
 
+MAX_HEIGHT_STD = np.exp(-3.5)
+
 # This is at model frequency, blocks needed for efficiency
-SMOOTH_CYCLES = 400
+SMOOTH_CYCLES = 10
 BLOCK_SIZE = 100
 INPUTS_NEEDED = 5   # Minimum blocks needed for valid calibration
 INPUTS_WANTED = 50   # We want a little bit more than we need for stability
 MAX_ALLOWED_SPREAD = np.radians(2)
 RPY_INIT = np.array([0.0,0.0,0.0])
 WIDE_FROM_DEVICE_EULER_INIT = np.array([0.0, 0.0, 0.0])
+HEIGHT_INIT = np.array([1.22])
 
-# These values are needed to accommodate biggest modelframe
-PITCH_LIMITS = np.array([-0.09074112085129739, 0.14907572052989657])
+# These values are needed to accommodate the model frame in the narrow cam of the C3
+PITCH_LIMITS = np.array([-0.09074112085129739, 0.17])
 YAW_LIMITS = np.array([-0.06912048084718224, 0.06912048084718235])
 DEBUG = os.getenv("DEBUG") is not None
 
 
-class Calibration:
-  UNCALIBRATED = 0
-  CALIBRATED = 1
-  INVALID = 2
-
-
 def is_calibration_valid(rpy: np.ndarray) -> bool:
   return (PITCH_LIMITS[0] < rpy[1] < PITCH_LIMITS[1]) and (YAW_LIMITS[0] < rpy[2] < YAW_LIMITS[1])  # type: ignore
 
@@ -56,6 +53,8 @@ def sanity_clip(rpy: np.ndarray) -> np.ndarray:
                    np.clip(rpy[1], PITCH_LIMITS[0] - .005, PITCH_LIMITS[1] + .005),
                    np.clip(rpy[2], YAW_LIMITS[0] - .005, YAW_LIMITS[1] + .005)])
 
+def moving_avg_with_linear_decay(prev_mean: np.ndarray, new_val: np.ndarray, idx: int, block_size: float) -> np.ndarray:
+  return (idx*prev_mean + (block_size - idx) * new_val) / block_size
 
 class Calibrator:
   def __init__(self, param_put: bool = False):
@@ -68,29 +67,38 @@ class Calibrator:
     calibration_params = params.get("CalibrationParams")
     rpy_init = RPY_INIT
     wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
+    height = HEIGHT_INIT
     valid_blocks = 0
+    self.cal_status = log.LiveCalibrationData.Status.uncalibrated
 
     if param_put and calibration_params:
       try:
-        msg = log.Event.from_bytes(calibration_params)
-        rpy_init = np.array(msg.liveCalibration.rpyCalib)
-        valid_blocks = msg.liveCalibration.validBlocks
-        wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
+        with log.Event.from_bytes(calibration_params) as msg:
+          rpy_init = np.array(msg.liveCalibration.rpyCalib)
+          valid_blocks = msg.liveCalibration.validBlocks
+          wide_from_device_euler = np.array(msg.liveCalibration.wideFromDeviceEuler)
+          height = np.array(msg.liveCalibration.height)
       except Exception:
         cloudlog.exception("Error reading cached CalibrationParams")
 
-    self.reset(rpy_init, valid_blocks, wide_from_device_euler)
+    self.reset(rpy_init, valid_blocks, wide_from_device_euler, height)
     self.update_status()
 
   def reset(self, rpy_init: np.ndarray = RPY_INIT,
                   valid_blocks: int = 0,
                   wide_from_device_euler_init: np.ndarray = WIDE_FROM_DEVICE_EULER_INIT,
+                  height_init: np.ndarray = HEIGHT_INIT,
                   smooth_from: Optional[np.ndarray] = None) -> None:
     if not np.isfinite(rpy_init).all():
       self.rpy = RPY_INIT.copy()
     else:
       self.rpy = rpy_init.copy()
 
+    if not np.isfinite(height_init).all() or len(height_init) != 1:
+      self.height = HEIGHT_INIT.copy()
+    else:
+      self.height = height_init.copy()
+
     if not np.isfinite(wide_from_device_euler_init).all() or len(wide_from_device_euler_init) != 3:
       self.wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT.copy()
     else:
@@ -103,6 +111,7 @@ class Calibrator:
 
     self.rpys = np.tile(self.rpy, (INPUTS_WANTED, 1))
     self.wide_from_device_eulers = np.tile(self.wide_from_device_euler, (INPUTS_WANTED, 1))
+    self.heights = np.tile(self.height, (INPUTS_WANTED, 1))
 
     self.idx = 0
     self.block_idx = 0
@@ -125,6 +134,7 @@ class Calibrator:
     valid_idxs = self.get_valid_idxs()
     if valid_idxs:
       self.wide_from_device_euler = np.mean(self.wide_from_device_eulers[valid_idxs], axis=0)
+      self.height = np.mean(self.heights[valid_idxs], axis=0)
       rpys = self.rpys[valid_idxs]
       self.rpy = np.mean(rpys, axis=0)
       max_rpy_calib = np.array(np.max(rpys, axis=0))
@@ -134,16 +144,21 @@ class Calibrator:
       self.calib_spread = np.zeros(3)
 
     if self.valid_blocks < INPUTS_NEEDED:
-      self.cal_status = Calibration.UNCALIBRATED
+      if self.cal_status == log.LiveCalibrationData.Status.recalibrating:
+        self.cal_status = log.LiveCalibrationData.Status.recalibrating
+      else:
+        self.cal_status = log.LiveCalibrationData.Status.uncalibrated
     elif is_calibration_valid(self.rpy):
-      self.cal_status = Calibration.CALIBRATED
+      self.cal_status = log.LiveCalibrationData.Status.calibrated
     else:
-      self.cal_status = Calibration.INVALID
+      self.cal_status = log.LiveCalibrationData.Status.invalid
 
     # If spread is too high, assume mounting was changed and reset to last block.
     # Make the transition smooth. Abrupt transitions are not good for feedback loop through supercombo model.
-    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == Calibration.CALIBRATED:
-      self.reset(self.rpys[self.block_idx - 1], valid_blocks=INPUTS_NEEDED, smooth_from=self.rpy)
+    # TODO: add height spread check with smooth transition too
+    if max(self.calib_spread) > MAX_ALLOWED_SPREAD and self.cal_status == log.LiveCalibrationData.Status.calibrated:
+      self.reset(self.rpys[self.block_idx - 1], valid_blocks=1, smooth_from=self.rpy)
+      self.cal_status = log.LiveCalibrationData.Status.recalibrating
 
     write_this_cycle = (self.idx == 0) and (self.block_idx % (INPUTS_WANTED//5) == 5)
     if self.param_put and write_this_cycle:
@@ -161,13 +176,21 @@ class Calibrator:
   def handle_cam_odom(self, trans: List[float],
                             rot: List[float],
                             wide_from_device_euler: List[float],
-                            trans_std: List[float]) -> Optional[np.ndarray]:
-    self.old_rpy_weight = min(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
+                            trans_std: List[float],
+                            road_transform_trans: List[float],
+                            road_transform_trans_std: List[float]) -> Optional[np.ndarray]:
+    self.old_rpy_weight = max(0.0, self.old_rpy_weight - 1/SMOOTH_CYCLES)
 
     straight_and_fast = ((self.v_ego > MIN_SPEED_FILTER) and (trans[0] > MIN_SPEED_FILTER) and (abs(rot[2]) < MAX_YAW_RATE_FILTER))
     angle_std_threshold = MAX_VEL_ANGLE_STD
-    certain_if_calib = ((np.arctan2(trans_std[1], trans[0]) < angle_std_threshold) or
-                        (self.valid_blocks < INPUTS_NEEDED))
+    height_std_threshold = MAX_HEIGHT_STD
+    rpy_certain = np.arctan2(trans_std[1], trans[0]) < angle_std_threshold
+    if len(road_transform_trans_std) == 3:
+      height_certain = road_transform_trans_std[2] < height_std_threshold
+    else:
+      height_certain = True
+
+    certain_if_calib = (rpy_certain and height_certain) or (self.valid_blocks < INPUTS_NEEDED)
     if not (straight_and_fast and certain_if_calib):
       return None
 
@@ -181,10 +204,17 @@ class Calibrator:
       new_wide_from_device_euler = np.array(wide_from_device_euler)
     else:
       new_wide_from_device_euler = WIDE_FROM_DEVICE_EULER_INIT
-    self.rpys[self.block_idx] = (self.idx*self.rpys[self.block_idx] +
-                                 (BLOCK_SIZE - self.idx) * new_rpy) / float(BLOCK_SIZE)
-    self.wide_from_device_eulers[self.block_idx] = (self.idx*self.wide_from_device_eulers[self.block_idx] +
-                                                    (BLOCK_SIZE - self.idx) * new_wide_from_device_euler) / float(BLOCK_SIZE)
+
+    if (len(road_transform_trans) == 3):
+      new_height = np.array([road_transform_trans[2]])
+    else:
+      new_height = HEIGHT_INIT
+
+    self.rpys[self.block_idx] = moving_avg_with_linear_decay(self.rpys[self.block_idx], new_rpy, self.idx, float(BLOCK_SIZE))
+    self.wide_from_device_eulers[self.block_idx] = moving_avg_with_linear_decay(self.wide_from_device_eulers[self.block_idx],
+                                                                                new_wide_from_device_euler, self.idx, float(BLOCK_SIZE))
+    self.heights[self.block_idx] = moving_avg_with_linear_decay(self.heights[self.block_idx], new_height, self.idx, float(BLOCK_SIZE))
+
     self.idx = (self.idx + 1) % BLOCK_SIZE
     if self.idx == 0:
       self.block_idx += 1
@@ -207,10 +237,11 @@ class Calibrator:
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
     liveCalibration.wideFromDeviceEuler = self.wide_from_device_euler.tolist()
+    liveCalibration.height = self.height.tolist()
 
     if self.not_car:
       liveCalibration.validBlocks = INPUTS_NEEDED
-      liveCalibration.calStatus = Calibration.CALIBRATED
+      liveCalibration.calStatus = log.LiveCalibrationData.Status.calibrated
       liveCalibration.calPerc = 100.
       liveCalibration.rpyCalib = [0, 0, 0]
       liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
@@ -244,7 +275,9 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
                                            sm['cameraOdometry'].rot,
                                            sm['cameraOdometry'].wideFromDeviceEuler,
-                                           sm['cameraOdometry'].transStd)
+                                           sm['cameraOdometry'].transStd,
+                                           sm['cameraOdometry'].roadTransformTrans,
+                                           sm['cameraOdometry'].roadTransformTransStd)
 
       if DEBUG and new_rpy is not None:
         print('got new rpy', new_rpy)
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 6936d88acc..3d190fb00a 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,117 +1,199 @@
 #!/usr/bin/env python3
-import json
 import math
 import os
 import time
+import shutil
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
-from datetime import datetime
 from enum import IntEnum
-from typing import List, Optional
+from typing import List, Optional, Dict, Any
 
 import numpy as np
 
 from cereal import log, messaging
-from common.params import Params, put_nonblocking
+from openpilot.common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.downloader import DownloadFailed
-from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem, parse_qcom_ephem
+from laika.ephemeris import EphemerisType, GPSEphemeris, GLONASSEphemeris, ephemeris_structs, parse_qcom_ephem
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
-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
-from system.swaglog import cloudlog
+from laika.helpers import ConstellationId, get_sv_id
+from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
+from laika.raw_gnss import gps_time_from_qcom_report, get_measurements_from_qcom_reports
+from laika.opt import calc_pos_fix, get_posfix_sympy_fun, calc_vel_fix, get_velfix_sympy_func
+from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
+from openpilot.selfdrive.locationd.models.gnss_kf import GNSSKalman
+from openpilot.selfdrive.locationd.models.gnss_kf import States as GStates
+from openpilot.system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
-EPHEMERIS_CACHE = 'LaikadEphemeris'
+EPHEMERIS_CACHE = 'LaikadEphemerisV3'
 DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache/"
-CACHE_VERSION = 0.1
+CACHE_VERSION = 0.2
 POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
 
+class LogEphemerisType(IntEnum):
+  nav = 0
+  nasaUltraRapid = 1
+  glonassIacUltraRapid = 2
+  qcom = 3
+
+class EphemerisSource(IntEnum):
+  gnssChip = 0
+  internet = 1
+  cache = 2
+  unknown = 3
+
+def get_log_eph_type(ephem):
+  if ephem.eph_type == EphemerisType.NAV:
+    source_type = LogEphemerisType.nav
+  elif ephem.eph_type == EphemerisType.QCOM_POLY:
+    source_type = LogEphemerisType.qcom
+  else:
+    assert ephem.file_epoch is not None
+    file_src = ephem.file_source
+    if file_src == 'igu':  # example nasa: '2214/igu22144_00.sp3.Z'
+      source_type = LogEphemerisType.nasaUltraRapid
+    elif file_src == 'Sta':  # example nasa: '22166/ultra/Stark_1D_22061518.sp3'
+      source_type = LogEphemerisType.glonassIacUltraRapid
+    else:
+      raise Exception(f"Didn't expect file source {file_src}")
+  return source_type
+
+def get_log_eph_source(ephem):
+  if ephem.file_name == 'qcom' or ephem.file_name == 'ublox':
+    source = EphemerisSource.gnssChip
+  elif ephem.file_name == EPHEMERIS_CACHE:
+    source = EphemerisSource.cache
+  else:
+    source = EphemerisSource.internet
+  return source
+
+
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False,
-               valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+  def __init__(self, valid_const=(ConstellationId.GPS, ConstellationId.GLONASS), auto_fetch_navs=True, auto_update=False,
+               valid_ephem_types=(EphemerisType.NAV, EphemerisType.QCOM_POLY),
                save_ephemeris=False, use_qcom=False):
     """
     valid_const: GNSS constellation which can be used
-    auto_fetch_orbits: If true fetch orbits from internet when needed
+    auto_fetch_navs: If true fetch navs from internet when needed
     auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
     valid_ephem_types: Valid ephemeris types to be used by AstroDog
     save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
     """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types,
+                              clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
     self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
 
-    self.auto_fetch_orbits = auto_fetch_orbits
+    self.auto_fetch_navs = auto_fetch_navs
     self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
 
-    self.last_fetch_orbits_t = None
-    self.got_first_gnss_msg = False
-    self.last_cached_t = None
+    self.last_report_time = GPSTime(0, 0)
+    self.last_fetch_navs_t = GPSTime(0, 0)
+    self.last_cached_t = GPSTime(0, 0)
     self.save_ephemeris = save_ephemeris
     self.load_cache()
 
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-    self.last_pos_fix = []
-    self.last_pos_residual = []
-    self.last_pos_fix_t = None
-    self.gps_week = None
+    self.velfix_function = get_velfix_sympy_func()
+    self.last_fix_pos = None
+    self.last_fix_t = None
     self.use_qcom = use_qcom
+    self.first_log_time = None
+    self.ttff = -1
+    self.measurement_lag = 0.630 if self.use_qcom else 0.095
+
+    # qcom specific stuff
+    self.qcom_reports_received = 4
+    self.qcom_reports = []
 
   def load_cache(self):
     if not self.save_ephemeris:
       return
 
-    cache = Params().get(EPHEMERIS_CACHE)
-    if not cache:
+    cache_bytes = Params().get(EPHEMERIS_CACHE)
+    if not cache_bytes:
       return
 
+    nav_dict = {}
     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:
+      with ephemeris_structs.EphemerisCache.from_bytes(cache_bytes) as ephem_cache:
+        glonass_navs = [GLONASSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.glonassEphemerides]
+        gps_navs = [GPSEphemeris(data_struct, file_name=EPHEMERIS_CACHE) for data_struct in ephem_cache.gpsEphemerides]
+      for e in sum([glonass_navs, gps_navs], []):
+        if e.prn not in nav_dict:
+          nav_dict[e.prn] = []
+        nav_dict[e.prn].append(e)
+      self.astro_dog.add_navs(nav_dict)
+    except Exception:
       cloudlog.exception("Error parsing cache")
-    timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
     cloudlog.debug(
-      f"Loaded nav ({sum([len(v) for v in cache['nav']])}) and orbits ({sum([len(v) for v in cache['orbits']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
-      f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.orbit_fetched_times._ranges]}")
-
-  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 = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
-      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_t = t
-        residual_median = np.median(np.abs(pos_fix_residual))
-        if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
-          cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}")
-          self.last_pos_fix = pos_fix[:3]
-          self.last_pos_residual = pos_fix_residual
-        else:
-          cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
-    return self.last_pos_fix
+      f"Loaded navs ({sum([len(nav_dict[prn]) for prn in nav_dict.keys()])}). Unique orbit and nav sats: {list(nav_dict.keys())} ")
+
+  def cache_ephemeris(self):
+
+    if self.save_ephemeris and (self.last_report_time - self.last_cached_t > SECS_IN_MIN):
+      nav_list: List = sum([v for k,v in self.astro_dog.navs.items()], [])
+      #TODO this only saves currently valid ephems, when we download future ephems we should save them too
+      valid_navs = [e for e in nav_list if e.valid(self.last_report_time)]
+      if len(valid_navs) > 0:
+        ephem_cache = ephemeris_structs.EphemerisCache(glonassEphemerides=[e.data for e in valid_navs if e.prn[0]=='R'],
+                                                       gpsEphemerides=[e.data for e in valid_navs if e.prn[0]=='G'])
+        put_nonblocking(EPHEMERIS_CACHE, ephem_cache.to_bytes())
+        cloudlog.debug("Cache saved")
+      self.last_cached_t = self.last_report_time
+
+  def create_ephem_statuses(self):
+    ephemeris_statuses = []
+    eph_list: List = sum([v for k,v in self.astro_dog.navs.items()], []) + sum([v for k,v in self.astro_dog.qcom_polys.items()], [])
+    for eph in eph_list:
+      status = log.GnssMeasurements.EphemerisStatus.new_message()
+      status.constellationId = ConstellationId.from_rinex_char(eph.prn[0]).value
+      status.svId = get_sv_id(eph.prn)
+      status.type = get_log_eph_type(eph).value
+      status.source = get_log_eph_source(eph).value
+      status.tow = eph.epoch.tow
+      status.gpsWeek = eph.epoch.week
+      ephemeris_statuses.append(status)
+    return ephemeris_statuses
+
+
+  def get_lsq_fix(self, t, measurements):
+    if self.last_fix_t is None or abs(self.last_fix_t - t) > 0:
+      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in measurements) else 4
+
+      position_solution, pr_residuals, pos_std = calc_pos_fix(measurements, self.posfix_functions, min_measurements=min_measurements)
+      if len(position_solution) < 3:
+        return None
+      position_estimate = position_solution[:3]
+      position_std = pos_std[:3]
+
+      velocity_solution, prr_residuals, vel_std = calc_vel_fix(measurements, position_estimate, self.velfix_function, min_measurements=min_measurements)
+      if len(velocity_solution) < 3:
+        return None
+      velocity_estimate = velocity_solution[:3]
+      velocity_std = vel_std[:3]
+
+      return position_estimate, position_std, velocity_estimate, velocity_std
 
   def is_good_report(self, gnss_msg):
-    if gnss_msg.which() == 'drMeasurementReport' and self.use_qcom:
-      constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
-      # TODO support GLONASS
-      return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+    if gnss_msg.which() in ['drMeasurementReport', 'measurementReport'] and self.use_qcom:
+      # TODO: Understand and use remaining unknown constellations
+      try:
+        if gnss_msg.which() == 'drMeasurementReport':
+          constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
+        else:
+          constellation_id = ConstellationId.from_qcom_source(gnss_msg.measurementReport.source)
+        good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
+        report_time = gps_time_from_qcom_report(gnss_msg)
+      except NotImplementedError:
+        return False
+      # Garbage timestamps with week > 32767 are sometimes sent by module.
+      # This is an issue with gpsTime and GLONASS time.
+      good_week = report_time.week < np.iinfo(np.int16).max
+      return good_constellation and good_week
     elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:
       return True
     else:
@@ -119,85 +201,138 @@ class Laikad:
 
   def read_report(self, gnss_msg):
     if self.use_qcom:
-      report = gnss_msg.drMeasurementReport
-      week = report.gpsWeek
-      tow = report.gpsMilliseconds / 1000.0
-      new_meas = read_raw_qcom(report)
+      # QCOM reports are per constellation, so we need to aggregate them
+      # Additionally, the pseudoranges are broken in the measurementReports
+      # and the doppler filteredSpeed is broken in the drMeasurementReports
+      report_time = gps_time_from_qcom_report(gnss_msg)
+      if report_time - self.last_report_time == 0:
+        self.qcom_reports.append(gnss_msg)
+        self.last_report_time = report_time
+      elif report_time - self.last_report_time > 0:
+        self.qcom_reports_received = max(1, len(self.qcom_reports))
+        self.qcom_reports = [gnss_msg]
+        self.last_report_time = report_time
+      else:
+        # Sometimes DR reports get sent one iteration late (1second), they need to be ignored
+        cloudlog.warning(f"Received report with time {report_time} before last report time {self.last_report_time}")
+
+      if len(self.qcom_reports) == self.qcom_reports_received:
+        new_meas = get_measurements_from_qcom_reports(self.qcom_reports)
+      else:
+        new_meas = []
     else:
       report = gnss_msg.measurementReport
-      week = report.gpsWeek
-      tow = report.rcvTow
+      self.last_report_time = GPSTime(report.gpsWeek, report.rcvTow)
       new_meas = read_raw_ublox(report)
-    return week, tow, new_meas
+    return self.last_report_time, new_meas
 
   def is_ephemeris(self, gnss_msg):
     if self.use_qcom:
       return gnss_msg.which() == 'drSvPoly'
     else:
-      return gnss_msg.which() == 'ephemeris'
+      return gnss_msg.which() in ('ephemeris', 'glonassEphemeris')
 
   def read_ephemeris(self, gnss_msg):
-    # TODO this only works on GLONASS
     if self.use_qcom:
-      # TODO this is not robust to gps week rollover
-      if self.gps_week is None:
+      try:
+        ephem = parse_qcom_ephem(gnss_msg.drSvPoly)
+        self.astro_dog.add_qcom_polys({ephem.prn: [ephem]})
+      except Exception:
+        cloudlog.exception("Error parsing qcom svPoly ephemeris from qcom module")
         return
-      ephem = parse_qcom_ephem(gnss_msg.drSvPoly, self.gps_week)
+
+    else:
+      if gnss_msg.which() == 'ephemeris':
+        data_struct = ephemeris_structs.Ephemeris.new_message(**gnss_msg.ephemeris.to_dict())
+        try:
+          ephem = GPSEphemeris(data_struct, file_name='ublox')
+        except Exception:
+          cloudlog.exception("Error parsing GPS ephemeris from ublox")
+          return
+      elif gnss_msg.which() == 'glonassEphemeris':
+        data_struct = ephemeris_structs.GlonassEphemeris.new_message(**gnss_msg.glonassEphemeris.to_dict())
+        try:
+          ephem = GLONASSEphemeris(data_struct, file_name='ublox')
+        except Exception:
+          cloudlog.exception("Error parsing GLONASS ephemeris from ublox")
+          return
+      else:
+        cloudlog.error(f"Unsupported ephemeris type: {gnss_msg.which()}")
+        return
+      self.astro_dog.add_navs({ephem.prn: [ephem]})
+    self.cache_ephemeris()
+
+  def process_report(self, new_meas, t):
+    # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+    new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+    processed_measurements = process_measurements(new_meas, self.astro_dog)
+    if self.last_fix_pos is not None:
+      est_pos = self.last_fix_pos
+      correct_delay = True
     else:
-      ephem = convert_ublox_ephem(gnss_msg.ephemeris)
-    self.astro_dog.add_navs({ephem.prn: [ephem]})
-    self.cache_ephemeris(t=ephem.epoch)
+      est_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
+      correct_delay = False
+    corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog, correct_delay=correct_delay)
+    # If many measurements weren't corrected, position may be garbage, so reset
+    if len(processed_measurements) >= 8 and len(corrected_measurements) < 5:
+      cloudlog.error("Didn't correct enough measurements, resetting estimate position")
+      self.last_fix_pos = None
+      self.last_fix_t = None
+    return corrected_measurements
+
+  def calc_fix(self, t, measurements):
+    instant_fix = self.get_lsq_fix(t, measurements)
+    if instant_fix is None:
+      return None
+    else:
+      position_estimate, position_std, velocity_estimate, velocity_std = instant_fix
+      self.last_fix_t = t
+      self.last_fix_pos = position_estimate
+      self.lat_fix_pos_std = position_std
+      return position_estimate, position_std, velocity_estimate, velocity_std
 
   def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
-    if self.is_good_report(gnss_msg):
-      week, tow, new_meas = self.read_report(gnss_msg)
-      self.gps_week = week
-
-      t = gnss_mono_time * 1e-9
-      if week > 0:
-        self.got_first_gnss_msg = True
-        latest_msg_t = GPSTime(week, tow)
-        if self.auto_fetch_orbits:
-          self.fetch_orbits(latest_msg_t, block)
-
-      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
-      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
-
-      processed_measurements = process_measurements(new_meas, self.astro_dog)
-      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 []
-      if gnss_mono_time % 10 == 0:
-        cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
-
-      self.update_localizer(est_pos, t, corrected_measurements)
-      kf_valid = all(self.kf_valid(t))
-      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
-      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
+    out_msg = messaging.new_message("gnssMeasurements")
+    t = gnss_mono_time * 1e-9
+    msg_dict: Dict[str, Any] = {"measTime": gnss_mono_time - int(1e9 * self.measurement_lag)}
+    if self.first_log_time is None:
+      self.first_log_time = 1e-9 * gnss_mono_time
+    if self.is_ephemeris(gnss_msg):
+      self.read_ephemeris(gnss_msg)
+    elif self.is_good_report(gnss_msg):
+      report_t, new_meas = self.read_report(gnss_msg)
+      if report_t.week > 0:
+        if self.auto_fetch_navs:
+          self.fetch_navs(report_t, block)
 
-      p = self.gnss_kf.P.diagonal()
-      pos_std = np.sqrt(p[GStates.ECEF_POS])
-      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY])
+      corrected_measurements = self.process_report(new_meas, t)
+      msg_dict['correctedMeasurements'] = [create_measurement_msg(m) for m in corrected_measurements]
 
-      meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
-      dat = messaging.new_message("gnssMeasurements")
+      fix = self.calc_fix(t, corrected_measurements)
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
-      dat.gnssMeasurements = {
-        "gpsWeek": week,
-        "gpsTimeOfWeek": tow,
-        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
-        # TODO std is incorrectly the dimension of the measurements and not 3D
-        "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
-        "ubloxMonoTime": gnss_mono_time,
-        "correctedMeasurements": meas_msgs
-      }
-      return dat
-    elif self.is_ephemeris(gnss_msg):
-      self.read_ephemeris(gnss_msg)
-
-    #elif gnss_msg.which() == 'ionoData':
-    # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
+      if fix is not None:
+        position_estimate, position_std, velocity_estimate, velocity_std = fix
+        if self.ttff <= 0:
+          self.ttff = max(1e-3, t - self.first_log_time)
+        msg_dict["positionECEF"] = measurement_msg(value=position_estimate, std=position_std.tolist(), valid=bool(self.last_fix_t == t))
+        msg_dict["velocityECEF"] = measurement_msg(value=velocity_estimate, std=velocity_std.tolist(), valid=bool(self.last_fix_t == t))
+
+      self.update_localizer(self.last_fix_pos, t, corrected_measurements)
+      P_diag = self.gnss_kf.P.diagonal()
+      kf_valid = all(self.kf_valid(t))
+      msg_dict["kalmanPositionECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_POS].tolist(),
+                                        std=np.sqrt(P_diag[GStates.ECEF_POS]).tolist(),
+                                        valid=kf_valid)
+      msg_dict["kalmanVelocityECEF"] = measurement_msg(value=self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist(),
+                                        std=np.sqrt(P_diag[GStates.ECEF_VELOCITY]).tolist(),
+                                        valid=kf_valid)
+
+    msg_dict['gpsWeek'] = self.last_report_time.week
+    msg_dict['gpsTimeOfWeek'] = self.last_report_time.tow
+    msg_dict['timeToFirstFix'] = self.ttff
+    msg_dict['ephemerisStatuses'] = self.create_ephem_statuses()
+    out_msg.gnssMeasurements = msg_dict
+    return out_msg
 
   def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
     # Check time and outputs are valid
@@ -209,7 +344,7 @@ class Laikad:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
         cloudlog.error("Gnss kalman filter state is nan")
-      if len(est_pos) > 0:
+      if est_pos is not None and len(est_pos) > 0:
         cloudlog.info(f"Reset kalman filter with {est_pos}")
         self.init_gnss_localizer(est_pos)
       else:
@@ -232,9 +367,9 @@ class Laikad:
     p_initial_diag[GStates.ECEF_POS] = 1000 ** 2
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
-  def fetch_orbits(self, t: GPSTime, block):
-    # Download new orbits if 1 hour of orbits data left
-    if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN):
+  def fetch_navs(self, t: GPSTime, block):
+    # Download new navs if 1 hour of navs data left
+    if t + SECS_IN_HR not in self.astro_dog.navs_fetched_times and (abs(t - self.last_fetch_navs_t) > SECS_IN_MIN):
       astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
       ret = None
 
@@ -249,22 +384,22 @@ class Laikad:
 
       if ret is not None:
         if ret[0] is None:
-          self.last_fetch_orbits_t = ret[2]
+          self.last_fetch_navs_t = ret[2]
         else:
-          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times, self.last_fetch_orbits_t = ret
-          self.cache_ephemeris(t=t)
+          self.astro_dog.navs, self.astro_dog.navs_fetched_times, self.last_fetch_navs_t = ret
+          self.cache_ephemeris()
 
 
 def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
   astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
-  cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
+  cloudlog.info(f"Start to download/parse navs 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")
-    cloudlog.debug(f"Downloaded orbits ({sum([len(v) for v in astro_dog.orbits])}): {list(astro_dog.orbits.keys())}" +
+    astro_dog.get_navs(t)
+    cloudlog.info(f"Done parsing navs. Took {time.monotonic() - start_time:.1f}s")
+    cloudlog.debug(f"Downloaded navs ({sum([len(v) for v in astro_dog.navs])}): {list(astro_dog.navs.keys())}" +
                    f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
-    return astro_dog.orbits, astro_dog.orbit_fetched_times, t
+    return astro_dog.navs, astro_dog.navs_fetched_times, t
   except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")
   return None, None, t
@@ -282,31 +417,8 @@ def create_measurement_msg(meas: GNSSMeasurement):
   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
-  week, time_of_week = -1, -1
-  if ephem.eph_type == EphemerisType.NAV:
-    source_type = EphemerisSourceType.nav
-  elif ephem.eph_type == EphemerisType.QCOM_POLY:
-    source_type = EphemerisSourceType.qcom
-  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
 
-
 def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMeasurement]):
   ekf_data = defaultdict(list)
   for m in measurements:
@@ -322,73 +434,35 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
       gnss_kf.predict_and_observe(t, kind, data)
 
 
-class CacheSerializer(json.JSONEncoder):
-
-  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 deserialize_hook(dct):
-  if 'ephemeris' in dct:
-    return Ephemeris.from_json(dct)
-  if 'week' in dct:
-    return GPSTime(dct['week'], dct['tow'])
-  return dct
-
-
-class EphemerisSourceType(IntEnum):
-  nav = 0
-  nasaUltraRapid = 1
-  glonassIacUltraRapid = 2
-  qcom = 3
+def clear_tmp_cache():
+  if os.path.exists(DOWNLOADS_CACHE_FOLDER):
+    shutil.rmtree(DOWNLOADS_CACHE_FOLDER)
+  os.mkdir(DOWNLOADS_CACHE_FOLDER)
 
 
 def main(sm=None, pm=None):
-  use_qcom = not Params().get_bool("UbloxAvailable", block=True)
+  #clear_tmp_cache()
+
+  use_qcom = not Params().get_bool("UbloxAvailable")
   if use_qcom:
-    raw_gnss_socket = "qcomGnss"
+    raw_name = "qcomGnss"
   else:
-    raw_gnss_socket = "ubloxGnss"
-
-  if sm is None:
-    sm = messaging.SubMaster([raw_gnss_socket, 'clocks'])
+    raw_name = "ubloxGnss"
+  raw_gnss_sock = messaging.sub_sock(raw_name, conflate=False)
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
+  # disable until set as main gps source, to better analyze startup time
+  # TODO ensure low CPU usage before enabling
+  use_internet = False  # "LAIKAD_NO_INTERNET" not in os.environ
+
   replay = "REPLAY" in os.environ
-  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
-  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet, use_qcom=use_qcom)
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_navs=use_internet, use_qcom=use_qcom)
 
   while True:
-    sm.update()
-
-    if sm.updated[raw_gnss_socket]:
-      gnss_msg = sm[raw_gnss_socket]
-
-      # TODO: Understand and use remaining unknown constellations
-      if gnss_msg.which() == "drMeasurementReport":
-        if getattr(gnss_msg, gnss_msg.which()).source not in ['glonass', 'gps', 'beidou', 'sbas']:
-          continue
-
-        if getattr(gnss_msg, gnss_msg.which()).gpsWeek > np.iinfo(np.int16).max:
-          # gpsWeek 65535 is received rarely from quectel, this cannot be
-          # passed to GnssMeasurements's gpsWeek (Int16)
-          continue
-
-      msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay)
-      if msg is not None:
-        pm.send('gnssMeasurements', msg)
-    if not laikad.got_first_gnss_msg and sm.updated['clocks']:
-      clocks_msg = sm['clocks']
-      t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
-      if laikad.auto_fetch_orbits:
-        laikad.fetch_orbits(t, block=replay)
+    for in_msg in messaging.drain_sock(raw_gnss_sock, wait_for_one=True):
+      out_msg = laikad.process_gnss_msg(getattr(in_msg, raw_name), in_msg.logMonoTime, replay)
+      pm.send('gnssMeasurements', out_msg)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py
deleted file mode 100644
index f13e8e73bb..0000000000
--- a/selfdrive/locationd/laikad_helpers.py
+++ /dev/null
@@ -1,89 +0,0 @@
-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/liblocationd.cc b/selfdrive/locationd/liblocationd.cc
index da57fb7ff4..47c6c150b4 100755
--- a/selfdrive/locationd/liblocationd.cc
+++ b/selfdrive/locationd/liblocationd.cc
@@ -1,9 +1,9 @@
-#include "locationd.h"
+#include "selfdrive/locationd/locationd.h"
 
 extern "C" {
   typedef Localizer* Localizer_t;
 
-  Localizer *localizer_init() {
+  Localizer *localizer_init(bool has_ublox) {
     return new Localizer();
   }
 
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 4325900c0e..c22230a049 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -1,9 +1,11 @@
+#include "selfdrive/locationd/locationd.h"
+
 #include <sys/time.h>
 #include <sys/resource.h>
 
+#include <algorithm>
 #include <cmath>
-
-#include "locationd.h"
+#include <vector>
 
 using namespace EKFS;
 using namespace Eigen;
@@ -13,7 +15,6 @@ const double ACCEL_SANITY_CHECK = 100.0;  // m/s^2
 const double ROTATION_SANITY_CHECK = 10.0;  // rad/s
 const double TRANS_SANITY_CHECK = 200.0;  // m/s
 const double CALIB_RPY_SANITY_CHECK = 0.5; // rad (+- 30 deg)
-const double ALTITUDE_SANITY_CHECK = 10000; // m
 const double MIN_STD_SANITY_CHECK = 1e-5; // m or rad
 const double VALID_TIME_SINCE_RESET = 1.0; // s
 const double VALID_POS_STD = 50.0; // m
@@ -23,10 +24,15 @@ const double INPUT_INVALID_THRESHOLD = 5.0; // same as reset tracker
 const double DECAY = 0.99995; // same as reset tracker
 const double MAX_FILTER_REWIND_TIME = 0.8; // s
 
-// TODO: GPS sensor time offsets are empirically calculated
-// They should be replaced with synced time from a real clock
-const double GPS_LOCATION_SENSOR_TIME_OFFSET = 0.630; // s
-const double GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET = 0.095; // s
+const float  GPS_POS_STD_THRESHOLD = 50.0;
+const float  GPS_VEL_STD_THRESHOLD = 5.0;
+const float  GPS_POS_ERROR_RESET_THRESHOLD = 300.0;
+const float  GPS_POS_STD_RESET_THRESHOLD = 10.0;
+const float  GPS_VEL_STD_RESET_THRESHOLD = 1.0;
+const float  GPS_ORIENTATION_ERROR_RESET_THRESHOLD = 1.0;
+const int    GPS_ORIENTATION_ERROR_RESET_CNT = 3;
+
+const bool   DEBUG = getenv("DEBUG") != nullptr && std::string(getenv("DEBUG")) != "0";
 
 static VectorXd floatlist2vector(const capnp::List<float, capnp::Kind::PRIMITIVE>::Reader& floatlist) {
   VectorXd res(floatlist.size());
@@ -152,6 +158,9 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   init_measurement(fix.initVelocityCalibrated(), vel_calib, vel_calib_std, this->calibrated);
   init_measurement(fix.initAngularVelocityCalibrated(), ang_vel_calib, ang_vel_calib_std, this->calibrated);
   init_measurement(fix.initAccelerationCalibrated(), acc_calib, acc_calib_std, this->calibrated);
+  if (DEBUG) {
+    init_measurement(fix.initFilterState(), predicted_state, predicted_std, true);
+  }
 
   double old_mean = 0.0, new_mean = 0.0;
   int i = 0;
@@ -171,6 +180,7 @@ void Localizer::build_live_location(cereal::LiveLocationKalman::Builder& fix) {
   fix.setPosenetOK(!(std_spike && this->car_speed > 5.0));
   fix.setDeviceStable(!this->device_fell);
   fix.setExcessiveResets(this->reset_tracker > MAX_RESET_TRACKER);
+  fix.setTimeToFirstFix(std::isnan(this->ttff) ? -1. : this->ttff);
   this->device_fell = false;
 
   //fix.setGpsWeek(this->time.week);
@@ -220,14 +230,13 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
   }
 
   double sensor_time = 1e-9 * log.getTimestamp();
-  
+
   // sensor time and log time should be close
   if (std::abs(current_time - sensor_time) > 0.1) {
     LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
     this->observation_timings_invalid = true;
     return;
-  }
-  else if (!this->is_timestamp_valid(sensor_time)) {
+  } else if (!this->is_timestamp_valid(sensor_time)) {
     this->observation_timings_invalid = true;
     return;
   }
@@ -244,8 +253,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     if (meas.norm() < ROTATION_SANITY_CHECK) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_GYRO, { meas });
       this->observation_values_invalid["gyroscope"] *= DECAY;
-    }
-    else{
+    } else {
       this->observation_values_invalid["gyroscope"] += 1.0;
     }
   }
@@ -263,8 +271,7 @@ void Localizer::handle_sensor(double current_time, const cereal::SensorEventData
     if (meas.norm() < ACCEL_SANITY_CHECK) {
       this->kf->predict_and_observe(sensor_time, OBSERVATION_PHONE_ACCEL, { meas });
       this->observation_values_invalid["accelerometer"] *= DECAY;
-    }
-    else{
+    } else {
       this->observation_values_invalid["accelerometer"] += 1.0;
     }
   }
@@ -279,52 +286,49 @@ void Localizer::input_fake_gps_observations(double current_time) {
   VectorXd current_x = this->kf->get_x();
   VectorXd ecef_pos = current_x.segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START);
   VectorXd ecef_vel = current_x.segment<STATE_ECEF_VELOCITY_LEN>(STATE_ECEF_VELOCITY_START);
-  MatrixXdr ecef_pos_R = this->kf->get_fake_gps_pos_cov();
-  MatrixXdr ecef_vel_R = this->kf->get_fake_gps_vel_cov();
+  const MatrixXdr &ecef_pos_R = this->kf->get_fake_gps_pos_cov();
+  const MatrixXdr &ecef_vel_R = this->kf->get_fake_gps_vel_cov();
 
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(current_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }
 
-void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset) {
-  // ignore the message if the fix is invalid
-  bool gps_invalid_flag = (log.getFlags() % 2 == 0);
-  bool gps_unreasonable = (Vector2d(log.getAccuracy(), log.getVerticalAccuracy()).norm() >= SANE_GPS_UNCERTAINTY);
-  bool gps_accuracy_insane = ((log.getVerticalAccuracy() <= 0) || (log.getSpeedAccuracy() <= 0) || (log.getBearingAccuracyDeg() <= 0));
-  bool gps_lat_lng_alt_insane = ((std::abs(log.getLatitude()) > 90) || (std::abs(log.getLongitude()) > 180) || (std::abs(log.getAltitude()) > ALTITUDE_SANITY_CHECK));
-  bool gps_vel_insane = (floatlist2vector(log.getVNED()).norm() > TRANS_SANITY_CHECK);
+void Localizer::handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log) {
 
-  // quectel gps verticalAccuracy is clipped to 500
-  bool gps_accuracy_insane_quectel = false;
-  if (!ublox_available) {
-    gps_accuracy_insane_quectel = log.getVerticalAccuracy() == 500;
-  }
-
-  if (gps_invalid_flag || gps_unreasonable || gps_accuracy_insane || gps_lat_lng_alt_insane || gps_vel_insane || gps_accuracy_insane_quectel) {
-    this->gps_valid = false;
+  if (!log.getPositionECEF().getValid() || !log.getVelocityECEF().getValid()) {
     this->determine_gps_mode(current_time);
     return;
   }
 
-  double sensor_time = current_time - sensor_time_offset;
+  double sensor_time = log.getMeasTime() * 1e-9;
 
-  // Process message
-  this->gps_valid = true;
-  this->gps_mode = true;
-  Geodetic geodetic = { log.getLatitude(), log.getLongitude(), log.getAltitude() };
-  this->converter = std::make_unique<LocalCoord>(geodetic);
+  auto ecef_pos_v = log.getPositionECEF().getValue();
+  VectorXd ecef_pos = Vector3d(ecef_pos_v[0], ecef_pos_v[1], ecef_pos_v[2]);
+
+  auto ecef_pos_std = log.getPositionECEF().getStd();
+  VectorXd ecef_pos_var = Vector3d(ecef_pos_std[0], ecef_pos_std[1], ecef_pos_std[2]).array().square().matrix();
+  double ecef_pos_std_norm = std::sqrt(ecef_pos_var.sum());
+  MatrixXdr ecef_pos_R = ecef_pos_var.asDiagonal();
+
+  auto ecef_vel_v = log.getVelocityECEF().getValue();
+  VectorXd ecef_vel = Vector3d(ecef_vel_v[0], ecef_vel_v[1], ecef_vel_v[2]);
 
-  VectorXd ecef_pos = this->converter->ned2ecef({ 0.0, 0.0, 0.0 }).to_vector();
-  VectorXd ecef_vel = this->converter->ned2ecef({ log.getVNED()[0], log.getVNED()[1], log.getVNED()[2] }).to_vector() - ecef_pos;
-  MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
-  MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
+  auto ecef_vel_std = log.getVelocityECEF().getStd();
+  VectorXd ecef_vel_var = Vector3d(ecef_vel_std[0], ecef_vel_std[1], ecef_vel_std[2]).array().square().matrix();
+  double ecef_vel_std_norm = std::sqrt(ecef_vel_var.sum());
+  MatrixXdr ecef_vel_R = ecef_vel_var.asDiagonal();
 
-  this->unix_timestamp_millis = log.getUnixTimestampMillis();
   double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
 
   VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
-  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ecef);
-  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, DEG2RAD(log.getBearingDeg()));
+  VectorXd orientation_ned = ned_euler_from_ecef({ ecef_pos[0], ecef_pos[1], ecef_pos[2] }, orientation_ecef);
+
+  LocalCoord convs((ECEF){ .x = ecef_pos[0], .y = ecef_pos[1], .z = ecef_pos[2] });
+  ECEF next_ecef = {.x = ecef_pos[0] + ecef_vel[0], .y = ecef_pos[1] + ecef_vel[1], .z = ecef_pos[2] + ecef_vel[2]};
+  VectorXd ned_vel = convs.ecef2ned(next_ecef).to_vector();
+  double bearing_rad = atan2(ned_vel[1], ned_vel[0]);
+
+  VectorXd orientation_ned_gps = Vector3d(0.0, 0.0, bearing_rad);
   VectorXd orientation_error = (orientation_ned - orientation_ned_gps).array() - M_PI;
   for (int i = 0; i < orientation_error.size(); i++) {
     orientation_error(i) = std::fmod(orientation_error(i), 2.0 * M_PI);
@@ -335,22 +339,42 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   }
   VectorXd initial_pose_ecef_quat = quat2vector(euler2quat(ecef_euler_from_ned({ ecef_pos(0), ecef_pos(1), ecef_pos(2) }, orientation_ned_gps)));
 
-  if (ecef_vel.norm() > 5.0 && orientation_error.norm() > 1.0) {
-    LOGE("Locationd vs ubloxLocation orientation difference too large, kalman reset");
+  if (ecef_pos_std_norm > GPS_POS_STD_THRESHOLD || ecef_vel_std_norm > GPS_VEL_STD_THRESHOLD) {
+    this->determine_gps_mode(current_time);
+    return;
+  }
+
+  // prevent jumping gnss measurements (covered lots, standstill...)
+  bool orientation_reset = ecef_vel_std_norm < GPS_VEL_STD_RESET_THRESHOLD;
+  orientation_reset &= orientation_error.norm() > GPS_ORIENTATION_ERROR_RESET_THRESHOLD;
+  orientation_reset &= !this->standstill;
+  if (orientation_reset) {
+    this->orientation_reset_count++;
+  } else {
+    this->orientation_reset_count = 0;
+  }
+
+  if ((gps_est_error > GPS_POS_ERROR_RESET_THRESHOLD && ecef_pos_std_norm < GPS_POS_STD_RESET_THRESHOLD) || this->last_gps_msg == 0) {
+    // always reset on first gps message and if the location is off but the accuracy is high
+    LOGE("Locationd vs gnssMeasurement position difference too large, kalman reset");
     this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
-    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
-  } else if (gps_est_error > 100.0) {
-    LOGE("Locationd vs ubloxLocation position difference too large, kalman reset");
+  } else if (orientation_reset_count > GPS_ORIENTATION_ERROR_RESET_CNT) {
+    LOGE("Locationd vs gnssMeasurement orientation difference too large, kalman reset");
     this->reset_kalman(NAN, initial_pose_ecef_quat, ecef_pos, ecef_vel, ecef_pos_R, ecef_vel_R);
+    this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_ORIENTATION_FROM_GPS, { initial_pose_ecef_quat });
+    this->orientation_reset_count = 0;
   }
 
+  this->gps_mode = true;
+  this->last_gps_msg = sensor_time;
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_POS, { ecef_pos }, { ecef_pos_R });
   this->kf->predict_and_observe(sensor_time, OBSERVATION_ECEF_VEL, { ecef_vel }, { ecef_vel_R });
 }
 
 void Localizer::handle_car_state(double current_time, const cereal::CarState::Reader& log) {
   this->car_speed = std::abs(log.getVEgo());
-  if (log.getStandstill()) {
+  this->standstill = log.getStandstill();
+  if (this->standstill) {
     this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
     this->kf->predict_and_observe(current_time, OBSERVATION_NO_ACCEL, { Vector3d(0.0, 0.0, 0.0) });
   }
@@ -359,7 +383,7 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
 void Localizer::handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log) {
   VectorXd rot_device = this->device_from_calib * floatlist2vector(log.getRot());
   VectorXd trans_device = this->device_from_calib * floatlist2vector(log.getTrans());
-  
+
   if (!this->is_timestamp_valid(current_time)) {
     this->observation_timings_invalid = true;
     return;
@@ -414,14 +438,14 @@ void Localizer::handle_live_calib(double current_time, const cereal::LiveCalibra
     this->calib = live_calib;
     this->device_from_calib = euler2rot(this->calib);
     this->calib_from_device = this->device_from_calib.transpose();
-    this->calibrated = log.getCalStatus() == 1;
+    this->calibrated = log.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     this->observation_values_invalid["liveCalibration"] *= DECAY;
   }
 }
 
 void Localizer::reset_kalman(double current_time) {
-  VectorXd init_x = this->kf->get_initial_x();
-  MatrixXdr init_P = this->kf->get_initial_P();
+  const VectorXd &init_x = this->kf->get_initial_x();
+  const MatrixXdr &init_P = this->kf->get_initial_P();
   this->reset_kalman(current_time, init_x, init_P);
 }
 
@@ -437,6 +461,9 @@ void Localizer::time_check(double current_time) {
   if (std::isnan(this->last_reset_time)) {
     this->last_reset_time = current_time;
   }
+  if (std::isnan(this->first_valid_log_time)) {
+    this->first_valid_log_time = current_time;
+  }
   double filter_time = this->kf->get_filter_time();
   bool big_time_gap = !std::isnan(filter_time) && (current_time - filter_time > 10);
   if (big_time_gap) {
@@ -454,12 +481,12 @@ void Localizer::update_reset_tracker() {
   }
 }
 
-void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd init_pos, VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R) {
+void Localizer::reset_kalman(double current_time, const VectorXd &init_orient, const VectorXd &init_pos, const VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R) {
   // too nonlinear to init on completely wrong
   VectorXd current_x = this->kf->get_x();
   MatrixXdr current_P = this->kf->get_P();
   MatrixXdr init_P = this->kf->get_initial_P();
-  MatrixXdr reset_orientation_P = this->kf->get_reset_orientation_P();
+  const MatrixXdr &reset_orientation_P = this->kf->get_reset_orientation_P();
   int non_ecef_state_err_len = init_P.rows() - (STATE_ECEF_POS_ERR_LEN + STATE_ECEF_ORIENTATION_ERR_LEN + STATE_ECEF_VELOCITY_ERR_LEN);
 
   current_x.segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START) = init_orient;
@@ -469,12 +496,13 @@ void Localizer::reset_kalman(double current_time, VectorXd init_orient, VectorXd
   init_P.block<STATE_ECEF_POS_ERR_LEN, STATE_ECEF_POS_ERR_LEN>(STATE_ECEF_POS_ERR_START, STATE_ECEF_POS_ERR_START).diagonal() = init_pos_R.diagonal();
   init_P.block<STATE_ECEF_ORIENTATION_ERR_LEN, STATE_ECEF_ORIENTATION_ERR_LEN>(STATE_ECEF_ORIENTATION_ERR_START, STATE_ECEF_ORIENTATION_ERR_START).diagonal() = reset_orientation_P.diagonal();
   init_P.block<STATE_ECEF_VELOCITY_ERR_LEN, STATE_ECEF_VELOCITY_ERR_LEN>(STATE_ECEF_VELOCITY_ERR_START, STATE_ECEF_VELOCITY_ERR_START).diagonal() = init_vel_R.diagonal();
-  init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
+  init_P.block(STATE_ANGULAR_VELOCITY_ERR_START, STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal() = current_P.block(STATE_ANGULAR_VELOCITY_ERR_START,
+    STATE_ANGULAR_VELOCITY_ERR_START, non_ecef_state_err_len, non_ecef_state_err_len).diagonal();
 
   this->reset_kalman(current_time, current_x, init_P);
 }
 
-void Localizer::reset_kalman(double current_time, VectorXd init_x, MatrixXdr init_P) {
+void Localizer::reset_kalman(double current_time, const VectorXd &init_x, const MatrixXdr &init_P) {
   this->kf->init_state(init_x, init_P, current_time);
   this->last_reset_time = current_time;
   this->reset_tracker += 1.0;
@@ -496,10 +524,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
     this->handle_sensor(t, log.getAccelerometer());
   } else if (log.isGyroscope()) {
     this->handle_sensor(t, log.getGyroscope());
-  } else if (log.isGpsLocation()) {
-    this->handle_gps(t, log.getGpsLocation(), GPS_LOCATION_SENSOR_TIME_OFFSET);
-  } else if (log.isGpsLocationExternal()) {
-    this->handle_gps(t, log.getGpsLocationExternal(), GPS_LOCATION_EXTERNAL_SENSOR_TIME_OFFSET);
+  } else if (log.isGnssMeasurements()) {
+    this->handle_gnss(t, log.getGnssMeasurements());
   } else if (log.isCarState()) {
     this->handle_car_state(t, log.getCarState());
   } else if (log.isCameraOdometry()) {
@@ -524,10 +550,10 @@ kj::ArrayPtr<capnp::byte> Localizer::get_message_bytes(MessageBuilder& msg_build
 }
 
 bool Localizer::is_gps_ok() {
-  return this->gps_valid;
+  return (this->kf->get_filter_time() - this->last_gps_msg) < 2.0;
 }
 
-bool Localizer::critical_services_valid(std::map<std::string, double> critical_services) {
+bool Localizer::critical_services_valid(const std::map<std::string, double> &critical_services) {
   for (auto &kv : critical_services){
     if (kv.second >= INPUT_INVALID_THRESHOLD){
       return false;
@@ -536,7 +562,7 @@ bool Localizer::critical_services_valid(std::map<std::string, double> critical_s
   return true;
 }
 
-bool Localizer::is_timestamp_valid(double current_time) {  
+bool Localizer::is_timestamp_valid(double current_time) {
   double filter_time = this->kf->get_filter_time();
   if (!std::isnan(filter_time) && ((filter_time - current_time) > MAX_FILTER_REWIND_TIME)) {
     LOGE("Observation timestamp is older than the max rewind threshold of the filter");
@@ -554,28 +580,19 @@ void Localizer::determine_gps_mode(double current_time) {
     if (this->gps_mode){
       this->gps_mode = false;
       this->reset_kalman(current_time);
-    }
-    else{
+    } else {
       this->input_fake_gps_observations(current_time);
     }
   }
 }
 
 int Localizer::locationd_thread() {
-  ublox_available = Params().getBool("UbloxAvailable", true);
-
-  const char* gps_location_socket;
-  if (ublox_available) {
-    gps_location_socket = "gpsLocationExternal";
-  } else {
-    gps_location_socket = "gpsLocation";
-  }
-  const std::initializer_list<const char *> service_list = {gps_location_socket, "cameraOdometry", "liveCalibration", 
+  const std::initializer_list<const char *> service_list = {"gnssMeasurements", "cameraOdometry", "liveCalibration",
                                                           "carState", "carParams", "accelerometer", "gyroscope"};
-  PubMaster pm({"liveLocationKalman"});
 
   // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
+  SubMaster sm(service_list, {}, nullptr, {"gnssMeasurements", "carParams"});
+  PubMaster pm({"liveLocationKalman"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
@@ -605,6 +622,11 @@ int Localizer::locationd_thread() {
       bool gpsOK = this->is_gps_ok();
       bool sensorsOK = sm.allAliveAndValid({"accelerometer", "gyroscope"});
 
+      // Log time to first fix
+      if (gpsOK && std::isnan(this->ttff) && !std::isnan(this->first_valid_log_time)) {
+        this->ttff = std::max(1e-3, (sm[trigger_msg].getLogMonoTime() * 1e-9) - this->first_valid_log_time);
+      }
+
       MessageBuilder msg_builder;
       kj::ArrayPtr<capnp::byte> bytes = this->get_message_bytes(msg_builder, inputsOK, sensorsOK, gpsOK, filterInitialized);
       pm.send("liveLocationKalman", bytes.begin(), bytes.size());
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index f0872d9f56..615251668d 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <eigen3/Eigen/Dense>
+#include <deque>
 #include <fstream>
 #include <memory>
 #include <map>
@@ -14,13 +15,14 @@
 #include "common/timing.h"
 #include "common/util.h"
 
-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
 #define SENSOR_DECIMATION 10
 #include "selfdrive/locationd/models/live_kf.h"
 
 #define POSENET_STD_HIST_HALF 20
 
+
 class Localizer {
 public:
   Localizer();
@@ -28,13 +30,13 @@ public:
   int locationd_thread();
 
   void reset_kalman(double current_time = NAN);
-  void reset_kalman(double current_time, Eigen::VectorXd init_orient, Eigen::VectorXd init_pos, Eigen::VectorXd init_vel, MatrixXdr init_pos_R, MatrixXdr init_vel_R);
-  void reset_kalman(double current_time, Eigen::VectorXd init_x, MatrixXdr init_P);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_orient, const Eigen::VectorXd &init_pos, const Eigen::VectorXd &init_vel, const MatrixXdr &init_pos_R, const MatrixXdr &init_vel_R);
+  void reset_kalman(double current_time, const Eigen::VectorXd &init_x, const MatrixXdr &init_P);
   void finite_check(double current_time = NAN);
   void time_check(double current_time = NAN);
   void update_reset_tracker();
   bool is_gps_ok();
-  bool critical_services_valid(std::map<std::string, double> critical_services);
+  bool critical_services_valid(const std::map<std::string, double> &critical_services);
   bool is_timestamp_valid(double current_time);
   void determine_gps_mode(double current_time);
   bool are_inputs_ok();
@@ -51,7 +53,7 @@ public:
   void handle_msg_bytes(const char *data, const size_t size);
   void handle_msg(const cereal::Event::Reader& log);
   void handle_sensor(double current_time, const cereal::SensorEventData::Reader& log);
-  void handle_gps(double current_time, const cereal::GpsLocationData::Reader& log, const double sensor_time_offset);
+  void handle_gnss(double current_time, const cereal::GnssMeasurements::Reader& log);
   void handle_car_state(double current_time, const cereal::CarState::Reader& log);
   void handle_cam_odo(double current_time, const cereal::CameraOdometry::Reader& log);
   void handle_live_calib(double current_time, const cereal::LiveCalibrationData::Reader& log);
@@ -76,8 +78,11 @@ private:
   double reset_tracker = 0.0;
   bool device_fell = false;
   bool gps_mode = false;
-  bool gps_valid = false;
-  bool ublox_available = true;
+  double first_valid_log_time = NAN;
+  double ttff = NAN;
+  double last_gps_msg = 0;
   bool observation_timings_invalid = false;
-  std::map<std::string, double> observation_values_invalid;  
+  std::map<std::string, double> observation_values_invalid;
+  bool standstill = true;
+  int32_t orientation_reset_count = 0;
 };
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index 3faf4f8d4e..b87c83cac2 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -5,9 +5,9 @@ from typing import Any, Dict
 
 import numpy as np
 
-from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
-from selfdrive.locationd.models.constants import ObservationKind
-from system.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
+from openpilot.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_pyx  # pylint: disable=no-name-in-module, import-error
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
 
 
 i = 0
@@ -160,7 +160,7 @@ class CarKalman(KalmanFilter):
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, global_vars=global_vars)
 
-  def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None):  # pylint: disable=super-init-not-called
+  def __init__(self, generated_dir, steer_ratio=15, stiffness_factor=1, angle_offset=0, P_initial=None):
     dim_state = self.initial_x.shape[0]
     dim_state_err = self.P_initial.shape[0]
     x_init = self.initial_x
@@ -171,7 +171,8 @@ class CarKalman(KalmanFilter):
     if P_initial is not None:
       self.P_initial = P_initial
     # init filter
-    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)
+    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_kf.py b/selfdrive/locationd/models/gnss_kf.py
index 0d661dc321..c4f3b2e210 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -4,15 +4,15 @@ from typing import List
 
 import numpy as np
 
-from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
+from openpilot.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
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx
+  from rednose.helpers.ekf_sym import EKF_sym
 
 
 class States():
diff --git a/selfdrive/locationd/models/lane_kf.py b/selfdrive/locationd/models/lane_kf.py
new file mode 100755
index 0000000000..e8fa999956
--- /dev/null
+++ b/selfdrive/locationd/models/lane_kf.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+import sys
+import numpy as np
+import sympy as sp
+
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
+from rednose.helpers.ekf_sym import gen_code, EKF_sym
+
+
+class LaneKalman():
+  name = 'lane'
+
+  @staticmethod
+  def generate_code(generated_dir):
+    # make functions and jacobians with sympy
+    #  state variables
+    dim = 6
+    state = sp.MatrixSymbol('state', dim, 1)
+
+    dd = sp.Symbol('dd')  # WARNING: NOT TIME
+
+    # Time derivative of the state as a function of state
+    state_dot = sp.Matrix(np.zeros((dim, 1)))
+    state_dot[:3,0] = sp.Matrix(state[3:6,0])
+
+    # Basic descretization, 1st order intergrator
+    # Can be pretty bad if dt is big
+    f_sym = sp.Matrix(state) + dd*state_dot
+
+    #
+    # Observation functions
+    #
+    h_lane_sym = sp.Matrix(state[:3,0])
+    obs_eqs = [[h_lane_sym, ObservationKind.LANE_PT, None]]
+    gen_code(generated_dir, LaneKalman.name, f_sym, dd, state, obs_eqs, dim, dim)
+
+  def __init__(self, generated_dir, pt_std=5):
+    # state
+    # left and right lane centers in ecef
+    # WARNING: this is not a temporal model
+    # the 'time' in this kalman filter is
+    # the distance traveled by the vehicle,
+    # which should approximately be the
+    # distance along the lane path
+    # a more logical parametrization
+    # states 0-2 are ecef coordinates distance d
+    # states 3-5  is the 3d "velocity" of the
+    # lane in ecef (m/m).
+    x_initial = np.array([0,0,0,
+                          0,0,0])
+
+    # state covariance
+    P_initial = np.diag([1e16, 1e16, 1e16,
+                         1**2, 1**2, 1**2])
+
+    # process noise
+    Q = np.diag([0.1**2, 0.1**2, 0.1**2,
+                 0.1**2, 0.1**2, 0.1*2])
+
+    self.dim_state = len(x_initial)
+
+    # init filter
+    self.filter = EKF_sym(generated_dir, self.name, Q, x_initial, P_initial, x_initial.shape[0], P_initial.shape[0])
+    self.obs_noise = {ObservationKind.LANE_PT: np.diag([pt_std**2]*3)}
+
+  @property
+  def x(self):
+    return self.filter.state()
+
+  @property
+  def P(self):
+    return self.filter.covs()
+
+  def predict(self, t):
+    return self.filter.predict(t)
+
+  def rts_smooth(self, estimates):
+    return self.filter.rts_smooth(estimates, norm_quats=False)
+
+
+  def init_state(self, state, covs_diag=None, covs=None, filter_time=None):
+    if covs_diag is not None:
+      P = np.diag(covs_diag)
+    elif covs is not None:
+      P = covs
+    else:
+      P = self.filter.covs()
+    self.filter.init_state(state, P, filter_time)
+
+  def predict_and_observe(self, t, kind, data):
+    data = np.atleast_2d(data)
+    return self.filter.predict_and_update_batch(t, kind, data, self.get_R(kind, len(data)))
+
+  def get_R(self, kind, n):
+    obs_noise = self.obs_noise[kind]
+    dim = obs_noise.shape[0]
+    R = np.zeros((n, dim, dim))
+    for i in range(n):
+      R[i,:,:] = obs_noise
+    return R
+
+
+if __name__ == "__main__":
+  generated_dir = sys.argv[2]
+  LaneKalman.generate_code(generated_dir)
diff --git a/selfdrive/locationd/models/live_kf.cc b/selfdrive/locationd/models/live_kf.cc
index f8c03365e1..fc3bfb7246 100755
--- a/selfdrive/locationd/models/live_kf.cc
+++ b/selfdrive/locationd/models/live_kf.cc
@@ -1,27 +1,27 @@
-#include "live_kf.h"
+#include "selfdrive/locationd/models/live_kf.h"
 
 using namespace EKFS;
 using namespace Eigen;
 
-Eigen::Map<Eigen::VectorXd> get_mapvec(Eigen::VectorXd& vec) {
-  return Eigen::Map<Eigen::VectorXd>(vec.data(), vec.rows(), vec.cols());
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec) {
+  return Eigen::Map<Eigen::VectorXd>((double*)vec.data(), vec.rows(), vec.cols());
 }
 
-Eigen::Map<MatrixXdr> get_mapmat(MatrixXdr& mat) {
-  return Eigen::Map<MatrixXdr>(mat.data(), mat.rows(), mat.cols());
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat) {
+  return Eigen::Map<MatrixXdr>((double*)mat.data(), mat.rows(), mat.cols());
 }
 
-std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(std::vector<Eigen::VectorXd>& vec_vec) {
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec) {
   std::vector<Eigen::Map<Eigen::VectorXd>> res;
-  for (Eigen::VectorXd& vec : vec_vec) {
+  for (const Eigen::VectorXd &vec : vec_vec) {
     res.push_back(get_mapvec(vec));
   }
   return res;
 }
 
-std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(std::vector<MatrixXdr>& mat_vec) {
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec) {
   std::vector<Eigen::Map<MatrixXdr>> res;
-  for (MatrixXdr& mat : mat_vec) {
+  for (const MatrixXdr &mat : mat_vec) {
     res.push_back(get_mapmat(mat));
   }
   return res;
@@ -43,20 +43,20 @@ LiveKalman::LiveKalman() {
 
   // init filter
   this->filter = std::make_shared<EKFSym>(this->name, get_mapmat(this->Q), get_mapvec(this->initial_x),
-    get_mapmat(initial_P),  this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
+    get_mapmat(initial_P), this->dim_state, this->dim_state_err, 0, 0, 0, std::vector<int>(),
     std::vector<int>{3}, std::vector<std::string>(), 0.8);
 }
 
-void LiveKalman::init_state(VectorXd& state, VectorXd& covs_diag, double filter_time) {
+void LiveKalman::init_state(const VectorXd &state, const VectorXd &covs_diag, double filter_time) {
   MatrixXdr covs = covs_diag.asDiagonal();
   this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
 }
 
-void LiveKalman::init_state(VectorXd& state, MatrixXdr& covs, double filter_time) {
+void LiveKalman::init_state(const VectorXd &state, const MatrixXdr &covs, double filter_time) {
   this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
 }
 
-void LiveKalman::init_state(VectorXd& state, double filter_time) {
+void LiveKalman::init_state(const VectorXd &state, double filter_time) {
   MatrixXdr covs = this->filter->covs();
   this->filter->init_state(get_mapvec(state), get_mapmat(covs), filter_time);
 }
@@ -81,7 +81,7 @@ std::vector<MatrixXdr> LiveKalman::get_R(int kind, int n) {
   return R;
 }
 
-std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, std::vector<VectorXd> meas, std::vector<MatrixXdr> R) {
+std::optional<Estimate> LiveKalman::predict_and_observe(double t, int kind, const std::vector<VectorXd> &meas, std::vector<MatrixXdr> R) {
   std::optional<Estimate> r;
   if (R.size() == 0) {
     R = this->get_R(kind, meas.size());
@@ -94,29 +94,29 @@ void LiveKalman::predict(double t) {
   this->filter->predict(t);
 }
 
-Eigen::VectorXd LiveKalman::get_initial_x() {
+const Eigen::VectorXd &LiveKalman::get_initial_x() {
   return this->initial_x;
 }
 
-MatrixXdr LiveKalman::get_initial_P() {
+const MatrixXdr &LiveKalman::get_initial_P() {
   return this->initial_P;
 }
 
-MatrixXdr LiveKalman::get_fake_gps_pos_cov() {
+const MatrixXdr &LiveKalman::get_fake_gps_pos_cov() {
   return this->fake_gps_pos_cov;
 }
 
-MatrixXdr LiveKalman::get_fake_gps_vel_cov() {
+const MatrixXdr &LiveKalman::get_fake_gps_vel_cov() {
   return this->fake_gps_vel_cov;
 }
 
-MatrixXdr LiveKalman::get_reset_orientation_P() {
+const MatrixXdr &LiveKalman::get_reset_orientation_P() {
   return this->reset_orientation_P;
 }
 
-MatrixXdr LiveKalman::H(VectorXd in) {
+MatrixXdr LiveKalman::H(const VectorXd &in) {
   assert(in.size() == 6);
   Matrix<double, 3, 6, Eigen::RowMajor> res;
-  this->filter->get_extra_routine("H")(in.data(), res.data());
+  this->filter->get_extra_routine("H")((double*)in.data(), res.data());
   return res;
 }
diff --git a/selfdrive/locationd/models/live_kf.h b/selfdrive/locationd/models/live_kf.h
index 06ec3854cb..e4b3e326b3 100755
--- a/selfdrive/locationd/models/live_kf.h
+++ b/selfdrive/locationd/models/live_kf.h
@@ -3,6 +3,8 @@
 #include <string>
 #include <cmath>
 #include <memory>
+#include <unordered_map>
+#include <vector>
 
 #include <eigen3/Eigen/Core>
 #include <eigen3/Eigen/Dense>
@@ -14,37 +16,37 @@
 
 using namespace EKFS;
 
-Eigen::Map<Eigen::VectorXd> get_mapvec(Eigen::VectorXd& vec);
-Eigen::Map<MatrixXdr> get_mapmat(MatrixXdr& mat);
-std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(std::vector<Eigen::VectorXd>& vec_vec);
-std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(std::vector<MatrixXdr>& mat_vec);
+Eigen::Map<Eigen::VectorXd> get_mapvec(const Eigen::VectorXd &vec);
+Eigen::Map<MatrixXdr> get_mapmat(const MatrixXdr &mat);
+std::vector<Eigen::Map<Eigen::VectorXd>> get_vec_mapvec(const std::vector<Eigen::VectorXd> &vec_vec);
+std::vector<Eigen::Map<MatrixXdr>> get_vec_mapmat(const std::vector<MatrixXdr> &mat_vec);
 
 class LiveKalman {
 public:
   LiveKalman();
 
-  void init_state(Eigen::VectorXd& state, Eigen::VectorXd& covs_diag, double filter_time);
-  void init_state(Eigen::VectorXd& state, MatrixXdr& covs, double filter_time);
-  void init_state(Eigen::VectorXd& state, double filter_time);
+  void init_state(const Eigen::VectorXd &state, const Eigen::VectorXd &covs_diag, double filter_time);
+  void init_state(const Eigen::VectorXd &state, const MatrixXdr &covs, double filter_time);
+  void init_state(const Eigen::VectorXd &state, double filter_time);
 
   Eigen::VectorXd get_x();
   MatrixXdr get_P();
   double get_filter_time();
   std::vector<MatrixXdr> get_R(int kind, int n);
 
-  std::optional<Estimate> predict_and_observe(double t, int kind, std::vector<Eigen::VectorXd> meas, std::vector<MatrixXdr> R = {});
+  std::optional<Estimate> predict_and_observe(double t, int kind, const std::vector<Eigen::VectorXd> &meas, std::vector<MatrixXdr> R = {});
   std::optional<Estimate> predict_and_update_odo_speed(std::vector<Eigen::VectorXd> speed, double t, int kind);
   std::optional<Estimate> predict_and_update_odo_trans(std::vector<Eigen::VectorXd> trans, double t, int kind);
   std::optional<Estimate> predict_and_update_odo_rot(std::vector<Eigen::VectorXd> rot, double t, int kind);
   void predict(double t);
 
-  Eigen::VectorXd get_initial_x();
-  MatrixXdr get_initial_P();
-  MatrixXdr get_fake_gps_pos_cov();
-  MatrixXdr get_fake_gps_vel_cov();
-  MatrixXdr get_reset_orientation_P();
+  const Eigen::VectorXd &get_initial_x();
+  const MatrixXdr &get_initial_P();
+  const MatrixXdr &get_fake_gps_pos_cov();
+  const MatrixXdr &get_fake_gps_vel_cov();
+  const MatrixXdr &get_reset_orientation_P();
 
-  MatrixXdr H(Eigen::VectorXd in);
+  MatrixXdr H(const Eigen::VectorXd &in);
 
 private:
   std::string name = "live";
diff --git a/selfdrive/locationd/models/live_kf.py b/selfdrive/locationd/models/live_kf.py
index 023479d10e..c4933a6129 100755
--- a/selfdrive/locationd/models/live_kf.py
+++ b/selfdrive/locationd/models/live_kf.py
@@ -4,7 +4,7 @@ import sys
 import os
 import numpy as np
 
-from selfdrive.locationd.models.constants import ObservationKind
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
 
 import sympy as sp
 import inspect
@@ -212,14 +212,14 @@ class LiveKalman():
     live_kf_header = "#pragma once\n\n"
     live_kf_header += "#include <unordered_map>\n"
     live_kf_header += "#include <eigen3/Eigen/Dense>\n\n"
-    for state, slc in inspect.getmembers(States, lambda x: type(x) == slice):
+    for state, slc in inspect.getmembers(States, lambda x: isinstance(x, slice)):
       assert(slc.step is None)  # unsupported
       live_kf_header += f'#define STATE_{state}_START {slc.start}\n'
       live_kf_header += f'#define STATE_{state}_END {slc.stop}\n'
       live_kf_header += f'#define STATE_{state}_LEN {slc.stop - slc.start}\n'
     live_kf_header += "\n"
 
-    for kind, val in inspect.getmembers(ObservationKind, lambda x: type(x) == int):
+    for kind, val in inspect.getmembers(ObservationKind, lambda x: isinstance(x, int)):
       live_kf_header += f'#define OBSERVATION_{kind} {val}\n'
     live_kf_header += "\n"
 
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 4c947422b1..8bd317bd58 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -9,8 +9,8 @@ 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
 
-from selfdrive.locationd.models.constants import ObservationKind
-from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
+from openpilot.selfdrive.locationd.models.constants import ObservationKind
+from openpilot.selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
 
 EARTH_GM = 3.986005e14  # m^3/s^2 (gravitational constant * mass of earth)
 
@@ -33,7 +33,8 @@ class States():
   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_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We currently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
+  # We currently 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
@@ -190,9 +191,9 @@ class LocKalman():
 
     # Observation matrix modifier
     H_mod_sym = sp.Matrix(np.zeros((dim_state, dim_state_err)))
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs):
+    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
       H_mod_sym[p_idx[0]:p_idx[1], p_err_idx[0]:p_err_idx[1]] = np.eye(p_idx[1] - p_idx[0])
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs):
+    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
       H_mod_sym[q_idx[0]:q_idx[1], q_err_idx[0]:q_err_idx[1]] = 0.5 * quat_matrix_r(state[q_idx[0]:q_idx[1]])[:, 1:]
 
     # these error functions are defined so that say there
@@ -204,17 +205,17 @@ class LocKalman():
     delta_x = sp.MatrixSymbol('delta_x', dim_state_err, 1)
 
     err_function_sym = sp.Matrix(np.zeros((dim_state, 1)))
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs):
+    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
       delta_quat = sp.Matrix(np.ones(4))
       delta_quat[1:, :] = sp.Matrix(0.5 * delta_x[q_err_idx[0]: q_err_idx[1], :])
       err_function_sym[q_idx[0]:q_idx[1], 0] = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]) * delta_quat
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs):
+    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
       err_function_sym[p_idx[0]:p_idx[1], :] = sp.Matrix(nom_x[p_idx[0]:p_idx[1], :] + delta_x[p_err_idx[0]:p_err_idx[1], :])
 
     inv_err_function_sym = sp.Matrix(np.zeros((dim_state_err, 1)))
-    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs):
+    for p_idx, p_err_idx in zip(p_idxs, p_err_idxs, strict=True):
       inv_err_function_sym[p_err_idx[0]:p_err_idx[1], 0] = sp.Matrix(-nom_x[p_idx[0]:p_idx[1], 0] + true_x[p_idx[0]:p_idx[1], 0])
-    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs):
+    for q_idx, q_err_idx in zip(q_idxs, q_err_idxs, strict=True):
       delta_quat = quat_matrix_r(nom_x[q_idx[0]:q_idx[1], 0]).T * true_x[q_idx[0]:q_idx[1], 0]
       inv_err_function_sym[q_err_idx[0]:q_err_idx[1], 0] = sp.Matrix(2 * delta_quat[1:])
 
@@ -324,7 +325,8 @@ class LocKalman():
       obs_eqs.append([h_track_sym, ObservationKind.ORB_FEATURES, track_epos_sym])
       obs_eqs.append([h_track_wide_cam_sym, ObservationKind.ORB_FEATURES_WIDE, track_epos_sym])
       obs_eqs.append([h_track_sym, ObservationKind.FEATURE_TRACK_TEST, track_epos_sym])
-      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N, [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
+      msckf_params = [dim_main, dim_augment, dim_main_err, dim_augment_err, N,
+                      [ObservationKind.MSCKF_TEST, ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]]
     else:
       msckf_params = None
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
@@ -334,12 +336,13 @@ class LocKalman():
 
 
     # process noise
-    clock_error_drift = 100.0 if erratic_clock else 0.1
+    q_clock_error = 100.0 if erratic_clock else 0.1
+    q_clock_error_rate = 10 if erratic_clock else 0.0
     self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.1**2, 0.1**2, 0.1**2,
-                      (clock_error_drift)**2, (0)**2,
+                      (q_clock_error)**2, (q_clock_error_rate)**2,
                       (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                       (0.02 / 100)**2,
                       3**2, 3**2, 3**2,
@@ -369,7 +372,7 @@ class LocKalman():
     self.dim_state_err = self.dim_main_err + self.dim_augment_err * self.N
 
     if self.N > 0:
-      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment] pylint: disable=unbalanced-tuple-unpacking
+      x_initial, P_initial, Q = self.pad_augmented(self.x_initial, self.P_initial, self.Q)  # lgtm[py/mismatched-multiple-assignment]
       self.computer = LstSqComputer(generated_dir, N)
 
     self.quaternion_idxs = [3, ] + [(self.dim_main + i * self.dim_augment + 3)for i in range(self.N)]
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index 9bd4ed0837..55ad62145e 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -1,22 +1,28 @@
 #!/usr/bin/env python3
+import os
 import math
 import json
 import numpy as np
 
 import cereal.messaging as messaging
 from cereal import car
-from common.params import Params, put_nonblocking
-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 system.swaglog import cloudlog
+from cereal import log
+from openpilot.common.params import Params, put_nonblocking
+from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.numpy_fast import clip
+from openpilot.selfdrive.locationd.models.car_kf import CarKalman, ObservationKind, States
+from openpilot.selfdrive.locationd.models.constants import GENERATED_DIR
+from openpilot.system.swaglog import cloudlog
 
 
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
-ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
+ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
 ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
+ROLL_LOWERED_MAX = math.radians(8)
+ROLL_STD_MAX = math.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
+OFFSET_MAX = 10.0
+OFFSET_LOWERED_MAX = 8.0
 
 
 class ParamsLearner:
@@ -36,10 +42,8 @@ class ParamsLearner:
     self.yaw_rate = 0.0
     self.yaw_rate_std = 0.0
     self.roll = 0.0
-    self.steering_pressed = False
     self.steering_angle = 0.0
-
-    self.valid = True
+    self.roll_valid = False
 
   def handle_log(self, t, which, msg):
     if which == 'liveLocationKalman':
@@ -48,8 +52,8 @@ class ParamsLearner:
 
       localizer_roll = msg.orientationNED.value[0]
       localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
-      roll_valid = msg.orientationNED.valid and ROLL_MIN < localizer_roll < ROLL_MAX
-      if roll_valid:
+      self.roll_valid = (localizer_roll_std < ROLL_STD_MAX) and (ROLL_MIN < localizer_roll < ROLL_MAX) and msg.sensorsOK
+      if self.roll_valid:
         roll = localizer_roll
         # Experimentally found multiplier of 2 to be best trade-off between stability and accuracy or similar?
         roll_std = 2 * localizer_roll_std
@@ -81,17 +85,16 @@ class ParamsLearner:
         # We observe the current stiffness and steer ratio (with a high observation noise) to bound
         # the respective estimate STD. Otherwise the STDs keep increasing, causing rapid changes in the
         # states in longer routes (especially straight stretches).
-        stiffness = float(self.kf.x[States.STIFFNESS])
-        steer_ratio = float(self.kf.x[States.STEER_RATIO])
+        stiffness = float(self.kf.x[States.STIFFNESS].item())
+        steer_ratio = float(self.kf.x[States.STEER_RATIO].item())
         self.kf.predict_and_observe(t, ObservationKind.STIFFNESS, np.array([[stiffness]]))
         self.kf.predict_and_observe(t, ObservationKind.STEER_RATIO, np.array([[steer_ratio]]))
 
     elif which == 'carState':
       self.steering_angle = msg.steeringAngleDeg
-      self.steering_pressed = msg.steeringPressed
       self.speed = msg.vEgo
 
-      in_linear_region = abs(self.steering_angle) < 45 or not self.steering_pressed
+      in_linear_region = abs(self.steering_angle) < 45
       self.active = self.speed > 1 and in_linear_region
 
       if self.active:
@@ -104,9 +107,20 @@ class ParamsLearner:
       self.kf.filter.reset_rewind()
 
 
+def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float):
+  if current_valid:
+    current_valid = abs(val) < threshold
+  else:
+    current_valid = abs(val) < lowered_threshold
+  return current_valid
+
+
 def main(sm=None, pm=None):
   config_realtime_process([0, 1, 2, 3], 5)
 
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+  REPLAY = bool(int(os.getenv("REPLAY", "0")))
+
   if sm is None:
     sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
   if pm is None:
@@ -115,7 +129,8 @@ def main(sm=None, pm=None):
   params_reader = Params()
   # wait for stats about the car to come in from controls
   cloudlog.info("paramsd is waiting for CarParams")
-  CP = car.CarParams.from_bytes(params_reader.get("CarParams", block=True))
+  with car.CarParams.from_bytes(params_reader.get("CarParams", block=True)) as msg:
+    CP = msg
   cloudlog.info("paramsd got CarParams")
 
   min_sr, max_sr = 0.5 * CP.steerRatio, 2.0 * CP.steerRatio
@@ -132,10 +147,8 @@ def main(sm=None, pm=None):
   # Check if starting values are sane
   if params is not None:
     try:
-      angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
       steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
-      params_sane = angle_offset_sane and steer_ratio_sane
-      if not params_sane:
+      if not steer_ratio_sane:
         cloudlog.info(f"Invalid starting values found {params}")
         params = None
     except Exception as e:
@@ -152,12 +165,22 @@ def main(sm=None, pm=None):
     }
     cloudlog.info("Parameter learner resetting to default values")
 
-  # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
-  # Without a way to detect this we have to reset the stiffness every drive
-  params['stiffnessFactor'] = 1.0
-  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
+  if not REPLAY:
+    # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+    # Without a way to detect this we have to reset the stiffness every drive
+    params['stiffnessFactor'] = 1.0
+
+  pInitial = None
+  if DEBUG:
+    pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None
+
+  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
   angle_offset_average = params['angleOffsetAverageDeg']
   angle_offset = angle_offset_average
+  roll = 0.0
+  avg_offset_valid = True
+  total_offset_valid = True
+  roll_valid = True
 
   while True:
     sm.update()
@@ -175,31 +198,45 @@ def main(sm=None, pm=None):
         learner = ParamsLearner(CP, CP.steerRatio, 1.0, 0.0)
         x = learner.kf.x
 
-      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
-      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET].item()),
+                                  angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
+      angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET].item() + x[States.ANGLE_OFFSET_FAST].item()),
+                          angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      roll = clip(float(x[States.ROAD_ROLL].item()), roll - ROLL_MAX_DELTA, roll + ROLL_MAX_DELTA)
+      roll_std = float(P[States.ROAD_ROLL].item())
       # Account for the opposite signs of the yaw rates
-      sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE].item() + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
       msg = messaging.new_message('liveParameters')
 
       liveParameters = msg.liveParameters
       liveParameters.posenetValid = True
       liveParameters.sensorValid = sensors_valid
-      liveParameters.steerRatio = float(x[States.STEER_RATIO])
-      liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
-      liveParameters.roll = float(x[States.ROAD_ROLL])
+      liveParameters.steerRatio = float(x[States.STEER_RATIO].item())
+      liveParameters.stiffnessFactor = float(x[States.STIFFNESS].item())
+      liveParameters.roll = roll
       liveParameters.angleOffsetAverageDeg = angle_offset_average
       liveParameters.angleOffsetDeg = angle_offset
       liveParameters.valid = all((
-        abs(liveParameters.angleOffsetAverageDeg) < 10.0,
-        abs(liveParameters.angleOffsetDeg) < 10.0,
+        avg_offset_valid,
+        total_offset_valid,
+        roll_valid,
+        roll_std < ROLL_STD_MAX,
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
       ))
-      liveParameters.steerRatioStd = float(P[States.STEER_RATIO])
-      liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
-      liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
-      liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
+      liveParameters.steerRatioStd = float(P[States.STEER_RATIO].item())
+      liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS].item())
+      liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET].item())
+      liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST].item())
+      if DEBUG:
+        liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message()
+        liveParameters.filterState.value = x.tolist()
+        liveParameters.filterState.std = P.tolist()
+        liveParameters.filterState.valid = True
 
       msg.valid = sm.all_checks()
 
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
index c4a053bbc6..bf4fcbdbe9 100755
--- a/selfdrive/locationd/test/_test_locationd_lib.py
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -10,16 +10,18 @@ from cffi import FFI
 import cereal.messaging as messaging
 from cereal import log
 
+from openpilot.common.ffi_wrapper import suffix
+
 SENSOR_DECIMATION = 1
 VISION_DECIMATION = 1
 
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
 
 
 class TestLocationdLib(unittest.TestCase):
   def setUp(self):
     header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init();
+Localizer_t localizer_init(bool has_ublox);
 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);'''
 
@@ -27,7 +29,7 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t
     self.ffi.cdef(header)
     self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
 
-    self.localizer = self.lib.localizer_init()
+    self.localizer = self.lib.localizer_init(True) # default to ublox
 
     self.buff_size = 2048
     self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
@@ -38,7 +40,8 @@ void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t
 
   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)
+    with log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8) as log_evt:
+      return log_evt
 
   def test_liblocalizer(self):
     msg = messaging.new_message('liveCalibration')
diff --git a/selfdrive/locationd/test/test_calibrationd.py b/selfdrive/locationd/test/test_calibrationd.py
index 3612f48276..a5eedaf99a 100755
--- a/selfdrive/locationd/test/test_calibrationd.py
+++ b/selfdrive/locationd/test/test_calibrationd.py
@@ -5,8 +5,10 @@ import unittest
 import numpy as np
 
 import cereal.messaging as messaging
-from common.params import Params
-from selfdrive.locationd.calibrationd import Calibrator
+from cereal import log
+from openpilot.common.params import Params
+from openpilot.selfdrive.locationd.calibrationd import Calibrator, INPUTS_NEEDED, INPUTS_WANTED, BLOCK_SIZE, MIN_SPEED_FILTER, \
+                                                         MAX_YAW_RATE_FILTER, SMOOTH_CYCLES, HEIGHT_INIT
 
 
 class TestCalibrationd(unittest.TestCase):
@@ -15,12 +17,123 @@ class TestCalibrationd(unittest.TestCase):
     msg = messaging.new_message('liveCalibration')
     msg.liveCalibration.validBlocks = random.randint(1, 10)
     msg.liveCalibration.rpyCalib = [random.random() for _ in range(3)]
+    msg.liveCalibration.height = [random.random() for _ in range(1)]
     Params().put("CalibrationParams", msg.to_bytes())
     c = Calibrator(param_put=True)
 
     np.testing.assert_allclose(msg.liveCalibration.rpyCalib, c.rpy)
+    np.testing.assert_allclose(msg.liveCalibration.height, c.height)
     self.assertEqual(msg.liveCalibration.validBlocks, c.valid_blocks)
 
 
+  def test_calibration_basics(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, INPUTS_WANTED)
+    np.testing.assert_allclose(c.rpy, np.zeros(3))
+    np.testing.assert_allclose(c.height, HEIGHT_INIT)
+    c.reset()
+
+
+  def test_calibration_low_speed_reject(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER - 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER - 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, 0)
+    np.testing.assert_allclose(c.rpy, np.zeros(3))
+    np.testing.assert_allclose(c.height, HEIGHT_INIT)
+
+
+  def test_calibration_yaw_rate_reject(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, MAX_YAW_RATE_FILTER ],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, 0)
+    np.testing.assert_allclose(c.rpy, np.zeros(3))
+    np.testing.assert_allclose(c.height, HEIGHT_INIT)
+
+
+  def test_calibration_speed_std_reject(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e3, 1e3, 1e3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, np.zeros(3))
+
+
+  def test_calibration_speed_std_height_reject(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e3, 1e3, 1e3])
+    self.assertEqual(c.valid_blocks, INPUTS_NEEDED)
+    np.testing.assert_allclose(c.rpy, np.zeros(3))
+
+
+  def test_calibration_auto_reset(self):
+    c = Calibrator(param_put=False)
+    for _ in range(BLOCK_SIZE * INPUTS_WANTED):
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, INPUTS_WANTED)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, 0.0])
+    old_rpy_weight_prev = 0.0
+    for _ in range(BLOCK_SIZE + 10):
+      self.assertLess(old_rpy_weight_prev - c.old_rpy_weight, 1/SMOOTH_CYCLES + 1e-3)
+      old_rpy_weight_prev = c.old_rpy_weight
+      c.handle_v_ego(MIN_SPEED_FILTER + 1)
+      c.handle_cam_odom([MIN_SPEED_FILTER + 1, -0.05 * MIN_SPEED_FILTER, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [0.0, 0.0, 0.0],
+                         [1e-3, 1e-3, 1e-3],
+                         [0.0, 0.0, HEIGHT_INIT.item()],
+                         [1e-3, 1e-3, 1e-3])
+    self.assertEqual(c.valid_blocks, 1)
+    self.assertEqual(c.cal_status, log.LiveCalibrationData.Status.recalibrating)
+    np.testing.assert_allclose(c.rpy, [0.0, 0.0, -0.05], atol=1e-2)
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 198ecfe935..a8d69502cf 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -1,34 +1,68 @@
 #!/usr/bin/env python3
 import time
 import unittest
-from collections import defaultdict
+from cereal import log
+from openpilot.common.params import Params
 from datetime import datetime
 from unittest import mock
-from unittest.mock import Mock, patch
 
-from common.params import Params
+
 from laika.constants import SECS_IN_DAY
 from laika.downloader import DownloadFailed
-from laika.ephemeris import EphemerisType, GPSEphemeris
+from laika.ephemeris import EphemerisType
 from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId, TimeRangeHolder
-from laika.raw_gnss import GNSSMeasurement, read_raw_ublox
-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
+from laika.helpers import ConstellationId
+from laika.raw_gnss import GNSSMeasurement, read_raw_ublox, read_raw_qcom
+from openpilot.selfdrive.locationd.laikad import EPHEMERIS_CACHE, Laikad
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+
+from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
+
+GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
+UBLOX_TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+QCOM_TEST_ROUTE = "616dc83ca1f7f11e|2023-07-11--10-52-31"
+
 
+def get_log_ublox():
+  logs = LogReader(get_url(UBLOX_TEST_ROUTE, 0))
 
-def get_log(segs=range(0)):
-  logs = []
-  for i in segs:
-    logs.extend(LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", i)))
-  return [m for m in logs if m.which() == 'ubloxGnss']
+  ublox_cfg = get_process_config("ubloxd")
+  all_logs = replay_process(ublox_cfg, logs)
+  low_gnss = []
+  for m in all_logs:
+    if m.which() != "ubloxGnss" or m.ubloxGnss.which() != 'measurementReport':
+      continue
+
+    MAX_MEAS = 7
+    if m.ubloxGnss.measurementReport.numMeas > MAX_MEAS:
+      mb = log.Event.new_message(ubloxGnss=m.ubloxGnss.to_dict())
+      mb.logMonoTime = m.logMonoTime
+      mb.ubloxGnss.measurementReport.numMeas = MAX_MEAS
+      mb.ubloxGnss.measurementReport.measurements = list(m.ubloxGnss.measurementReport.measurements)[:MAX_MEAS]
+      mb.ubloxGnss.measurementReport.measurements[0].pseudorange += 1000
+      low_gnss.append(mb.as_reader())
+    else:
+      low_gnss.append(m)
+  return all_logs, low_gnss
+
+
+def get_log_qcom():
+  logs = LogReader(get_url(QCOM_TEST_ROUTE, 0))
+  all_logs = [m for m in logs if m.which() == 'qcomGnss']
+  return all_logs
 
 
 def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
+    if m.which() == 'ubloxGnss':
+      gnss_msg = m.ubloxGnss
+    elif m.which() == 'qcomGnss':
+      gnss_msg = m.qcomGnss
+    else:
+      continue
+    msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
       if return_one_success:
@@ -38,10 +72,16 @@ def verify_messages(lr, laikad, return_one_success=False):
 
 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
+    if m.which() == 'ubloxGnss':
+      if m.ubloxGnss.which == 'measurementReport':
+        new_meas = read_raw_ublox(m.ubloxGnss.measurementReport)
+        if len(new_meas) > 0:
+          return new_meas[0].recv_time
+    elif m.which() == "qcomGnss":
+      if m.qcomGnss.which == 'measurementReport':
+        new_meas = read_raw_qcom(m.qcomGnss.measurementReport)
+        if len(new_meas) > 0:
+          return new_meas[0].recv_time
 
 
 def get_measurement_mock(gpstime, sat_ephemeris):
@@ -52,97 +92,68 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
-GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
-
-
 class TestLaikad(unittest.TestCase):
 
   @classmethod
   def setUpClass(cls):
-    logs = get_log(range(1))
+    logs, low_gnss = get_log_ublox()
     cls.logs = logs
+    cls.low_gnss = low_gnss
+    cls.logs_qcom = get_log_qcom()
     first_gps_time = get_first_gps_time(logs)
     cls.first_gps_time = first_gps_time
 
   def setUp(self):
     Params().remove(EPHEMERIS_CACHE)
 
-  def test_fetch_orbits_non_blocking(self):
+  def test_fetch_navs_non_blocking(self):
     gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
     laikad = Laikad()
-    laikad.fetch_orbits(gpstime, block=False)
+    laikad.fetch_navs(gpstime, block=False)
     laikad.orbit_fetch_future.result(30)
-    # Get results and save orbits to laikad:
-    laikad.fetch_orbits(gpstime, block=False)
 
-    ephem = laikad.astro_dog.orbits['G01'][0]
+    # Get results and save orbits to laikad:
+    laikad.fetch_navs(gpstime, block=False)
+    ephem = laikad.astro_dog.navs['G01'][0]
     self.assertIsNotNone(ephem)
 
-    laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
+    laikad.fetch_navs(gpstime+2*SECS_IN_DAY, block=False)
     laikad.orbit_fetch_future.result(30)
     # Get results and save orbits to laikad:
-    laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
+    laikad.fetch_navs(gpstime + 2 * SECS_IN_DAY, block=False)
 
-    ephem2 = laikad.astro_dog.orbits['G01'][0]
+    ephem2 = laikad.astro_dog.navs['G01'][0]
     self.assertIsNotNone(ephem)
     self.assertNotEqual(ephem, ephem2)
 
-  def test_fetch_orbits_with_wrong_clocks(self):
+
+  def test_fetch_navs_with_wrong_clocks(self):
     laikad = Laikad()
 
-    def check_has_orbits():
-      self.assertGreater(len(laikad.astro_dog.orbits), 0)
-      ephem = laikad.astro_dog.orbits['G01'][0]
+    def check_has_navs():
+      self.assertGreater(len(laikad.astro_dog.navs), 0)
+      ephem = laikad.astro_dog.navs['G01'][0]
       self.assertIsNotNone(ephem)
     real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
     wrong_future_clock_time = real_current_time + SECS_IN_DAY
 
-    laikad.fetch_orbits(wrong_future_clock_time, block=True)
-    check_has_orbits()
-    self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time)
+    laikad.fetch_navs(wrong_future_clock_time, block=True)
+    check_has_navs()
+    self.assertEqual(laikad.last_fetch_navs_t, wrong_future_clock_time)
 
     # Test fetching orbits with earlier time
-    assert real_current_time < laikad.last_fetch_orbits_t
+    assert real_current_time < laikad.last_fetch_navs_t
 
     laikad.astro_dog.orbits = {}
-    laikad.fetch_orbits(real_current_time, block=True)
-    check_has_orbits()
-    self.assertEqual(laikad.last_fetch_orbits_t, real_current_time)
-
-  def test_ephemeris_source_in_msg(self):
-    data_mock = defaultdict(str)
-    data_mock['sv_id'] = 1
-
-    gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
-    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)
-
-    # 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)
-
-    # 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)
+    laikad.fetch_navs(real_current_time, block=True)
+    check_has_navs()
+    self.assertEqual(laikad.last_fetch_navs_t, real_current_time)
 
   def test_laika_online(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 555
+    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]))
 
@@ -152,6 +163,9 @@ class TestLaikad(unittest.TestCase):
     self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
     kf_valid = False
     for m in self.logs:
+      if m.which() != 'ubloxGnss':
+        continue
+
       laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
       kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
       if kf_valid:
@@ -159,102 +173,140 @@ class TestLaikad(unittest.TestCase):
     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 = 559
-    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]))
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
+      laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV, use_qcom=use_qcom)
+      # Disable fetch_orbits to test NAV only
+      correct_msgs = verify_messages(logs, laikad)
+      correct_msgs_expected = 55 if use_qcom else 560
+      valid_fix_expected = 55 if use_qcom else 560
+
+      self.assertEqual(correct_msgs_expected, len(correct_msgs))
+      self.assertEqual(valid_fix_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   @mock.patch('laika.downloader.download_and_cache_file')
   def test_laika_offline(self, downloader_mock):
     downloader_mock.side_effect = DownloadFailed("Mock download failed")
     laikad = Laikad(auto_update=False)
-    laikad.fetch_orbits(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
+    laikad.fetch_navs(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
 
   @mock.patch('laika.downloader.download_and_cache_file')
   def test_download_failed_russian_source(self, downloader_mock):
     downloader_mock.side_effect = DownloadFailed
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(16, len(correct_msgs))
-    self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    expected_msgs = 376
+    self.assertEqual(expected_msgs, len(correct_msgs))
+    self.assertEqual(expected_msgs, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
     # Pretend process has loaded the orbits on startup by using the time of the first gps message.
-    laikad.fetch_orbits(self.first_gps_time, block=True)
-    self.dict_has_values(laikad.astro_dog.orbits)
+    laikad.fetch_navs(self.first_gps_time, block=True)
+    self.dict_has_values(laikad.astro_dog.navs)
 
   @unittest.skip("Use to debug live data")
-  def test_laika_get_orbits_now(self):
+  def test_laika_get_navs_now(self):
     laikad = Laikad(auto_update=False)
-    laikad.fetch_orbits(GPSTime.from_datetime(datetime.utcnow()), block=True)
+    laikad.fetch_navs(GPSTime.from_datetime(datetime.utcnow()), block=True)
     prn = "G01"
-    self.assertGreater(len(laikad.astro_dog.orbits[prn]), 0)
+    self.assertGreater(len(laikad.astro_dog.navs[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_gnss_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)
+    self.assertGreater(len(laikad.astro_dog.navs[prn]), 0)
+
+  def test_get_navs_in_process(self):
+    for auto_fetch_navs in [True, False]:
+      for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
+        laikad = Laikad(auto_update=False, use_qcom=use_qcom, auto_fetch_navs=auto_fetch_navs)
+        has_navs = False
+        has_fix = False
+        seen_chip_eph = False
+        seen_internet_eph = False
+
+        for m in logs:
+          if m.which() != 'ubloxGnss' and m.which() != 'qcomGnss':
+            continue
+
+          gnss_msg = m.qcomGnss if use_qcom else m.ubloxGnss
+          out_msg = laikad.process_gnss_msg(gnss_msg, m.logMonoTime, block=False)
+          if laikad.orbit_fetch_future is not None:
+            laikad.orbit_fetch_future.result()
+          vals = laikad.astro_dog.navs.values()
+          has_navs = len(vals) > 0 and max([len(v) for v in vals]) > 0
+          vals = laikad.astro_dog.qcom_polys.values()
+          has_polys = len(vals) > 0 and max([len(v) for v in vals]) > 0
+          has_fix = has_fix or out_msg.gnssMeasurements.positionECEF.valid
+          if len(out_msg.gnssMeasurements.ephemerisStatuses):
+            seen_chip_eph = seen_chip_eph or any(x.source == 'gnssChip' for x in out_msg.gnssMeasurements.ephemerisStatuses)
+            seen_internet_eph = seen_internet_eph or any(x.source == 'internet' for x in out_msg.gnssMeasurements.ephemerisStatuses)
+
+        self.assertTrue(has_navs or has_polys)
+        self.assertTrue(has_fix)
+        self.assertTrue(seen_chip_eph or auto_fetch_navs)
+        self.assertTrue(seen_internet_eph or not auto_fetch_navs)
+        self.assertEqual(len(laikad.astro_dog.navs_fetched_times._ranges), 0)
+        self.assertEqual(None, laikad.orbit_fetch_future)
 
   def test_cache(self):
-    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().remove(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)
+    use_qcom = True
+    for use_qcom, logs in zip([True, False], [self.logs_qcom, self.logs], strict=True):
+      Params().remove(EPHEMERIS_CACHE)
+      laikad = Laikad(auto_update=True, save_ephemeris=True, use_qcom=use_qcom)
+      def wait_for_cache():
+        max_time = 2
+        while Params().get(EPHEMERIS_CACHE) is None:
+          time.sleep(0.1)
+          max_time -= 0.1
+          if max_time < 0:
+            self.fail("Cache has not been written after 2 seconds")
+
+      # Test cache with no ephemeris
+      laikad.last_report_time = GPSTime(1,0)
+      laikad.cache_ephemeris()
+      if Params().get(EPHEMERIS_CACHE) is not None:
+        self.fail("Cache should not have been written without valid ephem")
+
+      #laikad.astro_dog.get_navs(self.first_gps_time)
+      msg = verify_messages(logs, laikad, return_one_success=True)
+      laikad.cache_ephemeris()
+      wait_for_cache()
+
+      # Check both nav and orbits separate
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV,
+                      save_ephemeris=True, use_qcom=use_qcom, auto_fetch_navs=False)
+      # Verify navs are loaded from cache
+      self.dict_has_values(laikad.astro_dog.navs)
+      # Verify cache is working for only nav by running a segment
+      msg = verify_messages(logs, laikad, return_one_success=True)
+      self.assertTrue(len(msg.gnssMeasurements.ephemerisStatuses))
+      self.assertTrue(any(x.source=='cache' for x in msg.gnssMeasurements.ephemerisStatuses))
       self.assertIsNotNone(msg)
-      # Verify orbit data is not downloaded
-      mock_method.assert_not_called()
+
+      #TODO test cache with only orbits
+      #with patch('selfdrive.locationd.laikad.get_orbit_data', return_value=None) as mock_method:
+      #  # Verify no orbit downloads even if orbit fetch times is reset since the cache has recently been saved and we don't want to download high frequently
+      #  laikad.astro_dog.orbit_fetched_times = TimeRangeHolder()
+      #  laikad.fetch_navs(self.first_gps_time, block=False)
+      #  mock_method.assert_not_called()
+
+      #  # Verify cache is working for only orbits by running a segment
+      #  laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
+      #  msg = verify_messages(self.logs, laikad, return_one_success=True)
+      #  self.assertIsNotNone(msg)
+      #  # Verify orbit data is not downloaded
+      #  mock_method.assert_not_called()
+      #break
+
+  def test_low_gnss_meas(self):
+    cnt = 0
+    laikad = Laikad()
+    for m in self.low_gnss:
+      msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
+      if msg is None:
+        continue
+      gm = msg.gnssMeasurements
+      if len(gm.correctedMeasurements) != 0 and gm.positionECEF.valid:
+        cnt += 1
+    self.assertEqual(cnt, 560)
 
   def dict_has_values(self, dct):
     self.assertGreater(len(dct), 0)
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 7569530211..1fb36bf2fa 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -7,14 +7,14 @@ import capnp
 
 import cereal.messaging as messaging
 from cereal.services import service_list
-from common.params import Params
+from openpilot.common.params import Params
+from openpilot.common.transformations.coordinates import ecef2geodetic
 
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 
 class TestLocationdProc(unittest.TestCase):
-  MAX_WAITS = 1000
-  LLD_MSGS = ['gpsLocationExternal', 'cameraOdometry', 'carState', 'liveCalibration',
+  LLD_MSGS = ['gnssMeasurements', 'cameraOdometry', 'carState', 'liveCalibration',
               'accelerometer', 'gyroscope', 'magnetometer']
 
   def setUp(self):
@@ -22,39 +22,27 @@ class TestLocationdProc(unittest.TestCase):
 
     self.pm = messaging.PubMaster(self.LLD_MSGS)
 
-    Params().put_bool("UbloxAvailable", True)
+    self.params = Params()
+    self.params.put_bool("UbloxAvailable", True)
     managed_processes['locationd'].prepare()
     managed_processes['locationd'].start()
 
-    time.sleep(1)
-
   def tearDown(self):
     managed_processes['locationd'].stop()
 
-  def send_msg(self, msg):
-    self.pm.send(msg.which(), msg)
-    waits_left = self.MAX_WAITS
-    while waits_left and not self.pm.all_readers_updated(msg.which()):
-      time.sleep(0)
-      waits_left -= 1
-    time.sleep(0.0001)
-
-  def get_fake_msg(self, name, t):
+  def get_msg(self, name, t):
     try:
       msg = messaging.new_message(name)
     except capnp.lib.capnp.KjException:
       msg = messaging.new_message(name, 0)
-
-    if name == "gpsLocationExternal":
-      msg.gpsLocationExternal.flags = 1
-      msg.gpsLocationExternal.verticalAccuracy = 1.0
-      msg.gpsLocationExternal.speedAccuracy = 1.0
-      msg.gpsLocationExternal.bearingAccuracyDeg = 1.0
-      msg.gpsLocationExternal.vNED = [0.0, 0.0, 0.0]
-      msg.gpsLocationExternal.latitude = self.lat
-      msg.gpsLocationExternal.longitude = self.lon
-      msg.gpsLocationExternal.unixTimestampMillis = t * 1e6
-      msg.gpsLocationExternal.altitude = self.alt
+    if name == "gnssMeasurements":
+      msg.gnssMeasurements.measTime = t
+      msg.gnssMeasurements.positionECEF.value = [self.x , self.y, self.z]
+      msg.gnssMeasurements.positionECEF.std = [0,0,0]
+      msg.gnssMeasurements.positionECEF.valid = True
+      msg.gnssMeasurements.velocityECEF.value = []
+      msg.gnssMeasurements.velocityECEF.std = [0,0,0]
+      msg.gnssMeasurements.velocityECEF.valid = True
     elif name == 'cameraOdometry':
       msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
       msg.cameraOdometry.rotStd = [0.0, 0.0, 0.0]
@@ -64,26 +52,27 @@ class TestLocationdProc(unittest.TestCase):
     return msg
 
   def test_params_gps(self):
-    # first reset params
-    Params().remove('LastGPSPosition')
+    self.params.remove('LastGPSPosition')
+
+    self.x = -2710700 + (random.random() * 1e5)
+    self.y = -4280600 + (random.random() * 1e5)
+    self.z = 3850300 + (random.random() * 1e5)
+    self.lat, self.lon, self.alt = ecef2geodetic([self.x, self.y, self.z])
 
-    self.lat = 30 + (random.random() * 10.0)
-    self.lon = -70 + (random.random() * 10.0)
-    self.alt = 5 + (random.random() * 10.0)
-    self.fake_duration = 90  # secs
     # get fake messages at the correct frequency, listed in services.py
-    fake_msgs = []
-    for sec in range(self.fake_duration):
+    msgs = []
+    for sec in range(65):
       for name in self.LLD_MSGS:
         for j in range(int(service_list[name].frequency)):
-          fake_msgs.append(self.get_fake_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
+          msgs.append(self.get_msg(name, int((sec + j / service_list[name].frequency) * 1e9)))
 
-    for fake_msg in sorted(fake_msgs, key=lambda x: x.logMonoTime):
-      self.send_msg(fake_msg)
+    for msg in sorted(msgs, key=lambda x: x.logMonoTime):
+      self.pm.send(msg.which(), msg)
+      if msg.which() == "cameraOdometry":
+        self.pm.wait_for_readers_to_update(msg.which(), 0.1)
     time.sleep(1)  # wait for async params write
 
-    lastGPS = json.loads(Params().get('LastGPSPosition'))
-
+    lastGPS = json.loads(self.params.get('LastGPSPosition'))
     self.assertAlmostEqual(lastGPS['latitude'], self.lat, places=3)
     self.assertAlmostEqual(lastGPS['longitude'], self.lon, places=3)
     self.assertAlmostEqual(lastGPS['altitude'], self.alt, places=3)
diff --git a/selfdrive/locationd/torqued.py b/selfdrive/locationd/torqued.py
index 588bca1578..ddb95e944c 100755
--- a/selfdrive/locationd/torqued.py
+++ b/selfdrive/locationd/torqued.py
@@ -7,11 +7,11 @@ from collections import deque, defaultdict
 
 import cereal.messaging as messaging
 from cereal import car, log
-from common.params import Params
-from common.realtime import config_realtime_process, DT_MDL
-from common.filter_simple import FirstOrderFilter
-from system.swaglog import cloudlog
-from selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
+from openpilot.common.params import Params
+from openpilot.common.realtime import config_realtime_process, DT_MDL
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.vehicle_model import ACCELERATION_DUE_TO_GRAVITY
 
 HISTORY = 5  # secs
 POINTS_PER_BUCKET = 1500
@@ -22,15 +22,15 @@ FIT_POINTS_TOTAL_QLOG = 600
 MIN_VEL = 15  # m/s
 FRICTION_FACTOR = 1.5  # ~85% of data coverage
 FACTOR_SANITY = 0.3
+FACTOR_SANITY_QLOG = 0.5
 FRICTION_SANITY = 0.5
+FRICTION_SANITY_QLOG = 0.8
 STEER_MIN_THRESHOLD = 0.02
 MIN_FILTER_DECAY = 50
 MAX_FILTER_DECAY = 250
 LAT_ACC_THRESHOLD = 1
 STEER_BUCKET_BOUNDS = [(-0.5, -0.3), (-0.3, -0.2), (-0.2, -0.1), (-0.1, 0), (0, 0.1), (0.1, 0.2), (0.2, 0.3), (0.3, 0.5)]
 MIN_BUCKET_POINTS = np.array([100, 300, 500, 500, 500, 500, 300, 100])
-MAX_RESETS = 5.0
-MAX_INVALID_THRESHOLD = 10
 MIN_ENGAGE_BUFFER = 2  # secs
 
 VERSION = 1  # bump this to invalidate old parameter caches
@@ -63,7 +63,7 @@ class PointBuckets:
   def __init__(self, x_bounds, min_points, min_points_total):
     self.x_bounds = x_bounds
     self.buckets = {bounds: NPQueue(maxlen=POINTS_PER_BUCKET, rowsize=3) for bounds in x_bounds}
-    self.buckets_min_points = {bounds: min_point for bounds, min_point in zip(x_bounds, min_points)}
+    self.buckets_min_points = dict(zip(x_bounds, min_points, strict=True))
     self.min_points_total = min_points_total
 
   def bucket_lengths(self):
@@ -73,7 +73,8 @@ class PointBuckets:
     return sum(self.bucket_lengths())
 
   def is_valid(self):
-    return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values())) and (self.__len__() >= self.min_points_total)
+    return all(len(v) >= min_pts for v, min_pts in zip(self.buckets.values(), self.buckets_min_points.values(), strict=True)) \
+                                                                                and (self.__len__() >= self.min_points_total)
 
   def add_point(self, x, y):
     for bound_min, bound_max in self.x_bounds:
@@ -100,10 +101,15 @@ class TorqueEstimator:
       self.min_bucket_points = MIN_BUCKET_POINTS / 10
       self.min_points_total = MIN_POINTS_TOTAL_QLOG
       self.fit_points = FIT_POINTS_TOTAL_QLOG
+      self.factor_sanity = FACTOR_SANITY_QLOG
+      self.friction_sanity = FRICTION_SANITY_QLOG
+
     else:
       self.min_bucket_points = MIN_BUCKET_POINTS
       self.min_points_total = MIN_POINTS_TOTAL
       self.fit_points = FIT_POINTS_TOTAL
+      self.factor_sanity = FACTOR_SANITY
+      self.friction_sanity = FRICTION_SANITY
 
     self.offline_friction = 0.0
     self.offline_latAccelFactor = 0.0
@@ -123,10 +129,10 @@ class TorqueEstimator:
       'points': []
     }
     self.decay = MIN_FILTER_DECAY
-    self.min_lataccel_factor = (1.0 - FACTOR_SANITY) * self.offline_latAccelFactor
-    self.max_lataccel_factor = (1.0 + FACTOR_SANITY) * self.offline_latAccelFactor
-    self.min_friction = (1.0 - FRICTION_SANITY) * self.offline_friction
-    self.max_friction = (1.0 + FRICTION_SANITY) * self.offline_friction
+    self.min_lataccel_factor = (1.0 - self.factor_sanity) * self.offline_latAccelFactor
+    self.max_lataccel_factor = (1.0 + self.factor_sanity) * self.offline_latAccelFactor
+    self.min_friction = (1.0 - self.friction_sanity) * self.offline_friction
+    self.max_friction = (1.0 + self.friction_sanity) * self.offline_friction
 
     # try to restore cached params
     params = Params()
@@ -134,8 +140,10 @@ class TorqueEstimator:
     torque_cache = params.get("LiveTorqueParameters")
     if params_cache is not None and torque_cache is not None:
       try:
-        cache_ltp = log.Event.from_bytes(torque_cache).liveTorqueParameters
-        cache_CP = car.CarParams.from_bytes(params_cache)
+        with log.Event.from_bytes(torque_cache) as log_evt:
+          cache_ltp = log_evt.liveTorqueParameters
+        with car.CarParams.from_bytes(params_cache) as msg:
+          cache_CP = msg
         if self.get_restore_key(cache_CP, cache_ltp.version) == self.get_restore_key(CP, VERSION):
           if cache_ltp.liveValid:
             initial_params = {
@@ -165,7 +173,6 @@ class TorqueEstimator:
 
   def reset(self):
     self.resets += 1.0
-    self.invalid_values_tracker = 0.0
     self.decay = MIN_FILTER_DECAY
     self.raw_points = defaultdict(lambda: deque(maxlen=self.hist_len))
     self.filtered_points = PointBuckets(x_bounds=STEER_BUCKET_BOUNDS, min_points=self.min_bucket_points, min_points_total=self.min_points_total)
@@ -190,12 +197,6 @@ class TorqueEstimator:
       self.filtered_params[param].update(value)
       self.filtered_params[param].update_alpha(self.decay)
 
-  def is_sane(self, latAccelFactor, latAccelOffset, friction):
-    if any([val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, friction]]):
-      return False
-    return (self.max_friction >= friction >= self.min_friction) and\
-      (self.max_lataccel_factor >= latAccelFactor >= self.min_lataccel_factor)
-
   def handle_log(self, t, which, msg):
     if which == "carControl":
       self.raw_points["carControl_t"].append(t + self.lag)
@@ -225,23 +226,20 @@ class TorqueEstimator:
     liveTorqueParameters.useParams = self.use_params
 
     if self.filtered_points.is_valid():
-      latAccelFactor, latAccelOffset, friction_coeff = self.estimate_params()
+      latAccelFactor, latAccelOffset, frictionCoeff = self.estimate_params()
       liveTorqueParameters.latAccelFactorRaw = float(latAccelFactor)
       liveTorqueParameters.latAccelOffsetRaw = float(latAccelOffset)
-      liveTorqueParameters.frictionCoefficientRaw = float(friction_coeff)
+      liveTorqueParameters.frictionCoefficientRaw = float(frictionCoeff)
 
-      if self.is_sane(latAccelFactor, latAccelOffset, friction_coeff):
-        liveTorqueParameters.liveValid = True
-        self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': friction_coeff})
-        self.invalid_values_tracker = max(0.0, self.invalid_values_tracker - 0.5)
-      else:
-        cloudlog.exception("Live torque parameters are outside acceptable bounds.")
+      if any(val is None or np.isnan(val) for val in [latAccelFactor, latAccelOffset, frictionCoeff]):
+        cloudlog.exception("Live torque parameters are invalid.")
         liveTorqueParameters.liveValid = False
-        self.invalid_values_tracker += 1.0
-        # Reset when ~10 invalid over 5 secs
-        if self.invalid_values_tracker > MAX_INVALID_THRESHOLD:
-          # Do not reset the filter as it may cause a drastic jump, just reset points
-          self.reset()
+        self.reset()
+      else:
+        liveTorqueParameters.liveValid = True
+        latAccelFactor = np.clip(latAccelFactor, self.min_lataccel_factor, self.max_lataccel_factor)
+        frictionCoeff = np.clip(frictionCoeff, self.min_friction, self.max_friction)
+        self.update_params({'latAccelFactor': latAccelFactor, 'latAccelOffset': latAccelOffset, 'frictionCoefficient': frictionCoeff})
     else:
       liveTorqueParameters.liveValid = False
 
@@ -267,8 +265,8 @@ def main(sm=None, pm=None):
     pm = messaging.PubMaster(['liveTorqueParameters'])
 
   params = Params()
-  CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
-  estimator = TorqueEstimator(CP)
+  with car.CarParams.from_bytes(params.get("CarParams", block=True)) as CP:
+    estimator = TorqueEstimator(CP)
 
   def cache_params(sig, frame):
     signal.signal(sig, signal.SIG_DFL)
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
deleted file mode 100644
index b45dffae33..0000000000
--- a/selfdrive/locationd/ublox_msg.cc
+++ /dev/null
@@ -1,339 +0,0 @@
-#include "ublox_msg.h"
-
-#include <unistd.h>
-
-#include <cassert>
-#include <chrono>
-#include <cmath>
-#include <cstdio>
-#include <cstdlib>
-#include <ctime>
-#include <unordered_map>
-
-#include "common/swaglog.h"
-
-const double gpsPi = 3.1415926535898;
-#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
-
-inline static bool bit_to_bool(uint8_t val, int shifts) {
-  return (bool)(val & (1 << shifts));
-}
-
-inline int UbloxMsgParser::needed_bytes() {
-  // Msg header incomplete?
-  if(bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
-    return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
-  uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE;
-  // too much data
-  if(needed < (uint16_t)bytes_in_parse_buf)
-    return -1;
-  return needed - (uint16_t)bytes_in_parse_buf;
-}
-
-inline bool UbloxMsgParser::valid_cheksum() {
-  uint8_t ck_a = 0, ck_b = 0;
-  for(int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE;i++) {
-    ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
-    ck_b = (ck_b + ck_a) & 0xFF;
-  }
-  if(ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
-    LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]);
-    return false;
-  }
-  if(ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
-    LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]);
-    return false;
-  }
-  return true;
-}
-
-inline bool UbloxMsgParser::valid() {
-  return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE &&
-         needed_bytes() == 0 && valid_cheksum();
-}
-
-inline bool UbloxMsgParser::valid_so_far() {
-  if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
-    return false;
-  }
-  if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
-    return false;
-  }
-  if(needed_bytes() == 0 && !valid()) {
-    return false;
-  }
-  return true;
-}
-
-
-bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
-  int needed = needed_bytes();
-  if(needed > 0) {
-    bytes_consumed = std::min((uint32_t)needed, incoming_data_len );
-    // Add data to buffer
-    memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
-    bytes_in_parse_buf += bytes_consumed;
-  } else {
-    bytes_consumed = incoming_data_len;
-  }
-
-  // Validate msg format, detect invalid header and invalid checksum.
-  while(!valid_so_far() && bytes_in_parse_buf != 0) {
-    // Corrupted msg, drop a byte.
-    bytes_in_parse_buf -= 1;
-    if(bytes_in_parse_buf > 0)
-      memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
-  }
-
-  // There is redundant data at the end of buffer, reset the buffer.
-  if(needed_bytes() == -1) {
-    bytes_in_parse_buf = 0;
-  }
-  return valid();
-}
-
-
-std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
-  std::string dat = data();
-  kaitai::kstream stream(dat);
-
-  ubx_t ubx_message(&stream);
-  auto body = ubx_message.body();
-
-  switch (ubx_message.msg_type()) {
-  case 0x0107:
-    return {"gpsLocationExternal", gen_nav_pvt(static_cast<ubx_t::nav_pvt_t*>(body))};
-  case 0x0213:
-    return {"ubloxGnss", gen_rxm_sfrbx(static_cast<ubx_t::rxm_sfrbx_t*>(body))};
-  case 0x0215:
-    return {"ubloxGnss", gen_rxm_rawx(static_cast<ubx_t::rxm_rawx_t*>(body))};
-  case 0x0a09:
-    return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
-  case 0x0a0b:
-    return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
-  default:
-    LOGE("Unknown message type %x", ubx_message.msg_type());
-    return {"ubloxGnss", kj::Array<capnp::word>()};
-  }
-}
-
-
-kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
-  MessageBuilder msg_builder;
-  auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
-  gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
-  gpsLoc.setFlags(msg->flags());
-  gpsLoc.setLatitude(msg->lat() * 1e-07);
-  gpsLoc.setLongitude(msg->lon() * 1e-07);
-  gpsLoc.setAltitude(msg->height() * 1e-03);
-  gpsLoc.setSpeed(msg->g_speed() * 1e-03);
-  gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
-  gpsLoc.setAccuracy(msg->h_acc() * 1e-03);
-  std::tm timeinfo = std::tm();
-  timeinfo.tm_year = msg->year() - 1900;
-  timeinfo.tm_mon = msg->month() - 1;
-  timeinfo.tm_mday = msg->day();
-  timeinfo.tm_hour = msg->hour();
-  timeinfo.tm_min = msg->min();
-  timeinfo.tm_sec = msg->sec();
-
-  std::time_t utc_tt = timegm(&timeinfo);
-  gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06);
-  float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
-  gpsLoc.setVNED(f);
-  gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
-  gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03);
-  gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05);
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-
-kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
-  auto body = *msg->body();
-
-  if (msg->gnss_id() == ubx_t::gnss_type_t::GNSS_TYPE_GPS) {
-    // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes
-    // We will first need to separate the data from the padding and parity
-    assert(body.size() == 10);
-
-    std::string subframe_data;
-    subframe_data.reserve(30);
-    for (uint32_t word : body) {
-      word = word >> 6; // TODO: Verify parity
-      subframe_data.push_back(word >> 16);
-      subframe_data.push_back(word >> 8);
-      subframe_data.push_back(word >> 0);
-    }
-
-    // Collect subframes in map and parse when we have all the parts
-    {
-      kaitai::kstream stream(subframe_data);
-      gps_t subframe(&stream);
-      int subframe_id = subframe.how()->subframe_id();
-
-      if (subframe_id == 1) gps_subframes[msg->sv_id()].clear();
-      gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
-    }
-
-    if (gps_subframes[msg->sv_id()].size() == 5) {
-      MessageBuilder msg_builder;
-      auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
-      eph.setSvId(msg->sv_id());
-
-      // Subframe 1
-      {
-        kaitai::kstream stream(gps_subframes[msg->sv_id()][1]);
-        gps_t subframe(&stream);
-        gps_t::subframe_1_t* subframe_1 = static_cast<gps_t::subframe_1_t*>(subframe.body());
-
-        eph.setGpsWeek(subframe_1->week_no());
-        eph.setTgd(subframe_1->t_gd() * pow(2, -31));
-        eph.setToc(subframe_1->t_oc() * pow(2, 4));
-        eph.setAf2(subframe_1->af_2() * pow(2, -55));
-        eph.setAf1(subframe_1->af_1() * pow(2, -43));
-        eph.setAf0(subframe_1->af_0() * pow(2, -31));
-      }
-
-      // Subframe 2
-      {
-        kaitai::kstream stream(gps_subframes[msg->sv_id()][2]);
-        gps_t subframe(&stream);
-        gps_t::subframe_2_t* subframe_2 = static_cast<gps_t::subframe_2_t*>(subframe.body());
-
-        eph.setCrs(subframe_2->c_rs() * pow(2, -5));
-        eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi);
-        eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi);
-        eph.setCuc(subframe_2->c_uc() * pow(2, -29));
-        eph.setEcc(subframe_2->e() * pow(2, -33));
-        eph.setCus(subframe_2->c_us() * pow(2, -29));
-        eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0));
-        eph.setToe(subframe_2->t_oe() * pow(2, 4));
-      }
-
-      // Subframe 3
-      {
-        kaitai::kstream stream(gps_subframes[msg->sv_id()][3]);
-        gps_t subframe(&stream);
-        gps_t::subframe_3_t* subframe_3 = static_cast<gps_t::subframe_3_t*>(subframe.body());
-
-        eph.setCic(subframe_3->c_ic() * pow(2, -29));
-        eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi);
-        eph.setCis(subframe_3->c_is() * pow(2, -29));
-        eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi);
-        eph.setCrc(subframe_3->c_rc() * pow(2, -5));
-        eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi);
-        eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi);
-        eph.setIode(subframe_3->iode());
-        eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi);
-      }
-
-      // Subframe 4
-      {
-        kaitai::kstream stream(gps_subframes[msg->sv_id()][4]);
-        gps_t subframe(&stream);
-        gps_t::subframe_4_t* subframe_4 = static_cast<gps_t::subframe_4_t*>(subframe.body());
-
-        // This is page 18, why is the page id 56?
-        if (subframe_4->data_id() == 1 && subframe_4->page_id() == 56) {
-          auto iono = static_cast<gps_t::subframe_4_t::ionosphere_data_t*>(subframe_4->body());
-          double a0 = iono->a0() * pow(2, -30);
-          double a1 = iono->a1() * pow(2, -27);
-          double a2 = iono->a2() * pow(2, -24);
-          double a3 = iono->a3() * pow(2, -24);
-          eph.setIonoAlpha({a0, a1, a2, a3});
-
-          double b0 = iono->b0() * pow(2, 11);
-          double b1 = iono->b1() * pow(2, 14);
-          double b2 = iono->b2() * pow(2, 16);
-          double b3 = iono->b3() * pow(2, 16);
-          eph.setIonoBeta({b0, b1, b2, b3});
-        }
-      }
-
-      return capnp::messageToFlatArray(msg_builder);
-    }
-  }
-  return kj::Array<capnp::word>();
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
-  MessageBuilder msg_builder;
-  auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();
-  mr.setRcvTow(msg->rcv_tow());
-  mr.setGpsWeek(msg->week());
-  mr.setLeapSeconds(msg->leap_s());
-  mr.setGpsWeek(msg->week());
-
-  auto mb = mr.initMeasurements(msg->num_meas());
-  auto measurements = *msg->measurements();
-  for(int8_t i = 0; i < msg->num_meas(); i++) {
-    mb[i].setSvId(measurements[i]->sv_id());
-    mb[i].setPseudorange(measurements[i]->pr_mes());
-    mb[i].setCarrierCycles(measurements[i]->cp_mes());
-    mb[i].setDoppler(measurements[i]->do_mes());
-    mb[i].setGnssId(measurements[i]->gnss_id());
-    mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id());
-    mb[i].setLocktime(measurements[i]->lock_time());
-    mb[i].setCno(measurements[i]->cno());
-    mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong
-    mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15));
-    mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong
-
-    auto ts = mb[i].initTrackingStatus();
-    auto trk_stat = measurements[i]->trk_stat();
-    ts.setPseudorangeValid(bit_to_bool(trk_stat, 0));
-    ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1));
-    ts.setHalfCycleValid(bit_to_bool(trk_stat, 2));
-    ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3));
-  }
-
-  mr.setNumMeas(msg->num_meas());
-  auto rs = mr.initReceiverStatus();
-  rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0));
-  rs.setClkReset(bit_to_bool(msg->rec_stat(), 2));
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) {
-  MessageBuilder msg_builder;
-  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
-  hwStatus.setNoisePerMS(msg->noise_per_ms());
-  hwStatus.setFlags(msg->flags());
-  hwStatus.setAgcCnt(msg->agc_cnt());
-  hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status());
-  hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power());
-  hwStatus.setJamInd(msg->jam_ind());
-  return capnp::messageToFlatArray(msg_builder);
-}
-
-kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) {
-  MessageBuilder msg_builder;
-  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2();
-  hwStatus.setOfsI(msg->ofs_i());
-  hwStatus.setMagI(msg->mag_i());
-  hwStatus.setOfsQ(msg->ofs_q());
-  hwStatus.setMagQ(msg->mag_q());
-
-  switch (msg->cfg_source()) {
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS);
-      break;
-    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH);
-      break;
-    default:
-      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED);
-      break;
-  }
-
-  hwStatus.setLowLevCfg(msg->low_lev_cfg());
-  hwStatus.setPostStatus(msg->post_status());
-
-  return capnp::messageToFlatArray(msg_builder);
-}
diff --git a/selfdrive/loggerd/deleter.py b/selfdrive/loggerd/deleter.py
deleted file mode 100644
index 5606288024..0000000000
--- a/selfdrive/loggerd/deleter.py
+++ /dev/null
@@ -1,48 +0,0 @@
-#!/usr/bin/env python3
-import os
-import shutil
-import threading
-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
-
-MIN_BYTES = 5 * 1024 * 1024 * 1024
-MIN_PERCENT = 10
-
-DELETE_LAST = ['boot', 'crash']
-
-
-def deleter_thread(exit_event):
-  while not exit_event.is_set():
-    out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
-    out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
-
-    if out_of_percent or out_of_bytes:
-      # remove the earliest directory we can
-      dirs = sorted(listdir_by_creation(ROOT), key=lambda x: x in DELETE_LAST)
-      for delete_dir in dirs:
-        delete_path = os.path.join(ROOT, delete_dir)
-
-        if any(name.endswith(".lock") for name in os.listdir(delete_path)):
-          continue
-
-        try:
-          cloudlog.info(f"deleting {delete_path}")
-          if os.path.isfile(delete_path):
-            os.remove(delete_path)
-          else:
-            shutil.rmtree(delete_path)
-          break
-        except OSError:
-          cloudlog.exception(f"issue deleting {delete_path}")
-      exit_event.wait(.1)
-    else:
-      exit_event.wait(30)
-
-
-def main():
-  deleter_thread(threading.Event())
-
-
-if __name__ == "__main__":
-  main()
diff --git a/selfdrive/loggerd/encoder/encoder.cc b/selfdrive/loggerd/encoder/encoder.cc
deleted file mode 100644
index 943f37803d..0000000000
--- a/selfdrive/loggerd/encoder/encoder.cc
+++ /dev/null
@@ -1,82 +0,0 @@
-#include <cassert>
-#include "selfdrive/loggerd/encoder/encoder.h"
-
-VideoEncoder::~VideoEncoder() {}
-
-void VideoEncoder::publisher_init() {
-  // publish
-  service_name = this->type == DriverCam ? "driverEncodeData" :
-    (this->type == WideRoadCam ? "wideRoadEncodeData" :
-    (this->in_width == this->out_width ? "roadEncodeData" : "qRoadEncodeData"));
-  pm.reset(new PubMaster({service_name}));
-}
-
-void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
-                                     unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
-  // broadcast packet
-  MessageBuilder msg;
-  auto event = msg.initEvent(true);
-  auto edat = (e->type == DriverCam) ? event.initDriverEncodeData() :
-    ((e->type == WideRoadCam) ? event.initWideRoadEncodeData() :
-    (e->in_width == e->out_width ? event.initRoadEncodeData() : event.initQRoadEncodeData()));
-  auto edata = edat.initIdx();
-  struct timespec ts;
-  timespec_get(&ts, TIME_UTC);
-  edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
-  edata.setFrameId(extra.frame_id);
-  edata.setTimestampSof(extra.timestamp_sof);
-  edata.setTimestampEof(extra.timestamp_eof);
-  edata.setType(e->codec);
-  edata.setEncodeId(e->cnt++);
-  edata.setSegmentNum(segment_num);
-  edata.setSegmentId(idx);
-  edata.setFlags(flags);
-  edata.setLen(dat.size());
-  edat.setData(dat);
-  if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
-
-  auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
-  auto bytes = words->asBytes();
-  e->pm->send(e->service_name, bytes.begin(), bytes.size());
-  if (e->write) {
-    e->to_write.push(words);
-  } else {
-    delete words;
-  }
-}
-
-// TODO: writing should be moved to loggerd
-void VideoEncoder::write_handler(VideoEncoder *e, const char *path) {
-  VideoWriter writer(path, e->filename, e->codec != cereal::EncodeIndex::Type::FULL_H_E_V_C, e->out_width, e->out_height, e->fps, e->codec);
-
-  bool first = true;
-  kj::Array<capnp::word>* out_buf;
-  while ((out_buf = e->to_write.pop())) {
-    capnp::FlatArrayMessageReader cmsg(*out_buf);
-    cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
-
-    auto edata = (e->type == DriverCam) ? event.getDriverEncodeData() :
-      ((e->type == WideRoadCam) ? event.getWideRoadEncodeData() :
-      (e->in_width == e->out_width ? event.getRoadEncodeData() : event.getQRoadEncodeData()));
-    auto idx = edata.getIdx();
-    auto flags = idx.getFlags();
-
-    if (first) {
-      assert(flags & V4L2_BUF_FLAG_KEYFRAME);
-      auto header = edata.getHeader();
-      writer.write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
-      first = false;
-    }
-
-    // dangerous cast from const, but should be fine
-    auto data = edata.getData();
-    if (data.size() > 0) {
-      writer.write((uint8_t *)data.begin(), data.size(), idx.getTimestampEof()/1000, false, flags & V4L2_BUF_FLAG_KEYFRAME);
-    }
-
-    // free the data
-    delete out_buf;
-  }
-
-  // VideoWriter is freed on out of scope
-}
diff --git a/selfdrive/loggerd/encoder/encoder.h b/selfdrive/loggerd/encoder/encoder.h
deleted file mode 100644
index 21ef65cf12..0000000000
--- a/selfdrive/loggerd/encoder/encoder.h
+++ /dev/null
@@ -1,62 +0,0 @@
-#pragma once
-
-#include <cassert>
-#include <cstdint>
-#include <thread>
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/visionipc/visionipc.h"
-#include "common/queue.h"
-#include "selfdrive/loggerd/video_writer.h"
-#include "system/camerad/cameras/camera_common.h"
-
-#define V4L2_BUF_FLAG_KEYFRAME 8
-
-class VideoEncoder {
-public:
-  VideoEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-              int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write)
-  : filename(filename), type(type), in_width(in_width), in_height(in_height), fps(fps),
-    bitrate(bitrate), codec(codec), out_width(out_width), out_height(out_height), write(write) { }
-  virtual ~VideoEncoder();
-  virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
-  virtual void encoder_open(const char* path) = 0;
-  virtual void encoder_close() = 0;
-
-  void publisher_init();
-  static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
-
-  void writer_open(const char* path) {
-    if (this->write) write_handler_thread = std::thread(VideoEncoder::write_handler, this, path);
-  }
-
-  void writer_close() {
-    if (this->write) {
-      to_write.push(NULL);
-      write_handler_thread.join();
-    }
-    assert(to_write.empty());
-  }
-
-protected:
-  bool write;
-  const char* filename;
-  int in_width, in_height;
-  int out_width, out_height, fps;
-  int bitrate;
-  cereal::EncodeIndex::Type codec;
-  CameraType type;
-
-private:
-  // total frames encoded
-  int cnt = 0;
-
-  // publishing
-  std::unique_ptr<PubMaster> pm;
-  const char *service_name;
-
-  // writing support
-  static void write_handler(VideoEncoder *e, const char *path);
-  std::thread write_handler_thread;
-  SafeQueue<kj::Array<capnp::word>* > to_write;
-};
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
deleted file mode 100644
index 1fa6349828..0000000000
--- a/selfdrive/loggerd/loggerd.h
+++ /dev/null
@@ -1,103 +0,0 @@
-#pragma once
-
-#include <unistd.h>
-
-#include <atomic>
-#include <cassert>
-#include <cerrno>
-#include <condition_variable>
-#include <mutex>
-#include <string>
-#include <thread>
-#include <unordered_map>
-#include <utility>
-
-#include "cereal/messaging/messaging.h"
-#include "cereal/services.h"
-#include "cereal/visionipc/visionipc.h"
-#include "cereal/visionipc/visionipc_client.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 "system/hardware/hw.h"
-
-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/logger.h"
-#ifdef QCOM2
-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
-#define Encoder V4LEncoder
-#else
-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
-#define Encoder FfmpegEncoder
-#endif
-
-constexpr int MAIN_FPS = 20;
-const int MAIN_BITRATE = 10000000;
-const int DCAM_BITRATE = MAIN_BITRATE;
-
-#define NO_CAMERA_PATIENCE 500 // fall back to time-based rotation if all cameras are dead
-
-const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
-const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
-
-struct LogCameraInfo {
-  CameraType type;
-  const char *filename;
-  VisionStreamType stream_type;
-  int frame_width, frame_height;
-  int fps;
-  int bitrate;
-  bool is_h265;
-  bool has_qcamera;
-  bool record;
-};
-
-const LogCameraInfo cameras_logged[] = {
-  {
-    .type = RoadCam,
-    .stream_type = VISION_STREAM_ROAD,
-    .filename = "fcamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = MAIN_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = true,
-    .record = true,
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-  {
-    .type = DriverCam,
-    .stream_type = VISION_STREAM_DRIVER,
-    .filename = "dcamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = DCAM_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
-    .record = Params().getBool("RecordFront"),
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-  {
-    .type = WideRoadCam,
-    .stream_type = VISION_STREAM_WIDE_ROAD,
-    .filename = "ecamera.hevc",
-    .fps = MAIN_FPS,
-    .bitrate = MAIN_BITRATE,
-    .is_h265 = true,
-    .has_qcamera = false,
-    .record = true,
-    .frame_width = 1928,
-    .frame_height = 1208,
-  },
-};
-const LogCameraInfo qcam_info = {
-  .filename = "qcamera.ts",
-  .fps = MAIN_FPS,
-  .bitrate = 256000,
-  .is_h265 = false,
-  .record = true,
-  .frame_width = 526,
-  .frame_height = 330,
-};
diff --git a/selfdrive/loggerd/tests/fill_eon.py b/selfdrive/loggerd/tests/fill_eon.py
deleted file mode 100755
index b40982fa9f..0000000000
--- a/selfdrive/loggerd/tests/fill_eon.py
+++ /dev/null
@@ -1,26 +0,0 @@
-#!/usr/bin/env python3
-"""Script to fill up EON with fake data"""
-
-import os
-
-from selfdrive.loggerd.config import ROOT, get_available_percent
-from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file
-
-
-if __name__ == "__main__":
-  segment_idx = 0
-  while True:
-    seg_name = "1970-01-01--00-00-00--%d" % segment_idx
-    seg_path = os.path.join(ROOT, seg_name)
-
-    print(seg_path)
-
-    create_random_file(os.path.join(seg_path, 'fcamera.hevc'), 36)
-    create_random_file(os.path.join(seg_path, 'rlog.bz2'), 2)
-
-    segment_idx += 1
-
-    # Fill up to 99 percent
-    available_percent = get_available_percent()
-    if available_percent < 1.0:
-      break
diff --git a/selfdrive/loggerd/tests/test_deleter.py b/selfdrive/loggerd/tests/test_deleter.py
deleted file mode 100755
index 80fb5c997f..0000000000
--- a/selfdrive/loggerd/tests/test_deleter.py
+++ /dev/null
@@ -1,105 +0,0 @@
-#!/usr/bin/env python3
-import os
-import time
-import threading
-import unittest
-from collections import namedtuple
-
-from common.timeout import Timeout, TimeoutException
-import selfdrive.loggerd.deleter as deleter
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
-
-Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
-
-
-class TestDeleter(UploaderTestCase):
-  def fake_statvfs(self, d):
-    return self.fake_stats
-
-  def setUp(self):
-    self.f_type = "fcamera.hevc"
-    super().setUp()
-    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
-    deleter.os.statvfs = self.fake_statvfs
-    deleter.ROOT = self.root
-
-  def start_thread(self):
-    self.end_event = threading.Event()
-    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
-    self.del_thread.daemon = True
-    self.del_thread.start()
-
-  def join_thread(self):
-    self.end_event.set()
-    self.del_thread.join()
-
-  def test_delete(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path):
-        time.sleep(0.01)
-    self.join_thread()
-
-    self.assertFalse(os.path.exists(f_path), "File not deleted")
-
-  def test_delete_files_in_create_order(self):
-    f_path_1 = self.make_file_with_data(self.seg_dir, self.f_type)
-    time.sleep(1)
-    self.seg_num += 1
-    self.seg_dir = self.seg_format.format(self.seg_num)
-    f_path_2 = self.make_file_with_data(self.seg_dir, self.f_type)
-
-    self.start_thread()
-
-    with Timeout(5, "Timeout waiting for file to be deleted"):
-      while os.path.exists(f_path_1) and os.path.exists(f_path_2):
-        time.sleep(0.01)
-
-    self.join_thread()
-
-    self.assertFalse(os.path.exists(f_path_1), "Older file not deleted")
-
-    self.assertTrue(os.path.exists(f_path_2), "Newer file deleted before older file")
-
-  def test_no_delete_when_available_space(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
-
-    block_size = 4096
-    available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
-    self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
-
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted with available space")
-
-  def test_no_delete_with_lock_file(self):
-    f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
-
-    self.start_thread()
-
-    try:
-      with Timeout(2, "Timeout waiting for file to be deleted"):
-        while os.path.exists(f_path):
-          time.sleep(0.01)
-    except TimeoutException:
-      pass
-    finally:
-      self.join_thread()
-
-    self.assertTrue(os.path.exists(f_path), "File deleted when locked")
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index c8a7d41539..be37b3e7e4 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -1,75 +1,77 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-import textwrap
 from pathlib import Path
+from typing import List
 
 # NOTE: Do NOT import anything here that needs be built (e.g. params)
-from common.basedir import BASEDIR
-from common.spinner import Spinner
-from common.text_window import TextWindow
-from system.hardware import AGNOS
-from system.swaglog import cloudlog, add_file_handler
-from system.version import is_dirty
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.spinner import Spinner
+from openpilot.common.text_window import TextWindow
+from openpilot.system.hardware import AGNOS
+from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.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")
 
-TOTAL_SCONS_NODES = 2395
+TOTAL_SCONS_NODES = 2560
 MAX_BUILD_PROGRESS = 100
 PREBUILT = os.path.exists(os.path.join(BASEDIR, 'prebuilt'))
 
-
 def build(spinner: Spinner, dirty: bool = False) -> None:
   env = os.environ.copy()
   env['SCONS_PROGRESS'] = "1"
   nproc = os.cpu_count()
-  j_flag = "" if nproc is None else f"-j{nproc - 1}"
-
-  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 nproc is None:
+    nproc = 2
+
+  # building with all cores can result in using too
+  # much memory, so retry with less parallelism
+  compile_output: List[bytes] = []
+  for n in (nproc, nproc/2, 1):
+    compile_output.clear()
+    scons: subprocess.Popen = subprocess.Popen(["scons", f"-j{int(n)}", "--cache-populate", "--minimal"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+    assert scons.stderr is not None
+
+    # 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:
+      break
 
   if scons.returncode != 0:
     # Read remaining output
-    r = scons.stderr.read().split(b'\n')
-    compile_output += r
+    if scons.stderr is not None:
+      compile_output += scons.stderr.read().split(b'\n')
 
     # 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)
+    error_s = b"\n".join(compile_output).decode('utf8', 'replace')
     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()]
   cache_files.sort(key=lambda f: f.stat().st_mtime)
diff --git a/selfdrive/manager/helpers.py b/selfdrive/manager/helpers.py
index 983c7cc0b1..f8607fffc6 100644
--- a/selfdrive/manager/helpers.py
+++ b/selfdrive/manager/helpers.py
@@ -36,3 +36,8 @@ def unblock_stdout() -> None:
     # whose low byte is the signal number and whose high byte is the exit status
     exit_status = os.wait()[1] >> 8
     os._exit(exit_status)
+
+
+def write_onroad_params(started, params):
+  params.put_bool("IsOnroad", started)
+  params.put_bool("IsOffroad", not started)
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 928507f65b..a739437de7 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -7,42 +7,45 @@ import sys
 import traceback
 from typing import List, Tuple, Union
 
+from cereal import log
 import cereal.messaging as messaging
-import selfdrive.sentry as sentry
-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 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 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, is_tested_branch
+import openpilot.selfdrive.sentry as sentry
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params, ParamKeyType
+from openpilot.common.text_window import TextWindow
+from openpilot.selfdrive.boardd.set_time import set_time
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.selfdrive.manager.helpers import unblock_stdout, write_onroad_params
+from openpilot.selfdrive.manager.process import ensure_running
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
+from openpilot.system.swaglog import cloudlog, add_file_handler
+from openpilot.system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
+                           get_normalized_origin, terms_version, training_version, \
+                           is_tested_branch, is_release_branch
 
 
-sys.path.append(os.path.join(BASEDIR, "pyextra"))
-
 
 def manager_init() -> None:
   # update system time from panda
   set_time(cloudlog)
 
   # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))
 
   params = Params()
   params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
+  params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
+  params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
 
   default_params: List[Tuple[str, Union[str, bytes]]] = [
     ("CompletedTrainingVersion", "0"),
-    ("DisengageOnAccelerator", "1"),
+    ("DisengageOnAccelerator", "0"),
     ("GsmMetered", "1"),
     ("HasAcceptedTerms", "0"),
     ("LanguageSetting", "main_en"),
     ("OpenpilotEnabledToggle", "1"),
+    ("LongitudinalPersonality", str(log.LongitudinalPersonality.standard)),
   ]
   if not PC:
     default_params.append(("LastUpdateTime", datetime.datetime.utcnow().isoformat().encode('utf8')))
@@ -78,6 +81,7 @@ def manager_init() -> None:
   params.put("GitBranch", get_short_branch(default=""))
   params.put("GitRemote", get_origin(default=""))
   params.put_bool("IsTestedBranch", is_tested_branch())
+  params.put_bool("IsReleaseBranch", is_release_branch())
 
   # set dongle id
   reg_res = register(show_spinner=True)
@@ -93,7 +97,12 @@ def manager_init() -> None:
 
   # init logging
   sentry.init(sentry.SentryProject.SELFDRIVE)
-  cloudlog.bind_global(dongle_id=dongle_id, version=get_version(), dirty=is_dirty(),
+  cloudlog.bind_global(dongle_id=dongle_id,
+                       version=get_version(),
+                       origin=get_normalized_origin(),
+                       branch=get_short_branch(),
+                       commit=get_commit(),
+                       dirty=is_dirty(),
                        device=HARDWARE.get_device_type())
 
 
@@ -131,12 +140,27 @@ def manager_thread() -> None:
   sm = messaging.SubMaster(['deviceState', 'carParams'], poll=['deviceState'])
   pm = messaging.PubMaster(['managerState'])
 
+  write_onroad_params(False, params)
   ensure_running(managed_processes.values(), False, params=params, CP=sm['carParams'], not_run=ignore)
 
+  started_prev = False
+
   while True:
     sm.update()
 
     started = sm['deviceState'].started
+
+    if started and not started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_ONROAD_TRANSITION)
+    elif not started and started_prev:
+      params.clear_all(ParamKeyType.CLEAR_ON_OFFROAD_TRANSITION)
+
+    # update onroad params, which drives boardd's safety setter thread
+    if started != started_prev:
+      write_onroad_params(started, params)
+
+    started_prev = started
+
     ensure_running(managed_processes.values(), started, params=params, CP=sm['carParams'], not_run=ignore)
 
     running = ' '.join("%s%s\u001b[0m" % ("\u001b[32m" if p.proc.is_alive() else "\u001b[31m", p.name)
@@ -154,7 +178,7 @@ def manager_thread() -> None:
     for param in ("DoUninstall", "DoShutdown", "DoReboot"):
       if params.get_bool(param):
         shutdown = True
-        params.put("LastManagerExitReason", param)
+        params.put("LastManagerExitReason", f"{param} {datetime.datetime.now()}")
         cloudlog.warning(f"Shutting down manager - {param} set")
 
     if shutdown:
diff --git a/selfdrive/manager/process.py b/selfdrive/manager/process.py
index dabfbe4ee0..82cc8d74a3 100644
--- a/selfdrive/manager/process.py
+++ b/selfdrive/manager/process.py
@@ -8,17 +8,14 @@ from typing import Optional, Callable, List, ValuesView
 from abc import ABC, abstractmethod
 from multiprocessing import Process
 
-from setproctitle import setproctitle  # pylint: disable=no-name-in-module
+from setproctitle import setproctitle
 
+from cereal import car, log
 import cereal.messaging as messaging
-import selfdrive.sentry as sentry
-from cereal import car
-from common.basedir import BASEDIR
-from common.params import Params
-from common.realtime import sec_since_boot
-from system.swaglog import cloudlog
-from system.hardware import HARDWARE
-from cereal import log
+import openpilot.selfdrive.sentry as sentry
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.system.swaglog import cloudlog
 
 WATCHDOG_FN = "/dev/shm/wd_"
 ENABLE_WATCHDOG = os.getenv("NO_WATCHDOG") is None
@@ -40,7 +37,7 @@ def launcher(proc: str, name: str) -> None:
     sentry.set_tag("daemon", name)
 
     # exec the process
-    getattr(mod, 'main')()
+    mod.main()
   except KeyboardInterrupt:
     cloudlog.warning(f"child {proc} got SIGINT")
   except Exception:
@@ -67,12 +64,9 @@ def join_process(process: Process, timeout: float) -> None:
 
 
 class ManagerProcess(ABC):
-  unkillable = False
   daemon = False
   sigkill = False
-  onroad = True
-  offroad = False
-  callback: Optional[Callable[[bool, Params, car.CarParams], bool]] = None
+  should_run: Callable[[bool, Params, car.CarParams], bool]
   proc: Optional[Process] = None
   enabled = True
   name = ""
@@ -91,7 +85,7 @@ class ManagerProcess(ABC):
     pass
 
   def restart(self) -> None:
-    self.stop()
+    self.stop(sig=signal.SIGKILL)
     self.start()
 
   def check_watchdog(self, started: bool) -> None:
@@ -100,29 +94,30 @@ class ManagerProcess(ABC):
 
     try:
       fn = WATCHDOG_FN + str(self.proc.pid)
-      # TODO: why can't pylint find struct.unpack?
-      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member
+      with open(fn, "rb") as f:
+        # TODO: why can't pylint find struct.unpack?
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0]
     except Exception:
       pass
 
-    dt = sec_since_boot() - self.last_watchdog_time / 1e9
+    dt = time.monotonic() - self.last_watchdog_time / 1e9
 
     if dt > self.watchdog_max_dt:
-      # Only restart while offroad for now
       if self.watchdog_seen and ENABLE_WATCHDOG:
         cloudlog.error(f"Watchdog timeout for {self.name} (exitcode {self.proc.exitcode}) restarting ({started=})")
         self.restart()
     else:
       self.watchdog_seen = True
 
-  def stop(self, retry: bool=True, block: bool=True) -> Optional[int]:
+  def stop(self, retry: bool = True, block: bool = True, sig: Optional[signal.Signals] = None) -> Optional[int]:
     if self.proc is None:
       return None
 
     if self.proc.exitcode is None:
       if not self.shutting_down:
         cloudlog.info(f"killing {self.name}")
-        sig = signal.SIGKILL if self.sigkill else signal.SIGINT
+        if sig is None:
+          sig = signal.SIGKILL if self.sigkill else signal.SIGINT
         self.signal(sig)
         self.shutting_down = True
 
@@ -131,22 +126,11 @@ class ManagerProcess(ABC):
 
       join_process(self.proc, 5)
 
-      # If process failed to die send SIGKILL or reboot
+      # If process failed to die send SIGKILL
       if self.proc.exitcode is None and retry:
-        if self.unkillable:
-          cloudlog.critical(f"unkillable process {self.name} failed to exit! rebooting in 15 if it doesn't die")
-          join_process(self.proc, 15)
-
-          if self.proc.exitcode is None:
-            cloudlog.critical(f"unkillable process {self.name} failed to die!")
-            os.system("date >> /data/unkillable_reboot")
-            os.sync()
-            HARDWARE.reboot()
-            raise RuntimeError
-        else:
-          cloudlog.info(f"killing {self.name} with SIGKILL")
-          self.signal(signal.SIGKILL)
-          self.proc.join()
+        cloudlog.info(f"killing {self.name} with SIGKILL")
+        self.signal(signal.SIGKILL)
+        self.proc.join()
 
     ret = self.proc.exitcode
     cloudlog.info(f"{self.name} is dead with {ret}")
@@ -184,17 +168,15 @@ class ManagerProcess(ABC):
 
 
 class NativeProcess(ManagerProcess):
-  def __init__(self, name, cwd, cmdline, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, cwd, cmdline, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.cwd = cwd
     self.cmdline = cmdline
+    self.should_run = should_run
     self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = nativelauncher
 
   def prepare(self) -> None:
     pass
@@ -209,23 +191,21 @@ class NativeProcess(ManagerProcess):
 
     cwd = os.path.join(BASEDIR, self.cwd)
     cloudlog.info(f"starting process {self.name}")
-    self.proc = Process(name=self.name, target=nativelauncher, args=(self.cmdline, cwd, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.cmdline, cwd, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
 
 
 class PythonProcess(ManagerProcess):
-  def __init__(self, name, module, enabled=True, onroad=True, offroad=False, callback=None, unkillable=False, sigkill=False, watchdog_max_dt=None):
+  def __init__(self, name, module, should_run, enabled=True, sigkill=False, watchdog_max_dt=None):
     self.name = name
     self.module = module
+    self.should_run = should_run
     self.enabled = enabled
-    self.onroad = onroad
-    self.offroad = offroad
-    self.callback = callback
-    self.unkillable = unkillable
     self.sigkill = sigkill
     self.watchdog_max_dt = watchdog_max_dt
+    self.launcher = launcher
 
   def prepare(self) -> None:
     if self.enabled:
@@ -241,7 +221,7 @@ class PythonProcess(ManagerProcess):
       return
 
     cloudlog.info(f"starting python {self.module}")
-    self.proc = Process(name=self.name, target=launcher, args=(self.module, self.name))
+    self.proc = Process(name=self.name, target=self.launcher, args=(self.module, self.name))
     self.proc.start()
     self.watchdog_seen = False
     self.shutting_down = False
@@ -255,16 +235,20 @@ class DaemonProcess(ManagerProcess):
     self.module = module
     self.param_name = param_name
     self.enabled = enabled
-    self.onroad = True
-    self.offroad = True
+    self.params = None
+
+  @staticmethod
+  def should_run(started, params, CP):
+    return True
 
   def prepare(self) -> None:
     pass
 
   def start(self) -> None:
-    params = Params()
-    pid = params.get(self.param_name, encoding='utf-8')
+    if self.params is None:
+      self.params = Params()
 
+    pid = self.params.get(self.param_name, encoding='utf-8')
     if pid is not None:
       try:
         os.kill(int(pid), 0)
@@ -277,41 +261,31 @@ class DaemonProcess(ManagerProcess):
         pass
 
     cloudlog.info(f"starting daemon {self.name}")
-    proc = subprocess.Popen(['python', '-m', self.module],  # pylint: disable=subprocess-popen-preexec-fn
+    proc = subprocess.Popen(['python', '-m', self.module],
                                stdin=open('/dev/null'),
                                stdout=open('/dev/null', 'w'),
                                stderr=open('/dev/null', 'w'),
                                preexec_fn=os.setpgrp)
 
-    params.put(self.param_name, str(proc.pid))
+    self.params.put(self.param_name, str(proc.pid))
 
-  def stop(self, retry=True, block=True) -> None:
+  def stop(self, retry=True, block=True, sig=None) -> None:
     pass
 
 
 def ensure_running(procs: ValuesView[ManagerProcess], started: bool, params=None, CP: car.CarParams=None,
-                   not_run: Optional[List[str]]=None) -> None:
+                   not_run: Optional[List[str]]=None) -> List[ManagerProcess]:
   if not_run is None:
     not_run = []
 
+  running = []
   for p in procs:
-    # Conditions that make a process run
-    run = any((
-      p.offroad and not started,
-      p.onroad and started,
-    ))
-    if p.callback is not None and None not in (params, CP):
-      run = run or p.callback(started, params, CP)
-
-    # Conditions that block a process from starting
-    run = run and not any((
-      not p.enabled,
-      p.name in not_run,
-    ))
-
-    if run:
+    if p.enabled and p.name not in not_run and p.should_run(started, params, CP):
       p.start()
+      running.append(p)
     else:
       p.stop(block=False)
 
     p.check_watchdog(started)
+
+  return running
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index c03e995497..50e684fcb5 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -1,67 +1,92 @@
 import os
 
 from cereal import car
-from common.params import Params
-from system.hardware import PC, TICI
-from selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
+from openpilot.common.params import Params
+from openpilot.system.hardware import PC, TICI
+from openpilot.selfdrive.manager.process import PythonProcess, NativeProcess, DaemonProcess
 
 WEBCAM = os.getenv("USE_WEBCAM") is not None
 
 def driverview(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return params.get_bool("IsDriverViewEnabled")  # type: ignore
+  return started or params.get_bool("IsDriverViewEnabled")
 
 def notcar(started: bool, params: Params, CP: car.CarParams) -> bool:
-  return CP.notCar  # type: ignore
+  return started and CP.notCar
+
+def iscar(started: bool, params: Params, CP: car.CarParams) -> bool:
+  return started and not CP.notCar
 
 def logging(started, params, CP: car.CarParams) -> bool:
   run = (not CP.notCar) or not params.get_bool("DisableLogging")
   return started and run
 
-procs = [
-  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
-  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
-  NativeProcess("clocksd", "system/clocksd", ["./clocksd"]),
-  NativeProcess("logcatd", "system/logcatd", ["./logcatd"]),
-  NativeProcess("proclogd", "system/proclogd", ["./proclogd"]),
-  PythonProcess("logmessaged", "system.logmessaged", offroad=True),
-  PythonProcess("micd", "system.micd"),
-  PythonProcess("timezoned", "system.timezoned", enabled=not PC, offroad=True),
+def ublox_available() -> bool:
+  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+
+def ublox(started, params, CP: car.CarParams) -> bool:
+  use_ublox = ublox_available()
+  if use_ublox != params.get_bool("UbloxAvailable"):
+    params.put_bool("UbloxAvailable", use_ublox)
+  return started and use_ublox
+
+def qcomgps(started, params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
+def always_run(started, params, CP: car.CarParams) -> bool:
+  return True
 
+def only_onroad(started: bool, params, CP: car.CarParams) -> bool:
+  return started
+
+def only_offroad(started, params, CP: car.CarParams) -> bool:
+  return not started
+
+procs = [
   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("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
-  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
-  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)),
-  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
-  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
-  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], enabled=False),
-  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
-  PythonProcess("torqued", "selfdrive.locationd.torqued"),
-  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("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
-  PythonProcess("navd", "selfdrive.navd.navd"),
-  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
-  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI),
-  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
-  PythonProcess("radard", "selfdrive.controls.radard"),
-  PythonProcess("thermald", "selfdrive.thermald.thermald", 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),
-  PythonProcess("statsd", "selfdrive.statsd", offroad=True),
+
+  NativeProcess("camerad", "system/camerad", ["./camerad"], driverview),
+  NativeProcess("clocksd", "system/clocksd", ["./clocksd"], only_onroad),
+  NativeProcess("logcatd", "system/logcatd", ["./logcatd"], only_onroad),
+  NativeProcess("proclogd", "system/proclogd", ["./proclogd"], only_onroad),
+  PythonProcess("logmessaged", "system.logmessaged", always_run),
+  PythonProcess("micd", "system.micd", iscar),
+  PythonProcess("timezoned", "system.timezoned", always_run, enabled=not PC),
+
+  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], driverview, enabled=(not PC or WEBCAM)),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"], only_onroad),
+  NativeProcess("stream_encoderd", "system/loggerd", ["./encoderd", "--stream"], notcar),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], logging),
+  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"], only_onroad),
+  NativeProcess("mapsd", "selfdrive/navd", ["./mapsd"], only_onroad),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], only_onroad),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], only_onroad, enabled=not PC),
+  NativeProcess("ui", "selfdrive/ui", ["./ui"], always_run, watchdog_max_dt=(5 if not PC else None)),
+  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], only_onroad),
+  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"], only_onroad),
+  NativeProcess("boardd", "selfdrive/boardd", ["./boardd"], always_run, enabled=False),
+  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd", only_onroad),
+  PythonProcess("torqued", "selfdrive.locationd.torqued", only_onroad),
+  PythonProcess("controlsd", "selfdrive.controls.controlsd", only_onroad),
+  PythonProcess("deleter", "system.loggerd.deleter", always_run),
+  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", driverview, enabled=(not PC or WEBCAM)),
+  PythonProcess("laikad", "selfdrive.locationd.laikad", only_onroad),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", qcomgps, enabled=TICI),
+  PythonProcess("navd", "selfdrive.navd.navd", only_onroad),
+  PythonProcess("pandad", "selfdrive.boardd.pandad", always_run),
+  PythonProcess("paramsd", "selfdrive.locationd.paramsd", only_onroad),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], ublox, enabled=TICI),
+  PythonProcess("pigeond", "system.sensord.pigeond", ublox, enabled=TICI),
+  PythonProcess("plannerd", "selfdrive.controls.plannerd", only_onroad),
+  PythonProcess("radard", "selfdrive.controls.radard", only_onroad),
+  PythonProcess("thermald", "selfdrive.thermald.thermald", always_run),
+  PythonProcess("tombstoned", "selfdrive.tombstoned", always_run, enabled=not PC),
+  PythonProcess("updated", "selfdrive.updated", only_offroad, enabled=not PC),
+  PythonProcess("uploader", "system.loggerd.uploader", always_run),
+  PythonProcess("statsd", "selfdrive.statsd", always_run),
 
   # debug procs
-  NativeProcess("bridge", "cereal/messaging", ["./bridge"], onroad=False, callback=notcar),
-  PythonProcess("webjoystick", "tools.joystick.web", onroad=False, callback=notcar),
+  NativeProcess("bridge", "cereal/messaging", ["./bridge"], notcar),
+  PythonProcess("webjoystick", "tools.bodyteleop.web", notcar),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/manager/test/test_manager.py b/selfdrive/manager/test/test_manager.py
index 6d4df0423a..89ad483744 100755
--- a/selfdrive/manager/test/test_manager.py
+++ b/selfdrive/manager/test/test_manager.py
@@ -4,16 +4,17 @@ import signal
 import time
 import unittest
 
-from common.params import Params
-import selfdrive.manager.manager as manager
-from selfdrive.manager.process import DaemonProcess
-from selfdrive.manager.process_config import managed_processes
-from system.hardware import HARDWARE
+from cereal import car
+from openpilot.common.params import Params
+import openpilot.selfdrive.manager.manager as manager
+from openpilot.selfdrive.manager.process import ensure_running
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import HARDWARE
 
 os.environ['FAKEUPLOAD'] = "1"
 
 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 ['pandad', ])]
+BLACKLIST_PROCS = ['manage_athenad', 'pandad', 'pigeond']
 
 
 class TestManager(unittest.TestCase):
@@ -32,6 +33,10 @@ class TestManager(unittest.TestCase):
     os.environ['PREPAREONLY'] = '1'
     manager.main()
 
+  def test_blacklisted_procs(self):
+    # TODO: ensure there are blacklisted procs until we have a dedicated test
+    self.assertTrue(len(BLACKLIST_PROCS), "No blacklisted procs to test not_run")
+
   def test_startup_time(self):
     for _ in range(10):
       start = time.monotonic()
@@ -47,24 +52,31 @@ class TestManager(unittest.TestCase):
     HARDWARE.set_power_save(False)
     manager.manager_init()
     manager.manager_prepare()
-    for p in ALL_PROCESSES:
-      managed_processes[p].start()
+
+    CP = car.CarParams.new_message()
+    procs = ensure_running(managed_processes.values(), True, Params(), CP, not_run=BLACKLIST_PROCS)
 
     time.sleep(10)
 
-    for p in reversed(ALL_PROCESSES):
-      with self.subTest(proc=p):
-        state = managed_processes[p].get_process_state_msg()
-        self.assertTrue(state.running, f"{p} not running")
-        exit_code = managed_processes[p].stop(retry=False)
+    for p in procs:
+      with self.subTest(proc=p.name):
+        state = p.get_process_state_msg()
+        self.assertTrue(state.running, f"{p.name} not running")
+        exit_code = p.stop(retry=False)
+
+        self.assertNotIn(p.name, BLACKLIST_PROCS, f"{p.name} was started")
+
+        # TODO: mapsd should exit cleanly
+        if p.name == "mapsd":
+          continue
 
-        self.assertTrue(exit_code is not None, f"{p} failed to exit")
+        self.assertTrue(exit_code is not None, f"{p.name} failed to exit")
 
         # TODO: interrupted blocking read exits with 1 in cereal. use a more unique return code
         exit_codes = [0, 1]
-        if managed_processes[p].sigkill:
+        if p.sigkill:
           exit_codes = [-signal.SIGKILL]
-        self.assertIn(exit_code, exit_codes, f"{p} died with {exit_code}")
+        self.assertIn(exit_code, exit_codes, f"{p.name} died with {exit_code}")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/modeld/.gitignore b/selfdrive/modeld/.gitignore
new file mode 100644
index 0000000000..742d3d1205
--- /dev/null
+++ b/selfdrive/modeld/.gitignore
@@ -0,0 +1 @@
+*_pyx.cpp
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 82338e456b..61898645e5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,20 +1,12 @@
 import os
 
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
+Import('env', 'envCython', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
 lenv = env.Clone()
+lenvCython = envCython.Clone()
 
 libs = [cereal, messaging, common, visionipc, gpucommon,
         'OpenCL', 'SNPE', 'capnp', 'zmq', 'kj', 'yuv']
 
-def get_dlsym_offset():
-  """Returns the offset between dlopen and dlsym in libdl.so"""
-  import ctypes
-  libdl = ctypes.PyDLL('libdl.so')
-  dlopen = ctypes.cast(libdl.dlopen, ctypes.c_void_p).value
-  dlsym = ctypes.cast(libdl.dlsym, ctypes.c_void_p).value
-  return dlsym - dlopen
-
-
 common_src = [
   "models/commonmodel.cc",
   "runners/snpemodel.cc",
@@ -22,23 +14,24 @@ common_src = [
   "transforms/transform.cc"
 ]
 
-thneed_src = [
+thneed_src_common = [
   "thneed/thneed_common.cc",
-  "thneed/thneed_qcom2.cc",
   "thneed/serialize.cc",
   "runners/thneedmodel.cc",
 ]
 
+thneed_src_qcom = thneed_src_common + ["thneed/thneed_qcom2.cc"]
+thneed_src_pc = thneed_src_common + ["thneed/thneed_pc.cc"]
+thneed_src = thneed_src_qcom if arch == "larch64" else thneed_src_pc
+
 use_thneed = not GetOption('no_thneed')
 
 if arch == "larch64":
   libs += ['gsl', 'CB', 'pthread', 'dl']
 
   if use_thneed:
-    common_src += thneed_src
-    dlsym_offset = get_dlsym_offset()
+    common_src += thneed_src_qcom
     lenv['CXXFLAGS'].append("-DUSE_THNEED")
-    lenv['CXXFLAGS'].append(f"-DDLSYM_OFFSET={dlsym_offset}")
 else:
   libs += ['pthread']
 
@@ -55,10 +48,35 @@ else:
     del libs[libs.index('OpenCL')]
     lenv['FRAMEWORKS'] = ['OpenCL']
 
-    # no SNPE on Mac
+  if arch == "Darwin" or arch == "aarch64":
+    # no SNPE on Mac and ARM Linux
     del libs[libs.index('SNPE')]
     del common_src[common_src.index('runners/snpemodel.cc')]
 
+for pathdef, fn in {'TRANSFORM': 'transforms/transform.cl', 'LOADYUV': 'transforms/loadyuv.cl', 'ONNXRUNNER': 'runners/onnx_runner.py'}.items():
+  for xenv in (lenv, lenvCython):
+    xenv['CXXFLAGS'].append(f'-D{pathdef}_PATH=\\"{File(fn).abspath}\\"')
+
+if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
+  lenvCython['CFLAGS'].append("-DUSE_THNEED")
+  lenvCython['CXXFLAGS'].append("-DUSE_THNEED")
+
+common_frameworks = []
+common_libs = envCython["LIBS"] + [gpucommon, common, 'zmq']
+if arch == "Darwin":
+  common_frameworks.append('OpenCL')
+else:
+  common_libs.append('OpenCL')
+
+onnxmodel_lib = lenv.Library('onnxmodel', ['runners/onnxmodel.cc'])
+snpemodel_lib = lenv.Library('snpemodel', ['runners/snpemodel.cc'])
+commonmodel_lib = lenv.Library('commonmodel', common_src)
+
+lenvCython.Program('runners/runmodel_pyx.so', 'runners/runmodel_pyx.pyx', LIBS=common_libs, FRAMEWORKS=common_frameworks)
+lenvCython.Program('runners/onnxmodel_pyx.so', 'runners/onnxmodel_pyx.pyx', LIBS=[onnxmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
+lenvCython.Program('runners/snpemodel_pyx.so', 'runners/snpemodel_pyx.pyx', LIBS=[snpemodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
+lenvCython.Program('models/commonmodel_pyx.so', 'models/commonmodel_pyx.pyx', LIBS=[commonmodel_lib, *common_libs], FRAMEWORKS=common_frameworks)
+
 common_model = lenv.Object(common_src)
 
 lenv.Program('_dmonitoringmodeld', [
@@ -66,54 +84,32 @@ lenv.Program('_dmonitoringmodeld', [
     "models/dmonitoring.cc",
   ]+common_model, LIBS=libs)
 
+lenv.Program('_navmodeld', [
+    "navmodeld.cc",
+    "models/nav.cc",
+  ]+common_model, LIBS=libs)
+
 # build thneed model
-if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
+if (use_thneed and arch == "larch64") or GetOption('pc_thneed'):
   fn = File("models/supercombo").abspath
 
-  if GetOption('pc_thneed'):
-    cmd = f"cd {Dir('#').abspath}/tinygrad_repo && GPU=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
-  else:
-    cmd = f"cd {Dir('#').abspath}/tinygrad_repo && FLOAT16=1 MATMUL=1 PYOPENCL_NO_CACHE=1 NATIVE_EXPLOG=1 OPTWG=1 UNSAFE_FLOAT4=1 DEBUGCL=1 python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
-
-  # is there a better way then listing all of tinygrad?
-  lenv.Command(fn + ".thneed", [fn + ".onnx",
-    "#tinygrad_repo/openpilot/compile.py",
-    "#tinygrad_repo/accel/opencl/conv.cl",
-    "#tinygrad_repo/accel/opencl/matmul.cl",
-    "#tinygrad_repo/accel/opencl/ops_opencl.py",
-    "#tinygrad_repo/accel/opencl/preprocessing.py",
-    "#tinygrad_repo/extra/onnx.py",
-    "#tinygrad_repo/extra/thneed.py",
-    "#tinygrad_repo/extra/utils.py",
-    "#tinygrad_repo/tinygrad/llops/ops_gpu.py",
-    "#tinygrad_repo/tinygrad/llops/ops_opencl.py",
-    "#tinygrad_repo/tinygrad/helpers.py",
-    "#tinygrad_repo/tinygrad/mlops.py",
-    "#tinygrad_repo/tinygrad/ops.py",
-    "#tinygrad_repo/tinygrad/shapetracker.py",
-    "#tinygrad_repo/tinygrad/tensor.py",
-    "#tinygrad_repo/tinygrad/nn/__init__.py"
-  ], cmd)
+  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
+  if not GetOption('pc_thneed'):
+    # use FLOAT16 on device for speed + don't cache the CL kernels for space
+    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
+  cmd = f"cd {Dir('#').abspath}/tinygrad_repo && " + ' '.join(tinygrad_opts) + f" python3 openpilot/compile.py {fn}.onnx {fn}.thneed"
+
+  tinygrad_files = sum([lenv.Glob("#"+x) for x in open(File("#release/files_common").abspath).read().split("\n") if x.startswith("tinygrad_repo/")], [])
+  lenv.Command(fn + ".thneed", [fn + ".onnx"] + tinygrad_files, cmd)
 
 llenv = lenv.Clone()
 if GetOption('pc_thneed'):
-  pc_thneed_src = [
-    "thneed/thneed_common.cc",
-    "thneed/thneed_pc.cc",
-    "thneed/serialize.cc",
-    "runners/thneedmodel.cc",
-  ]
   llenv['CFLAGS'].append("-DUSE_THNEED")
   llenv['CXXFLAGS'].append("-DUSE_THNEED")
-  common_model += llenv.Object(pc_thneed_src)
+  common_model += llenv.Object(thneed_src_pc)
   libs += ['dl']
 
 llenv.Program('_modeld', [
     "modeld.cc",
     "models/driving.cc",
   ]+common_model, LIBS=libs + transformations)
-
-lenv.Program('_navmodeld', [
-    "navmodeld.cc",
-    "models/nav.cc",
-  ]+common_model, LIBS=libs + transformations)
\ No newline at end of file
diff --git a/selfdrive/modeld/dmonitoringmodeld.cc b/selfdrive/modeld/dmonitoringmodeld.cc
index cde13a9bee..2890b44fe0 100644
--- a/selfdrive/modeld/dmonitoringmodeld.cc
+++ b/selfdrive/modeld/dmonitoringmodeld.cc
@@ -5,6 +5,7 @@
 #include <cstdlib>
 
 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/dmonitoring.h"
@@ -15,7 +16,7 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
   PubMaster pm({"driverStateV2"});
   SubMaster sm({"liveCalibration"});
   float calib[CALIB_LEN] = {0};
-  double last = 0;
+  // double last = 0;
 
   while (!do_exit) {
     VisionIpcBufExtra extra = {};
@@ -37,8 +38,8 @@ void run_model(DMonitoringModelState &model, VisionIpcClient &vipc_client) {
     // send dm packet
     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;
+    // printf("dmonitoring process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last);
+    // last = t1;
   }
 }
 
@@ -49,6 +50,9 @@ int main(int argc, char **argv) {
   DMonitoringModelState model;
   dmonitoring_init(&model);
 
+  Params().putBool("DmModelInitialized", true);
+
+  LOGW("connecting to driver stream");
   VisionIpcClient vipc_client = VisionIpcClient("camerad", VISION_STREAM_DRIVER, true);
   while (!do_exit && !vipc_client.connect(false)) {
     util::sleep_for(100);
@@ -56,7 +60,7 @@ int main(int argc, char **argv) {
 
   // run the models
   if (vipc_client.connected) {
-    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
     run_model(model, vipc_client);
   }
 
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index cfc71a0e27..9a5862fbf5 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -15,6 +15,7 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
+#include "selfdrive/modeld/models/nav.h"
 
 
 ExitHandler do_exit;
@@ -22,14 +23,14 @@ ExitHandler do_exit;
 mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) {
   /*
      import numpy as np
-     from common.transformations.model import medmodel_frame_from_calib_frame
+     from openpilot.common.transformations.model import medmodel_frame_from_calib_frame
      medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3]
      calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame)
   */
   static const auto calib_from_medmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
      1.09890110e-03, 0.00000000e+00, -2.81318681e-01,
-    -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished();
+    -2.25466395e-20, 1.09890110e-03, -5.23076923e-02).finished();
 
   static const auto calib_from_sbigmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00,  7.31372216e-19,  1.00000000e+00,
@@ -42,7 +43,7 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
      1.0,  0.0,  0.0).finished();
 
 
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ECAM_INTRINSIC_MATRIX.v : FCAM_INTRINSIC_MATRIX.v);
   Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
   auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
   auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
@@ -52,26 +53,32 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
   for (int i=0; i<3*3; i++) {
     transform.v[i] = warp_matrix(i / 3, i % 3);
   }
-  static const mat3 yuv_transform = get_model_yuv_transform();
-  return matmul3(yuv_transform, transform);
+  return transform;
 }
 
 
 void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "navModel", "navInstruction"});
+
+  Params params;
+  PublishState ps = {};
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
 
   uint32_t frame_id = 0, last_vipc_frame_id = 0;
-  double last = 0;
+  // double last = 0;
   uint32_t run_count = 0;
 
   mat3 model_transform_main = {};
   mat3 model_transform_extra = {};
+  bool nav_enabled = false;
   bool live_calib_seen = false;
+  float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0};
+  float nav_features[NAV_FEATURE_LEN] = {0};
+  float nav_instructions[NAV_INSTRUCTION_LEN] = {0};
 
   VisionBuf *buf_main = nullptr;
   VisionBuf *buf_extra = nullptr;
@@ -134,6 +141,40 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
       vec_desire[desire] = 1.0;
     }
 
+    // Enable/disable nav features
+    uint64_t timestamp_llk = sm["navModel"].getNavModel().getLocationMonoTime();
+    bool nav_valid = sm["navModel"].getValid() && (nanos_since_boot() - timestamp_llk < 1e9);
+    bool use_nav = nav_valid && params.getBool("ExperimentalMode");
+    if (!nav_enabled && use_nav) {
+      nav_enabled = true;
+    } else if (nav_enabled && !use_nav) {
+      memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
+      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
+      nav_enabled = false;
+    }
+
+    if (nav_enabled && sm.updated("navModel")) {
+      auto nav_model_features = sm["navModel"].getNavModel().getFeatures();
+      for (int i=0; i<NAV_FEATURE_LEN; i++) {
+        nav_features[i] = nav_model_features[i];
+      }
+    }
+
+    if (nav_enabled && sm.updated("navInstruction")) {
+      memset(nav_instructions, 0, sizeof(float)*NAV_INSTRUCTION_LEN);
+      auto maneuvers = sm["navInstruction"].getNavInstruction().getAllManeuvers();
+      for (int i=0; i<maneuvers.size(); i++) {
+        int distance_idx = 25 + (int)(maneuvers[i].getDistance() / 20);
+        std::string direction = maneuvers[i].getModifier();
+        int direction_idx = 0;
+        if (direction == "left" || direction == "slight left" || direction == "sharp left") direction_idx = 1;
+        if (direction == "right" || direction == "slight right" || direction == "sharp right") direction_idx = 2;
+        if (distance_idx >= 0 && distance_idx < 50) {
+          nav_instructions[distance_idx*3 + direction_idx] = 1;
+        }
+      }
+    }
+
     // tracked dropped frames
     uint32_t vipc_dropped_frames = meta_main.frame_id - last_vipc_frame_id - 1;
     float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U));
@@ -151,18 +192,18 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, driving_style, nav_features, nav_instructions, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
     if (model_output != nullptr) {
-      model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
-                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
+      model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, model, ps, meta_main.timestamp_eof, timestamp_llk, model_execution_time,
+                    nav_enabled, live_calib_seen);
       posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen);
     }
 
-    //printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
-    last = mt1;
+    // printf("model process: %.2fms, from last %.2fms, vipc_frame_id %u, frame_id, %u, frame_drop %.3f\n", mt2 - mt1, mt1 - last, extra.frame_id, frame_id, frame_drop_ratio);
+    // last = mt1;
     last_vipc_frame_id = meta_main.frame_id;
   }
 }
@@ -176,9 +217,6 @@ int main(int argc, char **argv) {
     assert(ret == 0);
   }
 
-  bool main_wide_camera = Params().getBool("WideCameraOnly");
-  bool use_extra_client = !main_wide_camera;  // set for single camera mode
-
   // cl init
   cl_device_id device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
   cl_context context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
@@ -188,8 +226,22 @@ int main(int argc, char **argv) {
   model_init(&model, device_id, context);
   LOGW("models loaded, modeld starting");
 
+  bool main_wide_camera = false;
+  bool use_extra_client = true; // set to false to use single camera
+  while (!do_exit) {
+    auto streams = VisionIpcClient::getAvailableStreams("camerad", false);
+    if (!streams.empty()) {
+      use_extra_client = streams.count(VISION_STREAM_WIDE_ROAD) > 0 && streams.count(VISION_STREAM_ROAD) > 0;
+      main_wide_camera = streams.count(VISION_STREAM_ROAD) == 0;
+      break;
+    }
+
+    util::sleep_for(100);
+  }
+
   VisionIpcClient vipc_client_main = VisionIpcClient("camerad", main_wide_camera ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD, true, device_id, context);
   VisionIpcClient vipc_client_extra = VisionIpcClient("camerad", VISION_STREAM_WIDE_ROAD, false, device_id, context);
+  LOGW("vision stream set up, main_wide_camera: %d, use_extra_client: %d", main_wide_camera, use_extra_client);
 
   while (!do_exit && !vipc_client_main.connect(false)) {
     util::sleep_for(100);
@@ -203,11 +255,11 @@ int main(int argc, char **argv) {
   // vipc_client.connected is false only when do_exit is true
   if (!do_exit) {
     const VisionBuf *b = &vipc_client_main.buffers[0];
-    LOGW("connected main cam with buffer size: %d (%d x %d)", b->len, b->width, b->height);
+    LOGW("connected main cam with buffer size: %zu (%zu x %zu)", b->len, b->width, b->height);
 
     if (use_extra_client) {
       const VisionBuf *wb = &vipc_client_extra.buffers[0];
-      LOGW("connected extra cam with buffer size: %d (%d x %d)", wb->len, wb->width, wb->height);
+      LOGW("connected extra cam with buffer size: %zu (%zu x %zu)", wb->len, wb->width, wb->height);
     }
 
     run_model(model, vipc_client_main, vipc_client_extra, main_wide_camera, use_extra_client);
diff --git a/selfdrive/modeld/models/README.md b/selfdrive/modeld/models/README.md
index 6b704cbfa8..11808ef552 100644
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@@ -2,7 +2,7 @@
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)
 
 ## Supercombo
-### Supercombo input format (Full size: 393738 x float32)
+### Supercombo input format (Full size: 799906 x float32)
 * **image stream**
   * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
     * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
       * Channel 4 represents the half-res U channel
       * Channel 5 represents the half-res V channel
 * **desire**
-  * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
 * **traffic convention**
   * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128
 
 
 ### Supercombo output format (Full size: XXX x float32)
@@ -32,28 +32,31 @@ Read [here](https://github.com/commaai/openpilot/blob/90af436a121164a51da9fa48d0
 * .dlc file is a pre-quantized model and only runs on qualcomm DSPs
 
 ### input format
-* single image (640 * 320 * 3 in RGB):
-  * full input size is 6 * 640/2 * 320/2 = 307200
-  * represented in YUV420 with 6 channels:
-    * Channels 0,1,2,3 represent the full-res Y channel and are represented in numpy as Y[::2, ::2], Y[::2, 1::2], Y[1::2, ::2], and Y[1::2, 1::2]
-    * Channel 4 represents the half-res U channel
-    * Channel 5 represents the half-res V channel
-  * normalized, ranging from -1.0 to 1.0
+* single image W = 1440 H = 960 luminance channel (Y) from the planar YUV420 format:
+  * full input size is 1440 * 960 = 1382400
+  * normalized ranging from 0.0 to 1.0 in float32 (onnx runner) or ranging from 0 to 255 in uint8 (snpe runner)
+* camera calibration angles (roll, pitch, yaw) from liveCalibration: 3 x float32 inputs
 
 ### output format
-* 39 x float32 outputs ([parsing example](https://github.com/commaai/openpilot/blob/master/selfdrive/modeld/models/dmonitoring.cc#L165))
-  * face pose: 12 = 6 + 6
-    * face orientation [pitch, yaw, roll] in camera frame: 3
-    * face position [dx, dy] relative to image center: 2
-    * normalized face size: 1
-    * standard deviations for above outputs: 6
-  * face visible probability: 1
-  * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
-    * eye position and size, and their standard deviations: 8
-    * eye visible probability: 1
-    * eye closed probability: 1
-  * wearing sunglasses probability: 1
-  * poor camera vision probability: 1
-  * face partially out-of-frame probability: 1
-  * (deprecated) distracted probabilities: 2
-  * face covered probability: 1
+* 84 x float32 outputs = 2 + 41 * 2 ([parsing example](https://github.com/commaai/openpilot/blob/22ce4e17ba0d3bfcf37f8255a4dd1dc683fe0c38/selfdrive/modeld/models/dmonitoring.cc#L33))
+  * for each person in the front seats (2 * 41)
+    * face pose: 12 = 6 + 6
+      * face orientation [pitch, yaw, roll] in camera frame: 3
+      * face position [dx, dy] relative to image center: 2
+      * normalized face size: 1
+      * standard deviations for above outputs: 6
+    * face visible probability: 1
+    * eyes: 20 = (8 + 1) + (8 + 1) + 1 + 1
+      * eye position and size, and their standard deviations: 8
+      * eye visible probability: 1
+      * eye closed probability: 1
+    * wearing sunglasses probability: 1
+    * face occluded probability: 1
+    * touching wheel probability: 1
+    * paying attention probability: 1
+    * (deprecated) distracted probabilities: 2
+    * using phone probability: 1
+    * distracted probability: 1
+  * common outputs 2
+    * poor camera vision probability: 1
+    * left hand drive probability: 1
diff --git a/selfdrive/modeld/models/__init__.py b/selfdrive/modeld/models/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/modeld/models/commonmodel.cc b/selfdrive/modeld/models/commonmodel.cc
index b7c9051c6e..5e28e9b95d 100644
--- a/selfdrive/modeld/models/commonmodel.cc
+++ b/selfdrive/modeld/models/commonmodel.cc
@@ -55,14 +55,14 @@ ModelFrame::~ModelFrame() {
 void softmax(const float* input, float* output, size_t len) {
   const float max_val = *std::max_element(input, input + len);
   float denominator = 0;
-  for(int i = 0; i < len; i++) {
+  for (int i = 0; i < len; i++) {
     float const v_exp = expf(input[i] - max_val);
     denominator += v_exp;
     output[i] = v_exp;
   }
 
   const float inv_denominator = 1. / denominator;
-  for(int i = 0; i < len; i++) {
+  for (int i = 0; i < len; i++) {
     output[i] *= inv_denominator;
   }
 }
diff --git a/selfdrive/modeld/models/commonmodel.pxd b/selfdrive/modeld/models/commonmodel.pxd
new file mode 100644
index 0000000000..d313dbef90
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel.pxd
@@ -0,0 +1,23 @@
+# distutils: language = c++
+
+from cereal.visionipc.visionipc cimport cl_device_id, cl_context, cl_mem
+
+cdef extern from "common/mat.h":
+  cdef struct mat3:
+    float v[9]
+
+cdef extern from "common/clutil.h":
+  cdef unsigned long CL_DEVICE_TYPE_DEFAULT
+  cl_device_id cl_get_device_id(unsigned long)
+  cl_context cl_create_context(cl_device_id)
+
+cdef extern from "selfdrive/modeld/models/commonmodel.h":
+  cppclass ModelFrame:
+    int buf_size
+    ModelFrame(cl_device_id, cl_context)
+    float * prepare(cl_mem, int, int, int, int, mat3, cl_mem*)
+
+cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef int USE_CPU_RUNTIME
+  cdef int USE_GPU_RUNTIME
+  cdef int USE_DSP_RUNTIME
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pxd b/selfdrive/modeld/models/commonmodel_pyx.pxd
new file mode 100644
index 0000000000..21c0716de4
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel_pyx.pxd
@@ -0,0 +1,13 @@
+# distutils: language = c++
+
+from cereal.visionipc.visionipc cimport cl_mem
+from cereal.visionipc.visionipc_pyx cimport CLContext as BaseCLContext
+
+cdef class CLContext(BaseCLContext):
+  pass
+
+cdef class CLMem:
+  cdef cl_mem * mem;
+
+  @staticmethod
+  cdef create(void*)
diff --git a/selfdrive/modeld/models/commonmodel_pyx.pyx b/selfdrive/modeld/models/commonmodel_pyx.pyx
new file mode 100644
index 0000000000..c5576a5acb
--- /dev/null
+++ b/selfdrive/modeld/models/commonmodel_pyx.pyx
@@ -0,0 +1,46 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii
+
+import numpy as np
+cimport numpy as cnp
+from libc.string cimport memcpy
+
+from cereal.visionipc.visionipc cimport cl_mem
+from cereal.visionipc.visionipc_pyx cimport VisionBuf, CLContext as BaseCLContext
+from .commonmodel cimport CL_DEVICE_TYPE_DEFAULT, cl_get_device_id, cl_create_context
+from .commonmodel cimport USE_CPU_RUNTIME, USE_GPU_RUNTIME, USE_DSP_RUNTIME
+from .commonmodel cimport mat3, ModelFrame as cppModelFrame
+
+class Runtime:
+  CPU = USE_CPU_RUNTIME
+  GPU = USE_GPU_RUNTIME
+  DSP = USE_DSP_RUNTIME
+
+cdef class CLContext(BaseCLContext):
+  def __cinit__(self):
+    self.device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT)
+    self.context = cl_create_context(self.device_id)
+
+cdef class CLMem:
+  @staticmethod
+  cdef create(void * cmem):
+    mem = CLMem()
+    mem.mem = <cl_mem*> cmem
+    return mem
+
+cdef class ModelFrame:
+  cdef cppModelFrame * frame
+
+  def __cinit__(self, CLContext context):
+    self.frame = new cppModelFrame(context.device_id, context.context)
+
+  def __dealloc__(self):
+    del self.frame
+
+  def prepare(self, VisionBuf buf, float[:] projection, CLMem output):
+    cdef mat3 cprojection
+    memcpy(cprojection.v, &projection[0], 9*sizeof(float))
+    cdef float * data = self.frame.prepare(buf.buf.buf_cl, buf.width, buf.height, buf.stride, buf.uv_offset, cprojection, output.mem)
+    if not data:
+      return None
+    return np.asarray(<cnp.float32_t[:self.frame.buf_size]> data)
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index e7e6d46612..eb5239bef0 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,7 +1,5 @@
 #include <cstring>
 
-#include "libyuv.h"
-
 #include "common/mat.h"
 #include "common/modeldata.h"
 #include "common/params.h"
@@ -22,12 +20,13 @@ static inline T *get_buffer(std::vector<T> &buf, const size_t size) {
 void dmonitoring_init(DMonitoringModelState* s) {
 
 #ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new ONNXModel("models/dmonitoring_model.onnx", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
 #else
-  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
+  s->m = new SNPEModel("models/dmonitoring_model_q.dlc", &s->output[0], OUTPUT_SIZE, USE_DSP_RUNTIME, true);
 #endif
 
-  s->m->addCalib(s->calib, CALIB_LEN);
+  s->m->addInput("input_imgs", NULL, 0);
+  s->m->addInput("calib", s->calib, CALIB_LEN);
 }
 
 void parse_driver_data(DriverStateResult &ds_res, const DMonitoringModelState* s, int out_idx_offset) {
@@ -92,7 +91,7 @@ DMonitoringModelResult dmonitoring_eval_frame(DMonitoringModelState* s, void* st
   // fclose(dump_yuv_file);
 
   double t1 = millis_since_boot();
-  s->m->addImage((float*)net_input_buf, yuv_buf_len / 4);
+  s->m->setInputBuffer("input_imgs", (float*)net_input_buf, yuv_buf_len / sizeof(float));
   for (int i = 0; i < CALIB_LEN; i++) {
     s->calib[i] = calib[i];
   }
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 9cb216ff19..136bd255c3 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -13,12 +13,6 @@
 #include "common/timing.h"
 #include "common/swaglog.h"
 
-constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
-constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
-constexpr float FCW_THRESHOLD_3MS2 = 0.7;
-
-std::array<float, 5> prev_brake_5ms2_probs = {0,0,0,0,0};
-std::array<float, 3> prev_brake_3ms2_probs = {0,0,0};
 
 // #define DUMP_YUV
 
@@ -33,23 +27,37 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #else
   s->m = std::make_unique<SNPEModel>("models/supercombo.dlc",
 #endif
-   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, true, false, context);
+   &s->output[0], NET_OUTPUT_SIZE, USE_GPU_RUNTIME, false, context);
 
-#ifdef TEMPORAL
-  s->m->addRecurrent(&s->feature_buffer[0], TEMPORAL_SIZE);
-#endif
+  s->m->addInput("input_imgs", NULL, 0);
+  s->m->addInput("big_input_imgs", NULL, 0);
 
+  // TODO: the input is important here, still need to fix this
 #ifdef DESIRE
-  s->m->addDesire(s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1));
+  s->m->addInput("desire_pulse", s->pulse_desire, DESIRE_LEN*(HISTORY_BUFFER_LEN+1));
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
+  s->m->addInput("traffic_convention", s->traffic_convention, TRAFFIC_CONVENTION_LEN);
+#endif
+
+#ifdef DRIVING_STYLE
+  s->m->addInput("driving_style", s->driving_style, DRIVING_STYLE_LEN);
+#endif
+
+#ifdef NAV
+  s->m->addInput("nav_features", s->nav_features, NAV_FEATURE_LEN);
+  s->m->addInput("nav_instructions", s->nav_instructions, NAV_INSTRUCTION_LEN);
 #endif
+
+#ifdef TEMPORAL
+  s->m->addInput("feature_buffer", &s->feature_buffer[0], TEMPORAL_SIZE);
+#endif
+
 }
 
-ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
+ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf, const mat3 &transform, const mat3 &transform_wide,
+                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only) {
 #ifdef DESIRE
   std::memmove(&s->pulse_desire[0], &s->pulse_desire[DESIRE_LEN], sizeof(float) * DESIRE_LEN*HISTORY_BUFFER_LEN);
   if (desire_in != NULL) {
@@ -67,18 +75,27 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
 LOGT("Desire enqueued");
 #endif
 
+#ifdef NAV
+  std::memcpy(s->nav_features, nav_features, sizeof(float)*NAV_FEATURE_LEN);
+  std::memcpy(s->nav_instructions, nav_instructions, sizeof(float)*NAV_INSTRUCTION_LEN);
+#endif
+
+#ifdef DRIVING_STYLE
+  std::memcpy(s->driving_style, driving_style, sizeof(float)*DRIVING_STYLE_LEN);
+#endif
+
   int rhd_idx = is_rhd;
   s->traffic_convention[rhd_idx] = 1.0;
   s->traffic_convention[1-rhd_idx] = 0.0;
 
   // if getInputBuf is not NULL, net_input_buf will be
-  auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
-  s->m->addImage(net_input_buf, s->frame->buf_size);
+  auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getCLBuffer("input_imgs")));
+  s->m->setInputBuffer("input_imgs", net_input_buf, s->frame->buf_size);
   LOGT("Image added");
 
   if (wbuf != nullptr) {
-    auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast<cl_mem*>(s->m->getExtraBuf()));
-    s->m->addExtra(net_extra_buf, s->wide_frame->buf_size);
+    auto net_extra_buf = s->wide_frame->prepare(wbuf->buf_cl, wbuf->width, wbuf->height, wbuf->stride, wbuf->uv_offset, transform_wide, static_cast<cl_mem*>(s->m->getCLBuffer("big_input_imgs")));
+    s->m->setInputBuffer("big_input_imgs", net_extra_buf, s->wide_frame->buf_size);
     LOGT("Extra image added");
   }
 
@@ -131,7 +148,7 @@ void fill_lead(cereal::ModelDataV2::LeadDataV3::Builder lead, const ModelOutputL
   lead.setAStd(to_kj_array_ptr(lead_a_std));
 }
 
-void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data) {
+void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMeta &meta_data, PublishState &ps) {
   std::array<float, DESIRE_LEN> desire_state_softmax;
   softmax(meta_data.desire_state_prob.array.data(), desire_state_softmax.data(), DESIRE_LEN);
 
@@ -140,7 +157,7 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
     softmax(meta_data.desire_pred_prob[i].array.data(), desire_pred_softmax.data() + (i * DESIRE_LEN), DESIRE_LEN);
   }
 
-  std::array<float, DISENGAGE_LEN> lat_long_t = {2,4,6,8,10};
+  std::array<float, DISENGAGE_LEN> lat_long_t = {2, 4, 6, 8, 10};
   std::array<float, DISENGAGE_LEN> gas_disengage_sigmoid, brake_disengage_sigmoid, steer_override_sigmoid,
                                    brake_3ms2_sigmoid, brake_4ms2_sigmoid, brake_5ms2_sigmoid;
   for (int i=0; i<DISENGAGE_LEN; i++) {
@@ -153,18 +170,18 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
     //gas_pressed_sigmoid[i] = sigmoid(meta_data.disengage_prob[i].gas_pressed);
   }
 
-  std::memmove(prev_brake_5ms2_probs.data(), &prev_brake_5ms2_probs[1], 4*sizeof(float));
-  std::memmove(prev_brake_3ms2_probs.data(), &prev_brake_3ms2_probs[1], 2*sizeof(float));
-  prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
-  prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
+  std::memmove(ps.prev_brake_5ms2_probs.data(), &ps.prev_brake_5ms2_probs[1], 4*sizeof(float));
+  std::memmove(ps.prev_brake_3ms2_probs.data(), &ps.prev_brake_3ms2_probs[1], 2*sizeof(float));
+  ps.prev_brake_5ms2_probs[4] = brake_5ms2_sigmoid[0];
+  ps.prev_brake_3ms2_probs[2] = brake_3ms2_sigmoid[0];
 
   bool above_fcw_threshold = true;
-  for (int i=0; i<prev_brake_5ms2_probs.size(); i++) {
+  for (int i=0; i<ps.prev_brake_5ms2_probs.size(); i++) {
     float threshold = i < 2 ? FCW_THRESHOLD_5MS2_LOW : FCW_THRESHOLD_5MS2_HIGH;
-    above_fcw_threshold = above_fcw_threshold && prev_brake_5ms2_probs[i] > threshold;
+    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_5ms2_probs[i] > threshold;
   }
-  for (int i=0; i<prev_brake_3ms2_probs.size(); i++) {
-    above_fcw_threshold = above_fcw_threshold && prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
+  for (int i=0; i<ps.prev_brake_3ms2_probs.size(); i++) {
+    above_fcw_threshold = above_fcw_threshold && ps.prev_brake_3ms2_probs[i] > FCW_THRESHOLD_3MS2;
   }
 
   auto disengage = meta.initDisengagePredictions();
@@ -182,8 +199,46 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
   meta.setHardBrakePredicted(above_fcw_threshold);
 }
 
+void fill_confidence(cereal::ModelDataV2::Builder &framed, PublishState &ps) {
+  if (framed.getFrameId() % (2*MODEL_FREQ) == 0) {
+    // update every 2s to match predictions interval
+    auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs();
+    auto dgps = framed.getMeta().getDisengagePredictions().getGasDisengageProbs();
+    auto dsps = framed.getMeta().getDisengagePredictions().getSteerOverrideProbs();
+
+    float any_dp[DISENGAGE_LEN];
+    float dp_ind[DISENGAGE_LEN];
+
+    for (int i = 0; i < DISENGAGE_LEN; i++) {
+      any_dp[i] = 1 - ((1-dbps[i])*(1-dgps[i])*(1-dsps[i])); // any disengage prob
+    }
+
+    dp_ind[0] = any_dp[0];
+    for (int i = 0; i < DISENGAGE_LEN-1; i++) {
+      dp_ind[i+1] = (any_dp[i+1] - any_dp[i]) / (1 - any_dp[i]); // independent disengage prob for each 2s slice
+    }
+
+    // rolling buf for 2, 4, 6, 8, 10s
+    std::memmove(&ps.disengage_buffer[0], &ps.disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1));
+    std::memcpy(&ps.disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN);
+  }
+
+  float score = 0;
+  for (int i = 0; i < DISENGAGE_LEN; i++) {
+    score += ps.disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN;
+  }
+
+  if (score < RYG_GREEN) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::GREEN);
+  } else if (score < RYG_YELLOW) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::YELLOW);
+  } else {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::RED);
+  }
+}
+
 template<size_t size>
-void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array<float, size> &t,
+void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
                const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z) {
   xyzt.setT(to_kj_array_ptr(t));
   xyzt.setX(to_kj_array_ptr(x));
@@ -192,7 +247,7 @@ void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array<flo
 }
 
 template<size_t size>
-void fill_xyzt(cereal::ModelDataV2::XYZTData::Builder xyzt, const std::array<float, size> &t,
+void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
                const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z,
                const std::array<float, size> &x_std, const std::array<float, size> &y_std, const std::array<float, size> &z_std) {
   fill_xyzt(xyzt, t, x, y, z);
@@ -209,7 +264,7 @@ void fill_plan(cereal::ModelDataV2::Builder &framed, const ModelOutputPlanPredic
   std::array<float, TRAJECTORY_SIZE> acc_x, acc_y, acc_z;
   std::array<float, TRAJECTORY_SIZE> rot_rate_x, rot_rate_y, rot_rate_z;
 
-  for(int i=0; i<TRAJECTORY_SIZE; i++) {
+  for (int i=0; i<TRAJECTORY_SIZE; i++) {
     pos_x[i] = plan.mean[i].position.x;
     pos_y[i] = plan.mean[i].position.y;
     pos_z[i] = plan.mean[i].position.z;
@@ -296,7 +351,7 @@ void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<floa
   });
 }
 
-void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs) {
+void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs, PublishState &ps) {
   const auto &best_plan = net_outputs.plans.get_best_prediction();
   std::array<float, TRAJECTORY_SIZE> plan_t;
   std::fill_n(plan_t.data(), plan_t.size(), NAN);
@@ -324,7 +379,10 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
   fill_road_edges(framed, plan_t, net_outputs.road_edges);
 
   // meta
-  fill_meta(framed.initMeta(), net_outputs.meta);
+  fill_meta(framed.initMeta(), net_outputs.meta, ps);
+
+  // confidence
+  fill_confidence(framed, ps);
 
   // leads
   auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
@@ -346,8 +404,8 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
 }
 
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                   const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid) {
+                   const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk,
+                   float model_execution_time, const bool nav_enabled, const bool valid) {
   const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
   auto framed = msg.initEvent(valid).initModelV2();
@@ -356,11 +414,13 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id
   framed.setFrameAge(frame_age);
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
+  framed.setLocationMonoTime(timestamp_llk);
   framed.setModelExecutionTime(model_execution_time);
+  framed.setNavEnabled(nav_enabled);
   if (send_raw_pred) {
-    framed.setRawPredictions(raw_pred.asBytes());
+    framed.setRawPredictions((kj::ArrayPtr<const float>(s.output.data(), s.output.size())).asBytes());
   }
-  fill_model(framed, net_outputs);
+  fill_model(framed, net_outputs, ps);
   pm.send("modelV2", msg);
 }
 
@@ -373,15 +433,18 @@ void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_droppe
   const auto &v_std = net_outputs.pose.velocity_std;
   const auto &r_std = net_outputs.pose.rotation_std;
   const auto &t_std = net_outputs.wide_from_device_euler.std;
+  const auto &road_transform_trans_mean = net_outputs.road_transform.position_mean;
+  const auto &road_transform_trans_std = net_outputs.road_transform.position_std;
 
   auto posenetd = msg.initEvent(valid && (vipc_dropped_frames < 1)).initCameraOdometry();
   posenetd.setTrans({v_mean.x, v_mean.y, v_mean.z});
   posenetd.setRot({r_mean.x, r_mean.y, r_mean.z});
   posenetd.setWideFromDeviceEuler({t_mean.x, t_mean.y, t_mean.z});
+  posenetd.setRoadTransformTrans({road_transform_trans_mean.x, road_transform_trans_mean.y, road_transform_trans_mean.z});
   posenetd.setTransStd({exp(v_std.x), exp(v_std.y), exp(v_std.z)});
   posenetd.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
   posenetd.setWideFromDeviceEulerStd({exp(t_std.x), exp(t_std.y), exp(t_std.z)});
-
+  posenetd.setRoadTransformTransStd({exp(road_transform_trans_std.x), exp(road_transform_trans_std.y), exp(road_transform_trans_std.z)});
 
   posenetd.setTimestampEof(timestamp_eof);
   posenetd.setFrameId(vipc_frame_id);
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index b23691a56a..53f81ccde1 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -1,10 +1,5 @@
 #pragma once
 
-// gate this here
-#define TEMPORAL
-#define DESIRE
-#define TRAFFIC_CONVENTION
-
 #include <array>
 #include <memory>
 
@@ -14,13 +9,21 @@
 #include "common/modeldata.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/commonmodel.h"
+#include "selfdrive/modeld/models/nav.h"
 #include "selfdrive/modeld/runners/run.h"
 
+// gate this here
+#define TEMPORAL
+#define DESIRE
+#define TRAFFIC_CONVENTION
+#define NAV
+
 constexpr int FEATURE_LEN = 128;
 constexpr int HISTORY_BUFFER_LEN = 99;
 constexpr int DESIRE_LEN = 8;
 constexpr int DESIRE_PRED_LEN = 4;
 constexpr int TRAFFIC_CONVENTION_LEN = 2;
+constexpr int DRIVING_STYLE_LEN = 12;
 constexpr int MODEL_FREQ = 20;
 
 constexpr int DISENGAGE_LEN = 5;
@@ -36,6 +39,10 @@ constexpr int LEAD_MHP_SELECTION = 3;
 // Padding to get output shape as multiple of 4
 constexpr int PAD_SIZE = 2;
 
+constexpr float FCW_THRESHOLD_5MS2_HIGH = 0.15;
+constexpr float FCW_THRESHOLD_5MS2_LOW = 0.05;
+constexpr float FCW_THRESHOLD_3MS2 = 0.7;
+
 struct ModelOutputXYZ {
   float x;
   float y;
@@ -175,6 +182,14 @@ struct ModelOutputTemporalPose {
 };
 static_assert(sizeof(ModelOutputTemporalPose) == sizeof(ModelOutputXYZ)*4);
 
+struct ModelOutputRoadTransform {
+  ModelOutputXYZ position_mean;
+  ModelOutputXYZ rotation_mean;
+  ModelOutputXYZ position_std;
+  ModelOutputXYZ rotation_std;
+};
+static_assert(sizeof(ModelOutputRoadTransform) == sizeof(ModelOutputXYZ)*4);
+
 struct ModelOutputDisengageProb {
   float gas_disengage;
   float brake_disengage;
@@ -234,6 +249,7 @@ struct ModelOutput {
   const ModelOutputPose pose;
   const ModelOutputWideFromDeviceEuler wide_from_device_euler;
   const ModelOutputTemporalPose temporal_pose;
+  const ModelOutputRoadTransform road_transform;
 };
 
 constexpr int OUTPUT_SIZE = sizeof(ModelOutput) / sizeof(float);
@@ -259,14 +275,27 @@ struct ModelState {
 #ifdef TRAFFIC_CONVENTION
   float traffic_convention[TRAFFIC_CONVENTION_LEN] = {};
 #endif
+#ifdef DRIVING_STYLE
+  float driving_style[DRIVING_STYLE_LEN] = {};
+#endif
+#ifdef NAV
+  float nav_features[NAV_FEATURE_LEN] = {};
+  float nav_instructions[NAV_INSTRUCTION_LEN] = {};
+#endif
+};
+
+struct PublishState {
+  std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
+  std::array<float, 5> prev_brake_5ms2_probs = {};
+  std::array<float, 3> prev_brake_3ms2_probs = {};
 };
 
 void model_init(ModelState* s, cl_device_id device_id, cl_context context);
-ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only);
+ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide, const mat3 &transform, const mat3 &transform_wide,
+                              float *desire_in, bool is_rhd, float *driving_style, float *nav_features, float *nav_instructions, bool prepare_only);
 void model_free(ModelState* s);
 void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
-                   const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid);
+                   const ModelOutput &net_outputs, ModelState &s, PublishState &ps, uint64_t timestamp_eof, uint64_t timestamp_llk,
+                   float model_execution_time, const bool nav_enabled, const bool valid);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
                      const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid);
diff --git a/selfdrive/modeld/models/nav.cc b/selfdrive/modeld/models/nav.cc
index dae87c7ce5..8208b0bfef 100644
--- a/selfdrive/modeld/models/nav.cc
+++ b/selfdrive/modeld/models/nav.cc
@@ -9,18 +9,20 @@
 
 
 void navmodel_init(NavModelState* s) {
-#ifdef USE_ONNX_MODEL
-  s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
-#else
-  s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, false, true);
-#endif
+  #ifdef USE_ONNX_MODEL
+    s->m = new ONNXModel("models/navmodel.onnx", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+  #else
+    s->m = new SNPEModel("models/navmodel_q.dlc", &s->output[0], NAV_NET_OUTPUT_SIZE, USE_DSP_RUNTIME, true);
+  #endif
+
+  s->m->addInput("map", NULL, 0);
 }
 
 NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf) {
   memcpy(s->net_input_buf, buf->addr, NAV_INPUT_SIZE);
 
   double t1 = millis_since_boot();
-  s->m->addImage((float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
+  s->m->setInputBuffer("map", (float*)s->net_input_buf, NAV_INPUT_SIZE/sizeof(float));
   s->m->execute();
   double t2 = millis_since_boot();
 
@@ -47,16 +49,19 @@ void fill_plan(cereal::NavModelData::Builder &framed, const NavModelOutputPlan &
   position.setYStd(to_kj_array_ptr(pos_y_std));
 }
 
-void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time) {
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid) {
   // make msg
   MessageBuilder msg;
-  auto framed = msg.initEvent().initNavModel();
-  framed.setFrameId(frame_id);
+  auto evt = msg.initEvent();
+  auto framed = evt.initNavModel();
+  evt.setValid(extra.valid && route_valid);
+  framed.setFrameId(extra.frame_id);
+  framed.setLocationMonoTime(extra.timestamp_sof);
   framed.setModelExecutionTime(execution_time);
   framed.setDspExecutionTime(model_res.dsp_execution_time);
   framed.setFeatures(to_kj_array_ptr(model_res.features.values));
   framed.setDesirePrediction(to_kj_array_ptr(model_res.desire_pred.values));
-  fill_plan(framed, model_res.plans.get_best_prediction());
+  fill_plan(framed, model_res.plan);
 
   pm.send("navModel", msg);
 }
diff --git a/selfdrive/modeld/models/nav.h b/selfdrive/modeld/models/nav.h
index b469f75987..800abec252 100644
--- a/selfdrive/modeld/models/nav.h
+++ b/selfdrive/modeld/models/nav.h
@@ -8,9 +8,9 @@
 #include "selfdrive/modeld/runners/run.h"
 
 constexpr int NAV_INPUT_SIZE = 256*256;
-constexpr int NAV_FEATURE_LEN = 64;
+constexpr int NAV_FEATURE_LEN = 256;
+constexpr int NAV_INSTRUCTION_LEN = 150;
 constexpr int NAV_DESIRE_LEN = 32;
-constexpr int NAV_PLAN_MHP_N = 5;
 
 struct NavModelOutputXY {
   float x;
@@ -21,24 +21,8 @@ static_assert(sizeof(NavModelOutputXY) == sizeof(float)*2);
 struct NavModelOutputPlan {
   std::array<NavModelOutputXY, TRAJECTORY_SIZE> mean;
   std::array<NavModelOutputXY, TRAJECTORY_SIZE> std;
-  float prob;
 };
-static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2 + sizeof(float));
-
-struct NavModelOutputPlans {
-  std::array<NavModelOutputPlan, NAV_PLAN_MHP_N> predictions;
-
-  constexpr const NavModelOutputPlan &get_best_prediction() const {
-    int max_idx = 0;
-    for (int i = 1; i < predictions.size(); i++) {
-      if (predictions[i].prob > predictions[max_idx].prob) {
-        max_idx = i;
-      }
-    }
-    return predictions[max_idx];
-  }
-};
-static_assert(sizeof(NavModelOutputPlans) == sizeof(NavModelOutputPlan)*NAV_PLAN_MHP_N);
+static_assert(sizeof(NavModelOutputPlan) == sizeof(NavModelOutputXY)*TRAJECTORY_SIZE*2);
 
 struct NavModelOutputDesirePrediction {
   std::array<float, NAV_DESIRE_LEN> values;
@@ -51,12 +35,12 @@ struct NavModelOutputFeatures {
 static_assert(sizeof(NavModelOutputFeatures) == sizeof(float)*NAV_FEATURE_LEN);
 
 struct NavModelResult {
-  const NavModelOutputPlans plans;
+  const NavModelOutputPlan plan;
   const NavModelOutputDesirePrediction desire_pred;
   const NavModelOutputFeatures features;
   float dsp_execution_time;
 };
-static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlans) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
+static_assert(sizeof(NavModelResult) == sizeof(NavModelOutputPlan) + sizeof(NavModelOutputDesirePrediction) + sizeof(NavModelOutputFeatures) + sizeof(float));
 
 constexpr int NAV_OUTPUT_SIZE = sizeof(NavModelResult) / sizeof(float);
 constexpr int NAV_NET_OUTPUT_SIZE = NAV_OUTPUT_SIZE - 1;
@@ -69,5 +53,5 @@ struct NavModelState {
 
 void navmodel_init(NavModelState* s);
 NavModelResult* navmodel_eval_frame(NavModelState* s, VisionBuf* buf);
-void navmodel_publish(PubMaster &pm, uint32_t frame_id, const NavModelResult &model_res, float execution_time);
+void navmodel_publish(PubMaster &pm, VisionIpcBufExtra &extra, const NavModelResult &model_res, float execution_time, bool route_valid);
 void navmodel_free(NavModelState* s);
diff --git a/selfdrive/modeld/models/navmodel.onnx b/selfdrive/modeld/models/navmodel.onnx
index 60dd8c0e7f..3b0961537e 100644
--- a/selfdrive/modeld/models/navmodel.onnx
+++ b/selfdrive/modeld/models/navmodel.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:eab4b986e14d7d842d6d5487011c329d356fb56995b2ae7dc7188aefe6df9d97
-size 12285002
+oid sha256:adc5aca6753b6ae0a1469f3e5bcb943d00cc9de75218489f2e4c3d960e7af048
+size 14138061
diff --git a/selfdrive/modeld/models/navmodel_q.dlc b/selfdrive/modeld/models/navmodel_q.dlc
index 7d9b36ed4d..e878ec25af 100644
--- a/selfdrive/modeld/models/navmodel_q.dlc
+++ b/selfdrive/modeld/models/navmodel_q.dlc
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:83d53efc40053b02fe7d3da4ef6213a4a5a1ae4d1bd49c121b9beb6a54ea1148
-size 3154868
+oid sha256:c808717d073a0bb347f9ba929953c0b2b792ce9997f343f7e44a0b2b0e139132
+size 3630942
diff --git a/selfdrive/modeld/models/supercombo.onnx b/selfdrive/modeld/models/supercombo.onnx
index 8805b3dce8..88f19a7d28 100644
--- a/selfdrive/modeld/models/supercombo.onnx
+++ b/selfdrive/modeld/models/supercombo.onnx
@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:db746e3753de84367595fedd089c2bd41b06bd401ea28e085663533d0e63d74b
-size 45962473
+oid sha256:c63ea3eb6c9b5a20c7420c2dc6d6d0f80a6949a39f6d8b74e574f52734154820
+size 47654714
diff --git a/selfdrive/modeld/navmodeld.cc b/selfdrive/modeld/navmodeld.cc
index 75f2c62ab3..4610f503d1 100644
--- a/selfdrive/modeld/navmodeld.cc
+++ b/selfdrive/modeld/navmodeld.cc
@@ -5,6 +5,7 @@
 #include <cstdlib>
 
 #include "cereal/visionipc/visionipc_client.h"
+#include "common/params.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "selfdrive/modeld/models/nav.h"
@@ -12,32 +13,42 @@
 ExitHandler do_exit;
 
 void run_model(NavModelState &model, VisionIpcClient &vipc_client) {
+  SubMaster sm({"navInstruction"});
   PubMaster pm({"navModel"});
 
-  double last_ts = 0;
-  uint32_t last_frame_id = 0;
+  //double last_ts = 0;
+  //uint32_t last_frame_id = 0;
   VisionIpcBufExtra extra = {};
 
   while (!do_exit) {
     VisionBuf *buf = vipc_client.recv(&extra);
     if (buf == nullptr) continue;
 
+    sm.update(0);
+
     double t1 = millis_since_boot();
     NavModelResult *model_res = navmodel_eval_frame(&model, buf);
     double t2 = millis_since_boot();
 
     // send navmodel packet
-    navmodel_publish(pm, extra.frame_id, *model_res, (t2 - t1) / 1000.0);
+    navmodel_publish(pm, extra, *model_res, (t2 - t1) / 1000.0, sm["navInstruction"].getValid());
 
     //printf("navmodel process: %.2fms, from last %.2fms\n", t2 - t1, t1 - last_ts);
-    last_ts = t1;
-    last_frame_id = extra.frame_id;
+    //last_ts = t1;
+    //last_frame_id = extra.frame_id;
   }
 }
 
 int main(int argc, char **argv) {
   setpriority(PRIO_PROCESS, 0, -15);
 
+  // there exists a race condition when two processes try to create a
+  // SNPE model runner at the same time, wait for dmonitoringmodeld to finish
+  LOGW("waiting for dmonitoringmodeld to initialize");
+  if (!Params().getBool("DmModelInitialized", true)) {
+    return 0;
+  }
+
   // init the models
   NavModelState model;
   navmodel_init(&model);
@@ -50,7 +61,7 @@ int main(int argc, char **argv) {
 
   // run the models
   if (vipc_client.connected) {
-    LOGW("connected with buffer size: %d", vipc_client.buffers[0].len);
+    LOGW("connected with buffer size: %zu", vipc_client.buffers[0].len);
     run_model(model, vipc_client);
   }
 
diff --git a/selfdrive/modeld/runners/__init__.py b/selfdrive/modeld/runners/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/modeld/runners/onnx_runner.py b/selfdrive/modeld/runners/onnx_runner.py
index d4a11a7c0b..9e53874578 100755
--- a/selfdrive/modeld/runners/onnx_runner.py
+++ b/selfdrive/modeld/runners/onnx_runner.py
@@ -3,11 +3,12 @@
 import os
 import sys
 import numpy as np
+from typing import Tuple, Dict, Union, Any
 
 os.environ["OMP_NUM_THREADS"] = "4"
 os.environ["OMP_WAIT_POLICY"] = "PASSIVE"
 
-import onnxruntime as ort # pylint: disable=import-error
+import onnxruntime as ort
 
 ORT_TYPES_TO_NP_TYPES = {'tensor(float16)': np.float16, 'tensor(float)': np.float32, 'tensor(uint8)': np.uint8}
 
@@ -35,16 +36,16 @@ def run_loop(m, tf8_input=False):
 
   # run once to initialize CUDA provider
   if "CUDAExecutionProvider" in m.get_providers():
-    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes)])))
+    m.run(None, dict(zip(keys, [np.zeros(shp, dtype=itp) for shp, itp in zip(ishapes, itypes, strict=True)], strict=True)))
 
   print("ready to run onnx model", keys, ishapes, file=sys.stderr)
   while 1:
     inputs = []
-    for k, shp, itp in zip(keys, ishapes, itypes):
+    for k, shp, itp in zip(keys, ishapes, itypes, strict=True):
       ts = np.product(shp)
       #print("reshaping %s with offset %d" % (str(shp), offset), file=sys.stderr)
       inputs.append(read(ts, (k=='input_img' and tf8_input)).reshape(shp).astype(itp))
-    ret = m.run(None, dict(zip(keys, inputs)))
+    ret = m.run(None, dict(zip(keys, inputs, strict=True)))
     #print(ret, file=sys.stderr)
     for r in ret:
       write(r.astype(np.float32))
@@ -55,14 +56,15 @@ if __name__ == "__main__":
   print("Onnx available providers: ", ort.get_available_providers(), file=sys.stderr)
   options = ort.SessionOptions()
   options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_DISABLE_ALL
+
+  provider: Union[str, Tuple[str, Dict[Any, Any]]]
   if 'OpenVINOExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
     provider = 'OpenVINOExecutionProvider'
   elif 'CUDAExecutionProvider' in ort.get_available_providers() and 'ONNXCPU' not in os.environ:
     options.intra_op_num_threads = 2
-    provider = 'CUDAExecutionProvider'
+    provider = ('CUDAExecutionProvider', {'cudnn_conv_algo_search': 'DEFAULT'})
   else:
     options.intra_op_num_threads = 2
-    options.inter_op_num_threads = 8
     options.execution_mode = ort.ExecutionMode.ORT_SEQUENTIAL
     options.graph_optimization_level = ort.GraphOptimizationLevel.ORT_ENABLE_ALL
     provider = 'CPUExecutionProvider'
diff --git a/selfdrive/modeld/runners/onnxmodel.cc b/selfdrive/modeld/runners/onnxmodel.cc
index 447d90fd7e..ebe6ad847c 100644
--- a/selfdrive/modeld/runners/onnxmodel.cc
+++ b/selfdrive/modeld/runners/onnxmodel.cc
@@ -1,25 +1,18 @@
 #include "selfdrive/modeld/runners/onnxmodel.h"
 
-#include <poll.h>
-#include <unistd.h>
-
-#include <cassert>
 #include <csignal>
 #include <cstdio>
 #include <cstdlib>
-#include <cstring>
-#include <stdexcept>
-#include <string>
+#include <poll.h>
+#include <unistd.h>
 
-#include "common/swaglog.h"
 #include "common/util.h"
 
-ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int runtime, bool _use_extra, bool _use_tf8, cl_context context) {
-  LOGD("loading model %s", path);
+ONNXModel::ONNXModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  LOGD("loading model %s", path.c_str());
 
   output = _output;
   output_size = _output_size;
-  use_extra = _use_extra;
   use_tf8 = _use_tf8;
 
   int err = pipe(pipein);
@@ -27,14 +20,13 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
   err = pipe(pipeout);
   assert(err == 0);
 
-  std::string exe_dir = util::dir_name(util::readlink("/proc/self/exe"));
-  std::string onnx_runner = exe_dir + "/runners/onnx_runner.py";
+  std::string onnx_runner = ONNXRUNNER_PATH;
   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, (char*)tf8_arg.c_str(), nullptr};
+    char *argv[] = {(char*)onnx_runner.c_str(), (char*)path.c_str(), (char*)tf8_arg.c_str(), nullptr};
     dup2(pipein[0], 0);
     dup2(pipeout[1], 1);
     close(pipein[0]);
@@ -42,6 +34,7 @@ ONNXModel::ONNXModel(const char *path, float *_output, size_t _output_size, int
     close(pipeout[0]);
     close(pipeout[1]);
     execvp(onnx_runner.c_str(), argv);
+    exit(1); // exit if the exec fails
   }
 
   // parent
@@ -78,7 +71,7 @@ void ONNXModel::pread(float *buf, int size) {
     int err;
     err = poll(fds, 1, 10000);  // 10 second timeout
     assert(err == 1 || (err == -1 && errno == EINTR));
-    LOGD("host read remaining %d/%d poll %d", tr, size*sizeof(float), err);
+    LOGD("host read remaining %d/%lu poll %d", tr, size*sizeof(float), err);
     err = read(pipeout[0], cbuf, tr);
     assert(err > 0 || (err == 0 && errno == EINTR));
     cbuf += err;
@@ -87,56 +80,9 @@ void ONNXModel::pread(float *buf, int size) {
   LOGD("host read done");
 }
 
-void ONNXModel::addRecurrent(float *state, int state_size) {
-  rnn_input_buf = state;
-  rnn_state_size = state_size;
-}
-
-void ONNXModel::addDesire(float *state, int state_size) {
-  desire_input_buf = state;
-  desire_state_size = state_size;
-}
-
-void ONNXModel::addTrafficConvention(float *state, int state_size) {
-  traffic_convention_input_buf = state;
-  traffic_convention_size = state_size;
-}
-
-void ONNXModel::addCalib(float *state, int state_size) {
-  calib_input_buf = state;
-  calib_size = state_size;
-}
-
-void ONNXModel::addImage(float *image_buf, int buf_size) {
-  image_input_buf = image_buf;
-  image_buf_size = buf_size;
-}
-
-void ONNXModel::addExtra(float *image_buf, int buf_size) {
-  extra_input_buf = image_buf;
-  extra_buf_size = buf_size;
-}
-
 void ONNXModel::execute() {
-  // order must be this
-  if (image_input_buf != NULL) {
-    pwrite(image_input_buf, image_buf_size);
-  }
-  if (extra_input_buf != NULL) {
-    pwrite(extra_input_buf, extra_buf_size);
-  }
-  if (desire_input_buf != NULL) {
-    pwrite(desire_input_buf, desire_state_size);
-  }
-  if (traffic_convention_input_buf != NULL) {
-    pwrite(traffic_convention_input_buf, traffic_convention_size);
-  }
-  if (calib_input_buf != NULL) {
-    pwrite(calib_input_buf, calib_size);
-  }
-  if (rnn_input_buf != NULL) {
-    pwrite(rnn_input_buf, rnn_state_size);
+  for (auto &input : inputs) {
+    pwrite(input->buffer, input->size);
   }
   pread(output, output_size);
 }
-
diff --git a/selfdrive/modeld/runners/onnxmodel.h b/selfdrive/modeld/runners/onnxmodel.h
index d5b7bfecf0..f9bae1a0a9 100644
--- a/selfdrive/modeld/runners/onnxmodel.h
+++ b/selfdrive/modeld/runners/onnxmodel.h
@@ -1,45 +1,23 @@
 #pragma once
 
-#include <cstdlib>
+#include <string>
 
 #include "selfdrive/modeld/runners/runmodel.h"
 
 class ONNXModel : public RunModel {
 public:
-  ONNXModel(const char *path, float *output, size_t output_size, int runtime, bool use_extra = false, bool _use_tf8 = false, cl_context context = NULL);
-	~ONNXModel();
-  void addRecurrent(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addCalib(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
+  ONNXModel(const std::string path, float *output, size_t output_size, int runtime, bool _use_tf8 = false, cl_context context = NULL);
+  ~ONNXModel();
   void execute();
 private:
   int proc_pid;
-
   float *output;
   size_t output_size;
-
-  float *rnn_input_buf = NULL;
-  int rnn_state_size;
-  float *desire_input_buf = NULL;
-  int desire_state_size;
-  float *traffic_convention_input_buf = NULL;
-  int traffic_convention_size;
-  float *calib_input_buf = NULL;
-  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;
 
-  // pipe to communicate to keras subprocess
+  // pipe to communicate to onnx_runner subprocess
   void pread(float *buf, int size);
   void pwrite(float *buf, int size);
   int pipein[2];
   int pipeout[2];
 };
-
diff --git a/selfdrive/modeld/runners/onnxmodel.pxd b/selfdrive/modeld/runners/onnxmodel.pxd
new file mode 100644
index 0000000000..165f043da8
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from cereal.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/onnxmodel.h":
+  cdef cppclass ONNXModel:
+    ONNXModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/onnxmodel_pyx.pyx b/selfdrive/modeld/runners/onnxmodel_pyx.pyx
new file mode 100644
index 0000000000..27aa22d1c6
--- /dev/null
+++ b/selfdrive/modeld/runners/onnxmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .onnxmodel cimport ONNXModel as cppONNXModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ONNXModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppONNXModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/run.h b/selfdrive/modeld/runners/run.h
index c64f300fe2..7f6e1aa569 100644
--- a/selfdrive/modeld/runners/run.h
+++ b/selfdrive/modeld/runners/run.h
@@ -1,10 +1,10 @@
 #pragma once
 
-#include "runmodel.h"
-#include "snpemodel.h"
+#include "selfdrive/modeld/runners/runmodel.h"
+#include "selfdrive/modeld/runners/snpemodel.h"
 
 #if defined(USE_THNEED)
-#include "thneedmodel.h"
+#include "selfdrive/modeld/runners/thneedmodel.h"
 #elif defined(USE_ONNX_MODEL)
-#include "onnxmodel.h"
+#include "selfdrive/modeld/runners/onnxmodel.h"
 #endif
diff --git a/selfdrive/modeld/runners/runmodel.h b/selfdrive/modeld/runners/runmodel.h
index c607811401..18cc180cb7 100644
--- a/selfdrive/modeld/runners/runmodel.h
+++ b/selfdrive/modeld/runners/runmodel.h
@@ -1,16 +1,49 @@
 #pragma once
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <cassert>
+
 #include "common/clutil.h"
+#include "common/swaglog.h"
+
+#define USE_CPU_RUNTIME 0
+#define USE_GPU_RUNTIME 1
+#define USE_DSP_RUNTIME 2
+
+struct ModelInput {
+  const std::string name;
+  float *buffer;
+  int size;
+
+  ModelInput(const std::string _name, float *_buffer, int _size) : name(_name), buffer(_buffer), size(_size) {}
+  virtual void setBuffer(float *_buffer, int _size) {
+    assert(size == _size || size == 0);
+    buffer = _buffer;
+    size = _size;
+  }
+};
+
 class RunModel {
 public:
+  std::vector<std::unique_ptr<ModelInput>> inputs;
+
   virtual ~RunModel() {}
-  virtual void addRecurrent(float *state, int state_size) {}
-  virtual void addDesire(float *state, int state_size) {}
-  virtual void addTrafficConvention(float *state, int state_size) {}
-  virtual void addCalib(float *state, int state_size) {}
-  virtual void addImage(float *image_buf, int buf_size) {}
-  virtual void addExtra(float *image_buf, int buf_size) {}
   virtual void execute() {}
-  virtual void* getInputBuf() { return nullptr; }
-  virtual void* getExtraBuf() { return nullptr; }
-};
+  virtual void* getCLBuffer(const std::string name) { return nullptr; }
 
+  virtual void addInput(const std::string name, float *buffer, int size) {
+    inputs.push_back(std::unique_ptr<ModelInput>(new ModelInput(name, buffer, size)));
+  }
+  virtual void setInputBuffer(const std::string name, float *buffer, int size) {
+    for (auto &input : inputs) {
+      if (name == input->name) {
+        input->setBuffer(buffer, size);
+        return;
+      }
+    }
+    LOGE("Tried to update input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
+};
diff --git a/selfdrive/modeld/runners/runmodel.pxd b/selfdrive/modeld/runners/runmodel.pxd
new file mode 100644
index 0000000000..f12f3e7ab9
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel.pxd
@@ -0,0 +1,10 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+cdef extern from "selfdrive/modeld/runners/runmodel.h":
+  cdef cppclass RunModel:
+    void addInput(string, float*, int)
+    void setInputBuffer(string, float*, int)
+    void * getCLBuffer(string)
+    void execute()
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pxd b/selfdrive/modeld/runners/runmodel_pyx.pxd
new file mode 100644
index 0000000000..b6ede7cf37
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel_pyx.pxd
@@ -0,0 +1,6 @@
+# distutils: language = c++
+
+from .runmodel cimport RunModel as cppRunModel
+
+cdef class RunModel:
+  cdef cppRunModel * model
diff --git a/selfdrive/modeld/runners/runmodel_pyx.pyx b/selfdrive/modeld/runners/runmodel_pyx.pyx
new file mode 100644
index 0000000000..a35f0fa280
--- /dev/null
+++ b/selfdrive/modeld/runners/runmodel_pyx.pyx
@@ -0,0 +1,32 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii
+
+from libcpp.string cimport string
+from libc.string cimport memcpy
+
+from selfdrive.modeld.models.commonmodel_pyx cimport CLMem
+
+cdef class RunModel:
+  def __dealloc__(self):
+    del self.model
+
+  def addInput(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.addInput(name, &buffer[0], len(buffer))
+    else:
+      self.model.addInput(name, NULL, 0)
+
+  def setInputBuffer(self, string name, float[:] buffer):
+    if buffer is not None:
+      self.model.setInputBuffer(name, &buffer[0], len(buffer))
+    else:
+      self.model.setInputBuffer(name, NULL, 0)
+
+  def getCLBuffer(self, string name):
+    cdef void * cl_buf = self.model.getCLBuffer(name)
+    if not cl_buf:
+      return None
+    return CLMem.create(cl_buf)
+
+  def execute(self):
+    self.model.execute()
diff --git a/selfdrive/modeld/runners/snpemodel.cc b/selfdrive/modeld/runners/snpemodel.cc
index ff4adcd8d3..5ed2d1270e 100644
--- a/selfdrive/modeld/runners/snpemodel.cc
+++ b/selfdrive/modeld/runners/snpemodel.cc
@@ -2,9 +2,11 @@
 
 #include "selfdrive/modeld/runners/snpemodel.h"
 
-#include <cassert>
-#include <cstdlib>
 #include <cstring>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
 
 #include "common/util.h"
 #include "common/timing.h"
@@ -14,20 +16,20 @@ void PrintErrorStringAndExit() {
   std::exit(EXIT_FAILURE);
 }
 
-SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) {
-  output = loutput;
-  output_size = loutput_size;
-  use_extra = luse_extra;
-  use_tf8 = luse_tf8;
+SNPEModel::SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool _use_tf8, cl_context context) {
+  output = _output;
+  output_size = _output_size;
+  use_tf8 = _use_tf8;
+
 #ifdef QCOM2
-  if (runtime==USE_GPU_RUNTIME) {
-    Runtime = zdl::DlSystem::Runtime_t::GPU;
-  } else if (runtime==USE_DSP_RUNTIME) {
-    Runtime = zdl::DlSystem::Runtime_t::DSP;
+  if (runtime == USE_GPU_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::GPU;
+  } else if (runtime == USE_DSP_RUNTIME) {
+    snpe_runtime = zdl::DlSystem::Runtime_t::DSP;
   } else {
-    Runtime = zdl::DlSystem::Runtime_t::CPU;
+    snpe_runtime = zdl::DlSystem::Runtime_t::CPU;
   }
-  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(Runtime));
+  assert(zdl::SNPE::SNPEFactory::isRuntimeAvailable(snpe_runtime));
 #endif
   model_data = util::read_file(path);
   assert(model_data.size() > 0);
@@ -35,165 +37,86 @@ SNPEModel::SNPEModel(const char *path, float *loutput, size_t loutput_size, int
   // load model
   std::unique_ptr<zdl::DlContainer::IDlContainer> container = zdl::DlContainer::IDlContainer::open((uint8_t*)model_data.data(), model_data.size());
   if (!container) { PrintErrorStringAndExit(); }
-  printf("loaded model with size: %lu\n", model_data.size());
+  LOGW("loaded model with size: %lu", model_data.size());
 
   // create model runner
-  zdl::SNPE::SNPEBuilder snpeBuilder(container.get());
+  zdl::SNPE::SNPEBuilder snpe_builder(container.get());
   while (!snpe) {
 #ifdef QCOM2
-    snpe = snpeBuilder.setOutputLayers({})
-                      .setRuntimeProcessor(Runtime)
-                      .setUseUserSuppliedBuffers(true)
-                      .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                      .build();
+    snpe = snpe_builder.setOutputLayers({})
+                       .setRuntimeProcessor(snpe_runtime)
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
 #else
-    snpe = snpeBuilder.setOutputLayers({})
-                      .setUseUserSuppliedBuffers(true)
-                      .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
-                      .build();
+    snpe = snpe_builder.setOutputLayers({})
+                       .setUseUserSuppliedBuffers(true)
+                       .setPerformanceProfile(zdl::DlSystem::PerformanceProfile_t::HIGH_PERFORMANCE)
+                       .build();
 #endif
     if (!snpe) std::cerr << zdl::DlSystem::getLastErrorString() << std::endl;
   }
 
-  // get input and output names
-  const auto &strListi_opt = snpe->getInputTensorNames();
-  if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names");
-  const auto &strListi = *strListi_opt;
-  //assert(strListi.size() == 1);
-  const char *input_tensor_name = strListi.at(0);
-
-  const auto &strListo_opt = snpe->getOutputTensorNames();
-  if (!strListo_opt) throw std::runtime_error("Error obtaining Output tensor names");
-  const auto &strListo = *strListo_opt;
-  assert(strListo.size() == 1);
-  const char *output_tensor_name = strListo.at(0);
-
-  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] = 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];
-    for (size_t i = bufferShape.rank() - 1; i > 0; i--) {
-      stride *= bufferShape[i];
-      strides[i-1] = stride;
-    }
-    printf("input product is %lu\n", product);
-    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());
-  }
-
-  if (use_extra) {
-    const char *extra_tensor_name = strListi.at(1);
-    const auto &extraDims_opt = snpe->getInputDimensions(extra_tensor_name);
-    const zdl::DlSystem::TensorShape& bufferShape = *extraDims_opt;
-    std::vector<size_t> strides(bufferShape.rank());
-    strides[strides.size() - 1] = sizeof(float);
-    size_t product = 1;
-    for (size_t i = 0; i < bufferShape.rank(); i++) product *= bufferShape[i];
-    size_t stride = strides[strides.size() - 1];
-    for (size_t i = bufferShape.rank() - 1; i > 0; i--) {
-      stride *= bufferShape[i];
-      strides[i-1] = stride;
-    }
-    printf("extra product is %lu\n", product);
-    extraBuffer = ubFactory.createUserBuffer(NULL, product*sizeof(float), strides, &userBufferEncodingFloat);
-
-    inputMap.add(extra_tensor_name, extraBuffer.get());
-  }
-
   // create output buffer
-  {
-    const zdl::DlSystem::TensorShape& bufferShape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
-    if (output_size != 0) {
-      assert(output_size == bufferShape[1]);
-    } else {
-      output_size = bufferShape[1];
-    }
-
-    std::vector<size_t> outputStrides = {output_size * sizeof(float), sizeof(float)};
-    outputBuffer = ubFactory.createUserBuffer(output, output_size * sizeof(float), outputStrides, &userBufferEncodingFloat);
-    outputMap.add(output_tensor_name, outputBuffer.get());
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+
+  const auto &output_tensor_names_opt = snpe->getOutputTensorNames();
+  if (!output_tensor_names_opt) throw std::runtime_error("Error obtaining output tensor names");
+  const auto &output_tensor_names = *output_tensor_names_opt;
+  assert(output_tensor_names.size() == 1);
+  const char *output_tensor_name = output_tensor_names.at(0);
+  const zdl::DlSystem::TensorShape &buffer_shape = snpe->getInputOutputBufferAttributes(output_tensor_name)->getDims();
+  if (output_size != 0) {
+    assert(output_size == buffer_shape[1]);
+  } else {
+    output_size = buffer_shape[1];
   }
+  std::vector<size_t> output_strides = {output_size * sizeof(float), sizeof(float)};
+  output_buffer = ub_factory.createUserBuffer(output, output_size * sizeof(float), output_strides, &ub_encoding_float);
+  output_map.add(output_tensor_name, output_buffer.get());
 
 #ifdef USE_THNEED
-  if (Runtime == zdl::DlSystem::Runtime_t::GPU) {
+  if (snpe_runtime == zdl::DlSystem::Runtime_t::GPU) {
     thneed.reset(new Thneed());
   }
 #endif
 }
 
-void SNPEModel::addRecurrent(float *state, int state_size) {
-  recurrent = state;
-  recurrent_size = state_size;
-  recurrentBuffer = this->addExtra(state, state_size, 3);
-}
-
-void SNPEModel::addTrafficConvention(float *state, int state_size) {
-  trafficConvention = state;
-  trafficConventionBuffer = this->addExtra(state, state_size, 2);
-}
-
-void SNPEModel::addDesire(float *state, int state_size) {
-  desire = state;
-  desireBuffer = this->addExtra(state, state_size, 1);
-}
-
-void SNPEModel::addCalib(float *state, int state_size) {
-  calib = state;
-  calibBuffer = this->addExtra(state, state_size, 1);
-}
-
-void SNPEModel::addImage(float *image_buf, int buf_size) {
-  input = image_buf;
-  input_size = buf_size;
-}
-
-void SNPEModel::addExtra(float *image_buf, int buf_size) {
-  extra = image_buf;
-  extra_size = buf_size;
-}
+void SNPEModel::addInput(const std::string name, float *buffer, int size) {
+  const int idx = inputs.size();
+  const auto &input_tensor_names_opt = snpe->getInputTensorNames();
+  if (!input_tensor_names_opt) throw std::runtime_error("Error obtaining input tensor names");
+  const auto &input_tensor_names = *input_tensor_names_opt;
+  const char *input_tensor_name = input_tensor_names.at(idx);
+  const bool input_tf8 = use_tf8 && strcmp(input_tensor_name, "input_img") == 0;  // TODO: This is a terrible hack, get rid of this name check both here and in onnx_runner.py
+  LOGW("adding index %d: %s", idx, input_tensor_name);
+
+  zdl::DlSystem::UserBufferEncodingFloat ub_encoding_float;
+  zdl::DlSystem::UserBufferEncodingTf8 ub_encoding_tf8(0, 1./255); // network takes 0-1
+  zdl::DlSystem::IUserBufferFactory &ub_factory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
+  zdl::DlSystem::UserBufferEncoding *input_encoding = input_tf8 ? (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_tf8 : (zdl::DlSystem::UserBufferEncoding*)&ub_encoding_float;
+
+  const auto &buffer_shape_opt = snpe->getInputDimensions(input_tensor_name);
+  const zdl::DlSystem::TensorShape &buffer_shape = *buffer_shape_opt;
+  size_t size_of_input = input_tf8 ? sizeof(uint8_t) : sizeof(float);
+  std::vector<size_t> strides(buffer_shape.rank());
+  strides[strides.size() - 1] = size_of_input;
+  size_t product = 1;
+  for (size_t i = 0; i < buffer_shape.rank(); i++) product *= buffer_shape[i];
+  size_t stride = strides[strides.size() - 1];
+  for (size_t i = buffer_shape.rank() - 1; i > 0; i--) {
+    stride *= buffer_shape[i];
+    strides[i-1] = stride;
+  }
 
-std::unique_ptr<zdl::DlSystem::IUserBuffer> SNPEModel::addExtra(float *state, int state_size, int idx) {
-  // get input and output names
-  const auto real_idx = idx + (use_extra ? 1 : 0);
-  const auto &strListi_opt = snpe->getInputTensorNames();
-  if (!strListi_opt) throw std::runtime_error("Error obtaining Input tensor names");
-  const auto &strListi = *strListi_opt;
-  const char *input_tensor_name = strListi.at(real_idx);
-  printf("adding index %d: %s\n", real_idx, input_tensor_name);
-
-  zdl::DlSystem::UserBufferEncodingFloat userBufferEncodingFloat;
-  zdl::DlSystem::IUserBufferFactory& ubFactory = zdl::SNPE::SNPEFactory::getUserBufferFactory();
-  std::vector<size_t> retStrides = {state_size * sizeof(float), sizeof(float)};
-  auto ret = ubFactory.createUserBuffer(state, state_size * sizeof(float), retStrides, &userBufferEncodingFloat);
-  inputMap.add(input_tensor_name, ret.get());
-  return ret;
+  auto input_buffer = ub_factory.createUserBuffer(buffer, product*size_of_input, strides, input_encoding);
+  input_map.add(input_tensor_name, input_buffer.get());
+  inputs.push_back(std::unique_ptr<SNPEModelInput>(new SNPEModelInput(name, buffer, size, std::move(input_buffer))));
 }
 
 void SNPEModel::execute() {
-  bool ret = inputBuffer->setBufferAddress(input);
-  assert(ret == true);
-  if (use_extra) {
-    bool extra_ret = extraBuffer->setBufferAddress(extra);
-    assert(extra_ret == true);
-  }
-  if (!snpe->execute(inputMap, outputMap)) {
+  if (!snpe->execute(input_map, output_map)) {
     PrintErrorStringAndExit();
   }
 }
-
diff --git a/selfdrive/modeld/runners/snpemodel.h b/selfdrive/modeld/runners/snpemodel.h
index 08ae16c2b1..559b15f8b6 100644
--- a/selfdrive/modeld/runners/snpemodel.h
+++ b/selfdrive/modeld/runners/snpemodel.h
@@ -1,6 +1,10 @@
 #pragma once
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <DlContainer/IDlContainer.hpp>
 #include <DlSystem/DlError.hpp>
 #include <DlSystem/ITensor.hpp>
@@ -11,25 +15,26 @@
 #include <SNPE/SNPEBuilder.hpp>
 #include <SNPE/SNPEFactory.hpp>
 
-#include "runmodel.h"
-
-#define USE_CPU_RUNTIME 0
-#define USE_GPU_RUNTIME 1
-#define USE_DSP_RUNTIME 2
+#include "selfdrive/modeld/runners/runmodel.h"
 
 #ifdef USE_THNEED
 #include "selfdrive/modeld/thneed/thneed.h"
 #endif
 
+struct SNPEModelInput : public ModelInput {
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> snpe_buffer;
+
+  SNPEModelInput(const std::string _name, float *_buffer, int _size, std::unique_ptr<zdl::DlSystem::IUserBuffer> _snpe_buffer) : ModelInput(_name, _buffer, _size), snpe_buffer(std::move(_snpe_buffer)) {}
+  void setBuffer(float *_buffer, int _size) {
+    ModelInput::setBuffer(_buffer, _size);
+    assert(snpe_buffer->setBufferAddress(_buffer) == true);
+  }
+};
+
 class SNPEModel : public RunModel {
 public:
-  SNPEModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL);
-  void addRecurrent(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addCalib(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
+  SNPEModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void addInput(const std::string name, float *buffer, int size);
   void execute();
 
 #ifdef USE_THNEED
@@ -41,40 +46,16 @@ private:
   std::string model_data;
 
 #ifdef QCOM2
-  zdl::DlSystem::Runtime_t Runtime;
+  zdl::DlSystem::Runtime_t snpe_runtime;
 #endif
 
   // snpe model stuff
   std::unique_ptr<zdl::SNPE::SNPE> snpe;
+  zdl::DlSystem::UserBufferMap input_map;
+  zdl::DlSystem::UserBufferMap output_map;
+  std::unique_ptr<zdl::DlSystem::IUserBuffer> output_buffer;
 
-  // snpe input stuff
-  zdl::DlSystem::UserBufferMap inputMap;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> inputBuffer;
-  float *input;
-  size_t input_size;
   bool use_tf8;
-
-  // snpe output stuff
-  zdl::DlSystem::UserBufferMap outputMap;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> outputBuffer;
   float *output;
   size_t output_size;
-
-  // extra input stuff
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> extraBuffer;
-  float *extra;
-  size_t extra_size;
-  bool use_extra;
-
-  // recurrent and desire
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> addExtra(float *state, int state_size, int idx);
-  float *recurrent;
-  size_t recurrent_size;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> recurrentBuffer;
-  float *trafficConvention;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> trafficConventionBuffer;
-  float *desire;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> desireBuffer;
-  float *calib;
-  std::unique_ptr<zdl::DlSystem::IUserBuffer> calibBuffer;
 };
diff --git a/selfdrive/modeld/runners/snpemodel.pxd b/selfdrive/modeld/runners/snpemodel.pxd
new file mode 100644
index 0000000000..1f928da332
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from cereal.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/snpemodel.h":
+  cdef cppclass SNPEModel:
+    SNPEModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/snpemodel_pyx.pyx b/selfdrive/modeld/runners/snpemodel_pyx.pyx
new file mode 100644
index 0000000000..a454aa7b92
--- /dev/null
+++ b/selfdrive/modeld/runners/snpemodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .snpemodel cimport SNPEModel as cppSNPEModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class SNPEModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppSNPEModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/runners/thneedmodel.cc b/selfdrive/modeld/runners/thneedmodel.cc
index 67db01bb95..a16d8b42aa 100644
--- a/selfdrive/modeld/runners/thneedmodel.cc
+++ b/selfdrive/modeld/runners/thneedmodel.cc
@@ -1,71 +1,58 @@
 #include "selfdrive/modeld/runners/thneedmodel.h"
 
-#include <cassert>
+#include <string>
 
-ThneedModel::ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra, bool luse_tf8, cl_context context) {
+#include "common/swaglog.h"
+
+ThneedModel::ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool luse_tf8, cl_context context) {
   thneed = new Thneed(true, context);
-  thneed->load(path);
+  thneed->load(path.c_str());
   thneed->clexec();
 
   recorded = false;
-  output = loutput;
-  use_extra = luse_extra;
-}
-
-void ThneedModel::addRecurrent(float *state, int state_size) {
-  recurrent = state;
-}
-
-void ThneedModel::addTrafficConvention(float *state, int state_size) {
-  trafficConvention = state;
-}
-
-void ThneedModel::addDesire(float *state, int state_size) {
-  desire = state;
-}
-
-void ThneedModel::addImage(float *image_input_buf, int buf_size) {
-  input = image_input_buf;
+  output = _output;
 }
 
-void ThneedModel::addExtra(float *extra_input_buf, int buf_size) {
-  extra = extra_input_buf;
-}
+void* ThneedModel::getCLBuffer(const std::string name) {
+  int index = -1;
+  for (int i = 0; i < inputs.size(); i++) {
+    if (name == inputs[i]->name) {
+      index = i;
+      break;
+    }
+  }
 
-void* ThneedModel::getInputBuf() {
-  if (use_extra && thneed->input_clmem.size() > 4) return &(thneed->input_clmem[4]);
-  else if (!use_extra && thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
-  else return nullptr;
-}
+  if (index == -1) {
+    LOGE("Tried to get CL buffer for input `%s` but no input with this name exists", name.c_str());
+    assert(false);
+  }
 
-void* ThneedModel::getExtraBuf() {
-  if (thneed->input_clmem.size() > 3) return &(thneed->input_clmem[3]);
-  else return nullptr;
+  if (thneed->input_clmem.size() >= inputs.size()) {
+    return &thneed->input_clmem[inputs.size() - index - 1];
+  } else {
+    return nullptr;
+  }
 }
 
 void ThneedModel::execute() {
   if (!recorded) {
     thneed->record = true;
-    if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
-      thneed->copy_inputs(inputs);
-    } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
-      thneed->copy_inputs(inputs);
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
     }
+
+    thneed->copy_inputs(input_buffers);
     thneed->clexec();
     thneed->copy_output(output);
     thneed->stop();
 
     recorded = true;
   } else {
-    if (use_extra) {
-      float *inputs[5] = {recurrent, trafficConvention, desire, extra, input};
-      thneed->execute(inputs, output);
-    } else {
-      float *inputs[4] = {recurrent, trafficConvention, desire, input};
-      thneed->execute(inputs, output);
+    float *input_buffers[inputs.size()];
+    for (int i = 0; i < inputs.size(); i++) {
+      input_buffers[inputs.size() - i - 1] = inputs[i]->buffer;
     }
+    thneed->execute(input_buffers, output);
   }
 }
-
diff --git a/selfdrive/modeld/runners/thneedmodel.h b/selfdrive/modeld/runners/thneedmodel.h
index f3f34dc7f4..6ed479c081 100644
--- a/selfdrive/modeld/runners/thneedmodel.h
+++ b/selfdrive/modeld/runners/thneedmodel.h
@@ -1,31 +1,17 @@
 #pragma once
 
+#include <string>
+
 #include "selfdrive/modeld/runners/runmodel.h"
 #include "selfdrive/modeld/thneed/thneed.h"
 
 class ThneedModel : public RunModel {
 public:
-  ThneedModel(const char *path, float *loutput, size_t loutput_size, int runtime, bool luse_extra = false, bool use_tf8 = false, cl_context context = NULL);
-  void addRecurrent(float *state, int state_size);
-  void addTrafficConvention(float *state, int state_size);
-  void addDesire(float *state, int state_size);
-  void addImage(float *image_buf, int buf_size);
-  void addExtra(float *image_buf, int buf_size);
+  ThneedModel(const std::string path, float *_output, size_t _output_size, int runtime, bool use_tf8 = false, cl_context context = NULL);
+  void *getCLBuffer(const std::string name);
   void execute();
-  void* getInputBuf();
-  void* getExtraBuf();
 private:
   Thneed *thneed = NULL;
   bool recorded;
-  bool use_extra;
-
-  float *input;
-  float *extra;
   float *output;
-
-  // recurrent and desire
-  float *recurrent;
-  float *trafficConvention;
-  float *desire;
 };
-
diff --git a/selfdrive/modeld/runners/thneedmodel.pxd b/selfdrive/modeld/runners/thneedmodel.pxd
new file mode 100644
index 0000000000..90af972865
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel.pxd
@@ -0,0 +1,9 @@
+# distutils: language = c++
+
+from libcpp.string cimport string
+
+from cereal.visionipc.visionipc cimport cl_context
+
+cdef extern from "selfdrive/modeld/runners/thneedmodel.h":
+  cdef cppclass ThneedModel:
+    ThneedModel(string, float*, size_t, int, bool, cl_context)
diff --git a/selfdrive/modeld/runners/thneedmodel_pyx.pyx b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
new file mode 100644
index 0000000000..53487afa1b
--- /dev/null
+++ b/selfdrive/modeld/runners/thneedmodel_pyx.pyx
@@ -0,0 +1,14 @@
+# distutils: language = c++
+# cython: c_string_encoding=ascii
+
+from libcpp cimport bool
+from libcpp.string cimport string
+
+from .thneedmodel cimport ThneedModel as cppThneedModel
+from selfdrive.modeld.models.commonmodel_pyx cimport CLContext
+from selfdrive.modeld.runners.runmodel_pyx cimport RunModel
+from selfdrive.modeld.runners.runmodel cimport RunModel as cppRunModel
+
+cdef class ThneedModel(RunModel):
+  def __cinit__(self, string path, float[:] output, int runtime, bool use_tf8, CLContext context):
+    self.model = <cppRunModel *> new cppThneedModel(path, &output[0], len(output), runtime, use_tf8, context.context)
diff --git a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
index 021e065d81..f72f7fb1a7 100644
--- a/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
+++ b/selfdrive/modeld/tests/snpe_benchmark/benchmark.cc
@@ -96,7 +96,7 @@ void test(char *filename) {
 void get_testframe(int index, std::unique_ptr<zdl::DlSystem::ITensor> &input) {
   FILE * pFile;
   string filepath="/data/ipt/quantize_samples/sample_input_"+std::to_string(index);
-  pFile = fopen(filepath.c_str(),"rb");
+  pFile = fopen(filepath.c_str(), "rb");
   int length = 1*6*160*320*4;
   float * frame_buffer = new float[length/4]; // 32/8
   fread(frame_buffer, length, 1, pFile);
@@ -156,18 +156,18 @@ void testrun(char* modelfile) {
   static zdl::DlSystem::TensorMap inputTensorMap;
   static zdl::DlSystem::TensorMap outputTensorMap;
 
-  assert (strList.size() == 1);
+  assert(strList.size() == 1);
   const auto &inputDims_opt = snpe->getInputDimensions(strList.at(0));
   const auto &inputShape = *inputDims_opt;
   std::cout << "winkwink" << std::endl;
 
-  for (int i=0;i<10000;i++) {
+  for (int i=0; i<10000; i++) {
     std::unique_ptr<zdl::DlSystem::ITensor> input;
     input = zdl::SNPE::SNPEFactory::getTensorFactory().createTensor(inputShape);
-    get_testframe(i,input);
+    get_testframe(i, input);
     snpe->execute(input.get(), outputTensorMap);
     zdl::DlSystem::StringList tensorNames = outputTensorMap.getTensorNames();
-    std::for_each( tensorNames.begin(), tensorNames.end(), [&](const char* name) {
+    std::for_each(tensorNames.begin(), tensorNames.end(), [&](const char* name) {
       std::ostringstream path;
       path << "/data/opt/Result_" << std::to_string(i) << ".raw";
       auto tensorPtr = outputTensorMap.getTensor(name);
diff --git a/selfdrive/modeld/tests/test_modeld.py b/selfdrive/modeld/tests/test_modeld.py
index 2fcff785a9..c3d3b3daa1 100755
--- a/selfdrive/modeld/tests/test_modeld.py
+++ b/selfdrive/modeld/tests/test_modeld.py
@@ -6,13 +6,10 @@ import random
 
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.transformations.camera import tici_f_frame_size
-from common.realtime import DT_MDL
-from selfdrive.manager.process_config import managed_processes
-
-
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
+from openpilot.common.transformations.camera import tici_f_frame_size
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
 IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
@@ -48,9 +45,10 @@ class TestModeld(unittest.TestCase):
       cs.frameId = frame_id
       cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
       cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
 
       self.pm.send(msg.which(), msg)
-      self.vipc_server.send(VIPC_STREAM[msg.which()], IMG_BYTES, cs.frameId,
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
                             cs.timestampSof, cs.timestampEof)
     return cs
 
diff --git a/selfdrive/modeld/tests/tf_test/main.cc b/selfdrive/modeld/tests/tf_test/main.cc
index db1ef3d67e..b00f7f95e8 100644
--- a/selfdrive/modeld/tests/tf_test/main.cc
+++ b/selfdrive/modeld/tests/tf_test/main.cc
@@ -36,9 +36,9 @@ static void DeallocateBuffer(void* data, size_t) {
 
 int main(int argc, char* argv[]) {
   TF_Buffer* buf;
-	TF_Graph* graph;
-	TF_Status* status;
-	char *path = argv[1];
+  TF_Graph* graph;
+  TF_Status* status;
+  char *path = argv[1];
 
   // load model
   {
diff --git a/selfdrive/modeld/tests/tf_test/pb_loader.py b/selfdrive/modeld/tests/tf_test/pb_loader.py
index 78fd33aef2..3e476628eb 100755
--- a/selfdrive/modeld/tests/tf_test/pb_loader.py
+++ b/selfdrive/modeld/tests/tf_test/pb_loader.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import sys
-import tensorflow as tf  # pylint: disable=import-error
+import tensorflow as tf
 
 with open(sys.argv[1], "rb") as f:
   graph_def = tf.compat.v1.GraphDef()
diff --git a/selfdrive/modeld/tests/timing/benchmark.py b/selfdrive/modeld/tests/timing/benchmark.py
index 3c7ce5b70a..4ab0afacbc 100755
--- a/selfdrive/modeld/tests/timing/benchmark.py
+++ b/selfdrive/modeld/tests/timing/benchmark.py
@@ -1,13 +1,12 @@
 #!/usr/bin/env python3
 # type: ignore
-# pylint: skip-file
 
 import os
 import time
 import numpy as np
 
 import cereal.messaging as messaging
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 
 N = int(os.getenv("N", "5"))
@@ -35,6 +34,6 @@ if __name__ == "__main__":
 
   print("\n\n")
   print(f"ran modeld {N} times for {TIME}s each")
-  for n, t in enumerate(execution_times):
+  for _, t in enumerate(execution_times):
     print(f"\tavg: {sum(t)/len(t):0.2f}ms, min: {min(t):0.2f}ms, max: {max(t):0.2f}ms")
   print("\n\n")
diff --git a/selfdrive/modeld/thneed/lib.py b/selfdrive/modeld/thneed/lib.py
index 38ef3f4262..c058638fad 100644
--- a/selfdrive/modeld/thneed/lib.py
+++ b/selfdrive/modeld/thneed/lib.py
@@ -1,4 +1,5 @@
-import struct, json
+import struct
+import json
 
 def load_thneed(fn):
   with open(fn, "rb") as f:
diff --git a/selfdrive/modeld/thneed/serialize.cc b/selfdrive/modeld/thneed/serialize.cc
index f789e5bf57..6ed5c08e81 100644
--- a/selfdrive/modeld/thneed/serialize.cc
+++ b/selfdrive/modeld/thneed/serialize.cc
@@ -1,7 +1,7 @@
 #include <cassert>
 #include <set>
 
-#include "json11.hpp"
+#include "third_party/json11/json11.hpp"
 #include "common/util.h"
 #include "common/clutil.h"
 #include "selfdrive/modeld/thneed/thneed.h"
@@ -75,8 +75,7 @@ void Thneed::load(const char *filename) {
 #endif
       if (clbuf == NULL) {
         printf("clError: %s create image %zux%zu rp %zu with buffer %p\n", cl_get_error_string(errcode),
-          desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer
-        );
+          desc.image_width, desc.image_height, desc.image_row_pitch, desc.buffer);
       }
       assert(clbuf != NULL);
     }
diff --git a/selfdrive/modeld/thneed/thneed.h b/selfdrive/modeld/thneed/thneed.h
index 65475ccf7f..47e18e0be3 100644
--- a/selfdrive/modeld/thneed/thneed.h
+++ b/selfdrive/modeld/thneed/thneed.h
@@ -12,7 +12,7 @@
 
 #include <CL/cl.h>
 
-#include "selfdrive/modeld/thneed/include/msm_kgsl.h"
+#include "third_party/linux/include/msm_kgsl.h"
 
 using namespace std;
 
diff --git a/selfdrive/modeld/thneed/thneed_qcom2.cc b/selfdrive/modeld/thneed/thneed_qcom2.cc
index a29a82c8c8..21de15d17c 100644
--- a/selfdrive/modeld/thneed/thneed_qcom2.cc
+++ b/selfdrive/modeld/thneed/thneed_qcom2.cc
@@ -43,7 +43,7 @@ int ioctl(int filedes, unsigned long request, void *argp) {
   if (request == IOCTL_KGSL_DRAWCTXT_CREATE) {
     struct kgsl_drawctxt_create *create = (struct kgsl_drawctxt_create *)argp;
     create->flags &= ~KGSL_CONTEXT_PRIORITY_MASK;
-    create->flags |= 1 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
+    create->flags |= 6 << KGSL_CONTEXT_PRIORITY_SHIFT;   // priority from 1-15, 1 is max priority
     printf("IOCTL_KGSL_DRAWCTXT_CREATE: creating context with flags 0x%x\n", create->flags);
   }
 
@@ -107,7 +107,8 @@ int ioctl(int filedes, unsigned long request, void *argp) {
   }
 
   int ret = my_ioctl(filedes, request, argp);
-  if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
+  // NOTE: This error message goes into stdout and messes up pyenv
+  // if (ret != 0) printf("ioctl returned %d with errno %d\n", ret, errno);
   return ret;
 }
 
@@ -238,24 +239,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
   // ****** copy inputs
   copy_inputs(finputs, true);
 
-  // ****** set power constraint
-  int ret;
-  struct kgsl_device_constraint_pwrlevel pwrlevel;
-  pwrlevel.level = KGSL_CONSTRAINT_PWR_MAX;
-
-  struct kgsl_device_constraint constraint;
-  constraint.type = KGSL_CONSTRAINT_PWRLEVEL;
-  constraint.context_id = context_id;
-  constraint.data = (void*)&pwrlevel;
-  constraint.size = sizeof(pwrlevel);
-
-  struct kgsl_device_getproperty prop;
-  prop.type = KGSL_PROP_PWR_CONSTRAINT;
-  prop.value = (void*)&constraint;
-  prop.sizebytes = sizeof(constraint);
-  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
-  assert(ret == 0);
-
   // ****** run commands
   int i = 0;
   for (auto &it : cmds) {
@@ -268,14 +251,6 @@ void Thneed::execute(float **finputs, float *foutput, bool slow) {
   // ****** copy outputs
   copy_output(foutput);
 
-  // ****** unset power constraint
-  constraint.type = KGSL_CONSTRAINT_NONE;
-  constraint.data = NULL;
-  constraint.size = 0;
-
-  ret = ioctl(fd, IOCTL_KGSL_SETPROPERTY, &prop);
-  assert(ret == 0);
-
   if (debug >= 1) {
     te = nanos_since_boot();
     printf("model exec in %lu us\n", (te-tb)/1000);
diff --git a/selfdrive/modeld/transforms/loadyuv.cc b/selfdrive/modeld/transforms/loadyuv.cc
index 39f404a897..c7ce7b0830 100644
--- a/selfdrive/modeld/transforms/loadyuv.cc
+++ b/selfdrive/modeld/transforms/loadyuv.cc
@@ -15,7 +15,7 @@ void loadyuv_init(LoadYUVState* s, cl_context ctx, cl_device_id device_id, int w
            "-cl-fast-relaxed-math -cl-denorms-are-zero "
            "-DTRANSFORMED_WIDTH=%d -DTRANSFORMED_HEIGHT=%d",
            width, height);
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/loadyuv.cl", args);
+  cl_program prg = cl_program_from_file(ctx, device_id, LOADYUV_PATH, args);
 
   s->loadys_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loadys", &err));
   s->loaduv_krnl = CL_CHECK_ERR(clCreateKernel(prg, "loaduv", &err));
diff --git a/selfdrive/modeld/transforms/transform.cc b/selfdrive/modeld/transforms/transform.cc
index f341314144..305643cf42 100644
--- a/selfdrive/modeld/transforms/transform.cc
+++ b/selfdrive/modeld/transforms/transform.cc
@@ -8,7 +8,7 @@
 void transform_init(Transform* s, cl_context ctx, cl_device_id device_id) {
   memset(s, 0, sizeof(*s));
 
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/transform.cl", "");
+  cl_program prg = cl_program_from_file(ctx, device_id, TRANSFORM_PATH, "");
   s->krnl = CL_CHECK_ERR(clCreateKernel(prg, "warpPerspective", &err));
   // done with this
   CL_CHECK(clReleaseProgram(prg));
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index 35eee5b035..c7cff88f3e 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -3,11 +3,11 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from common.params import Params, put_bool_nonblocking
-from common.realtime import set_realtime_priority
-from selfdrive.controls.lib.events import Events
-from selfdrive.locationd.calibrationd import Calibration
-from selfdrive.monitoring.driver_monitor import DriverStatus
+from cereal import log
+from openpilot.common.params import Params, put_bool_nonblocking
+from openpilot.common.realtime import set_realtime_priority
+from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus
 
 
 def dmonitoringd_thread(sm=None, pm=None):
@@ -22,7 +22,7 @@ def dmonitoringd_thread(sm=None, pm=None):
 
   driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
-  sm['liveCalibration'].calStatus = Calibration.INVALID
+  sm['liveCalibration'].calStatus = log.LiveCalibrationData.Status.invalid
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
   sm['carState'].buttonEvents = []
   sm['carState'].standstill = True
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index a2cddc2462..ab82da301f 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -1,11 +1,11 @@
 from math import atan2
 
 from cereal import car
-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
+from openpilot.common.numpy_fast import interp
+from openpilot.common.realtime import DT_DMON
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.stat_live import RunningStatFilter
+from openpilot.common.transformations.camera import tici_d_frame_size
 
 EventName = car.CarEvent.EventName
 
@@ -119,7 +119,9 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()):
+  def __init__(self, rhd_saved=False, settings=None):
+    if settings is None:
+      settings = DRIVER_MONITOR_SETTINGS()
     # init policy settings
     self.settings = settings
 
@@ -212,7 +214,8 @@ class DriverStatus():
       distracted_types.append(DistractedType.DISTRACTED_BLINK)
 
     if self.ee1_calibrated:
-      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) * self.settings._EE_THRESH12
+      ee1_dist = self.eev1 > max(min(self.ee1_offseter.filtered_stat.M, self.settings._EE_MAX_OFFSET1), self.settings._EE_MIN_OFFSET1) \
+                              * self.settings._EE_THRESH12
     else:
       ee1_dist = self.eev1 > self.settings._EE_THRESH11
     # if self.ee2_calibrated:
@@ -263,14 +266,17 @@ class DriverStatus():
     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
-    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.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[0]
     self.eev2 = driver_data.readyProb[0]
 
     self.distracted_types = self._get_distracted_types()
-    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types or DistractedType.DISTRACTED_BLINK in self.distracted_types) and \
-                                          driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
+    self.driver_distracted = (DistractedType.DISTRACTED_E2E in self.distracted_types or DistractedType.DISTRACTED_POSE in self.distracted_types
+                                or DistractedType.DISTRACTED_BLINK in self.distracted_types) \
+                              and driver_data.faceProb > self.settings._FACE_THRESHOLD and self.pose.low_std
     self.driver_distraction_filter.update(self.driver_distracted)
 
     # update offseter
@@ -306,7 +312,8 @@ class DriverStatus():
         self._reset_awareness()
         return
       # only restore awareness when paying attention and alert is not red
-      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*(1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
+      self.awareness = min(self.awareness + ((self.settings._RECOVERY_FACTOR_MAX-self.settings._RECOVERY_FACTOR_MIN)*
+                                             (1.-self.awareness)+self.settings._RECOVERY_FACTOR_MIN)*self.step_change, 1.)
       if self.awareness == 1.:
         self.awareness_passive = min(self.awareness_passive + self.step_change, 1.)
       # don't display alert banner when awareness is recovering and has cleared orange
diff --git a/selfdrive/monitoring/test_monitoring.py b/selfdrive/monitoring/test_monitoring.py
index f72b4a3aaa..c02d44849f 100755
--- a/selfdrive/monitoring/test_monitoring.py
+++ b/selfdrive/monitoring/test_monitoring.py
@@ -3,9 +3,9 @@ import unittest
 import numpy as np
 
 from cereal import car, log
-from common.realtime import DT_DMON
-from selfdrive.controls.lib.events import Events
-from selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS
+from openpilot.common.realtime import DT_DMON
+from openpilot.selfdrive.controls.lib.events import Events
+from openpilot.selfdrive.monitoring.driver_monitor import DriverStatus, DRIVER_MONITOR_SETTINGS
 
 EventName = car.CarEvent.EventName
 dm_settings = DRIVER_MONITOR_SETTINGS()
@@ -54,7 +54,6 @@ always_false = [False] * int(TEST_TIMESPAN / DT_DMON)
 
 # TODO: this only tests DriverStatus
 class TestMonitoring(unittest.TestCase):
-  # pylint: disable=no-member
   def _run_seq(self, msgs, interaction, engaged, standstill):
     DS = DriverStatus()
     events = []
@@ -82,7 +81,8 @@ class TestMonitoring(unittest.TestCase):
     events, d_status = self._run_seq(always_distracted, always_false, always_true, always_false)
     self.assertEqual(len(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]), 0)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverDistracted)
+                      ((d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverDistracted)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL +
                       ((d_status.settings._DISTRACTED_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverDistracted)
     self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME +
@@ -94,7 +94,8 @@ class TestMonitoring(unittest.TestCase):
     events, d_status = self._run_seq(always_no_face, always_false, always_true, always_false)
     self.assertTrue(len(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL)/2/DT_DMON)]) == 0)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL +
-                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.preDriverUnresponsive)
+                      ((d_status.settings._AWARENESS_PRE_TIME_TILL_TERMINAL-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0],
+                      EventName.preDriverUnresponsive)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME-d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL +
                       ((d_status.settings._AWARENESS_PROMPT_TIME_TILL_TERMINAL)/2))/DT_DMON)].names[0], EventName.promptDriverUnresponsive)
     self.assertEqual(events[int((d_status.settings._AWARENESS_TIME +
@@ -125,10 +126,14 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = always_distracted[:]
     interaction_vector = always_false[:]
     op_vector = always_true[:]
-    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
-    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] = [True] * int(1/DT_DMON)
-    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] = [False] * int(0.5/DT_DMON)
+    ds_vector[int(DISTRACTED_SECONDS_TO_ORANGE/DT_DMON):int((DISTRACTED_SECONDS_TO_ORANGE+_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    ds_vector[int((DISTRACTED_SECONDS_TO_RED+_invisible_time)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time)/DT_DMON)] \
+                                                        = [msg_NO_FACE_DETECTED] * int(_invisible_time/DT_DMON)
+    interaction_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+0.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+1.5)/DT_DMON)] \
+                                                        = [True] * int(1/DT_DMON)
+    op_vector[int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+2.5)/DT_DMON):int((DISTRACTED_SECONDS_TO_RED+2*_invisible_time+3)/DT_DMON)] \
+                                                        = [False] * int(0.5/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, op_vector, always_false)
     self.assertEqual(events[int((DISTRACTED_SECONDS_TO_ORANGE+0.5*_invisible_time)/DT_DMON)].names[0], EventName.promptDriverDistracted)
     self.assertEqual(events[int((DISTRACTED_SECONDS_TO_RED+1.5*_invisible_time)/DT_DMON)].names[0], EventName.driverDistracted)
@@ -141,7 +146,8 @@ class TestMonitoring(unittest.TestCase):
     _visible_time = np.random.choice([0.5, 10])
     ds_vector = always_no_face[:]*2
     interaction_vector = always_false[:]*2
-    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
+    ds_vector[int((2*INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON):int((2*INVISIBLE_SECONDS_TO_ORANGE+1+_visible_time)/DT_DMON)] = \
+                                                                                             [msg_ATTENTIVE] * int(_visible_time/DT_DMON)
     interaction_vector[int((INVISIBLE_SECONDS_TO_ORANGE)/DT_DMON):int((INVISIBLE_SECONDS_TO_ORANGE+1)/DT_DMON)] = [True] * int(1/DT_DMON)
     events, _ = self._run_seq(ds_vector, interaction_vector, 2*always_true, 2*always_false)
     self.assertTrue(len(events[int(INVISIBLE_SECONDS_TO_ORANGE*0.5/DT_DMON)]) == 0)
@@ -185,7 +191,8 @@ class TestMonitoring(unittest.TestCase):
     standstill_vector = always_true[:]
     standstill_vector[int(_redlight_time/DT_DMON):] = [False] * int((TEST_TIMESPAN-_redlight_time)/DT_DMON)
     events, d_status = self._run_seq(always_distracted, always_false, always_true, standstill_vector)
-    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0], EventName.preDriverDistracted)
+    self.assertEqual(events[int((d_status.settings._DISTRACTED_TIME-d_status.settings._DISTRACTED_PRE_TIME_TILL_TERMINAL+1)/DT_DMON)].names[0],
+                                                                                                                    EventName.preDriverDistracted)
     self.assertEqual(events[int((_redlight_time-0.1)/DT_DMON)].names[0], EventName.preDriverDistracted)
     self.assertEqual(events[int((_redlight_time+0.5)/DT_DMON)].names[0], EventName.promptDriverDistracted)
 
@@ -195,9 +202,12 @@ class TestMonitoring(unittest.TestCase):
     ds_vector = [msg_DISTRACTED_BUT_SOMEHOW_UNCERTAIN] * int(TEST_TIMESPAN/DT_DMON)
     interaction_vector = always_false[:]
     events, d_status = self._run_seq(ds_vector, interaction_vector, always_true, always_false)
-    self.assertTrue(EventName.preDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.promptDriverUnresponsive in events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
-    self.assertTrue(EventName.driverUnresponsive in events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.preDriverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME-0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.promptDriverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_ORANGE-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
+    self.assertTrue(EventName.driverUnresponsive in
+                              events[int((INVISIBLE_SECONDS_TO_RED-1+DT_DMON*d_status.settings._HI_STD_FALLBACK_TIME+0.1)/DT_DMON)].names)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
index a070fe32bb..4801d60a2c 100644
--- a/selfdrive/navd/.gitignore
+++ b/selfdrive/navd/.gitignore
@@ -1,5 +1,6 @@
 moc_*
 *.moc
 
+mapsd
 map_renderer
 libmap_renderer.so
diff --git a/selfdrive/navd/README.md b/selfdrive/navd/README.md
new file mode 100644
index 0000000000..3047b7f8eb
--- /dev/null
+++ b/selfdrive/navd/README.md
@@ -0,0 +1,24 @@
+# navigation
+
+This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
+
+### navd
+
+`navd` takes in a route through the `NavDestination` param and sends out two packets: `navRoute` and `navInstruction`. These packets contain the coordinates of the planned route and turn-by-turn instructions.
+
+### map renderer
+
+The map renderer listens for the `navRoute` and publishes a rendered map view over VisionIPC for the navigation model, which lives in `selfdrive/modeld/`. The rendered maps look like this:
+
+![](https://i.imgur.com/oZLfmwq.png)
+
+## development
+
+Currently, [mapbox](https://www.mapbox.com/) is used for navigation.
+
+* get an API token: https://docs.mapbox.com/help/glossary/access-token/
+* set an API token using the `MAPBOX_TOKEN` environment variable
+* routes/destinations are set through the `NavDestination` param
+  * use `set_destination.py` for debugging
+* edit the map: https://www.mapbox.com/contribute
+* mapbox API playground: https://docs.mapbox.com/playground/
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
index b10684eef3..d1db79506a 100644
--- a/selfdrive/navd/SConscript
+++ b/selfdrive/navd/SConscript
@@ -1,22 +1,20 @@
 Import('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"]
-
+map_env = qt_env.Clone()
+libs = ['qt_widgets', 'qt_util', 'qmapboxgl', common, messaging, cereal, visionipc, transformations,
+        'zmq', 'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread', 'json11'] + map_env["LIBS"]
 if arch == 'larch64':
-  base_libs.append('EGL')
+  libs.append('EGL')
 
-if arch in ['larch64', 'x86_64']:
+if arch in ['larch64', 'aarch64', 'x86_64']:
   if arch == 'x86_64':
-    rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
-    qt_env["RPATH"] += rpath
+    rpath = Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath
+    map_env["RPATH"] += [rpath, ]
 
   style_path = File("style.json").abspath
-  qt_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
-  qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
-
-  nav_src = ["main.cc", "map_renderer.cc"]
-  qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
+  map_env['CXXFLAGS'].append(f'-DSTYLE_PATH=\\"{style_path}\\"')
 
-  if GetOption('extras'):
-    qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])
+  map_env["RPATH"].append(Dir('.').abspath)
+  map_env["LIBPATH"].append(Dir('.').abspath)
+  maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
+  map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
diff --git a/selfdrive/navd/helpers.py b/selfdrive/navd/helpers.py
index eda813154a..55c3f88a9a 100644
--- a/selfdrive/navd/helpers.py
+++ b/selfdrive/navd/helpers.py
@@ -4,9 +4,12 @@ import json
 import math
 from typing import Any, Dict, List, Optional, Tuple, Union, cast
 
-from common.conversions import Conversions
-from common.numpy_fast import clip
-from common.params import Params
+from openpilot.common.conversions import Conversions
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+
+DIRECTIONS = ('left', 'right', 'straight')
+MODIFIABLE_DIRECTIONS = ('left', 'right')
 
 EARTH_MEAN_RADIUS = 6371007.2
 SPEED_CONVERSIONS = {
@@ -29,7 +32,10 @@ class Coordinate:
     return {'latitude': self.latitude, 'longitude': self.longitude}
 
   def __str__(self) -> str:
-    return f"({self.latitude}, {self.longitude})"
+    return f'Coordinate({self.latitude}, {self.longitude})'
+
+  def __repr__(self) -> str:
+    return self.__str__()
 
   def __eq__(self, other) -> bool:
     if not isinstance(other, Coordinate):
@@ -116,8 +122,10 @@ def coordinate_from_param(param: str, params: Optional[Params] = None) -> Option
 
 
 def string_to_direction(direction: str) -> str:
-  for d in ['left', 'right', 'straight']:
+  for d in DIRECTIONS:
     if d in direction:
+      if 'slight' in direction and d in MODIFIABLE_DIRECTIONS:
+        return 'slight' + d.capitalize()
       return d
   return 'none'
 
@@ -128,35 +136,40 @@ def maxspeed_to_ms(maxspeed: Dict[str, Union[str, float]]) -> float:
   return SPEED_CONVERSIONS[unit] * speed
 
 
-def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuver: float = 0.0) -> None:
+def field_valid(dat: dict, field: str) -> bool:
+  return field in dat and dat[field] is not None
+
+
+def parse_banner_instructions(banners: Any, distance_to_maneuver: float = 0.0) -> Optional[Dict[str, Any]]:
   if not len(banners):
-    return
+    return None
 
-  current_banner = banners[0]
+  instruction = {}
 
   # A segment can contain multiple banners, find one that we need to show now
+  current_banner = banners[0]
   for banner in banners:
     if distance_to_maneuver < banner['distanceAlongGeometry']:
       current_banner = banner
 
   # Only show banner when close enough to maneuver
-  instruction.showFull = distance_to_maneuver < current_banner['distanceAlongGeometry']
+  instruction['showFull'] = distance_to_maneuver < current_banner['distanceAlongGeometry']
 
   # Primary
   p = current_banner['primary']
-  if 'text' in p:
-    instruction.maneuverPrimaryText = p['text']
-  if 'type' in p:
-    instruction.maneuverType = p['type']
-  if 'modifier' in p:
-    instruction.maneuverModifier = p['modifier']
+  if field_valid(p, 'text'):
+    instruction['maneuverPrimaryText'] = p['text']
+  if field_valid(p, 'type'):
+    instruction['maneuverType'] = p['type']
+  if field_valid(p, 'modifier'):
+    instruction['maneuverModifier'] = p['modifier']
 
   # Secondary
-  if 'secondary' in current_banner:
-    instruction.maneuverSecondaryText = current_banner['secondary']['text']
+  if field_valid(current_banner, 'secondary'):
+    instruction['maneuverSecondaryText'] = current_banner['secondary']['text']
 
   # Lane lines
-  if 'sub' in current_banner:
+  if field_valid(current_banner, 'sub'):
     lanes = []
     for component in current_banner['sub']['components']:
       if component['type'] != 'lane':
@@ -167,8 +180,10 @@ def parse_banner_instructions(instruction: Any, banners: Any, distance_to_maneuv
         'directions': [string_to_direction(d) for d in component['directions']],
       }
 
-      if 'active_direction' in component:
+      if field_valid(component, 'active_direction'):
         lane['activeDirection'] = string_to_direction(component['active_direction'])
 
       lanes.append(lane)
-    instruction.lanes = lanes
+    instruction['lanes'] = lanes
+
+  return instruction
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
index b6eec10328..f8501bf4a5 100644
--- a/selfdrive/navd/main.cc
+++ b/selfdrive/navd/main.cc
@@ -1,28 +1,21 @@
+#include <csignal>
+#include <sys/resource.h>
+
 #include <QApplication>
 #include <QDebug>
-#include <csignal>
 
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/navd/map_renderer.h"
 #include "system/hardware/hw.h"
 
-
-
-void sigHandler(int s) {
-  qInfo() << "Shutting down";
-  std::signal(s, SIG_DFL);
-
-  qApp->quit();
-}
-
-
 int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
+  setpriority(PRIO_PROCESS, 0, -20);
 
   QApplication app(argc, argv);
-  std::signal(SIGINT, sigHandler);
-  std::signal(SIGTERM, sigHandler);
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
 
   MapRenderer * m = new MapRenderer(get_mapbox_settings());
   assert(m);
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
index 6a19f45fed..44acc67b94 100644
--- a/selfdrive/navd/map_renderer.cc
+++ b/selfdrive/navd/map_renderer.cc
@@ -4,18 +4,23 @@
 #include <string>
 #include <QApplication>
 #include <QBuffer>
-#include <QDebug>
 
 #include "common/util.h"
 #include "common/timing.h"
+#include "common/swaglog.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 
 const float DEFAULT_ZOOM = 13.5; // Don't go below 13 or features will start to disappear
-const int HEIGHT = 512, WIDTH = 512;
+const int HEIGHT = 256, WIDTH = 256;
 const int NUM_VIPC_BUFFERS = 4;
 
 const int EARTH_CIRCUMFERENCE_METERS = 40075000;
+const int EARTH_RADIUS_METERS = 6378137;
 const int PIXELS_PER_TILE = 256;
+const int MAP_OFFSET = 128;
+
+const bool TEST_MODE = getenv("MAP_RENDER_TEST_MODE");
+const int LLK_DECIMATION = TEST_MODE ? 1 : 10;
 
 float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
   float meters_per_tile = meters_per_pixel * PIXELS_PER_TILE;
@@ -23,6 +28,14 @@ float get_zoom_level_for_scale(float lat, float meters_per_pixel) {
   return log2(num_tiles) - 1;
 }
 
+QMapbox::Coordinate get_point_along_line(float lat, float lon, float bearing, float dist) {
+  float ang_dist = dist / EARTH_RADIUS_METERS;
+  float lat1 = DEG2RAD(lat), lon1 = DEG2RAD(lon), bearing1 = DEG2RAD(bearing);
+  float lat2 = asin(sin(lat1)*cos(ang_dist) + cos(lat1)*sin(ang_dist)*cos(bearing1));
+  float lon2 = lon1 + atan2(sin(bearing1)*sin(ang_dist)*cos(lat1), cos(ang_dist)-sin(lat1)*sin(lat2));
+  return QMapbox::Coordinate(RAD2DEG(lat2), RAD2DEG(lon2));
+}
+
 
 MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
   QSurfaceFormat fmt;
@@ -56,31 +69,63 @@ MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_set
   m_map->setFramebufferObject(fbo->handle(), fbo->size());
   gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
 
+  QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    // Ignore expected signals
+    // https://github.com/mapbox/mapbox-gl-native/blob/cf734a2fec960025350d8de0d01ad38aeae155a0/platform/qt/include/qmapboxgl.hpp#L116
+    if (change != QMapboxGL::MapChange::MapChangeRegionWillChange &&
+        change != QMapboxGL::MapChange::MapChangeRegionDidChange &&
+        change != QMapboxGL::MapChange::MapChangeWillStartRenderingFrame &&
+        change != QMapboxGL::MapChange::MapChangeDidFinishRenderingFrameFullyRendered) {
+      LOGD("New map state: %d", change);
+    }
+  });
+
+  QObject::connect(m_map.data(), &QMapboxGL::mapLoadingFailed, [=](QMapboxGL::MapLoadingFailure err_code, const QString &reason) {
+    LOGE("Map loading failed with %d: '%s'\n", err_code, reason.toStdString().c_str());
+  });
+
   if (online) {
     vipc_server.reset(new VisionIpcServer("navd"));
     vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
     vipc_server->start_listener();
 
-    pm.reset(new PubMaster({"navThumbnail"}));
-    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}));
+    pm.reset(new PubMaster({"navThumbnail", "mapRenderState"}));
+    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}, {"liveLocationKalman"}));
 
     timer = new QTimer(this);
+    timer->setSingleShot(true);
     QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
-    timer->start(50);
+    timer->start(0);
   }
 }
 
 void MapRenderer::msgUpdate() {
-  sm->update(0);
+  sm->update(1000);
 
   if (sm->updated("liveLocationKalman")) {
     auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
     auto pos = location.getPositionGeodetic();
     auto orientation = location.getCalibratedOrientationNED();
 
-    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % 10) == 0) {
-      updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
+    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
+      float bearing = RAD2DEG(orientation.getValue()[2]);
+      updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
+
+      // TODO: use the static rendering mode instead
+      // retry render a few times
+      for (int i = 0; i < 5 && !rendered(); i++) {
+        QApplication::processEvents(QEventLoop::AllEvents, 100);
+        update();
+        if (rendered()) {
+          LOGW("rendered after %d retries", i+1);
+          break;
+        }
+      }
+
+      // fallback to sending a blank frame
+      if (!rendered()) {
+        publish(0, false);
+      }
     }
   }
 
@@ -92,6 +137,9 @@ void MapRenderer::msgUpdate() {
     }
     updateRoute(route);
   }
+
+  // schedule next update
+  timer->start(0);
 }
 
 void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
@@ -114,25 +162,39 @@ bool MapRenderer::loaded() {
 }
 
 void MapRenderer::update() {
+  double start_t = millis_since_boot();
   gl_functions->glClear(GL_COLOR_BUFFER_BIT);
   m_map->render();
   gl_functions->glFlush();
+  double end_t = millis_since_boot();
 
-  sendVipc();
+  if ((vipc_server != nullptr) && loaded()) {
+    publish((end_t - start_t) / 1000.0, true);
+    last_llk_rendered = (*sm)["liveLocationKalman"].getLogMonoTime();
+  }
 }
 
-void MapRenderer::sendVipc() {
-  if (!vipc_server || !loaded()) {
-    return;
-  }
+void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf) {
+  MessageBuilder msg;
+  auto thumbnaild = msg.initEvent().initNavThumbnail();
+  thumbnaild.setFrameId(frame_id);
+  thumbnaild.setTimestampEof(ts);
+  thumbnaild.setThumbnail(buf);
+  pm->send("navThumbnail", msg);
+}
 
+void MapRenderer::publish(const double render_time, const bool loaded) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
+
+  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+  bool valid = loaded && (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
   VisionIpcBufExtra extra = {
     .frame_id = frame_id,
-    .timestamp_sof = ts,
+    .timestamp_sof = (*sm)["liveLocationKalman"].getLogMonoTime(),
     .timestamp_eof = ts,
+    .valid = valid,
   };
 
   assert(cap.sizeInBytes() >= buf->len);
@@ -147,7 +209,12 @@ void MapRenderer::sendVipc() {
 
   vipc_server->send(buf, &extra);
 
-  if (frame_id % 100 == 0) {
+  // Send thumbnail
+  if (TEST_MODE) {
+    // Full image in thumbnails in test mode
+    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)cap.bits(), cap.sizeInBytes());
+    sendThumbnail(ts, buffer_kj);
+  } else if (frame_id % 100 == 0) {
     // Write jpeg into buffer
     QByteArray buffer_bytes;
     QBuffer buffer(&buffer_bytes);
@@ -155,16 +222,19 @@ void MapRenderer::sendVipc() {
     cap.save(&buffer, "JPG", 50);
 
     kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
-
-    // Send thumbnail
-    MessageBuilder msg;
-    auto thumbnaild = msg.initEvent().initNavThumbnail();
-    thumbnaild.setFrameId(frame_id);
-    thumbnaild.setTimestampEof(ts);
-    thumbnaild.setThumbnail(buffer_kj);
-    pm->send("navThumbnail", msg);
+    sendThumbnail(ts, buffer_kj);
   }
 
+  // Send state msg
+  MessageBuilder msg;
+  auto evt = msg.initEvent();
+  auto state = evt.initMapRenderState();
+  evt.setValid(valid);
+  state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
+  state.setRenderTime(render_time);
+  state.setFrameId(frame_id);
+  pm->send("mapRenderState", msg);
+
   frame_id++;
 }
 
@@ -197,6 +267,7 @@ void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
 
 void MapRenderer::initLayers() {
   if (!m_map->layerExists("navLayer")) {
+    LOGD("Initializing navLayer");
     QVariantMap nav;
     nav["id"] = "navLayer";
     nav["type"] = "line";
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
index 855dc91894..5739ba88f2 100644
--- a/selfdrive/navd/map_renderer.h
+++ b/selfdrive/navd/map_renderer.h
@@ -25,7 +25,6 @@ public:
   bool loaded();
   ~MapRenderer();
 
-
 private:
   std::unique_ptr<QOpenGLContext> ctx;
   std::unique_ptr<QOffscreenSurface> surface;
@@ -35,7 +34,8 @@ private:
   std::unique_ptr<VisionIpcServer> vipc_server;
   std::unique_ptr<PubMaster> pm;
   std::unique_ptr<SubMaster> sm;
-  void sendVipc();
+  void publish(const double render_time, const bool loaded);
+  void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
 
   QMapboxGLSettings m_settings;
   QScopedPointer<QMapboxGL> m_map;
@@ -43,6 +43,10 @@ private:
   void initLayers();
 
   uint32_t frame_id = 0;
+  uint64_t last_llk_rendered = 0;
+  bool rendered() {
+    return last_llk_rendered == (*sm)["liveLocationKalman"].getLogMonoTime();
+  }
 
   QTimer* timer;
 
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
index 868307bb63..8d525ac73e 100755
--- a/selfdrive/navd/map_renderer.py
+++ b/selfdrive/navd/map_renderer.py
@@ -4,17 +4,18 @@
 import os
 import time
 import numpy as np
+import polyline
 from cffi import FFI
 
-from common.ffi_wrapper import suffix
-from common.basedir import BASEDIR
+from openpilot.common.ffi_wrapper import suffix
+from openpilot.common.basedir import BASEDIR
 
-HEIGHT = WIDTH = SIZE = 512
+HEIGHT = WIDTH = SIZE = 256
 METERS_PER_PIXEL = 2
 
 
 def get_ffi():
-  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
+  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmaprender" + suffix())
 
   ffi = FFI()
   ffi.cdef("""
@@ -50,6 +51,22 @@ def get_image(lib, renderer):
   return r.reshape((WIDTH, HEIGHT))
 
 
+def navRoute_to_polyline(nr):
+  coords = [(m.latitude, m.longitude) for m in nr.navRoute.coordinates]
+  return coords_to_polyline(coords)
+
+
+def coords_to_polyline(coords):
+  # TODO: where does this factor of 10 come from?
+  return polyline.encode([(lat * 10., lon * 10.) for lat, lon in coords])
+
+
+def polyline_to_coords(p):
+  coords = polyline.decode(p)
+  return [(lat / 10., lon / 10.) for lat, lon in coords]
+
+
+
 if __name__ == "__main__":
   import matplotlib.pyplot as plt
 
@@ -57,7 +74,7 @@ if __name__ == "__main__":
   renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
   wait_ready(lib, renderer)
 
-  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL" # noqa: E501
   lib.map_renderer_update_route(renderer, geometry.encode())
 
   POSITIONS = [
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index 4855b63594..6a6a0846b7 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import json
 import math
 import os
 import threading
@@ -8,19 +9,20 @@ import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
-from common.api import Api
-from common.params import Params
-from common.realtime import Ratekeeper
-from common.transformations.coordinates import ecef2geodetic
-from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
+from openpilot.common.api import Api
+from openpilot.common.params import Params
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.transformations.coordinates import ecef2geodetic
+from openpilot.selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
                                     parse_banner_instructions)
-from system.swaglog import cloudlog
+from openpilot.system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
 VALID_POS_STD = 50.0
+REROUTE_COUNTER_MIN = 3
 
 
 class RouteEngine:
@@ -47,6 +49,8 @@ class RouteEngine:
 
     self.ui_pid = None
 
+    self.reroute_counter = 0
+
     if "MAPBOX_TOKEN" in os.environ:
       self.mapbox_token = os.environ["MAPBOX_TOKEN"]
       self.mapbox_host = "https://api.mapbox.com"
@@ -98,6 +102,7 @@ class RouteEngine:
     new_destination = coordinate_from_param("NavDestination", self.params)
     if new_destination is None:
       self.clear_route()
+      self.reset_recompute_limits()
       return
 
     should_recompute = self.should_recompute()
@@ -113,6 +118,7 @@ class RouteEngine:
       self.recompute_countdown = 2**self.recompute_backoff
       self.recompute_backoff = min(6, self.recompute_backoff + 1)
       self.calculate_route(new_destination)
+      self.reroute_counter = 0
     else:
       self.recompute_countdown = max(0, self.recompute_countdown - 1)
 
@@ -135,12 +141,27 @@ class RouteEngine:
       'language': lang,
     }
 
+    # TODO: move waypoints into NavDestination param?
+    waypoints = self.params.get('NavDestinationWaypoints', encoding='utf8')
+    waypoint_coords = []
+    if waypoints is not None and len(waypoints) > 0:
+      waypoint_coords = json.loads(waypoints)
+
+    coords = [
+      (self.last_position.longitude, self.last_position.latitude),
+      *waypoint_coords,
+      (destination.longitude, destination.latitude)
+    ]
+    params['waypoints'] = f'0;{len(coords)-1}'
     if self.last_bearing is not None:
-      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90;"
+      params['bearings'] = f"{(self.last_bearing + 360) % 360:.0f},90" + (';'*(len(coords)-1))
 
-    url = self.mapbox_host + f'/directions/v5/mapbox/driving-traffic/{self.last_position.longitude},{self.last_position.latitude};{destination.longitude},{destination.latitude}'
+    coords_str = ';'.join([f'{lon},{lat}' for lon, lat in coords])
+    url = self.mapbox_host + '/directions/v5/mapbox/driving-traffic/' + coords_str
     try:
       resp = requests.get(url, params=params, timeout=10)
+      if resp.status_code != 200:
+        cloudlog.event("API request failed", status_code=resp.status_code, text=resp.text, error=True)
       resp.raise_for_status()
 
       r = resp.json()
@@ -175,6 +196,10 @@ class RouteEngine:
         cloudlog.warning("Got empty route response")
         self.clear_route()
 
+      # clear waypoints to avoid a re-route including past waypoints
+      # TODO: only clear once we're past a waypoint
+      self.params.remove('NavDestinationWaypoints')
+
     except requests.exceptions.RequestException:
       cloudlog.exception("failed to get route")
       self.clear_route()
@@ -194,15 +219,49 @@ class RouteEngine:
     along_geometry = distance_along_geometry(geometry, self.last_position)
     distance_to_maneuver_along_geometry = step['distance'] - along_geometry
 
+    # Banner instructions are for the following maneuver step, don't use empty last step
+    banner_step = step
+    if not len(banner_step['bannerInstructions']) and self.step_idx == len(self.route) - 1:
+      banner_step = self.route[max(self.step_idx - 1, 0)]
+
     # Current instruction
     msg.navInstruction.maneuverDistance = distance_to_maneuver_along_geometry
-    parse_banner_instructions(msg.navInstruction, step['bannerInstructions'], distance_to_maneuver_along_geometry)
+    instruction = parse_banner_instructions(banner_step['bannerInstructions'], distance_to_maneuver_along_geometry)
+    if instruction is not None:
+      for k,v in instruction.items():
+        setattr(msg.navInstruction, k, v)
+
+    # All instructions
+    maneuvers = []
+    for i, step_i in enumerate(self.route):
+      if i < self.step_idx:
+        distance_to_maneuver = -sum(self.route[j]['distance'] for j in range(i+1, self.step_idx)) - along_geometry
+      elif i == self.step_idx:
+        distance_to_maneuver = distance_to_maneuver_along_geometry
+      else:
+        distance_to_maneuver = distance_to_maneuver_along_geometry + sum(self.route[j]['distance'] for j in range(self.step_idx+1, i+1))
+
+      instruction = parse_banner_instructions(step_i['bannerInstructions'], distance_to_maneuver)
+      if instruction is None:
+        continue
+      maneuver = {'distance': distance_to_maneuver}
+      if 'maneuverType' in instruction:
+        maneuver['type'] = instruction['maneuverType']
+      if 'maneuverModifier' in instruction:
+        maneuver['modifier'] = instruction['maneuverModifier']
+      maneuvers.append(maneuver)
+
+    msg.navInstruction.allManeuvers = maneuvers
 
     # Compute total remaining time and distance
     remaining = 1.0 - along_geometry / max(step['distance'], 1)
     total_distance = step['distance'] * remaining
     total_time = step['duration'] * remaining
-    total_time_typical = step['duration_typical'] * remaining
+
+    if step['duration_typical'] is None:
+      total_time_typical = total_time
+    else:
+      total_time_typical = step['duration_typical'] * remaining
 
     # Add up totals for future steps
     for i in range(self.step_idx + 1, len(self.route)):
@@ -237,15 +296,14 @@ class RouteEngine:
     if distance_to_maneuver_along_geometry < -MANEUVER_TRANSITION_THRESHOLD:
       if self.step_idx + 1 < len(self.route):
         self.step_idx += 1
-        self.recompute_backoff = 0
-        self.recompute_countdown = 0
+        self.reset_recompute_limits()
       else:
         cloudlog.warning("Destination reached")
-        Params().remove("NavDestination")
 
         # Clear route if driving away from destination
         dist = self.nav_destination.distance_to(self.last_position)
         if dist > REROUTE_DISTANCE:
+          self.params.remove("NavDestination")
           self.clear_route()
 
   def send_route(self):
@@ -265,6 +323,10 @@ class RouteEngine:
     self.step_idx = None
     self.nav_destination = None
 
+  def reset_recompute_limits(self):
+    self.recompute_backoff = 0
+    self.recompute_countdown = 0
+
   def should_recompute(self):
     if self.step_idx is None or self.route is None:
       return True
@@ -285,8 +347,11 @@ class RouteEngine:
 
       min_d = min(min_d, minimum_distance(a, b, self.last_position))
 
-    return min_d > REROUTE_DISTANCE
-
+    if min_d > REROUTE_DISTANCE:
+      self.reroute_counter += 1
+    else:
+      self.reroute_counter = 0
+    return self.reroute_counter > REROUTE_COUNTER_MIN
     # TODO: Check for going wrong way in segment
 
 
diff --git a/selfdrive/navd/set_destination.py b/selfdrive/navd/set_destination.py
new file mode 100755
index 0000000000..811aa576d1
--- /dev/null
+++ b/selfdrive/navd/set_destination.py
@@ -0,0 +1,33 @@
+#!/usr/bin/env python3
+import json
+import sys
+
+from openpilot.common.params import Params
+
+if __name__ == "__main__":
+  params = Params()
+
+  # set from google maps url
+  if len(sys.argv) > 1:
+    coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",")
+    dest = {
+      "latitude": float(coords[0]),
+      "longitude": float(coords[1])
+    }
+    params.put("NavDestination", json.dumps(dest))
+    params.remove("NavDestinationWaypoints")
+  else:
+    print("Setting to Taco Bell")
+    dest = {
+      "latitude": 32.71160109904473,
+      "longitude": -117.12556569985693,
+    }
+    params.put("NavDestination", json.dumps(dest))
+
+    waypoints = [
+      (-117.16020713111648, 32.71997612490662),
+    ]
+    params.put("NavDestinationWaypoints", json.dumps(waypoints))
+
+    print(dest)
+    print(waypoints)
diff --git a/selfdrive/navd/tests/test_map_renderer.py b/selfdrive/navd/tests/test_map_renderer.py
new file mode 100755
index 0000000000..1c3d8acd7f
--- /dev/null
+++ b/selfdrive/navd/tests/test_map_renderer.py
@@ -0,0 +1,192 @@
+#!/usr/bin/env python3
+import os
+import unittest
+import requests
+import threading
+import http.server
+import cereal.messaging as messaging
+
+from typing import Any
+from cereal.visionipc import VisionIpcClient, VisionStreamType
+from openpilot.selfdrive.manager.process_config import managed_processes
+
+LLK_DECIMATION = 10
+CACHE_PATH = "/data/mbgl-cache-navd.db"
+
+LOCATION1 = (32.7174, -117.16277)
+LOCATION2 = (32.7558, -117.2037)
+
+def gen_llk(location=LOCATION1):
+  msg = messaging.new_message('liveLocationKalman')
+  msg.liveLocationKalman.positionGeodetic = {'value': [*location, 0], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.calibratedOrientationNED = {'value': [0., 0., 0.], 'std': [0., 0., 0.], 'valid': True}
+  msg.liveLocationKalman.status = 'valid'
+  return msg
+
+
+class MapBoxInternetDisabledRequestHandler(http.server.BaseHTTPRequestHandler):
+  INTERNET_ACTIVE = True
+
+  def setup(self):
+    if self.INTERNET_ACTIVE:
+      super().setup()
+
+  def handle(self):
+    if self.INTERNET_ACTIVE:
+      super().handle()
+
+  def finish(self):
+    if self.INTERNET_ACTIVE:
+      super().finish()
+
+  def do_GET(self):
+    url = f'https://api.mapbox.com{self.path}'
+
+    headers = dict(self.headers)
+    headers["Host"] = "api.mapbox.com"
+
+    r = requests.get(url, headers=headers, timeout=5)
+
+    self.send_response(r.status_code)
+    self.end_headers()
+    self.wfile.write(r.content)
+
+  def log_message(self, *args: Any) -> None:
+    return
+
+  def log_error(self, *args: Any) -> None:
+    return
+
+
+class MapBoxInternetDisabledServer(threading.Thread):
+  def run(self):
+    self.server = http.server.HTTPServer(("127.0.0.1", 5000), MapBoxInternetDisabledRequestHandler)
+    self.server.serve_forever()
+
+  def stop(self):
+    self.server.shutdown()
+
+  def disable_internet(self):
+    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = False
+
+  def enable_internet(self):
+    MapBoxInternetDisabledRequestHandler.INTERNET_ACTIVE = True
+
+
+class TestMapRenderer(unittest.TestCase):
+  server = MapBoxInternetDisabledServer()
+
+  @classmethod
+  def setUpClass(cls):
+    assert "MAPBOX_TOKEN" in os.environ
+    cls.original_token = os.environ["MAPBOX_TOKEN"]
+    cls.server.start()
+
+  @classmethod
+  def tearDownClass(cls) -> None:
+    cls.server.stop()
+
+  def setUp(self):
+    self.server.enable_internet()
+    os.environ['MAPS_HOST'] = 'http://localhost:5000'
+
+    self.sm = messaging.SubMaster(['mapRenderState'])
+    self.pm = messaging.PubMaster(['liveLocationKalman'])
+    self.vipc = VisionIpcClient("navd", VisionStreamType.VISION_STREAM_MAP, True)
+
+    if os.path.exists(CACHE_PATH):
+      os.remove(CACHE_PATH)
+
+  def tearDown(self):
+    managed_processes['mapsd'].stop()
+
+  def _setup_test(self):
+    # start + sync up
+    managed_processes['mapsd'].start()
+
+    assert self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
+
+    assert VisionIpcClient.available_streams("navd", False) == {VisionStreamType.VISION_STREAM_MAP, }
+    assert self.vipc.connect(False)
+    self.vipc.recv()
+
+
+  def _run_test(self, expect_valid, location=LOCATION1):
+    starting_frame_id = None
+
+    self.location = location
+
+    # run test
+    prev_frame_id = -1
+    for i in range(30*LLK_DECIMATION):
+      frame_expected = (i+1) % LLK_DECIMATION == 0
+
+      if self.sm.logMonoTime['mapRenderState'] == 0:
+        prev_valid = False
+        prev_frame_id = -1
+      else:
+        prev_valid = self.sm.valid['mapRenderState']
+        prev_frame_id = self.sm['mapRenderState'].frameId
+
+      if starting_frame_id is None:
+        starting_frame_id = prev_frame_id
+
+      llk = gen_llk(self.location)
+      self.pm.send("liveLocationKalman", llk)
+      self.pm.wait_for_readers_to_update("liveLocationKalman", 10)
+      self.sm.update(1000 if frame_expected else 0)
+      assert self.sm.updated['mapRenderState'] == frame_expected, "renderer running at wrong frequency"
+
+      if not frame_expected:
+        continue
+
+      frames_since_test_start = self.sm['mapRenderState'].frameId - starting_frame_id
+
+      # give a few frames to switch from valid to invalid, or vice versa
+      invalid_and_not_previously_valid = (expect_valid and not self.sm.valid['mapRenderState'] and not prev_valid)
+      valid_and_not_previously_invalid = (not expect_valid and self.sm.valid['mapRenderState'] and prev_valid)
+
+      if (invalid_and_not_previously_valid or valid_and_not_previously_invalid) and frames_since_test_start < 5:
+        continue
+
+      # check output
+      assert self.sm.valid['mapRenderState'] == expect_valid
+      assert self.sm['mapRenderState'].frameId == (prev_frame_id + 1)
+      assert self.sm['mapRenderState'].locationMonoTime == llk.logMonoTime
+      if not expect_valid:
+        assert self.sm['mapRenderState'].renderTime == 0.
+      else:
+        assert 0. < self.sm['mapRenderState'].renderTime < 0.1
+
+      # check vision ipc output
+      assert self.vipc.recv() is not None
+      assert self.vipc.valid == expect_valid
+      assert self.vipc.timestamp_sof == llk.logMonoTime
+      assert self.vipc.frame_id == self.sm['mapRenderState'].frameId
+
+  def test_with_internet(self):
+    self._setup_test()
+    self._run_test(True)
+
+  def test_with_no_internet(self):
+    self.server.disable_internet()
+    self._setup_test()
+    self._run_test(False)
+
+  def test_recover_from_no_internet(self):
+    self._setup_test()
+    self._run_test(True)
+
+    self.server.disable_internet()
+
+    # change locations to force mapsd to refetch
+    self._run_test(False, LOCATION2)
+
+    self.server.enable_internet()
+    self._run_test(True, LOCATION2)
+
+    self.location = LOCATION1
+    self._run_test(True, LOCATION2)
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/rtshield.py b/selfdrive/rtshield.py
index 45571fe2db..68dc4989cd 100755
--- a/selfdrive/rtshield.py
+++ b/selfdrive/rtshield.py
@@ -3,7 +3,7 @@ import os
 import time
 from typing import NoReturn
 
-from common.realtime import set_core_affinity, set_realtime_priority
+from openpilot.common.realtime import set_core_affinity, set_realtime_priority
 
 # RT shield - ensure CPU 3 always remains available for RT processes
 #   runs as SCHED_FIFO with minimum priority to ensure kthreads don't
diff --git a/selfdrive/sensord/libdiag.h b/selfdrive/sensord/libdiag.h
deleted file mode 100644
index 03a59464ed..0000000000
--- a/selfdrive/sensord/libdiag.h
+++ /dev/null
@@ -1,37 +0,0 @@
-#pragma once
-
-#include <stdint.h>
-#include <stdbool.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#define DIAG_MAX_RX_PKT_SIZ 4096
-
-bool Diag_LSM_Init(uint8_t* pIEnv);
-bool Diag_LSM_DeInit(void);
-
-// DCI
-
-#define DIAG_CON_APSS 0x001
-#define DIAG_CON_MPSS 0x002
-#define DIAG_CON_LPASS 0x004
-#define DIAG_CON_WCNSS 0x008
-
-enum {
-  DIAG_DCI_NO_ERROR = 1001,
-} diag_dci_error_type;
-
-int diag_register_dci_client(int*, uint16_t*, int, void*);
-int diag_log_stream_config(int client_id, int set_mask, uint16_t log_codes_array[], int num_codes);
-int diag_register_dci_stream(void (*func_ptr_logs)(unsigned char *ptr, int len), void (*func_ptr_events)(unsigned char *ptr, int len));
-int diag_release_dci_client(int*);
-
-int diag_send_dci_async_req(int client_id, unsigned char buf[], int bytes, unsigned char *rsp_ptr, int rsp_len,
-                            void (*func_ptr)(unsigned char *ptr, int len, void *data_ptr), void *data_ptr);
-
-
-#ifdef __cplusplus
-}
-#endif
diff --git a/selfdrive/sensord/rawgps/test_rawgps.py b/selfdrive/sensord/rawgps/test_rawgps.py
deleted file mode 100755
index 5bd0833955..0000000000
--- a/selfdrive/sensord/rawgps/test_rawgps.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-import json
-import time
-import unittest
-import subprocess
-
-import cereal.messaging as messaging
-from system.hardware import TICI
-from selfdrive.manager.process_config import managed_processes
-
-
-class TestRawgpsd(unittest.TestCase):
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
-  def tearDown(self):
-    managed_processes['rawgpsd'].stop()
-
-  def test_startup_time(self):
-    for _ in range(5):
-      sm = messaging.SubMaster(['qcomGnss'])
-      managed_processes['rawgpsd'].start()
-
-      start_time = time.monotonic()
-      for __ in range(10):
-        sm.update(1 * 1000)
-        if sm.updated['qcomGnss']:
-          break
-      assert sm.rcv_frame['qcomGnss'] > 0, "rawgpsd didn't start outputting messages in time"
-
-      et = time.monotonic() - start_time
-      assert et < 5, f"rawgpsd took {et:.1f}s to start"
-      managed_processes['rawgpsd'].stop()
-
-  def test_turns_off_gnss(self):
-    for s in (0.1, 0.5, 1, 5):
-      managed_processes['rawgpsd'].start()
-      time.sleep(s)
-      managed_processes['rawgpsd'].stop()
-
-      ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
-      loc_status = json.loads(ls)
-      assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/selfdrive/sensord/sensors/file_sensor.cc b/selfdrive/sensord/sensors/file_sensor.cc
deleted file mode 100644
index a74ae1ae1e..0000000000
--- a/selfdrive/sensord/sensors/file_sensor.cc
+++ /dev/null
@@ -1,17 +0,0 @@
-#include "file_sensor.h"
-
-#include <string>
-
-FileSensor::FileSensor(std::string filename) : file(filename) {}
-
-int FileSensor::init() {
-  return file.is_open() ? 0 : 1;
-}
-
-FileSensor::~FileSensor() {
-  file.close();
-}
-
-bool FileSensor::has_interrupt_enabled() {
-  return false;
-}
\ No newline at end of file
diff --git a/selfdrive/sensord/sensors/file_sensor.h b/selfdrive/sensord/sensors/file_sensor.h
deleted file mode 100644
index 39d695167d..0000000000
--- a/selfdrive/sensord/sensors/file_sensor.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#pragma once
-
-#include <fstream>
-#include <string>
-
-#include "cereal/gen/cpp/log.capnp.h"
-#include "selfdrive/sensord/sensors/sensor.h"
-
-class FileSensor : public Sensor {
-protected:
-  std::ifstream file;
-
-public:
-  FileSensor(std::string filename);
-  ~FileSensor();
-  int init();
-  bool has_interrupt_enabled();
-  virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
-};
diff --git a/selfdrive/sensord/sensors/light_sensor.cc b/selfdrive/sensord/sensors/light_sensor.cc
deleted file mode 100644
index 58c602ea39..0000000000
--- a/selfdrive/sensord/sensors/light_sensor.cc
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "light_sensor.h"
-
-#include <string>
-
-#include "common/timing.h"
-#include "selfdrive/sensord/sensors/constants.h"
-
-LightSensor::LightSensor(std::string filename) : FileSensor(filename) {}
-
-bool LightSensor::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  file.clear();
-  file.seekg(0);
-
-  int value;
-  file >> value;
-
-  auto event = msg.initEvent().initLightSensor();
-  event.setSource(cereal::SensorEventData::SensorSource::RPR0521);
-  event.setVersion(1);
-  event.setSensor(SENSOR_LIGHT);
-  event.setType(SENSOR_TYPE_LIGHT);
-  event.setTimestamp(start_time);
-  event.setLight(value);
-
-  return true;
-}
diff --git a/selfdrive/sensord/sensors/light_sensor.h b/selfdrive/sensord/sensors/light_sensor.h
deleted file mode 100644
index 7ed1c1f70c..0000000000
--- a/selfdrive/sensord/sensors/light_sensor.h
+++ /dev/null
@@ -1,9 +0,0 @@
-#pragma once
-#include "file_sensor.h"
-
-class LightSensor : public FileSensor {
-public:
-  LightSensor(std::string filename);
-  bool get_event(MessageBuilder &msg, uint64_t ts = 0);
-  int shutdown() { return 0; }
-};
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.cc b/selfdrive/sensord/sensors/mmc5603nj_magn.cc
deleted file mode 100644
index 7a9b7a298b..0000000000
--- a/selfdrive/sensord/sensors/mmc5603nj_magn.cc
+++ /dev/null
@@ -1,106 +0,0 @@
-#include "mmc5603nj_magn.h"
-
-#include <cassert>
-
-#include "common/swaglog.h"
-#include "common/timing.h"
-
-MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
-
-int MMC5603NJ_Magn::init() {
-  int ret = 0;
-  uint8_t buffer[1];
-
-  ret = read_register(MMC5603NJ_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != MMC5603NJ_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], MMC5603NJ_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
-
-  // Set 100 Hz
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 100);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // Set BW to 0b01 for 1-150 Hz operation
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // Set compute measurement rate
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // Enable continuous mode, set every 100 measurements
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_2, MMC5603NJ_CMM_EN | MMC5603NJ_EN_PRD_SET | 0b11);
-  if (ret < 0) {
-    goto fail;
-  }
-
-fail:
-  return ret;
-}
-
-int MMC5603NJ_Magn::shutdown() {
-  int ret = 0;
-
-  // disable auto reset of measurements
-  uint8_t value = 0;
-  ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
-  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
-  if (ret < 0) {
-    goto fail;
-  }
-
-  // set ODR to 0 to leave continuous mode
-  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
-  if (ret < 0) {
-    goto fail;
-  }
-  return ret;
-
-fail:
-  LOGE("Could not disable mmc5603nj auto set reset")
-  return ret;
-}
-
-bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
-  uint64_t start_time = nanos_since_boot();
-  uint8_t buffer[9];
-  int len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
-  assert(len == sizeof(buffer));
-
-  float scale = 1.0 / 16384.0;
-  float x = read_20_bit(buffer[6], buffer[1], buffer[0]) * scale;
-  float y = read_20_bit(buffer[7], buffer[3], buffer[2]) * scale;
-  float z = read_20_bit(buffer[8], buffer[5], buffer[4]) * scale;
-
-  auto event = msg.initEvent().initMagnetometer();
-  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
-  event.setVersion(1);
-  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
-  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
-  event.setTimestamp(start_time);
-
-  float xyz[] = {x, y, z};
-  auto svec = event.initMagneticUncalibrated();
-  svec.setV(xyz);
-  svec.setStatus(true);
-
-  return true;
-}
diff --git a/selfdrive/sensord/sensors_qcom2.cc b/selfdrive/sensord/sensors_qcom2.cc
deleted file mode 100644
index fc8dc8620b..0000000000
--- a/selfdrive/sensord/sensors_qcom2.cc
+++ /dev/null
@@ -1,213 +0,0 @@
-#include <sys/resource.h>
-
-#include <chrono>
-#include <thread>
-#include <vector>
-#include <map>
-#include <poll.h>
-#include <linux/gpio.h>
-
-#include "cereal/messaging/messaging.h"
-#include "common/i2c.h"
-#include "common/swaglog.h"
-#include "common/timing.h"
-#include "common/util.h"
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/bmx055_gyro.h"
-#include "selfdrive/sensord/sensors/bmx055_magn.h"
-#include "selfdrive/sensord/sensors/bmx055_temp.h"
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/light_sensor.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_accel.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_gyro.h"
-#include "selfdrive/sensord/sensors/lsm6ds3_temp.h"
-#include "selfdrive/sensord/sensors/mmc5603nj_magn.h"
-#include "selfdrive/sensord/sensors/sensor.h"
-
-#define I2C_BUS_IMU 1
-
-ExitHandler do_exit;
-uint64_t init_ts = 0;
-
-void interrupt_loop(std::vector<Sensor *>& sensors,
-                    std::map<Sensor*, std::string>& sensor_service)
-{
-  PubMaster pm_int({"gyroscope", "accelerometer"});
-
-  int fd = sensors[0]->gpio_fd;
-  struct pollfd fd_list[1] = {0};
-  fd_list[0].fd = fd;
-  fd_list[0].events = POLLIN | POLLPRI;
-
-  while (!do_exit) {
-    int err = poll(fd_list, 1, 100);
-    if (err == -1) {
-      if (errno == EINTR) {
-        continue;
-      }
-      return;
-    } else if (err == 0) {
-      LOGE("poll timed out");
-      continue;
-    }
-
-    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
-      LOGE("no poll events set");
-      continue;
-    }
-
-    // Read all events
-    struct gpioevent_data evdata[16];
-    err = read(fd, evdata, sizeof(evdata));
-    if (err < 0 || err % sizeof(*evdata) != 0) {
-      LOGE("error reading event data %d", err);
-      continue;
-    }
-
-    int num_events = err / sizeof(*evdata);
-    uint64_t offset = nanos_since_epoch() - nanos_since_boot();
-    uint64_t ts = evdata[num_events - 1].timestamp - offset;
-
-    for (Sensor *sensor : sensors) {
-      MessageBuilder msg;
-      if (!sensor->get_event(msg, ts)) {
-        continue;
-      }
-
-      if (!sensor->is_data_valid(init_ts, ts)) {
-        continue;
-      }
-
-      pm_int.send(sensor_service[sensor].c_str(), msg);
-    }
-  }
-
-  // poweroff sensors, disable interrupts
-  for (Sensor *sensor : sensors) {
-    sensor->shutdown();
-  }
-}
-
-int sensor_loop(I2CBus *i2c_bus_imu) {
-  BMX055_Accel bmx055_accel(i2c_bus_imu);
-  BMX055_Gyro bmx055_gyro(i2c_bus_imu);
-  BMX055_Magn bmx055_magn(i2c_bus_imu);
-  BMX055_Temp bmx055_temp(i2c_bus_imu);
-
-  LSM6DS3_Accel lsm6ds3_accel(i2c_bus_imu, GPIO_LSM_INT);
-  LSM6DS3_Gyro lsm6ds3_gyro(i2c_bus_imu, GPIO_LSM_INT, true); // GPIO shared with accel
-  LSM6DS3_Temp lsm6ds3_temp(i2c_bus_imu);
-
-  MMC5603NJ_Magn mmc5603nj_magn(i2c_bus_imu);
-
-  LightSensor light("/sys/class/i2c-adapter/i2c-2/2-0038/iio:device1/in_intensity_both_raw");
-
-  std::map<Sensor*, std::string> sensor_service = {
-    {&bmx055_accel, "accelerometer2"},
-    {&bmx055_gyro, "gyroscope2"},
-    {&bmx055_magn, "magnetometer"},
-    {&bmx055_temp, "temperatureSensor"},
-
-    {&lsm6ds3_accel, "accelerometer"},
-    {&lsm6ds3_gyro, "gyroscope"},
-    {&lsm6ds3_temp, "temperatureSensor"},
-
-    {&mmc5603nj_magn, "magnetometer"},
-    {&light, "lightSensor"}
-  };
-
-  // Sensor init
-  std::vector<std::pair<Sensor *, bool>> sensors_init; // Sensor, required
-  sensors_init.push_back({&bmx055_accel, false});
-  sensors_init.push_back({&bmx055_gyro, false});
-  sensors_init.push_back({&bmx055_magn, false});
-  sensors_init.push_back({&bmx055_temp, false});
-
-  sensors_init.push_back({&lsm6ds3_accel, true});
-  sensors_init.push_back({&lsm6ds3_gyro, true});
-  sensors_init.push_back({&lsm6ds3_temp, true});
-
-  sensors_init.push_back({&mmc5603nj_magn, false});
-
-  sensors_init.push_back({&light, true});
-
-  bool has_magnetometer = false;
-
-  // Initialize sensors
-  std::vector<Sensor *> sensors;
-  for (auto &[sensor, required] : sensors_init) {
-    int err = sensor->init();
-    if (err < 0) {
-      if (required) {
-        LOGE("Error initializing sensors");
-        return -1;
-      }
-    } else {
-
-      if (sensor == &bmx055_magn || sensor == &mmc5603nj_magn) {
-        has_magnetometer = true;
-      }
-
-      if (!sensor->has_interrupt_enabled()) {
-        sensors.push_back(sensor);
-      }
-    }
-  }
-
-  if (!has_magnetometer) {
-    LOGE("No magnetometer present");
-    return -1;
-  }
-
-  // increase interrupt quality by pinning interrupt and process to core 1
-  setpriority(PRIO_PROCESS, 0, -18);
-  util::set_core_affinity({1});
-  std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
-
-  PubMaster pm_non_int({"gyroscope2", "accelerometer2", "temperatureSensor",
-                        "lightSensor", "magnetometer"});
-  init_ts = nanos_since_boot();
-
-  // thread for reading events via interrupts
-  std::vector<Sensor *> lsm_interrupt_sensors = {&lsm6ds3_accel, &lsm6ds3_gyro};
-  std::thread lsm_interrupt_thread(&interrupt_loop, std::ref(lsm_interrupt_sensors),
-                                   std::ref(sensor_service));
-
-  // polling loop for non interrupt handled sensors
-  while (!do_exit) {
-    std::chrono::steady_clock::time_point begin = std::chrono::steady_clock::now();
-
-    for (Sensor *sensor : sensors) {
-      MessageBuilder msg;
-      if (!sensor->get_event(msg)) {
-        continue;
-      }
-
-      if (!sensor->is_data_valid(init_ts, nanos_since_boot())) {
-        continue;
-      }
-
-      pm_non_int.send(sensor_service[sensor].c_str(), msg);
-    }
-
-    std::chrono::steady_clock::time_point end = std::chrono::steady_clock::now();
-    std::this_thread::sleep_for(std::chrono::milliseconds(10) - (end - begin));
-  }
-
-  for (Sensor *sensor : sensors) {
-    sensor->shutdown();
-  }
-
-  lsm_interrupt_thread.join();
-  return 0;
-}
-
-int main(int argc, char *argv[]) {
-  try {
-    auto i2c_bus_imu = std::make_unique<I2CBus>(I2C_BUS_IMU);
-    return sensor_loop(i2c_bus_imu.get());
-  } catch (std::exception &e) {
-    LOGE("I2CBus init failed");
-    return -1;
-  }
-}
diff --git a/selfdrive/sentry.py b/selfdrive/sentry.py
index aa409ea394..02d9d17550 100644
--- a/selfdrive/sentry.py
+++ b/selfdrive/sentry.py
@@ -3,11 +3,11 @@ import sentry_sdk
 from enum import Enum
 from sentry_sdk.integrations.threading import ThreadingIntegration
 
-from common.params import Params
-from selfdrive.athena.registration import is_registered_device
-from system.hardware import HARDWARE, PC
-from system.swaglog import cloudlog
-from system.version import get_branch, get_commit, get_origin, get_version, \
+from openpilot.common.params import Params
+from openpilot.selfdrive.athena.registration import is_registered_device
+from openpilot.system.hardware import HARDWARE, PC
+from openpilot.system.swaglog import cloudlog
+from openpilot.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 7dc002727e..8acf406515 100755
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@@ -7,13 +7,13 @@ from collections import defaultdict
 from datetime import datetime, timezone
 from typing import NoReturn, Union, List, Dict
 
-from common.params import Params
+from openpilot.common.params import Params
 from cereal.messaging import SubMaster
-from system.swaglog import cloudlog
-from system.hardware import HARDWARE
-from common.file_helpers import atomic_write_in_dir
-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
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.hardware import HARDWARE
+from openpilot.common.file_helpers import atomic_write_in_dir
+from openpilot.system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
+from openpilot.system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
 
 
 class METRIC_TYPE:
@@ -23,6 +23,8 @@ class METRIC_TYPE:
 class StatLog:
   def __init__(self):
     self.pid = None
+    self.zctx = None
+    self.sock = None
 
   def connect(self) -> None:
     self.zctx = zmq.Context()
@@ -31,6 +33,12 @@ class StatLog:
     self.sock.connect(STATS_SOCKET)
     self.pid = os.getpid()
 
+  def __del__(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
   def _send(self, metric: str) -> None:
     if os.getpid() != self.pid:
       self.connect()
@@ -68,7 +76,7 @@ def main() -> NoReturn:
     return res
 
   # open statistics socket
-  ctx = zmq.Context().instance()
+  ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.bind(STATS_SOCKET)
 
@@ -92,70 +100,74 @@ def main() -> NoReturn:
   last_flush_time = time.monotonic()
   gauges = {}
   samples: Dict[str, List[float]] = defaultdict(list)
-  while True:
-    started_prev = sm['deviceState'].started
-    sm.update()
-
-    # Update metrics
+  try:
     while True:
-      try:
-        metric = sock.recv_string(zmq.NOBLOCK)
+      started_prev = sm['deviceState'].started
+      sm.update()
+
+      # Update metrics
+      while True:
         try:
-          metric_type = metric.split('|')[1]
-          metric_name = metric.split(':')[0]
-          metric_value = float(metric.split('|')[0].split(':')[1])
-
-          if metric_type == METRIC_TYPE.GAUGE:
-            gauges[metric_name] = metric_value
-          elif metric_type == METRIC_TYPE.SAMPLE:
-            samples[metric_name].append(metric_value)
-          else:
-            cloudlog.event("unknown metric type", metric_type=metric_type)
-        except Exception:
-          cloudlog.event("malformed metric", metric=metric)
-      except zmq.error.Again:
-        break
-
-    # flush when started state changes or after FLUSH_TIME_S
-    if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
-      result = ""
-      current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
-      tags['started'] = sm['deviceState'].started
-
-      for key, value in gauges.items():
-        result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
-
-      for key, values in samples.items():
-        values.sort()
-        sample_count = len(values)
-        sample_sum = sum(values)
-
-        stats = {
-          'count': sample_count,
-          'min': values[0],
-          'max': values[-1],
-          'mean': sample_sum / sample_count,
-        }
-        for percentile in [0.05, 0.5, 0.95]:
-          value = values[int(round(percentile * (sample_count - 1)))]
-          stats[f"p{int(percentile * 100)}"] = value
-
-        result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
-
-      # clear intermediate data
-      gauges.clear()
-      samples.clear()
-      last_flush_time = time.monotonic()
-
-      # check that we aren't filling up the drive
-      if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
-        if len(result) > 0:
-          stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}")
-          with atomic_write_in_dir(stats_path) as f:
-            f.write(result)
-          idx += 1
-      else:
-        cloudlog.error("stats dir full")
+          metric = sock.recv_string(zmq.NOBLOCK)
+          try:
+            metric_type = metric.split('|')[1]
+            metric_name = metric.split(':')[0]
+            metric_value = float(metric.split('|')[0].split(':')[1])
+
+            if metric_type == METRIC_TYPE.GAUGE:
+              gauges[metric_name] = metric_value
+            elif metric_type == METRIC_TYPE.SAMPLE:
+              samples[metric_name].append(metric_value)
+            else:
+              cloudlog.event("unknown metric type", metric_type=metric_type)
+          except Exception:
+            cloudlog.event("malformed metric", metric=metric)
+        except zmq.error.Again:
+          break
+
+      # flush when started state changes or after FLUSH_TIME_S
+      if (time.monotonic() > last_flush_time + STATS_FLUSH_TIME_S) or (sm['deviceState'].started != started_prev):
+        result = ""
+        current_time = datetime.utcnow().replace(tzinfo=timezone.utc)
+        tags['started'] = sm['deviceState'].started
+
+        for key, value in gauges.items():
+          result += get_influxdb_line(f"gauge.{key}", value, current_time, tags)
+
+        for key, values in samples.items():
+          values.sort()
+          sample_count = len(values)
+          sample_sum = sum(values)
+
+          stats = {
+            'count': sample_count,
+            'min': values[0],
+            'max': values[-1],
+            'mean': sample_sum / sample_count,
+          }
+          for percentile in [0.05, 0.5, 0.95]:
+            value = values[int(round(percentile * (sample_count - 1)))]
+            stats[f"p{int(percentile * 100)}"] = value
+
+          result += get_influxdb_line(f"sample.{key}", stats, current_time, tags)
+
+        # clear intermediate data
+        gauges.clear()
+        samples.clear()
+        last_flush_time = time.monotonic()
+
+        # check that we aren't filling up the drive
+        if len(os.listdir(STATS_DIR)) < STATS_DIR_FILE_LIMIT:
+          if len(result) > 0:
+            stats_path = os.path.join(STATS_DIR, f"{current_time.timestamp():.0f}_{idx}")
+            with atomic_write_in_dir(stats_path) as f:
+              f.write(result)
+            idx += 1
+        else:
+          cloudlog.error("stats dir full")
+  finally:
+    sock.close()
+    ctx.term()
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/test/Dockerfile.scons_cache b/selfdrive/test/Dockerfile.scons_cache
new file mode 100644
index 0000000000..6e320d243c
--- /dev/null
+++ b/selfdrive/test/Dockerfile.scons_cache
@@ -0,0 +1,3 @@
+FROM alpine:3
+
+COPY ./scons_cache /tmp/scons_cache
\ No newline at end of file
diff --git a/selfdrive/test/ciui.py b/selfdrive/test/ciui.py
new file mode 100755
index 0000000000..3f33847b29
--- /dev/null
+++ b/selfdrive/test/ciui.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python3
+import signal
+import subprocess
+
+signal.signal(signal.SIGINT, signal.SIG_DFL)
+signal.signal(signal.SIGTERM, signal.SIG_DFL)
+
+from PyQt5.QtCore import QTimer
+from PyQt5.QtWidgets import QApplication, QWidget, QVBoxLayout, QLabel
+from openpilot.selfdrive.ui.qt.python_helpers import set_main_window
+
+class Window(QWidget):
+  def __init__(self, parent=None):
+    super(Window, self).__init__(parent)
+
+    layout = QVBoxLayout()
+    self.setLayout(layout)
+
+    self.l = QLabel("jenkins runner")
+    layout.addWidget(self.l)
+    layout.addStretch(1)
+    layout.setContentsMargins(20, 20, 20, 20)
+
+    cmds = [
+      "cat /etc/hostname",
+      "echo AGNOS v$(cat /VERSION)",
+      "uptime -p",
+    ]
+    self.labels = {}
+    for c in cmds:
+      self.labels[c] = QLabel(c)
+      layout.addWidget(self.labels[c])
+
+    self.setStyleSheet("""
+      * {
+        color: white;
+        font-size: 55px;
+        background-color: black;
+        font-family: "JetBrains Mono";
+      }
+    """)
+
+    self.timer = QTimer()
+    self.timer.timeout.connect(self.update)
+    self.timer.start(10 * 1000)
+    self.update()
+
+  def update(self):
+    for cmd, label in self.labels.items():
+      out = subprocess.run(cmd, stdout=subprocess.PIPE, stderr=subprocess.PIPE,
+                           shell=True, check=False, encoding='utf8').stdout
+      label.setText(out.strip())
+
+if __name__ == "__main__":
+  app = QApplication([])
+  w = Window()
+  set_main_window(w)
+  app.exec_()
diff --git a/selfdrive/test/docker_build.sh b/selfdrive/test/docker_build.sh
new file mode 100755
index 0000000000..c9be11ffa7
--- /dev/null
+++ b/selfdrive/test/docker_build.sh
@@ -0,0 +1,41 @@
+#!/bin/bash
+set -e
+
+if [ $1 = "base" ]; then
+  export DOCKER_IMAGE=openpilot-base
+  export DOCKER_FILE=Dockerfile.openpilot_base
+elif [ $1 = "docs" ]; then
+  export DOCKER_IMAGE=openpilot-docs
+  export DOCKER_FILE=docs/docker/Dockerfile
+elif [ $1 = "sim" ]; then
+  export DOCKER_IMAGE=openpilot-sim
+  export DOCKER_FILE=tools/sim/Dockerfile.sim
+elif [ $1 = "prebuilt" ]; then
+  export DOCKER_IMAGE=openpilot-prebuilt
+  export DOCKER_FILE=Dockerfile.openpilot
+elif [ $1 = "cl" ]; then
+  export DOCKER_IMAGE=openpilot-base-cl
+  export DOCKER_FILE=Dockerfile.openpilot_base_cl
+else
+  echo "Invalid docker build image $1"
+  exit 1
+fi
+
+export DOCKER_REGISTRY=ghcr.io/commaai
+export COMMIT_SHA=$(git rev-parse HEAD)
+
+LOCAL_TAG=$DOCKER_IMAGE
+REMOTE_TAG=$DOCKER_REGISTRY/$LOCAL_TAG
+REMOTE_SHA_TAG=$REMOTE_TAG:$COMMIT_SHA
+
+SCRIPT_DIR=$(dirname "$0")
+OPENPILOT_DIR=$SCRIPT_DIR/../../
+
+DOCKER_BUILDKIT=1 docker build --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
+
+if [[ ! -z "$PUSH_IMAGE" ]];
+then
+  docker push $REMOTE_TAG
+  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
+  docker push $REMOTE_SHA_TAG
+fi
\ No newline at end of file
diff --git a/selfdrive/test/fuzzy_generation.py b/selfdrive/test/fuzzy_generation.py
new file mode 100644
index 0000000000..28c70a0ff4
--- /dev/null
+++ b/selfdrive/test/fuzzy_generation.py
@@ -0,0 +1,84 @@
+import capnp
+import hypothesis.strategies as st
+from typing import Any, Callable, Dict, List, Optional, Union
+
+from cereal import log
+
+DrawType = Callable[[st.SearchStrategy], Any]
+
+
+class FuzzyGenerator:
+  def __init__(self, draw: DrawType, real_floats: bool):
+    self.draw = draw
+    self.real_floats = real_floats
+
+  def generate_native_type(self, field: str) -> st.SearchStrategy[Union[bool, int, float, str, bytes]]:
+    def floats(**kwargs) -> st.SearchStrategy[float]:
+      allow_nan = not self.real_floats
+      allow_infinity = not self.real_floats
+      return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
+
+    if field == 'bool':
+      return st.booleans()
+    elif field == 'int8':
+      return st.integers(min_value=-2**7, max_value=2**7-1)
+    elif field == 'int16':
+      return st.integers(min_value=-2**15, max_value=2**15-1)
+    elif field == 'int32':
+      return st.integers(min_value=-2**31, max_value=2**31-1)
+    elif field == 'int64':
+      return st.integers(min_value=-2**63, max_value=2**63-1)
+    elif field == 'uint8':
+      return st.integers(min_value=0, max_value=2**8-1)
+    elif field == 'uint16':
+      return st.integers(min_value=0, max_value=2**16-1)
+    elif field == 'uint32':
+      return st.integers(min_value=0, max_value=2**32-1)
+    elif field == 'uint64':
+      return st.integers(min_value=0, max_value=2**64-1)
+    elif field == 'float32':
+      return floats(width=32)
+    elif field == 'float64':
+      return floats(width=64)
+    elif field == 'text':
+      return st.text(max_size=1000)
+    elif field == 'data':
+      return st.binary(max_size=1000)
+    elif field == 'anyPointer':
+      return st.text()
+    else:
+      raise NotImplementedError(f'Invalid type : {field}')
+
+  def generate_field(self, field: capnp.lib.capnp._StructSchemaField) -> st.SearchStrategy:
+    def rec(field_type: capnp.lib.capnp._DynamicStructReader) -> st.SearchStrategy:
+      if field_type.which() == 'struct':
+        return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
+      elif field_type.which() == 'list':
+        return st.lists(rec(field_type.list.elementType))
+      elif field_type.which() == 'enum':
+        schema = field.schema.elementType if base_type == 'list' else field.schema
+        return st.sampled_from(list(schema.enumerants.keys()))
+      else:
+        return self.generate_native_type(field_type.which())
+
+    if 'slot' in field.proto.to_dict():
+      base_type = field.proto.slot.type.which()
+      return rec(field.proto.slot.type)
+    else:
+      return self.generate_struct(field.schema)
+
+  def generate_struct(self, schema: capnp.lib.capnp._StructSchema, event: Optional[str] = None) -> st.SearchStrategy[Dict[str, Any]]:
+    full_fill: List[str] = list(schema.non_union_fields)
+    single_fill: List[str] = [event] if event else [self.draw(st.sampled_from(schema.union_fields))] if schema.union_fields else []
+    return st.fixed_dictionaries({field: self.generate_field(schema.fields[field]) for field in full_fill + single_fill})
+
+  @classmethod
+  def get_random_msg(cls, draw: DrawType, struct: capnp.lib.capnp._StructModule, real_floats: bool = False) -> Dict[str, Any]:
+    fg = cls(draw, real_floats=real_floats)
+    data: Dict[str, Any] = draw(fg.generate_struct(struct.schema))
+    return data
+
+  @classmethod
+  def get_random_event_msg(cls, draw: DrawType, events: List[str], real_floats: bool = False) -> List[Dict[str, Any]]:
+    fg = cls(draw, real_floats=real_floats)
+    return [draw(fg.generate_struct(log.Event.schema, e)) for e in sorted(events)]
diff --git a/selfdrive/test/helpers.py b/selfdrive/test/helpers.py
index 8cc996c28d..f5ba67b407 100644
--- a/selfdrive/test/helpers.py
+++ b/selfdrive/test/helpers.py
@@ -2,19 +2,30 @@ import os
 import time
 from functools import wraps
 
-from system.hardware import PC
-from selfdrive.manager.process_config import managed_processes
-from system.version import training_version, terms_version
+import cereal.messaging as messaging
+from openpilot.common.params import Params
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import PC
+from openpilot.system.version import training_version, terms_version
 
 
 def set_params_enabled():
-  from common.params import Params
+  os.environ['PASSIVE'] = "0"
+  os.environ['REPLAY'] = "1"
+  os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+  os.environ['LOGPRINT'] = "debug"
+
   params = Params()
   params.put("HasAcceptedTerms", terms_version)
   params.put("CompletedTrainingVersion", training_version)
   params.put_bool("OpenpilotEnabledToggle", True)
   params.put_bool("Passive", False)
 
+  # valid calib
+  msg = messaging.new_message('liveCalibration')
+  msg.liveCalibration.validBlocks = 20
+  msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
+  params.put("CalibrationParams", msg.to_bytes())
 
 def phone_only(f):
   @wraps(f)
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 65935f8979..000225ab77 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -1,5 +1,5 @@
 import numpy as np
-from selfdrive.test.longitudinal_maneuvers.plant import Plant
+from openpilot.selfdrive.test.longitudinal_maneuvers.plant import Plant
 
 
 class Maneuver:
@@ -19,6 +19,7 @@ class Maneuver:
     self.ensure_start = kwargs.get("ensure_start", False)
     self.enabled = kwargs.get("enabled", True)
     self.e2e = kwargs.get("e2e", False)
+    self.force_decel = kwargs.get("force_decel", False)
 
     self.duration = duration
     self.title = title
@@ -32,6 +33,7 @@ class Maneuver:
       only_lead2=self.only_lead2,
       only_radar=self.only_radar,
       e2e=self.e2e,
+      force_decel=self.force_decel,
     )
 
     valid = True
@@ -60,6 +62,10 @@ class Maneuver:
       if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
         print('LongitudinalPlanner not starting!')
         valid = False
+    if self.force_decel and log['speed'] > 1e-1 and log['acceleration'] > -0.04:
+      print('Not stopping with force decel')
+      valid = False
+
 
     print("maneuver end", valid)
     return valid, np.array(logs)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 8e150d800c..9373eb6d89 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -4,18 +4,18 @@ import numpy as np
 
 from cereal import log
 import cereal.messaging as messaging
-from common.realtime import Ratekeeper, DT_MDL
-from selfdrive.controls.lib.longcontrol import LongCtrlState
-from selfdrive.modeld.constants import T_IDXS
-from selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
-from selfdrive.controls.lib.radar_helpers import _LEAD_ACCEL_TAU
+from openpilot.common.realtime import Ratekeeper, DT_MDL
+from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
+from openpilot.selfdrive.modeld.constants import T_IDXS
+from openpilot.selfdrive.controls.lib.longitudinal_planner import LongitudinalPlanner
+from openpilot.selfdrive.controls.radard import _LEAD_ACCEL_TAU
 
 
 class Plant:
   messaging_initialized = False
 
   def __init__(self, lead_relevancy=False, speed=0.0, distance_lead=2.0,
-               enabled=True, only_lead2=False, only_radar=False, e2e=False):
+               enabled=True, only_lead2=False, only_radar=False, e2e=False, force_decel=False):
     self.rate = 1. / DT_MDL
 
     if not Plant.messaging_initialized:
@@ -39,16 +39,17 @@ class Plant:
     self.only_lead2 = only_lead2
     self.only_radar = only_radar
     self.e2e = e2e
+    self.force_decel = force_decel
 
     self.rk = Ratekeeper(self.rate, print_delay_threshold=100.0)
     self.ts = 1. / self.rate
     time.sleep(1)
     self.sm = messaging.SubMaster(['longitudinalPlan'])
 
-    from selfdrive.car.honda.values import CAR
-    from selfdrive.car.honda.interface import CarInterface
+    from openpilot.selfdrive.car.honda.values import CAR
+    from openpilot.selfdrive.car.honda.interface import CarInterface
 
-    self.planner = LongitudinalPlanner(CarInterface.get_params(CAR.CIVIC), init_v=self.speed)
+    self.planner = LongitudinalPlanner(CarInterface.get_non_essential_params(CAR.CIVIC), init_v=self.speed)
 
   @property
   def current_time(self):
@@ -98,19 +99,20 @@ class Plant:
     # Simulate model predicting slightly faster speed
     # this is to ensure lead policy is effective when model
     # does not predict slowdown in e2e mode
-    position = log.ModelDataV2.XYZTData.new_message()
+    position = log.XYZTData.new_message()
     position.x = [float(x) for x in (self.speed + 0.5) * np.array(T_IDXS)]
     model.modelV2.position = position
-    velocity = log.ModelDataV2.XYZTData.new_message()
+    velocity = log.XYZTData.new_message()
     velocity.x = [float(x) for x in (self.speed + 0.5) * np.ones_like(T_IDXS)]
     model.modelV2.velocity = velocity
-    acceleration = log.ModelDataV2.XYZTData.new_message()
+    acceleration = log.XYZTData.new_message()
     acceleration.x = [float(x) for x in np.zeros_like(T_IDXS)]
     model.modelV2.acceleration = acceleration
 
     control.controlsState.longControlState = LongCtrlState.pid if self.enabled else LongCtrlState.off
     control.controlsState.vCruise = float(v_cruise * 3.6)
     control.controlsState.experimentalMode = self.e2e
+    control.controlsState.forceDecel = self.force_decel
     car_state.carState.vEgo = float(self.speed)
     car_state.carState.standstill = self.speed < 0.01
 
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 686b35e456..a3b307ccba 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -1,16 +1,17 @@
 #!/usr/bin/env python3
+import itertools
 import os
-from parameterized import parameterized
+from parameterized import parameterized_class
 import unittest
 
-from common.params import Params
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
-from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
+from openpilot.selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
 # TODO: make new FCW tests
-def create_maneuvers(e2e):
-  return [
+def create_maneuvers(kwargs):
+  maneuvers = [
     Maneuver(
       'approach stopped car at 25m/s, initial distance: 120m',
       duration=20.,
@@ -19,7 +20,7 @@ def create_maneuvers(e2e):
       initial_distance_lead=120.,
       speed_lead_values=[30., 0.],
       breakpoints=[0., 1.],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       'approach stopped car at 20m/s, initial distance 90m',
@@ -29,7 +30,7 @@ def create_maneuvers(e2e):
       initial_distance_lead=90.,
       speed_lead_values=[20., 0.],
       breakpoints=[0., 1.],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       'steady state following a car at 20m/s, then lead decel to 0mph at 1m/s^2',
@@ -39,7 +40,7 @@ def create_maneuvers(e2e):
       initial_distance_lead=35.,
       speed_lead_values=[20., 20., 0.],
       breakpoints=[0., 15., 35.0],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       'steady state following a car at 20m/s, then lead decel to 0mph at 2m/s^2',
@@ -49,7 +50,7 @@ def create_maneuvers(e2e):
       initial_distance_lead=35.,
       speed_lead_values=[20., 20., 0.],
       breakpoints=[0., 15., 25.0],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       'steady state following a car at 20m/s, then lead decel to 0mph at 3m/s^2',
@@ -59,7 +60,7 @@ def create_maneuvers(e2e):
       initial_distance_lead=35.,
       speed_lead_values=[20., 20., 0.],
       breakpoints=[0., 15., 21.66],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       'steady state following a car at 20m/s, then lead decel to 0mph at 3+m/s^2',
@@ -71,7 +72,7 @@ def create_maneuvers(e2e):
       prob_lead_values=[0., 1., 1.],
       cruise_values=[20., 20., 20.],
       breakpoints=[2., 2.01, 8.8],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       "approach stopped car at 20m/s, with prob_lead_values",
@@ -83,7 +84,7 @@ def create_maneuvers(e2e):
       prob_lead_values=[0.0, 0., 1.],
       cruise_values=[20., 20., 20.],
       breakpoints=[0.0, 2., 2.01],
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       "approach slower cut-in car at 20m/s",
@@ -94,7 +95,7 @@ def create_maneuvers(e2e):
       speed_lead_values=[15., 15.],
       breakpoints=[1., 11.],
       only_lead2=True,
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       "stay stopped behind radar override lead",
@@ -106,7 +107,7 @@ def create_maneuvers(e2e):
       prob_lead_values=[0., 0.],
       breakpoints=[1., 11.],
       only_radar=True,
-      e2e=e2e,
+      **kwargs,
     ),
     Maneuver(
       "NaN recovery",
@@ -117,10 +118,20 @@ def create_maneuvers(e2e):
       speed_lead_values=[0., 0., 0.0],
       breakpoints=[1., 1.01, 11.],
       cruise_values=[float("nan"), 15., 15.],
-      e2e=e2e,
+      **kwargs,
     ),
-    # controls relies on planner commanding to move for stock-ACC resume spamming
     Maneuver(
+      'cruising at 25 m/s while disabled',
+      duration=20.,
+      initial_speed=25.,
+      lead_relevancy=False,
+      enabled=False,
+      **kwargs,
+    ),
+  ]
+  if not kwargs['force_decel']:
+    # controls relies on planner commanding to move for stock-ACC resume spamming
+    maneuvers.append(Maneuver(
       "resume from a stop",
       duration=20.,
       initial_speed=0.,
@@ -129,20 +140,16 @@ def create_maneuvers(e2e):
       speed_lead_values=[0., 0., 2.],
       breakpoints=[1., 10., 15.],
       ensure_start=True,
-      e2e=e2e,
-    ),
-    Maneuver(
-      'cruising at 25 m/s while disabled',
-      duration=20.,
-      initial_speed=25.,
-      lead_relevancy=False,
-      enabled=False,
-      e2e=e2e,
-    ),
-  ]
+      **kwargs,
+    ))
+  return maneuvers
 
 
+@parameterized_class(("e2e", "force_decel"), itertools.product([True, False], repeat=2))
 class LongitudinalControl(unittest.TestCase):
+  e2e: bool
+  force_decel: bool
+
   @classmethod
   def setUpClass(cls):
     os.environ['SIMULATION'] = "1"
@@ -154,11 +161,12 @@ class LongitudinalControl(unittest.TestCase):
     params.put_bool("Passive", bool(os.getenv("PASSIVE")))
     params.put_bool("OpenpilotEnabledToggle", True)
 
-  @parameterized.expand([(man,) for e2e in [True, False] for man in create_maneuvers(e2e)])
-  def test_maneuver(self, maneuver):
-    print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
-    valid, _ = maneuver.evaluate()
-    self.assertTrue(valid, msg=maneuver.title)
+  def test_maneuver(self):
+    for maneuver in create_maneuvers({"e2e": self.e2e, "force_decel": self.force_decel}):
+      with self.subTest(title=maneuver.title, e2e=maneuver.e2e, force_decel=maneuver.force_decel):
+        print(maneuver.title, f'in {"e2e" if maneuver.e2e else "acc"} mode')
+        valid, _ = maneuver.evaluate()
+        self.assertTrue(valid)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/test/openpilotci.py b/selfdrive/test/openpilotci.py
index 1d1b6ec423..fe1a0b0335 100755
--- a/selfdrive/test/openpilotci.py
+++ b/selfdrive/test/openpilotci.py
@@ -11,20 +11,29 @@ def get_url(route_name, segment_num, log_type="rlog"):
   ext = "hevc" if log_type.endswith('camera') else "bz2"
   return BASE_URL + f"{route_name.replace('|', '/')}/{segment_num}/{log_type}.{ext}"
 
-
-def upload_file(path, name):
-  from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
-
+def get_sas_token():
   sas_token = os.environ.get("AZURE_TOKEN", None)
   if os.path.isfile(TOKEN_PATH):
     sas_token = open(TOKEN_PATH).read().strip()
 
   if sas_token is None:
-    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci --https-only --permissions lrw \
-                                         --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
-  service = BlockBlobService(account_name="commadataci", sas_token=sas_token)
+    sas_token = subprocess.check_output("az storage container generate-sas --account-name commadataci --name openpilotci \
+                                         --https-only --permissions lrw --expiry $(date -u '+%Y-%m-%dT%H:%M:%SZ' -d '+1 hour') \
+                                         --auth-mode login --as-user --output tsv", shell=True).decode().strip("\n")
+
+  return sas_token
+
+def upload_bytes(data, name):
+  from azure.storage.blob import BlockBlobService
+  service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
+  service.create_blob_from_bytes("openpilotci", name, data)
+  return BASE_URL + name
+
+def upload_file(path, name):
+  from azure.storage.blob import BlockBlobService
+  service = BlockBlobService(account_name="commadataci", sas_token=get_sas_token())
   service.create_blob_from_path("openpilotci", name, path)
-  return "https://commadataci.blob.core.windows.net/openpilotci/" + name
+  return BASE_URL + name
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 531ddb3a02..1174dbab83 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -15,9 +15,10 @@ Currently the following processes are tested:
 * calibrationd
 * dmonitoringd
 * locationd
-* laikad
 * paramsd
 * ubloxd
+* laikad
+* torqued
 
 ### Usage
 ```
@@ -45,3 +46,83 @@ To generate new logs:
 `./test_processes.py`
 
 Then, check in the new logs using git-lfs. Make sure to also update the `ref_commit` file to the current commit.
+
+## API
+
+Process replay test suite exposes programmatic APIs for simultaneously running processes or groups of processes on provided logs. 
+
+```py
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader, List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+
+def replay_process(
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None, 
+  fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None, disable_progress: bool = False
+) -> List[capnp._DynamicStructReader]:
+```
+
+Example usage:
+```py
+from openpilot.selfdrive.test.process_replay import replay_process_with_name
+from openpilot.tools.lib.logreader import LogReader
+
+lr = LogReader(...)
+
+# provide a name of the process to replay
+output_logs = replay_process_with_name('locationd', lr)
+
+# or list of names
+output_logs = replay_process_with_name(['ubloxd', 'locationd', 'laikad'], lr)
+```
+
+Supported processes: 
+* controlsd
+* radard
+* plannerd
+* calibrationd
+* dmonitoringd
+* locationd
+* paramsd 
+* ubloxd
+* laikad
+* torqued
+* modeld
+* dmonitoringmodeld
+
+Certain processes may require an initial state, which is usually supplied within `Params` and persisting from segment to segment (e.g CalibrationParams, LiveParameters). The `custom_params` is dictionary  used to prepopulate `Params` with arbitrary values. The `get_custom_params_from_lr` helper is provided to fetch meaningful values from log files.
+
+```py
+from openpilot.selfdrive.test.process_replay import get_custom_params_from_lr
+
+previous_segment_lr = LogReader(...)
+current_segment_lr = LogReader(...)
+
+custom_params = get_custom_params_from_lr(previous_segment_lr, 'last')
+
+output_logs = replay_process_with_name('calibrationd', lr, custom_params=custom_params)
+```
+
+Replaying processes that use VisionIPC (e.g. modeld, dmonitoringmodeld) require additional `frs` dictionary with camera states as keys and `FrameReader` objects as values.
+
+```py
+from openpilot.tools.lib.framereader import FrameReader
+
+frs = {
+  'roadCameraState': FrameReader(...),
+  'wideRoadCameraState': FrameReader(...),
+  'driverCameraState': FrameReader(...),
+}
+
+output_logs = replay_process_with_name(['modeld', 'dmonitoringmodeld'], lr, frs=frs)
+```
+
+To capture stdout/stderr of the replayed process, `captured_output_store` can be provided.
+
+```py
+output_store = dict()
+# pass dictionary by reference, it will be filled with standard outputs - even if process replay fails
+output_logs = replay_process_with_name(['radard', 'plannerd'], lr, captured_output_store=output_store)
+
+# entries with captured output in format { 'out': '...', 'err': '...' } will be added to provided dictionary for each replayed process
+print(output_store['radard']['out']) # radard stdout
+print(output_store['radard']['err']) # radard stderr
+```
diff --git a/selfdrive/test/process_replay/__init__.py b/selfdrive/test/process_replay/__init__.py
index e69de29bb2..b994277186 100644
--- a/selfdrive/test/process_replay/__init__.py
+++ b/selfdrive/test/process_replay/__init__.py
@@ -0,0 +1,2 @@
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, get_process_config, get_custom_params_from_lr, \
+                                                                  replay_process, replay_process_with_name  # noqa: F401
diff --git a/selfdrive/test/process_replay/capture.py b/selfdrive/test/process_replay/capture.py
new file mode 100644
index 0000000000..28206c6b91
--- /dev/null
+++ b/selfdrive/test/process_replay/capture.py
@@ -0,0 +1,59 @@
+import os
+import sys
+
+from typing import Tuple, no_type_check
+
+class FdRedirect:
+  def __init__(self, file_prefix: str, fd: int):
+    fname = os.path.join("/tmp", f"{file_prefix}.{fd}")
+    if os.path.exists(fname):
+      os.unlink(fname)
+    self.dest_fd = os.open(fname, os.O_WRONLY | os.O_CREAT)
+    self.dest_fname = fname
+    self.source_fd = fd
+    os.set_inheritable(self.dest_fd, True)
+
+  def __del__(self):
+    os.close(self.dest_fd)
+
+  def purge(self) -> None:
+    os.unlink(self.dest_fname)
+
+  def read(self) -> bytes:
+    with open(self.dest_fname, "rb") as f:
+      return f.read() or b""
+
+  def link(self) -> None:
+    os.dup2(self.dest_fd, self.source_fd)
+
+
+class ProcessOutputCapture:
+  def __init__(self, proc_name: str, prefix: str):
+    prefix = f"{proc_name}_{prefix}"
+    self.stdout_redirect = FdRedirect(prefix, 1)
+    self.stderr_redirect = FdRedirect(prefix, 2)
+
+  def __del__(self):
+    self.stdout_redirect.purge()
+    self.stderr_redirect.purge()
+
+  @no_type_check # ipython classes have incompatible signatures
+  def link_with_current_proc(self) -> None:
+    try:
+      # prevent ipykernel from redirecting stdout/stderr of python subprocesses
+      from ipykernel.iostream import OutStream
+      if isinstance(sys.stdout, OutStream):
+        sys.stdout = sys.__stdout__
+      if isinstance(sys.stderr, OutStream):
+        sys.stderr = sys.__stderr__
+    except ImportError:
+      pass
+
+    # link stdout/stderr to the fifo
+    self.stdout_redirect.link()
+    self.stderr_redirect.link()
+
+  def read_outerr(self) -> Tuple[str, str]:
+    out_str = self.stdout_redirect.read().decode()
+    err_str = self.stderr_redirect.read().decode()
+    return out_str, err_str
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index c14956b1b2..7de0a25761 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -1,26 +1,16 @@
 #!/usr/bin/env python3
-import bz2
 import sys
 import math
+import capnp
 import numbers
 import dictdiffer
 from collections import Counter
 
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader
 
 EPSILON = sys.float_info.epsilon
 
 
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress:
-    dat = bz2.compress(dat)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
-
-
 def remove_ignored_fields(msg, ignore):
   msg = msg.as_builder()
   for key in ignore:
@@ -30,43 +20,36 @@ def remove_ignored_fields(msg, ignore):
       continue
 
     for k in keys[:-1]:
-      try:
-        attr = getattr(msg, k)
-      except AttributeError:
-        break
-    else:
-      v = getattr(attr, keys[-1])
-      if isinstance(v, bool):
-        val = False
-      elif isinstance(v, numbers.Number):
-        val = 0
+      # indexing into list
+      if k.isdigit():
+        attr = attr[int(k)]
       else:
-        raise NotImplementedError('Error ignoring field')
-      setattr(attr, keys[-1], val)
-  return msg.as_reader()
-
-
-def get_field_tolerance(diff_field, field_tolerances):
-  diff_field_str = diff_field[0]
-  for s in diff_field[1:]:
-    # loop until number in field
-    if not isinstance(s, str):
-      break
-    diff_field_str += '.'+s
-  if diff_field_str in field_tolerances:
-    return field_tolerances[diff_field_str]
+        attr = getattr(attr, k)
+
+    v = getattr(attr, keys[-1])
+    if isinstance(v, bool):
+      val = False
+    elif isinstance(v, numbers.Number):
+      val = 0
+    elif isinstance(v, (list, capnp.lib.capnp._DynamicListBuilder)):
+      val = []
+    else:
+      raise NotImplementedError(f"Unknown type: {type(v)}")
+    setattr(attr, keys[-1], val)
+  return msg
 
 
-def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None):
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None,):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
-  if field_tolerances is None:
-    field_tolerances = {}
-  default_tolerance = EPSILON if tolerance is None else tolerance
+  tolerance = EPSILON if tolerance is None else tolerance
 
-  log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
+  log1, log2 = (
+    [m for m in log if m.which() not in ignore_msgs]
+    for log in (log1, log2)
+  )
 
   if len(log1) != len(log2):
     cnt1 = Counter(m.which() for m in log1)
@@ -74,17 +57,16 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
     raise Exception(f"logs are not same length: {len(log1)} VS {len(log2)}\n\t\t{cnt1}\n\t\t{cnt2}")
 
   diff = []
-  for msg1, msg2 in zip(log1, log2):
+  for msg1, msg2 in zip(log1, log2, strict=True):
     if msg1.which() != msg2.which():
-      print(msg1, msg2)
       raise Exception("msgs not aligned between logs")
 
-    msg1_bytes = remove_ignored_fields(msg1, ignore_fields).as_builder().to_bytes()
-    msg2_bytes = remove_ignored_fields(msg2, ignore_fields).as_builder().to_bytes()
+    msg1 = remove_ignored_fields(msg1, ignore_fields)
+    msg2 = remove_ignored_fields(msg2, ignore_fields)
 
-    if msg1_bytes != msg2_bytes:
-      msg1_dict = msg1.to_dict(verbose=True)
-      msg2_dict = msg2.to_dict(verbose=True)
+    if msg1.to_bytes() != msg2.to_bytes():
+      msg1_dict = msg1.as_reader().to_dict(verbose=True)
+      msg2_dict = msg2.as_reader().to_dict(verbose=True)
 
       dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
 
@@ -93,13 +75,10 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       def outside_tolerance(diff):
         try:
           if diff[0] == "change":
-            field_tolerance = default_tolerance
-            if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None:
-              field_tolerance = tol
             a, b = diff[2]
             finite = math.isfinite(a) and math.isfinite(b)
             if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b)))
+              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
         except TypeError:
           pass
         return True
diff --git a/selfdrive/test/process_replay/helpers.py b/selfdrive/test/process_replay/helpers.py
index 8571f36c36..0af8ff6c76 100644
--- a/selfdrive/test/process_replay/helpers.py
+++ b/selfdrive/test/process_replay/helpers.py
@@ -2,12 +2,15 @@ import os
 import shutil
 import uuid
 
-from common.params import Params
+from typing import List, Optional
+
+from openpilot.common.params import Params
 
 class OpenpilotPrefix(object):
-  def __init__(self, prefix: str = None) -> None:
+  def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
     self.prefix = prefix if prefix else str(uuid.uuid4())
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
+    self.clean_dirs_on_exit = clean_dirs_on_exit
 
   def __enter__(self):
     os.environ['OPENPILOT_PREFIX'] = self.prefix
@@ -16,11 +19,31 @@ class OpenpilotPrefix(object):
     except FileExistsError:
       pass
 
+    return self
+
   def __exit__(self, exc_type, exc_obj, exc_tb):
+    if self.clean_dirs_on_exit:
+      self.clean_dirs()
+    del os.environ['OPENPILOT_PREFIX']
+    return False
+
+  def clean_dirs(self):
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-    del os.environ['OPENPILOT_PREFIX']
-    return False
+
+
+class DummySocket:
+  def __init__(self):
+    self.data: List[bytes] = []
+
+  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
+    if non_blocking:
+      return None
+
+    return self.data.pop()
+
+  def send(self, data: bytes):
+    self.data.append(data)
diff --git a/selfdrive/test/process_replay/migration.py b/selfdrive/test/process_replay/migration.py
new file mode 100644
index 0000000000..4560a66b97
--- /dev/null
+++ b/selfdrive/test/process_replay/migration.py
@@ -0,0 +1,109 @@
+from collections import defaultdict
+
+from cereal import messaging
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_encode_index
+
+
+def migrate_all(lr, old_logtime=False, camera_states=False):
+  msgs = migrate_sensorEvents(lr, old_logtime)
+  msgs = migrate_carParams(msgs, old_logtime)
+  if camera_states:
+    msgs = migrate_cameraStates(msgs)
+
+  return msgs
+
+
+def migrate_cameraStates(lr):
+  all_msgs = []
+  frame_to_encode_id = defaultdict(dict)
+
+  for msg in lr:
+    if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
+      continue
+
+    encode_index = getattr(msg, msg.which())
+    meta = meta_from_encode_index(msg.which())
+
+    assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
+    frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
+
+  for msg in lr:
+    if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
+      all_msgs.append(msg)
+      continue
+
+    camera_state = getattr(msg, msg.which())
+    encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
+    if encode_id is None:
+      print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
+      continue
+
+    new_msg = messaging.new_message(msg.which())
+    new_camera_state = getattr(new_msg, new_msg.which())
+    new_camera_state.frameId = encode_id
+    new_camera_state.encodeId = encode_id
+    new_camera_state.timestampSof = camera_state.timestampSof
+    new_camera_state.timestampEof = camera_state.timestampEof
+    new_msg.logMonoTime = msg.logMonoTime
+    new_msg.valid = msg.valid
+
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
+def migrate_carParams(lr, old_logtime=False):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carParams':
+      CP = messaging.new_message('carParams')
+      CP.carParams = msg.carParams.as_builder()
+      for car_fw in CP.carParams.carFw:
+        car_fw.brand = CP.carParams.carName
+      if old_logtime:
+        CP.logMonoTime = msg.logMonoTime
+      msg = CP.as_reader()
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
+def migrate_sensorEvents(lr, old_logtime=False):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() != 'sensorEventsDEPRECATED':
+      all_msgs.append(msg)
+      continue
+
+    # migrate to split sensor events
+    for evt in msg.sensorEventsDEPRECATED:
+      # build new message for each sensor type
+      sensor_service = ''
+      if evt.which() == 'acceleration':
+        sensor_service = 'accelerometer'
+      elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
+        sensor_service = 'gyroscope'
+      elif evt.which() == 'light' or evt.which() == 'proximity':
+        sensor_service = 'lightSensor'
+      elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
+        sensor_service = 'magnetometer'
+      elif evt.which() == 'temperature':
+        sensor_service = 'temperatureSensor'
+
+      m = messaging.new_message(sensor_service)
+      m.valid = True
+      if old_logtime:
+        m.logMonoTime = msg.logMonoTime
+
+      m_dat = getattr(m, sensor_service)
+      m_dat.version = evt.version
+      m_dat.sensor = evt.sensor
+      m_dat.type = evt.type
+      m_dat.source = evt.source
+      if old_logtime:
+        m_dat.timestamp = evt.timestamp
+      setattr(m_dat, evt.which(), getattr(evt, evt.which()))
+
+      all_msgs.append(m.as_reader())
+
+  return all_msgs
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index a63ec6489b..f576e07a40 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -4,39 +4,104 @@ import sys
 import time
 from collections import defaultdict
 from typing import Any
-from itertools import zip_longest
 
 import cereal.messaging as messaging
-from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.spinner import Spinner
-from common.timeout import Timeout
-from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
-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 system.version import get_commit
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
-
-TEST_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
-SEGMENT = 0
+from openpilot.common.params import Params
+from openpilot.common.spinner import Spinner
+from openpilot.system.hardware import PC
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.test_processes import format_diff
+from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
+from openpilot.system.version import get_commit
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.helpers import save_log
+
+TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
+SEGMENT = 6
 MAX_FRAMES = 100 if PC else 600
+NAV_FRAMES = 50
+
+NO_NAV = "NO_NAV" in os.environ
+SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
-SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
 
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
 def get_log_fn(ref_commit, test_route):
   return f"{test_route}_model_tici_{ref_commit}.bz2"
 
 
-def replace_calib(msg, calib):
-  msg = msg.as_builder()
-  if calib is not None:
-    msg.liveCalibration.rpyCalib = calib.tolist()
-  return msg
+def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
+  all_msgs = []
+  cam_state_counts = defaultdict(int)
+  # keep adding messages until cam states are equal to MAX_FRAMES
+  for msg in sorted(logs, key=lambda m: m.logMonoTime):
+    all_msgs.append(msg)
+    if msg.which() in frs_types:
+      cam_state_counts[msg.which()] += 1
+
+    if all(cam_state_counts[state] == max_frames for state in frs_types):
+      break
+
+  if len(include_all_types) != 0:
+    other_msgs = [m for m in logs if m.which() in include_all_types]
+    all_msgs.extend(other_msgs)
+
+  return all_msgs
+
+
+def nav_model_replay(lr):
+  sm = messaging.SubMaster(['navModel', 'navThumbnail', 'mapRenderState'])
+  pm = messaging.PubMaster(['liveLocationKalman', 'navRoute'])
+
+  nav = [m for m in lr if m.which() == 'navRoute']
+  llk = [m for m in lr if m.which() == 'liveLocationKalman']
+  assert len(nav) > 0 and len(llk) >= NAV_FRAMES and nav[0].logMonoTime < llk[-NAV_FRAMES].logMonoTime
+
+  log_msgs = []
+  try:
+    assert "MAPBOX_TOKEN" in os.environ
+    os.environ['MAP_RENDER_TEST_MODE'] = '1'
+    Params().put_bool('DmModelInitialized', True)
+    managed_processes['mapsd'].start()
+    managed_processes['navmodeld'].start()
+
+    # setup position and route
+    for _ in range(10):
+      for s in (llk[-NAV_FRAMES], nav[0]):
+        pm.send(s.which(), s.as_builder().to_bytes())
+      sm.update(1000)
+      if sm.updated['navModel']:
+        break
+      time.sleep(1)
+
+    if not sm.updated['navModel']:
+      raise Exception("no navmodeld outputs, failed to initialize")
+
+    # drain
+    time.sleep(2)
+    sm.update(0)
+
+    # run replay
+    for n in range(len(llk) - NAV_FRAMES, len(llk)):
+      pm.send(llk[n].which(), llk[n].as_builder().to_bytes())
+      m = messaging.recv_one(sm.sock['navThumbnail'])
+      assert m is not None, f"no navThumbnail, frame={n}"
+      log_msgs.append(m)
+
+      m = messaging.recv_one(sm.sock['mapRenderState'])
+      assert m is not None, f"no mapRenderState, frame={n}"
+      log_msgs.append(m)
+
+      m = messaging.recv_one(sm.sock['navModel'])
+      assert m is not None, f"no navModel response, frame={n}"
+      log_msgs.append(m)
+  finally:
+    managed_processes['mapsd'].stop()
+    managed_processes['navmodeld'].stop()
+
+  return log_msgs
 
 
 def model_replay(lr, frs):
@@ -46,102 +111,38 @@ def model_replay(lr, frs):
   else:
     spinner = None
 
-  vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.start_listener()
+  log_msgs = []
 
-  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
-  pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
-
-  try:
-    managed_processes['modeld'].start()
-    managed_processes['dmonitoringmodeld'].start()
-    time.sleep(5)
-    sm.update(1000)
-
-    log_msgs = []
-    last_desire = None
-    recv_cnt = defaultdict(int)
-    frame_idxs = defaultdict(int)
-
-    # init modeld with valid calibration
-    cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"]
-    for _ in range(5):
-      pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder())
-      time.sleep(0.1)
-
-    msgs = defaultdict(list)
-    for msg in lr:
-      msgs[msg.which()].append(msg)
-
-    for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
-      # need a pair of road/wide msgs
-      if None in (cam_msgs[0], cam_msgs[1]):
-        break
+  # modeld is using frame pairs
+  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
+  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
+  if not SEND_EXTRA_INPUTS:
+    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+  # initial calibration
+  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
+  cal_msg.logMonoTime = lr[0].logMonoTime
+  modeld_logs.insert(0, cal_msg.as_reader())
+  dmodeld_logs.insert(0, cal_msg.as_reader())
 
-      for msg in cam_msgs:
-        if msg is None:
-          continue
-
-        if SEND_EXTRA_INPUTS:
-          if msg.which() == "liveCalibration":
-            last_calib = list(msg.liveCalibration.rpyCalib)
-            pm.send(msg.which(), replace_calib(msg, last_calib))
-          elif msg.which() == "lateralPlan":
-            last_desire = msg.lateralPlan.desire
-            dat = messaging.new_message('lateralPlan')
-            dat.lateralPlan.desire = last_desire
-            pm.send('lateralPlan', dat)
-
-        if msg.which() in VIPC_STREAM:
-          msg = msg.as_builder()
-          camera_state = getattr(msg, msg.which())
-          img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="nv12")[0]
-          frame_idxs[msg.which()] += 1
-
-          # send camera state and frame
-          camera_state.frameId = frame_idxs[msg.which()]
-          pm.send(msg.which(), msg)
-          vipc_server.send(VIPC_STREAM[msg.which()], img.flatten().tobytes(), camera_state.frameId,
-                           camera_state.timestampSof, camera_state.timestampEof)
-
-          recv = None
-          if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
-            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
-              recv = "modelV2"
-          elif msg.which() == 'driverCameraState':
-            recv = "driverStateV2"
-
-          # wait for a response
-          with Timeout(15, f"timed out waiting for {recv}"):
-            if recv:
-              recv_cnt[recv] += 1
-              log_msgs.append(messaging.recv_one(sm.sock[recv]))
-
-          if spinner:
-            spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
-                           frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
-
-
-      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
-        break
-      else:
-        print(f'Received {frame_idxs["roadCameraState"]} frames')
+  modeld = get_process_config("modeld")
+  dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
+  try:
+    if spinner:
+      spinner.update("running model replay")
+    modeld_msgs = replay_process(modeld, modeld_logs, frs)
+    dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
+    log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"])
+    log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"])
   finally:
     if spinner:
       spinner.close()
-    managed_processes['modeld'].stop()
-    managed_processes['dmonitoringmodeld'].stop()
-
 
   return log_msgs
 
 
 if __name__ == "__main__":
-
   update = "--update" in sys.argv
   replay_dir = os.path.dirname(os.path.abspath(__file__))
   ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
@@ -154,8 +155,35 @@ if __name__ == "__main__":
     'wideRoadCameraState': FrameReader(get_url(TEST_ROUTE, SEGMENT, log_type="ecamera"), readahead=True)
   }
 
-  # run replay
+  # Update tile refs
+  if update:
+    import urllib
+    import requests
+    import threading
+    import http.server
+    from openpilot.selfdrive.test.openpilotci import upload_bytes
+    os.environ['MAPS_HOST'] = 'http://localhost:5000'
+
+    class HTTPRequestHandler(http.server.BaseHTTPRequestHandler):
+      def do_GET(self):
+        assert len(self.path) > 10  # Sanity check on path length
+        r = requests.get(f'https://api.mapbox.com{self.path}', timeout=30)
+        upload_bytes(r.content, urllib.parse.urlparse(self.path).path.lstrip('/'))
+        self.send_response(r.status_code)
+        self.send_header('Content-type','text/html')
+        self.end_headers()
+        self.wfile.write(r.content)
+
+    server = http.server.HTTPServer(("127.0.0.1", 5000), HTTPRequestHandler)
+    thread = threading.Thread(None, server.serve_forever, daemon=True)
+    thread.start()
+  else:
+    os.environ['MAPS_HOST'] = BASE_URL.rstrip('/')
+
+  # run replays
   log_msgs = model_replay(lr, frs)
+  if not NO_NAV:
+    log_msgs += nav_model_replay(lr)
 
   # get diff
   failed = False
@@ -164,15 +192,40 @@ if __name__ == "__main__":
       ref_commit = f.read().strip()
     log_fn = get_log_fn(ref_commit, TEST_ROUTE)
     try:
-      cmp_log = list(LogReader(BASE_URL + log_fn))[:2*MAX_FRAMES]
+      all_logs = list(LogReader(BASE_URL + log_fn))
+      cmp_log = []
+
+      # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2")
+      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES]
+      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+      cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
+      if not NO_NAV:
+        nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
+        nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
+        cmp_log += nav_logs
 
       ignore = [
         'logMonoTime',
         'modelV2.frameDropPerc',
         'modelV2.modelExecutionTime',
         'driverStateV2.modelExecutionTime',
-        'driverStateV2.dspExecutionTime'
+        'driverStateV2.dspExecutionTime',
+        'navModel.dspExecutionTime',
+        'navModel.modelExecutionTime',
+        'navThumbnail.timestampEof',
+        'mapRenderState.locationMonoTime',
+        'mapRenderState.renderTime',
       ]
+      if PC:
+        ignore += [
+          'modelV2.laneLines.0.t',
+          'modelV2.laneLines.1.t',
+          'modelV2.laneLines.2.t',
+          'modelV2.laneLines.3.t',
+          'modelV2.roadEdges.0.t',
+          'modelV2.roadEdges.1.t',
+        ]
       # TODO this tolerance is absurdly large
       tolerance = 2.0 if PC else None
       results: Any = {TEST_ROUTE: {}}
@@ -191,7 +244,7 @@ if __name__ == "__main__":
 
   # upload new refs
   if (update or failed) and not PC:
-    from selfdrive.test.openpilotci import upload_file
+    from openpilot.selfdrive.test.openpilotci import upload_file
 
     print("Uploading new refs")
 
diff --git a/selfdrive/test/process_replay/model_replay_ref_commit b/selfdrive/test/process_replay/model_replay_ref_commit
index f541b6a6d5..e101afb227 100644
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@@ -1 +1 @@
-30efb4238327d723e17a3bda7e7c19c18f8a3b18
+377ed362faa9410a8b81d50978d74ee60b8e6f6a
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index bc55e33cbf..c0a49e3324 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -1,600 +1,770 @@
 #!/usr/bin/env python3
-import importlib
 import os
-import sys
-import threading
 import time
+import copy
+import json
+import heapq
 import signal
-from collections import namedtuple
-
+import platform
+from collections import OrderedDict
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Callable, Union, Any, Iterable, Tuple
+from tqdm import tqdm
 import capnp
 
 import cereal.messaging as messaging
-from cereal import car, log
+from cereal import car
 from cereal.services import service_list
-from common.params import Params
-from common.timeout import Timeout
-from common.realtime import DT_CTRL
+from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.common.realtime import DT_CTRL
 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
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.car.car_helpers import get_car, interfaces
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix, DummySocket
+from openpilot.selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
+from openpilot.selfdrive.test.process_replay.migration import migrate_all
+from openpilot.selfdrive.test.process_replay.capture import ProcessOutputCapture
+from openpilot.tools.lib.logreader import LogReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
-CI = "CI" in os.environ
-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', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
 
+class LauncherWithCapture:
+  def __init__(self, capture: ProcessOutputCapture, launcher: Callable):
+    self.capture = capture
+    self.launcher = launcher
 
-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(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
-    else:
-      # done testing this process, let it die
-      sys.exit(0)
-
-
-class FakeSocket:
-  def __init__(self, wait=True):
-    self.data = []
-    self.wait = wait
-    self.recv_called = threading.Event()
-    self.recv_ready = threading.Event()
-
-  def receive(self, non_blocking=False):
-    if non_blocking:
-      return None
-
-    if self.wait:
-      self.recv_called.set()
-      wait_for_event(self.recv_ready)
-      self.recv_ready.clear()
-    return self.data.pop()
-
-  def send(self, data):
-    if self.wait:
-      wait_for_event(self.recv_called)
-      self.recv_called.clear()
-
-    self.data.append(data)
-
-    if self.wait:
-      self.recv_ready.set()
-
-  def wait_for_recv(self):
-    wait_for_event(self.recv_called)
-
-
-class DumbSocket:
-  def __init__(self, s=None):
-    if s is not None:
-      try:
-        dat = messaging.new_message(s)
-      except capnp.lib.capnp.KjException:  # pylint: disable=c-extension-no-member
-        # lists
-        dat = messaging.new_message(s, 0)
-
-      self.data = dat.to_bytes()
-
-  def receive(self, non_blocking=False):
-    return self.data
-
-  def send(self, dat):
-    pass
-
-
-class FakeSubMaster(messaging.SubMaster):
-  def __init__(self, services, ignore_alive=None, ignore_avg_freq=None):
-    super().__init__(services, ignore_alive=ignore_alive, ignore_avg_freq=ignore_avg_freq, addr=None)
-    self.sock = {s: DumbSocket(s) for s in services}
-    self.update_called = threading.Event()
-    self.update_ready = threading.Event()
-    self.wait_on_getitem = False
-
-  def __getitem__(self, s):
-    # hack to know when fingerprinting is done
-    if self.wait_on_getitem:
-      self.update_called.set()
-      wait_for_event(self.update_ready)
-      self.update_ready.clear()
-    return self.data[s]
-
-  def update(self, timeout=-1):
-    self.update_called.set()
-    wait_for_event(self.update_ready)
-    self.update_ready.clear()
-
-  def update_msgs(self, cur_time, msgs):
-    wait_for_event(self.update_called)
-    self.update_called.clear()
-    super().update_msgs(cur_time, msgs)
-    self.update_ready.set()
-
-  def wait_for_update(self):
-    wait_for_event(self.update_called)
-
-
-class FakePubMaster(messaging.PubMaster):
-  def __init__(self, services):  # pylint: disable=super-init-not-called
-    self.data = {}
-    self.sock = {}
-    self.last_updated = None
-    for s in services:
-      try:
-        data = messaging.new_message(s)
-      except capnp.lib.capnp.KjException:
-        data = messaging.new_message(s, 0)
-      self.data[s] = data.as_reader()
-      self.sock[s] = DumbSocket()
-    self.send_called = threading.Event()
-    self.get_called = threading.Event()
-
-  def send(self, s, dat):
-    self.last_updated = s
-    if isinstance(dat, bytes):
-      self.data[s] = log.Event.from_bytes(dat)
-    else:
-      self.data[s] = dat.as_reader()
-    self.send_called.set()
-    wait_for_event(self.get_called)
-    self.get_called.clear()
+  def __call__(self, *args, **kwargs):
+    self.capture.link_with_current_proc()
+    self.launcher(*args, **kwargs)
 
-  def wait_for_msg(self):
-    wait_for_event(self.send_called)
-    self.send_called.clear()
-    dat = self.data[self.last_updated]
-    self.get_called.set()
-    return dat
 
+class ReplayContext:
+  def __init__(self, cfg):
+    self.proc_name = cfg.proc_name
+    self.pubs = cfg.pubs
+    self.main_pub = cfg.main_pub
+    self.main_pub_drained = cfg.main_pub_drained
+    self.unlocked_pubs = cfg.unlocked_pubs
+    assert(len(self.pubs) != 0 or self.main_pub is not None)
 
-def fingerprint(msgs, fsm, can_sock, fingerprint):
-  print("start fingerprinting")
-  fsm.wait_on_getitem = True
+  def __enter__(self):
+    self.open_context()
 
-  # populate fake socket with data for fingerprinting
-  canmsgs = [msg for msg in msgs if msg.which() == "can"]
-  wait_for_event(can_sock.recv_called)
-  can_sock.recv_called.clear()
-  can_sock.data = [msg.as_builder().to_bytes() for msg in canmsgs[:300]]
-  can_sock.recv_ready.set()
-  can_sock.wait = False
+    return self
 
-  # we know fingerprinting is done when controlsd sets sm['lateralPlan'].sensorValid
-  wait_for_event(fsm.update_called)
-  fsm.update_called.clear()
+  def __exit__(self, exc_type, exc_obj, exc_tb):
+    self.close_context()
 
-  fsm.wait_on_getitem = False
-  can_sock.wait = True
-  can_sock.data = []
+  def open_context(self):
+    messaging.toggle_fake_events(True)
+    messaging.set_fake_prefix(self.proc_name)
 
-  fsm.update_ready.set()
+    if self.main_pub is None:
+      self.events = OrderedDict()
+      pubs_with_events = [pub for pub in self.pubs if pub not in self.unlocked_pubs]
+      for pub in pubs_with_events:
+        self.events[pub] = messaging.fake_event_handle(pub, enable=True)
+    else:
+      self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
+
+  def close_context(self):
+    del self.events
+
+    messaging.toggle_fake_events(False)
+    messaging.delete_fake_prefix()
+
+  @property
+  def all_recv_called_events(self):
+    return [man.recv_called_event for man in self.events.values()]
+
+  @property
+  def all_recv_ready_events(self):
+    return [man.recv_ready_event for man in self.events.values()]
+
+  def send_sync(self, pm, endpoint, dat):
+    self.events[endpoint].recv_called_event.wait()
+    self.events[endpoint].recv_called_event.clear()
+    pm.send(endpoint, dat)
+    self.events[endpoint].recv_ready_event.set()
+
+  def unlock_sockets(self):
+    expected_sets = len(self.events)
+    while expected_sets > 0:
+      index = messaging.wait_for_one_event(self.all_recv_called_events)
+      self.all_recv_called_events[index].clear()
+      self.all_recv_ready_events[index].set()
+      expected_sets -= 1
+
+  def wait_for_recv_called(self):
+    messaging.wait_for_one_event(self.all_recv_called_events)
+
+  def wait_for_next_recv(self, trigger_empty_recv):
+    index = messaging.wait_for_one_event(self.all_recv_called_events)
+    if self.main_pub is not None and self.main_pub_drained and trigger_empty_recv:
+      self.all_recv_called_events[index].clear()
+      self.all_recv_ready_events[index].set()
+      self.all_recv_called_events[index].wait()
+
+
+@dataclass
+class ProcessConfig:
+  proc_name: str
+  pubs: List[str]
+  subs: List[str]
+  ignore: List[str]
+  config_callback: Optional[Callable] = None
+  init_callback: Optional[Callable] = None
+  should_recv_callback: Optional[Callable] = None
+  tolerance: Optional[float] = None
+  processing_time: float = 0.001
+  timeout: int = 30
+  simulation: bool = True
+  main_pub: Optional[str] = None
+  main_pub_drained: bool = True
+  vision_pubs: List[str] = field(default_factory=list)
+  ignore_alive_pubs: List[str] = field(default_factory=list)
+  unlocked_pubs: List[str] = field(default_factory=list)
+
+
+class ProcessContainer:
+  def __init__(self, cfg: ProcessConfig):
+    self.prefix = OpenpilotPrefix(clean_dirs_on_exit=False)
+    self.cfg = copy.deepcopy(cfg)
+    self.process = copy.deepcopy(managed_processes[cfg.proc_name])
+    self.msg_queue: List[capnp._DynamicStructReader] = []
+    self.cnt = 0
+    self.pm: Optional[messaging.PubMaster] = None
+    self.sockets: Optional[List[messaging.SubSocket]] = None
+    self.rc: Optional[ReplayContext] = None
+    self.vipc_server: Optional[VisionIpcServer] = None
+    self.capture: Optional[ProcessOutputCapture] = None
+
+  @property
+  def has_empty_queue(self) -> bool:
+    return len(self.msg_queue) == 0
+
+  @property
+  def pubs(self) -> List[str]:
+    return self.cfg.pubs
+
+  @property
+  def subs(self) -> List[str]:
+    return self.cfg.subs
+
+  def _setup_env(self, params_config: Dict[str, Any], environ_config: Dict[str, Any]):
+    for k, v in environ_config.items():
+      if len(v) != 0:
+        os.environ[k] = v
+      elif k in os.environ:
+        del os.environ[k]
+
+    os.environ["PROC_NAME"] = self.cfg.proc_name
+    if self.cfg.simulation:
+      os.environ["SIMULATION"] = "1"
+    elif "SIMULATION" in os.environ:
+      del os.environ["SIMULATION"]
+
+    params = Params()
+    for k, v in params_config.items():
+      if isinstance(v, bool):
+        params.put_bool(k, v)
+      else:
+        params.put(k, v)
+
+  def _setup_vision_ipc(self, all_msgs):
+    assert len(self.cfg.vision_pubs) != 0
+
+    device_type = next(msg.initData.deviceType for msg in all_msgs if msg.which() == "initData")
+
+    vipc_server = VisionIpcServer("camerad")
+    streams_metas = available_streams(all_msgs)
+    for meta in streams_metas:
+      if meta.camera_state in self.cfg.vision_pubs:
+        vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
+    vipc_server.start_listener()
+
+    self.vipc_server = vipc_server
+
+  def _start_process(self):
+    if self.capture is not None:
+      self.process.launcher = LauncherWithCapture(self.capture, self.process.launcher)
+    self.process.prepare()
+    self.process.start()
+
+  def start(
+    self, params_config: Dict[str, Any], environ_config: Dict[str, Any],
+    all_msgs: Union[LogReader, List[capnp._DynamicStructReader]],
+    fingerprint: Optional[str], capture_output: bool
+  ):
+    with self.prefix as p:
+      self._setup_env(params_config, environ_config)
+
+      if self.cfg.config_callback is not None:
+        params = Params()
+        self.cfg.config_callback(params, self.cfg, all_msgs)
+
+      self.rc = ReplayContext(self.cfg)
+      self.rc.open_context()
+
+      self.pm = messaging.PubMaster(self.cfg.pubs)
+      self.sockets = [messaging.sub_sock(s, timeout=100) for s in self.cfg.subs]
+
+      if len(self.cfg.vision_pubs) != 0:
+        self._setup_vision_ipc(all_msgs)
+        assert self.vipc_server is not None
+
+      if capture_output:
+        self.capture = ProcessOutputCapture(self.cfg.proc_name, p.prefix)
+
+      self._start_process()
+
+      if self.cfg.init_callback is not None:
+        self.cfg.init_callback(self.rc, self.pm, all_msgs, fingerprint)
+
+      # wait for process to startup
+      with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(self.cfg.proc_name)}"):
+        while not all(self.pm.all_readers_updated(s) for s in self.cfg.pubs if s not in self.cfg.ignore_alive_pubs):
+          time.sleep(0)
+
+  def stop(self):
+    with self.prefix:
+      self.process.signal(signal.SIGKILL)
+      self.process.stop()
+      self.rc.close_context()
+      self.prefix.clean_dirs()
+
+  def run_step(self, msg: capnp._DynamicStructReader, frs: Optional[Dict[str, Any]]) -> List[capnp._DynamicStructReader]:
+    assert self.rc and self.pm and self.sockets and self.process.proc
+
+    output_msgs = []
+    with self.prefix, Timeout(self.cfg.timeout, error_msg=f"timed out testing process {repr(self.cfg.proc_name)}"):
+      end_of_cycle = True
+      if self.cfg.should_recv_callback is not None:
+        end_of_cycle = self.cfg.should_recv_callback(msg, self.cfg, self.cnt)
+
+      self.msg_queue.append(msg)
+      if end_of_cycle:
+        self.rc.wait_for_recv_called()
+
+        # call recv to let sub-sockets reconnect, after we know the process is ready
+        if self.cnt == 0:
+          for s in self.sockets:
+            messaging.recv_one_or_none(s)
+
+        # empty recv on drained pub indicates the end of messages, only do that if there're any
+        trigger_empty_recv = False
+        if self.cfg.main_pub and self.cfg.main_pub_drained:
+          trigger_empty_recv = next((True for m in self.msg_queue if m.which() == self.cfg.main_pub), False)
+
+        for m in self.msg_queue:
+          self.pm.send(m.which(), m.as_builder())
+          # send frames if needed
+          if self.vipc_server is not None and m.which() in self.cfg.vision_pubs:
+            camera_state = getattr(m, m.which())
+            camera_meta = meta_from_camera_state(m.which())
+            assert frs is not None
+            img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+            self.vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+                                  camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
+        self.msg_queue = []
+
+        self.rc.unlock_sockets()
+        self.rc.wait_for_next_recv(trigger_empty_recv)
+
+        for socket in self.sockets:
+          ms = messaging.drain_sock(socket)
+          for m in ms:
+            m = m.as_builder()
+            m.logMonoTime = msg.logMonoTime + int(self.cfg.processing_time * 1e9)
+            output_msgs.append(m.as_reader())
+        self.cnt += 1
+    assert self.process.proc.is_alive()
+
+    return output_msgs
+
+
+def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
+  print("start fingerprinting")
+  params = Params()
+  canmsgs = [msg for msg in msgs if msg.which() == "can"][:300]
+
+  # controlsd expects one arbitrary can and pandaState
+  rc.send_sync(pm, "can", messaging.new_message("can", 1))
+  pm.send("pandaStates", messaging.new_message("pandaStates", 1))
+  rc.send_sync(pm, "can", messaging.new_message("can", 1))
+  rc.wait_for_next_recv(True)
+
+  # fingerprinting is done, when CarParams is set
+  while params.get("CarParams") is None:
+    if len(canmsgs) == 0:
+      raise ValueError("Fingerprinting failed. Run out of can msgs")
 
+    m = canmsgs.pop(0)
+    rc.send_sync(pm, "can", m.as_builder().to_bytes())
+    rc.wait_for_next_recv(False)
 
-def get_car_params(msgs, fsm, can_sock, fingerprint):
+
+def get_car_params_callback(rc, pm, msgs, fingerprint):
+  params = Params()
   if fingerprint:
     CarInterface, _, _ = interfaces[fingerprint]
-    CP = CarInterface.get_params(fingerprint)
+    CP = CarInterface.get_non_essential_params(fingerprint)
   else:
-    can = FakeSocket(wait=False)
-    sendcan = FakeSocket(wait=False)
+    can = DummySocket()
+    sendcan = DummySocket()
+
+    canmsgs = [msg for msg in msgs if msg.which() == "can"]
+    has_cached_cp = params.get("CarParamsCache") is not None
+    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, \
+            "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
-    canmsgs = [msg for msg in msgs if msg.which() == 'can']
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
-    _, CP = get_car(can, sendcan)
-  Params().put("CarParams", CP.to_bytes())
+    _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
+  params.put("CarParams", CP.to_bytes())
+  return CP
 
 
-def controlsd_rcv_callback(msg, CP, cfg, fsm):
+def controlsd_rcv_callback(msg, cfg, frame):
   # no sendcan until controlsd is initialized
-  socks = [s for s in cfg.pub_sub[msg.which()] if
-           (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
-  if "sendcan" in socks and fsm.frame < 2000:
+  if msg.which() != "can":
+    return False
+
+  socks = [
+    s for s in cfg.subs if
+    frame % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0
+  ]
+  if "sendcan" in socks and (frame - 1) < 2000:
     socks.remove("sendcan")
-  return socks, len(socks) > 0
+  return len(socks) > 0
 
 
-def radar_rcv_callback(msg, CP, cfg, fsm):
-  if msg.which() != "can":
-    return [], False
-  elif CP.radarOffCan:
-    return ["radarState", "liveTracks"], True
+def calibration_rcv_callback(msg, cfg, frame):
+  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
+  # should_recv always true to increment frame
+  return (frame - 1) == 0 or msg.which() == 'cameraOdometry'
 
-  radar_msgs = {"honda": [0x445], "toyota": [0x19f, 0x22f], "gm": [0x474],
-                "chrysler": [0x2d4]}.get(CP.carName, None)
 
-  if radar_msgs is None:
-    raise NotImplementedError
+def torqued_rcv_callback(msg, cfg, frame):
+  # should_recv always true to increment frame
+  return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
 
-  for m in msg.can:
-    if m.src == 1 and m.address in radar_msgs:
-      return ["radarState", "liveTracks"], True
-  return [], False
 
+def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
+  return msg.which() == "driverCameraState"
 
-def calibration_rcv_callback(msg, CP, cfg, fsm):
-  # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
-  # should_recv always true to increment frame
-  recv_socks = []
-  frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster
-  if frame == 0 or (msg.which() == 'cameraOdometry' and (frame % 5) == 0):
-    recv_socks = ["liveCalibration"]
-  return recv_socks, fsm.frame == 0 or msg.which() == 'cameraOdometry'
 
+class ModeldCameraSyncRcvCallback:
+  def __init__(self):
+    self.road_present = False
+    self.wide_road_present = False
+    self.is_dual_camera = True
 
-def torqued_rcv_callback(msg, CP, cfg, fsm):
-  # should_recv always true to increment frame
-  recv_socks = []
-  frame = fsm.frame + 1 # incrementing hasn't happened yet in SubMaster
-  if msg.which() == 'liveLocationKalman' and (frame % 5) == 0:
-    recv_socks = ["liveTorqueParameters"]
-  return recv_socks, fsm.frame == 0 or msg.which() == 'liveLocationKalman'
-
-
-def ublox_rcv_callback(msg):
-  msg_class, msg_id = msg.ubloxRaw[2:4]
-  if (msg_class, msg_id) in {(1, 7 * 16)}:
-    return ["gpsLocationExternal"]
-  elif (msg_class, msg_id) in {(2, 1 * 16 + 5), (10, 9)}:
-    return ["ubloxGnss"]
-  else:
-    return []
+  def __call__(self, msg, cfg, frame):
+    if msg.which() == "initData":
+      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
+    elif msg.which() == "roadCameraState":
+      self.road_present = True
+    elif msg.which() == "wideRoadCameraState":
+      self.wide_road_present = True
 
+    if self.road_present and self.wide_road_present:
+      self.road_present, self.wide_road_present = False, False
+      return True
+    elif self.road_present and not self.is_dual_camera:
+      self.road_present = False
+      return True
+    else:
+      return False
 
-def laika_rcv_callback(msg, CP, cfg, fsm):
-  if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
-    return ["gnssMeasurements"], True
-  else:
-    return [], True
+
+class MessageBasedRcvCallback:
+  def __init__(self, trigger_msg_type):
+    self.trigger_msg_type = trigger_msg_type
+
+  def __call__(self, msg, cfg, frame):
+    return msg.which() == self.trigger_msg_type
+
+
+class FrequencyBasedRcvCallback:
+  def __init__(self, trigger_msg_type):
+    self.trigger_msg_type = trigger_msg_type
+
+  def __call__(self, msg, cfg, frame):
+    if msg.which() != self.trigger_msg_type:
+      return False
+
+    resp_sockets = [
+      s for s in cfg.subs
+      if frame % max(1, int(service_list[msg.which()].frequency / service_list[s].frequency)) == 0
+    ]
+    return bool(len(resp_sockets))
+
+
+def controlsd_config_callback(params, cfg, lr):
+  controlsState = None
+  initialized = False
+  for msg in lr:
+    if msg.which() == "controlsState":
+      controlsState = msg.controlsState
+      if initialized:
+        break
+    elif msg.which() == "carEvents":
+      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+
+  assert controlsState is not None and initialized, "controlsState never initialized"
+  params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
+
+
+def laikad_config_pubsub_callback(params, cfg, lr):
+  ublox = params.get_bool("UbloxAvailable")
+  main_key = "ubloxGnss" if ublox else "qcomGnss"
+  sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
+
+  cfg.pubs = set(cfg.pubs) - sub_keys
+  cfg.main_pub = main_key
+  cfg.main_pub_drained = True
 
 
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
-    pub_sub={
-      "can": ["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
-      "deviceState": [], "pandaStates": [], "peripheralState": [], "liveCalibration": [], "driverMonitoringState": [],
-      "longitudinalPlan": [], "lateralPlan": [], "liveLocationKalman": [], "liveParameters": [], "radarState": [],
-      "modelV2": [], "driverCameraState": [], "roadCameraState": [], "wideRoadCameraState": [], "managerState": [],
-      "testJoystick": [], "liveTorqueParameters": [],
-    },
+    pubs=[
+      "can", "deviceState", "pandaStates", "peripheralState", "liveCalibration", "driverMonitoringState",
+      "longitudinalPlan", "lateralPlan", "liveLocationKalman", "liveParameters", "radarState",
+      "modelV2", "driverCameraState", "roadCameraState", "wideRoadCameraState", "managerState",
+      "testJoystick", "liveTorqueParameters"
+    ],
+    subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
-    init_callback=fingerprint,
+    config_callback=controlsd_config_callback,
+    init_callback=controlsd_fingerprint_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
-    submaster_config={
-      'ignore_avg_freq': ['radarState', 'longitudinalPlan', 'driverCameraState', 'driverMonitoringState'],  # dcam is expected at 20 Hz
-      'ignore_alive': ['wideRoadCameraState'],  # TODO: Add to regen
-    }
+    processing_time=0.004,
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="radard",
-    pub_sub={
-      "can": ["radarState", "liveTracks"],
-      "liveParameters": [], "carState": [], "modelV2": [],
-    },
+    pubs=["can", "carState", "modelV2"],
+    subs=["radarState", "liveTracks"],
     ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
-    init_callback=get_car_params,
-    should_recv_callback=radar_rcv_callback,
-    tolerance=None,
-    fake_pubsubmaster=True,
+    init_callback=get_car_params_callback,
+    should_recv_callback=MessageBasedRcvCallback("can"),
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="plannerd",
-    pub_sub={
-      "modelV2": ["lateralPlan", "longitudinalPlan"],
-      "carControl": [], "carState": [], "controlsState": [], "radarState": [],
-    },
+    pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
+    subs=["lateralPlan", "longitudinalPlan", "uiPlan"],
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
-    init_callback=get_car_params,
-    should_recv_callback=None,
+    init_callback=get_car_params_callback,
+    should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
   ),
   ProcessConfig(
     proc_name="calibrationd",
-    pub_sub={
-      "carState": ["liveCalibration"],
-      "cameraOdometry": [],
-      "carParams": [],
-    },
+    pubs=["carState", "cameraOdometry", "carParams"],
+    subs=["liveCalibration"],
     ignore=["logMonoTime", "valid"],
-    init_callback=get_car_params,
     should_recv_callback=calibration_rcv_callback,
-    tolerance=None,
-    fake_pubsubmaster=True,
   ),
   ProcessConfig(
     proc_name="dmonitoringd",
-    pub_sub={
-      "driverStateV2": ["driverMonitoringState"],
-      "liveCalibration": [], "carState": [], "modelV2": [], "controlsState": [],
-    },
+    pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"],
+    subs=["driverMonitoringState"],
     ignore=["logMonoTime", "valid"],
-    init_callback=get_car_params,
-    should_recv_callback=None,
+    should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
   ),
   ProcessConfig(
     proc_name="locationd",
-    pub_sub={
-      "cameraOdometry": ["liveLocationKalman"],
-      "accelerometer": [], "gyroscope": [],
-      "gpsLocationExternal": [], "liveCalibration": [], "carState": [],
-    },
+    pubs=[
+      "cameraOdometry", "accelerometer", "gyroscope", "gnssMeasurements",
+      "liveCalibration", "carState", "carParams"
+    ],
+    subs=["liveLocationKalman"],
     ignore=["logMonoTime", "valid"],
-    init_callback=get_car_params,
-    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=False,
   ),
   ProcessConfig(
     proc_name="paramsd",
-    pub_sub={
-      "liveLocationKalman": ["liveParameters"],
-      "carState": []
-    },
+    pubs=["liveLocationKalman", "carState"],
+    subs=["liveParameters"],
     ignore=["logMonoTime", "valid"],
-    init_callback=get_car_params,
-    should_recv_callback=None,
+    init_callback=get_car_params_callback,
+    should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
+    processing_time=0.004,
   ),
   ProcessConfig(
     proc_name="ubloxd",
-    pub_sub={
-      "ubloxRaw": ["ubloxGnss", "gpsLocationExternal"],
-    },
+    pubs=["ubloxRaw"],
+    subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
-    init_callback=None,
-    should_recv_callback=ublox_rcv_callback,
-    tolerance=None,
-    fake_pubsubmaster=False,
   ),
   ProcessConfig(
     proc_name="laikad",
-    subtest_name="Offline",
-    pub_sub={
-      "ubloxGnss": ["gnssMeasurements"],
-      "clocks": []
-    },
+    pubs=["ubloxGnss", "qcomGnss"],
+    subs=["gnssMeasurements"],
     ignore=["logMonoTime"],
-    init_callback=get_car_params,
-    should_recv_callback=laika_rcv_callback,
+    config_callback=laikad_config_pubsub_callback,
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
-    environ={"LAIKAD_NO_INTERNET": "1"},
+    processing_time=0.002,
+    timeout=60*10,  # first messages are blocked on internet assistance
+    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed
   ),
   ProcessConfig(
-    proc_name="laikad",
-    pub_sub={
-      "ubloxGnss": ["gnssMeasurements"],
-      "clocks": []
-    },
+    proc_name="torqued",
+    pubs=["liveLocationKalman", "carState", "carControl"],
+    subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
-    init_callback=get_car_params,
-    should_recv_callback=laika_rcv_callback,
+    init_callback=get_car_params_callback,
+    should_recv_callback=torqued_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
   ),
   ProcessConfig(
-    proc_name="torqued",
-    pub_sub={
-      "liveLocationKalman": ["liveTorqueParameters"],
-      "carState": [], "controlsState": [],
-    },
-    ignore=["logMonoTime"],
-    init_callback=get_car_params,
-    should_recv_callback=torqued_rcv_callback,
+    proc_name="modeld",
+    pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    subs=["modelV2", "cameraOdometry"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
+    should_recv_callback=ModeldCameraSyncRcvCallback(),
     tolerance=NUMPY_TOLERANCE,
-    fake_pubsubmaster=True,
+    processing_time=0.020,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["roadCameraState", "wideRoadCameraState"],
+    ignore_alive_pubs=["wideRoadCameraState"],
+  ),
+  ProcessConfig(
+    proc_name="dmonitoringmodeld",
+    pubs=["liveCalibration", "driverCameraState"],
+    subs=["driverStateV2"],
+    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"],
+    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    processing_time=0.020,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["driverCameraState"],
+    ignore_alive_pubs=["driverCameraState"],
   ),
 ]
 
 
-def replay_process(cfg, lr, fingerprint=None):
-  with OpenpilotPrefix():
-    if cfg.fake_pubsubmaster:
-      return python_replay_process(cfg, lr, fingerprint)
-    else:
-      return cpp_replay_process(cfg, lr, fingerprint)
-
-
-def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
-  params = Params()
-  params.clear_all()
-  params.put_bool("OpenpilotEnabledToggle", True)
-  params.put_bool("Passive", False)
-  params.put_bool("DisengageOnAccelerator", True)
-  params.put_bool("WideCameraOnly", False)
-  params.put_bool("DisableLogging", False)
-  params.put_bool("UbloxAvailable", True)
-
-  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"]
-
-  # Initialize controlsd with a controlsState packet
-  if controlsState is not None:
-    params.put("ReplayControlsState", controlsState.as_builder().to_bytes())
+def get_process_config(name: str) -> ProcessConfig:
+  try:
+    return copy.deepcopy(next(c for c in CONFIGS if c.proc_name == name))
+  except StopIteration as ex:
+    raise Exception(f"Cannot find process config with name: {name}") from ex
+
+
+def get_custom_params_from_lr(lr: Union[LogReader, List[capnp._DynamicStructReader]], initial_state: str = "first") -> Dict[str, Any]:
+  """
+  Use this to get custom params dict based on provided logs.
+  Useful when replaying following processes: calibrationd, paramsd, torqued
+  The params may be based on first or last message of given type (carParams, liveCalibration, liveParameters, liveTorqueParameters) in the logs.
+  """
+
+  car_params = [m for m in lr if m.which() == "carParams"]
+  live_calibration = [m for m in lr if m.which() == "liveCalibration"]
+  live_parameters = [m for m in lr if m.which() == "liveParameters"]
+  live_torque_parameters = [m for m in lr if m.which() == "liveTorqueParameters"]
+
+  assert initial_state in ["first", "last"]
+  msg_index = 0 if initial_state == "first" else -1
+
+  assert len(car_params) > 0, "carParams required for initial state of liveParameters and liveTorqueCarParams"
+  CP = car_params[msg_index].carParams
+
+  custom_params = {}
+  if len(live_calibration) > 0:
+    custom_params["CalibrationParams"] = live_calibration[msg_index].as_builder().to_bytes()
+  if len(live_parameters) > 0:
+    lp_dict = live_parameters[msg_index].to_dict()
+    lp_dict["carFingerprint"] = CP.carFingerprint
+    custom_params["LiveParameters"] = json.dumps(lp_dict)
+  if len(live_torque_parameters) > 0:
+    custom_params["LiveTorqueCarParams"] = CP.as_builder().to_bytes()
+    custom_params["LiveTorqueParameters"] = live_torque_parameters[msg_index].as_builder().to_bytes()
+
+  return custom_params
+
+
+def replay_process_with_name(name: Union[str, Iterable[str]], lr: Union[LogReader,
+                             List[capnp._DynamicStructReader]], *args, **kwargs) -> List[capnp._DynamicStructReader]:
+  if isinstance(name, str):
+    cfgs = [get_process_config(name)]
+  elif isinstance(name, Iterable):
+    cfgs = [get_process_config(n) for n in name]
   else:
-    params.remove("ReplayControlsState")
-
-  # 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
+    raise ValueError("name must be str or collections of strings")
 
-    if CP.openpilotLongitudinalControl:
-      params.put_bool("ExperimentalLongitudinalEnabled", True)
+  return replay_process(cfgs, lr, *args, **kwargs)
 
 
-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']
+def replay_process(
+  cfg: Union[ProcessConfig, Iterable[ProcessConfig]], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  fingerprint: Optional[str] = None, return_all_logs: bool = False, custom_params: Optional[Dict[str, Any]] = None,
+  captured_output_store: Optional[Dict[str, Dict[str, str]]] = None, disable_progress: bool = False
+) -> List[capnp._DynamicStructReader]:
+  if isinstance(cfg, Iterable):
+    cfgs = list(cfg)
+  else:
+    cfgs = [cfg]
 
-  fsm = FakeSubMaster(pub_sockets, **cfg.submaster_config)
-  fpm = FakePubMaster(sub_sockets)
-  args = (fsm, fpm)
-  if 'can' in list(cfg.pub_sub.keys()):
-    can_sock = FakeSocket()
-    args = (fsm, fpm, can_sock)
+  all_msgs = migrate_all(lr, old_logtime=True, camera_states=any(len(cfg.vision_pubs) != 0 for cfg in cfgs))
+  process_logs = _replay_multi_process(cfgs, all_msgs, frs, fingerprint, custom_params, captured_output_store, disable_progress)
 
-  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())]
+  if return_all_logs:
+    keys = {m.which() for m in process_logs}
+    modified_logs = [m for m in all_msgs if m.which() not in keys]
+    modified_logs.extend(process_logs)
+    modified_logs.sort(key=lambda m: int(m.logMonoTime))
+    log_msgs = modified_logs
+  else:
+    log_msgs = process_logs
 
-  controlsState = None
-  initialized = False
-  for msg in lr:
-    if msg.which() == 'controlsState':
-      controlsState = msg.controlsState
-      if initialized:
-        break
-    elif msg.which() == 'carEvents':
-      initialized = car.CarEvent.EventName.controlsInitializing not in [e.name for e in msg.carEvents]
+  return log_msgs
 
-  assert controlsState is not None and initialized, "controlsState never initialized"
 
+def _replay_multi_process(
+  cfgs: List[ProcessConfig], lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]], fingerprint: Optional[str],
+  custom_params: Optional[Dict[str, Any]], captured_output_store: Optional[Dict[str, Dict[str, str]]], disable_progress: bool
+) -> List[capnp._DynamicStructReader]:
   if fingerprint is not None:
-    os.environ['SKIP_FW_QUERY'] = "1"
-    os.environ['FINGERPRINT'] = fingerprint
-    setup_env(cfg=cfg, controlsState=controlsState)
+    params_config = generate_params_config(lr=lr, fingerprint=fingerprint, custom_params=custom_params)
+    env_config = generate_environ_config(fingerprint=fingerprint)
   else:
-    CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP, cfg=cfg, controlsState=controlsState)
+    CP = next((m.carParams for m in lr if m.which() == "carParams"), None)
+    params_config = generate_params_config(lr=lr, CP=CP, custom_params=custom_params)
+    env_config = generate_environ_config(CP=CP)
 
-  assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
-  managed_processes[cfg.proc_name].prepare()
-  mod = importlib.import_module(managed_processes[cfg.proc_name].module)
+  # validate frs and vision pubs
+  for cfg in cfgs:
+    if len(cfg.vision_pubs) == 0:
+      continue
 
-  thread = threading.Thread(target=mod.main, args=args)
-  thread.daemon = True
-  thread.start()
+    assert frs is not None, "frs must be provided when replaying process using vision streams"
+    assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),\
+                                                     f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
+    assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
 
-  if cfg.init_callback is not None:
-    if 'can' not in list(cfg.pub_sub.keys()):
-      can_sock = None
-    cfg.init_callback(all_msgs, fsm, can_sock, fingerprint)
-
-  CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+  all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
+  log_msgs = []
+  try:
+    containers = []
+    for cfg in cfgs:
+      container = ProcessContainer(cfg)
+      containers.append(container)
+      container.start(params_config, env_config, all_msgs, fingerprint, captured_output_store is not None)
+
+    all_pubs = {pub for container in containers for pub in container.pubs}
+    all_subs = {sub for container in containers for sub in container.subs}
+    lr_pubs = all_pubs - all_subs
+    pubs_to_containers = {pub: [container for container in containers if pub in container.pubs] for pub in all_pubs}
+
+    pub_msgs = [msg for msg in all_msgs if msg.which() in lr_pubs]
+    # external queue for messages taken from logs; internal queue for messages generated by processes, which will be republished
+    external_pub_queue: List[capnp._DynamicStructReader] = pub_msgs.copy()
+    internal_pub_queue: List[capnp._DynamicStructReader] = []
+    # heap for maintaining the order of messages generated by processes, where each element: (logMonoTime, index in internal_pub_queue)
+    internal_pub_index_heap: List[Tuple[int, int]] = []
+
+    pbar = tqdm(total=len(external_pub_queue), disable=disable_progress)
+    while len(external_pub_queue) != 0 or (len(internal_pub_index_heap) != 0 and not all(c.has_empty_queue for c in containers)):
+      if len(internal_pub_index_heap) == 0 or (len(external_pub_queue) != 0 and external_pub_queue[0].logMonoTime < internal_pub_index_heap[0][0]):
+        msg = external_pub_queue.pop(0)
+        pbar.update(1)
+      else:
+        _, index = heapq.heappop(internal_pub_index_heap)
+        msg = internal_pub_queue[index]
+
+      target_containers = pubs_to_containers[msg.which()]
+      for container in target_containers:
+        output_msgs = container.run_step(msg, frs)
+        for m in output_msgs:
+          if m.which() in all_pubs:
+            internal_pub_queue.append(m)
+            heapq.heappush(internal_pub_index_heap, (m.logMonoTime, len(internal_pub_queue) - 1))
+        log_msgs.extend(output_msgs)
+  finally:
+    for container in containers:
+      container.stop()
+      if captured_output_store is not None:
+        assert container.capture is not None
+        out, err = container.capture.read_outerr()
+        captured_output_store[container.cfg.proc_name] = {"out": out, "err": err}
 
-  # wait for started process to be ready
-  if 'can' in list(cfg.pub_sub.keys()):
-    can_sock.wait_for_recv()
-  else:
-    fsm.wait_for_update()
+  return log_msgs
 
-  log_msgs, msg_queue = [], []
-  for msg in pub_msgs:
-    if cfg.should_recv_callback is not None:
-      recv_socks, should_recv = cfg.should_recv_callback(msg, CP, cfg, fsm)
-    else:
-      recv_socks = [s for s in cfg.pub_sub[msg.which()] if
-                    (fsm.frame + 1) % int(service_list[msg.which()].frequency / service_list[s].frequency) == 0]
-      should_recv = bool(len(recv_socks))
 
-    if msg.which() == 'can':
-      can_sock.send(msg.as_builder().to_bytes())
-    else:
-      msg_queue.append(msg.as_builder())
+def generate_params_config(lr=None, CP=None, fingerprint=None, custom_params=None) -> Dict[str, Any]:
+  params_dict = {
+    "OpenpilotEnabledToggle": True,
+    "Passive": False,
+    "DisengageOnAccelerator": True,
+    "DisableLogging": False,
+  }
 
-    if should_recv:
-      fsm.update_msgs(msg.logMonoTime / 1e9, msg_queue)
-      msg_queue = []
+  if custom_params is not None:
+    params_dict.update(custom_params)
+  if lr is not None:
+    has_ublox = any(msg.which() == "ubloxGnss" for msg in lr)
+    params_dict["UbloxAvailable"] = has_ublox
+    is_rhd = next((msg.driverMonitoringState.isRHD for msg in lr if msg.which() == "driverMonitoringState"), False)
+    params_dict["IsRhdDetected"] = is_rhd
 
-      recv_cnt = len(recv_socks)
-      while recv_cnt > 0:
-        m = fpm.wait_for_msg().as_builder()
-        m.logMonoTime = msg.logMonoTime
-        m = m.as_reader()
+  if CP is not None:
+    if CP.alternativeExperience == ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS:
+      params_dict["DisengageOnAccelerator"] = False
 
-        log_msgs.append(m)
-        recv_cnt -= m.which() in recv_socks
-  return log_msgs
+    if fingerprint is None:
+      if CP.fingerprintSource == "fw":
+        params_dict["CarParamsCache"] = CP.as_builder().to_bytes()
 
+    if CP.openpilotLongitudinalControl:
+      params_dict["ExperimentalLongitudinalEnabled"] = True
 
-def cpp_replay_process(cfg, lr, fingerprint=None):
-  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]  # We get responses here
-  pm = messaging.PubMaster(cfg.pub_sub.keys())
+  return params_dict
 
-  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())]
-  log_msgs = []
 
-  # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True, cfg=cfg)
+def generate_environ_config(CP=None, fingerprint=None, log_dir=None) -> Dict[str, Any]:
+  environ_dict = {}
+  if platform.system() != "Darwin":
+    environ_dict["PARAMS_ROOT"] = "/dev/shm/params"
+  if log_dir is not None:
+    environ_dict["LOG_ROOT"] = log_dir
 
-  managed_processes[cfg.proc_name].prepare()
-  managed_processes[cfg.proc_name].start()
+  environ_dict["NO_RADAR_SLEEP"] = "1"
+  environ_dict["REPLAY"] = "1"
 
-  try:
-    with Timeout(TIMEOUT):
-      while not all(pm.all_readers_updated(s) for s in cfg.pub_sub.keys()):
-        time.sleep(0)
-
-      # Make sure all subscribers are connected
-      sockets = {s: messaging.sub_sock(s, timeout=2000) for s in sub_sockets}
-      for s in sub_sockets:
-        messaging.recv_one_or_none(sockets[s])
-
-      for i, msg in enumerate(pub_msgs):
-        pm.send(msg.which(), msg.as_builder())
-
-        resp_sockets = cfg.pub_sub[msg.which()] if cfg.should_recv_callback is None else cfg.should_recv_callback(msg)
-        for s in resp_sockets:
-          response = messaging.recv_one(sockets[s])
-
-          if response is None:
-            print(f"Warning, no response received {i}")
-          else:
-
-            response = response.as_builder()
-            response.logMonoTime = msg.logMonoTime
-            response = response.as_reader()
-            log_msgs.append(response)
-
-        if not len(resp_sockets):  # We only need to wait if we didn't already wait for a response
-          while not pm.all_readers_updated(msg.which()):
-            time.sleep(0)
-  finally:
-    managed_processes[cfg.proc_name].signal(signal.SIGKILL)
-    managed_processes[cfg.proc_name].stop()
+  # Regen or python process
+  if CP is not None and fingerprint is None:
+    if CP.fingerprintSource == "fw":
+      environ_dict['SKIP_FW_QUERY'] = ""
+      environ_dict['FINGERPRINT'] = ""
+    else:
+      environ_dict['SKIP_FW_QUERY'] = "1"
+      environ_dict['FINGERPRINT'] = CP.carFingerprint
+  elif fingerprint is not None:
+    environ_dict['SKIP_FW_QUERY'] = "1"
+    environ_dict['FINGERPRINT'] = fingerprint
+  else:
+    environ_dict["SKIP_FW_QUERY"] = ""
+    environ_dict["FINGERPRINT"] = ""
 
-  return log_msgs
+  return environ_dict
 
 
-def check_enabled(msgs):
+def check_openpilot_enabled(msgs: Union[LogReader, List[capnp._DynamicStructReader]]) -> bool:
   cur_enabled_count = 0
   max_enabled_count = 0
   for msg in msgs:
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 4641299458..d5ff4b6069 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-f17412941a0e8229eea308c33189a5bdb1a17ae8
+9d6369c5aa88c37499c330a06aa7a81a5f4f3283
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index c9f9c6c362..81f27b7d0e 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -1,350 +1,114 @@
 #!/usr/bin/env python3
-import bz2
 import os
-import time
-import multiprocessing
 import argparse
-from tqdm import tqdm
-# run DM procs
-os.environ["USE_WEBCAM"] = "1"
-
-import cereal.messaging as messaging
-from cereal import car
-from cereal.services import service_list
-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 panda.python import Panda
-from selfdrive.car.toyota.values import EPS_SCALE
-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
-from selfdrive.test.update_ci_routes import upload_route
-from tools.lib.route import Route
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
-
-def replay_panda_states(s, msgs):
-  pm = messaging.PubMaster([s, 'peripheralState'])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() in ['pandaStates', 'pandaStateDEPRECATED']]
-
-  # TODO: safety param migration should be handled automatically
-  safety_param_migration = {
-    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
-    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
-    "KIA EV6 2022": Panda.FLAG_HYUNDAI_EV_GAS | Panda.FLAG_HYUNDAI_CANFD_HDA2,
-  }
-
-  # Migrate safety param base on carState
-  cp = [m for m in msgs if m.which() == 'carParams'][0].carParams
-  if cp.carFingerprint in safety_param_migration:
-    safety_param = safety_param_migration[cp.carFingerprint]
-  elif len(cp.safetyConfigs):
-    safety_param = cp.safetyConfigs[0].safetyParam
-    if cp.safetyConfigs[0].safetyParamDEPRECATED != 0:
-      safety_param = cp.safetyConfigs[0].safetyParamDEPRECATED
-  else:
-    safety_param = cp.safetyParamDEPRECATED
-
-  while True:
-    for m in smsgs:
-      if m.which() == 'pandaStateDEPRECATED':
-        new_m = messaging.new_message('pandaStates', 1)
-        new_m.pandaStates[0] = m.pandaStateDEPRECATED
-        new_m.pandaStates[0].safetyParam = safety_param
-        pm.send(s, new_m)
-      else:
-        new_m = m.as_builder()
-        new_m.pandaStates[-1].safetyParam = safety_param
-        new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      pm.send(s, new_m)
-
-      new_m = messaging.new_message('peripheralState')
-      pm.send('peripheralState', new_m)
-
-      rk.keep_time()
-
-
-def replay_manager_state(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-
-  while True:
-    new_m = messaging.new_message('managerState')
-    new_m.managerState.processes = [{'name': name, 'running': True} for name in managed_processes]
-    pm.send(s, new_m)
-    rk.keep_time()
-
-
-def replay_device_state(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      new_m = m.as_builder()
-      new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      new_m.deviceState.freeSpacePercent = 50
-      new_m.deviceState.memoryUsagePercent = 50
-      pm.send(s, new_m)
-      rk.keep_time()
-
-
-def replay_sensor_event(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      m = m.as_builder()
-      m.logMonoTime = int(sec_since_boot() * 1e9)
-      getattr(m, m.which()).timestamp = m.logMonoTime
-      pm.send(m.which(), m)
-      rk.keep_time()
-
-
-def replay_service(s, msgs):
-  pm = messaging.PubMaster([s, ])
-  rk = Ratekeeper(service_list[s].frequency, print_delay_threshold=None)
-  smsgs = [m for m in msgs if m.which() == s]
-  while True:
-    for m in smsgs:
-      new_m = m.as_builder()
-      new_m.logMonoTime = int(sec_since_boot() * 1e9)
-      pm.send(s, new_m)
-      rk.keep_time()
-
-
-def replay_cameras(lr, frs, disable_tqdm=False):
-  eon_cameras = [
-    ("roadCameraState", DT_MDL, eon_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
-    ("driverCameraState", DT_DMON, eon_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
-  ]
-  tici_cameras = [
-    ("roadCameraState", DT_MDL, tici_f_frame_size, VisionStreamType.VISION_STREAM_ROAD, True),
-    ("driverCameraState", DT_MDL, tici_d_frame_size, VisionStreamType.VISION_STREAM_DRIVER, False),
-  ]
-
-  def replay_camera(s, stream, dt, vipc_server, frames, size, use_extra_client):
-    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)
-    while True:
-      if frames is not None:
-        img = frames[rk.frame % len(frames)]
-
-      rk.keep_time()
-
-      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)
-
-  init_data = [m for m in lr if m.which() == 'initData'][0]
-  cameras = tici_cameras if (init_data.initData.deviceType == 'tici') else eon_cameras
-
-  # init vipc server and cameras
-  p = []
-  vs = VisionIpcServer("camerad")
-  for (s, dt, size, stream, use_extra_client) in cameras:
-    fr = frs.get(s, None)
-
-    frames = None
-    if fr is not None:
-      print(f"Decompressing frames {s}")
-      frames = []
-      for i in tqdm(range(fr.frame_count), disable=disable_tqdm):
-        img = fr.get(i, pix_fmt='nv12')[0]
-        frames.append(img.flatten().tobytes())
-
-    vs.create_buffers(stream, 40, False, size[0], size[1])
-    if use_extra_client:
-      vs.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, size[0], size[1])
-    p.append(multiprocessing.Process(target=replay_camera,
-                                     args=(s, stream, dt, vs, frames, size, use_extra_client)))
-
-  vs.start_listener()
-  return vs, p
-
-
-def migrate_carparams(lr):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() == 'carParams':
-      CP = messaging.new_message('carParams')
-      CP.carParams = msg.carParams.as_builder()
-      for car_fw in CP.carParams.carFw:
-        car_fw.brand = CP.carParams.carName
-      msg = CP.as_reader()
-    all_msgs.append(msg)
-
-  return all_msgs
-
-
-def migrate_sensorEvents(lr, old_logtime=False):
-  all_msgs = []
-  for msg in lr:
-    if msg.which() != 'sensorEventsDEPRECATED':
-      all_msgs.append(msg)
-      continue
-
-    # migrate to split sensor events
-    for evt in msg.sensorEventsDEPRECATED:
-      # build new message for each sensor type
-      sensor_service = ''
-      if evt.which() == 'acceleration':
-        sensor_service = 'accelerometer'
-      elif evt.which() == 'gyro' or evt.which() == 'gyroUncalibrated':
-        sensor_service = 'gyroscope'
-      elif evt.which() == 'light' or evt.which() == 'proximity':
-        sensor_service = 'lightSensor'
-      elif evt.which() == 'magnetic' or evt.which() == 'magneticUncalibrated':
-        sensor_service = 'magnetometer'
-      elif evt.which() == 'temperature':
-        sensor_service = 'temperatureSensor'
-
-      m = messaging.new_message(sensor_service)
-      m.valid = True
-      if old_logtime:
-        m.logMonoTime = msg.logMonoTime
-
-      m_dat = getattr(m, sensor_service)
-      m_dat.version = evt.version
-      m_dat.sensor = evt.sensor
-      m_dat.type = evt.type
-      m_dat.source = evt.source
-      if old_logtime:
-        m_dat.timestamp = evt.timestamp
-      setattr(m_dat, evt.which(), getattr(evt, evt.which()))
-
-      all_msgs.append(m.as_reader())
-
-  return all_msgs
-
-def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
-  lr = migrate_carparams(list(lr))
-  lr = migrate_sensorEvents(list(lr))
-  if frs is None:
-    frs = dict()
+import time
+import capnp
 
-  params = Params()
-  os.environ["LOG_ROOT"] = outdir
+from typing import Union, Iterable, Optional, List, Any, Dict, Tuple
 
-  # Get and setup initial state
-  CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-  controlsState = [m for m in lr if m.which() == 'controlsState'][0].controlsState
-  liveCalibration = [m for m in lr if m.which() == 'liveCalibration'][0]
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, FAKEDATA, replay_process, get_process_config, \
+                                                        check_openpilot_enabled, get_custom_params_from_lr
+from openpilot.selfdrive.test.update_ci_routes import upload_route
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.helpers import save_log
 
-  setup_env(CP=CP, controlsState=controlsState)
-  params.put("CalibrationParams", liveCalibration.as_builder().to_bytes())
 
-  vs, cam_procs = replay_cameras(lr, frs, disable_tqdm=disable_tqdm)
-  fake_daemons = {
-    'sensord': [
-      multiprocessing.Process(target=replay_sensor_event, args=('accelerometer', lr)),
-      multiprocessing.Process(target=replay_sensor_event, args=('gyroscope', lr)),
-      multiprocessing.Process(target=replay_sensor_event, args=('magnetometer', lr)),
-    ],
-    'pandad': [
-      multiprocessing.Process(target=replay_service, args=('can', lr)),
-      multiprocessing.Process(target=replay_service, args=('ubloxRaw', lr)),
-      multiprocessing.Process(target=replay_panda_states, args=('pandaStates', lr)),
-    ],
-    'managerState': [
-      multiprocessing.Process(target=replay_manager_state, args=('managerState', lr)),
-    ],
-    'thermald': [
-      multiprocessing.Process(target=replay_device_state, args=('deviceState', lr)),
-    ],
-    'camerad': [
-      *cam_procs,
-    ],
-  }
+def regen_segment(
+  lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]] = None,
+  daemons: Union[str, Iterable[str]] = "all", disable_tqdm: bool = False
+) -> List[capnp._DynamicStructReader]:
+  if not isinstance(daemons, str) and not hasattr(daemons, "__iter__"):
+    raise ValueError("whitelist_proc must be a string or iterable")
 
-  try:
-    # TODO: make first run of onnxruntime CUDA provider fast
-    managed_processes["modeld"].start()
-    managed_processes["dmonitoringmodeld"].start()
-    time.sleep(5)
+  all_msgs = sorted(lr, key=lambda m: m.logMonoTime)
+  custom_params = get_custom_params_from_lr(all_msgs)
 
-    # start procs up
-    ignore = list(fake_daemons.keys()) + ['ui', 'manage_athenad', 'uploader', 'soundd']
-    ensure_running(managed_processes.values(), started=True, params=Params(), CP=car.CarParams(), not_run=ignore)
-    for procs in fake_daemons.values():
-      for p in procs:
-        p.start()
+  if daemons != "all":
+    if isinstance(daemons, str):
+      raise ValueError(f"Invalid value for daemons: {daemons}")
 
-    for _ in tqdm(range(60), disable=disable_tqdm):
-      # ensure all procs are running
-      for d, procs in fake_daemons.items():
-        for p in procs:
-          if not p.is_alive():
-            raise Exception(f"{d}'s {p.name} died")
-      time.sleep(1)
-  finally:
-    # kill everything
-    for p in managed_processes.values():
-      p.stop()
-    for procs in fake_daemons.values():
-      for p in procs:
-        p.terminate()
+    replayed_processes = []
+    for d in daemons:
+      cfg = get_process_config(d)
+      replayed_processes.append(cfg)
+  else:
+    replayed_processes = CONFIGS
 
-  del vs
+  print("Replayed processes:", [p.proc_name for p in replayed_processes])
+  print("\n\n", "*"*30, "\n\n", sep="")
 
-  segment = params.get("CurrentRoute", encoding='utf-8') + "--0"
-  seg_path = os.path.join(outdir, segment)
-  # check to make sure openpilot is engaged in the route
-  if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
-    raise Exception(f"Route did not engage for long enough: {segment}")
+  output_logs = replay_process(replayed_processes, all_msgs, frs, return_all_logs=True, custom_params=custom_params, disable_progress=disable_tqdm)
 
-  return seg_path
+  return output_logs
 
 
-def regen_and_save(route, sidx, upload=False, use_route_meta=True, outdir=FAKEDATA, disable_tqdm=False):
+def setup_data_readers(route: str, sidx: int, use_route_meta: bool) -> Tuple[LogReader, Dict[str, Any]]:
   if use_route_meta:
     r = Route(route)
     lr = LogReader(r.log_paths()[sidx])
-    fr = FrameReader(r.camera_paths()[sidx])
+    frs = {}
+    if len(r.camera_paths()) > sidx and r.camera_paths()[sidx] is not None:
+      frs['roadCameraState'] = FrameReader(r.camera_paths()[sidx])
+    if len(r.ecamera_paths()) > sidx and r.ecamera_paths()[sidx] is not None:
+      frs['wideCameraState'] = FrameReader(r.ecamera_paths()[sidx])
+    if len(r.dcamera_paths()) > sidx and r.dcamera_paths()[sidx] is not None:
+      frs['driverCameraState'] = FrameReader(r.dcamera_paths()[sidx])
   else:
     lr = LogReader(f"cd:/{route.replace('|', '/')}/{sidx}/rlog.bz2")
-    fr = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc")
-  rpath = regen_segment(lr, {'roadCameraState': fr}, outdir=outdir, disable_tqdm=disable_tqdm)
+    frs = {
+      'roadCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/fcamera.hevc"),
+      'driverCameraState': FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/dcamera.hevc"),
+    }
+    if next((True for m in lr if m.which() == "wideRoadCameraState"), False):
+      frs['wideRoadCameraState'] = FrameReader(f"cd:/{route.replace('|', '/')}/{sidx}/ecamera.hevc")
+
+  return lr, frs
 
-  # compress raw rlog before uploading
-  with open(os.path.join(rpath, "rlog"), "rb") as f:
-    data = bz2.compress(f.read())
-  with open(os.path.join(rpath, "rlog.bz2"), "wb") as f:
-    f.write(data)
-  os.remove(os.path.join(rpath, "rlog"))
 
-  lr = LogReader(os.path.join(rpath, 'rlog.bz2'))
-  controls_state_active = [m.controlsState.active for m in lr if m.which() == 'controlsState']
-  assert any(controls_state_active), "Segment did not engage"
+def regen_and_save(
+  route: str, sidx: int, daemons: Union[str, Iterable[str]] = "all", outdir: str = FAKEDATA,
+  upload: bool = False, use_route_meta: bool = False, disable_tqdm: bool = False
+) -> str:
+  lr, frs = setup_data_readers(route, sidx, use_route_meta)
+  output_logs = regen_segment(lr, frs, daemons, disable_tqdm=disable_tqdm)
 
-  relr = os.path.relpath(rpath)
+  log_dir = os.path.join(outdir, time.strftime("%Y-%m-%d--%H-%M-%S--0", time.gmtime()))
+  rel_log_dir = os.path.relpath(log_dir)
+  rpath = os.path.join(log_dir, "rlog.bz2")
+
+  os.makedirs(log_dir)
+  save_log(rpath, output_logs, compress=True)
+
+  print("\n\n", "*"*30, "\n\n", sep="")
+  print("New route:", rel_log_dir, "\n")
+
+  if not check_openpilot_enabled(output_logs):
+    raise Exception("Route did not engage for long enough")
 
-  print("\n\n", "*"*30, "\n\n")
-  print("New route:", relr, "\n")
   if upload:
-    upload_route(relr, exclude_patterns=['*.hevc', ])
-  return relr
+    upload_route(rel_log_dir)
+
+  return rel_log_dir
 
 
 if __name__ == "__main__":
+  def comma_separated_list(string):
+    return string.split(",")
+
+  all_procs = [p.proc_name for p in CONFIGS]
   parser = argparse.ArgumentParser(description="Generate new segments from old ones")
   parser.add_argument("--upload", action="store_true", help="Upload the new segment to the CI bucket")
+  parser.add_argument("--outdir", help="log output dir", default=FAKEDATA)
+  parser.add_argument("--whitelist-procs", type=comma_separated_list, default=all_procs,
+                      help="Comma-separated whitelist of processes to regen (e.g. controlsd,radard)")
+  parser.add_argument("--blacklist-procs", type=comma_separated_list, default=[],
+                      help="Comma-separated blacklist of processes to regen (e.g. controlsd,radard)")
   parser.add_argument("route", type=str, help="The source route")
   parser.add_argument("seg", type=int, help="Segment in source route")
   args = parser.parse_args()
-  regen_and_save(args.route, args.seg, args.upload)
+
+  blacklist_set = set(args.blacklist_procs)
+  daemons = [p for p in args.whitelist_procs if p not in blacklist_set]
+  regen_and_save(args.route, args.seg, daemons=daemons, upload=args.upload, outdir=args.outdir)
diff --git a/selfdrive/test/process_replay/regen_all.py b/selfdrive/test/process_replay/regen_all.py
index f69d07eb69..f42686ac6a 100755
--- a/selfdrive/test/process_replay/regen_all.py
+++ b/selfdrive/test/process_replay/regen_all.py
@@ -6,10 +6,10 @@ import random
 import traceback
 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, source_segments as segments
-from tools.lib.route import SegmentName
+from openpilot.selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from openpilot.selfdrive.test.process_replay.regen import regen_and_save
+from openpilot.selfdrive.test.process_replay.test_processes import FAKEDATA, source_segments as segments
+from openpilot.tools.lib.route import SegmentName
 
 
 def regen_job(segment, upload, disable_tqdm):
diff --git a/selfdrive/test/process_replay/test_debayer.py b/selfdrive/test/process_replay/test_debayer.py
index 1b3e0f112e..a6e6955dbf 100755
--- a/selfdrive/test/process_replay/test_debayer.py
+++ b/selfdrive/test/process_replay/test_debayer.py
@@ -6,13 +6,13 @@ import numpy as np
 
 import pyopencl as cl  # install with `PYOPENCL_CL_PRETEND_VERSION=2.0 pip install pyopencl`
 
-from system.hardware import PC, TICI
-from common.basedir import BASEDIR
-from selfdrive.test.openpilotci import BASE_URL, get_url
-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
+from openpilot.system.hardware import PC, TICI
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.test.openpilotci import BASE_URL, get_url
+from openpilot.system.version import get_commit
+from openpilot.system.camerad.snapshot.snapshot import yuv_to_rgb
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.filereader import FileReader
 
 TEST_ROUTE = "8345e3b82948d454|2022-05-04--13-45-33"
 SEGMENT = 0
@@ -137,7 +137,7 @@ if __name__ == "__main__":
         failed = True
         diff += 'amount of frames not equal\n'
 
-      for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames)):
+      for i, (frame, cmp_frame) in enumerate(zip(frames, cmp_frames, strict=True)):
         for j in range(3):
           fr = frame[j]
           cmp_f = cmp_frame[j]
@@ -159,7 +159,7 @@ if __name__ == "__main__":
               diff += f'different at a large amount of pixels ({diff_len})\n'
             else:
               diff += 'different at (frame, yuv, pixel, ref, HEAD):\n'
-              for k in zip(*np.nonzero(frame_diff)):
+              for k in zip(*np.nonzero(frame_diff), strict=True):
                 diff += f'{i}, {yuv_i[j]}, {k}, {cmp_f[k]}, {fr[k]}\n'
 
       if failed:
@@ -172,7 +172,7 @@ if __name__ == "__main__":
 
   # upload new refs
   if update or (failed and TICI):
-    from selfdrive.test.openpilotci import upload_file
+    from openpilot.selfdrive.test.openpilotci import upload_file
 
     print("Uploading new refs")
 
diff --git a/selfdrive/test/process_replay/test_fuzzy.py b/selfdrive/test/process_replay/test_fuzzy.py
index 28e0f70589..f3f48d0159 100755
--- a/selfdrive/test/process_replay/test_fuzzy.py
+++ b/selfdrive/test/process_replay/test_fuzzy.py
@@ -1,175 +1,31 @@
 #!/usr/bin/env python3
-import sys
-import unittest
-
+import copy
+from hypothesis import given, HealthCheck, Phase, settings
 import hypothesis.strategies as st
-import numpy as np
-from hypothesis import given, settings, note
+from parameterized import parameterized
+import unittest
 
 from cereal import log
-from selfdrive.car.toyota.values import CAR as TOYOTA
-import selfdrive.test.process_replay.process_replay as pr
-
-
-def get_process_config(process):
-  return [cfg for cfg in pr.CONFIGS if cfg.proc_name == process][0]
-
-
-def get_event_union_strategy(r, name):
-  return st.fixed_dictionaries({
-    'valid': st.just(True),
-    'logMonoTime': st.integers(min_value=0, max_value=2**64-1),
-    name: r[name[0].upper() + name[1:]],
-  })
-
-
-def get_strategy_for_events(event_types, finite=False):
-  # TODO: generate automatically based on capnp definitions
-  def floats(**kwargs):
-    allow_nan = False if finite else None
-    allow_infinity = False if finite else None
-    return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
-
-  r = {}
-  r['liveLocationKalman.Measurement'] = st.fixed_dictionaries({
-    'value': st.lists(floats(), min_size=3, max_size=3),
-    'std': st.lists(floats(), min_size=3, max_size=3),
-    'valid': st.just(True),
-  })
-  r['LiveLocationKalman'] = st.fixed_dictionaries({
-    'angularVelocityCalibrated': r['liveLocationKalman.Measurement'],
-    'inputsOK': st.booleans(),
-    'posenetOK': st.booleans(),
-  })
-  r['CarState'] = st.fixed_dictionaries({
-    'vEgo': floats(width=32),
-    'vEgoRaw': floats(width=32),
-    'steeringPressed': st.booleans(),
-    'steeringAngleDeg': floats(width=32),
-  })
-  r['CameraOdometry'] = st.fixed_dictionaries({
-    'frameId': st.integers(min_value=0, max_value=2**32 - 1),
-    'timestampEof': st.integers(min_value=0, max_value=2**64 - 1),
-    'trans': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rot': st.lists(floats(width=32), min_size=3, max_size=3),
-    'transStd': st.lists(floats(width=32), min_size=3, max_size=3),
-    'rotStd': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-  r['SensorEventData.SensorVec'] = st.fixed_dictionaries({
-    'v': st.lists(floats(width=32), min_size=3, max_size=3),
-    'status': st.just(1),
-  })
-  r['SensorEventData_gyro'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(5),
-    'type': st.just(16),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'gyroUncalibrated': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEventData_accel'] = st.fixed_dictionaries({
-    'version': st.just(1),
-    'sensor': st.just(1),
-    'type': st.just(1),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(8),  # BMX055
-    'acceleration': r['SensorEventData.SensorVec'],
-  })
-  r['SensorEvents'] = st.lists(st.one_of(r['SensorEventData_gyro'], r['SensorEventData_accel']), min_size=1)
-  r['GpsLocationExternal'] = st.fixed_dictionaries({
-    'flags': st.just(1),
-    'latitude': floats(),
-    'longitude': floats(),
-    'altitude': floats(),
-    'speed': floats(width=32),
-    'bearingDeg': floats(width=32),
-    'accuracy': floats(width=32),
-    'timestamp': st.integers(min_value=0, max_value=2**63 - 1),
-    'source': st.just(6),  # Ublox
-    'vNED': st.lists(floats(width=32), min_size=3, max_size=3),
-    'verticalAccuracy': floats(width=32),
-    'bearingAccuracyDeg': floats(width=32),
-    'speedAccuracy': floats(width=32),
-  })
-  r['LiveCalibration'] = st.fixed_dictionaries({
-    'calStatus': st.integers(min_value=0, max_value=1),
-    'rpyCalib': st.lists(floats(width=32), min_size=3, max_size=3),
-  })
-
-  return st.lists(st.one_of(*[get_event_union_strategy(r, n) for n in event_types]))
-
-
-def get_strategy_for_process(process, finite=False):
-  return get_strategy_for_events(get_process_config(process).pub_sub.keys(), finite)
-
-
-def convert_to_lr(msgs):
-  return [log.Event.new_message(**m).as_reader() for m in msgs]
-
-
-def is_finite(d, exclude=[], prefix=""):  # pylint: disable=dangerous-default-value
-  ret = True
-  for k, v in d.items():
-    name = prefix + f"{k}"
-    if name in exclude:
-      continue
-
-    if isinstance(v, dict):
-      if not is_finite(v, exclude, name + "."):
-        ret = False
-    else:
-      try:
-        if not np.isfinite(v).all():
-          note((name, v))
-          ret = False
-      except TypeError:
-        pass
-
-  return ret
-
-
-def test_process(dat, name):
-  cfg = get_process_config(name)
-  lr = convert_to_lr(dat)
-  pr.TIMEOUT = 0.1
-  return pr.replay_process(cfg, lr, TOYOTA.COROLLA_TSS2)
-
-
-class TestFuzzy(unittest.TestCase):
-  @given(get_strategy_for_process('paramsd'))
-  @settings(deadline=1000)
-  def test_paramsd(self, dat):
-    for r in test_process(dat, 'paramsd'):
-      d = r.liveParameters.to_dict()
-      assert is_finite(d)
-
-  @given(get_strategy_for_process('locationd', finite=True))
-  @settings(deadline=1000)
-  def test_locationd(self, dat):
-    exclude = [
-      'positionGeodetic.std',
-      'velocityNED.std',
-      'orientationNED.std',
-      'calibratedOrientationECEF.std',
-    ]
-    for r in test_process(dat, 'locationd'):
-      d = r.liveLocationKalman.to_dict()
-      assert is_finite(d, exclude)
-
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.test.fuzzy_generation import FuzzyGenerator
+import openpilot.selfdrive.test.process_replay.process_replay as pr
+
+# These processes currently fail because of unrealistic data breaking assumptions
+# that openpilot makes causing error with NaN, inf, int size, array indexing ...
+# TODO: Make each one testable
+NOT_TESTED = ['controlsd', 'plannerd', 'calibrationd', 'dmonitoringd', 'paramsd', 'laikad', 'dmonitoringmodeld', 'modeld']
+TEST_CASES = [(cfg.proc_name, copy.deepcopy(cfg)) for cfg in pr.CONFIGS if cfg.proc_name not in NOT_TESTED]
+
+class TestFuzzProcesses(unittest.TestCase):
+
+  @parameterized.expand(TEST_CASES)
+  @given(st.data())
+  @settings(phases=[Phase.generate, Phase.target], max_examples=50, deadline=1000, suppress_health_check=[HealthCheck.too_slow, HealthCheck.data_too_large])
+  def test_fuzz_process(self, proc_name, cfg, data):
+    msgs = FuzzyGenerator.get_random_event_msg(data.draw, events=cfg.pubs, real_floats=True)
+    lr = [log.Event.new_message(**m).as_reader() for m in msgs]
+    cfg.timeout = 5
+    pr.replay_process(cfg, lr, fingerprint=TOYOTA.COROLLA_TSS2, disable_progress=True)
 
 if __name__ == "__main__":
-  procs = {
-    'locationd': TestFuzzy().test_locationd,
-    'paramsd': TestFuzzy().test_paramsd,
-  }
-
-  if len(sys.argv) != 2:
-    print("Usage: ./test_fuzzy.py <process name>")
-    sys.exit(0)
-
-  proc = sys.argv[1]
-  if proc not in procs:
-    print(f"{proc} not available")
-    sys.exit(0)
-  else:
-    procs[proc]()
+  unittest.main()
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index c58909bf7f..9c8b5bfcd8 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -7,31 +7,33 @@ from collections import defaultdict
 from tqdm import tqdm
 from typing import Any, DefaultDict, Dict
 
-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 system.version import get_commit
-from tools.lib.filereader import FileReader
-from tools.lib.logreader import LogReader
+from openpilot.selfdrive.car.car_helpers import interface_names
+from openpilot.selfdrive.test.openpilotci import get_url, upload_file
+from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, check_openpilot_enabled, replay_process
+from openpilot.system.version import get_commit
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.helpers import save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6
+  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),    # HYUNDAI.KIA_EV6 (+ QCOM GPS)
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA_2018_HYBRID
-  ("RAM", "2f4452b03ccb98f0|2022-09-07--13-55-08--10"),        # CHRYSLER.RAM_1500
+  ("RAM", "17fc16d840fe9d21|2023-04-26--13-28-44--5"),         # CHRYSLER.RAM_1500
   ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
   ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
   ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021
+  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
 
   # Enable when port is tested and dashcamOnly is no longer set
   #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
@@ -39,29 +41,31 @@ source_segments = [
 ]
 
 segments = [
-  ("BODY", "regenFA002A80700|2022-09-27--15-37-02--0"),
-  ("HYUNDAI", "regenBE53A59065B|2022-09-27--16-52-03--0"),
-  ("HYUNDAI2", "d545129f3ca90f28|2022-11-07--20-43-08--3"),
-  ("TOYOTA", "regen929C5790007|2022-09-27--16-27-47--0"),
-  ("TOYOTA2", "regenEA3950D7F22|2022-09-27--15-43-24--0"),
-  ("TOYOTA3", "regen89026F6BD8D|2022-09-27--15-45-37--0"),
-  ("HONDA", "regenC7D5645EB17|2022-09-27--15-47-29--0"),
-  ("HONDA2", "regenCC2ECCE5742|2022-09-27--16-18-01--0"),
-  ("CHRYSLER", "regenC253C4DAC90|2022-09-27--15-51-03--0"),
-  ("RAM", "regen20490083AE7|2022-09-27--15-53-15--0"),
-  ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
-  ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
-  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
-  ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
-  ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
-  ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
-]
+  ("BODY", "aregenECF15D9E559|2023-05-10--14-26-40--0"),
+  ("HYUNDAI", "aregenAB9F543F70A|2023-05-10--14-28-25--0"),
+  ("HYUNDAI2", "aregen39F5A028F96|2023-05-10--14-31-00--0"),
+  ("TOYOTA", "aregen8D6A8B36E8D|2023-05-10--14-32-38--0"),
+  ("TOYOTA2", "aregenB1933C49809|2023-05-10--14-34-14--0"),
+  ("TOYOTA3", "aregen5D9915223DC|2023-05-10--14-36-43--0"),
+  ("HONDA", "aregen484B732B675|2023-05-10--14-38-23--0"),
+  ("HONDA2", "aregenAF6ACED4713|2023-05-10--14-40-01--0"),
+  ("CHRYSLER", "aregen99B094E1E2E|2023-05-10--14-41-40--0"),
+  ("RAM", "aregen5C2487E1EEB|2023-05-10--14-44-09--0"),
+  ("SUBARU", "aregen98D277B792E|2023-05-10--14-46-46--0"),
+  ("GM", "aregen377BA28D848|2023-05-10--14-48-28--0"),
+  ("GM2", "aregen7CA0CC0F0C2|2023-05-10--14-51-00--0"),
+  ("NISSAN", "aregen7097BF01563|2023-05-10--14-52-43--0"),
+  ("VOLKSWAGEN", "aregen765AF3D2CB5|2023-05-10--14-54-23--0"),
+  ("MAZDA", "aregen3053762FF2E|2023-05-10--14-56-53--0"),
+  ("FORD", "aregenDDE0F89FA1E|2023-05-10--14-59-26--0"),
+  ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
-excluded_interfaces = ["mock", "ford", "mazda", "tesla"]
+excluded_interfaces = ["mock", "mazda", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
+EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
 def run_test_process(data):
@@ -69,7 +73,7 @@ def run_test_process(data):
   res = None
   if not args.upload_only:
     lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
+    res, log_msgs = test_process(cfg, lr, segment, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
     # save logs so we can upload when updating refs
     save_log(cur_log_fn, log_msgs)
 
@@ -78,7 +82,7 @@ def run_test_process(data):
     assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
     upload_file(cur_log_fn, os.path.basename(cur_log_fn))
     os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, cfg.subtest_name, res)
+  return (segment, cfg.proc_name, res)
 
 
 def get_log_data(segment):
@@ -87,7 +91,7 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, segment, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
@@ -95,15 +99,18 @@ def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore
 
   ref_log_msgs = list(LogReader(ref_log_path))
 
-  log_msgs = replay_process(cfg, lr)
+  try:
+    log_msgs = replay_process(cfg, lr, disable_progress=True)
+  except Exception as e:
+    raise Exception("failed on segment: " + segment) from e
 
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
-    if not check_enabled(log_msgs):
+    if not check_openpilot_enabled(log_msgs):
       return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
-    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
   except Exception as e:
     return str(e), log_msgs
 
@@ -149,7 +156,7 @@ def format_diff(results, log_paths, ref_commit):
 
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
-  all_procs = {cfg.proc_name for cfg in CONFIGS}
+  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
 
   parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
   parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,
@@ -217,24 +224,24 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_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}{cfg.subtest_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_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]
         pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
 
-        log_paths[segment][cfg.proc_name + cfg.subtest_name]['ref'] = ref_log_path
-        log_paths[segment][cfg.proc_name + cfg.subtest_name]['new'] = cur_log_fn
+        log_paths[segment][cfg.proc_name]['ref'] = ref_log_path
+        log_paths[segment][cfg.proc_name]['new'] = cur_log_fn
 
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
       if not args.upload_only:
-        results[segment][proc + subtest_name] = result
+        results[segment][proc] = result
 
   diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
   if not upload:
diff --git a/selfdrive/test/process_replay/vision_meta.py b/selfdrive/test/process_replay/vision_meta.py
new file mode 100644
index 0000000000..2994b77452
--- /dev/null
+++ b/selfdrive/test/process_replay/vision_meta.py
@@ -0,0 +1,43 @@
+from collections import namedtuple
+from cereal.visionipc import VisionStreamType
+from openpilot.common.realtime import DT_MDL, DT_DMON
+from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
+
+VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+VIPC_STREAM_METADATA = [
+  # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
+  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
+  ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
+  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
+]
+
+
+def meta_from_camera_state(state):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None)
+  return meta
+
+
+def meta_from_encode_index(encode_index):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None)
+  return meta
+
+
+def meta_from_stream_type(stream_type):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None)
+  return meta
+
+
+def available_streams(lr=None):
+  if lr is None:
+    return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA]
+
+  result = []
+  for meta in VIPC_STREAM_METADATA:
+    has_cam_state = next((True for m in lr if m.which() == meta[0]), False)
+    if has_cam_state:
+      result.append(VideoStreamMeta(*meta))
+
+  return result
diff --git a/selfdrive/test/profiling/lib.py b/selfdrive/test/profiling/lib.py
index f28346f3f0..843bf52211 100644
--- a/selfdrive/test/profiling/lib.py
+++ b/selfdrive/test/profiling/lib.py
@@ -34,7 +34,7 @@ class PubSocket():
 
 
 class SubMaster(messaging.SubMaster):
-  def __init__(self, msgs, trigger, services, check_averag_freq=False):  # pylint: disable=super-init-not-called
+  def __init__(self, msgs, trigger, services, check_averag_freq=False):
     self.frame = 0
     self.data = {}
     self.ignore_alive = []
@@ -87,5 +87,5 @@ class SubMaster(messaging.SubMaster):
 
 
 class PubMaster(messaging.PubMaster):
-  def __init__(self):  # pylint: disable=super-init-not-called
+  def __init__(self):
     self.sock = defaultdict(PubSocket)
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 732a69eebd..1d380ba5eb 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -1,17 +1,17 @@
 #!/usr/bin/env python3
 import os
 import sys
-import cProfile  # pylint: disable=import-error
-import pprofile  # pylint: disable=import-error
-import pyprof2calltree  # pylint: disable=import-error
-
-from common.params import Params
-from tools.lib.logreader import LogReader
-from selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
-from selfdrive.test.process_replay.process_replay import CONFIGS
-from selfdrive.car.toyota.values import CAR as TOYOTA
-from selfdrive.car.honda.values import CAR as HONDA
-from selfdrive.car.volkswagen.values import CAR as VW
+import cProfile
+import pprofile
+import pyprof2calltree
+
+from openpilot.common.params import Params
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.profiling.lib import SubMaster, PubMaster, SubSocket, ReplayDone
+from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS
+from openpilot.selfdrive.car.toyota.values import CAR as TOYOTA
+from openpilot.selfdrive.car.honda.values import CAR as HONDA
+from openpilot.selfdrive.car.volkswagen.values import CAR as VW
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 
@@ -25,7 +25,7 @@ CARS = {
 def get_inputs(msgs, process, fingerprint):
   for config in CONFIGS:
     if config.proc_name == process:
-      sub_socks = list(config.pub_sub.keys())
+      sub_socks = list(config.pubs)
       trigger = sub_socks[0]
       break
 
@@ -79,11 +79,11 @@ def profile(proc, func, car='toyota'):
 
 
 if __name__ == '__main__':
-  from selfdrive.controls.controlsd import main as controlsd_thread
-  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
+  from openpilot.selfdrive.controls.controlsd import main as controlsd_thread
+  from openpilot.selfdrive.controls.radard import radard_thread
+  from openpilot.selfdrive.locationd.paramsd import main as paramsd_thread
+  from openpilot.selfdrive.controls.plannerd import main as plannerd_thread
+  from openpilot.selfdrive.locationd.laikad import main as laikad_thread
 
   procs = {
     'radard': radard_thread,
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 9e06b98662..1b99c31038 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -33,6 +33,7 @@ echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$
 sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
 sudo systemctl daemon-reload
 sudo systemctl restart ssh
+sudo systemctl restart NetworkManager
 sudo systemctl disable ssh-param-watcher.path
 sudo systemctl disable ssh-param-watcher.service
 sudo mount -o ro,remount /
@@ -41,6 +42,13 @@ while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
+
+  if ! pgrep -f 'ciui.py' > /dev/null 2>&1; then
+    echo 'starting UI'
+    cp $SOURCE_DIR/selfdrive/test/ciui.py /data/
+    /data/ciui.py &
+  fi
+
   sleep 5s
 done
 
@@ -54,9 +62,11 @@ if [ ! -d "$SOURCE_DIR" ]; then
 fi
 cd $SOURCE_DIR
 
-rm -f .git/index.lock
+# cleanup orphaned locks
+find .git -type f -name "*.lock" -exec rm {} +
+
 git reset --hard
-git fetch --verbose origin $GIT_COMMIT
+git fetch --no-tags --no-recurse-submodules -j4 --verbose --depth 1 origin $GIT_COMMIT
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
 git reset --hard $GIT_COMMIT
 git checkout $GIT_COMMIT
@@ -69,6 +79,7 @@ git lfs pull
 (ulimit -n 65535 && git lfs prune)
 
 echo "git checkout done, t=$SECONDS"
+du -hs $SOURCE_DIR $SOURCE_DIR/.git
 
 rsync -a --delete $SOURCE_DIR $TEST_DIR
 
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index 4021e27de3..fe5137f9a4 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -1,52 +1,76 @@
 #!/usr/bin/env python3
+import math
 import json
 import os
+import shutil
 import subprocess
 import time
 import numpy as np
 import unittest
 from collections import Counter, defaultdict
+from functools import cached_property
 from pathlib import Path
 
 from cereal import car
 import cereal.messaging as messaging
 from cereal.services import service_list
-from common.basedir import BASEDIR
-from common.timeout import Timeout
-from common.params import Params
-from selfdrive.controls.lib.events import EVENTS, ET
-from selfdrive.loggerd.config import ROOT
-from selfdrive.test.helpers import set_params_enabled, release_only
-from tools.lib.logreader import LogReader
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.events import EVENTS, ET
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.loggerd.config import ROOT
+from openpilot.selfdrive.test.helpers import set_params_enabled, release_only
+from openpilot.tools.lib.logreader import LogReader
 
 # Baseline CPU usage by process
 PROCS = {
   "selfdrive.controls.controlsd": 39.0,
-  "./loggerd": 10.0,
+  "./loggerd": 14.0,
   "./encoderd": 17.0,
   "./camerad": 14.5,
-  "./locationd": 9.1,
-  "selfdrive.controls.plannerd": 11.7,
-  "./_ui": 19.2,
+  "./locationd": 11.0,
+  "./mapsd": 2.0,
+  "selfdrive.controls.plannerd": 16.5,
+  "./_ui": 18.0,
   "selfdrive.locationd.paramsd": 9.0,
-  "./_sensord": 12.0,
+  "./_sensord": 7.0,
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
-  "./boardd": 3.63,
   "./_dmonitoringmodeld": 5.0,
+  "./_navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
-  "./_soundd": 1.0,
+  "./_soundd": (1.0, 65.0),
   "selfdrive.monitoring.dmonitoringd": 4.0,
   "./proclogd": 1.54,
   "system.logmessaged": 0.2,
   "./clocksd": 0.02,
-  "./ubloxd": 0.02,
   "selfdrive.tombstoned": 0,
   "./logcatd": 0,
+  "system.micd": 10.0,
+  "system.timezoned": 0,
+  "selfdrive.boardd.pandad": 0,
+  "selfdrive.statsd": 0.4,
+  "selfdrive.navd.navd": 0.4,
+  "system.loggerd.uploader": 3.0,
+  "system.loggerd.deleter": 0.1,
+  "selfdrive.locationd.laikad": (1.0, 80.0),  # TODO: better GPS setup in testing closet
 }
 
+PROCS.update({
+  "tici": {
+    "./boardd": 4.0,
+    "./ubloxd": 0.02,
+    "system.sensord.pigeond": 6.0,
+  },
+  "tizi": {
+     "./boardd": 19.0,
+    "system.sensord.rawgps.rawgpsd": 1.0,
+  }
+}.get(HARDWARE.get_device_type(), {}))
+
 TIMINGS = {
   # rtols: max/min, rsd
   "can": [2.5, 0.35],
@@ -62,6 +86,8 @@ TIMINGS = {
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
+  "navModel": [2.5, 0.35],
+  "mapRenderState": [2.5, 0.35],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }
@@ -71,48 +97,6 @@ def cputime_total(ct):
   return ct.cpuUser + ct.cpuSystem + ct.cpuChildrenUser + ct.cpuChildrenSystem
 
 
-def check_cpu_usage(proclogs):
-  result = "\n"
-  result += "------------------------------------------------\n"
-  result += "------------------ CPU Usage -------------------\n"
-  result += "------------------------------------------------\n"
-
-  plogs_by_proc = defaultdict(list)
-  for pl in proclogs:
-    for x in pl.procLog.procs:
-      if len(x.cmdline) > 0:
-        n = list(x.cmdline)[0]
-        plogs_by_proc[n].append(x)
-
-  print(plogs_by_proc.keys())
-
-  r = True
-  dt = (proclogs[-1].logMonoTime - proclogs[0].logMonoTime) / 1e9
-  for proc_name, expected_cpu in PROCS.items():
-    err = ""
-    cpu_usage = 0.
-    x = plogs_by_proc[proc_name]
-    if len(x) > 2:
-      cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
-      cpu_usage = cpu_time / dt * 100.
-      if cpu_usage > max(expected_cpu * 1.15, expected_cpu + 5.0):
-        # cpu usage is high while playing sounds
-        if not (proc_name == "./_soundd" and cpu_usage < 65.):
-          err = "using more CPU than normal"
-      elif cpu_usage < min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0)):
-        err = "using less CPU than normal"
-    else:
-      err = "NO METRICS FOUND"
-
-    result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({expected_cpu:5.2f}%) {err}\n"
-    if len(err) > 0:
-      r = False
-
-  result += "------------------------------------------------\n"
-  print(result)
-  return r
-
-
 class TestOnroad(unittest.TestCase):
 
   @classmethod
@@ -120,19 +104,20 @@ class TestOnroad(unittest.TestCase):
     if "DEBUG" in os.environ:
       segs = filter(lambda x: os.path.exists(os.path.join(x, "rlog")), Path(ROOT).iterdir())
       segs = sorted(segs, key=lambda x: x.stat().st_mtime)
-      print(segs[-2])
-      cls.lr = list(LogReader(os.path.join(segs[-2], "rlog")))
+      print(segs[-3])
+      cls.lr = list(LogReader(os.path.join(segs[-3], "rlog")))
       return
 
     # setup env
-    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()
+    if "CI" in os.environ:
+      params.clear_all()
+    params.remove("CurrentRoute")
     set_params_enabled()
+    os.environ['TESTING_CLOSET'] = '1'
+    if os.path.exists(ROOT):
+      shutil.rmtree(ROOT)
+    os.system("rm /dev/shm/*")
 
     # Make sure athena isn't running
     os.system("pkill -9 -f athena")
@@ -177,6 +162,25 @@ class TestOnroad(unittest.TestCase):
     # use the second segment by default as it's the first full segment
     cls.lr = list(LogReader(os.path.join(str(cls.segments[1]), "rlog")))
 
+  @cached_property
+  def service_msgs(self):
+    msgs = defaultdict(list)
+    for m in self.lr:
+      msgs[m.which()].append(m)
+    return msgs
+
+  def test_service_frequencies(self):
+    for s, msgs in self.service_msgs.items():
+      if s in ('initData', 'sentinel'):
+        continue
+
+      # skip gps services for now
+      if s in ('ubloxGnss', 'ubloxRaw', 'gnssMeasurements', 'gpsLocation', 'gpsLocationExternal', 'qcomGnss'):
+        continue
+
+      with self.subTest(service=s):
+        assert len(msgs) >= math.floor(service_list[s].frequency*55)
+
   def test_cloudlog_size(self):
     msgs = [m for m in self.lr if m.which() == 'logMessage']
 
@@ -193,7 +197,7 @@ class TestOnroad(unittest.TestCase):
     result += "-------------- UI Draw Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [m.uiDebug.drawTimeMillis for m in self.lr if m.which() == 'uiDebug']
+    ts = [m.uiDebug.drawTimeMillis for m in self.service_msgs['uiDebug']]
     result += f"min  {min(ts):.2f}ms\n"
     result += f"max  {max(ts):.2f}ms\n"
     result += f"std  {np.std(ts):.2f}ms\n"
@@ -201,24 +205,84 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
     print(result)
 
-    self.assertGreater(len(ts), 20*50, "insufficient samples")
-    #self.assertLess(max(ts), 30.)
+    self.assertLess(max(ts), 250.)
     self.assertLess(np.mean(ts), 10.)
     #self.assertLess(np.std(ts), 5.)
 
+    # some slow frames are expected since camerad/modeld can preempt ui
+    veryslow = [x for x in ts if x > 40.]
+    assert len(veryslow) < 5, f"Too many slow frame draw times: {veryslow}"
+
   def test_cpu_usage(self):
-    proclogs = [m for m in self.lr if m.which() == 'procLog']
-    self.assertGreater(len(proclogs), service_list['procLog'].frequency * 45, "insufficient samples")
-    cpu_ok = check_cpu_usage(proclogs)
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "------------------ CPU Usage -------------------\n"
+    result += "------------------------------------------------\n"
+
+    plogs_by_proc = defaultdict(list)
+    for pl in self.service_msgs['procLog']:
+      for x in pl.procLog.procs:
+        if len(x.cmdline) > 0:
+          n = list(x.cmdline)[0]
+          plogs_by_proc[n].append(x)
+    print(plogs_by_proc.keys())
+
+    cpu_ok = True
+    dt = (self.service_msgs['procLog'][-1].logMonoTime - self.service_msgs['procLog'][0].logMonoTime) / 1e9
+    for proc_name, expected_cpu in PROCS.items():
+
+      err = ""
+      cpu_usage = 0.
+      x = plogs_by_proc[proc_name]
+      if len(x) > 2:
+        cpu_time = cputime_total(x[-1]) - cputime_total(x[0])
+        cpu_usage = cpu_time / dt * 100.
+
+        if isinstance(expected_cpu, tuple):
+          exp = str(expected_cpu)
+          minn, maxx = expected_cpu
+        else:
+          exp = f"{expected_cpu:5.2f}"
+          minn = min(expected_cpu * 0.65, max(expected_cpu - 1.0, 0.0))
+          maxx = max(expected_cpu * 1.15, expected_cpu + 5.0)
+
+        if cpu_usage > maxx:
+          err = "using more CPU than expected"
+        elif cpu_usage < minn:
+          err = "using less CPU than expected"
+      else:
+        err = "NO METRICS FOUND"
+
+      result += f"{proc_name.ljust(35)}  {cpu_usage:5.2f}% ({exp}%) {err}\n"
+      if len(err) > 0:
+        cpu_ok = False
+
+    # Ensure there's no missing procs
+    all_procs = {p.name for p in self.service_msgs['managerState'][0].managerState.processes if p.shouldBeRunning}
+    for p in all_procs:
+      with self.subTest(proc=p):
+        assert any(p in pp for pp in PROCS.keys()), f"Expected CPU usage missing for {p}"
+
+    result += "------------------------------------------------\n"
+    print(result)
+
     self.assertTrue(cpu_ok)
 
+  def test_memory_usage(self):
+    mems = [m.deviceState.memoryUsagePercent for m in self.service_msgs['deviceState']]
+    print("Memory usage: ", mems)
+
+    # check for big leaks. note that memory usage is
+    # expected to go up while the MSGQ buffers fill up
+    self.assertLessEqual(max(mems) - min(mems), 3.0)
+
   def test_camera_processing_time(self):
     result = "\n"
     result += "------------------------------------------------\n"
     result += "-------------- Debayer Timing ------------------\n"
     result += "------------------------------------------------\n"
 
-    ts = [getattr(getattr(m, m.which()), "processingTime") for m in self.lr if 'CameraState' in m.which()]
+    ts = [getattr(m, m.which()).processingTime for m in self.lr if 'CameraState' in m.which()]
     self.assertLess(min(ts), 0.025, f"high execution time: {min(ts)}")
     result += f"execution time: min  {min(ts):.5f}s\n"
     result += f"execution time: max  {max(ts):.5f}s\n"
@@ -226,6 +290,23 @@ class TestOnroad(unittest.TestCase):
     result += "------------------------------------------------\n"
     print(result)
 
+  @unittest.skip("TODO: enable once timings are fixed")
+  def test_camera_frame_timings(self):
+    result = "\n"
+    result += "------------------------------------------------\n"
+    result += "-----------------  SoF Timing ------------------\n"
+    result += "------------------------------------------------\n"
+    for name in ['roadCameraState', 'wideRoadCameraState', 'driverCameraState']:
+      ts = [getattr(m, m.which()).timestampSof for m in self.lr if name in m.which()]
+      d_ms = np.diff(ts) / 1e6
+      d50 = np.abs(d_ms-50)
+      self.assertLess(max(d50), 1.0, f"high sof delta vs 50ms: {max(d50)}")
+      result += f"{name} sof delta vs 50ms: min  {min(d50):.5f}s\n"
+      result += f"{name} sof delta vs 50ms: max  {max(d50):.5f}s\n"
+      result += f"{name} sof delta vs 50ms: mean {d50.mean():.5f}s\n"
+      result += "------------------------------------------------\n"
+    print(result)
+
   def test_mpc_execution_timings(self):
     result = "\n"
     result += "------------------------------------------------\n"
@@ -234,7 +315,7 @@ class TestOnroad(unittest.TestCase):
 
     cfgs = [("lateralPlan", 0.05, 0.05), ("longitudinalPlan", 0.05, 0.05)]
     for (s, instant_max, avg_max) in cfgs:
-      ts = [getattr(getattr(m, s), "solverExecutionTime") for m in self.lr if m.which() == s]
+      ts = [getattr(m, s).solverExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -254,7 +335,7 @@ class TestOnroad(unittest.TestCase):
       ("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]
+      ts = [getattr(m, s).modelExecutionTime for m in self.service_msgs[s]]
       self.assertLess(max(ts), instant_max, f"high '{s}' execution time: {max(ts)}")
       self.assertLess(np.mean(ts), avg_max, f"high avg '{s}' execution time: {np.mean(ts)}")
       result += f"'{s}' execution time: min  {min(ts):.5f}s\n"
@@ -270,7 +351,7 @@ class TestOnroad(unittest.TestCase):
     result += "----------------- Service Timings --------------\n"
     result += "------------------------------------------------\n"
     for s, (maxmin, rsd) in TIMINGS.items():
-      msgs = [m.logMonoTime for m in self.lr if m.which() == s]
+      msgs = [m.logMonoTime for m in self.service_msgs[s]]
       if not len(msgs):
         raise Exception(f"missing {s}")
 
@@ -305,6 +386,17 @@ class TestOnroad(unittest.TestCase):
     expected = EVENTS[car.CarEvent.EventName.startup][ET.PERMANENT].alert_text_1
     self.assertEqual(startup_alert, expected, "wrong startup alert")
 
+  def test_engagable(self):
+    no_entries = Counter()
+    for m in self.service_msgs['carEvents']:
+      for evt in m.carEvents:
+        if evt.noEntry:
+          no_entries[evt.name] += 1
+
+    eng = [m.controlsState.engageable for m in self.service_msgs['controlsState']]
+    assert all(eng), \
+           f"Not engageable for whole segment:\n- controlsState.engageable: {Counter(eng)}\n- No entry events: {no_entries}"
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/test/test_time_to_onroad.py b/selfdrive/test/test_time_to_onroad.py
new file mode 100755
index 0000000000..429feca344
--- /dev/null
+++ b/selfdrive/test/test_time_to_onroad.py
@@ -0,0 +1,45 @@
+#!/usr/bin/env python3
+import os
+import time
+import subprocess
+
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.selfdrive.test.helpers import set_params_enabled
+
+
+def test_time_to_onroad():
+  # launch
+  set_params_enabled()
+  manager_path = os.path.join(BASEDIR, "selfdrive/manager/manager.py")
+  proc = subprocess.Popen(["python", manager_path])
+
+  start_time = time.monotonic()
+  sm = messaging.SubMaster(['controlsState', 'deviceState'])
+  try:
+    # wait for onroad
+    with Timeout(20, "timed out waiting to go onroad"):
+      while True:
+        sm.update(1000)
+        if sm['deviceState'].started:
+          break
+        time.sleep(1)
+
+    # wait for engageability
+    with Timeout(10, "timed out waiting for engageable"):
+      while True:
+        sm.update(1000)
+        if sm['controlsState'].engageable:
+          break
+        time.sleep(1)
+    print(f"engageable after {time.monotonic() - start_time:.2f}s")
+
+    # once we're enageable, must be for the next few seconds
+    for _ in range(500):
+      sm.update(100)
+      assert sm['controlsState'].engageable
+  finally:
+    proc.terminate()
+    if proc.wait(60) is None:
+      proc.kill()
diff --git a/selfdrive/test/test_updated.py b/selfdrive/test/test_updated.py
index aab8b256ac..e679cd2c3b 100755
--- a/selfdrive/test/test_updated.py
+++ b/selfdrive/test/test_updated.py
@@ -9,8 +9,8 @@ import signal
 import subprocess
 import random
 
-from common.basedir import BASEDIR
-from common.params import Params
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
 
 
 class TestUpdated(unittest.TestCase):
diff --git a/selfdrive/test/test_valgrind_replay.py b/selfdrive/test/test_valgrind_replay.py
index 238b822ec9..a8a3463104 100755
--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@@ -14,9 +14,9 @@ else:
 
 import cereal.messaging as messaging
 from collections import namedtuple
-from tools.lib.logreader import LogReader
-from selfdrive.test.openpilotci import get_url
-from common.basedir import BASEDIR
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.common.basedir import BASEDIR
 
 ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'command', 'path', 'segment', 'wait_for_response'])
 
@@ -28,7 +28,7 @@ CONFIGS = [
     },
     ignore=[],
     command="./ubloxd",
-    path="selfdrive/locationd/",
+    path="system/ubloxd",
     segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
     wait_for_response=True
   ),
@@ -53,7 +53,7 @@ class TestValgrind(unittest.TestCase):
     os.chdir(os.path.join(BASEDIR, cwd))
     # Run valgrind on a process
     command = "valgrind --leak-check=full " + arg
-    p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid)  # pylint: disable=W1509
+    p = subprocess.Popen(command, stderr=subprocess.PIPE, shell=True, preexec_fn=os.setsid)
 
     while not self.replay_done:
       time.sleep(0.1)
@@ -73,7 +73,7 @@ class TestValgrind(unittest.TestCase):
       self.leak = False
 
   def replay_process(self, config, logreader):
-    pub_sockets = [s for s in config.pub_sub.keys()]  # We dump data from logs here
+    pub_sockets = list(config.pub_sub.keys())  # We dump data from logs here
     sub_sockets = [s for _, sub in config.pub_sub.items() for s in sub]  # We get responses here
     pm = messaging.PubMaster(pub_sockets)
     sm = messaging.SubMaster(sub_sockets)
diff --git a/selfdrive/test/update_ci_routes.py b/selfdrive/test/update_ci_routes.py
index a2b971999c..dda8568fa8 100755
--- a/selfdrive/test/update_ci_routes.py
+++ b/selfdrive/test/update_ci_routes.py
@@ -3,12 +3,13 @@ from functools import lru_cache
 import sys
 import subprocess
 from tqdm import tqdm
-from azure.storage.blob import BlockBlobService  # pylint: disable=import-error
+from azure.storage.blob import BlockBlobService
 
-from selfdrive.car.tests.routes import routes as test_car_models_routes
-from selfdrive.test.process_replay.test_processes import source_segments as replay_segments
-from xx.chffr.lib import azureutil  # pylint: disable=import-error
-from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION  # pylint: disable=import-error
+from openpilot.selfdrive.car.tests.routes import routes as test_car_models_routes
+from openpilot.selfdrive.locationd.test.test_laikad import UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE
+from openpilot.selfdrive.test.process_replay.test_processes import source_segments as replay_segments
+from xx.chffr.lib import azureutil
+from xx.chffr.lib.storage import _DATA_ACCOUNT_PRODUCTION, _DATA_ACCOUNT_CI, _DATA_BUCKET_PRODUCTION
 
 SOURCES = [
   (_DATA_ACCOUNT_PRODUCTION, _DATA_BUCKET_PRODUCTION),
@@ -51,7 +52,7 @@ def sync_to_ci_public(route):
     return True
 
   print(f"Uploading {route}")
-  for (source_account, source_bucket), source_key in zip(SOURCES, source_keys):
+  for (source_account, source_bucket), source_key in zip(SOURCES, source_keys, strict=True):
     print(f"Trying {source_account}/{source_bucket}")
     cmd = [
       "azcopy",
@@ -81,6 +82,7 @@ if __name__ == "__main__":
 
   if not len(to_sync):
     # sync routes from the car tests routes and process replay
+    to_sync.extend([UBLOX_TEST_ROUTE, QCOM_TEST_ROUTE])
     to_sync.extend([rt.route for rt in test_car_models_routes])
     to_sync.extend([s[1].rsplit('--', 1)[0] for s in replay_segments])
 
diff --git a/selfdrive/thermald/fan_controller.py b/selfdrive/thermald/fan_controller.py
index 2094faeaa7..64cd4c78ee 100644
--- a/selfdrive/thermald/fan_controller.py
+++ b/selfdrive/thermald/fan_controller.py
@@ -1,14 +1,14 @@
 #!/usr/bin/env python3
 from abc import ABC, abstractmethod
 
-from common.realtime import DT_TRML
-from common.numpy_fast import interp
-from system.swaglog import cloudlog
-from selfdrive.controls.lib.pid import PIDController
+from openpilot.common.realtime import DT_TRML
+from openpilot.common.numpy_fast import interp
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.pid import PIDController
 
 class BaseFanController(ABC):
   @abstractmethod
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool) -> int:
     pass
 
 
@@ -18,19 +18,19 @@ class TiciFanController(BaseFanController):
     cloudlog.info("Setting up TICI fan handler")
 
     self.last_ignition = False
-    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, neg_limit=-80, pos_limit=0, rate=(1 / DT_TRML))
+    self.controller = PIDController(k_p=0, k_i=4e-3, k_f=1, rate=(1 / DT_TRML))
 
-  def update(self, max_cpu_temp: float, ignition: bool) -> int:
-    self.controller.neg_limit = -(80 if ignition else 30)
+  def update(self, cur_temp: float, ignition: bool) -> int:
+    self.controller.neg_limit = -(100 if ignition else 30)
     self.controller.pos_limit = -(30 if ignition else 0)
 
     if ignition != self.last_ignition:
       self.controller.reset()
 
-    error = 70 - max_cpu_temp
+    error = 70 - cur_temp
     fan_pwr_out = -int(self.controller.update(
                       error=error,
-                      feedforward=interp(max_cpu_temp, [60.0, 100.0], [0, -80])
+                      feedforward=interp(cur_temp, [60.0, 100.0], [0, -100])
                     ))
 
     self.last_ignition = ignition
diff --git a/selfdrive/thermald/power_monitoring.py b/selfdrive/thermald/power_monitoring.py
index 85e9510eb7..0b3c73a1c0 100644
--- a/selfdrive/thermald/power_monitoring.py
+++ b/selfdrive/thermald/power_monitoring.py
@@ -1,11 +1,11 @@
+import time
 import threading
 from typing import Optional
 
-from common.params import Params, put_nonblocking
-from common.realtime import sec_since_boot
-from system.hardware import HARDWARE
-from system.swaglog import cloudlog
-from selfdrive.statsd import statlog
+from openpilot.common.params import Params, put_nonblocking
+from openpilot.system.hardware import HARDWARE
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.statsd import statlog
 
 CAR_VOLTAGE_LOW_PASS_K = 0.011 # LPF gain for 45s tau (dt/tau / (dt/tau + 1))
 
@@ -17,6 +17,7 @@ VBATT_PAUSE_CHARGING = 11.8           # Lower limit on the LPF car battery volta
 VBATT_INSTANT_PAUSE_CHARGING = 7.0    # Lower limit on the instant car battery voltage measurements to avoid triggering on instant power loss
 MAX_TIME_OFFROAD_S = 30*3600
 MIN_ON_TIME_S = 3600
+DELAY_SHUTDOWN_TIME_S = 300 # Wait at least DELAY_SHUTDOWN_TIME_S seconds after offroad_time to shutdown.
 VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 60
 
 class PowerMonitoring:
@@ -40,7 +41,7 @@ class PowerMonitoring:
   # Calculation tick
   def calculate(self, voltage: Optional[int], ignition: bool):
     try:
-      now = sec_since_boot()
+      now = time.monotonic()
 
       # If peripheralState is None, we're probably not in a car, so we don't care
       if voltage is None:
@@ -112,7 +113,7 @@ class PowerMonitoring:
     if offroad_timestamp is None:
       return False
 
-    now = sec_since_boot()
+    now = time.monotonic()
     should_shutdown = False
     offroad_time = (now - offroad_timestamp)
     low_voltage_shutdown = (self.car_voltage_mV < (VBATT_PAUSE_CHARGING * 1e3) and
@@ -124,6 +125,7 @@ class PowerMonitoring:
     should_shutdown &= not ignition
     should_shutdown &= (not self.params.get_bool("DisablePowerDown"))
     should_shutdown &= in_car
+    should_shutdown &= offroad_time > DELAY_SHUTDOWN_TIME_S
     should_shutdown |= self.params.get_bool("ForcePowerDown")
     should_shutdown &= started_seen or (now > MIN_ON_TIME_S)
     return should_shutdown
diff --git a/selfdrive/thermald/tests/test_fan_controller.py b/selfdrive/thermald/tests/test_fan_controller.py
index 857866f64e..7081e1353e 100755
--- a/selfdrive/thermald/tests/test_fan_controller.py
+++ b/selfdrive/thermald/tests/test_fan_controller.py
@@ -3,7 +3,7 @@ import unittest
 from unittest.mock import Mock, patch
 from parameterized import parameterized
 
-from selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.selfdrive.thermald.fan_controller import TiciFanController
 
 ALL_CONTROLLERS = [(TiciFanController,)]
 
@@ -14,43 +14,43 @@ def patched_controller(controller_class):
 class TestFanController(unittest.TestCase):
   def wind_up(self, controller, ignition=True):
     for _ in range(1000):
-      controller.update(max_cpu_temp=100, ignition=ignition)
+      controller.update(100, ignition)
 
   def wind_down(self, controller, ignition=False):
     for _ in range(1000):
-      controller.update(max_cpu_temp=10, ignition=ignition)
+      controller.update(10, ignition)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_hot_onroad(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 70)
+    self.assertGreaterEqual(controller.update(100, True), 70)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_offroad_limits(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_up(controller)
-    self.assertLessEqual(controller.update(max_cpu_temp=100, ignition=False), 30)
+    self.assertLessEqual(controller.update(100, False), 30)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_no_fan_wear(self, controller_class):
     controller = patched_controller(controller_class)
     self.wind_down(controller)
-    self.assertEqual(controller.update(max_cpu_temp=10, ignition=False), 0)
+    self.assertEqual(controller.update(10, False), 0)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_limited(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_up(controller, ignition=True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=100, ignition=True), 80)
+    self.wind_up(controller, True)
+    self.assertEqual(controller.update(100, True), 100)
 
   @parameterized.expand(ALL_CONTROLLERS)
   def test_windup_speed(self, controller_class):
     controller = patched_controller(controller_class)
-    self.wind_down(controller, ignition=True)
+    self.wind_down(controller, True)
     for _ in range(10):
-      controller.update(max_cpu_temp=90, ignition=True)
-    self.assertGreaterEqual(controller.update(max_cpu_temp=90, ignition=True), 60)
+      controller.update(90, True)
+    self.assertGreaterEqual(controller.update(90, True), 60)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index d41e92454b..5d6531ff49 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -2,35 +2,35 @@
 import unittest
 from unittest.mock import patch
 
-from common.params import Params
-params = Params()
+from openpilot.common.params import Params
+from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
+                                                CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING, DELAY_SHUTDOWN_TIME_S
+
 
 # Create fake time
-ssb = 0
-def mock_sec_since_boot():
+ssb = 0.
+def mock_time_monotonic():
   global ssb
-  ssb += 1
+  ssb += 1.
   return ssb
 
-with patch("common.realtime.sec_since_boot", new=mock_sec_since_boot):
-  with patch("common.params.put_nonblocking", new=params.put):
-    from selfdrive.thermald.power_monitoring import PowerMonitoring, CAR_BATTERY_CAPACITY_uWh, \
-                                                    CAR_CHARGING_RATE_W, VBATT_PAUSE_CHARGING
-
 TEST_DURATION_S = 50
 GOOD_VOLTAGE = 12 * 1e3
 VOLTAGE_BELOW_PAUSE_CHARGING = (VBATT_PAUSE_CHARGING - 1) * 1e3
 
 def pm_patch(name, value, constant=False):
   if constant:
-    return patch(f"selfdrive.thermald.power_monitoring.{name}", value)
-  return patch(f"selfdrive.thermald.power_monitoring.{name}", return_value=value)
+    return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", value)
+  return patch(f"openpilot.selfdrive.thermald.power_monitoring.{name}", return_value=value)
 
+
+@patch("time.monotonic", new=mock_time_monotonic)
+@patch("openpilot.selfdrive.thermald.power_monitoring.put_nonblocking", new=lambda x, y: Params().put(x, y))
 class TestPowerMonitoring(unittest.TestCase):
   def setUp(self):
-    # Clear stored capacity before each test
-    params.remove("CarBatteryCapacity")
-    params.remove("DisablePowerDown")
+    self.params = Params()
+    self.params.remove("CarBatteryCapacity")
+    self.params.remove("DisablePowerDown")
 
   # Test to see that it doesn't do anything when pandaState is None
   def test_pandaState_present(self):
@@ -116,12 +116,12 @@ class TestPowerMonitoring(unittest.TestCase):
           self.assertFalse(pm.should_shutdown(ignition, True, start_time, False))
       self.assertTrue(pm.should_shutdown(ignition, True, start_time, False))
 
-  # Test to check policy of stopping charging when the car voltage is too low
   def test_car_voltage(self):
     POWER_DRAW = 0 # To stop shutting down for other reasons
-    TEST_TIME = 100
+    TEST_TIME = 350
     VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S = 50
-    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
+    with pm_patch("VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S", VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S, constant=True), \
+         pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       ignition = False
@@ -130,15 +130,16 @@ class TestPowerMonitoring(unittest.TestCase):
         pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
         if i % 10 == 0:
           self.assertEqual(pm.should_shutdown(ignition, True, start_time, True),
-                           (pm.car_voltage_mV < VBATT_PAUSE_CHARGING*1e3 and
-                            (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S))
+                           (pm.car_voltage_mV < VBATT_PAUSE_CHARGING * 1e3 and
+                            (ssb - start_time) > VOLTAGE_SHUTDOWN_MIN_OFFROAD_TIME_S and
+                             (ssb - start_time) > DELAY_SHUTDOWN_TIME_S))
       self.assertTrue(pm.should_shutdown(ignition, True, start_time, True))
 
   # Test to check policy of not stopping charging when DisablePowerDown is set
   def test_disable_power_down(self):
     POWER_DRAW = 0 # To stop shutting down for other reasons
     TEST_TIME = 100
-    params.put_bool("DisablePowerDown", True)
+    self.params.put_bool("DisablePowerDown", True)
     with pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
@@ -178,5 +179,25 @@ class TestPowerMonitoring(unittest.TestCase):
           self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
       self.assertFalse(pm.should_shutdown(ignition, False, ssb, False))
 
+  def test_delay_shutdown_time(self):
+    pm = PowerMonitoring()
+    pm.car_battery_capacity_uWh = 0
+    ignition = False
+    in_car = True
+    offroad_timestamp = ssb
+    started_seen = True
+    pm.calculate(VOLTAGE_BELOW_PAUSE_CHARGING, ignition)
+
+    while ssb < offroad_timestamp + DELAY_SHUTDOWN_TIME_S:
+      self.assertFalse(pm.should_shutdown(ignition, in_car,
+                                          offroad_timestamp,
+                                          started_seen),
+                       f"Should not shutdown before {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
+    self.assertTrue(pm.should_shutdown(ignition, in_car,
+                                       offroad_timestamp,
+                                       started_seen),
+                    f"Should shutdown after {DELAY_SHUTDOWN_TIME_S} seconds offroad time")
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index eedeff31f1..32cfe11c39 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import datetime
 import os
+import json
 import queue
 import threading
 import time
@@ -12,18 +13,19 @@ import psutil
 
 import cereal.messaging as messaging
 from cereal import log
-from common.dict_helpers import strip_deprecated_keys
-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 system.hardware import HARDWARE, TICI, AGNOS
-from selfdrive.loggerd.config import get_available_percent
-from selfdrive.statsd import statlog
-from system.swaglog import cloudlog
-from selfdrive.thermald.power_monitoring import PowerMonitoring
-from selfdrive.thermald.fan_controller import TiciFanController
-from system.version import terms_version, training_version
+from openpilot.common.dict_helpers import strip_deprecated_keys
+from openpilot.common.time import MIN_DATE
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_TRML
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.system.hardware import HARDWARE, TICI, AGNOS
+from openpilot.system.loggerd.config import get_available_percent
+from openpilot.selfdrive.statsd import statlog
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.thermald.power_monitoring import PowerMonitoring
+from openpilot.selfdrive.thermald.fan_controller import TiciFanController
+from openpilot.system.version import terms_version, training_version
 
 ThermalStatus = log.DeviceState.ThermalStatus
 NetworkType = log.DeviceState.NetworkType
@@ -34,19 +36,20 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats',
+                                             'network_metered', 'nvme_temps', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
 THERMAL_BANDS = OrderedDict({
   ThermalStatus.green: ThermalBand(None, 80.0),
   ThermalStatus.yellow: ThermalBand(75.0, 96.0),
-  ThermalStatus.red: ThermalBand(80.0, 107.),
+  ThermalStatus.red: ThermalBand(88.0, 107.),
   ThermalStatus.danger: ThermalBand(94.0, None),
 })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 79.5
+OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
 
@@ -58,7 +61,7 @@ def populate_tz_by_type():
     if not n.startswith("thermal_zone"):
       continue
     with open(os.path.join("/sys/devices/virtual/thermal", n, "type")) as f:
-      tz_by_type[f.read().strip()] = int(n.lstrip("thermal_zone"))
+      tz_by_type[f.read().strip()] = int(n.removeprefix("thermal_zone"))
 
 def read_tz(x):
   if x is None:
@@ -101,6 +104,8 @@ def hw_state_thread(end_event, hw_queue):
   modem_version = None
   modem_nv = None
   modem_configured = False
+  modem_restarted = False
+  modem_missing_count = 0
 
   while not end_event.is_set():
     # these are expensive calls. update every 10s
@@ -113,11 +118,21 @@ def hw_state_thread(end_event, hw_queue):
 
         # Log modem version once
         if AGNOS and ((modem_version is None) or (modem_nv is None)):
-          modem_version = HARDWARE.get_modem_version()  # pylint: disable=assignment-from-none
-          modem_nv = HARDWARE.get_modem_nv()  # pylint: disable=assignment-from-none
+          modem_version = HARDWARE.get_modem_version()
+          modem_nv = HARDWARE.get_modem_nv()
 
           if (modem_version is not None) and (modem_nv is not None):
             cloudlog.event("modem version", version=modem_version, nv=modem_nv)
+          else:
+            if not modem_restarted:
+              # TODO: we may be able to remove this with a MM update
+              # ModemManager's probing on startup can fail
+              # rarely, restart the service to probe again.
+              modem_missing_count += 1
+              if modem_missing_count > 3:
+                modem_restarted = True
+                cloudlog.event("restarting ModemManager")
+                os.system("sudo systemctl restart --no-block ModemManager")
 
         tx, rx = HARDWARE.get_modem_data_usage()
 
@@ -150,7 +165,7 @@ def hw_state_thread(end_event, hw_queue):
     time.sleep(DT_TRML)
 
 
-def thermald_thread(end_event, hw_queue):
+def thermald_thread(end_event, hw_queue) -> None:
   pm = messaging.PubMaster(['deviceState'])
   sm = messaging.SubMaster(["peripheralState", "gpsLocationExternal", "controlsState", "pandaStates"], poll=["pandaStates"])
 
@@ -162,10 +177,11 @@ def thermald_thread(end_event, hw_queue):
   startup_conditions: Dict[str, bool] = {}
   startup_conditions_prev: Dict[str, bool] = {}
 
-  off_ts = None
-  started_ts = None
+  off_ts: Optional[float] = None
+  started_ts: Optional[float] = None
   started_seen = False
-  thermal_status = ThermalStatus.green
+  startup_blocked_ts: Optional[float] = None
+  thermal_status = ThermalStatus.yellow
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -177,8 +193,8 @@ def thermald_thread(end_event, hw_queue):
     modem_temps=[],
   )
 
-  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
-  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
+  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
+  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
   should_start_prev = False
   in_car = False
   engaged_prev = False
@@ -196,6 +212,7 @@ def thermald_thread(end_event, hw_queue):
 
     pandaStates = sm['pandaStates']
     peripheralState = sm['peripheralState']
+    peripheral_panda_present = peripheralState.pandaType != log.PandaState.PandaType.unknown
 
     msg = read_thermal(thermal_config)
 
@@ -209,11 +226,11 @@ def thermald_thread(end_event, hw_queue):
       in_car = pandaState.harnessStatus != log.PandaState.HarnessStatus.notConnected
 
       # Setup fan handler on first connect to panda
-      if fan_controller is None and peripheralState.pandaType != log.PandaState.PandaType.unknown:
+      if fan_controller is None and peripheral_panda_present:
         if TICI:
           fan_controller = TiciFanController()
 
-    elif (sec_since_boot() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
+    elif (time.monotonic() - sm.rcv_time['pandaStates']) > DISCONNECT_TIMEOUT:
       if onroad_conditions["ignition"]:
         onroad_conditions["ignition"] = False
         cloudlog.error("panda timed out onroad")
@@ -240,7 +257,7 @@ def thermald_thread(end_event, hw_queue):
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
-    # this one is only used for offroad
+    # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
       max(msg.deviceState.cpuTempC),
@@ -251,14 +268,15 @@ def thermald_thread(end_event, hw_queue):
     # this drives the thermal status while onroad
     temp_sources.append(max(msg.deviceState.pmicTempC))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
+    msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
       msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
-    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
+    is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
-      # If device is offroad we want to cool down before going onroad
-      # since going onroad increases load and can make temps go over 107
+      # if device is offroad and already hot without the extra onroad load,
+      # we want to cool down first before increasing load
       thermal_status = ThermalStatus.danger
     else:
       current_band = THERMAL_BANDS[thermal_status]
@@ -272,13 +290,12 @@ def thermald_thread(end_event, hw_queue):
 
     # Ensure date/time are valid
     now = datetime.datetime.utcnow()
-    startup_conditions["time_valid"] = (now.year > 2020) or (now.year == 2020 and now.month >= 10)
-    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]))
+    startup_conditions["time_valid"] = now > MIN_DATE
+    set_offroad_alert_if_changed("Offroad_InvalidTime", (not startup_conditions["time_valid"]) and peripheral_panda_present)
 
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
-    startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.)
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
@@ -286,10 +303,15 @@ def thermald_thread(end_event, hw_queue):
                                                params.get_bool("Passive")
     startup_conditions["not_driver_view"] = not params.get_bool("IsDriverViewEnabled")
     startup_conditions["not_taking_snapshot"] = not params.get_bool("IsTakingSnapshot")
-    # if any CPU gets above 107 or the battery gets above 63, kill all processes
-    # controls will warn with CPU above 95 or battery above 60
+
+    # must be at an engageable thermal band to go onroad
+    startup_conditions["device_temp_engageable"] = thermal_status < ThermalStatus.red
+
+    # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
-    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"]))
+    extra_text = f"{offroad_comp_temp:.1f}C"
+    show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI:
@@ -313,9 +335,6 @@ def thermald_thread(end_event, hw_queue):
       should_start = should_start and all(startup_conditions.values())
 
     if should_start != should_start_prev or (count == 0):
-      params.put_bool("IsOnroad", should_start)
-      params.put_bool("IsOffroad", not should_start)
-
       params.put_bool("IsEngaged", False)
       engaged_prev = False
       HARDWARE.set_power_save(not should_start)
@@ -335,16 +354,22 @@ def thermald_thread(end_event, hw_queue):
     if should_start:
       off_ts = None
       if started_ts is None:
-        started_ts = sec_since_boot()
+        started_ts = time.monotonic()
         started_seen = True
+        if startup_blocked_ts is not None:
+          cloudlog.event("Startup after block", block_duration=(time.monotonic() - startup_blocked_ts),
+                         startup_conditions=startup_conditions, onroad_conditions=onroad_conditions,
+                         startup_conditions_prev=startup_conditions_prev, error=True)
+      startup_blocked_ts = None
     else:
       if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
         cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True)
         startup_conditions_prev = startup_conditions.copy()
+        startup_blocked_ts = time.monotonic()
 
       started_ts = None
       if off_ts is None:
-        off_ts = sec_since_boot()
+        off_ts = time.monotonic()
 
     # Offroad power monitoring
     voltage = None if peripheralState.pandaType == log.PandaState.PandaType.unknown else peripheralState.voltage
@@ -374,8 +399,6 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
-    should_start_prev = should_start
-
     # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
@@ -398,15 +421,26 @@ def thermald_thread(end_event, hw_queue):
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
     # report to server once every 10 minutes
-    if (count % int(600. / DT_TRML)) == 0:
-      cloudlog.event("STATUS_PACKET",
-                     count=count,
-                     pandaStates=[strip_deprecated_keys(p.to_dict()) for p in pandaStates],
-                     peripheralState=strip_deprecated_keys(peripheralState.to_dict()),
-                     location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
-                     deviceState=strip_deprecated_keys(msg.to_dict()))
+    rising_edge_started = should_start and not should_start_prev
+    if rising_edge_started or (count % int(600. / DT_TRML)) == 0:
+      dat = {
+        'count': count,
+        'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
+        'peripheralState': strip_deprecated_keys(peripheralState.to_dict()),
+        'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
+        'deviceState': strip_deprecated_keys(msg.to_dict())
+      }
+      cloudlog.event("STATUS_PACKET", **dat)
+
+      # save last one before going onroad
+      if rising_edge_started:
+        try:
+          params.put("LastOffroadStatusPacket", json.dumps(dat))
+        except Exception:
+          cloudlog.exception("failed to save offroad status")
 
     count += 1
+    should_start_prev = should_start
 
 
 def main():
diff --git a/selfdrive/tombstoned.py b/selfdrive/tombstoned.py
index 61a575f141..3f99e16831 100755
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@@ -9,11 +9,11 @@ import time
 import glob
 from typing import NoReturn
 
-from common.file_helpers import mkdirs_exists_ok
-from selfdrive.loggerd.config import ROOT
-import selfdrive.sentry as sentry
-from system.swaglog import cloudlog
-from system.version import get_commit
+from openpilot.common.file_helpers import mkdirs_exists_ok
+from openpilot.system.loggerd.config import ROOT
+import openpilot.selfdrive.sentry as sentry
+from openpilot.system.swaglog import cloudlog
+from openpilot.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/")
@@ -38,7 +38,7 @@ def clear_apport_folder():
 def get_apport_stacktrace(fn):
   try:
     cmd = f'apport-retrace -s <(cat <(echo "Package: openpilot") "{fn}")'
-    return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash')  # pylint: disable=unexpected-keyword-arg
+    return subprocess.check_output(cmd, shell=True, encoding='utf8', timeout=30, executable='/bin/bash')
   except subprocess.CalledProcessError:
     return "Error getting stacktrace"
   except subprocess.TimeoutExpired:
@@ -54,7 +54,7 @@ def get_tombstones():
       with os.scandir(folder) as d:
 
         # Loop over first 1000 directory entries
-        for _, f in zip(range(1000), d):
+        for _, f in zip(range(1000), d, strict=False):
           if f.name.startswith("tombstone"):
             files.append((f.path, int(f.stat().st_ctime)))
           elif f.name.endswith(".crash") and f.stat().st_mode == 0o100640:
@@ -95,7 +95,7 @@ def report_tombstone_apport(fn):
 
         try:
           sig_num = int(line.strip().split(': ')[-1])
-          message += " (" + signal.Signals(sig_num).name + ")"  # pylint: disable=no-member
+          message += " (" + signal.Signals(sig_num).name + ")"
         except ValueError:
           pass
 
diff --git a/selfdrive/ui/.gitignore b/selfdrive/ui/.gitignore
index 60eb4b43c7..cb95652191 100644
--- a/selfdrive/ui/.gitignore
+++ b/selfdrive/ui/.gitignore
@@ -12,3 +12,4 @@ qt/setup/setup
 qt/setup/reset
 qt/setup/wifi
 qt/setup/updater
+translations/alerts_generated.h
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 669c214746..6d5a502e05 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -1,4 +1,5 @@
 import os
+import json
 Import('qt_env', 'arch', 'common', 'messaging', 'visionipc',
        'cereal', 'transformations')
 
@@ -8,9 +9,9 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
 if arch == 'larch64':
   base_libs.append('EGL')
 
-maps = arch in ['larch64', 'x86_64']
+maps = arch in ['larch64', 'aarch64', 'x86_64']
 
-if maps and arch == 'x86_64':
+if maps and arch != 'larch64':
   rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
   qt_env["RPATH"] += rpath
 
@@ -19,7 +20,7 @@ if arch == "Darwin":
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
 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",
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/widgets/wifi.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",
@@ -28,7 +29,8 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
 qt_env['CPPDEFINES'] = []
 if maps:
   base_libs += ['qmapboxgl']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"]
+  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc",
+                  "qt/maps/map_eta.cc", "qt/maps/map_instructions.cc"]
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
@@ -44,7 +46,7 @@ asset_obj = qt_env.Object("assets", assets)
 
 # build soundd
 qt_env.Program("soundd/_soundd", ["soundd/main.cc", "soundd/sound.cc"], LIBS=qt_libs)
-if GetOption('test'):
+if GetOption('extras'):
   qt_env.Program("tests/playsound", "tests/playsound.cc", LIBS=base_libs)
   qt_env.Program('tests/test_sound', ['tests/test_runner.cc', 'soundd/sound.cc', 'tests/test_sound.cc'], LIBS=qt_libs)
 
@@ -60,26 +62,33 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/offroad/software_settings.cc", "qt/offroad/onboarding.cc",
           "qt/offroad/driverview.cc", "qt/offroad/experimental_mode.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
-if GetOption('test'):
+if GetOption('extras'):
   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)
+  qt_env.Program('tests/ui_snapshot', [asset_obj, "tests/ui_snapshot.cc"] + qt_src, LIBS=qt_libs)
 
 
 # build translation files
-translation_sources = Glob("#selfdrive/ui/translations/*.ts", strings=True)
+with open(File("translations/languages.json").abspath) as f:
+  languages = json.loads(f.read())
+translation_sources = [f"#selfdrive/ui/translations/{l}.ts" for l in languages.values()]
 translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
-lrelease = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
-qt_env.Command(translation_targets, translation_sources, f"{lrelease} $SOURCES")
+lrelease_bin = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
 
+lupdate = qt_env.Command(translation_sources, qt_src, "selfdrive/ui/update_translations.py")
+lrelease = qt_env.Command(translation_targets, translation_sources, f"{lrelease_bin} $SOURCES")
+qt_env.Depends(lrelease, lupdate)
+qt_env.NoClean(translation_sources)
+qt_env.Precious(translation_sources)
+qt_env.NoCache(lupdate)
 
-# setup and factory resetter
-if GetOption('extras'):
+
+if GetOption('extras') and arch != "Darwin":
+  # setup and factory resetter
   qt_env.Program("qt/setup/reset", ["qt/setup/reset.cc"], LIBS=qt_libs)
   qt_env.Program("qt/setup/setup", ["qt/setup/setup.cc", asset_obj],
                  LIBS=qt_libs + ['curl', 'common', 'json11'])
 
-
-if GetOption('extras'):
   # build updater UI
   qt_env.Program("qt/setup/updater", ["qt/setup/updater.cc", asset_obj], LIBS=qt_libs)
 
@@ -95,7 +104,7 @@ if GetOption('extras'):
   installers = [
     ("openpilot", release),
     ("openpilot_test", f"{release}-staging"),
-    ("openpilot_nightly", "master-ci"),
+    ("openpilot_nightly", "nightly"),
     ("openpilot_internal", "master"),
     ("dashcam", dashcam),
     ("dashcam_test", f"{dashcam}-staging"),
@@ -121,5 +130,5 @@ if GetOption('extras'):
     assert f[0].get_size() < 300*1e3
 
 # build watch3
-if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+if arch in ['x86_64', 'aarch64', 'Darwin'] or GetOption('extras'):
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 7d8bbf74e0..179ce60c63 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -4,6 +4,7 @@
 #include <cstdlib>
 #include <fstream>
 #include <map>
+#include <string>
 
 #include <QDebug>
 #include <QDir>
@@ -141,9 +142,9 @@ void Installer::cachedFetch(const QString &cache) {
 void Installer::readProgress() {
   const QVector<QPair<QString, int>> stages = {
     // prefix, weight in percentage
-    {tr("Receiving objects: "), 91},
-    {tr("Resolving deltas: "), 2},
-    {tr("Updating files: "), 7},
+    {"Receiving objects: ", 91},
+    {"Resolving deltas: ", 2},
+    {"Updating files: ", 7},
   };
 
   auto line = QString(proc.readAllStandardError());
diff --git a/selfdrive/ui/mui.cc b/selfdrive/ui/mui.cc
index 55b9a47474..e2b4358b65 100644
--- a/selfdrive/ui/mui.cc
+++ b/selfdrive/ui/mui.cc
@@ -110,14 +110,8 @@ int main(int argc, char *argv[]) {
     if (onroad) {
       auto cs = sm["controlsState"].getControlsState();
       UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-        status = STATUS_WARNING;
-      } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
-        status = STATUS_ALERT;
-      }
-
       auto lp = sm["lateralPlan"].getLateralPlan();
-      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) {
+      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) {
         status_bar->blinkingColor(bg_colors[status]);
       } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING ||
                  lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) {
diff --git a/selfdrive/ui/qt/api.cc b/selfdrive/ui/qt/api.cc
index 84e1a4032e..0e321d4e10 100644
--- a/selfdrive/ui/qt/api.cc
+++ b/selfdrive/ui/qt/api.cc
@@ -12,6 +12,8 @@
 #include <QJsonDocument>
 #include <QNetworkRequest>
 
+#include <string>
+
 #include "common/params.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
@@ -83,7 +85,7 @@ void HttpRequest::sendRequest(const QString &requestURL, const HttpRequest::Meth
     return;
   }
   QString token;
-  if(create_jwt) {
+  if (create_jwt) {
     token = CommaApi::create_jwt();
   } else {
     QString token_json = QString::fromStdString(util::read_file(util::getenv("HOME") + "/.comma/auth.json"));
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index 3f3c9a5885..f93b590007 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -2,13 +2,19 @@
 
 #include <QHBoxLayout>
 #include <QMouseEvent>
+#include <QStackedWidget>
 #include <QVBoxLayout>
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#else
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#endif
+
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -28,6 +34,7 @@ HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
   slayout->addWidget(home);
 
   onroad = new OnroadWindow(this);
+  QObject::connect(onroad, &OnroadWindow::mapPanelRequested, this, [=] { sidebar->hide(); });
   slayout->addWidget(onroad);
 
   body = new BodyWindow(this);
@@ -48,6 +55,10 @@ void HomeWindow::showSidebar(bool show) {
   sidebar->setVisible(show);
 }
 
+void HomeWindow::showMapPanel(bool show) {
+  onroad->showMapPanel(show);
+}
+
 void HomeWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
 
@@ -102,11 +113,11 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
 
 OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   QVBoxLayout* main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(40, 40, 40, 45);
+  main_layout->setContentsMargins(40, 40, 40, 40);
 
   // top header
   QHBoxLayout* header_layout = new QHBoxLayout();
-  header_layout->setContentsMargins(15, 15, 15, 0);
+  header_layout->setContentsMargins(0, 0, 0, 0);
   header_layout->setSpacing(16);
 
   update_notif = new QPushButton(tr("UPDATE"));
@@ -130,27 +141,47 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   main_layout->addSpacing(25);
   center_layout = new QStackedLayout();
 
-  // Vertical experimental button and drive stats layout
-  QWidget* statsAndExperimentalModeButtonWidget = new QWidget(this);
-  QVBoxLayout* statsAndExperimentalModeButton = new QVBoxLayout(statsAndExperimentalModeButtonWidget);
-  statsAndExperimentalModeButton->setSpacing(30);
-  statsAndExperimentalModeButton->setMargin(0);
-
-  ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
-  QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
-
-  statsAndExperimentalModeButton->addWidget(experimental_mode, 1);
-  statsAndExperimentalModeButton->addWidget(new DriveStats, 1);
-
-  // Horizontal experimental + drive stats and setup widget
-  QWidget* statsAndSetupWidget = new QWidget(this);
-  QHBoxLayout* statsAndSetup = new QHBoxLayout(statsAndSetupWidget);
-  statsAndSetup->setMargin(0);
-  statsAndSetup->setSpacing(30);
-  statsAndSetup->addWidget(statsAndExperimentalModeButtonWidget, 1);
-  statsAndSetup->addWidget(new SetupWidget);
-
-  center_layout->addWidget(statsAndSetupWidget);
+  QWidget *home_widget = new QWidget(this);
+  {
+    QHBoxLayout *home_layout = new QHBoxLayout(home_widget);
+    home_layout->setContentsMargins(0, 0, 0, 0);
+    home_layout->setSpacing(30);
+
+    // left: MapSettings/PrimeAdWidget
+    QStackedWidget *left_widget = new QStackedWidget(this);
+#ifdef ENABLE_MAPS
+    left_widget->addWidget(new MapSettings);
+#else
+    left_widget->addWidget(new DriveStats);
+#endif
+    left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
+
+    left_widget->setCurrentIndex(uiState()->hasPrime() ? 0 : 1);
+    connect(uiState(), &UIState::primeChanged, [=](bool prime) {
+      left_widget->setCurrentIndex(prime ? 0 : 1);
+    });
+
+    home_layout->addWidget(left_widget, 1);
+
+    // right: ExperimentalModeButton, SetupWidget
+    QWidget* right_widget = new QWidget(this);
+    QVBoxLayout* right_column = new QVBoxLayout(right_widget);
+    right_column->setContentsMargins(0, 0, 0, 0);
+    right_widget->setFixedWidth(750);
+    right_column->setSpacing(30);
+
+    ExperimentalModeButton *experimental_mode = new ExperimentalModeButton(this);
+    QObject::connect(experimental_mode, &ExperimentalModeButton::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(experimental_mode, 1);
+
+    SetupWidget *setup_widget = new SetupWidget;
+    QObject::connect(setup_widget, &SetupWidget::openSettings, this, &OffroadHome::openSettings);
+    right_column->addWidget(setup_widget, 1);
+
+    home_layout->addWidget(right_widget, 1);
+  }
+  center_layout->addWidget(home_widget);
 
   // add update & alerts widgets
   update_widget = new UpdateAlert();
@@ -168,7 +199,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
 
   setStyleSheet(R"(
     * {
-     color: white;
+      color: white;
     }
     OffroadHome {
       background-color: black;
diff --git a/selfdrive/ui/qt/home.h b/selfdrive/ui/qt/home.h
index ed1c215467..c6032852a1 100644
--- a/selfdrive/ui/qt/home.h
+++ b/selfdrive/ui/qt/home.h
@@ -55,6 +55,7 @@ public slots:
   void offroadTransition(bool offroad);
   void showDriverView(bool show);
   void showSidebar(bool show);
+  void showMapPanel(bool show);
 
 protected:
   void mousePressEvent(QMouseEvent* e) override;
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index b5519daccf..d5e81bc9e0 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -1,22 +1,17 @@
 #include "selfdrive/ui/qt/maps/map.h"
 
+#include <algorithm>
 #include <eigen3/Eigen/Dense>
-#include <cmath>
 
 #include <QDebug>
-#include <QFileInfo>
-#include <QPainterPath>
 
-#include "common/swaglog.h"
 #include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
-#include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/ui.h"
 
 
-const int PAN_TIMEOUT = 100;
-const float MANEUVER_TRANSITION_THRESHOLD = 10;
+const int INTERACTION_TIMEOUT = 100;
 
 const float MAX_ZOOM = 17;
 const float MIN_ZOOM = 14;
@@ -24,33 +19,32 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
-const float VALID_POS_STD = 50.0; // m
-
-const QString ICON_SUFFIX = ".png";
-
-MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
+MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05, false) {
   QObject::connect(uiState(), &UIState::uiUpdate, this, &MapWindow::updateState);
 
+  map_overlay = new QWidget (this);
+  map_overlay->setAttribute(Qt::WA_TranslucentBackground, true);
+  QVBoxLayout *overlay_layout = new QVBoxLayout(map_overlay);
+  overlay_layout->setContentsMargins(0, 0, 0, 0);
+
   // Instructions
   map_instructions = new MapInstructions(this);
-  QObject::connect(this, &MapWindow::instructionsChanged, map_instructions, &MapInstructions::updateInstructions);
-  QObject::connect(this, &MapWindow::distanceChanged, map_instructions, &MapInstructions::updateDistance);
-  map_instructions->setFixedWidth(width());
   map_instructions->setVisible(false);
 
   map_eta = new MapETA(this);
-  QObject::connect(this, &MapWindow::ETAChanged, map_eta, &MapETA::updateETA);
+  map_eta->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Fixed);
+  map_eta->setFixedHeight(120);
 
-  const int h = 120;
-  map_eta->setFixedHeight(h);
-  map_eta->move(25, 1080 - h - bdr_s*2);
-  map_eta->setVisible(false);
+  error = new QLabel(this);
+  error->setStyleSheet(R"(color:white;padding:50px 11px;font-size: 90px; background-color:rgba(0, 0, 0, 150);)");
+  error->setAlignment(Qt::AlignCenter);
 
-  auto last_gps_position = coordinate_from_param("LastGPSPosition");
-  if (last_gps_position) {
-    last_position = *last_gps_position;
-  }
+  overlay_layout->addWidget(error);
+  overlay_layout->addWidget(map_instructions);
+  overlay_layout->addStretch(1);
+  overlay_layout->addWidget(map_eta);
 
+  last_position = coordinate_from_param("LastGPSPosition");
   grabGesture(Qt::GestureType::PinchGesture);
   qDebug() << "MapWindow initialized";
 }
@@ -79,10 +73,29 @@ void MapWindow::initLayers() {
     nav["type"] = "line";
     nav["source"] = "navSource";
     m_map->addLayer(nav, "road-intersection");
-    m_map->setPaintProperty("navLayer", "line-color", QColor("#31a1ee"));
+
+    QVariantMap transition;
+    transition["duration"] = 400;  // ms
+    m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(uiState()->scene.navigate_on_openpilot));
+    m_map->setPaintProperty("navLayer", "line-color-transition", transition);
     m_map->setPaintProperty("navLayer", "line-width", 7.5);
     m_map->setLayoutProperty("navLayer", "line-cap", "round");
   }
+  if (!m_map->layerExists("pinLayer")) {
+    qDebug() << "Initializing pinLayer";
+    m_map->addImage("default_marker", QImage("../assets/navigation/default_marker.svg"));
+    QVariantMap pin;
+    pin["id"] = "pinLayer";
+    pin["type"] = "symbol";
+    pin["source"] = "pinSource";
+    m_map->addLayer(pin);
+    m_map->setLayoutProperty("pinLayer", "icon-pitch-alignment", "viewport");
+    m_map->setLayoutProperty("pinLayer", "icon-image", "default_marker");
+    m_map->setLayoutProperty("pinLayer", "icon-ignore-placement", true);
+    m_map->setLayoutProperty("pinLayer", "icon-allow-overlap", true);
+    m_map->setLayoutProperty("pinLayer", "symbol-sort-key", 0);
+    m_map->setLayoutProperty("pinLayer", "icon-anchor", "bottom");
+  }
   if (!m_map->layerExists("carPosLayer")) {
     qDebug() << "Initializing carPosLayer";
     m_map->addImage("label-arrow", QImage("../assets/images/triangle.svg"));
@@ -97,6 +110,7 @@ void MapWindow::initLayers() {
     m_map->setLayoutProperty("carPosLayer", "icon-size", 0.5);
     m_map->setLayoutProperty("carPosLayer", "icon-ignore-placement", true);
     m_map->setLayoutProperty("carPosLayer", "icon-allow-overlap", true);
+    // TODO: remove, symbol-sort-key does not seem to matter outside of each layer
     m_map->setLayoutProperty("carPosLayer", "symbol-sort-key", 0);
   }
 }
@@ -108,82 +122,69 @@ void MapWindow::updateState(const UIState &s) {
   const SubMaster &sm = *(s.sm);
   update();
 
+  if (sm.updated("modelV2")) {
+    // set path color on change, and show map on rising edge of navigate on openpilot
+    bool nav_enabled = sm["modelV2"].getModelV2().getNavEnabled() &&
+                       sm["controlsState"].getControlsState().getEnabled();
+    if (nav_enabled != uiState()->scene.navigate_on_openpilot) {
+      if (loaded_once) {
+        m_map->setPaintProperty("navLayer", "line-color", getNavPathColor(nav_enabled));
+      }
+      if (nav_enabled) {
+        emit requestVisible(true);
+      }
+    }
+    uiState()->scene.navigate_on_openpilot = nav_enabled;
+  }
+
   if (sm.updated("liveLocationKalman")) {
     auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
     auto locationd_pos = locationd_location.getPositionGeodetic();
     auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
     auto locationd_velocity = locationd_location.getVelocityCalibrated();
 
-    locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
-      locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid();
+    // Check std norm
+    auto pos_ecef_std = locationd_location.getPositionECEF().getStd();
+    bool pos_accurate_enough = sqrt(pow(pos_ecef_std[0], 2) + pow(pos_ecef_std[1], 2) + pow(pos_ecef_std[2], 2)) < 100;
+
+    locationd_valid = (locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid() && pos_accurate_enough);
 
     if (locationd_valid) {
       last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
       last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
-      velocity_filter.update(locationd_velocity.getValue()[0]);
-    }
-  }
-
-  if (sm.updated("gnssMeasurements")) {
-    auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
-    auto laikad_pos = laikad_location.getPositionECEF();
-    auto laikad_pos_ecef = laikad_pos.getValue();
-    auto laikad_pos_std = laikad_pos.getStd();
-    auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
-
-    laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
-
-    if (laikad_valid && !locationd_valid) {
-      ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
-      Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
-      last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
-
-      // Compute NED velocity
-      LocalCoord converter(ecef);
-      ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
-      Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
-
-      float velocity = ned_vel.norm();
-      velocity_filter.update(velocity);
-
-      // Convert NED velocity to angle
-      if (velocity > 1.0) {
-        float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
-        if (last_bearing) {
-          float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
-          last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
-        } else {
-          last_bearing = new_bearing;
-        }
-      }
+      velocity_filter.update(std::max(10.0, locationd_velocity.getValue()[0]));
     }
   }
 
   if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
+    auto nav_dest = coordinate_from_param("NavDestination");
+    bool allow_open = std::exchange(last_valid_nav_dest, nav_dest) != nav_dest &&
+                      nav_dest && !isVisible();
     qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;
 
-    // Only open the map on setting destination the first time
+    // Show map on destination set/change
     if (allow_open) {
-      setVisible(true); // Show map on destination set/change
-      allow_open = false;
+      emit requestSettings(false);
+      emit requestVisible(true);
     }
   }
 
-  if (m_map.isNull()) {
-    return;
-  }
-
-  loaded_once = loaded_once || m_map->isFullyLoaded();
+  loaded_once = loaded_once || (m_map && m_map->isFullyLoaded());
   if (!loaded_once) {
-    map_instructions->showError(tr("Map Loading"));
+    setError(tr("Map Loading"));
     return;
   }
-
   initLayers();
 
-  if (locationd_valid || laikad_valid) {
-    map_instructions->noError();
+  if (!locationd_valid) {
+    setError(tr("Waiting for GPS"));
+  } else if (routing_problem) {
+    setError(tr("Waiting for route"));
+  } else {
+    setError("");
+  }
 
+  if (locationd_valid) {
     // Update current location marker
     auto point = coordinate_to_collection(*last_position);
     QMapbox::Feature feature1(QMapbox::Feature::PointType, point, {}, {});
@@ -191,36 +192,37 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["type"] = "geojson";
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
-  } else {
-    map_instructions->showError(tr("Waiting for GPS"));
+
+    // Map bearing isn't updated when interacting, keep location marker up to date
+    if (last_bearing) {
+      m_map->setLayoutProperty("carPosLayer", "icon-rotate", *last_bearing - m_map->bearing());
+    }
   }
 
-  if (pan_counter == 0) {
+  if (interaction_counter == 0) {
     if (last_position) m_map->setCoordinate(*last_position);
     if (last_bearing) m_map->setBearing(*last_bearing);
-  } else {
-    pan_counter--;
-  }
-
-  if (zoom_counter == 0) {
     m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
-    zoom_counter = -1;
-  } else if (zoom_counter > 0) {
-    zoom_counter--;
+  } else {
+    interaction_counter--;
   }
 
   if (sm.updated("navInstruction")) {
+    // an invalid navInstruction packet with a nav destination is only possible if:
+    // - API exception/no internet
+    // - route response is empty
+    // - any time navd is waiting for recompute_countdown
+    routing_problem = !sm.valid("navInstruction") && coordinate_from_param("NavDestination").has_value();
+
     if (sm.valid("navInstruction")) {
       auto i = sm["navInstruction"].getNavInstruction();
-      emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
+      map_eta->updateETA(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
 
-      if (locationd_valid || laikad_valid) {
+      if (locationd_valid) {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
-        emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
-        emit instructionsChanged(i);
+        map_instructions->updateInstructions(i);
       }
     } else {
-      m_map->setPitch(MIN_PITCH);
       clearRoute();
     }
   }
@@ -237,12 +239,21 @@ void MapWindow::updateState(const UIState &s) {
     m_map->setLayoutProperty("navLayer", "visibility", "visible");
 
     route_rcv_frame = sm.rcv_frame("navRoute");
+    updateDestinationMarker();
+  }
+}
+
+void MapWindow::setError(const QString &err_str) {
+  if (err_str != error->text()) {
+    error->setText(err_str);
+    error->setVisible(!err_str.isEmpty());
+    if (!err_str.isEmpty()) map_instructions->setVisible(false);
   }
 }
 
 void MapWindow::resizeGL(int w, int h) {
   m_map->resize(size() / MAP_SCALE);
-  map_instructions->setFixedWidth(width());
+  map_overlay->setFixedSize(width(), height());
 }
 
 void MapWindow::initializeGL() {
@@ -256,9 +267,13 @@ void MapWindow::initializeGL() {
 
   m_map->setMargins({0, 350, 0, 50});
   m_map->setPitch(MIN_PITCH);
-  m_map->setStyleUrl("mapbox://styles/commaai/ckr64tlwp0azb17nqvr9fj13s");
+  m_map->setStyleUrl("mapbox://styles/commaai/clkqztk0f00ou01qyhsa5bzpj");
 
   QObject::connect(m_map.data(), &QMapboxGL::mapChanged, [=](QMapboxGL::MapChange change) {
+    // set global animation duration to 0 ms so visibility changes are instant
+    if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingStyle) {
+      m_map->setTransitionOptions(0, 0);
+    }
     if (change == QMapboxGL::MapChange::MapChangeDidFinishLoadingMap) {
       loaded_once = true;
     }
@@ -274,11 +289,12 @@ void MapWindow::clearRoute() {
   if (!m_map.isNull()) {
     m_map->setLayoutProperty("navLayer", "visibility", "none");
     m_map->setPitch(MIN_PITCH);
+    updateDestinationMarker();
   }
 
-  map_instructions->hideIfNoError();
+  map_instructions->setVisible(false);
   map_eta->setVisible(false);
-  allow_open = true;
+  last_valid_nav_dest = std::nullopt;
 }
 
 void MapWindow::mousePressEvent(QMouseEvent *ev) {
@@ -292,15 +308,14 @@ void MapWindow::mouseDoubleClickEvent(QMouseEvent *ev) {
   m_map->setZoom(util::map_val<float>(velocity_filter.x(), 0, 30, MAX_ZOOM, MIN_ZOOM));
   update();
 
-  pan_counter = 0;
-  zoom_counter = 0;
+  interaction_counter = 0;
 }
 
 void MapWindow::mouseMoveEvent(QMouseEvent *ev) {
   QPointF delta = ev->localPos() - m_lastPos;
 
   if (!delta.isNull()) {
-    pan_counter = PAN_TIMEOUT;
+    interaction_counter = INTERACTION_TIMEOUT;
     m_map->moveBy(delta / MAP_SCALE);
     update();
   }
@@ -322,7 +337,7 @@ void MapWindow::wheelEvent(QWheelEvent *ev) {
   m_map->scaleBy(1 + factor, ev->pos() / MAP_SCALE);
   update();
 
-  zoom_counter = PAN_TIMEOUT;
+  interaction_counter = INTERACTION_TIMEOUT;
   ev->accept();
 }
 
@@ -347,342 +362,33 @@ void MapWindow::pinchTriggered(QPinchGesture *gesture) {
     // TODO: figure out why gesture centerPoint doesn't work
     m_map->scaleBy(gesture->scaleFactor(), {width() / 2.0 / MAP_SCALE, height() / 2.0 / MAP_SCALE});
     update();
-    zoom_counter = PAN_TIMEOUT;
+    interaction_counter = INTERACTION_TIMEOUT;
   }
 }
 
 void MapWindow::offroadTransition(bool offroad) {
   if (offroad) {
     clearRoute();
+    uiState()->scene.navigate_on_openpilot = false;
+    routing_problem = false;
   } else {
     auto dest = coordinate_from_param("NavDestination");
-    setVisible(dest.has_value());
+    emit requestVisible(dest.has_value());
   }
   last_bearing = {};
 }
 
-MapInstructions::MapInstructions(QWidget * parent) : QWidget(parent) {
-  is_rhd = Params().getBool("IsRhdDetected");
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-  main_layout->setContentsMargins(11, 50, 11, 11);
-  {
-    QVBoxLayout *layout = new QVBoxLayout;
-    icon_01 = new QLabel;
-    layout->addWidget(icon_01);
-    layout->addStretch();
-    main_layout->addLayout(layout);
-  }
-
-  {
-    QVBoxLayout *layout = new QVBoxLayout;
-
-    distance = new QLabel;
-    distance->setStyleSheet(R"(font-size: 90px;)");
-    layout->addWidget(distance);
-
-    primary = new QLabel;
-    primary->setStyleSheet(R"(font-size: 60px;)");
-    primary->setWordWrap(true);
-    layout->addWidget(primary);
-
-    secondary = new QLabel;
-    secondary->setStyleSheet(R"(font-size: 50px;)");
-    secondary->setWordWrap(true);
-    layout->addWidget(secondary);
-
-    lane_widget = new QWidget;
-    lane_widget->setFixedHeight(125);
-
-    lane_layout = new QHBoxLayout(lane_widget);
-    layout->addWidget(lane_widget);
-
-    main_layout->addLayout(layout);
-  }
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: "Inter";
-    }
-  )");
-
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-}
-
-void MapInstructions::updateDistance(float d) {
-  d = std::max(d, 0.0f);
-  QString distance_str;
-
-  if (uiState()->scene.is_metric) {
-    if (d > 500) {
-      distance_str.setNum(d / 1000, 'f', 1);
-      distance_str += tr(" km");
-    } else {
-      distance_str.setNum(50 * int(d / 50));
-      distance_str += tr(" m");
-    }
+void MapWindow::updateDestinationMarker() {
+  auto nav_dest = coordinate_from_param("NavDestination");
+  if (nav_dest.has_value()) {
+    auto point = coordinate_to_collection(*nav_dest);
+    QMapbox::Feature feature(QMapbox::Feature::PointType, point, {}, {});
+    QVariantMap pinSource;
+    pinSource["type"] = "geojson";
+    pinSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+    m_map->updateSource("pinSource", pinSource);
+    m_map->setPaintProperty("pinLayer", "visibility", "visible");
   } else {
-    float miles = d * METER_TO_MILE;
-    float feet = d * METER_TO_FOOT;
-
-    if (feet > 500) {
-      distance_str.setNum(miles, 'f', 1);
-      distance_str += tr(" mi");
-    } else {
-      distance_str.setNum(50 * int(feet / 50));
-      distance_str += tr(" ft");
-    }
+    m_map->setPaintProperty("pinLayer", "visibility", "none");
   }
-
-  distance->setAlignment(Qt::AlignLeft);
-  distance->setText(distance_str);
-}
-
-void MapInstructions::showError(QString error_text) {
-  primary->setText("");
-  distance->setText(error_text);
-  distance->setAlignment(Qt::AlignCenter);
-
-  secondary->setVisible(false);
-  icon_01->setVisible(false);
-
-  this->error = true;
-  lane_widget->setVisible(false);
-
-  setVisible(true);
-}
-
-void MapInstructions::noError() {
-  error = false;
-}
-
-void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
-  // Word wrap widgets need fixed width
-  primary->setFixedWidth(width() - 250);
-  secondary->setFixedWidth(width() - 250);
-
-
-  // Show instruction text
-  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
-  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
-
-  primary->setText(primary_str);
-  secondary->setVisible(secondary_str.length() > 0);
-  secondary->setText(secondary_str);
-
-  // Show arrow with direction
-  QString type = QString::fromStdString(instruction.getManeuverType());
-  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
-  if (!type.isEmpty()) {
-    QString fn = "../assets/navigation/direction_" + type;
-    if (!modifier.isEmpty()) {
-      fn += "_" + modifier;
-    }
-    fn += ICON_SUFFIX;
-    fn = fn.replace(' ', '_');
-
-    // for rhd, reflect direction and then flip
-    if (is_rhd) {
-      if (fn.contains("left")) {
-        fn.replace("left", "right");
-      } else if (fn.contains("right")) {
-        fn.replace("right", "left");
-      }
-    }
-
-    QPixmap pix(fn);
-    if (is_rhd) {
-      pix = pix.transformed(QTransform().scale(-1, 1));
-    }
-    icon_01->setPixmap(pix.scaledToWidth(200, Qt::SmoothTransformation));
-    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    icon_01->setVisible(true);
-  }
-
-  // Show lanes
-  bool has_lanes = false;
-  clearLayout(lane_layout);
-  for (auto const &lane: instruction.getLanes()) {
-    has_lanes = true;
-    bool active = lane.getActive();
-
-    // TODO: only use active direction if active
-    bool left = false, straight = false, right = false;
-    for (auto const &direction: lane.getDirections()) {
-      left |= direction == cereal::NavInstruction::Direction::LEFT;
-      right |= direction == cereal::NavInstruction::Direction::RIGHT;
-      straight |= direction == cereal::NavInstruction::Direction::STRAIGHT;
-    }
-
-    // TODO: Make more images based on active direction and combined directions
-    QString fn = "../assets/navigation/direction_";
-    if (left) {
-      fn += "turn_left";
-    } else if (right) {
-      fn += "turn_right";
-    } else if (straight) {
-      fn += "turn_straight";
-    }
-
-    if (!active) {
-      fn += "_inactive";
-    }
-
-    auto icon = new QLabel;
-    icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {125, 125}, Qt::IgnoreAspectRatio));
-    icon->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
-    lane_layout->addWidget(icon);
-  }
-  lane_widget->setVisible(has_lanes);
-
-  show();
-  resize(sizeHint());
-}
-
-
-void MapInstructions::hideIfNoError() {
-  if (!error) {
-    hide();
-  }
-}
-
-MapETA::MapETA(QWidget * parent) : QWidget(parent) {
-  QHBoxLayout *main_layout = new QHBoxLayout(this);
-  main_layout->setContentsMargins(40, 25, 40, 25);
-
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    eta = new QLabel;
-    eta->setAlignment(Qt::AlignCenter);
-    eta->setStyleSheet("font-weight:600");
-
-    eta_unit = new QLabel;
-    eta_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(eta);
-    layout->addWidget(eta_unit);
-    main_layout->addLayout(layout);
-  }
-  main_layout->addSpacing(40);
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    time = new QLabel;
-    time->setAlignment(Qt::AlignCenter);
-
-    time_unit = new QLabel;
-    time_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(time);
-    layout->addWidget(time_unit);
-    main_layout->addLayout(layout);
-  }
-  main_layout->addSpacing(40);
-  {
-    QHBoxLayout *layout = new QHBoxLayout;
-    distance = new QLabel;
-    distance->setAlignment(Qt::AlignCenter);
-    distance->setStyleSheet("font-weight:600");
-
-    distance_unit = new QLabel;
-    distance_unit->setAlignment(Qt::AlignCenter);
-
-    layout->addWidget(distance);
-    layout->addWidget(distance_unit);
-    main_layout->addLayout(layout);
-  }
-
-  setStyleSheet(R"(
-    * {
-      color: white;
-      font-family: "Inter";
-      font-size: 70px;
-    }
-  )");
-
-  QPalette pal = palette();
-  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
-  setAutoFillBackground(true);
-  setPalette(pal);
-}
-
-
-void MapETA::updateETA(float s, float s_typical, float d) {
-  if (d < MANEUVER_TRANSITION_THRESHOLD) {
-    hide();
-    return;
-  }
-
-  // ETA
-  auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
-  if (params.getBool("NavSettingTime24h")) {
-    eta->setText(eta_time.toString("HH:mm"));
-    eta_unit->setText(tr("eta"));
-  } else {
-    auto t = eta_time.toString("h:mm a").split(' ');
-    eta->setText(t[0]);
-    eta_unit->setText(t[1]);
-  }
-
-  // Remaining time
-  if (s < 3600) {
-    time->setText(QString::number(int(s / 60)));
-    time_unit->setText(tr("min"));
-  } else {
-    int hours = int(s) / 3600;
-    time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
-    time_unit->setText(tr("hr"));
-  }
-
-  QString color;
-  if (s / s_typical > 1.5) {
-    color = "#DA3025";
-  } else if (s / s_typical > 1.2) {
-    color = "#DAA725";
-  } else {
-    color = "#25DA6E";
-  }
-
-  time->setStyleSheet(QString(R"(color: %1; font-weight:600;)").arg(color));
-  time_unit->setStyleSheet(QString(R"(color: %1;)").arg(color));
-
-  // Distance
-  QString distance_str;
-  float num = 0;
-  if (uiState()->scene.is_metric) {
-    num = d / 1000.0;
-    distance_unit->setText(tr("km"));
-  } else {
-    num = d * METER_TO_MILE;
-    distance_unit->setText(tr("mi"));
-  }
-
-  distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
-  distance->setText(distance_str);
-
-  show();
-  adjustSize();
-  repaint();
-  adjustSize();
-
-  // Rounded corners
-  const int radius = 25;
-  const auto r = rect();
-
-  // Top corners rounded
-  QPainterPath path;
-  path.setFillRule(Qt::WindingFill);
-  path.addRoundedRect(r, radius, radius);
-
-  // Bottom corners not rounded
-  path.addRect(r.marginsRemoved(QMargins(0, radius, 0, 0)));
-
-  // Set clipping mask
-  QRegion mask = QRegion(path.simplified().toFillPolygon().toPolygon());
-  setMask(mask);
-
-  // Center
-  move(static_cast<QWidget*>(parent())->width() / 2 - width() / 2, 1080 - height() - bdr_s*2);
 }
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index c3d5e92530..5fe79f8b15 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -4,66 +4,24 @@
 
 #include <QGeoCoordinate>
 #include <QGestureEvent>
-#include <QHBoxLayout>
 #include <QLabel>
 #include <QMap>
 #include <QMapboxGL>
 #include <QMouseEvent>
 #include <QOpenGLWidget>
 #include <QPixmap>
+#include <QPushButton>
 #include <QScopedPointer>
 #include <QString>
 #include <QVBoxLayout>
 #include <QWheelEvent>
-#include <QtGlobal>
 
 #include "cereal/messaging/messaging.h"
 #include "common/params.h"
 #include "common/util.h"
 #include "selfdrive/ui/ui.h"
-
-class MapInstructions : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *distance;
-  QLabel *primary;
-  QLabel *secondary;
-  QLabel *icon_01;
-  QWidget *lane_widget;
-  QHBoxLayout *lane_layout;
-  bool error = false;
-  bool is_rhd = false;
-
-public:
-  MapInstructions(QWidget * parent=nullptr);
-  void showError(QString error);
-  void noError();
-  void hideIfNoError();
-
-public slots:
-  void updateDistance(float d);
-  void updateInstructions(cereal::NavInstruction::Reader instruction);
-};
-
-class MapETA : public QWidget {
-  Q_OBJECT
-
-private:
-  QLabel *eta;
-  QLabel *eta_unit;
-  QLabel *time;
-  QLabel *time_unit;
-  QLabel *distance;
-  QLabel *distance_unit;
-  Params params;
-
-public:
-  MapETA(QWidget * parent=nullptr);
-
-public slots:
-  void updateETA(float seconds, float seconds_typical, float distance);
-};
+#include "selfdrive/ui/qt/maps/map_eta.h"
+#include "selfdrive/ui/qt/maps/map_instructions.h"
 
 class MapWindow : public QOpenGLWidget {
   Q_OBJECT
@@ -89,28 +47,34 @@ private:
   bool event(QEvent *event) final;
   bool gestureEvent(QGestureEvent *event);
   void pinchTriggered(QPinchGesture *gesture);
-
-  bool m_sourceAdded = false;
+  void setError(const QString &err_str);
 
   bool loaded_once = false;
-  bool allow_open = true;
 
   // Panning
   QPointF m_lastPos;
-  int pan_counter = 0;
-  int zoom_counter = -1;
+  int interaction_counter = 0;
 
   // Position
+  std::optional<QMapbox::Coordinate> last_valid_nav_dest;
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
-  bool laikad_valid = false;
   bool locationd_valid = false;
+  bool routing_problem = false;
 
+  QWidget *map_overlay;
+  QLabel *error;
   MapInstructions* map_instructions;
   MapETA* map_eta;
 
+  // Blue with normal nav, green when nav is input into the model
+  QColor getNavPathColor(bool nav_enabled) {
+    return nav_enabled ? QColor("#31ee73") : QColor("#31a1ee");
+  }
+
   void clearRoute();
+  void updateDestinationMarker();
   uint64_t route_rcv_frame = 0;
 
 private slots:
@@ -120,8 +84,6 @@ public slots:
   void offroadTransition(bool offroad);
 
 signals:
-  void distanceChanged(float distance);
-  void instructionsChanged(cereal::NavInstruction::Reader instruction);
-  void ETAChanged(float seconds, float seconds_typical, float distance);
+  void requestVisible(bool visible);
+  void requestSettings(bool settings);
 };
-
diff --git a/selfdrive/ui/qt/maps/map_eta.cc b/selfdrive/ui/qt/maps/map_eta.cc
new file mode 100644
index 0000000000..322861ed15
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_eta.cc
@@ -0,0 +1,56 @@
+#include "selfdrive/ui/qt/maps/map_eta.h"
+
+#include <QDateTime>
+#include <QPainter>
+
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/ui.h"
+
+const float MANEUVER_TRANSITION_THRESHOLD = 10;
+
+MapETA::MapETA(QWidget *parent) : QWidget(parent) {
+  setVisible(false);
+  setAttribute(Qt::WA_TranslucentBackground);
+  eta_doc.setUndoRedoEnabled(false);
+  eta_doc.setDefaultStyleSheet("body {font-family:Inter;font-size:70px;color:white;} b{font-weight:600;} td{padding:0 3px;}");
+}
+
+void MapETA::paintEvent(QPaintEvent *event) {
+  if (!eta_doc.isEmpty()) {
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+    p.setPen(Qt::NoPen);
+    p.setBrush(QColor(0, 0, 0, 150));
+    QSizeF txt_size = eta_doc.size();
+    p.drawRoundedRect((width() - txt_size.width()) / 2 - UI_BORDER_SIZE, 0, txt_size.width() + UI_BORDER_SIZE * 2, height() + 25, 25, 25);
+    p.translate((width() - txt_size.width()) / 2, (height() - txt_size.height()) / 2);
+    eta_doc.drawContents(&p);
+  }
+}
+
+void MapETA::updateETA(float s, float s_typical, float d) {
+  // ETA
+  auto eta_t = QDateTime::currentDateTime().addSecs(s).time();
+  auto eta = format_24h ? std::pair{eta_t.toString("HH:mm"), tr("eta")}
+                        : std::pair{eta_t.toString("h:mm a").split(' ')[0], eta_t.toString("a")};
+
+  // Remaining time
+  auto remaining = s < 3600 ? std::pair{QString::number(int(s / 60)), tr("min")}
+                            : std::pair{QString("%1:%2").arg((int)s / 3600).arg(((int)s % 3600) / 60, 2, 10, QLatin1Char('0')), tr("hr")};
+  QString color = "#25DA6E";
+  if (s / s_typical > 1.5)
+    color = "#DA3025";
+  else if (s / s_typical > 1.2)
+    color = "#DAA725";
+
+  // Distance
+  auto distance = map_format_distance(d, uiState()->scene.is_metric);
+
+  eta_doc.setHtml(QString(R"(<body><table><tr style="vertical-align:bottom;"><td><b>%1</b></td><td>%2</td>
+                             <td style="padding-left:40px;color:%3;"><b>%4</b></td><td style="padding-right:40px;color:%3;">%5</td>
+                             <td><b>%6</b></td><td>%7</td></tr></body>)")
+                      .arg(eta.first, eta.second, color, remaining.first, remaining.second, distance.first, distance.second));
+
+  setVisible(d >= MANEUVER_TRANSITION_THRESHOLD);
+  update();
+}
diff --git a/selfdrive/ui/qt/maps/map_eta.h b/selfdrive/ui/qt/maps/map_eta.h
new file mode 100644
index 0000000000..6e59837de3
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_eta.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QPaintEvent>
+#include <QTextDocument>
+#include <QWidget>
+
+#include "common/params.h"
+
+class MapETA : public QWidget {
+  Q_OBJECT
+
+public:
+  MapETA(QWidget * parent=nullptr);
+  void updateETA(float seconds, float seconds_typical, float distance);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void showEvent(QShowEvent *event) override { format_24h = param.getBool("NavSettingTime24h"); }
+
+  bool format_24h = false;
+  QTextDocument eta_doc;
+  Params param;
+};
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 8d5d4e1715..a23c8990d3 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -1,5 +1,9 @@
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 
+#include <algorithm>
+#include <string>
+#include <utility>
+
 #include <QJsonDocument>
 #include <QJsonObject>
 
@@ -31,7 +35,7 @@ QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in) {
 QMapbox::CoordinatesCollections model_to_collection(
   const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
   const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::ModelDataV2::XYZTData::Reader &line){
+  const cereal::XYZTData::Reader &line){
 
   Eigen::Vector3d ecef(positionECEF.getValue()[0], positionECEF.getValue()[1], positionECEF.getValue()[2]);
   Eigen::Vector3d orient(calibratedOrientationECEF.getValue()[0], calibratedOrientationECEF.getValue()[1], calibratedOrientationECEF.getValue()[2]);
@@ -57,7 +61,7 @@ QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordina
 
 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader& coordinate_list) {
   QMapbox::Coordinates coordinates;
-  for (auto const &c: coordinate_list) {
+  for (auto const &c : coordinate_list) {
     coordinates.push_back({c.getLatitude(), c.getLongitude()});
   }
   return {QMapbox::CoordinatesCollection{coordinates}};
@@ -129,6 +133,23 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &para
   }
 }
 
+// return {distance, unit}
+std::pair<QString, QString> map_format_distance(float d, bool is_metric) {
+  auto round_distance = [](float d) -> float {
+    return (d > 10) ? std::nearbyint(d) : std::nearbyint(d * 10) / 10.0;
+  };
+
+  d = std::max(d, 0.0f);
+  if (is_metric) {
+    return (d > 500) ? std::pair{QString::number(round_distance(d / 1000)), QObject::tr("km")}
+                     : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("m")};
+  } else {
+    float feet = d * METER_TO_FOOT;
+    return (feet > 500) ? std::pair{QString::number(round_distance(d * METER_TO_MILE)), QObject::tr("mi")}
+                        : std::pair{QString::number(50 * std::nearbyint(d / 50)), QObject::tr("ft")};
+  }
+}
+
 double angle_difference(double angle1, double angle2) {
   double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
   return diff < -180.0 ? diff + 360.0 : diff;
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 6bd5b0f067..6c6a8d12fb 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -1,6 +1,8 @@
 #pragma once
 
 #include <optional>
+#include <string>
+#include <utility>
 #include <eigen3/Eigen/Dense>
 #include <QMapboxGL>
 #include <QGeoCoordinate>
@@ -20,11 +22,11 @@ QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
 QMapbox::CoordinatesCollections model_to_collection(
   const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
   const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
-  const cereal::ModelDataV2::XYZTData::Reader &line);
+  const cereal::XYZTData::Reader &line);
 QMapbox::CoordinatesCollections coordinate_to_collection(const QMapbox::Coordinate &c);
 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
 QMapbox::CoordinatesCollections coordinate_list_to_collection(const QList<QGeoCoordinate> &coordinate_list);
 QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
-
 std::optional<QMapbox::Coordinate> coordinate_from_param(const std::string &param);
+std::pair<QString, QString> map_format_distance(float d, bool is_metric);
 double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/qt/maps/map_instructions.cc b/selfdrive/ui/qt/maps/map_instructions.cc
new file mode 100644
index 0000000000..ba8cb356bd
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_instructions.cc
@@ -0,0 +1,144 @@
+#include "selfdrive/ui/qt/maps/map_instructions.h"
+
+#include <QDir>
+#include <QVBoxLayout>
+
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/ui.h"
+
+const QString ICON_SUFFIX = ".png";
+
+MapInstructions::MapInstructions(QWidget *parent) : QWidget(parent) {
+  is_rhd = Params().getBool("IsRhdDetected");
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(11, UI_BORDER_SIZE, 11, 20);
+
+  QHBoxLayout *top_layout = new QHBoxLayout;
+  top_layout->addWidget(icon_01 = new QLabel, 0, Qt::AlignTop);
+
+  QVBoxLayout *right_layout = new QVBoxLayout;
+  right_layout->setContentsMargins(9, 9, 9, 0);
+  right_layout->addWidget(distance = new QLabel);
+  distance->setStyleSheet(R"(font-size: 90px;)");
+
+  right_layout->addWidget(primary = new QLabel);
+  primary->setStyleSheet(R"(font-size: 60px;)");
+  primary->setWordWrap(true);
+
+  right_layout->addWidget(secondary = new QLabel);
+  secondary->setStyleSheet(R"(font-size: 50px;)");
+  secondary->setWordWrap(true);
+
+  top_layout->addLayout(right_layout);
+
+  main_layout->addLayout(top_layout);
+  main_layout->addLayout(lane_layout = new QHBoxLayout);
+  lane_layout->setAlignment(Qt::AlignHCenter);
+  lane_layout->setSpacing(10);
+
+  setStyleSheet("color:white");
+  QPalette pal = palette();
+  pal.setColor(QPalette::Background, QColor(0, 0, 0, 150));
+  setAutoFillBackground(true);
+  setPalette(pal);
+
+  buildPixmapCache();
+}
+
+void MapInstructions::buildPixmapCache() {
+  QDir dir("../assets/navigation");
+  for (QString fn : dir.entryList({"*" + ICON_SUFFIX}, QDir::Files)) {
+    QPixmap pm(dir.filePath(fn));
+    QString key = fn.left(fn.size() - ICON_SUFFIX.length());
+    pm = pm.scaledToWidth(200, Qt::SmoothTransformation);
+
+    // Maneuver icons
+    pixmap_cache[key] = pm;
+    // lane direction icons
+    if (key.contains("turn_")) {
+      pixmap_cache["lane_" + key] = pm.scaled({125, 125}, Qt::IgnoreAspectRatio, Qt::SmoothTransformation);
+    }
+
+    // for rhd, reflect direction and then flip
+    if (key.contains("_left")) {
+      pixmap_cache["rhd_" + key.replace("_left", "_right")] = pm.transformed(QTransform().scale(-1, 1));
+    } else if (key.contains("_right")) {
+      pixmap_cache["rhd_" + key.replace("_right", "_left")] = pm.transformed(QTransform().scale(-1, 1));
+    }
+  }
+}
+
+void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruction) {
+  setUpdatesEnabled(false);
+
+  // Show instruction text
+  QString primary_str = QString::fromStdString(instruction.getManeuverPrimaryText());
+  QString secondary_str = QString::fromStdString(instruction.getManeuverSecondaryText());
+
+  primary->setText(primary_str);
+  secondary->setVisible(secondary_str.length() > 0);
+  secondary->setText(secondary_str);
+
+  auto distance_str_pair = map_format_distance(instruction.getManeuverDistance(), uiState()->scene.is_metric);
+  distance->setText(QString("%1 %2").arg(distance_str_pair.first, distance_str_pair.second));
+
+  // Show arrow with direction
+  QString type = QString::fromStdString(instruction.getManeuverType());
+  QString modifier = QString::fromStdString(instruction.getManeuverModifier());
+  if (!type.isEmpty()) {
+    QString fn = "direction_" + type;
+    if (!modifier.isEmpty()) {
+      fn += "_" + modifier;
+    }
+    fn = fn.replace(' ', '_');
+    bool rhd = is_rhd && (fn.contains("_left") || fn.contains("_right"));
+    icon_01->setPixmap(pixmap_cache[!rhd ? fn : "rhd_" + fn]);
+    icon_01->setSizePolicy(QSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed));
+    icon_01->setVisible(true);
+  } else {
+    icon_01->setVisible(false);
+  }
+
+  // Hide distance after arrival
+  distance->setVisible(type != "arrive" || instruction.getManeuverDistance() > 0);
+
+  // Show lanes
+  auto lanes = instruction.getLanes();
+  for (int i = 0; i < lanes.size(); ++i) {
+    bool active = lanes[i].getActive();
+    const auto active_direction = lanes[i].getActiveDirection();
+
+    // TODO: Make more images based on active direction and combined directions
+    QString fn = "lane_direction_";
+
+    // active direction has precedence
+    if (active && active_direction != cereal::NavInstruction::Direction::NONE) {
+      fn += "turn_" + DIRECTIONS[active_direction];
+    } else {
+      for (auto const &direction : lanes[i].getDirections()) {
+        if (direction != cereal::NavInstruction::Direction::NONE) {
+          fn += "turn_" + DIRECTIONS[direction];
+          break;
+        }
+      }
+    }
+
+    if (!active) {
+      fn += "_inactive";
+    }
+
+    QLabel *label = (i < lane_labels.size()) ? lane_labels[i] : lane_labels.emplace_back(new QLabel);
+    if (!label->parentWidget()) {
+      lane_layout->addWidget(label);
+    }
+    label->setPixmap(pixmap_cache[fn]);
+    label->setVisible(true);
+  }
+
+  for (int i = lanes.size(); i < lane_labels.size(); ++i) {
+    lane_labels[i]->setVisible(false);
+  }
+
+  setUpdatesEnabled(true);
+  setVisible(true);
+}
diff --git a/selfdrive/ui/qt/maps/map_instructions.h b/selfdrive/ui/qt/maps/map_instructions.h
new file mode 100644
index 0000000000..06a943d27f
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_instructions.h
@@ -0,0 +1,38 @@
+#pragma once
+
+#include <map>
+#include <vector>
+
+#include <QHash>
+#include <QHBoxLayout>
+#include <QLabel>
+
+#include "cereal/gen/cpp/log.capnp.h"
+
+static std::map<cereal::NavInstruction::Direction, QString> DIRECTIONS = {
+  {cereal::NavInstruction::Direction::NONE, "none"},
+  {cereal::NavInstruction::Direction::LEFT, "left"},
+  {cereal::NavInstruction::Direction::RIGHT, "right"},
+  {cereal::NavInstruction::Direction::STRAIGHT, "straight"},
+  {cereal::NavInstruction::Direction::SLIGHT_LEFT, "slight_left"},
+  {cereal::NavInstruction::Direction::SLIGHT_RIGHT, "slight_right"},
+};
+
+class MapInstructions : public QWidget {
+  Q_OBJECT
+
+private:
+  QLabel *distance;
+  QLabel *primary;
+  QLabel *secondary;
+  QLabel *icon_01;
+  QHBoxLayout *lane_layout;
+  bool is_rhd = false;
+  std::vector<QLabel *> lane_labels;
+  QHash<QString, QPixmap> pixmap_cache;
+
+public:
+  MapInstructions(QWidget * parent=nullptr);
+  void buildPixmapCache();
+  void updateInstructions(cereal::NavInstruction::Reader instruction);
+};
diff --git a/selfdrive/ui/qt/maps/map_panel.cc b/selfdrive/ui/qt/maps/map_panel.cc
new file mode 100644
index 0000000000..f1b8f812fa
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_panel.cc
@@ -0,0 +1,43 @@
+#include "selfdrive/ui/qt/maps/map_panel.h"
+
+#include <QHBoxLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/qt/maps/map.h"
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/ui.h"
+
+MapPanel::MapPanel(const QMapboxGLSettings &mapboxSettings, QWidget *parent) : QFrame(parent) {
+  content_stack = new QStackedLayout(this);
+  content_stack->setContentsMargins(0, 0, 0, 0);
+
+  auto map = new MapWindow(mapboxSettings);
+  QObject::connect(uiState(), &UIState::offroadTransition, map, &MapWindow::offroadTransition);
+  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
+    content_stack->setCurrentIndex(0);
+  });
+  QObject::connect(map, &MapWindow::requestVisible, [=](bool visible) {
+    // when we show the map for a new route, signal HomeWindow to hide the sidebar
+    if (visible) { emit mapPanelRequested(); }
+    setVisible(visible);
+  });
+  QObject::connect(map, &MapWindow::requestSettings, [=](bool settings) {
+    content_stack->setCurrentIndex(settings ? 1 : 0);
+  });
+  content_stack->addWidget(map);
+
+  auto settings = new MapSettings(true, parent);
+  QObject::connect(settings, &MapSettings::closeSettings, [=]() {
+    content_stack->setCurrentIndex(0);
+  });
+  content_stack->addWidget(settings);
+}
+
+void MapPanel::toggleMapSettings() {
+  // show settings if not visible, then toggle between map and settings
+  int new_index = isVisible() ? (1 - content_stack->currentIndex()) : 1;
+  content_stack->setCurrentIndex(new_index);
+  emit mapPanelRequested();
+  show();
+}
diff --git a/selfdrive/ui/qt/maps/map_panel.h b/selfdrive/ui/qt/maps/map_panel.h
new file mode 100644
index 0000000000..43a2cc7c89
--- /dev/null
+++ b/selfdrive/ui/qt/maps/map_panel.h
@@ -0,0 +1,21 @@
+#pragma once
+
+#include <QFrame>
+#include <QMapboxGL>
+#include <QStackedLayout>
+
+class MapPanel : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit MapPanel(const QMapboxGLSettings &settings, QWidget *parent = nullptr);
+
+signals:
+  void mapPanelRequested();
+
+public slots:
+  void toggleMapSettings();
+
+private:
+  QStackedLayout *content_stack;
+};
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 3205ca517d..a4386ded72 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -1,303 +1,345 @@
-#include "map_settings.h"
+#include "selfdrive/ui/qt/maps/map_settings.h"
 
+#include <utility>
+
+#include <QApplication>
 #include <QDebug>
 
 #include "common/util.h"
-#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/request_repeater.h"
-#include "selfdrive/ui/qt/widgets/controls.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
-static QString shorten(const QString &str, int max_len) {
-  return str.size() > max_len ? str.left(max_len).trimmed() + "…" : str;
-}
+MapSettings::MapSettings(bool closeable, QWidget *parent) : QFrame(parent) {
+  setContentsMargins(0, 0, 0, 0);
+  setAttribute(Qt::WA_NoMousePropagation);
 
-MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
-  stack = new QStackedWidget;
-
-  QWidget * main_widget = new QWidget;
-  QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
-  const int icon_size = 200;
-
-  // Home
-  QHBoxLayout *home_layout = new QHBoxLayout;
-  home_button = new QPushButton;
-  home_button->setIconSize(QSize(icon_size, icon_size));
-  home_layout->addWidget(home_button);
-
-  home_address = new QLabel;
-  home_address->setWordWrap(true);
-  home_layout->addSpacing(30);
-  home_layout->addWidget(home_address);
-  home_layout->addStretch();
-
-  // Work
-  QHBoxLayout *work_layout = new QHBoxLayout;
-  work_button = new QPushButton;
-  work_button->setIconSize(QSize(icon_size, icon_size));
-  work_layout->addWidget(work_button);
-
-  work_address = new QLabel;
-  work_address->setWordWrap(true);
-  work_layout->addSpacing(30);
-  work_layout->addWidget(work_address);
-  work_layout->addStretch();
-
-  // Home & Work layout
-  QHBoxLayout *home_work_layout = new QHBoxLayout;
-  home_work_layout->addLayout(home_layout, 1);
-  home_work_layout->addSpacing(50);
-  home_work_layout->addLayout(work_layout, 1);
-
-  main_layout->addLayout(home_work_layout);
-  main_layout->addSpacing(20);
-  main_layout->addWidget(horizontal_line());
-  main_layout->addSpacing(20);
-
-  // Current route
-  {
-    current_widget = new QWidget(this);
-    QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
-
-    QLabel *title = new QLabel(tr("Current Destination"));
-    title->setStyleSheet("font-size: 55px");
-    current_layout->addWidget(title);
-
-    current_route = new ButtonControl("", tr("CLEAR"));
-    current_route->setStyleSheet("padding-left: 40px;");
-    current_layout->addWidget(current_route);
-    QObject::connect(current_route, &ButtonControl::clicked, [=]() {
-      params.remove("NavDestination");
-      updateCurrentRoute();
-    });
-
-    current_layout->addSpacing(10);
-    current_layout->addWidget(horizontal_line());
-    current_layout->addSpacing(20);
-  }
-  main_layout->addWidget(current_widget);
+  auto *frame = new QVBoxLayout(this);
+  frame->setContentsMargins(40, 40, 40, 0);
+  frame->setSpacing(0);
 
-  // Recents
-  QLabel *recents_title = new QLabel(tr("Recent Destinations"));
-  recents_title->setStyleSheet("font-size: 55px");
-  main_layout->addWidget(recents_title);
-  main_layout->addSpacing(20);
+  auto *heading_frame = new QHBoxLayout;
+  heading_frame->setContentsMargins(0, 0, 0, 0);
+  heading_frame->setSpacing(32);
+  {
+    if (closeable) {
+      auto *close_btn = new QPushButton("←");
+      close_btn->setStyleSheet(R"(
+        QPushButton {
+          color: #FFFFFF;
+          font-size: 100px;
+          padding-bottom: 8px;
+          border 1px grey solid;
+          border-radius: 70px;
+          background-color: #292929;
+          font-weight: 500;
+        }
+        QPushButton:pressed {
+          background-color: #3B3B3B;
+        }
+      )");
+      close_btn->setFixedSize(140, 140);
+      QObject::connect(close_btn, &QPushButton::clicked, [=]() { emit closeSettings(); });
+      // TODO: read map_on_left from ui state
+      heading_frame->addWidget(close_btn);
+    }
 
-  recent_layout = new QVBoxLayout;
-  QWidget *recent_widget = new LayoutWidget(recent_layout, this);
-  ScrollView *recent_scroller = new ScrollView(recent_widget, this);
-  main_layout->addWidget(recent_scroller);
+    auto *heading = new QVBoxLayout;
+    heading->setContentsMargins(0, 0, 0, 0);
+    heading->setSpacing(16);
+    {
+      auto *title = new QLabel(tr("NAVIGATION"), this);
+      title->setStyleSheet("color: #FFFFFF; font-size: 54px; font-weight: 600;");
+      heading->addWidget(title);
 
-  // No prime upsell
-  QWidget * no_prime_widget = new QWidget;
-  {
-    QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
-    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);
-
-    no_prime_layout->addWidget(signup_header);
-    no_prime_layout->addSpacing(50);
-
-    QLabel *screenshot = new QLabel;
-    QPixmap pm = QPixmap("../assets/navigation/screenshot.png");
-    screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
-    no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
-
-    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);
-
-    no_prime_layout->addSpacing(20);
-    no_prime_layout->addWidget(signup);
-    no_prime_layout->addStretch();
+      auto *subtitle = new QLabel(tr("Manage at connect.comma.ai"), this);
+      subtitle->setStyleSheet("color: #A0A0A0; font-size: 40px; font-weight: 300;");
+      heading->addWidget(subtitle);
+    }
+    heading_frame->addLayout(heading, 1);
   }
-
-  stack->addWidget(main_widget);
-  stack->addWidget(no_prime_widget);
-  connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) {
-    stack->setCurrentIndex(prime_type ? 0 : 1);
+  frame->addLayout(heading_frame);
+  frame->addSpacing(32);
+
+  current_widget = new DestinationWidget(this);
+  QObject::connect(current_widget, &DestinationWidget::actionClicked, [=]() {
+    if (current_destination.empty()) return;
+    params.remove("NavDestination");
+    updateCurrentRoute();
   });
+  frame->addWidget(current_widget);
+  frame->addSpacing(32);
 
-  QVBoxLayout *wrapper = new QVBoxLayout(this);
-  wrapper->addWidget(stack);
+  QWidget *destinations_container = new QWidget(this);
+  destinations_layout = new QVBoxLayout(destinations_container);
+  destinations_layout->setContentsMargins(0, 32, 0, 32);
+  destinations_layout->setSpacing(20);
+  destinations_layout->addWidget(home_widget = new DestinationWidget(this));
+  destinations_layout->addWidget(work_widget = new DestinationWidget(this));
+  QObject::connect(home_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+  QObject::connect(work_widget, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+  destinations_layout->addStretch();
 
+  ScrollView *destinations_scroller = new ScrollView(destinations_container, this);
+  destinations_scroller->setFrameShape(QFrame::NoFrame);
+  frame->addWidget(destinations_scroller);
 
-  clear();
+  setStyleSheet("MapSettings { background-color: #333333; }");
 
-  if (auto dongle_id = getDongleId()) {
-    // Fetch favorite and recent locations
-    {
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
-      RequestRepeater* repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
-      QObject::connect(repeater, &RequestRepeater::requestDone, this, &MapPanel::parseResponse);
-    }
+  QObject::connect(NavigationRequest::instance(), &NavigationRequest::locationsUpdated, this, &MapSettings::updateLocations);
+  QObject::connect(NavigationRequest::instance(), &NavigationRequest::nextDestinationUpdated, this, &MapSettings::updateCurrentRoute);
 
-    // Destination set while offline
-    {
-      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
-      RequestRepeater* repeater = new RequestRepeater(this, url, "", 10, true);
-      HttpRequest* deleter = new HttpRequest(this);
+  current_locations = NavigationRequest::instance()->currentLocations();
+}
 
-      QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
-        if (success && resp != "null") {
-          if (params.get("NavDestination").empty()) {
-            qWarning() << "Setting NavDestination from /next" << resp;
-            params.put("NavDestination", resp.toStdString());
-          } else {
-            qWarning() << "Got location from /next, but NavDestination already set";
-          }
+void MapSettings::showEvent(QShowEvent *event) {
+  updateCurrentRoute();
+}
 
-          // Send DELETE to clear destination server side
-          deleter->sendRequest(url, HttpRequest::Method::DELETE);
-        }
-      });
+void MapSettings::updateCurrentRoute() {
+  auto dest = QString::fromStdString(params.get("NavDestination"));
+  if (dest.size()) {
+    QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
+    if (doc.isNull()) {
+      qWarning() << "JSON Parse failed on NavDestination" << dest;
+      return;
     }
+    current_destination = doc.object();
+    current_widget->set(current_destination, true);
+  } else {
+    current_destination = {};
+    current_widget->unset("", true);
   }
+  if (isVisible()) refresh();
 }
 
-void MapPanel::showEvent(QShowEvent *event) {
-  updateCurrentRoute();
+void MapSettings::updateLocations(const QJsonArray &locations) {
+  current_locations = locations;
   refresh();
 }
 
-void MapPanel::clear() {
-  home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
-  home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  home_address->setText(tr("No home\nlocation set"));
-  home_button->disconnect();
+void MapSettings::refresh() {
+  setUpdatesEnabled(false);
 
-  work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
-  work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  work_address->setText(tr("No work\nlocation set"));
-  work_button->disconnect();
+  auto get_w = [this](int i) {
+    auto w = i < widgets.size() ? widgets[i] : widgets.emplace_back(new DestinationWidget);
+    if (!w->parentWidget()) {
+      destinations_layout->insertWidget(destinations_layout->count() - 1, w);
+      QObject::connect(w, &DestinationWidget::navigateTo, this, &MapSettings::navigateTo);
+    }
+    return w;
+  };
+
+  home_widget->unset(NAV_FAVORITE_LABEL_HOME);
+  work_widget->unset(NAV_FAVORITE_LABEL_WORK);
+
+  int n = 0;
+  for (auto location : current_locations) {
+    DestinationWidget *w = nullptr;
+    auto dest = location.toObject();
+    if (dest["save_type"].toString() == NAV_TYPE_FAVORITE) {
+      auto label = dest["label"].toString();
+      if (label == NAV_FAVORITE_LABEL_HOME) w = home_widget;
+      if (label == NAV_FAVORITE_LABEL_WORK) w = work_widget;
+    }
+    w = w ? w : get_w(n++);
+    w->set(dest, false);
+    w->setVisible(dest != current_destination);
+  }
+  for (; n < widgets.size(); ++n) widgets[n]->setVisible(false);
 
-  clearLayout(recent_layout);
+  setUpdatesEnabled(true);
 }
 
-void MapPanel::updateCurrentRoute() {
-  auto dest = QString::fromStdString(params.get("NavDestination"));
-  QJsonDocument doc = QJsonDocument::fromJson(dest.trimmed().toUtf8());
-  if (dest.size() && !doc.isNull()) {
-    auto name = doc["place_name"].toString();
-    auto details = doc["place_details"].toString();
-    current_route->setTitle(shorten(name + " " + details, 42));
-  }
-  current_widget->setVisible(dest.size() && !doc.isNull());
+void MapSettings::navigateTo(const QJsonObject &place) {
+  QJsonDocument doc(place);
+  params.put("NavDestination", doc.toJson().toStdString());
+  updateCurrentRoute();
+  emit closeSettings();
 }
 
-void MapPanel::parseResponse(const QString &response, bool success) {
-  if (!success) return;
+DestinationWidget::DestinationWidget(QWidget *parent) : QPushButton(parent) {
+  setContentsMargins(0, 0, 0, 0);
+
+  auto *frame = new QHBoxLayout(this);
+  frame->setContentsMargins(32, 24, 32, 24);
+  frame->setSpacing(32);
+
+  icon = new QLabel(this);
+  icon->setAlignment(Qt::AlignCenter);
+  icon->setFixedSize(96, 96);
+  icon->setObjectName("icon");
+  frame->addWidget(icon);
 
-  cur_destinations = response;
-  if (isVisible()) {
-    refresh();
+  auto *inner_frame = new QVBoxLayout;
+  inner_frame->setContentsMargins(0, 0, 0, 0);
+  inner_frame->setSpacing(0);
+  {
+    title = new ElidedLabel(this);
+    title->setAttribute(Qt::WA_TransparentForMouseEvents);
+    inner_frame->addWidget(title);
+
+    subtitle = new ElidedLabel(this);
+    subtitle->setAttribute(Qt::WA_TransparentForMouseEvents);
+    subtitle->setObjectName("subtitle");
+    inner_frame->addWidget(subtitle);
   }
+  frame->addLayout(inner_frame, 1);
+
+  action = new QPushButton(this);
+  action->setFixedSize(96, 96);
+  action->setObjectName("action");
+  action->setStyleSheet("font-size: 65px; font-weight: 600;");
+  QObject::connect(action, &QPushButton::clicked, this, &QPushButton::clicked);
+  QObject::connect(action, &QPushButton::clicked, this,  &DestinationWidget::actionClicked);
+  frame->addWidget(action);
+
+  setFixedHeight(164);
+  setStyleSheet(R"(
+    DestinationWidget { background-color: #202123; border-radius: 10px; }
+    QLabel { color: #FFFFFF; font-size: 48px; font-weight: 400; }
+    #icon { background-color: #3B4356; border-radius: 48px; }
+    #subtitle { color: #9BA0A5; }
+    #action { border: none; border-radius: 48px; color: #FFFFFF; padding-bottom: 4px; }
+
+    /* current destination */
+    [current="true"] { background-color: #E8E8E8; }
+    [current="true"] QLabel { color: #000000; }
+    [current="true"] #icon { background-color: #42906B; }
+    [current="true"] #subtitle { color: #333333; }
+    [current="true"] #action { color: #202123; }
+
+    /* no saved destination */
+    [set="false"] QLabel { color: #9BA0A5; }
+    [current="true"][set="false"] QLabel { color: #A0000000; }
+
+    /* pressed */
+    [current="false"]:pressed { background-color: #18191B; }
+    [current="true"] #action:pressed { background-color: #D6D6D6; }
+  )");
+  QObject::connect(this, &QPushButton::clicked, [this]() { if (!dest.isEmpty()) emit navigateTo(dest); });
 }
 
-void MapPanel::refresh() {
-  if (cur_destinations == prev_destinations) return;
+void DestinationWidget::set(const QJsonObject &destination, bool current) {
+  if (dest == destination) return;
+
+  dest = destination;
+  setProperty("current", current);
+  setProperty("set", true);
+
+  auto icon_pixmap = current ? icons().directions : icons().recent;
+  auto title_text = destination["place_name"].toString();
+  auto subtitle_text = destination["place_details"].toString();
+
+  if (destination["save_type"] == NAV_TYPE_FAVORITE) {
+    if (destination["label"] == NAV_FAVORITE_LABEL_HOME) {
+      icon_pixmap = icons().home;
+      subtitle_text = title_text + ", " + subtitle_text;
+      title_text = tr("Home");
+    } else if (destination["label"] == NAV_FAVORITE_LABEL_WORK) {
+      icon_pixmap = icons().work;
+      subtitle_text = title_text + ", " + subtitle_text;
+      title_text = tr("Work");
+    } else {
+      icon_pixmap = icons().favorite;
+    }
+  }
+
+  icon->setPixmap(icon_pixmap);
 
-  QJsonDocument doc = QJsonDocument::fromJson(cur_destinations.trimmed().toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on navigation locations";
-    return;
+  title->setText(title_text);
+  subtitle->setText(subtitle_text);
+  subtitle->setVisible(true);
+
+  // TODO: use pixmap
+  action->setAttribute(Qt::WA_TransparentForMouseEvents, !current);
+  action->setText(current ? "×" : "→");
+  action->setVisible(true);
+
+  setStyleSheet(styleSheet());
+}
+
+void DestinationWidget::unset(const QString &label, bool current) {
+  dest = {};
+  setProperty("current", current);
+  setProperty("set", false);
+
+  if (label.isEmpty()) {
+    icon->setPixmap(icons().directions);
+    title->setText(tr("No destination set"));
+  } else {
+    QString title_text = label == NAV_FAVORITE_LABEL_HOME ? tr("home") : tr("work");
+    icon->setPixmap(label == NAV_FAVORITE_LABEL_HOME ? icons().home : icons().work);
+    title->setText(tr("No %1 location set").arg(title_text));
   }
 
-  prev_destinations = cur_destinations;
-  clear();
-
-  bool has_recents = false;
-  for (auto &save_type: {"favorite", "recent"}) {
-    for (auto location : doc.array()) {
-      auto obj = location.toObject();
-
-      auto type = obj["save_type"].toString();
-      auto label = obj["label"].toString();
-      auto name = obj["place_name"].toString();
-      auto details = obj["place_details"].toString();
-
-      if (type != save_type) continue;
-
-      if (type == "favorite" && label == "home") {
-        home_address->setText(name);
-        home_address->setStyleSheet(R"(font-size: 50px; color: white;)");
-        home_button->setIcon(QPixmap("../assets/navigation/home.png"));
-        QObject::connect(home_button, &QPushButton::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
-      } else if (type == "favorite" && label == "work") {
-        work_address->setText(name);
-        work_address->setStyleSheet(R"(font-size: 50px; color: white;)");
-        work_button->setIcon(QPixmap("../assets/navigation/work.png"));
-        QObject::connect(work_button, &QPushButton::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
-      } else {
-        ClickableWidget *widget = new ClickableWidget;
-        QHBoxLayout *layout = new QHBoxLayout(widget);
-        layout->setContentsMargins(15, 14, 40, 14);
-
-        QLabel *star = new QLabel("★");
-        auto sp = star->sizePolicy();
-        sp.setRetainSizeWhenHidden(true);
-        star->setSizePolicy(sp);
-
-        star->setVisible(type == "favorite");
-        star->setStyleSheet(R"(font-size: 60px;)");
-        layout->addWidget(star);
-        layout->addSpacing(10);
-
-
-        QLabel *recent_label = new QLabel(shorten(name + " " + details, 45));
-        recent_label->setStyleSheet(R"(font-size: 50px;)");
-
-        layout->addWidget(recent_label);
-        layout->addStretch();
-
-        QLabel *arrow = new QLabel("→");
-        arrow->setStyleSheet(R"(font-size: 60px;)");
-        layout->addWidget(arrow);
-
-        widget->setStyleSheet(R"(
-          .ClickableWidget {
-            border-radius: 10px;
-            border-width: 1px;
-            border-style: solid;
-            border-color: gray;
-          }
-          QWidget {
-            background-color: #393939;
-            color: #9c9c9c;
-          }
-        )");
+  subtitle->setVisible(false);
+  action->setVisible(false);
 
-        QObject::connect(widget, &ClickableWidget::clicked, [=]() {
-          navigateTo(obj);
-          emit closeSettings();
-        });
+  setStyleSheet(styleSheet());
+  setVisible(true);
+}
+
+// singleton NavigationRequest
+
+NavigationRequest *NavigationRequest::instance() {
+  static NavigationRequest *request = new NavigationRequest(qApp);
+  return request;
+}
 
-        recent_layout->addWidget(widget);
-        recent_layout->addSpacing(10);
-        has_recents = true;
-      }
+NavigationRequest::NavigationRequest(QObject *parent) : QObject(parent) {
+  if (auto dongle_id = getDongleId()) {
+    {
+      // Fetch favorite and recent locations
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/locations";
+      RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_NavDestinations", 30, true);
+      QObject::connect(repeater, &RequestRepeater::requestDone, this, &NavigationRequest::parseLocationsResponse);
     }
+    {
+      auto param_watcher = new ParamWatcher(this);
+      QObject::connect(param_watcher, &ParamWatcher::paramChanged, this, &NavigationRequest::nextDestinationUpdated);
 
-  }
+      // Destination set while offline
+      QString url = CommaApi::BASE_URL + "/v1/navigation/" + *dongle_id + "/next";
+      HttpRequest *deleter = new HttpRequest(this);
+      RequestRepeater *repeater = new RequestRepeater(this, url, "", 10, true);
+      QObject::connect(repeater, &RequestRepeater::requestDone, [=](const QString &resp, bool success) {
+        if (success && resp != "null") {
+          if (params.get("NavDestination").empty()) {
+            qWarning() << "Setting NavDestination from /next" << resp;
+            params.put("NavDestination", resp.toStdString());
+          } else {
+            qWarning() << "Got location from /next, but NavDestination already set";
+          }
+          // Send DELETE to clear destination server side
+          deleter->sendRequest(url, HttpRequest::Method::DELETE);
+        }
 
-  if (!has_recents) {
-    QLabel *no_recents = new QLabel(tr("no recent destinations"));
-    no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
-    recent_layout->addWidget(no_recents);
+        // athena can set destination at any time
+        param_watcher->addParam("NavDestination");
+      });
+    }
   }
-
-  recent_layout->addStretch();
-  repaint();
 }
 
-void MapPanel::navigateTo(const QJsonObject &place) {
-  QJsonDocument doc(place);
-  params.put("NavDestination", doc.toJson().toStdString());
+static void swap(QJsonValueRef v1, QJsonValueRef v2) { std::swap(v1, v2); }
+
+void NavigationRequest::parseLocationsResponse(const QString &response, bool success) {
+  if (!success || response == prev_response) return;
+
+  prev_response = response;
+  QJsonDocument doc = QJsonDocument::fromJson(response.trimmed().toUtf8());
+  if (doc.isNull()) {
+    qWarning() << "JSON Parse failed on navigation locations" << response;
+    return;
+  }
+
+  // Sort: alphabetical FAVORITES, and then most recent (as returned by API).
+  // We don't need to care about the ordering of HOME and WORK. DestinationWidget always displays them at the top.
+  locations = doc.array();
+  std::stable_sort(locations.begin(), locations.end(), [](const QJsonValue &a, const QJsonValue &b) {
+    bool has_favorite = a["save_type"] == NAV_TYPE_FAVORITE || b["save_type"] == NAV_TYPE_FAVORITE;
+    return has_favorite && (std::tuple(a["save_type"].toString(), a["place_name"].toString()) <
+                            std::tuple(b["save_type"].toString(), b["place_name"].toString()));
+  });
+  emit locationsUpdated(locations);
 }
diff --git a/selfdrive/ui/qt/maps/map_settings.h b/selfdrive/ui/qt/maps/map_settings.h
index 165673b7c1..bee0061932 100644
--- a/selfdrive/ui/qt/maps/map_settings.h
+++ b/selfdrive/ui/qt/maps/map_settings.h
@@ -1,39 +1,102 @@
 #pragma once
+
+#include <vector>
+
+#include <QFrame>
 #include <QJsonArray>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QLabel>
 #include <QPushButton>
 #include <QVBoxLayout>
-#include <QWidget>
-#include <QStackedWidget>
 
 #include "common/params.h"
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
-class MapPanel : public QWidget {
+const QString NAV_TYPE_FAVORITE = "favorite";
+const QString NAV_TYPE_RECENT = "recent";
+
+const QString NAV_FAVORITE_LABEL_HOME = "home";
+const QString NAV_FAVORITE_LABEL_WORK = "work";
+
+class DestinationWidget;
+
+class NavigationRequest : public QObject {
   Q_OBJECT
+
 public:
-  explicit MapPanel(QWidget* parent = nullptr);
+  static NavigationRequest *instance();
+  QJsonArray currentLocations() const { return locations; }
+
+signals:
+  void locationsUpdated(const QJsonArray &locations);
+  void nextDestinationUpdated();
+
+private:
+  NavigationRequest(QObject *parent);
+  void parseLocationsResponse(const QString &response, bool success);
+
+  Params params;
+  QString prev_response;
+  QJsonArray locations;
+};
+
+class MapSettings : public QFrame {
+  Q_OBJECT
+public:
+  explicit MapSettings(bool closeable = false, QWidget *parent = nullptr);
 
   void navigateTo(const QJsonObject &place);
-  void parseResponse(const QString &response, bool success);
+  void updateLocations(const QJsonArray &locations);
   void updateCurrentRoute();
-  void clear();
 
 private:
   void showEvent(QShowEvent *event) override;
   void refresh();
 
   Params params;
-  QString prev_destinations, cur_destinations;
-  QStackedWidget *stack;
-  QPushButton *home_button, *work_button;
-  QLabel *home_address, *work_address;
-  QVBoxLayout *recent_layout;
-  QWidget *current_widget;
-  ButtonControl *current_route;
+  QJsonArray current_locations;
+  QJsonObject current_destination;
+  QVBoxLayout *destinations_layout;
+  DestinationWidget *current_widget;
+  DestinationWidget *home_widget;
+  DestinationWidget *work_widget;
+  std::vector<DestinationWidget *> widgets;
 
 signals:
   void closeSettings();
 };
+
+class DestinationWidget : public QPushButton {
+  Q_OBJECT
+public:
+  explicit DestinationWidget(QWidget *parent = nullptr);
+  void set(const QJsonObject &location, bool current = false);
+  void unset(const QString &label, bool current = false);
+
+signals:
+  void actionClicked();
+  void navigateTo(const QJsonObject &destination);
+
+private:
+  struct NavIcons {
+    QPixmap home, work, favorite, recent, directions;
+  };
+
+  static NavIcons icons() {
+    static NavIcons nav_icons {
+      loadPixmap("../assets/navigation/icon_home.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_work.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_favorite.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_recent.svg", {48, 48}),
+      loadPixmap("../assets/navigation/icon_directions.svg", {48, 48}),
+    };
+    return nav_icons;
+  }
+
+private:
+  QLabel *icon, *title, *subtitle;
+  QPushButton *action;
+  QJsonObject dest;
+};
diff --git a/selfdrive/ui/qt/maps/set_destination.py b/selfdrive/ui/qt/maps/set_destination.py
deleted file mode 100755
index b9721171cc..0000000000
--- a/selfdrive/ui/qt/maps/set_destination.py
+++ /dev/null
@@ -1,10 +0,0 @@
-#!/usr/bin/env python3
-import json
-import sys
-
-from common.params import Params
-
-if __name__ == "__main__":
-  coords = sys.argv[1].split("/@")[-1].split("/")[0].split(",")
-  dest = {"latitude": float(coords[0]), "longitude": float(coords[1])}
-  Params().put("NavDestination", json.dumps(dest))
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index 1377bb3b23..4d09d914d3 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/offroad/driverview.h"
 
+#include <algorithm>
 #include <QPainter>
 
 #include "selfdrive/ui/qt/qt_window.h"
@@ -22,21 +23,23 @@ DriverViewWindow::DriverViewWindow(QWidget* parent) : QWidget(parent) {
 }
 
 void DriverViewWindow::mouseReleaseEvent(QMouseEvent* e) {
+  cameraView->stopVipcThread();
   emit done();
 }
 
 DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidget(parent) {
-  face_img = loadPixmap("../assets/img_driver_face.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
+  face_img = loadPixmap("../assets/img_driver_face_static.png", {FACE_IMG_SIZE, FACE_IMG_SIZE});
 }
 
 void DriverViewScene::showEvent(QShowEvent* event) {
   frame_updated = false;
   params.putBool("IsDriverViewEnabled", true);
+  device()->resetInteractiveTimeout(60);
 }
 
 void DriverViewScene::hideEvent(QHideEvent* event) {
-  // TODO: stop vipc thread ?
   params.putBool("IsDriverViewEnabled", false);
+  device()->resetInteractiveTimeout();
 }
 
 void DriverViewScene::frameUpdated() {
@@ -52,7 +55,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
   if (!frame_updated) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
-    configFont(p, "Inter", 100, "Bold");
+    p.setFont(InterFont(100, QFont::Bold));
     p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
     return;
   }
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index d69d67edeb..0a5c07af70 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -2,17 +2,14 @@
 
 #include <algorithm>
 
-#include <QDebug>
 #include <QHBoxLayout>
-#include <QLabel>
-#include <QPainter>
 #include <QScrollBar>
+#include <QStyle>
 
 #include "selfdrive/ui/ui.h"
-#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
-#include "selfdrive/ui/qt/widgets/prime.h"
 #include "selfdrive/ui/qt/widgets/scrollview.h"
 
 
@@ -79,7 +76,7 @@ void Networking::refresh() {
   an->refresh();
 }
 
-void Networking::connectToNetwork(const Network &n) {
+void Networking::connectToNetwork(const Network n) {
   if (wifi->isKnownConnection(n.ssid)) {
     wifi->activateWifiConnection(n.ssid);
     wifiWidget->refresh();
@@ -186,7 +183,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   // Set initial config
   wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")), metered);
 
-  connect(uiState(), &UIState::primeTypeChanged, this, [=](int prime_type) {
+  connect(uiState(), &UIState::primeTypeChanged, this, [=](PrimeType prime_type) {
     bool gsmVisible = prime_type == PrimeType::NONE || prime_type == PrimeType::LITE;
     roamingToggle->setVisible(gsmVisible);
     editApnButton->setVisible(gsmVisible);
@@ -211,7 +208,7 @@ void AdvancedNetworking::toggleTethering(bool enabled) {
 // WifiUI functions
 
 WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi) {
-  main_layout = new QVBoxLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
   main_layout->setSpacing(0);
 
@@ -228,8 +225,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
   scanningLabel->setStyleSheet("font-size: 65px;");
   main_layout->addWidget(scanningLabel, 0, Qt::AlignCenter);
 
-  list_layout = new QVBoxLayout;
-  main_layout->addLayout(list_layout);
+  wifi_list_widget = new ListWidget(this);
+  wifi_list_widget->setVisible(false);
+  main_layout->addWidget(wifi_list_widget);
 
   setStyleSheet(R"(
     QScrollBar::handle:vertical {
@@ -248,6 +246,9 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
       padding-bottom: 16px;
       padding-top: 16px;
     }
+    #forgetBtn:pressed {
+      background-color: #828282;
+    }
     #connecting {
       font-size: 32px;
       font-weight: 600;
@@ -259,16 +260,11 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
       background-color: black;
     }
     #ssidLabel {
-      font-size: 55px;
-      font-weight: 300;
       text-align: left;
       border: none;
       padding-top: 50px;
       padding-bottom: 50px;
     }
-    #ssidLabel[disconnected=false] {
-      font-weight: 500;
-    }
     #ssidLabel:disabled {
       color: #696969;
     }
@@ -276,75 +272,85 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
 }
 
 void WifiUI::refresh() {
-  // TODO: don't rebuild this every time
-  clearLayout(list_layout);
-
   bool is_empty = wifi->seenNetworks.isEmpty();
   scanningLabel->setVisible(is_empty);
+  wifi_list_widget->setVisible(!is_empty);
   if (is_empty) return;
 
+  setUpdatesEnabled(false);
+
+  const bool is_tethering_enabled = wifi->isTetheringEnabled();
   QList<Network> sortedNetworks = wifi->seenNetworks.values();
   std::sort(sortedNetworks.begin(), sortedNetworks.end(), compare_by_strength);
 
-  // add networks
-  ListWidget *list = new ListWidget(this);
+  int n = 0;
   for (Network &network : sortedNetworks) {
-    QHBoxLayout *hlayout = new QHBoxLayout;
-    hlayout->setContentsMargins(44, 0, 73, 0);
-    hlayout->setSpacing(50);
-
-    // Clickable SSID label
-    ElidedLabel *ssidLabel = new ElidedLabel(network.ssid);
-    ssidLabel->setObjectName("ssidLabel");
-    ssidLabel->setEnabled(network.security_type != SecurityType::UNSUPPORTED);
-    ssidLabel->setProperty("disconnected", network.connected == ConnectedType::DISCONNECTED);
-    if (network.connected == ConnectedType::DISCONNECTED) {
-      QObject::connect(ssidLabel, &ElidedLabel::clicked, this, [=]() { emit connectToNetwork(network); });
-    }
-    hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1);
-
-    if (network.connected == ConnectedType::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(tr("FORGET"));
-      forgetBtn->setObjectName("forgetBtn");
-      QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), tr("Forget"), this)) {
-          wifi->forgetConnection(network.ssid);
-        }
-      });
-      hlayout->addWidget(forgetBtn, 0, Qt::AlignRight);
-    }
-
-    // Status icon
+    QPixmap status_icon;
     if (network.connected == ConnectedType::CONNECTED) {
-      QLabel *connectIcon = new QLabel();
-      connectIcon->setPixmap(checkmark);
-      hlayout->addWidget(connectIcon, 0, Qt::AlignRight);
+      status_icon = checkmark;
     } else if (network.security_type == SecurityType::UNSUPPORTED) {
-      QLabel *unsupportedIcon = new QLabel();
-      unsupportedIcon->setPixmap(circled_slash);
-      hlayout->addWidget(unsupportedIcon, 0, Qt::AlignRight);
+      status_icon = circled_slash;
     } else if (network.security_type == SecurityType::WPA) {
-      QLabel *lockIcon = new QLabel();
-      lockIcon->setPixmap(lock);
-      hlayout->addWidget(lockIcon, 0, Qt::AlignRight);
-    } else {
-      hlayout->addSpacing(lock.width() + hlayout->spacing());
+      status_icon = lock;
     }
+    bool show_forget_btn = wifi->isKnownConnection(network.ssid) && !is_tethering_enabled;
+    QPixmap strength = strengths[strengthLevel(network.strength)];
+
+    auto item = getItem(n++);
+    item->setItem(network, status_icon, show_forget_btn, strength);
+    item->setVisible(true);
+  }
+  for (; n < wifi_items.size(); ++n) wifi_items[n]->setVisible(false);
 
-    // Strength indicator
-    QLabel *strength = new QLabel();
-    strength->setPixmap(strengths[std::clamp((int)round(network.strength / 33.), 0, 3)]);
-    hlayout->addWidget(strength, 0, Qt::AlignRight);
+  setUpdatesEnabled(true);
+}
 
-    list->addItem(hlayout);
+WifiItem *WifiUI::getItem(int n) {
+  auto item = n < wifi_items.size() ? wifi_items[n] : wifi_items.emplace_back(new WifiItem(tr("CONNECTING..."), tr("FORGET")));
+  if (!item->parentWidget()) {
+    QObject::connect(item, &WifiItem::connectToNetwork, this, &WifiUI::connectToNetwork);
+    QObject::connect(item, &WifiItem::forgotNetwork, [this](const Network n) {
+      if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(n.ssid)), tr("Forget"), this))
+        wifi->forgetConnection(n.ssid);
+    });
+    wifi_list_widget->addItem(item);
   }
-  list_layout->addWidget(list);
-  list_layout->addStretch(1);
+  return item;
+}
+
+// WifiItem
+
+WifiItem::WifiItem(const QString &connecting_text, const QString &forget_text, QWidget *parent) : QWidget(parent) {
+  QHBoxLayout *hlayout = new QHBoxLayout(this);
+  hlayout->setContentsMargins(44, 0, 73, 0);
+  hlayout->setSpacing(50);
+
+  hlayout->addWidget(ssidLabel = new ElidedLabel());
+  ssidLabel->setObjectName("ssidLabel");
+  ssidLabel->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  hlayout->addWidget(connecting = new QPushButton(connecting_text), 0, Qt::AlignRight);
+  connecting->setObjectName("connecting");
+  hlayout->addWidget(forgetBtn = new QPushButton(forget_text), 0, Qt::AlignRight);
+  forgetBtn->setObjectName("forgetBtn");
+  hlayout->addWidget(iconLabel = new QLabel(), 0, Qt::AlignRight);
+  hlayout->addWidget(strengthLabel = new QLabel(), 0, Qt::AlignRight);
+
+  QObject::connect(forgetBtn, &QPushButton::clicked, [this]() { emit forgotNetwork(network); });
+  QObject::connect(ssidLabel, &ElidedLabel::clicked, [this]() {
+    if (network.connected == ConnectedType::DISCONNECTED) emit connectToNetwork(network);
+  });
+}
+
+void WifiItem::setItem(const Network &n, const QPixmap &status_icon, bool show_forget_btn, const QPixmap &strength_icon) {
+  network = n;
+
+  ssidLabel->setText(n.ssid);
+  ssidLabel->setEnabled(n.security_type != SecurityType::UNSUPPORTED);
+  ssidLabel->setFont(InterFont(55, network.connected == ConnectedType::DISCONNECTED ? QFont::Normal : QFont::Bold));
+
+  connecting->setVisible(n.connected == ConnectedType::CONNECTING);
+  forgetBtn->setVisible(show_forget_btn);
+
+  iconLabel->setPixmap(status_icon);
+  strengthLabel->setPixmap(strength_icon);
 }
diff --git a/selfdrive/ui/qt/offroad/networking.h b/selfdrive/ui/qt/offroad/networking.h
index 79cbcc3493..81ffb3cf2d 100644
--- a/selfdrive/ui/qt/offroad/networking.h
+++ b/selfdrive/ui/qt/offroad/networking.h
@@ -1,14 +1,32 @@
 #pragma once
 
-#include <QButtonGroup>
-#include <QVBoxLayout>
-#include <QWidget>
+#include <vector>
 
 #include "selfdrive/ui/qt/offroad/wifiManager.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/ssh_keys.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
+class WifiItem : public QWidget {
+  Q_OBJECT
+public:
+  explicit WifiItem(const QString &connecting_text, const QString &forget_text, QWidget* parent = nullptr);
+  void setItem(const Network& n, const QPixmap &icon, bool show_forget_btn, const QPixmap &strength);
+
+signals:
+  // Cannot pass Network by reference. it may change after the signal is sent.
+  void connectToNetwork(const Network n);
+  void forgotNetwork(const Network n);
+
+protected:
+  ElidedLabel* ssidLabel;
+  QPushButton* connecting;
+  QPushButton* forgetBtn;
+  QLabel* iconLabel;
+  QLabel* strengthLabel;
+  Network network;
+};
+
 class WifiUI : public QWidget {
   Q_OBJECT
 
@@ -16,17 +34,19 @@ public:
   explicit WifiUI(QWidget *parent = 0, WifiManager* wifi = 0);
 
 private:
+  WifiItem *getItem(int n);
+
   WifiManager *wifi = nullptr;
-  QVBoxLayout *list_layout = nullptr;
   QLabel *scanningLabel = nullptr;
-  QVBoxLayout* main_layout;
   QPixmap lock;
   QPixmap checkmark;
   QPixmap circled_slash;
   QVector<QPixmap> strengths;
+  ListWidget *wifi_list_widget = nullptr;
+  std::vector<WifiItem*> wifi_items;
 
 signals:
-  void connectToNetwork(const Network &n);
+  void connectToNetwork(const Network n);
 
 public slots:
   void refresh();
@@ -65,10 +85,8 @@ private:
   QStackedLayout* main_layout = nullptr;
   QWidget* wifiScreen = nullptr;
   AdvancedNetworking* an = nullptr;
-
   WifiUI* wifiWidget;
 
-protected:
   void showEvent(QShowEvent* event) override;
   void hideEvent(QHideEvent* event) override;
 
@@ -76,6 +94,6 @@ public slots:
   void refresh();
 
 private slots:
-  void connectToNetwork(const Network &n);
+  void connectToNetwork(const Network n);
   void wrongPassword(const QString &ssid);
 };
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index f3e50b572b..c7c22f0ea3 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -1,9 +1,12 @@
 #include "selfdrive/ui/qt/offroad/onboarding.h"
 
+#include <string>
+
 #include <QLabel>
 #include <QPainter>
 #include <QQmlContext>
 #include <QQuickWidget>
+#include <QTransform>
 #include <QVBoxLayout>
 
 #include "common/util.h"
@@ -21,39 +24,54 @@ void TrainingGuide::mouseReleaseEvent(QMouseEvent *e) {
   }
   click_timer.restart();
 
-  if (boundingRect[currentIndex].contains(e->x(), e->y())) {
+  auto contains = [this](QRect r, const QPoint &pt) {
+    if (image.size() != image_raw_size) {
+      QTransform transform;
+      transform.translate((width()- image.width()) / 2.0, (height()- image.height()) / 2.0);
+      transform.scale(image.width() / (float)image_raw_size.width(), image.height() / (float)image_raw_size.height());
+      r= transform.mapRect(r);
+    }
+    return r.contains(pt);
+  };
+
+  if (contains(boundingRect[currentIndex], e->pos())) {
     if (currentIndex == 9) {
       const QRect yes = QRect(707, 804, 531, 164);
-      Params().putBool("RecordFront", yes.contains(e->x(), e->y()));
+      Params().putBool("RecordFront", contains(yes, e->pos()));
     }
     currentIndex += 1;
-  } else if (currentIndex == (boundingRect.size() - 2) && boundingRect.last().contains(e->x(), e->y())) {
+  } else if (currentIndex == (boundingRect.size() - 2) && contains(boundingRect.last(), e->pos())) {
     currentIndex = 0;
   }
 
   if (currentIndex >= (boundingRect.size() - 1)) {
     emit completedTraining();
   } else {
-    image.load(img_path + "step" + QString::number(currentIndex) + ".png");
     update();
   }
 }
 
 void TrainingGuide::showEvent(QShowEvent *event) {
-  img_path = width() == WIDE_WIDTH ? "../assets/training_wide/" : "../assets/training/";
-  boundingRect = width() == WIDE_WIDTH ? boundingRectWide : boundingRectStandard;
-
   currentIndex = 0;
-  image.load(img_path + "step0.png");
   click_timer.start();
 }
 
+QImage TrainingGuide::loadImage(int id) {
+  QImage img(img_path + QString("step%1.png").arg(id));
+  image_raw_size = img.size();
+  if (image_raw_size != rect().size()) {
+    img = img.scaled(width(), height(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
+  }
+  return img;
+}
+
 void TrainingGuide::paintEvent(QPaintEvent *event) {
   QPainter painter(this);
 
   QRect bg(0, 0, painter.device()->width(), painter.device()->height());
   painter.fillRect(bg, QColor("#000000"));
 
+  image = loadImage(currentIndex);
   QRect rect(image.rect());
   rect.moveCenter(bg.center());
   painter.drawImage(rect.topLeft(), image);
@@ -114,6 +132,9 @@ void TermsPage::showEvent(QShowEvent *event) {
     QPushButton {
       background-color: #465BEA;
     }
+    QPushButton:pressed {
+      background-color: #3049F4;
+    }
     QPushButton:disabled {
       background-color: #4F4F4F;
     }
diff --git a/selfdrive/ui/qt/offroad/onboarding.h b/selfdrive/ui/qt/offroad/onboarding.h
index 48f4094899..a1b6895ba0 100644
--- a/selfdrive/ui/qt/offroad/onboarding.h
+++ b/selfdrive/ui/qt/offroad/onboarding.h
@@ -20,61 +20,38 @@ private:
   void showEvent(QShowEvent *event) override;
   void paintEvent(QPaintEvent *event) override;
   void mouseReleaseEvent(QMouseEvent* e) override;
+  QImage loadImage(int id);
 
   QImage image;
+  QSize image_raw_size;
   int currentIndex = 0;
 
   // Bounding boxes for each training guide step
-  const QRect continueBtnStandard = {1620, 0, 300, 1080};
-  QVector<QRect> boundingRectStandard {
-    QRect(112, 804, 619, 166),
-    continueBtnStandard,
-    continueBtnStandard,
-    QRect(1476, 565, 253, 308),
-    QRect(1501, 529, 184, 108),
-    continueBtnStandard,
-    QRect(1613, 665, 178, 153),
-    QRect(1220, 0, 420, 730),
-    QRect(1335, 499, 440, 147),
-    QRect(112, 820, 996, 148),
-    QRect(1412, 199, 316, 333),
-    continueBtnStandard,
-    QRect(1237, 63, 683, 1017),
-    continueBtnStandard,
-    QRect(1455, 110, 313, 860),
-    QRect(1253, 519, 383, 228),
-    continueBtnStandard,
-    continueBtnStandard,
-    QRect(630, 804, 626, 164),
-    QRect(108, 804, 426, 164),
-  };
-
-  const QRect continueBtnWide = {1840, 0, 320, 1080};
-  QVector<QRect> boundingRectWide {
+  const QRect continueBtn = {1840, 0, 320, 1080};
+  QVector<QRect> boundingRect {
     QRect(112, 804, 618, 164),
-    continueBtnWide,
-    continueBtnWide,
+    continueBtn,
+    continueBtn,
     QRect(1641, 558, 210, 313),
     QRect(1662, 528, 184, 108),
-    continueBtnWide,
+    continueBtn,
     QRect(1814, 621, 211, 170),
     QRect(1350, 0, 497, 755),
-    QRect(1553, 516, 406, 112),
+    QRect(1540, 386, 468, 238),
     QRect(112, 804, 1126, 164),
     QRect(1598, 199, 316, 333),
-    continueBtnWide,
+    continueBtn,
     QRect(1364, 90, 796, 990),
-    continueBtnWide,
+    continueBtn,
     QRect(1593, 114, 318, 853),
     QRect(1379, 511, 391, 243),
-    continueBtnWide,
-    continueBtnWide,
+    continueBtn,
+    continueBtn,
     QRect(630, 804, 626, 164),
     QRect(108, 804, 426, 164),
   };
 
-  QString img_path;
-  QVector<QRect> boundingRect;
+  const QString img_path = "../assets/training/";
   QElapsedTimer click_timer;
 
 signals:
@@ -86,7 +63,7 @@ class TermsPage : public QFrame {
   Q_OBJECT
 
 public:
-  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {};
+  explicit TermsPage(QWidget *parent = 0) : QFrame(parent) {}
 
 public slots:
   void enableAccept();
@@ -105,7 +82,7 @@ class DeclinePage : public QFrame {
   Q_OBJECT
 
 public:
-  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {};
+  explicit DeclinePage(QWidget *parent = 0) : QFrame(parent) {}
 
 private:
   void showEvent(QShowEvent *event) override;
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index bde8628dc4..8b0f9c1f36 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -3,15 +3,13 @@
 #include <cassert>
 #include <cmath>
 #include <string>
+#include <tuple>
+#include <vector>
 
 #include <QDebug>
 
 #include "selfdrive/ui/qt/offroad/networking.h"
 
-#ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map_settings.h"
-#endif
-
 #include "common/params.h"
 #include "common/watchdog.h"
 #include "common/util.h"
@@ -27,7 +25,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
-  // param, title, desc, icon, confirm
+  // param, title, desc, icon
   std::vector<std::tuple<QString, QString, QString, QString>> toggle_defs{
     {
       "OpenpilotEnabledToggle",
@@ -35,6 +33,15 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       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",
     },
+    {
+      "ExperimentalLongitudinalEnabled",
+      tr("openpilot Longitudinal Control (Alpha)"),
+      QString("<b>%1</b><br><br>%2")
+      .arg(tr("WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB)."))
+      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. "
+              "Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.")),
+      "../assets/offroad/icon_speed_limit.png",
+    },
     {
       "ExperimentalMode",
       tr("Experimental Mode"),
@@ -42,12 +49,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/img_experimental_white.svg",
     },
     {
-      "ExperimentalLongitudinalEnabled",
-      tr("Experimental openpilot Longitudinal Control"),
-      QString("<b>%1</b><br>%2")
-      .arg(tr("WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB)."))
-      .arg(tr("On this car, openpilot defaults to the car's built-in ACC instead of openpilot's longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.")),
-      "../assets/offroad/icon_speed_limit.png",
+      "DisengageOnAccelerator",
+      tr("Disengage on Accelerator Pedal"),
+      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
+      "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
     {
       "IsLdwEnabled",
@@ -55,12 +60,6 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       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",
     },
-    {
-      "IsMetric",
-      tr("Use Metric System"),
-      tr("Display speed in km/h instead of mph."),
-      "../assets/offroad/icon_metric.png",
-    },
     {
       "RecordFront",
       tr("Record and Upload Driver Camera"),
@@ -68,10 +67,10 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
       "../assets/offroad/icon_monitoring.png",
     },
     {
-      "DisengageOnAccelerator",
-      tr("Disengage on Accelerator Pedal"),
-      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
-      "../assets/offroad/icon_disengage_on_accelerator.svg",
+      "IsMetric",
+      tr("Use Metric System"),
+      tr("Display speed in km/h instead of mph."),
+      "../assets/offroad/icon_metric.png",
     },
 #ifdef ENABLE_MAPS
     {
@@ -89,6 +88,13 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 #endif
   };
 
+
+  std::vector<QString> longi_button_texts{tr("Aggressive"), tr("Standard"), tr("Relaxed")};
+  long_personality_setting = new ButtonParamControl("LongitudinalPersonality", tr("Driving Personality"),
+                                          tr("Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. "
+                                             "In relaxed mode openpilot will stay further away from lead cars."),
+                                          "../assets/offroad/icon_speed_limit.png",
+                                          longi_button_texts);
   for (auto &[param, title, desc, icon] : toggle_defs) {
     auto toggle = new ParamControl(param, title, desc, icon, this);
 
@@ -97,6 +103,11 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
     addItem(toggle);
     toggles[param.toStdString()] = toggle;
+
+    // insert longitudinal personality after NDOG toggle
+    if (param == "DisengageOnAccelerator") {
+      addItem(long_personality_setting);
+    }
   }
 
   // Toggles with confirmation dialogs
@@ -118,50 +129,67 @@ void TogglesPanel::showEvent(QShowEvent *event) {
 }
 
 void TogglesPanel::updateToggles() {
-  auto e2e_toggle = toggles["ExperimentalMode"];
+  auto experimental_mode_toggle = toggles["ExperimentalMode"];
   auto op_long_toggle = toggles["ExperimentalLongitudinalEnabled"];
   const QString e2e_description = QString("%1<br>"
                                           "<h4>%2</h4><br>"
                                           "%3<br>"
                                           "<h4>%4</h4><br>"
-                                          "%5")
+                                          "%5<br>"
+                                          "<h4>%6</h4><br>"
+                                          "%7")
                                   .arg(tr("openpilot defaults to driving in <b>chill mode</b>. Experimental mode enables <b>alpha-level features</b> that aren't ready for chill mode. Experimental features are listed below:"))
-                                  .arg(tr("🌮 End-to-End Longitudinal Control 🌮"))
+                                  .arg(tr("End-to-End Longitudinal Control"))
                                   .arg(tr("Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. "
-                                       "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected."))
+                                          "Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; "
+                                          "mistakes should be expected."))
+                                  .arg(tr("Navigate on openpilot"))
+                                  .arg(tr("When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right "
+                                          "appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around "
+                                          "exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc."))
                                   .arg(tr("New Driving Visualization"))
-                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner."));
+                                  .arg(tr("The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. "
+                                          "When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green."));
 
+  const bool is_release = params.getBool("IsReleaseBranch");
   auto cp_bytes = params.get("CarParamsPersistent");
   if (!cp_bytes.empty()) {
     AlignedBuffer aligned_buf;
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(cp_bytes.data(), cp_bytes.size()));
     cereal::CarParams::Reader CP = cmsg.getRoot<cereal::CarParams>();
 
-    if (!CP.getExperimentalLongitudinalAvailable()) {
+    if (!CP.getExperimentalLongitudinalAvailable() || is_release) {
       params.remove("ExperimentalLongitudinalEnabled");
     }
-    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable());
-
-    const bool op_long = CP.getOpenpilotLongitudinalControl() && !CP.getExperimentalLongitudinalAvailable();
-    const bool exp_long_enabled = CP.getExperimentalLongitudinalAvailable() && params.getBool("ExperimentalLongitudinalEnabled");
-    if (op_long || exp_long_enabled) {
+    op_long_toggle->setVisible(CP.getExperimentalLongitudinalAvailable() && !is_release);
+    if (hasLongitudinalControl(CP)) {
       // normal description and toggle
-      e2e_toggle->setEnabled(true);
-      e2e_toggle->setDescription(e2e_description);
+      experimental_mode_toggle->setEnabled(true);
+      experimental_mode_toggle->setDescription(e2e_description);
+      long_personality_setting->setEnabled(true);
     } else {
       // no long for now
-      e2e_toggle->setEnabled(false);
+      experimental_mode_toggle->setEnabled(false);
+      long_personality_setting->setEnabled(false);
       params.remove("ExperimentalMode");
 
-      const QString no_long = tr("Experimental mode is currently unavailable on this car, since the car's stock ACC is used for longitudinal control.");
-      const QString exp_long = tr("Enable experimental longitudinal control to allow experimental mode.");
-      e2e_toggle->setDescription("<b>" + (CP.getExperimentalLongitudinalAvailable() ? exp_long : no_long) + "</b><br><br>" + e2e_description);
+      const QString unavailable = tr("Experimental mode is currently unavailable on this car since the car's stock ACC is used for longitudinal control.");
+
+      QString long_desc = unavailable + " " + \
+                          tr("openpilot longitudinal control may come in a future update.");
+      if (CP.getExperimentalLongitudinalAvailable()) {
+        if (is_release) {
+          long_desc = unavailable + " " + tr("An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.");
+        } else {
+          long_desc = tr("Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.");
+        }
+      }
+      experimental_mode_toggle->setDescription("<b>" + long_desc + "</b><br><br>" + e2e_description);
     }
 
-    e2e_toggle->refresh();
+    experimental_mode_toggle->refresh();
   } else {
-    e2e_toggle->setDescription(e2e_description);
+    experimental_mode_toggle->setDescription(e2e_description);
     op_long_toggle->setVisible(false);
   }
 }
@@ -183,6 +211,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), tr("Reset"), this)) {
       params.remove("CalibrationParams");
+      params.remove("LiveTorqueParameters");
     }
   });
   addItem(resetCalibBtn);
@@ -212,7 +241,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(uiState()->language), this);
     if (!selection.isEmpty()) {
       // put language setting, exit Qt UI, and trigger fast restart
-      Params().put("LanguageSetting", langs[selection].toStdString());
+      params.put("LanguageSetting", langs[selection].toStdString());
       qApp->exit(18);
       watchdog_kick(0);
     }
@@ -256,13 +285,13 @@ void DevicePanel::updateCalibDescription() {
   QString desc =
       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");
+  std::string calib_bytes = params.get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
       AlignedBuffer aligned_buf;
       capnp::FlatArrayMessageReader cmsg(aligned_buf.align(calib_bytes.data(), calib_bytes.size()));
       auto calib = cmsg.getRoot<cereal::Event>().getLiveCalibration();
-      if (calib.getCalStatus() != 0) {
+      if (calib.getCalStatus() != cereal::LiveCalibrationData::Status::UNCALIBRATED) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
         desc += tr(" Your device is pointed %1° %2 and %3° %4.")
@@ -281,7 +310,7 @@ void DevicePanel::reboot() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), tr("Reboot"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
-        Params().putBool("DoReboot", true);
+        params.putBool("DoReboot", true);
       }
     }
   } else {
@@ -294,7 +323,7 @@ void DevicePanel::poweroff() {
     if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), tr("Power Off"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
-        Params().putBool("DoShutdown", true);
+        params.putBool("DoShutdown", true);
       }
     }
   } else {
@@ -321,10 +350,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QVBoxLayout *sidebar_layout = new QVBoxLayout(sidebar_widget);
   sidebar_layout->setMargin(0);
   panel_widget = new QStackedWidget();
-  panel_widget->setStyleSheet(R"(
-    border-radius: 30px;
-    background-color: #292929;
-  )");
 
   // close button
   QPushButton *close_btn = new QPushButton(tr("×"));
@@ -332,7 +357,6 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     QPushButton {
       font-size: 140px;
       padding-bottom: 20px;
-      font-weight: bold;
       border 1px grey solid;
       border-radius: 100px;
       background-color: #292929;
@@ -362,28 +386,18 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     {tr("Software"), new SoftwarePanel(this)},
   };
 
-#ifdef ENABLE_MAPS
-  auto map_panel = new MapPanel(this);
-  panels.push_back({tr("Navigation"), map_panel});
-  QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
-#endif
-
-  const int padding = panels.size() > 3 ? 25 : 35;
-
   nav_btns = new QButtonGroup(this);
   for (auto &[name, panel] : panels) {
     QPushButton *btn = new QPushButton(name);
     btn->setCheckable(true);
     btn->setChecked(nav_btns->buttons().size() == 0);
-    btn->setStyleSheet(QString(R"(
+    btn->setStyleSheet(R"(
       QPushButton {
         color: grey;
         border: none;
         background: none;
         font-size: 65px;
         font-weight: 500;
-        padding-top: %1px;
-        padding-bottom: %1px;
       }
       QPushButton:checked {
         color: white;
@@ -391,8 +405,8 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
       QPushButton:pressed {
         color: #ADADAD;
       }
-    )").arg(padding));
-
+    )");
+    btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
     nav_btns->addButton(btn);
     sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
 
@@ -424,5 +438,9 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     SettingsWindow {
       background-color: black;
     }
+    QStackedWidget, ScrollView {
+      background-color: #292929;
+      border-radius: 30px;
+    }
   )");
 }
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index c63be4e138..a5dd25b14f 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -1,7 +1,9 @@
 #pragma once
 
+#include <map>
+#include <string>
+
 #include <QButtonGroup>
-#include <QFileSystemWatcher>
 #include <QFrame>
 #include <QLabel>
 #include <QPushButton>
@@ -9,6 +11,7 @@
 #include <QWidget>
 
 
+#include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
 
 // ********** settings window + top-level panels **********
@@ -64,6 +67,7 @@ public slots:
 private:
   Params params;
   std::map<std::string, ParamControl*> toggles;
+  ButtonParamControl *long_personality_setting;
 
   void updateToggles();
 };
@@ -87,5 +91,5 @@ private:
   ButtonControl *targetBranchBtn;
 
   Params params;
-  QFileSystemWatcher *fs_watch;
+  ParamWatcher *fs_watch;
 };
diff --git a/selfdrive/ui/qt/offroad/software_settings.cc b/selfdrive/ui/qt/offroad/software_settings.cc
index 12d62e63fb..15c022db9a 100644
--- a/selfdrive/ui/qt/offroad/software_settings.cc
+++ b/selfdrive/ui/qt/offroad/software_settings.cc
@@ -54,7 +54,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   connect(targetBranchBtn, &ButtonControl::clicked, [=]() {
     auto current = params.get("GitBranch");
     QStringList branches = QString::fromStdString(params.get("UpdaterAvailableBranches")).split(",");
-    for (QString b : {current.c_str(), "devel-staging", "devel", "master-ci", "master"}) {
+    for (QString b : {current.c_str(), "devel-staging", "devel", "nightly", "master-ci", "master"}) {
       auto i = branches.indexOf(b);
       if (i >= 0) {
         branches.removeAt(i);
@@ -83,8 +83,8 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
   addItem(uninstallBtn);
 
-  fs_watch = new QFileSystemWatcher(this);
-  QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
+  fs_watch = new ParamWatcher(this);
+  QObject::connect(fs_watch, &ParamWatcher::paramChanged, [=](const QString &param_name, const QString &param_value) {
     updateLabels();
   });
 
@@ -105,10 +105,10 @@ void SoftwarePanel::showEvent(QShowEvent *event) {
 
 void SoftwarePanel::updateLabels() {
   // add these back in case the files got removed
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdaterState")));
-  fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateAvailable")));
+  fs_watch->addParam("LastUpdateTime");
+  fs_watch->addParam("UpdateFailedCount");
+  fs_watch->addParam("UpdaterState");
+  fs_watch->addParam("UpdateAvailable");
 
   if (!isVisible()) {
     return;
@@ -126,19 +126,19 @@ void SoftwarePanel::updateLabels() {
     downloadBtn->setValue(updater_state);
   } else {
     if (failed) {
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("failed to check for update");
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("failed to check for update"));
     } else if (params.getBool("UpdaterFetchAvailable")) {
-      downloadBtn->setText("DOWNLOAD");
-      downloadBtn->setValue("update available");
+      downloadBtn->setText(tr("DOWNLOAD"));
+      downloadBtn->setValue(tr("update available"));
     } else {
-      QString lastUpdate = "never";
+      QString lastUpdate = tr("never");
       auto tm = params.get("LastUpdateTime");
       if (!tm.empty()) {
         lastUpdate = timeAgo(QDateTime::fromString(QString::fromStdString(tm + "Z"), Qt::ISODate));
       }
-      downloadBtn->setText("CHECK");
-      downloadBtn->setValue("up to date, last checked " + lastUpdate);
+      downloadBtn->setText(tr("CHECK"));
+      downloadBtn->setValue(tr("up to date, last checked %1").arg(lastUpdate));
     }
     downloadBtn->setEnabled(true);
   }
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index fde8645586..391cc9fb50 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -8,11 +8,8 @@
 #include "selfdrive/ui/qt/util.h"
 
 bool compare_by_strength(const Network &a, const Network &b) {
-  if (a.connected == ConnectedType::CONNECTED) return true;
-  if (b.connected == ConnectedType::CONNECTED) return false;
-  if (a.connected == ConnectedType::CONNECTING) return true;
-  if (b.connected == ConnectedType::CONNECTING) return false;
-  return a.strength > b.strength;
+  return std::tuple(a.connected, strengthLevel(a.strength), b.ssid) >
+         std::tuple(b.connected, strengthLevel(b.strength), a.ssid);
 }
 
 template <typename T = QDBusMessage, typename... Args>
@@ -102,15 +99,22 @@ void WifiManager::refreshFinished(QDBusPendingCallWatcher *watcher) {
     auto properties = replay.value();
 
     const QByteArray ssid = properties["Ssid"].toByteArray();
-    uint32_t strength = properties["Strength"].toUInt();
-    if (ssid.isEmpty() || (seenNetworks.contains(ssid) && strength <= seenNetworks[ssid].strength)) continue;
+    if (ssid.isEmpty()) continue;
+
+    // May be multiple access points for each SSID.
+    // Use first for ssid and security type, then update connected status and strength using all
+    if (!seenNetworks.contains(ssid)) {
+      seenNetworks[ssid] = {ssid, 0U, ConnectedType::DISCONNECTED, getSecurityType(properties)};
+    }
 
-    SecurityType security = getSecurityType(properties);
-    ConnectedType ctype = ConnectedType::DISCONNECTED;
     if (path.path() == activeAp) {
-      ctype = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED;
+      seenNetworks[ssid].connected = (ssid == connecting_to_network) ? ConnectedType::CONNECTING : ConnectedType::CONNECTED;
+    }
+
+    uint32_t strength = properties["Strength"].toUInt();
+    if (seenNetworks[ssid].strength < strength) {
+      seenNetworks[ssid].strength = strength;
     }
-    seenNetworks[ssid] = {ssid, strength, ctype, security};
   }
 
   emit refreshSignal();
@@ -415,7 +419,7 @@ void WifiManager::addTetheringConnection() {
 }
 
 void WifiManager::tetheringActivated(QDBusPendingCallWatcher *call) {
-  int prime_type = uiState()->prime_type;
+  int prime_type = uiState()->primeType();
   int ipv4_forward = (prime_type == PrimeType::NONE || prime_type == PrimeType::LITE);
 
   if (!ipv4_forward) {
diff --git a/selfdrive/ui/qt/offroad/wifiManager.h b/selfdrive/ui/qt/offroad/wifiManager.h
index 01f9cd6b65..244a3cec4a 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.h
+++ b/selfdrive/ui/qt/offroad/wifiManager.h
@@ -33,6 +33,7 @@ struct Network {
   SecurityType security_type;
 };
 bool compare_by_strength(const Network &a, const Network &b);
+inline int strengthLevel(unsigned int strength) { return std::clamp((int)round(strength / 33.), 0, 3); }
 
 class WifiManager : public QObject {
   Q_OBJECT
@@ -71,9 +72,7 @@ private:
 
   QString getAdapter(const uint = NM_DEVICE_TYPE_WIFI);
   uint getAdapterType(const QDBusObjectPath &path);
-  bool isWirelessAdapter(const QDBusObjectPath &path);
   QString getIp4Address();
-  void connect(const QByteArray &ssid, const QString &username, const QString &password, SecurityType security_type);
   void deactivateConnectionBySsid(const QString &ssid);
   void deactivateConnection(const QDBusObjectPath &path);
   QVector<QDBusObjectPath> getActiveConnections();
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index fed59ef123..d0b82207e6 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -1,19 +1,34 @@
 #include "selfdrive/ui/qt/onroad.h"
 
+#include <algorithm>
 #include <cmath>
+#include <map>
+#include <memory>
 
 #include <QDebug>
+#include <QMouseEvent>
 
 #include "common/timing.h"
 #include "selfdrive/ui/qt/util.h"
 #ifdef ENABLE_MAPS
-#include "selfdrive/ui/qt/maps/map.h"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/ui/qt/maps/map_panel.h"
 #endif
 
+static void drawIcon(QPainter &p, const QPoint &center, const QPixmap &img, const QBrush &bg, float opacity) {
+  p.setRenderHint(QPainter::Antialiasing);
+  p.setOpacity(1.0);  // bg dictates opacity of ellipse
+  p.setPen(Qt::NoPen);
+  p.setBrush(bg);
+  p.drawEllipse(center, btn_size / 2, btn_size / 2);
+  p.setOpacity(opacity);
+  p.drawPixmap(center - QPoint(img.width() / 2, img.height() / 2), img);
+  p.setOpacity(1.0);
+}
+
 OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout  = new QVBoxLayout(this);
-  main_layout->setMargin(bdr_s);
+  main_layout->setMargin(UI_BORDER_SIZE);
   QStackedLayout *stacked_layout = new QStackedLayout;
   stacked_layout->setStackingMode(QStackedLayout::StackAll);
   main_layout->addLayout(stacked_layout);
@@ -31,6 +46,11 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
     split->insertWidget(0, arCam);
   }
 
+  if (getenv("MAP_RENDER_VIEW")) {
+    CameraWidget *map_render = new CameraWidget("navd", VISION_STREAM_MAP, false, this);
+    split->insertWidget(0, map_render);
+  }
+
   stacked_layout->addWidget(split_wrapper);
 
   alerts = new OnroadAlerts(this);
@@ -43,19 +63,17 @@ OnroadWindow::OnroadWindow(QWidget *parent) : QWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
   QObject::connect(uiState(), &UIState::uiUpdate, this, &OnroadWindow::updateState);
   QObject::connect(uiState(), &UIState::offroadTransition, this, &OnroadWindow::offroadTransition);
+  QObject::connect(uiState(), &UIState::primeChanged, this, &OnroadWindow::primeChanged);
 }
 
 void OnroadWindow::updateState(const UIState &s) {
+  if (!s.scene.started) {
+    return;
+  }
+
   QColor bgColor = bg_colors[s.status];
   Alert alert = Alert::get(*(s.sm), s.scene.started_frame);
-  if (s.sm->updated("controlsState") || !alert.equal({})) {
-    if (alert.type == "controlsUnresponsive") {
-      bgColor = bg_colors[STATUS_ALERT];
-    } else if (alert.type == "controlsUnresponsivePermanent") {
-      bgColor = bg_colors[STATUS_DISENGAGED];
-    }
-    alerts->updateAlert(alert, bgColor);
-  }
+  alerts->updateAlert(alert);
 
   if (s.scene.map_on_left) {
     split->setDirection(QBoxLayout::LeftToRight);
@@ -73,10 +91,14 @@ void OnroadWindow::updateState(const UIState &s) {
 }
 
 void OnroadWindow::mousePressEvent(QMouseEvent* e) {
+#ifdef ENABLE_MAPS
   if (map != nullptr) {
+    // Switch between map and sidebar when using navigate on openpilot
     bool sidebarVisible = geometry().x() > 0;
-    map->setVisible(!sidebarVisible && !map->isVisible());
+    bool show_map = uiState()->scene.navigate_on_openpilot ? sidebarVisible : !sidebarVisible;
+    map->setVisible(show_map && !map->isVisible());
   }
+#endif
   // propagation event to parent(HomeWindow)
   QWidget::mousePressEvent(e);
 }
@@ -84,22 +106,35 @@ void OnroadWindow::mousePressEvent(QMouseEvent* e) {
 void OnroadWindow::offroadTransition(bool offroad) {
 #ifdef ENABLE_MAPS
   if (!offroad) {
-    if (map == nullptr && (uiState()->prime_type || !MAPBOX_TOKEN.isEmpty())) {
-      MapWindow * m = new MapWindow(get_mapbox_settings());
+    if (map == nullptr && (uiState()->hasPrime() || !MAPBOX_TOKEN.isEmpty())) {
+      auto m = new MapPanel(get_mapbox_settings());
       map = m;
 
-      QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
+      QObject::connect(m, &MapPanel::mapPanelRequested, this, &OnroadWindow::mapPanelRequested);
+      QObject::connect(nvg->map_settings_btn, &MapSettingsButton::clicked, m, &MapPanel::toggleMapSettings);
+      nvg->map_settings_btn->setEnabled(true);
 
-      m->setFixedWidth(topWidget(this)->width() / 2);
+      m->setFixedWidth(topWidget(this)->width() / 2 - UI_BORDER_SIZE);
       split->insertWidget(0, m);
 
-      // Make map visible after adding to split
-      m->offroadTransition(offroad);
+      // hidden by default, made visible when navRoute is published
+      m->setVisible(false);
     }
   }
 #endif
 
-  alerts->updateAlert({}, bg);
+  alerts->updateAlert({});
+}
+
+void OnroadWindow::primeChanged(bool prime) {
+#ifdef ENABLE_MAPS
+  if (map && (!prime && MAPBOX_TOKEN.isEmpty())) {
+    nvg->map_settings_btn->setEnabled(false);
+    nvg->map_settings_btn->setVisible(false);
+    map->deleteLater();
+    map = nullptr;
+  }
+#endif
 }
 
 void OnroadWindow::paintEvent(QPaintEvent *event) {
@@ -110,10 +145,9 @@ void OnroadWindow::paintEvent(QPaintEvent *event) {
 // ***** onroad widgets *****
 
 // OnroadAlerts
-void OnroadAlerts::updateAlert(const Alert &a, const QColor &color) {
-  if (!alert.equal(a) || color != bg) {
+void OnroadAlerts::updateAlert(const Alert &a) {
+  if (!alert.equal(a)) {
     alert = a;
-    bg = color;
     update();
   }
 }
@@ -122,22 +156,28 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   if (alert.size == cereal::ControlsState::AlertSize::NONE) {
     return;
   }
-  static std::map<cereal::ControlsState::AlertSize, const int> alert_sizes = {
+  static std::map<cereal::ControlsState::AlertSize, const int> alert_heights = {
     {cereal::ControlsState::AlertSize::SMALL, 271},
     {cereal::ControlsState::AlertSize::MID, 420},
     {cereal::ControlsState::AlertSize::FULL, height()},
   };
-  int h = alert_sizes[alert.size];
-  QRect r = QRect(0, height() - h, width(), h);
+  int h = alert_heights[alert.size];
+
+  int margin = 40;
+  int radius = 30;
+  if (alert.size == cereal::ControlsState::AlertSize::FULL) {
+    margin = 0;
+    radius = 0;
+  }
+  QRect r = QRect(0 + margin, height() - h + margin, width() - margin*2, h - margin*2);
 
   QPainter p(this);
 
   // draw background + gradient
   p.setPen(Qt::NoPen);
   p.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
-  p.setBrush(QBrush(bg));
-  p.drawRect(r);
+  p.setBrush(QBrush(alert_colors[alert.status]));
+  p.drawRoundedRect(r, radius, radius);
 
   QLinearGradient g(0, r.y(), 0, r.bottom());
   g.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.05));
@@ -145,7 +185,7 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
 
   p.setCompositionMode(QPainter::CompositionMode_DestinationOver);
   p.setBrush(QBrush(g));
-  p.fillRect(r, g);
+  p.drawRoundedRect(r, radius, radius);
   p.setCompositionMode(QPainter::CompositionMode_SourceOver);
 
   // text
@@ -153,29 +193,88 @@ void OnroadAlerts::paintEvent(QPaintEvent *event) {
   p.setPen(QColor(0xff, 0xff, 0xff));
   p.setRenderHint(QPainter::TextAntialiasing);
   if (alert.size == cereal::ControlsState::AlertSize::SMALL) {
-    configFont(p, "Inter", 74, "SemiBold");
+    p.setFont(InterFont(74, QFont::DemiBold));
     p.drawText(r, Qt::AlignCenter, alert.text1);
   } else if (alert.size == cereal::ControlsState::AlertSize::MID) {
-    configFont(p, "Inter", 88, "Bold");
+    p.setFont(InterFont(88, QFont::Bold));
     p.drawText(QRect(0, c.y() - 125, width(), 150), Qt::AlignHCenter | Qt::AlignTop, alert.text1);
-    configFont(p, "Inter", 66, "Regular");
+    p.setFont(InterFont(66));
     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, "Inter", l ? 132 : 177, "Bold");
+    p.setFont(InterFont(l ? 132 : 177, QFont::Bold));
     p.drawText(QRect(0, r.y() + (l ? 240 : 270), width(), 600), Qt::AlignHCenter | Qt::TextWordWrap, alert.text1);
-    configFont(p, "Inter", 88, "Regular");
+    p.setFont(InterFont(88));
     p.drawText(QRect(0, r.height() - (l ? 361 : 420), width(), 300), Qt::AlignHCenter | Qt::TextWordWrap, alert.text2);
   }
 }
 
+// ExperimentalButton
+ExperimentalButton::ExperimentalButton(QWidget *parent) : experimental_mode(false), engageable(false), QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
 
+  params = Params();
+  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
+  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size, img_size});
+  QObject::connect(this, &QPushButton::clicked, this, &ExperimentalButton::changeMode);
+}
+
+void ExperimentalButton::changeMode() {
+  const auto cp = (*uiState()->sm)["carParams"].getCarParams();
+  bool can_change = hasLongitudinalControl(cp) && params.getBool("ExperimentalModeConfirmed");
+  if (can_change) {
+    params.putBool("ExperimentalMode", !experimental_mode);
+  }
+}
+
+void ExperimentalButton::updateState(const UIState &s) {
+  const auto cs = (*s.sm)["controlsState"].getControlsState();
+  bool eng = cs.getEngageable() || cs.getEnabled();
+  if ((cs.getExperimentalMode() != experimental_mode) || (eng != engageable)) {
+    engageable = eng;
+    experimental_mode = cs.getExperimentalMode();
+    update();
+  }
+}
+
+void ExperimentalButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  QPixmap img = experimental_mode ? experimental_img : engage_img;
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), img, QColor(0, 0, 0, 166), (isDown() || !engageable) ? 0.6 : 1.0);
+}
+
+
+// MapSettingsButton
+MapSettingsButton::MapSettingsButton(QWidget *parent) : QPushButton(parent) {
+  setFixedSize(btn_size, btn_size);
+  settings_img = loadPixmap("../assets/navigation/icon_directions_outlined.svg", {img_size, img_size});
+
+  // hidden by default, made visible if map is created (has prime or mapbox token)
+  setVisible(false);
+  setEnabled(false);
+}
+
+void MapSettingsButton::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  drawIcon(p, QPoint(btn_size / 2, btn_size / 2), settings_img, QColor(0, 0, 0, 166), isDown() ? 0.6 : 1.0);
+}
+
+
+// Window that shows camera view and variety of info drawn on top
 AnnotatedCameraWidget::AnnotatedCameraWidget(VisionStreamType type, QWidget* parent) : fps_filter(UI_FREQ, 3, 1. / UI_FREQ), CameraWidget("camerad", type, true, parent) {
   pm = std::make_unique<PubMaster, const std::initializer_list<const char *>>({"uiDebug"});
 
-  engage_img = loadPixmap("../assets/img_chffr_wheel.png", {img_size, img_size});
-  experimental_img = loadPixmap("../assets/img_experimental.svg", {img_size - 5, img_size - 5});
-  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size, img_size});
+  main_layout = new QVBoxLayout(this);
+  main_layout->setMargin(UI_BORDER_SIZE);
+  main_layout->setSpacing(0);
+
+  experimental_btn = new ExperimentalButton(this);
+  main_layout->addWidget(experimental_btn, 0, Qt::AlignTop | Qt::AlignRight);
+
+  map_settings_btn = new MapSettingsButton(this);
+  main_layout->addWidget(map_settings_btn, 0, Qt::AlignBottom | Qt::AlignRight);
+
+  dm_img = loadPixmap("../assets/img_driver_face.png", {img_size + 5, img_size + 5});
 }
 
 void AnnotatedCameraWidget::updateState(const UIState &s) {
@@ -184,49 +283,49 @@ void AnnotatedCameraWidget::updateState(const UIState &s) {
 
   const bool cs_alive = sm.alive("controlsState");
   const bool nav_alive = sm.alive("navInstruction") && sm["navInstruction"].getValid();
-
   const auto cs = sm["controlsState"].getControlsState();
+  const auto car_state = sm["carState"].getCarState();
+  const auto nav_instruction = sm["navInstruction"].getNavInstruction();
 
   // Handle older routes where vCruiseCluster is not set
   float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
-  float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
-  bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
-  if (cruise_set && !s.scene.is_metric) {
-    set_speed *= KM_TO_MILE;
+  setSpeed = cs_alive ? v_cruise : SET_SPEED_NA;
+  is_cruise_set = setSpeed > 0 && (int)setSpeed != SET_SPEED_NA;
+  if (is_cruise_set && !s.scene.is_metric) {
+    setSpeed *= KM_TO_MILE;
   }
 
   // Handle older routes where vEgoCluster is not set
-  float v_ego;
-  if (sm["carState"].getCarState().getVEgoCluster() == 0.0 && !v_ego_cluster_seen) {
-    v_ego = sm["carState"].getCarState().getVEgo();
-  } else {
-    v_ego = sm["carState"].getCarState().getVEgoCluster();
-    v_ego_cluster_seen = true;
-  }
-  float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 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("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);
-
-  // update engageability and DM icons at 2Hz
-  if (sm.frame % (UI_FREQ / 2) == 0) {
-    setProperty("engageable", cs.getEngageable() || cs.getEnabled());
-    setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
-    setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
+  v_ego_cluster_seen = v_ego_cluster_seen || car_state.getVEgoCluster() != 0.0;
+  float v_ego = v_ego_cluster_seen ? car_state.getVEgoCluster() : car_state.getVEgo();
+  speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
+  speed *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
+
+  auto speed_limit_sign = nav_instruction.getSpeedLimitSign();
+  speedLimit = nav_alive ? nav_instruction.getSpeedLimit() : 0.0;
+  speedLimit *= (s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH);
+
+  has_us_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::MUTCD);
+  has_eu_speed_limit = (nav_alive && speed_limit_sign == cereal::NavInstruction::SpeedLimitSign::VIENNA);
+  is_metric = s.scene.is_metric;
+  speedUnit =  s.scene.is_metric ? tr("km/h") : tr("mph");
+  hideBottomIcons = (cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
+  status = s.status;
+
+  // update engageability/experimental mode button
+  experimental_btn->updateState(s);
+
+  // update DM icon
+  auto dm_state = sm["driverMonitoringState"].getDriverMonitoringState();
+  dmActive = dm_state.getIsActiveMode();
+  rightHandDM = dm_state.getIsRHD();
+  // DM icon transition
+  dm_fade_state = std::clamp(dm_fade_state+0.2*(0.5-dmActive), 0.0, 1.0);
+
+  // hide map settings button for alerts and flip for right hand DM
+  if (map_settings_btn->isEnabled()) {
+    map_settings_btn->setVisible(!hideBottomIcons);
+    main_layout->setAlignment(map_settings_btn, (rightHandDM ? Qt::AlignLeft : Qt::AlignRight) | Qt::AlignBottom);
   }
 }
 
@@ -234,187 +333,108 @@ void AnnotatedCameraWidget::drawHud(QPainter &p) {
   p.save();
 
   // Header gradient
-  QLinearGradient bg(0, header_h - (header_h / 2.5), 0, header_h);
+  QLinearGradient bg(0, UI_HEADER_HEIGHT - (UI_HEADER_HEIGHT / 2.5), 0, UI_HEADER_HEIGHT);
   bg.setColorAt(0, QColor::fromRgbF(0, 0, 0, 0.45));
   bg.setColorAt(1, QColor::fromRgbF(0, 0, 0, 0));
-  p.fillRect(0, 0, width(), header_h, bg);
+  p.fillRect(0, 0, width(), UI_HEADER_HEIGHT, bg);
 
   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;
+  const int sign_margin = 12;
+  const int us_sign_height = 186;
+  const int eu_sign_size = 176;
+
+  const QSize default_size = {172, 204};
+  QSize set_speed_size = default_size;
+  if (is_metric || has_eu_speed_limit) set_speed_size.rwidth() = 200;
+  if (has_us_speed_limit && speedLimitStr.size() >= 3) set_speed_size.rwidth() = 223;
 
-  int rect_height = 204;
-  if (has_us_speed_limit) rect_height = 402;
-  else if (has_eu_speed_limit) rect_height = 392;
+  if (has_us_speed_limit) set_speed_size.rheight() += us_sign_height + sign_margin;
+  else if (has_eu_speed_limit) set_speed_size.rheight() += eu_sign_size + sign_margin;
 
   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);
+  QRect set_speed_rect(QPoint(60 + (default_size.width() - set_speed_size.width()) / 2, 45), set_speed_size);
   p.setPen(QPen(whiteColor(75), 6));
   p.setBrush(blackColor(166));
   drawRoundedRect(p, set_speed_rect, top_radius, top_radius, bottom_radius, bottom_radius);
 
   // Draw MAX
+  QColor max_color = QColor(0x80, 0xd8, 0xa6, 0xff);
+  QColor set_speed_color = whiteColor();
   if (is_cruise_set) {
     if (status == STATUS_DISENGAGED) {
-      p.setPen(whiteColor());
+      max_color = whiteColor();
     } else if (status == STATUS_OVERRIDE) {
-      p.setPen(QColor(0x91, 0x9b, 0x95, 0xff));
+      max_color = 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 {
-    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());
+      auto interp_color = [=](QColor c1, QColor c2, QColor c3) {
+        return speedLimit > 0 ? interpColor(setSpeed, {speedLimit + 5, speedLimit + 15, speedLimit + 25}, {c1, c2, c3}) : c1;
+      };
+      max_color = interp_color(max_color, QColor(0xff, 0xe4, 0xbf), QColor(0xff, 0xbf, 0xbf));
+      set_speed_color = interp_color(set_speed_color, QColor(0xff, 0x95, 0x00), QColor(0xff, 0x00, 0x00));
     }
   } else {
-    p.setPen(QColor(0x72, 0x72, 0x72, 0xff));
+    max_color = QColor(0xa6, 0xa6, 0xa6, 0xff);
+    set_speed_color = 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);
-
-
-
+  p.setFont(InterFont(40, QFont::DemiBold));
+  p.setPen(max_color);
+  p.drawText(set_speed_rect.adjusted(0, 27, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("MAX"));
+  p.setFont(InterFont(90, QFont::Bold));
+  p.setPen(set_speed_color);
+  p.drawText(set_speed_rect.adjusted(0, 77, 0, 0), Qt::AlignTop | Qt::AlignHCenter, setSpeedStr);
+
+  const QRect sign_rect = set_speed_rect.adjusted(sign_margin, default_size.height(), -sign_margin, -sign_margin);
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
-    const int border_width = 6;
-    const int sign_width = rect_width - 24;
-    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);
+    p.drawRoundedRect(sign_rect, 24, 24);
+    p.setPen(QPen(blackColor(), 6));
+    p.drawRoundedRect(sign_rect.adjusted(9, 9, -9, -9), 16, 16);
+
+    p.setFont(InterFont(28, QFont::DemiBold));
+    p.drawText(sign_rect.adjusted(0, 22, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("SPEED"));
+    p.drawText(sign_rect.adjusted(0, 51, 0, 0), Qt::AlignTop | Qt::AlignHCenter, tr("LIMIT"));
+    p.setFont(InterFont(70, QFont::Bold));
+    p.drawText(sign_rect.adjusted(0, 85, 0, 0), Qt::AlignTop | Qt::AlignHCenter, 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);
+    p.drawEllipse(sign_rect);
+    p.setPen(QPen(Qt::red, 20));
+    p.drawEllipse(sign_rect.adjusted(16, 16, -16, -16));
 
-    // 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.setFont(InterFont((speedLimitStr.size() >= 3) ? 60 : 70, QFont::Bold));
     p.setPen(blackColor());
-    p.drawText(speed_limit_rect, Qt::AlignCenter, speedLimitStr);
+    p.drawText(sign_rect, Qt::AlignCenter, speedLimitStr);
   }
 
   // current speed
-  configFont(p, "Inter", 176, "Bold");
+  p.setFont(InterFont(176, QFont::Bold));
   drawText(p, rect().center().x(), 210, speedStr);
-  configFont(p, "Inter", 66, "Regular");
+  p.setFont(InterFont(66));
   drawText(p, rect().center().x(), 290, speedUnit, 200);
 
-  // engage-ability icon
-  if (engageable) {
-    SubMaster &sm = *(uiState()->sm);
-    drawIcon(p, rect().right() - radius / 2 - bdr_s * 2, radius / 2 + int(bdr_s * 1.5),
-             sm["controlsState"].getControlsState().getExperimentalMode() ? experimental_img : engage_img, blackColor(166), 1.0);
-  }
-
-  // dm icon
-  if (!hideDM) {
-    int dm_icon_x = rightHandDM ? rect().right() -  radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2);
-    drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2,
-             dm_img, blackColor(70), dmActive ? 1.0 : 0.2);
-  }
   p.restore();
 }
 
-
-// Window that shows camera view and variety of
-// info drawn on top
-
 void AnnotatedCameraWidget::drawText(QPainter &p, int x, int y, const QString &text, int alpha) {
-  QRect real_rect = getTextRect(p, 0, text);
+  QRect real_rect = p.fontMetrics().boundingRect(text);
   real_rect.moveCenter({x, y - real_rect.height() / 2});
 
   p.setPen(QColor(0xff, 0xff, 0xff, alpha));
   p.drawText(real_rect.x(), real_rect.bottom(), text);
 }
 
-void AnnotatedCameraWidget::drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity) {
-  p.setOpacity(1.0);  // bg dictates opacity of ellipse
-  p.setPen(Qt::NoPen);
-  p.setBrush(bg);
-  p.drawEllipse(x - radius / 2, y - radius / 2, radius, radius);
-  p.setOpacity(opacity);
-  p.drawPixmap(x - img.size().width() / 2, y - img.size().height() / 2, img);
-}
-
-
 void AnnotatedCameraWidget::initializeGL() {
   CameraWidget::initializeGL();
   qInfo() << "OpenGL version:" << QString((const char*)glGetString(GL_VERSION));
@@ -463,24 +483,34 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   }
 
   // paint path
-  QLinearGradient bg(0, height(), 0, height() / 4);
-  float start_hue, end_hue;
+  QLinearGradient bg(0, height(), 0, 0);
   if (sm["controlsState"].getControlsState().getExperimentalMode()) {
-    const auto &acceleration = sm["modelV2"].getModelV2().getAcceleration();
-    float acceleration_future = 0;
-    if (acceleration.getZ().size() > 16) {
-      acceleration_future = acceleration.getX()[16];  // 2.5 seconds
+    // The first half of track_vertices are the points for the right side of the path
+    // and the indices match the positions of accel from uiPlan
+    const auto &acceleration = sm["uiPlan"].getUiPlan().getAccel();
+    const int max_len = std::min<int>(scene.track_vertices.length() / 2, acceleration.size());
+
+    for (int i = 0; i < max_len; ++i) {
+      // Some points are out of frame
+      if (scene.track_vertices[i].y() < 0 || scene.track_vertices[i].y() > height()) continue;
+
+      // Flip so 0 is bottom of frame
+      float lin_grad_point = (height() - scene.track_vertices[i].y()) / height();
+
+      // speed up: 120, slow down: 0
+      float path_hue = fmax(fmin(60 + acceleration[i] * 35, 120), 0);
+      // FIXME: painter.drawPolygon can be slow if hue is not rounded
+      path_hue = int(path_hue * 100 + 0.5) / 100;
+
+      float saturation = fmin(fabs(acceleration[i] * 1.5), 1);
+      float lightness = util::map_val(saturation, 0.0f, 1.0f, 0.95f, 0.62f);  // lighter when grey
+      float alpha = util::map_val(lin_grad_point, 0.75f / 2.f, 0.75f, 0.4f, 0.0f);  // matches previous alpha fade
+      bg.setColorAt(lin_grad_point, QColor::fromHslF(path_hue / 360., saturation, lightness, alpha));
+
+      // Skip a point, unless next is last
+      i += (i + 2) < max_len ? 1 : 0;
     }
-    start_hue = 60;
-    // speed up: 120, slow down: 0
-    end_hue = fmax(fmin(start_hue + acceleration_future * 45, 148), 0);
 
-    // FIXME: painter.drawPolygon can be slow if hue is not rounded
-    end_hue = int(end_hue * 100 + 0.5) / 100;
-
-    bg.setColorAt(0.0, QColor::fromHslF(start_hue / 360., 0.97, 0.56, 0.4));
-    bg.setColorAt(0.5, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.35));
-    bg.setColorAt(1.0, QColor::fromHslF(end_hue / 360., 1.0, 0.68, 0.0));
   } else {
     bg.setColorAt(0.0, QColor::fromHslF(148 / 360., 0.94, 0.51, 0.4));
     bg.setColorAt(0.5, QColor::fromHslF(112 / 360., 1.0, 0.68, 0.35));
@@ -493,13 +523,54 @@ void AnnotatedCameraWidget::drawLaneLines(QPainter &painter, const UIState *s) {
   painter.restore();
 }
 
-void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd) {
+void AnnotatedCameraWidget::drawDriverState(QPainter &painter, const UIState *s) {
+  const UIScene &scene = s->scene;
+
+  painter.save();
+
+  // base icon
+  int offset = UI_BORDER_SIZE + btn_size / 2;
+  int x = rightHandDM ? width() - offset : offset;
+  int y = height() - offset;
+  float opacity = dmActive ? 0.65 : 0.2;
+  drawIcon(painter, QPoint(x, y), dm_img, blackColor(70), opacity);
+
+  // face
+  QPointF face_kpts_draw[std::size(default_face_kpts_3d)];
+  float kp;
+  for (int i = 0; i < std::size(default_face_kpts_3d); ++i) {
+    kp = (scene.face_kpts_draw[i].v[2] - 8) / 120 + 1.0;
+    face_kpts_draw[i] = QPointF(scene.face_kpts_draw[i].v[0] * kp + x, scene.face_kpts_draw[i].v[1] * kp + y);
+  }
+
+  painter.setPen(QPen(QColor::fromRgbF(1.0, 1.0, 1.0, opacity), 5.2, Qt::SolidLine, Qt::RoundCap));
+  painter.drawPolyline(face_kpts_draw, std::size(default_face_kpts_3d));
+
+  // tracking arcs
+  const int arc_l = 133;
+  const float arc_t_default = 6.7;
+  const float arc_t_extend = 12.0;
+  QColor arc_color = QColor::fromRgbF(0.545 - 0.445 * s->engaged(),
+                                      0.545 + 0.4 * s->engaged(),
+                                      0.545 - 0.285 * s->engaged(),
+                                      0.4 * (1.0 - dm_fade_state));
+  float delta_x = -scene.driver_pose_sins[1] * arc_l / 2;
+  float delta_y = -scene.driver_pose_sins[0] * arc_l / 2;
+  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[1] * 5.0), Qt::SolidLine, Qt::RoundCap));
+  painter.drawArc(QRectF(std::fmin(x + delta_x, x), y - arc_l / 2, fabs(delta_x), arc_l), (scene.driver_pose_sins[1]>0 ? 90 : -90) * 16, 180 * 16);
+  painter.setPen(QPen(arc_color, arc_t_default+arc_t_extend*fmin(1.0, scene.driver_pose_diff[0] * 5.0), Qt::SolidLine, Qt::RoundCap));
+  painter.drawArc(QRectF(x - arc_l / 2, std::fmin(y + delta_y, y), arc_l, fabs(delta_y)), (scene.driver_pose_sins[0]>0 ? 0 : 180) * 16, 180 * 16);
+
+  painter.restore();
+}
+
+void AnnotatedCameraWidget::drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd) {
   painter.save();
 
   const float speedBuff = 10.;
   const float leadBuff = 40.;
-  const float d_rel = lead_data.getX()[0];
-  const float v_rel = lead_data.getV()[0];
+  const float d_rel = lead_data.getDRel();
+  const float v_rel = lead_data.getVRel();
 
   float fillAlpha = 0;
   if (d_rel < leadBuff) {
@@ -534,6 +605,7 @@ void AnnotatedCameraWidget::paintGL() {
   SubMaster &sm = *(s->sm);
   const double start_draw_t = millis_since_boot();
   const cereal::ModelDataV2::Reader &model = sm["modelV2"].getModelV2();
+  const cereal::RadarState::Reader &radar_state = sm["radarState"].getRadarState();
 
   // draw camera frame
   {
@@ -553,16 +625,18 @@ void AnnotatedCameraWidget::paintGL() {
     }
 
     // Wide or narrow cam dependent on speed
-    float v_ego = sm["carState"].getCarState().getVEgo();
-    if ((v_ego < 10) || s->wide_cam_only) {
-      wide_cam_requested = true;
-    } else if (v_ego > 15) {
-      wide_cam_requested = false;
+    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
+    if (has_wide_cam) {
+      float v_ego = sm["carState"].getCarState().getVEgo();
+      if ((v_ego < 10) || available_streams.size() == 1) {
+        wide_cam_requested = true;
+      } else if (v_ego > 15) {
+        wide_cam_requested = false;
+      }
+      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      // for replay of old routes, never go to widecam
+      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     }
-    wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
-    // TODO: also detect when ecam vision stream isn't available
-    // for replay of old routes, never go to widecam
-    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
     CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);
 
     s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
@@ -582,25 +656,32 @@ void AnnotatedCameraWidget::paintGL() {
 
   if (s->worldObjectsVisible()) {
     if (sm.rcv_frame("modelV2") > s->scene.started_frame) {
-      update_model(s, sm["modelV2"].getModelV2());
+      update_model(s, model, sm["uiPlan"].getUiPlan());
       if (sm.rcv_frame("radarState") > s->scene.started_frame) {
-        update_leads(s, sm["radarState"].getRadarState(), sm["modelV2"].getModelV2().getPosition());
+        update_leads(s, radar_state, model.getPosition());
       }
     }
 
     drawLaneLines(painter, s);
 
     if (s->scene.longitudinal_control) {
-      const auto leads = model.getLeadsV3();
-      if (leads[0].getProb() > .5) {
-        drawLead(painter, leads[0], s->scene.lead_vertices[0]);
+      auto lead_one = radar_state.getLeadOne();
+      auto lead_two = radar_state.getLeadTwo();
+      if (lead_one.getStatus()) {
+        drawLead(painter, lead_one, s->scene.lead_vertices[0]);
       }
-      if (leads[1].getProb() > .5 && (std::abs(leads[1].getX()[0] - leads[0].getX()[0]) > 3.0)) {
-        drawLead(painter, leads[1], s->scene.lead_vertices[1]);
+      if (lead_two.getStatus() && (std::abs(lead_one.getDRel() - lead_two.getDRel()) > 3.0)) {
+        drawLead(painter, lead_two, s->scene.lead_vertices[1]);
       }
     }
   }
 
+  // DMoji
+  if (!hideBottomIcons && (sm.rcv_frame("driverStateV2") > s->scene.started_frame)) {
+    update_dmonitoring(s, sm["driverStateV2"].getDriverStateV2(), dm_fade_state, rightHandDM);
+    drawDriverState(painter, s);
+  }
+
   drawHud(painter);
 
   double cur_draw_t = millis_since_boot();
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 9e18355970..b3ba411453 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -1,11 +1,18 @@
 #pragma once
 
+#include <memory>
+
+#include <QPushButton>
 #include <QStackedLayout>
 #include <QWidget>
 
 #include "common/util.h"
-#include "selfdrive/ui/qt/widgets/cameraview.h"
 #include "selfdrive/ui/ui.h"
+#include "selfdrive/ui/qt/widgets/cameraview.h"
+
+
+const int btn_size = 192;
+const int img_size = (btn_size / 4) * 3;
 
 
 // ***** onroad widgets *****
@@ -13,8 +20,8 @@ class OnroadAlerts : public QWidget {
   Q_OBJECT
 
 public:
-  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {};
-  void updateAlert(const Alert &a, const QColor &color);
+  OnroadAlerts(QWidget *parent = 0) : QWidget(parent) {}
+  void updateAlert(const Alert &a);
 
 protected:
   void paintEvent(QPaintEvent*) override;
@@ -24,47 +31,63 @@ private:
   Alert alert = {};
 };
 
+class ExperimentalButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit ExperimentalButton(QWidget *parent = 0);
+  void updateState(const UIState &s);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+  void changeMode();
+
+  Params params;
+  QPixmap engage_img;
+  QPixmap experimental_img;
+  bool experimental_mode;
+  bool engageable;
+};
+
+
+class MapSettingsButton : public QPushButton {
+  Q_OBJECT
+
+public:
+  explicit MapSettingsButton(QWidget *parent = 0);
+
+private:
+  void paintEvent(QPaintEvent *event) override;
+
+  QPixmap settings_img;
+};
+
 // container window for the NVG UI
 class AnnotatedCameraWidget : public CameraWidget {
   Q_OBJECT
-  Q_PROPERTY(float speed MEMBER speed);
-  Q_PROPERTY(QString speedUnit MEMBER speedUnit);
-  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);
-  Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
-  Q_PROPERTY(int status MEMBER status);
 
 public:
   explicit AnnotatedCameraWidget(VisionStreamType type, QWidget* parent = 0);
   void updateState(const UIState &s);
 
+  MapSettingsButton *map_settings_btn;
+
 private:
-  void drawIcon(QPainter &p, int x, int y, QPixmap &img, QBrush bg, float opacity);
   void drawText(QPainter &p, int x, int y, const QString &text, int alpha = 255);
 
-  QPixmap engage_img;
-  QPixmap experimental_img;
+  QVBoxLayout *main_layout;
+  ExperimentalButton *experimental_btn;
   QPixmap dm_img;
-  const int radius = 192;
-  const int img_size = (radius / 2) * 1.5;
   float speed;
   QString speedUnit;
   float setSpeed;
   float speedLimit;
   bool is_cruise_set = false;
   bool is_metric = false;
-  bool engageable = false;
   bool dmActive = false;
-  bool hideDM = false;
+  bool hideBottomIcons = false;
   bool rightHandDM = false;
+  float dm_fade_state = 1.0;
   bool has_us_speed_limit = false;
   bool has_eu_speed_limit = false;
   bool v_ego_cluster_seen = false;
@@ -80,8 +103,9 @@ protected:
   void showEvent(QShowEvent *event) 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 drawLead(QPainter &painter, const cereal::RadarState::LeadData::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
+  void drawDriverState(QPainter &painter, const UIState *s);
   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); }
@@ -97,6 +121,10 @@ class OnroadWindow : public QWidget {
 public:
   OnroadWindow(QWidget* parent = 0);
   bool isMapVisible() const { return map && map->isVisible(); }
+  void showMapPanel(bool show) { if (map) map->setVisible(show); }
+
+signals:
+  void mapPanelRequested();
 
 private:
   void paintEvent(QPaintEvent *event);
@@ -109,5 +137,6 @@ private:
 
 private slots:
   void offroadTransition(bool offroad);
+  void primeChanged(bool prime);
   void updateState(const UIState &s);
 };
diff --git a/selfdrive/ui/qt/python_helpers.py b/selfdrive/ui/qt/python_helpers.py
index 905d41a634..88c36290d9 100644
--- a/selfdrive/ui/qt/python_helpers.py
+++ b/selfdrive/ui/qt/python_helpers.py
@@ -1,10 +1,10 @@
 import os
 from cffi import FFI
 
-import sip  # pylint: disable=import-error
+import sip
 
-from common.ffi_wrapper import suffix
-from common.basedir import BASEDIR
+from openpilot.common.ffi_wrapper import suffix
+from openpilot.common.basedir import BASEDIR
 
 
 def get_ffi():
diff --git a/selfdrive/ui/qt/qt_window.cc b/selfdrive/ui/qt/qt_window.cc
index d630b560bb..f71cea04e9 100644
--- a/selfdrive/ui/qt/qt_window.cc
+++ b/selfdrive/ui/qt/qt_window.cc
@@ -1,15 +1,15 @@
 #include "selfdrive/ui/qt/qt_window.h"
 
 void setMainWindow(QWidget *w) {
+  const float scale = util::getenv("SCALE", 1.0f);
   const QSize sz = QGuiApplication::primaryScreen()->size();
-  if (Hardware::PC() && sz.width() <= 1920 && sz.height() <= 1080 && getenv("SCALE") == nullptr) {
+
+  if (Hardware::PC() && scale == 1.0 && !(sz - DEVICE_SCREEN_SIZE).isValid()) {
     w->setMinimumSize(QSize(640, 480)); // allow resize smaller than fullscreen
-    w->setMaximumSize(QSize(2160, 1080));
+    w->setMaximumSize(DEVICE_SCREEN_SIZE);
     w->resize(sz);
   } else {
-    const float scale = util::getenv("SCALE", 1.0f);
-    const bool wide = (sz.width() >= WIDE_WIDTH) ^ (getenv("INVERT_WIDTH") != NULL);
-    w->setFixedSize(QSize(wide ? WIDE_WIDTH : 1920, 1080) * scale);
+    w->setFixedSize(DEVICE_SCREEN_SIZE * scale);
   }
   w->show();
 
@@ -19,6 +19,10 @@ void setMainWindow(QWidget *w) {
   wl_surface_set_buffer_transform(s, WL_OUTPUT_TRANSFORM_270);
   wl_surface_commit(s);
   w->showFullScreen();
+
+  // ensure we have a valid eglDisplay, otherwise the ui will silently fail
+  void *egl = native->nativeResourceForWindow("egldisplay", w->windowHandle());
+  assert(egl != nullptr);
 #endif
 }
 
diff --git a/selfdrive/ui/qt/qt_window.h b/selfdrive/ui/qt/qt_window.h
index 02d127e7ff..6f16e00957 100644
--- a/selfdrive/ui/qt/qt_window.h
+++ b/selfdrive/ui/qt/qt_window.h
@@ -15,7 +15,6 @@
 #include "system/hardware/hw.h"
 
 const QString ASSET_PATH = ":/";
-
-const int WIDE_WIDTH = 2160;
+const QSize DEVICE_SCREEN_SIZE = {2160, 1080};
 
 void setMainWindow(QWidget *w);
diff --git a/selfdrive/ui/qt/request_repeater.cc b/selfdrive/ui/qt/request_repeater.cc
index fa37c015f7..7aa731898c 100644
--- a/selfdrive/ui/qt/request_repeater.cc
+++ b/selfdrive/ui/qt/request_repeater.cc
@@ -5,7 +5,7 @@ RequestRepeater::RequestRepeater(QObject *parent, const QString &requestURL, con
   timer = new QTimer(this);
   timer->setTimerType(Qt::VeryCoarseTimer);
   QObject::connect(timer, &QTimer::timeout, [=]() {
-    if ((!uiState()->scene.started || while_onroad) && uiState()->awake && !active()) {
+    if ((!uiState()->scene.started || while_onroad) && device()->isAwake() && !active()) {
       sendRequest(requestURL);
     }
   });
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 582217c1d7..7999dd640b 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -11,14 +11,11 @@
 #define NVME "/dev/nvme0n1"
 #define USERDATA "/dev/disk/by-partlabel/userdata"
 
-void Reset::doReset() {
-  // best effort to wipe nvme and sd card
+void Reset::doErase() {
+  // best effort to wipe nvme
   std::system("sudo umount " NVME);
   std::system("yes | sudo mkfs.ext4 " NVME);
 
-  // we handle two cases here
-  //  * user-prompted factory reset
-  //  * recovering from a corrupt userdata by formatting
   int rm = std::system("sudo rm -rf /data/*");
   std::system("sudo umount " USERDATA);
   int fmt = std::system("yes | sudo mkfs.ext4 " USERDATA);
@@ -30,22 +27,26 @@ void Reset::doReset() {
   rebootBtn->show();
 }
 
+void Reset::startReset() {
+  body->setText(tr("Resetting device...\nThis may take up to a minute."));
+  rejectBtn->hide();
+  rebootBtn->hide();
+  confirmBtn->hide();
+#ifdef __aarch64__
+  QTimer::singleShot(100, this, &Reset::doErase);
+#endif
+}
+
 void Reset::confirm() {
   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(tr("Resetting device..."));
-    rejectBtn->hide();
-    rebootBtn->hide();
-    confirmBtn->hide();
-#ifdef __aarch64__
-    QTimer::singleShot(100, this, &Reset::doReset);
-#endif
+    startReset();
   }
 }
 
-Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
+Reset::Reset(ResetMode mode, QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(45, 220, 45, 45);
   main_layout->setSpacing(0);
@@ -56,7 +57,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
 
   main_layout->addSpacing(60);
 
-  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
+  body = new QLabel(tr("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);
@@ -78,14 +79,27 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
 #endif
 
   confirmBtn = new QPushButton(tr("Confirm"));
-  confirmBtn->setStyleSheet("background-color: #465BEA;");
+  confirmBtn->setStyleSheet(R"(
+    QPushButton {
+      background-color: #465BEA;
+    }
+    QPushButton:pressed {
+      background-color: #3049F4;
+    }
+  )");
   blayout->addWidget(confirmBtn);
   QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
 
+  bool recover = mode == ResetMode::RECOVER;
   rejectBtn->setVisible(!recover);
   rebootBtn->setVisible(recover);
   if (recover) {
-    body->setText(tr("Unable to mount data partition. Press confirm to reset your device."));
+    body->setText(tr("Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device."));
+  }
+
+  // automatically start if we're just finishing up an ABL reset
+  if (mode == ResetMode::FORMAT) {
+    startReset();
   }
 
   setStyleSheet(R"(
@@ -104,13 +118,24 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
       border-radius: 10px;
       background-color: #333333;
     }
+    QPushButton:pressed {
+      background-color: #444444;
+    }
   )");
 }
 
 int main(int argc, char *argv[]) {
-  bool recover = argc > 1 && strcmp(argv[1], "--recover") == 0;
+  ResetMode mode = ResetMode::USER_RESET;
+  if (argc > 1) {
+    if (strcmp(argv[1], "--recover") == 0) {
+      mode = ResetMode::RECOVER;
+    } else if (strcmp(argv[1], "--format") == 0) {
+      mode = ResetMode::FORMAT;
+    }
+  }
+
   QApplication a(argc, argv);
-  Reset reset(recover);
+  Reset reset(mode);
   setMainWindow(&reset);
   return a.exec();
 }
diff --git a/selfdrive/ui/qt/setup/reset.h b/selfdrive/ui/qt/setup/reset.h
index 3a4994077c..04a191d829 100644
--- a/selfdrive/ui/qt/setup/reset.h
+++ b/selfdrive/ui/qt/setup/reset.h
@@ -2,18 +2,25 @@
 #include <QPushButton>
 #include <QWidget>
 
+enum ResetMode {
+  USER_RESET, // user initiated a factory reset from openpilot
+  RECOVER,    // userdata is corrupt for some reason, give a chance to recover
+  FORMAT,     // finish up an ABL factory reset
+};
+
 class Reset : public QWidget {
   Q_OBJECT
 
 public:
-  explicit Reset(bool recover = false, QWidget *parent = 0);
+  explicit Reset(ResetMode mode, QWidget *parent = 0);
 
 private:
   QLabel *body;
   QPushButton *rejectBtn;
   QPushButton *rebootBtn;
   QPushButton *confirmBtn;
-  void doReset();
+  void doErase();
+  void startReset();
 
 private slots:
   void confirm();
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 69dafcf741..cdb49f1dfc 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -10,6 +10,8 @@
 
 #include <curl/curl.h>
 
+#include <string>
+
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
@@ -20,15 +22,29 @@
 const std::string USER_AGENT = "AGNOSSetup-";
 const QString DASHCAM_URL = "https://dashcam.comma.ai";
 
+bool is_elf(char *fname) {
+  FILE *fp = fopen(fname, "rb");
+  if (fp == NULL) {
+    return false;
+  }
+  char buf[4];
+  size_t n = fread(buf, 1, 4, fp);
+  fclose(fp);
+  return n == 4 && buf[0] == 0x7f && buf[1] == 'E' && buf[2] == 'L' && buf[3] == 'F';
+}
+
 void Setup::download(QString url) {
   CURL *curl = curl_easy_init();
   if (!curl) {
-    emit finished(false);
+    emit finished(url, tr("Something went wrong. Reboot the device."));
     return;
   }
 
   auto version = util::read_file("/VERSION");
 
+  struct curl_slist *list = NULL;
+  list = curl_slist_append(list, ("X-openpilot-serial: " + Hardware::get_serial()).c_str());
+
   char tmpfile[] = "/tmp/installer_XXXXXX";
   FILE *fp = fdopen(mkstemp(tmpfile), "w");
 
@@ -38,18 +54,28 @@ void Setup::download(QString url) {
   curl_easy_setopt(curl, CURLOPT_VERBOSE, 1L);
   curl_easy_setopt(curl, CURLOPT_FOLLOWLOCATION, 1L);
   curl_easy_setopt(curl, CURLOPT_USERAGENT, (USER_AGENT + version).c_str());
+  curl_easy_setopt(curl, CURLOPT_HTTPHEADER, list);
+  curl_easy_setopt(curl, CURLOPT_TIMEOUT, 30L);
 
   int ret = curl_easy_perform(curl);
-
   long res_status = 0;
   curl_easy_getinfo(curl, CURLINFO_RESPONSE_CODE, &res_status);
-  if (ret == CURLE_OK && res_status == 200) {
-    rename(tmpfile, "/tmp/installer");
-    emit finished(true);
+
+  if (ret != CURLE_OK || res_status != 200) {
+    emit finished(url, tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
+  } else if (!is_elf(tmpfile)) {
+    emit finished(url, tr("No custom software found at this URL."));
   } else {
-    emit finished(false);
+    rename(tmpfile, "/tmp/installer");
+
+    FILE *fp_url = fopen("/tmp/installer_url", "w");
+    fprintf(fp_url, "%s", url.toStdString().c_str());
+    fclose(fp_url);
+
+    emit finished(url);
   }
 
+  curl_slist_free_all(list);
   curl_easy_cleanup(curl);
   fclose(fp);
 }
@@ -170,7 +196,20 @@ QWidget * Setup::network_setup() {
   QPushButton *cont = new QPushButton();
   cont->setObjectName("navBtn");
   cont->setProperty("primary", true);
-  QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
+  QObject::connect(cont, &QPushButton::clicked, [=]() {
+    auto w = currentWidget();
+    QTimer::singleShot(0, [=]() {
+      setCurrentWidget(downloading_widget);
+    });
+    QString url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
+    if (!url.isEmpty()) {
+      QTimer::singleShot(1000, this, [=]() {
+        download(url);
+      });
+    } else {
+      setCurrentWidget(w);
+    }
+  });
   blayout->addWidget(cont);
 
   // setup timer for testing internet connection
@@ -178,8 +217,8 @@ QWidget * Setup::network_setup() {
   QObject::connect(request, &HttpRequest::requestDone, [=](const QString &, bool success) {
     cont->setEnabled(success);
     if (success) {
-      const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL;
-      cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue"));
+      const bool wifi = networking->wifi->currentNetworkType() == NetworkType::WIFI;
+      cont->setText(wifi ? tr("Continue") : tr("Continue without Wi-Fi"));
     } else {
       cont->setText(tr("Waiting for internet"));
     }
@@ -197,106 +236,6 @@ QWidget * Setup::network_setup() {
   return widget;
 }
 
-QWidget * radio_button(QString title, QButtonGroup *group) {
-  QPushButton *btn = new QPushButton(title);
-  btn->setCheckable(true);
-  group->addButton(btn);
-  btn->setStyleSheet(R"(
-    QPushButton {
-      height: 230;
-      padding-left: 100px;
-      padding-right: 100px;
-      text-align: left;
-      font-size: 80px;
-      font-weight: 400;
-      border-radius: 10px;
-      background-color: #4F4F4F;
-    }
-    QPushButton:checked {
-      background-color: #465BEA;
-    }
-  )");
-
-  // checkmark icon
-  QPixmap pix(":/img_circled_check.svg");
-  btn->setIcon(pix);
-  btn->setIconSize(QSize(0, 0));
-  btn->setLayoutDirection(Qt::RightToLeft);
-  QObject::connect(btn, &QPushButton::toggled, [=](bool checked) {
-    btn->setIconSize(checked ? QSize(104, 104) : QSize(0, 0));
-  });
-  return btn;
-}
-
-QWidget * Setup::software_selection() {
-  QWidget *widget = new QWidget();
-  QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 50, 55, 50);
-  main_layout->setSpacing(0);
-
-  // title
-  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);
-
-  main_layout->addSpacing(50);
-
-  // dashcam + custom radio buttons
-  QButtonGroup *group = new QButtonGroup(widget);
-  group->setExclusive(true);
-
-  QWidget *dashcam = radio_button(tr("Dashcam"), group);
-  main_layout->addWidget(dashcam);
-
-  main_layout->addSpacing(30);
-
-  QWidget *custom = radio_button(tr("Custom Software"), group);
-  main_layout->addWidget(custom);
-
-  main_layout->addStretch();
-
-  // back + continue buttons
-  QHBoxLayout *blayout = new QHBoxLayout;
-  main_layout->addLayout(blayout);
-  blayout->setSpacing(50);
-
-  QPushButton *back = new QPushButton(tr("Back"));
-  back->setObjectName("navBtn");
-  QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
-  blayout->addWidget(back);
-
-  QPushButton *cont = new QPushButton(tr("Continue"));
-  cont->setObjectName("navBtn");
-  cont->setEnabled(false);
-  cont->setProperty("primary", true);
-  blayout->addWidget(cont);
-
-  QObject::connect(cont, &QPushButton::clicked, [=]() {
-    auto w = currentWidget();
-    QTimer::singleShot(0, [=]() {
-      setCurrentWidget(downloading_widget);
-    });
-    QString url = DASHCAM_URL;
-    if (group->checkedButton() != dashcam) {
-      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
-    }
-    if (!url.isEmpty()) {
-      QTimer::singleShot(1000, this, [=]() {
-        download(url);
-      });
-    } else {
-      setCurrentWidget(w);
-    }
-  });
-
-  connect(group, QOverload<QAbstractButton *>::of(&QButtonGroup::buttonClicked), [=](QAbstractButton *btn) {
-    btn->setChecked(true);
-    cont->setEnabled(true);
-  });
-
-  return widget;
-}
-
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
@@ -306,10 +245,10 @@ QWidget * Setup::downloading() {
   return widget;
 }
 
-QWidget * Setup::download_failed() {
+QWidget * Setup::download_failed(QLabel *url, QLabel *body) {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  main_layout->setContentsMargins(55, 225, 55, 55);
+  main_layout->setContentsMargins(55, 185, 55, 55);
   main_layout->setSpacing(0);
 
   QLabel *title = new QLabel(tr("Download Failed"));
@@ -318,7 +257,13 @@ QWidget * Setup::download_failed() {
 
   main_layout->addSpacing(67);
 
-  QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
+  url->setWordWrap(true);
+  url->setAlignment(Qt::AlignTop | Qt::AlignLeft);
+  url->setStyleSheet("font-family: \"JetBrains Mono\"; font-size: 64px; font-weight: 400; margin-right: 100px;");
+  main_layout->addWidget(url);
+
+  main_layout->addSpacing(48);
+
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
@@ -343,7 +288,7 @@ QWidget * Setup::download_failed() {
   restart->setProperty("primary", true);
   blayout->addWidget(restart);
   QObject::connect(restart, &QPushButton::clicked, this, [=]() {
-    setCurrentIndex(2);
+    setCurrentIndex(1);
   });
 
   widget->setStyleSheet(R"(
@@ -372,20 +317,23 @@ Setup::Setup(QWidget *parent) : QStackedWidget(parent) {
 
   addWidget(getting_started());
   addWidget(network_setup());
-  addWidget(software_selection());
 
   downloading_widget = downloading();
   addWidget(downloading_widget);
 
-  failed_widget = download_failed();
+  QLabel *url_label = new QLabel();
+  QLabel *body_label = new QLabel();
+  failed_widget = download_failed(url_label, body_label);
   addWidget(failed_widget);
 
-  QObject::connect(this, &Setup::finished, [=](bool success) {
-    // hide setup on success
-    qDebug() << "finished" << success;
-    if (success) {
+  QObject::connect(this, &Setup::finished, [=](const QString &url, const QString &error) {
+    qDebug() << "finished" << url << error;
+    if (error.isEmpty()) {
+      // hide setup on success
       QTimer::singleShot(3000, this, &QWidget::hide);
     } else {
+      url_label->setText(url);
+      body_label->setText(error);
       setCurrentWidget(failed_widget);
     }
   });
diff --git a/selfdrive/ui/qt/setup/setup.h b/selfdrive/ui/qt/setup/setup.h
index 8027e8bd4f..bf5d97070d 100644
--- a/selfdrive/ui/qt/setup/setup.h
+++ b/selfdrive/ui/qt/setup/setup.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <QLabel>
 #include <QStackedWidget>
 #include <QString>
 #include <QWidget>
@@ -14,15 +15,14 @@ private:
   QWidget *low_voltage();
   QWidget *getting_started();
   QWidget *network_setup();
-  QWidget *software_selection();
   QWidget *downloading();
-  QWidget *download_failed();
+  QWidget *download_failed(QLabel *url, QLabel *body);
 
   QWidget *failed_widget;
   QWidget *downloading_widget;
 
 signals:
-  void finished(bool success);
+  void finished(const QString &url, const QString &error = "");
 
 public slots:
   void nextPage();
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
index fd7148c534..ae5f26c77e 100644
--- a/selfdrive/ui/qt/setup/updater.cc
+++ b/selfdrive/ui/qt/setup/updater.cc
@@ -46,7 +46,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
 
     QPushButton *install = new QPushButton(tr("Install"));
     install->setObjectName("navBtn");
-    install->setStyleSheet("background-color: #465BEA;");
+    install->setStyleSheet(R"(
+      QPushButton {
+        background-color: #465BEA;
+      }
+      QPushButton:pressed {
+        background-color: #3049F4;
+      }
+    )");
     QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
     hlayout->addWidget(install);
   }
@@ -124,6 +131,9 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
       border-radius: 10px;
       background-color: #333333;
     }
+    QPushButton#navBtn:pressed {
+      background-color: #444444;
+    }
     QProgressBar {
       border: none;
       background-color: #292929;
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 212f195625..e952940056 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -20,16 +20,8 @@ void Sidebar::drawMetric(QPainter &p, const QPair<QString, QString> &label, QCol
   p.drawRoundedRect(rect, 20, 20);
 
   p.setPen(QColor(0xff, 0xff, 0xff));
-  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);
+  p.setFont(InterFont(35, QFont::DemiBold));
+  p.drawText(rect.adjusted(22, 0, 0, 0), Qt::AlignCenter, label.first + "\n" + label.second);
 }
 
 Sidebar::Sidebar(QWidget *parent) : QFrame(parent), onroad(false), flag_pressed(false), settings_pressed(false) {
@@ -92,7 +84,9 @@ void Sidebar::updateState(const UIState &s) {
   if (last_ping == 0) {
     connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, 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));
 
@@ -137,7 +131,7 @@ void Sidebar::paintEvent(QPaintEvent *event) {
     x += 37;
   }
 
-  configFont(p, "Inter", 35, "Regular");
+  p.setFont(InterFont(35));
   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 fb96e1d540..f627aac810 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <memory>
+
 #include <QFrame>
 #include <QMap>
 
diff --git a/selfdrive/ui/qt/spinner.cc b/selfdrive/ui/qt/spinner.cc
index 8f13576fb2..2404efa668 100644
--- a/selfdrive/ui/qt/spinner.cc
+++ b/selfdrive/ui/qt/spinner.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/spinner.h"
 
+#include <algorithm>
 #include <cstdio>
 #include <iostream>
 #include <string>
@@ -93,7 +94,7 @@ Spinner::Spinner(QWidget *parent) : QWidget(parent) {
 
   notifier = new QSocketNotifier(fileno(stdin), QSocketNotifier::Read);
   QObject::connect(notifier, &QSocketNotifier::activated, this, &Spinner::update);
-};
+}
 
 void Spinner::update(int n) {
   std::string line;
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 59903e3376..7bd168121a 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -1,14 +1,21 @@
 #include "selfdrive/ui/qt/util.h"
 
+#include <map>
+#include <string>
+#include <vector>
+
 #include <QApplication>
 #include <QFile>
+#include <QFileInfo>
+#include <QHash>
 #include <QJsonDocument>
 #include <QJsonObject>
 #include <QLayoutItem>
 #include <QStyleOption>
 #include <QPainterPath>
+#include <QTextStream>
+#include <QtXml/QDomDocument>
 
-#include "common/params.h"
 #include "common/swaglog.h"
 #include "system/hardware/hw.h"
 
@@ -48,25 +55,6 @@ QMap<QString, QString> getSupportedLanguages() {
   return map;
 }
 
-void configFont(QPainter &p, const QString &family, int size, const QString &style) {
-  QFont f(family);
-  f.setPixelSize(size);
-  f.setStyleName(style);
-  p.setFont(f);
-}
-
-void clearLayout(QLayout* layout) {
-  while (QLayoutItem* item = layout->takeAt(0)) {
-    if (QWidget* widget = item->widget()) {
-      widget->deleteLater();
-    }
-    if (QLayout* childLayout = item->layout()) {
-      clearLayout(childLayout);
-    }
-    delete item;
-  }
-}
-
 QString timeAgo(const QDateTime &date) {
   int diff = date.secsTo(QDateTime::currentDateTimeUtc());
 
@@ -99,6 +87,7 @@ void setQtSurfaceFormat() {
   fmt.setRenderableType(QSurfaceFormat::OpenGLES);
 #endif
   fmt.setSamples(16);
+  fmt.setStencilBufferSize(1);
   QSurfaceFormat::setDefaultFormat(fmt);
 }
 
@@ -107,7 +96,7 @@ void sigTermHandler(int s) {
   qApp->quit();
 }
 
-void initApp(int argc, char *argv[]) {
+void initApp(int argc, char *argv[], bool disable_hidpi) {
   Hardware::set_display_power(true);
   Hardware::set_brightness(65);
 
@@ -115,13 +104,13 @@ void initApp(int argc, char *argv[]) {
   std::signal(SIGINT, sigTermHandler);
   std::signal(SIGTERM, sigTermHandler);
 
+  if (disable_hidpi) {
 #ifdef __APPLE__
-  {
     // Get the devicePixelRatio, and scale accordingly to maintain 1:1 rendering
     QApplication tmp(argc, argv);
     qputenv("QT_SCALE_FACTOR", QString::number(1.0 / tmp.devicePixelRatio() ).toLocal8Bit());
-  }
 #endif
+  }
 
   setQtSurfaceFormat();
 }
@@ -145,7 +134,7 @@ void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, co
 }
 
 
-QWidget* topWidget (QWidget* widget) {
+QWidget* topWidget(QWidget* widget) {
   while (widget->parentWidget() != nullptr) widget=widget->parentWidget();
   return widget;
 }
@@ -158,12 +147,6 @@ QPixmap loadPixmap(const QString &fileName, const QSize &size, Qt::AspectRatioMo
   }
 }
 
-QRect getTextRect(QPainter &p, int flags, const 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;
@@ -214,7 +197,72 @@ QColor interpColor(float xv, std::vector<float> xp, std::vector<QColor> fp) {
       (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()
-    );
+      (xv - xp[low]) * (fp[hi].alpha() - fp[low].alpha()) / (xp[hi] - xp[low]) + fp[low].alpha());
+  }
+}
+
+static QHash<QString, QByteArray> load_bootstrap_icons() {
+  QHash<QString, QByteArray> icons;
+
+  QFile f(":/bootstrap-icons.svg");
+  if (f.open(QIODevice::ReadOnly | QIODevice::Text)) {
+    QDomDocument xml;
+    xml.setContent(&f);
+    QDomNode n = xml.documentElement().firstChild();
+    while (!n.isNull()) {
+      QDomElement e = n.toElement();
+      if (!e.isNull() && e.hasAttribute("id")) {
+        QString svg_str;
+        QTextStream stream(&svg_str);
+        n.save(stream, 0);
+        svg_str.replace("<symbol", "<svg");
+        svg_str.replace("</symbol>", "</svg>");
+        icons[e.attribute("id")] = svg_str.toUtf8();
+      }
+      n = n.nextSibling();
+    }
   }
+  return icons;
+}
+
+QPixmap bootstrapPixmap(const QString &id) {
+  static QHash<QString, QByteArray> icons = load_bootstrap_icons();
+
+  QPixmap pixmap;
+  if (auto it = icons.find(id); it != icons.end()) {
+    pixmap.loadFromData(it.value(), "svg");
+  }
+  return pixmap;
+}
+
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params) {
+  // Using the experimental longitudinal toggle, returns whether longitudinal control
+  // will be active without needing a restart of openpilot
+  return car_params.getExperimentalLongitudinalAvailable()
+             ? Params().getBool("ExperimentalLongitudinalEnabled")
+             : car_params.getOpenpilotLongitudinalControl();
+}
+
+// ParamWatcher
+
+ParamWatcher::ParamWatcher(QObject *parent) : QObject(parent) {
+  watcher = new QFileSystemWatcher(this);
+  QObject::connect(watcher, &QFileSystemWatcher::fileChanged, this, &ParamWatcher::fileChanged);
+}
+
+void ParamWatcher::fileChanged(const QString &path) {
+  auto param_name = QFileInfo(path).fileName();
+  auto param_value = QString::fromStdString(params.get(param_name.toStdString()));
+
+  auto it = params_hash.find(param_name);
+  bool content_changed = (it == params_hash.end()) || (it.value() != param_value);
+  params_hash[param_name] = param_value;
+  // emit signal when the content changes.
+  if (content_changed) {
+    emit paramChanged(param_name, param_value);
+  }
+}
+
+void ParamWatcher::addParam(const QString &param_name) {
+  watcher->addPath(QString::fromStdString(params.getParamPath(param_name.toStdString())));
 }
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 61a27a8669..2aae97b860 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -1,28 +1,57 @@
 #pragma once
 
 #include <optional>
+#include <vector>
 
 #include <QDateTime>
-#include <QLayout>
+#include <QFileSystemWatcher>
 #include <QPainter>
 #include <QPixmap>
 #include <QSurfaceFormat>
 #include <QWidget>
 
+#include "cereal/gen/cpp/car.capnp.h"
+#include "common/params.h"
+
 QString getVersion();
 QString getBrand();
 QString getUserAgent();
 std::optional<QString> getDongleId();
 QMap<QString, QString> getSupportedLanguages();
-void configFont(QPainter &p, const QString &family, int size, const QString &style);
-void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
+void sigTermHandler(int s);
 QString timeAgo(const QDateTime &date);
 void swagLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg);
-void initApp(int argc, char *argv[]);
-QWidget* topWidget (QWidget* widget);
+void initApp(int argc, char *argv[], bool disable_hidpi = true);
+QWidget* topWidget(QWidget* widget);
 QPixmap loadPixmap(const QString &fileName, const QSize &size = {}, Qt::AspectRatioMode aspectRatioMode = Qt::KeepAspectRatio);
+QPixmap bootstrapPixmap(const QString &id);
 
-QRect getTextRect(QPainter &p, int flags, const 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);
+bool hasLongitudinalControl(const cereal::CarParams::Reader &car_params);
+
+struct InterFont : public QFont {
+  InterFont(int pixel_size, QFont::Weight weight = QFont::Normal) : QFont("Inter") {
+    setPixelSize(pixel_size);
+    setWeight(weight);
+  }
+};
+
+class ParamWatcher : public QObject {
+  Q_OBJECT
+
+public:
+  ParamWatcher(QObject *parent);
+  void addParam(const QString &param_name);
+
+signals:
+  void paramChanged(const QString &param_name, const QString &param_value);
+
+private:
+  void fileChanged(const QString &path);
+
+  QFileSystemWatcher *watcher;
+  QHash<QString, QString> params_hash;
+  Params params;
+};
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 347cdb1dca..38824aa8db 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -7,6 +7,9 @@
 #endif
 
 #include <cmath>
+#include <set>
+#include <string>
+#include <utility>
 
 #include <QOpenGLBuffer>
 #include <QOffscreenSurface>
@@ -96,8 +99,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                           stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
   setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
   QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
   QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
 }
 
 CameraWidget::~CameraWidget() {
@@ -112,6 +117,16 @@ CameraWidget::~CameraWidget() {
   doneCurrent();
 }
 
+// Qt uses device-independent pixels, depending on platform this may be
+// different to what OpenGL uses
+int CameraWidget::glWidth() {
+    return width() * devicePixelRatio();
+}
+
+int CameraWidget::glHeight() {
+  return height() * devicePixelRatio();
+}
+
 void CameraWidget::initializeGL() {
   initializeOpenGLFunctions();
 
@@ -181,8 +196,12 @@ void CameraWidget::stopVipcThread() {
   }
 }
 
+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
 void CameraWidget::updateFrameMat() {
-  int w = width(), h = height();
+  int w = glWidth(), h = glHeight();
 
   if (zoomed_view) {
     if (active_stream_type == VISION_STREAM_DRIVER) {
@@ -193,10 +212,10 @@ void CameraWidget::updateFrameMat() {
       // for narrow come and a little lower for wide cam.
       // TODO: use proper perspective transform?
       if (active_stream_type == VISION_STREAM_WIDE_ROAD) {
-        intrinsic_matrix = ecam_intrinsic_matrix;
+        intrinsic_matrix = ECAM_INTRINSIC_MATRIX;
         zoom = 2.0;
       } else {
-        intrinsic_matrix = fcam_intrinsic_matrix;
+        intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
         zoom = 1.1;
       }
       const vec3 inf = {{1000., 0., 0.}};
@@ -260,7 +279,7 @@ void CameraWidget::paintGL() {
 
   updateFrameMat();
 
-  glViewport(0, 0, width(), height());
+  glViewport(0, 0, glWidth(), glHeight());
   glBindVertexArray(frame_vao);
   glUseProgram(program->programId());
   glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
@@ -358,14 +377,21 @@ void CameraWidget::vipcThread() {
   while (!QThread::currentThread()->isInterruptionRequested()) {
     if (!vipc_client || cur_stream != requested_stream_type) {
       clearFrames();
-      qDebug() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
-      cur_stream = requested_stream_type;;
+      qDebug().nospace() << "connecting to stream " << requested_stream_type << ", was connected to " << cur_stream;
+      cur_stream = requested_stream_type;
       vipc_client.reset(new VisionIpcClient(stream_name, cur_stream, false));
     }
     active_stream_type = cur_stream;
 
     if (!vipc_client->connected) {
       clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
+
       if (!vipc_client->connect(false)) {
         QThread::msleep(100);
         continue;
@@ -382,6 +408,10 @@ void CameraWidget::vipcThread() {
         }
       }
       emit vipcThreadFrameReceived();
+    } else {
+      if (!isVisible()) {
+        vipc_client->connected = false;
+      }
     }
   }
 
@@ -396,4 +426,5 @@ void CameraWidget::vipcThread() {
 void CameraWidget::clearFrames() {
   std::lock_guard lk(frame_lock);
   frames.clear();
+  available_streams.clear();
 }
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 7cc3847f99..647653cdd3 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -1,7 +1,12 @@
 #pragma once
 
+#include <deque>
+#include <map>
 #include <memory>
 #include <mutex>
+#include <set>
+#include <string>
+#include <utility>
 
 #include <QOpenGLFunctions>
 #include <QOpenGLShaderProgram>
@@ -35,11 +40,13 @@ public:
   void setFrameId(int frame_id) { draw_frame_id = frame_id; }
   void setStreamType(VisionStreamType type) { requested_stream_type = type; }
   VisionStreamType getStreamType() { return active_stream_type; }
+  void stopVipcThread();
 
 signals:
   void clicked();
   void vipcThreadConnected(VisionIpcClient *);
   void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);
 
 protected:
   void paintGL() override;
@@ -51,7 +58,9 @@ protected:
   void updateCalibration(const mat3 &calib);
   void vipcThread();
   void clearFrames();
-  void stopVipcThread();
+
+  int glWidth();
+  int glHeight();
 
   bool zoomed_view;
   GLuint frame_vao, frame_vbo, frame_ibo;
@@ -71,6 +80,7 @@ protected:
   int stream_stride = 0;
   std::atomic<VisionStreamType> active_stream_type;
   std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
   QThread *vipc_thread = nullptr;
 
   // Calibration
@@ -78,7 +88,7 @@ protected:
   float y_offset = 0;
   float zoom = 1.0;
   mat3 calibration = DEFAULT_CALIBRATION;
-  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+  mat3 intrinsic_matrix = FCAM_INTRINSIC_MATRIX;
 
   std::recursive_mutex frame_lock;
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
@@ -88,4 +98,7 @@ protected:
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
   void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 456cf748f4..87304a4585 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -3,20 +3,6 @@
 #include <QPainter>
 #include <QStyleOption>
 
-QFrame *horizontal_line(QWidget *parent) {
-  QFrame *line = new QFrame(parent);
-  line->setFrameShape(QFrame::StyledPanel);
-  line->setStyleSheet(R"(
-    margin-left: 40px;
-    margin-right: 40px;
-    border-width: 1px;
-    border-bottom-style: solid;
-    border-color: gray;
-  )");
-  line->setFixedHeight(2);
-  return line;
-}
-
 AbstractControl::AbstractControl(const QString &title, const QString &desc, const QString &icon, QWidget *parent) : QFrame(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setMargin(0);
@@ -37,7 +23,7 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   // title
   title_label = new QPushButton(title);
   title_label->setFixedHeight(120);
-  title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left");
+  title_label->setStyleSheet("font-size: 50px; font-weight: 400; text-align: left; border: none;");
   hlayout->addWidget(title_label, 1);
 
   // value next to control button
@@ -127,19 +113,3 @@ void ElidedLabel::paintEvent(QPaintEvent *event) {
   opt.initFrom(this);
   style()->drawItemText(&painter, contentsRect(), alignment(), opt.palette, isEnabled(), elidedText_, foregroundRole());
 }
-
-ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
-
-void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
-  if (rect().contains(event->pos())) {
-    emit clicked();
-  }
-}
-
-// Fix stylesheets
-void ClickableWidget::paintEvent(QPaintEvent *) {
-  QStyleOption opt;
-  opt.init(this);
-  QPainter p(this);
-  style()->drawPrimitive(QStyle::PE_Widget, &opt, &p, this);
-}
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index 770b9b92dd..811595726d 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -1,5 +1,9 @@
 #pragma once
 
+#include <string>
+#include <vector>
+
+#include <QButtonGroup>
 #include <QFrame>
 #include <QHBoxLayout>
 #include <QLabel>
@@ -10,8 +14,6 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 #include "selfdrive/ui/qt/widgets/toggle.h"
 
-QFrame *horizontal_line(QWidget *parent = nullptr);
-
 class ElidedLabel : public QLabel {
   Q_OBJECT
 
@@ -60,7 +62,7 @@ public:
 public slots:
   void showDescription() {
     description->setVisible(true);
-  };
+  }
 
 signals:
   void showDescriptionEvent();
@@ -106,7 +108,7 @@ signals:
   void clicked();
 
 public slots:
-  void setEnabled(bool enabled) { btn.setEnabled(enabled); };
+  void setEnabled(bool enabled) { btn.setEnabled(enabled); }
 
 private:
   QPushButton btn;
@@ -163,7 +165,7 @@ public:
   void setConfirmation(bool _confirm, bool _store_confirm) {
     confirm = _confirm;
     store_confirm = _store_confirm;
-  };
+  }
 
   void setActiveIcon(const QString &icon) {
     active_icon_pixmap = QPixmap(icon).scaledToWidth(80, Qt::SmoothTransformation);
@@ -175,11 +177,11 @@ public:
       toggle.togglePosition();
       setIcon(state);
     }
-  };
+  }
 
   void showEvent(QShowEvent *event) override {
     refresh();
-  };
+  }
 
 private:
   void setIcon(bool state) {
@@ -188,7 +190,7 @@ private:
     } else if (!icon_pixmap.isNull()) {
       icon_label->setPixmap(icon_pixmap);
     }
-  };
+  }
 
   std::string key;
   Params params;
@@ -197,6 +199,65 @@ private:
   bool store_confirm = false;
 };
 
+class ButtonParamControl : public AbstractControl {
+  Q_OBJECT
+public:
+  ButtonParamControl(const QString &param, const QString &title, const QString &desc, const QString &icon,
+                     const std::vector<QString> &button_texts, const int minimum_button_width = 225) : AbstractControl(title, desc, icon) {
+    const QString style = R"(
+      QPushButton {
+        border-radius: 50px;
+        font-size: 40px;
+        font-weight: 500;
+        height:100px;
+        padding: 0 25 0 25;
+        color: #E4E4E4;
+        background-color: #393939;
+      }
+      QPushButton:pressed {
+        background-color: #4a4a4a;
+      }
+      QPushButton:checked:enabled {
+        background-color: #33Ab4C;
+      }
+      QPushButton:disabled {
+        color: #33E4E4E4;
+      }
+    )";
+    key = param.toStdString();
+    int value = atoi(params.get(key).c_str());
+
+    button_group = new QButtonGroup(this);
+    button_group->setExclusive(true);
+    for (int i = 0; i < button_texts.size(); i++) {
+      QPushButton *button = new QPushButton(button_texts[i], this);
+      button->setCheckable(true);
+      button->setChecked(i == value);
+      button->setStyleSheet(style);
+      button->setMinimumWidth(minimum_button_width);
+      hlayout->addWidget(button);
+      button_group->addButton(button, i);
+    }
+
+    QObject::connect(button_group, QOverload<int, bool>::of(&QButtonGroup::buttonToggled), [=](int id, bool checked) {
+      if (checked) {
+        params.put(key, std::to_string(id));
+      }
+    });
+  }
+
+  void setEnabled(bool enable) {
+    for (auto btn : button_group->buttons()) {
+      btn->setEnabled(enable);
+    }
+  }
+
+private:
+  std::string key;
+  Params params;
+  QButtonGroup *button_group;
+};
+
 class ListWidget : public QWidget {
   Q_OBJECT
  public:
@@ -236,19 +297,5 @@ class LayoutWidget : public QWidget {
 public:
   LayoutWidget(QLayout *l, QWidget *parent = nullptr) : QWidget(parent) {
     setLayout(l);
-  };
-};
-
-class ClickableWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  ClickableWidget(QWidget *parent = nullptr);
-
-protected:
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void paintEvent(QPaintEvent *) override;
-
-signals:
-  void clicked();
+  }
 };
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 75453e1b90..49fbdff222 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -71,10 +71,15 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
   QPushButton* cancel_btn = new QPushButton(tr("Cancel"));
   cancel_btn->setFixedSize(386, 125);
   cancel_btn->setStyleSheet(R"(
-    font-size: 48px;
-    border-radius: 10px;
-    color: #E4E4E4;
-    background-color: #444444;
+    QPushButton {
+      font-size: 48px;
+      border-radius: 10px;
+      color: #E4E4E4;
+      background-color: #333333;
+    }
+    QPushButton:pressed {
+      background-color: #444444;
+    }
   )");
   header_layout->addWidget(cancel_btn, 0, Qt::AlignRight);
   QObject::connect(cancel_btn, &QPushButton::clicked, this, &InputDialog::reject);
@@ -296,12 +301,13 @@ MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringLi
     group->addButton(selectionLabel);
     listLayout->addWidget(selectionLabel);
   }
+  // add stretch to keep buttons spaced correctly
+  listLayout->addStretch(1);
 
   ScrollView *scroll_view = new ScrollView(listWidget, this);
   scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
 
   main_layout->addWidget(scroll_view);
-  main_layout->addStretch(1);
   main_layout->addSpacing(35);
 
   // cancel + confirm buttons
diff --git a/selfdrive/ui/qt/widgets/keyboard.cc b/selfdrive/ui/qt/widgets/keyboard.cc
index 1c59686535..370e9a53cc 100644
--- a/selfdrive/ui/qt/widgets/keyboard.cc
+++ b/selfdrive/ui/qt/widgets/keyboard.cc
@@ -59,7 +59,14 @@ KeyboardLayout::KeyboardLayout(QWidget* parent, const std::vector<QVector<QStrin
       if (p == BACKSPACE_KEY) {
         btn->setAutoRepeat(true);
       } else if (p == ENTER_KEY) {
-        btn->setStyleSheet("background-color: #465BEA;");
+        btn->setStyleSheet(R"(
+          QPushButton {
+            background-color: #465BEA;
+          }
+          QPushButton:pressed {
+            background-color: #444444;
+          }
+        )");
       }
       btn->setFixedHeight(135 + key_spacing_vertical);
       btn_group->addButton(btn);
@@ -97,37 +104,37 @@ Keyboard::Keyboard(QWidget *parent) : QFrame(parent) {
 
   // lowercase
   std::vector<QVector<QString>> lowercase = {
-    {"q","w","e","r","t","y","u","i","o","p"},
-    {"a","s","d","f","g","h","j","k","l"},
-    {"↑","z","x","c","v","b","n","m",BACKSPACE_KEY},
-    {"123","  ",".",ENTER_KEY},
+    {"q", "w", "e", "r", "t", "y", "u", "i", "o", "p"},
+    {"a", "s", "d", "f", "g", "h", "j", "k", "l"},
+    {"↑", "z", "x", "c", "v", "b", "n", "m", BACKSPACE_KEY},
+    {"123", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, lowercase));
 
   // uppercase
   std::vector<QVector<QString>> uppercase = {
-    {"Q","W","E","R","T","Y","U","I","O","P"},
-    {"A","S","D","F","G","H","J","K","L"},
-    {"↓","Z","X","C","V","B","N","M",BACKSPACE_KEY},
-    {"123","  ",".",ENTER_KEY},
+    {"Q", "W", "E", "R", "T", "Y", "U", "I", "O", "P"},
+    {"A", "S", "D", "F", "G", "H", "J", "K", "L"},
+    {"↓", "Z", "X", "C", "V", "B", "N", "M", BACKSPACE_KEY},
+    {"123", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, uppercase));
 
   // numbers + specials
   std::vector<QVector<QString>> numbers = {
-    {"1","2","3","4","5","6","7","8","9","0"},
-    {"-","/",":",";","(",")","$","&&","@","\""},
-    {"#+=",".",",","?","!","`",BACKSPACE_KEY},
-    {"ABC","  ",".",ENTER_KEY},
+    {"1", "2", "3", "4", "5", "6", "7", "8", "9", "0"},
+    {"-", "/", ":", ";", "(", ")", "$", "&&", "@", "\""},
+    {"#+=", ".", ",", "?", "!", "`", BACKSPACE_KEY},
+    {"ABC", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, numbers));
 
   // extra specials
   std::vector<QVector<QString>> specials = {
-    {"[","]","{","}","#","%","^","*","+","="},
-    {"_","\\","|","~","<",">","€","£","¥","•"},
-    {"123",".",",","?","!","'",BACKSPACE_KEY},
-    {"ABC","  ",".",ENTER_KEY},
+    {"[", "]", "{", "}", "#", "%", "^", "*", "+", "="},
+    {"_", "\\", "|", "~", "<", ">", "€", "£", "¥", "•"},
+    {"123", ".", ",", "?", "!", "'", BACKSPACE_KEY},
+    {"ABC", "  ", ".", ENTER_KEY},
   };
   main_layout->addWidget(new KeyboardLayout(this, specials));
 
diff --git a/selfdrive/ui/qt/widgets/keyboard.h b/selfdrive/ui/qt/widgets/keyboard.h
index 516105719b..efc02d075d 100644
--- a/selfdrive/ui/qt/widgets/keyboard.h
+++ b/selfdrive/ui/qt/widgets/keyboard.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <vector>
+
 #include <QFrame>
 #include <QPushButton>
 #include <QStackedLayout>
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index ceb823fb2b..74ece36d15 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -1,5 +1,10 @@
 #include "selfdrive/ui/qt/widgets/offroad_alerts.h"
 
+#include <algorithm>
+#include <string>
+#include <vector>
+#include <utility>
+
 #include <QHBoxLayout>
 #include <QJsonDocument>
 #include <QJsonObject>
@@ -92,7 +97,11 @@ int OffroadAlert::refresh() {
     std::string bytes = params.get(key);
     if (bytes.size()) {
       auto doc_par = QJsonDocument::fromJson(bytes.c_str());
-      text = doc_par["text"].toString();
+      text = tr(doc_par["text"].toString().toUtf8().data());
+      auto extra = doc_par["extra"].toString();
+      if (!extra.isEmpty()) {
+        text = text.arg(extra);
+      }
     }
     label->setText(text);
     label->setVisible(!text.isEmpty());
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.h b/selfdrive/ui/qt/widgets/offroad_alerts.h
index 69c12b0602..ace2e75456 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.h
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.h
@@ -1,6 +1,7 @@
 #pragma once
 
 #include <map>
+#include <string>
 
 #include <QLabel>
 #include <QPushButton>
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index da2f4e60d1..57d9d87a64 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -14,6 +14,7 @@
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/wifi.h"
 
 using qrcodegen::QrCode;
 
@@ -25,10 +26,12 @@ PairingQRWidget::PairingQRWidget(QWidget* parent) : QWidget(parent) {
 void PairingQRWidget::showEvent(QShowEvent *event) {
   refresh();
   timer->start(5 * 60 * 1000);
+  device()->setOffroadBrightness(100);
 }
 
 void PairingQRWidget::hideEvent(QHideEvent *event) {
   timer->stop();
+  device()->setOffroadBrightness(BACKLIGHT_OFFROAD);
 }
 
 void PairingQRWidget::refresh() {
@@ -114,76 +117,24 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
 }
 
 
-PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
-  mainLayout = new QVBoxLayout(this);
-  mainLayout->setMargin(0);
-  mainLayout->setSpacing(30);
+PrimeUserWidget::PrimeUserWidget(QWidget *parent) : QFrame(parent) {
+  setObjectName("primeWidget");
+  QVBoxLayout *mainLayout = new QVBoxLayout(this);
+  mainLayout->setContentsMargins(56, 40, 56, 40);
+  mainLayout->setSpacing(20);
 
-  // subscribed prime layout
-  QWidget *primeWidget = new QWidget;
-  primeWidget->setObjectName("primeWidget");
-  QVBoxLayout *primeLayout = new QVBoxLayout(primeWidget);
-  primeLayout->setMargin(0);
-  primeWidget->setContentsMargins(60, 50, 60, 50);
-
-  QLabel* subscribed = new QLabel(tr("✓ 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);
+  mainLayout->addWidget(subscribed);
 
-  QLabel* commaPrime = new QLabel(tr("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(tr("CONNECT.COMMA.AI"));
-  connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
-  primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
-
-  mainLayout->addWidget(primeWidget);
-
-  // comma points layout
-  QWidget *pointsWidget = new QWidget;
-  pointsWidget->setObjectName("primeWidget");
-  QVBoxLayout *pointsLayout = new QVBoxLayout(pointsWidget);
-  pointsLayout->setMargin(0);
-  pointsWidget->setContentsMargins(60, 50, 60, 50);
-
-  QLabel* commaPoints = new QLabel(tr("COMMA POINTS"));
-  commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;");
-  pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop);
-
-  points = new QLabel("0");
-  points->setStyleSheet("font-size: 91px; font-weight: bold;");
-  pointsLayout->addWidget(points, 0, Qt::AlignTop);
-
-  mainLayout->addWidget(pointsWidget);
-
-  mainLayout->addStretch();
-
-  // set up API requests
-  if (auto dongleId = getDongleId()) {
-    QString url = CommaApi::BASE_URL + "/v1/devices/" + *dongleId + "/owner";
-    RequestRepeater *repeater = new RequestRepeater(this, url, "ApiCache_Owner", 6);
-    QObject::connect(repeater, &RequestRepeater::requestDone, this, &PrimeUserWidget::replyFinished);
-  }
+  mainLayout->addWidget(commaPrime);
 }
 
-void PrimeUserWidget::replyFinished(const QString &response) {
-  QJsonDocument doc = QJsonDocument::fromJson(response.toUtf8());
-  if (doc.isNull()) {
-    qDebug() << "JSON Parse failed on getting points";
-    return;
-  }
-
-  QJsonObject json = doc.object();
-  points->setText(QString::number(json["points"].toInt()));
-}
 
 PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
-  QVBoxLayout* main_layout = new QVBoxLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(80, 90, 80, 60);
   main_layout->setSpacing(0);
 
@@ -193,7 +144,7 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addSpacing(50);
 
   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->setStyleSheet("font-size: 56px; font-weight: light; color: white;");
   description->setWordWrap(true);
   main_layout->addWidget(description, 0, Qt::AlignTop);
 
@@ -204,8 +155,8 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")};
-  for (auto &b: bullets) {
+  QVector<QString> bullets = {tr("Remote access"), tr("24/7 LTE connectivity"), tr("1 year of drive storage"), tr("Turn-by-turn navigation")};
+  for (auto &b : bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
     l->setAlignment(Qt::AlignLeft);
@@ -227,33 +178,31 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
 
   // Unpaired, registration prompt layout
 
-  QWidget* finishRegistration = new QWidget;
+  QFrame* finishRegistration = new QFrame;
   finishRegistration->setObjectName("primeWidget");
   QVBoxLayout* finishRegistationLayout = new QVBoxLayout(finishRegistration);
-  finishRegistationLayout->setContentsMargins(30, 75, 30, 45);
-  finishRegistationLayout->setSpacing(0);
+  finishRegistationLayout->setSpacing(38);
+  finishRegistationLayout->setContentsMargins(64, 48, 64, 48);
 
   QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
-  registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;");
+  registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold;");
   finishRegistationLayout->addWidget(registrationTitle);
 
-  finishRegistationLayout->addSpacing(30);
-
   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;");
+  registrationDescription->setStyleSheet("font-size: 50px; font-weight: light;");
   finishRegistationLayout->addWidget(registrationDescription);
 
   finishRegistationLayout->addStretch();
 
   QPushButton* pair = new QPushButton(tr("Pair device"));
-  pair->setFixedHeight(220);
   pair->setStyleSheet(R"(
     QPushButton {
       font-size: 55px;
-      font-weight: 400;
+      font-weight: 500;
       border-radius: 10px;
       background-color: #465BEA;
+      padding: 64px;
     }
     QPushButton:pressed {
       background-color: #3049F4;
@@ -271,15 +220,24 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   outer_layout->setContentsMargins(0, 0, 0, 0);
   outer_layout->addWidget(mainLayout);
 
-  primeAd = new PrimeAdWidget;
-  mainLayout->addWidget(primeAd);
+  QWidget *content = new QWidget;
+  QVBoxLayout *content_layout = new QVBoxLayout(content);
+  content_layout->setContentsMargins(0, 0, 0, 0);
+  content_layout->setSpacing(30);
 
   primeUser = new PrimeUserWidget;
-  mainLayout->addWidget(primeUser);
+  content_layout->addWidget(primeUser);
 
-  mainLayout->setCurrentWidget(uiState()->prime_type ? (QWidget*)primeUser : (QWidget*)primeAd);
+  WiFiPromptWidget *wifi_prompt = new WiFiPromptWidget;
+  QObject::connect(wifi_prompt, &WiFiPromptWidget::openSettings, this, &SetupWidget::openSettings);
+  content_layout->addWidget(wifi_prompt);
+  content_layout->addStretch();
+
+  mainLayout->addWidget(content);
+
+  primeUser->setVisible(uiState()->primeType());
+  mainLayout->setCurrentIndex(1);
 
-  setFixedWidth(750);
   setStyleSheet(R"(
     #primeWidget {
       border-radius: 10px;
@@ -311,18 +269,15 @@ void SetupWidget::replyFinished(const QString &response, bool success) {
   }
 
   QJsonObject json = doc.object();
-  int prime_type = json["prime_type"].toInt();
-  uiState()->prime_type = prime_type;
+  PrimeType prime_type = static_cast<PrimeType>(json["prime_type"].toInt());
+  uiState()->setPrimeType(prime_type);
 
   if (!json["is_paired"].toBool()) {
     mainLayout->setCurrentIndex(0);
   } else {
     popup->reject();
 
-    if (prime_type) {
-      mainLayout->setCurrentWidget(primeUser);
-    } else {
-      mainLayout->setCurrentWidget(primeAd);
-    }
+    primeUser->setVisible(prime_type);
+    mainLayout->setCurrentIndex(1);
   }
 }
diff --git a/selfdrive/ui/qt/widgets/prime.h b/selfdrive/ui/qt/widgets/prime.h
index 0a1d93250d..227a0f31c1 100644
--- a/selfdrive/ui/qt/widgets/prime.h
+++ b/selfdrive/ui/qt/widgets/prime.h
@@ -7,14 +7,6 @@
 
 #include "selfdrive/ui/qt/widgets/input.h"
 
-enum PrimeType {
-  NONE = 0,
-  MAGENTA = 1,
-  LITE = 2,
-  BLUE = 3,
-  MAGENTA_NEW = 4,
-};
-
 // pairing QR code
 class PairingQRWidget : public QWidget {
   Q_OBJECT
@@ -34,6 +26,7 @@ private slots:
   void refresh();
 };
 
+
 // pairing popup widget
 class PairingPopup : public QDialogBase {
   Q_OBJECT
@@ -42,18 +35,13 @@ public:
   explicit PairingPopup(QWidget* parent);
 };
 
+
 // widget for paired users with prime
-class PrimeUserWidget : public QWidget {
+class PrimeUserWidget : public QFrame {
   Q_OBJECT
+
 public:
   explicit PrimeUserWidget(QWidget* parent = 0);
-
-private:
-  QVBoxLayout* mainLayout;
-  QLabel* points;
-
-private slots:
-  void replyFinished(const QString &response);
 };
 
 
@@ -64,6 +52,7 @@ public:
   explicit PrimeAdWidget(QWidget* parent = 0);
 };
 
+
 // container widget
 class SetupWidget : public QFrame {
   Q_OBJECT
@@ -71,10 +60,12 @@ class SetupWidget : public QFrame {
 public:
   explicit SetupWidget(QWidget* parent = 0);
 
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
 private:
   PairingPopup *popup;
   QStackedWidget *mainLayout;
-  PrimeAdWidget *primeAd;
   PrimeUserWidget *primeUser;
 
 private slots:
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 1097a89268..26743952de 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -4,7 +4,10 @@
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 
-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.")) {
+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.")) {
+
   QObject::connect(this, &ButtonControl::clicked, [=]() {
     if (text() == tr("ADD")) {
       QString username = InputDialog::getText(tr("Enter your GitHub username"), this);
diff --git a/selfdrive/ui/qt/widgets/wifi.cc b/selfdrive/ui/qt/widgets/wifi.cc
new file mode 100644
index 0000000000..ed5825ab77
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/wifi.cc
@@ -0,0 +1,103 @@
+#include "selfdrive/ui/qt/widgets/wifi.h"
+
+#include <QHBoxLayout>
+#include <QLabel>
+#include <QPixmap>
+#include <QPushButton>
+
+WiFiPromptWidget::WiFiPromptWidget(QWidget *parent) : QFrame(parent) {
+  stack = new QStackedLayout(this);
+
+  // Setup Wi-Fi
+  QFrame *setup = new QFrame;
+  QVBoxLayout *setup_layout = new QVBoxLayout(setup);
+  setup_layout->setContentsMargins(56, 40, 56, 40);
+  setup_layout->setSpacing(20);
+  {
+    QHBoxLayout *title_layout = new QHBoxLayout;
+    title_layout->setSpacing(32);
+    {
+      QLabel *icon = new QLabel;
+      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_strength_full.svg");
+      icon->setPixmap(pixmap->scaledToWidth(80, Qt::SmoothTransformation));
+      title_layout->addWidget(icon);
+
+      QLabel *title = new QLabel(tr("Setup Wi-Fi"));
+      title->setStyleSheet("font-size: 64px; font-weight: 600;");
+      title_layout->addWidget(title);
+      title_layout->addStretch();
+    }
+    setup_layout->addLayout(title_layout);
+
+    QLabel *desc = new QLabel(tr("Connect to Wi-Fi to upload driving data and help improve openpilot"));
+    desc->setStyleSheet("font-size: 40px; font-weight: 400;");
+    desc->setWordWrap(true);
+    setup_layout->addWidget(desc);
+
+    QPushButton *settings_btn = new QPushButton(tr("Open Settings"));
+    connect(settings_btn, &QPushButton::clicked, [=]() { emit openSettings(1); });
+    settings_btn->setStyleSheet(R"(
+      QPushButton {
+        font-size: 48px;
+        font-weight: 500;
+        border-radius: 10px;
+        background-color: #465BEA;
+        padding: 32px;
+      }
+      QPushButton:pressed {
+        background-color: #3049F4;
+      }
+    )");
+    setup_layout->addWidget(settings_btn);
+  }
+  stack->addWidget(setup);
+
+  // Uploading data
+  QWidget *uploading = new QWidget;
+  QVBoxLayout *uploading_layout = new QVBoxLayout(uploading);
+  uploading_layout->setContentsMargins(64, 56, 64, 56);
+  uploading_layout->setSpacing(36);
+  {
+    QHBoxLayout *title_layout = new QHBoxLayout;
+    {
+      QLabel *title = new QLabel(tr("Ready to upload"));
+      title->setStyleSheet("font-size: 64px; font-weight: 600;");
+      title->setWordWrap(true);
+      title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Minimum);
+      title_layout->addWidget(title);
+      title_layout->addStretch();
+
+      QLabel *icon = new QLabel;
+      QPixmap *pixmap = new QPixmap("../assets/offroad/icon_wifi_uploading.svg");
+      icon->setPixmap(pixmap->scaledToWidth(120, Qt::SmoothTransformation));
+      title_layout->addWidget(icon);
+    }
+    uploading_layout->addLayout(title_layout);
+
+    QLabel *desc = new QLabel(tr("Training data will be pulled periodically while your device is on Wi-Fi"));
+    desc->setStyleSheet("font-size: 48px; font-weight: 400;");
+    desc->setWordWrap(true);
+    uploading_layout->addWidget(desc);
+  }
+  stack->addWidget(uploading);
+
+  setStyleSheet(R"(
+    WiFiPromptWidget {
+      background-color: #333333;
+      border-radius: 10px;
+    }
+  )");
+
+  QObject::connect(uiState(), &UIState::uiUpdate, this, &WiFiPromptWidget::updateState);
+}
+
+void WiFiPromptWidget::updateState(const UIState &s) {
+  if (!isVisible()) return;
+
+  auto &sm = *(s.sm);
+
+  auto network_type = sm["deviceState"].getDeviceState().getNetworkType();
+  auto uploading = network_type == cereal::DeviceState::NetworkType::WIFI ||
+      network_type == cereal::DeviceState::NetworkType::ETHERNET;
+  stack->setCurrentIndex(uploading ? 1 : 0);
+}
diff --git a/selfdrive/ui/qt/widgets/wifi.h b/selfdrive/ui/qt/widgets/wifi.h
new file mode 100644
index 0000000000..60c865f2b8
--- /dev/null
+++ b/selfdrive/ui/qt/widgets/wifi.h
@@ -0,0 +1,23 @@
+#pragma once
+
+#include <QFrame>
+#include <QStackedLayout>
+#include <QWidget>
+
+#include "selfdrive/ui/ui.h"
+
+class WiFiPromptWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  explicit WiFiPromptWidget(QWidget* parent = 0);
+
+signals:
+  void openSettings(int index = 0, const QString &param = "");
+
+public slots:
+  void updateState(const UIState &s);
+
+protected:
+  QStackedLayout *stack;
+};
diff --git a/selfdrive/ui/qt/window.cc b/selfdrive/ui/qt/window.cc
index 198b1edbf6..74fd05ed7b 100644
--- a/selfdrive/ui/qt/window.cc
+++ b/selfdrive/ui/qt/window.cc
@@ -38,7 +38,7 @@ MainWindow::MainWindow(QWidget *parent) : QWidget(parent) {
       closeSettings();
     }
   });
-  QObject::connect(&device, &Device::interactiveTimout, [=]() {
+  QObject::connect(device(), &Device::interactiveTimeout, [=]() {
     if (main_layout->currentWidget() == settingsWindow) {
       closeSettings();
     }
@@ -75,15 +75,28 @@ void MainWindow::closeSettings() {
 
   if (uiState()->scene.started) {
     homeWindow->showSidebar(false);
+    // Map is always shown when using navigate on openpilot
+    if (uiState()->scene.navigate_on_openpilot) {
+      homeWindow->showMapPanel(true);
+    }
   }
 }
 
 bool MainWindow::eventFilter(QObject *obj, QEvent *event) {
-  const static QSet<QEvent::Type> evts({QEvent::MouseButtonPress, QEvent::MouseMove,
-                                 QEvent::TouchBegin, QEvent::TouchUpdate, QEvent::TouchEnd});
-
-  if (evts.contains(event->type())) {
-    device.resetInteractiveTimout();
+  bool ignore = false;
+  switch (event->type()) {
+    case QEvent::TouchBegin:
+    case QEvent::TouchUpdate:
+    case QEvent::TouchEnd:
+    case QEvent::MouseButtonPress:
+    case QEvent::MouseMove: {
+      // ignore events when device is awakened by resetInteractiveTimeout
+      ignore = !device()->isAwake();
+      device()->resetInteractiveTimeout();
+      break;
+    }
+    default:
+      break;
   }
-  return false;
+  return ignore;
 }
diff --git a/selfdrive/ui/qt/window.h b/selfdrive/ui/qt/window.h
index 71fc466c20..05b61e1f76 100644
--- a/selfdrive/ui/qt/window.h
+++ b/selfdrive/ui/qt/window.h
@@ -18,8 +18,6 @@ private:
   void openSettings(int index = 0, const QString &param = "");
   void closeSettings();
 
-  Device device;
-
   QStackedLayout *main_layout;
   HomeWindow *homeWindow;
   SettingsWindow *settingsWindow;
diff --git a/selfdrive/ui/soundd/main.cc b/selfdrive/ui/soundd/main.cc
index 64088deff8..c6c7434ca4 100644
--- a/selfdrive/ui/soundd/main.cc
+++ b/selfdrive/ui/soundd/main.cc
@@ -5,17 +5,13 @@
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/soundd/sound.h"
 
-void sigHandler(int s) {
-  qApp->quit();
-}
-
 int main(int argc, char **argv) {
   qInstallMessageHandler(swagLogMessageHandler);
   setpriority(PRIO_PROCESS, 0, -20);
 
   QApplication a(argc, argv);
-  std::signal(SIGINT, sigHandler);
-  std::signal(SIGTERM, sigHandler);
+  std::signal(SIGINT, sigTermHandler);
+  std::signal(SIGTERM, sigTermHandler);
 
   Sound sound;
   return a.exec();
diff --git a/selfdrive/ui/soundd/sound.cc b/selfdrive/ui/soundd/sound.cc
index f039511ff8..d3c6486023 100644
--- a/selfdrive/ui/soundd/sound.cc
+++ b/selfdrive/ui/soundd/sound.cc
@@ -12,7 +12,7 @@
 // TODO: detect when we can't play sounds
 // TODO: detect when we can't display the UI
 
-Sound::Sound(QObject *parent) : sm({"controlsState", "deviceState", "microphone"}) {
+Sound::Sound(QObject *parent) : sm({"controlsState", "microphone"}) {
   qInfo() << "default audio device: " << QAudioDeviceInfo::defaultOutputDevice().deviceName();
 
   for (auto &[alert, fn, loops] : sound_list) {
@@ -27,33 +27,22 @@ Sound::Sound(QObject *parent) : sm({"controlsState", "deviceState", "microphone"
   QTimer *timer = new QTimer(this);
   QObject::connect(timer, &QTimer::timeout, this, &Sound::update);
   timer->start(1000 / UI_FREQ);
-};
+}
 
 void Sound::update() {
-  const bool started_prev = sm["deviceState"].getDeviceState().getStarted();
   sm.update(0);
 
-  const bool started = sm["deviceState"].getDeviceState().getStarted();
-  if (started && !started_prev) {
-    started_frame = sm.frame;
-  }
-
-  // no sounds while offroad
-  // also no sounds if nothing is alive in case thermald crashes while offroad
-  const bool crashed = (sm.frame - std::max(sm.rcv_frame("deviceState"), sm.rcv_frame("controlsState"))) > 10*UI_FREQ;
-  if (!started || crashed) {
-    setAlert({});
-    return;
-  }
-
-  // scale volume with speed
+  // scale volume using ambient noise level
   if (sm.updated("microphone")) {
-    float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 52.f, 0.f, 1.f);
+    float volume = util::map_val(sm["microphone"].getMicrophone().getFilteredSoundPressureWeightedDb(), 30.f, 60.f, 0.f, 1.f);
     volume = QAudio::convertVolume(volume, QAudio::LogarithmicVolumeScale, QAudio::LinearVolumeScale);
-    Hardware::set_volume(volume);
+    // set volume on changes
+    if (std::exchange(current_volume, std::nearbyint(volume * 10)) != current_volume) {
+      Hardware::set_volume(volume);
+    }
   }
 
-  setAlert(Alert::get(sm, started_frame));
+  setAlert(Alert::get(sm, 0));
 }
 
 void Sound::setAlert(const Alert &alert) {
diff --git a/selfdrive/ui/soundd/sound.h b/selfdrive/ui/soundd/sound.h
index 7e009d28ad..81a5f1a86b 100644
--- a/selfdrive/ui/soundd/sound.h
+++ b/selfdrive/ui/soundd/sound.h
@@ -1,3 +1,7 @@
+#pragma once
+
+#include <tuple>
+
 #include <QMap>
 #include <QSoundEffect>
 #include <QString>
@@ -27,8 +31,8 @@ protected:
   void update();
   void setAlert(const Alert &alert);
 
+  SubMaster sm;
   Alert current_alert = {};
   QMap<AudibleAlert, QPair<QSoundEffect *, int>> sounds;
-  SubMaster sm;
-  uint64_t started_frame;
+  int current_volume = -1;
 };
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 26335744f3..94ba9a3a97 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -2,3 +2,4 @@ test
 playsound
 test_sound
 test_translations
+ui_snapshot
diff --git a/selfdrive/ui/tests/cycle_offroad_alerts.py b/selfdrive/ui/tests/cycle_offroad_alerts.py
index 8a3d9ec45a..75b19ceb90 100755
--- a/selfdrive/ui/tests/cycle_offroad_alerts.py
+++ b/selfdrive/ui/tests/cycle_offroad_alerts.py
@@ -4,9 +4,9 @@ import sys
 import time
 import json
 
-from common.basedir import BASEDIR
-from common.params import Params
-from selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
 
 if __name__ == "__main__":
   params = Params()
diff --git a/selfdrive/ui/tests/test_sound_stability.py b/selfdrive/ui/tests/test_sound_stability.py
deleted file mode 100755
index f0d51ec960..0000000000
--- a/selfdrive/ui/tests/test_sound_stability.py
+++ /dev/null
@@ -1,49 +0,0 @@
-#!/usr/bin/env python3
-import os
-import random
-import subprocess
-import time
-from pathlib import Path
-from common.basedir import BASEDIR
-
-os.environ["LD_LIBRARY_PATH"] = ""
-
-# pull this from the provisioning tests
-play_sound = os.path.join(BASEDIR, "selfdrive/ui/test/play_sound")
-waste = os.path.join(BASEDIR, "scripts/waste")
-sound_path = Path(os.path.join(BASEDIR, "selfdrive/assets/sounds"))
-
-def sound_test():
-
-  # max volume
-  vol = 15
-  sound_files = [p.absolute() for p in sound_path.iterdir() if str(p).endswith(".wav")]
-
-  # start waste
-  p = subprocess.Popen([waste], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-
-  start_time = time.monotonic()
-  frame = 0
-  while True:
-    # start a few processes
-    procs = []
-    for _ in range(random.randint(5, 20)):
-      sound = random.choice(sound_files)
-      p = subprocess.Popen([play_sound, str(sound), str(vol)], stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL)
-      procs.append(p)
-      time.sleep(random.uniform(0, 0.75))
-
-    # and kill them
-    time.sleep(random.uniform(0, 5))
-    for p in procs:
-      p.terminate()
-
-    # write stats
-    stats = f"running time {time.monotonic() - start_time}s, cycle {frame}"
-    with open("/tmp/sound_stats.txt", "a") as f:
-      f.write(stats)
-    print(stats)
-    frame +=1
-
-if __name__ == "__main__":
-  sound_test()
diff --git a/selfdrive/ui/tests/test_soundd.py b/selfdrive/ui/tests/test_soundd.py
index 8cc9215b74..80a261e6d9 100755
--- a/selfdrive/ui/tests/test_soundd.py
+++ b/selfdrive/ui/tests/test_soundd.py
@@ -5,10 +5,10 @@ import unittest
 
 from cereal import log, car
 import cereal.messaging as messaging
-from selfdrive.test.helpers import phone_only, with_processes
+from openpilot.selfdrive.test.helpers import phone_only, with_processes
 # TODO: rewrite for unittest
-from common.realtime import DT_CTRL
-from system.hardware import HARDWARE
+from openpilot.common.realtime import DT_CTRL
+from openpilot.system.hardware import HARDWARE
 
 AudibleAlert = car.CarControl.HUDControl.AudibleAlert
 
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index 26d6c39349..1ff203b97d 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -6,11 +6,12 @@ import shutil
 import unittest
 import xml.etree.ElementTree as ET
 
-from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+from openpilot.selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
 
 TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp")
 UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""  # non-empty translations can be marked unfinished
 LOCATION_TAG = "<location "
+FORMAT_ARG = re.compile("%[0-9]+")
 
 
 class TestTranslations(unittest.TestCase):
@@ -67,11 +68,15 @@ class TestTranslations(unittest.TestCase):
         self.assertTrue("<translation type=\"vanished\">" not in cur_translations,
                         f"{file} ({name}) translation file has obsolete translations. Run selfdrive/ui/update_translations.py --vanish to remove them")
 
-  def test_plural_translations(self):
+  def test_finished_translations(self):
     """
-      Tests:
-      - that any numerus (plural) translations marked "finished" have all plural forms non-empty
+      Tests ran on each translation marked "finished"
+      Plural:
+      - that any numerus (plural) translations have all plural forms non-empty
       - that the correct format specifier is used (%n)
+      Non-plural:
+      - that translation is not empty
+      - that translation format arguments are consistent
     """
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
@@ -79,17 +84,28 @@ class TestTranslations(unittest.TestCase):
 
         for context in tr_xml.getroot():
           for message in context.iterfind("message"):
+            translation = message.find("translation")
+            source_text = message.find("source").text
+
+            # Do not test unfinished translations
+            if translation.get("type") == "unfinished":
+              continue
+
             if message.get("numerus") == "yes":
-              translation = message.find("translation")
               numerusform = [t.text for t in translation.findall("numerusform")]
 
-              # Do not assert finished translations
-              if translation.get("type") == "unfinished":
-                continue
+              for nf in numerusform:
+                self.assertIsNotNone(nf, f"Ensure all plural translation forms are completed: {source_text}")
+                self.assertIn("%n", nf, "Ensure numerus argument (%n) exists in translation.")
+                self.assertIsNone(FORMAT_ARG.search(nf), "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
+
+            else:
+              self.assertIsNotNone(translation.text, f"Ensure translation is completed: {source_text}")
 
-              self.assertNotIn(None, numerusform, "Ensure all plural translation forms are completed.")
-              self.assertTrue(all([re.search("%[0-9]+", t) is None for t in numerusform]),
-                              "Plural translations must use %n, not %1, %2, etc.: {}".format(numerusform))
+              source_args = FORMAT_ARG.findall(source_text)
+              translation_args = FORMAT_ARG.findall(translation.text)
+              self.assertEqual(sorted(source_args), sorted(translation_args),
+                               f"Ensure format arguments are consistent: `{source_text}` vs. `{translation.text}`")
 
   def test_no_locations(self):
     for name, file in self.translation_files.items():
diff --git a/selfdrive/ui/tests/ui_snapshot.cc b/selfdrive/ui/tests/ui_snapshot.cc
new file mode 100644
index 0000000000..14e0fab835
--- /dev/null
+++ b/selfdrive/ui/tests/ui_snapshot.cc
@@ -0,0 +1,66 @@
+#include "selfdrive/ui/tests/ui_snapshot.h"
+
+#include <QApplication>
+#include <QCommandLineParser>
+#include <QDir>
+#include <QImage>
+#include <QPainter>
+
+#include "selfdrive/ui/qt/home.h"
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/window.h"
+#include "selfdrive/ui/ui.h"
+
+void saveWidgetAsImage(QWidget *widget, const QString &fileName) {
+  QImage image(widget->size(), QImage::Format_ARGB32);
+  QPainter painter(&image);
+  widget->render(&painter);
+  image.save(fileName);
+}
+
+int main(int argc, char *argv[]) {
+  initApp(argc, argv);
+
+  QApplication app(argc, argv);
+
+  QCommandLineParser parser;
+  parser.setApplicationDescription("Take a snapshot of the UI.");
+  parser.addHelpOption();
+  parser.addOption(QCommandLineOption(QStringList() << "o"
+                                                    << "output",
+                                      "Output image file path. The file's suffix is used to "
+                                      "determine the format. Supports PNG and JPEG formats. "
+                                      "Defaults to \"snapshot.png\".",
+                                      "file", "snapshot.png"));
+  parser.process(app);
+
+  const QString output = parser.value("output");
+  if (output.isEmpty()) {
+    qCritical() << "No output file specified";
+    return 1;
+  }
+
+  auto current = QDir::current();
+
+  // change working directory to find assets
+  if (!QDir::setCurrent(QCoreApplication::applicationDirPath() + QDir::separator() + "..")) {
+    qCritical() << "Failed to set current directory";
+    return 1;
+  }
+
+  MainWindow w;
+  w.setFixedSize(2160, 1080);
+  w.show();
+  app.installEventFilter(&w);
+
+  // restore working directory
+  QDir::setCurrent(current.absolutePath());
+
+  // wait for the UI to update
+  QObject::connect(uiState(), &UIState::uiUpdate, [&](const UIState &s) {
+    saveWidgetAsImage(&w, output);
+    app.quit();
+  });
+
+  return app.exec();
+}
diff --git a/selfdrive/ui/tests/ui_snapshot.h b/selfdrive/ui/tests/ui_snapshot.h
new file mode 100644
index 0000000000..b4699f6af5
--- /dev/null
+++ b/selfdrive/ui/tests/ui_snapshot.h
@@ -0,0 +1,5 @@
+#pragma once
+
+#include <QWidget>
+
+void saveWidgetAsImage(QWidget *widget, const QString &fileName);
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
index 91a6c3ca2f..4f11fe3388 100644
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@@ -31,11 +31,22 @@ openpilot provides a few tools to help contributors manage their translations an
    ```shell
    scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui
    ```
+5. Read [Checking the UI](#checking-the-ui) to double-check your translations fit in the UI.
 
 ### Improving an Existing Language
 
 Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot.
 
+### Checking the UI
+Different languages use varying space to convey the same message, so it's a good idea to double-check that your translations do not overlap and fit into each widget. Start the UI (step 4. above) and view each page, making adjustments to translations as needed.
+
+#### To view offroad alerts:
+
+With the UI started, you can view the offroad alerts with:
+```shell
+selfdrive/ui/tests/cycle_offroad_alerts.py
+```
+
 ### Updating the UI
 
 Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above).
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
index 575584dd50..a1b2ecb289 100755
--- a/selfdrive/ui/translations/create_badges.py
+++ b/selfdrive/ui/translations/create_badges.py
@@ -4,9 +4,9 @@ import os
 import requests
 import xml.etree.ElementTree as ET
 
-from common.basedir import BASEDIR
-from selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG
-from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.ui.tests.test_translations import UNFINISHED_TRANSLATION_TAG
+from openpilot.selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
 
 TRANSLATION_TAG = "<translation"
 BADGE_HEIGHT = 20 + 8
@@ -54,7 +54,8 @@ if __name__ == "__main__":
 
     badge_svg.extend([f'<g transform="translate(0, {idx * BADGE_HEIGHT})">', content_svg, "</g>"])
 
-  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
+  badge_svg.insert(0, f'<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" \
+                             height="{len(translation_files) * BADGE_HEIGHT}" width="{max_badge_width}">')
   badge_svg.append("</svg>")
 
   with open(os.path.join(BASEDIR, "translation_badge.svg"), "w") as badge_f:
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index 072d320c13..fa659e18ba 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,6 +1,10 @@
 {
   "English": "main_en",
+  "Deutsch": "main_de",
+  "Français": "main_fr",
   "Português": "main_pt-BR",
+  "Türkçe": "main_tr",
+  "ไทย": "main_th",
   "中文（繁體）": "main_zh-CHT",
   "中文（简体）": "main_zh-CHS",
   "한국어": "main_ko",
diff --git a/selfdrive/ui/translations/main_de.ts b/selfdrive/ui/translations/main_de.ts
new file mode 100644
index 0000000000..17871ce58f
--- /dev/null
+++ b/selfdrive/ui/translations/main_de.ts
@@ -0,0 +1,1217 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="de_DE">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Schließen</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Update pausieren</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Aktualisieren und neu starten</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Zurück</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Tethering aktivieren</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Tethering Passwort</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>ÄNDERN</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Neues tethering Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>IP Adresse</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Roaming aktivieren</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>APN Einstellungen</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>APN eingeben</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>für automatische Konfiguration leer lassen</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation>Getaktete Verbindung</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation>Hochladen großer Dateien über getaktete Verbindungen unterbinden</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>Geschwindigkeit</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>Ok</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Du musst die Nutzungsbedingungen akzeptieren, um Openpilot zu benutzen.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Zurück</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Ablehnen, deinstallieren %1</translation>
+    </message>
+</context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>Nicht verfügbar</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>Seriennummer</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Fahrerkamera</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>VORSCHAU</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Vorschau der auf den Fahrer gerichteten Kamera, um sicherzustellen, dass die Fahrerüberwachung eine gute Sicht hat. (Fahrzeug muss aus sein)</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Neu kalibrieren</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>RESET</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>Bist du sicher, dass du die Kalibrierung zurücksetzen möchtest?</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Trainingsanleitung wiederholen</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>TRAINING</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Wiederhole die Regeln, Fähigkeiten und Limitierungen von Openpilot</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>Bist du sicher, dass du die Trainingsanleitung wiederholen möchtest?</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Rechtliche Hinweise</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>ANSEHEN</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Sprache ändern</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>ÄNDERN</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Sprache wählen</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Neustart</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Ausschalten</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Damit Openpilot funktioniert, darf die Installationsposition nicht mehr als 4° nach rechts/links, 5° nach oben und 8° nach unten abweichen. Openpilot kalibriert sich durchgehend, ein Zurücksetzen ist selten notwendig.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Deine Geräteausrichtung ist %1° %2 und %3° %4.</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>unten</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>oben</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>links</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>rechts</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>Bist du sicher, dass du das Gerät neu starten möchtest?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Für Neustart deaktivieren</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>Bist du sicher, dass du das Gerät ausschalten möchtest?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Zum Ausschalten deaktivieren</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>Zurücksetzen</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>Überprüfen</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Fahrten</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Stunden</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>Gesamtzeit</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>Letzte Woche</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Meilen</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <source>camera starting</source>
+        <translation>Kamera startet</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>EXPERIMENTELLER MODUS AN</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>ENTSPANNTER MODUS AN</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Mindestens %n Buchstabe benötigt!</numerusform>
+            <numerusform>Mindestens %n Buchstaben benötigt!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Installiere...</translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <source>eta</source>
+        <translation>Ankunft</translation>
+    </message>
+    <message>
+        <source>min</source>
+        <translation>min</translation>
+    </message>
+    <message>
+        <source>hr</source>
+        <translation>std</translation>
+    </message>
+</context>
+<context>
+    <name>MapSettings</name>
+    <message>
+        <source>NAVIGATION</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manage at connect.comma.ai</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <source>Map Loading</source>
+        <translation>Karte wird geladen</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>Warten auf GPS</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Auswählen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Erweitert</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Passwort eingeben</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>für &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Falsches Passwort</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>Aktualisieren</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> HINWEISE</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> HINWEIS</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Verbinde dein Gerät mit deinem comma Konto</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Gehe zu https://connect.comma.ai auf deinem Handy</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Klicke auf &quot;neues Gerät hinzufügen&quot; und scanne den QR code rechts</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Füge connect.comma.ai als Lesezeichen auf deinem Homescreen hinzu um es wie eine App zu verwenden</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+    <message>
+        <source>Enable</source>
+        <translation>Aktivieren</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Jetzt abonieren</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Werde Comma Prime Mitglied auf connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME FUNKTIONEN:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Fernzugriff</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ ABBONIERT</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Neustart</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Verlassen</translation>
+    </message>
+    <message>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>vor %n Minute</numerusform>
+            <numerusform>vor %n Minuten</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>vor %n Stunde</numerusform>
+            <numerusform>vor %n Stunden</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>vor %n Tag</numerusform>
+            <numerusform>vor %n Tagen</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>fuß</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Zurücksetzen fehlgeschlagen. Starte das Gerät neu und versuche es wieder.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>Bist du sicher, dass du das Gerät auf Werkseinstellungen zurücksetzen möchtest?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>System auf Werkseinstellungen zurücksetzen</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Abbrechen</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Neustart</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Bestätigen</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>x</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Gerät</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Netzwerk</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Schalter</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Software</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>Warnung: Batteriespannung niedrig</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Versorge dein Gerät über einen Kabelbaum im Auto mit Strom, oder fahre auf eigene Gefahr fort.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Ausschalten</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Fortsetzen</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Loslegen</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Bevor wir uns auf die Straße begeben, lass uns die Installation fertigstellen und einige Details prüfen.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Mit WLAN verbinden</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Zurück</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Ohne WLAN fortsetzen</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>Auf Internet warten</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>URL eingeben</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>für spezifische Software</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>Herunterladen...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>Herunterladen fehlgeschlagen</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Stelle sicher, dass die eingegebene URL korrekt ist und dein Gerät eine stabile Internetverbindung hat.</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Gerät neustarten</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Von neuem beginnen</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Einrichtung beenden</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Koppele dein Gerät mit Comma Connect (connect.comma.ai) und sichere dir dein Comma Prime Angebot.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Gerät koppeln</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translatorcomment>This is a brand/service name for comma connect, don&apos;t translate</translatorcomment>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>OFFLINE</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>ONLINE</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>FEHLER</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>HOCH</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>GUT</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>FAHRZEUG</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>KEIN</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>SUCHEN</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>WLAN</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>LAN</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>UNINSTALL</source>
+        <translatorcomment>Too long for UI</translatorcomment>
+        <translation>DEINSTALL</translation>
+    </message>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Deinstalliere %1</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>Bist du sicher, dass du Openpilot entfernen möchtest?</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>ÜBERPRÜFEN</translation>
+    </message>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation>Updates werden nur heruntergeladen, wenn das Auto aus ist.</translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation>Aktuelle Version</translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation>Download</translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation>Update installieren</translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation>INSTALLIEREN</translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation>Ziel Branch</translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation>AUSWÄHLEN</translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation>Wähle einen Branch</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>Deinstallieren</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>SSH Schlüssel</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Warnung: Dies ermöglicht SSH zugriff für alle öffentlichen Schlüssel in deinen Github Einstellungen. Gib niemals einen anderen Benutzernamen, als deinen Eigenen an. Comma Angestellte fragen dich niemals danach ihren Github Benutzernamen hinzuzufügen.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>HINZUFÜGEN</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Gib deinen GitHub Benutzernamen ein</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>LADEN</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>LÖSCHEN</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Benutzername &apos;%1&apos; hat keine Schlüssel auf GitHub</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>Zeitüberschreitung der Anforderung</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Benutzername &apos;%1&apos; existiert nicht auf GitHub</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>SSH aktivieren</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Benutzungsbedingungen</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Ablehnen</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Scrolle herunter um zu akzeptieren</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Zustimmen</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>Openpilot aktivieren</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Benutze das Openpilot System als adaptiven Tempomaten und Spurhalteassistenten. Deine Aufmerksamkeit ist jederzeit erforderlich, um diese Funktion zu nutzen. Diese Einstellung wird übernommen, wenn das Auto aus ist.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Spurverlassenswarnungen aktivieren</translation>
+    </message>
+    <message>
+        <source>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).</source>
+        <translation>Erhalte Warnungen, zurück in die Spur zu lenken, wenn dein Auto über eine erkannte Fahrstreifenmarkierung ohne aktivierten Blinker mit mehr als 50 km/h fährt.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Benutze das metrische System</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Zeige die Geschwindigkeit in km/h anstatt von mph.</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Fahrerkamera aufnehmen und hochladen</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Lade Daten der Fahreraufmerksamkeitsüberwachungskamera hoch, um die Fahreraufmerksamkeitsüberwachungsalgorithmen zu verbessern.</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Wenn aktiviert, deaktiviert sich Openpilot sobald das Gaspedal betätigt wird.</translation>
+    </message>
+    <message>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>Benutze das 24Stunden Format anstatt am/pm</translation>
+    </message>
+    <message>
+        <source>Show Map on Left Side of UI</source>
+        <translatorcomment>Too long for UI</translatorcomment>
+        <translation>Zeige die Karte auf der linken Seite</translation>
+    </message>
+    <message>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>Zeige die Karte auf der linken Seite der Benutzeroberfläche bei geteilten Bildschirm.</translation>
+    </message>
+    <message>
+        <source>Show ETA in 24h Format</source>
+        <translatorcomment>Too long for UI</translatorcomment>
+        <translation>Zeige die Ankunftszeit im 24 Stunden Format</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>Experimenteller Modus</translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation>Bei Gasbetätigung ausschalten</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>Openpilot fährt standardmäßig im &lt;b&gt;entspannten Modus&lt;/b&gt;. Der Experimentelle Modus aktiviert&lt;b&gt;Alpha-level Funktionen&lt;/b&gt;, die noch nicht für den entspannten Modus bereit sind. Die experimentellen Funktionen sind die Folgenden:</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Lass das Fahrmodell Gas und Bremse kontrollieren. Openpilot wird so fahren, wie es dies von einem Menschen erwarten würde; inklusive des Anhaltens für Ampeln und Stoppschildern. Da das Fahrmodell entscheidet wie schnell es fährt stellt die gesetzte Geschwindigkeit lediglich das obere Limit dar. Dies ist ein Alpha-level Funktion. Fehler sind zu erwarten.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>Neue Fahrvisualisierung</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>Der experimentelle Modus ist momentan für dieses Auto nicht verfügbar da es den eingebauten adaptiven Tempomaten des Autos benutzt.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Aktualisierung notwendig</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Eine Aktualisierung des Betriebssystems ist notwendig. Verbinde dein Gerät mit WLAN für ein schnelleres Update. Die Download Größe ist ungefähr 1GB.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Mit WLAN verbinden</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Installieren</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Zurück</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Laden...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Neustart</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Aktualisierung fehlgeschlagen</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Suche nach Netzwerken...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>VERBINDEN...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>VERGESSEN</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>WLAN Netzwerk &quot;%1&quot; vergessen?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>Vergessen</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_fr.ts b/selfdrive/ui/translations/main_fr.ts
new file mode 100644
index 0000000000..14ca4df954
--- /dev/null
+++ b/selfdrive/ui/translations/main_fr.ts
@@ -0,0 +1,1215 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="fr_FR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Fermer</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Reporter la mise à jour</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Redémarrer et mettre à jour</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Retour</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Activer le partage de connexion</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Mot de passe du partage de connexion</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>MODIFIER</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Entrez le nouveau mot de passe du partage de connexion</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>Adresse IP</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Activer l&apos;itinérance</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>Paramètre APN</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>Entrer le nom du point d&apos;accès</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>laisser vide pour une configuration automatique</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation>Connexion cellulaire limitée</translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation>Éviter les transferts de données importants sur une connexion limitée</translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation>mi/h</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation>VITESSE</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation>LIMITE</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>Ok</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Vous devez accepter les conditions générales pour utiliser openpilot.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Retour</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Refuser, désinstaller %1</translation>
+    </message>
+</context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>Domicile</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>Travail</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>Aucune destination définie</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>domicile</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>travail</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>Aucun lieu %1 défini</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>N° de série</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Caméra conducteur</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>APERÇU</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Aperçu de la caméra orientée vers le conducteur pour assurer une bonne visibilité de la surveillance du conducteur. (véhicule doit être éteint)</translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Réinitialiser la calibration</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>RÉINITIALISER</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>Êtes-vous sûr de vouloir réinitialiser la calibration ?</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation>Réinitialiser</translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Revoir le guide de formation</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>REVOIR</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>Revoir les règles, fonctionnalités et limitations d&apos;openpilot</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>Êtes-vous sûr de vouloir revoir le guide de formation ?</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>Revoir</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Réglementaire</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>VOIR</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Changer de langue</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>CHANGER</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Choisir une langue</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Redémarrer</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Éteindre</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>openpilot nécessite que l&apos;appareil soit monté à 4° à gauche ou à droite et à 5° vers le haut ou 8° vers le bas. openpilot se calibre en continu, la réinitialisation est rarement nécessaire.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Votre appareil est orienté %1° %2 et %3° %4.</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>bas</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>haut</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>gauche</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>droite</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>Êtes-vous sûr de vouloir redémarrer ?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Désengager pour redémarrer</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>Êtes-vous sûr de vouloir éteindre ?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Désengager pour éteindre</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Trajets</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Heures</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>DEPUIS TOUJOURS</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>CETTE SEMAINE</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Miles</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <source>camera starting</source>
+        <translation>démarrage de la caméra</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>MODE EXPÉRIMENTAL ACTIVÉ</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>MODE DÉTENTE ACTIVÉ</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Besoin d&apos;au moins %n caractère !</numerusform>
+            <numerusform>Besoin d&apos;au moins %n caractères !</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Installation...</translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <source>eta</source>
+        <translation>eta</translation>
+    </message>
+    <message>
+        <source>min</source>
+        <translation>min</translation>
+    </message>
+    <message>
+        <source>hr</source>
+        <translation>h</translation>
+    </message>
+</context>
+<context>
+    <name>MapSettings</name>
+    <message>
+        <source>NAVIGATION</source>
+        <translation>NAVIGATION</translation>
+    </message>
+    <message>
+        <source>Manage at connect.comma.ai</source>
+        <translation>Gérer sur connect.comma.ai</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <source>Map Loading</source>
+        <translation>Chargement de la carte</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>En attente du GPS</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation>En attente d&apos;un trajet</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Sélectionner</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Avancé</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Entrer le mot de passe</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>pour &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Mot de passe incorrect</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Température de l&apos;appareil trop élevée. Le système doit refroidir avant de démarrer. Température actuelle de l&apos;appareil : %1</translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Connectez-vous immédiatement à internet pour vérifier les mises à jour. Si vous ne vous connectez pas à internet, openpilot ne s&apos;engagera pas dans %1</translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Connectez l&apos;appareil à internet pour vérifier les mises à jour. openpilot ne démarrera pas automatiquement tant qu&apos;il ne se connecte pas à internet pour vérifier les mises à jour.</translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation>Impossible de télécharger les mises à jour
+%1</translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>Paramètres de date et d&apos;heure invalides, le système ne démarrera pas. Connectez l&apos;appareil à Internet pour régler l&apos;heure.</translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Capture de clichés photo. Le système ne démarrera pas tant qu&apos;il n&apos;est pas terminé.</translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Une mise à jour du système d&apos;exploitation de votre appareil est en cours de téléchargement en arrière-plan. Vous serez invité à effectuer la mise à jour lorsqu&apos;elle sera prête à être installée.</translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>L&apos;appareil n&apos;a pas réussi à s&apos;enregistrer. Il ne se connectera pas aux serveurs de comma.ai, n&apos;enverra rien et ne recevra aucune assistance de comma.ai. S&apos;il s&apos;agit d&apos;un appareil officiel, visitez https://comma.ai/support.</translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation>Le disque NVMe n&apos;est pas monté.</translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Disque NVMe non supporté détecté. L&apos;appareil peut consommer beaucoup plus d&apos;énergie et surchauffer en raison du NVMe non supporté.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot n&apos;a pas pu identifier votre voiture. Votre voiture n&apos;est pas supportée ou ses ECUs ne sont pas reconnues. Veuillez soumettre un pull request pour ajouter les versions de firmware au véhicule approprié. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot n&apos;a pas pu identifier votre voiture. Vérifiez l&apos;intégrité des câbles et assurez-vous que toutes les connexions sont correctes, en particulier l&apos;alimentation du comma est totalement insérée dans le port OBD-II du véhicule. Besoin d&apos;aide ? Rejoignez discord.comma.ai.</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot a détecté un changement dans la position de montage de l&apos;appareil. Assurez-vous que l&apos;appareil est totalement inséré dans le support et que le support est fermement fixé au pare-brise.</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>MISE À JOUR</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> ALERTES</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> ALERTE</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>Associez votre appareil à votre compte comma</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Allez sur https://connect.comma.ai sur votre téléphone</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Cliquez sur &quot;ajouter un nouvel appareil&quot; et scannez le code QR à droite</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Ajoutez connect.comma.ai à votre écran d&apos;accueil pour l&apos;utiliser comme une application</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>Activer</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Mettre à niveau maintenant</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>Devenez membre comma prime sur connect.comma.ai</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>FONCTIONNALITÉS PRIME :</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Accès à distance</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>Connexion LTE 24/7</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1 an de stockage de trajets</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>Navigation étape par étape</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ ABONNÉ</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Redémarrer</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Quitter</translation>
+    </message>
+    <message>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>il y a %n minute</numerusform>
+            <numerusform>il y a %n minutes</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>il y a %n heure</numerusform>
+            <numerusform>il y a %n heures</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>il y a %n jour</numerusform>
+            <numerusform>il y a %n jours</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Réinitialisation échouée. Redémarrez pour réessayer.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>Réinitialisation de l&apos;appareil...
+Cela peut prendre jusqu&apos;à une minute.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>Êtes-vous sûr de vouloir réinitialiser votre appareil ?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>Réinitialisation du système</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Appuyez sur confirmer pour effacer tout le contenu et les paramètres. Appuyez sur annuler pour reprendre le démarrage.</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Annuler</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Redémarrer</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Confirmer</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>Impossible de monter la partition data. La partition peut être corrompue. Appuyez sur confirmer pour effacer et réinitialiser votre appareil.</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Appareil</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Réseau</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Options</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Logiciel</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Un problème est survenu. Redémarrez l&apos;appareil.</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Assurez-vous que l&apos;URL saisie est valide et que la connexion internet de l&apos;appareil est bonne.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>Aucun logiciel personnalisé trouvé à cette URL.</translation>
+    </message>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>ATTENTION : Tension faible</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Alimentez votre appareil dans une voiture avec un harness ou continuez à vos risques et périls.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Éteindre</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Continuer</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Commencer</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Avant de prendre la route, terminons l&apos;installation et passons en revue quelques détails.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Se connecter au Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Retour</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>Entrer l&apos;URL</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>pour logiciel personnalisé</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Continuer sans Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>En attente d&apos;internet</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>Téléchargement...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>Échec du téléchargement</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Redémarrer l&apos;appareil</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Recommencer</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Terminer l&apos;installation</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Associez votre appareil avec comma connect (connect.comma.ai) et profitez de l&apos;offre comma prime.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Associer l&apos;appareil</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>CONNECTER</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>HORS LIGNE</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>EN LIGNE</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>ERREUR</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>TEMP</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>HAUT</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>BON</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>VÉHICULE</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>NON</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>RECHERCHE</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation>Les mises à jour sont téléchargées uniquement lorsque la voiture est éteinte.</translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation>Version actuelle</translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation>Télécharger</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>VÉRIFIER</translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation>Installer la mise à jour</translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation>INSTALLER</translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation>Branche cible</translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation>SÉLECTIONNER</translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation>Sélectionner une branche</translation>
+    </message>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Désinstaller %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>DÉSINSTALLER</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>Êtes-vous sûr de vouloir désinstaller ?</translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>Désinstaller</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>échec de la vérification de la mise à jour</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>TÉLÉCHARGER</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>mise à jour disponible</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>jamais</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>à jour, dernière vérification %1</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>Clés SSH</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Attention : Ceci accorde l&apos;accès SSH à toutes les clés publiques de vos paramètres GitHub. N&apos;entrez jamais un nom d&apos;utilisateur GitHub autre que le vôtre. Un employé de comma ne vous demandera JAMAIS d&apos;ajouter son nom d&apos;utilisateur GitHub.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>AJOUTER</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Entrez votre nom d&apos;utilisateur GitHub</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>CHARGEMENT</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>SUPPRIMER</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>L&apos;utilisateur &apos;%1&apos; n&apos;a pas de clés sur GitHub</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>Délai de la demande dépassé</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>L&apos;utilisateur &apos;%1&apos; n&apos;existe pas sur GitHub</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>Activer SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Termes &amp; Conditions</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Refuser</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Faire défiler pour accepter</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Accepter</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>Activer openpilot</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Utilisez le système openpilot pour le régulateur de vitesse adaptatif et l&apos;assistance au maintien de voie. Votre attention est requise en permanence pour utiliser cette fonctionnalité. La modification de ce paramètre prend effet lorsque la voiture est éteinte.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Contrôle longitudinal openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>ATTENTION : le contrôle longitudinal openpilot est en alpha pour cette voiture et désactivera le freinage d&apos;urgence automatique (AEB).</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Sur cette voiture, openpilot utilise par défaut le régulateur de vitesse adaptatif intégré à la voiture plutôt que le contrôle longitudinal d&apos;openpilot. Activez ceci pour passer au contrôle longitudinal openpilot. Il est recommandé d&apos;activer le mode expérimental lors de l&apos;activation du contrôle longitudinal openpilot alpha.</translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation>Mode expérimental</translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation>Désengager avec la pédale d&apos;accélérateur</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Lorsqu&apos;il est activé, appuyer sur la pédale d&apos;accélérateur désengagera openpilot.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Activer les avertissements de sortie de voie</translation>
+    </message>
+    <message>
+        <source>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).</source>
+        <translation>Recevez des alertes pour revenir dans la voie lorsque votre véhicule dérive au-delà d&apos;une ligne de voie détectée sans clignotant activé en roulant à plus de 31 mph (50 km/h).</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Enregistrer et télécharger la caméra conducteur</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Publiez les données de la caméra orientée vers le conducteur et aidez à améliorer l&apos;algorithme de surveillance du conducteur.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Utiliser le système métrique</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Afficher la vitesse en km/h au lieu de mph.</translation>
+    </message>
+    <message>
+        <source>Show ETA in 24h Format</source>
+        <translation>Afficher l&apos;heure d&apos;arrivée en format 24h</translation>
+    </message>
+    <message>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>Utiliser le format 24h plutôt que am/pm</translation>
+    </message>
+    <message>
+        <source>Show Map on Left Side of UI</source>
+        <translation>Afficher la carte à gauche de l&apos;interface</translation>
+    </message>
+    <message>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>Afficher la carte à gauche en mode écran scindé.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Aggressif</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Standard</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Détendu</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Personnalité de conduite</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>Le mode standard est recommandé. En mode agressif, openpilot suivra de plus près les voitures de tête et sera plus agressif avec l&apos;accélérateur et le frein. En mode détendu, openpilot restera plus éloigné des voitures de tête.</translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>Par défaut, openpilot conduit en &lt;b&gt;mode détente&lt;/b&gt;. Le mode expérimental permet d&apos;activer des &lt;b&gt;fonctionnalités alpha&lt;/b&gt; qui ne sont pas prêtes pour le mode détente. Les fonctionnalités expérimentales sont listées ci-dessous :</translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Laissez le modèle de conduite contrôler l&apos;accélérateur et les freins. openpilot conduira comme il pense qu&apos;un humain le ferait, y compris s&apos;arrêter aux feux rouges et aux panneaux stop. Comme le modèle de conduite décide de la vitesse à adopter, la vitesse définie ne servira que de limite supérieure. Cette fonctionnalité est de qualité alpha ; des erreurs sont à prévoir.</translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation>Nouvelle visualisation de la conduite</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>Le mode expérimental est actuellement indisponible pour cette voiture car le régulateur de vitesse adaptatif d&apos;origine est utilisé pour le contrôle longitudinal.</translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>Le contrôle longitudinal openpilot pourrait être disponible dans une future mise à jour.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Une version alpha du contrôle longitudinal openpilot peut être testée, avec le mode expérimental, sur des branches non publiées.</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Contrôle longitudinal de bout en bout</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigation avec openpilot</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>Lorsque la navigation dispose d&apos;une destination, openpilot entrera les informations de la carte dans le modèle. Cela fournit un contexte utile pour le modèle et permet à openpilot de se diriger à gauche ou à droite de manière appropriée aux bifurcations/sorties. Le comportement relatif au changement de voie reste inchangé et doit toujours être activé par le conducteur. Il s&apos;agit d&apos;une fonctionnalité alpha ; il faut s&apos;attendre à des erreurs, en particulier aux abords des sorties et des bifurcations. Ces erreurs peuvent inclure des franchissements involontaires de passages piétons, des prises de sortie tardives, la conduite vers des zones de séparation de type zebras, etc.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>La visualisation de la conduite passera sur la caméra grand angle dirigée vers la route à faible vitesse afin de mieux montrer certains virages. Le logo du mode expérimental s&apos;affichera également dans le coin supérieur droit. Lorsqu&apos;une destination de navigation est définie et que le modèle de conduite l&apos;utilise comme entrée, la trajectoire de conduite sur la carte deviendra verte.</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Activer le contrôle longitudinal d&apos;openpilot (en alpha) pour autoriser le mode expérimental.</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Mise à jour requise</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>Une mise à jour du système d&apos;exploitation est requise. Connectez votre appareil au Wi-Fi pour une mise à jour plus rapide. La taille du téléchargement est d&apos;environ 1 Go.</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Se connecter au Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Installer</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Retour</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Chargement...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Redémarrer</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Échec de la mise à jour</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurer le Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Connectez-vous au Wi-Fi pour publier les données de conduite et aider à améliorer openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Ouvrir les paramètres</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Prêt à uploader</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Les données d&apos;entraînement seront envoyées périodiquement lorsque votre appareil est connecté au réseau Wi-Fi</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Recherche de réseaux...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>CONNEXION...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>OUBLIER</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Oublier le réseau Wi-Fi &quot;%1&quot; ?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation>Oublier</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
index 8226dd59f9..799aa84a2e 100644
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -116,6 +116,33 @@
         <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -311,18 +338,6 @@
         <source>Installing...</source>
         <translation>インストールしています...</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>デルタを解決しています： </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>ファイルを更新しています： </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
@@ -338,114 +353,117 @@
         <source>hr</source>
         <translation>時間</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>ｷﾛﾒｰﾄﾙ</translation>
+        <source>NAVIGATION</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>ﾏｲﾙ</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> ｷﾛﾒｰﾄﾙ</translation>
+        <source>Map Loading</source>
+        <translation>マップを読み込んでいます</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>GPS信号を探しています</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> ﾒｰﾄﾙ</translation>
+        <source>Waiting for route</source>
+        <translation type="unfinished"></translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> mi</source>
-        <translation> ﾏｲﾙ</translation>
+        <source>Select</source>
+        <translation>選択</translation>
     </message>
     <message>
-        <source> ft</source>
-        <translation> ﾌｨｰﾄ</translation>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>現在の目的地</translation>
+        <source>Advanced</source>
+        <translation>詳細</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>削除</translation>
+        <source>Enter password</source>
+        <translation>パスワードを入力</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>最近の目的地</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>ﾈｯﾄﾜｰｸ名：%1</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>β版ﾅﾋﾞｹﾞｰｼｮﾝを試す</translation>
+        <source>Wrong password</source>
+        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>より詳細な案内情報を得ることができます。
-詳しくはこちら：https://connect.comma.ai</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>自宅の住所はまだ
-設定されていません</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>職場の住所はまだ
-設定されていません</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>最近の目的地履歴がありません</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>マップを読み込んでいます</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS信号を探しています</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>選択</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>キャンセル</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>詳細</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>パスワードを入力</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>ﾈｯﾄﾜｰｸ名：%1</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -512,12 +530,16 @@ location set</source>
         <translation>リモートアクセス</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>一年間の保存期間</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>開発者向け特典</translation>
+        <source>1 year of drive storage</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -530,14 +552,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -575,6 +589,22 @@ location set</source>
             <numerusform>%n 日前</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>ｷﾛﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>ﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>ﾏｲﾙ</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ﾌｨｰﾄ</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -586,18 +616,10 @@ location set</source>
         <source>Are you sure you want to reset your device?</source>
         <translation>初期化してもよろしいですか？</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>デバイスが初期化されます...</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>システムを初期化</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>キャンセル</translation>
@@ -611,8 +633,17 @@ location set</source>
         <translation>確認</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -637,10 +668,6 @@ location set</source>
         <source>Software</source>
         <translation>ｿﾌﾄｳｪｱ</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -684,18 +711,6 @@ location set</source>
         <source>Waiting for internet</source>
         <translation>インターネット接続を待機中</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>インストールするソフトウェアを選択してください</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>カスタムソフトウェア</translation>
-    </message>
     <message>
         <source>Enter URL</source>
         <translation>URL を入力</translation>
@@ -724,6 +739,14 @@ location set</source>
         <source>Start over</source>
         <translation>最初からやり直す</translation>
     </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -877,6 +900,26 @@ location set</source>
         <source>Uninstall</source>
         <translation>アンインストール</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -977,10 +1020,6 @@ location set</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>実験段階のopenpilotによるアクセル制御</translation>
-    </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
         <translation>ｱｸｾﾙを踏むと openpilot を中断</translation>
@@ -1010,40 +1049,80 @@ location set</source>
         <translation>実験モード</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告: この車種でのopenpilotによるアクセル制御は実験段階であり、衝突被害軽減ブレーキ(AEB)を無効化します。</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>openpilotはこの車の場合、車に内蔵されているACCを標準で利用します。この機能を有効にすることで実験段階のopenpilotによるアクセル制御を利用できます。実験モードと合わせて利用することをお勧めします。</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>この車のACCがアクセル制御を行うため、実験モードを利用することができません。</translation>
+        <source>New Driving Visualization</source>
+        <translation>新しい運転画面</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>実験段階のopenpilotによるアクセル制御を有効にしてください。</translation>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>この車のACCがアクセル制御を行うため実験モードを利用することができません。</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilotは標準ではゆっくりとくつろげる運転を提供します。この実験モードを有効にすると、以下のくつろげる段階ではない開発中の機能を利用する事ができます。</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 エンドツーエンドアクセル制御 🌮</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>openpilotにアクセルとブレーキを任せます。openpilotは赤信号や一時停止サインでの停止を含み、人間と同じように考えて運転を行います。openpilotが運転速度を決定するため、あなたが設定する速度は上限速度になります。この機能は実験段階のため、openpilotの運転ミスに常に備えて注意してください。</translation>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
-        <translation>新しい運転画面</translation>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>新しい運転画面では、低速時に広角カメラの映像を表示することで、曲がる際の道路の視覚を向上します。実験段階を表すマークが右上に表示されます。</translation>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -1081,6 +1160,29 @@ location set</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
index bda64c53ab..31190c25b9 100644
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -64,7 +64,7 @@
     </message>
     <message>
         <source>Prevent large data uploads when on a metered connection</source>
-        <translation>데이터 요금제 연결 시 대용량 데이터 업로드 방지</translation>
+        <translation>데이터 요금제 연결 시 대용량 데이터 업로드를 방지합니다</translation>
     </message>
 </context>
 <context>
@@ -116,6 +116,33 @@
         <translation>거절, %1 제거</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>집</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>회사</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>목적지가 설정되지 않았습니다</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>%1 위치가 설정되지 않았습니다</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>집</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>회사</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -140,7 +167,7 @@
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
+        <translation>운전자 모니터링이 잘 되는지 확인하기 위해 카메라를 향한 운전자를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
@@ -200,11 +227,11 @@
     </message>
     <message>
         <source>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.</source>
-        <translation>openpilot은 좌우측은 4° 이내, 위쪽은 5° 아래쪽은 8° 이내로 장치를 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋은 거의 필요하지 않습니다.</translation>
+        <translation>openpilot 장치는 좌우측 4° 이내, 위쪽 5° 아래쪽 8° 이내로 장착되어야 합니다. openpilot은 지속적으로 보정되며 재설정은 거의 필요하지 않습니다.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 장치가 %1° %2 및 %3° %4 위치에 설치되어있습니다.</translation>
+        <translation> 사용자의 장치는 %1° %2 및 %3° %4 의 위치에 장착되어 있습니다.</translation>
     </message>
     <message>
         <source>down</source>
@@ -311,18 +338,6 @@
         <source>Installing...</source>
         <translation>설치중...</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>수신중： </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>델타병합： </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>파일갱신： </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
@@ -338,114 +353,118 @@
         <source>hr</source>
         <translation>시간</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>km</translation>
+        <source>NAVIGATION</source>
+        <translation>내비게이션</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>mi</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>connect.comma.ai에서 관리됩니다</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> km</translation>
+        <source>Map Loading</source>
+        <translation>지도 로딩</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> m</translation>
+        <source>Waiting for GPS</source>
+        <translation>GPS 수신중</translation>
     </message>
     <message>
-        <source> mi</source>
-        <translation> mi</translation>
+        <source>Waiting for route</source>
+        <translation>경로를 기다리는중</translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> ft</source>
-        <translation> ft</translation>
+        <source>Select</source>
+        <translation>선택</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>취소</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>현재 목적지</translation>
+        <source>Advanced</source>
+        <translation>고급 설정</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>삭제</translation>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>최근 목적지</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>&quot;%1&quot;에 접속하려면 비밀번호가 필요합니다</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>네비게이션(베타)를 사용해보세요</translation>
+        <source>Wrong password</source>
+        <translation>비밀번호가 틀렸습니다</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
-등록：https://connect.comma.ai</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>즉시 인터넷에 연결하여 업데이트를 확인하세요. 인터넷에 연결되어 있지 않으면 %1 이후에는 openpilot이 활성화되지 않습니다.</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>집
-설정되지않음</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>업데이트를 확인하려면 인터넷에 연결하세요. openpilot은 업데이트를 확인하기 위해 인터넷에 연결할 때까지 자동으로 시작되지 않습니다.</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>회사
-설정되지않음</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>업데이트를 다운로드할수 없습니다
+%1</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>최근 목적지 없음</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>날짜 및 시간 설정이 잘못되어 시스템이 시작되지 않습니다. 날짜와 시간을 동기화하려면 인터넷에 연결하세요.</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>지도 로딩</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>카메라 스냅샷 찍기가 완료될 때까지 시스템이 시작되지 않습니다.</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>GPS를 기다리는 중</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>백그라운드에서 운영 체제에 대한 업데이트가 다운로드되고 있습니다. 설치준비가 완료되면 업데이트하라는 메시지가 표시됩니다.</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>선택</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>장치를 등록하지 못했습니다. comma.ai 서버에 연결하거나 업로드하지 않으며 comma.ai에서 지원을 받지 않습니다. 공식 장치인경우 https://comma.ai/support 에 방문하여 문의하세요.</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>취소</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 드라이브가 마운트되지 않았습니다.</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>고급 설정</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>지원되지 않는 NVMe 드라이브가 감지되었습니다. 지원되지 않는 NVMe 드라이브로 인해 장치가 훨씬 더 많은 전력을 소비하고 과열될 수 있습니다.</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>비밀번호를 입력하세요</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>opepilot이 차량을 식별할수 없었습니다. 지원되지 않는 차량이거나 ECU가 인식되지 않습니다. 해당 차량에 펌웨어 버전을 추가하려면 PR을 제출하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>&quot;%1&quot;에 접속하려면 인증이 필요합니다</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot이 차량을 식별할수 없었습니다. 케이블의 무결성을 점검하고 모든 연결부, 특히 comma power가 차량의 OBD-II 포트에 완전히 삽입되었는지 확인하세요. 도움이 필요하시면 discord.comma.ai에 가입하세요.</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>비밀번호가 틀렸습니다</translation>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 장치의 장착 위치 변경을 감지했습니다. 장치가 마운트에 완전히 장착되고 마운트가 앞유리에 단단히 고정되었는지 확인하세요. </translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>장치 온도가 너무 높습니다. 시작하기 전에 장치온도를 낮춰주세요. 현재 내부 구성 요소 온도: %1</translation>
     </message>
 </context>
 <context>
@@ -467,7 +486,7 @@ location set</source>
     <name>PairingPopup</name>
     <message>
         <source>Pair your device to your comma account</source>
-        <translation>장치를 콤마 계정과 페어링합니다</translation>
+        <translation>장치를 comma 계정과 페어링합니다</translation>
     </message>
     <message>
         <source>Go to https://connect.comma.ai on your phone</source>
@@ -479,7 +498,7 @@ location set</source>
     </message>
     <message>
         <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
-        <translation>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오</translation>
+        <translation>connect.comma.ai를 앱처럼 사용하려면 홈 화면에 바로가기를 만드세요.</translation>
     </message>
 </context>
 <context>
@@ -497,11 +516,11 @@ location set</source>
     <name>PrimeAdWidget</name>
     <message>
         <source>Upgrade Now</source>
-        <translation>지금 업그레이드</translation>
+        <translation>지금 업그레이드 하세요</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>connect.comma.ai에서 comma prime에 가입합니다</translation>
+        <translation>connect.comma.ai에 접속하여 comma prime 회원이 되세요</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -512,12 +531,16 @@ location set</source>
         <translation>원격 접속</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1년간 저장</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>항상 LTE 연결</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>개발자 혜택</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>내비게이션 경로안내</translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation>1년간 저장</translation>
     </message>
 </context>
 <context>
@@ -530,14 +553,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -575,6 +590,22 @@ location set</source>
             <numerusform>%n 일전</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -586,18 +617,10 @@ location set</source>
         <source>Are you sure you want to reset your device?</source>
         <translation>장치를 초기화 하시겠습니까?</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>장치 초기화중...</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>장치 초기화</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 부팅을 재개하려면 취소를 누르세요.</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>취소</translation>
@@ -611,8 +634,18 @@ location set</source>
         <translation>확인</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 파티션이 손상되었을 수 있습니다. 모든 내용을 지우고 장치를 초기화하려면 확인을 누르세요.</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>모든 콘텐츠와 설정을 지우려면 확인을 누르세요. 부팅을 재개하려면 취소를 누르세요.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>장치를 초기화하는 중...
+최대 1분이 소요될 수 있습니다.</translation>
     </message>
 </context>
 <context>
@@ -637,10 +670,6 @@ location set</source>
         <source>Software</source>
         <translation>소프트웨어</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>네비게이션</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -682,19 +711,7 @@ location set</source>
     </message>
     <message>
         <source>Waiting for internet</source>
-        <translation>네트워크 접속을 기다립니다</translation>
-    </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>설치할 소프트웨어를 선택하세요</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Custom Software</translation>
+        <translation>인터넷 대기중</translation>
     </message>
     <message>
         <source>Enter URL</source>
@@ -702,7 +719,7 @@ location set</source>
     </message>
     <message>
         <source>for Custom Software</source>
-        <translation>for Custom Software</translation>
+        <translation>커스텀 소프트웨어</translation>
     </message>
     <message>
         <source>Downloading...</source>
@@ -714,7 +731,7 @@ location set</source>
     </message>
     <message>
         <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
-        <translation>입력된 URL이 유효하고 장치의 네트워크 연결이 잘 되어 있는지 확인하세요.</translation>
+        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 양호한지 확인하세요.</translation>
     </message>
     <message>
         <source>Reboot device</source>
@@ -724,6 +741,14 @@ location set</source>
         <source>Start over</source>
         <translation>다시 시작</translation>
     </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>문제가 발생했습니다. 장치를 재부팅하세요.</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>이 URL에서 커스텀 소프트웨어를 찾을 수 없습니다.</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -733,7 +758,7 @@ location set</source>
     </message>
     <message>
         <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
-        <translation>장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다.</translation>
+        <translation>장치를 comma connect (connect.comma.ai)에서 페어링하고 comma prime 제안을 요청하세요.</translation>
     </message>
     <message>
         <source>Pair device</source>
@@ -800,11 +825,11 @@ location set</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation>Wi-Fi</translation>
+        <translation>wifi</translation>
     </message>
     <message>
         <source>ETH</source>
-        <translation>이더넷</translation>
+        <translation>LAN</translation>
     </message>
     <message>
         <source>2G</source>
@@ -877,6 +902,26 @@ location set</source>
         <source>Uninstall</source>
         <translation>제거</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>업데이트 확인 실패</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>최신 상태 입니다, %1에 마지막으로 확인</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>다운로드</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>업데이트 가능</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>업데이트 안함</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -906,7 +951,7 @@ location set</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;의 키가 GitHub에 없습니다</translation>
     </message>
     <message>
         <source>Request timed out</source>
@@ -914,7 +959,7 @@ location set</source>
     </message>
     <message>
         <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
+        <translation>사용자 &apos;%1&apos;는 GitHub에 없습니다</translation>
     </message>
 </context>
 <context>
@@ -936,7 +981,7 @@ location set</source>
     </message>
     <message>
         <source>Scroll to accept</source>
-        <translation>허용하려면 아래로 스크롤하세요</translation>
+        <translation>동의하려면 아래로 스크롤하세요</translation>
     </message>
     <message>
         <source>Agree</source>
@@ -959,7 +1004,7 @@ location set</source>
     </message>
     <message>
         <source>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).</source>
-        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등 없이 감지된 차선 위를 주행할 경우 차선이탈 경고를 표시합니다.</translation>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향지시등이 켜지지 않은 상태에서 차량이 감지된 차선을 벗어나면 차선이탈 경고를 합니다.</translation>
     </message>
     <message>
         <source>Use Metric System</source>
@@ -977,17 +1022,13 @@ location set</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>openpilot 롱컨트롤 (실험적)</translation>
-    </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
         <translation>가속페달 조작시 해제</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
-        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
+        <translation>활성화된 경우 가속 페달을 밟으면 openpilot이 해제됩니다.</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
@@ -1010,40 +1051,80 @@ location set</source>
         <translation>실험적 모드</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>경고: openpilot 롱컨트롤은 실험적인 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험적 모드의 특징은 아래에 나열되어 있습니다</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 내장 ACC로 기본 설정됩니다. openpilot 롱컨트롤을 사용하려면 이 옵션을 활성화하세요. 실험적 openpilot 롱컨트롤을 사용하는 경우 실험적 모드를 활성화 하세요.</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>차량의 기본 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량에서는 실험적 모드를 사용할수 없습니다.</translation>
+        <source>New Driving Visualization</source>
+        <translation>새로운 주행 시각화</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>실험적 롱컨트롤을 사용하려면 실험적 모드를 활성화 하세요.</translation>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>차량에 장착된 ACC가 롱컨트롤에 사용되기 때문에 현재 이 차량은 실험적 모드를 사용할 수 없습니다.</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot은 기본적으로 &lt;b&gt;안정적 모드&lt;/b&gt;로 주행합니다. 실험적 모드는 안정적 모드에 준비되지 않은 &lt;b&gt;알파 수준 기능&lt;/b&gt;을 활성화 합니다. 실험 모드의 특징은 아래에 나열되어 있습니다</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>openpilot 롱컨트롤은 향후 업데이트에서 제공될 수 있습니다.</translation>
     </message>
     <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 E2E 롱컨트롤 🌮</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot 롱컨트롤 (알파)</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>주행모델이 가속과 감속을 제어하도록 합니다. openpilot은 신호등과 정지표지판을 보고 멈추는 것을 포함하여 운전자가 생각하는것처럼 주행합니다. 주행 모델이 주행할 속도를 결정하므로 설정된 속도는 상한선으로만 작용합니다. 이것은 알파 기능이므로 사용에 주의해야 합니다.</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>경고: openpilot 롱컨트롤은 알파 기능으로 차량의 자동긴급제동(AEB)를 비활성화합니다.</translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
-        <translation>새로운 주행 시각화</translation>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>이 차량은 openpilot 롱컨트롤 대신 차량의 ACC로 기본 설정됩니다. openpilot 롱컨트롤으로 전환하려면 이 기능을 활성화하세요. openpilot 롱컨트롤 알파를 활성화하는경우 실험적 모드 활성화를 권장합니다.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>공격적</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>표준</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>편안한</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>주행 모드</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>표준 모드를 권장합니다. 공격적 모드에서는 openpilot은 앞차를 더 가까이 따라가며 가속과 감속을 더 공격적으로 사용합니다. 편안한 모드에서 openpilot은 선두 차량에서 더 멀리 떨어져 있습니다.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>openpilot 롱컨트롤 알파 버전은 비 릴리스 분기에서 실험적 모드와 함께 테스트할 수 있습니다.</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot (NOO)</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>주행 시각화는 저속에서 도로를 향하는 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측상단에 표시됩니다.</translation>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>openpilot E2E 롱컨트롤 (알파) 토글을 활성화하여 실험적 모드를 허용합니다.</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>E2E 롱컨트롤</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>내비게이션에 목적지가 있으면 openpilot이 지도 정보를 모델에 입력합니다. 이는 모델에 유용한 컨텍스트를 제공하고 openpilot이 분기점에서 적절하게 왼쪽 또는 오른쪽을 유지할 수 있도록 합니다. 차선 변경 기능은 여전히 운전자의 조작에 의해 활성화됩니다. 이것은 알파 상태의 기능입니다. 특히 출구 분기점 주변에서 실수가 발생될수 있으며 이러한 실수에는 의도하지 않은 차선 이탈, 늦은 출구 이용, 도로 가장자리의 분리대 또는 경계석을 향해 운전하는 등이 포함될 수 있습니다.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>주행 시각화는 저속으로 주행시 도로를 향한 광각 카메라로 전환되어 일부 회전을 더 잘 보여줍니다. 실험적 모드 로고도 우측 상단에 표시됩니다. 내비게이션 목적지가 설정되고 주행 모델에 입력되면 지도의 주행 경로가 녹색으로 바뀝니다.</translation>
     </message>
 </context>
 <context>
@@ -1081,6 +1162,29 @@ location set</source>
         <translation>업데이트 실패</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>wifi 설정</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>wifi에 연결하여 주행 데이터를 업로드하고 openpilot 개선에 참여하세요.</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>설정 열기</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>업로드 준비완료</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>기기가 wifi에 연결되어 있는 동안 트레이닝 데이터를 주기적으로 전송합니다.</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
@@ -1097,7 +1201,7 @@ location set</source>
     </message>
     <message>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
-        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
+        <translation>&quot;%1&quot;를 저장하지 않겠습니까?</translation>
     </message>
     <message>
         <source>Forget</source>
diff --git a/selfdrive/ui/translations/main_pt-BR.ts b/selfdrive/ui/translations/main_pt-BR.ts
index 105d6f77f0..7aa0c7c49b 100644
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@@ -116,6 +116,33 @@
         <translation>Rejeitar, desintalar %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>Casa</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>Trabalho</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>Nenhum destino definido</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>Endereço de %1 não definido</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>casa</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>trabalho</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -132,19 +159,19 @@
     </message>
     <message>
         <source>Driver Camera</source>
-        <translation>Câmera voltada para o Motorista</translation>
+        <translation>Câmera do Motorista</translation>
     </message>
     <message>
         <source>PREVIEW</source>
-        <translation>PREVISUAL</translation>
+        <translation>VER</translation>
     </message>
     <message>
         <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
-        <translation>Pré-visualizar a câmera voltada para o motorista para garantir que monitor tem uma boa visibilidade (veículo precisa estar desligado)</translation>
+        <translation>Pré-visualizar a câmera voltada para o motorista para garantir que o monitoramento do sistema tenha uma boa visibilidade (veículo precisa estar desligado)</translation>
     </message>
     <message>
         <source>Reset Calibration</source>
-        <translation>Resetar Calibragem</translation>
+        <translation>Reinicializar Calibragem</translation>
     </message>
     <message>
         <source>RESET</source>
@@ -200,7 +227,7 @@
     </message>
     <message>
         <source>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.</source>
-        <translation>o openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. o openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
+        <translation>O openpilot requer que o dispositivo seja montado dentro de 4° esquerda ou direita e dentro de 5° para cima ou 8° para baixo. O openpilot está continuamente calibrando, resetar raramente é necessário.</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -285,11 +312,11 @@
     <name>ExperimentalModeButton</name>
     <message>
         <source>EXPERIMENTAL MODE ON</source>
-        <translation>MODO EXPERIMENTAL ATIVADO</translation>
+        <translation>MODO EXPERIMENTAL ON</translation>
     </message>
     <message>
         <source>CHILL MODE ON</source>
-        <translation>MODO CHILL ATIVADO</translation>
+        <translation>MODO CHILL ON</translation>
     </message>
 </context>
 <context>
@@ -312,18 +339,6 @@
         <source>Installing...</source>
         <translation>Instalando...</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>Recebendo objetos: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>Resolvendo deltas: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>Atualizando arquivos: </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
@@ -339,114 +354,118 @@
         <source>hr</source>
         <translation>hr</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>km</translation>
+        <source>NAVIGATION</source>
+        <translation>NAVEGAÇÃO</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>mi</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>Gerencie em connect.comma.ai</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> km</translation>
+        <source>Map Loading</source>
+        <translation>Carregando Mapa</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> m</translation>
+        <source>Waiting for GPS</source>
+        <translation>Aguardando GPS</translation>
     </message>
     <message>
-        <source> mi</source>
-        <translation> milha</translation>
+        <source>Waiting for route</source>
+        <translation>Aguardando rota</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Selecione</translation>
     </message>
     <message>
-        <source> ft</source>
-        <translation> pés</translation>
+        <source>Cancel</source>
+        <translation>Cancelar</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>Destino Atual</translation>
+        <source>Advanced</source>
+        <translation>Avançado</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>LIMPAR</translation>
+        <source>Enter password</source>
+        <translation>Insira a senha</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>Destinos Recentes</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>para &quot;%1&quot;</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>Experimente a Navegação Beta</translation>
+        <source>Wrong password</source>
+        <translation>Senha incorreta</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>Obtenha instruções passo a passo exibidas e muito mais com 
-uma assinatura prime Inscreva-se agora:  https://connect.comma.ai</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>Conecte-se imediatamente à internet para verificar se há atualizações. Se você não se conectar à internet em %1 não será possível acionar o openpilot.</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>Sem local
-residência definido</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>Conecte-se à internet para verificar se há atualizações. O openpilot não será iniciado automaticamente até que ele se conecte à internet para verificar se há atualizações.</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>Sem local de
-trabalho definido</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>Não é possível baixar atualizações
+%1</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>sem destinos recentes</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>Configurações de data e hora inválidas, o sistema não será iniciado. Conecte-se à internet para definir o horário.</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>Carregando Mapa</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>Tirando fotos da câmera. O sistema não será iniciado até terminar.</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>Esperando por GPS</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>Uma atualização para o sistema operacional do seu dispositivo está sendo baixada em segundo plano. Você será solicitado a atualizar quando estiver pronto para instalar.</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>Selecione</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>Falha ao registrar o dispositivo. Ele não se conectará ou fará upload para os servidores comma.ai e não receberá suporte da comma.ai. Se este for um dispositivo oficial, visite https://comma.ai/support.</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>Cancelar</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>Unidade NVMe não montada.</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>Avançado</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>Unidade NVMe não suportada detectada. O dispositivo pode consumir significativamente mais energia e superaquecimento devido ao NVMe não suportado.</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>Insira a senha</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>O openpilot não conseguiu identificar o seu carro. Seu carro não é suportado ou seus ECUs não são reconhecidos. Envie um pull request para adicionar as versões de firmware ao veículo adequado. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>para &quot;%1&quot;</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>O openpilot não conseguiu identificar o seu carro. Verifique a integridade dos cabos e certifique-se de que todas as conexões estejam seguras, especialmente se o comma power está totalmente inserido na porta OBD-II do veículo. Precisa de ajuda? Junte-se discord.comma.ai.</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>Senha incorreta</translation>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>O openpilot detectou uma mudança na posição de montagem do dispositivo. Verifique se o dispositivo está totalmente encaixado no suporte e se o suporte está firmemente preso ao para-brisa.</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>Temperatura do dispositivo muito alta. O sistema está sendo resfriado antes de iniciar. A temperatura atual do componente interno é: %1</translation>
     </message>
 </context>
 <context>
@@ -502,7 +521,7 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Become a comma prime member at connect.comma.ai</source>
-        <translation>Torne-se um membro comma prime em connect.comma.ai</translation>
+        <translation>Seja um membro comma prime em connect.comma.ai</translation>
     </message>
     <message>
         <source>PRIME FEATURES:</source>
@@ -510,15 +529,19 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Remote access</source>
-        <translation>Acesso remoto</translation>
+        <translation>Acesso remoto (proxy comma)</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation>Conectividade LTE (só nos EUA)</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1 ano de armazenamento</translation>
+        <source>Turn-by-turn navigation</source>
+        <translation>Navegação passo a passo</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>Benefícios para desenvolvedor</translation>
+        <source>1 year of drive storage</source>
+        <translation>1 ano de dados em nuvem</translation>
     </message>
 </context>
 <context>
@@ -531,14 +554,6 @@ trabalho definido</translation>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>PONTOS COMMA</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -579,6 +594,22 @@ trabalho definido</translation>
             <numerusform>há %n dias</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>milha</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>pés</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -590,18 +621,10 @@ trabalho definido</translation>
         <source>Are you sure you want to reset your device?</source>
         <translation>Tem certeza que quer resetar seu dispositivo?</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>Resetando dispositivo...</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>Resetar Sistema</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>Solicitado reset do sistema. Confirme para apagar todo conteúdo e configurações. Aperte cancelar para continuar boot.</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>Cancelar</translation>
@@ -615,8 +638,18 @@ trabalho definido</translation>
         <translation>Confirmar</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>Não foi possível montar a partição de dados. Pressione confirmar para resetar seu dispositivo.</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>Redefinindo o dispositivo
+Isso pode levar até um minuto.</translation>
     </message>
 </context>
 <context>
@@ -641,10 +674,6 @@ trabalho definido</translation>
         <source>Software</source>
         <translation>Software</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>Navegação</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -688,18 +717,6 @@ trabalho definido</translation>
         <source>Waiting for internet</source>
         <translation>Esperando pela internet</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>Escolher Software para Instalar</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>Sofware Customizado</translation>
-    </message>
     <message>
         <source>Enter URL</source>
         <translation>Preencher URL</translation>
@@ -728,6 +745,14 @@ trabalho definido</translation>
         <source>Start over</source>
         <translation>Inicializar</translation>
     </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>Não há software personalizado nesta URL.</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -835,7 +860,7 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Current Version</source>
-        <translation>Versao Atual</translation>
+        <translation>Versão Atual</translation>
     </message>
     <message>
         <source>Download</source>
@@ -863,11 +888,11 @@ trabalho definido</translation>
     </message>
     <message>
         <source>UNINSTALL</source>
-        <translation>DESINSTAL</translation>
+        <translation>REMOVER</translation>
     </message>
     <message>
         <source>Uninstall %1</source>
-        <translation>Desintalar o %1</translation>
+        <translation>Desinstalar o %1</translation>
     </message>
     <message>
         <source>Are you sure you want to uninstall?</source>
@@ -881,6 +906,26 @@ trabalho definido</translation>
         <source>Uninstall</source>
         <translation>Desinstalar</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>falha ao verificar por atualizações</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>atualizado, última verificação %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>BAIXAR</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>atualização disponível</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>nunca</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -981,13 +1026,9 @@ trabalho definido</translation>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>Upload dados da câmera voltada para o motorista e ajude a melhorar o algoritmo de monitoramentor.</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>Controle longitudinal experimental openpilot</translation>
-    </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
-        <translation>Desacionar Com Pedal Do Acelerador</translation>
+        <translation>Desacionar com Pedal do Acelerador</translation>
     </message>
     <message>
         <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
@@ -995,7 +1036,7 @@ trabalho definido</translation>
     </message>
     <message>
         <source>Show ETA in 24h Format</source>
-        <translation>Mostrar ETA em formato 24h</translation>
+        <translation>Mostrar ETA em Formato 24h</translation>
     </message>
     <message>
         <source>Use 24h format instead of am/pm</source>
@@ -1014,40 +1055,80 @@ trabalho definido</translation>
         <translation>Modo Experimental</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>ATENÇÃO: o controle longitudinal do openpilot é experimental para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-embrionário&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>Neste carro o penpilot por padrão utiliza o ACC nativo do veículo ao invés de controlar longitudinalmente. Ative isto para mudar para o controle longitudinal do openpilot. Ativar o Modo Experimental é recomendado quando em uso do controle longitudinal experimental do openpilot.</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade embrionária; erros devem ser esperados.</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
-        <translation>O Modo Experimental está atualmente indisponível para este carro, já que o ACC original do carro é usado para controle longitudinal.</translation>
+        <source>New Driving Visualization</source>
+        <translation>Nova Visualização de Condução</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>Ative o controle longitudinal experimental para permitir o modo experimental.</translation>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>O modo Experimental está atualmente indisponível para este carro já que o ACC original do carro é usado para controle longitudinal.</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot por padrão funciona em &lt;b&gt;modo chill&lt;/b&gt;. modo Experimental ativa &lt;b&gt;recursos de nível-alfa&lt;/b&gt; que não estão prontos para o modo chill. Recursos experimentais estão listados abaixo:</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>O controle longitudinal openpilot poderá vir em uma atualização futura.</translation>
     </message>
     <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 Controle Longitudinal de Ponta a Ponta 🌮</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>Controle Longitudinal openpilot (Embrionário)</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>Deixe o modelo de IA controlar o acelerador e os freios. O openpilot irá dirigir como pensa que um humano faria, incluindo parar em sinais vermelhos e sinais de parada. Uma vez que o modelo de condução decide a velocidade a conduzir, a velocidade definida apenas funcionará como um limite superior. Este é um recurso de qualidade alfa; erros devem ser esperados.</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>AVISO: o controle longitudinal openpilot está em estado embrionário para este carro e desativará a Frenagem Automática de Emergência (AEB).</translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
-        <translation>Nova Visualização de Condução</translation>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>Neste carro, o openpilot tem como padrão o ACC embutido do carro em vez do controle longitudinal do openpilot. Habilite isso para alternar para o controle longitudinal openpilot. Recomenda-se ativar o modo Experimental ao ativar o embrionário controle longitudinal openpilot.</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>Disputa</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>Neutro</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>Calmo</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>Temperamento de Direção</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>Neutro é o recomendado. No modo disputa o openpilot seguirá o carro da frente mais de perto e será mais agressivo com a aceleração e frenagem. No modo calmo o openpilot se manterá mais longe do carro da frente.</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>Uma versão embrionária do controle longitudinal openpilot pode ser testada em conjunto com o modo Experimental, em branches que não sejam de produção.</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>A visualização da direção fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será exibido no canto superior direito.</translation>
+        <source>Navigate on openpilot</source>
+        <translation>Navegação no openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>Habilite o controle longitudinal (embrionário) openpilot para permitir o modo Experimental.</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>Controle Longitudinal de Ponta a Ponta</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>Quando a navegação tem um destino, o openpilot insere as informações do mapa no modelo. Isso fornece contexto útil para o modelo e permite que o openpilot mantenha a esquerda ou a direita apropriadamente em bifurcações/saídas. O comportamento de mudança de faixa permanece inalterado e ainda é ativado somente pelo motorista. Este é um recurso de qualidade embrionária; erros devem ser esperados, principalmente em torno de saídas e bifurcações. Esses erros podem incluir travessias não intencionais na faixa de rodagem, saída tardia, condução em direção a barreiras divisórias nas áreas de marcas de canalização, etc.</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>A visualização de condução fará a transição para a câmera grande angular voltada para a estrada em baixas velocidades para mostrar melhor algumas curvas. O logotipo do modo Experimental também será mostrado no canto superior direito. Quando um destino de navegação é definido e o modelo de condução o utiliza como entrada o caminho de condução no mapa fica verde.</translation>
     </message>
 </context>
 <context>
@@ -1085,6 +1166,29 @@ trabalho definido</translation>
         <translation>Falha na atualização</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>Configurar Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>Conecte se ao Wi-Fi para realizar upload de dados de condução e ajudar a melhorar o openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>Abrir Configurações</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>Pronto para upload</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>Os dados de treinamento serão extraídos periodicamente enquanto o dispositivo estiver no Wi-Fi</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_th.ts b/selfdrive/ui/translations/main_th.ts
index 0de0ba5f9a..9ef2d8a913 100644
--- a/selfdrive/ui/translations/main_th.ts
+++ b/selfdrive/ui/translations/main_th.ts
@@ -116,6 +116,33 @@
         <translation>ปฏิเสธ และถอนการติดตั้ง %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>บ้าน</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>ที่ทำงาน</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>ยังไม่ได้เลือกจุดหมาย</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>บ้าน</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>ที่ทำงาน</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>ยังไม่ได้เลือกตำแหน่ง%1</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -238,6 +265,14 @@
         <source>Disengage to Power Off</source>
         <translation>ยกเลิกระบบช่วยขับเพื่อปิดเครื่อง</translation>
     </message>
+    <message>
+        <source>Reset</source>
+        <translation>รีเซ็ต</translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation>ทบทวน</translation>
+    </message>
 </context>
 <context>
     <name>DriveStats</name>
@@ -273,6 +308,17 @@
         <translation>กำลังเปิดกล้อง</translation>
     </message>
 </context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation>คุณกำลังใช้โหมดทดลอง</translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation>คุณกำลังใช้โหมดชิล</translation>
+    </message>
+</context>
 <context>
     <name>InputDialog</name>
     <message>
@@ -292,18 +338,6 @@
         <source>Installing...</source>
         <translation>กำลังติดตั้ง...</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>กำลังรับข้อมูล: </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>การแก้ไขเดลต้า: </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>กำลังอัปเดตไฟล์: </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
@@ -319,114 +353,118 @@
         <source>hr</source>
         <translation>ชม.</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>กม.</translation>
+        <source>NAVIGATION</source>
+        <translation>การนำทาง</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>ไมล์</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>จัดการได้ที่ connect.comma.ai</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> กม.</translation>
+        <source>Map Loading</source>
+        <translation>กำลังโหลดแผนที่</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> ม.</translation>
+        <source>Waiting for GPS</source>
+        <translation>กำลังรอสัญญาณ GPS</translation>
     </message>
     <message>
-        <source> mi</source>
-        <translation> ไมล์</translation>
+        <source>Waiting for route</source>
+        <translation>กำลังรอเส้นทาง</translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> ft</source>
-        <translation> ฟุต</translation>
+        <source>Select</source>
+        <translation>เลือก</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>ยกเลิก</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>ปลายทางปัจจุบัน</translation>
+        <source>Advanced</source>
+        <translation>ขั้นสูง</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>ล้างข้อมูล</translation>
+        <source>Enter password</source>
+        <translation>ใส่รหัสผ่าน</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>ปลายทางล่าสุด</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>สำหรับ &quot;%1&quot;</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>ลองใช้ระบบนำทาง (เบต้า)</translation>
+        <source>Wrong password</source>
+        <translation>รหัสผ่านผิด</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>รับการแสดงเส้นทางแบบเลี้ยวต่อเลี้ยว และอื่นๆ ด้วยการสมัครบริการ
-comma prime สมัครเลย: https://connect.comma.ai</translation>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>อุณหภูมิของอุปกรณ์สูงเกินไป ระบบกำลังทำความเย็นก่อนเริ่ม อุณหภูมิของชิ้นส่วนภายในปัจจุบัน: %1</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>ยังไม่ได้กำหนด
-ตำแหน่งของบ้าน</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดทเดี๋ยวนี้ ถ้าคุณไม่เชื่อมต่ออินเตอร์เน็ต openpilot จะไม่ทำงานในอีก %1</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>ยังไม่ได้กำหนด
-ตำแหน่งของที่ทำงาน</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>กรุณาเชื่อมต่ออินเตอร์เน็ตเพื่อตรวจสอบอัปเดท openpilot จะไม่เริ่มทำงานอัตโนมัติจนกว่าจะได้เชื่อมต่อกับอินเตอร์เน็ตเพื่อตรวจสอบอัปเดท</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>ไม่พบปลายทางล่าสุด</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>ไม่สามารถดาวน์โหลดอัพเดทได้
+%1</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>กำลังโหลดแผนที่</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>วันที่และเวลาไม่ถูกต้อง ระบบจะไม่เริ่มทำงาน เชื่อต่ออินเตอร์เน็ตเพื่อตั้งเวลา</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>กำลังรอสัญญาณ GPS</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>กล้องกำลังถ่ายภาพ ระบบจะไม่เริ่มทำงานจนกว่าจะเสร็จ</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>เลือก</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>กำลังดาวน์โหลดอัปเดทสำหรับระบบปฏิบัติการอยู่เบื้องหลัง คุณจะได้รับการแจ้งเตือนเมื่อระบบพร้อมสำหรับการติดตั้ง</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>ยกเลิก</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>ไม่สามารถลงทะเบียนอุปกรณ์ได้ อุปกรณ์จะไม่สามารถเชื่อมต่อหรืออัปโหลดไปยังเซิร์ฟเวอร์ของ comma.ai ได้และจะไม่ได้รับการสนับสนุนจาก comma.ai ถ้านี่คืออุปกรณ์อย่างเป็นทางการ กรุณาติดต่อ https://comma.ai/support</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>ขั้นสูง</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>ไม่ได้ติดตั้งไดร์ฟ NVMe</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>ใส่รหัสผ่าน</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>ตรวจพบไดร์ฟ NVMe ที่ไม่รองรับ อุปกรณ์อาจใช้พลังงานมากขึ้นและร้อนเกินไปเนื่องจากไดร์ฟ NVMe ที่ไม่รองรับ</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>สำหรับ &quot;%1&quot;</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ ระบบอาจไม่รองรับรถยนต์ของคุณหรือไม่รู้จัก ECU กรุณาส่ง pull request เพื่อเพิ่มรุ่นของเฟิร์มแวร์ให้กับรถยนต์ที่เหมาะสม หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>รหัสผ่านผิด</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot ไม่สามารถระบุรถยนต์ของคุณได้ กรุณาตรวจสอบสายเคเบิ้ลและจุดเชื่อมต่อทั้งหมดว่าแน่นหนา โดยเฉพาะ comma power ว่าได้ดันเข้าไปยังพอร์ต OBD II ของรถยนต์จนสุด หากต้องการความช่วยเหลือให้เข้าร่วม discord.comma.ai</translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot ตรวจพบการเปลี่ยนแปลงของตำแหน่งที่ติดตั้ง กรุณาตรวจสอบว่าได้เลื่อนอุปกรณ์เข้ากับจุดติดตั้งจนสุดแล้ว และจุดติดตั้งได้ยึดติดกับกระจกหน้าอย่างแน่นหนา</translation>
     </message>
 </context>
 <context>
@@ -463,6 +501,17 @@ location set</source>
         <translation>จดจำ connect.comma.ai โดยการเพิ่มไปยังหน้าจอโฮม เพื่อใช้งานเหมือนเป็นแอปพลิเคชัน</translation>
     </message>
 </context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation>เปิดใช้งาน</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>ยกเลิก</translation>
+    </message>
+</context>
 <context>
     <name>PrimeAdWidget</name>
     <message>
@@ -482,12 +531,16 @@ location set</source>
         <translation>การเข้าถึงระยะไกล</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>จัดเก็บข้อมูลนาน 1 ปี</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>การเชื่อมต่อ LTE แบบ 24/7</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>สิทธิพิเศษสำหรับนักพัฒนา</translation>
+        <source>1 year of drive storage</source>
+        <translation>จัดเก็บข้อมูลการขับขี่นาน 1 ปี</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>การนำทางแบบเลี้ยวต่อเลี้ยว</translation>
     </message>
 </context>
 <context>
@@ -500,14 +553,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>คะแนน COMMA</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -545,6 +590,22 @@ location set</source>
             <numerusform>%n วันที่แล้ว</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>กม.</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>ม.</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>ไมล์</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ฟุต</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -556,18 +617,10 @@ location set</source>
         <source>Are you sure you want to reset your device?</source>
         <translation>คุณแน่ใจหรือไม่ว่าต้องการรีเซ็ตอุปกรณ์?</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>กำลังรีเซ็ตอุปกรณ์...</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>รีเซ็ตระบบ</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>มีการสั่งรีเซ็ตระบบ กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตเข้าระบบตามปกติ</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>ยกเลิก</translation>
@@ -581,15 +634,18 @@ location set</source>
         <translation>ยืนยัน</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูล กดยืนยันเพื่อรีเซ็ตอุปกรณ์ของคุณ</translation>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>กำลังรีเซ็ตอุปกรณ์...
+อาจใช้เวลาถึงหนึ่งนาที</translation>
     </message>
-</context>
-<context>
-    <name>RichTextDialog</name>
     <message>
-        <source>Ok</source>
-        <translation>ตกลง</translation>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>กดยืนยันเพื่อลบข้อมูลและการตั้งค่าทั้งหมด กดยกเลิกเพื่อบูตต่อ</translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>ไม่สามารถเมานต์พาร์ติชั่นข้อมูลได้ พาร์ติชั่นอาจเสียหาย กดยืนยันเพื่อลบและรีเซ็ตอุปกรณ์ของคุณ</translation>
     </message>
 </context>
 <context>
@@ -614,10 +670,6 @@ location set</source>
         <source>Software</source>
         <translation>ซอฟต์แวร์</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>การนำทาง</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -661,18 +713,6 @@ location set</source>
         <source>Waiting for internet</source>
         <translation>กำลังรอสัญญาณอินเตอร์เน็ต</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>เลือกซอฟต์แวร์ที่จะติดตั้ง</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>กล้องติดรถยนต์</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>ซอฟต์แวร์ที่กำหนดเอง</translation>
-    </message>
     <message>
         <source>Enter URL</source>
         <translation>ป้อน URL</translation>
@@ -701,6 +741,14 @@ location set</source>
         <source>Start over</source>
         <translation>เริ่มต้นใหม่</translation>
     </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>มีบางอย่างผิดพลาด รีบูตอุปกรณ์</translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>ไม่พบซอฟต์แวร์ที่กำหนดเองที่ URL นี้</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -850,6 +898,30 @@ location set</source>
         <source>Select a branch</source>
         <translation>เลือก Branch</translation>
     </message>
+    <message>
+        <source>Uninstall</source>
+        <translation>ถอนการติดตั้ง</translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>ไม่สามารถตรวจสอบอัปเดตได้</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>ดาวน์โหลด</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>มีอัปเดตใหม่</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>ไม่เคย</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>ล่าสุดแล้ว ตรวจสอบครั้งสุดท้ายเมื่อ %1</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -975,28 +1047,84 @@ location set</source>
         <translation>แสดงแผนที่ด้านซ้ายของหน้าจอเมื่ออยู่ในโหมดแบ่งหน้าจอ</translation>
     </message>
     <message>
-        <source>🌮 End-to-end longitudinal (extremely alpha) 🌮</source>
-        <translation>🌮 ควบคุมเร่ง/เบรคแบบ End-to-end (อยู่ขั้นพัฒนา) 🌮</translation>
+        <source>Experimental Mode</source>
+        <translation>โหมดทดลอง</translation>
     </message>
     <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>ทดลองใช้ระบบควบคุมการเร่ง/เบรคโดย openpilot</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>โดยปกติ openpilot จะขับใน&lt;b&gt;โหมดชิล&lt;/b&gt; เปิดโหมดทดลองเพื่อใช้&lt;b&gt;ความสามารถในขั้นพัฒนา&lt;/b&gt; ซึ่งยังไม่พร้อมสำหรับโหมดชิล ความสามารถในขั้นพัฒนามีดังนี้:</translation>
     </message>
     <message>
-        <source>&lt;b&gt;WARNING: openpilot longitudinal control is experimental for this car and will disable AEB.&lt;/b&gt;</source>
-        <translation>&lt;b&gt;คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในขั้นทดลอง และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด&lt;/b&gt;</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>ให้ openpilot ควบคุมการเร่ง/เบรค โดย openpilot จะขับอย่างที่มนุษย์คิด รวมถึงการหยุดที่ไฟแดง และป้ายหยุดรถ เนื่องจาก openpilot จะกำหนดความเร็วในการขับด้วยตัวเอง การตั้งความเร็วจะเป็นเพียงการกำหนดความเร็วสูงสูดเท่านั้น ความสามารถนี้ยังอยู่ในขั้นพัฒนา อาจเกิดข้อผิดพลาดขึ้นได้</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would. Super experimental.</source>
-        <translation>ให้ openpilot ควบคุมการเร่ง/เบรคแบบ end-to-end โดย openpilot จะขับอย่างที่มนุษย์คิด ระบบยังอยู่ในขั้นทดลอง</translation>
+        <source>New Driving Visualization</source>
+        <translation>การแสดงภาพการขับขี่แบบใหม่</translation>
     </message>
     <message>
-        <source>openpilot longitudinal control is not currently available for this car.</source>
-        <translation>ขณะนี้ยังไม่มีระบบควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้</translation>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation>ขณะนี้โหมดทดลองไม่สามารถใช้งานได้ในรถคันนี้ เนื่องจากเปิดใช้ระบบควบคุมการเร่ง/เบรคของรถที่ติดตั้งจากโรงงานอยู่</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to enable this.</source>
-        <translation>เปิดใช้งานระบบควบคุมการเร่ง/เบรคขั้นทดลอง เพื่อเปิดใช้งานสิ่งนี้</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot อาจมาในการอัปเดตในอนาคต</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot (Alpha)</translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>คำเตือน: การควบคุมการเร่ง/เบรคโดย openpilot สำหรับรถคันนี้ยังอยู่ในสถานะ alpha และระบบเบรคฉุกเฉินอัตโนมัติ (AEB) จะถูกปิด</translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>โดยปกติสำหรับรถคันนี้ openpilot จะควบคุมการเร่ง/เบรคด้วยระบบ ACC จากโรงงาน แทนการควยคุมโดย openpilot เปิดสวิตซ์นี้เพื่อให้ openpilot ควบคุมการเร่ง/เบรค แนะนำให้เปิดโหมดทดลองเมื่อต้องการให้ openpilot ควบคุมการเร่ง/เบรค ซึ่งอยู่ในสถานะ alpha</translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation>ดุดัน</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>มาตรฐาน</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>ผ่อนคลาย</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>บุคลิกการขับขี่</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>แนะนำให้ใช้แบบมาตรฐาน ในโหมดดุดัน openpilot จะตามรถคันหน้าใกล้ขึ้นและเร่งและเบรคแบบดุดันมากขึ้น ในโหมดผ่อนคลาย openpilot จะอยู่ห่างจากรถคันหน้ามากขึ้น</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>ระบบควบคุมการเร่ง/เบรคโดย openpilot เวอร์ชัน alpha สามารถทดสอบได้พร้อมกับโหมดการทดลอง บน branch ที่กำลังพัฒนา</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>ควบคุมเร่ง/เบรคแบบ End-to-End</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>การนำทางบน openpilot</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>เมื่อการนำทางมีจุดหมายปลายทาง openpilot จะป้อนข้อมูลแผนที่เข้าไปยังโมเดล ซึ่งจะเป็นบริบทที่มีประโยชน์สำหรับโมเดลและจะทำให้ openpilot สามารถรักษาเลนซ้ายหรือขวาได้อย่างเหมาะสมบริเวณทางแยกหรือทางออก พฤติกรรมการเปลี่ยนเลนยังคงเหมือนเดิมและยังคงต้องถูกเริ่มโดยคนขับ ความสามารถนี้ยังอยู่ในระดับ alpha ซึ่งอาจะเกิดความผิดพลาดได้โดยเฉพาะบริเวณทางแยกหรือทางออก ความผิดพลาดที่อาจเกิดขึ้นได้อาจรวมถึงการข้ามเส้นแบ่งเลนโดยไม่ตั้งใจ, การเข้าช่องทางออกช้ากว่าปกติ, การขับเข้าหาแบริเออร์ในเขตปลอดภัย, ฯลฯ</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>การแสดงภาพการขับขี่จะเปลี่ยนไปใช้กล้องมุมกว้างที่หันหน้าไปทางถนนเมื่ออยู่ในความเร็วต่ำ เพื่อแสดงภาพการเลี้ยวที่ดีขึ้น โลโก้โหมดการทดลองจะแสดงที่มุมบนขวาด้วย เมื่อเป้าหมายการนำทางถูกเลือกและโมเดลการขับขี่กำลังใช้เป็นอินพุต เส้นทางการขับขี่บนแผนที่จะเปลี่ยนเป็นสีเขียว</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>เปิดระบบควบคุมการเร่ง/เบรคโดย openpilot (alpha) เพื่อเปิดใช้งานโหมดทดลอง</translation>
     </message>
 </context>
 <context>
@@ -1034,6 +1162,29 @@ location set</source>
         <translation>การอัปเดตล้มเหลว</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>ตั้งค่า Wi-Fi</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>เชื่อมต่อกับ Wi-Fi เพื่ออัปโหลดข้อมูลการขับขี่และช่วยปรับปรุง openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>เปิดการตั้งค่า</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>พร้อมจะอัปโหลด</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>ข้อมูลการฝึกฝนจะถูกดึงเป็นระยะระหว่างที่อุปกรณ์ของคุณเชื่อมต่อกับ Wi-Fi</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
@@ -1052,5 +1203,9 @@ location set</source>
         <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
         <translation>เลิกใช้เครือข่าย Wi-Fi &quot;%1&quot;?</translation>
     </message>
+    <message>
+        <source>Forget</source>
+        <translation>เลิกใช้</translation>
+    </message>
 </context>
 </TS>
diff --git a/selfdrive/ui/translations/main_tr.ts b/selfdrive/ui/translations/main_tr.ts
new file mode 100644
index 0000000000..906884f640
--- /dev/null
+++ b/selfdrive/ui/translations/main_tr.ts
@@ -0,0 +1,1209 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="tr_TR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <source>Close</source>
+        <translation>Kapat</translation>
+    </message>
+    <message>
+        <source>Snooze Update</source>
+        <translation>Güncellemeyi sessize al</translation>
+    </message>
+    <message>
+        <source>Reboot and Update</source>
+        <translation>Güncelle ve Yeniden başlat</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <source>Back</source>
+        <translation>Geri dön</translation>
+    </message>
+    <message>
+        <source>Enable Tethering</source>
+        <translation>Kişisel erişim noktasını aç</translation>
+    </message>
+    <message>
+        <source>Tethering Password</source>
+        <translation>Kişisel erişim noktasının parolası</translation>
+    </message>
+    <message>
+        <source>EDIT</source>
+        <translation>DÜZENLE</translation>
+    </message>
+    <message>
+        <source>Enter new tethering password</source>
+        <translation>Erişim noktasına yeni bir sonraki başlatılışında çekilir. parola belirleyin.</translation>
+    </message>
+    <message>
+        <source>IP Address</source>
+        <translation>IP Adresi</translation>
+    </message>
+    <message>
+        <source>Enable Roaming</source>
+        <translation>Hücresel veri aç</translation>
+    </message>
+    <message>
+        <source>APN Setting</source>
+        <translation>APN Ayarları</translation>
+    </message>
+    <message>
+        <source>Enter APN</source>
+        <translation>APN Gir</translation>
+    </message>
+    <message>
+        <source>leave blank for automatic configuration</source>
+        <translation>otomatik yapılandırma için boş bırakın</translation>
+    </message>
+    <message>
+        <source>Cellular Metered</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Prevent large data uploads when on a metered connection</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>AnnotatedCameraWidget</name>
+    <message>
+        <source>km/h</source>
+        <translation type="unfinished">km/h</translation>
+    </message>
+    <message>
+        <source>mph</source>
+        <translation type="unfinished">mph</translation>
+    </message>
+    <message>
+        <source>MAX</source>
+        <translation type="unfinished">MAX</translation>
+    </message>
+    <message>
+        <source>SPEED</source>
+        <translation type="unfinished">HIZ</translation>
+    </message>
+    <message>
+        <source>LIMIT</source>
+        <translation type="unfinished">LİMİT</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <source>Ok</source>
+        <translation>Tamam</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>Vazgeç</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>Openpilotu kullanmak için Kullanıcı Koşullarını kabul etmelisiniz.</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Geri</translation>
+    </message>
+    <message>
+        <source>Decline, uninstall %1</source>
+        <translation>Reddet, Kurulumu kaldır. %1</translation>
+    </message>
+</context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <source>Dongle ID</source>
+        <translation>Adaptör ID</translation>
+    </message>
+    <message>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <source>Serial</source>
+        <translation>Seri Numara</translation>
+    </message>
+    <message>
+        <source>Driver Camera</source>
+        <translation>Sürücü Kamerası</translation>
+    </message>
+    <message>
+        <source>PREVIEW</source>
+        <translation>ÖN İZLEME</translation>
+    </message>
+    <message>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>Sürücü kamerasının görüş açısını test etmek için kamerayı önizleyin (Araç kapalı olmalıdır.) </translation>
+    </message>
+    <message>
+        <source>Reset Calibration</source>
+        <translation>Kalibrasyonu sıfırla</translation>
+    </message>
+    <message>
+        <source>RESET</source>
+        <translation>SIFIRLA</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>Kalibrasyon ayarını sıfırlamak istediğinizden emin misiniz? </translation>
+    </message>
+    <message>
+        <source>Review Training Guide</source>
+        <translation>Eğitim kılavuzunu inceleyin</translation>
+    </message>
+    <message>
+        <source>REVIEW</source>
+        <translation>GÖZDEN GEÇİR</translation>
+    </message>
+    <message>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot sisteminin kurallarını ve sınırlamalarını gözden geçirin.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>Eğitim kılavuzunu incelemek istediğinizden emin misiniz?</translation>
+    </message>
+    <message>
+        <source>Regulatory</source>
+        <translation>Mevzuat</translation>
+    </message>
+    <message>
+        <source>VIEW</source>
+        <translation>BAK</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation>Dili değiştir</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation>DEĞİŞTİR</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation>Dil seçin</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Power Off</source>
+        <translation>Sistemi kapat</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>openpilot, cihazın 4° sola veya 5° yukarı yada 8° aşağı bakıcak şekilde monte edilmesi gerekmektedir. openpilot sürekli kendisini kalibre edilmektedir ve nadiren sıfırlama gerebilir.</translation>
+    </message>
+    <message>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> Cihazınız %1° %2 ve %3° %4 yönünde ayarlı</translation>
+    </message>
+    <message>
+        <source>down</source>
+        <translation>aşağı</translation>
+    </message>
+    <message>
+        <source>up</source>
+        <translation>yukarı</translation>
+    </message>
+    <message>
+        <source>left</source>
+        <translation>sol</translation>
+    </message>
+    <message>
+        <source>right</source>
+        <translation>sağ</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reboot?</source>
+        <translation>Cihazı Tekrar başlatmak istediğinizden eminmisiniz?</translation>
+    </message>
+    <message>
+        <source>Disengage to Reboot</source>
+        <translation>Bağlantıyı kes ve Cihazı Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to power off?</source>
+        <translation>Cihazı kapatmak istediğizden eminmisiniz?</translation>
+    </message>
+    <message>
+        <source>Disengage to Power Off</source>
+        <translation>Bağlantıyı kes ve Cihazı kapat</translation>
+    </message>
+    <message>
+        <source>Reset</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Review</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <source>Drives</source>
+        <translation>Sürücüler</translation>
+    </message>
+    <message>
+        <source>Hours</source>
+        <translation>Saat</translation>
+    </message>
+    <message>
+        <source>ALL TIME</source>
+        <translation>TÜM ZAMANLAR</translation>
+    </message>
+    <message>
+        <source>PAST WEEK</source>
+        <translation>GEÇEN HAFTA</translation>
+    </message>
+    <message>
+        <source>KM</source>
+        <translation>KM</translation>
+    </message>
+    <message>
+        <source>Miles</source>
+        <translation>Mil</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <source>camera starting</source>
+        <translation>kamera başlatılıyor</translation>
+    </message>
+</context>
+<context>
+    <name>ExperimentalModeButton</name>
+    <message>
+        <source>EXPERIMENTAL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>CHILL MODE ON</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <source>Cancel</source>
+        <translation>Kapat</translation>
+    </message>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>En az %n karakter gerekli!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <source>Installing...</source>
+        <translation>Yükleniyor...</translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <source>eta</source>
+        <translation>tahmini varış süresi</translation>
+    </message>
+    <message>
+        <source>min</source>
+        <translation>dk</translation>
+    </message>
+    <message>
+        <source>hr</source>
+        <translation>saat</translation>
+    </message>
+</context>
+<context>
+    <name>MapSettings</name>
+    <message>
+        <source>NAVIGATION</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Manage at connect.comma.ai</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <source>Map Loading</source>
+        <translation>Harita yükleniyor</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>GPS verisi bekleniyor...</translation>
+    </message>
+    <message>
+        <source>Waiting for route</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation>Seç</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>İptal et</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>Gelişmiş Seçenekler</translation>
+    </message>
+    <message>
+        <source>Enter password</source>
+        <translation>Parolayı girin</translation>
+    </message>
+    <message>
+        <source>for &quot;%1&quot;</source>
+        <translation>için &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <source>Wrong password</source>
+        <translation>Yalnış parola</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to download updates
+%1</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>NVMe drive not mounted.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <source>UPDATE</source>
+        <translation>GÜNCELLE</translation>
+    </message>
+    <message>
+        <source> ALERTS</source>
+        <translation> UYARILAR</translation>
+    </message>
+    <message>
+        <source> ALERT</source>
+        <translation> UYARI</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <source>Pair your device to your comma account</source>
+        <translation>comma.ai hesabınız ile cihazı eşleştirin</translation>
+    </message>
+    <message>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>Telefonuzdan https://connect.comma.ai sitesine gidin</translation>
+    </message>
+    <message>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>Yeni cihaz eklemek için sağdaki QR kodunu okutun</translation>
+    </message>
+    <message>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>Uygulama gibi kullanmak için connect.comma.ai sitesini yer işaretlerine ekleyin.</translation>
+    </message>
+</context>
+<context>
+    <name>ParamControl</name>
+    <message>
+        <source>Enable</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <source>Upgrade Now</source>
+        <translation>Hemen yükselt</translation>
+    </message>
+    <message>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai üzerinden comma prime üyesi olun</translation>
+    </message>
+    <message>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME ABONELİĞİNİN ÖZELLİKLERİ:</translation>
+    </message>
+    <message>
+        <source>Remote access</source>
+        <translation>Uzaktan erişim</translation>
+    </message>
+    <message>
+        <source>24/7 LTE connectivity</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>1 year of drive storage</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ ABONE</translation>
+    </message>
+    <message>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <source>Reboot</source>
+        <translation>Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Exit</source>
+        <translation>Çık</translation>
+    </message>
+    <message>
+        <source>dashcam</source>
+        <translation>araç yol kamerası</translation>
+    </message>
+    <message>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n dakika önce</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n saat önce</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n gün önce</numerusform>
+        </translation>
+    </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mil</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>Sıfırlama başarız oldu. Cihazı yeniden başlatın ve tekrar deneyin.</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>Cihazı sıfırlamak istediğinizden eminmisiniz ?</translation>
+    </message>
+    <message>
+        <source>System Reset</source>
+        <translation>Sistemi sıfırla</translation>
+    </message>
+    <message>
+        <source>Cancel</source>
+        <translation>İptal</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Confirm</source>
+        <translation>Onayla</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <source>×</source>
+        <translation>x</translation>
+    </message>
+    <message>
+        <source>Device</source>
+        <translation>Cihaz</translation>
+    </message>
+    <message>
+        <source>Network</source>
+        <translation>Ağ</translation>
+    </message>
+    <message>
+        <source>Toggles</source>
+        <translation>Değiştirme</translation>
+    </message>
+    <message>
+        <source>Software</source>
+        <translation>Yazılım</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <source>WARNING: Low Voltage</source>
+        <translation>UYARI: Düşük voltaj</translation>
+    </message>
+    <message>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>Cihazınızı emniyet kemeri olan bir arabada çalıştırın veya riski kabul ederek devam edin.</translation>
+    </message>
+    <message>
+        <source>Power off</source>
+        <translation>Sistemi kapat</translation>
+    </message>
+    <message>
+        <source>Continue</source>
+        <translation>Devam et</translation>
+    </message>
+    <message>
+        <source>Getting Started</source>
+        <translation>Başlarken</translation>
+    </message>
+    <message>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>Yola çıkmadan önce kurulumu bitirin ve bazı detayları gözden geçirin..</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fi ile bağlan</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Geri</translation>
+    </message>
+    <message>
+        <source>Continue without Wi-Fi</source>
+        <translation>Wi-Fi bağlantısı olmadan devam edin</translation>
+    </message>
+    <message>
+        <source>Waiting for internet</source>
+        <translation>İnternet bağlantısı bekleniyor.</translation>
+    </message>
+    <message>
+        <source>Enter URL</source>
+        <translation>URL girin</translation>
+    </message>
+    <message>
+        <source>for Custom Software</source>
+        <translation>özel yazılım için</translation>
+    </message>
+    <message>
+        <source>Downloading...</source>
+        <translation>İndiriliyor...</translation>
+    </message>
+    <message>
+        <source>Download Failed</source>
+        <translation>İndirme başarısız.</translation>
+    </message>
+    <message>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>Girilen URL nin geçerli olduğundan ve cihazın internet bağlantısının olduğunu kontrol edin</translation>
+    </message>
+    <message>
+        <source>Reboot device</source>
+        <translation>Cihazı yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Start over</source>
+        <translation>Zacznij od początku</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <source>Finish Setup</source>
+        <translation>Kurulumu bitir</translation>
+    </message>
+    <message>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>Cihazınızı comma connect (connect.comma.ai) ile eşleştirin ve comma prime aboneliğine göz atın.</translation>
+    </message>
+    <message>
+        <source>Pair device</source>
+        <translation>Cihazı eşleştirme</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <source>CONNECT</source>
+        <translation>BAĞLANTI</translation>
+    </message>
+    <message>
+        <source>OFFLINE</source>
+        <translation>ÇEVRİMDIŞI</translation>
+    </message>
+    <message>
+        <source>ONLINE</source>
+        <translation>ÇEVRİMİÇİ</translation>
+    </message>
+    <message>
+        <source>ERROR</source>
+        <translation>HATA</translation>
+    </message>
+    <message>
+        <source>TEMP</source>
+        <translation>SICAKLIK</translation>
+    </message>
+    <message>
+        <source>HIGH</source>
+        <translation>YÜKSEK</translation>
+    </message>
+    <message>
+        <source>GOOD</source>
+        <translation>İYİ</translation>
+    </message>
+    <message>
+        <source>OK</source>
+        <translation>TAMAM</translation>
+    </message>
+    <message>
+        <source>VEHICLE</source>
+        <translation>ARAÇ</translation>
+    </message>
+    <message>
+        <source>NO</source>
+        <translation>HAYIR</translation>
+    </message>
+    <message>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <source>SEARCH</source>
+        <translation>ARA</translation>
+    </message>
+    <message>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <source>Wi-Fi</source>
+        <translation>Wi-FI</translation>
+    </message>
+    <message>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <source>Uninstall %1</source>
+        <translation>Kaldır %1</translation>
+    </message>
+    <message>
+        <source>UNINSTALL</source>
+        <translation>KALDIR</translation>
+    </message>
+    <message>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>Kaldırmak istediğinden eminmisin?</translation>
+    </message>
+    <message>
+        <source>CHECK</source>
+        <translation>KONTROL ET</translation>
+    </message>
+    <message>
+        <source>Updates are only downloaded while the car is off.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Current Version</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Download</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Install Update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>INSTALL</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Target Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>SELECT</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Select a branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Uninstall</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <source>SSH Keys</source>
+        <translation>SSH Anahtarları</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>UYARI: Bu, GitHub ayarlarınızdaki tüm ortak anahtarlara SSH erişimi sağlar. Asla kendi kullanıcı adınız dışında bir sonraki başlatılışında çekilir. GitHub kullanıcı adı girmeyin.</translation>
+    </message>
+    <message>
+        <source>ADD</source>
+        <translation>EKLE</translation>
+    </message>
+    <message>
+        <source>Enter your GitHub username</source>
+        <translation>Github kullanıcı adınızı giriniz</translation>
+    </message>
+    <message>
+        <source>LOADING</source>
+        <translation>YÜKLENİYOR</translation>
+    </message>
+    <message>
+        <source>REMOVE</source>
+        <translation>KALDIR</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>Kullanısının &apos;%1&apos; Github erişim anahtarı yok</translation>
+    </message>
+    <message>
+        <source>Request timed out</source>
+        <translation>İstek zaman aşımına uğradı</translation>
+    </message>
+    <message>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>Github kullanıcısı %1 bulunamadı</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <source>Enable SSH</source>
+        <translation>SSH aç</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <source>Terms &amp; Conditions</source>
+        <translation>Şartlar ve Koşullar</translation>
+    </message>
+    <message>
+        <source>Decline</source>
+        <translation>Reddet</translation>
+    </message>
+    <message>
+        <source>Scroll to accept</source>
+        <translation>Kabul etmek için kaydırın</translation>
+    </message>
+    <message>
+        <source>Agree</source>
+        <translation>Kabul et</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <source>Enable openpilot</source>
+        <translation>openpilot&apos;u aktifleştir</translation>
+    </message>
+    <message>
+        <source>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.</source>
+        <translation>Ayarlanabilir hız sabitleyici ve şeritte kalma yardımı için openpilot sistemini kullanın. Bu özelliği kullanırken her zaman dikkatli olmanız gerekiyor. Bu ayarın değiştirilmesi için araç kapatılıp açılması gerekiyor.</translation>
+    </message>
+    <message>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>Şerit ihlali uyarı alın</translation>
+    </message>
+    <message>
+        <source>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).</source>
+        <translation>50 km/s (31 mph) hızın üzerinde sürüş sırasında aracınız dönüş sinyali vermeden algılanan bir sonraki başlatılışında çekilir. şerit çizgisi ihlalinde şeride geri dönmek için uyarılar alın.</translation>
+    </message>
+    <message>
+        <source>Use Metric System</source>
+        <translation>Metrik sistemi kullan</translation>
+    </message>
+    <message>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>Hızı mph yerine km/h şeklinde görüntüleyin.</translation>
+    </message>
+    <message>
+        <source>Record and Upload Driver Camera</source>
+        <translation>Sürücü kamerasını kayıt et.</translation>
+    </message>
+    <message>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>Sürücüye bakan kamera verisini yükleyin ve Cihazın algoritmasını geliştirmemize yardımcı olun.</translation>
+    </message>
+    <message>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>Aktifleştirilirse eğer gaz pedalına basınca openpilot devre dışı kalır.</translation>
+    </message>
+    <message>
+        <source>Show ETA in 24h Format</source>
+        <translation>Tahmini varış süresini 24 saat formatı şeklinde göster</translation>
+    </message>
+    <message>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>24 saat formatını kullan</translation>
+    </message>
+    <message>
+        <source>Show Map on Left Side of UI</source>
+        <translation>Haritayı arayüzün sol tarafında göster</translation>
+    </message>
+    <message>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>Bölünmüş ekran görünümündeyken haritayı sol tarafta göster.</translation>
+    </message>
+    <message>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Experimental Mode</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Disengage on Accelerator Pedal</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Aggressive</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>New Driving Visualization</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <source>Update Required</source>
+        <translation>Güncelleme yapılması gerekli</translation>
+    </message>
+    <message>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>İşletim sistemi güncellemesi gerekmektedir. Lütfen Cihazı daha hızlı günceleyebilmesi için bir sonraki başlatılışında çekilir. Wi-Fi ağına bağlayın. Dosyanın boyutu yaklaşık 1GB dır. </translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fi ağına bağlan</translation>
+    </message>
+    <message>
+        <source>Install</source>
+        <translation>Yükle</translation>
+    </message>
+    <message>
+        <source>Back</source>
+        <translation>Geri</translation>
+    </message>
+    <message>
+        <source>Loading...</source>
+        <translation>Yükleniyor...</translation>
+    </message>
+    <message>
+        <source>Reboot</source>
+        <translation>Yeniden başlat</translation>
+    </message>
+    <message>
+        <source>Update failed</source>
+        <translation>Güncelleme başarız oldu</translation>
+    </message>
+</context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <source>Scanning for networks...</source>
+        <translation>Ağ aranıyor...</translation>
+    </message>
+    <message>
+        <source>CONNECTING...</source>
+        <translation>BAĞLANILIYOR...</translation>
+    </message>
+    <message>
+        <source>FORGET</source>
+        <translation>UNUT</translation>
+    </message>
+    <message>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Wi-Fi ağını unut &quot;%1&quot;?</translation>
+    </message>
+    <message>
+        <source>Forget</source>
+        <translation type="unfinished"></translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
index 31202e45f2..48eb63338b 100644
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -116,6 +116,33 @@
         <translation>拒绝并卸载%1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>工作</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>尚未设置目的地</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>尚未设置 %1 的位置</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>工作</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -164,7 +191,7 @@
     </message>
     <message>
         <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
+        <translation>查看 openpilot 的使用规则，以及其功能和限制</translation>
     </message>
     <message>
         <source>Are you sure you want to review the training guide?</source>
@@ -311,24 +338,12 @@
         <source>Installing...</source>
         <translation>正在安装……</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>正在接收： </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>正在处理： </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>正在更新文件： </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
     <message>
         <source>eta</source>
-        <translation>埃塔</translation>
+        <translation>抵达</translation>
     </message>
     <message>
         <source>min</source>
@@ -338,112 +353,118 @@
         <source>hr</source>
         <translation>小时</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>km</translation>
+        <source>NAVIGATION</source>
+        <translation>导航</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>mi</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>请在 connect.comma.ai 上管理</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> km</translation>
+        <source>Map Loading</source>
+        <translation>地图加载中</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> m</translation>
+        <source>Waiting for route</source>
+        <translation>等待路线</translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> mi</source>
-        <translation> mi</translation>
+        <source>Select</source>
+        <translation>选择</translation>
     </message>
     <message>
-        <source> ft</source>
-        <translation> ft</translation>
+        <source>Cancel</source>
+        <translation>取消</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
+    <message>
+        <source>Advanced</source>
+        <translation>高级</translation>
+    </message>
     <message>
-        <source>Current Destination</source>
-        <translation>当前目的地</translation>
+        <source>Enter password</source>
+        <translation>输入密码</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>清空</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>网络名称：&quot;%1&quot;</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>最近目的地</translation>
+        <source>Wrong password</source>
+        <translation>密码错误</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>试用导航测试版</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>请立即连接网络检查更新。如果不连接网络，openpilot 将在 %1 后便无法使用</translation>
     </message>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>订阅comma prime以获取导航。
-立即注册：https://connect.comma.ai</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>请连接至互联网以检查更新。在连接至互联网并完成更新检查之前，openpilot 将不会自动启动。</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>家：未设定</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>无法下载更新
+%1</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>工作：未设定</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>日期和时间设置无效，系统无法启动。请连接至互联网以设置时间。</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>无最近目的地</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相机拍摄中。在完成之前，系统将无法启动。</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>地图加载中</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一个针对您设备的操作系统更新正在后台下载中。当更新准备好安装时，您将收到提示进行更新。</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>设备注册失败。它将无法连接或上传至 comma.ai 服务器，并且无法获得 comma.ai 的支持。如果这是一个官方设备，请访问 https://comma.ai/support。</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>选择</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe固态硬盘未被挂载。</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>检测到不支持的 NVMe 固态硬盘。您的设备因为使用了不支持的 NVMe 固态硬盘可能会消耗更多电力并更易过热。</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>高级</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 无法识别您的车辆。您的车辆可能未被支持，或是其电控单元 (ECU) 未被识别。请提交一个 Pull Request 为您的车辆添加正确的固件版本。需要帮助吗？请加入 discord.comma.ai。</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>输入密码</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 无法识别您的车辆。请检查线路是否正确安装并确保所有的连接都牢固，特别是确保 comma power 完全插入车辆的 OBD-II 接口。需要帮助吗？请加入 discord.comma.ai。</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>网络名称：&quot;%1&quot;</translation>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 检测到设备的安装位置发生变化。请确保设备完全安装在支架上，并确保支架牢固地固定在挡风玻璃上。</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>密码错误</translation>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>设备温度过高。系统正在冷却中，等冷却完毕后才会启动。目前内部组件温度：%1</translation>
     </message>
 </context>
 <context>
@@ -510,12 +531,16 @@ location set</source>
         <translation>远程访问</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>1年数据存储</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>全天候 LTE 連線</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>领航功能</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>开发者福利</translation>
+        <source>1 year of drive storage</source>
+        <translation>一年的行驶记录储存空间</translation>
     </message>
 </context>
 <context>
@@ -528,14 +553,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma prime</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA POINTS点数</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -573,6 +590,22 @@ location set</source>
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -584,18 +617,10 @@ location set</source>
         <source>Are you sure you want to reset your device?</source>
         <translation>您确定要重置您的设备吗？</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>正在重置设备……</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>恢复出厂设置</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>取消</translation>
@@ -609,8 +634,18 @@ location set</source>
         <translation>确认</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>无法挂载数据分区。 确认以重置您的设备。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>无法挂载数据分区。分区可能已经损坏。请确认是否要删除并重新设置。</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>按下确认以删除所有内容及设置。按下取消来继续开机。</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>设备重置中…
+这可能需要一分钟的时间。</translation>
     </message>
 </context>
 <context>
@@ -635,10 +670,6 @@ location set</source>
         <source>Software</source>
         <translation>软件</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>导航</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -682,18 +713,6 @@ location set</source>
         <source>Waiting for internet</source>
         <translation>等待网络连接</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>选择要安装的软件</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>Dashcam（行车记录仪）</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>自定义软件</translation>
-    </message>
     <message>
         <source>Enter URL</source>
         <translation>输入网址</translation>
@@ -722,6 +741,14 @@ location set</source>
         <source>Start over</source>
         <translation>重来</translation>
     </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>在此网址找不到自定义软件。</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>发生了一些错误。请重新启动您的设备。</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -875,6 +902,26 @@ location set</source>
         <source>Uninstall</source>
         <translation>卸载</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>检查更新失败</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>已经是最新版本，上次检查时间为 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>下载</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>有可用的更新</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>从未更新</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -975,10 +1022,6 @@ location set</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>试验性的openpilot纵向控制</translation>
-    </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
         <translation>踩油门时取消控制</translation>
@@ -1008,40 +1051,80 @@ location set</source>
         <translation>测试模式</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告： 此车辆的openpilot纵向控制是试验性功能，且将禁用AEB自动刹车功能。</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>针对此车辆，openpilot默认使用车辆自带的ACC，而非openpilot的纵向控制。启用此选项将切换到openpilot纵向控制。当使用试验性的openpilot纵向控制时，建议同时启用试验模式。</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>New Driving Visualization</source>
+        <translation>新驾驶视角</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>由于此车辆使用自带的ACC纵向控制，当前无法使用试验模式。</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>启用试验性的纵向控制，以便允许使用试验模式。</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>openpilot纵向控制可能会在未来的更新中提供。</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot 默认 &lt;b&gt;轻松模式&lt;/b&gt;驾驶车辆。试验模式启用一些轻松模式之外的 &lt;b&gt;试验性功能&lt;/b&gt;。试验性功能包括：</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot纵向控制（Alpha 版）</translation>
     </message>
     <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮 端到端（End-to-End） 纵向控制 🌮</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>警告：此车辆的 openpilot 纵向控制功能目前处于Alpha版本，使用此功能将会停用自动紧急制动（AEB）功能。</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>允许驾驶模型控制加速和制动，openpilot将模仿人类驾驶车辆，包括在红灯和停车让行标识前停车。鉴于驾驶模型确定行驶车速，所设定的车速仅作为上限。此功能尚处于早期测试状态，有可能会出现操作错误。</translation>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>在这辆车上，openpilot 默认使用车辆内建的主动巡航控制（ACC），而非 openpilot 的纵向控制。启用此项功能可切换至 openpilot 的纵向控制。当启用 openpilot 纵向控制 Alpha 版本时，建议同时启用实验性模式（Experimental mode）。</translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
-        <translation>新驾驶视角</translation>
+        <source>Aggressive</source>
+        <translation>积极</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>标准</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒适</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>当低速行驶时，驾驶视角将切换到前向广角摄像头，便于更完整地显示转向路径。右上角将显示试验模式图标。</translation>
+        <source>Driving Personality</source>
+        <translation>驾驶风格</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>推荐使用标准模式。在积极模式中，openpilot 会更靠近前车并在加速和刹车方面更积极。在舒适模式中，openpilot 会与前车保持较远的距离。</translation>
+    </message>
+    <message>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正式（release）版本以外的分支上，可以测试 openpilot 纵向控制的 Alpha 版本以及实验模式。</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>启用 openpilot 纵向控制（alpha）开关以允许实验模式。</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>端到端纵向控制</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>当导航有目的地时，openpilot 将输入地图信息到模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向安全地带等。</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>行驶画面将在低速时切换到道路朝向的广角摄像头，以更好地显示一些转弯。实验模式标志也将显示在右上角。当设置了导航目的地并且驾驶模型正在使用它作为输入时，地图上的驾驶路径将变为绿色。</translation>
     </message>
 </context>
 <context>
@@ -1079,6 +1162,29 @@ location set</source>
         <translation>更新失败</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>设置 Wi-Fi 连接</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>请连接至 Wi-Fi 上传驾驶数据以协助改进openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>打开设置</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>准备好上传</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>训练数据将定期通过 Wi-Fi 上载</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
index 0379e926c4..6eacb6428c 100644
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -116,6 +116,33 @@
         <translation>拒絕並解除安裝 %1</translation>
     </message>
 </context>
+<context>
+    <name>DestinationWidget</name>
+    <message>
+        <source>Home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>Work</source>
+        <translation>工作</translation>
+    </message>
+    <message>
+        <source>No destination set</source>
+        <translation>尚未設定目的地</translation>
+    </message>
+    <message>
+        <source>No %1 location set</source>
+        <translation>尚未設定 %1 的位置</translation>
+    </message>
+    <message>
+        <source>home</source>
+        <translation>住家</translation>
+    </message>
+    <message>
+        <source>work</source>
+        <translation>工作</translation>
+    </message>
+</context>
 <context>
     <name>DevicePanel</name>
     <message>
@@ -200,7 +227,7 @@
     </message>
     <message>
         <source>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.</source>
-        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
     </message>
     <message>
         <source> Your device is pointed %1° %2 and %3° %4.</source>
@@ -311,18 +338,6 @@
         <source>Installing...</source>
         <translation>安裝中…</translation>
     </message>
-    <message>
-        <source>Receiving objects: </source>
-        <translation>接收對象： </translation>
-    </message>
-    <message>
-        <source>Resolving deltas: </source>
-        <translation>分析差異： </translation>
-    </message>
-    <message>
-        <source>Updating files: </source>
-        <translation>更新檔案： </translation>
-    </message>
 </context>
 <context>
     <name>MapETA</name>
@@ -338,114 +353,118 @@
         <source>hr</source>
         <translation>小時</translation>
     </message>
+</context>
+<context>
+    <name>MapSettings</name>
     <message>
-        <source>km</source>
-        <translation>km</translation>
+        <source>NAVIGATION</source>
+        <translation>導航</translation>
     </message>
     <message>
-        <source>mi</source>
-        <translation>mi</translation>
+        <source>Manage at connect.comma.ai</source>
+        <translation>請在 connect.comma.ai 上管理</translation>
     </message>
 </context>
 <context>
-    <name>MapInstructions</name>
+    <name>MapWindow</name>
     <message>
-        <source> km</source>
-        <translation> km</translation>
+        <source>Map Loading</source>
+        <translation>地圖加載中</translation>
+    </message>
+    <message>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
     </message>
     <message>
-        <source> m</source>
-        <translation> m</translation>
+        <source>Waiting for route</source>
+        <translation>等待路線</translation>
     </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
     <message>
-        <source> mi</source>
-        <translation> mi</translation>
+        <source>Select</source>
+        <translation>選擇</translation>
     </message>
     <message>
-        <source> ft</source>
-        <translation> ft</translation>
+        <source>Cancel</source>
+        <translation>取消</translation>
     </message>
 </context>
 <context>
-    <name>MapPanel</name>
+    <name>Networking</name>
     <message>
-        <source>Current Destination</source>
-        <translation>當前目的地</translation>
+        <source>Advanced</source>
+        <translation>進階</translation>
     </message>
     <message>
-        <source>CLEAR</source>
-        <translation>清除</translation>
+        <source>Enter password</source>
+        <translation>輸入密碼</translation>
     </message>
     <message>
-        <source>Recent Destinations</source>
-        <translation>最近目的地</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
     </message>
     <message>
-        <source>Try the Navigation Beta</source>
-        <translation>試用導航功能</translation>
+        <source>Wrong password</source>
+        <translation>密碼錯誤</translation>
     </message>
+</context>
+<context>
+    <name>OffroadAlert</name>
     <message>
-        <source>Get turn-by-turn directions displayed and more with a comma
-prime subscription. Sign up now: https://connect.comma.ai</source>
-        <translation>成為 comma 高級會員來使用導航功能
-立即註冊：https://connect.comma.ai</translation>
+        <source>Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won&apos;t engage in %1</source>
+        <translation>請立即連接網路檢查更新。如果不連接網路，openpilot 將在 %1 後便無法使用</translation>
     </message>
     <message>
-        <source>No home
-location set</source>
-        <translation>未設定
-住家位置</translation>
+        <source>Connect to internet to check for updates. openpilot won&apos;t automatically start until it connects to internet to check for updates.</source>
+        <translation>請連接至網際網路以檢查更新。在連接至網際網路並完成更新檢查之前，openpilot 將不會自動啟動。</translation>
     </message>
     <message>
-        <source>No work
-location set</source>
-        <translation>未設定
-工作位置</translation>
+        <source>Unable to download updates
+%1</source>
+        <translation>無法下載更新
+%1</translation>
     </message>
     <message>
-        <source>no recent destinations</source>
-        <translation>沒有最近的導航記錄</translation>
+        <source>Invalid date and time settings, system won&apos;t start. Connect to internet to set time.</source>
+        <translation>日期和時間設定無效，系統無法啟動。請連接至網際網路以設定時間。</translation>
     </message>
-</context>
-<context>
-    <name>MapWindow</name>
     <message>
-        <source>Map Loading</source>
-        <translation>地圖加載中</translation>
+        <source>Taking camera snapshots. System won&apos;t start until finished.</source>
+        <translation>正在使用相機拍攝中。在完成之前，系統將無法啟動。</translation>
     </message>
     <message>
-        <source>Waiting for GPS</source>
-        <translation>等待 GPS</translation>
+        <source>An update to your device&apos;s operating system is downloading in the background. You will be prompted to update when it&apos;s ready to install.</source>
+        <translation>一個給您設備的操作系統的更新正在後台下載中。當更新準備好安裝時，您將收到提示進行更新。</translation>
     </message>
-</context>
-<context>
-    <name>MultiOptionDialog</name>
     <message>
-        <source>Select</source>
-        <translation>選擇</translation>
+        <source>Device failed to register. It will not connect to or upload to comma.ai servers, and receives no support from comma.ai. If this is an official device, visit https://comma.ai/support.</source>
+        <translation>設備註冊失敗。它將無法連接或上傳至 comma.ai 伺服器，並且無法獲得 comma.ai 的支援。如果這是一個官方設備，請訪問 https://comma.ai/support 。</translation>
     </message>
     <message>
-        <source>Cancel</source>
-        <translation>取消</translation>
+        <source>NVMe drive not mounted.</source>
+        <translation>NVMe 固態硬碟未被掛載。</translation>
     </message>
-</context>
-<context>
-    <name>Networking</name>
     <message>
-        <source>Advanced</source>
-        <translation>進階</translation>
+        <source>Unsupported NVMe drive detected. Device may draw significantly more power and overheat due to the unsupported NVMe.</source>
+        <translation>檢測到不支援的 NVMe 固態硬碟。您的設備因為使用了不支援的 NVMe 固態硬碟可能會消耗更多電力並更易過熱。</translation>
     </message>
     <message>
-        <source>Enter password</source>
-        <translation>輸入密碼</translation>
+        <source>openpilot was unable to identify your car. Your car is either unsupported or its ECUs are not recognized. Please submit a pull request to add the firmware versions to the proper vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 無法識別您的車輛。您的車輛可能未被支援，或是其電控單元 (ECU) 未被識別。請提交一個 Pull Request 為您的車輛添加正確的固件版本。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
-        <source>for &quot;%1&quot;</source>
-        <translation>給 &quot;%1&quot;</translation>
+        <source>openpilot was unable to identify your car. Check integrity of cables and ensure all connections are secure, particularly that the comma power is fully inserted in the OBD-II port of the vehicle. Need help? Join discord.comma.ai.</source>
+        <translation>openpilot 無法識別您的車輛。請檢查線路是否正確的安裝並確保所有的連接都牢固，特別是確保 comma power 完全插入車輛的 OBD-II 接口。需要幫助嗎？請加入 discord.comma.ai 。</translation>
     </message>
     <message>
-        <source>Wrong password</source>
-        <translation>密碼錯誤</translation>
+        <source>openpilot detected a change in the device&apos;s mounting position. Ensure the device is fully seated in the mount and the mount is firmly secured to the windshield.</source>
+        <translation>openpilot 偵測到設備的安裝位置發生變化。請確保設備完全安裝在支架上，並確保支架牢固地固定在擋風玻璃上。</translation>
+    </message>
+    <message>
+        <source>Device temperature too high. System cooling down before starting. Current internal component temperature: %1</source>
+        <translation>設備溫度過高。系統正在冷卻中，等冷卻完畢後才會啟動。目前內部組件溫度：%1</translation>
     </message>
 </context>
 <context>
@@ -512,12 +531,16 @@ location set</source>
         <translation>遠程訪問</translation>
     </message>
     <message>
-        <source>1 year of storage</source>
-        <translation>一年的雲端行車記錄</translation>
+        <source>24/7 LTE connectivity</source>
+        <translation>24/7 LTE 連線</translation>
+    </message>
+    <message>
+        <source>Turn-by-turn navigation</source>
+        <translation>導航功能</translation>
     </message>
     <message>
-        <source>Developer perks</source>
-        <translation>開發者福利</translation>
+        <source>1 year of drive storage</source>
+        <translation>一年的行駛記錄儲存空間</translation>
     </message>
 </context>
 <context>
@@ -530,14 +553,6 @@ location set</source>
         <source>comma prime</source>
         <translation>comma 高級會員</translation>
     </message>
-    <message>
-        <source>CONNECT.COMMA.AI</source>
-        <translation>CONNECT.COMMA.AI</translation>
-    </message>
-    <message>
-        <source>COMMA POINTS</source>
-        <translation>COMMA 積分</translation>
-    </message>
 </context>
 <context>
     <name>QObject</name>
@@ -575,6 +590,22 @@ location set</source>
             <numerusform>%n 天前</numerusform>
         </translation>
     </message>
+    <message>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <source>m</source>
+        <translation>m</translation>
+    </message>
+    <message>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+    <message>
+        <source>ft</source>
+        <translation>ft</translation>
+    </message>
 </context>
 <context>
     <name>Reset</name>
@@ -586,18 +617,10 @@ location set</source>
         <source>Are you sure you want to reset your device?</source>
         <translation>您確定要重置你的設備嗎？</translation>
     </message>
-    <message>
-        <source>Resetting device...</source>
-        <translation>重置設備中…</translation>
-    </message>
     <message>
         <source>System Reset</source>
         <translation>系統重置</translation>
     </message>
-    <message>
-        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation>系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。</translation>
-    </message>
     <message>
         <source>Cancel</source>
         <translation>取消</translation>
@@ -611,8 +634,18 @@ location set</source>
         <translation>確認</translation>
     </message>
     <message>
-        <source>Unable to mount data partition. Press confirm to reset your device.</source>
-        <translation>無法掛載數據分區。請按確認重置您的設備。</translation>
+        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
+        <translation>無法掛載資料分割區。分割區可能已經毀損。請確認是否要刪除並重新設定。</translation>
+    </message>
+    <message>
+        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>按下確認以刪除所有內容及設定。按下取消來繼續開機。</translation>
+    </message>
+    <message>
+        <source>Resetting device...
+This may take up to a minute.</source>
+        <translation>設備重置中…
+這可能需要一分鐘的時間。</translation>
     </message>
 </context>
 <context>
@@ -637,10 +670,6 @@ location set</source>
         <source>Software</source>
         <translation>軟體</translation>
     </message>
-    <message>
-        <source>Navigation</source>
-        <translation>導航</translation>
-    </message>
 </context>
 <context>
     <name>Setup</name>
@@ -684,18 +713,6 @@ location set</source>
         <source>Waiting for internet</source>
         <translation>連接至網路中</translation>
     </message>
-    <message>
-        <source>Choose Software to Install</source>
-        <translation>選擇要安裝的軟體</translation>
-    </message>
-    <message>
-        <source>Dashcam</source>
-        <translation>行車記錄器</translation>
-    </message>
-    <message>
-        <source>Custom Software</source>
-        <translation>定制的軟體</translation>
-    </message>
     <message>
         <source>Enter URL</source>
         <translation>輸入網址</translation>
@@ -724,6 +741,14 @@ location set</source>
         <source>Start over</source>
         <translation>重新開始</translation>
     </message>
+    <message>
+        <source>No custom software found at this URL.</source>
+        <translation>在此網址找不到自訂軟體。</translation>
+    </message>
+    <message>
+        <source>Something went wrong. Reboot the device.</source>
+        <translation>發生了一些錯誤。請重新啟動您的設備。</translation>
+    </message>
 </context>
 <context>
     <name>SetupWidget</name>
@@ -800,27 +825,27 @@ location set</source>
     </message>
     <message>
         <source>Wi-Fi</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>ETH</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>2G</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>3G</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>LTE</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
     <message>
         <source>5G</source>
-        <translation></translation>
+        <translation type="unfinished"></translation>
     </message>
 </context>
 <context>
@@ -877,6 +902,26 @@ location set</source>
         <source>Uninstall</source>
         <translation>解除安裝</translation>
     </message>
+    <message>
+        <source>failed to check for update</source>
+        <translation>檢查更新失敗</translation>
+    </message>
+    <message>
+        <source>up to date, last checked %1</source>
+        <translation>已經是最新版本，上次檢查時間為 %1</translation>
+    </message>
+    <message>
+        <source>DOWNLOAD</source>
+        <translation>下載</translation>
+    </message>
+    <message>
+        <source>update available</source>
+        <translation>有可用的更新</translation>
+    </message>
+    <message>
+        <source>never</source>
+        <translation>從未更新</translation>
+    </message>
 </context>
 <context>
     <name>SshControl</name>
@@ -977,10 +1022,6 @@ location set</source>
         <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
         <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
     </message>
-    <message>
-        <source>Experimental openpilot Longitudinal Control</source>
-        <translation>使用 openpilot 縱向控制（實驗）</translation>
-    </message>
     <message>
         <source>Disengage on Accelerator Pedal</source>
         <translation>油門取消控車</translation>
@@ -1010,40 +1051,80 @@ location set</source>
         <translation>實驗模式</translation>
     </message>
     <message>
-        <source>WARNING: openpilot longitudinal control is experimental for this car and will disable Automatic Emergency Braking (AEB).</source>
-        <translation>警告：openpilot 縱向控制在這輛車上仍屬實驗性質，啟用後會喪失自動緊急煞車 (AEB) 功能。</translation>
+        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
+        <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
     </message>
     <message>
-        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when using experimental openpilot longitudinal control.</source>
-        <translation>在本車輛中，openpilot預設將使用原車內建的ACC系統，而非openpilot縱向控制。開啟此開關來啟用openpilot縱向控制，使用此選項時建議一併啟用實驗模式。</translation>
+        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
+        <translation>讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。</translation>
     </message>
     <message>
-        <source>Experimental mode is currently unavailable on this car, since the car&apos;s stock ACC is used for longitudinal control.</source>
+        <source>New Driving Visualization</source>
+        <translation>新的駕駛視覺介面</translation>
+    </message>
+    <message>
+        <source>Experimental mode is currently unavailable on this car since the car&apos;s stock ACC is used for longitudinal control.</source>
         <translation>因車輛使用內建ACC系統，無法在本車輛上啟動實驗模式。</translation>
     </message>
     <message>
-        <source>Enable experimental longitudinal control to allow experimental mode.</source>
-        <translation>啟用實驗性縱向控制以使用實驗模式。</translation>
+        <source>openpilot longitudinal control may come in a future update.</source>
+        <translation>openpilot 縱向控制可能會在未來的更新中提供。</translation>
     </message>
     <message>
-        <source>openpilot defaults to driving in &lt;b&gt;chill mode&lt;/b&gt;. Experimental mode enables &lt;b&gt;alpha-level features&lt;/b&gt; that aren&apos;t ready for chill mode. Experimental features are listed below:</source>
-        <translation>openpilot 預設以 &lt;b&gt;輕鬆模式&lt;/b&gt; 駕駛。    實驗模式啟用了尚未準備好進入輕鬆模式的 &lt;b&gt;alpha 級功能&lt;/b&gt;。實驗功能如下：</translation>
+        <source>openpilot Longitudinal Control (Alpha)</source>
+        <translation>openpilot 縱向控制 (Alpha 版)</translation>
     </message>
     <message>
-        <source>🌮 End-to-End Longitudinal Control 🌮</source>
-        <translation>🌮端到端縱向控制🌮</translation>
+        <source>WARNING: openpilot longitudinal control is in alpha for this car and will disable Automatic Emergency Braking (AEB).</source>
+        <translation>警告：此車輛的 openpilot 縱向控制功能目前處於 Alpha 版本，使用此功能將會停用自動緊急制動（AEB）功能。</translation>
     </message>
     <message>
-        <source>Let the driving model control the gas and brakes. openpilot will drive as it thinks a human would, including stopping for red lights and stop signs. Since the driving model decides the speed to drive, the set speed will only act as an upper bound. This is an alpha quality feature; mistakes should be expected.</source>
-        <translation>讓駕駛模型來控制油門及煞車。openpilot將會模擬人類的駕駛行為，包含在看見紅燈及停止標示時停車。由於車速將由駕駛模型決定，因此您設定的時速將成為速度上限。本功能仍在早期實驗階段，請預期模型有犯錯的可能性。</translation>
+        <source>On this car, openpilot defaults to the car&apos;s built-in ACC instead of openpilot&apos;s longitudinal control. Enable this to switch to openpilot longitudinal control. Enabling Experimental mode is recommended when enabling openpilot longitudinal control alpha.</source>
+        <translation>在這輛車上，openpilot 預設使用車輛內建的主動巡航控制（ACC），而非 openpilot 的縱向控制。啟用此項功能可切換至 openpilot 的縱向控制。當啟用 openpilot 縱向控制 Alpha 版本時，建議同時啟用實驗性模式（Experimental mode）。</translation>
     </message>
     <message>
-        <source>New Driving Visualization</source>
-        <translation>新的駕駛視覺介面</translation>
+        <source>Aggressive</source>
+        <translation>積極</translation>
+    </message>
+    <message>
+        <source>Standard</source>
+        <translation>標準</translation>
+    </message>
+    <message>
+        <source>Relaxed</source>
+        <translation>舒適</translation>
+    </message>
+    <message>
+        <source>Driving Personality</source>
+        <translation>駕駛風格</translation>
+    </message>
+    <message>
+        <source>Standard is recommended. In aggressive mode, openpilot will follow lead cars closer and be more aggressive with the gas and brake. In relaxed mode openpilot will stay further away from lead cars.</source>
+        <translation>推薦使用標準模式。在積極模式中，openpilot 會更靠近前車並在加速和剎車方面更積極。在舒適模式中，openpilot 會與前車保持較遠的距離。</translation>
     </message>
     <message>
-        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner.</source>
-        <translation>低速行駛時，將會切換成路側廣角鏡頭，以完整顯示轉彎路徑，右上角將出現實驗模式圖案。</translation>
+        <source>An alpha version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
+        <translation>在正式 (release) 版以外的分支上可以測試 openpilot 縱向控制的 Alpha 版本以及實驗模式。</translation>
+    </message>
+    <message>
+        <source>Navigate on openpilot</source>
+        <translation>Navigate on openpilot</translation>
+    </message>
+    <message>
+        <source>Enable the openpilot longitudinal control (alpha) toggle to allow Experimental mode.</source>
+        <translation>啟用 openpilot 縱向控制（alpha）切換以允許實驗模式。</translation>
+    </message>
+    <message>
+        <source>End-to-End Longitudinal Control</source>
+        <translation>端到端縱向控制</translation>
+    </message>
+    <message>
+        <source>When navigation has a destination, openpilot will input the map information into the model. This provides useful context for the model and allows openpilot to keep left or right appropriately at forks/exits. Lane change behavior is unchanged and still activated by the driver. This is an alpha quality feature; mistakes should be expected, particularly around exits and forks. These mistakes can include unintended laneline crossings, late exit taking, driving towards dividing barriers in the gore areas, etc.</source>
+        <translation>当导航有目的地时，openpilot 将把地图信息输入模型中。这为模型提供了有用的背景信息，使 openpilot 能够在叉路/出口时适当地保持左侧或右侧行驶。车道变换行为保持不变，仍由驾驶员激活。这是一个 Alpha 版的功能；可能会出现错误，特别是在出口和分叉处。这些错误可能包括意外的车道越界、晚出口、朝着分隔栏驶向分隔带区域等。</translation>
+    </message>
+    <message>
+        <source>The driving visualization will transition to the road-facing wide-angle camera at low speeds to better show some turns. The Experimental mode logo will also be shown in the top right corner. When a navigation destination is set and the driving model is using it as input, the driving path on the map will turn green.</source>
+        <translation>行駛畫面將在低速時切換至道路朝向的廣角鏡頭，以更好地顯示一些轉彎。實驗模式圖標也將顯示在右上角。當設定了導航目的地並且行駛模型正在將其作為輸入時，地圖上的行駛路徑將變為綠色。</translation>
     </message>
 </context>
 <context>
@@ -1081,6 +1162,29 @@ location set</source>
         <translation>更新失敗</translation>
     </message>
 </context>
+<context>
+    <name>WiFiPromptWidget</name>
+    <message>
+        <source>Setup Wi-Fi</source>
+        <translation>設置 Wi-Fi 連接</translation>
+    </message>
+    <message>
+        <source>Connect to Wi-Fi to upload driving data and help improve openpilot</source>
+        <translation>請連接至 Wi-Fi 傳駕駛數據以協助改進 openpilot</translation>
+    </message>
+    <message>
+        <source>Open Settings</source>
+        <translation>開啟設置</translation>
+    </message>
+    <message>
+        <source>Ready to upload</source>
+        <translation>準備好上傳</translation>
+    </message>
+    <message>
+        <source>Training data will be pulled periodically while your device is on Wi-Fi</source>
+        <translation>訓練數據將定期經過 Wi-Fi 上傳</translation>
+    </message>
+</context>
 <context>
     <name>WifiUI</name>
     <message>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index c62d737481..03df2cf57a 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/ui.h"
 
+#include <algorithm>
 #include <cassert>
 #include <cmath>
 
@@ -14,7 +15,6 @@
 
 #define BACKLIGHT_DT 0.05
 #define BACKLIGHT_TS 10.00
-#define BACKLIGHT_OFFROAD 50
 
 // Projects a point in car to space to the corresponding point in full frame
 // image space.
@@ -24,7 +24,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
 
   const vec3 pt = (vec3){{in_x, in_y, in_z}};
   const vec3 Ep = matvecmul3(s->scene.wide_cam ? s->scene.view_from_wide_calib : s->scene.view_from_calib, pt);
-  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ecam_intrinsic_matrix : fcam_intrinsic_matrix, Ep);
+  const vec3 KEp = matvecmul3(s->scene.wide_cam ? ECAM_INTRINSIC_MATRIX : FCAM_INTRINSIC_MATRIX, Ep);
 
   // Project.
   QPointF point = s->car_space_transform.map(QPointF{KEp.v[0] / KEp.v[2], KEp.v[1] / KEp.v[2]});
@@ -35,7 +35,7 @@ static bool calib_frame_to_full_frame(const UIState *s, float in_x, float in_y,
   return false;
 }
 
-int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height) {
+int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height) {
   const auto line_x = line.getX();
   int max_idx = 0;
   for (int i = 1; i < TRAJECTORY_SIZE && line_x[i] <= path_height; ++i) {
@@ -44,7 +44,7 @@ int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const
   return max_idx;
 }
 
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line) {
+void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line) {
   for (int i = 0; i < 2; ++i) {
     auto lead_data = (i == 0) ? radar_state.getLeadOne() : radar_state.getLeadTwo();
     if (lead_data.getStatus()) {
@@ -54,7 +54,7 @@ void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, con
   }
 }
 
-void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
+void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       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();
   QPolygonF left_points, right_points;
@@ -79,10 +79,15 @@ void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Rea
   *pvd = left_points + right_points;
 }
 
-void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
+void update_model(UIState *s,
+                  const cereal::ModelDataV2::Reader &model,
+                  const cereal::UiPlan::Reader &plan) {
   UIScene &scene = s->scene;
-  auto model_position = model.getPosition();
-  float max_distance = std::clamp(model_position.getX()[TRAJECTORY_SIZE - 1],
+  auto plan_position = plan.getPosition();
+  if (plan_position.getX().size() < TRAJECTORY_SIZE){
+    plan_position = model.getPosition();
+  }
+  float max_distance = std::clamp(plan_position.getX()[TRAJECTORY_SIZE - 1],
                                   MIN_DRAW_DISTANCE, MAX_DRAW_DISTANCE);
 
   // update lane lines
@@ -108,8 +113,41 @@ void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
     const float lead_d = lead_one.getDRel() * 2.;
     max_distance = std::clamp((float)(lead_d - fmin(lead_d * 0.35, 10.)), 0.0f, max_distance);
   }
-  max_idx = get_path_length_idx(model_position, max_distance);
-  update_line_data(s, model_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+  max_idx = get_path_length_idx(plan_position, max_distance);
+  update_line_data(s, plan_position, 0.9, 1.22, &scene.track_vertices, max_idx, false);
+}
+
+void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd) {
+  UIScene &scene = s->scene;
+  const auto driver_orient = is_rhd ? driverstate.getRightDriverData().getFaceOrientation() : driverstate.getLeftDriverData().getFaceOrientation();
+  for (int i = 0; i < std::size(scene.driver_pose_vals); i++) {
+    float v_this = (i == 0 ? (driver_orient[i] < 0 ? 0.7 : 0.9) : 0.4) * driver_orient[i];
+    scene.driver_pose_diff[i] = fabs(scene.driver_pose_vals[i] - v_this);
+    scene.driver_pose_vals[i] = 0.8 * v_this + (1 - 0.8) * scene.driver_pose_vals[i];
+    scene.driver_pose_sins[i] = sinf(scene.driver_pose_vals[i]*(1.0-dm_fade_state));
+    scene.driver_pose_coss[i] = cosf(scene.driver_pose_vals[i]*(1.0-dm_fade_state));
+  }
+
+  const mat3 r_xyz = (mat3){{
+    scene.driver_pose_coss[1]*scene.driver_pose_coss[2],
+    scene.driver_pose_coss[1]*scene.driver_pose_sins[2],
+    -scene.driver_pose_sins[1],
+
+    -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_coss[0]*scene.driver_pose_sins[2],
+    -scene.driver_pose_sins[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_coss[0]*scene.driver_pose_coss[2],
+    -scene.driver_pose_sins[0]*scene.driver_pose_coss[1],
+
+    scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_coss[2] - scene.driver_pose_sins[0]*scene.driver_pose_sins[2],
+    scene.driver_pose_coss[0]*scene.driver_pose_sins[1]*scene.driver_pose_sins[2] + scene.driver_pose_sins[0]*scene.driver_pose_coss[2],
+    scene.driver_pose_coss[0]*scene.driver_pose_coss[1],
+  }};
+
+  // transform vertices
+  for (int kpi = 0; kpi < std::size(default_face_kpts_3d); kpi++) {
+    vec3 kpt_this = default_face_kpts_3d[kpi];
+    kpt_this = matvecmul3(r_xyz, kpt_this);
+    scene.face_kpts_draw[kpi] = (vec3){{(float)kpt_this.v[0], (float)kpt_this.v[1], (float)(kpt_this.v[2] * (1.0-dm_fade_state) + 8 * dm_fade_state)}};
+  }
 }
 
 static void update_sockets(UIState *s) {
@@ -121,8 +159,9 @@ static void update_state(UIState *s) {
   UIScene &scene = s->scene;
 
   if (sm.updated("liveCalibration")) {
-    auto rpy_list = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
-    auto wfde_list = sm["liveCalibration"].getLiveCalibration().getWideFromDeviceEuler();
+    auto live_calib = sm["liveCalibration"].getLiveCalibration();
+    auto rpy_list = live_calib.getRpyCalib();
+    auto wfde_list = live_calib.getWideFromDeviceEuler();
     Eigen::Vector3d rpy;
     Eigen::Vector3d wfde;
     if (rpy_list.size() == 3) rpy << rpy_list[0], rpy_list[1], rpy_list[2];
@@ -130,18 +169,18 @@ static void update_state(UIState *s) {
     Eigen::Matrix3d device_from_calib = euler2rot(rpy);
     Eigen::Matrix3d wide_from_device = euler2rot(wfde);
     Eigen::Matrix3d view_from_device;
-    view_from_device << 0,1,0,
-                        0,0,1,
-                        1,0,0;
+    view_from_device << 0, 1, 0,
+                        0, 0, 1,
+                        1, 0, 0;
     Eigen::Matrix3d view_from_calib = view_from_device * device_from_calib;
-    Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib ;
+    Eigen::Matrix3d view_from_wide_calib = view_from_device * wide_from_device * device_from_calib;
     for (int i = 0; i < 3; i++) {
       for (int j = 0; j < 3; j++) {
-        scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
-        scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i,j);
+        scene.view_from_calib.v[i*3 + j] = view_from_calib(i, j);
+        scene.view_from_wide_calib.v[i*3 + j] = view_from_wide_calib(i, j);
       }
     }
-    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
+    scene.calibration_valid = live_calib.getCalStatus() == cereal::LiveCalibrationData::Status::CALIBRATED;
     scene.calibration_wide_valid = wfde_list.size() == 3;
   }
   if (sm.updated("pandaStates")) {
@@ -163,8 +202,9 @@ static void update_state(UIState *s) {
     scene.longitudinal_control = sm["carParams"].getCarParams().getOpenpilotLongitudinalControl();
   }
   if (sm.updated("wideRoadCameraState")) {
-    float scale = (sm["wideRoadCameraState"].getWideRoadCameraState().getSensor() == cereal::FrameData::ImageSensor::AR0321) ? 6.0f : 1.0f;
-    scene.light_sensor = std::max(100.0f - scale * sm["wideRoadCameraState"].getWideRoadCameraState().getExposureValPercent(), 0.0f);
+    auto cam_state = sm["wideRoadCameraState"].getWideRoadCameraState();
+    float scale = (cam_state.getSensor() == cereal::FrameData::ImageSensor::AR0231) ? 6.0f : 1.0f;
+    scene.light_sensor = std::max(100.0f - scale * cam_state.getExposureValPercent(), 0.0f);
   }
   scene.started = sm["deviceState"].getDeviceState().getStarted() && scene.ignition;
 }
@@ -178,13 +218,8 @@ void ui_update_params(UIState *s) {
 void UIState::updateStatus() {
   if (scene.started && sm->updated("controlsState")) {
     auto controls_state = (*sm)["controlsState"].getControlsState();
-    auto alert_status = controls_state.getAlertStatus();
     auto state = controls_state.getState();
-    if (alert_status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-      status = STATUS_WARNING;
-    } else if (alert_status == cereal::ControlsState::AlertStatus::CRITICAL) {
-      status = STATUS_ALERT;
-    } else if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
+    if (state == cereal::ControlsState::OpenpilotState::PRE_ENABLED || state == cereal::ControlsState::OpenpilotState::OVERRIDING) {
       status = STATUS_OVERRIDE;
     } else {
       status = controls_state.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
@@ -196,31 +231,25 @@ void UIState::updateStatus() {
     if (scene.started) {
       status = STATUS_DISENGAGED;
       scene.started_frame = sm->frame;
-      wide_cam_only = Params().getBool("WideCameraOnly");
     }
     started_prev = scene.started;
     emit offroadTransition(!scene.started);
   }
-
-  // Handle prime type change
-  if (prime_type != prime_type_prev) {
-    prime_type_prev = prime_type;
-    emit primeTypeChanged(prime_type);
-    Params().put("PrimeType", std::to_string(prime_type));
-  }
 }
 
 UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
-    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
+    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
   });
 
   Params params;
-  wide_cam_only = params.getBool("WideCameraOnly");
-  prime_type = std::atoi(params.get("PrimeType").c_str());
   language = QString::fromStdString(params.get("LanguageSetting"));
+  auto prime_value = params.get("PrimeType");
+  if (!prime_value.empty()) {
+    prime_type = static_cast<PrimeType>(std::atoi(prime_value.c_str()));
+  }
 
   // update timer
   timer = new QTimer(this);
@@ -239,9 +268,24 @@ void UIState::update() {
   emit uiUpdate(*this);
 }
 
+void UIState::setPrimeType(PrimeType type) {
+  if (type != prime_type) {
+    bool prev_prime = hasPrime();
+
+    prime_type = type;
+    Params().put("PrimeType", std::to_string(prime_type));
+    emit primeTypeChanged(prime_type);
+
+    bool prime = hasPrime();
+    if (prev_prime != prime) {
+      emit primeChanged(prime);
+    }
+  }
+}
+
 Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT_TS, BACKLIGHT_DT), QObject(parent) {
   setAwake(true);
-  resetInteractiveTimout();
+  resetInteractiveTimeout();
 
   QObject::connect(uiState(), &UIState::uiUpdate, this, &Device::update);
 }
@@ -249,9 +293,6 @@ Device::Device(QObject *parent) : brightness_filter(BACKLIGHT_OFFROAD, BACKLIGHT
 void Device::update(const UIState &s) {
   updateBrightness(s);
   updateWakefulness(s);
-
-  // TODO: remove from UIState and use signals
-  uiState()->awake = awake;
 }
 
 void Device::setAwake(bool on) {
@@ -263,12 +304,15 @@ void Device::setAwake(bool on) {
   }
 }
 
-void Device::resetInteractiveTimout() {
-  interactive_timeout = (ignition_on ? 10 : 30) * UI_FREQ;
+void Device::resetInteractiveTimeout(int timeout) {
+  if (timeout == -1) {
+    timeout = (ignition_on ? 10 : 30);
+  }
+  interactive_timeout = timeout * UI_FREQ;
 }
 
 void Device::updateBrightness(const UIState &s) {
-  float clipped_brightness = BACKLIGHT_OFFROAD;
+  float clipped_brightness = offroad_brightness;
   if (s.scene.started) {
     clipped_brightness = s.scene.light_sensor;
 
@@ -301,9 +345,9 @@ void Device::updateWakefulness(const UIState &s) {
   ignition_on = s.scene.ignition;
 
   if (ignition_just_turned_off) {
-    resetInteractiveTimout();
+    resetInteractiveTimeout();
   } else if (interactive_timeout > 0 && --interactive_timeout == 0) {
-    emit interactiveTimout();
+    emit interactiveTimeout();
   }
 
   setAwake(s.scene.ignition || interactive_timeout > 0);
@@ -313,3 +357,8 @@ UIState *uiState() {
   static UIState ui_state;
   return &ui_state;
 }
+
+Device *device() {
+  static Device _device;
+  return &_device;
+}
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index 9e1c54948b..bd9d059422 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -1,5 +1,6 @@
 #pragma once
 
+#include <map>
 #include <memory>
 #include <string>
 #include <optional>
@@ -16,20 +17,31 @@
 #include "common/params.h"
 #include "common/timing.h"
 
-const int bdr_s = 30;
-const int header_h = 420;
-const int footer_h = 280;
+const int UI_BORDER_SIZE = 30;
+const int UI_HEADER_HEIGHT = 420;
 
 const int UI_FREQ = 20; // Hz
+const int BACKLIGHT_OFFROAD = 50;
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
 const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
 
+const vec3 default_face_kpts_3d[] = {
+  {-5.98, -51.20, 8.00}, {-17.64, -49.14, 8.00}, {-23.81, -46.40, 8.00}, {-29.98, -40.91, 8.00}, {-32.04, -37.49, 8.00},
+  {-34.10, -32.00, 8.00}, {-36.16, -21.03, 8.00}, {-36.16, 6.40, 8.00}, {-35.47, 10.51, 8.00}, {-32.73, 19.43, 8.00},
+  {-29.30, 26.29, 8.00}, {-24.50, 33.83, 8.00}, {-19.01, 41.37, 8.00}, {-14.21, 46.17, 8.00}, {-12.16, 47.54, 8.00},
+  {-4.61, 49.60, 8.00}, {4.99, 49.60, 8.00}, {12.53, 47.54, 8.00}, {14.59, 46.17, 8.00}, {19.39, 41.37, 8.00},
+  {24.87, 33.83, 8.00}, {29.67, 26.29, 8.00}, {33.10, 19.43, 8.00}, {35.84, 10.51, 8.00}, {36.53, 6.40, 8.00},
+  {36.53, -21.03, 8.00}, {34.47, -32.00, 8.00}, {32.42, -37.49, 8.00}, {30.36, -40.91, 8.00}, {24.19, -46.40, 8.00},
+  {18.02, -49.14, 8.00}, {6.36, -51.20, 8.00}, {-5.98, -51.20, 8.00},
+};
+
 struct Alert {
   QString text1;
   QString text2;
   QString type;
   cereal::ControlsState::AlertSize size;
+  cereal::ControlsState::AlertStatus status;
   AudibleAlert sound;
 
   bool equal(const Alert &a2) {
@@ -38,34 +50,43 @@ struct Alert {
 
   static Alert get(const SubMaster &sm, uint64_t started_frame) {
     const cereal::ControlsState::Reader &cs = sm["controlsState"].getControlsState();
-    if (sm.updated("controlsState")) {
-      return {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
-              cs.getAlertType().cStr(), cs.getAlertSize(),
-              cs.getAlertSound()};
-    } else if ((sm.frame - started_frame) > 5 * UI_FREQ) {
+    const uint64_t controls_frame = sm.rcv_frame("controlsState");
+
+    Alert alert = {};
+    if (controls_frame >= started_frame) {  // Don't get old alert.
+      alert = {cs.getAlertText1().cStr(), cs.getAlertText2().cStr(),
+               cs.getAlertType().cStr(), cs.getAlertSize(),
+               cs.getAlertStatus(),
+               cs.getAlertSound()};
+    }
+
+    if (!sm.updated("controlsState") && (sm.frame - started_frame) > 5 * UI_FREQ) {
       const int CONTROLS_TIMEOUT = 5;
       const int controls_missing = (nanos_since_boot() - sm.rcv_time("controlsState")) / 1e9;
 
       // Handle controls timeout
-      if (sm.rcv_frame("controlsState") < started_frame) {
+      if (controls_frame < started_frame) {
         // car is started, but controlsState hasn't been seen at all
-        return {"openpilot Unavailable", "Waiting for controls to start",
-                "controlsWaiting", cereal::ControlsState::AlertSize::MID,
-                AudibleAlert::NONE};
+        alert = {"openpilot Unavailable", "Waiting for controls to start",
+                 "controlsWaiting", cereal::ControlsState::AlertSize::MID,
+                 cereal::ControlsState::AlertStatus::NORMAL,
+                 AudibleAlert::NONE};
       } 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",
-                  "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
-                  AudibleAlert::WARNING_IMMEDIATE};
+          alert = {"TAKE CONTROL IMMEDIATELY", "Controls Unresponsive",
+                   "controlsUnresponsive", cereal::ControlsState::AlertSize::FULL,
+                   cereal::ControlsState::AlertStatus::CRITICAL,
+                   AudibleAlert::WARNING_IMMEDIATE};
         } else {
-          return {"Controls Unresponsive", "Reboot Device",
-                  "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
-                  AudibleAlert::NONE};
+          alert = {"Controls Unresponsive", "Reboot Device",
+                   "controlsUnresponsivePermanent", cereal::ControlsState::AlertSize::MID,
+                   cereal::ControlsState::AlertStatus::NORMAL,
+                   AudibleAlert::NONE};
         }
       }
     }
-    return {};
+    return alert;
   }
 };
 
@@ -73,16 +94,27 @@ typedef enum UIStatus {
   STATUS_DISENGAGED,
   STATUS_OVERRIDE,
   STATUS_ENGAGED,
-  STATUS_WARNING,
-  STATUS_ALERT,
 } UIStatus;
 
+enum PrimeType {
+  UNKNOWN = -1,
+  NONE = 0,
+  MAGENTA = 1,
+  LITE = 2,
+  BLUE = 3,
+  MAGENTA_NEW = 4,
+};
+
 const QColor bg_colors [] = {
   [STATUS_DISENGAGED] = QColor(0x17, 0x33, 0x49, 0xc8),
   [STATUS_OVERRIDE] = QColor(0x91, 0x9b, 0x95, 0xf1),
   [STATUS_ENGAGED] = QColor(0x17, 0x86, 0x44, 0xf1),
-  [STATUS_WARNING] = QColor(0xDA, 0x6F, 0x25, 0xf1),
-  [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
+};
+
+static std::map<cereal::ControlsState::AlertStatus, QColor> alert_colors = {
+  {cereal::ControlsState::AlertStatus::NORMAL, QColor(0x15, 0x15, 0x15, 0xf1)},
+  {cereal::ControlsState::AlertStatus::USER_PROMPT, QColor(0xDA, 0x6F, 0x25, 0xf1)},
+  {cereal::ControlsState::AlertStatus::CRITICAL, QColor(0xC9, 0x22, 0x31, 0xf1)},
 };
 
 typedef struct UIScene {
@@ -103,6 +135,15 @@ typedef struct UIScene {
   // lead
   QPointF lead_vertices[2];
 
+  // DMoji state
+  float driver_pose_vals[3];
+  float driver_pose_diff[3];
+  float driver_pose_sins[3];
+  float driver_pose_coss[3];
+  vec3 face_kpts_draw[std::size(default_face_kpts_3d)];
+
+  bool navigate_on_openpilot = false;
+
   float light_sensor;
   bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;
@@ -116,10 +157,14 @@ public:
   void updateStatus();
   inline bool worldObjectsVisible() const {
     return sm->rcv_frame("liveCalibration") > scene.started_frame;
-  };
+  }
   inline bool engaged() const {
     return scene.started && (*sm)["controlsState"].getControlsState().getEnabled();
-  };
+  }
+
+  void setPrimeType(PrimeType type);
+  inline PrimeType primeType() const { return prime_type; }
+  inline bool hasPrime() const { return prime_type != PrimeType::UNKNOWN && prime_type != PrimeType::NONE; }
 
   int fb_w = 0, fb_h = 0;
 
@@ -128,17 +173,15 @@ public:
   UIStatus status;
   UIScene scene = {};
 
-  bool awake;
-  int prime_type;
   QString language;
 
   QTransform car_space_transform;
-  bool wide_cam_only;
 
 signals:
   void uiUpdate(const UIState &s);
   void offroadTransition(bool offroad);
-  void primeTypeChanged(int prime_type);
+  void primeChanged(bool prime);
+  void primeTypeChanged(PrimeType prime_type);
 
 private slots:
   void update();
@@ -146,7 +189,7 @@ private slots:
 private:
   QTimer *timer;
   bool started_prev = false;
-  int prime_type_prev = -1;
+  PrimeType prime_type = PrimeType::UNKNOWN;
 };
 
 UIState *uiState();
@@ -157,32 +200,42 @@ class Device : public QObject {
 
 public:
   Device(QObject *parent = 0);
+  bool isAwake() { return awake; }
+  void setOffroadBrightness(int brightness) {
+    offroad_brightness = std::clamp(brightness, 0, 100);
+  }
 
 private:
   bool awake = false;
   int interactive_timeout = 0;
   bool ignition_on = false;
+
+  int offroad_brightness = BACKLIGHT_OFFROAD;
   int last_brightness = 0;
   FirstOrderFilter brightness_filter;
   QFuture<void> brightness_future;
 
   void updateBrightness(const UIState &s);
   void updateWakefulness(const UIState &s);
-  bool motionTriggered(const UIState &s);
   void setAwake(bool on);
 
 signals:
   void displayPowerChanged(bool on);
-  void interactiveTimout();
+  void interactiveTimeout();
 
 public slots:
-  void resetInteractiveTimout();
+  void resetInteractiveTimeout(int timeout = -1);
   void update(const UIState &s);
 };
 
+Device *device();
+
 void ui_update_params(UIState *s);
-int get_path_length_idx(const cereal::ModelDataV2::XYZTData::Reader &line, const float path_height);
-void update_model(UIState *s, const cereal::ModelDataV2::Reader &model);
-void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::ModelDataV2::XYZTData::Reader &line);
-void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
+int get_path_length_idx(const cereal::XYZTData::Reader &line, const float path_height);
+void update_model(UIState *s,
+                  const cereal::ModelDataV2::Reader &model,
+                  const cereal::UiPlan::Reader &plan);
+void update_dmonitoring(UIState *s, const cereal::DriverStateV2::Reader &driverstate, float dm_fade_state, bool is_rhd);
+void update_leads(UIState *s, const cereal::RadarState::Reader &radar_state, const cereal::XYZTData::Reader &line);
+void update_line_data(const UIState *s, const cereal::XYZTData::Reader &line,
                       float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert);
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index e15d4c3433..004c6425dc 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -3,14 +3,28 @@ import argparse
 import json
 import os
 
-from common.basedir import BASEDIR
+from openpilot.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")
+TRANSLATIONS_INCLUDE_FILE = os.path.join(TRANSLATIONS_DIR, "alerts_generated.h")
 
 
+def generate_translations_include():
+  # offroad alerts
+  # TODO translate events from openpilot.selfdrive/controls/lib/events.py
+  content = "// THIS IS AN AUTOGENERATED FILE, PLEASE EDIT alerts_offroad.json\n"
+  with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) as f:
+    for alert in json.load(f).values():
+      content += f'QT_TRANSLATE_NOOP("OffroadAlert", R"({alert["text"]})");\n'
+
+  with open(TRANSLATIONS_INCLUDE_FILE, "w") as f:
+    f.write(content)
+
 def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR):
+  generate_translations_include()
+
   if plural_only is None:
     plural_only = []
 
@@ -19,7 +33,7 @@ def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLA
 
   for file in translation_files.values():
     tr_file = os.path.join(translations_dir, f"{file}.ts")
-    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file}"
+    args = f"lupdate -locations none -recursive {UI_DIR} -ts {tr_file} -I {BASEDIR}"
     if vanish:
       args += " -no-obsolete"
     if file in plural_only:
@@ -32,7 +46,8 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Update translation files for UI",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
   parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
-  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)")
+  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"],
+                      help="Translation codes to only create plural translations for (ie. the base language)")
   args = parser.parse_args()
 
   update_translations(args.vanish, args.plural_only)
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index 9da2a05a11..1e128fb11c 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -14,12 +14,13 @@ from pathlib import Path
 from typing import List, Union, Optional
 from markdown_it import MarkdownIt
 
-from common.basedir import BASEDIR
-from common.params import Params
-from system.hardware import AGNOS, HARDWARE
-from system.swaglog import cloudlog
-from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from system.version import is_tested_branch
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.time import system_time_valid
+from openpilot.system.hardware import AGNOS, HARDWARE
+from openpilot.system.swaglog import cloudlog
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.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")
@@ -191,7 +192,7 @@ def finalize_update() -> None:
 
 
 def handle_agnos_update() -> None:
-  from system.hardware.tici.agnos import flash_agnos_update, get_target_slot_number
+  from openpilot.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 && \
@@ -256,14 +257,14 @@ class Updater:
   def get_commit_hash(self, path: str = OVERLAY_MERGED) -> str:
     return run(["git", "rev-parse", "HEAD"], path).rstrip()
 
-  def set_params(self, failed_count: int, exception: Optional[str]) -> None:
+  def set_params(self, update_success: bool, failed_count: int, exception: Optional[str]) -> None:
     self.params.put("UpdateFailedCount", str(failed_count))
 
     self.params.put_bool("UpdaterFetchAvailable", self.update_available)
     self.params.put("UpdaterAvailableBranches", ','.join(self.branches.keys()))
 
     last_update = datetime.datetime.utcnow()
-    if failed_count == 0:
+    if update_success:
       t = last_update.isoformat()
       self.params.put("LastUpdateTime", t.encode('utf8'))
     else:
@@ -317,11 +318,12 @@ class Updater:
       else:
         extra_text = exception
       set_offroad_alert("Offroad_UpdateFailed", True, extra_text=extra_text)
-    elif dt.days > DAYS_NO_CONNECTIVITY_MAX and failed_count > 1:
-      set_offroad_alert("Offroad_ConnectivityNeeded", True)
-    elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
-      remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
-      set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
+    elif failed_count > 0:
+      if dt.days > DAYS_NO_CONNECTIVITY_MAX:
+        set_offroad_alert("Offroad_ConnectivityNeeded", True)
+      elif dt.days > DAYS_NO_CONNECTIVITY_PROMPT:
+        remaining = max(DAYS_NO_CONNECTIVITY_MAX - dt.days, 1)
+        set_offroad_alert("Offroad_ConnectivityNeededPrompt", True, extra_text=f"{remaining} day{'' if remaining == 1 else 's'}.")
 
   def check_for_update(self) -> None:
     cloudlog.info("checking for updates")
@@ -417,12 +419,15 @@ def main() -> None:
     params.put("InstallDate", t.encode('utf8'))
 
   updater = Updater()
-  update_failed_count = 0  # TODO: Load from param?
+  update_failed_count = 0 # TODO: Load from param?
 
   # no fetch on the first time
   wait_helper = WaitTimeHelper()
   wait_helper.only_check_for_update = True
 
+  # invalidate old finalized update
+  set_consistent_flag(False)
+
   # Run the update loop
   while True:
     wait_helper.ready_event.clear()
@@ -434,7 +439,12 @@ def main() -> None:
       init_overlay()
 
       # ensure we have some params written soon after startup
-      updater.set_params(update_failed_count, exception)
+      updater.set_params(False, update_failed_count, exception)
+
+      if not system_time_valid():
+        wait_helper.sleep(60)
+        continue
+
       update_failed_count += 1
 
       # check for update
@@ -463,7 +473,8 @@ def main() -> None:
 
     try:
       params.put("UpdaterState", "idle")
-      updater.set_params(update_failed_count, exception)
+      update_successful = (update_failed_count == 0)
+      updater.set_params(update_successful, update_failed_count, exception)
     except Exception:
       cloudlog.exception("uncaught updated exception while setting params, shouldn't happen")
 
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index ddc763b53d..ffd7278bbb 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -2,17 +2,13 @@ Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
 
 libs = ['m', 'pthread', common, 'jpeg', 'OpenCL', 'yuv', cereal, messaging, 'zmq', 'capnp', 'kj', visionipc, gpucommon, 'atomic']
 
-cenv = env.Clone()
-cenv['CPPPATH'].append('include/')
-
-camera_obj = cenv.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
-cenv.Program('camerad', [
+camera_obj = env.Object(['cameras/camera_qcom2.cc', 'cameras/camera_common.cc', 'cameras/camera_util.cc'])
+env.Program('camerad', [
     'main.cc',
     camera_obj,
   ], LIBS=libs)
 
-if GetOption("test") and arch == "x86_64":
-  cenv.Program('test/ae_gray_test', [
-      'test/ae_gray_test.cc',
-      camera_obj,
-    ], LIBS=libs)
+if GetOption("extras") and arch == "x86_64":
+  env.Program('test/ae_gray_test',
+              ['test/ae_gray_test.cc', camera_obj],
+              LIBS=libs)
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 30e2810ec4..23b28357da 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -5,9 +5,10 @@
 #include <cassert>
 #include <cstdio>
 #include <chrono>
+#include <string>
 #include <thread>
 
-#include "libyuv.h"
+#include "third_party/libyuv/include/libyuv.h"
 #include <jpeglib.h>
 
 #include "system/camerad/imgproc/utils.h"
@@ -16,7 +17,7 @@
 #include "common/swaglog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
-#include "msm_media_info.h"
+#include "third_party/linux/include/msm_media_info.h"
 
 #include "system/camerad/cameras/camera_qcom2.h"
 #ifdef QCOM2
@@ -82,8 +83,6 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   rgb_width = ci->frame_width;
   rgb_height = ci->frame_height;
 
-  yuv_transform = get_model_yuv_transform();
-
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
   assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, rgb_width));
@@ -151,15 +150,11 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setFrameId(frame_data.frame_id);
   framed.setTimestampEof(frame_data.timestamp_eof);
   framed.setTimestampSof(frame_data.timestamp_sof);
-  framed.setFrameLength(frame_data.frame_length);
   framed.setIntegLines(frame_data.integ_lines);
   framed.setGain(frame_data.gain);
   framed.setHighConversionGain(frame_data.high_conversion_gain);
   framed.setMeasuredGreyFraction(frame_data.measured_grey_fraction);
   framed.setTargetGreyFraction(frame_data.target_grey_fraction);
-  framed.setLensPos(frame_data.lens_pos);
-  framed.setLensErr(frame_data.lens_err);
-  framed.setLensTruePos(frame_data.lens_true_pos);
   framed.setProcessingTime(frame_data.processing_time);
 
   const float ev = c->cur_ev[frame_data.frame_id % 3];
@@ -167,7 +162,7 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setExposureValPercent(perc);
 
   if (c->camera_id == CAMERA_ID_AR0231) {
-    framed.setSensor(cereal::FrameData::ImageSensor::AR0321);
+    framed.setSensor(cereal::FrameData::ImageSensor::AR0231);
   } else if (c->camera_id == CAMERA_ID_OX03C10) {
     framed.setSensor(cereal::FrameData::ImageSensor::OX03C10);
   }
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 088b9f7939..3e56f5690d 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -53,7 +53,6 @@ typedef struct CameraInfo {
 
 typedef struct FrameMetadata {
   uint32_t frame_id;
-  unsigned int frame_length;
 
   // Timestamps
   uint64_t timestamp_sof; // only set on tici
@@ -66,11 +65,6 @@ typedef struct FrameMetadata {
   float measured_grey_fraction;
   float target_grey_fraction;
 
-  // Focus
-  unsigned int lens_pos;
-  float lens_err;
-  float lens_true_pos;
-
   float processing_time;
 } FrameMetadata;
 
@@ -96,8 +90,6 @@ public:
   std::unique_ptr<FrameMetadata[]> camera_bufs_metadata;
   int rgb_width, rgb_height, rgb_stride;
 
-  mat3 yuv_transform;
-
   CameraBuf() = default;
   ~CameraBuf();
   void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index df5b9e8bf0..3a9ecb467b 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -6,12 +6,15 @@
 #include <sys/mman.h>
 #include <unistd.h>
 
+#include <algorithm>
 #include <atomic>
 #include <cassert>
 #include <cerrno>
 #include <cmath>
 #include <cstdio>
 #include <cstring>
+#include <string>
+#include <vector>
 
 #include "media/cam_defs.h"
 #include "media/cam_isp.h"
@@ -60,18 +63,18 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
 const float DC_GAIN_AR0231 = 2.5;
 const float DC_GAIN_OX03C10 = 7.32;
 
-const float DC_GAIN_ON_GREY_AR0231= 0.2;
+const float DC_GAIN_ON_GREY_AR0231 = 0.2;
 const float DC_GAIN_OFF_GREY_AR0231 = 0.3;
-const float DC_GAIN_ON_GREY_OX03C10= 0.25;
-const float DC_GAIN_OFF_GREY_OX03C10 = 0.35;
+const float DC_GAIN_ON_GREY_OX03C10 = 0.9;
+const float DC_GAIN_OFF_GREY_OX03C10 = 1.0;
 
 const int DC_GAIN_MIN_WEIGHT_AR0231 = 0;
 const int DC_GAIN_MAX_WEIGHT_AR0231 = 1;
-const int DC_GAIN_MIN_WEIGHT_OX03C10 = 16;
-const int DC_GAIN_MAX_WEIGHT_OX03C10 = 32;
+const int DC_GAIN_MIN_WEIGHT_OX03C10 = 1; // always on is fine
+const int DC_GAIN_MAX_WEIGHT_OX03C10 = 1;
 
 const float TARGET_GREY_FACTOR_AR0231 = 1.0;
-const float TARGET_GREY_FACTOR_OX03C10 = 0.02;
+const float TARGET_GREY_FACTOR_OX03C10 = 0.01;
 
 const float sensor_analog_gains_AR0231[] = {
   1.0/8.0, 2.0/8.0, 2.0/7.0, 3.0/7.0, // 0, 1, 2, 3
@@ -97,11 +100,15 @@ const int ANALOG_GAIN_MIN_IDX_AR0231 = 0x1; // 0.25x
 const int ANALOG_GAIN_REC_IDX_AR0231 = 0x6; // 0.8x
 const int ANALOG_GAIN_MAX_IDX_AR0231 = 0xD; // 4.0x
 const int ANALOG_GAIN_COST_DELTA_AR0231 = 0;
+const float ANALOG_GAIN_COST_LOW_AR0231 = 0.1;
+const float ANALOG_GAIN_COST_HIGH_AR0231 = 5.0;
 
 const int ANALOG_GAIN_MIN_IDX_OX03C10 = 0x0;
-const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x11; // 2.5x
+const int ANALOG_GAIN_REC_IDX_OX03C10 = 0x0; // 1x
 const int ANALOG_GAIN_MAX_IDX_OX03C10 = 0x36;
 const int ANALOG_GAIN_COST_DELTA_OX03C10 = -1;
+const float ANALOG_GAIN_COST_LOW_OX03C10 = 0.4;
+const float ANALOG_GAIN_COST_HIGH_OX03C10 = 6.4;
 
 const int EXPOSURE_TIME_MIN_AR0231 = 2; // with HDR, fastest ss
 const int EXPOSURE_TIME_MAX_AR0231 = 0x0855; // with HDR, slowest ss, 40ms
@@ -139,7 +146,7 @@ void CameraState::sensors_start() {
 void CameraState::sensors_poke(int request_id) {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet);
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 0;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -152,15 +159,13 @@ void CameraState::sensors_poke(int request_id) {
     enabled = false;
     return;
   }
-
-  mm.free(pkt);
 }
 
 void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op_code, bool data_word) {
   // LOGD("sensors_i2c: %d", len);
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 1;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.size = size;
@@ -170,7 +175,7 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
   buf_desc[0].size = buf_desc[0].length = sizeof(struct i2c_rdwr_header) + len*sizeof(struct i2c_random_wr_payload);
   buf_desc[0].type = CAM_CMD_BUF_I2C;
 
-  struct cam_cmd_i2c_random_wr *i2c_random_wr = (struct cam_cmd_i2c_random_wr *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto i2c_random_wr = mm.alloc<struct cam_cmd_i2c_random_wr>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
   i2c_random_wr->header.count = len;
   i2c_random_wr->header.op_code = 1;
   i2c_random_wr->header.cmd_type = CAMERA_SENSOR_CMD_TYPE_I2C_RNDM_WR;
@@ -184,9 +189,6 @@ void CameraState::sensors_i2c(struct i2c_random_wr_payload* dat, int len, int op
     enabled = false;
     return;
   }
-
-  mm.free(i2c_random_wr);
-  mm.free(pkt);
 }
 
 static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
@@ -195,12 +197,12 @@ static cam_cmd_power *power_set_wait(cam_cmd_power *power, int16_t delay_ms) {
   unconditional_wait->delay = delay_ms;
   unconditional_wait->op_code = CAMERA_SENSOR_WAIT_OP_SW_UCND;
   return (struct cam_cmd_power *)(unconditional_wait + 1);
-};
+}
 
 int CameraState::sensors_init() {
   uint32_t cam_packet_handle = 0;
   int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*2;
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = -1;
   pkt->header.op_code = 0x1000000 | CAM_SENSOR_PACKET_OPCODE_SENSOR_PROBE;
@@ -209,8 +211,8 @@ int CameraState::sensors_init() {
 
   buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_cmd_i2c_info) + sizeof(struct cam_cmd_probe);
   buf_desc[0].type = CAM_CMD_BUF_LEGACY;
-  struct cam_cmd_i2c_info *i2c_info = (struct cam_cmd_i2c_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
-  auto probe = (struct cam_cmd_probe *)(i2c_info + 1);
+  auto i2c_info = mm.alloc<struct cam_cmd_i2c_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+  auto probe = (struct cam_cmd_probe *)(i2c_info.get() + 1);
 
   probe->camera_id = camera_num;
   switch (camera_num) {
@@ -251,11 +253,11 @@ int CameraState::sensors_init() {
   //buf_desc[1].size = buf_desc[1].length = 148;
   buf_desc[1].size = buf_desc[1].length = 196;
   buf_desc[1].type = CAM_CMD_BUF_I2C;
-  struct cam_cmd_power *power_settings = (struct cam_cmd_power *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memset(power_settings, 0, buf_desc[1].size);
+  auto power_settings = mm.alloc<struct cam_cmd_power>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memset(power_settings.get(), 0, buf_desc[1].size);
 
   // power on
-  struct cam_cmd_power *power = power_settings;
+  struct cam_cmd_power *power = power_settings.get();
   power->count = 4;
   power->cmd_type = CAMERA_SENSOR_CMD_TYPE_PWR_UP;
   power->power_settings[0].power_seq_type = 3; // clock??
@@ -311,11 +313,6 @@ int CameraState::sensors_init() {
 
   int ret = do_cam_control(sensor_fd, CAM_SENSOR_PROBE_CMD, (void *)(uintptr_t)cam_packet_handle, 0);
   LOGD("probing the sensor: %d", ret);
-
-  mm.free(i2c_info);
-  mm.free(power_settings);
-  mm.free(pkt);
-
   return ret;
 }
 
@@ -325,7 +322,7 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (io_mem_handle != 0) {
     size += sizeof(struct cam_buf_io_cfg);
   }
-  struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+  auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
   pkt->num_cmd_buf = 2;
   pkt->kmd_cmd_buf_index = 0;
   // YUV has kmd_cmd_buf_offset = 1780
@@ -420,25 +417,25 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   buf_desc[1].length = buf_desc[1].size - buf_desc[1].offset;
   buf_desc[1].type = CAM_CMD_BUF_GENERIC;
   buf_desc[1].meta_data = CAM_ISP_PACKET_META_GENERIC_BLOB_COMMON;
-  uint32_t *buf2 = (uint32_t *)mm.alloc(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
-  memcpy(buf2, &tmp, sizeof(tmp));
+  auto buf2 = mm.alloc<uint32_t>(buf_desc[1].size, (uint32_t*)&buf_desc[1].mem_handle);
+  memcpy(buf2.get(), &tmp, sizeof(tmp));
 
   if (io_mem_handle != 0) {
     io_cfg[0].mem_handle[0] = io_mem_handle;
-		io_cfg[0].planes[0] = (struct cam_plane_cfg){
-		 .width = ci.frame_width,
-		 .height = ci.frame_height + ci.extra_height,
-		 .plane_stride = ci.frame_stride,
-		 .slice_height = ci.frame_height + ci.extra_height,
-		 .meta_stride = 0x0,    // YUV has meta(stride=0x400, size=0x5000)
-		 .meta_size = 0x0,
-		 .meta_offset = 0x0,
-		 .packer_config = 0x0,  // 0xb for YUV
-		 .mode_config = 0x0,    // 0x9ef for YUV
-		 .tile_config = 0x0,
-		 .h_init = 0x0,
-		 .v_init = 0x0,
-		};
+    io_cfg[0].planes[0] = (struct cam_plane_cfg){
+      .width = ci.frame_width,
+      .height = ci.frame_height + ci.extra_height,
+      .plane_stride = ci.frame_stride,
+      .slice_height = ci.frame_height + ci.extra_height,
+      .meta_stride = 0x0,  // YUV has meta(stride=0x400, size=0x5000)
+      .meta_size = 0x0,
+      .meta_offset = 0x0,
+      .packer_config = 0x0,  // 0xb for YUV
+      .mode_config = 0x0,    // 0x9ef for YUV
+      .tile_config = 0x0,
+      .h_init = 0x0,
+      .v_init = 0x0,
+    };
     io_cfg[0].format = CAM_FORMAT_MIPI_RAW_12;             // CAM_FORMAT_UBWC_TP10 for YUV
     io_cfg[0].color_space = CAM_COLOR_SPACE_BASE;          // CAM_COLOR_SPACE_BT601_FULL for YUV
     io_cfg[0].color_pattern = 0x5;                         // 0x0 for YUV
@@ -455,9 +452,6 @@ void CameraState::config_isp(int io_mem_handle, int fence, int request_id, int b
   if (ret != 0) {
     LOGE("isp config failed");
   }
-
-  mm.free(buf2);
-  mm.free(pkt);
 }
 
 void CameraState::enqueue_buffer(int i, bool dp) {
@@ -492,7 +486,7 @@ void CameraState::enqueue_buffer(int i, bool dp) {
   strcpy(sync_create.name, "NodeOutputPortFence");
   ret = do_cam_control(multi_cam_state->cam_sync_fd, CAM_SYNC_CREATE, &sync_create, sizeof(sync_create));
   if (ret != 0) {
-    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj)
+    LOGE("failed to create fence: %d %d", ret, sync_create.sync_obj);
   }
   sync_objs[i] = sync_create.sync_obj;
 
@@ -514,7 +508,7 @@ void CameraState::enqueue_buffer(int i, bool dp) {
 }
 
 void CameraState::enqueue_req_multi(int start, int n, bool dp) {
-  for (int i=start;i<start+n;++i) {
+  for (int i=start; i<start+n; ++i) {
     request_ids[(i - 1) % FRAME_BUF_COUNT] = i;
     enqueue_buffer((i - 1) % FRAME_BUF_COUNT, dp);
   }
@@ -535,6 +529,8 @@ void CameraState::camera_set_parameters() {
     analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_AR0231;
     analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_AR0231;
     analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_AR0231;
+    analog_gain_cost_low = ANALOG_GAIN_COST_LOW_AR0231;
+    analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_AR0231;
     for (int i=0; i<=analog_gain_max_idx; i++) {
       sensor_analog_gains[i] = sensor_analog_gains_AR0231[i];
     }
@@ -552,6 +548,8 @@ void CameraState::camera_set_parameters() {
     analog_gain_rec_idx = ANALOG_GAIN_REC_IDX_OX03C10;
     analog_gain_max_idx = ANALOG_GAIN_MAX_IDX_OX03C10;
     analog_gain_cost_delta = ANALOG_GAIN_COST_DELTA_OX03C10;
+    analog_gain_cost_low = ANALOG_GAIN_COST_LOW_OX03C10;
+    analog_gain_cost_high = ANALOG_GAIN_COST_HIGH_OX03C10;
     for (int i=0; i<=analog_gain_max_idx; i++) {
       sensor_analog_gains[i] = sensor_analog_gains_OX03C10[i];
     }
@@ -730,7 +728,8 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   LOGD("acquire csiphy dev");
 
   // config ISP
-  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS | CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
+  alloc_w_mmu_hdl(multi_cam_state->video0_fd, 984480, (uint32_t*)&buf0_handle, 0x20, CAM_MEM_FLAG_HW_READ_WRITE | CAM_MEM_FLAG_KMD_ACCESS |
+                  CAM_MEM_FLAG_UMD_ACCESS | CAM_MEM_FLAG_CMD_BUF_TYPE, multi_cam_state->device_iommu, multi_cam_state->cdm_iommu);
   config_isp(0, 0, 1, buf0_handle, 0);
 
   // config csiphy
@@ -738,7 +737,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
   {
     uint32_t cam_packet_handle = 0;
     int size = sizeof(struct cam_packet)+sizeof(struct cam_cmd_buf_desc)*1;
-    struct cam_packet *pkt = (struct cam_packet *)mm.alloc(size, &cam_packet_handle);
+    auto pkt = mm.alloc<struct cam_packet>(size, &cam_packet_handle);
     pkt->num_cmd_buf = 1;
     pkt->kmd_cmd_buf_index = -1;
     pkt->header.size = size;
@@ -747,7 +746,7 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
     buf_desc[0].size = buf_desc[0].length = sizeof(struct cam_csiphy_info);
     buf_desc[0].type = CAM_CMD_BUF_GENERIC;
 
-    struct cam_csiphy_info *csiphy_info = (struct cam_csiphy_info *)mm.alloc(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
+    auto csiphy_info = mm.alloc<struct cam_csiphy_info>(buf_desc[0].size, (uint32_t*)&buf_desc[0].mem_handle);
     csiphy_info->lane_mask = 0x1f;
     csiphy_info->lane_assign = 0x3210;// skip clk. How is this 16 bit for 5 channels??
     csiphy_info->csiphy_3phase = 0x0; // no 3 phase, only 2 conductors per lane
@@ -759,9 +758,6 @@ void CameraState::camera_open(MultiCameraState *multi_cam_state_, int camera_num
 
     int ret_ = device_config(csiphy_fd, session_handle, csiphy_dev_handle, cam_packet_handle);
     assert(ret_ == 0);
-
-    mm.free(csiphy_info);
-    mm.free(pkt);
   }
 
   // link devices
@@ -1033,6 +1029,30 @@ void CameraState::handle_camera_event(void *evdat) {
   }
 }
 
+void CameraState::update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain) {
+  float score = 1e6;
+  if (camera_id == CAMERA_ID_AR0231) {
+    // Cost of ev diff
+    score = std::abs(desired_ev - (exp_t * exp_gain)) * 10;
+    // Cost of absolute gain
+    float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+    score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+    // Cost of changing gain
+    score += std::abs(exp_g_idx - gain_idx) * (score + 1.0) / 10.0;
+  } else if (camera_id == CAMERA_ID_OX03C10) {
+    score = std::abs(desired_ev - (exp_t * exp_gain));
+    float m = exp_g_idx > analog_gain_rec_idx ? analog_gain_cost_high : analog_gain_cost_low;
+    score += std::abs(exp_g_idx - (int)analog_gain_rec_idx) * m;
+    score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (exp_g_idx - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(exp_g_idx - gain_idx) * 5.0;
+  }
+
+  if (score < best_ev_score) {
+    new_exp_t = exp_t;
+    new_exp_g = exp_g_idx;
+    best_ev_score = score;
+  }
+}
+
 void CameraState::set_camera_exposure(float grey_frac) {
   if (!enabled) return;
   const float dt = 0.05;
@@ -1058,9 +1078,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
   float k = (1.0 - k_ev) / 3.0;
   desired_ev = (k * cur_ev[0]) + (k * cur_ev[1]) + (k * cur_ev[2]) + (k_ev * desired_ev);
 
-  float best_ev_score = 1e6;
-  int new_g = 0;
-  int new_t = 0;
+  best_ev_score = 1e6;
+  new_exp_g = 0;
+  new_exp_t = 0;
 
   // Hysteresis around high conversion gain
   // We usually want this on since it results in lower noise, but turn off in very bright day scenes
@@ -1087,8 +1107,8 @@ void CameraState::set_camera_exposure(float grey_frac) {
     gain_idx = std::stoi(gain_bytes);
     exposure_time = std::stoi(time_bytes);
 
-    new_g = gain_idx;
-    new_t = exposure_time;
+    new_exp_g = gain_idx;
+    new_exp_t = exposure_time;
     enable_dc_gain = false;
   } else {
     // Simple brute force optimizer to choose sensor parameters
@@ -1104,23 +1124,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
         continue;
       }
 
-      // Compute error to desired ev
-      float score = std::abs(desired_ev - (t * gain)) * 10;
-
-      // Going below recommended gain needs lower penalty to not overexpose
-      float m = g > analog_gain_rec_idx ? 5.0 : 0.1;
-      score += std::abs(g - (int)analog_gain_rec_idx) * m;
-
-      // LOGE("cam: %d - gain: %d, t: %d (%.2f), score %.2f, score + gain %.2f, %.3f, %.3f", camera_num, g, t, desired_ev / gain, score, score + std::abs(g - gain_idx) * (score + 1.0) / 10.0, desired_ev, min_ev);
-
-      // Small penalty on changing gain
-      score += ((1 - analog_gain_cost_delta) + analog_gain_cost_delta * (g - analog_gain_min_idx) / (analog_gain_max_idx - analog_gain_min_idx)) * std::abs(g - gain_idx) * (score + 1.0) / 10.0;
-
-      if (score < best_ev_score) {
-        new_t = t;
-        new_g = g;
-        best_ev_score = score;
-      }
+      update_exposure_score(desired_ev, t, g, gain);
     }
   }
 
@@ -1129,9 +1133,9 @@ void CameraState::set_camera_exposure(float grey_frac) {
   measured_grey_fraction = grey_frac;
   target_grey_fraction = target_grey;
 
-  analog_gain_frac = sensor_analog_gains[new_g];
-  gain_idx = new_g;
-  exposure_time = new_t;
+  analog_gain_frac = sensor_analog_gains[new_exp_g];
+  gain_idx = new_exp_g;
+  exposure_time = new_exp_t;
   dc_gain_enabled = enable_dc_gain;
 
   float gain = analog_gain_frac * (1 + dc_gain_weight * (dc_gain_factor-1) / dc_gain_max_weight);
@@ -1148,7 +1152,7 @@ void CameraState::set_camera_exposure(float grey_frac) {
   // LOGE("ae - camera %d, cur_t %.5f, sof %.5f, dt %.5f", camera_num, 1e-9 * nanos_since_boot(), 1e-9 * buf.cur_frame_data.timestamp_sof, 1e-9 * (nanos_since_boot() - buf.cur_frame_data.timestamp_sof));
 
   if (camera_id == CAMERA_ID_AR0231) {
-    uint16_t analog_gain_reg = 0xFF00 | (new_g << 4) | new_g;
+    uint16_t analog_gain_reg = 0xFF00 | (new_exp_g << 4) | new_exp_g;
     struct i2c_random_wr_payload exp_reg_array[] = {
       {0x3366, analog_gain_reg},
       {0x3362, (uint16_t)(dc_gain_enabled ? 0x1 : 0x0)},
@@ -1156,25 +1160,21 @@ void CameraState::set_camera_exposure(float grey_frac) {
     };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, true);
   } else if (camera_id == CAMERA_ID_OX03C10) {
-    // t_HCG + t_LCG + t_VS on LPD, t_SPD on SPD
-    uint32_t hcg_time = std::max((dc_gain_weight * exposure_time / dc_gain_max_weight), 0);
-    uint32_t lcg_time = std::max(((dc_gain_max_weight - dc_gain_weight) * exposure_time / dc_gain_max_weight), 0);
-    // uint32_t spd_time = std::max(hcg_time / 16, (uint32_t)exposure_time_min);
-    uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 128, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
-    uint32_t spd_time = vs_time;
-
-    uint32_t real_gain = ox03c10_analog_gains_reg[new_g];
-    uint32_t min_gain = ox03c10_analog_gains_reg[0];
+    // t_HCG&t_LCG + t_VS on LPD, t_SPD on SPD
+    uint32_t hcg_time = exposure_time;
+    uint32_t lcg_time = hcg_time;
+    uint32_t spd_time = std::min(std::max((uint32_t)exposure_time, (exposure_time_max + VS_TIME_MAX_OX03C10) / 3), exposure_time_max + VS_TIME_MAX_OX03C10);
+    uint32_t vs_time = std::min(std::max((uint32_t)exposure_time / 40, VS_TIME_MIN_OX03C10), VS_TIME_MAX_OX03C10);
+
+    uint32_t real_gain = ox03c10_analog_gains_reg[new_exp_g];
+
     struct i2c_random_wr_payload exp_reg_array[] = {
       {0x3501, hcg_time>>8}, {0x3502, hcg_time&0xFF},
       {0x3581, lcg_time>>8}, {0x3582, lcg_time&0xFF},
       {0x3541, spd_time>>8}, {0x3542, spd_time&0xFF},
-      {0x35c1, vs_time>>8}, {0x35c2, vs_time&0xFF},
+      {0x35c2, vs_time&0xFF},
 
       {0x3508, real_gain>>8}, {0x3509, real_gain&0xFF},
-      {0x3588, min_gain>>8}, {0x3589, min_gain&0xFF},
-      {0x3548, min_gain>>8}, {0x3549, min_gain&0xFF},
-      {0x35c8, min_gain>>8}, {0x35c9, min_gain&0xFF},
     };
     sensors_i2c(exp_reg_array, sizeof(exp_reg_array)/sizeof(struct i2c_random_wr_payload), CAM_SENSOR_PACKET_OPCODE_SENSOR_CONFIG, false);
   }
@@ -1230,10 +1230,6 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
     framed.setImage(get_raw_frame_image(b));
   }
   LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
-  if (c == &s->road_cam) {
-    framed.setTransform(b->yuv_transform.v);
-    LOGT(c->buf.cur_frame_data.frame_id, "%s: Transformed", "RoadCamera");
-  }
 
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
@@ -1281,9 +1277,9 @@ void cameras_run(MultiCameraState *s) {
     if (ret == 0) {
       if (ev.type == V4L_EVENT_CAM_REQ_MGR_EVENT) {
         struct cam_req_mgr_message *event_data = (struct cam_req_mgr_message *)ev.u.data;
-        // LOGD("v4l2 event: sess_hdl 0x%X, link_hdl 0x%X, frame_id %d, req_id %lld, timestamp 0x%llx, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp, event_data->u.frame_msg.sof_status);
         if (env_debug_frames) {
-          printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl, event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
+          printf("sess_hdl 0x%6X, link_hdl 0x%6X, frame_id %lu, req_id %lu, timestamp %.2f ms, sof_status %d\n", event_data->session_hdl, event_data->u.frame_msg.link_hdl,
+                 event_data->u.frame_msg.frame_id, event_data->u.frame_msg.request_id, event_data->u.frame_msg.timestamp/1e6, event_data->u.frame_msg.sof_status);
         }
 
         if (event_data->session_hdl == s->road_cam.session_handle) {
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 150ea0a1c0..9e0109ab20 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -42,9 +42,14 @@ public:
   int analog_gain_max_idx;
   int analog_gain_rec_idx;
   int analog_gain_cost_delta;
+  float analog_gain_cost_low;
+  float analog_gain_cost_high;
 
   float cur_ev[3];
   float min_ev, max_ev;
+  float best_ev_score;
+  int new_exp_g;
+  int new_exp_t;
 
   float measured_grey_fraction;
   float target_grey_fraction;
@@ -56,6 +61,7 @@ public:
   int camera_num;
 
   void handle_camera_event(void *evdat);
+  void update_exposure_score(float desired_ev, int exp_t, int exp_g_idx, float exp_gain);
   void set_camera_exposure(float grey_frac);
 
   void sensors_start();
diff --git a/system/camerad/cameras/camera_util.cc b/system/camerad/cameras/camera_util.cc
index 6d139590e4..74c81a878a 100644
--- a/system/camerad/cameras/camera_util.cc
+++ b/system/camerad/cameras/camera_util.cc
@@ -37,7 +37,7 @@ std::optional<int32_t> device_acquire(int fd, int32_t session_handle, void *data
   };
   int err = do_cam_control(fd, CAM_ACQUIRE_DEV, &cmd, sizeof(cmd));
   return err == 0 ? std::make_optional(cmd.dev_handle) : std::nullopt;
-};
+}
 
 int device_config(int fd, int32_t session_handle, int32_t dev_handle, uint64_t packet_handle) {
   struct cam_config_dev_cmd cmd = {
@@ -98,7 +98,7 @@ void release_fd(int video0_fd, uint32_t handle) {
   release(video0_fd, handle);
 }
 
-void *MemoryManager::alloc(int size, uint32_t *handle) {
+void *MemoryManager::alloc_buf(int size, uint32_t *handle) {
   lock.lock();
   void *ptr;
   if (!cached_allocations[size].empty()) {
diff --git a/system/camerad/cameras/camera_util.h b/system/camerad/cameras/camera_util.h
index e408f6c0e2..b36f404c0f 100644
--- a/system/camerad/cameras/camera_util.h
+++ b/system/camerad/cameras/camera_util.h
@@ -1,6 +1,8 @@
 #pragma once
 
+ #include <functional>
 #include <map>
+#include <memory>
 #include <mutex>
 #include <optional>
 #include <queue>
@@ -18,10 +20,17 @@ void release(int video0_fd, uint32_t handle);
 class MemoryManager {
   public:
     void init(int _video0_fd) { video0_fd = _video0_fd; }
-    void *alloc(int len, uint32_t *handle);
-    void free(void *ptr);
     ~MemoryManager();
+
+    template <class T>
+    auto alloc(int len, uint32_t *handle) {
+      return std::unique_ptr<T, std::function<void(void *)>>((T*)alloc_buf(len, handle), [this](void *ptr) { this->free(ptr); });
+    }
+
   private:
+    void *alloc_buf(int len, uint32_t *handle);
+    void free(void *ptr);
+
     std::mutex lock;
     std::map<void *, uint32_t> handle_lookup;
     std::map<void *, int> size_lookup;
diff --git a/system/camerad/cameras/real_debayer.cl b/system/camerad/cameras/real_debayer.cl
index cff5ae455b..e15a873d6d 100644
--- a/system/camerad/cameras/real_debayer.cl
+++ b/system/camerad/cameras/real_debayer.cl
@@ -18,6 +18,9 @@ float3 color_correct(float3 rgb) {
   x += rgb.z * (float3)(-0.25277411, -0.05627105, 1.45875782);
   #endif
 
+  #if IS_OX
+  return -0.507089*exp(-12.54124638*x)+0.9655*powr(x,0.5)-0.472597*x+0.507089;
+  #else
   // tone mapping params
   const float gamma_k = 0.75;
   const float gamma_b = 0.125;
@@ -28,6 +31,7 @@ float3 color_correct(float3 rgb) {
   return (x > mp) ?
     ((rk * (x-mp) * (1-(gamma_k*mp+gamma_b)) * (1+1/(rk*(1-mp))) / (1+rk*(x-mp))) + gamma_k*mp + gamma_b) :
     ((rk * (x-mp) * (gamma_k*mp+gamma_b) * (1+1/(rk*mp)) / (1-rk*(x-mp))) + gamma_k*mp + gamma_b);
+  #endif
 }
 
 float get_vignetting_s(float r) {
diff --git a/system/camerad/cameras/sensor2_i2c.h b/system/camerad/cameras/sensor2_i2c.h
index ab51059d9a..9170c5183a 100644
--- a/system/camerad/cameras/sensor2_i2c.h
+++ b/system/camerad/cameras/sensor2_i2c.h
@@ -58,7 +58,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
 
   // SC ctrl
   {0x3001, 0x03}, // io_pad_oen
-  {0x3002, 0xf8}, // io_pad_oen
+  {0x3002, 0xfc}, // io_pad_oen
   {0x3005, 0x80}, // io_pad_out
   {0x3007, 0x01}, // io_pad_sel
   {0x3008, 0x80}, // io_pad_sel
@@ -85,6 +85,9 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3882, 0x8}, {0x3883, 0x0D},
   {0x3836, 0x1F}, {0x3837, 0x40},
 
+  {0x3892, 0x44},
+  {0x3823, 0x48},
+
   {0x3012, 0x41}, // SC_PHY_CTRL = 4 lane MIPI
   {0x3020, 0x05}, // SC_CTRL_20
 
@@ -126,7 +129,7 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3219, 0x08},
 
   {0x3506, 0x20}, {0x3507, 0x00}, // hcg fine exposure
-  {0x350a, 0x04}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
+  {0x350a, 0x01}, {0x350b, 0x00}, {0x350c, 0x00}, // hcg digital gain
 
   {0x3586, 0x40}, {0x3587, 0x00}, // lcg fine exposure
   {0x358a, 0x01}, {0x358b, 0x00}, {0x358c, 0x00}, // lcg digital gain
@@ -179,8 +182,8 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3820, 0x04},
 
   {0x3821, 0x19},
-  {0x3832, 0x00},
-  {0x3834, 0x00},
+  {0x3832, 0xF0},
+  {0x3834, 0xF0},
   {0x384c, 0x02},
   {0x384d, 0x0d},
   {0x3850, 0x00},
@@ -711,11 +714,11 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x4221, 0x03},  // this is changed from 1 -> 3
 
   // DCG exposure coarse
-  {0x3501, 0x01}, {0x3502, 0xc8},
+  // {0x3501, 0x01}, {0x3502, 0xc8},
   // SPD exposure coarse
-  {0x3541, 0x01}, {0x3542, 0xc8},
+  // {0x3541, 0x01}, {0x3542, 0xc8},
   // VS exposure coarse
-  {0x35c1, 0x00}, {0x35c2, 0x01},
+  // {0x35c1, 0x00}, {0x35c2, 0x01},
 
   // crc reference
   {0x420e, 0x66}, {0x420f, 0x5d}, {0x4210, 0xa8}, {0x4211, 0x55},
@@ -749,6 +752,12 @@ struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x5486, 0x08}, {0x5487, 0xDE},
   {0x5686, 0x08}, {0x5687, 0xDE},
   {0x5886, 0x08}, {0x5887, 0xDE},
+
+  // fixed gains
+  {0x3588, 0x01}, {0x3589, 0x00},
+  {0x35c8, 0x01}, {0x35c9, 0x00},
+  {0x3548, 0x0F}, {0x3549, 0x00},
+  {0x35c1, 0x00},
 };
 
 struct i2c_random_wr_payload init_array_ar0231[] = {
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
index 48dfc9e02d..ede97d1a79 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -7,11 +7,11 @@ from PIL import Image
 
 import cereal.messaging as messaging
 from cereal.visionipc import VisionIpcClient, VisionStreamType
-from common.params import Params
-from common.realtime import DT_MDL
-from system.hardware import PC
-from selfdrive.controls.lib.alertmanager import set_offroad_alert
-from selfdrive.manager.process_config import managed_processes
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL
+from openpilot.system.hardware import PC
+from openpilot.selfdrive.controls.lib.alertmanager import set_offroad_alert
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 LM_THRESH = 120  # defined in system/camerad/imgproc/utils.h
 
@@ -43,10 +43,10 @@ def yuv_to_rgb(y, u, v):
   return rgb.astype(np.uint8)
 
 
-def extract_image(buf, w, h, stride, uv_offset):
-  y = np.array(buf[:uv_offset], dtype=np.uint8).reshape((-1, stride))[:h, :w]
-  u = np.array(buf[uv_offset::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
-  v = np.array(buf[uv_offset+1::2], dtype=np.uint8).reshape((-1, stride//2))[:h//2, :w//2]
+def extract_image(buf):
+  y = np.array(buf.data[:buf.uv_offset], dtype=np.uint8).reshape((-1, buf.stride))[:buf.height, :buf.width]
+  u = np.array(buf.data[buf.uv_offset::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
+  v = np.array(buf.data[buf.uv_offset+1::2], dtype=np.uint8).reshape((-1, buf.stride//2))[:buf.height//2, :buf.width//2]
 
   return yuv_to_rgb(y, u, v)
 
@@ -67,10 +67,10 @@ def get_snapshots(frame="roadCameraState", front_frame="driverCameraState"):
   rear, front = None, None
   if frame is not None:
     c = vipc_clients[frame]
-    rear = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    rear = extract_image(c.recv())
   if front_frame is not None:
     c = vipc_clients[front_frame]
-    front = extract_image(c.recv(), c.width, c.height, c.stride, c.uv_offset)
+    front = extract_image(c.recv())
   return rear, front
 
 
diff --git a/system/camerad/test/ae_gray_test.cc b/system/camerad/test/ae_gray_test.cc
index aabd7534ee..8d18f7e93b 100644
--- a/system/camerad/test/ae_gray_test.cc
+++ b/system/camerad/test/ae_gray_test.cc
@@ -1,6 +1,6 @@
 // unittest for set_exposure_target
 
-#include "ae_gray_test.h"
+#include "system/camerad/test/ae_gray_test.h"
 
 #include <cassert>
 
diff --git a/system/camerad/test/ae_gray_test.h b/system/camerad/test/ae_gray_test.h
index fb54cd9584..8953fb017f 100644
--- a/system/camerad/test/ae_gray_test.h
+++ b/system/camerad/test/ae_gray_test.h
@@ -5,14 +5,13 @@
 
 #define TONE_SPLITS 3
 
-float gts[TONE_SPLITS*TONE_SPLITS*TONE_SPLITS*TONE_SPLITS] = {
-  0.917969,0.917969,0.375000,0.917969,0.375000,0.375000,0.187500,0.187500,0.187500,0.917969,
-  0.375000,0.375000,0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,
-  0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.917969,0.375000,0.375000,
-  0.187500,0.187500,0.187500,0.187500,0.187500,0.187500,0.093750,0.093750,0.093750,0.093750,
-  0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,0.093750,
-  0.093750,0.093750,0.093750,0.093750,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
-  0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
-  0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,0.000000,
-  0.000000
-};
+float gts[TONE_SPLITS * TONE_SPLITS * TONE_SPLITS * TONE_SPLITS] = {
+  0.917969, 0.917969, 0.375000, 0.917969, 0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.917969,
+  0.375000, 0.375000, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.917969, 0.375000, 0.375000,
+  0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.187500, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750, 0.093750,
+  0.093750, 0.093750, 0.093750, 0.093750, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000,
+  0.000000};
diff --git a/system/camerad/test/frame_test.py b/system/camerad/test/frame_test.py
deleted file mode 100755
index 39198e19da..0000000000
--- a/system/camerad/test/frame_test.py
+++ /dev/null
@@ -1,37 +0,0 @@
-#!/usr/bin/env python3
-import numpy as np
-import cereal.messaging as messaging
-from PIL import ImageFont, ImageDraw, Image
-
-font = ImageFont.truetype("arial", size=72)
-def get_frame(idx):
-  img = np.zeros((874, 1164, 3), np.uint8)
-  img[100:400, 100:100+(idx % 10) * 100] = 255
-
-  # big number
-  im2 = Image.new("RGB", (200, 200))
-  draw = ImageDraw.Draw(im2)
-  draw.text((10, 100), "%02d" % idx, font=font)
-  img[400:600, 400:600] = np.array(im2.getdata()).reshape((200, 200, 3))
-  return img.tostring()
-
-if __name__ == "__main__":
-  from common.realtime import Ratekeeper
-  rk = Ratekeeper(20)
-
-  pm = messaging.PubMaster(['roadCameraState'])
-  frm = [get_frame(x) for x in range(30)]
-  idx = 0
-  while 1:
-    print("send %d" % idx)
-    dat = messaging.new_message('roadCameraState')
-    dat.valid = True
-    dat.frame = {
-      "frameId": idx,
-      "image": frm[idx % len(frm)],
-    }
-    pm.send('roadCameraState', dat)
-
-    idx += 1
-    rk.keep_time()
-    #time.sleep(1.0)
diff --git a/system/camerad/test/get_thumbnails_for_segment.py b/system/camerad/test/get_thumbnails_for_segment.py
index 898377b111..97667ede86 100755
--- a/system/camerad/test/get_thumbnails_for_segment.py
+++ b/system/camerad/test/get_thumbnails_for_segment.py
@@ -4,9 +4,9 @@ import os
 
 from tqdm import tqdm
 
-from common.file_helpers import mkdirs_exists_ok
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route
+from openpilot.common.file_helpers import mkdirs_exists_ok
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
 
 import argparse
 
diff --git a/system/camerad/test/test_camerad.py b/system/camerad/test/test_camerad.py
index 6c2ef1c7bc..6669df301c 100755
--- a/system/camerad/test/test_camerad.py
+++ b/system/camerad/test/test_camerad.py
@@ -1,17 +1,20 @@
 #!/usr/bin/env python3
 import time
 import unittest
+import numpy as np
 from collections import defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
-from selfdrive.manager.process_config import managed_processes
-from system.hardware import TICI
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import TICI
 
 TEST_TIMESPAN = 30
-LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0321: 0.5, # ARs use synced pulses for frame starts
+LAG_FRAME_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 0.5, # ARs use synced pulses for frame starts
                        log.FrameData.ImageSensor.ox03c10: 1.0} # OXs react to out-of-sync at next frame
+FRAME_DELTA_TOLERANCE = {log.FrameData.ImageSensor.ar0231: 1.0,
+                       log.FrameData.ImageSensor.ox03c10: 1.0}
 
 CAMERAS = ('roadCameraState', 'driverCameraState', 'wideRoadCameraState')
 
@@ -36,10 +39,16 @@ class TestCamerad(unittest.TestCase):
     managed_processes['camerad'].stop()
 
     cls.log_by_frame_id = defaultdict(list)
+    cls.sensor_type = None
     for cam, msgs in cls.logs.items():
+      if cls.sensor_type is None:
+        cls.sensor_type = getattr(msgs[0], msgs[0].which()).sensor.raw
       expected_frames = service_list[cam].frequency * TEST_TIMESPAN
       assert expected_frames*0.95 < len(msgs) < expected_frames*1.05, f"unexpected frame count {cam}: {expected_frames=}, got {len(msgs)}"
 
+      dts = np.abs(np.diff([getattr(m, m.which()).timestampSof/1e6 for m in msgs]) - 1000/service_list[cam].frequency)
+      assert (dts < FRAME_DELTA_TOLERANCE[cls.sensor_type]).all(), f"{cam} dts(ms) out of spec: max diff {dts.max()}, 99 percentile {np.percentile(dts, 99)}"
+
       for m in msgs:
         cls.log_by_frame_id[getattr(m, m.which()).frameId].append(m)
 
@@ -64,17 +73,16 @@ class TestCamerad(unittest.TestCase):
     assert len(skips) == 0, f"Found frame skips, missing cameras for the following frames: {skips}"
 
   def test_frame_sync(self):
-    sensor_type = [getattr(msgs[0], msgs[0].which()).sensor for frame_id, msgs in self.log_by_frame_id.items()][0].raw
     frame_times = {frame_id: [getattr(m, m.which()).timestampSof for m in msgs] for frame_id, msgs in self.log_by_frame_id.items()}
     diffs = {frame_id: (max(ts) - min(ts))/1e6 for frame_id, ts in frame_times.items()}
 
     def get_desc(fid, diff):
       cam_times = [(m.which(), getattr(m, m.which()).timestampSof/1e6) for m in self.log_by_frame_id[fid]]
       return (diff, cam_times)
-    laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[sensor_type]}
+    laggy_frames = {k: get_desc(k, v) for k, v in diffs.items() if v > LAG_FRAME_TOLERANCE[self.sensor_type]}
 
     def in_tol(diff):
-      return 50 - LAG_FRAME_TOLERANCE[sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[sensor_type]
+      return 50 - LAG_FRAME_TOLERANCE[self.sensor_type] < diff and diff < 50 + LAG_FRAME_TOLERANCE[self.sensor_type]
     if len(laggy_frames) != 0 and all( in_tol(laggy_frames[lf][0]) for lf in laggy_frames):
       print("TODO: handle camera out of sync")
     else:
diff --git a/system/camerad/test/test_exposure.py b/system/camerad/test/test_exposure.py
index 8cce7e7ffa..50467f9db4 100755
--- a/system/camerad/test/test_exposure.py
+++ b/system/camerad/test/test_exposure.py
@@ -3,10 +3,8 @@ import time
 import unittest
 import numpy as np
 
-from selfdrive.test.helpers import with_processes
-from system.camerad.snapshot.snapshot import get_snapshots
-
-from system.hardware import TICI
+from openpilot.selfdrive.test.helpers import with_processes, phone_only
+from openpilot.system.camerad.snapshot.snapshot import get_snapshots
 
 TEST_TIME = 45
 REPEAT = 5
@@ -14,14 +12,15 @@ REPEAT = 5
 class TestCamerad(unittest.TestCase):
   @classmethod
   def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
+    pass
 
   def _numpy_rgb2gray(self, im):
     ret = np.clip(im[:,:,2] * 0.114 + im[:,:,1] * 0.587 + im[:,:,0] * 0.299, 0, 255).astype(np.uint8)
     return ret
 
-  def _is_exposure_okay(self, i, med_mean=np.array([[0.2,0.4],[0.2,0.6]])):
+  def _is_exposure_okay(self, i, med_mean=None):
+    if med_mean is None:
+      med_mean = np.array([[0.2,0.4],[0.2,0.6]])
     h, w = i.shape[:2]
     i = i[h//10:9*h//10,w//10:9*w//10]
     med_ex, mean_ex = med_mean
@@ -31,19 +30,18 @@ class TestCamerad(unittest.TestCase):
     print([i_median, i_mean])
     return med_ex[0] < i_median < med_ex[1] and mean_ex[0] < i_mean < mean_ex[1]
 
+  @phone_only
   @with_processes(['camerad'])
   def test_camera_operation(self):
     passed = 0
     start = time.time()
     while time.time() - start < TEST_TIME and passed < REPEAT:
       rpic, dpic = get_snapshots(frame="roadCameraState", front_frame="driverCameraState")
+      wpic, _ = get_snapshots(frame="wideRoadCameraState")
 
       res = self._is_exposure_okay(rpic)
       res = res and self._is_exposure_okay(dpic)
-
-      if TICI:
-        wpic, _ = get_snapshots(frame="wideRoadCameraState")
-        res = res and self._is_exposure_okay(wpic)
+      res = res and self._is_exposure_okay(wpic)
 
       if passed > 0 and not res:
         passed = -passed # fails test if any failure after first sus
diff --git a/system/hardware/__init__.py b/system/hardware/__init__.py
index 77bb0e5e2a..99079b5ef3 100644
--- a/system/hardware/__init__.py
+++ b/system/hardware/__init__.py
@@ -1,9 +1,9 @@
 import os
 from typing import cast
 
-from system.hardware.base import HardwareBase
-from system.hardware.tici.hardware import Tici
-from system.hardware.pc.hardware import Pc
+from openpilot.system.hardware.base import HardwareBase
+from openpilot.system.hardware.tici.hardware import Tici
+from openpilot.system.hardware.pc.hardware import Pc
 
 TICI = os.path.isfile('/TICI')
 AGNOS = os.path.isfile('/AGNOS')
diff --git a/system/hardware/base.h b/system/hardware/base.h
index f6e0b42d73..d86b316843 100644
--- a/system/hardware/base.h
+++ b/system/hardware/base.h
@@ -2,6 +2,9 @@
 
 #include <cstdlib>
 #include <fstream>
+#include <map>
+#include <string>
+
 #include "cereal/messaging/messaging.h"
 
 // no-op base hw class
@@ -11,10 +14,16 @@ public:
   static constexpr float MIN_VOLUME = 0.2;
 
   static std::string get_os_version() { return ""; }
-  static std::string get_name() { return ""; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; };
-  static int get_voltage() { return 0; };
-  static int get_current() { return 0; };
+  static std::string get_name() { return ""; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::UNKNOWN; }
+  static int get_voltage() { return 0; }
+  static int get_current() { return 0; }
+
+  static std::string get_serial() { return "cccccc"; }
+
+  static std::map<std::string, std::string> get_init_logs() {
+    return {};
+  }
 
   static void reboot() {}
   static void poweroff() {}
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 31df1babe0..0b6ca44c3c 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -135,6 +135,9 @@ class HardwareBase(ABC):
   def get_networks(self):
     pass
 
+  def has_internal_panda(self) -> bool:
+    return False
+
   def reset_internal_panda(self):
     pass
 
diff --git a/system/hardware/hw.h b/system/hardware/hw.h
index 5599e79186..1274851787 100644
--- a/system/hardware/hw.h
+++ b/system/hardware/hw.h
@@ -1,5 +1,7 @@
 #pragma once
 
+#include <string>
+
 #include "system/hardware/base.h"
 #include "common/util.h"
 
@@ -19,7 +21,7 @@ inline std::string log_root() {
   return Hardware::PC() ? util::getenv("HOME") + "/.comma/media/0/realdata" : "/data/media/0/realdata";
 }
 inline std::string params() {
-  return Hardware::PC() ? util::getenv("HOME") + "/.comma/params" : "/data/params";
+  return Hardware::PC() ? util::getenv("PARAMS_ROOT", util::getenv("HOME") + "/.comma/params") : "/data/params";
 }
 inline std::string rsa_file() {
   return Hardware::PC() ? util::getenv("HOME") + "/.comma/persist/comma/id_rsa" : "/persist/comma/id_rsa";
diff --git a/system/hardware/pc/hardware.h b/system/hardware/pc/hardware.h
index 529b4bfe9d..5cd825d61d 100644
--- a/system/hardware/pc/hardware.h
+++ b/system/hardware/pc/hardware.h
@@ -1,12 +1,14 @@
 #pragma once
 
+#include <string>
+
 #include "system/hardware/base.h"
 
 class HardwarePC : public HardwareNone {
 public:
   static std::string get_os_version() { return "openpilot for PC"; }
-  static std::string get_name() { return "pc"; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; };
+  static std::string get_name() { return "pc"; }
+  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::PC; }
   static bool PC() { return true; }
   static bool TICI() { return util::getenv("TICI", 0) == 1; }
   static bool AGNOS() { return util::getenv("TICI", 0) == 1; }
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index 564f9e483a..27c05f5904 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -1,7 +1,7 @@
 import random
 
 from cereal import log
-from system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 7876b1af1f..7e8cd480be 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,19 +1,19 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a.img.xz",
-    "hash": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a",
-    "hash_raw": "72662ec5d586c7a22659a1c8b140932d5472914176020fe76ba4204edbbb214a",
-    "size": 14780416,
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279.img.xz",
+    "hash": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "hash_raw": "8d8d8620de8b2687f3a8fffdb81b2abd1fe2ead5bc831361a1a212e5589ac279",
+    "size": 15636480,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "abl",
-    "url": "https://commadist.azureedge.net/agnosupdate/abl-ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82.img.xz",
-    "hash": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
-    "hash_raw": "ab4068f005ed9cb7fbca55c6d658880df1abfb1a4e6afb64f3fc5e64dac6fc82",
+    "url": "https://commadist.azureedge.net/agnosupdate/abl-0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d.img.xz",
+    "hash": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
+    "hash_raw": "0084fcf79fea067632a1c2d9519b6445ad484aa8b09f49f22e6b45b4dccacd2d",
     "size": 274432,
     "sparse": false,
     "full_check": true,
@@ -21,32 +21,56 @@
   },
   {
     "name": "xbl",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl-2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35.img.xz",
-    "hash": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
-    "hash_raw": "2b1b67aa918cd127f2b0b4ed0a372f3a93676cf9d270bd3e56329516efdc5a35",
-    "size": 3670016,
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl-942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa.img.xz",
+    "hash": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
+    "hash_raw": "942b9b2914d89c2a70fdf27380b59e04b549ac2fd53ecb29d6549d1a9c8daeaa",
+    "size": 3282672,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "xbl_config",
-    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad.img.xz",
-    "hash": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
-    "hash_raw": "3aa926394b4cec464300bfc0e7ab77d50889b38041138c60cd84c397930b38ad",
-    "size": 364544,
+    "url": "https://commadist.azureedge.net/agnosupdate/xbl_config-6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf.img.xz",
+    "hash": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
+    "hash_raw": "6881d94599f65d94c13bcc0bd860184dfba2dfe96ec776d08fb35ac5b5f85bbf",
+    "size": 98124,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "devcfg",
+    "url": "https://commadist.azureedge.net/agnosupdate/devcfg-9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262.img.xz",
+    "hash": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
+    "hash_raw": "9bbf168baff6101f4890c5c95c118e30813c2610cfb35b8e19e363f04a32a262",
+    "size": 40336,
+    "sparse": false,
+    "full_check": true,
+    "has_ab": true
+  },
+  {
+    "name": "aop",
+    "url": "https://commadist.azureedge.net/agnosupdate/aop-c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222.img.xz",
+    "hash": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
+    "hash_raw": "c1d9d712980f6b2a4b12196597f4d1bf3fe4fec6c59edf29ae63ef21f11b8222",
+    "size": 184364,
     "sparse": false,
     "full_check": true,
     "has_ab": true
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e.img.xz",
-    "hash": "48209ce7e8cc2fff4ec024f0cd82fc2e3e097b5c0629be2b292acf64e6701449",
-    "hash_raw": "9efdc9368f05e06008a7a1dbbee21b564e89988dc94d6ddee3a3a88e42268f0e",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz",
+    "hash": "611011f3e3f147bc24f371105a9dd3760ec11ba424c56d4a442a66b098c784c0",
+    "hash_raw": "e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
-    "has_ab": true
+    "has_ab": true,
+    "alt": {
+      "hash": "256442a55fcb9e8f72969f003a4db91598dee1136f8dda85b553a557d36b93d8",
+      "url": "https://commadist.azureedge.net/agnosupdate/system-skip-chunks-e1fa3018bce9bad01c6967e5e21f1141cf5c8f02d2edfaed51c738f74a32a432.img.xz"
+    }
   }
 ]
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index 5f446a8e90..ef7d9adb79 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -10,7 +10,7 @@ from typing import Dict, Generator, List, Tuple, Union
 
 import requests
 
-import system.hardware.tici.casync as casync
+import openpilot.system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
 CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
diff --git a/system/hardware/tici/amplifier.py b/system/hardware/tici/amplifier.py
index a8b2798630..5b656a40fa 100755
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@@ -1,6 +1,7 @@
-#!/usr/bin/env python
+import time
 from smbus2 import SMBus
 from collections import namedtuple
+from typing import List
 
 # https://datasheets.maximintegrated.com/en/ds/MAX98089.pdf
 
@@ -25,13 +26,10 @@ BASE_CONFIG = [
   AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
   AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
   AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
-  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
   AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
   AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
   AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
   AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
-  AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
   AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
   AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
   AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
@@ -42,7 +40,6 @@ BASE_CONFIG = [
   AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
   AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
   AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
-  AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
   AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
   AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
   AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
@@ -63,11 +60,44 @@ BASE_CONFIG = [
   AmpConfig("Zero-crossing detection disabled", 0b0, 0x49, 5, 0b00100000),
 ]
 
-BASE_CONFIG += configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656))
-BASE_CONFIG += configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF))
-BASE_CONFIG += configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42))
-BASE_CONFIG += configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807))
-BASE_CONFIG += configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B))
+CONFIGS = {
+  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
+    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
+    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
+    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
+    *configs_from_eq_params(0xA2, EQParams(0x091F, 0x3D4C, 0xCE11, 0x1266, 0x2807)),
+    *configs_from_eq_params(0xAC, EQParams(0x0A9E, 0x3F20, 0xE573, 0x0A8B, 0x3A3B)),
+  ],
+  "tizi": [
+    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
+    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
+    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
+    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
+    AmpConfig("Excursion limiter upper corner freq", 0b001, 0x41, 4, 0b01110000),
+    AmpConfig("Excursion limiter threshold", 0b100, 0x42, 0, 0b00001111),
+    AmpConfig("Distortion limit (THDCLP)", 0x0, 0x46, 4, 0b11110000),
+    AmpConfig("Distortion limiter release time constant", 0b1, 0x46, 0, 0b00000001),
+    AmpConfig("Left DAC input mixer: DAI1 left", 0b0, 0x22, 7, 0b10000000),
+    AmpConfig("Left DAC input mixer: DAI1 right", 0b0, 0x22, 6, 0b01000000),
+    AmpConfig("Left DAC input mixer: DAI2 left", 0b1, 0x22, 5, 0b00100000),
+    AmpConfig("Left DAC input mixer: DAI2 right", 0b0, 0x22, 4, 0b00010000),
+    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
+    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
+    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
+  ],
+}
 
 class Amplifier:
   AMP_I2C_BUS = 0
@@ -76,29 +106,51 @@ class Amplifier:
   def __init__(self, debug=False):
     self.debug = debug
 
-  def set_config(self, config):
-    with SMBus(self.AMP_I2C_BUS) as bus:
-      if self.debug:
-        print(f"Setting \"{config.name}\" to {config.value}:")
-
-      old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
-      new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
-      bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
-
-      if self.debug:
-        print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
-
-  def set_global_shutdown(self, amp_disabled):
-    self.set_config(AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000))
+  def _get_shutdown_config(self, amp_disabled: bool) -> AmpConfig:
+    return AmpConfig("Global shutdown", 0b0 if amp_disabled else 0b1, 0x51, 7, 0b10000000)
 
-  def initialize_configuration(self):
-    self.set_global_shutdown(amp_disabled=True)
-
-    for config in BASE_CONFIG:
-      self.set_config(config)
-
-    self.set_global_shutdown(amp_disabled=False)
+  def _set_configs(self, configs: List[AmpConfig]) -> None:
+    with SMBus(self.AMP_I2C_BUS) as bus:
+      for config in configs:
+        if self.debug:
+          print(f"Setting \"{config.name}\" to {config.value}:")
+
+        old_value = bus.read_byte_data(self.AMP_ADDRESS, config.register, force=True)
+        new_value = (old_value & (~config.mask)) | ((config.value << config.offset) & config.mask)
+        bus.write_byte_data(self.AMP_ADDRESS, config.register, new_value, force=True)
+
+        if self.debug:
+          print(f"  Changed {hex(config.register)}: {hex(old_value)} -> {hex(new_value)}")
+
+  def set_configs(self, configs: List[AmpConfig]) -> bool:
+    # retry in case panda is using the amp
+    tries = 15
+    for i in range(15):
+      try:
+        self._set_configs(configs)
+        return True
+      except OSError:
+        print(f"Failed to set amp config, {tries - i - 1} retries left")
+        time.sleep(0.02)
+    return False
+
+  def set_global_shutdown(self, amp_disabled: bool) -> bool:
+    return self.set_configs([self._get_shutdown_config(amp_disabled), ])
+
+  def initialize_configuration(self, model: str) -> bool:
+    cfgs = [
+      self._get_shutdown_config(True),
+      *BASE_CONFIG,
+      *CONFIGS[model],
+      self._get_shutdown_config(False),
+    ]
+    return self.set_configs(cfgs)
 
 
 if __name__ == "__main__":
-  Amplifier(debug=True).initialize_configuration()
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+
+  amp = Amplifier()
+  amp.initialize_configuration(model)
diff --git a/system/hardware/tici/hardware.h b/system/hardware/tici/hardware.h
index d388f9c48a..c1a2dcb169 100644
--- a/system/hardware/tici/hardware.h
+++ b/system/hardware/tici/hardware.h
@@ -2,6 +2,8 @@
 
 #include <cstdlib>
 #include <fstream>
+#include <map>
+#include <string>
 
 #include "common/params.h"
 #include "common/util.h"
@@ -15,29 +17,56 @@ public:
   static bool AGNOS() { return true; }
   static std::string get_os_version() {
     return "AGNOS " + util::read_file("/VERSION");
-  };
-  static std::string get_name() { return "tici"; };
-  static cereal::InitData::DeviceType get_device_type() { return cereal::InitData::DeviceType::TICI; };
-  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); };
-  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); };
+  }
+
+  static std::string get_name() {
+    std::string devicetree_model = util::read_file("/sys/firmware/devicetree/base/model");
+    return (devicetree_model.find("tizi") != std::string::npos) ? "tizi" : "tici";
+  }
+
+  static cereal::InitData::DeviceType get_device_type() {
+    return (get_name() == "tizi") ? cereal::InitData::DeviceType::TIZI : cereal::InitData::DeviceType::TICI;
+  }
 
+  static int get_voltage() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/in1_input").c_str()); }
+  static int get_current() { return std::atoi(util::read_file("/sys/class/hwmon/hwmon1/curr1_input").c_str()); }
 
-  static void reboot() { std::system("sudo reboot"); };
-  static void poweroff() { std::system("sudo poweroff"); };
+  static std::string get_serial() {
+    static std::string serial("");
+    if (serial.empty()) {
+      std::ifstream stream("/proc/cmdline");
+      std::string cmdline;
+      std::getline(stream, cmdline);
+
+      auto start = cmdline.find("serialno=");
+      if (start == std::string::npos) {
+        serial = "cccccc";
+      } else {
+        auto end = cmdline.find(" ", start + 9);
+        serial = cmdline.substr(start + 9, end - start - 9);
+      }
+    }
+    return serial;
+  }
+
+  static void reboot() { std::system("sudo reboot"); }
+  static void poweroff() { std::system("sudo poweroff"); }
   static void set_brightness(int percent) {
+    std::string max = util::read_file("/sys/class/backlight/panel0-backlight/max_brightness");
+
     std::ofstream brightness_control("/sys/class/backlight/panel0-backlight/brightness");
     if (brightness_control.is_open()) {
-      brightness_control << (percent * (int)(1023/100.)) << "\n";
+      brightness_control << (int)(percent * (std::stof(max)/100.)) << "\n";
       brightness_control.close();
     }
-  };
+  }
   static void set_display_power(bool on) {
     std::ofstream bl_power_control("/sys/class/backlight/panel0-backlight/bl_power");
     if (bl_power_control.is_open()) {
       bl_power_control << (on ? "0" : "4") << "\n";
       bl_power_control.close();
     }
-  };
+  }
   static void set_volume(float volume) {
     volume = util::map_val(volume, 0.f, 1.f, MIN_VOLUME, MAX_VOLUME);
 
@@ -46,6 +75,32 @@ public:
     std::system(("pactl set-sink-volume @DEFAULT_SINK@ " + std::string(volume_str)).c_str());
   }
 
-  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); };
-  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); };
+
+  static std::map<std::string, std::string> get_init_logs() {
+    std::map<std::string, std::string> ret = {
+      {"/BUILD", util::read_file("/BUILD")},
+      {"lsblk", util::check_output("lsblk -o NAME,SIZE,STATE,VENDOR,MODEL,REV,SERIAL")},
+    };
+
+    std::string bs = util::check_output("abctl --boot_slot");
+    ret["boot slot"] = bs.substr(0, bs.find_first_of("\n"));
+
+    std::string temp = util::read_file("/dev/disk/by-partlabel/ssd");
+    temp.erase(temp.find_last_not_of(std::string("\0\r\n", 3))+1);
+    ret["boot temp"] = temp;
+
+    // TODO: log something from system and boot
+    for (std::string part : {"xbl", "abl", "aop", "devcfg", "xbl_config"}) {
+      for (std::string slot : {"a", "b"}) {
+        std::string partition = part + "_" + slot;
+        std::string hash = util::check_output("sha256sum /dev/disk/by-partlabel/" + partition);
+        ret[partition] = hash.substr(0, hash.find_first_of(" "));
+      }
+    }
+
+    return ret;
+  }
+
+  static bool get_ssh_enabled() { return Params().getBool("SshEnabled"); }
+  static void set_ssh_enabled(bool enabled) { Params().putBool("SshEnabled", enabled); }
 };
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index b5f5e00410..952693dd3a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -4,15 +4,15 @@ import os
 import subprocess
 import time
 from enum import IntEnum
-from functools import cached_property
+from functools import cached_property, lru_cache
 from pathlib import Path
 
 from cereal import log
-from common.gpio import gpio_set, gpio_init
-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
+from openpilot.common.gpio import gpio_set, gpio_init, get_irqs_for_action
+from openpilot.system.hardware.base import HardwareBase, ThermalConfig
+from openpilot.system.hardware.tici import iwlist
+from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.system.hardware.tici.amplifier import Amplifier
 
 NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
@@ -61,16 +61,43 @@ MM_MODEM_ACCESS_TECHNOLOGY_LTE = 1 << 14
 
 
 def sudo_write(val, path):
-  os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def affine_irq(val, irq):
-  sudo_write(str(val), f"/proc/irq/{irq}/smp_affinity_list")
-
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def affine_irq(val, action):
+  irqs = get_irqs_for_action(action)
+  if len(irqs) == 0:
+    print(f"No IRQs found for '{action}'")
+    return
+
+  for i in irqs:
+    sudo_write(str(val), f"/proc/irq/{i}/smp_affinity_list")
+
+@lru_cache
+def get_device_type():
+  # lru_cache and cache can cause memory leaks when used in classes
+  with open("/sys/firmware/devicetree/base/model") as f:
+    model = f.read().strip('\x00')
+  model = model.split('comma ')[-1]
+  # TODO: remove this with AGNOS 7+
+  if model.startswith('Qualcomm'):
+    model = 'tici'
+  return model
 
 class Tici(HardwareBase):
   @cached_property
   def bus(self):
-    import dbus  # pylint: disable=import-error
+    import dbus
     return dbus.SystemBus()
 
   @cached_property
@@ -90,11 +117,13 @@ class Tici(HardwareBase):
       return f.read().strip()
 
   def get_device_type(self):
-    return "tici"
+    return get_device_type()
 
   def get_sound_card_online(self):
-    return (os.path.isfile('/proc/asound/card0/state') and
-            open('/proc/asound/card0/state').read().strip() == 'ONLINE')
+    if os.path.isfile('/proc/asound/card0/state'):
+      with open('/proc/asound/card0/state') as f:
+        return f.read().strip() == 'ONLINE'
+    return False
 
   def reboot(self, reason=None):
     subprocess.check_output(["sudo", "reboot"])
@@ -294,7 +323,8 @@ class Tici(HardwareBase):
       (True, tc + ["class", "add", "dev", adapter, "parent", "1:", "classid", "1:20", "htb", "rate", f"{upload_speed_kbps}kbit"]),
 
       # Create universal 32 bit filter on adapter that sends all outbound ip traffic through the class
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "1:", "protocol", "ip", "prio", \
+                   "10", "u32", "match", "ip", "dst", "0.0.0.0/0", "flowid", "1:20"]),
     ]
 
     download = [
@@ -303,7 +333,8 @@ class Tici(HardwareBase):
 
       # Redirect ingress (incoming) to egress ifb0
       (True, tc + ["qdisc", "add", "dev", adapter, "handle", "ffff:", "ingress"]),
-      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
+      (True, tc + ["filter", "add", "dev", adapter, "parent", "ffff:", "protocol", "ip", "u32", \
+                   "match", "u32", "0", "0", "action", "mirred", "egress", "redirect", "dev", ifb]),
 
       # Add class and rules for virtual interface
       (True, tc + ["qdisc", "add", "dev", ifb, "root", "handle", "2:", "htb"]),
@@ -385,15 +416,22 @@ class Tici(HardwareBase):
 
   def set_screen_brightness(self, percentage):
     try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
+      val = int(percentage * (max_brightness / 100.))
       with open("/sys/class/backlight/panel0-backlight/brightness", "w") as f:
-        f.write(str(int(percentage * 10.23)))
+        f.write(str(val))
     except Exception:
       pass
 
   def get_screen_brightness(self):
     try:
+      with open("/sys/class/backlight/panel0-backlight/max_brightness") as f:
+        max_brightness = float(f.read().strip())
+
       with open("/sys/class/backlight/panel0-backlight/brightness") as f:
-        return int(float(f.read()) / 10.23)
+        return int(float(f.read()) / (max_brightness / 100.))
     except Exception:
       return 0
 
@@ -401,7 +439,7 @@ class Tici(HardwareBase):
     # amplifier, 100mW at idle
     self.amplifier.set_global_shutdown(amp_disabled=powersave_enabled)
     if not powersave_enabled:
-      self.amplifier.initialize_configuration()
+      self.amplifier.initialize_configuration(self.get_device_type())
 
     # *** CPU config ***
 
@@ -415,34 +453,49 @@ class Tici(HardwareBase):
       sudo_write(gov, f'/sys/devices/system/cpu/cpufreq/policy{n}/scaling_governor')
 
     # *** IRQ config ***
-    affine_irq(5, 565)   # kgsl-3d0
-    affine_irq(4, 126)   # SPI goes on boardd core
-    affine_irq(4, 740)   # xhci-hcd:usb1 goes on the boardd core
-    affine_irq(4, 1069)  # xhci-hcd:usb3 goes on the boardd core
-    for irq in range(237, 246):
-      affine_irq(5, irq) # camerad
+
+    # boardd core
+    affine_irq(4, "spi_geni")         # SPI
+    affine_irq(4, "xhci-hcd:usb3")    # aux panda USB (or potentially anything else on USB)
+    if "tici" in self.get_device_type():
+      affine_irq(4, "xhci-hcd:usb1")  # internal panda USB (also modem)
+
+    # GPU
+    affine_irq(5, "kgsl-3d0")
+
+    # camerad core
+    camera_irqs = ("cci", "cpas_camnoc", "cpas-cdm", "csid", "ife", "csid-lite", "ife-lite")
+    for n in camera_irqs:
+      affine_irq(5, n)
 
   def get_gpu_usage_percent(self):
     try:
-      used, total = open('/sys/class/kgsl/kgsl-3d0/gpubusy').read().strip().split()
+      with open('/sys/class/kgsl/kgsl-3d0/gpubusy') as f:
+        used, total = f.read().strip().split()
       return 100.0 * int(used) / int(total)
     except Exception:
       return 0
 
   def initialize_hardware(self):
-    self.amplifier.initialize_configuration()
+    self.amplifier.initialize_configuration(self.get_device_type())
 
     # Allow thermald to write engagement status to kmsg
     os.system("sudo chmod a+w /dev/kmsg")
 
+    # Ensure fan gpio is enabled so fan runs until shutdown, also turned on at boot by the ABL
+    gpio_init(GPIO.SOM_ST_IO, True)
+    gpio_set(GPIO.SOM_ST_IO, 1)
+
     # *** IRQ config ***
 
-    # move these off the default core
-    affine_irq(1, 7)    # msm_drm
-    affine_irq(1, 250)  # msm_vidc
-    affine_irq(1, 8)    # i2c_geni (sensord)
+    # mask off big cluster from default affinity
     sudo_write("f", "/proc/irq/default_smp_affinity")
 
+    # move these off the default core
+    affine_irq(1, "msm_drm")   # display
+    affine_irq(1, "msm_vidc")  # encoders
+    affine_irq(1, "i2c_geni")  # sensors
+
     # *** GPU config ***
     # https://github.com/commaai/agnos-kernel-sdm845/blob/master/arch/arm64/boot/dts/qcom/sdm845-gpu.dtsi#L216
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/min_pwrlevel")
@@ -450,7 +503,7 @@ class Tici(HardwareBase):
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_bus_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_clk_on")
     sudo_write("1", "/sys/class/kgsl/kgsl-3d0/force_rail_on")
-    sudo_write("1000000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
+    sudo_write("1000", "/sys/class/kgsl/kgsl-3d0/idle_timer")
     sudo_write("performance", "/sys/class/kgsl/kgsl-3d0/devfreq/governor")
     sudo_write("596", "/sys/class/kgsl/kgsl-3d0/max_clock_mhz")
 
@@ -526,6 +579,9 @@ class Tici(HardwareBase):
     except Exception:
       return -1, -1
 
+  def has_internal_panda(self):
+    return True
+
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
 
@@ -539,8 +595,9 @@ class Tici(HardwareBase):
 
     gpio_set(GPIO.STM_RST_N, 1)
     gpio_set(GPIO.STM_BOOT0, 1)
-    time.sleep(2)
+    time.sleep(1)
     gpio_set(GPIO.STM_RST_N, 0)
+    time.sleep(1)
     gpio_set(GPIO.STM_BOOT0, 0)
 
 
diff --git a/system/hardware/tici/pins.py b/system/hardware/tici/pins.py
index fe31b9311d..5ac0158082 100644
--- a/system/hardware/tici/pins.py
+++ b/system/hardware/tici/pins.py
@@ -10,6 +10,9 @@ class GPIO:
   STM_RST_N = 124
   STM_BOOT0 = 134
 
+  SIREN = 42
+  SOM_ST_IO = 49
+
   LTE_RST_N = 50
   LTE_PWRKEY = 116
   LTE_BOOT = 52
diff --git a/system/hardware/tici/power_draw_test.py b/system/hardware/tici/power_draw_test.py
index bde92ae4a5..28113ad073 100755
--- a/system/hardware/tici/power_draw_test.py
+++ b/system/hardware/tici/power_draw_test.py
@@ -2,9 +2,9 @@
 import os
 import time
 import numpy as np
-from system.hardware.tici.hardware import Tici
-from system.hardware.tici.pins import GPIO
-from common.gpio import gpio_init, gpio_set
+from openpilot.system.hardware.tici.hardware import Tici
+from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.common.gpio import gpio_init, gpio_set, gpio_export
 
 def read_power():
   with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
@@ -33,13 +33,6 @@ def read_power_avg():
   return "total %7.2f mW  SOM %7.2f mW" % (power_total, power_som)
 
 
-def gpio_export(pin):
-  try:
-    with open("/sys/class/gpio/export", 'w') as f:
-      f.write(str(pin))
-  except Exception:
-    print(f"Failed to export gpio {pin}")
-
 if __name__ == "__main__":
   gpio_export(GPIO.CAM0_AVDD_EN)
   gpio_export(GPIO.CAM0_RSTN)
diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
index f9d1e3cc41..ef3055ac47 100755
--- a/system/hardware/tici/power_monitor.py
+++ b/system/hardware/tici/power_monitor.py
@@ -4,9 +4,10 @@ import time
 import datetime
 import numpy as np
 from typing import List
+from collections import deque
 
-from common.realtime import Ratekeeper
-from common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.filter_simple import FirstOrderFilter
 
 
 def read_power():
@@ -27,6 +28,15 @@ def get_power(seconds=5):
   pwrs = sample_power(seconds)
   return np.mean(pwrs)
 
+def wait_for_power(min_pwr, max_pwr, min_secs_in_range, timeout):
+  start_time = time.monotonic()
+  pwrs = deque([min_pwr - 1.]*min_secs_in_range, maxlen=min_secs_in_range)
+  while (time.monotonic() - start_time < timeout):
+    pwrs.append(get_power(1))
+    if all(min_pwr <= p <= max_pwr for p in pwrs):
+      break
+  return np.mean(pwrs)
+
 
 if __name__ == "__main__":
   duration = None
diff --git a/system/hardware/tici/precise_power_measure.py b/system/hardware/tici/precise_power_measure.py
index 5d68851367..e186ba4aea 100755
--- a/system/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 system.hardware.tici.power_monitor import sample_power
+from openpilot.system.hardware.tici.power_monitor import sample_power
 
 if __name__ == '__main__':
   print("measuring for 5 seconds")
diff --git a/system/hardware/tici/restart_modem.sh b/system/hardware/tici/restart_modem.sh
index 26c04e4fba..3c67d9d21d 100755
--- a/system/hardware/tici/restart_modem.sh
+++ b/system/hardware/tici/restart_modem.sh
@@ -7,7 +7,7 @@ sudo nmcli connection reload
 
 sudo systemctl stop ModemManager
 nmcli con down lte
-nmcli con down magenta-prime
+nmcli con down blue-prime
 
 # power cycle modem
 /usr/comma/lte/lte.sh stop_blocking
diff --git a/system/hardware/tici/test_power_draw.py b/system/hardware/tici/test_power_draw.py
deleted file mode 100755
index 2460152998..0000000000
--- a/system/hardware/tici/test_power_draw.py
+++ /dev/null
@@ -1,73 +0,0 @@
-#!/usr/bin/env python3
-import unittest
-import time
-import math
-from dataclasses import dataclass
-
-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
-
-
-@dataclass
-class Proc:
-  name: str
-  power: float
-  rtol: float = 0.05
-  atol: float = 0.1
-  warmup: float = 6.
-
-PROCS = [
-  Proc('camerad', 2.15),
-  Proc('modeld', 1.15, atol=0.2),
-  Proc('dmonitoringmodeld', 0.4),
-  Proc('encoderd', 0.23),
-]
-
-
-class TestPowerDraw(unittest.TestCase):
-
-  @classmethod
-  def setUpClass(cls):
-    if not TICI:
-      raise unittest.SkipTest
-
-  def setUp(self):
-    HARDWARE.initialize_hardware()
-    HARDWARE.set_power_save(False)
-
-    # wait a bit for power save to disable
-    time.sleep(5)
-
-  def tearDown(self):
-    manager_cleanup()
-
-  def test_camera_procs(self):
-    baseline = get_power()
-
-    prev = baseline
-    used = {}
-    for proc in PROCS:
-      managed_processes[proc.name].start()
-      time.sleep(proc.warmup)
-
-      now = get_power(8)
-      used[proc.name] = now - prev
-      prev = now
-
-    manager_cleanup()
-
-    print("-"*35)
-    print(f"Baseline {baseline:.2f}W\n")
-    for proc in PROCS:
-      cur = used[proc.name]
-      expected = proc.power
-      print(f"{proc.name.ljust(20)} {expected:.2f}W  {cur:.2f}W")
-      with self.subTest(proc=proc.name):
-        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
-    print("-"*35)
-
-
-if __name__ == "__main__":
-  unittest.main()
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
index b462e93ebc..835985b0b5 100755
--- a/system/hardware/tici/tests/compare_casync_manifest.py
+++ b/system/hardware/tici/tests/compare_casync_manifest.py
@@ -8,7 +8,7 @@ from typing import Dict, List
 import requests
 from tqdm import tqdm
 
-import system.hardware.tici.casync as casync
+import openpilot.system.hardware.tici.casync as casync
 
 
 def get_chunk_download_size(chunk):
@@ -40,7 +40,7 @@ if __name__ == "__main__":
   # Get content-length for each chunk
   with multiprocessing.Pool() as pool:
     szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
-  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)}
+  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs, strict=True)}
 
   sources: Dict[str, List[int]] = {
     'seed': [],
diff --git a/system/hardware/tici/test_agnos_updater.py b/system/hardware/tici/tests/test_agnos_updater.py
similarity index 80%
rename from system/hardware/tici/test_agnos_updater.py
rename to system/hardware/tici/tests/test_agnos_updater.py
index e0d6ed8814..86bc78881e 100755
--- a/system/hardware/tici/test_agnos_updater.py
+++ b/system/hardware/tici/tests/test_agnos_updater.py
@@ -4,8 +4,8 @@ import os
 import unittest
 import requests
 
-AGNOS_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
-MANIFEST = os.path.join(AGNOS_DIR, "agnos.json")
+TEST_DIR = os.path.join(os.path.dirname(os.path.abspath(__file__)))
+MANIFEST = os.path.join(TEST_DIR, "../agnos.json")
 
 
 class TestAgnosUpdater(unittest.TestCase):
diff --git a/system/hardware/tici/tests/test_amplifier.py b/system/hardware/tici/tests/test_amplifier.py
new file mode 100755
index 0000000000..cd3b0f90fe
--- /dev/null
+++ b/system/hardware/tici/tests/test_amplifier.py
@@ -0,0 +1,75 @@
+#!/usr/bin/env python3
+import time
+import random
+import unittest
+import subprocess
+
+from panda import Panda
+from openpilot.system.hardware import TICI, HARDWARE
+from openpilot.system.hardware.tici.hardware import Tici
+from openpilot.system.hardware.tici.amplifier import Amplifier
+
+
+class TestAmplifier(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    # clear dmesg
+    subprocess.check_call("sudo dmesg -C", shell=True)
+
+    HARDWARE.reset_internal_panda()
+    Panda.wait_for_panda(None, 30)
+    self.panda = Panda()
+
+  def tearDown(self):
+    HARDWARE.reset_internal_panda()
+
+  def _check_for_i2c_errors(self, expected):
+    dmesg = subprocess.check_output("dmesg", shell=True, encoding='utf8')
+    i2c_lines = [l for l in dmesg.strip().splitlines() if 'i2c_geni a88000.i2c' in l]
+    i2c_str = '\n'.join(i2c_lines)
+
+    if not expected:
+      return len(i2c_lines) == 0
+    else:
+      return "i2c error :-107" in i2c_str or "Bus arbitration lost" in i2c_str
+
+  def test_init(self):
+    amp = Amplifier(debug=True)
+    r = amp.initialize_configuration(Tici().get_device_type())
+    assert r
+    assert self._check_for_i2c_errors(False)
+
+  def test_shutdown(self):
+    amp = Amplifier(debug=True)
+    for _ in range(10):
+      r = amp.set_global_shutdown(True)
+      r = amp.set_global_shutdown(False)
+      # amp config should be successful, with no i2c errors
+      assert r
+      assert self._check_for_i2c_errors(False)
+
+  def test_init_while_siren_play(self):
+    for _ in range(10):
+      self.panda.set_siren(False)
+      time.sleep(0.1)
+
+      self.panda.set_siren(True)
+      time.sleep(random.randint(0, 5))
+
+      amp = Amplifier(debug=True)
+      r = amp.initialize_configuration(Tici().get_device_type())
+      assert r
+
+      if self._check_for_i2c_errors(True):
+        break
+    else:
+      self.fail("didn't hit any i2c errors")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py
index 8724575ad6..94b32a9f76 100755
--- a/system/hardware/tici/tests/test_casync.py
+++ b/system/hardware/tici/tests/test_casync.py
@@ -4,7 +4,7 @@ import unittest
 import tempfile
 import subprocess
 
-import system.hardware.tici.casync as casync
+import openpilot.system.hardware.tici.casync as casync
 
 # dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
 # sudo losetup -f /tmp/img.raw
diff --git a/system/hardware/tici/tests/test_hardware.py b/system/hardware/tici/tests/test_hardware.py
new file mode 100755
index 0000000000..7d377ac3fb
--- /dev/null
+++ b/system/hardware/tici/tests/test_hardware.py
@@ -0,0 +1,34 @@
+#!/usr/bin/env python3
+import time
+import unittest
+import numpy as np
+
+from openpilot.system.hardware import TICI
+from openpilot.system.hardware.tici.hardware import Tici
+
+HARDWARE = Tici()
+
+class TestHardware(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+    HARDWARE.initialize_hardware()
+    HARDWARE.set_power_save(False)
+
+  def test_power_save_time(self):
+    ts = []
+    for _ in range(5):
+      for on in (True, False):
+        st = time.monotonic()
+        HARDWARE.set_power_save(on)
+        ts.append(time.monotonic() - st)
+
+    assert 0.1 < np.mean(ts) < 0.25
+    assert max(ts) < 0.3
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/hardware/tici/tests/test_power_draw.py b/system/hardware/tici/tests/test_power_draw.py
new file mode 100755
index 0000000000..fbca95f6f6
--- /dev/null
+++ b/system/hardware/tici/tests/test_power_draw.py
@@ -0,0 +1,104 @@
+#!/usr/bin/env python3
+import unittest
+import time
+import math
+import threading
+from dataclasses import dataclass
+from tabulate import tabulate
+from typing import List
+
+import cereal.messaging as messaging
+from cereal.services import service_list
+from openpilot.system.hardware import HARDWARE, TICI
+from openpilot.system.hardware.tici.power_monitor import get_power
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.manager import manager_cleanup
+from openpilot.selfdrive.navd.tests.test_map_renderer import gen_llk
+
+SAMPLE_TIME = 8   # seconds to sample power
+
+@dataclass
+class Proc:
+  name: str
+  power: float
+  msgs: List[str]
+  rtol: float = 0.05
+  atol: float = 0.12
+  warmup: float = 6.
+
+PROCS = [
+  Proc('camerad', 2.1, msgs=['roadCameraState', 'wideRoadCameraState', 'driverCameraState']),
+  Proc('modeld', 0.93, atol=0.2, msgs=['modelV2']),
+  Proc('dmonitoringmodeld', 0.4, msgs=['driverStateV2']),
+  Proc('encoderd', 0.23, msgs=[]),
+  Proc('mapsd', 0.05, msgs=['mapRenderState']),
+  Proc('navmodeld', 0.05, msgs=['navModel']),
+]
+
+def send_llk_msg(done):
+  # Send liveLocationKalman at 20Hz
+  pm = messaging.PubMaster(['liveLocationKalman'])
+  while not done.is_set():
+    msg = gen_llk()
+    pm.send('liveLocationKalman', msg)
+    time.sleep(1/20.)
+
+
+class TestPowerDraw(unittest.TestCase):
+
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    HARDWARE.initialize_hardware()
+    HARDWARE.set_power_save(False)
+
+    # wait a bit for power save to disable
+    time.sleep(5)
+
+  def tearDown(self):
+    manager_cleanup()
+
+  def test_camera_procs(self):
+    baseline = get_power()
+    done = threading.Event()
+    thread = threading.Thread(target=send_llk_msg, args=(done,), daemon=True)
+    thread.start()
+
+    prev = baseline
+    used = {}
+    msg_counts = {}
+    for proc in PROCS:
+      socks = {msg: messaging.sub_sock(msg) for msg in proc.msgs}
+      managed_processes[proc.name].start()
+      time.sleep(proc.warmup)
+      for sock in socks.values():
+        messaging.drain_sock_raw(sock)
+
+      now = get_power(SAMPLE_TIME)
+      used[proc.name] = now - prev
+      prev = now
+      for msg,sock in socks.items():
+        msg_counts[msg] = len(messaging.drain_sock_raw(sock))
+
+    done.set()
+    manager_cleanup()
+
+    tab = [['process', 'expected (W)', 'measured (W)', '# msgs expected', '# msgs received']]
+    for proc in PROCS:
+      cur = used[proc.name]
+      expected = proc.power
+      msgs_received = sum(msg_counts[msg] for msg in proc.msgs)
+      msgs_expected = int(sum(SAMPLE_TIME * service_list[msg].frequency for msg in proc.msgs))
+      tab.append([proc.name, round(expected, 2), round(cur, 2), msgs_expected, msgs_received])
+      with self.subTest(proc=proc.name):
+        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
+        self.assertTrue(math.isclose(msgs_expected, msgs_received, rel_tol=.02, abs_tol=2))
+    print(tabulate(tab))
+    print(f"Baseline {baseline:.2f}W\n")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/logcatd/logcatd_systemd.cc b/system/logcatd/logcatd_systemd.cc
index 70467a9c15..54b3782132 100644
--- a/system/logcatd/logcatd_systemd.cc
+++ b/system/logcatd/logcatd_systemd.cc
@@ -5,7 +5,7 @@
 #include <map>
 #include <string>
 
-#include "json11.hpp"
+#include "third_party/json11/json11.hpp"
 
 #include "cereal/messaging/messaging.h"
 #include "common/timing.h"
@@ -35,7 +35,7 @@ int main(int argc, char *argv[]) {
     // Wait for new message if we didn't receive anything
     if (err == 0) {
       err = sd_journal_wait(journal, 1000 * 1000);
-      assert (err >= 0);
+      assert(err >= 0);
       continue; // Try again
     }
 
diff --git a/selfdrive/loggerd/.gitignore b/system/loggerd/.gitignore
similarity index 100%
rename from selfdrive/loggerd/.gitignore
rename to system/loggerd/.gitignore
diff --git a/selfdrive/loggerd/README.md b/system/loggerd/README.md
similarity index 100%
rename from selfdrive/loggerd/README.md
rename to system/loggerd/README.md
diff --git a/selfdrive/loggerd/SConscript b/system/loggerd/SConscript
similarity index 90%
rename from selfdrive/loggerd/SConscript
rename to system/loggerd/SConscript
index 92706c53ec..d4f52fb5f1 100644
--- a/selfdrive/loggerd/SConscript
+++ b/system/loggerd/SConscript
@@ -13,6 +13,8 @@ if arch == "Darwin":
   # fix OpenCL
   del libs[libs.index('OpenCL')]
   env['FRAMEWORKS'] = ['OpenCL']
+  # exclude v4l
+  del src[src.index('encoder/v4l_encoder.cc')]
 
 logger_lib = env.Library('logger', src)
 libs.insert(0, logger_lib)
@@ -21,5 +23,5 @@ env.Program('loggerd', ['loggerd.cc'], LIBS=libs)
 env.Program('encoderd', ['encoderd.cc'], LIBS=libs)
 env.Program('bootlog.cc', LIBS=libs)
 
-if GetOption('test'):
+if GetOption('extras'):
   env.Program('tests/test_logger', ['tests/test_runner.cc', 'tests/test_logger.cc'], LIBS=libs + ['curl', 'crypto'])
diff --git a/system/loggerd/__init__.py b/system/loggerd/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/loggerd/bootlog.cc b/system/loggerd/bootlog.cc
similarity index 86%
rename from selfdrive/loggerd/bootlog.cc
rename to system/loggerd/bootlog.cc
index e882e4cf8d..becd293c02 100644
--- a/selfdrive/loggerd/bootlog.cc
+++ b/system/loggerd/bootlog.cc
@@ -2,8 +2,9 @@
 #include <string>
 
 #include "cereal/messaging/messaging.h"
+#include "common/params.h"
 #include "common/swaglog.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 
 
 static kj::Array<capnp::word> build_boot_log() {
@@ -48,7 +49,8 @@ static kj::Array<capnp::word> build_boot_log() {
 }
 
 int main(int argc, char** argv) {
-  const std::string path = LOG_ROOT + "/boot/" + logger_get_route_name();
+  const std::string timestr = logger_get_route_name();
+  const std::string path = LOG_ROOT + "/boot/" + timestr;
   LOGW("bootlog to %s", path.c_str());
 
   // Open bootlog
@@ -61,5 +63,8 @@ int main(int argc, char** argv) {
   // Write bootlog
   file.write(build_boot_log().asBytes());
 
+  // Write out bootlog param to match routes with bootlog
+  Params().put("CurrentBootlog", timestr.c_str());
+
   return 0;
 }
diff --git a/selfdrive/loggerd/config.py b/system/loggerd/config.py
similarity index 81%
rename from selfdrive/loggerd/config.py
rename to system/loggerd/config.py
index 168c9fba91..dfc117f2c1 100644
--- a/selfdrive/loggerd/config.py
+++ b/system/loggerd/config.py
@@ -1,11 +1,11 @@
 import os
 from pathlib import Path
-from system.hardware import PC
+from openpilot.system.hardware import PC
 
 if os.environ.get('LOG_ROOT', False):
   ROOT = os.environ['LOG_ROOT']
 elif PC:
-  ROOT = os.path.join(str(Path.home()), ".comma", "media", "0", "realdata")
+  ROOT = str(Path.home() / ".comma" / "media" / "0" / "realdata")
 else:
   ROOT = '/data/media/0/realdata/'
 
@@ -16,7 +16,7 @@ SEGMENT_LENGTH = 60
 STATS_DIR_FILE_LIMIT = 10000
 STATS_SOCKET = "ipc:///tmp/stats"
 if PC:
-  STATS_DIR = os.path.join(str(Path.home()), ".comma", "stats")
+  STATS_DIR = str(Path.home() / ".comma" / "stats")
 else:
   STATS_DIR = "/data/stats/"
 STATS_FLUSH_TIME_S = 60
diff --git a/system/loggerd/deleter.py b/system/loggerd/deleter.py
new file mode 100644
index 0000000000..ab4a0b97c1
--- /dev/null
+++ b/system/loggerd/deleter.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python3
+import os
+import shutil
+import threading
+from typing import List
+
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from openpilot.system.loggerd.uploader import listdir_by_creation
+from openpilot.system.loggerd.xattr_cache import getxattr
+
+MIN_BYTES = 5 * 1024 * 1024 * 1024
+MIN_PERCENT = 10
+
+DELETE_LAST = ['boot', 'crash']
+
+PRESERVE_ATTR_NAME = 'user.preserve'
+PRESERVE_ATTR_VALUE = b'1'
+PRESERVE_COUNT = 5
+
+
+def has_preserve_xattr(d: str) -> bool:
+  return getxattr(os.path.join(ROOT, d), PRESERVE_ATTR_NAME) == PRESERVE_ATTR_VALUE
+
+
+def get_preserved_segments(dirs_by_creation: List[str]) -> List[str]:
+  preserved = []
+  for n, d in enumerate(filter(has_preserve_xattr, reversed(dirs_by_creation))):
+    if n == PRESERVE_COUNT:
+      break
+    date_str, _, seg_str = d.rpartition("--")
+
+    # ignore non-segment directories
+    if not date_str:
+      continue
+    try:
+      seg_num = int(seg_str)
+    except ValueError:
+      continue
+
+    # preserve segment and its prior
+    preserved.append(d)
+    preserved.append(f"{date_str}--{seg_num - 1}")
+
+  return preserved
+
+
+def deleter_thread(exit_event):
+  while not exit_event.is_set():
+    out_of_bytes = get_available_bytes(default=MIN_BYTES + 1) < MIN_BYTES
+    out_of_percent = get_available_percent(default=MIN_PERCENT + 1) < MIN_PERCENT
+
+    if out_of_percent or out_of_bytes:
+      dirs = listdir_by_creation(ROOT)
+
+      # skip deleting most recent N preserved segments (and their prior segment)
+      preserved_dirs = get_preserved_segments(dirs)
+
+      # remove the earliest directory we can
+      for delete_dir in sorted(dirs, key=lambda d: (d in DELETE_LAST, d in preserved_dirs)):
+        delete_path = os.path.join(ROOT, delete_dir)
+
+        if any(name.endswith(".lock") for name in os.listdir(delete_path)):
+          continue
+
+        try:
+          cloudlog.info(f"deleting {delete_path}")
+          if os.path.isfile(delete_path):
+            os.remove(delete_path)
+          else:
+            shutil.rmtree(delete_path)
+          break
+        except OSError:
+          cloudlog.exception(f"issue deleting {delete_path}")
+      exit_event.wait(.1)
+    else:
+      exit_event.wait(30)
+
+
+def main():
+  deleter_thread(threading.Event())
+
+
+if __name__ == "__main__":
+  main()
diff --git a/system/loggerd/encoder/encoder.cc b/system/loggerd/encoder/encoder.cc
new file mode 100644
index 0000000000..869b4617b3
--- /dev/null
+++ b/system/loggerd/encoder/encoder.cc
@@ -0,0 +1,34 @@
+#include "system/loggerd/encoder/encoder.h"
+
+VideoEncoder::VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : encoder_info(encoder_info), in_width(in_width), in_height(in_height) {
+  pm.reset(new PubMaster({encoder_info.publish_name}));
+}
+
+void VideoEncoder::publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra,
+                                     unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat) {
+  // broadcast packet
+  MessageBuilder msg;
+  auto event = msg.initEvent(true);
+  auto edat = (event.*(e->encoder_info.init_encode_data_func))();
+  auto edata = edat.initIdx();
+  struct timespec ts;
+  timespec_get(&ts, TIME_UTC);
+  edat.setUnixTimestampNanos((uint64_t)ts.tv_sec*1000000000 + ts.tv_nsec);
+  edata.setFrameId(extra.frame_id);
+  edata.setTimestampSof(extra.timestamp_sof);
+  edata.setTimestampEof(extra.timestamp_eof);
+  edata.setType(e->encoder_info.encode_type);
+  edata.setEncodeId(e->cnt++);
+  edata.setSegmentNum(segment_num);
+  edata.setSegmentId(idx);
+  edata.setFlags(flags);
+  edata.setLen(dat.size());
+  edat.setData(dat);
+  if (flags & V4L2_BUF_FLAG_KEYFRAME) edat.setHeader(header);
+
+  auto words = new kj::Array<capnp::word>(capnp::messageToFlatArray(msg));
+  auto bytes = words->asBytes();
+  e->pm->send(e->encoder_info.publish_name, bytes.begin(), bytes.size());
+  delete words;
+}
diff --git a/system/loggerd/encoder/encoder.h b/system/loggerd/encoder/encoder.h
new file mode 100644
index 0000000000..a8bfd5c054
--- /dev/null
+++ b/system/loggerd/encoder/encoder.h
@@ -0,0 +1,35 @@
+#pragma once
+
+#include <cassert>
+#include <cstdint>
+#include <memory>
+#include <thread>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "common/queue.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/loggerd/loggerd.h"
+
+#define V4L2_BUF_FLAG_KEYFRAME 8
+
+class VideoEncoder {
+public:
+  VideoEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
+  virtual ~VideoEncoder() {}
+  virtual int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) = 0;
+  virtual void encoder_open(const char* path) = 0;
+  virtual void encoder_close() = 0;
+
+  static void publisher_publish(VideoEncoder *e, int segment_num, uint32_t idx, VisionIpcBufExtra &extra, unsigned int flags, kj::ArrayPtr<capnp::byte> header, kj::ArrayPtr<capnp::byte> dat);
+
+
+protected:
+  int in_width, in_height;
+  const EncoderInfo encoder_info;
+
+private:
+  // total frames encoded
+  int cnt = 0;
+  std::unique_ptr<PubMaster> pm;
+};
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc b/system/loggerd/encoder/ffmpeg_encoder.cc
similarity index 80%
rename from selfdrive/loggerd/encoder/ffmpeg_encoder.cc
rename to system/loggerd/encoder/ffmpeg_encoder.cc
index 5f8d140e8b..dc20ea8791 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/system/loggerd/encoder/ffmpeg_encoder.cc
@@ -1,6 +1,6 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 
-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
 
 #include <fcntl.h>
 #include <unistd.h>
@@ -11,7 +11,7 @@
 
 #define __STDC_CONSTANT_MACROS
 
-#include "libyuv.h"
+#include "third_party/libyuv/include/libyuv.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
@@ -24,23 +24,22 @@ extern "C" {
 
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
-void FfmpegEncoder::encoder_init() {
+FfmpegEncoder::FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : VideoEncoder(encoder_info, in_width, in_height) {
   frame = av_frame_alloc();
   assert(frame);
   frame->format = AV_PIX_FMT_YUV420P;
-  frame->width = out_width;
-  frame->height = out_height;
-  frame->linesize[0] = out_width;
-  frame->linesize[1] = out_width/2;
-  frame->linesize[2] = out_width/2;
+  frame->width = encoder_info.frame_width;
+  frame->height = encoder_info.frame_height;
+  frame->linesize[0] = encoder_info.frame_width;
+  frame->linesize[1] = encoder_info.frame_width/2;
+  frame->linesize[2] = encoder_info.frame_width/2;
 
   convert_buf.resize(in_width * in_height * 3 / 2);
 
-  if (in_width != out_width || in_height != out_height) {
-    downscale_buf.resize(out_width * out_height * 3 / 2);
+  if (in_width != encoder_info.frame_width || in_height != encoder_info.frame_height) {
+    downscale_buf.resize(encoder_info.frame_width * encoder_info.frame_height * 3 / 2);
   }
-
-  publisher_init();
 }
 
 FfmpegEncoder::~FfmpegEncoder() {
@@ -56,11 +55,10 @@ void FfmpegEncoder::encoder_open(const char* path) {
   this->codec_ctx->width = frame->width;
   this->codec_ctx->height = frame->height;
   this->codec_ctx->pix_fmt = AV_PIX_FMT_YUV420P;
-  this->codec_ctx->time_base = (AVRational){ 1, fps };
+  this->codec_ctx->time_base = (AVRational){ 1, encoder_info.fps };
   int err = avcodec_open2(this->codec_ctx, codec, NULL);
   assert(err >= 0);
 
-  writer_open(path);
   is_open = true;
   segment_num++;
   counter = 0;
@@ -69,7 +67,6 @@ 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;
 }
@@ -138,7 +135,7 @@ int FfmpegEncoder::encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra) {
     }
 
     if (env_debug_encoder) {
-      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", this->filename, pkt.size, pkt.flags, counter, extra->frame_id);
+      printf("%20s got %8d bytes flags %8x idx %4d id %8d\n", encoder_info.filename, pkt.size, pkt.flags, counter, extra->frame_id);
     }
 
     publisher_publish(this, segment_num, counter, *extra,
diff --git a/selfdrive/loggerd/encoder/ffmpeg_encoder.h b/system/loggerd/encoder/ffmpeg_encoder.h
similarity index 54%
rename from selfdrive/loggerd/encoder/ffmpeg_encoder.h
rename to system/loggerd/encoder/ffmpeg_encoder.h
index 497a28b651..9e45a3d82d 100644
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h
+++ b/system/loggerd/encoder/ffmpeg_encoder.h
@@ -11,16 +11,13 @@ extern "C" {
 #include <libavutil/imgutils.h>
 }
 
-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"
 
 class FfmpegEncoder : public VideoEncoder {
- public:
-  FfmpegEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-                int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
-                VideoEncoder(filename, type, in_width, in_height, fps, bitrate, cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS, out_width, out_height, write) { encoder_init(); }
+public:
+  FfmpegEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
   ~FfmpegEncoder();
-  void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open(const char* path);
   void encoder_close();
diff --git a/selfdrive/loggerd/encoder/v4l_encoder.cc b/system/loggerd/encoder/v4l_encoder.cc
similarity index 85%
rename from selfdrive/loggerd/encoder/v4l_encoder.cc
rename to system/loggerd/encoder/v4l_encoder.cc
index 88aeb21256..c6ee792265 100644
--- a/selfdrive/loggerd/encoder/v4l_encoder.cc
+++ b/system/loggerd/encoder/v4l_encoder.cc
@@ -1,16 +1,17 @@
 #include <cassert>
+#include <string>
 #include <sys/ioctl.h>
 #include <poll.h>
 
-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
 #include "common/timing.h"
 
-#include "libyuv.h"
-#include "msm_media_info.h"
+#include "third_party/libyuv/include/libyuv.h"
+#include "third_party/linux/include/msm_media_info.h"
 
 // has to be in this order
-#include "v4l2-controls.h"
+#include "third_party/linux/include/v4l2-controls.h"
 #include <linux/videodev2.h>
 #define V4L2_QCOM_BUF_FLAG_CODECCONFIG 0x00020000
 #define V4L2_QCOM_BUF_FLAG_EOS 0x02000000
@@ -18,7 +19,7 @@
 // echo 0x7fffffff > /sys/kernel/debug/msm_vidc/debug_level
 const int env_debug_encoder = (getenv("DEBUG_ENCODER") != NULL) ? atoi(getenv("DEBUG_ENCODER")) : 0;
 
-#define checked_ioctl(x,y,z) { int _ret = HANDLE_EINTR(ioctl(x,y,z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); }
+#define checked_ioctl(x, y, z) { int _ret = HANDLE_EINTR(ioctl(x, y, z)); if (_ret!=0) { LOGE("checked_ioctl failed %d %lx %p", x, y, z); } assert(_ret==0); }
 
 static void dequeue_buffer(int fd, v4l2_buf_type buf_type, unsigned int *index=NULL, unsigned int *bytesused=NULL, unsigned int *flags=NULL, struct timeval *timestamp=NULL) {
   v4l2_plane plane = {0};
@@ -68,7 +69,7 @@ static void request_buffers(int fd, v4l2_buf_type buf_type, unsigned int count)
 }
 
 void V4LEncoder::dequeue_handler(V4LEncoder *e) {
-  std::string dequeue_thread_name = "dq-"+std::string(e->filename);
+  std::string dequeue_thread_name = "dq-"+std::string(e->encoder_info.filename);
   util::set_thread_name(dequeue_thread_name.c_str());
 
   e->segment_num++;
@@ -85,10 +86,20 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
   while (!exit) {
     int rc = poll(&pfd, 1, 1000);
-    if (!rc) { LOGE("encoder dequeue poll timeout"); continue; }
+    if (rc < 0) {
+      if (errno != EINTR) {
+        // TODO: exit encoder?
+        // ignore the error and keep going
+        LOGE("poll failed (%d - %d)", rc, errno);
+      }
+      continue;
+    } else if (rc == 0) {
+      LOGE("encoder dequeue poll timeout");
+      continue;
+    }
 
     if (env_debug_encoder >= 2) {
-      printf("%20s poll %x at %.2f ms\n", e->filename, pfd.revents, millis_since_boot());
+      printf("%20s poll %x at %.2f ms\n", e->encoder_info.filename, pfd.revents, millis_since_boot());
     }
 
     int frame_id = -1;
@@ -116,7 +127,7 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
 
       if (env_debug_encoder) {
         printf("%20s got(%d) %6d bytes flags %8x idx %3d/%4d id %8d ts %ld lat %.2f ms (%lu frames free)\n",
-          e->filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
+          e->encoder_info.filename, index, bytesused, flags, e->segment_num, idx, frame_id, ts, millis_since_boot()-(ts/1000.), e->free_buf_in.size());
       }
 
       // requeue the buffer
@@ -131,7 +142,8 @@ void V4LEncoder::dequeue_handler(V4LEncoder *e) {
   }
 }
 
-void V4LEncoder::encoder_init() {
+V4LEncoder::V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height)
+    : VideoEncoder(encoder_info, in_width, in_height) {
   fd = open("/dev/v4l/by-path/platform-aa00000.qcom_vidc-video-index1", O_RDWR|O_NONBLOCK);
   assert(fd >= 0);
 
@@ -146,9 +158,9 @@ void V4LEncoder::encoder_init() {
     .fmt = {
       .pix_mp = {
         // downscales are free with v4l
-        .width = (unsigned int)out_width,
-        .height = (unsigned int)out_height,
-        .pixelformat = (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
+        .width = (unsigned int)encoder_info.frame_width,
+        .height = (unsigned int)encoder_info.frame_height,
+        .pixelformat = (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) ? V4L2_PIX_FMT_HEVC : V4L2_PIX_FMT_H264,
         .field = V4L2_FIELD_ANY,
         .colorspace = V4L2_COLORSPACE_DEFAULT,
       }
@@ -192,7 +204,7 @@ void V4LEncoder::encoder_init() {
   {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDEO_HEADER_MODE, .value = V4L2_MPEG_VIDEO_HEADER_MODE_SEPARATE},
-      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = bitrate},
+      { .id = V4L2_CID_MPEG_VIDEO_BITRATE, .value = encoder_info.bitrate},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL, .value = V4L2_CID_MPEG_VIDC_VIDEO_RATE_CONTROL_VBR_CFR},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_PRIORITY, .value = V4L2_MPEG_VIDC_VIDEO_PRIORITY_REALTIME_DISABLE},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_IDR_PERIOD, .value = 1},
@@ -202,10 +214,11 @@ void V4LEncoder::encoder_init() {
     }
   }
 
-  if (codec == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
+  if (encoder_info.encode_type == cereal::EncodeIndex::Type::FULL_H_E_V_C) {
     struct v4l2_control ctrls[] = {
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_PROFILE, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_PROFILE_MAIN},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_HEVC_TIER_LEVEL, .value = V4L2_MPEG_VIDC_VIDEO_HEVC_LEVEL_HIGH_TIER_LEVEL_5},
+      { .id = V4L2_CID_MPEG_VIDC_VIDEO_VUI_TIMING_INFO, .value = V4L2_MPEG_VIDC_VIDEO_VUI_TIMING_INFO_ENABLED},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_P_FRAMES, .value = 29},
       { .id = V4L2_CID_MPEG_VIDC_VIDEO_NUM_B_FRAMES, .value = 0},
     };
@@ -249,13 +262,10 @@ void V4LEncoder::encoder_init() {
   for (unsigned int i = 0; i < BUF_IN_COUNT; i++) {
     free_buf_in.push(i);
   }
-
-  publisher_init();
 }
 
 void V4LEncoder::encoder_open(const char* path) {
   dequeue_handler_thread = std::thread(V4LEncoder::dequeue_handler, this);
-  writer_open(path);
   this->is_open = true;
   this->counter = 0;
 }
@@ -288,7 +298,6 @@ void V4LEncoder::encoder_close() {
     // join waits for V4L2_QCOM_BUF_FLAG_EOS
     dequeue_handler_thread.join();
     assert(extras.empty());
-    writer_close();
   }
   this->is_open = false;
 }
diff --git a/selfdrive/loggerd/encoder/v4l_encoder.h b/system/loggerd/encoder/v4l_encoder.h
similarity index 58%
rename from selfdrive/loggerd/encoder/v4l_encoder.h
rename to system/loggerd/encoder/v4l_encoder.h
index c2a53dd6ef..9336bf3d8b 100644
--- a/selfdrive/loggerd/encoder/v4l_encoder.h
+++ b/system/loggerd/encoder/v4l_encoder.h
@@ -1,18 +1,15 @@
 #pragma once
 
 #include "common/queue.h"
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"
 
 #define BUF_IN_COUNT 7
 #define BUF_OUT_COUNT 6
 
 class V4LEncoder : public VideoEncoder {
 public:
-  V4LEncoder(const char* filename, CameraType type, int in_width, int in_height, int fps,
-             int bitrate, cereal::EncodeIndex::Type codec, int out_width, int out_height, bool write) :
-             VideoEncoder(filename, type, in_width, in_height, fps, bitrate, codec, out_width, out_height, write) { encoder_init(); }
+  V4LEncoder(const EncoderInfo &encoder_info, int in_width, int in_height);
   ~V4LEncoder();
-  void encoder_init();
   int encode_frame(VisionBuf* buf, VisionIpcBufExtra *extra);
   void encoder_open(const char* path);
   void encoder_close();
diff --git a/selfdrive/loggerd/encoderd.cc b/system/loggerd/encoderd.cc
similarity index 61%
rename from selfdrive/loggerd/encoderd.cc
rename to system/loggerd/encoderd.cc
index db5f4b61ab..1b45df6827 100644
--- a/selfdrive/loggerd/encoderd.cc
+++ b/system/loggerd/encoderd.cc
@@ -1,4 +1,14 @@
-#include "selfdrive/loggerd/loggerd.h"
+#include <cassert>
+
+#include "system/loggerd/loggerd.h"
+
+#ifdef QCOM2
+#include "system/loggerd/encoder/v4l_encoder.h"
+#define Encoder V4LEncoder
+#else
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
+#define Encoder FfmpegEncoder
+#endif
 
 ExitHandler do_exit;
 
@@ -35,9 +45,9 @@ bool sync_encoders(EncoderdState *s, CameraType cam_type, uint32_t frame_id) {
 
 
 void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
-  util::set_thread_name(cam_info.filename);
+  util::set_thread_name(cam_info.thread_name);
 
-  std::vector<Encoder *> encoders;
+  std::vector<std::unique_ptr<Encoder>> encoders;
   VisionIpcClient vipc_client = VisionIpcClient("camerad", cam_info.stream_type, false);
 
   int cur_seg = 0;
@@ -50,30 +60,13 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
     // init encoders
     if (encoders.empty()) {
       VisionBuf buf_info = vipc_client.buffers[0];
-      LOGW("encoder %s init %dx%d", cam_info.filename, buf_info.width, buf_info.height);
-
-      if (buf_info.width > 0 && buf_info.height > 0) {
-        // main encoder
-        encoders.push_back(new Encoder(cam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                      cam_info.fps, cam_info.bitrate,
-                                      cam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                      buf_info.width, buf_info.height, false));
-        // qcamera encoder
-        if (cam_info.has_qcamera) {
-          encoders.push_back(new Encoder(qcam_info.filename, cam_info.type, buf_info.width, buf_info.height,
-                                        qcam_info.fps, qcam_info.bitrate,
-                                        qcam_info.is_h265 ? cereal::EncodeIndex::Type::FULL_H_E_V_C : cereal::EncodeIndex::Type::QCAMERA_H264,
-                                        qcam_info.frame_width, qcam_info.frame_height, false));
-        }
-      } else {
-        LOGE("not initting empty encoder");
-        s->max_waiting--;
-        break;
-      }
-    }
+      LOGW("encoder %s init %zux%zu", cam_info.thread_name, buf_info.width, buf_info.height);
+      assert(buf_info.width > 0 && buf_info.height > 0);
 
-    for (int i = 0; i < encoders.size(); ++i) {
-      encoders[i]->encoder_open(NULL);
+      for (const auto &encoder_info : cam_info.encoder_infos) {
+        auto &e = encoders.emplace_back(new Encoder(encoder_info, buf_info.width, buf_info.height));
+        e->encoder_open(nullptr);
+      }
     }
 
     bool lagging = false;
@@ -85,7 +78,7 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
       // detect loop around and drop the frames
       if (buf->get_frame_id() != extra.frame_id) {
         if (!lagging) {
-          LOGE("encoder %s lag  buffer id: %d  extra id: %d", cam_info.filename, buf->get_frame_id(), extra.frame_id);
+          LOGE("encoder %s lag  buffer id: %" PRIu64 " extra id: %d", cam_info.thread_name, buf->get_frame_id(), extra.frame_id);
           lagging = true;
         }
         continue;
@@ -117,26 +110,36 @@ void encoder_thread(EncoderdState *s, const LogCameraInfo &cam_info) {
       }
     }
   }
-
-  LOG("encoder destroy");
-  for(auto &e : encoders) {
-    e->encoder_close();
-    delete e;
-  }
 }
 
-void encoderd_thread() {
+template <size_t N>
+void encoderd_thread(const LogCameraInfo (&cameras)[N]) {
   EncoderdState s;
 
-  std::vector<std::thread> encoder_threads;
-  for (const auto &cam : cameras_logged) {
-    encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
-    s.max_waiting++;
+  std::set<VisionStreamType> streams;
+  while (!do_exit) {
+    streams = VisionIpcClient::getAvailableStreams("camerad", false);
+    if (!streams.empty()) {
+      break;
+    }
+    util::sleep_for(100);
+  }
+
+  if (!streams.empty()) {
+    std::vector<std::thread> encoder_threads;
+    for (auto stream : streams) {
+      auto it = std::find_if(std::begin(cameras), std::end(cameras),
+                             [stream](auto &cam) { return cam.stream_type == stream; });
+      assert(it != std::end(cameras));
+      ++s.max_waiting;
+      encoder_threads.push_back(std::thread(encoder_thread, &s, *it));
+    }
+
+    for (auto &t : encoder_threads) t.join();
   }
-  for (auto &t : encoder_threads) t.join();
 }
 
-int main() {
+int main(int argc, char* argv[]) {
   if (!Hardware::PC()) {
     int ret;
     ret = util::set_realtime_priority(52);
@@ -144,6 +147,15 @@ int main() {
     ret = util::set_core_affinity({3});
     assert(ret == 0);
   }
-  encoderd_thread();
+  if (argc > 1) {
+    std::string arg1(argv[1]);
+    if (arg1 == "--stream") {
+      encoderd_thread(stream_cameras_logged);
+    } else {
+      LOGE("Argument '%s' is not supported", arg1.c_str());
+    }
+  } else {
+    encoderd_thread(cameras_logged);
+  }
   return 0;
 }
diff --git a/selfdrive/loggerd/logger.cc b/system/loggerd/logger.cc
similarity index 94%
rename from selfdrive/loggerd/logger.cc
rename to system/loggerd/logger.cc
index aaf267e523..31b302ffe6 100644
--- a/selfdrive/loggerd/logger.cc
+++ b/system/loggerd/logger.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 
 #include <sys/stat.h>
 #include <unistd.h>
@@ -13,7 +13,10 @@
 #include <ctime>
 #include <fstream>
 #include <iostream>
+#include <map>
 #include <streambuf>
+#include <string>
+#include <vector>
 
 #include "common/params.h"
 #include "common/swaglog.h"
@@ -70,7 +73,9 @@ kj::Array<capnp::word> logger_build_init_data() {
     "df -h",  // usage for all filesystems
   };
 
-  auto commands = init.initCommands().initEntries(log_commands.size());
+  auto hw_logs = Hardware::get_init_logs();
+
+  auto commands = init.initCommands().initEntries(log_commands.size() + hw_logs.size());
   for (int i = 0; i < log_commands.size(); i++) {
     auto lentry = commands[i];
 
@@ -80,6 +85,14 @@ kj::Array<capnp::word> logger_build_init_data() {
     lentry.setValue(capnp::Data::Reader((const kj::byte*)result.data(), result.size()));
   }
 
+  int i = log_commands.size();
+  for (auto &[key, value] : hw_logs) {
+    auto lentry = commands[i];
+    lentry.setKey(key);
+    lentry.setValue(capnp::Data::Reader((const kj::byte*)value.data(), value.size()));
+    i++;
+  }
+
   return capnp::messageToFlatArray(msg);
 }
 
diff --git a/selfdrive/loggerd/logger.h b/system/loggerd/logger.h
similarity index 99%
rename from selfdrive/loggerd/logger.h
rename to system/loggerd/logger.h
index e7594cee88..36db1a5a74 100644
--- a/selfdrive/loggerd/logger.h
+++ b/system/loggerd/logger.h
@@ -1,11 +1,12 @@
 #pragma once
 
-#include <cassert>
 #include <pthread.h>
 
+#include <cassert>
 #include <cstdint>
 #include <cstdio>
 #include <memory>
+#include <string>
 
 #include <capnp/serialize.h>
 #include <kj/array.h>
diff --git a/selfdrive/loggerd/loggerd.cc b/system/loggerd/loggerd.cc
similarity index 67%
rename from selfdrive/loggerd/loggerd.cc
rename to system/loggerd/loggerd.cc
index 9beb3c3bf1..053bc6b1eb 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/system/loggerd/loggerd.cc
@@ -1,5 +1,14 @@
-#include "selfdrive/loggerd/loggerd.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include <sys/xattr.h>
+
+#include <map>
+#include <memory>
+#include <string>
+#include <unordered_map>
+#include <vector>
+
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"
+#include "system/loggerd/video_writer.h"
 
 ExitHandler do_exit;
 
@@ -24,15 +33,25 @@ void logger_rotate(LoggerdState *s) {
 }
 
 void rotate_if_needed(LoggerdState *s) {
-  if (s->ready_to_rotate == s->max_waiting) {
-    logger_rotate(s);
-  }
+  // all encoders ready, trigger rotation
+  bool all_ready = s->ready_to_rotate == s->max_waiting;
 
+  // fallback logic to prevent extremely long segments in the case of camera, encoder, etc. malfunctions
+  bool timed_out = false;
   double tms = millis_since_boot();
-  if ((tms - s->last_rotate_tms) > SEGMENT_LENGTH * 1000 &&
-      (tms - s->last_camera_seen_tms) > NO_CAMERA_PATIENCE &&
-      !LOGGERD_TEST) {
-    LOGW("no camera packet seen. auto rotating");
+  double seg_length_secs = (tms - s->last_rotate_tms) / 1000.;
+  if ((seg_length_secs > SEGMENT_LENGTH) && !LOGGERD_TEST) {
+    // TODO: might be nice to put these reasons in the sentinel
+    if ((tms - s->last_camera_seen_tms) > NO_CAMERA_PATIENCE) {
+      timed_out = true;
+      LOGE("no camera packets seen. auto rotating");
+    } else if (seg_length_secs > SEGMENT_LENGTH*1.2) {
+      timed_out = true;
+      LOGE("segment too long. auto rotating");
+    }
+  }
+
+  if (all_ready || timed_out) {
     logger_rotate(s);
   }
 }
@@ -48,18 +67,13 @@ struct RemoteEncoder {
   bool seen_first_packet = false;
 };
 
-int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re) {
-  const LogCameraInfo &cam_info = (name == "driverEncodeData") ? cameras_logged[1] :
-    ((name == "wideRoadEncodeData") ? cameras_logged[2] :
-    ((name == "qRoadEncodeData") ? qcam_info : cameras_logged[0]));
+int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct RemoteEncoder &re, const EncoderInfo &encoder_info) {
   int bytes_count = 0;
 
   // extract the message
   capnp::FlatArrayMessageReader cmsg(kj::ArrayPtr<capnp::word>((capnp::word *)msg->getData(), msg->getSize() / sizeof(capnp::word)));
   auto event = cmsg.getRoot<cereal::Event>();
-  auto edata = (name == "driverEncodeData") ? event.getDriverEncodeData() :
-    ((name == "wideRoadEncodeData") ? event.getWideRoadEncodeData() :
-    ((name == "qRoadEncodeData") ? event.getQRoadEncodeData() : event.getRoadEncodeData()));
+  auto edata = (event.*(encoder_info.get_encode_data_func))();
   auto idx = edata.getIdx();
   auto flags = idx.getFlags();
 
@@ -84,8 +98,8 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
       re.marked_ready_to_rotate = false;
       // we are in this segment now, process any queued messages before this one
       if (!re.q.empty()) {
-        for (auto &qmsg: re.q) {
-          bytes_count += handle_encoder_msg(s, qmsg, name, re);
+        for (auto &qmsg : re.q) {
+          bytes_count += handle_encoder_msg(s, qmsg, name, re, encoder_info);
         }
         re.q.clear();
       }
@@ -101,10 +115,10 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
           re.dropped_frames = 0;
         }
         // if we aren't actually recording, don't create the writer
-        if (cam_info.record) {
+        if (encoder_info.record) {
           re.writer.reset(new VideoWriter(s->segment_path,
-            cam_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
-            cam_info.frame_width, cam_info.frame_height, cam_info.fps, idx.getType()));
+            encoder_info.filename, idx.getType() != cereal::EncodeIndex::Type::FULL_H_E_V_C,
+            encoder_info.frame_width, encoder_info.frame_height, encoder_info.fps, idx.getType()));
           // write the header
           auto header = edata.getHeader();
           re.writer->write((uint8_t *)header.begin(), header.size(), idx.getTimestampEof()/1000, true, false);
@@ -132,10 +146,7 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
     MessageBuilder bmsg;
     auto evt = bmsg.initEvent(event.getValid());
     evt.setLogMonoTime(event.getLogMonoTime());
-    if (name == "driverEncodeData") { evt.setDriverEncodeIdx(idx); }
-    if (name == "wideRoadEncodeData") { evt.setWideRoadEncodeIdx(idx); }
-    if (name == "qRoadEncodeData") { evt.setQRoadEncodeIdx(idx); }
-    if (name == "roadEncodeData") { evt.setRoadEncodeIdx(idx); }
+    (evt.*(encoder_info.set_encode_idx_func))(idx);
     auto new_msg = bmsg.toBytes();
     logger_log(&s->logger, (uint8_t *)new_msg.begin(), new_msg.size(), true);   // always in qlog?
     bytes_count += new_msg.size();
@@ -165,33 +176,52 @@ int handle_encoder_msg(LoggerdState *s, Message *msg, std::string &name, struct
   return bytes_count;
 }
 
+void handle_user_flag(LoggerdState *s) {
+  static int prev_segment = -1;
+  if (s->rotate_segment == prev_segment) return;
+
+  LOGW("preserving %s", s->segment_path);
+
+#ifdef __APPLE__
+  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0, 0);
+#else
+  int ret = setxattr(s->segment_path, PRESERVE_ATTR_NAME, &PRESERVE_ATTR_VALUE, 1, 0);
+#endif
+  if (ret) {
+    LOGE("setxattr %s failed for %s: %s", PRESERVE_ATTR_NAME, s->segment_path, strerror(errno));
+  }
+  prev_segment = s->rotate_segment.load();
+}
+
 void loggerd_thread() {
   // setup messaging
-  typedef struct QlogState {
+  typedef struct ServiceState {
     std::string name;
     int counter, freq;
-    bool encoder;
-  } QlogState;
-  std::unordered_map<SubSocket*, QlogState> qlog_states;
+    bool encoder, user_flag;
+  } ServiceState;
+  std::unordered_map<SubSocket*, ServiceState> service_state;
   std::unordered_map<SubSocket*, struct RemoteEncoder> remote_encoders;
 
   std::unique_ptr<Context> ctx(Context::create());
   std::unique_ptr<Poller> poller(Poller::create());
 
   // subscribe to all socks
-  for (const auto& it : services) {
-    const bool encoder = strcmp(it.name+strlen(it.name)-strlen("EncodeData"), "EncodeData") == 0;
-    if (!it.should_log && !encoder) continue;
-    LOGD("logging %s (on port %d)", it.name, it.port);
+  for (const auto& [_, it] : services) {
+    const bool encoder = util::ends_with(it.name, "EncodeData");
+    const bool livestream_encoder = util::starts_with(it.name, "livestream");
+    if (!it.should_log && (!encoder || livestream_encoder)) continue;
+    LOGD("logging %s (on port %d)", it.name.c_str(), it.port);
 
     SubSocket * sock = SubSocket::create(ctx.get(), it.name);
     assert(sock != NULL);
     poller->registerSocket(sock);
-    qlog_states[sock] = {
+    service_state[sock] = {
       .name = it.name,
       .counter = 0,
       .freq = it.decimation,
       .encoder = encoder,
+      .user_flag = it.name == "userFlag",
     };
   }
 
@@ -201,11 +231,12 @@ void loggerd_thread() {
   logger_rotate(&s);
   Params().put("CurrentRoute", s.logger.route_name);
 
-  // init encoders
-  s.last_camera_seen_tms = millis_since_boot();
+  std::map<std::string, EncoderInfo> encoder_infos_dict;
   for (const auto &cam : cameras_logged) {
-    s.max_waiting++;
-    if (cam.has_qcamera) { s.max_waiting++; }
+    for (const auto &encoder_info : cam.encoder_infos) {
+      encoder_infos_dict[encoder_info.publish_name] = encoder_info;
+      s.max_waiting++;
+    }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
@@ -215,16 +246,19 @@ void loggerd_thread() {
     for (auto sock : poller->poll(1000)) {
       if (do_exit) break;
 
+      ServiceState &service = service_state[sock];
+      if (service.user_flag) {
+        handle_user_flag(&s);
+      }
+
       // drain socket
       int count = 0;
-      QlogState &qs = qlog_states[sock];
       Message *msg = nullptr;
       while (!do_exit && (msg = sock->receive(true))) {
-        const bool in_qlog = qs.freq != -1 && (qs.counter++ % qs.freq == 0);
-
-        if (qs.encoder) {
+        const bool in_qlog = service.freq != -1 && (service.counter++ % service.freq == 0);
+        if (service.encoder) {
           s.last_camera_seen_tms = millis_since_boot();
-          bytes_count += handle_encoder_msg(&s, msg, qs.name, remote_encoders[sock]);
+          bytes_count += handle_encoder_msg(&s, msg, service.name, remote_encoders[sock], encoder_infos_dict[service.name]);
         } else {
           logger_log(&s.logger, (uint8_t *)msg->getData(), msg->getSize(), in_qlog);
           bytes_count += msg->getSize();
@@ -235,12 +269,12 @@ void loggerd_thread() {
 
         if ((++msg_count % 1000) == 0) {
           double seconds = (millis_since_boot() - start_ts) / 1000.0;
-          LOGD("%lu messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
+          LOGD("%" PRIu64 " messages, %.2f msg/sec, %.2f KB/sec", msg_count, msg_count / seconds, bytes_count * 0.001 / seconds);
         }
 
         count++;
         if (count >= 200) {
-          LOGD("large volume of '%s' messages", qs.name.c_str());
+          LOGD("large volume of '%s' messages", service.name.c_str());
           break;
         }
       }
@@ -257,7 +291,7 @@ void loggerd_thread() {
   }
 
   // messaging cleanup
-  for (auto &[sock, qs] : qlog_states) delete sock;
+  for (auto &[sock, service] : service_state) delete sock;
 }
 
 int main(int argc, char** argv) {
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
new file mode 100644
index 0000000000..cfc06c28d3
--- /dev/null
+++ b/system/loggerd/loggerd.h
@@ -0,0 +1,154 @@
+#pragma once
+
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/services.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "system/camerad/cameras/camera_common.h"
+#include "system/hardware/hw.h"
+#include "common/params.h"
+#include "common/swaglog.h"
+#include "common/util.h"
+
+#include "system/loggerd/logger.h"
+
+constexpr int MAIN_FPS = 20;
+const int MAIN_BITRATE = 1e7;
+const int LIVESTREAM_BITRATE = 1e6;
+const int QCAM_BITRATE = 256000;
+
+#define NO_CAMERA_PATIENCE 500  // fall back to time-based rotation if all cameras are dead
+
+#define INIT_ENCODE_FUNCTIONS(encode_type)                                \
+  .get_encode_data_func = &cereal::Event::Reader::get##encode_type##Data, \
+  .set_encode_idx_func = &cereal::Event::Builder::set##encode_type##Idx,  \
+  .init_encode_data_func = &cereal::Event::Builder::init##encode_type##Data
+
+const bool LOGGERD_TEST = getenv("LOGGERD_TEST");
+const int SEGMENT_LENGTH = LOGGERD_TEST ? atoi(getenv("LOGGERD_SEGMENT_LENGTH")) : 60;
+
+constexpr char PRESERVE_ATTR_NAME[] = "user.preserve";
+constexpr char PRESERVE_ATTR_VALUE = '1';
+class EncoderInfo {
+public:
+  const char *publish_name;
+  const char *filename = NULL;
+  bool record = true;
+  int frame_width = 1928;
+  int frame_height = 1208;
+  int fps = MAIN_FPS;
+  int bitrate = MAIN_BITRATE;
+  cereal::EncodeIndex::Type encode_type = Hardware::PC() ? cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS
+                                                         : cereal::EncodeIndex::Type::FULL_H_E_V_C;
+  ::cereal::EncodeData::Reader (cereal::Event::Reader::*get_encode_data_func)() const;
+  void (cereal::Event::Builder::*set_encode_idx_func)(::cereal::EncodeIndex::Reader);
+  cereal::EncodeData::Builder (cereal::Event::Builder::*init_encode_data_func)();
+};
+
+class LogCameraInfo {
+public:
+  const char *thread_name;
+  int fps = MAIN_FPS;
+  CameraType type;
+  VisionStreamType stream_type;
+  std::vector<EncoderInfo> encoder_infos;
+};
+
+const EncoderInfo main_road_encoder_info = {
+  .publish_name = "roadEncodeData",
+  .filename = "fcamera.hevc",
+  INIT_ENCODE_FUNCTIONS(RoadEncode),
+};
+
+const EncoderInfo main_wide_road_encoder_info = {
+  .publish_name = "wideRoadEncodeData",
+  .filename = "ecamera.hevc",
+  INIT_ENCODE_FUNCTIONS(WideRoadEncode),
+};
+
+const EncoderInfo main_driver_encoder_info = {
+  .publish_name = "driverEncodeData",
+  .filename = "dcamera.hevc",
+  .record = Params().getBool("RecordFront"),
+  INIT_ENCODE_FUNCTIONS(DriverEncode),
+};
+
+const EncoderInfo stream_road_encoder_info = {
+  .publish_name = "livestreamRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamRoadEncode),
+};
+
+const EncoderInfo stream_wide_road_encoder_info = {
+  .publish_name = "livestreamWideRoadEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamWideRoadEncode),
+};
+
+const EncoderInfo stream_driver_encoder_info = {
+  .publish_name = "livestreamDriverEncodeData",
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .record = false,
+  .bitrate = LIVESTREAM_BITRATE,
+  INIT_ENCODE_FUNCTIONS(LivestreamDriverEncode),
+};
+
+const EncoderInfo qcam_encoder_info = {
+  .publish_name = "qRoadEncodeData",
+  .filename = "qcamera.ts",
+  .bitrate = QCAM_BITRATE,
+  .encode_type = cereal::EncodeIndex::Type::QCAMERA_H264,
+  .frame_width = 526,
+  .frame_height = 330,
+  INIT_ENCODE_FUNCTIONS(QRoadEncode),
+};
+
+const LogCameraInfo road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {main_road_encoder_info, qcam_encoder_info}
+};
+
+const LogCameraInfo wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {main_wide_road_encoder_info}
+};
+
+const LogCameraInfo driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {main_driver_encoder_info}
+};
+
+const LogCameraInfo stream_road_camera_info{
+  .thread_name = "road_cam_encoder",
+  .type = RoadCam,
+  .stream_type = VISION_STREAM_ROAD,
+  .encoder_infos = {stream_road_encoder_info}
+};
+
+const LogCameraInfo stream_wide_road_camera_info{
+  .thread_name = "wide_road_cam_encoder",
+  .type = WideRoadCam,
+  .stream_type = VISION_STREAM_WIDE_ROAD,
+  .encoder_infos = {stream_wide_road_encoder_info}
+};
+
+const LogCameraInfo stream_driver_camera_info{
+  .thread_name = "driver_cam_encoder",
+  .type = DriverCam,
+  .stream_type = VISION_STREAM_DRIVER,
+  .encoder_infos = {stream_driver_encoder_info}
+};
+
+const LogCameraInfo cameras_logged[] = {road_camera_info, wide_road_camera_info, driver_camera_info};
+const LogCameraInfo stream_cameras_logged[] = {stream_road_camera_info, stream_wide_road_camera_info, stream_driver_camera_info};
diff --git a/system/loggerd/tests/__init__.py b/system/loggerd/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/loggerd/tests/fill.py b/system/loggerd/tests/fill.py
new file mode 100755
index 0000000000..c749f42b97
--- /dev/null
+++ b/system/loggerd/tests/fill.py
@@ -0,0 +1,26 @@
+#!/usr/bin/env python3
+"""Script to fill up storage with fake data"""
+
+from pathlib import Path
+
+from openpilot.system.loggerd.config import ROOT, get_available_percent
+from openpilot.system.loggerd.tests.loggerd_tests_common import create_random_file
+
+
+if __name__ == "__main__":
+  segment_idx = 0
+  while True:
+    seg_name = f"1970-01-01--00-00-00--{segment_idx}"
+    seg_path = Path(ROOT) / seg_name
+
+    print(seg_path)
+
+    create_random_file(seg_path / "fcamera.hevc", 36)
+    create_random_file(seg_path / "rlog.bz2", 2)
+
+    segment_idx += 1
+
+    # Fill up to 99 percent
+    available_percent = get_available_percent()
+    if available_percent < 1.0:
+      break
diff --git a/selfdrive/loggerd/tests/loggerd_tests_common.py b/system/loggerd/tests/loggerd_tests_common.py
similarity index 61%
rename from selfdrive/loggerd/tests/loggerd_tests_common.py
rename to system/loggerd/tests/loggerd_tests_common.py
index 80cfb162f1..89ddbd658c 100644
--- a/selfdrive/loggerd/tests/loggerd_tests_common.py
+++ b/system/loggerd/tests/loggerd_tests_common.py
@@ -4,27 +4,32 @@ import shutil
 import random
 import tempfile
 import unittest
+from pathlib import Path
+from typing import Optional
 
-import selfdrive.loggerd.uploader as uploader
+import openpilot.system.loggerd.deleter as deleter
+import openpilot.system.loggerd.uploader as uploader
+from openpilot.system.loggerd.xattr_cache import setxattr
 
-def create_random_file(file_path, size_mb, lock=False):
-  try:
-    os.mkdir(os.path.dirname(file_path))
-  except OSError:
-    pass
 
-  lock_path = file_path + ".lock"
+def create_random_file(file_path: Path, size_mb: float, lock: bool = False, upload_xattr: Optional[bytes] = None) -> None:
+  file_path.parent.mkdir(parents=True, exist_ok=True)
+
   if lock:
+    lock_path = str(file_path) + ".lock"
     os.close(os.open(lock_path, os.O_CREAT | os.O_EXCL))
 
   chunks = 128
   chunk_bytes = int(size_mb * 1024 * 1024 / chunks)
   data = os.urandom(chunk_bytes)
 
-  with open(file_path, 'wb') as f:
+  with open(file_path, "wb") as f:
     for _ in range(chunks):
       f.write(data)
 
+  if upload_xattr is not None:
+    setxattr(str(file_path), uploader.UPLOAD_ATTR_NAME, upload_xattr)
+
 class MockResponse():
   def __init__(self, text, status_code):
     self.text = text
@@ -72,12 +77,18 @@ class MockParams():
 class UploaderTestCase(unittest.TestCase):
   f_type = "UNKNOWN"
 
+  root: Path
+  seg_num: int
+  seg_format: str
+  seg_format2: str
+  seg_dir: str
+
   def set_ignore(self):
     uploader.Api = MockApiIgnore
 
   def setUp(self):
-    self.root = tempfile.mkdtemp()
-    uploader.ROOT = self.root  # Monkey patch root dir
+    self.root = Path(tempfile.mkdtemp())
+    uploader.ROOT = str(self.root)  # Monkey patch root dir
     uploader.Api = MockApi
     uploader.Params = MockParams
     uploader.fake_upload = True
@@ -95,8 +106,12 @@ class UploaderTestCase(unittest.TestCase):
       if e.errno != errno.ENOENT:
         raise
 
-  def make_file_with_data(self, f_dir, fn, size_mb=.1, lock=False):
-    file_path = os.path.join(self.root, f_dir, fn)
-    create_random_file(file_path, size_mb, lock)
+  def make_file_with_data(self, f_dir: str, fn: str, size_mb: float = .1, lock: bool = False,
+                          upload_xattr: Optional[bytes] = None, preserve_xattr: Optional[bytes] = None) -> Path:
+    file_path = self.root / f_dir / fn
+    create_random_file(file_path, size_mb, lock, upload_xattr)
+
+    if preserve_xattr is not None:
+      setxattr(str(file_path.parent), deleter.PRESERVE_ATTR_NAME, preserve_xattr)
 
     return file_path
diff --git a/system/loggerd/tests/test_deleter.py b/system/loggerd/tests/test_deleter.py
new file mode 100755
index 0000000000..86152b05f8
--- /dev/null
+++ b/system/loggerd/tests/test_deleter.py
@@ -0,0 +1,124 @@
+#!/usr/bin/env python3
+import time
+import threading
+import unittest
+from collections import namedtuple
+from pathlib import Path
+from typing import Sequence
+
+import openpilot.system.loggerd.deleter as deleter
+from openpilot.common.timeout import Timeout, TimeoutException
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
+
+Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])
+
+
+class TestDeleter(UploaderTestCase):
+  def fake_statvfs(self, d):
+    return self.fake_stats
+
+  def setUp(self):
+    self.f_type = "fcamera.hevc"
+    super().setUp()
+    self.fake_stats = Stats(f_bavail=0, f_blocks=10, f_frsize=4096)
+    deleter.os.statvfs = self.fake_statvfs
+    deleter.ROOT = str(self.root)
+
+  def start_thread(self):
+    self.end_event = threading.Event()
+    self.del_thread = threading.Thread(target=deleter.deleter_thread, args=[self.end_event])
+    self.del_thread.daemon = True
+    self.del_thread.start()
+
+  def join_thread(self):
+    self.end_event.set()
+    self.del_thread.join()
+
+  def test_delete(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, 1)
+
+    self.start_thread()
+
+    try:
+      with Timeout(2, "Timeout waiting for file to be deleted"):
+        while f_path.exists():
+          time.sleep(0.01)
+    finally:
+      self.join_thread()
+
+  def assertDeleteOrder(self, f_paths: Sequence[Path], timeout: int = 5) -> None:
+    deleted_order = []
+
+    self.start_thread()
+    try:
+      with Timeout(timeout, "Timeout waiting for files to be deleted"):
+        while True:
+          for f in f_paths:
+            if not f.exists() and f not in deleted_order:
+              deleted_order.append(f)
+          if len(deleted_order) == len(f_paths):
+            break
+          time.sleep(0.01)
+    except TimeoutException:
+      print("Not deleted:", [f for f in f_paths if f not in deleted_order])
+      raise
+    finally:
+      self.join_thread()
+
+    self.assertEqual(deleted_order, f_paths, "Files not deleted in expected order")
+
+  def test_delete_order(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+    ])
+
+  def test_delete_many_preserved(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(1), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data(self.seg_format.format(2), self.f_type),
+    ] + [
+      self.make_file_with_data(self.seg_format2.format(i), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE)
+      for i in range(5)
+    ])
+
+  def test_delete_last(self):
+    self.assertDeleteOrder([
+      self.make_file_with_data(self.seg_format.format(1), self.f_type),
+      self.make_file_with_data(self.seg_format2.format(0), self.f_type),
+      self.make_file_with_data(self.seg_format.format(0), self.f_type, preserve_xattr=deleter.PRESERVE_ATTR_VALUE),
+      self.make_file_with_data("boot", self.seg_format[:-4]),
+      self.make_file_with_data("crash", self.seg_format2[:-4]),
+    ])
+
+  def test_no_delete_when_available_space(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type)
+
+    block_size = 4096
+    available = (10 * 1024 * 1024 * 1024) / block_size  # 10GB free
+    self.fake_stats = Stats(f_bavail=available, f_blocks=10, f_frsize=block_size)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    self.assertTrue(f_path.exists(), "File deleted with available space")
+
+  def test_no_delete_with_lock_file(self):
+    f_path = self.make_file_with_data(self.seg_dir, self.f_type, lock=True)
+
+    self.start_thread()
+    start_time = time.monotonic()
+    while f_path.exists() and time.monotonic() - start_time < 2:
+      time.sleep(0.01)
+    self.join_thread()
+
+    self.assertTrue(f_path.exists(), "File deleted when locked")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/loggerd/tests/test_encoder.py b/system/loggerd/tests/test_encoder.py
similarity index 94%
rename from selfdrive/loggerd/tests/test_encoder.py
rename to system/loggerd/tests/test_encoder.py
index 1b9bcef2d7..41b83c0821 100755
--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/system/loggerd/tests/test_encoder.py
@@ -11,12 +11,12 @@ from pathlib import Path
 from parameterized import parameterized
 from tqdm import trange
 
-from common.params import Params
-from common.timeout import Timeout
-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
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.hardware import TICI
+from openpilot.system.loggerd.config import ROOT
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.tools.lib.logreader import LogReader
 
 SEGMENT_LENGTH = 2
 FULL_SIZE = 2507572
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/system/loggerd/tests/test_logger.cc
similarity index 99%
rename from selfdrive/loggerd/tests/test_logger.cc
rename to system/loggerd/tests/test_logger.cc
index ba7835d632..9c82299091 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/system/loggerd/tests/test_logger.cc
@@ -9,7 +9,7 @@
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 #include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
diff --git a/selfdrive/loggerd/tests/test_loggerd.py b/system/loggerd/tests/test_loggerd.py
similarity index 81%
rename from selfdrive/loggerd/tests/test_loggerd.py
rename to system/loggerd/tests/test_loggerd.py
index 9c3565d130..b43f597c25 100755
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/system/loggerd/tests/test_loggerd.py
@@ -8,19 +8,22 @@ import time
 import unittest
 from collections import defaultdict
 from pathlib import Path
+from typing import Dict, List
 
 import cereal.messaging as messaging
 from cereal import log
 from cereal.services import service_list
-from common.basedir import BASEDIR
-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 system.version import get_version
-from tools.lib.logreader import LogReader
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.params import Params
+from openpilot.common.timeout import Timeout
+from openpilot.system.loggerd.config import ROOT
+from openpilot.system.loggerd.xattr_cache import getxattr
+from openpilot.system.loggerd.deleter import PRESERVE_ATTR_NAME, PRESERVE_ATTR_VALUE
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.version import get_version
+from openpilot.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
+from openpilot.common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size
 
 SentinelType = log.Sentinel.SentinelType
 
@@ -51,7 +54,7 @@ class TestLoggerd(unittest.TestCase):
 
   def _gen_bootlog(self):
     with Timeout(5):
-      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8')
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')
 
     log_fn = self._get_log_fn(out)
 
@@ -71,6 +74,30 @@ class TestLoggerd(unittest.TestCase):
     end_type = SentinelType.endOfRoute if route else SentinelType.endOfSegment
     self.assertTrue(msgs[-1].sentinel.type == end_type)
 
+  def _publish_random_messages(self, services: List[str]) -> Dict[str, list]:
+    pm = messaging.PubMaster(services)
+
+    managed_processes["loggerd"].start()
+    for s in services:
+      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+
+    sent_msgs = defaultdict(list)
+    for _ in range(random.randint(2, 10) * 100):
+      for s in services:
+        try:
+          m = messaging.new_message(s)
+        except Exception:
+          m = messaging.new_message(s, random.randint(2, 10))
+        pm.send(s, m)
+        sent_msgs[s].append(m)
+      time.sleep(0.01)
+
+    for s in services:
+      self.assertTrue(pm.wait_for_readers_to_update(s, timeout=5))
+    managed_processes["loggerd"].stop()
+
+    return sent_msgs
+
   def test_init_data_values(self):
     os.environ["CLEAN"] = random.choice(["0", "1"])
 
@@ -86,7 +113,7 @@ class TestLoggerd(unittest.TestCase):
     params.clear_all()
     for k, _, v in fake_params:
       params.put(k, v)
-    params.put("LaikadEphemeris", "abc")
+    params.put("LaikadEphemerisV3", "abc")
 
     lr = list(LogReader(str(self._gen_bootlog())))
     initData = lr[0].initData
@@ -103,14 +130,14 @@ class TestLoggerd(unittest.TestCase):
 
     # check params
     logged_params = {entry.key: entry.value for entry in initData.params.entries}
-    expected_params = set(k for k, _, __ in fake_params) | {'LaikadEphemeris'}
+    expected_params = {k for k, _, __ in fake_params} | {'LaikadEphemerisV3'}
     assert set(logged_params.keys()) == expected_params, set(logged_params.keys()) ^ expected_params
-    assert logged_params['LaikadEphemeris'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemeris'])}"
+    assert logged_params['LaikadEphemerisV3'] == b'', f"DONT_LOG param value was logged: {repr(logged_params['LaikadEphemerisV3'])}"
     for param_key, initData_key, v in fake_params:
       self.assertEqual(getattr(initData, initData_key), v)
       self.assertEqual(logged_params[param_key].decode(), v)
 
-    params.put("LaikadEphemeris", "")
+    params.put("LaikadEphemerisV3", "")
 
   def test_rotation(self):
     os.environ["LOGGERD_TEST"] = "1"
@@ -133,6 +160,7 @@ class TestLoggerd(unittest.TestCase):
       os.environ["LOGGERD_SEGMENT_LENGTH"] = str(length)
       managed_processes["loggerd"].start()
       managed_processes["encoderd"].start()
+      time.sleep(1)
 
       fps = 20.0
       for n in range(1, int(num_segs*length*fps)+1):
@@ -182,7 +210,8 @@ class TestLoggerd(unittest.TestCase):
     for fn in ["console-ramoops", "pmsg-ramoops-0"]:
       path = Path(os.path.join("/sys/fs/pstore/", fn))
       if path.is_file():
-        expected_val = open(path, "rb").read()
+        with open(path, "rb") as f:
+          expected_val = f.read()
         bootlog_val = [e.value for e in boot.pstore.entries if e.key == fn][0]
         self.assertEqual(expected_val, bootlog_val)
 
@@ -192,29 +221,7 @@ class TestLoggerd(unittest.TestCase):
 
     services = random.sample(qlog_services, random.randint(2, min(10, len(qlog_services)))) + \
                random.sample(no_qlog_services, random.randint(2, min(10, len(no_qlog_services))))
-
-    pm = messaging.PubMaster(services)
-
-    # sleep enough for the first poll to time out
-    # TODO: fix loggerd bug dropping the msgs from the first poll
-    managed_processes["loggerd"].start()
-    for s in services:
-      while not pm.all_readers_updated(s):
-        time.sleep(0.1)
-
-    sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
-      for s in services:
-        try:
-          m = messaging.new_message(s)
-        except Exception:
-          m = messaging.new_message(s, random.randint(2, 10))
-        pm.send(s, m)
-        sent_msgs[s].append(m)
-      time.sleep(0.01)
-
-    time.sleep(1)
-    managed_processes["loggerd"].stop()
+    sent_msgs = self._publish_random_messages(services)
 
     qlog_path = os.path.join(self._get_latest_log_dir(), "qlog")
     lr = list(LogReader(qlog_path))
@@ -240,27 +247,7 @@ class TestLoggerd(unittest.TestCase):
 
   def test_rlog(self):
     services = random.sample(CEREAL_SERVICES, random.randint(5, 10))
-    pm = messaging.PubMaster(services)
-
-    # sleep enough for the first poll to time out
-    # TODO: fix loggerd bug dropping the msgs from the first poll
-    managed_processes["loggerd"].start()
-    for s in services:
-      while not pm.all_readers_updated(s):
-        time.sleep(0.1)
-
-    sent_msgs = defaultdict(list)
-    for _ in range(random.randint(2, 10) * 100):
-      for s in services:
-        try:
-          m = messaging.new_message(s)
-        except Exception:
-          m = messaging.new_message(s, random.randint(2, 10))
-        pm.send(s, m)
-        sent_msgs[s].append(m)
-
-    time.sleep(2)
-    managed_processes["loggerd"].stop()
+    sent_msgs = self._publish_random_messages(services)
 
     lr = list(LogReader(os.path.join(self._get_latest_log_dir(), "rlog")))
 
@@ -275,6 +262,20 @@ class TestLoggerd(unittest.TestCase):
       sent.clear_write_flag()
       self.assertEqual(sent.to_bytes(), m.as_builder().to_bytes())
 
+  def test_preserving_flagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) | {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    self.assertEqual(getxattr(segment_dir, PRESERVE_ATTR_NAME), PRESERVE_ATTR_VALUE)
+
+  def test_not_preserving_unflagged_segments(self):
+    services = set(random.sample(CEREAL_SERVICES, random.randint(5, 10))) - {"userFlag"}
+    self._publish_random_messages(services)
+
+    segment_dir = self._get_latest_log_dir()
+    self.assertIsNone(getxattr(segment_dir, PRESERVE_ATTR_NAME))
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/loggerd/tests/test_runner.cc b/system/loggerd/tests/test_runner.cc
similarity index 100%
rename from selfdrive/loggerd/tests/test_runner.cc
rename to system/loggerd/tests/test_runner.cc
diff --git a/selfdrive/loggerd/tests/test_uploader.py b/system/loggerd/tests/test_uploader.py
similarity index 63%
rename from selfdrive/loggerd/tests/test_uploader.py
rename to system/loggerd/tests/test_uploader.py
index 6090bbe2aa..bf21d8d7a9 100755
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/system/loggerd/tests/test_uploader.py
@@ -5,11 +5,13 @@ import threading
 import unittest
 import logging
 import json
+from pathlib import Path
+from typing import List, Optional
 
-from system.swaglog import cloudlog
-import selfdrive.loggerd.uploader as uploader
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.loggerd.uploader import uploader_fn, UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
+from openpilot.system.loggerd.tests.loggerd_tests_common import UploaderTestCase
 
 
 class TestLogHandler(logging.Handler):
@@ -42,7 +44,7 @@ class TestUploader(UploaderTestCase):
 
   def start_thread(self):
     self.end_event = threading.Event()
-    self.up_thread = threading.Thread(target=uploader.uploader_fn, args=[self.end_event])
+    self.up_thread = threading.Thread(target=uploader_fn, args=[self.end_event])
     self.up_thread.daemon = True
     self.up_thread.start()
 
@@ -50,16 +52,16 @@ class TestUploader(UploaderTestCase):
     self.end_event.set()
     self.up_thread.join()
 
-  def gen_files(self, lock=False, boot=True):
-    f_paths = list()
+  def gen_files(self, lock=False, xattr: Optional[bytes] = None, boot=True) -> List[Path]:
+    f_paths = []
     for t in ["qlog", "rlog", "dcamera.hevc", "fcamera.hevc"]:
-      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock))
+      f_paths.append(self.make_file_with_data(self.seg_dir, t, 1, lock=lock, upload_xattr=xattr))
 
     if boot:
-      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock))
+      f_paths.append(self.make_file_with_data("boot", f"{self.seg_dir}", 1, lock=lock, upload_xattr=xattr))
     return f_paths
 
-  def gen_order(self, seg1, seg2, boot=True):
+  def gen_order(self, seg1: List[int], seg2: List[int], boot=True) -> List[str]:
     keys = []
     if boot:
       keys += [f"boot/{self.seg_format.format(i)}.bz2" for i in seg1]
@@ -82,7 +84,25 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
+
+    self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
+
+  def test_upload_with_wrong_xattr(self):
+    self.gen_files(lock=False, xattr=b'0')
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    exp_order = self.gen_order([self.seg_num], [])
+
+    self.assertTrue(len(log_handler.upload_ignored) == 0, "Some files were ignored")
+    self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
+    self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
+    for f_path in exp_order:
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -101,7 +121,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_ignored) < len(exp_order), "Some files failed to ignore")
     self.assertFalse(len(log_handler.upload_ignored) > len(exp_order), "Some files were ignored twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not ignored")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not ignored")
 
     self.assertTrue(log_handler.upload_ignored == exp_order, "Files ignored in wrong order")
 
@@ -126,7 +146,7 @@ class TestUploader(UploaderTestCase):
     self.assertFalse(len(log_handler.upload_order) < len(exp_order), "Some files failed to upload")
     self.assertFalse(len(log_handler.upload_order) > len(exp_order), "Some files were uploaded twice")
     for f_path in exp_order:
-      self.assertTrue(os.getxattr(os.path.join(self.root, f_path.replace('.bz2', '')), uploader.UPLOAD_ATTR_NAME), "All files not uploaded")
+      self.assertEqual(os.getxattr((self.root / f_path).with_suffix(""), UPLOAD_ATTR_NAME), UPLOAD_ATTR_VALUE, "All files not uploaded")
 
     self.assertTrue(log_handler.upload_order == exp_order, "Files uploaded in wrong order")
 
@@ -141,9 +161,20 @@ class TestUploader(UploaderTestCase):
     self.join_thread()
 
     for f_path in f_paths:
-      uploaded = uploader.UPLOAD_ATTR_NAME in os.listxattr(f_path.replace('.bz2', ''))
+      fn = f_path.with_suffix(f_path.suffix.replace(".bz2", ""))
+      uploaded = UPLOAD_ATTR_NAME in os.listxattr(fn) and os.getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
       self.assertFalse(uploaded, "File upload when locked")
 
+  def test_no_upload_with_xattr(self):
+    self.gen_files(lock=False, xattr=UPLOAD_ATTR_VALUE)
+
+    self.start_thread()
+    # allow enough time that files could upload twice if there is a bug in the logic
+    time.sleep(5)
+    self.join_thread()
+
+    self.assertEqual(len(log_handler.upload_order), 0, "File uploaded again")
+
   def test_clear_locks_on_startup(self):
     f_paths = self.gen_files(lock=True, boot=False)
     self.start_thread()
@@ -151,7 +182,8 @@ class TestUploader(UploaderTestCase):
     self.join_thread()
 
     for f_path in f_paths:
-      self.assertFalse(os.path.isfile(f_path + ".lock"), "File lock not cleared on startup")
+      lock_path = f_path.with_suffix(f_path.suffix + ".lock")
+      self.assertFalse(lock_path.is_file(), "File lock not cleared on startup")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/loggerd/tools/mark_all_uploaded.py b/system/loggerd/tools/mark_all_uploaded.py
similarity index 57%
rename from selfdrive/loggerd/tools/mark_all_uploaded.py
rename to system/loggerd/tools/mark_all_uploaded.py
index e60e6cfa2c..84b9c20d78 100644
--- a/selfdrive/loggerd/tools/mark_all_uploaded.py
+++ b/system/loggerd/tools/mark_all_uploaded.py
@@ -1,7 +1,7 @@
 import os
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
 
-from selfdrive.loggerd.config import ROOT
+from openpilot.system.loggerd.config import ROOT
 for folder in os.walk(ROOT):
   for file1 in folder[2]:
     full_path = os.path.join(folder[0], file1)
diff --git a/selfdrive/loggerd/tools/mark_unuploaded.py b/system/loggerd/tools/mark_unuploaded.py
similarity index 68%
rename from selfdrive/loggerd/tools/mark_unuploaded.py
rename to system/loggerd/tools/mark_unuploaded.py
index 343805d5fc..ef50280441 100755
--- a/selfdrive/loggerd/tools/mark_unuploaded.py
+++ b/system/loggerd/tools/mark_unuploaded.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import sys
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME
+from openpilot.system.loggerd.uploader import UPLOAD_ATTR_NAME
 
 for fn in sys.argv[1:]:
   print(f"unmarking {fn}")
diff --git a/selfdrive/loggerd/uploader.py b/system/loggerd/uploader.py
similarity index 75%
rename from selfdrive/loggerd/uploader.py
rename to system/loggerd/uploader.py
index f97bafecb9..8ed60dac56 100644
--- a/selfdrive/loggerd/uploader.py
+++ b/system/loggerd/uploader.py
@@ -9,16 +9,17 @@ import threading
 import time
 import traceback
 from pathlib import Path
+from typing import BinaryIO, Iterator, List, Optional, Tuple, Union
 
 from cereal import log
 import cereal.messaging as messaging
-from common.api import Api
-from common.params import Params
-from common.realtime import set_core_affinity
-from system.hardware import TICI
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
-from selfdrive.loggerd.config import ROOT
-from system.swaglog import cloudlog
+from openpilot.common.api import Api
+from openpilot.common.params import Params
+from openpilot.common.realtime import set_core_affinity
+from openpilot.system.hardware import TICI
+from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
+from openpilot.system.loggerd.config import ROOT
+from openpilot.system.swaglog import cloudlog
 
 NetworkType = log.DeviceState.NetworkType
 UPLOAD_ATTR_NAME = 'user.upload'
@@ -31,10 +32,23 @@ force_wifi = os.getenv("FORCEWIFI") is not None
 fake_upload = os.getenv("FAKEUPLOAD") is not None
 
 
-def get_directory_sort(d):
-  return list(map(lambda s: s.rjust(10, '0'), d.rsplit('--', 1)))
+class FakeRequest:
+  def __init__(self):
+    self.headers = {"Content-Length": "0"}
 
-def listdir_by_creation(d):
+
+class FakeResponse:
+  def __init__(self):
+    self.status_code = 200
+    self.request = FakeRequest()
+
+
+UploadResponse = Union[requests.Response, FakeResponse]
+
+def get_directory_sort(d: str) -> List[str]:
+  return [s.rjust(10, '0') for s in d.rsplit('--', 1)]
+
+def listdir_by_creation(d: str) -> List[str]:
   try:
     paths = os.listdir(d)
     paths = sorted(paths, key=get_directory_sort)
@@ -43,7 +57,7 @@ def listdir_by_creation(d):
     cloudlog.exception("listdir_by_creation failed")
     return list()
 
-def clear_locks(root):
+def clear_locks(root: str) -> None:
   for logname in os.listdir(root):
     path = os.path.join(root, logname)
     try:
@@ -54,16 +68,14 @@ def clear_locks(root):
       cloudlog.exception("clear_locks failed")
 
 
-class Uploader():
-  def __init__(self, dongle_id, root):
+class Uploader:
+  def __init__(self, dongle_id: str, root: str):
     self.dongle_id = dongle_id
     self.api = Api(dongle_id)
     self.root = root
 
-    self.upload_thread = None
-
-    self.last_resp = None
-    self.last_exc = None
+    self.last_resp: Optional[UploadResponse] = None
+    self.last_exc: Optional[Tuple[Exception, str]] = None
 
     self.immediate_size = 0
     self.immediate_count = 0
@@ -76,12 +88,12 @@ class Uploader():
     self.immediate_folders = ["crash/", "boot/"]
     self.immediate_priority = {"qlog": 0, "qlog.bz2": 0, "qcamera.ts": 1}
 
-  def get_upload_sort(self, name):
+  def get_upload_sort(self, name: str) -> int:
     if name in self.immediate_priority:
       return self.immediate_priority[name]
     return 1000
 
-  def list_upload_files(self):
+  def list_upload_files(self) -> Iterator[Tuple[str, str, str]]:
     if not os.path.isdir(self.root):
       return
 
@@ -103,7 +115,7 @@ class Uploader():
         fn = os.path.join(path, name)
         # skip files already uploaded
         try:
-          is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME)
+          is_uploaded = getxattr(fn, UPLOAD_ATTR_NAME) == UPLOAD_ATTR_VALUE
         except OSError:
           cloudlog.event("uploader_getxattr_failed", exc=self.last_exc, key=key, fn=fn)
           is_uploaded = True  # deleter could have deleted
@@ -117,22 +129,22 @@ class Uploader():
         except OSError:
           pass
 
-        yield (name, key, fn)
+        yield name, key, fn
 
-  def next_file_to_upload(self):
+  def next_file_to_upload(self) -> Optional[Tuple[str, str, str]]:
     upload_files = list(self.list_upload_files())
 
     for name, key, fn in upload_files:
       if any(f in fn for f in self.immediate_folders):
-        return (name, key, fn)
+        return name, key, fn
 
     for name, key, fn in upload_files:
       if name in self.immediate_priority:
-        return (name, key, fn)
+        return name, key, fn
 
     return None
 
-  def do_upload(self, key, fn):
+  def do_upload(self, key: str, fn: str) -> None:
     try:
       url_resp = self.api.get("v1.4/" + self.dongle_id + "/upload_url/", timeout=10, path=key, access_token=self.api.get_token())
       if url_resp.status_code == 412:
@@ -146,17 +158,13 @@ class Uploader():
 
       if fake_upload:
         cloudlog.debug(f"*** WARNING, THIS IS A FAKE UPLOAD TO {url} ***")
-
-        class FakeResponse():
-          def __init__(self):
-            self.status_code = 200
-
         self.last_resp = FakeResponse()
       else:
         with open(fn, "rb") as f:
+          data: BinaryIO
           if key.endswith('.bz2') and not fn.endswith('.bz2'):
-            data = bz2.compress(f.read())
-            data = io.BytesIO(data)
+            compressed = bz2.compress(f.read())
+            data = io.BytesIO(compressed)
           else:
             data = f
 
@@ -165,7 +173,7 @@ class Uploader():
       self.last_exc = (e, traceback.format_exc())
       raise
 
-  def normal_upload(self, key, fn):
+  def normal_upload(self, key: str, fn: str) -> Optional[UploadResponse]:
     self.last_resp = None
     self.last_exc = None
 
@@ -176,7 +184,7 @@ class Uploader():
 
     return self.last_resp
 
-  def upload(self, name, key, fn, network_type, metered):
+  def upload(self, name: str, key: str, fn: str, network_type: int, metered: bool) -> bool:
     try:
       sz = os.path.getsize(fn)
     except OSError:
@@ -197,9 +205,15 @@ class Uploader():
       if stat is not None and stat.status_code in (200, 201, 401, 403, 412):
         self.last_filename = fn
         self.last_time = time.monotonic() - start_time
-        self.last_speed = (sz / 1e6) / self.last_time
+        if stat.status_code == 412:
+          self.last_speed = 0
+          cloudlog.event("upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
+        else:
+          content_length = int(stat.request.headers.get("Content-Length", 0))
+          self.last_speed = (content_length / 1e6) / self.last_time
+          cloudlog.event("upload_success", key=key, fn=fn, sz=sz, content_length=content_length,
+                         network_type=network_type, metered=metered, speed=self.last_speed)
         success = True
-        cloudlog.event("upload_success" if stat.status_code != 412 else "upload_ignored", key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
       else:
         success = False
         cloudlog.event("upload_failed", stat=stat, exc=self.last_exc, key=key, fn=fn, sz=sz, network_type=network_type, metered=metered)
@@ -224,7 +238,7 @@ class Uploader():
     return msg
 
 
-def uploader_fn(exit_event):
+def uploader_fn(exit_event: threading.Event) -> None:
   try:
     set_core_affinity([0, 1, 2, 3])
   except Exception:
@@ -279,7 +293,7 @@ def uploader_fn(exit_event):
     pm.send("uploaderState", uploader.get_msg())
 
 
-def main():
+def main() -> None:
   uploader_fn(threading.Event())
 
 
diff --git a/selfdrive/loggerd/video_writer.cc b/system/loggerd/video_writer.cc
similarity index 94%
rename from selfdrive/loggerd/video_writer.cc
rename to system/loggerd/video_writer.cc
index 4f79ccafc8..90b5f1af3d 100644
--- a/selfdrive/loggerd/video_writer.cc
+++ b/system/loggerd/video_writer.cc
@@ -1,14 +1,12 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"
 #include <cassert>
-#include <cstdlib>
 
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "common/swaglog.h"
 #include "common/util.h"
 
 VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing, int width, int height, int fps, cereal::EncodeIndex::Type codec)
   : remuxing(remuxing) {
-  raw = codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS;
   vid_path = util::string_format("%s/%s", path, filename);
   lock_path = util::string_format("%s/%s.lock", path, filename);
 
@@ -18,6 +16,7 @@ VideoWriter::VideoWriter(const char *path, const char *filename, bool remuxing,
 
   LOGD("encoder_open %s remuxing:%d", this->vid_path.c_str(), this->remuxing);
   if (this->remuxing) {
+    bool raw = (codec == cereal::EncodeIndex::Type::BIG_BOX_LOSSLESS);
     avformat_alloc_output_context2(&this->ofmt_ctx, NULL, raw ? "matroska" : NULL, this->vid_path.c_str());
     assert(this->ofmt_ctx);
 
@@ -89,7 +88,7 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
 
       // TODO: can use av_write_frame for non raw?
       int err = av_interleaved_write_frame(ofmt_ctx, &pkt);
-      if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lu", len, timestamp); }
+      if (err < 0) { LOGW("ts encoder write issue len: %d ts: %lld", len, timestamp); }
 
       av_packet_unref(&pkt);
     }
@@ -98,7 +97,6 @@ void VideoWriter::write(uint8_t *data, int len, long long timestamp, bool codecc
 
 VideoWriter::~VideoWriter() {
   if (this->remuxing) {
-    if (this->raw) { avcodec_close(this->codec_ctx); }
     int err = av_write_trailer(this->ofmt_ctx);
     if (err != 0) LOGE("av_write_trailer failed %d", err);
     avcodec_free_context(&this->codec_ctx);
diff --git a/selfdrive/loggerd/video_writer.h b/system/loggerd/video_writer.h
similarity index 95%
rename from selfdrive/loggerd/video_writer.h
rename to system/loggerd/video_writer.h
index 01a243904c..1aa758b42b 100644
--- a/selfdrive/loggerd/video_writer.h
+++ b/system/loggerd/video_writer.h
@@ -16,11 +16,10 @@ public:
   ~VideoWriter();
 private:
   std::string vid_path, lock_path;
-
   FILE *of = nullptr;
 
   AVCodecContext *codec_ctx;
   AVFormatContext *ofmt_ctx;
   AVStream *out_stream;
-  bool remuxing, raw;
-};
\ No newline at end of file
+  bool remuxing;
+};
diff --git a/selfdrive/loggerd/xattr_cache.py b/system/loggerd/xattr_cache.py
similarity index 94%
rename from selfdrive/loggerd/xattr_cache.py
rename to system/loggerd/xattr_cache.py
index 95e39f2032..5feeff34d2 100644
--- a/selfdrive/loggerd/xattr_cache.py
+++ b/system/loggerd/xattr_cache.py
@@ -1,6 +1,6 @@
 import os
 import errno
-from typing import Dict, Tuple, Optional
+from typing import Dict, Optional, Tuple
 
 _cached_attributes: Dict[Tuple, Optional[bytes]] = {}
 
diff --git a/system/logmessaged.py b/system/logmessaged.py
index 280a23cf1d..cab8cdd80d 100755
--- a/system/logmessaged.py
+++ b/system/logmessaged.py
@@ -3,8 +3,8 @@ import zmq
 from typing import NoReturn
 
 import cereal.messaging as messaging
-from common.logging_extra import SwagLogFileFormatter
-from system.swaglog import get_file_handler
+from openpilot.common.logging_extra import SwagLogFileFormatter
+from openpilot.system.swaglog import get_file_handler
 
 
 def main() -> NoReturn:
@@ -12,7 +12,7 @@ def main() -> NoReturn:
   log_handler.setFormatter(SwagLogFileFormatter(None))
   log_level = 20  # logging.INFO
 
-  ctx = zmq.Context().instance()
+  ctx = zmq.Context.instance()
   sock = ctx.socket(zmq.PULL)
   sock.bind("ipc:///tmp/logmessage")
 
@@ -20,23 +20,37 @@ def main() -> NoReturn:
   log_message_sock = messaging.pub_sock('logMessage')
   error_log_message_sock = messaging.pub_sock('errorLogMessage')
 
-  while True:
-    dat = b''.join(sock.recv_multipart())
-    level = dat[0]
-    record = dat[1:].decode("utf-8")
-    if level >= log_level:
-      log_handler.emit(record)
+  try:
+    while True:
+      dat = b''.join(sock.recv_multipart())
+      level = dat[0]
+      record = dat[1:].decode("utf-8")
+      if level >= log_level:
+        log_handler.emit(record)
 
-    # then we publish them
-    msg = messaging.new_message()
-    msg.logMessage = record
-    log_message_sock.send(msg.to_bytes())
+      if len(record) > 2*1024*1024:
+        print("WARNING: log too big to publish", len(record))
+        print(print(record[:100]))
+        continue
 
-    if level >= 40:  # logging.ERROR
+      # then we publish them
       msg = messaging.new_message()
-      msg.errorLogMessage = record
-      error_log_message_sock.send(msg.to_bytes())
-
+      msg.logMessage = record
+      log_message_sock.send(msg.to_bytes())
+
+      if level >= 40:  # logging.ERROR
+        msg = messaging.new_message()
+        msg.errorLogMessage = record
+        error_log_message_sock.send(msg.to_bytes())
+  finally:
+    sock.close()
+    ctx.term()
+
+    # can hit this if interrupted during a rollover
+    try:
+      log_handler.close()
+    except ValueError:
+      pass
 
 if __name__ == "__main__":
   main()
diff --git a/system/micd.py b/system/micd.py
index a56140e3b9..c7af1b0ad2 100755
--- a/system/micd.py
+++ b/system/micd.py
@@ -1,11 +1,10 @@
 #!/usr/bin/env python3
-import sounddevice as sd
 import numpy as np
 
 from cereal import messaging
-from common.filter_simple import FirstOrderFilter
-from common.realtime import Ratekeeper
-from system.swaglog import cloudlog
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.realtime import Ratekeeper
+from openpilot.system.swaglog import cloudlog
 
 RATE = 10
 FFT_SAMPLES = 4096
@@ -84,11 +83,11 @@ class Mic:
 
       self.measurements = self.measurements[FFT_SAMPLES:]
 
-  def micd_thread(self, device=None):
-    if device is None:
-      device = "sysdefault"
+  def micd_thread(self):
+    # sounddevice must be imported after forking processes
+    import sounddevice as sd
 
-    with sd.InputStream(device=device, channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
+    with sd.InputStream(channels=1, samplerate=SAMPLE_RATE, callback=self.callback) as stream:
       cloudlog.info(f"micd stream started: {stream.samplerate=} {stream.channels=} {stream.dtype=} {stream.device=}")
       while True:
         self.update()
diff --git a/system/proclogd/SConscript b/system/proclogd/SConscript
index 1b94a32f1b..1f4b767011 100644
--- a/system/proclogd/SConscript
+++ b/system/proclogd/SConscript
@@ -2,5 +2,5 @@ Import('env', 'cereal', 'messaging', 'common')
 libs = [cereal, messaging, 'pthread', 'zmq', 'capnp', 'kj', 'common', 'zmq', 'json11']
 env.Program('proclogd', ['main.cc', 'proclog.cc'], LIBS=libs)
 
-if GetOption('test'):
+if GetOption('extras'):
   env.Program('tests/test_proclog', ['tests/test_proclog.cc', 'proclog.cc'], LIBS=libs)
diff --git a/system/proclogd/main.cc b/system/proclogd/main.cc
index c4faa916d9..3f8a889eea 100644
--- a/system/proclogd/main.cc
+++ b/system/proclogd/main.cc
@@ -1,6 +1,7 @@
 
 #include <sys/resource.h>
 
+#include "common/ratekeeper.h"
 #include "common/util.h"
 #include "system/proclogd/proclog.h"
 
@@ -9,13 +10,15 @@ ExitHandler do_exit;
 int main(int argc, char **argv) {
   setpriority(PRIO_PROCESS, 0, -15);
 
+  RateKeeper rk("proclogd", 0.5);
   PubMaster publisher({"procLog"});
+
   while (!do_exit) {
     MessageBuilder msg;
     buildProcLogMessage(msg);
     publisher.send("procLog", msg);
 
-    util::sleep_for(2000);  // 2 secs
+    rk.keepTime();
   }
 
   return 0;
diff --git a/system/sensord/.gitignore b/system/sensord/.gitignore
new file mode 100644
index 0000000000..e9b8071b4b
--- /dev/null
+++ b/system/sensord/.gitignore
@@ -0,0 +1 @@
+_sensord
diff --git a/selfdrive/sensord/SConscript b/system/sensord/SConscript
similarity index 89%
rename from selfdrive/sensord/SConscript
rename to system/sensord/SConscript
index 8f26c00853..63d1d0d690 100644
--- a/selfdrive/sensord/SConscript
+++ b/system/sensord/SConscript
@@ -1,9 +1,7 @@
 Import('env', 'arch', 'common', 'cereal', 'messaging')
 
 sensors = [
-  'sensors/file_sensor.cc',
   'sensors/i2c_sensor.cc',
-  'sensors/light_sensor.cc',
   'sensors/bmx055_accel.cc',
   'sensors/bmx055_gyro.cc',
   'sensors/bmx055_magn.cc',
diff --git a/system/sensord/__init__.py b/system/sensord/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/sensord/pigeond.py b/system/sensord/pigeond.py
similarity index 95%
rename from selfdrive/sensord/pigeond.py
rename to system/sensord/pigeond.py
index f56af1c705..a2b6b08de0 100755
--- a/selfdrive/sensord/pigeond.py
+++ b/system/sensord/pigeond.py
@@ -10,11 +10,11 @@ from datetime import datetime
 from typing import List, Optional, Tuple
 
 from cereal import messaging
-from common.params import Params
-from system.swaglog import cloudlog
-from system.hardware import TICI
-from common.gpio import gpio_init, gpio_set
-from system.hardware.tici.pins import GPIO
+from openpilot.common.params import Params
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.hardware import TICI
+from openpilot.common.gpio import gpio_init, gpio_set
+from openpilot.system.hardware.tici.pins import GPIO
 
 UBLOX_TTY = "/dev/ttyHS0"
 
@@ -123,7 +123,7 @@ class TTYPigeon():
       init_baudrate(self)
 
       # clear configuration
-      self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x00\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\x5b")
+      self.send_with_ack(b"\xb5\x62\x06\x09\x0d\x00\x1f\x1f\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x17\x71\xd7")
 
       # clear flash memory (almanac backup)
       self.send_with_ack(b"\xB5\x62\x09\x14\x04\x00\x01\x00\x00\x00\x22\xf0")
@@ -164,12 +164,12 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x08\x06\x00\x64\x00\x01\x00\x00\x00\x79\x10")
 
       # UBX-CFG-NAV5 (0x06 0x24)
-      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x24\x24\x00\x05\x00\x04\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x5A\x63") # noqa: E501
 
       # UBX-CFG-ODO (0x06 0x1E)
       pigeon.send_with_ack(b"\xB5\x62\x06\x1E\x14\x00\x00\x00\x00\x00\x01\x03\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x3C\x37")
       pigeon.send_with_ack(b"\xB5\x62\x06\x39\x08\x00\xFF\xAD\x62\xAD\x1E\x63\x00\x00\x83\x0C")
-      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x23\x28\x00\x00\x00\x00\x04\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x56\x24") # noqa: E501
 
       # UBX-CFG-NAV5 (0x06 0x24)
       pigeon.send_with_ack(b"\xB5\x62\x06\x24\x00\x00\x2A\x84")
@@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
       pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
       cloudlog.debug("pigeon configured")
 
       # try restoring almanac backup
@@ -303,8 +304,7 @@ def main():
 
   pigeon, pm = create_pigeon()
   init_baudrate(pigeon)
-  r = initialize_pigeon(pigeon)
-  Params().put_bool("UbloxAvailable", r)
+  initialize_pigeon(pigeon)
 
   # start receiving data
   run_receiving(pigeon, pm)
diff --git a/selfdrive/sensord/rawgps/compare.py b/system/sensord/rawgps/compare.py
similarity index 93%
rename from selfdrive/sensord/rawgps/compare.py
rename to system/sensord/rawgps/compare.py
index 0ec15b81fb..e1daa7f918 100755
--- a/selfdrive/sensord/rawgps/compare.py
+++ b/system/sensord/rawgps/compare.py
@@ -19,8 +19,8 @@ if __name__ == "__main__":
     recv_time = report.milliseconds / 1000
 
     car = []
-    print("qcom has ", list(sorted([x.svId for x in report.sv])))
-    print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])))
+    print("qcom has ", sorted([x.svId for x in report.sv]))
+    print("ublox has", sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)]))
     for i in report.sv:
       # match to ublox
       tm = None
@@ -56,7 +56,7 @@ if __name__ == "__main__":
     pr_err /= len(car)
     speed_err /= len(car)
     print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
-    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):  # type: ignore
+    for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
       svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
       print("svid: %3d  pseudorange: %10.2f m  speed: %8.2f m/s   meas: %12.2f  speed: %10.2f   meas_err: %10.3f speed_err: %8.3f cno: %d" %
         (svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,
diff --git a/selfdrive/sensord/rawgps/modemdiag.py b/system/sensord/rawgps/modemdiag.py
similarity index 100%
rename from selfdrive/sensord/rawgps/modemdiag.py
rename to system/sensord/rawgps/modemdiag.py
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/system/sensord/rawgps/rawgpsd.py
similarity index 69%
rename from selfdrive/sensord/rawgps/rawgpsd.py
rename to system/sensord/rawgps/rawgpsd.py
index 1c65051665..bb228812dc 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/system/sensord/rawgps/rawgpsd.py
@@ -5,16 +5,24 @@ import signal
 import itertools
 import math
 import time
+import pycurl
+import shutil
 import subprocess
-from typing import NoReturn
+from datetime import datetime
+from multiprocessing import Process, Event
+from typing import NoReturn, Optional
 from struct import unpack_from, calcsize, pack
 
 from cereal import log
 import cereal.messaging as messaging
-from laika.gps_time import GPSTime
-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, position_report, relist,
+from openpilot.common.gpio import gpio_init, gpio_set
+from laika.gps_time import GPSTime, utc_to_gpst, get_leap_seconds
+from laika.helpers import get_prn_from_nmea_id
+from laika.constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
+from openpilot.system.hardware.tici.pins import GPIO
+from openpilot.system.swaglog import cloudlog
+from openpilot.system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from openpilot.system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
                                               gps_measurement_report, gps_measurement_report_sv,
                                               glonass_measurement_report, glonass_measurement_report_sv,
                                               oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
@@ -23,6 +31,9 @@ from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, re
                                               LOG_GNSS_OEMDRE_SVPOLY_REPORT)
 
 DEBUG = int(os.getenv("DEBUG", "0"))==1
+ASSIST_DATA_FILE = '/tmp/xtra3grc.bin'
+ASSIST_DATA_FILE_DOWNLOAD = ASSIST_DATA_FILE + '.download'
+ASSISTANCE_URL = 'http://xtrapath3.izatcloud.net/xtra3grc.bin'
 
 LOG_TYPES = [
   LOG_GNSS_GPS_MEASUREMENT_REPORT,
@@ -78,24 +89,24 @@ measurementStatusGlonassFields = {
 
 
 def try_setup_logs(diag, log_types):
-  for _ in range(5):
+  for _ in range(10):
     try:
       setup_logs(diag, log_types)
       break
     except Exception:
       cloudlog.exception("setup logs failed, trying again")
+      time.sleep(1.0)
   else:
     raise Exception(f"setup logs failed, {log_types=}")
 
-def at_cmd(cmd: str) -> None:
-  for _ in range(5):
+def at_cmd(cmd: str) -> Optional[str]:
+  for _ in range(3):
     try:
-      subprocess.check_call(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True)
-      break
+      return subprocess.check_output(f"mmcli -m any --timeout 30 --command='{cmd}'", shell=True, encoding='utf8')
     except subprocess.CalledProcessError:
       cloudlog.exception("rawgps.mmcli_command_failed")
-  else:
-    raise Exception(f"failed to execute mmcli command {cmd=}")
+      time.sleep(1.0)
+  raise Exception(f"failed to execute mmcli command {cmd=}")
 
 
 def gps_enabled() -> bool:
@@ -105,7 +116,68 @@ def gps_enabled() -> bool:
   except subprocess.CalledProcessError as exc:
     raise Exception("failed to execute QGPS mmcli command") from exc
 
-def setup_quectel(diag: ModemDiag):
+def download_assistance():
+  try:
+    c = pycurl.Curl()
+    c.setopt(pycurl.URL, ASSISTANCE_URL)
+    c.setopt(pycurl.NOBODY, 1)
+    c.setopt(pycurl.CONNECTTIMEOUT, 2)
+    c.perform()
+    bytes_n = c.getinfo(pycurl.CONTENT_LENGTH_DOWNLOAD)
+    c.close()
+    if bytes_n > 1e5:
+      cloudlog.error("Qcom assistance data larger than expected")
+      return
+
+    with open(ASSIST_DATA_FILE_DOWNLOAD, 'wb') as fp:
+      c = pycurl.Curl()
+      c.setopt(pycurl.URL, ASSISTANCE_URL)
+      c.setopt(pycurl.CONNECTTIMEOUT, 5)
+
+      c.setopt(pycurl.WRITEDATA, fp)
+      c.perform()
+      c.close()
+      os.rename(ASSIST_DATA_FILE_DOWNLOAD, ASSIST_DATA_FILE)
+  except pycurl.error:
+    cloudlog.exception("Failed to download assistance file")
+    return
+
+def downloader_loop(event):
+  if os.path.exists(ASSIST_DATA_FILE):
+    os.remove(ASSIST_DATA_FILE)
+
+  alt_path = os.getenv("QCOM_ALT_ASSISTANCE_PATH", None)
+  if alt_path is not None and os.path.exists(alt_path):
+    shutil.copyfile(alt_path, ASSIST_DATA_FILE)
+
+  try:
+    while not os.path.exists(ASSIST_DATA_FILE) and not event.is_set():
+      download_assistance()
+      event.wait(timeout=10)
+  except KeyboardInterrupt:
+    pass
+
+def inject_assistance():
+  for _ in range(5):
+    try:
+      cmd = f"mmcli -m any --timeout 30 --location-inject-assistance-data={ASSIST_DATA_FILE}"
+      subprocess.check_output(cmd, stderr=subprocess.PIPE, shell=True)
+      cloudlog.info("successfully loaded assistance data")
+      return
+    except subprocess.CalledProcessError as e:
+      cloudlog.event(
+        "rawgps.assistance_loading_failed",
+        error=True,
+        cmd=e.cmd,
+        output=e.output,
+        returncode=e.returncode
+      )
+    time.sleep(0.2)
+  cloudlog.error("failed to load assistance after retry")
+
+def setup_quectel(diag: ModemDiag) -> bool:
+  ret = False
+
   # enable OEMDRE in the NV
   # TODO: it has to reboot for this to take effect
   DIAG_NV_READ_F = 38
@@ -114,17 +186,28 @@ def setup_quectel(diag: ModemDiag):
   send_recv(diag, DIAG_NV_WRITE_F, pack('<HI', NV_GNSS_OEM_FEATURE_MASK, 1))
   send_recv(diag, DIAG_NV_READ_F, pack('<H', NV_GNSS_OEM_FEATURE_MASK))
 
-  setup_logs(diag, LOG_TYPES)
+  try_setup_logs(diag, LOG_TYPES)
 
   if gps_enabled():
     at_cmd("AT+QGPSEND")
+  #at_cmd("AT+QGPSDEL=0")
 
   # disable DPO power savings for more accuracy
   at_cmd("AT+QGPSCFG=\"dpoenable\",0")
   # don't automatically turn on GNSS on powerup
   at_cmd("AT+QGPSCFG=\"autogps\",0")
 
-  at_cmd("AT+QGPSSUPLURL=\"supl.google.com:7275\"")
+  # Do internet assistance
+  at_cmd("AT+QGPSXTRA=1")
+  at_cmd("AT+QGPSSUPLURL=\"NULL\"")
+  if os.path.exists(ASSIST_DATA_FILE):
+    ret = True
+    inject_assistance()
+    os.remove(ASSIST_DATA_FILE)
+  #at_cmd("AT+QGPSXTRADATA?")
+  time_str = datetime.utcnow().strftime("%Y/%m/%d,%H:%M:%S")
+  at_cmd(f"AT+QGPSXTRATIME=0,\"{time_str}\",1,1,1000")
+
   at_cmd("AT+QGPSCFG=\"outport\",\"usbnmea\"")
   at_cmd("AT+QGPS=1")
 
@@ -147,6 +230,8 @@ def setup_quectel(diag: ModemDiag):
     0,0
   ))
 
+  return ret
+
 def teardown_quectel(diag):
   at_cmd("AT+QGPSCFG=\"outport\",\"none\"")
   if gps_enabled():
@@ -154,6 +239,15 @@ def teardown_quectel(diag):
   try_setup_logs(diag, [])
 
 
+def wait_for_modem():
+  cloudlog.warning("waiting for modem to come up")
+  while True:
+    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
+    if ret == 0:
+      return
+    time.sleep(0.1)
+
+
 def main() -> NoReturn:
   unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
   unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
@@ -169,31 +263,42 @@ def main() -> NoReturn:
 
   unpack_position, _ = dict_unpacker(position_report)
 
-  # wait for ModemManager to come up
-  cloudlog.warning("waiting for modem to come up")
-  while True:
-    ret = subprocess.call("mmcli -m any --timeout 10 --command=\"AT+QGPS?\"", stdout=subprocess.DEVNULL, stderr=subprocess.DEVNULL, shell=True)
-    if ret == 0:
-      break
-    time.sleep(0.1)
-
-  # connect to modem
-  diag = ModemDiag()
+  wait_for_modem()
 
+  stop_download_event = Event()
+  assist_fetch_proc = Process(target=downloader_loop, args=(stop_download_event,))
+  assist_fetch_proc.start()
   def cleanup(sig, frame):
-    cloudlog.warning(f"caught sig {sig}, disabling quectel gps")
+    cloudlog.warning("caught sig disabling quectel gps")
+
+    gpio_set(GPIO.UBLOX_PWR_EN, False)
     teardown_quectel(diag)
     cloudlog.warning("quectel cleanup done")
+
+    stop_download_event.set()
+    assist_fetch_proc.kill()
+    assist_fetch_proc.join()
+
     sys.exit(0)
   signal.signal(signal.SIGINT, cleanup)
   signal.signal(signal.SIGTERM, cleanup)
 
-  setup_quectel(diag)
+  # connect to modem
+  diag = ModemDiag()
+  r = setup_quectel(diag)
+  want_assistance = not r
+  current_gps_time = utc_to_gpst(GPSTime.from_datetime(datetime.utcnow()))
   cloudlog.warning("quectel setup done")
+  gpio_init(GPIO.UBLOX_PWR_EN, True)
+  gpio_set(GPIO.UBLOX_PWR_EN, True)
 
   pm = messaging.PubMaster(['qcomGnss', 'gpsLocation'])
 
   while 1:
+    if os.path.exists(ASSIST_DATA_FILE) and want_assistance:
+      setup_quectel(diag)
+      want_assistance = False
+
     opcode, payload = diag.recv()
     if opcode != DIAG_LOG_F:
       cloudlog.error(f"Unhandled opcode: {opcode}")
@@ -255,6 +360,8 @@ def main() -> NoReturn:
               setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
           else:
             setattr(sv, k, v)
+      if report.source == log.QcomGnss.MeasurementSource.gps:
+        current_gps_time = GPSTime(report.gpsWeek, report.gpsMilliseconds / 1000.0)
       pm.send('qcomGnss', msg)
     elif log_type == LOG_GNSS_POSITION_REPORT:
       report = unpack_position(log_payload)
@@ -265,7 +372,6 @@ def main() -> NoReturn:
 
       msg = messaging.new_message('gpsLocation')
       gps = msg.gpsLocation
-      gps.flags = 1
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
       gps.altitude = report["q_FltFinalPosAlt"]
@@ -276,8 +382,14 @@ def main() -> NoReturn:
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]
-      gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
+      gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi if (report["q_FltHeadingUncRad"] != 0) else 180
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
+      # quectel gps verticalAccuracy is clipped to 500, set invalid if so
+      gps.flags = 1 if gps.verticalAccuracy != 500 else 0
+      if gps.flags:
+        want_assistance = False
+        stop_download_event.set()
+
 
       pm.send('gpsLocation', msg)
 
@@ -296,6 +408,21 @@ def main() -> NoReturn:
           pass
         else:
           setattr(poly, k, v)
+
+      prn = get_prn_from_nmea_id(poly.svId)
+      if prn[0] == 'R':
+        epoch = GPSTime(current_gps_time.week, (poly.t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + get_leap_seconds(current_gps_time))
+      else:
+        epoch = GPSTime(current_gps_time.week, poly.t0)
+
+      # handle week rollover
+      if epoch.tow < SECS_IN_DAY and current_gps_time.tow > 6*SECS_IN_DAY:
+        epoch.week += 1
+      elif epoch.tow > 6*SECS_IN_DAY and current_gps_time.tow < SECS_IN_DAY:
+        epoch.week -= 1
+
+      poly.gpsWeek = epoch.week
+      poly.gpsTow = epoch.tow
       pm.send('qcomGnss', msg)
 
     elif log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
@@ -319,7 +446,7 @@ def main() -> NoReturn:
         report.source = 1  # glonass
         measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
       else:
-        assert False
+        raise RuntimeError(f"invalid log_type: {log_type}")
 
       for k,v in dat.items():
         if k == "version":
diff --git a/selfdrive/sensord/rawgps/structs.py b/system/sensord/rawgps/structs.py
similarity index 98%
rename from selfdrive/sensord/rawgps/structs.py
rename to system/sensord/rawgps/structs.py
index 97e3d3d605..bde4e0049c 100644
--- a/selfdrive/sensord/rawgps/structs.py
+++ b/system/sensord/rawgps/structs.py
@@ -255,7 +255,7 @@ position_report = """
   uint32      q_FltRawAlt;              /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
   uint32      q_FltRawAltSigma;         /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
   uint32   align_Flt[14];
-  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted 
+  uint32      q_FltPdop;                /* 3D position dilution of precision as computed from the unweighted
   uint32      q_FltHdop;                /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint32      q_FltVdop;                /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
   uint8       u_EllipseConfidence;      /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */
@@ -276,7 +276,7 @@ position_report = """
   uint8       u_TotalGloSvs;            /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */
   uint8       u_NumBdsSvsUsed;          /* The number of BeiDou SVs used in the fix */
   uint8       u_TotalBdsSvs;            /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */
-"""
+""" # noqa: E501
 
 def name_to_camelcase(nam):
   ret = []
@@ -317,8 +317,7 @@ def parse_struct(ss):
     elif typ in ["uint64", "uint64_t"]:
       st += "Q"
     else:
-      print("unknown type", typ)
-      assert False
+      raise RuntimeError(f"unknown type {typ}")
     if '[' in nam:
       cnt = int(nam.split("[")[1].split("]")[0])
       st += st[-1]*(cnt-1)
@@ -333,7 +332,7 @@ def dict_unpacker(ss, camelcase = False):
   if camelcase:
     nams = [name_to_camelcase(x) for x in nams]
   sz = calcsize(st)
-  return lambda x: dict(zip(nams, unpack_from(st, x))), sz
+  return lambda x: dict(zip(nams, unpack_from(st, x), strict=True)), sz
 
 def relist(dat):
   list_keys = set()
diff --git a/system/sensord/rawgps/test_rawgps.py b/system/sensord/rawgps/test_rawgps.py
new file mode 100755
index 0000000000..02777d5a1d
--- /dev/null
+++ b/system/sensord/rawgps/test_rawgps.py
@@ -0,0 +1,144 @@
+#!/usr/bin/env python3
+import os
+import json
+import time
+import datetime
+import unittest
+import subprocess
+import numpy as np
+
+import cereal.messaging as messaging
+from openpilot.system.hardware import TICI
+from openpilot.system.sensord.rawgps.rawgpsd import at_cmd, wait_for_modem
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.common.transformations.coordinates import ecef_from_geodetic
+
+GOOD_SIGNAL = bool(int(os.getenv("GOOD_SIGNAL", '0')))
+
+
+class TestRawgpsd(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    if not TICI:
+      raise unittest.SkipTest
+
+    os.system("sudo systemctl start systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+    wait_for_modem()
+
+  @classmethod
+  def tearDownClass(cls):
+    managed_processes['rawgpsd'].stop()
+    os.system("sudo systemctl restart systemd-resolved")
+    os.system("sudo systemctl restart ModemManager lte")
+
+  def setUp(self):
+    at_cmd("AT+QGPSDEL=0")
+    self.sm = messaging.SubMaster(['qcomGnss', 'gpsLocation', 'gnssMeasurements'])
+
+  def tearDown(self):
+    managed_processes['rawgpsd'].stop()
+    os.system("sudo systemctl restart systemd-resolved")
+
+  def _wait_for_output(self, t):
+    dt = 0.1
+    for _ in range(t*int(1/dt)):
+      self.sm.update(0)
+      if self.sm.updated['qcomGnss']:
+        break
+      time.sleep(dt)
+    return self.sm.updated['qcomGnss']
+
+  def test_no_crash_double_command(self):
+    at_cmd("AT+QGPSDEL=0")
+    at_cmd("AT+QGPSDEL=0")
+
+  def test_wait_for_modem(self):
+    os.system("sudo systemctl stop ModemManager")
+    managed_processes['rawgpsd'].start()
+    assert not self._wait_for_output(5)
+
+    os.system("sudo systemctl restart ModemManager")
+    assert self._wait_for_output(30)
+
+  def test_startup_time(self):
+    for internet in (True, False):
+      if not internet:
+        os.system("sudo systemctl stop systemd-resolved")
+      with self.subTest(internet=internet):
+        managed_processes['rawgpsd'].start()
+        assert self._wait_for_output(7)
+        managed_processes['rawgpsd'].stop()
+
+  def test_turns_off_gnss(self):
+    for s in (0.1, 1, 5):
+      managed_processes['rawgpsd'].start()
+      time.sleep(s)
+      managed_processes['rawgpsd'].stop()
+
+      ls = subprocess.check_output("mmcli -m any --location-status --output-json", shell=True, encoding='utf-8')
+      loc_status = json.loads(ls)
+      assert set(loc_status['modem']['location']['enabled']) <= {'3gpp-lac-ci'}
+
+
+  def check_assistance(self, should_be_loaded):
+    # after QGPSDEL: '+QGPSXTRADATA: 0,"1980/01/05,19:00:00"'
+    # after loading: '+QGPSXTRADATA: 10080,"2023/06/24,19:00:00"'
+    out = at_cmd("AT+QGPSXTRADATA?")
+    out = out.split("+QGPSXTRADATA:")[1].split("'")[0].strip()
+    valid_duration, injected_time_str = out.split(",", 1)
+    if should_be_loaded:
+      assert valid_duration == "10080"  # should be max time
+      injected_time = datetime.datetime.strptime(injected_time_str.replace("\"", ""), "%Y/%m/%d,%H:%M:%S")
+      self.assertLess(abs((datetime.datetime.utcnow() - injected_time).total_seconds()), 60*60*12)
+    else:
+      valid_duration, injected_time_str = out.split(",", 1)
+      injected_time_str = injected_time_str.replace('\"', '').replace('\'', '')
+      assert injected_time_str[:] == '1980/01/05,19:00:00'[:]
+      assert valid_duration == '0'
+
+  def test_assistance_loading(self):
+    managed_processes['rawgpsd'].start()
+    assert self._wait_for_output(10)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(True)
+
+  def test_no_assistance_loading(self):
+    os.system("sudo systemctl stop systemd-resolved")
+
+    managed_processes['rawgpsd'].start()
+    assert self._wait_for_output(10)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(False)
+
+  def test_late_assistance_loading(self):
+    os.system("sudo systemctl stop systemd-resolved")
+
+    managed_processes['rawgpsd'].start()
+    self._wait_for_output(17)
+    assert self.sm.updated['qcomGnss']
+
+    os.system("sudo systemctl restart systemd-resolved")
+    time.sleep(15)
+    managed_processes['rawgpsd'].stop()
+    self.check_assistance(True)
+
+  @unittest.skipIf(not GOOD_SIGNAL, "No good GPS signal")
+  def test_fix(self):
+    managed_processes['rawgpsd'].start()
+    managed_processes['laikad'].start()
+    assert self._wait_for_output(60)
+    assert self.sm.updated['qcomGnss']
+    assert self.sm.updated['gpsLocation']
+    assert self.sm['gpsLocation'].flags == 1
+    module_fix = ecef_from_geodetic([self.sm['gpsLocation'].latitude,
+                                     self.sm['gpsLocation'].longitude,
+                                     self.sm['gpsLocation'].altitude])
+    assert self.sm['gnssMeasurements'].positionECEF.valid
+    total_diff = np.array(self.sm['gnssMeasurements'].positionECEF.value) - module_fix
+    self.assertLess(np.linalg.norm(total_diff), 100)
+    managed_processes['laikad'].stop()
+    managed_processes['rawgpsd'].stop()
+
+if __name__ == "__main__":
+  unittest.main(failfast=True)
diff --git a/selfdrive/sensord/sensord b/system/sensord/sensord
similarity index 100%
rename from selfdrive/sensord/sensord
rename to system/sensord/sensord
diff --git a/selfdrive/sensord/sensors/bmx055_accel.cc b/system/sensord/sensors/bmx055_accel.cc
similarity index 81%
rename from selfdrive/sensord/sensors/bmx055_accel.cc
rename to system/sensord/sensors/bmx055_accel.cc
index 78b3ac526d..bdb0113de3 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.cc
+++ b/system/sensord/sensors/bmx055_accel.cc
@@ -1,4 +1,4 @@
-#include "bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_accel.h"
 
 #include <cassert>
 
@@ -9,20 +9,8 @@
 BMX055_Accel::BMX055_Accel(I2CBus *bus) : I2CSensor(bus) {}
 
 int BMX055_Accel::init() {
-  int ret = 0;
-  uint8_t buffer[1];
-
-  ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
+  int ret = verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID});
+  if (ret == -1) return -1;
 
   ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_NORMAL_MODE);
   if (ret < 0) {
@@ -56,7 +44,7 @@ int BMX055_Accel::shutdown()  {
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_ACCEL_I2C_REG_PMU, BMX055_ACCEL_DEEP_SUSPEND);
   if (ret < 0) {
-    LOGE("Could not move BMX055 ACCEL in deep suspend mode!")
+    LOGE("Could not move BMX055 ACCEL in deep suspend mode!");
   }
 
   return ret;
diff --git a/selfdrive/sensord/sensors/bmx055_accel.h b/system/sensord/sensors/bmx055_accel.h
similarity index 96%
rename from selfdrive/sensord/sensors/bmx055_accel.h
rename to system/sensord/sensors/bmx055_accel.h
index 8ef660a99f..2cc316e992 100644
--- a/selfdrive/sensord/sensors/bmx055_accel.h
+++ b/system/sensord/sensors/bmx055_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_ACCEL_I2C_ADDR       0x18
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.cc b/system/sensord/sensors/bmx055_gyro.cc
similarity index 83%
rename from selfdrive/sensord/sensors/bmx055_gyro.cc
rename to system/sensord/sensors/bmx055_gyro.cc
index 9d70b9e431..411b2f445e 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.cc
+++ b/system/sensord/sensors/bmx055_gyro.cc
@@ -1,4 +1,4 @@
-#include "bmx055_gyro.h"
+#include "system/sensord/sensors/bmx055_gyro.h"
 
 #include <cassert>
 #include <cmath>
@@ -12,20 +12,8 @@
 BMX055_Gyro::BMX055_Gyro(I2CBus *bus) : I2CSensor(bus) {}
 
 int BMX055_Gyro::init() {
-  int ret = 0;
-  uint8_t buffer[1];
-
-  ret =read_register(BMX055_GYRO_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != BMX055_GYRO_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_GYRO_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
+  int ret = verify_chip_id(BMX055_GYRO_I2C_REG_ID, {BMX055_GYRO_CHIP_ID});
+  if (ret == -1) return -1;
 
   ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_NORMAL_MODE);
   if (ret < 0) {
@@ -66,7 +54,7 @@ int BMX055_Gyro::shutdown()  {
   // enter deep suspend mode (lowest power mode)
   int ret = set_register(BMX055_GYRO_I2C_REG_LPM1, BMX055_GYRO_DEEP_SUSPEND);
   if (ret < 0) {
-    LOGE("Could not move BMX055 GYRO in deep suspend mode!")
+    LOGE("Could not move BMX055 GYRO in deep suspend mode!");
   }
 
   return ret;
diff --git a/selfdrive/sensord/sensors/bmx055_gyro.h b/system/sensord/sensors/bmx055_gyro.h
similarity index 95%
rename from selfdrive/sensord/sensors/bmx055_gyro.h
rename to system/sensord/sensors/bmx055_gyro.h
index 80b93f128c..7be3e56563 100644
--- a/selfdrive/sensord/sensors/bmx055_gyro.h
+++ b/system/sensord/sensors/bmx055_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_GYRO_I2C_ADDR        0x68
diff --git a/selfdrive/sensord/sensors/bmx055_magn.cc b/system/sensord/sensors/bmx055_magn.cc
similarity index 86%
rename from selfdrive/sensord/sensors/bmx055_magn.cc
rename to system/sensord/sensors/bmx055_magn.cc
index 394b1e83d3..3d0d3d2fc6 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.cc
+++ b/system/sensord/sensors/bmx055_magn.cc
@@ -1,4 +1,4 @@
-#include "bmx055_magn.h"
+#include "system/sensord/sensors/bmx055_magn.h"
 
 #include <unistd.h>
 
@@ -66,8 +66,6 @@ static int16_t compensate_z(trim_data_t trim_data, int16_t mag_data_z, uint16_t
 BMX055_Magn::BMX055_Magn(I2CBus *bus) : I2CSensor(bus) {}
 
 int BMX055_Magn::init() {
-  int ret;
-  uint8_t buffer[1];
   uint8_t trim_x1y1[2] = {0};
   uint8_t trim_x2y2[2] = {0};
   uint8_t trim_xy1xy2[2] = {0};
@@ -78,42 +76,35 @@ int BMX055_Magn::init() {
   uint8_t trim_xyz1[2] = {0};
 
   // suspend -> sleep
-  ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
-  if(ret < 0) {
+  int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0x01);
+  if (ret < 0) {
     LOGE("Enabling power failed: %d", ret);
     goto fail;
   }
   util::sleep_for(5); // wait until the chip is powered on
 
-  // read chip ID
-  ret = read_register(BMX055_MAGN_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
+  ret = verify_chip_id(BMX055_MAGN_I2C_REG_ID, {BMX055_MAGN_CHIP_ID});
+  if (ret == -1) {
     goto fail;
   }
 
-  if(buffer[0] != BMX055_MAGN_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_MAGN_CHIP_ID);
-    return -1;
-  }
-
   // Load magnetometer trim
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_X1, trim_x1y1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_X2, trim_x2y2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_XY2, trim_xy1xy2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z1_LSB, trim_z1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z2_LSB, trim_z2, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z3_LSB, trim_z3, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_Z4_LSB, trim_z4, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
   ret = read_register(BMX055_MAGN_I2C_REG_DIG_XYZ1_LSB, trim_xyz1, 2);
-  if(ret < 0) goto fail;
+  if (ret < 0) goto fail;
 
   // Read trim data
   trim_data.dig_x1 = trim_x1y1[0];
@@ -159,7 +150,7 @@ int BMX055_Magn::shutdown() {
   // move to suspend mode
   int ret = set_register(BMX055_MAGN_I2C_REG_PWR_0, 0);
   if (ret < 0) {
-    LOGE("Could not move BMX055 MAGN in suspend mode!")
+    LOGE("Could not move BMX055 MAGN in suspend mode!");
   }
 
   return ret;
@@ -180,17 +171,17 @@ bool BMX055_Magn::perform_self_test() {
   uint8_t forced = BMX055_MAGN_FORCED;
 
   // Negative current
-	set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
-	util::sleep_for(100);
+  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b10) << 6));
+  util::sleep_for(100);
 
-	read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
-	parse_xyz(buffer, &x, &y, &neg_z);
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  parse_xyz(buffer, &x, &y, &neg_z);
 
   // Positive current
-	set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
-	util::sleep_for(100);
+  set_register(BMX055_MAGN_I2C_REG_MAG, forced | (uint8_t(0b11) << 6));
+  util::sleep_for(100);
 
-	read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
+  read_register(BMX055_MAGN_I2C_REG_DATAX_LSB, buffer, sizeof(buffer));
   parse_xyz(buffer, &x, &y, &pos_z);
 
   // Put back in normal mode
@@ -215,9 +206,9 @@ bool BMX055_Magn::parse_xyz(uint8_t buffer[8], int16_t *x, int16_t *y, int16_t *
     uint16_t data_r = (uint16_t) (((uint16_t)buffer[7] << 8) | buffer[6]) >> 2;
     assert(data_r != 0);
 
-		*x = compensate_x(trim_data, mdata_x, data_r);
-		*y = compensate_y(trim_data, mdata_y, data_r);
-		*z = compensate_z(trim_data, mdata_z, data_r);
+    *x = compensate_x(trim_data, mdata_x, data_r);
+    *y = compensate_y(trim_data, mdata_y, data_r);
+    *z = compensate_z(trim_data, mdata_z, data_r);
   }
   return ready;
 }
diff --git a/selfdrive/sensord/sensors/bmx055_magn.h b/system/sensord/sensors/bmx055_magn.h
similarity index 97%
rename from selfdrive/sensord/sensors/bmx055_magn.h
rename to system/sensord/sensors/bmx055_magn.h
index e4a79bc7e0..15c4e734b9 100644
--- a/selfdrive/sensord/sensors/bmx055_magn.h
+++ b/system/sensord/sensors/bmx055_magn.h
@@ -1,7 +1,7 @@
 #pragma once
 #include <tuple>
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define BMX055_MAGN_I2C_ADDR        0x10
diff --git a/selfdrive/sensord/sensors/bmx055_temp.cc b/system/sensord/sensors/bmx055_temp.cc
similarity index 62%
rename from selfdrive/sensord/sensors/bmx055_temp.cc
rename to system/sensord/sensors/bmx055_temp.cc
index bdb34f1508..da7b86476c 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.cc
+++ b/system/sensord/sensors/bmx055_temp.cc
@@ -1,31 +1,15 @@
-#include "bmx055_temp.h"
+#include "system/sensord/sensors/bmx055_temp.h"
 
 #include <cassert>
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_accel.h"
 #include "common/swaglog.h"
 #include "common/timing.h"
 
 BMX055_Temp::BMX055_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
 int BMX055_Temp::init() {
-  int ret = 0;
-  uint8_t buffer[1];
-
-  ret = read_register(BMX055_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != BMX055_ACCEL_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], BMX055_ACCEL_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
-
-fail:
-  return ret;
+  return verify_chip_id(BMX055_ACCEL_I2C_REG_ID, {BMX055_ACCEL_CHIP_ID}) == -1 ? -1 : 0;
 }
 
 bool BMX055_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
diff --git a/selfdrive/sensord/sensors/bmx055_temp.h b/system/sensord/sensors/bmx055_temp.h
similarity index 71%
rename from selfdrive/sensord/sensors/bmx055_temp.h
rename to system/sensord/sensors/bmx055_temp.h
index 0b6802deaa..a2eabae395 100644
--- a/selfdrive/sensord/sensors/bmx055_temp.h
+++ b/system/sensord/sensors/bmx055_temp.h
@@ -1,7 +1,7 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/bmx055_accel.h"
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 class BMX055_Temp : public I2CSensor {
   uint8_t get_device_address() {return BMX055_ACCEL_I2C_ADDR;}
diff --git a/selfdrive/sensord/sensors/constants.h b/system/sensord/sensors/constants.h
similarity index 100%
rename from selfdrive/sensord/sensors/constants.h
rename to system/sensord/sensors/constants.h
diff --git a/selfdrive/sensord/sensors/i2c_sensor.cc b/system/sensord/sensors/i2c_sensor.cc
similarity index 96%
rename from selfdrive/sensord/sensors/i2c_sensor.cc
rename to system/sensord/sensors/i2c_sensor.cc
index f563f93d2b..90220f551d 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.cc
+++ b/system/sensord/sensors/i2c_sensor.cc
@@ -1,4 +1,4 @@
-#include "i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb) {
   uint16_t combined = (uint16_t(msb) << 8) | uint16_t(lsb & 0xF0);
diff --git a/selfdrive/sensord/sensors/i2c_sensor.h b/system/sensord/sensors/i2c_sensor.h
similarity index 58%
rename from selfdrive/sensord/sensors/i2c_sensor.h
rename to system/sensord/sensors/i2c_sensor.h
index 0de2a98738..ba100c3b01 100644
--- a/selfdrive/sensord/sensors/i2c_sensor.h
+++ b/system/sensord/sensors/i2c_sensor.h
@@ -2,14 +2,15 @@
 
 #include <cstdint>
 #include <unistd.h>
-
+#include <vector>
 #include "cereal/gen/cpp/log.capnp.h"
 
 #include "common/i2c.h"
 #include "common/gpio.h"
 
-#include "selfdrive/sensord/sensors/constants.h"
-#include "selfdrive/sensord/sensors/sensor.h"
+#include "common/swaglog.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/sensor.h"
 
 int16_t read_12_bit(uint8_t lsb, uint8_t msb);
 int16_t read_16_bit(uint8_t lsb, uint8_t msb);
@@ -33,4 +34,18 @@ public:
   virtual int init() = 0;
   virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
   virtual int shutdown() = 0;
+
+  int verify_chip_id(uint8_t address, const std::vector<uint8_t> &expected_ids) {
+    uint8_t chip_id = 0;
+    int ret = read_register(address, &chip_id, 1);
+    if (ret < 0) {
+      LOGE("Reading chip ID failed: %d", ret);
+      return -1;
+    }
+    for (int i = 0; i < expected_ids.size(); ++i) {
+      if (chip_id == expected_ids[i]) return chip_id;
+    }
+    LOGE("Chip ID wrong. Got: %d, Expected %d", chip_id, expected_ids[0]);
+    return -1;
+  }
 };
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.cc b/system/sensord/sensors/lsm6ds3_accel.cc
similarity index 90%
rename from selfdrive/sensord/sensors/lsm6ds3_accel.cc
rename to system/sensord/sensors/lsm6ds3_accel.cc
index c19e3de7ed..03533e0657 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.cc
+++ b/system/sensord/sensors/lsm6ds3_accel.cc
@@ -1,4 +1,4 @@
-#include "lsm6ds3_accel.h"
+#include "system/sensord/sensors/lsm6ds3_accel.h"
 
 #include <cassert>
 #include <cmath>
@@ -118,29 +118,18 @@ int LSM6DS3_Accel::self_test(int test_type) {
 }
 
 int LSM6DS3_Accel::init() {
-  int ret = 0;
-  uint8_t buffer[1];
   uint8_t value = 0;
   bool do_self_test = false;
 
-  const char* env_lsm_selftest =env_lsm_selftest = std::getenv("LSM_SELF_TEST");
+  const char* env_lsm_selftest = std::getenv("LSM_SELF_TEST");
   if (env_lsm_selftest != nullptr && strncmp(env_lsm_selftest, "1", 1) == 0) {
     do_self_test = true;
   }
 
-  ret = read_register(LSM6DS3_ACCEL_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != LSM6DS3_ACCEL_CHIP_ID && buffer[0] != LSM6DS3TRC_ACCEL_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_ACCEL_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
+  int ret = verify_chip_id(LSM6DS3_ACCEL_I2C_REG_ID, {LSM6DS3_ACCEL_CHIP_ID, LSM6DS3TRC_ACCEL_CHIP_ID});
+  if (ret == -1) return -1;
 
-  if (buffer[0] == LSM6DS3TRC_ACCEL_CHIP_ID) {
+  if (ret == LSM6DS3TRC_ACCEL_CHIP_ID) {
     source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
   }
 
@@ -205,7 +194,7 @@ int LSM6DS3_Accel::shutdown() {
   value &= ~(LSM6DS3_ACCEL_INT1_DRDY_XL);
   ret = set_register(LSM6DS3_ACCEL_I2C_REG_INT1_CTRL, value);
   if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 acceleration interrupt!")
+    LOGE("Could not disable lsm6ds3 acceleration interrupt!");
     goto fail;
   }
 
@@ -219,7 +208,7 @@ int LSM6DS3_Accel::shutdown() {
   value &= 0x0F;
   ret = set_register(LSM6DS3_ACCEL_I2C_REG_CTRL1_XL, value);
   if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 accelerometer!")
+    LOGE("Could not power-down lsm6ds3 accelerometer!");
     goto fail;
   }
 
diff --git a/selfdrive/sensord/sensors/lsm6ds3_accel.h b/system/sensord/sensors/lsm6ds3_accel.h
similarity index 97%
rename from selfdrive/sensord/sensors/lsm6ds3_accel.h
rename to system/sensord/sensors/lsm6ds3_accel.h
index c3f66f5803..69667cb759 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_accel.h
+++ b/system/sensord/sensors/lsm6ds3_accel.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_ACCEL_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc b/system/sensord/sensors/lsm6ds3_gyro.cc
similarity index 90%
rename from selfdrive/sensord/sensors/lsm6ds3_gyro.cc
rename to system/sensord/sensors/lsm6ds3_gyro.cc
index f306be0fe8..0459b6ad64 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.cc
+++ b/system/sensord/sensors/lsm6ds3_gyro.cc
@@ -1,4 +1,4 @@
-#include "lsm6ds3_gyro.h"
+#include "system/sensord/sensors/lsm6ds3_gyro.h"
 
 #include <cassert>
 #include <cmath>
@@ -107,8 +107,6 @@ int LSM6DS3_Gyro::self_test(int test_type) {
 }
 
 int LSM6DS3_Gyro::init() {
-  int ret = 0;
-  uint8_t buffer[1];
   uint8_t value = 0;
   bool do_self_test = false;
 
@@ -117,19 +115,10 @@ int LSM6DS3_Gyro::init() {
     do_self_test = true;
   }
 
-  ret = read_register(LSM6DS3_GYRO_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
+  int ret = verify_chip_id(LSM6DS3_GYRO_I2C_REG_ID, {LSM6DS3_GYRO_CHIP_ID, LSM6DS3TRC_GYRO_CHIP_ID});
+  if (ret == -1) return -1;
 
-  if(buffer[0] != LSM6DS3_GYRO_CHIP_ID && buffer[0] != LSM6DS3TRC_GYRO_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_GYRO_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
-
-  if (buffer[0] == LSM6DS3TRC_GYRO_CHIP_ID) {
+  if (ret == LSM6DS3TRC_GYRO_CHIP_ID) {
     source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
   }
 
@@ -139,7 +128,7 @@ int LSM6DS3_Gyro::init() {
   }
 
   ret = self_test(LSM6DS3_GYRO_POSITIVE_TEST);
-  if (ret < 0 ) {
+  if (ret < 0) {
     LOGE("LSM6DS3 gyro positive self-test failed!");
     if (do_self_test) goto fail;
   }
@@ -188,7 +177,7 @@ int LSM6DS3_Gyro::shutdown() {
   value &= ~(LSM6DS3_GYRO_INT1_DRDY_G);
   ret = set_register(LSM6DS3_GYRO_I2C_REG_INT1_CTRL, value);
   if (ret < 0) {
-    LOGE("Could not disable lsm6ds3 gyroscope interrupt!")
+    LOGE("Could not disable lsm6ds3 gyroscope interrupt!");
     goto fail;
   }
 
@@ -202,7 +191,7 @@ int LSM6DS3_Gyro::shutdown() {
   value &= 0x0F;
   ret = set_register(LSM6DS3_GYRO_I2C_REG_CTRL2_G, value);
   if (ret < 0) {
-    LOGE("Could not power-down lsm6ds3 gyroscope!")
+    LOGE("Could not power-down lsm6ds3 gyroscope!");
     goto fail;
   }
 
diff --git a/selfdrive/sensord/sensors/lsm6ds3_gyro.h b/system/sensord/sensors/lsm6ds3_gyro.h
similarity index 96%
rename from selfdrive/sensord/sensors/lsm6ds3_gyro.h
rename to system/sensord/sensors/lsm6ds3_gyro.h
index 220e6b0cec..adaae62dd2 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_gyro.h
+++ b/system/sensord/sensors/lsm6ds3_gyro.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_GYRO_I2C_ADDR       0x6A
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.cc b/system/sensord/sensors/lsm6ds3_temp.cc
similarity index 65%
rename from selfdrive/sensord/sensors/lsm6ds3_temp.cc
rename to system/sensord/sensors/lsm6ds3_temp.cc
index 7e1c4d4c81..f481614154 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.cc
+++ b/system/sensord/sensors/lsm6ds3_temp.cc
@@ -1,4 +1,4 @@
-#include "lsm6ds3_temp.h"
+#include "system/sensord/sensors/lsm6ds3_temp.h"
 
 #include <cassert>
 
@@ -8,27 +8,13 @@
 LSM6DS3_Temp::LSM6DS3_Temp(I2CBus *bus) : I2CSensor(bus) {}
 
 int LSM6DS3_Temp::init() {
-  int ret = 0;
-  uint8_t buffer[1];
+  int ret = verify_chip_id(LSM6DS3_TEMP_I2C_REG_ID, {LSM6DS3_TEMP_CHIP_ID, LSM6DS3TRC_TEMP_CHIP_ID});
+  if (ret == -1) return -1;
 
-  ret = read_register(LSM6DS3_TEMP_I2C_REG_ID, buffer, 1);
-  if(ret < 0) {
-    LOGE("Reading chip ID failed: %d", ret);
-    goto fail;
-  }
-
-  if(buffer[0] != LSM6DS3_TEMP_CHIP_ID && buffer[0] != LSM6DS3TRC_TEMP_CHIP_ID) {
-    LOGE("Chip ID wrong. Got: %d, Expected %d", buffer[0], LSM6DS3_TEMP_CHIP_ID);
-    ret = -1;
-    goto fail;
-  }
-
-  if (buffer[0] == LSM6DS3TRC_TEMP_CHIP_ID) {
+  if (ret == LSM6DS3TRC_TEMP_CHIP_ID) {
     source = cereal::SensorEventData::SensorSource::LSM6DS3TRC;
   }
-
-fail:
-  return ret;
+  return 0;
 }
 
 bool LSM6DS3_Temp::get_event(MessageBuilder &msg, uint64_t ts) {
diff --git a/selfdrive/sensord/sensors/lsm6ds3_temp.h b/system/sensord/sensors/lsm6ds3_temp.h
similarity index 92%
rename from selfdrive/sensord/sensors/lsm6ds3_temp.h
rename to system/sensord/sensors/lsm6ds3_temp.h
index 1d6bcc228a..1b5b621814 100644
--- a/selfdrive/sensord/sensors/lsm6ds3_temp.h
+++ b/system/sensord/sensors/lsm6ds3_temp.h
@@ -1,6 +1,6 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define LSM6DS3_TEMP_I2C_ADDR       0x6A
diff --git a/system/sensord/sensors/mmc5603nj_magn.cc b/system/sensord/sensors/mmc5603nj_magn.cc
new file mode 100644
index 0000000000..0e8ba967e3
--- /dev/null
+++ b/system/sensord/sensors/mmc5603nj_magn.cc
@@ -0,0 +1,108 @@
+#include "system/sensord/sensors/mmc5603nj_magn.h"
+
+#include <algorithm>
+#include <cassert>
+#include <vector>
+
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+
+MMC5603NJ_Magn::MMC5603NJ_Magn(I2CBus *bus) : I2CSensor(bus) {}
+
+int MMC5603NJ_Magn::init() {
+  int ret = verify_chip_id(MMC5603NJ_I2C_REG_ID, {MMC5603NJ_CHIP_ID});
+  if (ret == -1) return -1;
+
+  // Set ODR to 0
+  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // Set BW to 0b01 for 1-150 Hz operation
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_1, 0b01);
+  if (ret < 0) {
+    goto fail;
+  }
+
+fail:
+  return ret;
+}
+
+int MMC5603NJ_Magn::shutdown() {
+  int ret = 0;
+
+  // disable auto reset of measurements
+  uint8_t value = 0;
+  ret = read_register(MMC5603NJ_I2C_REG_INTERNAL_0, &value, 1);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  value &= ~(MMC5603NJ_CMM_FREQ_EN | MMC5603NJ_AUTO_SR_EN);
+  ret = set_register(MMC5603NJ_I2C_REG_INTERNAL_0, value);
+  if (ret < 0) {
+    goto fail;
+  }
+
+  // set ODR to 0 to leave continuous mode
+  ret = set_register(MMC5603NJ_I2C_REG_ODR, 0);
+  if (ret < 0) {
+    goto fail;
+  }
+  return ret;
+
+fail:
+  LOGE("Could not disable mmc5603nj auto set reset");
+  return ret;
+}
+
+void MMC5603NJ_Magn::start_measurement() {
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, 0b01);
+  util::sleep_for(5);
+}
+
+std::vector<float> MMC5603NJ_Magn::read_measurement() {
+  int len;
+  uint8_t buffer[9];
+  len = read_register(MMC5603NJ_I2C_REG_XOUT0, buffer, sizeof(buffer));
+  assert(len == sizeof(buffer));
+  float scale = 1.0 / 16384.0;
+  float x = (read_20_bit(buffer[6], buffer[1], buffer[0]) * scale) - 32.0;
+  float y = (read_20_bit(buffer[7], buffer[3], buffer[2]) * scale) - 32.0;
+  float z = (read_20_bit(buffer[8], buffer[5], buffer[4]) * scale) - 32.0;
+  std::vector<float> xyz = {x, y, z};
+  return xyz;
+}
+
+bool MMC5603NJ_Magn::get_event(MessageBuilder &msg, uint64_t ts) {
+  uint64_t start_time = nanos_since_boot();
+  // SET - RESET cycle
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_SET);
+  util::sleep_for(5);
+  MMC5603NJ_Magn::start_measurement();
+  std::vector<float> xyz = MMC5603NJ_Magn::read_measurement();
+
+  set_register(MMC5603NJ_I2C_REG_INTERNAL_0, MMC5603NJ_RESET);
+  util::sleep_for(5);
+  MMC5603NJ_Magn::start_measurement();
+  std::vector<float> reset_xyz = MMC5603NJ_Magn::read_measurement();
+
+  auto event = msg.initEvent().initMagnetometer();
+  event.setSource(cereal::SensorEventData::SensorSource::MMC5603NJ);
+  event.setVersion(1);
+  event.setSensor(SENSOR_MAGNETOMETER_UNCALIBRATED);
+  event.setType(SENSOR_TYPE_MAGNETIC_FIELD_UNCALIBRATED);
+  event.setTimestamp(start_time);
+
+  float vals[] = {xyz[0], xyz[1], xyz[2], reset_xyz[0], reset_xyz[1], reset_xyz[2]};
+  bool valid = true;
+  if (std::any_of(std::begin(vals), std::end(vals), [](float val) { return val == -32.0; })) {
+    valid = false;
+  }
+  auto svec = event.initMagneticUncalibrated();
+  svec.setV(vals);
+  svec.setStatus(valid);
+  return true;
+}
diff --git a/selfdrive/sensord/sensors/mmc5603nj_magn.h b/system/sensord/sensors/mmc5603nj_magn.h
similarity index 78%
rename from selfdrive/sensord/sensors/mmc5603nj_magn.h
rename to system/sensord/sensors/mmc5603nj_magn.h
index a364c7c37a..9c0fbd2521 100644
--- a/selfdrive/sensord/sensors/mmc5603nj_magn.h
+++ b/system/sensord/sensors/mmc5603nj_magn.h
@@ -1,6 +1,8 @@
 #pragma once
 
-#include "selfdrive/sensord/sensors/i2c_sensor.h"
+#include <vector>
+
+#include "system/sensord/sensors/i2c_sensor.h"
 
 // Address of the chip on the bus
 #define MMC5603NJ_I2C_ADDR       0x30
@@ -19,9 +21,14 @@
 #define MMC5603NJ_AUTO_SR_EN     (1 << 5)
 #define MMC5603NJ_CMM_EN         (1 << 4)
 #define MMC5603NJ_EN_PRD_SET     (1 << 3)
+#define MMC5603NJ_SET            (1 << 3)
+#define MMC5603NJ_RESET          (1 << 4)
 
 class MMC5603NJ_Magn : public I2CSensor {
+private:
   uint8_t get_device_address() {return MMC5603NJ_I2C_ADDR;}
+  void start_measurement();
+  std::vector<float> read_measurement();
 public:
   MMC5603NJ_Magn(I2CBus *bus);
   int init();
diff --git a/selfdrive/sensord/sensors/sensor.h b/system/sensord/sensors/sensor.h
similarity index 61%
rename from selfdrive/sensord/sensors/sensor.h
rename to system/sensord/sensors/sensor.h
index 603aa3586e..1b0e3be0dc 100644
--- a/selfdrive/sensord/sensors/sensor.h
+++ b/system/sensord/sensors/sensor.h
@@ -5,14 +5,18 @@
 class Sensor {
 public:
   int gpio_fd = -1;
+  uint64_t start_ts = 0;
   uint64_t init_delay = 500e6; // default dealy 500ms
-  virtual ~Sensor() {};
+  virtual ~Sensor() {}
   virtual int init() = 0;
   virtual bool get_event(MessageBuilder &msg, uint64_t ts = 0) = 0;
   virtual bool has_interrupt_enabled() = 0;
   virtual int shutdown() = 0;
 
-  virtual bool is_data_valid(uint64_t st, uint64_t ct) {
-    return (ct - st) > init_delay;
+  virtual bool is_data_valid(uint64_t current_ts) {
+    if (start_ts == 0) {
+      start_ts = current_ts;
+    }
+    return (current_ts - start_ts) > init_delay;
   }
 };
diff --git a/system/sensord/sensors_qcom2.cc b/system/sensord/sensors_qcom2.cc
new file mode 100644
index 0000000000..36d9b4a13e
--- /dev/null
+++ b/system/sensord/sensors_qcom2.cc
@@ -0,0 +1,162 @@
+#include <sys/resource.h>
+
+#include <chrono>
+#include <thread>
+#include <vector>
+#include <map>
+#include <poll.h>
+#include <linux/gpio.h>
+
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"
+#include "common/i2c.h"
+#include "common/ratekeeper.h"
+#include "common/swaglog.h"
+#include "common/timing.h"
+#include "common/util.h"
+#include "system/sensord/sensors/bmx055_accel.h"
+#include "system/sensord/sensors/bmx055_gyro.h"
+#include "system/sensord/sensors/bmx055_magn.h"
+#include "system/sensord/sensors/bmx055_temp.h"
+#include "system/sensord/sensors/constants.h"
+#include "system/sensord/sensors/lsm6ds3_accel.h"
+#include "system/sensord/sensors/lsm6ds3_gyro.h"
+#include "system/sensord/sensors/lsm6ds3_temp.h"
+#include "system/sensord/sensors/mmc5603nj_magn.h"
+
+#define I2C_BUS_IMU 1
+
+ExitHandler do_exit;
+
+void interrupt_loop(std::vector<std::tuple<Sensor *, std::string>> sensors) {
+  PubMaster pm({"gyroscope", "accelerometer"});
+
+  int fd = -1;
+  for (auto &[sensor, msg_name] : sensors) {
+    if (sensor->has_interrupt_enabled()) {
+      fd = sensor->gpio_fd;
+      break;
+    }
+  }
+
+  struct pollfd fd_list[1] = {0};
+  fd_list[0].fd = fd;
+  fd_list[0].events = POLLIN | POLLPRI;
+
+  while (!do_exit) {
+    int err = poll(fd_list, 1, 100);
+    if (err == -1) {
+      if (errno == EINTR) {
+        continue;
+      }
+      return;
+    } else if (err == 0) {
+      LOGE("poll timed out");
+      continue;
+    }
+
+    if ((fd_list[0].revents & (POLLIN | POLLPRI)) == 0) {
+      LOGE("no poll events set");
+      continue;
+    }
+
+    // Read all events
+    struct gpioevent_data evdata[16];
+    err = read(fd, evdata, sizeof(evdata));
+    if (err < 0 || err % sizeof(*evdata) != 0) {
+      LOGE("error reading event data %d", err);
+      continue;
+    }
+
+    int num_events = err / sizeof(*evdata);
+    uint64_t offset = nanos_since_epoch() - nanos_since_boot();
+    uint64_t ts = evdata[num_events - 1].timestamp - offset;
+
+    for (auto &[sensor, msg_name] : sensors) {
+      if (!sensor->has_interrupt_enabled()) {
+        continue;
+      }
+
+      MessageBuilder msg;
+      if (!sensor->get_event(msg, ts)) {
+        continue;
+      }
+
+      if (!sensor->is_data_valid(ts)) {
+        continue;
+      }
+
+      pm.send(msg_name.c_str(), msg);
+    }
+  }
+}
+
+void polling_loop(Sensor *sensor, std::string msg_name) {
+  PubMaster pm({msg_name.c_str()});
+  RateKeeper rk(msg_name, services.at(msg_name).frequency);
+  while (!do_exit) {
+    MessageBuilder msg;
+    if (sensor->get_event(msg) && sensor->is_data_valid(nanos_since_boot())) {
+      pm.send(msg_name.c_str(), msg);
+    }
+    rk.keepTime();
+  }
+}
+
+int sensor_loop(I2CBus *i2c_bus_imu) {
+  // Sensor init
+  std::vector<std::tuple<Sensor *, std::string>> sensors_init = {
+    {new BMX055_Accel(i2c_bus_imu), "accelerometer2"},
+    {new BMX055_Gyro(i2c_bus_imu), "gyroscope2"},
+    {new BMX055_Magn(i2c_bus_imu), "magnetometer"},
+    {new BMX055_Temp(i2c_bus_imu), "temperatureSensor2"},
+
+    {new LSM6DS3_Accel(i2c_bus_imu, GPIO_LSM_INT), "accelerometer"},
+    {new LSM6DS3_Gyro(i2c_bus_imu, GPIO_LSM_INT, true), "gyroscope"},
+    {new LSM6DS3_Temp(i2c_bus_imu), "temperatureSensor"},
+
+    {new MMC5603NJ_Magn(i2c_bus_imu), "magnetometer"},
+  };
+
+  // Initialize sensors
+  std::vector<std::thread> threads;
+  for (auto &[sensor, msg_name] : sensors_init) {
+    int err = sensor->init();
+    if (err < 0) {
+      continue;
+    }
+
+    if (!sensor->has_interrupt_enabled()) {
+      threads.emplace_back(polling_loop, sensor, msg_name);
+    }
+  }
+
+  // increase interrupt quality by pinning interrupt and process to core 1
+  setpriority(PRIO_PROCESS, 0, -18);
+  util::set_core_affinity({1});
+  std::system("sudo su -c 'echo 1 > /proc/irq/336/smp_affinity_list'");
+
+  // thread for reading events via interrupts
+  threads.emplace_back(&interrupt_loop, std::ref(sensors_init));
+
+  // wait for all threads to finish
+  for (auto &t : threads) {
+    t.join();
+  }
+
+  for (auto &[sensor, msg_name] : sensors_init) {
+    sensor->shutdown();
+    delete sensor;
+  }
+  return 0;
+}
+
+int main(int argc, char *argv[]) {
+  try {
+    auto i2c_bus_imu = std::make_unique<I2CBus>(I2C_BUS_IMU);
+    return sensor_loop(i2c_bus_imu.get());
+  } catch (std::exception &e) {
+    LOGE("I2CBus init failed");
+    return -1;
+  }
+}
diff --git a/system/sensord/tests/__init__.py b/system/sensord/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/selfdrive/sensord/tests/test_pigeond.py b/system/sensord/tests/test_pigeond.py
similarity index 80%
rename from selfdrive/sensord/tests/test_pigeond.py
rename to system/sensord/tests/test_pigeond.py
index d15b731d0c..d7c7567e4f 100755
--- a/selfdrive/sensord/tests/test_pigeond.py
+++ b/system/sensord/tests/test_pigeond.py
@@ -4,11 +4,11 @@ import unittest
 
 import cereal.messaging as messaging
 from cereal.services import service_list
-from common.gpio import gpio_read
-from selfdrive.test.helpers import with_processes
-from selfdrive.manager.process_config import managed_processes
-from system.hardware import TICI
-from system.hardware.tici.pins import GPIO
+from openpilot.common.gpio import gpio_read
+from openpilot.selfdrive.test.helpers import with_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.hardware import TICI
+from openpilot.system.hardware.tici.pins import GPIO
 
 
 # TODO: test TTFF when we have good A-GNSS
@@ -26,8 +26,8 @@ class TestPigeond(unittest.TestCase):
     sm = messaging.SubMaster(['ubloxRaw'])
 
     # setup time
-    time.sleep(2)
-    sm.update()
+    for _ in range(int(5 * service_list['ubloxRaw'].frequency)):
+      sm.update()
 
     for _ in range(int(10 * service_list['ubloxRaw'].frequency)):
       sm.update()
diff --git a/selfdrive/sensord/tests/test_sensord.py b/system/sensord/tests/test_sensord.py
similarity index 78%
rename from selfdrive/sensord/tests/test_sensord.py
rename to system/sensord/tests/test_sensord.py
index c6fe33129a..e3cd77a1a3 100755
--- a/selfdrive/sensord/tests/test_sensord.py
+++ b/system/sensord/tests/test_sensord.py
@@ -7,8 +7,10 @@ from collections import namedtuple, defaultdict
 
 import cereal.messaging as messaging
 from cereal import log
-from system.hardware import TICI, HARDWARE
-from selfdrive.manager.process_config import managed_processes
+from cereal.services import service_list
+from openpilot.common.gpio import get_irqs_for_action
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 BMX = {
   ('bmx055', 'acceleration'),
@@ -28,24 +30,16 @@ MMC = {
   ('mmc5603nj', 'magneticUncalibrated'),
 }
 
-RPR = {
-  ('rpr0521', 'light'),
-}
-
 SENSOR_CONFIGURATIONS = (
-  (BMX | LSM | RPR),
-  (MMC | LSM | RPR),
-  (BMX | LSM_C | RPR),
-  (MMC| LSM_C | RPR),
+  (BMX | LSM),
+  (MMC | LSM),
+  (BMX | LSM_C),
+  (MMC| LSM_C),
 )
 
 Sensor = log.SensorEventData.SensorSource
 SensorConfig = namedtuple('SensorConfig', ['type', 'sanity_min', 'sanity_max'])
 ALL_SENSORS = {
-  Sensor.rpr0521: {
-    SensorConfig("light", 0, 1023),
-  },
-
   Sensor.lsm6ds3: {
     SensorConfig("acceleration", 5, 15),
     SensorConfig("gyroUncalibrated", 0, .2),
@@ -70,7 +64,6 @@ ALL_SENSORS = {
   }
 }
 
-LSM_IRQ = 336
 
 def get_irq_count(irq: int):
   with open(f"/sys/kernel/irq/{irq}/per_cpu_count") as f:
@@ -79,7 +72,7 @@ def get_irq_count(irq: int):
 
 def read_sensor_events(duration_sec):
   sensor_types = ['accelerometer', 'gyroscope', 'magnetometer', 'accelerometer2',
-                  'gyroscope2', 'lightSensor', 'temperatureSensor']
+                  'gyroscope2', 'temperatureSensor', 'temperatureSensor2']
   esocks = {}
   events = defaultdict(list)
   for stype in sensor_types:
@@ -93,7 +86,7 @@ def read_sensor_events(duration_sec):
 
   assert sum(map(len, events.values())) != 0, "No sensor events collected!"
 
-  return events
+  return {k: v for k, v in events.items() if len(v) > 0}
 
 class TestSensord(unittest.TestCase):
   @classmethod
@@ -101,9 +94,6 @@ class TestSensord(unittest.TestCase):
     if not TICI:
       raise unittest.SkipTest
 
-    # make sure gpiochip0 is readable
-    HARDWARE.initialize_hardware()
-
     # enable LSM self test
     os.environ["LSM_SELF_TEST"] = "1"
 
@@ -114,6 +104,9 @@ class TestSensord(unittest.TestCase):
       time.sleep(3)
       cls.sample_secs = 10
       cls.events = read_sensor_events(cls.sample_secs)
+
+      # determine sensord's irq
+      cls.sensord_irq = get_irqs_for_action("sensord")[0]
     finally:
       # teardown won't run if this doesn't succeed
       managed_processes["sensord"].stop()
@@ -121,15 +114,12 @@ class TestSensord(unittest.TestCase):
   @classmethod
   def tearDownClass(cls):
     managed_processes["sensord"].stop()
-    if "LSM_SELF_TEST" in os.environ:
-      del os.environ['LSM_SELF_TEST']
 
   def tearDown(self):
     managed_processes["sensord"].stop()
 
   def test_sensors_present(self):
     # verify correct sensors configuration
-
     seen = set()
     for etype in self.events:
       for measurement in self.events[etype]:
@@ -169,22 +159,12 @@ class TestSensord(unittest.TestCase):
         stddev = np.std(tdiffs)
         assert stddev < 2.0, f"Standard-dev to big {stddev}"
 
-  def test_events_check(self):
-    # verify if all sensors produce events
-
-    sensor_events = dict()
-    for etype in self.events:
-      for measurement in self.events[etype]:
-        m = getattr(measurement, measurement.which())
-
-        if m.type in sensor_events:
-          sensor_events[m.type] += 1
-        else:
-          sensor_events[m.type] = 1
-
-    for s in sensor_events:
-      err_msg = f"Sensor {s}: 200 < {sensor_events[s]}"
-      assert sensor_events[s] > 200, err_msg
+  def test_sensor_frequency(self):
+    for s, msgs in self.events.items():
+      with self.subTest(sensor=s):
+        freq = len(msgs) / self.sample_secs
+        ef = service_list[s].frequency
+        assert ef*0.85 <= freq <= ef*1.15
 
   def test_logmonottime_timestamp_diff(self):
     # ensure diff between the message logMonotime and sample timestamp is small
@@ -203,16 +183,14 @@ class TestSensord(unittest.TestCase):
         # before the sensor is read
         tdiffs.append(abs(measurement.logMonoTime - m.timestamp) / 1e6)
 
-    high_delay_diffs = set(filter(lambda d: d >= 15., tdiffs))
-    assert len(high_delay_diffs) < 20, f"Too many measurements published : {high_delay_diffs}"
+    # some sensors have a read procedure that will introduce an expected diff on the order of 20ms
+    high_delay_diffs = set(filter(lambda d: d >= 25., tdiffs))
+    assert len(high_delay_diffs) < 20, f"Too many measurements published: {high_delay_diffs}"
 
     avg_diff = round(sum(tdiffs)/len(tdiffs), 4)
     assert avg_diff < 4, f"Avg packet diff: {avg_diff:.1f}ms"
 
-    stddev = np.std(tdiffs)
-    assert stddev < 2, f"Timing diffs have too high stddev: {stddev}"
-
-  def test_sensor_values_sanity_check(self):
+  def test_sensor_values(self):
     sensor_values = dict()
     for etype in self.events:
       for measurement in self.events[etype]:
@@ -229,18 +207,13 @@ class TestSensord(unittest.TestCase):
         else:
           sensor_values[key] = [values]
 
-    # Sanity check sensor values and counts
+    # Sanity check sensor values
     for sensor, stype in sensor_values:
       for s in ALL_SENSORS[sensor]:
         if s.type != stype:
           continue
 
         key = (sensor, s.type)
-        val_cnt = len(sensor_values[key])
-        min_samples = self.sample_secs * 100  # Hz
-        err_msg = f"Sensor {sensor} {s.type} got {val_cnt} measurements, expected {min_samples}"
-        assert min_samples*0.9 < val_cnt < min_samples*1.1, err_msg
-
         mean_norm = np.mean(np.linalg.norm(sensor_values[key], axis=1))
         err_msg = f"Sensor '{sensor} {s.type}' failed sanity checks {mean_norm} is not between {s.sanity_min} and {s.sanity_max}"
         assert s.sanity_min <= mean_norm <= s.sanity_max, err_msg
@@ -250,9 +223,9 @@ class TestSensord(unittest.TestCase):
     time.sleep(3)
 
     # read /proc/interrupts to verify interrupts are received
-    state_one = get_irq_count(LSM_IRQ)
+    state_one = get_irq_count(self.sensord_irq)
     time.sleep(1)
-    state_two = get_irq_count(LSM_IRQ)
+    state_two = get_irq_count(self.sensord_irq)
 
     error_msg = f"no interrupts received after sensord start!\n{state_one} {state_two}"
     assert state_one != state_two, error_msg
@@ -261,9 +234,9 @@ class TestSensord(unittest.TestCase):
     time.sleep(1)
 
     # read /proc/interrupts to verify no more interrupts are received
-    state_one = get_irq_count(LSM_IRQ)
+    state_one = get_irq_count(self.sensord_irq)
     time.sleep(1)
-    state_two = get_irq_count(LSM_IRQ)
+    state_two = get_irq_count(self.sensord_irq)
     assert state_one == state_two, "Interrupts received after sensord stop!"
 
 
diff --git a/selfdrive/sensord/tests/ttff_test.py b/system/sensord/tests/ttff_test.py
similarity index 94%
rename from selfdrive/sensord/tests/ttff_test.py
rename to system/sensord/tests/ttff_test.py
index e2cbc6d144..e023489ed5 100755
--- a/selfdrive/sensord/tests/ttff_test.py
+++ b/system/sensord/tests/ttff_test.py
@@ -4,7 +4,7 @@ import time
 import atexit
 
 from cereal import messaging
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 TIMEOUT = 10*60
 
diff --git a/system/swaglog.py b/system/swaglog.py
index 68664330a5..5fe1c2f27f 100644
--- a/system/swaglog.py
+++ b/system/swaglog.py
@@ -1,13 +1,14 @@
 import logging
 import os
 import time
+import warnings
 from pathlib import Path
 from logging.handlers import BaseRotatingHandler
 
 import zmq
 
-from common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
-from system.hardware import PC
+from openpilot.common.logging_extra import SwagLogger, SwagFormatter, SwagLogFileFormatter
+from openpilot.system.hardware import PC
 
 if PC:
   SWAGLOG_DIR = os.path.join(str(Path.home()), ".comma", "log")
@@ -72,6 +73,15 @@ class UnixDomainSocketHandler(logging.Handler):
     self.setFormatter(formatter)
     self.pid = None
 
+    self.zctx = None
+    self.sock = None
+
+  def __del__(self):
+    if self.sock is not None:
+      self.sock.close()
+    if self.zctx is not None:
+      self.zctx.term()
+
   def connect(self):
     self.zctx = zmq.Context()
     self.sock = self.zctx.socket(zmq.PUSH)
@@ -81,6 +91,8 @@ class UnixDomainSocketHandler(logging.Handler):
 
   def emit(self, record):
     if os.getpid() != self.pid:
+      # TODO suppresses warning about forking proc with zmq socket, fix root cause
+      warnings.filterwarnings("ignore", category=ResourceWarning, message="unclosed.*<zmq.*>")
       self.connect()
 
     msg = self.format(record).rstrip('\n')
diff --git a/system/tests/__init__.py b/system/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/tests/test_logmessaged.py b/system/tests/test_logmessaged.py
new file mode 100755
index 0000000000..955272d403
--- /dev/null
+++ b/system/tests/test_logmessaged.py
@@ -0,0 +1,60 @@
+#!/usr/bin/env python3
+import glob
+import os
+import shutil
+import time
+import unittest
+
+import cereal.messaging as messaging
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.system.swaglog import cloudlog, SWAGLOG_DIR
+
+
+class TestLogmessaged(unittest.TestCase):
+
+  def setUp(self):
+    if os.path.exists(SWAGLOG_DIR):
+      shutil.rmtree(SWAGLOG_DIR)
+
+    managed_processes['logmessaged'].start()
+    self.sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
+    self.error_sock = messaging.sub_sock("logMessage", timeout=1000, conflate=False)
+
+    # ensure sockets are connected
+    time.sleep(0.2)
+    messaging.drain_sock(self.sock)
+    messaging.drain_sock(self.error_sock)
+
+  def tearDown(self):
+    del self.sock
+    del self.error_sock
+    managed_processes['logmessaged'].stop(block=True)
+
+  def _get_log_files(self):
+    return list(glob.glob(os.path.join(SWAGLOG_DIR, "swaglog.*")))
+
+  def test_simple_log(self):
+    msgs = [f"abc {i}" for i in range(10)]
+    for m in msgs:
+      cloudlog.error(m)
+    time.sleep(3)
+    m = messaging.drain_sock(self.sock)
+    assert len(m) == len(msgs)
+    assert len(self._get_log_files()) >= 1
+
+  def test_big_log(self):
+    n = 10
+    msg = "a"*3*1024*1024
+    for _ in range(n):
+      cloudlog.info(msg)
+    time.sleep(3)
+
+    msgs = messaging.drain_sock(self.sock)
+    assert len(msgs) == 0
+
+    logsize = sum([os.path.getsize(f) for f in self._get_log_files()])
+    assert (n*len(msg)) < logsize < (n*(len(msg)+1024))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/system/timezoned.py b/system/timezoned.py
index 884a5c3812..37e813c561 100755
--- a/system/timezoned.py
+++ b/system/timezoned.py
@@ -8,9 +8,9 @@ from typing import NoReturn
 import requests
 from timezonefinder import TimezoneFinder
 
-from common.params import Params
-from system.hardware import AGNOS
-from system.swaglog import cloudlog
+from openpilot.common.params import Params
+from openpilot.system.hardware import AGNOS
+from openpilot.system.swaglog import cloudlog
 
 
 def set_timezone(valid_timezones, timezone):
diff --git a/system/ubloxd/.gitignore b/system/ubloxd/.gitignore
new file mode 100644
index 0000000000..05263ff67c
--- /dev/null
+++ b/system/ubloxd/.gitignore
@@ -0,0 +1,2 @@
+ubloxd
+tests/test_glonass_runner
diff --git a/system/ubloxd/SConscript b/system/ubloxd/SConscript
new file mode 100644
index 0000000000..67d9856dad
--- /dev/null
+++ b/system/ubloxd/SConscript
@@ -0,0 +1,20 @@
+Import('env', 'common', 'cereal', 'messaging')
+
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
+
+if GetOption('kaitai'):
+  generated = Dir('generated').srcnode().abspath
+  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
+  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
+  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
+  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
+
+  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
+  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
+  env.Depends(patch, glonass)
+
+glonass_obj = env.Object('generated/glonass.cpp')
+env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
+
+if GetOption('extras'):
+  env.Program("tests/test_glonass_runner", ['tests/test_glonass_runner.cc', 'tests/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
\ No newline at end of file
diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
new file mode 100644
index 0000000000..cd0f96ab68
--- /dev/null
+++ b/system/ubloxd/generated/glonass.cpp
@@ -0,0 +1,353 @@
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "glonass.h"
+
+glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = this;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::_read() {
+    m_idle_chip = m__io->read_bits_int_be(1);
+    m_string_number = m__io->read_bits_int_be(4);
+    //m__io->align_to_byte();
+    switch (string_number()) {
+    case 4: {
+        m_data = new string_4_t(m__io, this, m__root);
+        break;
+    }
+    case 1: {
+        m_data = new string_1_t(m__io, this, m__root);
+        break;
+    }
+    case 3: {
+        m_data = new string_3_t(m__io, this, m__root);
+        break;
+    }
+    case 5: {
+        m_data = new string_5_t(m__io, this, m__root);
+        break;
+    }
+    case 2: {
+        m_data = new string_2_t(m__io, this, m__root);
+        break;
+    }
+    default: {
+        m_data = new string_non_immediate_t(m__io, this, m__root);
+        break;
+    }
+    }
+    m_hamming_code = m__io->read_bits_int_be(8);
+    m_pad_1 = m__io->read_bits_int_be(11);
+    m_superframe_number = m__io->read_bits_int_be(16);
+    m_pad_2 = m__io->read_bits_int_be(8);
+    m_frame_number = m__io->read_bits_int_be(8);
+}
+
+glonass_t::~glonass_t() {
+    _clean_up();
+}
+
+void glonass_t::_clean_up() {
+    if (m_data) {
+        delete m_data; m_data = 0;
+    }
+}
+
+glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_tau_n = false;
+    f_delta_tau_n = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_4_t::_read() {
+    m_tau_n_sign = m__io->read_bits_int_be(1);
+    m_tau_n_value = m__io->read_bits_int_be(21);
+    m_delta_tau_n_sign = m__io->read_bits_int_be(1);
+    m_delta_tau_n_value = m__io->read_bits_int_be(4);
+    m_e_n = m__io->read_bits_int_be(5);
+    m_not_used_1 = m__io->read_bits_int_be(14);
+    m_p4 = m__io->read_bits_int_be(1);
+    m_f_t = m__io->read_bits_int_be(4);
+    m_not_used_2 = m__io->read_bits_int_be(3);
+    m_n_t = m__io->read_bits_int_be(11);
+    m_n = m__io->read_bits_int_be(5);
+    m_m = m__io->read_bits_int_be(2);
+}
+
+glonass_t::string_4_t::~string_4_t() {
+    _clean_up();
+}
+
+void glonass_t::string_4_t::_clean_up() {
+}
+
+int32_t glonass_t::string_4_t::tau_n() {
+    if (f_tau_n)
+        return m_tau_n;
+    m_tau_n = ((tau_n_sign()) ? ((tau_n_value() * -1)) : (tau_n_value()));
+    f_tau_n = true;
+    return m_tau_n;
+}
+
+int32_t glonass_t::string_4_t::delta_tau_n() {
+    if (f_delta_tau_n)
+        return m_delta_tau_n;
+    m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() * -1)) : (delta_tau_n_value()));
+    f_delta_tau_n = true;
+    return m_delta_tau_n;
+}
+
+glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_non_immediate_t::_read() {
+    m_data_1 = m__io->read_bits_int_be(64);
+    m_data_2 = m__io->read_bits_int_be(8);
+}
+
+glonass_t::string_non_immediate_t::~string_non_immediate_t() {
+    _clean_up();
+}
+
+void glonass_t::string_non_immediate_t::_clean_up() {
+}
+
+glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_5_t::_read() {
+    m_n_a = m__io->read_bits_int_be(11);
+    m_tau_c = m__io->read_bits_int_be(32);
+    m_not_used = m__io->read_bits_int_be(1);
+    m_n_4 = m__io->read_bits_int_be(5);
+    m_tau_gps = m__io->read_bits_int_be(22);
+    m_l_n = m__io->read_bits_int_be(1);
+}
+
+glonass_t::string_5_t::~string_5_t() {
+    _clean_up();
+}
+
+void glonass_t::string_5_t::_clean_up() {
+}
+
+glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_x_vel = false;
+    f_x_accel = false;
+    f_x = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_1_t::_read() {
+    m_not_used = m__io->read_bits_int_be(2);
+    m_p1 = m__io->read_bits_int_be(2);
+    m_t_k = m__io->read_bits_int_be(12);
+    m_x_vel_sign = m__io->read_bits_int_be(1);
+    m_x_vel_value = m__io->read_bits_int_be(23);
+    m_x_accel_sign = m__io->read_bits_int_be(1);
+    m_x_accel_value = m__io->read_bits_int_be(4);
+    m_x_sign = m__io->read_bits_int_be(1);
+    m_x_value = m__io->read_bits_int_be(26);
+}
+
+glonass_t::string_1_t::~string_1_t() {
+    _clean_up();
+}
+
+void glonass_t::string_1_t::_clean_up() {
+}
+
+int32_t glonass_t::string_1_t::x_vel() {
+    if (f_x_vel)
+        return m_x_vel;
+    m_x_vel = ((x_vel_sign()) ? ((x_vel_value() * -1)) : (x_vel_value()));
+    f_x_vel = true;
+    return m_x_vel;
+}
+
+int32_t glonass_t::string_1_t::x_accel() {
+    if (f_x_accel)
+        return m_x_accel;
+    m_x_accel = ((x_accel_sign()) ? ((x_accel_value() * -1)) : (x_accel_value()));
+    f_x_accel = true;
+    return m_x_accel;
+}
+
+int32_t glonass_t::string_1_t::x() {
+    if (f_x)
+        return m_x;
+    m_x = ((x_sign()) ? ((x_value() * -1)) : (x_value()));
+    f_x = true;
+    return m_x;
+}
+
+glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_y_vel = false;
+    f_y_accel = false;
+    f_y = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_2_t::_read() {
+    m_b_n = m__io->read_bits_int_be(3);
+    m_p2 = m__io->read_bits_int_be(1);
+    m_t_b = m__io->read_bits_int_be(7);
+    m_not_used = m__io->read_bits_int_be(5);
+    m_y_vel_sign = m__io->read_bits_int_be(1);
+    m_y_vel_value = m__io->read_bits_int_be(23);
+    m_y_accel_sign = m__io->read_bits_int_be(1);
+    m_y_accel_value = m__io->read_bits_int_be(4);
+    m_y_sign = m__io->read_bits_int_be(1);
+    m_y_value = m__io->read_bits_int_be(26);
+}
+
+glonass_t::string_2_t::~string_2_t() {
+    _clean_up();
+}
+
+void glonass_t::string_2_t::_clean_up() {
+}
+
+int32_t glonass_t::string_2_t::y_vel() {
+    if (f_y_vel)
+        return m_y_vel;
+    m_y_vel = ((y_vel_sign()) ? ((y_vel_value() * -1)) : (y_vel_value()));
+    f_y_vel = true;
+    return m_y_vel;
+}
+
+int32_t glonass_t::string_2_t::y_accel() {
+    if (f_y_accel)
+        return m_y_accel;
+    m_y_accel = ((y_accel_sign()) ? ((y_accel_value() * -1)) : (y_accel_value()));
+    f_y_accel = true;
+    return m_y_accel;
+}
+
+int32_t glonass_t::string_2_t::y() {
+    if (f_y)
+        return m_y;
+    m_y = ((y_sign()) ? ((y_value() * -1)) : (y_value()));
+    f_y = true;
+    return m_y;
+}
+
+glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    f_gamma_n = false;
+    f_z_vel = false;
+    f_z_accel = false;
+    f_z = false;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_3_t::_read() {
+    m_p3 = m__io->read_bits_int_be(1);
+    m_gamma_n_sign = m__io->read_bits_int_be(1);
+    m_gamma_n_value = m__io->read_bits_int_be(10);
+    m_not_used = m__io->read_bits_int_be(1);
+    m_p = m__io->read_bits_int_be(2);
+    m_l_n = m__io->read_bits_int_be(1);
+    m_z_vel_sign = m__io->read_bits_int_be(1);
+    m_z_vel_value = m__io->read_bits_int_be(23);
+    m_z_accel_sign = m__io->read_bits_int_be(1);
+    m_z_accel_value = m__io->read_bits_int_be(4);
+    m_z_sign = m__io->read_bits_int_be(1);
+    m_z_value = m__io->read_bits_int_be(26);
+}
+
+glonass_t::string_3_t::~string_3_t() {
+    _clean_up();
+}
+
+void glonass_t::string_3_t::_clean_up() {
+}
+
+int32_t glonass_t::string_3_t::gamma_n() {
+    if (f_gamma_n)
+        return m_gamma_n;
+    m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() * -1)) : (gamma_n_value()));
+    f_gamma_n = true;
+    return m_gamma_n;
+}
+
+int32_t glonass_t::string_3_t::z_vel() {
+    if (f_z_vel)
+        return m_z_vel;
+    m_z_vel = ((z_vel_sign()) ? ((z_vel_value() * -1)) : (z_vel_value()));
+    f_z_vel = true;
+    return m_z_vel;
+}
+
+int32_t glonass_t::string_3_t::z_accel() {
+    if (f_z_accel)
+        return m_z_accel;
+    m_z_accel = ((z_accel_sign()) ? ((z_accel_value() * -1)) : (z_accel_value()));
+    f_z_accel = true;
+    return m_z_accel;
+}
+
+int32_t glonass_t::string_3_t::z() {
+    if (f_z)
+        return m_z;
+    m_z = ((z_sign()) ? ((z_value() * -1)) : (z_value()));
+    f_z = true;
+    return m_z;
+}
diff --git a/system/ubloxd/generated/glonass.h b/system/ubloxd/generated/glonass.h
new file mode 100644
index 0000000000..19867ba22b
--- /dev/null
+++ b/system/ubloxd/generated/glonass.h
@@ -0,0 +1,375 @@
+#ifndef GLONASS_H_
+#define GLONASS_H_
+
+// This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
+
+#include "kaitai/kaitaistruct.h"
+#include <stdint.h>
+
+#if KAITAI_STRUCT_VERSION < 9000L
+#error "Incompatible Kaitai Struct C++/STL API: version 0.9 or later is required"
+#endif
+
+class glonass_t : public kaitai::kstruct {
+
+public:
+    class string_4_t;
+    class string_non_immediate_t;
+    class string_5_t;
+    class string_1_t;
+    class string_2_t;
+    class string_3_t;
+
+    glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent = 0, glonass_t* p__root = 0);
+
+private:
+    void _read();
+    void _clean_up();
+
+public:
+    ~glonass_t();
+
+    class string_4_t : public kaitai::kstruct {
+
+    public:
+
+        string_4_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_4_t();
+
+    private:
+        bool f_tau_n;
+        int32_t m_tau_n;
+
+    public:
+        int32_t tau_n();
+
+    private:
+        bool f_delta_tau_n;
+        int32_t m_delta_tau_n;
+
+    public:
+        int32_t delta_tau_n();
+
+    private:
+        bool m_tau_n_sign;
+        uint64_t m_tau_n_value;
+        bool m_delta_tau_n_sign;
+        uint64_t m_delta_tau_n_value;
+        uint64_t m_e_n;
+        uint64_t m_not_used_1;
+        bool m_p4;
+        uint64_t m_f_t;
+        uint64_t m_not_used_2;
+        uint64_t m_n_t;
+        uint64_t m_n;
+        uint64_t m_m;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        bool tau_n_sign() const { return m_tau_n_sign; }
+        uint64_t tau_n_value() const { return m_tau_n_value; }
+        bool delta_tau_n_sign() const { return m_delta_tau_n_sign; }
+        uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; }
+        uint64_t e_n() const { return m_e_n; }
+        uint64_t not_used_1() const { return m_not_used_1; }
+        bool p4() const { return m_p4; }
+        uint64_t f_t() const { return m_f_t; }
+        uint64_t not_used_2() const { return m_not_used_2; }
+        uint64_t n_t() const { return m_n_t; }
+        uint64_t n() const { return m_n; }
+        uint64_t m() const { return m_m; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+    class string_non_immediate_t : public kaitai::kstruct {
+
+    public:
+
+        string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_non_immediate_t();
+
+    private:
+        uint64_t m_data_1;
+        uint64_t m_data_2;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        uint64_t data_1() const { return m_data_1; }
+        uint64_t data_2() const { return m_data_2; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+    class string_5_t : public kaitai::kstruct {
+
+    public:
+
+        string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_5_t();
+
+    private:
+        uint64_t m_n_a;
+        uint64_t m_tau_c;
+        bool m_not_used;
+        uint64_t m_n_4;
+        uint64_t m_tau_gps;
+        bool m_l_n;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        uint64_t n_a() const { return m_n_a; }
+        uint64_t tau_c() const { return m_tau_c; }
+        bool not_used() const { return m_not_used; }
+        uint64_t n_4() const { return m_n_4; }
+        uint64_t tau_gps() const { return m_tau_gps; }
+        bool l_n() const { return m_l_n; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+    class string_1_t : public kaitai::kstruct {
+
+    public:
+
+        string_1_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_1_t();
+
+    private:
+        bool f_x_vel;
+        int32_t m_x_vel;
+
+    public:
+        int32_t x_vel();
+
+    private:
+        bool f_x_accel;
+        int32_t m_x_accel;
+
+    public:
+        int32_t x_accel();
+
+    private:
+        bool f_x;
+        int32_t m_x;
+
+    public:
+        int32_t x();
+
+    private:
+        uint64_t m_not_used;
+        uint64_t m_p1;
+        uint64_t m_t_k;
+        bool m_x_vel_sign;
+        uint64_t m_x_vel_value;
+        bool m_x_accel_sign;
+        uint64_t m_x_accel_value;
+        bool m_x_sign;
+        uint64_t m_x_value;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        uint64_t not_used() const { return m_not_used; }
+        uint64_t p1() const { return m_p1; }
+        uint64_t t_k() const { return m_t_k; }
+        bool x_vel_sign() const { return m_x_vel_sign; }
+        uint64_t x_vel_value() const { return m_x_vel_value; }
+        bool x_accel_sign() const { return m_x_accel_sign; }
+        uint64_t x_accel_value() const { return m_x_accel_value; }
+        bool x_sign() const { return m_x_sign; }
+        uint64_t x_value() const { return m_x_value; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+    class string_2_t : public kaitai::kstruct {
+
+    public:
+
+        string_2_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_2_t();
+
+    private:
+        bool f_y_vel;
+        int32_t m_y_vel;
+
+    public:
+        int32_t y_vel();
+
+    private:
+        bool f_y_accel;
+        int32_t m_y_accel;
+
+    public:
+        int32_t y_accel();
+
+    private:
+        bool f_y;
+        int32_t m_y;
+
+    public:
+        int32_t y();
+
+    private:
+        uint64_t m_b_n;
+        bool m_p2;
+        uint64_t m_t_b;
+        uint64_t m_not_used;
+        bool m_y_vel_sign;
+        uint64_t m_y_vel_value;
+        bool m_y_accel_sign;
+        uint64_t m_y_accel_value;
+        bool m_y_sign;
+        uint64_t m_y_value;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        uint64_t b_n() const { return m_b_n; }
+        bool p2() const { return m_p2; }
+        uint64_t t_b() const { return m_t_b; }
+        uint64_t not_used() const { return m_not_used; }
+        bool y_vel_sign() const { return m_y_vel_sign; }
+        uint64_t y_vel_value() const { return m_y_vel_value; }
+        bool y_accel_sign() const { return m_y_accel_sign; }
+        uint64_t y_accel_value() const { return m_y_accel_value; }
+        bool y_sign() const { return m_y_sign; }
+        uint64_t y_value() const { return m_y_value; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+    class string_3_t : public kaitai::kstruct {
+
+    public:
+
+        string_3_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_3_t();
+
+    private:
+        bool f_gamma_n;
+        int32_t m_gamma_n;
+
+    public:
+        int32_t gamma_n();
+
+    private:
+        bool f_z_vel;
+        int32_t m_z_vel;
+
+    public:
+        int32_t z_vel();
+
+    private:
+        bool f_z_accel;
+        int32_t m_z_accel;
+
+    public:
+        int32_t z_accel();
+
+    private:
+        bool f_z;
+        int32_t m_z;
+
+    public:
+        int32_t z();
+
+    private:
+        bool m_p3;
+        bool m_gamma_n_sign;
+        uint64_t m_gamma_n_value;
+        bool m_not_used;
+        uint64_t m_p;
+        bool m_l_n;
+        bool m_z_vel_sign;
+        uint64_t m_z_vel_value;
+        bool m_z_accel_sign;
+        uint64_t m_z_accel_value;
+        bool m_z_sign;
+        uint64_t m_z_value;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        bool p3() const { return m_p3; }
+        bool gamma_n_sign() const { return m_gamma_n_sign; }
+        uint64_t gamma_n_value() const { return m_gamma_n_value; }
+        bool not_used() const { return m_not_used; }
+        uint64_t p() const { return m_p; }
+        bool l_n() const { return m_l_n; }
+        bool z_vel_sign() const { return m_z_vel_sign; }
+        uint64_t z_vel_value() const { return m_z_vel_value; }
+        bool z_accel_sign() const { return m_z_accel_sign; }
+        uint64_t z_accel_value() const { return m_z_accel_value; }
+        bool z_sign() const { return m_z_sign; }
+        uint64_t z_value() const { return m_z_value; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
+private:
+    bool m_idle_chip;
+    uint64_t m_string_number;
+    kaitai::kstruct* m_data;
+    uint64_t m_hamming_code;
+    uint64_t m_pad_1;
+    uint64_t m_superframe_number;
+    uint64_t m_pad_2;
+    uint64_t m_frame_number;
+    glonass_t* m__root;
+    kaitai::kstruct* m__parent;
+
+public:
+    bool idle_chip() const { return m_idle_chip; }
+    uint64_t string_number() const { return m_string_number; }
+    kaitai::kstruct* data() const { return m_data; }
+    uint64_t hamming_code() const { return m_hamming_code; }
+    uint64_t pad_1() const { return m_pad_1; }
+    uint64_t superframe_number() const { return m_superframe_number; }
+    uint64_t pad_2() const { return m_pad_2; }
+    uint64_t frame_number() const { return m_frame_number; }
+    glonass_t* _root() const { return m__root; }
+    kaitai::kstruct* _parent() const { return m__parent; }
+};
+
+#endif  // GLONASS_H_
diff --git a/selfdrive/locationd/generated/gps.cpp b/system/ubloxd/generated/gps.cpp
similarity index 97%
rename from selfdrive/locationd/generated/gps.cpp
rename to system/ubloxd/generated/gps.cpp
index 9b020735bb..8e1cb85b95 100644
--- a/selfdrive/locationd/generated/gps.cpp
+++ b/system/ubloxd/generated/gps.cpp
@@ -274,9 +274,9 @@ gps_t::tlm_t::tlm_t(kaitai::kstream* p__io, gps_t* p__parent, gps_t* p__root) :
 }
 
 void gps_t::tlm_t::_read() {
-    m_magic = m__io->read_bytes(1);
-    if (!(magic() == std::string("\x8B", 1))) {
-        throw kaitai::validation_not_equal_error<std::string>(std::string("\x8B", 1), magic(), _io(), std::string("/types/tlm/seq/0"));
+    m_preamble = m__io->read_bytes(1);
+    if (!(preamble() == std::string("\x8B", 1))) {
+        throw kaitai::validation_not_equal_error<std::string>(std::string("\x8B", 1), preamble(), _io(), std::string("/types/tlm/seq/0"));
     }
     m_tlm = m__io->read_bits_int_be(14);
     m_integrity_status = m__io->read_bits_int_be(1);
diff --git a/selfdrive/locationd/generated/gps.h b/system/ubloxd/generated/gps.h
similarity index 99%
rename from selfdrive/locationd/generated/gps.h
rename to system/ubloxd/generated/gps.h
index 293e2e4a05..9dfc5031f5 100644
--- a/selfdrive/locationd/generated/gps.h
+++ b/system/ubloxd/generated/gps.h
@@ -273,7 +273,7 @@ public:
         ~tlm_t();
 
     private:
-        std::string m_magic;
+        std::string m_preamble;
         uint64_t m_tlm;
         bool m_integrity_status;
         bool m_reserved;
@@ -281,7 +281,7 @@ public:
         gps_t* m__parent;
 
     public:
-        std::string magic() const { return m_magic; }
+        std::string preamble() const { return m_preamble; }
         uint64_t tlm() const { return m_tlm; }
         bool integrity_status() const { return m_integrity_status; }
         bool reserved() const { return m_reserved; }
diff --git a/selfdrive/locationd/generated/ubx.cpp b/system/ubloxd/generated/ubx.cpp
similarity index 67%
rename from selfdrive/locationd/generated/ubx.cpp
rename to system/ubloxd/generated/ubx.cpp
index 5e743e1ee7..81b82ccafc 100644
--- a/selfdrive/locationd/generated/ubx.cpp
+++ b/system/ubloxd/generated/ubx.cpp
@@ -40,6 +40,11 @@ void ubx_t::_read() {
         m_body = new rxm_sfrbx_t(m__io, this, m__root);
         break;
     }
+    case 309: {
+        n_body = false;
+        m_body = new nav_sat_t(m__io, this, m__root);
+        break;
+    }
     case 2571: {
         n_body = false;
         m_body = new mon_hw2_t(m__io, this, m__root);
@@ -70,9 +75,9 @@ void ubx_t::_clean_up() {
 ubx_t::rxm_rawx_t::rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
-    m_measurements = 0;
-    m__raw_measurements = 0;
-    m__io__raw_measurements = 0;
+    m_meas = 0;
+    m__raw_meas = 0;
+    m__io__raw_meas = 0;
 
     try {
         _read();
@@ -89,18 +94,15 @@ void ubx_t::rxm_rawx_t::_read() {
     m_num_meas = m__io->read_u1();
     m_rec_stat = m__io->read_u1();
     m_reserved1 = m__io->read_bytes(3);
-    int l_measurements = num_meas();
-    m__raw_measurements = new std::vector<std::string>();
-    m__raw_measurements->reserve(l_measurements);
-    m__io__raw_measurements = new std::vector<kaitai::kstream*>();
-    m__io__raw_measurements->reserve(l_measurements);
-    m_measurements = new std::vector<meas_t*>();
-    m_measurements->reserve(l_measurements);
-    for (int i = 0; i < l_measurements; i++) {
-        m__raw_measurements->push_back(m__io->read_bytes(32));
-        kaitai::kstream* io__raw_measurements = new kaitai::kstream(m__raw_measurements->at(m__raw_measurements->size() - 1));
-        m__io__raw_measurements->push_back(io__raw_measurements);
-        m_measurements->push_back(new meas_t(io__raw_measurements, this, m__root));
+    m__raw_meas = new std::vector<std::string>();
+    m__io__raw_meas = new std::vector<kaitai::kstream*>();
+    m_meas = new std::vector<measurement_t*>();
+    const int l_meas = num_meas();
+    for (int i = 0; i < l_meas; i++) {
+        m__raw_meas->push_back(m__io->read_bytes(32));
+        kaitai::kstream* io__raw_meas = new kaitai::kstream(m__raw_meas->at(m__raw_meas->size() - 1));
+        m__io__raw_meas->push_back(io__raw_meas);
+        m_meas->push_back(new measurement_t(io__raw_meas, this, m__root));
     }
 }
 
@@ -109,24 +111,24 @@ ubx_t::rxm_rawx_t::~rxm_rawx_t() {
 }
 
 void ubx_t::rxm_rawx_t::_clean_up() {
-    if (m__raw_measurements) {
-        delete m__raw_measurements; m__raw_measurements = 0;
+    if (m__raw_meas) {
+        delete m__raw_meas; m__raw_meas = 0;
     }
-    if (m__io__raw_measurements) {
-        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_measurements->begin(); it != m__io__raw_measurements->end(); ++it) {
+    if (m__io__raw_meas) {
+        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_meas->begin(); it != m__io__raw_meas->end(); ++it) {
             delete *it;
         }
-        delete m__io__raw_measurements; m__io__raw_measurements = 0;
+        delete m__io__raw_meas; m__io__raw_meas = 0;
     }
-    if (m_measurements) {
-        for (std::vector<meas_t*>::iterator it = m_measurements->begin(); it != m_measurements->end(); ++it) {
+    if (m_meas) {
+        for (std::vector<measurement_t*>::iterator it = m_meas->begin(); it != m_meas->end(); ++it) {
             delete *it;
         }
-        delete m_measurements; m_measurements = 0;
+        delete m_meas; m_meas = 0;
     }
 }
 
-ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+ubx_t::rxm_rawx_t::measurement_t::measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
 
@@ -138,7 +140,7 @@ ubx_t::rxm_rawx_t::meas_t::meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__
     }
 }
 
-void ubx_t::rxm_rawx_t::meas_t::_read() {
+void ubx_t::rxm_rawx_t::measurement_t::_read() {
     m_pr_mes = m__io->read_f8le();
     m_cp_mes = m__io->read_f8le();
     m_do_mes = m__io->read_f4le();
@@ -155,11 +157,11 @@ void ubx_t::rxm_rawx_t::meas_t::_read() {
     m_reserved3 = m__io->read_bytes(1);
 }
 
-ubx_t::rxm_rawx_t::meas_t::~meas_t() {
+ubx_t::rxm_rawx_t::measurement_t::~measurement_t() {
     _clean_up();
 }
 
-void ubx_t::rxm_rawx_t::meas_t::_clean_up() {
+void ubx_t::rxm_rawx_t::measurement_t::_clean_up() {
 }
 
 ubx_t::rxm_sfrbx_t::rxm_sfrbx_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
@@ -184,9 +186,8 @@ void ubx_t::rxm_sfrbx_t::_read() {
     m_reserved2 = m__io->read_bytes(1);
     m_version = m__io->read_u1();
     m_reserved3 = m__io->read_bytes(1);
-    int l_body = num_words();
     m_body = new std::vector<uint32_t>();
-    m_body->reserve(l_body);
+    const int l_body = num_words();
     for (int i = 0; i < l_body; i++) {
         m_body->push_back(m__io->read_u4le());
     }
@@ -202,6 +203,89 @@ void ubx_t::rxm_sfrbx_t::_clean_up() {
     }
 }
 
+ubx_t::nav_sat_t::nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+    m_svs = 0;
+    m__raw_svs = 0;
+    m__io__raw_svs = 0;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::nav_sat_t::_read() {
+    m_itow = m__io->read_u4le();
+    m_version = m__io->read_u1();
+    m_num_svs = m__io->read_u1();
+    m_reserved = m__io->read_bytes(2);
+    m__raw_svs = new std::vector<std::string>();
+    m__io__raw_svs = new std::vector<kaitai::kstream*>();
+    m_svs = new std::vector<nav_t*>();
+    const int l_svs = num_svs();
+    for (int i = 0; i < l_svs; i++) {
+        m__raw_svs->push_back(m__io->read_bytes(12));
+        kaitai::kstream* io__raw_svs = new kaitai::kstream(m__raw_svs->at(m__raw_svs->size() - 1));
+        m__io__raw_svs->push_back(io__raw_svs);
+        m_svs->push_back(new nav_t(io__raw_svs, this, m__root));
+    }
+}
+
+ubx_t::nav_sat_t::~nav_sat_t() {
+    _clean_up();
+}
+
+void ubx_t::nav_sat_t::_clean_up() {
+    if (m__raw_svs) {
+        delete m__raw_svs; m__raw_svs = 0;
+    }
+    if (m__io__raw_svs) {
+        for (std::vector<kaitai::kstream*>::iterator it = m__io__raw_svs->begin(); it != m__io__raw_svs->end(); ++it) {
+            delete *it;
+        }
+        delete m__io__raw_svs; m__io__raw_svs = 0;
+    }
+    if (m_svs) {
+        for (std::vector<nav_t*>::iterator it = m_svs->begin(); it != m_svs->end(); ++it) {
+            delete *it;
+        }
+        delete m_svs; m_svs = 0;
+    }
+}
+
+ubx_t::nav_sat_t::nav_t::nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void ubx_t::nav_sat_t::nav_t::_read() {
+    m_gnss_id = static_cast<ubx_t::gnss_type_t>(m__io->read_u1());
+    m_sv_id = m__io->read_u1();
+    m_cno = m__io->read_u1();
+    m_elev = m__io->read_s1();
+    m_azim = m__io->read_s2le();
+    m_pr_res = m__io->read_s2le();
+    m_flags = m__io->read_u4le();
+}
+
+ubx_t::nav_sat_t::nav_t::~nav_t() {
+    _clean_up();
+}
+
+void ubx_t::nav_sat_t::nav_t::_clean_up() {
+}
+
 ubx_t::nav_pvt_t::nav_pvt_t(kaitai::kstream* p__io, ubx_t* p__parent, ubx_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
diff --git a/selfdrive/locationd/generated/ubx.h b/system/ubloxd/generated/ubx.h
similarity index 80%
rename from selfdrive/locationd/generated/ubx.h
rename to system/ubloxd/generated/ubx.h
index 6be4ce8c4b..022108489f 100644
--- a/selfdrive/locationd/generated/ubx.h
+++ b/system/ubloxd/generated/ubx.h
@@ -16,6 +16,7 @@ class ubx_t : public kaitai::kstruct {
 public:
     class rxm_rawx_t;
     class rxm_sfrbx_t;
+    class nav_sat_t;
     class nav_pvt_t;
     class mon_hw2_t;
     class mon_hw_t;
@@ -42,7 +43,7 @@ public:
     class rxm_rawx_t : public kaitai::kstruct {
 
     public:
-        class meas_t;
+        class measurement_t;
 
         rxm_rawx_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
 
@@ -53,18 +54,18 @@ public:
     public:
         ~rxm_rawx_t();
 
-        class meas_t : public kaitai::kstruct {
+        class measurement_t : public kaitai::kstruct {
 
         public:
 
-            meas_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
+            measurement_t(kaitai::kstream* p__io, ubx_t::rxm_rawx_t* p__parent = 0, ubx_t* p__root = 0);
 
         private:
             void _read();
             void _clean_up();
 
         public:
-            ~meas_t();
+            ~measurement_t();
 
         private:
             double m_pr_mes;
@@ -110,11 +111,11 @@ public:
         uint8_t m_num_meas;
         uint8_t m_rec_stat;
         std::string m_reserved1;
-        std::vector<meas_t*>* m_measurements;
+        std::vector<measurement_t*>* m_meas;
         ubx_t* m__root;
         ubx_t* m__parent;
-        std::vector<std::string>* m__raw_measurements;
-        std::vector<kaitai::kstream*>* m__io__raw_measurements;
+        std::vector<std::string>* m__raw_meas;
+        std::vector<kaitai::kstream*>* m__io__raw_meas;
 
     public:
         double rcv_tow() const { return m_rcv_tow; }
@@ -123,11 +124,11 @@ public:
         uint8_t num_meas() const { return m_num_meas; }
         uint8_t rec_stat() const { return m_rec_stat; }
         std::string reserved1() const { return m_reserved1; }
-        std::vector<meas_t*>* measurements() const { return m_measurements; }
+        std::vector<measurement_t*>* meas() const { return m_meas; }
         ubx_t* _root() const { return m__root; }
         ubx_t* _parent() const { return m__parent; }
-        std::vector<std::string>* _raw_measurements() const { return m__raw_measurements; }
-        std::vector<kaitai::kstream*>* _io__raw_measurements() const { return m__io__raw_measurements; }
+        std::vector<std::string>* _raw_meas() const { return m__raw_meas; }
+        std::vector<kaitai::kstream*>* _io__raw_meas() const { return m__io__raw_meas; }
     };
 
     class rxm_sfrbx_t : public kaitai::kstruct {
@@ -170,6 +171,79 @@ public:
         ubx_t* _parent() const { return m__parent; }
     };
 
+    class nav_sat_t : public kaitai::kstruct {
+
+    public:
+        class nav_t;
+
+        nav_sat_t(kaitai::kstream* p__io, ubx_t* p__parent = 0, ubx_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~nav_sat_t();
+
+        class nav_t : public kaitai::kstruct {
+
+        public:
+
+            nav_t(kaitai::kstream* p__io, ubx_t::nav_sat_t* p__parent = 0, ubx_t* p__root = 0);
+
+        private:
+            void _read();
+            void _clean_up();
+
+        public:
+            ~nav_t();
+
+        private:
+            gnss_type_t m_gnss_id;
+            uint8_t m_sv_id;
+            uint8_t m_cno;
+            int8_t m_elev;
+            int16_t m_azim;
+            int16_t m_pr_res;
+            uint32_t m_flags;
+            ubx_t* m__root;
+            ubx_t::nav_sat_t* m__parent;
+
+        public:
+            gnss_type_t gnss_id() const { return m_gnss_id; }
+            uint8_t sv_id() const { return m_sv_id; }
+            uint8_t cno() const { return m_cno; }
+            int8_t elev() const { return m_elev; }
+            int16_t azim() const { return m_azim; }
+            int16_t pr_res() const { return m_pr_res; }
+            uint32_t flags() const { return m_flags; }
+            ubx_t* _root() const { return m__root; }
+            ubx_t::nav_sat_t* _parent() const { return m__parent; }
+        };
+
+    private:
+        uint32_t m_itow;
+        uint8_t m_version;
+        uint8_t m_num_svs;
+        std::string m_reserved;
+        std::vector<nav_t*>* m_svs;
+        ubx_t* m__root;
+        ubx_t* m__parent;
+        std::vector<std::string>* m__raw_svs;
+        std::vector<kaitai::kstream*>* m__io__raw_svs;
+
+    public:
+        uint32_t itow() const { return m_itow; }
+        uint8_t version() const { return m_version; }
+        uint8_t num_svs() const { return m_num_svs; }
+        std::string reserved() const { return m_reserved; }
+        std::vector<nav_t*>* svs() const { return m_svs; }
+        ubx_t* _root() const { return m__root; }
+        ubx_t* _parent() const { return m__parent; }
+        std::vector<std::string>* _raw_svs() const { return m__raw_svs; }
+        std::vector<kaitai::kstream*>* _io__raw_svs() const { return m__io__raw_svs; }
+    };
+
     class nav_pvt_t : public kaitai::kstruct {
 
     public:
diff --git a/system/ubloxd/glonass.ksy b/system/ubloxd/glonass.ksy
new file mode 100644
index 0000000000..be99f6e497
--- /dev/null
+++ b/system/ubloxd/glonass.ksy
@@ -0,0 +1,176 @@
+# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
+# some variables are misprinted but good in the old doc
+# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
+meta:
+  id: glonass
+  endian: be
+  bit-endian: be
+seq:
+  - id: idle_chip
+    type: b1
+  - id: string_number
+    type: b4
+  - id: data
+    type:
+      switch-on: string_number
+      cases:
+        1: string_1
+        2: string_2
+        3: string_3
+        4: string_4
+        5: string_5
+        _: string_non_immediate
+  - id: hamming_code
+    type: b8
+  - id: pad_1
+    type: b11
+  - id: superframe_number
+    type: b16
+  - id: pad_2
+    type: b8
+  - id: frame_number
+    type: b8
+
+types:
+  string_1:
+    seq:
+      - id: not_used
+        type: b2
+      - id: p1
+        type: b2
+      - id: t_k
+        type: b12
+      - id: x_vel_sign
+        type: b1
+      - id: x_vel_value
+        type: b23
+      - id: x_accel_sign
+        type: b1
+      - id: x_accel_value
+        type: b4
+      - id: x_sign
+        type: b1
+      - id: x_value
+        type: b26
+    instances:
+      x_vel:
+        value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value'
+      x_accel:
+        value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value'
+      x:
+        value: 'x_sign ? (x_value * (-1)) : x_value'
+  string_2:
+    seq:
+      - id: b_n
+        type: b3
+      - id: p2
+        type: b1
+      - id: t_b
+        type: b7
+      - id: not_used
+        type: b5
+      - id: y_vel_sign
+        type: b1
+      - id: y_vel_value
+        type: b23
+      - id: y_accel_sign
+        type: b1
+      - id: y_accel_value
+        type: b4
+      - id: y_sign
+        type: b1
+      - id: y_value
+        type: b26
+    instances:
+      y_vel:
+        value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value'
+      y_accel:
+        value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value'
+      y:
+        value: 'y_sign ? (y_value * (-1)) : y_value'
+  string_3:
+    seq:
+      - id: p3
+        type: b1
+      - id: gamma_n_sign
+        type: b1
+      - id: gamma_n_value
+        type: b10
+      - id: not_used
+        type: b1
+      - id: p
+        type: b2
+      - id: l_n
+        type: b1
+      - id: z_vel_sign
+        type: b1
+      - id: z_vel_value
+        type: b23
+      - id: z_accel_sign
+        type: b1
+      - id: z_accel_value
+        type: b4
+      - id: z_sign
+        type: b1
+      - id: z_value
+        type: b26
+    instances:
+      gamma_n:
+        value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value'
+      z_vel:
+        value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value'
+      z_accel:
+        value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value'
+      z:
+        value: 'z_sign ? (z_value * (-1)) : z_value'
+  string_4:
+    seq:
+      - id: tau_n_sign
+        type: b1
+      - id: tau_n_value
+        type: b21
+      - id: delta_tau_n_sign
+        type: b1
+      - id: delta_tau_n_value
+        type: b4
+      - id: e_n
+        type: b5
+      - id: not_used_1
+        type: b14
+      - id: p4
+        type: b1
+      - id: f_t
+        type: b4
+      - id: not_used_2
+        type: b3
+      - id: n_t
+        type: b11
+      - id: n
+        type: b5
+      - id: m
+        type: b2
+    instances:
+      tau_n:
+        value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value'
+      delta_tau_n:
+        value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value'
+  string_5:
+    seq:
+      - id: n_a
+        type: b11
+      - id: tau_c
+        type: b32
+      - id: not_used
+        type: b1
+      - id: n_4
+        type: b5
+      - id: tau_gps
+        type: b22
+      - id: l_n
+        type: b1
+  string_non_immediate:
+    seq:
+      - id: data_1
+        type: b64
+      - id: data_2
+        type: b8
diff --git a/system/ubloxd/glonass_fix.patch b/system/ubloxd/glonass_fix.patch
new file mode 100644
index 0000000000..7eb973a348
--- /dev/null
+++ b/system/ubloxd/glonass_fix.patch
@@ -0,0 +1,13 @@
+diff --git a/system/ubloxd/generated/glonass.cpp b/system/ubloxd/generated/glonass.cpp
+index 5b17bc327..b5c6aa610 100644
+--- a/system/ubloxd/generated/glonass.cpp
++++ b/system/ubloxd/generated/glonass.cpp
+@@ -17,7 +17,7 @@ glonass_t::glonass_t(kaitai::kstream* p__io, kaitai::kstruct* p__parent, glonass
+ void glonass_t::_read() {
+     m_idle_chip = m__io->read_bits_int_be(1);
+     m_string_number = m__io->read_bits_int_be(4);
+-    m__io->align_to_byte();
++    //m__io->align_to_byte();
+     switch (string_number()) {
+     case 4: {
+         m_data = new string_4_t(m__io, this, m__root);
diff --git a/selfdrive/locationd/gps.ksy b/system/ubloxd/gps.ksy
similarity index 99%
rename from selfdrive/locationd/gps.ksy
rename to system/ubloxd/gps.ksy
index 6f5cde316b..893ad1b25b 100644
--- a/selfdrive/locationd/gps.ksy
+++ b/system/ubloxd/gps.ksy
@@ -19,7 +19,7 @@ seq:
 types:
   tlm:
    seq:
-     - id: magic
+     - id: preamble
        contents: [0x8b]
      - id: tlm
        type: b14
diff --git a/selfdrive/locationd/test/print_gps_stats.py b/system/ubloxd/tests/print_gps_stats.py
similarity index 100%
rename from selfdrive/locationd/test/print_gps_stats.py
rename to system/ubloxd/tests/print_gps_stats.py
diff --git a/system/ubloxd/tests/test_glonass_kaitai.cc b/system/ubloxd/tests/test_glonass_kaitai.cc
new file mode 100644
index 0000000000..96f43742b4
--- /dev/null
+++ b/system/ubloxd/tests/test_glonass_kaitai.cc
@@ -0,0 +1,360 @@
+#include <iostream>
+#include <vector>
+#include <bitset>
+#include <cassert>
+#include <cstdlib>
+#include <ctime>
+
+#include "catch2/catch.hpp"
+#include "system/ubloxd/generated/glonass.h"
+
+typedef std::vector<std::pair<int, int64_t>> string_data;
+
+#define IDLE_CHIP_IDX 0
+#define STRING_NUMBER_IDX 1
+// string data 1-5
+#define HC_IDX 0
+#define PAD1_IDX 1
+#define SUPERFRAME_IDX 2
+#define PAD2_IDX 3
+#define FRAME_IDX 4
+
+// Indexes for string number 1
+#define ST1_NU_IDX 2
+#define ST1_P1_IDX 3
+#define ST1_T_K_IDX 4
+#define ST1_X_VEL_S_IDX 5
+#define ST1_X_VEL_V_IDX 6
+#define ST1_X_ACCEL_S_IDX 7
+#define ST1_X_ACCEL_V_IDX 8
+#define ST1_X_S_IDX 9
+#define ST1_X_V_IDX 10
+#define ST1_HC_OFF 11
+
+// Indexes for string number 2
+#define ST2_BN_IDX 2
+#define ST2_P2_IDX 3
+#define ST2_TB_IDX 4
+#define ST2_NU_IDX 5
+#define ST2_Y_VEL_S_IDX 6
+#define ST2_Y_VEL_V_IDX 7
+#define ST2_Y_ACCEL_S_IDX 8
+#define ST2_Y_ACCEL_V_IDX 9
+#define ST2_Y_S_IDX 10
+#define ST2_Y_V_IDX 11
+#define ST2_HC_OFF 12
+
+// Indexes for string number 3
+#define ST3_P3_IDX 2
+#define ST3_GAMMA_N_S_IDX 3
+#define ST3_GAMMA_N_V_IDX 4
+#define ST3_NU_1_IDX 5
+#define ST3_P_IDX 6
+#define ST3_L_N_IDX 7
+#define ST3_Z_VEL_S_IDX 8
+#define ST3_Z_VEL_V_IDX 9
+#define ST3_Z_ACCEL_S_IDX 10
+#define ST3_Z_ACCEL_V_IDX 11
+#define ST3_Z_S_IDX 12
+#define ST3_Z_V_IDX 13
+#define ST3_HC_OFF 14
+
+// Indexes for string number 4
+#define ST4_TAU_N_S_IDX 2
+#define ST4_TAU_N_V_IDX 3
+#define ST4_DELTA_TAU_N_S_IDX 4
+#define ST4_DELTA_TAU_N_V_IDX 5
+#define ST4_E_N_IDX 6
+#define ST4_NU_1_IDX 7
+#define ST4_P4_IDX 8
+#define ST4_F_T_IDX 9
+#define ST4_NU_2_IDX 10
+#define ST4_N_T_IDX 11
+#define ST4_N_IDX 12
+#define ST4_M_IDX 13
+#define ST4_HC_OFF 14
+
+// Indexes for string number 5
+#define ST5_N_A_IDX 2
+#define ST5_TAU_C_IDX 3
+#define ST5_NU_IDX 4
+#define ST5_N_4_IDX 5
+#define ST5_TAU_GPS_IDX 6
+#define ST5_L_N_IDX 7
+#define ST5_HC_OFF 8
+
+// Indexes for non immediate
+#define ST6_DATA_1_IDX 2
+#define ST6_DATA_2_IDX 3
+#define ST6_HC_OFF 4
+
+
+std::string generate_inp_data(string_data& data) {
+  std::string inp_data = "";
+  for (auto& [b, v] : data) {
+    std::string tmp = std::bitset<64>(v).to_string();
+    inp_data += tmp.substr(64-b, b);
+  }
+  assert(inp_data.size() == 128);
+
+  std::string string_data;
+  string_data.reserve(16);
+  for (int i = 0; i < 128; i+=8) {
+    std::string substr = inp_data.substr(i, 8);
+    string_data.push_back((uint8_t)std::stoi(substr.c_str(), 0, 2));
+  }
+
+  return string_data;
+}
+
+string_data generate_string_data(uint8_t string_number) {
+
+  srand((unsigned)time(0));
+  string_data data; //<bit length, value>
+  data.push_back({1, 0}); // idle chip
+  data.push_back({4, string_number}); // string number
+
+  if (string_number == 1) {
+    data.push_back({2, 3}); // not_used
+    data.push_back({2, 1}); // p1
+    data.push_back({12, 113}); // t_k
+    data.push_back({1, rand() & 1}); // x_vel_sign
+    data.push_back({23, 7122}); // x_vel_value
+    data.push_back({1, rand() & 1}); // x_accel_sign
+    data.push_back({4, 3}); // x_accel_value
+    data.push_back({1, rand() & 1}); // x_sign
+    data.push_back({26, 33554431}); // x_value
+  } else if (string_number == 2) {
+    data.push_back({3, 3}); // b_n
+    data.push_back({1, 1}); // p2
+    data.push_back({7, 123}); // t_b
+    data.push_back({5, 31}); // not_used
+    data.push_back({1, rand() & 1}); // y_vel_sign
+    data.push_back({23, 7422}); // y_vel_value
+    data.push_back({1, rand() & 1}); // y_accel_sign
+    data.push_back({4, 3}); // y_accel_value
+    data.push_back({1, rand() & 1}); // y_sign
+    data.push_back({26, 67108863}); // y_value
+  } else if (string_number == 3) {
+    data.push_back({1, 0}); // p3
+    data.push_back({1, 1}); // gamma_n_sign
+    data.push_back({10, 123}); // gamma_n_value
+    data.push_back({1, 0}); // not_used
+    data.push_back({2, 2}); // p
+    data.push_back({1, 1}); // l_n
+    data.push_back({1, rand() & 1}); // z_vel_sign
+    data.push_back({23, 1337}); // z_vel_value
+    data.push_back({1, rand() & 1}); // z_accel_sign
+    data.push_back({4, 9}); // z_accel_value
+    data.push_back({1, rand() & 1}); // z_sign
+    data.push_back({26, 100023}); // z_value
+  } else if (string_number == 4) {
+    data.push_back({1, rand() & 1}); // tau_n_sign
+    data.push_back({21, 197152}); // tau_n_value
+    data.push_back({1, rand() & 1}); // delta_tau_n_sign
+    data.push_back({4, 4}); // delta_tau_n_value
+    data.push_back({5, 0}); // e_n
+    data.push_back({14, 2}); // not_used_1
+    data.push_back({1, 1}); // p4
+    data.push_back({4, 9}); // f_t
+    data.push_back({3, 3}); // not_used_2
+    data.push_back({11, 2047}); // n_t
+    data.push_back({5, 2}); // n
+    data.push_back({2, 1}); // m
+  } else if (string_number == 5) {
+    data.push_back({11, 2047}); // n_a
+    data.push_back({32, 4294767295}); // tau_c
+    data.push_back({1, 0}); // not_used_1
+    data.push_back({5, 2}); // n_4
+    data.push_back({22, 4114304}); // tau_gps
+    data.push_back({1, 0}); // l_n
+  } else { // non-immediate data is not parsed
+    data.push_back({64, rand()}); // data_1
+    data.push_back({8, 6}); // data_2
+  }
+
+  data.push_back({8, rand() & 0xFF}); // hamming code
+  data.push_back({11, rand() & 0x7FF}); // pad
+  data.push_back({16, rand() & 0xFFFF}); // superframe
+  data.push_back({8, rand() & 0xFF}); // pad
+  data.push_back({8, rand() & 0xFF}); // frame
+  return data;
+}
+
+TEST_CASE("parse_string_number_1"){
+  string_data data = generate_string_data(1);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST1_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST1_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST1_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST1_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST1_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream str1(inp_data);
+  glonass_t str1_data(&str1);
+  glonass_t::string_1_t* s1 = static_cast<glonass_t::string_1_t*>(str1_data.data());
+
+  REQUIRE(s1->not_used() == data[ST1_NU_IDX].second);
+  REQUIRE(s1->p1() == data[ST1_P1_IDX].second);
+  REQUIRE(s1->t_k() == data[ST1_T_K_IDX].second);
+
+  int mul = s1->x_vel_sign() ? (-1) : 1;
+  REQUIRE(s1->x_vel() == (data[ST1_X_VEL_V_IDX].second * mul));
+  mul = s1->x_accel_sign() ? (-1) : 1;
+  REQUIRE(s1->x_accel() == (data[ST1_X_ACCEL_V_IDX].second * mul));
+  mul = s1->x_sign() ? (-1) : 1;
+  REQUIRE(s1->x() == (data[ST1_X_V_IDX].second * mul));
+}
+
+TEST_CASE("parse_string_number_2"){
+  string_data data = generate_string_data(2);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST2_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST2_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST2_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST2_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST2_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream str2(inp_data);
+  glonass_t str2_data(&str2);
+  glonass_t::string_2_t* s2 = static_cast<glonass_t::string_2_t*>(str2_data.data());
+
+  REQUIRE(s2->b_n() == data[ST2_BN_IDX].second);
+  REQUIRE(s2->not_used() == data[ST2_NU_IDX].second);
+  REQUIRE(s2->p2() == data[ST2_P2_IDX].second);
+  REQUIRE(s2->t_b() == data[ST2_TB_IDX].second);
+  int mul = s2->y_vel_sign() ? (-1) : 1;
+  REQUIRE(s2->y_vel() == (data[ST2_Y_VEL_V_IDX].second * mul));
+  mul = s2->y_accel_sign() ? (-1) : 1;
+  REQUIRE(s2->y_accel() == (data[ST2_Y_ACCEL_V_IDX].second * mul));
+  mul = s2->y_sign() ? (-1) : 1;
+  REQUIRE(s2->y() == (data[ST2_Y_V_IDX].second * mul));
+}
+
+TEST_CASE("parse_string_number_3"){
+  string_data data = generate_string_data(3);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST3_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST3_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST3_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST3_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST3_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream str3(inp_data);
+  glonass_t str3_data(&str3);
+  glonass_t::string_3_t* s3 = static_cast<glonass_t::string_3_t*>(str3_data.data());
+
+  REQUIRE(s3->p3() == data[ST3_P3_IDX].second);
+  int mul = s3->gamma_n_sign() ? (-1) : 1;
+  REQUIRE(s3->gamma_n() == (data[ST3_GAMMA_N_V_IDX].second * mul));
+  REQUIRE(s3->not_used() == data[ST3_NU_1_IDX].second);
+  REQUIRE(s3->p() == data[ST3_P_IDX].second);
+  REQUIRE(s3->l_n() == data[ST3_L_N_IDX].second);
+  mul = s3->z_vel_sign() ? (-1) : 1;
+  REQUIRE(s3->z_vel() == (data[ST3_Z_VEL_V_IDX].second * mul));
+  mul = s3->z_accel_sign() ? (-1) : 1;
+  REQUIRE(s3->z_accel() == (data[ST3_Z_ACCEL_V_IDX].second * mul));
+  mul = s3->z_sign() ? (-1) : 1;
+  REQUIRE(s3->z() == (data[ST3_Z_V_IDX].second * mul));
+}
+
+TEST_CASE("parse_string_number_4"){
+  string_data data = generate_string_data(4);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST4_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST4_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST4_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST4_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST4_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream str4(inp_data);
+  glonass_t str4_data(&str4);
+  glonass_t::string_4_t* s4 = static_cast<glonass_t::string_4_t*>(str4_data.data());
+
+  int mul = s4->tau_n_sign() ? (-1) : 1;
+  REQUIRE(s4->tau_n() == (data[ST4_TAU_N_V_IDX].second * mul));
+  mul = s4->delta_tau_n_sign() ? (-1) : 1;
+  REQUIRE(s4->delta_tau_n() == (data[ST4_DELTA_TAU_N_V_IDX].second * mul));
+  REQUIRE(s4->e_n() == data[ST4_E_N_IDX].second);
+  REQUIRE(s4->not_used_1() == data[ST4_NU_1_IDX].second);
+  REQUIRE(s4->p4() == data[ST4_P4_IDX].second);
+  REQUIRE(s4->f_t() == data[ST4_F_T_IDX].second);
+  REQUIRE(s4->not_used_2() == data[ST4_NU_2_IDX].second);
+  REQUIRE(s4->n_t() == data[ST4_N_T_IDX].second);
+  REQUIRE(s4->n() == data[ST4_N_IDX].second);
+  REQUIRE(s4->m() == data[ST4_M_IDX].second);
+}
+
+TEST_CASE("parse_string_number_5"){
+  string_data data = generate_string_data(5);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST5_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST5_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST5_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST5_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST5_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream str5(inp_data);
+  glonass_t str5_data(&str5);
+  glonass_t::string_5_t* s5 = static_cast<glonass_t::string_5_t*>(str5_data.data());
+
+  REQUIRE(s5->n_a() == data[ST5_N_A_IDX].second);
+  REQUIRE(s5->tau_c() == data[ST5_TAU_C_IDX].second);
+  REQUIRE(s5->not_used() == data[ST5_NU_IDX].second);
+  REQUIRE(s5->n_4() == data[ST5_N_4_IDX].second);
+  REQUIRE(s5->tau_gps() == data[ST5_TAU_GPS_IDX].second);
+  REQUIRE(s5->l_n() == data[ST5_L_N_IDX].second);
+}
+
+TEST_CASE("parse_string_number_NI"){
+  string_data data = generate_string_data((rand() % 10) +  6);
+  std::string inp_data = generate_inp_data(data);
+
+  kaitai::kstream stream(inp_data);
+  glonass_t gl_string(&stream);
+
+  REQUIRE(gl_string.idle_chip() == data[IDLE_CHIP_IDX].second);
+  REQUIRE(gl_string.string_number() == data[STRING_NUMBER_IDX].second);
+  REQUIRE(gl_string.hamming_code() == data[ST6_HC_OFF + HC_IDX].second);
+  REQUIRE(gl_string.pad_1() == data[ST6_HC_OFF + PAD1_IDX].second);
+  REQUIRE(gl_string.superframe_number() == data[ST6_HC_OFF + SUPERFRAME_IDX].second);
+  REQUIRE(gl_string.pad_2() == data[ST6_HC_OFF + PAD2_IDX].second);
+  REQUIRE(gl_string.frame_number() == data[ST6_HC_OFF + FRAME_IDX].second);
+
+  kaitai::kstream strni(inp_data);
+  glonass_t strni_data(&strni);
+  glonass_t::string_non_immediate_t* sni = static_cast<glonass_t::string_non_immediate_t*>(strni_data.data());
+
+  REQUIRE(sni->data_1() == data[ST6_DATA_1_IDX].second);
+  REQUIRE(sni->data_2() == data[ST6_DATA_2_IDX].second);
+}
diff --git a/system/ubloxd/tests/test_glonass_runner.cc b/system/ubloxd/tests/test_glonass_runner.cc
new file mode 100644
index 0000000000..62bf7476a1
--- /dev/null
+++ b/system/ubloxd/tests/test_glonass_runner.cc
@@ -0,0 +1,2 @@
+#define CATCH_CONFIG_MAIN
+#include "catch2/catch.hpp"
diff --git a/selfdrive/locationd/test/test_ublox_processing.py b/system/ubloxd/tests/test_ublox_processing.py
similarity index 62%
rename from selfdrive/locationd/test/test_ublox_processing.py
rename to system/ubloxd/tests/test_ublox_processing.py
index 427003b24c..b1709cd9bb 100755
--- a/selfdrive/locationd/test/test_ublox_processing.py
+++ b/system/ubloxd/tests/test_ublox_processing.py
@@ -1,13 +1,15 @@
 import unittest
-
+import time
 import numpy as np
 
 from laika import AstroDog
 from laika.helpers import ConstellationId
-from laika.raw_gnss import calc_pos_fix, correct_measurements, process_measurements, read_raw_ublox
-from selfdrive.test.openpilotci import get_url
-from tools.lib.logreader import LogReader
-
+from laika.raw_gnss import correct_measurements, process_measurements, read_raw_ublox
+from laika.opt import calc_pos_fix
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.helpers import with_processes
+import cereal.messaging as messaging
 
 def get_gnss_measurements(log_reader):
   gnss_measurements = []
@@ -20,6 +22,12 @@ def get_gnss_measurements(log_reader):
           gnss_measurements.append(read_raw_ublox(report))
   return gnss_measurements
 
+def get_ublox_raw(log_reader):
+  ublox_raw = []
+  for msg in log_reader:
+    if msg.which() == "ubloxRaw":
+      ublox_raw.append(msg)
+  return ublox_raw
 
 class TestUbloxProcessing(unittest.TestCase):
   NUM_TEST_PROCESS_MEAS = 10
@@ -29,6 +37,10 @@ class TestUbloxProcessing(unittest.TestCase):
     lr = LogReader(get_url("4cf7a6ad03080c90|2021-09-29--13-46-36", 0))
     cls.gnss_measurements = get_gnss_measurements(lr)
 
+    # test gps ephemeris continuity check (drive has ephemeris issues with cutover data)
+    lr = LogReader(get_url("37b6542f3211019a|2023-01-15--23-45-10", 14))
+    cls.ublox_raw = get_ublox_raw(lr)
+
   def test_read_ublox_raw(self):
     count_gps = 0
     count_glonass = 0
@@ -54,14 +66,14 @@ class TestUbloxProcessing(unittest.TestCase):
       processed_meas = process_measurements(measurements, dog)
       count_processed_measurements += len(processed_meas)
       pos_fix = calc_pos_fix(processed_meas)
-      if len(pos_fix) > 0 and all(pos_fix[0] != 0):
+      if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
         position_fix_found += 1
 
         corrected_meas = correct_measurements(processed_meas, pos_fix[0][:3], dog)
         count_corrected_measurements += len(corrected_meas)
 
         pos_fix = calc_pos_fix(corrected_meas)
-        if len(pos_fix) > 0 and all(pos_fix[0] != 0):
+        if len(pos_fix) > 0 and all(p != 0 for p in pos_fix[0]):
           pos_ests.append(pos_fix[0])
           position_fix_found_after_correcting += 1
 
@@ -75,6 +87,29 @@ class TestUbloxProcessing(unittest.TestCase):
     self.assertEqual(count_processed_measurements, 69)
     self.assertEqual(count_corrected_measurements, 69)
 
+  @with_processes(['ubloxd'])
+  def test_ublox_gps_cutover(self):
+    time.sleep(2)
+    ugs = messaging.sub_sock("ubloxGnss", timeout=0.1)
+    ur_pm = messaging.PubMaster(['ubloxRaw'])
+
+    def replay_segment():
+      rcv_msgs = []
+      for msg in self.ublox_raw:
+        ur_pm.send(msg.which(), msg.as_builder())
+        time.sleep(0.01)
+        rcv_msgs += messaging.drain_sock(ugs)
+
+      time.sleep(0.1)
+      rcv_msgs += messaging.drain_sock(ugs)
+      return rcv_msgs
+
+    # replay twice to enforce cutover data on rewind
+    rcv_msgs = replay_segment()
+    rcv_msgs += replay_segment()
+
+    ephems_cnt = sum(m.ubloxGnss.which() == 'ephemeris' for m in rcv_msgs)
+    self.assertEqual(ephems_cnt, 15)
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/locationd/test/ublox.py b/system/ubloxd/tests/ublox.py
similarity index 95%
rename from selfdrive/locationd/test/ublox.py
rename to system/ubloxd/tests/ublox.py
index 9cffbeac40..3243500e74 100644
--- a/selfdrive/locationd/test/ublox.py
+++ b/system/ubloxd/tests/ublox.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# pylint: skip-file
 '''
 UBlox binary protocol handling
 
@@ -48,12 +47,14 @@ MSG_NAV_TIMEGPS = 0x20
 MSG_NAV_TIMEUTC = 0x21
 MSG_NAV_CLOCK = 0x22
 MSG_NAV_SVINFO = 0x30
+MSG_NAV_SAT = 0x35
 MSG_NAV_AOPSTATUS = 0x60
 MSG_NAV_DGPS = 0x31
 MSG_NAV_DOP = 0x04
 MSG_NAV_EKFSTATUS = 0x40
 MSG_NAV_SBAS = 0x32
 MSG_NAV_SOL = 0x06
+MSG_NAV_SAT = 0x35
 
 # RXM messages
 MSG_RXM_RAW = 0x15
@@ -183,8 +184,8 @@ class UBloxAttrDict(dict):
   def __getattr__(self, name):
     try:
       return self.__getitem__(name)
-    except KeyError:
-      raise AttributeError(name)
+    except KeyError as e:
+      raise RuntimeError(f"ublock invalid attr: {name}") from e
 
   def __setattr__(self, name, value):
     if name in self.__dict__:
@@ -268,7 +269,7 @@ class UBloxDescriptor:
       return
 
     size2 = struct.calcsize(self.format2)
-    for c in range(count):
+    for _ in range(count):
       r = UBloxAttrDict()
       if size2 > len(buf):
         raise UBloxError("INVALID_SIZE=%u, " % len(buf))
@@ -322,7 +323,7 @@ class UBloxDescriptor:
       msg._buf += struct.pack(self.format2, *tuple(f2))
     msg._buf += struct.pack('<BB', *msg.checksum(data=msg._buf[2:]))
 
-  def format(self, msg):
+  def format_json(self, msg):
     '''return a formatted string for a message'''
     if not msg._unpacked:
       self.unpack(msg)
@@ -553,28 +554,28 @@ class UBloxMessage:
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def as_dict(self):
     '''format a message as a string'''
     if not self.valid():
       return 'UBloxMessage(INVALID)'
-    type = self.msg_type()
-    if type in msg_types:
-      return msg_types[type].format(self)
-    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(type), self.msg_length())
+    msg_type = self.msg_type()
+    if msg_type in msg_types:
+      return msg_types[msg_type].format(self)
+    return 'UBloxMessage(UNKNOWN %s, %u)' % (str(msg_type), self.msg_length())
 
   def __getattr__(self, name):
     '''allow access to message fields'''
     try:
       return self._fields[name]
-    except KeyError:
+    except KeyError as e:
       if name == 'recs':
         return self._recs
-      raise AttributeError(name)
+      raise AttributeError(name) from e
 
   def __setattr__(self, name, value):
     '''allow access to message fields'''
@@ -596,29 +597,29 @@ class UBloxMessage:
     '''unpack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    msg_types[type].unpack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_type), len(self._buf)))
+    msg_types[msg_type].unpack(self)
     return self._fields, self._recs
 
   def pack(self):
     '''pack a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s' % str(type))
-    msg_types[type].pack(self)
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s' % str(msg_type))
+    msg_types[msg_type].pack(self)
 
   def name(self):
     '''return the short string name for a message'''
     if not self.valid():
       raise UBloxError('INVALID MESSAGE')
-    type = self.msg_type()
-    if type not in msg_types:
-      raise UBloxError('Unknown message %s length=%u' % (str(type), len(self._buf)))
-    return msg_types[type].name
+    msg_type = self.msg_type()
+    if msg_type not in msg_types:
+      raise UBloxError('Unknown message %s length=%u' % (str(msg_types), len(self._buf)))
+    return msg_types[msg_type].name
 
   def msg_class(self):
     '''return the message class'''
@@ -653,9 +654,9 @@ class UBloxMessage:
       return False
     return True
 
-  def add(self, bytes):
+  def add(self, data):
     '''add some bytes to a message'''
-    self._buf += bytes
+    self._buf += data
     while not self.valid_so_far() and len(self._buf) > 0:
       '''handle corrupted streams'''
       self._buf = self._buf[1:]
@@ -766,7 +767,7 @@ class UBlox:
     if not self.read_only:
       if self.use_sendrecv:
         return self.dev.send(buf)
-      if type(buf) == str:
+      if isinstance(buf, str):
         return self.dev.write(str.encode(buf))
       else:
         return self.dev.write(buf)
@@ -931,7 +932,7 @@ class UBlox:
                           0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0)
     self.send_message(CLASS_CFG, MSG_CFG_NAVX5, payload)
 
-  def module_reset(self, set, mode):
+  def module_reset(self, reset, mode):
     ''' Reset the module for hot/warm/cold start'''
-    payload = struct.pack('<HBB', set, mode, 0)
+    payload = struct.pack('<HBB', reset, mode, 0)
     self.send_message(CLASS_CFG, MSG_CFG_RST, payload)
diff --git a/selfdrive/locationd/test/ubloxd.py b/system/ubloxd/tests/ubloxd.py
similarity index 96%
rename from selfdrive/locationd/test/ubloxd.py
rename to system/ubloxd/tests/ubloxd.py
index 82aa502ceb..4ee99dc28a 100755
--- a/selfdrive/locationd/test/ubloxd.py
+++ b/system/ubloxd/tests/ubloxd.py
@@ -1,8 +1,7 @@
 #!/usr/bin/env python3
 # type: ignore
-# pylint: skip-file
 
-from selfdrive.locationd.test import ublox
+from openpilot.selfdrive.locationd.test import ublox
 import struct
 
 baudrate = 460800
@@ -60,6 +59,7 @@ def configure_ublox(dev):
   dev.configure_message_rate(ublox.CLASS_RXM, ublox.MSG_RXM_SFRBX, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW, 1)
   dev.configure_message_rate(ublox.CLASS_MON, ublox.MSG_MON_HW2, 1)
+  dev.configure_message_rate(ublox.CLASS_NAV, ublox.MSG_NAV_SAT, 1)
 
   # Query the backup restore status
   print("backup restore polling message (implement custom response handler!):")
diff --git a/system/ubloxd/ublox_msg.cc b/system/ubloxd/ublox_msg.cc
new file mode 100644
index 0000000000..7b4505dc81
--- /dev/null
+++ b/system/ubloxd/ublox_msg.cc
@@ -0,0 +1,524 @@
+#include "system/ubloxd/ublox_msg.h"
+
+#include <unistd.h>
+
+#include <algorithm>
+#include <cassert>
+#include <chrono>
+#include <cmath>
+#include <cstdio>
+#include <cstdlib>
+#include <ctime>
+#include <unordered_map>
+#include <utility>
+
+#include "common/swaglog.h"
+
+const double gpsPi = 3.1415926535898;
+#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
+
+inline static bool bit_to_bool(uint8_t val, int shifts) {
+  return (bool)(val & (1 << shifts));
+}
+
+inline int UbloxMsgParser::needed_bytes() {
+  // Msg header incomplete?
+  if (bytes_in_parse_buf < ublox::UBLOX_HEADER_SIZE)
+    return ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
+  uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE;
+  // too much data
+  if (needed < (uint16_t)bytes_in_parse_buf)
+    return -1;
+  return needed - (uint16_t)bytes_in_parse_buf;
+}
+
+inline bool UbloxMsgParser::valid_cheksum() {
+  uint8_t ck_a = 0, ck_b = 0;
+  for (int i = 2; i < bytes_in_parse_buf - ublox::UBLOX_CHECKSUM_SIZE; i++) {
+    ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
+    ck_b = (ck_b + ck_a) & 0xFF;
+  }
+  if (ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
+    LOGD("Checksum a mismatch: %02X, %02X", ck_a, msg_parse_buf[6]);
+    return false;
+  }
+  if (ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
+    LOGD("Checksum b mismatch: %02X, %02X", ck_b, msg_parse_buf[7]);
+    return false;
+  }
+  return true;
+}
+
+inline bool UbloxMsgParser::valid() {
+  return bytes_in_parse_buf >= ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_CHECKSUM_SIZE &&
+         needed_bytes() == 0 && valid_cheksum();
+}
+
+inline bool UbloxMsgParser::valid_so_far() {
+  if (bytes_in_parse_buf > 0 && msg_parse_buf[0] != ublox::PREAMBLE1) {
+    return false;
+  }
+  if (bytes_in_parse_buf > 1 && msg_parse_buf[1] != ublox::PREAMBLE2) {
+    return false;
+  }
+  if (needed_bytes() == 0 && !valid()) {
+    return false;
+  }
+  return true;
+}
+
+bool UbloxMsgParser::add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
+  last_log_time = log_time;
+  int needed = needed_bytes();
+  if (needed > 0) {
+    bytes_consumed = std::min((uint32_t)needed, incoming_data_len);
+    // Add data to buffer
+    memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
+    bytes_in_parse_buf += bytes_consumed;
+  } else {
+    bytes_consumed = incoming_data_len;
+  }
+
+  // Validate msg format, detect invalid header and invalid checksum.
+  while (!valid_so_far() && bytes_in_parse_buf != 0) {
+    // Corrupted msg, drop a byte.
+    bytes_in_parse_buf -= 1;
+    if (bytes_in_parse_buf > 0)
+      memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
+  }
+
+  // There is redundant data at the end of buffer, reset the buffer.
+  if (needed_bytes() == -1) {
+    bytes_in_parse_buf = 0;
+  }
+  return valid();
+}
+
+
+std::pair<std::string, kj::Array<capnp::word>> UbloxMsgParser::gen_msg() {
+  std::string dat = data();
+  kaitai::kstream stream(dat);
+
+  ubx_t ubx_message(&stream);
+  auto body = ubx_message.body();
+
+  switch (ubx_message.msg_type()) {
+  case 0x0107:
+    return {"gpsLocationExternal", gen_nav_pvt(static_cast<ubx_t::nav_pvt_t*>(body))};
+  case 0x0213: // UBX-RXM-SFRB (Broadcast Navigation Data Subframe)
+    return {"ubloxGnss", gen_rxm_sfrbx(static_cast<ubx_t::rxm_sfrbx_t*>(body))};
+  case 0x0215: // UBX-RXM-RAW (Multi-GNSS Raw Measurement Data)
+    return {"ubloxGnss", gen_rxm_rawx(static_cast<ubx_t::rxm_rawx_t*>(body))};
+  case 0x0a09:
+    return {"ubloxGnss", gen_mon_hw(static_cast<ubx_t::mon_hw_t*>(body))};
+  case 0x0a0b:
+    return {"ubloxGnss", gen_mon_hw2(static_cast<ubx_t::mon_hw2_t*>(body))};
+  case 0x0135:
+    return {"ubloxGnss", gen_nav_sat(static_cast<ubx_t::nav_sat_t*>(body))};
+  default:
+    LOGE("Unknown message type %x", ubx_message.msg_type());
+    return {"ubloxGnss", kj::Array<capnp::word>()};
+  }
+}
+
+
+kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
+  MessageBuilder msg_builder;
+  auto gpsLoc = msg_builder.initEvent().initGpsLocationExternal();
+  gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
+  gpsLoc.setFlags(msg->flags());
+  gpsLoc.setLatitude(msg->lat() * 1e-07);
+  gpsLoc.setLongitude(msg->lon() * 1e-07);
+  gpsLoc.setAltitude(msg->height() * 1e-03);
+  gpsLoc.setSpeed(msg->g_speed() * 1e-03);
+  gpsLoc.setBearingDeg(msg->head_mot() * 1e-5);
+  gpsLoc.setAccuracy(msg->h_acc() * 1e-03);
+  std::tm timeinfo = std::tm();
+  timeinfo.tm_year = msg->year() - 1900;
+  timeinfo.tm_mon = msg->month() - 1;
+  timeinfo.tm_mday = msg->day();
+  timeinfo.tm_hour = msg->hour();
+  timeinfo.tm_min = msg->min();
+  timeinfo.tm_sec = msg->sec();
+
+  std::time_t utc_tt = timegm(&timeinfo);
+  gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06);
+  float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
+  gpsLoc.setVNED(f);
+  gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
+  gpsLoc.setSpeedAccuracy(msg->s_acc() * 1e-03);
+  gpsLoc.setBearingAccuracyDeg(msg->head_acc() * 1e-05);
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
+  // GPS subframes are packed into 10x 4 bytes, each containing 3 actual bytes
+  // We will first need to separate the data from the padding and parity
+  auto body = *msg->body();
+  assert(body.size() == 10);
+
+  std::string subframe_data;
+  subframe_data.reserve(30);
+  for (uint32_t word : body) {
+    word = word >> 6; // TODO: Verify parity
+    subframe_data.push_back(word >> 16);
+    subframe_data.push_back(word >> 8);
+    subframe_data.push_back(word >> 0);
+  }
+
+  // Collect subframes in map and parse when we have all the parts
+  {
+    kaitai::kstream stream(subframe_data);
+    gps_t subframe(&stream);
+
+    int subframe_id = subframe.how()->subframe_id();
+    if (subframe_id > 3 || subframe_id < 1) {
+      // dont parse almanac subframes
+      return kj::Array<capnp::word>();
+    }
+    gps_subframes[msg->sv_id()][subframe_id] = subframe_data;
+  }
+
+  // publish if subframes 1-3 have been collected
+  if (gps_subframes[msg->sv_id()].size() == 3) {
+    MessageBuilder msg_builder;
+    auto eph = msg_builder.initEvent().initUbloxGnss().initEphemeris();
+    eph.setSvId(msg->sv_id());
+
+    int iode_s2 = 0;
+    int iode_s3 = 0;
+    int iodc_lsb = 0;
+    int week;
+
+    // Subframe 1
+    {
+      kaitai::kstream stream(gps_subframes[msg->sv_id()][1]);
+      gps_t subframe(&stream);
+      gps_t::subframe_1_t* subframe_1 = static_cast<gps_t::subframe_1_t*>(subframe.body());
+
+      // Each message is incremented to be greater or equal than week 1877 (2015-12-27).
+      //  To skip this use the current_time argument
+      week = subframe_1->week_no();
+      week += 1024;
+      if (week < 1877) {
+        week += 1024;
+      }
+      //eph.setGpsWeek(subframe_1->week_no());
+      eph.setTgd(subframe_1->t_gd() * pow(2, -31));
+      eph.setToc(subframe_1->t_oc() * pow(2, 4));
+      eph.setAf2(subframe_1->af_2() * pow(2, -55));
+      eph.setAf1(subframe_1->af_1() * pow(2, -43));
+      eph.setAf0(subframe_1->af_0() * pow(2, -31));
+      eph.setSvHealth(subframe_1->sv_health());
+      eph.setTowCount(subframe.how()->tow_count());
+      iodc_lsb = subframe_1->iodc_lsb();
+    }
+
+    // Subframe 2
+    {
+      kaitai::kstream stream(gps_subframes[msg->sv_id()][2]);
+      gps_t subframe(&stream);
+      gps_t::subframe_2_t* subframe_2 = static_cast<gps_t::subframe_2_t*>(subframe.body());
+
+      // GPS week refers to current week, the ephemeris can be valid for the next
+      // if toe equals 0, this can be verified by the TOW count if it is within the
+      // last 2 hours of the week (gps ephemeris valid for 4hours)
+      if (subframe_2->t_oe() == 0 and subframe.how()->tow_count()*6 >= (SECS_IN_WEEK - 2*SECS_IN_HR)){
+        week += 1;
+      }
+      eph.setCrs(subframe_2->c_rs() * pow(2, -5));
+      eph.setDeltaN(subframe_2->delta_n() * pow(2, -43) * gpsPi);
+      eph.setM0(subframe_2->m_0() * pow(2, -31) * gpsPi);
+      eph.setCuc(subframe_2->c_uc() * pow(2, -29));
+      eph.setEcc(subframe_2->e() * pow(2, -33));
+      eph.setCus(subframe_2->c_us() * pow(2, -29));
+      eph.setA(pow(subframe_2->sqrt_a() * pow(2, -19), 2.0));
+      eph.setToe(subframe_2->t_oe() * pow(2, 4));
+      iode_s2 = subframe_2->iode();
+    }
+
+    // Subframe 3
+    {
+      kaitai::kstream stream(gps_subframes[msg->sv_id()][3]);
+      gps_t subframe(&stream);
+      gps_t::subframe_3_t* subframe_3 = static_cast<gps_t::subframe_3_t*>(subframe.body());
+
+      eph.setCic(subframe_3->c_ic() * pow(2, -29));
+      eph.setOmega0(subframe_3->omega_0() * pow(2, -31) * gpsPi);
+      eph.setCis(subframe_3->c_is() * pow(2, -29));
+      eph.setI0(subframe_3->i_0() * pow(2, -31) * gpsPi);
+      eph.setCrc(subframe_3->c_rc() * pow(2, -5));
+      eph.setOmega(subframe_3->omega() * pow(2, -31) * gpsPi);
+      eph.setOmegaDot(subframe_3->omega_dot() * pow(2, -43) * gpsPi);
+      eph.setIode(subframe_3->iode());
+      eph.setIDot(subframe_3->idot() * pow(2, -43) * gpsPi);
+      iode_s3 = subframe_3->iode();
+    }
+
+    eph.setToeWeek(week);
+    eph.setTocWeek(week);
+
+    gps_subframes[msg->sv_id()].clear();
+    if (iodc_lsb != iode_s2 || iodc_lsb != iode_s3) {
+      // data set cutover, reject ephemeris
+      return kj::Array<capnp::word>();
+    }
+    return capnp::messageToFlatArray(msg_builder);
+  }
+  return kj::Array<capnp::word>();
+}
+
+kj::Array<capnp::word> UbloxMsgParser::parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg) {
+  // This parser assumes that no 2 satellites of the same frequency
+  // can be in view at the same time
+  auto body = *msg->body();
+  assert(body.size() == 4);
+  {
+    std::string string_data;
+    string_data.reserve(16);
+    for (uint32_t word : body) {
+      for (int i = 3; i >= 0; i--)
+        string_data.push_back(word >> 8*i);
+    }
+
+    kaitai::kstream stream(string_data);
+    glonass_t gl_string(&stream);
+    int string_number = gl_string.string_number();
+    if (string_number < 1 || string_number > 5 || gl_string.idle_chip()) {
+      // dont parse non immediate data, idle_chip == 0
+      return kj::Array<capnp::word>();
+    }
+
+    // Check if new string either has same superframe_id or log transmission times make sense
+    bool superframe_unknown = false;
+    bool needs_clear = false;
+    for (int i = 1; i <= 5; i++) {
+      if (glonass_strings[msg->freq_id()].find(i) == glonass_strings[msg->freq_id()].end())
+        continue;
+      if (glonass_string_superframes[msg->freq_id()][i] == 0 || gl_string.superframe_number() == 0) {
+        superframe_unknown = true;
+      } else if (glonass_string_superframes[msg->freq_id()][i] != gl_string.superframe_number()) {
+        needs_clear = true;
+      }
+      // Check if string times add up to being from the same frame
+      // If superframe is known this is redundant
+      // Strings are sent 2s apart and frames are 30s apart
+      if (superframe_unknown &&
+          std::abs((glonass_string_times[msg->freq_id()][i] - 2.0 * i) - (last_log_time - 2.0 * string_number)) > 10)
+        needs_clear = true;
+    }
+    if (needs_clear) {
+      glonass_strings[msg->freq_id()].clear();
+      glonass_string_superframes[msg->freq_id()].clear();
+      glonass_string_times[msg->freq_id()].clear();
+    }
+    glonass_strings[msg->freq_id()][string_number] = string_data;
+    glonass_string_superframes[msg->freq_id()][string_number] = gl_string.superframe_number();
+    glonass_string_times[msg->freq_id()][string_number] = last_log_time;
+  }
+  if (msg->sv_id() == 255) {
+    // data can be decoded before identifying the SV number, in this case 255
+    // is returned, which means "unknown"  (ublox p32)
+    return kj::Array<capnp::word>();
+  }
+
+  // publish if strings 1-5 have been collected
+  if (glonass_strings[msg->freq_id()].size() != 5) {
+    return kj::Array<capnp::word>();
+  }
+
+  MessageBuilder msg_builder;
+  auto eph = msg_builder.initEvent().initUbloxGnss().initGlonassEphemeris();
+  eph.setSvId(msg->sv_id());
+  eph.setFreqNum(msg->freq_id() - 7);
+
+  uint16_t current_day = 0;
+  uint16_t tk = 0;
+
+  // string number 1
+  {
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][1]);
+    glonass_t gl_stream(&stream);
+    glonass_t::string_1_t* data = static_cast<glonass_t::string_1_t*>(gl_stream.data());
+
+    eph.setP1(data->p1());
+    tk = data->t_k();
+    eph.setTkDEPRECATED(tk);
+    eph.setXVel(data->x_vel() * pow(2, -20));
+    eph.setXAccel(data->x_accel() * pow(2, -30));
+    eph.setX(data->x() * pow(2, -11));
+  }
+
+  // string number 2
+  {
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][2]);
+    glonass_t gl_stream(&stream);
+    glonass_t::string_2_t* data = static_cast<glonass_t::string_2_t*>(gl_stream.data());
+
+    eph.setSvHealth(data->b_n()>>2); // MSB indicates health
+    eph.setP2(data->p2());
+    eph.setTb(data->t_b());
+    eph.setYVel(data->y_vel() * pow(2, -20));
+    eph.setYAccel(data->y_accel() * pow(2, -30));
+    eph.setY(data->y() * pow(2, -11));
+  }
+
+  // string number 3
+  {
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][3]);
+    glonass_t gl_stream(&stream);
+    glonass_t::string_3_t* data = static_cast<glonass_t::string_3_t*>(gl_stream.data());
+
+    eph.setP3(data->p3());
+    eph.setGammaN(data->gamma_n() * pow(2, -40));
+    eph.setSvHealth(eph.getSvHealth() | data->l_n());
+    eph.setZVel(data->z_vel() * pow(2, -20));
+    eph.setZAccel(data->z_accel() * pow(2, -30));
+    eph.setZ(data->z() * pow(2, -11));
+  }
+
+  // string number 4
+  {
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][4]);
+    glonass_t gl_stream(&stream);
+    glonass_t::string_4_t* data = static_cast<glonass_t::string_4_t*>(gl_stream.data());
+
+    current_day = data->n_t();
+    eph.setNt(current_day);
+    eph.setTauN(data->tau_n() * pow(2, -30));
+    eph.setDeltaTauN(data->delta_tau_n() * pow(2, -30));
+    eph.setAge(data->e_n());
+    eph.setP4(data->p4());
+    eph.setSvURA(glonass_URA_lookup.at(data->f_t()));
+    if (msg->sv_id() != data->n()) {
+      LOGE("SV_ID != SLOT_NUMBER: %d %" PRIu64, msg->sv_id(), data->n());
+    }
+    eph.setSvType(data->m());
+  }
+
+  // string number 5
+  {
+    kaitai::kstream stream(glonass_strings[msg->freq_id()][5]);
+    glonass_t gl_stream(&stream);
+    glonass_t::string_5_t* data = static_cast<glonass_t::string_5_t*>(gl_stream.data());
+
+    // string5 parsing is only needed to get the year, this can be removed and
+    // the year can be fetched later in laika (note rollovers and leap year)
+    eph.setN4(data->n_4());
+    int tk_seconds = SECS_IN_HR * ((tk>>7) & 0x1F) + SECS_IN_MIN * ((tk>>1) & 0x3F) + (tk & 0x1) * 30;
+    eph.setTkSeconds(tk_seconds);
+  }
+
+  glonass_strings[msg->freq_id()].clear();
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+
+kj::Array<capnp::word> UbloxMsgParser::gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg) {
+  switch (msg->gnss_id()) {
+    case ubx_t::gnss_type_t::GNSS_TYPE_GPS:
+      return parse_gps_ephemeris(msg);
+    case ubx_t::gnss_type_t::GNSS_TYPE_GLONASS:
+      return parse_glonass_ephemeris(msg);
+    default:
+      return kj::Array<capnp::word>();
+  }
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_rxm_rawx(ubx_t::rxm_rawx_t *msg) {
+  MessageBuilder msg_builder;
+  auto mr = msg_builder.initEvent().initUbloxGnss().initMeasurementReport();
+  mr.setRcvTow(msg->rcv_tow());
+  mr.setGpsWeek(msg->week());
+  mr.setLeapSeconds(msg->leap_s());
+  mr.setGpsWeek(msg->week());
+
+  auto mb = mr.initMeasurements(msg->num_meas());
+  auto measurements = *msg->meas();
+  for (int8_t i = 0; i < msg->num_meas(); i++) {
+    mb[i].setSvId(measurements[i]->sv_id());
+    mb[i].setPseudorange(measurements[i]->pr_mes());
+    mb[i].setCarrierCycles(measurements[i]->cp_mes());
+    mb[i].setDoppler(measurements[i]->do_mes());
+    mb[i].setGnssId(measurements[i]->gnss_id());
+    mb[i].setGlonassFrequencyIndex(measurements[i]->freq_id());
+    mb[i].setLocktime(measurements[i]->lock_time());
+    mb[i].setCno(measurements[i]->cno());
+    mb[i].setPseudorangeStdev(0.01 * (pow(2, (measurements[i]->pr_stdev() & 15)))); // weird scaling, might be wrong
+    mb[i].setCarrierPhaseStdev(0.004 * (measurements[i]->cp_stdev() & 15));
+    mb[i].setDopplerStdev(0.002 * (pow(2, (measurements[i]->do_stdev() & 15)))); // weird scaling, might be wrong
+
+    auto ts = mb[i].initTrackingStatus();
+    auto trk_stat = measurements[i]->trk_stat();
+    ts.setPseudorangeValid(bit_to_bool(trk_stat, 0));
+    ts.setCarrierPhaseValid(bit_to_bool(trk_stat, 1));
+    ts.setHalfCycleValid(bit_to_bool(trk_stat, 2));
+    ts.setHalfCycleSubtracted(bit_to_bool(trk_stat, 3));
+  }
+
+  mr.setNumMeas(msg->num_meas());
+  auto rs = mr.initReceiverStatus();
+  rs.setLeapSecValid(bit_to_bool(msg->rec_stat(), 0));
+  rs.setClkReset(bit_to_bool(msg->rec_stat(), 2));
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_nav_sat(ubx_t::nav_sat_t *msg) {
+  MessageBuilder msg_builder;
+  auto sr = msg_builder.initEvent().initUbloxGnss().initSatReport();
+  sr.setITow(msg->itow());
+
+  auto svs = sr.initSvs(msg->num_svs());
+  auto svs_data = *msg->svs();
+  for (int8_t i = 0; i < msg->num_svs(); i++) {
+    svs[i].setSvId(svs_data[i]->sv_id());
+    svs[i].setGnssId(svs_data[i]->gnss_id());
+    svs[i].setFlagsBitfield(svs_data[i]->flags());
+  }
+
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw(ubx_t::mon_hw_t *msg) {
+  MessageBuilder msg_builder;
+  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus();
+  hwStatus.setNoisePerMS(msg->noise_per_ms());
+  hwStatus.setFlags(msg->flags());
+  hwStatus.setAgcCnt(msg->agc_cnt());
+  hwStatus.setAStatus((cereal::UbloxGnss::HwStatus::AntennaSupervisorState) msg->a_status());
+  hwStatus.setAPower((cereal::UbloxGnss::HwStatus::AntennaPowerStatus) msg->a_power());
+  hwStatus.setJamInd(msg->jam_ind());
+  return capnp::messageToFlatArray(msg_builder);
+}
+
+kj::Array<capnp::word> UbloxMsgParser::gen_mon_hw2(ubx_t::mon_hw2_t *msg) {
+  MessageBuilder msg_builder;
+  auto hwStatus = msg_builder.initEvent().initUbloxGnss().initHwStatus2();
+  hwStatus.setOfsI(msg->ofs_i());
+  hwStatus.setMagI(msg->mag_i());
+  hwStatus.setOfsQ(msg->ofs_q());
+  hwStatus.setMagQ(msg->mag_q());
+
+  switch (msg->cfg_source()) {
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_ROM:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::ROM);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_OTP:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::OTP);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_CONFIG_PINS:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::CONFIGPINS);
+      break;
+    case ubx_t::mon_hw2_t::config_source_t::CONFIG_SOURCE_FLASH:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::FLASH);
+      break;
+    default:
+      hwStatus.setCfgSource(cereal::UbloxGnss::HwStatus2::ConfigSource::UNDEFINED);
+      break;
+  }
+
+  hwStatus.setLowLevCfg(msg->low_lev_cfg());
+  hwStatus.setPostStatus(msg->post_status());
+
+  return capnp::messageToFlatArray(msg_builder);
+}
diff --git a/selfdrive/locationd/ublox_msg.h b/system/ubloxd/ublox_msg.h
similarity index 68%
rename from selfdrive/locationd/ublox_msg.h
rename to system/ubloxd/ublox_msg.h
index 542e72816b..d21760edc2 100644
--- a/selfdrive/locationd/ublox_msg.h
+++ b/system/ubloxd/ublox_msg.h
@@ -2,18 +2,25 @@
 
 #include <cassert>
 #include <cstdint>
+#include <ctime>
 #include <memory>
 #include <string>
 #include <unordered_map>
-#include <ctime>
+#include <utility>
 
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/locationd/generated/gps.h"
-#include "selfdrive/locationd/generated/ubx.h"
+#include "system/ubloxd/generated/gps.h"
+#include "system/ubloxd/generated/glonass.h"
+#include "system/ubloxd/generated/ubx.h"
 
 using namespace std::string_literals;
 
+const int SECS_IN_MIN = 60;
+const int SECS_IN_HR = 60 * SECS_IN_MIN;
+const int SECS_IN_DAY = 24 * SECS_IN_HR;
+const int SECS_IN_WEEK = 7 * SECS_IN_DAY;
+
 // protocol constants
 namespace ublox {
   const uint8_t PREAMBLE1 = 0xb5;
@@ -45,7 +52,7 @@ namespace ublox {
     assert(msg.size() > 2);
 
     uint8_t ck_a = 0, ck_b = 0;
-    for(int i = 2; i < msg.size(); i++) {
+    for (int i = 2; i < msg.size(); i++) {
       ck_a = (ck_a + msg[i]) & 0xFF;
       ck_b = (ck_b + ck_a) & 0xFF;
     }
@@ -85,7 +92,7 @@ namespace ublox {
 
 class UbloxMsgParser {
   public:
-    bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
+    bool add_data(float log_time, const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
     inline void reset() {bytes_in_parse_buf = 0;}
     inline int needed_bytes();
     inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
@@ -96,16 +103,29 @@ class UbloxMsgParser {
     kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
     kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
     kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
+    kj::Array<capnp::word> gen_nav_sat(ubx_t::nav_sat_t *msg);
 
   private:
     inline bool valid_cheksum();
     inline bool valid();
     inline bool valid_so_far();
 
+    kj::Array<capnp::word> parse_gps_ephemeris(ubx_t::rxm_sfrbx_t *msg);
+    kj::Array<capnp::word> parse_glonass_ephemeris(ubx_t::rxm_sfrbx_t *msg);
+
     std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
 
+    float last_log_time = 0.0;
     size_t bytes_in_parse_buf = 0;
     uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
 
-};
+    // user range accuracy in meters
+    const std::unordered_map<uint8_t, float> glonass_URA_lookup =
+      {{ 0,  1}, { 1,   2}, { 2, 2.5}, { 3,   4}, { 4,  5}, {5, 7},
+       { 6, 10}, { 7,  12}, { 8,  14}, { 9,  16}, {10, 32},
+       {11, 64}, {12, 128}, {13, 256}, {14, 512}, {15, 1024}};
 
+    std::unordered_map<int, std::unordered_map<int, std::string>> glonass_strings;
+    std::unordered_map<int, std::unordered_map<int, long>> glonass_string_times;
+    std::unordered_map<int, std::unordered_map<int, int>> glonass_string_superframes;
+};
diff --git a/selfdrive/locationd/ubloxd.cc b/system/ubloxd/ubloxd.cc
similarity index 85%
rename from selfdrive/locationd/ubloxd.cc
rename to system/ubloxd/ubloxd.cc
index d9b3e7647d..668c1a7ec0 100644
--- a/selfdrive/locationd/ubloxd.cc
+++ b/system/ubloxd/ubloxd.cc
@@ -5,7 +5,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
 #include "common/util.h"
-#include "selfdrive/locationd/ublox_msg.h"
+#include "system/ubloxd/ublox_msg.h"
 
 ExitHandler do_exit;
 using namespace ublox;
@@ -35,14 +35,15 @@ int main() {
     capnp::FlatArrayMessageReader cmsg(aligned_buf.align(msg.get()));
     cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
     auto ubloxRaw = event.getUbloxRaw();
+    float log_time = 1e-9 * event.getLogMonoTime();
 
     const uint8_t *data = ubloxRaw.begin();
     size_t len = ubloxRaw.size();
     size_t bytes_consumed = 0;
 
-    while(bytes_consumed < len && !do_exit) {
+    while (bytes_consumed < len && !do_exit) {
       size_t bytes_consumed_this_time = 0U;
-      if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
+      if (parser.add_data(log_time, data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
 
         try {
           auto ublox_msg = parser.gen_msg();
diff --git a/selfdrive/locationd/ubx.ksy b/system/ubloxd/ubx.ksy
similarity index 86%
rename from selfdrive/locationd/ubx.ksy
rename to system/ubloxd/ubx.ksy
index 6945680d32..02c757fe71 100644
--- a/selfdrive/locationd/ubx.ksy
+++ b/system/ubloxd/ubx.ksy
@@ -17,6 +17,7 @@ seq:
         0x0215: rxm_rawx
         0x0a09: mon_hw
         0x0a0b: mon_hw2
+        0x0135: nav_sat
 instances:
   checksum:
     pos: length + 6
@@ -142,13 +143,13 @@ types:
         type: u1
       - id: reserved1
         size: 3
-      - id: measurements
-        type: meas
+      - id: meas
+        type: measurement
         size: 32
         repeat: expr
         repeat-expr: num_meas
     types:
-      meas:
+      measurement:
         seq:
           - id: pr_mes
             type: f8
@@ -179,6 +180,39 @@ types:
             type: u1
           - id: reserved3
             size: 1
+  nav_sat:
+    seq:
+      - id: itow
+        type: u4
+      - id: version
+        type: u1
+      - id: num_svs
+        type: u1
+      - id: reserved
+        size: 2
+      - id: svs
+        type: nav
+        size: 12
+        repeat: expr
+        repeat-expr: num_svs
+    types:
+      nav:
+        seq:
+          - id: gnss_id
+            type: u1
+            enum: gnss_type
+          - id: sv_id
+            type: u1
+          - id: cno
+            type: u1
+          - id: elev
+            type: s1
+          - id: azim
+            type: s2
+          - id: pr_res
+            type: s2
+          - id: flags
+            type: u4
 
   nav_pvt:
     seq:
diff --git a/system/version.py b/system/version.py
index 6031531556..82e99fd416 100644
--- a/system/version.py
+++ b/system/version.py
@@ -4,10 +4,10 @@ import subprocess
 from typing import List, Optional
 from functools import lru_cache
 
-from common.basedir import BASEDIR
-from system.swaglog import cloudlog
+from openpilot.common.basedir import BASEDIR
+from openpilot.system.swaglog import cloudlog
 
-RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3']
+RELEASE_BRANCHES = ['release3-staging', 'dashcam3-staging', 'release3', 'dashcam3', 'nightly']
 TESTED_BRANCHES = RELEASE_BRANCHES + ['devel', 'devel-staging']
 
 training_version: bytes = b"0.2.0"
@@ -90,7 +90,7 @@ def is_comma_remote() -> bool:
   if origin is None:
     return False
 
-  return origin.startswith('git@github.com:commaai') or origin.startswith('https://github.com/commaai')
+  return origin.startswith(('git@github.com:commaai', 'https://github.com/commaai'))
 
 
 @cache
@@ -127,7 +127,7 @@ def is_dirty() -> bool:
 
 
 if __name__ == "__main__":
-  from common.params import Params
+  from openpilot.common.params import Params
 
   params = Params()
   params.put("TermsVersion", terms_version)
diff --git a/pyextra/.gitignore b/third_party/.gitignore
similarity index 100%
rename from pyextra/.gitignore
rename to third_party/.gitignore
diff --git a/third_party/acados/.gitignore b/third_party/acados/.gitignore
index 9787bd1b55..68858c62e4 100644
--- a/third_party/acados/.gitignore
+++ b/third_party/acados/.gitignore
@@ -1,4 +1,5 @@
 acados_repo/
+lib
 !x86_64/
 !larch64/
 !aarch64/
diff --git a/third_party/acados/Darwin/lib/libacados.dylib b/third_party/acados/Darwin/lib/libacados.dylib
index 6d133f693d..3270553b02 100755
Binary files a/third_party/acados/Darwin/lib/libacados.dylib and b/third_party/acados/Darwin/lib/libacados.dylib differ
diff --git a/third_party/acados/Darwin/lib/libblasfeo.dylib b/third_party/acados/Darwin/lib/libblasfeo.dylib
index 7ba6a8b32d..a7b55b860a 100755
Binary files a/third_party/acados/Darwin/lib/libblasfeo.dylib and b/third_party/acados/Darwin/lib/libblasfeo.dylib differ
diff --git a/third_party/acados/Darwin/lib/libhpipm.dylib b/third_party/acados/Darwin/lib/libhpipm.dylib
index 69141c8178..d638913f98 100755
Binary files a/third_party/acados/Darwin/lib/libhpipm.dylib and b/third_party/acados/Darwin/lib/libhpipm.dylib differ
diff --git a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib
index b0cf93b060..ab9888ff82 100755
Binary files a/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib and b/third_party/acados/Darwin/lib/libqpOASES_e.3.1.dylib differ
diff --git a/third_party/acados/Darwin/t_renderer b/third_party/acados/Darwin/t_renderer
index 1afbd81519..fa8e9933a8 100755
Binary files a/third_party/acados/Darwin/t_renderer and b/third_party/acados/Darwin/t_renderer differ
diff --git a/third_party/acados/aarch64 b/third_party/acados/aarch64
new file mode 120000
index 0000000000..062c65e8d9
--- /dev/null
+++ b/third_party/acados/aarch64
@@ -0,0 +1 @@
+larch64/
\ No newline at end of file
diff --git a/pyextra/acados_template/.gitignore b/third_party/acados/acados_template/.gitignore
similarity index 100%
rename from pyextra/acados_template/.gitignore
rename to third_party/acados/acados_template/.gitignore
diff --git a/pyextra/acados_template/__init__.py b/third_party/acados/acados_template/__init__.py
similarity index 64%
rename from pyextra/acados_template/__init__.py
rename to third_party/acados/acados_template/__init__.py
index f33b75bb7b..bfbe907990 100644
--- a/pyextra/acados_template/__init__.py
+++ b/third_party/acados/acados_template/__init__.py
@@ -1,8 +1,5 @@
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -31,13 +28,13 @@
 # POSSIBILITY OF SUCH DAMAGE.;
 #
 
-from .acados_model import *
-from .generate_c_code_explicit_ode import *
-from .generate_c_code_implicit_ode import *
-from .generate_c_code_constraint import *
-from .generate_c_code_nls_cost import *
-from .acados_ocp import *
-from .acados_sim import *
-from .acados_ocp_solver import *
-from .acados_sim_solver import *
-from .utils import *
+from .acados_model import AcadosModel
+from .acados_ocp import AcadosOcp, AcadosOcpConstraints, AcadosOcpCost, AcadosOcpDims, AcadosOcpOptions
+from .acados_sim import AcadosSim, AcadosSimDims, AcadosSimOpts
+from .acados_ocp_solver import AcadosOcpSolver, get_simulink_default_opts, ocp_get_default_cmake_builder
+from .acados_sim_solver import AcadosSimSolver, sim_get_default_cmake_builder
+from .utils import print_casadi_expression, get_acados_path, get_python_interface_path, \
+    get_tera_exec_path, get_tera, check_casadi_version, acados_dae_model_json_dump, \
+    casadi_length, make_object_json_dumpable, J_to_idx, get_default_simulink_opts
+
+from .zoro_description import ZoroDescription, process_zoro_description
diff --git a/pyextra/acados_template/acados_layout.json b/third_party/acados/acados_template/acados_layout.json
similarity index 95%
rename from pyextra/acados_template/acados_layout.json
rename to third_party/acados/acados_template/acados_layout.json
index c9f0b90c73..a1cc5bbdf3 100644
--- a/pyextra/acados_template/acados_layout.json
+++ b/third_party/acados/acados_template/acados_layout.json
@@ -6,6 +6,12 @@
         "str"
     ],
     "cython_include_dirs": [
+        "list"
+    ],
+    "json_file": [
+        "str"
+    ],
+    "shared_lib_ext": [
         "str"
     ],
     "model": {
@@ -15,7 +21,16 @@
         "dyn_ext_fun_type" : [
             "str"
         ],
-        "dyn_source_discrete" : [
+        "dyn_generic_source" : [
+            "str"
+        ],
+        "dyn_impl_dae_fun" : [
+            "str"
+        ],
+        "dyn_impl_dae_fun_jac" : [
+            "str"
+        ],
+        "dyn_impl_dae_jac" : [
             "str"
         ],
         "dyn_disc_fun_jac_hess" : [
@@ -734,6 +749,9 @@
         "sim_method_newton_iter": [
             "int"
         ],
+        "sim_method_newton_tol": [
+            "float"
+        ],
         "sim_method_jac_reuse": [
             "ndarray",
             [
@@ -761,6 +779,12 @@
         "qp_solver_iter_max": [
             "int"
         ],
+        "qp_solver_cond_ric_alg": [
+            "int"
+        ],
+        "qp_solver_ric_alg": [
+            "int"
+        ],
         "nlp_solver_tol_stat": [
             "float"
         ],
@@ -776,6 +800,9 @@
         "nlp_solver_max_iter": [
             "int"
         ],
+        "nlp_solver_ext_qp_res": [
+            "int"
+        ],
         "print_level": [
             "int"
         ],
@@ -794,6 +821,9 @@
         "ext_cost_num_hess": [
             "int"
         ],
+        "ext_fun_compile_flags": [
+            "str"
+        ],
         "model_external_shared_lib_dir": [
             "str"
         ],
diff --git a/pyextra/acados_template/acados_model.py b/third_party/acados/acados_template/acados_model.py
similarity index 66%
rename from pyextra/acados_template/acados_model.py
rename to third_party/acados/acados_template/acados_model.py
index e292cc7477..b7c6945442 100644
--- a/pyextra/acados_template/acados_model.py
+++ b/third_party/acados/acados_template/acados_model.py
@@ -1,8 +1,5 @@
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -37,7 +34,7 @@ class AcadosModel():
     Class containing all the information to code generate the external CasADi functions
     that are needed when creating an acados ocp solver or acados integrator.
     Thus, this class contains:
-    
+
     a) the :py:attr:`name` of the model,
     b) all CasADi variables/expressions needed in the CasADi function generation process.
     """
@@ -73,7 +70,7 @@ class AcadosModel():
         """
 
         self.dyn_ext_fun_type = 'casadi'  #: type of external functions for dynamics module; 'casadi' or 'generic'; Default: 'casadi'
-        self.dyn_source_discrete = None  #: name of source file for discrete dyanamics; Default: :code:`None`
+        self.dyn_generic_source = None  #: name of source file for discrete dyanamics; Default: :code:`None`
         self.dyn_disc_fun_jac_hess = None  #: name of function discrete dyanamics + jacobian and hessian; Default: :code:`None`
         self.dyn_disc_fun_jac = None  #: name of function discrete dyanamics + jacobian; Default: :code:`None`
         self.dyn_disc_fun = None  #: name of function discrete dyanamics; Default: :code:`None`
@@ -87,7 +84,9 @@ class AcadosModel():
 
         ## for OCP
         # constraints
+        # BGH(default): lh <= h(x, u) <= uh
         self.con_h_expr = None  #: CasADi expression for the constraint :math:`h`; Default: :code:`None`
+        # BGP(convex over nonlinear): lphi <= phi(r(x, u)) <= uphi
         self.con_phi_expr = None  #: CasADi expression for the constraint phi; Default: :code:`None`
         self.con_r_expr = None  #: CasADi expression for the constraint phi(r); Default: :code:`None`
         self.con_r_in_phi = None
@@ -107,61 +106,49 @@ class AcadosModel():
         self.cost_expr_ext_cost_custom_hess_e = None  #: CasADi expression for custom hessian (only for external cost), terminal; Default: :code:`None`
         self.cost_expr_ext_cost_custom_hess_0 = None  #: CasADi expression for custom hessian (only for external cost), initial; Default: :code:`None`
 
-
-def acados_model_strip_casadi_symbolics(model):
-    out = model
-    if 'f_impl_expr' in out.keys():
-        del out['f_impl_expr']
-    if 'f_expl_expr' in out.keys():
-        del out['f_expl_expr']
-    if 'disc_dyn_expr' in out.keys():
-        del out['disc_dyn_expr']
-    if 'x' in out.keys():
-        del out['x']
-    if 'xdot' in out.keys():
-        del out['xdot']
-    if 'u' in out.keys():
-        del out['u']
-    if 'z' in out.keys():
-        del out['z']
-    if 'p' in out.keys():
-        del out['p']
-    # constraints
-    if 'con_phi_expr' in out.keys():
-        del out['con_phi_expr']
-    if 'con_h_expr' in out.keys():
-        del out['con_h_expr']
-    if 'con_r_expr' in out.keys():
-        del out['con_r_expr']
-    if 'con_r_in_phi' in out.keys():
-        del out['con_r_in_phi']
-    # terminal
-    if 'con_phi_expr_e' in out.keys():
-        del out['con_phi_expr_e']
-    if 'con_h_expr_e' in out.keys():
-        del out['con_h_expr_e']
-    if 'con_r_expr_e' in out.keys():
-        del out['con_r_expr_e']
-    if 'con_r_in_phi_e' in out.keys():
-        del out['con_r_in_phi_e']
-    # cost
-    if 'cost_y_expr' in out.keys():
-        del out['cost_y_expr']
-    if 'cost_y_expr_e' in out.keys():
-        del out['cost_y_expr_e']
-    if 'cost_y_expr_0' in out.keys():
-        del out['cost_y_expr_0']
-    if 'cost_expr_ext_cost' in out.keys():
-        del out['cost_expr_ext_cost']
-    if 'cost_expr_ext_cost_e' in out.keys():
-        del out['cost_expr_ext_cost_e']
-    if 'cost_expr_ext_cost_0' in out.keys():
-        del out['cost_expr_ext_cost_0']
-    if 'cost_expr_ext_cost_custom_hess' in out.keys():
-        del out['cost_expr_ext_cost_custom_hess']
-    if 'cost_expr_ext_cost_custom_hess_e' in out.keys():
-        del out['cost_expr_ext_cost_custom_hess_e']
-    if 'cost_expr_ext_cost_custom_hess_0' in out.keys():
-        del out['cost_expr_ext_cost_custom_hess_0']
-
-    return out
+        ## CONVEX_OVER_NONLINEAR convex-over-nonlinear cost: psi(y(x, u, p) - y_ref; p)
+        self.cost_psi_expr_0 = None
+        """
+        CasADi expression for the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_psi_expr = None
+        """
+        CasADi expression for the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_psi_expr_e = None
+        """
+        CasADi expression for the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_r_in_psi_expr_0 = None
+        """
+        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, initial; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_r_in_psi_expr = None
+        """
+        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_r_in_psi_expr_e = None
+        """
+        CasADi expression for the argument :math:`r`; to the outer loss function :math:`\psi(r, p)`, terminal; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_conl_custom_outer_hess_0 = None
+        """
+        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), initial; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_0` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_conl_custom_outer_hess = None
+        """
+        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost); Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type` == 'CONVEX_OVER_NONLINEAR'.
+        """
+        self.cost_conl_custom_outer_hess_e = None
+        """
+        CasADi expression for the custom hessian of the outer loss function (only for convex-over-nonlinear cost), terminal; Default: :code:`None`
+        Used if :py:attr:`acados_template.acados_ocp.AcadosOcpOptions.cost_type_e` == 'CONVEX_OVER_NONLINEAR'.
+        """
diff --git a/pyextra/acados_template/acados_ocp.py b/third_party/acados/acados_template/acados_ocp.py
similarity index 84%
rename from pyextra/acados_template/acados_ocp.py
rename to third_party/acados/acados_template/acados_ocp.py
index 80970239eb..ec02822ceb 100644
--- a/pyextra/acados_template/acados_ocp.py
+++ b/third_party/acados/acados_template/acados_ocp.py
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -35,7 +32,7 @@
 import numpy as np
 import os
 from .acados_model import AcadosModel
-from .utils import get_acados_path, J_to_idx, J_to_idx_slack
+from .utils import get_acados_path, J_to_idx, J_to_idx_slack, get_lib_ext
 
 class AcadosOcpDims:
     """
@@ -273,224 +270,224 @@ class AcadosOcpDims:
         if isinstance(nx, int) and nx > 0:
             self.__nx = nx
         else:
-            raise Exception('Invalid nx value, expected positive integer. Exiting.')
+            raise Exception('Invalid nx value, expected positive integer.')
 
     @nz.setter
     def nz(self, nz):
         if isinstance(nz, int) and nz > -1:
             self.__nz = nz
         else:
-            raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nz value, expected nonnegative integer.')
 
     @nu.setter
     def nu(self, nu):
         if isinstance(nu, int) and nu > -1:
             self.__nu = nu
         else:
-            raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nu value, expected nonnegative integer.')
 
     @np.setter
     def np(self, np):
         if isinstance(np, int) and np > -1:
             self.__np = np
         else:
-            raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid np value, expected nonnegative integer.')
 
     @ny_0.setter
     def ny_0(self, ny_0):
         if isinstance(ny_0, int) and ny_0 > -1:
             self.__ny_0 = ny_0
         else:
-            raise Exception('Invalid ny_0 value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ny_0 value, expected nonnegative integer.')
 
     @ny.setter
     def ny(self, ny):
         if isinstance(ny, int) and ny > -1:
             self.__ny = ny
         else:
-            raise Exception('Invalid ny value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ny value, expected nonnegative integer.')
 
     @ny_e.setter
     def ny_e(self, ny_e):
         if isinstance(ny_e, int) and ny_e > -1:
             self.__ny_e = ny_e
         else:
-            raise Exception('Invalid ny_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ny_e value, expected nonnegative integer.')
 
     @nr.setter
     def nr(self, nr):
         if isinstance(nr, int) and nr > -1:
             self.__nr = nr
         else:
-            raise Exception('Invalid nr value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nr value, expected nonnegative integer.')
 
     @nr_e.setter
     def nr_e(self, nr_e):
         if isinstance(nr_e, int) and nr_e > -1:
             self.__nr_e = nr_e
         else:
-            raise Exception('Invalid nr_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nr_e value, expected nonnegative integer.')
 
     @nh.setter
     def nh(self, nh):
         if isinstance(nh, int) and nh > -1:
             self.__nh = nh
         else:
-            raise Exception('Invalid nh value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nh value, expected nonnegative integer.')
 
     @nh_e.setter
     def nh_e(self, nh_e):
         if isinstance(nh_e, int) and nh_e > -1:
             self.__nh_e = nh_e
         else:
-            raise Exception('Invalid nh_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nh_e value, expected nonnegative integer.')
 
     @nphi.setter
     def nphi(self, nphi):
         if isinstance(nphi, int) and nphi > -1:
             self.__nphi = nphi
         else:
-            raise Exception('Invalid nphi value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nphi value, expected nonnegative integer.')
 
     @nphi_e.setter
     def nphi_e(self, nphi_e):
         if isinstance(nphi_e, int) and nphi_e > -1:
             self.__nphi_e = nphi_e
         else:
-            raise Exception('Invalid nphi_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nphi_e value, expected nonnegative integer.')
 
     @nbx.setter
     def nbx(self, nbx):
         if isinstance(nbx, int) and nbx > -1:
             self.__nbx = nbx
         else:
-            raise Exception('Invalid nbx value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nbx value, expected nonnegative integer.')
 
     @nbxe_0.setter
     def nbxe_0(self, nbxe_0):
         if isinstance(nbxe_0, int) and nbxe_0 > -1:
             self.__nbxe_0 = nbxe_0
         else:
-            raise Exception('Invalid nbxe_0 value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nbxe_0 value, expected nonnegative integer.')
 
     @nbx_0.setter
     def nbx_0(self, nbx_0):
         if isinstance(nbx_0, int) and nbx_0 > -1:
             self.__nbx_0 = nbx_0
         else:
-            raise Exception('Invalid nbx_0 value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nbx_0 value, expected nonnegative integer.')
 
     @nbx_e.setter
     def nbx_e(self, nbx_e):
         if isinstance(nbx_e, int) and nbx_e > -1:
             self.__nbx_e = nbx_e
         else:
-            raise Exception('Invalid nbx_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nbx_e value, expected nonnegative integer.')
 
     @nbu.setter
     def nbu(self, nbu):
         if isinstance(nbu, int) and nbu > -1:
             self.__nbu = nbu
         else:
-            raise Exception('Invalid nbu value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nbu value, expected nonnegative integer.')
 
     @nsbx.setter
     def nsbx(self, nsbx):
         if isinstance(nsbx, int) and nsbx > -1:
             self.__nsbx = nsbx
         else:
-            raise Exception('Invalid nsbx value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsbx value, expected nonnegative integer.')
 
     @nsbx_e.setter
     def nsbx_e(self, nsbx_e):
         if isinstance(nsbx_e, int) and nsbx_e > -1:
             self.__nsbx_e = nsbx_e
         else:
-            raise Exception('Invalid nsbx_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsbx_e value, expected nonnegative integer.')
 
     @nsbu.setter
     def nsbu(self, nsbu):
         if isinstance(nsbu, int) and nsbu > -1:
             self.__nsbu = nsbu
         else:
-            raise Exception('Invalid nsbu value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsbu value, expected nonnegative integer.')
 
     @nsg.setter
     def nsg(self, nsg):
         if isinstance(nsg, int) and nsg > -1:
             self.__nsg = nsg
         else:
-            raise Exception('Invalid nsg value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsg value, expected nonnegative integer.')
 
     @nsg_e.setter
     def nsg_e(self, nsg_e):
         if isinstance(nsg_e, int) and nsg_e > -1:
             self.__nsg_e = nsg_e
         else:
-            raise Exception('Invalid nsg_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsg_e value, expected nonnegative integer.')
 
     @nsh.setter
     def nsh(self, nsh):
         if isinstance(nsh, int) and nsh > -1:
             self.__nsh = nsh
         else:
-            raise Exception('Invalid nsh value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsh value, expected nonnegative integer.')
 
     @nsh_e.setter
     def nsh_e(self, nsh_e):
         if isinstance(nsh_e, int) and nsh_e > -1:
             self.__nsh_e = nsh_e
         else:
-            raise Exception('Invalid nsh_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsh_e value, expected nonnegative integer.')
 
     @nsphi.setter
     def nsphi(self, nsphi):
         if isinstance(nsphi, int) and nsphi > -1:
             self.__nsphi = nsphi
         else:
-            raise Exception('Invalid nsphi value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsphi value, expected nonnegative integer.')
 
     @nsphi_e.setter
     def nsphi_e(self, nsphi_e):
         if isinstance(nsphi_e, int) and nsphi_e > -1:
             self.__nsphi_e = nsphi_e
         else:
-            raise Exception('Invalid nsphi_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nsphi_e value, expected nonnegative integer.')
 
     @ns.setter
     def ns(self, ns):
         if isinstance(ns, int) and ns > -1:
             self.__ns = ns
         else:
-            raise Exception('Invalid ns value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ns value, expected nonnegative integer.')
 
     @ns_e.setter
     def ns_e(self, ns_e):
         if isinstance(ns_e, int) and ns_e > -1:
             self.__ns_e = ns_e
         else:
-            raise Exception('Invalid ns_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ns_e value, expected nonnegative integer.')
 
     @ng.setter
     def ng(self, ng):
         if isinstance(ng, int) and ng > -1:
             self.__ng = ng
         else:
-            raise Exception('Invalid ng value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ng value, expected nonnegative integer.')
 
     @ng_e.setter
     def ng_e(self, ng_e):
         if isinstance(ng_e, int) and ng_e > -1:
             self.__ng_e = ng_e
         else:
-            raise Exception('Invalid ng_e value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid ng_e value, expected nonnegative integer.')
 
     @N.setter
     def N(self, N):
         if isinstance(N, int) and N > 0:
             self.__N = N
         else:
-            raise Exception('Invalid N value, expected positive integer. Exiting.')
+            raise Exception('Invalid N value, expected positive integer.')
 
     def set(self, attr, value):
         setattr(self, attr, value)
@@ -500,6 +497,12 @@ class AcadosOcpCost:
     """
     Class containing the numerical data of the cost:
 
+    NOTE: all cost terms, except for the terminal one are weighted with the corresponding time step.
+    This means given the time steps are :math:`\Delta t_0,..., \Delta t_N`, the total cost is given by:
+    :math:`c_\\text{total} = \Delta t_0 \cdot c_0(x_0, u_0, p_0, z_0) + ... + \Delta t_{N-1} \cdot c_{N-1}(x_0, u_0, p_0, z_0) + c_N(x_N, p_N)`.
+
+    This means the Lagrange cost term is given in continuous time, this makes up for a seeminglessly OCP discretization with a nonuniform time grid.
+
     In case of LINEAR_LS:
     stage cost is
     :math:`l(x,u,z) = || V_x \, x + V_u \, u + V_z \, z - y_\\text{ref}||^2_W`,
@@ -508,9 +511,15 @@ class AcadosOcpCost:
 
     In case of NONLINEAR_LS:
     stage cost is
-    :math:`l(x,u,z) = || y(x,u,z) - y_\\text{ref}||^2_W`,
+    :math:`l(x,u,z,p) = || y(x,u,z,p) - y_\\text{ref}||^2_W`,
+    terminal cost is
+    :math:`m(x,p) = || y^e(x,p) - y_\\text{ref}^e||^2_{W^e}`
+
+    In case of CONVEX_OVER_NONLINEAR:
+    stage cost is
+    :math:`l(x,u,p) = \psi(y(x,u,p) - y_\\text{ref}, p)`,
     terminal cost is
-    :math:`m(x) = || y^e(x) - y_\\text{ref}^e||^2_{W^e}`
+    :math:`m(x, p) = \psi^e (y^e(x,p) - y_\\text{ref}^e, p)`
     """
     def __init__(self):
         # initial stage
@@ -548,7 +557,7 @@ class AcadosOcpCost:
     @property
     def cost_type_0(self):
         """Cost type at initial shooting node (0)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS} or :code:`None`.
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR} or :code:`None`.
         Default: :code:`None`.
 
             .. note:: Cost at initial stage is the same as for intermediate shooting nodes if not set differently explicitly.
@@ -604,10 +613,10 @@ class AcadosOcpCost:
 
     @yref_0.setter
     def yref_0(self, yref_0):
-        if isinstance(yref_0, np.ndarray):
+        if isinstance(yref_0, np.ndarray) and len(yref_0.shape) == 1:
             self.__yref_0 = yref_0
         else:
-            raise Exception('Invalid yref_0 value, expected numpy array. Exiting.')
+            raise Exception('Invalid yref_0 value, expected 1-dimensional numpy array.')
 
     @W_0.setter
     def W_0(self, W_0):
@@ -615,7 +624,7 @@ class AcadosOcpCost:
             self.__W_0 = W_0
         else:
             raise Exception('Invalid cost W_0 value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vx_0.setter
     def Vx_0(self, Vx_0):
@@ -623,7 +632,7 @@ class AcadosOcpCost:
             self.__Vx_0 = Vx_0
         else:
             raise Exception('Invalid cost Vx_0 value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vu_0.setter
     def Vu_0(self, Vu_0):
@@ -631,7 +640,7 @@ class AcadosOcpCost:
             self.__Vu_0 = Vu_0
         else:
             raise Exception('Invalid cost Vu_0 value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vz_0.setter
     def Vz_0(self, Vz_0):
@@ -639,21 +648,21 @@ class AcadosOcpCost:
             self.__Vz_0 = Vz_0
         else:
             raise Exception('Invalid cost Vz_0 value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @cost_ext_fun_type_0.setter
     def cost_ext_fun_type_0(self, cost_ext_fun_type_0):
         if cost_ext_fun_type_0 in ['casadi', 'generic']:
             self.__cost_ext_fun_type_0 = cost_ext_fun_type_0
         else:
-            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array. Exiting.')
+            raise Exception('Invalid cost_ext_fun_type_0 value, expected numpy array.')
 
     # Lagrange term
     @property
     def cost_type(self):
         """
         Cost type at intermediate shooting nodes (1 to N-1)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}.
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
         Default: 'LINEAR_LS'.
         """
         return self.__cost_type
@@ -695,28 +704,28 @@ class AcadosOcpCost:
 
     @property
     def Zl(self):
-        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (1 to N-1).
+        """:math:`Z_l` - diagonal of Hessian wrt lower slack at intermediate shooting nodes (0 to N-1).
         Default: :code:`np.array([])`.
         """
         return self.__Zl
 
     @property
     def Zu(self):
-        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (1 to N-1).
+        """:math:`Z_u` - diagonal of Hessian wrt upper slack at intermediate shooting nodes (0 to N-1).
         Default: :code:`np.array([])`.
         """
         return self.__Zu
 
     @property
     def zl(self):
-        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (1 to N-1).
+        """:math:`z_l` - gradient wrt lower slack at intermediate shooting nodes (0 to N-1).
         Default: :code:`np.array([])`.
         """
         return self.__zl
 
     @property
     def zu(self):
-        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (1 to N-1).
+        """:math:`z_u` - gradient wrt upper slack at intermediate shooting nodes (0 to N-1).
         Default: :code:`np.array([])`.
         """
         return self.__zu
@@ -731,19 +740,19 @@ class AcadosOcpCost:
 
     @cost_type.setter
     def cost_type(self, cost_type):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
         if cost_type in cost_types:
             self.__cost_type = cost_type
         else:
-            raise Exception('Invalid cost_type value. Exiting.')
+            raise Exception('Invalid cost_type value.')
 
     @cost_type_0.setter
     def cost_type_0(self, cost_type_0):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
         if cost_type_0 in cost_types:
             self.__cost_type_0 = cost_type_0
         else:
-            raise Exception('Invalid cost_type_0 value. Exiting.')
+            raise Exception('Invalid cost_type_0 value.')
 
     @W.setter
     def W(self, W):
@@ -751,7 +760,7 @@ class AcadosOcpCost:
             self.__W = W
         else:
             raise Exception('Invalid cost W value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
 
     @Vx.setter
@@ -760,7 +769,7 @@ class AcadosOcpCost:
             self.__Vx = Vx
         else:
             raise Exception('Invalid cost Vx value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vu.setter
     def Vu(self, Vu):
@@ -768,7 +777,7 @@ class AcadosOcpCost:
             self.__Vu = Vu
         else:
             raise Exception('Invalid cost Vu value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vz.setter
     def Vz(self, Vz):
@@ -776,56 +785,56 @@ class AcadosOcpCost:
             self.__Vz = Vz
         else:
             raise Exception('Invalid cost Vz value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @yref.setter
     def yref(self, yref):
-        if isinstance(yref, np.ndarray):
+        if isinstance(yref, np.ndarray) and len(yref.shape) == 1:
             self.__yref = yref
         else:
-            raise Exception('Invalid yref value, expected numpy array. Exiting.')
+            raise Exception('Invalid yref value, expected 1-dimensional numpy array.')
 
     @Zl.setter
     def Zl(self, Zl):
         if isinstance(Zl, np.ndarray):
             self.__Zl = Zl
         else:
-            raise Exception('Invalid Zl value, expected numpy array. Exiting.')
+            raise Exception('Invalid Zl value, expected numpy array.')
 
     @Zu.setter
     def Zu(self, Zu):
         if isinstance(Zu, np.ndarray):
             self.__Zu = Zu
         else:
-            raise Exception('Invalid Zu value, expected numpy array. Exiting.')
+            raise Exception('Invalid Zu value, expected numpy array.')
 
     @zl.setter
     def zl(self, zl):
         if isinstance(zl, np.ndarray):
             self.__zl = zl
         else:
-            raise Exception('Invalid zl value, expected numpy array. Exiting.')
+            raise Exception('Invalid zl value, expected numpy array.')
 
     @zu.setter
     def zu(self, zu):
         if isinstance(zu, np.ndarray):
             self.__zu = zu
         else:
-            raise Exception('Invalid zu value, expected numpy array. Exiting.')
+            raise Exception('Invalid zu value, expected numpy array.')
 
     @cost_ext_fun_type.setter
     def cost_ext_fun_type(self, cost_ext_fun_type):
         if cost_ext_fun_type in ['casadi', 'generic']:
             self.__cost_ext_fun_type = cost_ext_fun_type
         else:
-            raise Exception('Invalid cost_ext_fun_type value, expected numpy array. Exiting.')
+            raise Exception("Invalid cost_ext_fun_type value, expected one in ['casadi', 'generic'].")
 
     # Mayer term
     @property
     def cost_type_e(self):
         """
         Cost type at terminal shooting node (N)
-        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS}.
+        -- string in {EXTERNAL, LINEAR_LS, NONLINEAR_LS, CONVEX_OVER_NONLINEAR}.
         Default: 'LINEAR_LS'.
         """
         return self.__cost_type_e
@@ -881,7 +890,7 @@ class AcadosOcpCost:
 
     @property
     def cost_ext_fun_type_e(self):
-        """Type of external function for cost at intermediate shooting nodes (1 to N-1).
+        """Type of external function for cost at terminal shooting node (N).
         -- string in {casadi, generic}
         Default: :code:'casadi'.
         """
@@ -889,12 +898,12 @@ class AcadosOcpCost:
 
     @cost_type_e.setter
     def cost_type_e(self, cost_type_e):
-        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL')
+        cost_types = ('LINEAR_LS', 'NONLINEAR_LS', 'EXTERNAL', 'CONVEX_OVER_NONLINEAR')
 
         if cost_type_e in cost_types:
             self.__cost_type_e = cost_type_e
         else:
-            raise Exception('Invalid cost_type_e value. Exiting.')
+            raise Exception('Invalid cost_type_e value.')
 
     @W_e.setter
     def W_e(self, W_e):
@@ -902,7 +911,7 @@ class AcadosOcpCost:
             self.__W_e = W_e
         else:
             raise Exception('Invalid cost W_e value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @Vx_e.setter
     def Vx_e(self, Vx_e):
@@ -910,49 +919,49 @@ class AcadosOcpCost:
             self.__Vx_e = Vx_e
         else:
             raise Exception('Invalid cost Vx_e value. ' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @yref_e.setter
     def yref_e(self, yref_e):
-        if isinstance(yref_e, np.ndarray):
+        if isinstance(yref_e, np.ndarray) and len(yref_e.shape) == 1:
             self.__yref_e = yref_e
         else:
-            raise Exception('Invalid yref_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid yref_e value, expected 1-dimensional numpy array.')
 
     @Zl_e.setter
     def Zl_e(self, Zl_e):
         if isinstance(Zl_e, np.ndarray):
             self.__Zl_e = Zl_e
         else:
-            raise Exception('Invalid Zl_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid Zl_e value, expected numpy array.')
 
     @Zu_e.setter
     def Zu_e(self, Zu_e):
         if isinstance(Zu_e, np.ndarray):
             self.__Zu_e = Zu_e
         else:
-            raise Exception('Invalid Zu_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid Zu_e value, expected numpy array.')
 
     @zl_e.setter
     def zl_e(self, zl_e):
         if isinstance(zl_e, np.ndarray):
             self.__zl_e = zl_e
         else:
-            raise Exception('Invalid zl_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid zl_e value, expected numpy array.')
 
     @zu_e.setter
     def zu_e(self, zu_e):
         if isinstance(zu_e, np.ndarray):
             self.__zu_e = zu_e
         else:
-            raise Exception('Invalid zu_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid zu_e value, expected numpy array.')
 
     @cost_ext_fun_type_e.setter
     def cost_ext_fun_type_e(self, cost_ext_fun_type_e):
         if cost_ext_fun_type_e in ['casadi', 'generic']:
             self.__cost_ext_fun_type_e = cost_ext_fun_type_e
         else:
-            raise Exception('Invalid cost_ext_fun_type_e value, expected numpy array. Exiting.')
+            raise Exception("Invalid cost_ext_fun_type_e value, expected one in ['casadi', 'generic'].")
 
     def set(self, attr, value):
         setattr(self, attr, value)
@@ -1578,7 +1587,7 @@ class AcadosOcpConstraints:
             self.__constr_type = constr_type
         else:
             raise Exception('Invalid constr_type value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\nExiting.')
+                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type + '.\n\n')
 
     @constr_type_e.setter
     def constr_type_e(self, constr_type_e):
@@ -1587,7 +1596,7 @@ class AcadosOcpConstraints:
             self.__constr_type_e = constr_type_e
         else:
             raise Exception('Invalid constr_type_e value. Possible values are:\n\n' \
-                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\nExiting.')
+                    + ',\n'.join(constr_types) + '.\n\nYou have: ' + constr_type_e + '.\n\n')
 
     # initial x
     @lbx_0.setter
@@ -1595,35 +1604,35 @@ class AcadosOcpConstraints:
         if isinstance(lbx_0, np.ndarray):
             self.__lbx_0 = lbx_0
         else:
-            raise Exception('Invalid lbx_0 value. Exiting.')
+            raise Exception('Invalid lbx_0 value.')
 
     @ubx_0.setter
     def ubx_0(self, ubx_0):
         if isinstance(ubx_0, np.ndarray):
             self.__ubx_0 = ubx_0
         else:
-            raise Exception('Invalid ubx_0 value. Exiting.')
+            raise Exception('Invalid ubx_0 value.')
 
     @idxbx_0.setter
     def idxbx_0(self, idxbx_0):
         if isinstance(idxbx_0, np.ndarray):
             self.__idxbx_0 = idxbx_0
         else:
-            raise Exception('Invalid idxbx_0 value. Exiting.')
+            raise Exception('Invalid idxbx_0 value.')
 
     @Jbx_0.setter
     def Jbx_0(self, Jbx_0):
         if isinstance(Jbx_0, np.ndarray):
             self.__idxbx_0 = J_to_idx(Jbx_0)
         else:
-            raise Exception('Invalid Jbx_0 value. Exiting.')
+            raise Exception('Invalid Jbx_0 value.')
 
     @idxbxe_0.setter
     def idxbxe_0(self, idxbxe_0):
         if isinstance(idxbxe_0, np.ndarray):
             self.__idxbxe_0 = idxbxe_0
         else:
-            raise Exception('Invalid idxbxe_0 value. Exiting.')
+            raise Exception('Invalid idxbxe_0 value.')
 
 
     @x0.setter
@@ -1634,7 +1643,7 @@ class AcadosOcpConstraints:
             self.__idxbx_0 = np.arange(x0.size)
             self.__idxbxe_0 = np.arange(x0.size)
         else:
-            raise Exception('Invalid x0 value. Exiting.')
+            raise Exception('Invalid x0 value.')
 
     # bounds on x
     @lbx.setter
@@ -1642,28 +1651,28 @@ class AcadosOcpConstraints:
         if isinstance(lbx, np.ndarray):
             self.__lbx = lbx
         else:
-            raise Exception('Invalid lbx value. Exiting.')
+            raise Exception('Invalid lbx value.')
 
     @ubx.setter
     def ubx(self, ubx):
         if isinstance(ubx, np.ndarray):
             self.__ubx = ubx
         else:
-            raise Exception('Invalid ubx value. Exiting.')
+            raise Exception('Invalid ubx value.')
 
     @idxbx.setter
     def idxbx(self, idxbx):
         if isinstance(idxbx, np.ndarray):
             self.__idxbx = idxbx
         else:
-            raise Exception('Invalid idxbx value. Exiting.')
+            raise Exception('Invalid idxbx value.')
 
     @Jbx.setter
     def Jbx(self, Jbx):
         if isinstance(Jbx, np.ndarray):
             self.__idxbx = J_to_idx(Jbx)
         else:
-            raise Exception('Invalid Jbx value. Exiting.')
+            raise Exception('Invalid Jbx value.')
 
     # bounds on u
     @lbu.setter
@@ -1671,28 +1680,28 @@ class AcadosOcpConstraints:
         if isinstance(lbu, np.ndarray):
             self.__lbu = lbu
         else:
-            raise Exception('Invalid lbu value. Exiting.')
+            raise Exception('Invalid lbu value.')
 
     @ubu.setter
     def ubu(self, ubu):
         if isinstance(ubu, np.ndarray):
             self.__ubu = ubu
         else:
-            raise Exception('Invalid ubu value. Exiting.')
+            raise Exception('Invalid ubu value.')
 
     @idxbu.setter
     def idxbu(self, idxbu):
         if isinstance(idxbu, np.ndarray):
             self.__idxbu = idxbu
         else:
-            raise Exception('Invalid idxbu value. Exiting.')
+            raise Exception('Invalid idxbu value.')
 
     @Jbu.setter
     def Jbu(self, Jbu):
         if isinstance(Jbu, np.ndarray):
             self.__idxbu = J_to_idx(Jbu)
         else:
-            raise Exception('Invalid Jbu value. Exiting.')
+            raise Exception('Invalid Jbu value.')
 
     # bounds on x at shooting node N
     @lbx_e.setter
@@ -1700,28 +1709,28 @@ class AcadosOcpConstraints:
         if isinstance(lbx_e, np.ndarray):
             self.__lbx_e = lbx_e
         else:
-            raise Exception('Invalid lbx_e value. Exiting.')
+            raise Exception('Invalid lbx_e value.')
 
     @ubx_e.setter
     def ubx_e(self, ubx_e):
         if isinstance(ubx_e, np.ndarray):
             self.__ubx_e = ubx_e
         else:
-            raise Exception('Invalid ubx_e value. Exiting.')
+            raise Exception('Invalid ubx_e value.')
 
     @idxbx_e.setter
     def idxbx_e(self, idxbx_e):
         if isinstance(idxbx_e, np.ndarray):
             self.__idxbx_e = idxbx_e
         else:
-            raise Exception('Invalid idxbx_e value. Exiting.')
+            raise Exception('Invalid idxbx_e value.')
 
     @Jbx_e.setter
     def Jbx_e(self, Jbx_e):
         if isinstance(Jbx_e, np.ndarray):
             self.__idxbx_e = J_to_idx(Jbx_e)
         else:
-            raise Exception('Invalid Jbx_e value. Exiting.')
+            raise Exception('Invalid Jbx_e value.')
 
     # polytopic constraints
     @D.setter
@@ -1730,7 +1739,7 @@ class AcadosOcpConstraints:
             self.__D = D
         else:
             raise Exception('Invalid constraint D value.' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @C.setter
     def C(self, C):
@@ -1738,21 +1747,21 @@ class AcadosOcpConstraints:
             self.__C = C
         else:
             raise Exception('Invalid constraint C value.' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @lg.setter
     def lg(self, lg):
         if isinstance(lg, np.ndarray):
             self.__lg = lg
         else:
-            raise Exception('Invalid lg value. Exiting.')
+            raise Exception('Invalid lg value.')
 
     @ug.setter
     def ug(self, ug):
         if isinstance(ug, np.ndarray):
             self.__ug = ug
         else:
-            raise Exception('Invalid ug value. Exiting.')
+            raise Exception('Invalid ug value.')
 
     # polytopic constraints at shooting node N
     @C_e.setter
@@ -1761,21 +1770,21 @@ class AcadosOcpConstraints:
             self.__C_e = C_e
         else:
             raise Exception('Invalid constraint C_e value.' \
-                + 'Should be 2 dimensional numpy array. Exiting.')
+                + 'Should be 2 dimensional numpy array.')
 
     @lg_e.setter
     def lg_e(self, lg_e):
         if isinstance(lg_e, np.ndarray):
             self.__lg_e = lg_e
         else:
-            raise Exception('Invalid lg_e value. Exiting.')
+            raise Exception('Invalid lg_e value.')
 
     @ug_e.setter
     def ug_e(self, ug_e):
         if isinstance(ug_e, np.ndarray):
             self.__ug_e = ug_e
         else:
-            raise Exception('Invalid ug_e value. Exiting.')
+            raise Exception('Invalid ug_e value.')
 
     # nonlinear constraints
     @lh.setter
@@ -1783,14 +1792,14 @@ class AcadosOcpConstraints:
         if isinstance(lh, np.ndarray):
             self.__lh = lh
         else:
-            raise Exception('Invalid lh value. Exiting.')
+            raise Exception('Invalid lh value.')
 
     @uh.setter
     def uh(self, uh):
         if isinstance(uh, np.ndarray):
             self.__uh = uh
         else:
-            raise Exception('Invalid uh value. Exiting.')
+            raise Exception('Invalid uh value.')
 
     # convex-over-nonlinear constraints
     @lphi.setter
@@ -1798,14 +1807,14 @@ class AcadosOcpConstraints:
         if isinstance(lphi, np.ndarray):
             self.__lphi = lphi
         else:
-            raise Exception('Invalid lphi value. Exiting.')
+            raise Exception('Invalid lphi value.')
 
     @uphi.setter
     def uphi(self, uphi):
         if isinstance(uphi, np.ndarray):
             self.__uphi = uphi
         else:
-            raise Exception('Invalid uphi value. Exiting.')
+            raise Exception('Invalid uphi value.')
 
     # nonlinear constraints at shooting node N
     @lh_e.setter
@@ -1813,14 +1822,14 @@ class AcadosOcpConstraints:
         if isinstance(lh_e, np.ndarray):
             self.__lh_e = lh_e
         else:
-            raise Exception('Invalid lh_e value. Exiting.')
+            raise Exception('Invalid lh_e value.')
 
     @uh_e.setter
     def uh_e(self, uh_e):
         if isinstance(uh_e, np.ndarray):
             self.__uh_e = uh_e
         else:
-            raise Exception('Invalid uh_e value. Exiting.')
+            raise Exception('Invalid uh_e value.')
 
     # convex-over-nonlinear constraints at shooting node N
     @lphi_e.setter
@@ -1828,14 +1837,14 @@ class AcadosOcpConstraints:
         if isinstance(lphi_e, np.ndarray):
             self.__lphi_e = lphi_e
         else:
-            raise Exception('Invalid lphi_e value. Exiting.')
+            raise Exception('Invalid lphi_e value.')
 
     @uphi_e.setter
     def uphi_e(self, uphi_e):
         if isinstance(uphi_e, np.ndarray):
             self.__uphi_e = uphi_e
         else:
-            raise Exception('Invalid uphi_e value. Exiting.')
+            raise Exception('Invalid uphi_e value.')
 
     # SLACK bounds
     # soft bounds on x
@@ -1844,28 +1853,28 @@ class AcadosOcpConstraints:
         if isinstance(lsbx, np.ndarray):
             self.__lsbx = lsbx
         else:
-            raise Exception('Invalid lsbx value. Exiting.')
+            raise Exception('Invalid lsbx value.')
 
     @usbx.setter
     def usbx(self, usbx):
         if isinstance(usbx, np.ndarray):
             self.__usbx = usbx
         else:
-            raise Exception('Invalid usbx value. Exiting.')
+            raise Exception('Invalid usbx value.')
 
     @idxsbx.setter
     def idxsbx(self, idxsbx):
         if isinstance(idxsbx, np.ndarray):
             self.__idxsbx = idxsbx
         else:
-            raise Exception('Invalid idxsbx value. Exiting.')
+            raise Exception('Invalid idxsbx value.')
 
     @Jsbx.setter
     def Jsbx(self, Jsbx):
         if isinstance(Jsbx, np.ndarray):
             self.__idxsbx = J_to_idx_slack(Jsbx)
         else:
-            raise Exception('Invalid Jsbx value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsbx value, expected numpy array.')
 
     # soft bounds on u
     @lsbu.setter
@@ -1873,28 +1882,28 @@ class AcadosOcpConstraints:
         if isinstance(lsbu, np.ndarray):
             self.__lsbu = lsbu
         else:
-            raise Exception('Invalid lsbu value. Exiting.')
+            raise Exception('Invalid lsbu value.')
 
     @usbu.setter
     def usbu(self, usbu):
         if isinstance(usbu, np.ndarray):
             self.__usbu = usbu
         else:
-            raise Exception('Invalid usbu value. Exiting.')
+            raise Exception('Invalid usbu value.')
 
     @idxsbu.setter
     def idxsbu(self, idxsbu):
         if isinstance(idxsbu, np.ndarray):
             self.__idxsbu = idxsbu
         else:
-            raise Exception('Invalid idxsbu value. Exiting.')
+            raise Exception('Invalid idxsbu value.')
 
     @Jsbu.setter
     def Jsbu(self, Jsbu):
         if isinstance(Jsbu, np.ndarray):
             self.__idxsbu = J_to_idx_slack(Jsbu)
         else:
-            raise Exception('Invalid Jsbu value. Exiting.')
+            raise Exception('Invalid Jsbu value.')
 
     # soft bounds on x at shooting node N
     @lsbx_e.setter
@@ -1902,28 +1911,28 @@ class AcadosOcpConstraints:
         if isinstance(lsbx_e, np.ndarray):
             self.__lsbx_e = lsbx_e
         else:
-            raise Exception('Invalid lsbx_e value. Exiting.')
+            raise Exception('Invalid lsbx_e value.')
 
     @usbx_e.setter
     def usbx_e(self, usbx_e):
         if isinstance(usbx_e, np.ndarray):
             self.__usbx_e = usbx_e
         else:
-            raise Exception('Invalid usbx_e value. Exiting.')
+            raise Exception('Invalid usbx_e value.')
 
     @idxsbx_e.setter
     def idxsbx_e(self, idxsbx_e):
         if isinstance(idxsbx_e, np.ndarray):
             self.__idxsbx_e = idxsbx_e
         else:
-            raise Exception('Invalid idxsbx_e value. Exiting.')
+            raise Exception('Invalid idxsbx_e value.')
 
     @Jsbx_e.setter
     def Jsbx_e(self, Jsbx_e):
         if isinstance(Jsbx_e, np.ndarray):
             self.__idxsbx_e = J_to_idx_slack(Jsbx_e)
         else:
-            raise Exception('Invalid Jsbx_e value. Exiting.')
+            raise Exception('Invalid Jsbx_e value.')
 
 
     # soft bounds on general linear constraints
@@ -1932,28 +1941,28 @@ class AcadosOcpConstraints:
         if isinstance(lsg, np.ndarray):
             self.__lsg = lsg
         else:
-            raise Exception('Invalid lsg value. Exiting.')
+            raise Exception('Invalid lsg value.')
 
     @usg.setter
     def usg(self, usg):
         if isinstance(usg, np.ndarray):
             self.__usg = usg
         else:
-            raise Exception('Invalid usg value. Exiting.')
+            raise Exception('Invalid usg value.')
 
     @idxsg.setter
     def idxsg(self, idxsg):
         if isinstance(idxsg, np.ndarray):
             self.__idxsg = idxsg
         else:
-            raise Exception('Invalid idxsg value. Exiting.')
+            raise Exception('Invalid idxsg value.')
 
     @Jsg.setter
     def Jsg(self, Jsg):
         if isinstance(Jsg, np.ndarray):
             self.__idxsg = J_to_idx_slack(Jsg)
         else:
-            raise Exception('Invalid Jsg value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsg value, expected numpy array.')
 
 
     # soft bounds on nonlinear constraints
@@ -1962,21 +1971,21 @@ class AcadosOcpConstraints:
         if isinstance(lsh, np.ndarray):
             self.__lsh = lsh
         else:
-            raise Exception('Invalid lsh value. Exiting.')
+            raise Exception('Invalid lsh value.')
 
     @ush.setter
     def ush(self, ush):
         if isinstance(ush, np.ndarray):
             self.__ush = ush
         else:
-            raise Exception('Invalid ush value. Exiting.')
+            raise Exception('Invalid ush value.')
 
     @idxsh.setter
     def idxsh(self, idxsh):
         if isinstance(idxsh, np.ndarray):
             self.__idxsh = idxsh
         else:
-            raise Exception('Invalid idxsh value. Exiting.')
+            raise Exception('Invalid idxsh value.')
 
 
     @Jsh.setter
@@ -1984,7 +1993,7 @@ class AcadosOcpConstraints:
         if isinstance(Jsh, np.ndarray):
             self.__idxsh = J_to_idx_slack(Jsh)
         else:
-            raise Exception('Invalid Jsh value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsh value, expected numpy array.')
 
     # soft bounds on convex-over-nonlinear constraints
     @lsphi.setter
@@ -1992,28 +2001,28 @@ class AcadosOcpConstraints:
         if isinstance(lsphi, np.ndarray):
             self.__lsphi = lsphi
         else:
-            raise Exception('Invalid lsphi value. Exiting.')
+            raise Exception('Invalid lsphi value.')
 
     @usphi.setter
     def usphi(self, usphi):
         if isinstance(usphi, np.ndarray):
             self.__usphi = usphi
         else:
-            raise Exception('Invalid usphi value. Exiting.')
+            raise Exception('Invalid usphi value.')
 
     @idxsphi.setter
     def idxsphi(self, idxsphi):
         if isinstance(idxsphi, np.ndarray):
             self.__idxsphi = idxsphi
         else:
-            raise Exception('Invalid idxsphi value. Exiting.')
+            raise Exception('Invalid idxsphi value.')
 
     @Jsphi.setter
     def Jsphi(self, Jsphi):
         if isinstance(Jsphi, np.ndarray):
             self.__idxsphi = J_to_idx_slack(Jsphi)
         else:
-            raise Exception('Invalid Jsphi value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsphi value, expected numpy array.')
 
     # soft bounds on general linear constraints at shooting node N
     @lsg_e.setter
@@ -2021,28 +2030,28 @@ class AcadosOcpConstraints:
         if isinstance(lsg_e, np.ndarray):
             self.__lsg_e = lsg_e
         else:
-            raise Exception('Invalid lsg_e value. Exiting.')
+            raise Exception('Invalid lsg_e value.')
 
     @usg_e.setter
     def usg_e(self, usg_e):
         if isinstance(usg_e, np.ndarray):
             self.__usg_e = usg_e
         else:
-            raise Exception('Invalid usg_e value. Exiting.')
+            raise Exception('Invalid usg_e value.')
 
     @idxsg_e.setter
     def idxsg_e(self, idxsg_e):
         if isinstance(idxsg_e, np.ndarray):
             self.__idxsg_e = idxsg_e
         else:
-            raise Exception('Invalid idxsg_e value. Exiting.')
+            raise Exception('Invalid idxsg_e value.')
 
     @Jsg_e.setter
     def Jsg_e(self, Jsg_e):
         if isinstance(Jsg_e, np.ndarray):
             self.__idxsg_e = J_to_idx_slack(Jsg_e)
         else:
-            raise Exception('Invalid Jsg_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsg_e value, expected numpy array.')
 
     # soft bounds on nonlinear constraints at shooting node N
     @lsh_e.setter
@@ -2050,28 +2059,28 @@ class AcadosOcpConstraints:
         if isinstance(lsh_e, np.ndarray):
             self.__lsh_e = lsh_e
         else:
-            raise Exception('Invalid lsh_e value. Exiting.')
+            raise Exception('Invalid lsh_e value.')
 
     @ush_e.setter
     def ush_e(self, ush_e):
         if isinstance(ush_e, np.ndarray):
             self.__ush_e = ush_e
         else:
-            raise Exception('Invalid ush_e value. Exiting.')
+            raise Exception('Invalid ush_e value.')
 
     @idxsh_e.setter
     def idxsh_e(self, idxsh_e):
         if isinstance(idxsh_e, np.ndarray):
             self.__idxsh_e = idxsh_e
         else:
-            raise Exception('Invalid idxsh_e value. Exiting.')
+            raise Exception('Invalid idxsh_e value.')
 
     @Jsh_e.setter
     def Jsh_e(self, Jsh_e):
         if isinstance(Jsh_e, np.ndarray):
             self.__idxsh_e = J_to_idx_slack(Jsh_e)
         else:
-            raise Exception('Invalid Jsh_e value, expected numpy array. Exiting.')
+            raise Exception('Invalid Jsh_e value, expected numpy array.')
 
 
     # soft bounds on convex-over-nonlinear constraints at shooting node N
@@ -2080,28 +2089,28 @@ class AcadosOcpConstraints:
         if isinstance(lsphi_e, np.ndarray):
             self.__lsphi_e = lsphi_e
         else:
-            raise Exception('Invalid lsphi_e value. Exiting.')
+            raise Exception('Invalid lsphi_e value.')
 
     @usphi_e.setter
     def usphi_e(self, usphi_e):
         if isinstance(usphi_e, np.ndarray):
             self.__usphi_e = usphi_e
         else:
-            raise Exception('Invalid usphi_e value. Exiting.')
+            raise Exception('Invalid usphi_e value.')
 
     @idxsphi_e.setter
     def idxsphi_e(self, idxsphi_e):
         if isinstance(idxsphi_e, np.ndarray):
             self.__idxsphi_e = idxsphi_e
         else:
-            raise Exception('Invalid idxsphi_e value. Exiting.')
+            raise Exception('Invalid idxsphi_e value.')
 
     @Jsphi_e.setter
     def Jsphi_e(self, Jsphi_e):
         if isinstance(Jsphi_e, np.ndarray):
             self.__idxsphi_e = J_to_idx_slack(Jsphi_e)
         else:
-            raise Exception('Invalid Jsphi_e value. Exiting.')
+            raise Exception('Invalid Jsphi_e value.')
 
     def set(self, attr, value):
         setattr(self, attr, value)
@@ -2124,6 +2133,7 @@ class AcadosOcpOptions:
         self.__sim_method_num_stages  = 4                     # number of stages in the integrator
         self.__sim_method_num_steps   = 1                     # number of steps in the integrator
         self.__sim_method_newton_iter = 3                     # number of Newton iterations in simulation method
+        self.__sim_method_newton_tol = 0.0
         self.__sim_method_jac_reuse = 0
         self.__qp_solver_tol_stat = None                      # QP solver stationarity tolerance
         self.__qp_solver_tol_eq   = None                      # QP solver equality tolerance
@@ -2132,16 +2142,17 @@ class AcadosOcpOptions:
         self.__qp_solver_iter_max = 50                        # QP solver max iter
         self.__qp_solver_cond_N = None                        # QP solver: new horizon after partial condensing
         self.__qp_solver_warm_start = 0
+        self.__qp_solver_cond_ric_alg = 1
+        self.__qp_solver_ric_alg = 1
         self.__nlp_solver_tol_stat = 1e-6                     # NLP solver stationarity tolerance
         self.__nlp_solver_tol_eq   = 1e-6                     # NLP solver equality tolerance
         self.__nlp_solver_tol_ineq = 1e-6                     # NLP solver inequality
         self.__nlp_solver_tol_comp = 1e-6                     # NLP solver complementarity
         self.__nlp_solver_max_iter = 100                      # NLP solver maximum number of iterations
+        self.__nlp_solver_ext_qp_res = 0
         self.__Tsim = None                                    # automatically calculated as tf/N
         self.__print_level = 0                                # print level
         self.__initialize_t_slacks = 0                        # possible values: 0, 1
-        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
-        self.__model_external_shared_lib_name  = None         # name of the the .so lib
         self.__regularize_method = None
         self.__time_steps = None
         self.__shooting_nodes = None
@@ -2156,16 +2167,93 @@ class AcadosOcpOptions:
         self.__full_step_dual = 0
         self.__eps_sufficient_descent = 1e-4
         self.__hpipm_mode = 'BALANCE'
-
+        # TODO: move those out? they are more about generation than about the acados OCP solver.
+        self.__ext_fun_compile_flags = '-O2'
+        self.__model_external_shared_lib_dir   = None         # path to the the .so lib
+        self.__model_external_shared_lib_name  = None         # name of the the .so lib
+        self.__custom_update_filename = ''
+        self.__custom_update_header_filename = ''
+        self.__custom_templates = []
+        self.__custom_update_copy = True
 
     @property
     def qp_solver(self):
         """QP solver to be used in the NLP solver.
-        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP').
+        String in ('PARTIAL_CONDENSING_HPIPM', 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', 'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', 'FULL_CONDENSING_DAQP').
         Default: 'PARTIAL_CONDENSING_HPIPM'.
         """
         return self.__qp_solver
 
+    @property
+    def ext_fun_compile_flags(self):
+        """
+        String with compiler flags for external function compilation.
+        Default: '-O2'.
+        """
+        return self.__ext_fun_compile_flags
+
+
+    @property
+    def custom_update_filename(self):
+        """
+        Filename of the custom C function to update solver data and parameters in between solver calls
+
+        This file has to implement the functions
+        int custom_update_init_function([model.name]_solver_capsule* capsule);
+        int custom_update_function([model.name]_solver_capsule* capsule);
+        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
+
+
+        Default: ''.
+        """
+        return self.__custom_update_filename
+
+
+    @property
+    def custom_templates(self):
+        """
+        List of tuples of the form:
+        (input_filename, output_filename)
+
+        Custom templates are render in OCP solver generation.
+
+        Default: [].
+        """
+        return self.__custom_templates
+
+
+    @property
+    def custom_update_header_filename(self):
+        """
+        Header filename of the custom C function to update solver data and parameters in between solver calls
+
+        This file has to declare the custom_update functions and look as follows:
+
+        ```
+        // Called at the end of solver creation.
+        // This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
+        int custom_update_init_function([model.name]_solver_capsule* capsule);
+
+        // Custom update function that can be called between solver calls
+        int custom_update_function([model.name]_solver_capsule* capsule, double* data, int data_len);
+
+        // Called just before destroying the solver.
+        // Responsible to free allocated memory, stored at capsule->custom_update_memory.
+        int custom_update_terminate_function([model.name]_solver_capsule* capsule);
+
+        Default: ''.
+        """
+        return self.__custom_update_header_filename
+
+    @property
+    def custom_update_copy(self):
+        """
+        Boolean;
+        If True, the custom update function files are copied into the `code_export_directory`.
+        """
+        return self.__custom_update_copy
+
+
     @property
     def hpipm_mode(self):
         """
@@ -2230,6 +2318,13 @@ class AcadosOcpOptions:
         """Regularization method for the Hessian.
         String in ('NO_REGULARIZE', 'MIRROR', 'PROJECT', 'PROJECT_REDUC_HESS', 'CONVEXIFY') or :code:`None`.
 
+        - MIRROR: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, abs(D_ii))
+        - PROJECT: performs eigenvalue decomposition H = V^T D V and sets D_ii = max(eps, D_ii)
+        - CONVEXIFY: Algorithm 6 from Verschueren2017, https://cdn.syscop.de/publications/Verschueren2017.pdf
+        - PROJECT_REDUC_HESS: experimental
+
+        Note: default eps = 1e-4
+
         Default: :code:`None`.
         """
         return self.__regularize_method
@@ -2279,6 +2374,15 @@ class AcadosOcpOptions:
         """
         return self.__sim_method_newton_iter
 
+    @property
+    def sim_method_newton_tol(self):
+        """
+        Tolerance of Newton system in simulation method.
+        Type: float: 0.0 means not used
+        Default: 0.0
+        """
+        return self.__sim_method_newton_tol
+
     @property
     def sim_method_jac_reuse(self):
         """
@@ -2328,10 +2432,42 @@ class AcadosOcpOptions:
 
     @property
     def qp_solver_warm_start(self):
-        """QP solver: Warm starting.
-        0: no warm start; 1: warm start; 2: hot start."""
+        """
+        QP solver: Warm starting.
+        0: no warm start; 1: warm start; 2: hot start.
+        Default: 0
+        """
         return self.__qp_solver_warm_start
 
+    @property
+    def qp_solver_cond_ric_alg(self):
+        """
+        QP solver: Determines which algorithm is used in HPIPM condensing.
+        0: dont factorize hessian in the condensing; 1: factorize.
+        Default: 1
+        """
+        return self.__qp_solver_cond_ric_alg
+
+    @property
+    def qp_solver_ric_alg(self):
+        """
+        QP solver: Determines which algorithm is used in HPIPM OCP QP solver.
+        0 classical Riccati, 1 square-root Riccati.
+
+        Note: taken from [HPIPM paper]:
+
+        (a) the classical implementation requires the reduced Hessian with respect to the dynamics
+            equality constraints to be positive definite, but allows the full-space Hessian to be indefinite)
+        (b) the square-root implementation, which in order to reduce the flop count employs the Cholesky
+            factorization of the Riccati recursion matrix, and therefore requires the full-space Hessian to be positive definite
+
+        [HPIPM paper]: HPIPM: a high-performance quadratic programming framework for model predictive control, Frison and Diehl, 2020
+        https://cdn.syscop.de/publications/Frison2020a.pdf
+
+        Default: 1
+        """
+        return self.__qp_solver_ric_alg
+
     @property
     def qp_solver_iter_max(self):
         """
@@ -2429,6 +2565,15 @@ class AcadosOcpOptions:
         """NLP solver inequality tolerance"""
         return self.__nlp_solver_tol_ineq
 
+    @property
+    def nlp_solver_ext_qp_res(self):
+        """Determines if residuals of QP are computed externally within NLP solver (for debugging)
+
+        Type: int; 0 or 1;
+        Default: 0.
+        """
+        return self.__nlp_solver_ext_qp_res
+
     @property
     def nlp_solver_tol_comp(self):
         """NLP solver complementarity tolerance"""
@@ -2531,12 +2676,13 @@ class AcadosOcpOptions:
     def qp_solver(self, qp_solver):
         qp_solvers = ('PARTIAL_CONDENSING_HPIPM', \
                 'FULL_CONDENSING_QPOASES', 'FULL_CONDENSING_HPIPM', \
-                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP')
+                'PARTIAL_CONDENSING_QPDUNES', 'PARTIAL_CONDENSING_OSQP', \
+                'FULL_CONDENSING_DAQP')
         if qp_solver in qp_solvers:
             self.__qp_solver = qp_solver
         else:
             raise Exception('Invalid qp_solver value. Possible values are:\n\n' \
-                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\nExiting.')
+                    + ',\n'.join(qp_solvers) + '.\n\nYou have: ' + qp_solver + '.\n\n')
 
     @regularize_method.setter
     def regularize_method(self, regularize_method):
@@ -2546,7 +2692,7 @@ class AcadosOcpOptions:
             self.__regularize_method = regularize_method
         else:
             raise Exception('Invalid regularize_method value. Possible values are:\n\n' \
-                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\nExiting.')
+                    + ',\n'.join(regularize_methods) + '.\n\nYou have: ' + regularize_method + '.\n\n')
 
     @collocation_type.setter
     def collocation_type(self, collocation_type):
@@ -2555,7 +2701,7 @@ class AcadosOcpOptions:
             self.__collocation_type = collocation_type
         else:
             raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
+                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
 
     @hpipm_mode.setter
     def hpipm_mode(self, hpipm_mode):
@@ -2564,7 +2710,48 @@ class AcadosOcpOptions:
             self.__hpipm_mode = hpipm_mode
         else:
             raise Exception('Invalid hpipm_mode value. Possible values are:\n\n' \
-                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\nExiting.')
+                    + ',\n'.join(hpipm_modes) + '.\n\nYou have: ' + hpipm_mode + '.\n\n')
+
+    @ext_fun_compile_flags.setter
+    def ext_fun_compile_flags(self, ext_fun_compile_flags):
+        if isinstance(ext_fun_compile_flags, str):
+            self.__ext_fun_compile_flags = ext_fun_compile_flags
+        else:
+            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
+
+
+    @custom_update_filename.setter
+    def custom_update_filename(self, custom_update_filename):
+        if isinstance(custom_update_filename, str):
+            self.__custom_update_filename = custom_update_filename
+        else:
+            raise Exception('Invalid custom_update_filename, expected a string.\n')
+
+    @custom_templates.setter
+    def custom_templates(self, custom_templates):
+        if not isinstance(custom_templates, list):
+            raise Exception('Invalid custom_templates, expected a list.\n')
+        for tup in custom_templates:
+            if not isinstance(tup, tuple):
+                raise Exception('Invalid custom_templates, shoubld be list of tuples.\n')
+            for s in tup:
+                if not isinstance(s, str):
+                    raise Exception('Invalid custom_templates, shoubld be list of tuples of strings.\n')
+        self.__custom_templates = custom_templates
+
+    @custom_update_header_filename.setter
+    def custom_update_header_filename(self, custom_update_header_filename):
+        if isinstance(custom_update_header_filename, str):
+            self.__custom_update_header_filename = custom_update_header_filename
+        else:
+            raise Exception('Invalid custom_update_header_filename, expected a string.\n')
+
+    @custom_update_copy.setter
+    def custom_update_copy(self, custom_update_copy):
+        if isinstance(custom_update_copy, bool):
+            self.__custom_update_copy = custom_update_copy
+        else:
+            raise Exception('Invalid custom_update_copy, expected a bool.\n')
 
     @hessian_approx.setter
     def hessian_approx(self, hessian_approx):
@@ -2573,7 +2760,7 @@ class AcadosOcpOptions:
             self.__hessian_approx = hessian_approx
         else:
             raise Exception('Invalid hessian_approx value. Possible values are:\n\n' \
-                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\nExiting.')
+                    + ',\n'.join(hessian_approxs) + '.\n\nYou have: ' + hessian_approx + '.\n\n')
 
     @integrator_type.setter
     def integrator_type(self, integrator_type):
@@ -2582,7 +2769,7 @@ class AcadosOcpOptions:
             self.__integrator_type = integrator_type
         else:
             raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.')
+                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
 
     @tf.setter
     def tf(self, tf):
@@ -2619,7 +2806,7 @@ class AcadosOcpOptions:
             self.__globalization = globalization
         else:
             raise Exception('Invalid globalization value. Possible values are:\n\n' \
-                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\nExiting.')
+                    + ',\n'.join(globalization_types) + '.\n\nYou have: ' + globalization + '.\n\n')
 
     @alpha_min.setter
     def alpha_min(self, alpha_min):
@@ -2655,7 +2842,7 @@ class AcadosOcpOptions:
         if isinstance(eps_sufficient_descent, float) and eps_sufficient_descent > 0:
             self.__eps_sufficient_descent = eps_sufficient_descent
         else:
-            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float. Exiting')
+            raise Exception('Invalid eps_sufficient_descent value. eps_sufficient_descent must be a positive float.')
 
     @sim_method_num_stages.setter
     def sim_method_num_stages(self, sim_method_num_stages):
@@ -2663,7 +2850,7 @@ class AcadosOcpOptions:
         # if isinstance(sim_method_num_stages, int):
         #     self.__sim_method_num_stages = sim_method_num_stages
         # else:
-        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer. Exiting.')
+        #     raise Exception('Invalid sim_method_num_stages value. sim_method_num_stages must be an integer.')
 
         self.__sim_method_num_stages = sim_method_num_stages
 
@@ -2673,7 +2860,7 @@ class AcadosOcpOptions:
         # if isinstance(sim_method_num_steps, int):
         #     self.__sim_method_num_steps = sim_method_num_steps
         # else:
-        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer. Exiting.')
+        #     raise Exception('Invalid sim_method_num_steps value. sim_method_num_steps must be an integer.')
         self.__sim_method_num_steps = sim_method_num_steps
 
 
@@ -2683,7 +2870,7 @@ class AcadosOcpOptions:
         if isinstance(sim_method_newton_iter, int):
             self.__sim_method_newton_iter = sim_method_newton_iter
         else:
-            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer. Exiting.')
+            raise Exception('Invalid sim_method_newton_iter value. sim_method_newton_iter must be an integer.')
 
     @sim_method_jac_reuse.setter
     def sim_method_jac_reuse(self, sim_method_jac_reuse):
@@ -2699,42 +2886,57 @@ class AcadosOcpOptions:
             self.__nlp_solver_type = nlp_solver_type
         else:
             raise Exception('Invalid nlp_solver_type value. Possible values are:\n\n' \
-                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\nExiting.')
+                    + ',\n'.join(nlp_solver_types) + '.\n\nYou have: ' + nlp_solver_type + '.\n\n')
 
     @nlp_solver_step_length.setter
     def nlp_solver_step_length(self, nlp_solver_step_length):
         if isinstance(nlp_solver_step_length, float) and nlp_solver_step_length > 0:
             self.__nlp_solver_step_length = nlp_solver_step_length
         else:
-            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float. Exiting')
+            raise Exception('Invalid nlp_solver_step_length value. nlp_solver_step_length must be a positive float.')
 
     @levenberg_marquardt.setter
     def levenberg_marquardt(self, levenberg_marquardt):
         if isinstance(levenberg_marquardt, float) and levenberg_marquardt >= 0:
             self.__levenberg_marquardt = levenberg_marquardt
         else:
-            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float. Exiting')
+            raise Exception('Invalid levenberg_marquardt value. levenberg_marquardt must be a positive float.')
 
     @qp_solver_iter_max.setter
     def qp_solver_iter_max(self, qp_solver_iter_max):
         if isinstance(qp_solver_iter_max, int) and qp_solver_iter_max > 0:
             self.__qp_solver_iter_max = qp_solver_iter_max
         else:
-            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int. Exiting')
+            raise Exception('Invalid qp_solver_iter_max value. qp_solver_iter_max must be a positive int.')
+
+    @qp_solver_ric_alg.setter
+    def qp_solver_ric_alg(self, qp_solver_ric_alg):
+        if qp_solver_ric_alg in [0, 1]:
+            self.__qp_solver_ric_alg = qp_solver_ric_alg
+        else:
+            raise Exception(f'Invalid qp_solver_ric_alg value. qp_solver_ric_alg must be in [0, 1], got {qp_solver_ric_alg}.')
+
+    @qp_solver_cond_ric_alg.setter
+    def qp_solver_cond_ric_alg(self, qp_solver_cond_ric_alg):
+        if qp_solver_cond_ric_alg in [0, 1]:
+            self.__qp_solver_cond_ric_alg = qp_solver_cond_ric_alg
+        else:
+            raise Exception(f'Invalid qp_solver_cond_ric_alg value. qp_solver_cond_ric_alg must be in [0, 1], got {qp_solver_cond_ric_alg}.')
+
 
     @qp_solver_cond_N.setter
     def qp_solver_cond_N(self, qp_solver_cond_N):
         if isinstance(qp_solver_cond_N, int) and qp_solver_cond_N >= 0:
             self.__qp_solver_cond_N = qp_solver_cond_N
         else:
-            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int. Exiting')
+            raise Exception('Invalid qp_solver_cond_N value. qp_solver_cond_N must be a positive int.')
 
     @qp_solver_warm_start.setter
     def qp_solver_warm_start(self, qp_solver_warm_start):
         if qp_solver_warm_start in [0, 1, 2]:
             self.__qp_solver_warm_start = qp_solver_warm_start
         else:
-            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2. Exiting')
+            raise Exception('Invalid qp_solver_warm_start value. qp_solver_warm_start must be 0 or 1 or 2.')
 
     @qp_tol.setter
     def qp_tol(self, qp_tol):
@@ -2744,35 +2946,35 @@ class AcadosOcpOptions:
             self.__qp_solver_tol_stat = qp_tol
             self.__qp_solver_tol_comp = qp_tol
         else:
-            raise Exception('Invalid qp_tol value. qp_tol must be a positive float. Exiting')
+            raise Exception('Invalid qp_tol value. qp_tol must be a positive float.')
 
     @qp_solver_tol_stat.setter
     def qp_solver_tol_stat(self, qp_solver_tol_stat):
         if isinstance(qp_solver_tol_stat, float) and qp_solver_tol_stat > 0:
             self.__qp_solver_tol_stat = qp_solver_tol_stat
         else:
-            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float. Exiting')
+            raise Exception('Invalid qp_solver_tol_stat value. qp_solver_tol_stat must be a positive float.')
 
     @qp_solver_tol_eq.setter
     def qp_solver_tol_eq(self, qp_solver_tol_eq):
         if isinstance(qp_solver_tol_eq, float) and qp_solver_tol_eq > 0:
             self.__qp_solver_tol_eq = qp_solver_tol_eq
         else:
-            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float. Exiting')
+            raise Exception('Invalid qp_solver_tol_eq value. qp_solver_tol_eq must be a positive float.')
 
     @qp_solver_tol_ineq.setter
     def qp_solver_tol_ineq(self, qp_solver_tol_ineq):
         if isinstance(qp_solver_tol_ineq, float) and qp_solver_tol_ineq > 0:
             self.__qp_solver_tol_ineq = qp_solver_tol_ineq
         else:
-            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float. Exiting')
+            raise Exception('Invalid qp_solver_tol_ineq value. qp_solver_tol_ineq must be a positive float.')
 
     @qp_solver_tol_comp.setter
     def qp_solver_tol_comp(self, qp_solver_tol_comp):
         if isinstance(qp_solver_tol_comp, float) and qp_solver_tol_comp > 0:
             self.__qp_solver_tol_comp = qp_solver_tol_comp
         else:
-            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float. Exiting')
+            raise Exception('Invalid qp_solver_tol_comp value. qp_solver_tol_comp must be a positive float.')
 
     @tol.setter
     def tol(self, tol):
@@ -2782,35 +2984,42 @@ class AcadosOcpOptions:
             self.__nlp_solver_tol_stat = tol
             self.__nlp_solver_tol_comp = tol
         else:
-            raise Exception('Invalid tol value. tol must be a positive float. Exiting')
+            raise Exception('Invalid tol value. tol must be a positive float.')
 
     @nlp_solver_tol_stat.setter
     def nlp_solver_tol_stat(self, nlp_solver_tol_stat):
         if isinstance(nlp_solver_tol_stat, float) and nlp_solver_tol_stat > 0:
             self.__nlp_solver_tol_stat = nlp_solver_tol_stat
         else:
-            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float. Exiting')
+            raise Exception('Invalid nlp_solver_tol_stat value. nlp_solver_tol_stat must be a positive float.')
 
     @nlp_solver_tol_eq.setter
     def nlp_solver_tol_eq(self, nlp_solver_tol_eq):
         if isinstance(nlp_solver_tol_eq, float) and nlp_solver_tol_eq > 0:
             self.__nlp_solver_tol_eq = nlp_solver_tol_eq
         else:
-            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float. Exiting')
+            raise Exception('Invalid nlp_solver_tol_eq value. nlp_solver_tol_eq must be a positive float.')
 
     @nlp_solver_tol_ineq.setter
     def nlp_solver_tol_ineq(self, nlp_solver_tol_ineq):
         if isinstance(nlp_solver_tol_ineq, float) and nlp_solver_tol_ineq > 0:
             self.__nlp_solver_tol_ineq = nlp_solver_tol_ineq
         else:
-            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float. Exiting')
+            raise Exception('Invalid nlp_solver_tol_ineq value. nlp_solver_tol_ineq must be a positive float.')
+
+    @nlp_solver_ext_qp_res.setter
+    def nlp_solver_ext_qp_res(self, nlp_solver_ext_qp_res):
+        if nlp_solver_ext_qp_res in [0, 1]:
+            self.__nlp_solver_ext_qp_res = nlp_solver_ext_qp_res
+        else:
+            raise Exception('Invalid nlp_solver_ext_qp_res value. nlp_solver_ext_qp_res must be in [0, 1].')
 
     @nlp_solver_tol_comp.setter
     def nlp_solver_tol_comp(self, nlp_solver_tol_comp):
         if isinstance(nlp_solver_tol_comp, float) and nlp_solver_tol_comp > 0:
             self.__nlp_solver_tol_comp = nlp_solver_tol_comp
         else:
-            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float. Exiting')
+            raise Exception('Invalid nlp_solver_tol_comp value. nlp_solver_tol_comp must be a positive float.')
 
     @nlp_solver_max_iter.setter
     def nlp_solver_max_iter(self, nlp_solver_max_iter):
@@ -2818,14 +3027,14 @@ class AcadosOcpOptions:
         if isinstance(nlp_solver_max_iter, int) and nlp_solver_max_iter > 0:
             self.__nlp_solver_max_iter = nlp_solver_max_iter
         else:
-            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int. Exiting')
+            raise Exception('Invalid nlp_solver_max_iter value. nlp_solver_max_iter must be a positive int.')
 
     @print_level.setter
     def print_level(self, print_level):
         if isinstance(print_level, int) and print_level >= 0:
             self.__print_level = print_level
         else:
-            raise Exception('Invalid print_level value. print_level takes one of the values >=0. Exiting')
+            raise Exception('Invalid print_level value. print_level takes one of the values >=0.')
 
     @model_external_shared_lib_dir.setter
     def model_external_shared_lib_dir(self, model_external_shared_lib_dir):
@@ -2833,47 +3042,47 @@ class AcadosOcpOptions:
             self.__model_external_shared_lib_dir = model_external_shared_lib_dir
         else:
             raise Exception('Invalid model_external_shared_lib_dir value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\nExiting.')
+            + '.\n\nYou have: ' + type(model_external_shared_lib_dir) + '.\n\n')
 
     @model_external_shared_lib_name.setter
     def model_external_shared_lib_name(self, model_external_shared_lib_name):
         if isinstance(model_external_shared_lib_name, str) :
             if model_external_shared_lib_name[-3:] == '.so' : 
                 raise Exception('Invalid model_external_shared_lib_name value. Remove the .so extension.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
+            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
             else :
                 self.__model_external_shared_lib_name = model_external_shared_lib_name
         else:
             raise Exception('Invalid model_external_shared_lib_name value. Str expected.' \
-            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\nExiting.')
+            + '.\n\nYou have: ' + type(model_external_shared_lib_name) + '.\n\n')
 
     @exact_hess_constr.setter
     def exact_hess_constr(self, exact_hess_constr):
         if exact_hess_constr in [0, 1]:
             self.__exact_hess_constr = exact_hess_constr
         else:
-            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1. Exiting')
+            raise Exception('Invalid exact_hess_constr value. exact_hess_constr takes one of the values 0, 1.')
 
     @exact_hess_cost.setter
     def exact_hess_cost(self, exact_hess_cost):
         if exact_hess_cost in [0, 1]:
             self.__exact_hess_cost = exact_hess_cost
         else:
-            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1. Exiting')
+            raise Exception('Invalid exact_hess_cost value. exact_hess_cost takes one of the values 0, 1.')
 
     @exact_hess_dyn.setter
     def exact_hess_dyn(self, exact_hess_dyn):
         if exact_hess_dyn in [0, 1]:
             self.__exact_hess_dyn = exact_hess_dyn
         else:
-            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1. Exiting')
+            raise Exception('Invalid exact_hess_dyn value. exact_hess_dyn takes one of the values 0, 1.')
 
     @ext_cost_num_hess.setter
     def ext_cost_num_hess(self, ext_cost_num_hess):
         if ext_cost_num_hess in [0, 1]:
             self.__ext_cost_num_hess = ext_cost_num_hess
         else:
-            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1. Exiting')
+            raise Exception('Invalid ext_cost_num_hess value. ext_cost_num_hess takes one of the values 0, 1.')
 
     def set(self, attr, value):
         setattr(self, attr, value)
@@ -2893,6 +3102,7 @@ class AcadosOcp:
         - :py:attr:`solver_options` of type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`
 
         - :py:attr:`acados_include_path` (set automatically)
+        - :py:attr:`shared_lib_ext` (set automatically)
         - :py:attr:`acados_lib_path` (set automatically)
         - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
     """
@@ -2914,14 +3124,16 @@ class AcadosOcp:
         """Constraints definitions, type :py:class:`acados_template.acados_ocp.AcadosOcpConstraints`"""
         self.solver_options = AcadosOcpOptions()
         """Solver Options, type :py:class:`acados_template.acados_ocp.AcadosOcpOptions`"""
-		
+
         self.acados_include_path = os.path.join(acados_path, 'include').replace(os.sep, '/') # the replace part is important on Windows for CMake
         """Path to acados include directory (set automatically), type: `string`"""
         self.acados_lib_path = os.path.join(acados_path, 'lib').replace(os.sep, '/') # the replace part is important on Windows for CMake
         """Path to where acados library is located, type: `string`"""
+        self.shared_lib_ext = get_lib_ext()
 
-        import numpy
-        self.cython_include_dirs = numpy.get_include()
+        # get cython paths
+        from sysconfig import get_paths
+        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
 
         self.__parameter_values = np.array([])
         self.__problem_class = 'OCP'
diff --git a/pyextra/acados_template/acados_ocp_solver.py b/third_party/acados/acados_template/acados_ocp_solver.py
similarity index 75%
rename from pyextra/acados_template/acados_ocp_solver.py
rename to third_party/acados/acados_template/acados_ocp_solver.py
index beeda2cb0c..ffc9cf4b0e 100644
--- a/pyextra/acados_template/acados_ocp_solver.py
+++ b/third_party/acados/acados_template/acados_ocp_solver.py
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -38,26 +35,29 @@ import json
 import numpy as np
 from datetime import datetime
 import importlib
+import shutil
+
+from subprocess import DEVNULL, call, STDOUT
+
 from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_int64, byref
 
 from copy import deepcopy
+from pathlib import Path
 
-from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
-from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
-from .generate_c_code_gnsf import generate_c_code_gnsf
-from .generate_c_code_discrete_dynamics import generate_c_code_discrete_dynamics
-from .generate_c_code_constraint import generate_c_code_constraint
-from .generate_c_code_nls_cost import generate_c_code_nls_cost
-from .generate_c_code_external_cost import generate_c_code_external_cost
+from .casadi_function_generation import generate_c_code_explicit_ode, \
+    generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_discrete_dynamics, \
+    generate_c_code_constraint, generate_c_code_nls_cost, generate_c_code_conl_cost, \
+    generate_c_code_external_cost
+from .gnsf.detect_gnsf_structure import detect_gnsf_structure
 from .acados_ocp import AcadosOcp
-from .acados_model import acados_model_strip_casadi_symbolics
+from .acados_model import AcadosModel
 from .utils import is_column, is_empty, casadi_length, render_template,\
-     format_class_dict, ocp_check_against_layout, np_array_to_list, make_model_consistent,\
-     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path
+     format_class_dict, make_object_json_dumpable, make_model_consistent,\
+     set_up_imported_gnsf_model, get_ocp_nlp_layout, get_python_interface_path, get_lib_ext, check_casadi_version
 from .builders import CMakeBuilder
 
 
-def make_ocp_dims_consistent(acados_ocp):
+def make_ocp_dims_consistent(acados_ocp: AcadosOcp):
     dims = acados_ocp.dims
     cost = acados_ocp.cost
     constraints = acados_ocp.constraints
@@ -105,6 +105,9 @@ def make_ocp_dims_consistent(acados_ocp):
         model.cost_expr_ext_cost_0 = model.cost_expr_ext_cost
         model.cost_expr_ext_cost_custom_hess_0 = model.cost_expr_ext_cost_custom_hess
 
+        model.cost_psi_expr_0 = model.cost_psi_expr
+        model.cost_r_in_psi_expr_0 = model.cost_r_in_psi_expr
+
     if cost.cost_type_0 == 'LINEAR_LS':
         ny_0 = cost.W_0.shape[0]
         if cost.Vx_0.shape[0] != ny_0 or cost.Vu_0.shape[0] != ny_0:
@@ -133,6 +136,22 @@ def make_ocp_dims_consistent(acados_ocp):
                             f'\nGot W_0[{cost.W.shape}], yref_0[{cost.yref_0.shape}]\n')
         dims.ny_0 = ny_0
 
+    elif cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
+        if is_empty(model.cost_y_expr_0):
+            raise Exception('cost_y_expr_0 and/or cost_y_expr not provided.')
+        ny_0 = casadi_length(model.cost_y_expr_0)
+        if is_empty(model.cost_r_in_psi_expr_0) or casadi_length(model.cost_r_in_psi_expr_0) != ny_0:
+            raise Exception('inconsistent dimension ny_0: regarding cost_y_expr_0 and cost_r_in_psi_0.')
+        if is_empty(model.cost_psi_expr_0) or casadi_length(model.cost_psi_expr_0) != 1:
+            raise Exception('cost_psi_expr_0 not provided or not scalar-valued.')
+        if cost.yref_0.shape[0] != ny_0:
+            raise Exception('inconsistent dimension: regarding yref_0 and cost_y_expr_0, cost_r_in_psi_0.')
+        dims.ny_0 = ny_0
+
+        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
+            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
+            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
+
     elif cost.cost_type_0 == 'EXTERNAL':
         if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_0 is None:
             print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
@@ -171,6 +190,23 @@ def make_ocp_dims_consistent(acados_ocp):
                             f'\nGot W[{cost.W.shape}], yref[{cost.yref.shape}]\n')
         dims.ny = ny
 
+    elif cost.cost_type == 'CONVEX_OVER_NONLINEAR':
+        if is_empty(model.cost_y_expr):
+            raise Exception('cost_y_expr and/or cost_y_expr not provided.')
+        ny = casadi_length(model.cost_y_expr)
+        if is_empty(model.cost_r_in_psi_expr) or casadi_length(model.cost_r_in_psi_expr) != ny:
+            raise Exception('inconsistent dimension ny: regarding cost_y_expr and cost_r_in_psi.')
+        if is_empty(model.cost_psi_expr) or casadi_length(model.cost_psi_expr) != 1:
+            raise Exception('cost_psi_expr not provided or not scalar-valued.')
+        if cost.yref.shape[0] != ny:
+            raise Exception('inconsistent dimension: regarding yref and cost_y_expr, cost_r_in_psi.')
+        dims.ny = ny
+
+        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
+            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
+            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
+
+
     elif cost.cost_type == 'EXTERNAL':
         if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess is None:
             print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
@@ -202,6 +238,24 @@ def make_ocp_dims_consistent(acados_ocp):
             raise Exception('inconsistent dimension: regarding W_e, yref_e.')
         dims.ny_e = ny_e
 
+    elif cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
+        if is_empty(model.cost_y_expr_e):
+            raise Exception('cost_y_expr_e not provided.')
+        ny_e = casadi_length(model.cost_y_expr_e)
+        if is_empty(model.cost_r_in_psi_expr_e) or casadi_length(model.cost_r_in_psi_expr_e) != ny_e:
+            raise Exception('inconsistent dimension ny_e: regarding cost_y_expr_e and cost_r_in_psi_e.')
+        if is_empty(model.cost_psi_expr_e) or casadi_length(model.cost_psi_expr_e) != 1:
+            raise Exception('cost_psi_expr_e not provided or not scalar-valued.')
+        if cost.yref_e.shape[0] != ny_e:
+            raise Exception('inconsistent dimension: regarding yref_e and cost_y_expr_e, cost_r_in_psi_e.')
+        dims.ny_e = ny_e
+
+        if not (opts.hessian_approx=='EXACT' and opts.exact_hess_cost==False) and opts.hessian_approx != 'GAUSS_NEWTON':
+            raise Exception("\nWith CONVEX_OVER_NONLINEAR cost type, possible Hessian approximations are:\n"
+            "GAUSS_NEWTON or EXACT with 'exact_hess_cost' == False.\n")
+
+
+
     elif cost.cost_type_e == 'EXTERNAL':
         if opts.hessian_approx == 'GAUSS_NEWTON' and opts.ext_cost_num_hess == 0 and model.cost_expr_ext_cost_custom_hess_e is None:
             print("\nWARNING: Gauss-Newton Hessian approximation with EXTERNAL cost type not possible!\n"
@@ -213,16 +267,13 @@ def make_ocp_dims_consistent(acados_ocp):
 
     ## constraints
     # initial
-    if (constraints.lbx_0 == [] and constraints.ubx_0 == []):
-        dims.nbx_0 = 0
-    else:
-        this_shape = constraints.lbx_0.shape
-        other_shape = constraints.ubx_0.shape
-        if not this_shape == other_shape:
-            raise Exception('lbx_0, ubx_0 have different shapes!')
-        if not is_column(constraints.lbx_0):
-            raise Exception('lbx_0, ubx_0 must be column vectors!')
-        dims.nbx_0 = constraints.lbx_0.size
+    this_shape = constraints.lbx_0.shape
+    other_shape = constraints.ubx_0.shape
+    if not this_shape == other_shape:
+        raise Exception('lbx_0, ubx_0 have different shapes!')
+    if not is_column(constraints.lbx_0):
+        raise Exception('lbx_0, ubx_0 must be column vectors!')
+    dims.nbx_0 = constraints.lbx_0.size
 
     if all(constraints.lbx_0 == constraints.ubx_0) and dims.nbx_0 == dims.nx \
         and dims.nbxe_0 is None \
@@ -230,8 +281,10 @@ def make_ocp_dims_consistent(acados_ocp):
             and all(constraints.idxbxe_0 == constraints.idxbx_0):
         # case: x0 was set: nbx0 are all equlities.
         dims.nbxe_0 = dims.nbx_0
+    elif constraints.idxbxe_0 is not None:
+        dims.nbxe_0 = constraints.idxbxe_0.shape[0]
     elif dims.nbxe_0 is None:
-        # case: x0 was not set -> dont assume nbx0 to be equality constraints.
+        # case: x0 and idxbxe_0 were not set -> dont assume nbx0 to be equality constraints.
         dims.nbxe_0 = 0
 
     # path
@@ -309,6 +362,8 @@ def make_ocp_dims_consistent(acados_ocp):
 
     # Slack dimensions
     nsbx = constraints.idxsbx.shape[0]
+    if nsbx > nbx:
+        raise Exception(f'inconsistent dimension nsbx = {nsbx}. Is greater than nbx = {nbx}.')
     if is_empty(constraints.lsbx):
         constraints.lsbx = np.zeros((nsbx,))
     elif constraints.lsbx.shape[0] != nsbx:
@@ -320,6 +375,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsbx = nsbx
 
     nsbu = constraints.idxsbu.shape[0]
+    if nsbu > nbu:
+        raise Exception(f'inconsistent dimension nsbu = {nsbu}. Is greater than nbu = {nbu}.')
     if is_empty(constraints.lsbu):
         constraints.lsbu = np.zeros((nsbu,))
     elif constraints.lsbu.shape[0] != nsbu:
@@ -331,6 +388,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsbu = nsbu
 
     nsh = constraints.idxsh.shape[0]
+    if nsh > nh:
+        raise Exception(f'inconsistent dimension nsh = {nsh}. Is greater than nh = {nh}.')
     if is_empty(constraints.lsh):
         constraints.lsh = np.zeros((nsh,))
     elif constraints.lsh.shape[0] != nsh:
@@ -342,6 +401,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsh = nsh
 
     nsphi = constraints.idxsphi.shape[0]
+    if nsphi > dims.nphi:
+        raise Exception(f'inconsistent dimension nsphi = {nsphi}. Is greater than nphi = {dims.nphi}.')
     if is_empty(constraints.lsphi):
         constraints.lsphi = np.zeros((nsphi,))
     elif constraints.lsphi.shape[0] != nsphi:
@@ -353,6 +414,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsphi = nsphi
 
     nsg = constraints.idxsg.shape[0]
+    if nsg > ng:
+        raise Exception(f'inconsistent dimension nsg = {nsg}. Is greater than ng = {ng}.')
     if is_empty(constraints.lsg):
         constraints.lsg = np.zeros((nsg,))
     elif constraints.lsg.shape[0] != nsg:
@@ -386,6 +449,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.ns = ns
 
     nsbx_e = constraints.idxsbx_e.shape[0]
+    if nsbx_e > nbx_e:
+        raise Exception(f'inconsistent dimension nsbx_e = {nsbx_e}. Is greater than nbx_e = {nbx_e}.')
     if is_empty(constraints.lsbx_e):
         constraints.lsbx_e = np.zeros((nsbx_e,))
     elif constraints.lsbx_e.shape[0] != nsbx_e:
@@ -397,6 +462,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsbx_e = nsbx_e
 
     nsh_e = constraints.idxsh_e.shape[0]
+    if nsh_e > nh_e:
+        raise Exception(f'inconsistent dimension nsh_e = {nsh_e}. Is greater than nh_e = {nh_e}.')
     if is_empty(constraints.lsh_e):
         constraints.lsh_e = np.zeros((nsh_e,))
     elif constraints.lsh_e.shape[0] != nsh_e:
@@ -408,6 +475,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsh_e = nsh_e
 
     nsg_e = constraints.idxsg_e.shape[0]
+    if nsg_e > ng_e:
+        raise Exception(f'inconsistent dimension nsg_e = {nsg_e}. Is greater than ng_e = {ng_e}.')
     if is_empty(constraints.lsg_e):
         constraints.lsg_e = np.zeros((nsg_e,))
     elif constraints.lsg_e.shape[0] != nsg_e:
@@ -419,6 +488,8 @@ def make_ocp_dims_consistent(acados_ocp):
     dims.nsg_e = nsg_e
 
     nsphi_e = constraints.idxsphi_e.shape[0]
+    if nsphi_e > dims.nphi_e:
+        raise Exception(f'inconsistent dimension nsphi_e = {nsphi_e}. Is greater than nphi_e = {dims.nphi_e}.')
     if is_empty(constraints.lsphi_e):
         constraints.lsphi_e = np.zeros((nsphi_e,))
     elif constraints.lsphi_e.shape[0] != nsphi_e:
@@ -525,7 +596,7 @@ def get_simulink_default_opts():
     return simulink_default_opts
 
 
-def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_nlp.json'):
+def ocp_formulation_json_dump(acados_ocp, simulink_opts=None, json_file='acados_ocp_nlp.json'):
     # Load acados_ocp_nlp structure description
     ocp_layout = get_ocp_nlp_layout()
 
@@ -543,20 +614,11 @@ def ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file='acados_ocp_n
 
     ocp_nlp_dict = format_class_dict(ocp_nlp_dict)
 
-    # strip symbolics
-    ocp_nlp_dict['model'] = acados_model_strip_casadi_symbolics(ocp_nlp_dict['model'])
-
-    # strip shooting_nodes
-    ocp_nlp_dict['solver_options'].pop('shooting_nodes', None)
-    dims_dict = format_class_dict(acados_ocp.dims.__dict__)
-
-    ocp_check_against_layout(ocp_nlp_dict, dims_dict)
-
-    # add simulink options
-    ocp_nlp_dict['simulink_opts'] = simulink_opts
+    if simulink_opts is not None:
+        ocp_nlp_dict['simulink_opts'] = simulink_opts
 
     with open(json_file, 'w') as f:
-        json.dump(ocp_nlp_dict, f, default=np_array_to_list, indent=4, sort_keys=True)
+        json.dump(ocp_nlp_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
 
 
 
@@ -587,7 +649,7 @@ def ocp_formulation_json_load(json_file='acados_ocp_nlp.json'):
     return acados_ocp
 
 
-def ocp_generate_external_functions(acados_ocp, model):
+def ocp_generate_external_functions(acados_ocp: AcadosOcp, model: AcadosModel):
 
     model = make_model_consistent(model)
 
@@ -595,27 +657,32 @@ def ocp_generate_external_functions(acados_ocp, model):
         opts = dict(generate_hess=1)
     else:
         opts = dict(generate_hess=0)
+
+    # create code_export_dir, model_dir
     code_export_dir = acados_ocp.code_export_directory
     opts['code_export_directory'] = code_export_dir
-
-    if acados_ocp.model.dyn_ext_fun_type != 'casadi':
-        raise Exception("ocp_generate_external_functions: dyn_ext_fun_type only supports 'casadi' for now.\
-            Extending the Python interface with generic function support is welcome.")
-
-    if acados_ocp.solver_options.integrator_type == 'ERK':
-        # explicit model -- generate C code
-        generate_c_code_explicit_ode(model, opts)
-    elif acados_ocp.solver_options.integrator_type == 'IRK':
-        # implicit model -- generate C code
-        generate_c_code_implicit_ode(model, opts)
-    elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
-        generate_c_code_implicit_ode(model, opts)
-    elif acados_ocp.solver_options.integrator_type == 'GNSF':
-        generate_c_code_gnsf(model, opts)
-    elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
-        generate_c_code_discrete_dynamics(model, opts)
+    model_dir = os.path.join(code_export_dir, model.name + '_model')
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+
+    check_casadi_version()
+    # TODO: remove dir gen from all the generate_c_* functions
+    if acados_ocp.model.dyn_ext_fun_type == 'casadi':
+        if acados_ocp.solver_options.integrator_type == 'ERK':
+            generate_c_code_explicit_ode(model, opts)
+        elif acados_ocp.solver_options.integrator_type == 'IRK':
+            generate_c_code_implicit_ode(model, opts)
+        elif acados_ocp.solver_options.integrator_type == 'LIFTED_IRK':
+            generate_c_code_implicit_ode(model, opts)
+        elif acados_ocp.solver_options.integrator_type == 'GNSF':
+            generate_c_code_gnsf(model, opts)
+        elif acados_ocp.solver_options.integrator_type == 'DISCRETE':
+            generate_c_code_discrete_dynamics(model, opts)
+        else:
+            raise Exception("ocp_generate_external_functions: unknown integrator type.")
     else:
-        raise Exception("ocp_generate_external_functions: unknown integrator type.")
+        target_location = os.path.join(code_export_dir, model_dir, model.dyn_generic_source)
+        shutil.copyfile(model.dyn_generic_source, target_location)
 
     if acados_ocp.dims.nphi > 0 or acados_ocp.dims.nh > 0:
         generate_c_code_constraint(model, model.name, False, opts)
@@ -623,28 +690,24 @@ def ocp_generate_external_functions(acados_ocp, model):
     if acados_ocp.dims.nphi_e > 0 or acados_ocp.dims.nh_e > 0:
         generate_c_code_constraint(model, model.name, True, opts)
 
-    # dummy matrices
-    if not acados_ocp.cost.cost_type_0 == 'LINEAR_LS':
-        acados_ocp.cost.Vx_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nx))
-        acados_ocp.cost.Vu_0 = np.zeros((acados_ocp.dims.ny_0, acados_ocp.dims.nu))
-    if not acados_ocp.cost.cost_type == 'LINEAR_LS':
-        acados_ocp.cost.Vx = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nx))
-        acados_ocp.cost.Vu = np.zeros((acados_ocp.dims.ny, acados_ocp.dims.nu))
-    if not acados_ocp.cost.cost_type_e == 'LINEAR_LS':
-        acados_ocp.cost.Vx_e = np.zeros((acados_ocp.dims.ny_e, acados_ocp.dims.nx))
-
     if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
         generate_c_code_nls_cost(model, model.name, 'initial', opts)
+    elif acados_ocp.cost.cost_type_0 == 'CONVEX_OVER_NONLINEAR':
+        generate_c_code_conl_cost(model, model.name, 'initial', opts)
     elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
         generate_c_code_external_cost(model, 'initial', opts)
 
     if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
         generate_c_code_nls_cost(model, model.name, 'path', opts)
+    elif acados_ocp.cost.cost_type == 'CONVEX_OVER_NONLINEAR':
+        generate_c_code_conl_cost(model, model.name, 'path', opts)
     elif acados_ocp.cost.cost_type == 'EXTERNAL':
         generate_c_code_external_cost(model, 'path', opts)
 
     if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
         generate_c_code_nls_cost(model, model.name, 'terminal', opts)
+    elif acados_ocp.cost.cost_type_e == 'CONVEX_OVER_NONLINEAR':
+        generate_c_code_conl_cost(model, model.name, 'terminal', opts)
     elif acados_ocp.cost.cost_type_e == 'EXTERNAL':
         generate_c_code_external_cost(model, 'terminal', opts)
 
@@ -659,9 +722,8 @@ def ocp_get_default_cmake_builder() -> CMakeBuilder:
     return cmake_builder
 
 
-def ocp_render_templates(acados_ocp, json_file, cmake_builder=None):
 
-    name = acados_ocp.model.name
+def ocp_render_templates(acados_ocp: AcadosOcp, json_file, cmake_builder=None, simulink_opts=None):
 
     # setting up loader and environment
     json_path = os.path.abspath(json_file)
@@ -669,132 +731,69 @@ def ocp_render_templates(acados_ocp, json_file, cmake_builder=None):
     if not os.path.exists(json_path):
         raise Exception(f'Path "{json_path}" not found!')
 
-    code_export_dir = acados_ocp.code_export_directory
-    template_dir = code_export_dir
+    # Render templates
+    template_list = __ocp_get_template_list(acados_ocp, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
+    for tup in template_list:
+        if len(tup) > 2:
+            output_dir = tup[2]
+        else:
+            output_dir = acados_ocp.code_export_directory
+        render_template(tup[0], tup[1], output_dir, json_path)
 
-    ## Render templates
-    in_file = 'main.in.c'
-    out_file = f'main_{name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
+    # Custom templates
+    acados_template_path = os.path.dirname(os.path.abspath(__file__))
+    custom_template_glob = os.path.join(acados_template_path, 'custom_update_templates', '*')
+    for tup in acados_ocp.solver_options.custom_templates:
+        render_template(tup[0], tup[1], acados_ocp.code_export_directory, json_path, template_glob=custom_template_glob)
 
-    in_file = 'acados_solver.in.c'
-    out_file = f'acados_solver_{name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
+    return
 
-    in_file = 'acados_solver.in.h'
-    out_file = f'acados_solver_{name}.h'
-    render_template(in_file, out_file, template_dir, json_path)
 
-    in_file = 'acados_solver.in.pxd'
-    out_file = f'acados_solver.pxd'
-    render_template(in_file, out_file, template_dir, json_path)
 
+def __ocp_get_template_list(acados_ocp: AcadosOcp, cmake_builder=None, simulink_opts=None) -> list:
+    """
+    returns a list of tuples in the form:
+    (input_filename, output_filname)
+    or
+    (input_filename, output_filname, output_directory)
+    """
+    name = acados_ocp.model.name
+    code_export_directory = acados_ocp.code_export_directory
+    template_list = []
+
+    template_list.append(('main.in.c', f'main_{name}.c'))
+    template_list.append(('acados_solver.in.c', f'acados_solver_{name}.c'))
+    template_list.append(('acados_solver.in.h', f'acados_solver_{name}.h'))
+    template_list.append(('acados_solver.in.pxd', f'acados_solver.pxd'))
     if cmake_builder is not None:
-        in_file = 'CMakeLists.in.txt'
-        out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, template_dir, json_path)
+        template_list.append(('CMakeLists.in.txt', 'CMakeLists.txt'))
     else:
-        in_file = 'Makefile.in'
-        out_file = 'Makefile'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    in_file = 'acados_solver_sfun.in.c'
-    out_file = f'acados_solver_sfunction_{name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
+        template_list.append(('Makefile.in', 'Makefile'))
 
-    in_file = 'make_sfun.in.m'
-    out_file = f'make_sfun_{name}.m'
-    render_template(in_file, out_file, template_dir, json_path)
 
     # sim
-    in_file = 'acados_sim_solver.in.c'
-    out_file = f'acados_sim_solver_{name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
-
-    in_file = 'acados_sim_solver.in.h'
-    out_file = f'acados_sim_solver_{name}.h'
-    render_template(in_file, out_file, template_dir, json_path)
-
-    in_file = 'main_sim.in.c'
-    out_file = f'main_sim_{name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
-
-    ## folder model
-    template_dir = os.path.join(code_export_dir, name + '_model')
-    in_file = 'model.in.h'
-    out_file = f'{name}_model.h'
-    render_template(in_file, out_file, template_dir, json_path)
-
-    # constraints on convex over nonlinear function
-    if acados_ocp.constraints.constr_type == 'BGP' and acados_ocp.dims.nphi > 0:
-        # constraints on outer function
-        template_dir = os.path.join(code_export_dir, name + '_constraints')
-        in_file = 'phi_constraint.in.h'
-        out_file = f'{name}_phi_constraint.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # terminal constraints on convex over nonlinear function
-    if acados_ocp.constraints.constr_type_e == 'BGP' and acados_ocp.dims.nphi_e > 0:
-        # terminal constraints on outer function
-        template_dir = os.path.join(code_export_dir, name + '_constraints')
-        in_file = 'phi_e_constraint.in.h'
-        out_file = f'{name}_phi_e_constraint.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # nonlinear constraints
-    if acados_ocp.constraints.constr_type == 'BGH' and acados_ocp.dims.nh > 0:
-        template_dir = os.path.join(code_export_dir, name + '_constraints')
-        in_file = 'h_constraint.in.h'
-        out_file = f'{name}_h_constraint.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # terminal nonlinear constraints
-    if acados_ocp.constraints.constr_type_e == 'BGH' and acados_ocp.dims.nh_e > 0:
-        template_dir = os.path.join(code_export_dir, name + '_constraints')
-        in_file = 'h_e_constraint.in.h'
-        out_file = f'{name}_h_e_constraint.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # initial stage Nonlinear LS cost function
-    if acados_ocp.cost.cost_type_0 == 'NONLINEAR_LS':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'cost_y_0_fun.in.h'
-        out_file = f'{name}_cost_y_0_fun.h'
-        render_template(in_file, out_file, template_dir, json_path)
-    # external cost - terminal
-    elif acados_ocp.cost.cost_type_0 == 'EXTERNAL':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'external_cost_0.in.h'
-        out_file = f'{name}_external_cost_0.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # path Nonlinear LS cost function
-    if acados_ocp.cost.cost_type == 'NONLINEAR_LS':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'cost_y_fun.in.h'
-        out_file = f'{name}_cost_y_fun.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # terminal Nonlinear LS cost function
-    if acados_ocp.cost.cost_type_e == 'NONLINEAR_LS':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'cost_y_e_fun.in.h'
-        out_file = f'{name}_cost_y_e_fun.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # external cost
-    if acados_ocp.cost.cost_type == 'EXTERNAL':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'external_cost.in.h'
-        out_file = f'{name}_external_cost.h'
-        render_template(in_file, out_file, template_dir, json_path)
-
-    # external cost - terminal
-    if acados_ocp.cost.cost_type_e == 'EXTERNAL':
-        template_dir = os.path.join(code_export_dir, name + '_cost')
-        in_file = 'external_cost_e.in.h'
-        out_file = f'{name}_external_cost_e.h'
-        render_template(in_file, out_file, template_dir, json_path)
+    template_list.append(('acados_sim_solver.in.c', f'acados_sim_solver_{name}.c'))
+    template_list.append(('acados_sim_solver.in.h', f'acados_sim_solver_{name}.h'))
+    template_list.append(('main_sim.in.c', f'main_sim_{name}.c'))
+
+    # model
+    model_dir = os.path.join(code_export_directory, f'{name}_model')
+    template_list.append(('model.in.h', f'{name}_model.h', model_dir))
+    # constraints
+    constraints_dir = os.path.join(code_export_directory, f'{name}_constraints')
+    template_list.append(('constraints.in.h', f'{name}_constraints.h', constraints_dir))
+    # cost
+    cost_dir = os.path.join(code_export_directory, f'{name}_cost')
+    template_list.append(('cost.in.h', f'{name}_cost.h', cost_dir))
+
+    # Simulink
+    if simulink_opts is not None:
+        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
+        template_list.append((template_file, f'acados_solver_sfunction_{name}.c'))
+        template_file = os.path.join('matlab_templates', 'acados_solver_sfun.in.c')
+        template_list.append((template_file, f'make_sfun_{name}.m'))
+
+    return template_list
 
 
 def remove_x0_elimination(acados_ocp):
@@ -820,7 +819,7 @@ class AcadosOcpSolver:
         dlclose.argtypes = [c_void_p]
 
     @classmethod
-    def generate(cls, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
+    def generate(cls, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, cmake_builder: CMakeBuilder = None):
         """
         Generates the code for an acados OCP solver, given the description in acados_ocp.
             :param acados_ocp: type AcadosOcp - description of the OCP for acados
@@ -834,15 +833,15 @@ class AcadosOcpSolver:
         model = acados_ocp.model
         acados_ocp.code_export_directory = os.path.abspath(acados_ocp.code_export_directory)
 
-        if simulink_opts is None:
-            simulink_opts = get_simulink_default_opts()
-
         # make dims consistent
         make_ocp_dims_consistent(acados_ocp)
 
         # module dependent post processing
         if acados_ocp.solver_options.integrator_type == 'GNSF':
-            set_up_imported_gnsf_model(acados_ocp)
+            if 'gnsf_model' in acados_ocp.__dict__:
+                set_up_imported_gnsf_model(acados_ocp)
+            else:
+                detect_gnsf_structure(acados_ocp)
 
         if acados_ocp.solver_options.qp_solver == 'PARTIAL_CONDENSING_QPDUNES':
             remove_x0_elimination(acados_ocp)
@@ -854,15 +853,23 @@ class AcadosOcpSolver:
         ocp_generate_external_functions(acados_ocp, model)
 
         # dump to json
-        ocp_formulation_json_dump(acados_ocp, simulink_opts, json_file)
+        acados_ocp.json_file = json_file
+        ocp_formulation_json_dump(acados_ocp, simulink_opts=simulink_opts, json_file=json_file)
 
         # render templates
-        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder)
-        acados_ocp.json_file = json_file
+        ocp_render_templates(acados_ocp, json_file, cmake_builder=cmake_builder, simulink_opts=simulink_opts)
+
+        # copy custom update function
+        if acados_ocp.solver_options.custom_update_filename != "" and acados_ocp.solver_options.custom_update_copy:
+            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_filename)
+            shutil.copyfile(acados_ocp.solver_options.custom_update_filename, target_location)
+        if acados_ocp.solver_options.custom_update_header_filename != "" and acados_ocp.solver_options.custom_update_copy:
+            target_location = os.path.join(acados_ocp.code_export_directory, acados_ocp.solver_options.custom_update_header_filename)
+            shutil.copyfile(acados_ocp.solver_options.custom_update_header_filename, target_location)
 
 
     @classmethod
-    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None):
+    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
         """
         Builds the code for an acados OCP solver, that has been generated in code_export_dir
             :param code_export_dir: directory in which acados OCP solver has been generated, see generate()
@@ -870,19 +877,36 @@ class AcadosOcpSolver:
             :param cmake_builder: type :py:class:`~acados_template.builders.CMakeBuilder` generate a `CMakeLists.txt` and use
                    the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
                    `MS Visual Studio`); default: `None`
+            :param verbose: indicating if build command is printed
         """
         code_export_dir = os.path.abspath(code_export_dir)
-        cwd=os.getcwd()
+        cwd = os.getcwd()
         os.chdir(code_export_dir)
         if with_cython:
-            os.system('make clean_ocp_cython')
-            os.system('make ocp_cython')
+            call(
+                ['make', 'clean_all'],
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+            call(
+                ['make', 'ocp_cython'],
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
         else:
             if cmake_builder is not None:
                 cmake_builder.exec(code_export_dir)
             else:
-                os.system('make clean_ocp_shared_lib')
-                os.system('make ocp_shared_lib')
+                call(
+                    ['make', 'clean_ocp_shared_lib'],
+                    stdout=None if verbose else DEVNULL,
+                    stderr=None if verbose else STDOUT
+                )
+                call(
+                    ['make', 'ocp_shared_lib'],
+                    stdout=None if verbose else DEVNULL,
+                    stderr=None if verbose else STDOUT
+                )
         os.chdir(cwd)
 
 
@@ -910,7 +934,7 @@ class AcadosOcpSolver:
                     acados_ocp_json['dims']['N'])
 
 
-    def __init__(self, acados_ocp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None):
+    def __init__(self, acados_ocp: AcadosOcp, json_file='acados_ocp_nlp.json', simulink_opts=None, build=True, generate=True, cmake_builder: CMakeBuilder = None, verbose=True):
 
         self.solver_created = False
         if generate:
@@ -927,15 +951,13 @@ class AcadosOcpSolver:
         code_export_directory = acados_ocp_json['code_export_directory']
 
         if build:
-            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder)
+            self.build(code_export_directory, with_cython=False, cmake_builder=cmake_builder, verbose=verbose)
 
         # prepare library loading
         lib_prefix = 'lib'
-        lib_ext = '.so'
+        lib_ext = get_lib_ext()
         if os.name == 'nt':
             lib_prefix = ''
-            lib_ext = ''
-        # ToDo: check for mac
 
         # Load acados library to avoid unloading the library.
         # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
@@ -970,16 +992,23 @@ class AcadosOcpSolver:
         assert getattr(self.shared_lib, f"{self.model_name}_acados_create")(self.capsule)==0
         self.solver_created = True
 
+        self.acados_ocp = acados_ocp
+
         # get pointers solver
         self.__get_pointers_solver()
 
         self.status = 0
 
+        # gettable fields
+        self.__qp_dynamics_fields = ['A', 'B', 'b']
+        self.__qp_cost_fields = ['Q', 'R', 'S', 'q', 'r']
+        self.__qp_constraint_fields = ['C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
+
 
     def __get_pointers_solver(self):
-        """
-        Private function to get the pointers for solver
-        """
+        # """
+        # Private function to get the pointers for solver
+        # """
         # get pointers solver
         getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").argtypes = [c_void_p]
         getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_opts").restype = c_void_p
@@ -1010,6 +1039,25 @@ class AcadosOcpSolver:
         self.nlp_solver = getattr(self.shared_lib, f"{self.model_name}_acados_get_nlp_solver")(self.capsule)
 
 
+
+    def solve_for_x0(self, x0_bar):
+        """
+        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
+        """
+        self.set(0, "lbx", x0_bar)
+        self.set(0, "ubx", x0_bar)
+
+        status = self.solve()
+
+        if status == 2:
+            print("Warning: acados_ocp_solver reached maximum iterations.")
+        elif status != 0:
+            raise Exception(f'acados acados_ocp_solver returned status {status}')
+
+        u0 = self.get(0, "u")
+        return u0
+
+
     def solve(self):
         """
         Solve the ocp with current input.
@@ -1021,13 +1069,31 @@ class AcadosOcpSolver:
         return self.status
 
 
-    def reset(self):
+    def custom_update(self, data_: np.ndarray):
+        """
+        A custom function that can be implemented by a user to be called between solver calls.
+        By default this does nothing.
+        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
+        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
+        """
+        data = np.ascontiguousarray(data_, dtype=np.float64)
+        c_data = cast(data.ctypes.data, POINTER(c_double))
+        data_len = len(data)
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").argtypes = [c_void_p, POINTER(c_double), c_int]
+        getattr(self.shared_lib, f"{self.model_name}_acados_custom_update").restype = c_int
+        status = getattr(self.shared_lib, f"{self.model_name}_acados_custom_update")(self.capsule, c_data, data_len)
+
+        return status
+
+
+    def reset(self, reset_qp_solver_mem=1):
         """
         Sets current iterate to all zeros.
         """
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p]
+        getattr(self.shared_lib, f"{self.model_name}_acados_reset").argtypes = [c_void_p, c_int]
         getattr(self.shared_lib, f"{self.model_name}_acados_reset").restype = c_int
-        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule)
+        getattr(self.shared_lib, f"{self.model_name}_acados_reset")(self.capsule, reset_qp_solver_mem)
 
         return
 
@@ -1175,18 +1241,17 @@ class AcadosOcpSolver:
         field = field_
 
         if (field_ not in all_fields):
-            raise Exception('AcadosOcpSolver.get(): {} is an invalid argument.\
-                    \n Possible values are {}. Exiting.'.format(field_, all_fields))
+            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): \'{field_}\' is an invalid argument.\
+                    \n Possible values are {all_fields}.')
 
         if not isinstance(stage_, int):
-            raise Exception('AcadosOcpSolver.get(): stage index must be Integer.')
+            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be an integer, got type {type(stage_)}.')
 
         if stage_ < 0 or stage_ > self.N:
-            raise Exception('AcadosOcpSolver.get(): stage index must be in [0, N], got: {}.'.format(stage_))
+            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): stage index must be in [0, {self.N}], got: {stage_}.')
 
         if stage_ == self.N and field_ == 'pi':
-            raise Exception('AcadosOcpSolver.get(): field {} does not exist at final stage {}.'\
-                .format(field_, stage_))
+            raise Exception(f'AcadosOcpSolver.get(stage={stage_}, field={field_}): field \'{field_}\' does not exist at final stage {stage_}.')
 
         if field_ in sens_fields:
             field = field_.replace('sens_', '')
@@ -1265,15 +1330,15 @@ class AcadosOcpSolver:
         return
 
 
-    def store_iterate(self, filename='', overwrite=False):
+    def store_iterate(self, filename: str = '', overwrite=False):
         """
         Stores the current iterate of the ocp solver in a json file.
 
-            :param filename: if not set, use model_name + timestamp + '.json'
+            :param filename: if not set, use f'{self.model_name}_iterate.json'
             :param overwrite: if false and filename exists add timestamp to filename
         """
         if filename == '':
-            filename += self.model_name + '_' + 'iterate' + '.json'
+            filename = f'{self.model_name}_iterate.json'
 
         if not overwrite:
             # append timestamp
@@ -1284,23 +1349,70 @@ class AcadosOcpSolver:
         # get iterate:
         solution = dict()
 
+        lN = len(str(self.N+1))
         for i in range(self.N+1):
-            solution['x_'+str(i)] = self.get(i,'x')
-            solution['u_'+str(i)] = self.get(i,'u')
-            solution['z_'+str(i)] = self.get(i,'z')
-            solution['lam_'+str(i)] = self.get(i,'lam')
-            solution['t_'+str(i)] = self.get(i, 't')
-            solution['sl_'+str(i)] = self.get(i, 'sl')
-            solution['su_'+str(i)] = self.get(i, 'su')
-        for i in range(self.N):
-            solution['pi_'+str(i)] = self.get(i,'pi')
+            i_string = f'{i:0{lN}d}'
+            solution['x_'+i_string] = self.get(i,'x')
+            solution['u_'+i_string] = self.get(i,'u')
+            solution['z_'+i_string] = self.get(i,'z')
+            solution['lam_'+i_string] = self.get(i,'lam')
+            solution['t_'+i_string] = self.get(i, 't')
+            solution['sl_'+i_string] = self.get(i, 'sl')
+            solution['su_'+i_string] = self.get(i, 'su')
+            if i < self.N:
+                solution['pi_'+i_string] = self.get(i,'pi')
+
+        for k in list(solution.keys()):
+            if len(solution[k]) == 0:
+                del solution[k]
 
         # save
         with open(filename, 'w') as f:
-            json.dump(solution, f, default=np_array_to_list, indent=4, sort_keys=True)
+            json.dump(solution, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
         print("stored current iterate in ", os.path.join(os.getcwd(), filename))
 
 
+
+    def dump_last_qp_to_json(self, filename: str = '', overwrite=False):
+        """
+        Dumps the latest QP data into a json file
+
+            :param filename: if not set, use model_name + timestamp + '.json'
+            :param overwrite: if false and filename exists add timestamp to filename
+        """
+        if filename == '':
+            filename = f'{self.model_name}_QP.json'
+
+        if not overwrite:
+            # append timestamp
+            if os.path.isfile(filename):
+                filename = filename[:-5]
+                filename += datetime.utcnow().strftime('%Y-%m-%d-%H:%M:%S.%f') + '.json'
+
+        # get QP data:
+        qp_data = dict()
+
+        lN = len(str(self.N+1))
+        for field in self.__qp_dynamics_fields:
+            for i in range(self.N):
+                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
+
+        for field in self.__qp_constraint_fields + self.__qp_cost_fields:
+            for i in range(self.N+1):
+                qp_data[f'{field}_{i:0{lN}d}'] = self.get_from_qp_in(i,field)
+
+        # remove empty fields
+        for k in list(qp_data.keys()):
+            if len(qp_data[k]) == 0:
+                del qp_data[k]
+
+        # save
+        with open(filename, 'w') as f:
+            json.dump(qp_data, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
+        print("stored qp from solver memory in ", os.path.join(os.getcwd(), filename))
+
+
+
     def load_iterate(self, filename):
         """
         Loads the iterate stored in json file with filename into the ocp solver.
@@ -1412,7 +1524,7 @@ class AcadosOcpSolver:
             return self.get_residuals()
 
         else:
-            raise Exception(f'AcadosOcpSolver.get_stats(): {field} is not a valid argument.'
+            raise Exception(f'AcadosOcpSolver.get_stats(): \'{field}\' is not a valid argument.'
                     + f'\n Possible values are {fields}.')
 
 
@@ -1440,6 +1552,12 @@ class AcadosOcpSolver:
     def get_residuals(self, recompute=False):
         """
         Returns an array of the form [res_stat, res_eq, res_ineq, res_comp].
+        This residual has to be computed for SQP_RTI solver, since it is not available by default.
+
+        - res_stat: stationarity residual
+        - res_eq: residual wrt equality constraints (dynamics)
+        - res_ineq: residual wrt inequality constraints (constraints)
+        - res_comp: residual wrt complementarity conditions
         """
         # compute residuals if RTI
         if self.solver_options['nlp_solver_type'] == 'SQP_RTI' or recompute:
@@ -1499,24 +1617,22 @@ class AcadosOcpSolver:
             value_ = np.array([value_])
         value_ = value_.astype(float)
 
-        field = field_
-        field = field.encode('utf-8')
+        field = field_.encode('utf-8')
 
         stage = c_int(stage_)
 
         # treat parameters separately
         if field_ == 'p':
-            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double)]
+            getattr(self.shared_lib, f"{self.model_name}_acados_update_params").argtypes = [c_void_p, c_int, POINTER(c_double), c_int]
             getattr(self.shared_lib, f"{self.model_name}_acados_update_params").restype = c_int
 
             value_data = cast(value_.ctypes.data, POINTER(c_double))
 
             assert getattr(self.shared_lib, f"{self.model_name}_acados_update_params")(self.capsule, stage, value_data, value_.shape[0])==0
         else:
-            if field_ not in constraints_fields + cost_fields + out_fields:
-                raise Exception("AcadosOcpSolver.set(): {} is not a valid argument.\
-                    \nPossible values are {}. Exiting.".format(field, \
-                    constraints_fields + cost_fields + out_fields + ['p']))
+            if field_ not in constraints_fields + cost_fields + out_fields + mem_fields:
+                raise Exception(f"AcadosOcpSolver.set(): '{field}' is not a valid argument.\n"
+                    f" Possible values are {constraints_fields + cost_fields + out_fields + mem_fields + ['p']}.")
 
             self.shared_lib.ocp_nlp_dims_get_from_attr.argtypes = \
                 [c_void_p, c_void_p, c_void_p, c_int, c_char_p]
@@ -1526,8 +1642,8 @@ class AcadosOcpSolver:
                 self.nlp_dims, self.nlp_out, stage_, field)
 
             if value_.shape[0] != dims:
-                msg = 'AcadosOcpSolver.set(): mismatching dimension for field "{}" '.format(field_)
-                msg += 'with dimension {} (you have {})'.format(dims, value_.shape[0])
+                msg = f'AcadosOcpSolver.set(): mismatching dimension for field "{field_}" '
+                msg += f'with dimension {dims} (you have {value_.shape[0]})'
                 raise Exception(msg)
 
             value_data = cast(value_.ctypes.data, POINTER(c_double))
@@ -1553,6 +1669,13 @@ class AcadosOcpSolver:
                     [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
                 self.shared_lib.ocp_nlp_set(self.nlp_config, \
                     self.nlp_solver, stage, field, value_data_p)
+            # also set z_guess, when setting z.
+            if field_ == 'z':
+                field = 'z_guess'.encode('utf-8')
+                self.shared_lib.ocp_nlp_set.argtypes = \
+                    [c_void_p, c_void_p, c_int, c_char_p, c_void_p]
+                self.shared_lib.ocp_nlp_set(self.nlp_config, \
+                    self.nlp_solver, stage, field, value_data_p)
         return
 
 
@@ -1561,7 +1684,7 @@ class AcadosOcpSolver:
         Set numerical data in the cost module of the solver.
 
             :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
+            :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess', 'zl', 'zu', 'Zl', 'Zu'
             :param value: of appropriate size
         """
         # cast value_ to avoid conversion issues
@@ -1595,7 +1718,7 @@ class AcadosOcpSolver:
                     raise Exception("Ambiguity in API detected.\n"
                                     "Are you making an acados model from scrach? Add api='new' to cost_set and carry on.\n"
                                     "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    "  You are relying on a now-fixed bug in cost_set for field '{}'.\n".format(field_) +
+                                    f"  You are relying on a now-fixed bug in cost_set for field '{field_}'.\n" +
                                     "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
                                     "  Two options to fix this error: \n" +
                                     "   * Add api='old' to cost_set to restore old incorrect behaviour\n" +
@@ -1663,7 +1786,7 @@ class AcadosOcpSolver:
                     raise Exception("Ambiguity in API detected.\n"
                                     "Are you making an acados model from scrach? Add api='new' to constraints_set and carry on.\n"
                                     "Are you seeing this error suddenly in previously running code? Read on.\n"
-                                    "  You are relying on a now-fixed bug in constraints_set for field '{}'.\n".format(field_) +
+                                    f"  You are relying on a now-fixed bug in constraints_set for field '{field}'.\n" +
                                     "  acados_template now correctly passes on any matrices to acados in column major format.\n" +
                                     "  Two options to fix this error: \n" +
                                     "   * Add api='old' to constraints_set to restore old incorrect behaviour\n" +
@@ -1676,7 +1799,7 @@ class AcadosOcpSolver:
                 # Get elements in column major order
                 value_ = np.ravel(value_, order='F')
             else:
-                raise Exception("Unknown api: '{}'".format(api))
+                raise Exception(f"Unknown api: '{api}'")
 
         if value_shape != tuple(dims):
             raise Exception(f'AcadosOcpSolver.constraints_set(): mismatching dimension' +
@@ -1693,27 +1816,35 @@ class AcadosOcpSolver:
         return
 
 
-    def dynamics_get(self, stage_, field_):
+    def get_from_qp_in(self, stage_: int, field_: str):
         """
-        Get numerical data from the dynamics module of the solver:
+        Get numerical data from the current QP.
 
             :param stage: integer corresponding to shooting node
-            :param field: string, e.g. 'A'
+            :param field: string in ['A', 'B', 'b', 'Q', 'R', 'S', 'q', 'r', 'C', 'D', 'lg', 'ug', 'lbx', 'ubx', 'lbu', 'ubu']
         """
+        # idx* should be added too..
+        if not isinstance(stage_, int):
+            raise TypeError("stage should be int")
+        if stage_ > self.N:
+            raise Exception("stage should be <= self.N")
+        if field_ in self.__qp_dynamics_fields and stage_ >= self.N:
+            raise ValueError(f"dynamics field {field_} not available at terminal stage")
+        if field_ not in self.__qp_dynamics_fields + self.__qp_cost_fields + self.__qp_constraint_fields:
+            raise Exception(f"field {field_} not supported.")
 
-        field = field_
-        field = field.encode('utf-8')
+        field = field_.encode('utf-8')
         stage = c_int(stage_)
 
         # get dims
-        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.argtypes = \
+        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.argtypes = \
             [c_void_p, c_void_p, c_void_p, c_int, c_char_p, POINTER(c_int)]
-        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr.restype = c_int
+        self.shared_lib.ocp_nlp_qp_dims_get_from_attr.restype = c_int
 
         dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
         dims_data = cast(dims.ctypes.data, POINTER(c_int))
 
-        self.shared_lib.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, \
+        self.shared_lib.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, \
             self.nlp_dims, self.nlp_out, stage_, field, dims_data)
 
         # create output data
@@ -1748,32 +1879,34 @@ class AcadosOcpSolver:
             - qp_mu0: for HPIPM QP solvers: initial value for complementarity slackness
             - warm_start_first_qp: indicates if first QP in SQP is warm_started
         """
-        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start', 'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
-        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction', 'eps_sufficient_descent',
-        'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
+        int_fields = ['print_level', 'rti_phase', 'initialize_t_slacks', 'qp_warm_start',
+                      'line_search_use_sufficient_descent', 'full_step_dual', 'globalization_use_SOC', 'warm_start_first_qp']
+        double_fields = ['step_length', 'tol_eq', 'tol_stat', 'tol_ineq', 'tol_comp', 'alpha_min', 'alpha_reduction',
+                         'eps_sufficient_descent', 'qp_tol_stat', 'qp_tol_eq', 'qp_tol_ineq', 'qp_tol_comp', 'qp_tau_min', 'qp_mu0']
         string_fields = ['globalization']
 
         # check field availability and type
         if field_ in int_fields:
             if not isinstance(value_, int):
-                raise Exception('solver option {} must be of type int. You have {}.'.format(field_, type(value_)))
+                raise Exception(f'solver option \'{field_}\' must be of type int. You have {type(value_)}.')
             else:
                 value_ctypes = c_int(value_)
 
         elif field_ in double_fields:
             if not isinstance(value_, float):
-                raise Exception('solver option {} must be of type float. You have {}.'.format(field_, type(value_)))
+                raise Exception(f'solver option \'{field_}\' must be of type float. You have {type(value_)}.')
             else:
                 value_ctypes = c_double(value_)
 
         elif field_ in string_fields:
             if not isinstance(value_, str):
-                raise Exception('solver option {} must be of type str. You have {}.'.format(field_, type(value_)))
+                raise Exception(f'solver option \'{field_}\' must be of type str. You have {type(value_)}.')
             else:
                 value_ctypes = value_.encode('utf-8')
         else:
-            raise Exception('AcadosOcpSolver.options_set() does not support field {}.'\
-                '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
+            fields = ', '.join(int_fields + double_fields + string_fields)
+            raise Exception(f'AcadosOcpSolver.options_set() does not support field \'{field_}\'.\n'\
+                f' Possible values are {fields}.')
 
 
         if field_ == 'rti_phase':
@@ -1802,6 +1935,44 @@ class AcadosOcpSolver:
         return
 
 
+    def set_params_sparse(self, stage_, idx_values_, param_values_):
+        """
+        set parameters of the solvers external function partially:
+        Pseudo: solver.param[idx_values_] = param_values_;
+        Parameters:
+            :param stage_: integer corresponding to shooting node
+            :param idx_values_: 0 based np array (or iterable) of integers: indices of parameter to be set
+            :param param_values_: new parameter values as numpy array
+        """
+
+        # if not isinstance(idx_values_, np.ndarray) or not issubclass(type(idx_values_[0]), np.integer):
+        #     raise Exception('idx_values_ must be np.array of integers.')
+
+        if not isinstance(param_values_, np.ndarray):
+            raise Exception('param_values_ must be np.array.')
+        elif np.float64 != param_values_.dtype:
+            raise TypeError('param_values_ must be np.array of float64.')
+
+        if param_values_.shape[0] != len(idx_values_):
+            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
+                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
+
+        if any(idx_values_ >= self.acados_ocp.dims.np):
+            raise Exception(f'idx_values_ contains value >= np = {self.acados_ocp.dims.np}')
+
+        stage = c_int(stage_)
+        n_update = c_int(len(param_values_))
+
+        param_data = cast(param_values_.ctypes.data, POINTER(c_double))
+        c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
+        idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
+
+        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
+                        [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
+        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
+        getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
+                                    (self.capsule, stage, idx_data, param_data, n_update)
+
     def __del__(self):
         if self.solver_created:
             getattr(self.shared_lib, f"{self.model_name}_acados_free").argtypes = [c_void_p]
@@ -1815,4 +1986,6 @@ class AcadosOcpSolver:
             try:
                 self.dlclose(self.shared_lib._handle)
             except:
+                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosOcpSolver {self.model_name}.\n",
+                     "Attempting to create a new one with the same name will likely result in the old one being used!")
                 pass
diff --git a/pyextra/acados_template/acados_ocp_solver_pyx.pyx b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
similarity index 84%
rename from pyextra/acados_template/acados_ocp_solver_pyx.pyx
rename to third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
index fe7fa8425a..acd7f02d0a 100644
--- a/pyextra/acados_template/acados_ocp_solver_pyx.pyx
+++ b/third_party/acados/acados_template/acados_ocp_solver_pyx.pyx
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -63,7 +60,6 @@ cdef class AcadosOcpSolverCython:
     cdef acados_solver_common.ocp_nlp_in *nlp_in
     cdef acados_solver_common.ocp_nlp_solver *nlp_solver
 
-    cdef int status
     cdef bint solver_created
 
     cdef str model_name
@@ -88,7 +84,6 @@ cdef class AcadosOcpSolverCython:
 
         # get pointers solver
         self.__get_pointers_solver()
-        self.status = 0
 
 
     def __get_pointers_solver(self):
@@ -105,6 +100,24 @@ cdef class AcadosOcpSolverCython:
         self.nlp_solver = acados_solver.acados_get_nlp_solver(self.capsule)
 
 
+    def solve_for_x0(self, x0_bar):
+        """
+        Wrapper around `solve()` which sets initial state constraint, solves the OCP, and returns u0.
+        """
+        self.set(0, "lbx", x0_bar)
+        self.set(0, "ubx", x0_bar)
+
+        status = self.solve()
+
+        if status == 2:
+            print("Warning: acados_ocp_solver reached maximum iterations.")
+        elif status != 0:
+            raise Exception(f'acados acados_ocp_solver returned status {status}')
+
+        u0 = self.get(0, "u")
+        return u0
+
+
     def solve(self):
         """
         Solve the ocp with current input.
@@ -112,11 +125,24 @@ cdef class AcadosOcpSolverCython:
         return acados_solver.acados_solve(self.capsule)
 
 
-    def reset(self):
+    def reset(self, reset_qp_solver_mem=1):
         """
         Sets current iterate to all zeros.
         """
-        return acados_solver.acados_reset(self.capsule)
+        return acados_solver.acados_reset(self.capsule, reset_qp_solver_mem)
+
+
+    def custom_update(self, data_):
+        """
+        A custom function that can be implemented by a user to be called between solver calls.
+        By default this does nothing.
+        The idea is to have a convenient wrapper to do complex updates of parameters and numerical data efficiently in C,
+        in a function that is compiled into the solver library and can be conveniently used in the Python environment.
+        """
+        data_len = len(data_)
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] data = np.ascontiguousarray(data_, dtype=np.float64)
+
+        return acados_solver.acados_custom_update(self.capsule, <double *> data.data, data_len)
 
 
     def set_new_time_steps(self, new_time_steps):
@@ -253,7 +279,7 @@ cdef class AcadosOcpSolverCython:
 
         if field_ not in out_fields:
             raise Exception('AcadosOcpSolverCython.get(): {} is an invalid argument.\
-                    \n Possible values are {}. Exiting.'.format(field_, out_fields))
+                    \n Possible values are {}.'.format(field_, out_fields))
 
         if stage < 0 or stage > self.N:
             raise Exception('AcadosOcpSolverCython.get(): stage index must be in [0, N], got: {}.'.format(self.N))
@@ -310,16 +336,22 @@ cdef class AcadosOcpSolverCython:
         # get iterate:
         solution = dict()
 
+        lN = len(str(self.N+1))
         for i in range(self.N+1):
-            solution['x_'+str(i)] = self.get(i,'x')
-            solution['u_'+str(i)] = self.get(i,'u')
-            solution['z_'+str(i)] = self.get(i,'z')
-            solution['lam_'+str(i)] = self.get(i,'lam')
-            solution['t_'+str(i)] = self.get(i, 't')
-            solution['sl_'+str(i)] = self.get(i, 'sl')
-            solution['su_'+str(i)] = self.get(i, 'su')
-        for i in range(self.N):
-            solution['pi_'+str(i)] = self.get(i,'pi')
+            i_string = f'{i:0{lN}d}'
+            solution['x_'+i_string] = self.get(i,'x')
+            solution['u_'+i_string] = self.get(i,'u')
+            solution['z_'+i_string] = self.get(i,'z')
+            solution['lam_'+i_string] = self.get(i,'lam')
+            solution['t_'+i_string] = self.get(i, 't')
+            solution['sl_'+i_string] = self.get(i, 'sl')
+            solution['su_'+i_string] = self.get(i, 'su')
+            if i < self.N:
+                solution['pi_'+i_string] = self.get(i,'pi')
+
+        for k in list(solution.keys()):
+            if len(solution[k]) == 0:
+                del solution[k]
 
         # save
         with open(filename, 'w') as f:
@@ -508,6 +540,8 @@ cdef class AcadosOcpSolverCython:
                       sl: slack variables of soft lower inequality constraints \n
                       su: slack variables of soft upper inequality constraints \n
         """
+        if not isinstance(value_, np.ndarray):
+            raise Exception(f"set: value must be numpy array, got {type(value_)}.")
         cost_fields = ['y_ref', 'yref']
         constraints_fields = ['lbx', 'ubx', 'lbu', 'ubu']
         out_fields = ['x', 'u', 'pi', 'lam', 't', 'z', 'sl', 'su']
@@ -523,7 +557,7 @@ cdef class AcadosOcpSolverCython:
         else:
             if field_ not in constraints_fields + cost_fields + out_fields:
                 raise Exception("AcadosOcpSolverCython.set(): {} is not a valid argument.\
-                    \nPossible values are {}. Exiting.".format(field, \
+                    \nPossible values are {}.".format(field, \
                     constraints_fields + cost_fields + out_fields + ['p']))
 
             dims = acados_solver_common.ocp_nlp_dims_get_from_attr(self.nlp_config,
@@ -547,6 +581,11 @@ cdef class AcadosOcpSolverCython:
                 acados_solver_common.ocp_nlp_set(self.nlp_config, \
                     self.nlp_solver, stage, field, <void *> value.data)
 
+            if field_ == 'z':
+                field = 'z_guess'.encode('utf-8')
+                acados_solver_common.ocp_nlp_set(self.nlp_config, \
+                    self.nlp_solver, stage, field, <void *> value.data)
+        return
 
     def cost_set(self, int stage, str field_, value_):
         """
@@ -556,6 +595,8 @@ cdef class AcadosOcpSolverCython:
             :param field: string, e.g. 'yref', 'W', 'ext_cost_num_hess'
             :param value: of appropriate size
         """
+        if not isinstance(value_, np.ndarray):
+            raise Exception(f"cost_set: value must be numpy array, got {type(value_)}.")
         field = field_.encode('utf-8')
 
         cdef int dims[2]
@@ -589,6 +630,9 @@ cdef class AcadosOcpSolverCython:
             :param field: string in ['lbx', 'ubx', 'lbu', 'ubu', 'lg', 'ug', 'lh', 'uh', 'uphi', 'C', 'D']
             :param value: of appropriate size
         """
+        if not isinstance(value_, np.ndarray):
+            raise Exception(f"constraints_set: value must be numpy array, got {type(value_)}.")
+
         field = field_.encode('utf-8')
 
         cdef int dims[2]
@@ -606,7 +650,7 @@ cdef class AcadosOcpSolverCython:
             # Get elements in column major order
             value = np.asfortranarray(value_)
 
-        if value_shape[0] != dims[0] or value_shape[1] != dims[1]:
+        if value_shape != tuple(dims):
             raise Exception(f'AcadosOcpSolverCython.constraints_set(): mismatching dimension' +
                 f' for field "{field_}" at stage {stage} with dimension {tuple(dims)} (you have {value_shape})')
 
@@ -616,7 +660,7 @@ cdef class AcadosOcpSolverCython:
         return
 
 
-    def dynamics_get(self, int stage, str field_):
+    def get_from_qp_in(self, int stage, str field_):
         """
         Get numerical data from the dynamics module of the solver:
 
@@ -627,7 +671,7 @@ cdef class AcadosOcpSolverCython:
 
         # get dims
         cdef int[2] dims
-        acados_solver_common.ocp_nlp_dynamics_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
+        acados_solver_common.ocp_nlp_qp_dims_get_from_attr(self.nlp_config, self.nlp_dims, self.nlp_out, stage, field, &dims[0])
 
         # create output data
         cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F')
@@ -701,6 +745,50 @@ cdef class AcadosOcpSolverCython:
                 '\n Possible values are {}.'.format(field_, ', '.join(int_fields + double_fields + string_fields)))
 
 
+    def set_params_sparse(self, int stage, idx_values_, param_values_):
+        """
+        set parameters of the solvers external function partially:
+        Pseudo: solver.param[idx_values_] = param_values_;
+        Parameters:
+            :param stage_: integer corresponding to shooting node
+            :param idx_values_: 0 based integer array corresponding to parameter indices to be set
+            :param param_values_: new parameter values as numpy array
+        """
+
+        if not isinstance(param_values_, np.ndarray):
+            raise Exception('param_values_ must be np.array.')
+
+        if param_values_.shape[0] != len(idx_values_):
+            raise Exception(f'param_values_ and idx_values_ must be of the same size.' +
+                 f' Got sizes idx {param_values_.shape[0]}, param_values {len(idx_values_)}.')
+
+        # n_update = c_int(len(param_values_))
+
+        # param_data = cast(param_values_.ctypes.data, POINTER(c_double))
+        # c_idx_values = np.ascontiguousarray(idx_values_, dtype=np.intc)
+        # idx_data = cast(c_idx_values.ctypes.data, POINTER(c_int))
+
+        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").argtypes = \
+        #                 [c_void_p, c_int, POINTER(c_int), POINTER(c_double), c_int]
+        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse").restype = c_int
+        # getattr(self.shared_lib, f"{self.model_name}_acados_update_params_sparse") \
+        #                             (self.capsule, stage, idx_data, param_data, n_update)
+
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(param_values_, dtype=np.float64)
+        # cdef cnp.ndarray[cnp.intc, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
+
+        # NOTE: this does throw an error somehow:
+        # ValueError: Buffer dtype mismatch, expected 'int object' but got 'int'
+        # cdef cnp.ndarray[cnp.int, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.intc)
+
+        cdef cnp.ndarray[cnp.int32_t, ndim=1] idx = np.ascontiguousarray(idx_values_, dtype=np.int32)
+        cdef int n_update = value.shape[0]
+        # print(f"in set_params_sparse Cython n_update {n_update}")
+
+        assert acados_solver.acados_update_params_sparse(self.capsule, stage, <int *> idx.data, <double *> value.data, n_update) == 0
+        return
+
+
     def __del__(self):
         if self.solver_created:
             acados_solver.acados_free(self.capsule)
diff --git a/pyextra/acados_template/acados_sim.py b/third_party/acados/acados_template/acados_sim.py
similarity index 86%
rename from pyextra/acados_template/acados_sim.py
rename to third_party/acados/acados_template/acados_sim.py
index 93d5f298db..c0d6937a49 100644
--- a/pyextra/acados_template/acados_sim.py
+++ b/third_party/acados/acados_template/acados_sim.py
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -33,10 +30,9 @@
 #
 
 import numpy as np
-import casadi as ca
 import os
 from .acados_model import AcadosModel
-from .utils import get_acados_path
+from .utils import get_acados_path, get_lib_ext
 
 class AcadosSimDims:
     """
@@ -73,28 +69,28 @@ class AcadosSimDims:
         if isinstance(nx, int) and nx > 0:
             self.__nx = nx
         else:
-            raise Exception('Invalid nx value, expected positive integer. Exiting.')
+            raise Exception('Invalid nx value, expected positive integer.')
 
     @nz.setter
     def nz(self, nz):
         if isinstance(nz, int) and nz > -1:
             self.__nz = nz
         else:
-            raise Exception('Invalid nz value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nz value, expected nonnegative integer.')
 
     @nu.setter
     def nu(self, nu):
         if isinstance(nu, int) and nu > -1:
             self.__nu = nu
         else:
-            raise Exception('Invalid nu value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid nu value, expected nonnegative integer.')
 
     @np.setter
     def np(self, np):
         if isinstance(np, int) and np > -1:
             self.__np = np
         else:
-            raise Exception('Invalid np value, expected nonnegative integer. Exiting.')
+            raise Exception('Invalid np value, expected nonnegative integer.')
 
     def set(self, attr, value):
         setattr(self, attr, value)
@@ -112,13 +108,16 @@ class AcadosSimOpts:
         self.__sim_method_num_stages = 1
         self.__sim_method_num_steps = 1
         self.__sim_method_newton_iter = 3
+        # doubles
+        self.__sim_method_newton_tol = 0.0
         # bools
         self.__sens_forw = True
         self.__sens_adj = False
         self.__sens_algebraic = False
         self.__sens_hess = False
-        self.__output_z = False
+        self.__output_z = True
         self.__sim_method_jac_reuse = 0
+        self.__ext_fun_compile_flags = '-O2'
 
     @property
     def integrator_type(self):
@@ -140,6 +139,15 @@ class AcadosSimOpts:
         """Number of Newton iterations in simulation method. Default: 3"""
         return self.__sim_method_newton_iter
 
+    @property
+    def newton_tol(self):
+        """
+        Tolerance for Newton system solved in implicit integrator (IRK, GNSF).
+        0.0 means this is not used and exactly newton_iter iterations are carried out.
+        Default: 0.0
+        """
+        return self.__sim_method_newton_tol
+
     @property
     def sens_forw(self):
         """Boolean determining if forward sensitivities are computed. Default: True"""
@@ -162,7 +170,7 @@ class AcadosSimOpts:
 
     @property
     def output_z(self):
-        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: False"""
+        """Boolean determining if values for algebraic variables (corresponding to start of simulation interval) are computed. Default: True"""
         return self.__output_z
 
     @property
@@ -184,6 +192,21 @@ class AcadosSimOpts:
         """
         return self.__collocation_type
 
+    @property
+    def ext_fun_compile_flags(self):
+        """
+        String with compiler flags for external function compilation.
+        Default: '-O2'.
+        """
+        return self.__ext_fun_compile_flags
+
+    @ext_fun_compile_flags.setter
+    def ext_fun_compile_flags(self, ext_fun_compile_flags):
+        if isinstance(ext_fun_compile_flags, str):
+            self.__ext_fun_compile_flags = ext_fun_compile_flags
+        else:
+            raise Exception('Invalid ext_fun_compile_flags, expected a string.\n')
+
     @integrator_type.setter
     def integrator_type(self, integrator_type):
         integrator_types = ('ERK', 'IRK', 'GNSF')
@@ -191,7 +214,7 @@ class AcadosSimOpts:
             self.__integrator_type = integrator_type
         else:
             raise Exception('Invalid integrator_type value. Possible values are:\n\n' \
-                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\nExiting.')
+                    + ',\n'.join(integrator_types) + '.\n\nYou have: ' + integrator_type + '.\n\n')
 
     @collocation_type.setter
     def collocation_type(self, collocation_type):
@@ -200,7 +223,7 @@ class AcadosSimOpts:
             self.__collocation_type = collocation_type
         else:
             raise Exception('Invalid collocation_type value. Possible values are:\n\n' \
-                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\nExiting.')
+                    + ',\n'.join(collocation_types) + '.\n\nYou have: ' + collocation_type + '.\n\n')
 
     @T.setter
     def T(self, T):
@@ -227,6 +250,13 @@ class AcadosSimOpts:
         else:
             raise Exception('Invalid newton_iter value. newton_iter must be an integer.')
 
+    @newton_tol.setter
+    def newton_tol(self, newton_tol):
+        if isinstance(newton_tol, float):
+            self.__sim_method_newton_tol = newton_tol
+        else:
+            raise Exception('Invalid newton_tol value. newton_tol must be an float.')
+
     @sens_forw.setter
     def sens_forw(self, sens_forw):
         if sens_forw in (True, False):
@@ -280,6 +310,7 @@ class AcadosSim:
     - :py:attr:`solver_options` of type :py:class:`acados_template.acados_sim.AcadosSimOpts`
 
     - :py:attr:`acados_include_path` (set automatically)
+    - :py:attr:`shared_lib_ext` (set automatically)
     - :py:attr:`acados_lib_path` (set automatically)
     - :py:attr:`parameter_values` - used to initialize the parameters (can be changed)
 
@@ -301,9 +332,14 @@ class AcadosSim:
 
         self.code_export_directory = 'c_generated_code'
         """Path to where code will be exported. Default: `c_generated_code`."""
+        self.shared_lib_ext = get_lib_ext()
+
+        # get cython paths
+        from sysconfig import get_paths
+        self.cython_include_dirs = [np.get_include(), get_paths()['include']]
 
-        self.cython_include_dirs = ''
         self.__parameter_values = np.array([])
+        self.__problem_class = 'SIM'
 
     @property
     def parameter_values(self):
diff --git a/pyextra/acados_template/acados_sim_layout.json b/third_party/acados/acados_template/acados_sim_layout.json
similarity index 85%
rename from pyextra/acados_template/acados_sim_layout.json
rename to third_party/acados/acados_template/acados_sim_layout.json
index 25b149613b..e3ca4b575b 100644
--- a/pyextra/acados_template/acados_sim_layout.json
+++ b/third_party/acados/acados_template/acados_sim_layout.json
@@ -42,6 +42,12 @@
         ],
         "sim_method_newton_iter": [
             "int"
+        ],
+        "sim_method_newton_tol": [
+            "float"
+        ],
+        "ext_fun_compile_flags": [
+            "str"
         ]
     }
 }
diff --git a/pyextra/acados_template/acados_sim_solver.py b/third_party/acados/acados_template/acados_sim_solver.py
similarity index 53%
rename from pyextra/acados_template/acados_sim_solver.py
rename to third_party/acados/acados_template/acados_sim_solver.py
index 3588dd38cd..612f439eaf 100644
--- a/pyextra/acados_template/acados_sim_solver.py
+++ b/third_party/acados/acados_template/acados_sim_solver.py
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -32,56 +29,58 @@
 # POSSIBILITY OF SUCH DAMAGE.;
 #
 
-import sys, os, json
+import sys
+import os
+import json
+import importlib
 
 import numpy as np
 
-from ctypes import *
+from subprocess import DEVNULL, call, STDOUT
+
+from ctypes import POINTER, cast, CDLL, c_void_p, c_char_p, c_double, c_int, c_bool, byref
 from copy import deepcopy
 
-from .generate_c_code_explicit_ode import generate_c_code_explicit_ode
-from .generate_c_code_implicit_ode import generate_c_code_implicit_ode
-from .generate_c_code_gnsf import generate_c_code_gnsf
+from .casadi_function_generation import generate_c_code_implicit_ode, generate_c_code_gnsf, generate_c_code_explicit_ode
 from .acados_sim import AcadosSim
 from .acados_ocp import AcadosOcp
-from .acados_model import acados_model_strip_casadi_symbolics
-from .utils import is_column, render_template, format_class_dict, np_array_to_list,\
-     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path
+from .utils import is_column, render_template, format_class_dict, make_object_json_dumpable,\
+     make_model_consistent, set_up_imported_gnsf_model, get_python_interface_path, get_lib_ext,\
+     casadi_length, is_empty, check_casadi_version
 from .builders import CMakeBuilder
+from .gnsf.detect_gnsf_structure import detect_gnsf_structure
+
 
 
-def make_sim_dims_consistent(acados_sim):
+def make_sim_dims_consistent(acados_sim: AcadosSim):
     dims = acados_sim.dims
     model = acados_sim.model
     # nx
     if is_column(model.x):
-        dims.nx = model.x.shape[0]
+        dims.nx = casadi_length(model.x)
     else:
-        raise Exception("model.x should be column vector!")
+        raise Exception('model.x should be column vector!')
 
     # nu
-    if is_column(model.u):
-        dims.nu = model.u.shape[0]
-    elif model.u == None or model.u == []:
+    if is_empty(model.u):
         dims.nu = 0
     else:
-        raise Exception("model.u should be column vector or None!")
+        dims.nu = casadi_length(model.u)
 
     # nz
-    if is_column(model.z):
-        dims.nz = model.z.shape[0]
-    elif model.z == None or model.z == []:
+    if is_empty(model.z):
         dims.nz = 0
     else:
-        raise Exception("model.z should be column vector or None!")
+        dims.nz = casadi_length(model.z)
 
     # np
-    if is_column(model.p):
-        dims.np = model.p.shape[0]
-    elif model.p == None or model.p == []:
+    if is_empty(model.p):
         dims.np = 0
     else:
-        raise Exception("model.p should be column vector or None!")
+        dims.np = casadi_length(model.p)
+    if acados_sim.parameter_values.shape[0] != dims.np:
+        raise Exception('inconsistent dimension np, regarding model.p and parameter_values.' + \
+            f'\nGot np = {dims.np}, acados_sim.parameter_values.shape = {acados_sim.parameter_values.shape[0]}\n')
 
 
 def get_sim_layout():
@@ -92,7 +91,7 @@ def get_sim_layout():
     return sim_layout
 
 
-def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
+def sim_formulation_json_dump(acados_sim: AcadosSim, json_file='acados_sim.json'):
     # Load acados_sim structure description
     sim_layout = get_sim_layout()
 
@@ -105,11 +104,10 @@ def sim_formulation_json_dump(acados_sim, json_file='acados_sim.json'):
         # Copy sim object attributes dictionaries
         sim_dict[key]=dict(getattr(acados_sim, key).__dict__)
 
-    sim_dict['model'] = acados_model_strip_casadi_symbolics(sim_dict['model'])
     sim_json = format_class_dict(sim_dict)
 
     with open(json_file, 'w') as f:
-        json.dump(sim_json, f, default=np_array_to_list, indent=4, sort_keys=True)
+        json.dump(sim_json, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
 
 
 def sim_get_default_cmake_builder() -> CMakeBuilder:
@@ -122,47 +120,49 @@ def sim_get_default_cmake_builder() -> CMakeBuilder:
     return cmake_builder
 
 
-def sim_render_templates(json_file, model_name, code_export_dir, cmake_options: CMakeBuilder = None):
+def sim_render_templates(json_file, model_name: str, code_export_dir, cmake_options: CMakeBuilder = None):
     # setting up loader and environment
     json_path = os.path.join(os.getcwd(), json_file)
 
     if not os.path.exists(json_path):
         raise Exception(f"{json_path} not found!")
 
-    template_dir = code_export_dir
-
-    ## Render templates
+    # Render templates
     in_file = 'acados_sim_solver.in.c'
     out_file = f'acados_sim_solver_{model_name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
+    render_template(in_file, out_file, code_export_dir, json_path)
 
     in_file = 'acados_sim_solver.in.h'
     out_file = f'acados_sim_solver_{model_name}.h'
-    render_template(in_file, out_file, template_dir, json_path)
+    render_template(in_file, out_file, code_export_dir, json_path)
+
+    in_file = 'acados_sim_solver.in.pxd'
+    out_file = f'acados_sim_solver.pxd'
+    render_template(in_file, out_file, code_export_dir, json_path)
 
     # Builder
     if cmake_options is not None:
         in_file = 'CMakeLists.in.txt'
         out_file = 'CMakeLists.txt'
-        render_template(in_file, out_file, template_dir, json_path)
+        render_template(in_file, out_file, code_export_dir, json_path)
     else:
         in_file = 'Makefile.in'
         out_file = 'Makefile'
-        render_template(in_file, out_file, template_dir, json_path)
+        render_template(in_file, out_file, code_export_dir, json_path)
 
     in_file = 'main_sim.in.c'
     out_file = f'main_sim_{model_name}.c'
-    render_template(in_file, out_file, template_dir, json_path)
+    render_template(in_file, out_file, code_export_dir, json_path)
 
-    ## folder model
-    template_dir = os.path.join(code_export_dir, model_name + '_model')
+    # folder model
+    model_dir = os.path.join(code_export_dir, model_name + '_model')
 
     in_file = 'model.in.h'
     out_file = f'{model_name}_model.h'
-    render_template(in_file, out_file, template_dir, json_path)
+    render_template(in_file, out_file, model_dir, json_path)
 
 
-def sim_generate_casadi_functions(acados_sim):
+def sim_generate_external_functions(acados_sim: AcadosSim):
     model = acados_sim.model
     model = make_model_consistent(model)
 
@@ -170,7 +170,16 @@ def sim_generate_casadi_functions(acados_sim):
 
     opts = dict(generate_hess = acados_sim.solver_options.sens_hess,
                 code_export_directory = acados_sim.code_export_directory)
+
+    # create code_export_dir, model_dir
+    code_export_dir = acados_sim.code_export_directory
+    opts['code_export_directory'] = code_export_dir
+    model_dir = os.path.join(code_export_dir, model.name + '_model')
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+
     # generate external functions
+    check_casadi_version()
     if integrator_type == 'ERK':
         generate_c_code_explicit_ode(model, opts)
     elif integrator_type == 'IRK':
@@ -190,62 +199,117 @@ class AcadosSimSolver:
             the `CMake` pipeline instead of a `Makefile` (`CMake` seems to be the better option in conjunction with
             `MS Visual Studio`); default: `None`
     """
-    def __init__(self, acados_sim_, json_file='acados_sim.json', build=True, cmake_builder: CMakeBuilder = None):
-
-        self.solver_created = False
+    if sys.platform=="win32":
+        from ctypes import wintypes
+        from ctypes import WinDLL
+        dlclose = WinDLL('kernel32', use_last_error=True).FreeLibrary
+        dlclose.argtypes = [wintypes.HMODULE]
+    else:
+        dlclose = CDLL(None).dlclose
+        dlclose.argtypes = [c_void_p]
 
-        if isinstance(acados_sim_, AcadosOcp):
-            # set up acados_sim_
-            acados_sim = AcadosSim()
-            acados_sim.model = acados_sim_.model
-            acados_sim.dims.nx = acados_sim_.dims.nx
-            acados_sim.dims.nu = acados_sim_.dims.nu
-            acados_sim.dims.nz = acados_sim_.dims.nz
-            acados_sim.dims.np = acados_sim_.dims.np
-            acados_sim.solver_options.integrator_type = acados_sim_.solver_options.integrator_type
-            acados_sim.code_export_directory = acados_sim_.code_export_directory
 
-        elif isinstance(acados_sim_, AcadosSim):
-            acados_sim = acados_sim_
+    @classmethod
+    def generate(cls, acados_sim: AcadosSim, json_file='acados_sim.json', cmake_builder: CMakeBuilder = None):
+        """
+        Generates the code for an acados sim solver, given the description in acados_sim
+        """
 
-        acados_sim.__problem_class = 'SIM'
+        acados_sim.code_export_directory = os.path.abspath(acados_sim.code_export_directory)
 
-        model_name = acados_sim.model.name
+        # make dims consistent
         make_sim_dims_consistent(acados_sim)
 
-        # reuse existing json and casadi functions, when creating integrator from ocp
-        if isinstance(acados_sim_, AcadosSim):
-            if acados_sim.solver_options.integrator_type == 'GNSF':
+        # module dependent post processing
+        if acados_sim.solver_options.integrator_type == 'GNSF':
+            if acados_sim.solver_options.sens_hess == True:
+                raise Exception("AcadosSimSolver: GNSF does not support sens_hess = True.")
+            if 'gnsf_model' in acados_sim.__dict__:
                 set_up_imported_gnsf_model(acados_sim)
+            else:
+                detect_gnsf_structure(acados_sim)
+
+        # generate external functions
+        sim_generate_external_functions(acados_sim)
+
+        # dump to json
+        sim_formulation_json_dump(acados_sim, json_file)
+
+        # render templates
+        sim_render_templates(json_file, acados_sim.model.name, acados_sim.code_export_directory, cmake_builder)
+
+
+    @classmethod
+    def build(cls, code_export_dir, with_cython=False, cmake_builder: CMakeBuilder = None, verbose: bool = True):
+        # Compile solver
+        cwd = os.getcwd()
+        os.chdir(code_export_dir)
+        if with_cython:
+            call(
+                ['make', 'clean_sim_cython'],
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+            call(
+                ['make', 'sim_cython'],
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
+        else:
+            if cmake_builder is not None:
+                cmake_builder.exec(code_export_dir, verbose=verbose)
+            else:
+                call(
+                    ['make', 'sim_shared_lib'],
+                    stdout=None if verbose else DEVNULL,
+                    stderr=None if verbose else STDOUT
+                )
+        os.chdir(cwd)
 
-            sim_generate_casadi_functions(acados_sim)
-            sim_formulation_json_dump(acados_sim, json_file)
 
-        code_export_dir = acados_sim.code_export_directory
-        if build:
-            # render templates
-            sim_render_templates(json_file, model_name, code_export_dir, cmake_builder)
+    @classmethod
+    def create_cython_solver(cls, json_file):
+        """
+        """
+        with open(json_file, 'r') as f:
+            acados_sim_json = json.load(f)
+        code_export_directory = acados_sim_json['code_export_directory']
 
-            # Compile solver
-            cwd = os.getcwd()
-            code_export_dir = os.path.abspath(code_export_dir)
-            os.chdir(code_export_dir)
-            if cmake_builder is not None:
-                cmake_builder.exec(code_export_dir)
-            else:
-                os.system('make sim_shared_lib')
-            os.chdir(cwd)
+        importlib.invalidate_caches()
+        rel_code_export_directory = os.path.relpath(code_export_directory)
+        acados_sim_solver_pyx = importlib.import_module(f'{rel_code_export_directory}.acados_sim_solver_pyx')
+
+        AcadosSimSolverCython = getattr(acados_sim_solver_pyx, 'AcadosSimSolverCython')
+        return AcadosSimSolverCython(acados_sim_json['model']['name'])
 
-        self.sim_struct = acados_sim
-        model_name = self.sim_struct.model.name
+    def __init__(self, acados_sim, json_file='acados_sim.json', generate=True, build=True, cmake_builder: CMakeBuilder = None, verbose: bool = True):
+
+        self.solver_created = False
+        self.acados_sim = acados_sim
+        model_name = acados_sim.model.name
         self.model_name = model_name
 
+        code_export_dir = os.path.abspath(acados_sim.code_export_directory)
+
+        # reuse existing json and casadi functions, when creating integrator from ocp
+        if generate and not isinstance(acados_sim, AcadosOcp):
+            self.generate(acados_sim, json_file=json_file, cmake_builder=cmake_builder)
+
+        if build:
+            self.build(code_export_dir, cmake_builder=cmake_builder, verbose=True)
+
+        # prepare library loading
+        lib_prefix = 'lib'
+        lib_ext = get_lib_ext()
+        if os.name == 'nt':
+            lib_prefix = ''
+
         # Load acados library to avoid unloading the library.
         # This is necessary if acados was compiled with OpenMP, since the OpenMP threads can't be destroyed.
         # Unloading a library which uses OpenMP results in a segfault (on any platform?).
         # see [https://stackoverflow.com/questions/34439956/vc-crash-when-freeing-a-dll-built-with-openmp]
         # or [https://python.hotexamples.com/examples/_ctypes/-/dlclose/python-dlclose-function-examples.html]
-        libacados_name = 'libacados.so'
+        libacados_name = f'{lib_prefix}acados{lib_ext}'
         libacados_filepath = os.path.join(acados_sim.acados_lib_path, libacados_name)
         self.__acados_lib = CDLL(libacados_filepath)
         # find out if acados was compiled with OpenMP
@@ -257,19 +321,12 @@ class AcadosSimSolver:
             print('acados was compiled with OpenMP.')
         else:
             print('acados was compiled without OpenMP.')
+        libacados_sim_solver_name = f'{lib_prefix}acados_sim_solver_{self.model_name}{lib_ext}'
+        self.shared_lib_name = os.path.join(code_export_dir, libacados_sim_solver_name)
 
-        # Ctypes
-        lib_prefix = 'lib'
-        lib_ext = '.so'
-        if os.name == 'nt':
-            lib_prefix = ''
-            lib_ext = ''
-        self.shared_lib_name = os.path.join(code_export_dir, f'{lib_prefix}acados_sim_solver_{model_name}{lib_ext}')
-        print(f'self.shared_lib_name = "{self.shared_lib_name}"')
-        
+        # get shared_lib
         self.shared_lib = CDLL(self.shared_lib_name)
 
-
         # create capsule
         getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule").restype = c_void_p
         self.capsule = getattr(self.shared_lib, f"{model_name}_acados_sim_solver_create_capsule")()
@@ -304,23 +361,34 @@ class AcadosSimSolver:
         getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver").restype = c_void_p
         self.sim_solver = getattr(self.shared_lib, f"{model_name}_acados_get_sim_solver")(self.capsule)
 
-        nu = self.sim_struct.dims.nu
-        nx = self.sim_struct.dims.nx
-        nz = self.sim_struct.dims.nz
-        self.gettable = {
-            'x': nx,
-            'xn': nx,
-            'u': nu,
-            'z': nz,
-            'S_forw': nx*(nx+nu),
-            'Sx': nx*nx,
-            'Su': nx*nu,
-            'S_adj': nx+nu,
-            'S_hess': (nx+nu)*(nx+nu),
-            'S_algebraic': (nz)*(nx+nu),
-        }
-
-        self.settable = ['S_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
+        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
+        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
+        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
+
+
+    def simulate(self, x=None, u=None, z=None, p=None):
+        """
+        Simulate the system forward for the given x, u, z, p and return x_next.
+        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
+        """
+        if x is not None:
+            self.set('x', x)
+        if u is not None:
+            self.set('u', u)
+        if z is not None:
+            self.set('z', z)
+        if p is not None:
+            self.set('p', p)
+
+        status = self.solve()
+
+        if status == 2:
+            print("Warning: acados_sim_solver reached maximum iterations.")
+        elif status != 0:
+            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
+
+        x_next = self.get('x')
+        return x_next
 
 
     def solve(self):
@@ -338,55 +406,64 @@ class AcadosSimSolver:
         """
         Get the last solution of the solver.
 
-            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic']
+            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
         """
-        field = field_
-        field = field.encode('utf-8')
+        field = field_.encode('utf-8')
 
-        if field_ in self.gettable.keys():
+        if field_ in self.gettable_vectors:
+            # get dims
+            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+            dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
+            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
 
             # allocate array
-            dims = self.gettable[field_]
-            out = np.ascontiguousarray(np.zeros((dims,)), dtype=np.float64)
+            out = np.ascontiguousarray(np.zeros((dims[0],)), dtype=np.float64)
+            out_data = cast(out.ctypes.data, POINTER(c_double))
+
+            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
+
+        elif field_ in self.gettable_matrices:
+            # get dims
+            dims = np.ascontiguousarray(np.zeros((2,)), dtype=np.intc)
+            dims_data = cast(dims.ctypes.data, POINTER(c_int))
+
+            self.shared_lib.sim_dims_get_from_attr.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_int)]
+            self.shared_lib.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, dims_data)
+
+            out = np.zeros((dims[0], dims[1]), order='F')
             out_data = cast(out.ctypes.data, POINTER(c_double))
 
             self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
             self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, out_data)
 
-            if field_ == 'S_forw':
-                nu = self.sim_struct.dims.nu
-                nx = self.sim_struct.dims.nx
-                out = out.reshape(nx, nx+nu, order='F')
-            elif field_ == 'Sx':
-                nx = self.sim_struct.dims.nx
-                out = out.reshape(nx, nx, order='F')
-            elif field_ == 'Su':
-                nx = self.sim_struct.dims.nx
-                nu = self.sim_struct.dims.nu
-                out = out.reshape(nx, nu, order='F')
-            elif field_ == 'S_hess':
-                nx = self.sim_struct.dims.nx
-                nu = self.sim_struct.dims.nu
-                out = out.reshape(nx+nu, nx+nu, order='F')
-            elif field_ == 'S_algebraic':
-                nx = self.sim_struct.dims.nx
-                nu = self.sim_struct.dims.nu
-                nz = self.sim_struct.dims.nz
-                out = out.reshape(nz, nx+nu, order='F')
+        elif field_ in self.gettable_scalars:
+            scalar = c_double()
+            scalar_data = byref(scalar)
+            self.shared_lib.sim_out_get.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
+            self.shared_lib.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, scalar_data)
+
+            out = scalar.value
         else:
             raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.gettable.keys())}')
+                f' available fields are {", ".join(self.gettable_vectors+self.gettable_matrices)}, {", ".join(self.gettable_scalars)}')
 
         return out
 
 
-    def set(self, field_, value_):
+
+    def set(self, field_: str, value_):
         """
         Set numerical data inside the solver.
 
-            :param field: string in ['p', 'S_adj', 'T', 'x', 'u', 'xdot', 'z']
+            :param field: string in ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T']
             :param value: the value with appropriate size.
         """
+        settable = ['x', 'u', 'p', 'xdot', 'z', 'seed_adj', 'T'] # S_forw
+
+        # TODO: check and throw error here. then remove checks in Cython for speed
         # cast value_ to avoid conversion issues
         if isinstance(value_, (float, int)):
             value_ = np.array([value_])
@@ -395,12 +472,11 @@ class AcadosSimSolver:
         value_data = cast(value_.ctypes.data, POINTER(c_double))
         value_data_p = cast((value_data), c_void_p)
 
-        field = field_
-        field = field.encode('utf-8')
+        field = field_.encode('utf-8')
 
         # treat parameters separately
         if field_ == 'p':
-            model_name = self.sim_struct.model.name
+            model_name = self.acados_sim.model.name
             getattr(self.shared_lib, f"{model_name}_acados_sim_update_params").argtypes = [c_void_p, POINTER(c_double), c_int]
             value_data = cast(value_.ctypes.data, POINTER(c_double))
             getattr(self.shared_lib, f"{model_name}_acados_sim_update_params")(self.capsule, value_data, value_.shape[0])
@@ -420,19 +496,46 @@ class AcadosSimSolver:
                 value_shape = (value_shape[0], 0)
 
             if value_shape != tuple(dims):
-                raise Exception('AcadosSimSolver.set(): mismatching dimension' \
-                    ' for field "{}" with dimension {} (you have {})'.format(field_, tuple(dims), value_shape))
+                raise Exception(f'AcadosSimSolver.set(): mismatching dimension' \
+                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
 
         # set
         if field_ in ['xdot', 'z']:
             self.shared_lib.sim_solver_set.argtypes = [c_void_p, c_char_p, c_void_p]
             self.shared_lib.sim_solver_set(self.sim_solver, field, value_data_p)
-        elif field_ in self.settable:
+        elif field_ in settable:
             self.shared_lib.sim_in_set.argtypes = [c_void_p, c_void_p, c_void_p, c_char_p, c_void_p]
             self.shared_lib.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, value_data_p)
         else:
             raise Exception(f'AcadosSimSolver.set(): Unknown field {field_},' \
-                f' available fields are {", ".join(self.settable)}')
+                f' available fields are {", ".join(settable)}')
+
+        return
+
+
+    def options_set(self, field_: str, value_: bool):
+        """
+        Set solver options
+
+            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
+            :param value: Boolean
+        """
+        fields = ['sens_forw', 'sens_adj', 'sens_hess']
+        if field_ not in fields:
+            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
+
+        field = field_.encode('utf-8')
+        value_ctypes = c_bool(value_)
+
+        if not isinstance(value_, bool):
+            raise TypeError("options_set: expected boolean for value")
+
+        # only allow setting
+        if getattr(self.acados_sim.solver_options, field_) or value_ == False:
+            self.shared_lib.sim_opts_set.argtypes = [c_void_p, c_void_p, c_char_p, POINTER(c_bool)]
+            self.shared_lib.sim_opts_set(self.sim_config, self.sim_opts, field, value_ctypes)
+        else:
+            raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
 
         return
 
@@ -451,4 +554,6 @@ class AcadosSimSolver:
             try:
                 self.dlclose(self.shared_lib._handle)
             except:
+                print(f"WARNING: acados Python interface could not close shared_lib handle of AcadosSimSolver {self.model_name}.\n",
+                     "Attempting to create a new one with the same name will likely result in the old one being used!")
                 pass
diff --git a/third_party/acados/acados_template/acados_sim_solver_common.pxd b/third_party/acados/acados_template/acados_sim_solver_common.pxd
new file mode 100644
index 0000000000..cc6a58efd7
--- /dev/null
+++ b/third_party/acados/acados_template/acados_sim_solver_common.pxd
@@ -0,0 +1,64 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+
+cdef extern from "acados/sim/sim_common.h":
+    ctypedef struct sim_config:
+        pass
+
+    ctypedef struct sim_opts:
+        pass
+
+    ctypedef struct sim_in:
+        pass
+
+    ctypedef struct sim_out:
+        pass
+
+
+cdef extern from "acados_c/sim_interface.h":
+
+    ctypedef struct sim_plan:
+        pass
+
+    ctypedef struct sim_solver:
+        pass
+
+    # out
+    void sim_out_get(sim_config *config, void *dims, sim_out *out, const char *field, void *value)
+    int sim_dims_get_from_attr(sim_config *config, void *dims, const char *field, void *dims_data)
+
+    # opts
+    void sim_opts_set(sim_config *config, void *opts_, const char *field, void *value)
+
+    # get/set
+    void sim_in_set(sim_config *config, void *dims, sim_in *sim_in, const char *field, void *value)
+    void sim_solver_set(sim_solver *solver, const char *field, void *value)
\ No newline at end of file
diff --git a/third_party/acados/acados_template/acados_sim_solver_pyx.pyx b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
new file mode 100644
index 0000000000..be400addc7
--- /dev/null
+++ b/third_party/acados/acados_template/acados_sim_solver_pyx.pyx
@@ -0,0 +1,256 @@
+# -*- coding: future_fstrings -*-
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+# cython: language_level=3
+# cython: profile=False
+# distutils: language=c
+
+cimport cython
+from libc cimport string
+# from libc cimport bool as bool_t
+
+cimport acados_sim_solver_common
+cimport acados_sim_solver
+
+cimport numpy as cnp
+
+import os
+from datetime import datetime
+import numpy as np
+
+
+cdef class AcadosSimSolverCython:
+    """
+    Class to interact with the acados sim solver C object.
+    """
+
+    cdef acados_sim_solver.sim_solver_capsule *capsule
+    cdef void *sim_dims
+    cdef acados_sim_solver_common.sim_opts *sim_opts
+    cdef acados_sim_solver_common.sim_config *sim_config
+    cdef acados_sim_solver_common.sim_out *sim_out
+    cdef acados_sim_solver_common.sim_in *sim_in
+    cdef acados_sim_solver_common.sim_solver *sim_solver
+
+    cdef bint solver_created
+
+    cdef str model_name
+
+    cdef str sim_solver_type
+
+    cdef list gettable_vectors
+    cdef list gettable_matrices
+    cdef list gettable_scalars
+
+    def __cinit__(self, model_name):
+
+        self.solver_created = False
+
+        self.model_name = model_name
+
+        # create capsule
+        self.capsule = acados_sim_solver.acados_sim_solver_create_capsule()
+
+        # create solver
+        assert acados_sim_solver.acados_sim_create(self.capsule) == 0
+        self.solver_created = True
+
+        # get pointers solver
+        self.__get_pointers_solver()
+
+        self.gettable_vectors = ['x', 'u', 'z', 'S_adj']
+        self.gettable_matrices = ['S_forw', 'Sx', 'Su', 'S_hess', 'S_algebraic']
+        self.gettable_scalars = ['CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
+
+    def __get_pointers_solver(self):
+        """
+        Private function to get the pointers for solver
+        """
+        # get pointers solver
+        self.sim_opts = acados_sim_solver.acados_get_sim_opts(self.capsule)
+        self.sim_dims = acados_sim_solver.acados_get_sim_dims(self.capsule)
+        self.sim_config = acados_sim_solver.acados_get_sim_config(self.capsule)
+        self.sim_out = acados_sim_solver.acados_get_sim_out(self.capsule)
+        self.sim_in = acados_sim_solver.acados_get_sim_in(self.capsule)
+        self.sim_solver = acados_sim_solver.acados_get_sim_solver(self.capsule)
+
+
+    def simulate(self, x=None, u=None, z=None, p=None):
+        """
+        Simulate the system forward for the given x, u, z, p and return x_next.
+        Wrapper around `solve()` taking care of setting/getting inputs/outputs.
+        """
+        if x is not None:
+            self.set('x', x)
+        if u is not None:
+            self.set('u', u)
+        if z is not None:
+            self.set('z', z)
+        if p is not None:
+            self.set('p', p)
+
+        status = self.solve()
+
+        if status == 2:
+            print("Warning: acados_sim_solver reached maximum iterations.")
+        elif status != 0:
+            raise Exception(f'acados_sim_solver for model {self.model_name} returned status {status}.')
+
+        x_next = self.get('x')
+        return x_next
+
+
+    def solve(self):
+        """
+        Solve the sim with current input.
+        """
+        return acados_sim_solver.acados_sim_solve(self.capsule)
+
+
+    def get(self, field_):
+        """
+        Get the last solution of the solver.
+
+            :param str field: string in ['x', 'u', 'z', 'S_forw', 'Sx', 'Su', 'S_adj', 'S_hess', 'S_algebraic', 'CPUtime', 'time_tot', 'ADtime', 'time_ad', 'LAtime', 'time_la']
+        """
+        field = field_.encode('utf-8')
+
+        if field_ in self.gettable_vectors:
+            return self.__get_vector(field)
+        elif field_ in self.gettable_matrices:
+            return self.__get_matrix(field)
+        elif field_ in self.gettable_scalars:
+            return self.__get_scalar(field)
+        else:
+            raise Exception(f'AcadosSimSolver.get(): Unknown field {field_},' \
+                f' available fields are {", ".join(self.gettable.keys())}')
+
+
+    def __get_scalar(self, field):
+        cdef double scalar
+        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> &scalar)
+        return scalar
+
+
+    def __get_vector(self, field):
+        cdef int[2] dims
+        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
+        # cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.ascontiguousarray(np.zeros((dims[0],), dtype=np.float64))
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] out = np.zeros((dims[0]),)
+        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
+        return out
+
+
+    def __get_matrix(self, field):
+        cdef int[2] dims
+        acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
+        cdef cnp.ndarray[cnp.float64_t, ndim=2] out = np.zeros((dims[0], dims[1]), order='F', dtype=np.float64)
+        acados_sim_solver_common.sim_out_get(self.sim_config, self.sim_dims, self.sim_out, field, <void *> out.data)
+        return out
+
+
+    def set(self, field_: str, value_):
+        """
+        Set numerical data inside the solver.
+
+            :param field: string in ['p', 'seed_adj', 'T', 'x', 'u', 'xdot', 'z']
+            :param value: the value with appropriate size.
+        """
+        settable = ['seed_adj', 'T', 'x', 'u', 'xdot', 'z', 'p'] # S_forw
+
+        # cast value_ to avoid conversion issues
+        if isinstance(value_, (float, int)):
+            value_ = np.array([value_])
+        # if len(value_.shape) > 1:
+            # raise RuntimeError('AcadosSimSolverCython.set(): value_ should be 1 dimensional')
+
+        cdef cnp.ndarray[cnp.float64_t, ndim=1] value = np.ascontiguousarray(value_, dtype=np.float64).flatten()
+
+        field = field_.encode('utf-8')
+        cdef int[2] dims
+
+        # treat parameters separately
+        if field_ == 'p':
+            assert acados_sim_solver.acados_sim_update_params(self.capsule, <double *> value.data, value.shape[0]) == 0
+            return
+        else:
+            acados_sim_solver_common.sim_dims_get_from_attr(self.sim_config, self.sim_dims, field, &dims[0])
+
+            value_ = np.ravel(value_, order='F')
+
+            value_shape = value_.shape
+            if len(value_shape) == 1:
+                value_shape = (value_shape[0], 0)
+
+            if value_shape != tuple(dims):
+                raise Exception(f'AcadosSimSolverCython.set(): mismatching dimension' \
+                    f' for field "{field_}" with dimension {tuple(dims)} (you have {value_shape}).')
+
+        # set
+        if field_ in ['xdot', 'z']:
+            acados_sim_solver_common.sim_solver_set(self.sim_solver, field, <void *> value.data)
+        elif field_ in settable:
+            acados_sim_solver_common.sim_in_set(self.sim_config, self.sim_dims, self.sim_in, field, <void *> value.data)
+        else:
+            raise Exception(f'AcadosSimSolverCython.set(): Unknown field {field_},' \
+                f' available fields are {", ".join(settable)}')
+
+
+    def options_set(self, field_: str, value_: bool):
+        """
+        Set solver options
+
+            :param field: string in ['sens_forw', 'sens_adj', 'sens_hess']
+            :param value: Boolean
+        """
+        fields = ['sens_forw', 'sens_adj', 'sens_hess']
+        if field_ not in fields:
+            raise Exception(f"field {field_} not supported. Supported values are {', '.join(fields)}.\n")
+
+        field = field_.encode('utf-8')
+
+        if not isinstance(value_, bool):
+            raise TypeError("options_set: expected boolean for value")
+
+        cdef bint bool_value = value_
+        acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
+        # TODO: only allow setting
+        # if getattr(self.acados_sim.solver_options, field_) or value_ == False:
+        #     acados_sim_solver_common.sim_opts_set(self.sim_config, self.sim_opts, field, <void *> &bool_value)
+        # else:
+        #     raise RuntimeError(f"Cannot set option {field_} to True, because it was False in original solver options.\n")
+
+        return
+
+
+    def __del__(self):
+        if self.solver_created:
+            acados_sim_solver.acados_sim_free(self.capsule)
+            acados_sim_solver.acados_sim_solver_free_capsule(self.capsule)
diff --git a/pyextra/acados_template/acados_solver_common.pxd b/third_party/acados/acados_template/acados_solver_common.pxd
similarity index 90%
rename from pyextra/acados_template/acados_solver_common.pxd
rename to third_party/acados/acados_template/acados_solver_common.pxd
index fedd7190d9..c6d59d40a5 100644
--- a/pyextra/acados_template/acados_solver_common.pxd
+++ b/third_party/acados/acados_template/acados_solver_common.pxd
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -87,7 +84,7 @@ cdef extern from "acados_c/ocp_nlp_interface.h":
         int stage, const char *field, int *dims_out)
     void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, int *dims_out)
-    void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+    void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, int *dims_out)
 
     # opts
diff --git a/pyextra/acados_template/builders.py b/third_party/acados/acados_template/builders.py
similarity index 88%
rename from pyextra/acados_template/builders.py
rename to third_party/acados/acados_template/builders.py
index f595033ceb..6f21bfe8cd 100644
--- a/pyextra/acados_template/builders.py
+++ b/third_party/acados/acados_template/builders.py
@@ -34,7 +34,7 @@
 
 import os
 import sys
-from subprocess import call
+from subprocess import DEVNULL, call, STDOUT
 
 
 class CMakeBuilder:
@@ -78,7 +78,7 @@ class CMakeBuilder:
     def get_cmd3_install(self):
         return f'cmake --install "{self._build_dir}"'
 
-    def exec(self, code_export_directory):
+    def exec(self, code_export_directory, verbose=True):
         """
         Execute the compilation using `CMake` with the given settings.
         :param code_export_directory: must be the absolute path to the directory where the code was exported to
@@ -96,17 +96,32 @@ class CMakeBuilder:
             os.chdir(self._build_dir)
             cmd_str = self.get_cmd1_cmake()
             print(f'call("{cmd_str})"')
-            retcode = call(cmd_str, shell=True)
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
             if retcode != 0:
                 raise RuntimeError(f'CMake command "{cmd_str}" was terminated by signal {retcode}')
             cmd_str = self.get_cmd2_build()
             print(f'call("{cmd_str}")')
-            retcode = call(cmd_str, shell=True)
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
             if retcode != 0:
                 raise RuntimeError(f'Build command "{cmd_str}" was terminated by signal {retcode}')
             cmd_str = self.get_cmd3_install()
             print(f'call("{cmd_str}")')
-            retcode = call(cmd_str, shell=True)
+            retcode = call(
+                cmd_str,
+                shell=True,
+                stdout=None if verbose else DEVNULL,
+                stderr=None if verbose else STDOUT
+            )
             if retcode != 0:
                 raise RuntimeError(f'Install command "{cmd_str}" was terminated by signal {retcode}')
         except OSError as e:
diff --git a/pyextra/acados_template/c_templates_tera/CMakeLists.in.txt b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
similarity index 88%
rename from pyextra/acados_template/c_templates_tera/CMakeLists.in.txt
rename to third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
index 3d6483b5d2..99bc26f750 100644
--- a/pyextra/acados_template/c_templates_tera/CMakeLists.in.txt
+++ b/third_party/acados/acados_template/c_templates_tera/CMakeLists.in.txt
@@ -1,8 +1,5 @@
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -121,12 +118,14 @@
 	{%- set openmp_flag = " " %}
 	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
 		{%- set link_libs = "-lqpOASES_e" %}
+	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
+		{%- set link_libs = "-ldaqp" %}
 	{%- else %}
 		{%- set link_libs = "" %}
 	{%- endif %}
 {%- endif %}
 
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.13)
 
 project({{ model.name }})
 
@@ -139,6 +138,14 @@ option(BUILD_SIM_EXAMPLE "Should the simulation example main_sim_{{ model.name }
 option(BUILD_ACADOS_SIM_SOLVER_LIB "Should the simulation solver library acados_sim_solver_{{ model.name }} be build?" OFF)
 {%- endif %}
 
+
+if(CMAKE_CXX_COMPILER_ID MATCHES "GNU" AND CMAKE_SYSTEM_NAME MATCHES "Windows")
+    # MinGW, change to .lib such that mex recognizes it
+    set(CMAKE_SHARED_LIBRARY_SUFFIX ".lib")
+    set(CMAKE_SHARED_LIBRARY_PREFIX "")
+endif()
+
+
 # object target names
 set(MODEL_OBJ model_{{ model.name }})
 set(OCP_OBJ ocp_{{ model.name }})
@@ -146,9 +153,11 @@ set(SIM_OBJ sim_{{ model.name }})
 
 # model
 set(MODEL_SRC
+	{%- if model.dyn_ext_fun_type == "casadi" %}
 {%- if  solver_options.integrator_type == "ERK" %}
     {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
     {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
+    {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
 	{%- if hessian_approx == "EXACT" %}
     {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
 	{%- endif %}
@@ -176,16 +185,15 @@ set(MODEL_SRC
 	{%- endif %}
     {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
 {%- elif solver_options.integrator_type == "DISCRETE" %}
-	{%- if model.dyn_ext_fun_type == "casadi" %}
     {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
     {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
 		{%- if hessian_approx == "EXACT" %}
     {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
 		{%- endif %}
+{%- endif -%}
 	{%- else %}
-    {{ model.name }}_model/{{ model.dyn_source_discrete }}
+    {{ model.name }}_model/{{ model.dyn_generic_source }}
 	{%- endif %}
-{%- endif -%}
 )
 add_library(${MODEL_OBJ} OBJECT ${MODEL_SRC} )
 
@@ -219,6 +227,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP
         {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
+{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
 {%- elif cost_type_0 == "EXTERNAL" %}
     {%- if cost.cost_ext_fun_type_0 == "casadi" %}
         {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
@@ -232,6 +243,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP
         {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
+{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
 {%- elif cost_type == "EXTERNAL" %}
     {%- if cost.cost_ext_fun_type == "casadi" %}
         {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
@@ -245,6 +259,9 @@ if(${BUILD_ACADOS_SOLVER_LIB} OR ${BUILD_ACADOS_OCP_SOLVER_LIB} OR ${BUILD_EXAMP
         {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
         {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
+{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
+        {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
 {%- elif cost_type_e == "EXTERNAL" %}
     {%- if cost.cost_ext_fun_type_e == "casadi" %}
         {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
@@ -275,7 +292,7 @@ set(EX_SRC main_{{ model.name }}.c)
 set(EX_EXE main_{{ model.name }})
 
 {%- if model_external_shared_lib_dir and model_external_shared_lib_name %}
-set(EXTERNAL_DIR {{ model_external_shared_lib_dir  }})
+set(EXTERNAL_DIR {{ model_external_shared_lib_dir | replace(from="\", to="/")  }})
 set(EXTERNAL_LIB {{ model_external_shared_lib_name }})
 {%- else %}
 set(EXTERNAL_DIR)
@@ -283,23 +300,26 @@ set(EXTERNAL_LIB)
 {%- endif %}
 
 # set some search paths for preprocessor and linker
-set(ACADOS_INCLUDE_PATH {{ acados_include_path }} CACHE PATH "Define the path which contains the include directory for acados.")
-set(ACADOS_LIB_PATH {{ acados_lib_path }} CACHE PATH "Define the path which contains the lib directory for acados.")
+set(ACADOS_INCLUDE_PATH {{ acados_include_path | replace(from="\", to="/")  }} CACHE PATH "Define the path which contains the include directory for acados.")
+set(ACADOS_LIB_PATH {{ acados_lib_path | replace(from="\", to="/") }} CACHE PATH "Define the path which contains the lib directory for acados.")
 
 # c-compiler flags for debugging
 set(CMAKE_C_FLAGS_DEBUG "-O0 -ggdb")
 
-set(CMAKE_C_FLAGS "
+set(CMAKE_C_FLAGS "-fPIC -std=c99 {{ openmp_flag }}
 {%- if qp_solver == "FULL_CONDENSING_QPOASES" -%}
-   -DACADOS_WITH_QPOASES
+    -DACADOS_WITH_QPOASES
+{%- endif -%}
+{%- if qp_solver == "FULL_CONDENSING_DAQP" -%}
+    -DACADOS_WITH_DAQP
 {%- endif -%}
 {%- if qp_solver == "PARTIAL_CONDENSING_OSQP" -%}
-   -DACADOS_WITH_OSQP
+    -DACADOS_WITH_OSQP
 {%- endif -%}
 {%- if qp_solver == "PARTIAL_CONDENSING_QPDUNES" -%}
-   -DACADOS_WITH_QPDUNES
+    -DACADOS_WITH_QPDUNES
 {%- endif -%}
-    -fPIC -std=c99 {{ openmp_flag }}")
+")
 #-fno-diagnostics-show-line-numbers -g
 
 include_directories(
@@ -310,6 +330,9 @@ include_directories(
 {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
    ${ACADOS_INCLUDE_PATH}/qpOASES_e/
 {%- endif %}
+{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
+   ${ACADOS_INCLUDE_PATH}/daqp/include
+{%- endif %}
 )
 
 # linker flags
diff --git a/pyextra/acados_template/c_templates_tera/Makefile.in b/third_party/acados/acados_template/c_templates_tera/Makefile.in
similarity index 78%
rename from pyextra/acados_template/c_templates_tera/Makefile.in
rename to third_party/acados/acados_template/c_templates_tera/Makefile.in
index d45be0a9c7..fbefc08e38 100644
--- a/pyextra/acados_template/c_templates_tera/Makefile.in
+++ b/third_party/acados/acados_template/c_templates_tera/Makefile.in
@@ -1,8 +1,5 @@
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -120,6 +117,8 @@
 	{%- set openmp_flag = " " %}
 	{%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
 		{%- set link_libs = "-lqpOASES_e" %}
+	{%- elif qp_solver == "FULL_CONDENSING_DAQP" %}
+		{%- set link_libs = "-ldaqp" %}
 	{%- else %}
 		{%- set link_libs = "" %}
 	{%- endif %}
@@ -129,9 +128,11 @@
 
 # model
 MODEL_SRC=
-{%- if  solver_options.integrator_type == "ERK" %}
+	{%- if model.dyn_ext_fun_type == "casadi" %}
+{%- if solver_options.integrator_type == "ERK" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_fun.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_forw.c
+MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_vde_adj.c
 	{%- if hessian_approx == "EXACT" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
 	{%- endif %}
@@ -139,9 +140,9 @@ MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_expl_ode_hess.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c
-	{%- if hessian_approx == "EXACT" %}
+		{%- if hessian_approx == "EXACT" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_hess.c
-	{%- endif %}
+		{%- endif %}
 {%- elif solver_options.integrator_type == "LIFTED_IRK" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_u.c
@@ -159,16 +160,15 @@ MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c
 	{%- endif %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c
 {%- elif solver_options.integrator_type == "DISCRETE" %}
-	{%- if model.dyn_ext_fun_type == "casadi" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun.c
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac.c
 		{%- if hessian_approx == "EXACT" %}
 MODEL_SRC+= {{ model.name }}_model/{{ model.name }}_dyn_disc_phi_fun_jac_hess.c
 		{%- endif %}
+{%- endif %}
 	{%- else %}
-MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_source_discrete }}
+MODEL_SRC+= {{ model.name }}_model/{{ model.dyn_generic_source }}
 	{%- endif %}
-{%- endif %}
 MODEL_OBJ := $(MODEL_SRC:.c=.o)
 
 # optimal control problem - mostly CasADi exports
@@ -200,6 +200,9 @@ OCP_SRC+= {{ model.name }}_constraints/{{ model.name }}_constr_h_e_fun_jac_uxt_z
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_fun_jac_ut_xt.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_0_hess.c
+{%- elif cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun.c
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_0_fun_jac_hess.c
 {%- elif cost_type_0 == "EXTERNAL" %}
 	{%- if cost.cost_ext_fun_type_0 == "casadi" %}
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_0_fun.c
@@ -213,6 +216,9 @@ OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_0 }}
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_fun_jac_ut_xt.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_hess.c
+{%- elif cost_type == "CONVEX_OVER_NONLINEAR" %}
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun.c
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_fun_jac_hess.c
 {%- elif cost_type == "EXTERNAL" %}
 	{%- if cost.cost_ext_fun_type == "casadi" %}
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_fun.c
@@ -226,6 +232,9 @@ OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost }}
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_fun_jac_ut_xt.c
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_y_e_hess.c
+{%- elif cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun.c
+OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_conl_cost_e_fun_jac_hess.c
 {%- elif cost_type_e == "EXTERNAL" %}
 	{%- if cost.cost_ext_fun_type_e == "casadi" %}
 OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun.c
@@ -235,6 +244,12 @@ OCP_SRC+= {{ model.name }}_cost/{{ model.name }}_cost_ext_cost_e_fun_jac_hess.c
 OCP_SRC+= {{ model.name }}_cost/{{ cost.cost_source_ext_cost_e }}
 	{%- endif %}
 {%- endif %}
+{%- if solver_options.custom_update_filename %}
+	{%- if solver_options.custom_update_filename != "" %}
+OCP_SRC+= {{ solver_options.custom_update_filename }}
+	{%- endif %}
+{%- endif %}
+
 OCP_SRC+= acados_solver_{{ model.name }}.c
 OCP_OBJ := $(OCP_SRC:.c=.o)
 
@@ -275,6 +290,9 @@ LIB_PATH = {{ acados_lib_path }}
 {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
 CPPFLAGS += -DACADOS_WITH_QPOASES
 {%- endif %}
+{%- if qp_solver == "FULL_CONDENSING_DAQP" %}
+CPPFLAGS += -DACADOS_WITH_DAQP
+{%- endif %}
 {%- if qp_solver == "PARTIAL_CONDENSING_OSQP" %}
 CPPFLAGS += -DACADOS_WITH_OSQP
 {%- endif %}
@@ -288,10 +306,13 @@ CPPFLAGS+= -I$(INCLUDE_PATH)/hpipm/include
  {%- if qp_solver == "FULL_CONDENSING_QPOASES" %}
 CPPFLAGS+= -I $(INCLUDE_PATH)/qpOASES_e/
  {%- endif %}
+ {%- if qp_solver == "FULL_CONDENSING_DAQP" %}
+CPPFLAGS+= -I $(INCLUDE_PATH)/daqp/include
+ {%- endif %}
 
 {# c-compiler flags #}
 # define the c-compiler flags for make's implicit rules
-CFLAGS = -fPIC -std=c99 {{ openmp_flag }} #-fno-diagnostics-show-line-numbers -g
+CFLAGS = -fPIC -std=c99 {{ openmp_flag }} {{ solver_options.ext_fun_compile_flags }}#-fno-diagnostics-show-line-numbers -g
 # # Debugging
 # CFLAGS += -g3
 
@@ -306,9 +327,9 @@ LDLIBS+= -lm
 LDLIBS+= {{ link_libs }}
 
 # libraries
-LIBACADOS_SOLVER=libacados_solver_{{ model.name }}.so
-LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}.so
-LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c=.so)
+LIBACADOS_SOLVER=libacados_solver_{{ model.name }}{{ shared_lib_ext }}
+LIBACADOS_OCP_SOLVER=libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
+LIBACADOS_SIM_SOLVER=lib$(SIM_SRC:.c={{ shared_lib_ext }})
 
 # virtual targets
 .PHONY : all clean
@@ -354,38 +375,73 @@ ocp_cython_o: ocp_cython_c
 	$(CC) $(ACADOS_FLAGS) -c -O2 \
 	-fPIC \
 	-o acados_ocp_solver_pyx.o \
-	-I /usr/include/python3.8 \
 	-I $(INCLUDE_PATH)/blasfeo/include/ \
 	-I $(INCLUDE_PATH)/hpipm/include/ \
 	-I $(INCLUDE_PATH) \
-	-I {{ cython_include_dirs }} \
+	{%- for path in cython_include_dirs %}
+	-I {{ path }} \
+	{%- endfor %}
 	acados_ocp_solver_pyx.c \
 
 ocp_cython: ocp_cython_o
 	$(CC) $(ACADOS_FLAGS) -shared \
-	-o acados_ocp_solver_pyx.so \
+	-o acados_ocp_solver_pyx{{ shared_lib_ext }} \
 	-Wl,-rpath=$(LIB_PATH) \
 	acados_ocp_solver_pyx.o \
-	$(abspath .)/libacados_ocp_solver_{{ model.name }}.so \
+	$(abspath .)/libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} \
+	$(LDFLAGS) $(LDLIBS)
+
+# Sim Cython targets
+sim_cython_c: sim_shared_lib
+	cython \
+	-o acados_sim_solver_pyx.c \
+	-I $(INCLUDE_PATH)/../interfaces/acados_template/acados_template \
+	$(INCLUDE_PATH)/../interfaces/acados_template/acados_template/acados_sim_solver_pyx.pyx \
+	-I {{ code_export_directory }} \
+
+sim_cython_o: sim_cython_c
+	$(CC) $(ACADOS_FLAGS) -c -O2 \
+	-fPIC \
+	-o acados_sim_solver_pyx.o \
+	-I $(INCLUDE_PATH)/blasfeo/include/ \
+	-I $(INCLUDE_PATH)/hpipm/include/ \
+	-I $(INCLUDE_PATH) \
+	{%- for path in cython_include_dirs %}
+	-I {{ path }} \
+	{%- endfor %}
+	acados_sim_solver_pyx.c \
+
+sim_cython: sim_cython_o
+	$(CC) $(ACADOS_FLAGS) -shared \
+	-o acados_sim_solver_pyx{{ shared_lib_ext }} \
+	-Wl,-rpath=$(LIB_PATH) \
+	acados_sim_solver_pyx.o \
+	$(abspath .)/libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} \
 	$(LDFLAGS) $(LDLIBS)
 
 {%- if os and os == "pc" %}
 
 clean:
 	del \Q *.o 2>nul
-	del \Q *.so 2>nul
+	del \Q *{{ shared_lib_ext }} 2>nul
 	del \Q main_{{ model.name }} 2>nul
 
 clean_ocp_shared_lib:
-	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
+	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
 	del \Q acados_solver_{{ model.name }}.o 2>nul
 
 clean_ocp_cython:
-	del \Q libacados_ocp_solver_{{ model.name }}.so 2>nul
+	del \Q libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
 	del \Q acados_solver_{{ model.name }}.o 2>nul
-	del \Q acados_ocp_solver_pyx.so 2>nul
+	del \Q acados_ocp_solver_pyx{{ shared_lib_ext }} 2>nul
 	del \Q acados_ocp_solver_pyx.o 2>nul
 
+clean_sim_cython:
+	del \Q libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }} 2>nul
+	del \Q acados_sim_solver_{{ model.name }}.o 2>nul
+	del \Q acados_sim_solver_pyx{{ shared_lib_ext }} 2>nul
+	del \Q acados_sim_solver_pyx.o 2>nul
+
 {%- else %}
 
 clean:
@@ -398,9 +454,15 @@ clean_ocp_shared_lib:
 	$(RM) $(OCP_OBJ)
 
 clean_ocp_cython:
-	$(RM) libacados_ocp_solver_{{ model.name }}.so
+	$(RM) libacados_ocp_solver_{{ model.name }}{{ shared_lib_ext }}
 	$(RM) acados_solver_{{ model.name }}.o
-	$(RM) acados_ocp_solver_pyx.so
+	$(RM) acados_ocp_solver_pyx{{ shared_lib_ext }}
 	$(RM) acados_ocp_solver_pyx.o
 
+clean_sim_cython:
+	$(RM) libacados_sim_solver_{{ model.name }}{{ shared_lib_ext }}
+	$(RM) acados_sim_solver_{{ model.name }}.o
+	$(RM) acados_sim_solver_pyx{{ shared_lib_ext }}
+	$(RM) acados_sim_solver_pyx.o
+
 {%- endif %}
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
similarity index 79%
rename from pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
rename to third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
index f2e75058c1..0cd098273c 100644
--- a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -88,18 +85,19 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     double Tsim = {{ solver_options.Tsim }};
 
     {% if solver_options.integrator_type == "IRK" %}
-    capsule->sim_impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
 
+  {%- if model.dyn_ext_fun_type == "casadi" %}
     // external functions (implicit model)
-    capsule->sim_impl_dae_fun->casadi_fun  = &{{ model.name }}_impl_dae_fun;
+    capsule->sim_impl_dae_fun->casadi_fun = &{{ model.name }}_impl_dae_fun;
     capsule->sim_impl_dae_fun->casadi_work = &{{ model.name }}_impl_dae_fun_work;
     capsule->sim_impl_dae_fun->casadi_sparsity_in = &{{ model.name }}_impl_dae_fun_sparsity_in;
     capsule->sim_impl_dae_fun->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_sparsity_out;
     capsule->sim_impl_dae_fun->casadi_n_in = &{{ model.name }}_impl_dae_fun_n_in;
     capsule->sim_impl_dae_fun->casadi_n_out = &{{ model.name }}_impl_dae_fun_n_out;
-    external_function_param_casadi_create(capsule->sim_impl_dae_fun, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun, np);
 
     capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_fun = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z;
     capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_work = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_work;
@@ -107,33 +105,39 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out;
     capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_in = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in;
     capsule->sim_impl_dae_fun_jac_x_xdot_z->casadi_n_out = &{{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out;
-    external_function_param_casadi_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_fun_jac_x_xdot_z, np);
 
-    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_fun = &{{ model.name }}_impl_dae_jac_x_xdot_u_z;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_work = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_work;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_sparsity_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_out;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_in = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_in;
     capsule->sim_impl_dae_jac_x_xdot_u_z->casadi_n_out = &{{ model.name }}_impl_dae_jac_x_xdot_u_z_n_out;
-    external_function_param_casadi_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_jac_x_xdot_u_z, np);
+  {%- else %}
+    capsule->sim_impl_dae_fun->fun = &{{ model.dyn_impl_dae_fun }};
+    capsule->sim_impl_dae_fun_jac_x_xdot_z->fun = &{{ model.dyn_impl_dae_fun_jac }};
+    capsule->sim_impl_dae_jac_x_xdot_u_z->fun = &{{ model.dyn_impl_dae_jac }};
+  {%- endif %}
 
 {%- if hessian_approx == "EXACT" %}
-    capsule->sim_impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    capsule->sim_impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
     capsule->sim_impl_dae_hess->casadi_fun = &{{ model.name }}_impl_dae_hess;
     capsule->sim_impl_dae_hess->casadi_work = &{{ model.name }}_impl_dae_hess_work;
     capsule->sim_impl_dae_hess->casadi_sparsity_in = &{{ model.name }}_impl_dae_hess_sparsity_in;
     capsule->sim_impl_dae_hess->casadi_sparsity_out = &{{ model.name }}_impl_dae_hess_sparsity_out;
     capsule->sim_impl_dae_hess->casadi_n_in = &{{ model.name }}_impl_dae_hess_n_in;
     capsule->sim_impl_dae_hess->casadi_n_out = &{{ model.name }}_impl_dae_hess_n_out;
-    external_function_param_casadi_create(capsule->sim_impl_dae_hess, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_impl_dae_hess, np);
 {%- endif %}
 
     {% elif solver_options.integrator_type == "ERK" %}
     // explicit ode
-    capsule->sim_forw_vde_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    capsule->sim_expl_ode_fun_casadi = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_forw_vde_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_vde_adj_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_expl_ode_fun_casadi = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
 
     capsule->sim_forw_vde_casadi->casadi_fun = &{{ model.name }}_expl_vde_forw;
     capsule->sim_forw_vde_casadi->casadi_n_in = &{{ model.name }}_expl_vde_forw_n_in;
@@ -141,7 +145,15 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_forw_vde_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_forw_sparsity_in;
     capsule->sim_forw_vde_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_forw_sparsity_out;
     capsule->sim_forw_vde_casadi->casadi_work = &{{ model.name }}_expl_vde_forw_work;
-    external_function_param_casadi_create(capsule->sim_forw_vde_casadi, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_forw_vde_casadi, np);
+
+    capsule->sim_vde_adj_casadi->casadi_fun = &{{ model.name }}_expl_vde_adj;
+    capsule->sim_vde_adj_casadi->casadi_n_in = &{{ model.name }}_expl_vde_adj_n_in;
+    capsule->sim_vde_adj_casadi->casadi_n_out = &{{ model.name }}_expl_vde_adj_n_out;
+    capsule->sim_vde_adj_casadi->casadi_sparsity_in = &{{ model.name }}_expl_vde_adj_sparsity_in;
+    capsule->sim_vde_adj_casadi->casadi_sparsity_out = &{{ model.name }}_expl_vde_adj_sparsity_out;
+    capsule->sim_vde_adj_casadi->casadi_work = &{{ model.name }}_expl_vde_adj_work;
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_vde_adj_casadi, np);
 
     capsule->sim_expl_ode_fun_casadi->casadi_fun = &{{ model.name }}_expl_ode_fun;
     capsule->sim_expl_ode_fun_casadi->casadi_n_in = &{{ model.name }}_expl_ode_fun_n_in;
@@ -149,30 +161,30 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_expl_ode_fun_casadi->casadi_sparsity_in = &{{ model.name }}_expl_ode_fun_sparsity_in;
     capsule->sim_expl_ode_fun_casadi->casadi_sparsity_out = &{{ model.name }}_expl_ode_fun_sparsity_out;
     capsule->sim_expl_ode_fun_casadi->casadi_work = &{{ model.name }}_expl_ode_fun_work;
-    external_function_param_casadi_create(capsule->sim_expl_ode_fun_casadi, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_fun_casadi, np);
 
 {%- if hessian_approx == "EXACT" %}
-    capsule->sim_expl_ode_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    // external_function_param_casadi impl_dae_jac_x_xdot_u_z;
+    capsule->sim_expl_ode_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    // external_function_param_{{ model.dyn_ext_fun_type }} impl_dae_jac_x_xdot_u_z;
     capsule->sim_expl_ode_hess->casadi_fun = &{{ model.name }}_expl_ode_hess;
     capsule->sim_expl_ode_hess->casadi_work = &{{ model.name }}_expl_ode_hess_work;
     capsule->sim_expl_ode_hess->casadi_sparsity_in = &{{ model.name }}_expl_ode_hess_sparsity_in;
     capsule->sim_expl_ode_hess->casadi_sparsity_out = &{{ model.name }}_expl_ode_hess_sparsity_out;
     capsule->sim_expl_ode_hess->casadi_n_in = &{{ model.name }}_expl_ode_hess_n_in;
     capsule->sim_expl_ode_hess->casadi_n_out = &{{ model.name }}_expl_ode_hess_n_out;
-    external_function_param_casadi_create(capsule->sim_expl_ode_hess, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_expl_ode_hess, np);
 {%- endif %}
 
     {% elif solver_options.integrator_type == "GNSF" -%}
   {% if model.gnsf.purely_linear != 1 %}
-    capsule->sim_gnsf_phi_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
-    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_phi_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_gnsf_phi_fun_jac_y = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
+    capsule->sim_gnsf_phi_jac_y_uhat = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
   {% if model.gnsf.nontrivial_f_LO == 1 %}
-    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
   {%- endif %}
   {%- endif %}
-    capsule->sim_gnsf_get_matrices_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi));
+    capsule->sim_gnsf_get_matrices_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }}));
 
   {% if model.gnsf.purely_linear != 1 %}
     capsule->sim_gnsf_phi_fun->casadi_fun = &{{ model.name }}_gnsf_phi_fun;
@@ -181,7 +193,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_phi_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_sparsity_in;
     capsule->sim_gnsf_phi_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_sparsity_out;
     capsule->sim_gnsf_phi_fun->casadi_work = &{{ model.name }}_gnsf_phi_fun_work;
-    external_function_param_casadi_create(capsule->sim_gnsf_phi_fun, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun, np);
 
     capsule->sim_gnsf_phi_fun_jac_y->casadi_fun = &{{ model.name }}_gnsf_phi_fun_jac_y;
     capsule->sim_gnsf_phi_fun_jac_y->casadi_n_in = &{{ model.name }}_gnsf_phi_fun_jac_y_n_in;
@@ -189,7 +201,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_in;
     capsule->sim_gnsf_phi_fun_jac_y->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_fun_jac_y_sparsity_out;
     capsule->sim_gnsf_phi_fun_jac_y->casadi_work = &{{ model.name }}_gnsf_phi_fun_jac_y_work;
-    external_function_param_casadi_create(capsule->sim_gnsf_phi_fun_jac_y, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_fun_jac_y, np);
 
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_fun = &{{ model.name }}_gnsf_phi_jac_y_uhat;
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_n_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_n_in;
@@ -197,7 +209,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_in = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_in;
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_sparsity_out = &{{ model.name }}_gnsf_phi_jac_y_uhat_sparsity_out;
     capsule->sim_gnsf_phi_jac_y_uhat->casadi_work = &{{ model.name }}_gnsf_phi_jac_y_uhat_work;
-    external_function_param_casadi_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_phi_jac_y_uhat, np);
 
   {% if model.gnsf.nontrivial_f_LO == 1 %}
     capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_fun = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz;
@@ -206,7 +218,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_in = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_in;
     capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_sparsity_out = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_sparsity_out;
     capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z->casadi_work = &{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz_work;
-    external_function_param_casadi_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z, np);
   {%- endif %}
   {%- endif %}
 
@@ -216,7 +228,7 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_in = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_in;
     capsule->sim_gnsf_get_matrices_fun->casadi_sparsity_out = &{{ model.name }}_gnsf_get_matrices_fun_sparsity_out;
     capsule->sim_gnsf_get_matrices_fun->casadi_work = &{{ model.name }}_gnsf_get_matrices_fun_work;
-    external_function_param_casadi_create(capsule->sim_gnsf_get_matrices_fun, np);
+    external_function_param_{{ model.dyn_ext_fun_type }}_create(capsule->sim_gnsf_get_matrices_fun, np);
     {% endif %}
 
     // sim plan & config
@@ -252,6 +264,8 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
     capsule->acados_sim_opts = {{ model.name }}_sim_opts;
     int tmp_int = {{ solver_options.sim_method_newton_iter }};
     sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_iter", &tmp_int);
+    double tmp_double = {{ solver_options.sim_method_newton_tol }};
+    sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "newton_tol", &tmp_double);
     sim_collocation_type collocation_type = {{ solver_options.collocation_type }};
     sim_opts_set({{ model.name }}_sim_config, {{ model.name }}_sim_opts, "collocation_type", &collocation_type);
 
@@ -307,7 +321,9 @@ int {{ model.name }}_acados_sim_create(sim_solver_capsule * capsule)
 
 {%- elif solver_options.integrator_type == "ERK" %}
     {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
-                 "expl_vde_for", capsule->sim_forw_vde_casadi);
+                 "expl_vde_forw", capsule->sim_forw_vde_casadi);
+    {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
+                 "expl_vde_adj", capsule->sim_vde_adj_casadi);
     {{ model.name }}_sim_config->model_set({{ model.name }}_sim_in->model,
                  "expl_ode_fun", capsule->sim_expl_ode_fun_casadi);
 {%- if hessian_approx == "EXACT" %}
@@ -408,28 +424,29 @@ int {{ model.name }}_acados_sim_free(sim_solver_capsule *capsule)
 
     // free external function
 {%- if solver_options.integrator_type == "IRK" %}
-    external_function_param_casadi_free(capsule->sim_impl_dae_fun);
-    external_function_param_casadi_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
-    external_function_param_casadi_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_fun_jac_x_xdot_z);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_jac_x_xdot_u_z);
 {%- if hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(capsule->sim_impl_dae_hess);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_impl_dae_hess);
 {%- endif %}
 {%- elif solver_options.integrator_type == "ERK" %}
-    external_function_param_casadi_free(capsule->sim_forw_vde_casadi);
-    external_function_param_casadi_free(capsule->sim_expl_ode_fun_casadi);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_forw_vde_casadi);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_vde_adj_casadi);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_fun_casadi);
 {%- if hessian_approx == "EXACT" %}
-    external_function_param_casadi_free(capsule->sim_expl_ode_hess);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_expl_ode_hess);
 {%- endif %}
 {%- elif solver_options.integrator_type == "GNSF" %}
   {% if model.gnsf.purely_linear != 1 %}
-    external_function_param_casadi_free(capsule->sim_gnsf_phi_fun);
-    external_function_param_casadi_free(capsule->sim_gnsf_phi_fun_jac_y);
-    external_function_param_casadi_free(capsule->sim_gnsf_phi_jac_y_uhat);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_fun_jac_y);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_phi_jac_y_uhat);
   {% if model.gnsf.nontrivial_f_LO == 1 %}
-    external_function_param_casadi_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_f_lo_jac_x1_x1dot_u_z);
   {%- endif %}
   {%- endif %}
-    external_function_param_casadi_free(capsule->sim_gnsf_get_matrices_fun);
+    external_function_param_{{ model.dyn_ext_fun_type }}_free(capsule->sim_gnsf_get_matrices_fun);
 {% endif %}
 
     return 0;
@@ -449,6 +466,7 @@ int {{ model.name }}_acados_sim_update_params(sim_solver_capsule *capsule, doubl
 
 {%- if solver_options.integrator_type == "ERK" %}
     capsule->sim_forw_vde_casadi[0].set_param(capsule->sim_forw_vde_casadi, p);
+    capsule->sim_vde_adj_casadi[0].set_param(capsule->sim_vde_adj_casadi, p);
     capsule->sim_expl_ode_fun_casadi[0].set_param(capsule->sim_expl_ode_fun_casadi, p);
 {%- if hessian_approx == "EXACT" %}
     capsule->sim_expl_ode_hess[0].set_param(capsule->sim_expl_ode_hess, p);
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
similarity index 75%
rename from pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
rename to third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
index 7306491baf..59aee62f49 100644
--- a/pyextra/acados_template/c_templates_tera/acados_sim_solver.in.h
+++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -60,22 +57,23 @@ typedef struct sim_solver_capsule
 
     /* external functions */
     // ERK
-    external_function_param_casadi * sim_forw_vde_casadi;
-    external_function_param_casadi * sim_expl_ode_fun_casadi;
-    external_function_param_casadi * sim_expl_ode_hess;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_forw_vde_casadi;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_vde_adj_casadi;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_fun_casadi;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_expl_ode_hess;
 
     // IRK
-    external_function_param_casadi * sim_impl_dae_fun;
-    external_function_param_casadi * sim_impl_dae_fun_jac_x_xdot_z;
-    external_function_param_casadi * sim_impl_dae_jac_x_xdot_u_z;
-    external_function_param_casadi * sim_impl_dae_hess;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_fun_jac_x_xdot_z;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_jac_x_xdot_u_z;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_impl_dae_hess;
 
     // GNSF
-    external_function_param_casadi * sim_gnsf_phi_fun;
-    external_function_param_casadi * sim_gnsf_phi_fun_jac_y;
-    external_function_param_casadi * sim_gnsf_phi_jac_y_uhat;
-    external_function_param_casadi * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
-    external_function_param_casadi * sim_gnsf_get_matrices_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_fun_jac_y;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_phi_jac_y_uhat;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_f_lo_jac_x1_x1dot_u_z;
+    external_function_param_{{ model.dyn_ext_fun_type }} * sim_gnsf_get_matrices_fun;
 
 } sim_solver_capsule;
 
diff --git a/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
new file mode 100644
index 0000000000..153f98d13a
--- /dev/null
+++ b/third_party/acados/acados_template/c_templates_tera/acados_sim_solver.in.pxd
@@ -0,0 +1,51 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+cimport acados_sim_solver_common
+
+cdef extern from "acados_sim_solver_{{ model.name }}.h":
+    ctypedef struct sim_solver_capsule "sim_solver_capsule":
+        pass
+
+    sim_solver_capsule * acados_sim_solver_create_capsule "{{ model.name }}_acados_sim_solver_create_capsule"()
+    int acados_sim_solver_free_capsule "{{ model.name }}_acados_sim_solver_free_capsule"(sim_solver_capsule *capsule)
+
+    int acados_sim_create "{{ model.name }}_acados_sim_create"(sim_solver_capsule * capsule)
+    int acados_sim_solve "{{ model.name }}_acados_sim_solve"(sim_solver_capsule * capsule)
+    int acados_sim_free "{{ model.name }}_acados_sim_free"(sim_solver_capsule * capsule)
+    int acados_sim_update_params "{{ model.name }}_acados_sim_update_params"(sim_solver_capsule * capsule, double *value, int np_)
+    # int acados_sim_update_params_sparse "{{ model.name }}_acados_sim_update_params_sparse"(sim_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
+
+    acados_sim_solver_common.sim_in *acados_get_sim_in "{{ model.name }}_acados_get_sim_in"(sim_solver_capsule * capsule)
+    acados_sim_solver_common.sim_out *acados_get_sim_out "{{ model.name }}_acados_get_sim_out"(sim_solver_capsule * capsule)
+    acados_sim_solver_common.sim_solver *acados_get_sim_solver "{{ model.name }}_acados_get_sim_solver"(sim_solver_capsule * capsule)
+    acados_sim_solver_common.sim_config *acados_get_sim_config "{{ model.name }}_acados_get_sim_config"(sim_solver_capsule * capsule)
+    acados_sim_solver_common.sim_opts *acados_get_sim_opts "{{ model.name }}_acados_get_sim_opts"(sim_solver_capsule * capsule)
+    void *acados_get_sim_dims "{{ model.name }}_acados_get_sim_dims"(sim_solver_capsule * capsule)
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.c b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
similarity index 84%
rename from pyextra/acados_template/c_templates_tera/acados_solver.in.c
rename to third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
index 0af8127709..5e36a53d10 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -42,34 +39,27 @@
 
 // example specific
 #include "{{ model.name }}_model/{{ model.name }}_model.h"
-{% if constraints.constr_type == "BGP" and dims.nphi %}
-#include "{{ model.name }}_constraints/{{ model.name }}_phi_constraint.h"
-{% endif %}
-{% if constraints.constr_type_e == "BGP" and dims.nphi_e > 0 %}
-#include "{{ model.name }}_constraints/{{ model.name }}_phi_e_constraint.h"
-{% endif %}
-{% if constraints.constr_type == "BGH" and dims.nh > 0 %}
-#include "{{ model.name }}_constraints/{{ model.name }}_h_constraint.h"
-{% endif %}
-{% if constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
-#include "{{ model.name }}_constraints/{{ model.name }}_h_e_constraint.h"
-{% endif %}
-{%- if cost.cost_type == "NONLINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost_y_fun.h"
-{%- elif cost.cost_type == "EXTERNAL" %}
-#include "{{ model.name }}_cost/{{ model.name }}_external_cost.h"
+#include "{{ model.name }}_constraints/{{ model.name }}_constraints.h"
+
+{%- if cost.cost_type != "LINEAR_LS" or cost.cost_type_e != "LINEAR_LS" or cost.cost_type_0 != "LINEAR_LS" %}
+#include "{{ model.name }}_cost/{{ model.name }}_cost.h"
 {%- endif %}
-{%- if cost.cost_type_0 == "NONLINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost_y_0_fun.h"
-{%- elif cost.cost_type_0 == "EXTERNAL" %}
-#include "{{ model.name }}_cost/{{ model.name }}_external_cost_0.h"
+
+{%- if not solver_options.custom_update_filename %}
+    {%- set custom_update_filename = "" %}
+{% else %}
+    {%- set custom_update_filename = solver_options.custom_update_filename %}
 {%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" %}
-#include "{{ model.name }}_cost/{{ model.name }}_cost_y_e_fun.h"
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-#include "{{ model.name }}_cost/{{ model.name }}_external_cost_e.h"
+{%- if not solver_options.custom_update_header_filename %}
+    {%- set custom_update_header_filename = "" %}
+{% else %}
+    {%- set custom_update_header_filename = solver_options.custom_update_header_filename %}
+{%- endif %}
+{%- if custom_update_header_filename != "" %}
+#include "{{ custom_update_header_filename }}"
 {%- endif %}
 
+
 #include "acados_solver_{{ model.name }}.h"
 
 #define NX     {{ model.name | upper }}_NX
@@ -205,7 +195,6 @@ void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan,
     nlp_solver_plan->nlp_constraints[N] = BGH;
     {%- endif %}
 
-{%- if solver_options.hessian_approx == "EXACT" %}
     {%- if solver_options.regularize_method == "NO_REGULARIZE" %}
     nlp_solver_plan->regularization = NO_REGULARIZE;
     {%- elif solver_options.regularize_method == "MIRROR" %}
@@ -217,7 +206,6 @@ void {{ model.name }}_acados_create_1_set_plan(ocp_nlp_plan_t* nlp_solver_plan,
     {%- elif solver_options.regularize_method == "CONVEXIFY" %}
     nlp_solver_plan->regularization = CONVEXIFY;
     {%- endif %}
-{%- endif %}
 }
 
 
@@ -324,11 +312,11 @@ ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ mode
         ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, i, "nbxe", &nbxe[i]);
     }
 
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
+{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR"%}
     ocp_nlp_dims_set_cost(nlp_config, nlp_dims, 0, "ny", &ny[0]);
 {%- endif %}
 
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
+{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR"%}
     for (int i = 1; i < N; i++)
         ocp_nlp_dims_set_cost(nlp_config, nlp_dims, i, "ny", &ny[i]);
 {%- endif %}
@@ -353,7 +341,7 @@ ocp_nlp_dims* {{ model.name }}_acados_create_2_create_and_set_dimensions({{ mode
     ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nphi", &nphi[N]);
     ocp_nlp_dims_set_constraints(nlp_config, nlp_dims, N, "nsphi", &nsphi[N]);
 {%- endif %}
-{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
+{%- if cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR"%}
     ocp_nlp_dims_set_cost(nlp_config, nlp_dims, N, "ny", &ny[N]);
 {%- endif %}
     free(intNp1mem);
@@ -388,7 +376,6 @@ return nlp_dims;
 void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_solver_capsule* capsule)
 {
     const int N = capsule->nlp_solver_plan->N;
-    ocp_nlp_config* nlp_config = capsule->nlp_config;
 
     /************************************************
     *  external functions
@@ -468,35 +455,50 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_
 
 {% elif solver_options.integrator_type == "IRK" %}
     // implicit dae
-    capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
+    {%- if model.dyn_ext_fun_type == "casadi" %}
         MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
+    {%- else %}
+        capsule->impl_dae_fun[i].fun = &{{ model.dyn_impl_dae_fun }};
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun[i], {{ dims.np }});
+    {%- endif %}
     }
 
-    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_fun_jac_x_xdot_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
+    {%- if model.dyn_ext_fun_type == "casadi" %}
         MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_z[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_z);
+    {%- else %}
+        capsule->impl_dae_fun_jac_x_xdot_z[i].fun = &{{ model.dyn_impl_dae_fun_jac }};
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_fun_jac_x_xdot_z[i], {{ dims.np }});
+    {%- endif %}
     }
 
-    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_jac_x_xdot_u_z = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
+    {%- if model.dyn_ext_fun_type == "casadi" %}
         MAP_CASADI_FNC(impl_dae_jac_x_xdot_u_z[i], {{ model.name }}_impl_dae_jac_x_xdot_u_z);
+    {%- else %}
+        capsule->impl_dae_jac_x_xdot_u_z[i].fun = &{{ model.dyn_impl_dae_jac }};
+        external_function_param_{{ model.dyn_ext_fun_type }}_create(&capsule->impl_dae_jac_x_xdot_u_z[i], {{ dims.np }});
+    {%- endif %}
     }
 
     {%- if solver_options.hessian_approx == "EXACT" %}
-    capsule->impl_dae_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_hess = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
         MAP_CASADI_FNC(impl_dae_hess[i], {{ model.name }}_impl_dae_hess);
     }
     {%- endif %}
 {% elif solver_options.integrator_type == "LIFTED_IRK" %}
     // external functions (implicit model)
-    capsule->impl_dae_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_fun = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
         MAP_CASADI_FNC(impl_dae_fun[i], {{ model.name }}_impl_dae_fun);
     }
 
-    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    capsule->impl_dae_fun_jac_x_xdot_u = (external_function_param_{{ model.dyn_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ model.dyn_ext_fun_type }})*N);
     for (int i = 0; i < N; i++) {
         MAP_CASADI_FNC(impl_dae_fun_jac_x_xdot_u[i], {{ model.name }}_impl_dae_fun_jac_x_xdot_u);
     }
@@ -574,6 +576,11 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_
     MAP_CASADI_FNC(cost_y_0_fun_jac_ut_xt, {{ model.name }}_cost_y_0_fun_jac_ut_xt);
     MAP_CASADI_FNC(cost_y_0_hess, {{ model.name }}_cost_y_0_hess);
 
+{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+    // convex-over-nonlinear cost
+    MAP_CASADI_FNC(conl_cost_0_fun, {{ model.name }}_conl_cost_0_fun);
+    MAP_CASADI_FNC(conl_cost_0_fun_jac_hess, {{ model.name }}_conl_cost_0_fun_jac_hess);
+
 {%- elif cost.cost_type_0 == "EXTERNAL" %}
     // external cost
     {%- if cost.cost_ext_fun_type_0 == "casadi" %}
@@ -619,6 +626,20 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_
     {
         MAP_CASADI_FNC(cost_y_hess[i], {{ model.name }}_cost_y_hess);
     }
+
+{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+    // convex-over-nonlinear cost
+    capsule->conl_cost_fun = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        MAP_CASADI_FNC(conl_cost_fun[i], {{ model.name }}_conl_cost_fun);
+    }
+    capsule->conl_cost_fun_jac_hess = (external_function_param_casadi *) malloc(sizeof(external_function_param_casadi)*N);
+    for (int i = 0; i < N-1; i++)
+    {
+        MAP_CASADI_FNC(conl_cost_fun_jac_hess[i], {{ model.name }}_conl_cost_fun_jac_hess);
+    }
+
 {%- elif cost.cost_type == "EXTERNAL" %}
     // external cost
     capsule->ext_cost_fun = (external_function_param_{{ cost.cost_ext_fun_type }} *) malloc(sizeof(external_function_param_{{ cost.cost_ext_fun_type }})*N);
@@ -660,6 +681,12 @@ void {{ model.name }}_acados_create_3_create_and_set_functions({{ model.name }}_
     MAP_CASADI_FNC(cost_y_e_fun, {{ model.name }}_cost_y_e_fun);
     MAP_CASADI_FNC(cost_y_e_fun_jac_ut_xt, {{ model.name }}_cost_y_e_fun_jac_ut_xt);
     MAP_CASADI_FNC(cost_y_e_hess, {{ model.name }}_cost_y_e_hess);
+
+{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+    // convex-over-nonlinear cost
+    MAP_CASADI_FNC(conl_cost_e_fun, {{ model.name }}_conl_cost_e_fun);
+    MAP_CASADI_FNC(conl_cost_e_fun_jac_hess, {{ model.name }}_conl_cost_e_fun_jac_hess);
+
 {%- elif cost.cost_type_e == "EXTERNAL" %}
     // external cost - function
     {%- if cost.cost_ext_fun_type_e == "casadi" %}
@@ -808,20 +835,9 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     }
 
     /**** Cost ****/
-{%- if cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
-    {%- if dims.ny_0 > 0 %}
-    double* W_0 = calloc(NY0*NY0, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_0) %}
-        {%- for k in range(end=dims.ny_0) %}
-            {%- if cost.W_0[j][k] != 0 %}
-    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
-    free(W_0);
 
+{%- if dims.ny_0 == 0 %}
+{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" or cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
     double* yref_0 = calloc(NY0, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny_0) %}
@@ -831,40 +847,91 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     {%- endfor %}
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "yref", yref_0);
     free(yref_0);
-    {%- endif %}
 {%- endif %}
 
-{%- if cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
-    {%- if dims.ny > 0 %}
-    double* W = calloc(NY*NY, sizeof(double));
+
+{%- if dims.ny == 0 %}
+{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" or cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+    double* yref = calloc(NY, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny) %}
-        {%- for k in range(end=dims.ny) %}
-            {%- if cost.W[j][k] != 0 %}
-    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
+        {%- if cost.yref[j] != 0 %}
+    yref[{{ j }}] = {{ cost.yref[j] }};
+        {%- endif %}
+    {%- endfor %}
+
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
+    }
+    free(yref);
+{%- endif %}
+
+
+{%- if dims.ny_e == 0 %}
+{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+    double* yref_e = calloc(NYN, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny_e) %}
+        {%- if cost.yref_e[j] != 0 %}
+    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
+        {%- endif %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
+    free(yref_e);
+{%- endif %}
+
+{%- if dims.ny_0 == 0 %}
+{%- elif cost.cost_type_0 == "NONLINEAR_LS" or cost.cost_type_0 == "LINEAR_LS" %}
+   double* W_0 = calloc(NY0*NY0, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny_0) %}
+        {%- for k in range(end=dims.ny_0) %}
+            {%- if cost.W_0[j][k] != 0 %}
+    W_0[{{ j }}+(NY0) * {{ k }}] = {{ cost.W_0[j][k] }};
             {%- endif %}
         {%- endfor %}
     {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "W", W_0);
+    free(W_0);
+{%- endif %}
 
-    double* yref = calloc(NY, sizeof(double));
+{%- if dims.ny == 0 %}
+{%- elif cost.cost_type == "NONLINEAR_LS" or cost.cost_type == "LINEAR_LS" %}
+    double* W = calloc(NY*NY, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny) %}
-        {%- if cost.yref[j] != 0 %}
-    yref[{{ j }}] = {{ cost.yref[j] }};
-        {%- endif %}
+        {%- for k in range(end=dims.ny) %}
+            {%- if cost.W[j][k] != 0 %}
+    W[{{ j }}+(NY) * {{ k }}] = {{ cost.W[j][k] }};
+            {%- endif %}
+        {%- endfor %}
     {%- endfor %}
 
     for (int i = 1; i < N; i++)
     {
         ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "W", W);
-        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "yref", yref);
     }
     free(W);
-    free(yref);
-    {%- endif %}
 {%- endif %}
 
-{%- if cost.cost_type_0 == "LINEAR_LS" %}
+{%- if dims.ny_e == 0 %}
+{%- elif cost.cost_type_e == "NONLINEAR_LS" or cost.cost_type_e == "LINEAR_LS" %}
+    double* W_e = calloc(NYN*NYN, sizeof(double));
+    // change only the non-zero elements:
+    {%- for j in range(end=dims.ny_e) %}
+        {%- for k in range(end=dims.ny_e) %}
+            {%- if cost.W_e[j][k] != 0 %}
+    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
+    free(W_e);
+{%- endif %}
+
+{%- if dims.ny_0 == 0 %}
+{%- elif cost.cost_type_0 == "LINEAR_LS" %}
     double* Vx_0 = calloc(NY0*NX, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny_0) %}
@@ -877,7 +944,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vx", Vx_0);
     free(Vx_0);
 
-    {%- if dims.ny_0 > 0 and dims.nu > 0 %}
+    {%- if dims.nu > 0 %}
     double* Vu_0 = calloc(NY0*NU, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny_0) %}
@@ -891,7 +958,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     free(Vu_0);
     {%- endif %}
 
-    {%- if dims.ny_0 > 0 and dims.nz > 0 %}
+    {%- if dims.nz > 0 %}
     double* Vz_0 = calloc(NY0*NZ, sizeof(double));
     // change only the non-zero elements:
     {% for j in range(end=dims.ny_0) %}
@@ -904,10 +971,10 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "Vz", Vz_0);
     free(Vz_0);
     {%- endif %}
-{%- endif %}{# LINEAR LS #}
-
+{%- endif %}
 
-{%- if cost.cost_type == "LINEAR_LS" %}
+{%- if dims.ny == 0 %}
+{%- elif cost.cost_type == "LINEAR_LS" %}
     double* Vx = calloc(NY*NX, sizeof(double));
     // change only the non-zero elements:
     {%- for j in range(end=dims.ny) %}
@@ -923,7 +990,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     }
     free(Vx);
 
-    {% if dims.ny > 0 and dims.nu > 0 %}
+    {% if dims.nu > 0 %}
     double* Vu = calloc(NY*NU, sizeof(double));
     // change only the non-zero elements:
     {% for j in range(end=dims.ny) %}
@@ -941,7 +1008,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     free(Vu);
     {%- endif %}
 
-    {%- if dims.ny > 0 and dims.nz > 0 %}
+    {%- if dims.nz > 0 %}
     double* Vz = calloc(NY*NZ, sizeof(double));
     // change only the non-zero elements:
     {% for j in range(end=dims.ny) %}
@@ -960,11 +1027,28 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     {%- endif %}
 {%- endif %}{# LINEAR LS #}
 
+{%- if dims.ny_e == 0 %}
+{%- elif cost.cost_type_e == "LINEAR_LS" %}
+    double* Vx_e = calloc(NYN*NX, sizeof(double));
+    // change only the non-zero elements:
+    {% for j in range(end=dims.ny_e) %}
+        {%- for k in range(end=dims.nx) %}
+            {%- if cost.Vx_e[j][k] != 0 %}
+    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
+            {%- endif %}
+        {%- endfor %}
+    {%- endfor %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
+    free(Vx_e);
+{%- endif %}
 
 {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun", &capsule->cost_y_0_fun);
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_fun_jac", &capsule->cost_y_0_fun_jac_ut_xt);
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "nls_y_hess", &capsule->cost_y_0_hess);
+{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun", &capsule->conl_cost_0_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "conl_cost_fun_jac_hess", &capsule->conl_cost_0_fun_jac_hess);
 {%- elif cost.cost_type_0 == "EXTERNAL" %}
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun", &capsule->ext_cost_0_fun);
     ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, 0, "ext_cost_fun_jac", &capsule->ext_cost_0_fun_jac);
@@ -978,6 +1062,12 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
         ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_fun_jac", &capsule->cost_y_fun_jac_ut_xt[i-1]);
         ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "nls_y_hess", &capsule->cost_y_hess[i-1]);
     }
+{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+    for (int i = 1; i < N; i++)
+    {
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun", &capsule->conl_cost_fun[i-1]);
+        ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, i, "conl_cost_fun_jac_hess", &capsule->conl_cost_fun_jac_hess[i-1]);
+    }
 {%- elif cost.cost_type == "EXTERNAL" %}
     for (int i = 1; i < N; i++)
     {
@@ -987,7 +1077,25 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     }
 {%- endif %}
 
+{%- if cost.cost_type_e == "NONLINEAR_LS" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
+
+{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun", &capsule->conl_cost_e_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "conl_cost_fun_jac_hess", &capsule->conl_cost_e_fun_jac_hess);
+
+{%- elif cost.cost_type_e == "EXTERNAL" %}
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
+{%- endif %}
+
+
 {%- if dims.ns > 0 %}
+    // slacks
     double* zlumem = calloc(4*NS, sizeof(double));
     double* Zl = zlumem+NS*0;
     double* Zu = zlumem+NS*1;
@@ -1028,59 +1136,8 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     free(zlumem);
 {%- endif %}
 
-    // terminal cost
-{%- if cost.cost_type_e == "LINEAR_LS" or cost.cost_type_e == "NONLINEAR_LS" %}
-    {%- if dims.ny_e > 0 %}
-    double* yref_e = calloc(NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- if cost.yref_e[j] != 0 %}
-    yref_e[{{ j }}] = {{ cost.yref_e[j] }};
-        {%- endif %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", yref_e);
-    free(yref_e);
-
-    double* W_e = calloc(NYN*NYN, sizeof(double));
-    // change only the non-zero elements:
-    {%- for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.ny_e) %}
-            {%- if cost.W_e[j][k] != 0 %}
-    W_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.W_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", W_e);
-    free(W_e);
-
-        {%- if cost.cost_type_e == "LINEAR_LS" %}
-    double* Vx_e = calloc(NYN*NX, sizeof(double));
-    // change only the non-zero elements:
-    {% for j in range(end=dims.ny_e) %}
-        {%- for k in range(end=dims.nx) %}
-            {%- if cost.Vx_e[j][k] != 0 %}
-    Vx_e[{{ j }}+(NYN) * {{ k }}] = {{ cost.Vx_e[j][k] }};
-            {%- endif %}
-        {%- endfor %}
-    {%- endfor %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "Vx", Vx_e);
-    free(Vx_e);
-        {%- endif %}
-
-        {%- if cost.cost_type_e == "NONLINEAR_LS" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun", &capsule->cost_y_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_fun_jac", &capsule->cost_y_e_fun_jac_ut_xt);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "nls_y_hess", &capsule->cost_y_e_hess);
-        {%- endif %}
-    {%- endif %}{# ny_e > 0 #}
-
-{%- elif cost.cost_type_e == "EXTERNAL" %}
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun", &capsule->ext_cost_e_fun);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac", &capsule->ext_cost_e_fun_jac);
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "ext_cost_fun_jac_hess", &capsule->ext_cost_e_fun_jac_hess);
-{%- endif %}
-
 {% if dims.ns_e > 0 %}
+    // slacks terminal
     double* zluemem = calloc(4*NSN, sizeof(double));
     double* Zl_e = zluemem+NSN*0;
     double* Zu_e = zluemem+NSN*1;
@@ -1185,7 +1242,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     {%- endfor %}
 
     for (int i = 1; i < N; i++)
-    {       
+    {
         ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "idxsbx", idxsbx);
         ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "lsbx", lsbx);
         ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, i, "usbx", usbx);
@@ -1363,7 +1420,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
 {%- endif %}
 
 {% if dims.ng > 0 %}
-    // set up general constraints for stage 0 to N-1 
+    // set up general constraints for stage 0 to N-1
     double* D = calloc(NG*NU, sizeof(double));
     double* C = calloc(NG*NX, sizeof(double));
     double* lug = calloc(2*NG, sizeof(double));
@@ -1427,7 +1484,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
     uh[{{ i }}] = {{ constraints.uh[i] }};
         {%- endif %}
     {%- endfor %}
-    
+
     for (int i = 0; i < N; i++)
     {
         // nonlinear constraints for stages 0 to N-1
@@ -1599,16 +1656,16 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
 {% endif %}
 
 {% if dims.ng_e > 0 %}
-    // set up general constraints for last stage 
+    // set up general constraints for last stage
     double* C_e = calloc(NGN*NX, sizeof(double));
     double* lug_e = calloc(2*NGN, sizeof(double));
     double* lg_e = lug_e;
     double* ug_e = lug_e + NGN;
 
-    {% for j in range(end=dims.ng) %}
+    {% for j in range(end=dims.ng_e) %}
         {%- for k in range(end=dims.nx) %}
             {%- if constraints.C_e[j][k] != 0 %}
-    C_e[{{ j }}+NG * {{ k }}] = {{ constraints.C_e[j][k] }};
+    C_e[{{ j }}+NGN * {{ k }}] = {{ constraints.C_e[j][k] }};
             {%- endif %}
         {%- endfor %}
     {%- endfor %}
@@ -1658,7 +1715,7 @@ void {{ model.name }}_acados_create_5_set_nlp_in({{ model.name }}_solver_capsule
 {%- endif %}
 
 {% if dims.nphi_e > 0 and constraints.constr_type_e == "BGP" %}
-    // set up convex-over-nonlinear constraints for last stage 
+    // set up convex-over-nonlinear constraints for last stage
     double* luphi_e = calloc(2*NPHIN, sizeof(double));
     double* lphi_e = luphi_e;
     double* uphi_e = luphi_e + NPHIN;
@@ -1687,7 +1744,6 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule*
 {
     const int N = capsule->nlp_solver_plan->N;
     ocp_nlp_config* nlp_config = capsule->nlp_config;
-    ocp_nlp_dims* nlp_dims = capsule->nlp_dims;
     void *nlp_opts = capsule->nlp_opts;
 
     /************************************************
@@ -1695,12 +1751,9 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule*
     ************************************************/
 
 {% if solver_options.hessian_approx == "EXACT" %}
-    bool nlp_solver_exact_hessian = true;
-    // TODO: this if should not be needed! however, calling the setter with false leads to weird behavior. Investigate!
-    if (nlp_solver_exact_hessian)
-    {
-        ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
-    }
+    int nlp_solver_exact_hessian = 1;
+    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess", &nlp_solver_exact_hessian);
+
     int exact_hess_dyn = {{ solver_options.exact_hess_dyn }};
     ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "exact_hess_dyn", &exact_hess_dyn);
 
@@ -1861,6 +1914,8 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule*
     ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_N", &qp_solver_cond_N);
 {%- endif %}
 
+    int nlp_solver_ext_qp_res = {{ solver_options.nlp_solver_ext_qp_res }};
+    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "ext_qp_res", &nlp_solver_ext_qp_res);
 
 {%- if solver_options.qp_solver is containing("HPIPM") %}
     // set HPIPM mode: should be done before setting other QP solver options
@@ -1920,6 +1975,15 @@ void {{ model.name }}_acados_create_6_set_opts({{ model.name }}_solver_capsule*
     int print_level = {{ solver_options.print_level }};
     ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "print_level", &print_level);
 
+{%- if solver_options.qp_solver is containing('PARTIAL_CONDENSING') %}
+    int qp_solver_cond_ric_alg = {{ solver_options.qp_solver_cond_ric_alg }};
+    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_cond_ric_alg", &qp_solver_cond_ric_alg);
+{% endif %}
+
+{%- if solver_options.qp_solver  == 'PARTIAL_CONDENSING_HPIPM' %}
+    int qp_solver_ric_alg = {{ solver_options.qp_solver_ric_alg }};
+    ocp_nlp_solver_opts_set(nlp_config, nlp_opts, "qp_ric_alg", &qp_solver_ric_alg);
+{% endif %}
 
     int ext_cost_num_hess = {{ solver_options.ext_cost_num_hess }};
 {%- if cost.cost_type == "EXTERNAL" %}
@@ -2042,6 +2106,12 @@ int {{ model.name }}_acados_create_with_discretization({{ model.name }}_solver_c
 
     // 9) do precomputations
     int status = {{ model.name }}_acados_create_9_precompute(capsule);
+
+    {%- if custom_update_filename != "" %}
+    // Initialize custom update function
+    custom_update_init_function(capsule);
+    {%- endif %}
+
     return status;
 }
 
@@ -2076,7 +2146,7 @@ int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_caps
 }
 
 
-int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule)
+int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem)
 {
 
     // set initialization to all zeros
@@ -2088,8 +2158,6 @@ int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule)
     ocp_nlp_in* nlp_in = capsule->nlp_in;
     ocp_nlp_solver* nlp_solver = capsule->nlp_solver;
 
-    int nx, nu, nv, ns, nz, ni, dim;
-
     double* buffer = calloc(NX+NU+NZ+2*NS+2*NSN+NBX+NBU+NG+NH+NPHI+NBX0+NBXN+NHN+NPHIN+NGN, sizeof(double));
 
     for(int i=0; i<N+1; i++)
@@ -2119,7 +2187,7 @@ int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule)
     // get qp_status: if NaN -> reset memory
     int qp_status;
     ocp_nlp_get(capsule->nlp_config, capsule->nlp_solver, "qp_status", &qp_status);
-    if (qp_status == 3)
+    if (reset_qp_solver_mem || (qp_status == 3))
     {
         // printf("\nin reset qp_status %d -> resetting QP memory\n", qp_status);
         ocp_nlp_solver_reset_qp_memory(nlp_solver, nlp_in, nlp_out);
@@ -2144,7 +2212,6 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
         exit(1);
     }
 
-{%- if dims.np > 0 %}
     const int N = capsule->nlp_solver_plan->N;
     if (stage < N && stage >= 0)
     {
@@ -2201,6 +2268,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
             capsule->cost_y_0_fun.set_param(&capsule->cost_y_0_fun, p);
             capsule->cost_y_0_fun_jac_ut_xt.set_param(&capsule->cost_y_0_fun_jac_ut_xt, p);
             capsule->cost_y_0_hess.set_param(&capsule->cost_y_0_hess, p);
+        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+            capsule->conl_cost_0_fun.set_param(&capsule->conl_cost_0_fun, p);
+            capsule->conl_cost_0_fun_jac_hess.set_param(&capsule->conl_cost_0_fun_jac_hess, p);
         {%- elif cost.cost_type_0 == "EXTERNAL" %}
             capsule->ext_cost_0_fun.set_param(&capsule->ext_cost_0_fun, p);
             capsule->ext_cost_0_fun_jac.set_param(&capsule->ext_cost_0_fun_jac, p);
@@ -2213,6 +2283,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
             capsule->cost_y_fun[stage-1].set_param(capsule->cost_y_fun+stage-1, p);
             capsule->cost_y_fun_jac_ut_xt[stage-1].set_param(capsule->cost_y_fun_jac_ut_xt+stage-1, p);
             capsule->cost_y_hess[stage-1].set_param(capsule->cost_y_hess+stage-1, p);
+        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+            capsule->conl_cost_fun[stage-1].set_param(capsule->conl_cost_fun+stage-1, p);
+            capsule->conl_cost_fun_jac_hess[stage-1].set_param(capsule->conl_cost_fun_jac_hess+stage-1, p);
         {%- elif cost.cost_type == "EXTERNAL" %}
             capsule->ext_cost_fun[stage-1].set_param(capsule->ext_cost_fun+stage-1, p);
             capsule->ext_cost_fun_jac[stage-1].set_param(capsule->ext_cost_fun_jac+stage-1, p);
@@ -2229,6 +2302,9 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
         capsule->cost_y_e_fun.set_param(&capsule->cost_y_e_fun, p);
         capsule->cost_y_e_fun_jac_ut_xt.set_param(&capsule->cost_y_e_fun_jac_ut_xt, p);
         capsule->cost_y_e_hess.set_param(&capsule->cost_y_e_hess, p);
+    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+        capsule->conl_cost_e_fun.set_param(&capsule->conl_cost_e_fun, p);
+        capsule->conl_cost_e_fun_jac_hess.set_param(&capsule->conl_cost_e_fun_jac_hess, p);
     {%- elif cost.cost_type_e == "EXTERNAL" %}
         capsule->ext_cost_e_fun.set_param(&capsule->ext_cost_e_fun, p);
         capsule->ext_cost_e_fun_jac.set_param(&capsule->ext_cost_e_fun_jac, p);
@@ -2245,16 +2321,149 @@ int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule* capsu
     {%- endif %}
     {% endif %}
     }
-{% endif %}{# if dims.np #}
 
     return solver_status;
 }
 
 
+int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
+{
+    int solver_status = 0;
+
+    int casadi_np = {{ dims.np }};
+    if (casadi_np < n_update) {
+        printf("{{ model.name }}_acados_update_params_sparse: trying to set %d parameters for external functions."
+            " External function has %d parameters. Exiting.\n", n_update, casadi_np);
+        exit(1);
+    }
+    // for (int i = 0; i < n_update; i++)
+    // {
+    //     if (idx[i] > casadi_np) {
+    //         printf("{{ model.name }}_acados_update_params_sparse: attempt to set parameters with index %d, while"
+    //             " external functions only has %d parameters. Exiting.\n", idx[i], casadi_np);
+    //         exit(1);
+    //     }
+    //     printf("param %d value %e\n", idx[i], p[i]);
+    // }
+
+{%- if dims.np > 0 %}
+    const int N = capsule->nlp_solver_plan->N;
+    if (stage < N && stage >= 0)
+    {
+    {%- if solver_options.integrator_type == "IRK" %}
+        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
+        capsule->impl_dae_fun_jac_x_xdot_z[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_z+stage, n_update, idx, p);
+        capsule->impl_dae_jac_x_xdot_u_z[stage].set_param_sparse(capsule->impl_dae_jac_x_xdot_u_z+stage, n_update, idx, p);
+
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->impl_dae_hess[stage].set_param_sparse(capsule->impl_dae_hess+stage, n_update, idx, p);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "LIFTED_IRK" %}
+        capsule->impl_dae_fun[stage].set_param_sparse(capsule->impl_dae_fun+stage, n_update, idx, p);
+        capsule->impl_dae_fun_jac_x_xdot_u[stage].set_param_sparse(capsule->impl_dae_fun_jac_x_xdot_u+stage, n_update, idx, p);
+    {% elif solver_options.integrator_type == "ERK" %}
+        capsule->forw_vde_casadi[stage].set_param_sparse(capsule->forw_vde_casadi+stage, n_update, idx, p);
+        capsule->expl_ode_fun[stage].set_param_sparse(capsule->expl_ode_fun+stage, n_update, idx, p);
+
+        {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->hess_vde_casadi[stage].set_param_sparse(capsule->hess_vde_casadi+stage, n_update, idx, p);
+        {%- endif %}
+    {% elif solver_options.integrator_type == "GNSF" %}
+    {% if model.gnsf.purely_linear != 1 %}
+        capsule->gnsf_phi_fun[stage].set_param_sparse(capsule->gnsf_phi_fun+stage, n_update, idx, p);
+        capsule->gnsf_phi_fun_jac_y[stage].set_param_sparse(capsule->gnsf_phi_fun_jac_y+stage, n_update, idx, p);
+        capsule->gnsf_phi_jac_y_uhat[stage].set_param_sparse(capsule->gnsf_phi_jac_y_uhat+stage, n_update, idx, p);
+        {% if model.gnsf.nontrivial_f_LO == 1 %}
+            capsule->gnsf_f_lo_jac_x1_x1dot_u_z[stage].set_param_sparse(capsule->gnsf_f_lo_jac_x1_x1dot_u_z+stage, n_update, idx, p);
+        {%- endif %}
+    {%- endif %}
+    {% elif solver_options.integrator_type == "DISCRETE" %}
+        capsule->discr_dyn_phi_fun[stage].set_param_sparse(capsule->discr_dyn_phi_fun+stage, n_update, idx, p);
+        capsule->discr_dyn_phi_fun_jac_ut_xt[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt+stage, n_update, idx, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->discr_dyn_phi_fun_jac_ut_xt_hess[stage].set_param_sparse(capsule->discr_dyn_phi_fun_jac_ut_xt_hess+stage, n_update, idx, p);
+    {% endif %}
+    {%- endif %}{# integrator_type #}
+
+        // constraints
+    {% if constraints.constr_type == "BGP" %}
+        capsule->phi_constraint[stage].set_param_sparse(capsule->phi_constraint+stage, n_update, idx, p);
+    {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
+        capsule->nl_constr_h_fun_jac[stage].set_param_sparse(capsule->nl_constr_h_fun_jac+stage, n_update, idx, p);
+        capsule->nl_constr_h_fun[stage].set_param_sparse(capsule->nl_constr_h_fun+stage, n_update, idx, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->nl_constr_h_fun_jac_hess[stage].set_param_sparse(capsule->nl_constr_h_fun_jac_hess+stage, n_update, idx, p);
+    {%- endif %}
+    {%- endif %}
+
+        // cost
+        if (stage == 0)
+        {
+        {%- if cost.cost_type_0 == "NONLINEAR_LS" %}
+            capsule->cost_y_0_fun.set_param_sparse(&capsule->cost_y_0_fun, n_update, idx, p);
+            capsule->cost_y_0_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_0_fun_jac_ut_xt, n_update, idx, p);
+            capsule->cost_y_0_hess.set_param_sparse(&capsule->cost_y_0_hess, n_update, idx, p);
+        {%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+            capsule->conl_cost_0_fun.set_param_sparse(&capsule->conl_cost_0_fun, n_update, idx, p);
+            capsule->conl_cost_0_fun_jac_hess.set_param_sparse(&capsule->conl_cost_0_fun_jac_hess, n_update, idx, p);
+        {%- elif cost.cost_type_0 == "EXTERNAL" %}
+            capsule->ext_cost_0_fun.set_param_sparse(&capsule->ext_cost_0_fun, n_update, idx, p);
+            capsule->ext_cost_0_fun_jac.set_param_sparse(&capsule->ext_cost_0_fun_jac, n_update, idx, p);
+            capsule->ext_cost_0_fun_jac_hess.set_param_sparse(&capsule->ext_cost_0_fun_jac_hess, n_update, idx, p);
+        {% endif %}
+        }
+        else // 0 < stage < N
+        {
+        {%- if cost.cost_type == "NONLINEAR_LS" %}
+            capsule->cost_y_fun[stage-1].set_param_sparse(capsule->cost_y_fun+stage-1, n_update, idx, p);
+            capsule->cost_y_fun_jac_ut_xt[stage-1].set_param_sparse(capsule->cost_y_fun_jac_ut_xt+stage-1, n_update, idx, p);
+            capsule->cost_y_hess[stage-1].set_param_sparse(capsule->cost_y_hess+stage-1, n_update, idx, p);
+        {%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+            capsule->conl_cost_fun[stage-1].set_param_sparse(capsule->conl_cost_fun+stage-1, n_update, idx, p);
+            capsule->conl_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->conl_cost_fun_jac_hess+stage-1, n_update, idx, p);
+        {%- elif cost.cost_type == "EXTERNAL" %}
+            capsule->ext_cost_fun[stage-1].set_param_sparse(capsule->ext_cost_fun+stage-1, n_update, idx, p);
+            capsule->ext_cost_fun_jac[stage-1].set_param_sparse(capsule->ext_cost_fun_jac+stage-1, n_update, idx, p);
+            capsule->ext_cost_fun_jac_hess[stage-1].set_param_sparse(capsule->ext_cost_fun_jac_hess+stage-1, n_update, idx, p);
+        {%- endif %}
+        }
+    }
+
+    else // stage == N
+    {
+        // terminal shooting node has no dynamics
+        // cost
+    {%- if cost.cost_type_e == "NONLINEAR_LS" %}
+        capsule->cost_y_e_fun.set_param_sparse(&capsule->cost_y_e_fun, n_update, idx, p);
+        capsule->cost_y_e_fun_jac_ut_xt.set_param_sparse(&capsule->cost_y_e_fun_jac_ut_xt, n_update, idx, p);
+        capsule->cost_y_e_hess.set_param_sparse(&capsule->cost_y_e_hess, n_update, idx, p);
+    {%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+        capsule->conl_cost_e_fun.set_param_sparse(&capsule->conl_cost_e_fun, n_update, idx, p);
+        capsule->conl_cost_e_fun_jac_hess.set_param_sparse(&capsule->conl_cost_e_fun_jac_hess, n_update, idx, p);
+    {%- elif cost.cost_type_e == "EXTERNAL" %}
+        capsule->ext_cost_e_fun.set_param_sparse(&capsule->ext_cost_e_fun, n_update, idx, p);
+        capsule->ext_cost_e_fun_jac.set_param_sparse(&capsule->ext_cost_e_fun_jac, n_update, idx, p);
+        capsule->ext_cost_e_fun_jac_hess.set_param_sparse(&capsule->ext_cost_e_fun_jac_hess, n_update, idx, p);
+    {% endif %}
+        // constraints
+    {% if constraints.constr_type_e == "BGP" %}
+        capsule->phi_e_constraint.set_param_sparse(&capsule->phi_e_constraint, n_update, idx, p);
+    {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
+        capsule->nl_constr_h_e_fun_jac.set_param_sparse(&capsule->nl_constr_h_e_fun_jac, n_update, idx, p);
+        capsule->nl_constr_h_e_fun.set_param_sparse(&capsule->nl_constr_h_e_fun, n_update, idx, p);
+    {%- if solver_options.hessian_approx == "EXACT" %}
+        capsule->nl_constr_h_e_fun_jac_hess.set_param_sparse(&capsule->nl_constr_h_e_fun_jac_hess, n_update, idx, p);
+    {%- endif %}
+    {% endif %}
+    }
+{% endif %}{# if dims.np #}
+
+    return solver_status;
+}
 
 int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule* capsule)
 {
-    // solve NLP 
+    // solve NLP
     int solver_status = ocp_nlp_solve(capsule->nlp_solver, capsule->nlp_in, capsule->nlp_out);
 
     return solver_status;
@@ -2265,6 +2474,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
 {
     // before destroying, keep some info
     const int N = capsule->nlp_solver_plan->N;
+    {%- if custom_update_filename != "" %}
+    custom_update_terminate_function(capsule);
+    {%- endif %}
     // free memory
     ocp_nlp_solver_opts_destroy(capsule->nlp_opts);
     ocp_nlp_in_destroy(capsule->nlp_in);
@@ -2280,11 +2492,11 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
 {%- if solver_options.integrator_type == "IRK" %}
     for (int i = 0; i < N; i++)
     {
-        external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
-        external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
-        external_function_param_casadi_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_z[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_jac_x_xdot_u_z[i]);
     {%- if solver_options.hessian_approx == "EXACT" %}
-        external_function_param_casadi_free(&capsule->impl_dae_hess[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_hess[i]);
     {%- endif %}
     }
     free(capsule->impl_dae_fun);
@@ -2297,8 +2509,8 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
 {%- elif solver_options.integrator_type == "LIFTED_IRK" %}
     for (int i = 0; i < N; i++)
     {
-        external_function_param_casadi_free(&capsule->impl_dae_fun[i]);
-        external_function_param_casadi_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun[i]);
+        external_function_param_{{ model.dyn_ext_fun_type }}_free(&capsule->impl_dae_fun_jac_x_xdot_u[i]);
     }
     free(capsule->impl_dae_fun);
     free(capsule->impl_dae_fun_jac_x_xdot_u);
@@ -2354,7 +2566,7 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
     {%- if solver_options.hessian_approx == "EXACT" %}
     free(capsule->discr_dyn_phi_fun_jac_ut_xt_hess);
     {%- endif %}
-    
+
 {%- endif %}
 
     // cost
@@ -2362,6 +2574,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
     external_function_param_casadi_free(&capsule->cost_y_0_fun);
     external_function_param_casadi_free(&capsule->cost_y_0_fun_jac_ut_xt);
     external_function_param_casadi_free(&capsule->cost_y_0_hess);
+{%- elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+    external_function_param_casadi_free(&capsule->conl_cost_0_fun);
+    external_function_param_casadi_free(&capsule->conl_cost_0_fun_jac_hess);
 {%- elif cost.cost_type_0 == "EXTERNAL" %}
     external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun);
     external_function_param_{{ cost.cost_ext_fun_type_0 }}_free(&capsule->ext_cost_0_fun_jac);
@@ -2377,6 +2592,14 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
     free(capsule->cost_y_fun);
     free(capsule->cost_y_fun_jac_ut_xt);
     free(capsule->cost_y_hess);
+{%- elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+    for (int i = 0; i < N - 1; i++)
+    {
+        external_function_param_casadi_free(&capsule->conl_cost_fun[i]);
+        external_function_param_casadi_free(&capsule->conl_cost_fun_jac_hess[i]);
+    }
+    free(capsule->conl_cost_fun);
+    free(capsule->conl_cost_fun_jac_hess);
 {%- elif cost.cost_type == "EXTERNAL" %}
     for (int i = 0; i < N - 1; i++)
     {
@@ -2392,6 +2615,9 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
     external_function_param_casadi_free(&capsule->cost_y_e_fun);
     external_function_param_casadi_free(&capsule->cost_y_e_fun_jac_ut_xt);
     external_function_param_casadi_free(&capsule->cost_y_e_hess);
+{%- elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+    external_function_param_casadi_free(&capsule->conl_cost_e_fun);
+    external_function_param_casadi_free(&capsule->conl_cost_e_fun_jac_hess);
 {%- elif cost.cost_type_e == "EXTERNAL" %}
     external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun);
     external_function_param_{{ cost.cost_ext_fun_type_e }}_free(&capsule->ext_cost_e_fun_jac);
@@ -2438,15 +2664,6 @@ int {{ model.name }}_acados_free({{ model.name }}_solver_capsule* capsule)
     return 0;
 }
 
-ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
-ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
-ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
-ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
-ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
-void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
-ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
-ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
-
 
 void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsule)
 {
@@ -2461,8 +2678,13 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsul
 
     int nrow = sqp_iter+1 < stat_m ? sqp_iter+1 : stat_m;
 
+    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha");
+    if (stat_n > 8)
+        printf("\t\tqp_res_stat\tqp_res_eq\tqp_res_ineq\tqp_res_comp");
+    printf("\n");
+
 {%- if solver_options.nlp_solver_type == "SQP" %}
-    printf("iter\tres_stat\tres_eq\t\tres_ineq\tres_comp\tqp_stat\tqp_iter\talpha\n");
+
     for (int i = 0; i < nrow; i++)
     {
         for (int j = 0; j < stat_n + 1; j++)
@@ -2493,3 +2715,27 @@ void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule* capsul
 {%- endif %}
 }
 
+int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
+{
+{%- if custom_update_filename == "" %}
+    (void)capsule;
+    (void)data;
+    (void)data_len;
+    printf("\ndummy function that can be called in between solver calls to update parameters or numerical data efficiently in C.\n");
+    printf("nothing set yet..\n");
+    return 1;
+{% else %}
+    custom_update_function(capsule, data, data_len);
+{%- endif %}
+}
+
+
+
+ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_in; }
+ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_out; }
+ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule* capsule) { return capsule->sens_out; }
+ocp_nlp_solver *{{ model.name }}_acados_get_nlp_solver({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver; }
+ocp_nlp_config *{{ model.name }}_acados_get_nlp_config({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_config; }
+void *{{ model.name }}_acados_get_nlp_opts({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_opts; }
+ocp_nlp_dims *{{ model.name }}_acados_get_nlp_dims({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_dims; }
+ocp_nlp_plan_t *{{ model.name }}_acados_get_nlp_plan({{ model.name }}_solver_capsule* capsule) { return capsule->nlp_solver_plan; }
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.h b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
similarity index 84%
rename from pyextra/acados_template/c_templates_tera/acados_solver.in.h
rename to third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
index 1c82ef3ba0..5cf38aa8c8 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver.in.h
+++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -74,6 +71,12 @@
 extern "C" {
 #endif
 
+{%- if not solver_options.custom_update_filename %}
+    {%- set custom_update_filename = "" %}
+{% else %}
+    {%- set custom_update_filename = solver_options.custom_update_filename %}
+{%- endif %}
+
 // ** capsule for solver data **
 typedef struct {{ model.name }}_solver_capsule
 {
@@ -99,15 +102,15 @@ typedef struct {{ model.name }}_solver_capsule
     external_function_param_casadi *hess_vde_casadi;
 {%- endif %}
 {% elif solver_options.integrator_type == "IRK" %}
-    external_function_param_casadi *impl_dae_fun;
-    external_function_param_casadi *impl_dae_fun_jac_x_xdot_z;
-    external_function_param_casadi *impl_dae_jac_x_xdot_u_z;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_z;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_jac_x_xdot_u_z;
 {% if solver_options.hessian_approx == "EXACT" %}
-    external_function_param_casadi *impl_dae_hess;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_hess;
 {%- endif %}
 {% elif solver_options.integrator_type == "LIFTED_IRK" %}
-    external_function_param_casadi *impl_dae_fun;
-    external_function_param_casadi *impl_dae_fun_jac_x_xdot_u;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun;
+    external_function_param_{{ model.dyn_ext_fun_type }} *impl_dae_fun_jac_x_xdot_u;
 {% elif solver_options.integrator_type == "GNSF" %}
     external_function_param_casadi *gnsf_phi_fun;
     external_function_param_casadi *gnsf_phi_fun_jac_y;
@@ -128,6 +131,9 @@ typedef struct {{ model.name }}_solver_capsule
     external_function_param_casadi *cost_y_fun;
     external_function_param_casadi *cost_y_fun_jac_ut_xt;
     external_function_param_casadi *cost_y_hess;
+{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+    external_function_param_casadi *conl_cost_fun;
+    external_function_param_casadi *conl_cost_fun_jac_hess;
 {%- elif cost.cost_type == "EXTERNAL" %}
     external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun;
     external_function_param_{{ cost.cost_ext_fun_type }} *ext_cost_fun_jac;
@@ -138,6 +144,9 @@ typedef struct {{ model.name }}_solver_capsule
     external_function_param_casadi cost_y_0_fun;
     external_function_param_casadi cost_y_0_fun_jac_ut_xt;
     external_function_param_casadi cost_y_0_hess;
+{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+    external_function_param_casadi conl_cost_0_fun;
+    external_function_param_casadi conl_cost_0_fun_jac_hess;
 {% elif cost.cost_type_0 == "EXTERNAL" %}
     external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun;
     external_function_param_{{ cost.cost_ext_fun_type_0 }} ext_cost_0_fun_jac;
@@ -148,6 +157,9 @@ typedef struct {{ model.name }}_solver_capsule
     external_function_param_casadi cost_y_e_fun;
     external_function_param_casadi cost_y_e_fun_jac_ut_xt;
     external_function_param_casadi cost_y_e_hess;
+{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+    external_function_param_casadi conl_cost_e_fun;
+    external_function_param_casadi conl_cost_e_fun_jac_hess;
 {% elif cost.cost_type_e == "EXTERNAL" %}
     external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun;
     external_function_param_{{ cost.cost_ext_fun_type_e }} ext_cost_e_fun_jac;
@@ -160,8 +172,10 @@ typedef struct {{ model.name }}_solver_capsule
 {% elif constraints.constr_type == "BGH" and dims.nh > 0 %}
     external_function_param_casadi *nl_constr_h_fun_jac;
     external_function_param_casadi *nl_constr_h_fun;
+{%- if solver_options.hessian_approx == "EXACT" %}
     external_function_param_casadi *nl_constr_h_fun_jac_hess;
 {%- endif %}
+{%- endif %}
 
 
 {% if constraints.constr_type_e == "BGP" %}
@@ -169,8 +183,14 @@ typedef struct {{ model.name }}_solver_capsule
 {% elif constraints.constr_type_e == "BGH" and dims.nh_e > 0 %}
     external_function_param_casadi nl_constr_h_e_fun_jac;
     external_function_param_casadi nl_constr_h_e_fun;
+{%- if solver_options.hessian_approx == "EXACT" %}
     external_function_param_casadi nl_constr_h_e_fun_jac_hess;
 {%- endif %}
+{%- endif %}
+
+{%- if custom_update_filename != "" %}
+    void * custom_update_memory;
+{%- endif %}
 
 } {{ model.name }}_solver_capsule;
 
@@ -179,7 +199,7 @@ ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free_capsule({{ model.name }}_s
 
 ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_create({{ model.name }}_solver_capsule * capsule);
 
-ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule);
+ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_reset({{ model.name }}_solver_capsule* capsule, int reset_qp_solver_mem);
 
 /**
  * Generic version of {{ model.name }}_acados_create which allows to use a different number of shooting intervals than
@@ -197,10 +217,14 @@ ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_time_steps({{ model.name
  */
 ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_qp_solver_cond_N({{ model.name }}_solver_capsule * capsule, int qp_solver_cond_N);
 ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params({{ model.name }}_solver_capsule * capsule, int stage, double *value, int np);
+ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_update_params_sparse({{ model.name }}_solver_capsule * capsule, int stage, int *idx, double *p, int n_update);
+
 ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_solve({{ model.name }}_solver_capsule * capsule);
 ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_free({{ model.name }}_solver_capsule * capsule);
 ACADOS_SYMBOL_EXPORT void {{ model.name }}_acados_print_stats({{ model.name }}_solver_capsule * capsule);
-                     
+ACADOS_SYMBOL_EXPORT int {{ model.name }}_acados_custom_update({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
+
+
 ACADOS_SYMBOL_EXPORT ocp_nlp_in *{{ model.name }}_acados_get_nlp_in({{ model.name }}_solver_capsule * capsule);
 ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_nlp_out({{ model.name }}_solver_capsule * capsule);
 ACADOS_SYMBOL_EXPORT ocp_nlp_out *{{ model.name }}_acados_get_sens_out({{ model.name }}_solver_capsule * capsule);
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
similarity index 90%
rename from pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
rename to third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
index 09f8755cbe..233e3f79da 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver.in.pxd
+++ b/third_party/acados/acados_template/c_templates_tera/acados_solver.in.pxd
@@ -1,8 +1,5 @@
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -47,11 +44,14 @@ cdef extern from "acados_solver_{{ model.name }}.h":
     int acados_update_qp_solver_cond_N "{{ model.name }}_acados_update_qp_solver_cond_N"(nlp_solver_capsule * capsule, int qp_solver_cond_N)
 
     int acados_update_params "{{ model.name }}_acados_update_params"(nlp_solver_capsule * capsule, int stage, double *value, int np_)
+    int acados_update_params_sparse "{{ model.name }}_acados_update_params_sparse"(nlp_solver_capsule * capsule, int stage, int *idx, double *p, int n_update)
     int acados_solve "{{ model.name }}_acados_solve"(nlp_solver_capsule * capsule)
-    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule)
+    int acados_reset "{{ model.name }}_acados_reset"(nlp_solver_capsule * capsule, int reset_qp_solver_mem)
     int acados_free "{{ model.name }}_acados_free"(nlp_solver_capsule * capsule)
     void acados_print_stats "{{ model.name }}_acados_print_stats"(nlp_solver_capsule * capsule)
 
+    int acados_custom_update "{{ model.name }}_acados_custom_update"(nlp_solver_capsule* capsule, double * data, int data_len)
+
     acados_solver_common.ocp_nlp_in *acados_get_nlp_in "{{ model.name }}_acados_get_nlp_in"(nlp_solver_capsule * capsule)
     acados_solver_common.ocp_nlp_out *acados_get_nlp_out "{{ model.name }}_acados_get_nlp_out"(nlp_solver_capsule * capsule)
     acados_solver_common.ocp_nlp_out *acados_get_sens_out "{{ model.name }}_acados_get_sens_out"(nlp_solver_capsule * capsule)
diff --git a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
similarity index 54%
rename from pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
rename to third_party/acados/acados_template/c_templates_tera/constraints.in.h
index a5dd711641..d71ce5cc22 100644
--- a/pyextra/acados_template/c_templates_tera/h_e_constraint.in.h
+++ b/third_party/acados/acados_template/c_templates_tera/constraints.in.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -31,14 +28,56 @@
  * POSSIBILITY OF SUCH DAMAGE.;
  */
 
-
-#ifndef {{ model.name }}_H_E_CONSTRAINT
-#define {{ model.name }}_H_E_CONSTRAINT
+#ifndef {{ model.name }}_CONSTRAINTS
+#define {{ model.name }}_CONSTRAINTS
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+{% if dims.nphi > 0 %}
+int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
+const int *{{ model.name }}_phi_constraint_sparsity_in(int);
+const int *{{ model.name }}_phi_constraint_sparsity_out(int);
+int {{ model.name }}_phi_constraint_n_in(void);
+int {{ model.name }}_phi_constraint_n_out(void);
+{% endif %}
+
+{% if dims.nphi_e > 0 %}
+int {{ model.name }}_phi_e_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_phi_e_constraint_work(int *, int *, int *, int *);
+const int *{{ model.name }}_phi_e_constraint_sparsity_in(int);
+const int *{{ model.name }}_phi_e_constraint_sparsity_out(int);
+int {{ model.name }}_phi_e_constraint_n_in(void);
+int {{ model.name }}_phi_e_constraint_n_out(void);
+{% endif %}
+
+{% if dims.nh > 0 %}
+int {{ model.name }}_constr_h_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_n_out(void);
+
+int {{ model.name }}_constr_h_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_n_in(void);
+int {{ model.name }}_constr_h_fun_n_out(void);
+
+{% if solver_options.hessian_approx == "EXACT" -%}
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_in(int);
+const int *{{ model.name }}_constr_h_fun_jac_uxt_zt_hess_sparsity_out(int);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_in(void);
+int {{ model.name }}_constr_h_fun_jac_uxt_zt_hess_n_out(void);
+{% endif %}
+{% endif %}
+
 {% if dims.nh_e > 0 %}
 int {{ model.name }}_constr_h_e_fun_jac_uxt_zt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_work(int *, int *, int *, int *);
@@ -68,4 +107,4 @@ int {{ model.name }}_constr_h_e_fun_jac_uxt_zt_hess_n_out(void);
 } /* extern "C" */
 #endif
 
-#endif  // {{ model.name }}_H_E_CONSTRAINT
+#endif  // {{ model.name }}_CONSTRAINTS
diff --git a/third_party/acados/acados_template/c_templates_tera/cost.in.h b/third_party/acados/acados_template/c_templates_tera/cost.in.h
new file mode 100644
index 0000000000..45eb09c12e
--- /dev/null
+++ b/third_party/acados/acados_template/c_templates_tera/cost.in.h
@@ -0,0 +1,238 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef {{ model.name }}_COST
+#define {{ model.name }}_COST
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+
+// Cost at initial shooting node
+{% if cost.cost_type_0 == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_0_fun_n_in(void);
+int {{ model.name }}_cost_y_0_fun_n_out(void);
+
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_0_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_0_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_0_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_0_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_0_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_0_hess_n_in(void);
+int {{ model.name }}_cost_y_0_hess_n_out(void);
+{% elif cost.cost_type_0 == "CONVEX_OVER_NONLINEAR" %}
+
+int {{ model.name }}_conl_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_0_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_0_fun_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_0_fun_sparsity_out(int);
+int {{ model.name }}_conl_cost_0_fun_n_in(void);
+int {{ model.name }}_conl_cost_0_fun_n_out(void);
+
+int {{ model.name }}_conl_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_0_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_conl_cost_0_fun_jac_hess_n_in(void);
+int {{ model.name }}_conl_cost_0_fun_jac_hess_n_out(void);
+
+{% elif cost.cost_type_0 == "EXTERNAL" %}
+    {%- if cost.cost_ext_fun_type_0 == "casadi" %}
+int {{ model.name }}_cost_ext_cost_0_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_0_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_0_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_0_fun_jac_n_out(void);
+    {%- else %}
+int {{ cost.cost_function_ext_cost_0 }}(void **, void **, void *);
+    {%- endif %}
+{% endif %}
+
+
+// Cost at path shooting node
+{% if cost.cost_type == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_fun_n_in(void);
+int {{ model.name }}_cost_y_fun_n_out(void);
+
+int {{ model.name }}_cost_y_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_hess_n_in(void);
+int {{ model.name }}_cost_y_hess_n_out(void);
+
+{% elif cost.cost_type == "CONVEX_OVER_NONLINEAR" %}
+int {{ model.name }}_conl_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_fun_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_fun_sparsity_out(int);
+int {{ model.name }}_conl_cost_fun_n_in(void);
+int {{ model.name }}_conl_cost_fun_n_out(void);
+
+int {{ model.name }}_conl_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_conl_cost_fun_jac_hess_n_in(void);
+int {{ model.name }}_conl_cost_fun_jac_hess_n_out(void);
+{% elif cost.cost_type == "EXTERNAL" %}
+    {%- if cost.cost_ext_fun_type == "casadi" %}
+int {{ model.name }}_cost_ext_cost_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_fun_jac_n_out(void);
+    {%- else %}
+int {{ cost.cost_function_ext_cost }}(void **, void **, void *);
+    {%- endif %}
+{% endif %}
+
+// Cost at terminal shooting node
+{% if cost.cost_type_e == "NONLINEAR_LS" %}
+int {{ model.name }}_cost_y_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_fun_sparsity_out(int);
+int {{ model.name }}_cost_y_e_fun_n_in(void);
+int {{ model.name }}_cost_y_e_fun_n_out(void);
+
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_fun_jac_ut_xt_sparsity_out(int);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_in(void);
+int {{ model.name }}_cost_y_e_fun_jac_ut_xt_n_out(void);
+
+int {{ model.name }}_cost_y_e_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_y_e_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_y_e_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_y_e_hess_sparsity_out(int);
+int {{ model.name }}_cost_y_e_hess_n_in(void);
+int {{ model.name }}_cost_y_e_hess_n_out(void);
+{% elif cost.cost_type_e == "CONVEX_OVER_NONLINEAR" %}
+int {{ model.name }}_conl_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_e_fun_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_e_fun_sparsity_out(int);
+int {{ model.name }}_conl_cost_e_fun_n_in(void);
+int {{ model.name }}_conl_cost_e_fun_n_out(void);
+
+int {{ model.name }}_conl_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_conl_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_conl_cost_e_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_conl_cost_e_fun_jac_hess_n_in(void);
+int {{ model.name }}_conl_cost_e_fun_jac_hess_n_out(void);
+{% elif cost.cost_type_e == "EXTERNAL" %}
+    {%- if cost.cost_ext_fun_type_e == "casadi" %}
+int {{ model.name }}_cost_ext_cost_e_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_hess_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_hess_n_out(void);
+
+int {{ model.name }}_cost_ext_cost_e_fun_jac(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_work(int *, int *, int *, int *);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_in(int);
+const int *{{ model.name }}_cost_ext_cost_e_fun_jac_sparsity_out(int);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_in(void);
+int {{ model.name }}_cost_ext_cost_e_fun_jac_n_out(void);
+    {%- else %}
+int {{ cost.cost_function_ext_cost_e }}(void **, void **, void *);
+    {%- endif %}
+{% endif %}
+
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // {{ model.name }}_COST
diff --git a/pyextra/acados_template/c_templates_tera/main.in.c b/third_party/acados/acados_template/c_templates_tera/main.in.c
similarity index 94%
rename from pyextra/acados_template/c_templates_tera/main.in.c
rename to third_party/acados/acados_template/c_templates_tera/main.in.c
index 99c4f13be1..92a8b33eac 100644
--- a/pyextra/acados_template/c_templates_tera/main.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/main.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -31,6 +28,11 @@
  * POSSIBILITY OF SUCH DAMAGE.;
  */
 
+{%- if not solver_options.custom_update_filename %}
+    {%- set custom_update_filename = "" %}
+{% else %}
+    {%- set custom_update_filename = solver_options.custom_update_filename %}
+{%- endif %}
 
 // standard
 #include <stdio.h>
@@ -42,6 +44,9 @@
 #include "acados_c/external_function_interface.h"
 #include "acados_solver_{{ model.name }}.h"
 
+// blasfeo
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+
 #define NX     {{ model.name | upper }}_NX
 #define NZ     {{ model.name | upper }}_NZ
 #define NU     {{ model.name | upper }}_NU
@@ -191,6 +196,11 @@ int main()
         printf("{{ model.name }}_acados_solve() failed with status %d.\n", status);
     }
 
+
+{%- if custom_update_filename != "" %}
+    {{ model.name }}_acados_custom_update(acados_ocp_capsule, xtraj, NX*(N+1));
+{%- endif %}
+
     // get solution
     ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, 0, "kkt_norm_inf", &kkt_norm_inf);
     ocp_nlp_get(nlp_config, nlp_solver, "sqp_iter", &sqp_iter);
diff --git a/pyextra/acados_template/c_templates_tera/main_sim.in.c b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
similarity index 93%
rename from pyextra/acados_template/c_templates_tera/main_sim.in.c
rename to third_party/acados/acados_template/c_templates_tera/main_sim.in.c
index 743e81d593..8960aa0035 100644
--- a/pyextra/acados_template/c_templates_tera/main_sim.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/main_sim.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
similarity index 98%
rename from pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
index e67a51567a..24ae94ac2c 100644
--- a/pyextra/acados_template/c_templates_tera/acados_mex_create.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_create.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
similarity index 88%
rename from pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
index 560adb0b98..bd457969b2 100644
--- a/pyextra/acados_template/c_templates_tera/acados_mex_free.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_free.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
similarity index 76%
rename from pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
index f8e1e5e445..78a308df49 100644
--- a/pyextra/acados_template/c_templates_tera/acados_mex_set.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_set.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -59,9 +56,6 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     /* RHS */
     int min_nrhs = 6;
 
-    char *ext_fun_type = mxArrayToString( prhs[0] );
-    char *ext_fun_type_e = mxArrayToString( prhs[1] );
-
     // C ocp
     const mxArray *C_ocp = prhs[2];
     // capsule
@@ -378,45 +372,63 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     //     }
     // }
     // initializations
-    else if (!strcmp(field, "init_x"))
+    else if (!strcmp(field, "init_x") || !strcmp(field, "x"))
     {
-        if (nrhs!=min_nrhs)
-            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-        acados_size = (N+1) * nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=0; ii<=N; ii++)
+        if (nrhs == min_nrhs)
+        {
+            acados_size = (N+1) * nx;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<=N; ii++)
+            {
+                ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
+            }
+        }
+        else // (nrhs == min_nrhs + 1)
         {
-            ocp_nlp_out_set(config, dims, out, ii, "x", value+ii*nx);
+            acados_size = nx;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, "x", value);
         }
     }
-    else if (!strcmp(field, "init_u"))
+    else if (!strcmp(field, "init_u") || !strcmp(field, "u"))
     {
-        if (nrhs!=min_nrhs)
-            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-        acados_size = N*nu;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=0; ii<N; ii++)
+        if (nrhs==min_nrhs)
         {
-            ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
+            acados_size = N*nu;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<N; ii++)
+            {
+                ocp_nlp_out_set(config, dims, out, ii, "u", value+ii*nu);
+            }
+        }
+        else // (nrhs == min_nrhs + 1)
+        {
+            acados_size = nu;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, "u", value);
         }
     }
-    else if (!strcmp(field, "init_z"))
+    else if (!strcmp(field, "init_z")||!strcmp(field, "z"))
     {
         sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
         if (type == IRK)
         {
             int nz = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "z");
-            if (nrhs!=min_nrhs)
-                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-            acados_size = N*nz;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
+            if (nrhs==min_nrhs)
+            {
+                acados_size = N*nz;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                for (int ii=0; ii<N; ii++)
+                {
+                    ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
+                }
+            }
+            else // (nrhs==min_nrhs+1)
             {
-                ocp_nlp_set(config, solver, ii, "z_guess", value+ii*nz);
+                acados_size = nz;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_set(config, solver, s0, "z_guess", value);
             }
         }
         else
@@ -424,21 +436,27 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
             MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
         }
     }
-    else if (!strcmp(field, "init_xdot"))
+    else if (!strcmp(field, "init_xdot")||!strcmp(field, "xdot"))
     {
         sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
         if (type == IRK)
         {
             int nx = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "x");
-            if (nrhs!=min_nrhs)
-                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-            acados_size = N*nx;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
+            if (nrhs==min_nrhs)
             {
-                ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
+                acados_size = N*nx;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                for (int ii=0; ii<N; ii++)
+                {
+                    ocp_nlp_set(config, solver, ii, "xdot_guess", value+ii*nx);
+                }
+            }
+            else // nrhs==min_nrhs+1)
+            {
+                acados_size = nx;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_set(config, solver, s0, "xdot_guess", value);
             }
         }
         else
@@ -446,7 +464,7 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
             MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_z", "irk")
         }
     }
-    else if (!strcmp(field, "init_gnsf_phi"))
+    else if (!strcmp(field, "init_gnsf_phi")||!strcmp(field, "gnsf_phi"))
     {
         sim_solver_plan_t sim_plan = plan->sim_solver_plan[0];
         sim_solver_t type = sim_plan.sim_solver;
@@ -454,14 +472,20 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
         {
             int nout = ocp_nlp_dims_get_from_attr(config, dims, out, 0, "init_gnsf_phi");
 
-            if (nrhs!=min_nrhs)
-                MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-            acados_size = N*nout;
-            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-            for (int ii=0; ii<N; ii++)
+            if (nrhs==min_nrhs)
             {
-                ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
+                acados_size = N*nout;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                for (int ii=0; ii<N; ii++)
+                {
+                    ocp_nlp_set(config, solver, ii, "gnsf_phi_guess", value+ii*nx);
+                }
+            }
+            else // (nrhs==min_nrhs+1)
+            {
+                acados_size = nout;
+                MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+                ocp_nlp_set(config, solver, s0, "gnsf_phi_guess", value);
             }
         }
         else
@@ -469,36 +493,74 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
             MEX_FIELD_ONLY_SUPPORTED_FOR_SOLVER(fun_name, "init_gnsf_phi", "irk_gnsf")
         }
     }
-    else if (!strcmp(field, "init_pi"))
+    else if (!strcmp(field, "init_pi")||!strcmp(field, "pi"))
     {
-        if (nrhs!=min_nrhs)
-            MEX_SETTER_NO_STAGE_SUPPORT(fun_name, field)
-
-        acados_size = N*nx;
-        MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
-        for (int ii=0; ii<N; ii++)
+        if (nrhs==min_nrhs)
         {
-            ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
+            acados_size = N*nx;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            for (int ii=0; ii<N; ii++)
+            {
+                ocp_nlp_out_set(config, dims, out, ii, "pi", value+ii*nx);
+            }
+        }
+        else // (nrhs==min_nrhs+1)
+        {
+            acados_size = nx;
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, "pi", value);
         }
     }
-    else if (!strcmp(field, "init_lam"))
+    else if (!strcmp(field, "init_lam")||!strcmp(field, "lam"))
     {
-        for (int ii=s0; ii<se; ii++)
+        if (nrhs==min_nrhs)
         {
-            int nlam = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "lam");
-            MEX_DIM_CHECK_VEC(fun_name, "lam", nrow*ncol, nlam);
-
-            ocp_nlp_out_set(config, dims, out, ii, "lam", value);
+            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
+        }
+        else //(nrhs==min_nrhs+1)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "lam");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, "lam", value);
         }
     }
-    else if (!strcmp(field, "init_t"))
+    else if (!strcmp(field, "init_t")||!strcmp(field, "t"))
     {
-        for (int ii=s0; ii<se; ii++)
+        if (nrhs==min_nrhs)
         {
-            int nt = ocp_nlp_dims_get_from_attr(config, dims, out, ii, "t");
-            MEX_DIM_CHECK_VEC(fun_name, "t", nrow*ncol, nt);
-
-            ocp_nlp_out_set(config, dims, out, ii, "t", value);
+            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
+        }
+        else //(nrhs==min_nrhs+1)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "t");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, "t", value);
+        }
+    }
+    else if (!strcmp(field, "init_sl")||!strcmp(field, "sl"))
+    {
+        if (nrhs==min_nrhs)
+        {
+            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
+        }
+        else //(nrhs==min_nrhs+1)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "sl");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, field, value);
+        }
+    }
+    else if (!strcmp(field, "init_su")||!strcmp(field, "su"))
+    {
+        if (nrhs==min_nrhs)
+        {
+            MEX_SETTER_NO_ALL_STAGES_SUPPORT(fun_name, field)
+        }
+        else //(nrhs==min_nrhs+1)
+        {
+            acados_size = ocp_nlp_dims_get_from_attr(config, dims, out, s0, "su");
+            MEX_DIM_CHECK_VEC(fun_name, field, matlab_size, acados_size);
+            ocp_nlp_out_set(config, dims, out, s0, field, value);
         }
     }
     else if (!strcmp(field, "p"))
@@ -558,8 +620,8 @@ void mexFunction(int nlhs, mxArray *plhs[], int nrhs, const mxArray *prhs[])
     else
     {
         MEX_FIELD_NOT_SUPPORTED_SUGGEST(fun_name, field, "p, constr_x0,\
- constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh\
- constr_lbu, constr_ubu, cost_y_ref[_e],\
+ constr_lbx, constr_ubx, constr_C, constr_D, constr_lg, constr_ug, constr_lh, constr_uh,\
+ constr_lbu, constr_ubu, cost_y_ref[_e], sl, su, x, xdot, u, pi, lam, z, \
  cost_Vu, cost_Vx, cost_Vz, cost_W, cost_Z, cost_Zl, cost_Zu, cost_z,\
  cost_zl, cost_zu, init_x, init_u, init_z, init_xdot, init_gnsf_phi,\
  init_pi, nlp_solver_max_iter, qp_warm_start, warm_start_first_qp, print_level");
diff --git a/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
similarity index 86%
rename from pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
index c673d4bf22..300a440cc9 100644
--- a/pyextra/acados_template/c_templates_tera/acados_mex_solve.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_mex_solve.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
similarity index 95%
rename from pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
index 68a6a3f80f..bd73ff69a4 100644
--- a/pyextra/acados_template/c_templates_tera/acados_sim_solver_sfun.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_sim_solver_sfun.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
similarity index 85%
rename from pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
index 96e0983de6..3dd248037a 100644
--- a/pyextra/acados_template/c_templates_tera/acados_solver_sfun.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/acados_solver_sfun.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -61,6 +58,8 @@ static void mdlInitializeSizes (SimStruct *S)
     ssSetNumContStates(S, 0);
     ssSetNumDiscStates(S, 0);
 
+    int N = {{ model.name | upper }}_N;
+
   {%- for key, val in simulink_opts.inputs -%}
     {%- if val != 0 and val != 1 -%}
       {{ throw(message = "simulink_opts.inputs must be 0 or 1, got val") }}
@@ -117,6 +116,12 @@ static void mdlInitializeSizes (SimStruct *S)
   {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
     {%- set n_inputs = n_inputs + 1 -%}
   {%- endif -%}
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
+    {%- set n_inputs = n_inputs + 1 -%}
+  {%- endif -%}
 
   {%- for key, val in simulink_opts.inputs -%}
     {%- if val != 0 and val != 1 -%}
@@ -177,7 +182,7 @@ static void mdlInitializeSizes (SimStruct *S)
   {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
     {%- set i_input = i_input + 1 %}
     // parameters
-    ssSetInputPortVectorDimension(S, {{ i_input }}, ({{ dims.N }}+1) * {{ dims.np }});
+    ssSetInputPortVectorDimension(S, {{ i_input }}, (N+1) * {{ dims.np }});
   {%- endif %}
 
   {%- if dims.ny > 0 and simulink_opts.inputs.y_ref_0 %}
@@ -235,23 +240,34 @@ static void mdlInitializeSizes (SimStruct *S)
   {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
     {%- set i_input = i_input + 1 %}
     // lg
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }});
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
   {%- endif -%}
   {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
     {%- set i_input = i_input + 1 %}
     // ug
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.ng }});
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.ng }});
   {%- endif -%}
 
   {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
     {%- set i_input = i_input + 1 %}
     // lh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
   {%- endif -%}
   {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
     {%- set i_input = i_input + 1 %}
     // uh
-    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh }});
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.N*dims.nh }});
+  {%- endif -%}
+
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
+    {%- set i_input = i_input + 1 %}
+    // lh_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
+  {%- endif -%}
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
+    {%- set i_input = i_input + 1 %}
+    // uh_e
+    ssSetInputPortVectorDimension(S, {{ i_input }}, {{ dims.nh_e }});
   {%- endif -%}
 
   {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
@@ -312,11 +328,21 @@ static void mdlInitializeSizes (SimStruct *S)
     ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
   {%- endif %}
 
+  {%- if simulink_opts.outputs.cost_value == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
+  {%- endif %}
+
   {%- if simulink_opts.outputs.KKT_residual == 1 %}
     {%- set i_output = i_output + 1 %}
     ssSetOutputPortVectorDimension(S, {{ i_output }}, 1 );
   {%- endif %}
 
+  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
+    {%- set i_output = i_output + 1 %}
+    ssSetOutputPortVectorDimension(S, {{ i_output }}, 4 );
+  {%- endif %}
+
   {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
     {%- set i_output = i_output + 1 %}
     ssSetOutputPortVectorDimension(S, {{ i_output }}, {{ dims.nx }} ); // state at shooting node 1
@@ -404,7 +430,9 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 
     InputRealPtrsType in_sign;
 
-    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbu, dims.ng, dims.nh, dims.nx] -%}
+    int N = {{ model.name | upper }}_N;
+
+    {%- set buffer_sizes = [dims.nbx_0, dims.np, dims.nbx, dims.nbx_e, dims.nbu, dims.ng, dims.nh, dims.ng_e, dims.nh_e] -%}
 
   {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}  {# y_ref_0 #}
     {%- set buffer_sizes = buffer_sizes | concat(with=(dims.ny_0)) %}
@@ -457,7 +485,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
     // update value of parameters
-    for (int ii = 0; ii <= {{ dims.N }}; ii++)
+    for (int ii = 0; ii <= N; ii++)
     {
         for (int jj = 0; jj < {{ dims.np }}; jj++)
             buffer[jj] = (double)(*in_sign[ii*{{dims.np}}+jj]);
@@ -481,7 +509,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
-    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    for (int ii = 1; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.ny }}; jj++)
             buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.ny }}+jj]);
@@ -497,14 +525,14 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     for (int i = 0; i < {{ dims.ny_e }}; i++)
         buffer[i] = (double)(*in_sign[i]);
 
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "yref", (void *) buffer);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "yref", (void *) buffer);
   {%- endif %}
 
   {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
     // lbx
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    for (int ii = 1; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.nbx }}; jj++)
             buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
@@ -515,7 +543,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     // ubx
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    for (int ii = 1; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.nbx }}; jj++)
             buffer[jj] = (double)(*in_sign[(ii-1)*{{ dims.nbx }}+jj]);
@@ -531,7 +559,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 
     for (int i = 0; i < {{ dims.nbx_e }}; i++)
         buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "lbx", buffer);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", buffer);
   {%- endif %}
   {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
     // ubx_e
@@ -540,7 +568,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 
     for (int i = 0; i < {{ dims.nbx_e }}; i++)
         buffer[i] = (double)(*in_sign[i]);
-    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "ubx", buffer);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", buffer);
   {%- endif %}
 
 
@@ -548,7 +576,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     // lbu
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    for (int ii = 0; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.nbu }}; jj++)
             buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
@@ -559,7 +587,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     // ubu
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    for (int ii = 0; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.nbu }}; jj++)
             buffer[jj] = (double)(*in_sign[ii*{{ dims.nbu }}+jj]);
@@ -572,44 +600,67 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
-    for (int i = 0; i < {{ dims.ng }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", buffer);
+    for (int ii = 0; ii < N; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.ng }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lg", (void *) buffer);
+    }
   {%- endif -%}
   {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
     // ug
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
-    for (int i = 0; i < {{ dims.ng }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", buffer);
+    for (int ii = 0; ii < N; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.ng }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.ng }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "ug", (void *) buffer);
+    }
   {%- endif -%}
+
   {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
     // lh
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
-    for (int i = 0; i < {{ dims.nh }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
-
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", buffer);
+    for (int ii = 0; ii < N; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nh }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "lh", (void *) buffer);
+    }
   {%- endif -%}
   {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
     // uh
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
 
-    for (int i = 0; i < {{ dims.nh }}; i++)
-        buffer[i] = (double)(*in_sign[i]);
+    for (int ii = 0; ii < N; ii++)
+    {
+        for (int jj = 0; jj < {{ dims.nh }}; jj++)
+            buffer[jj] = (double)(*in_sign[ii*{{ dims.nh }}+jj]);
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", (void *) buffer);
+    }
+  {%- endif -%}
+
 
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
-        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii, "uh", buffer);
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
+    // lh_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.nh_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", buffer);
+  {%- endif -%}
+  {%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
+    // uh_e
+    {%- set i_input = i_input + 1 %}
+    in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
+    for (int i = 0; i < {{ dims.nh_e }}; i++)
+        buffer[i] = (double)(*in_sign[i]);
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", buffer);
   {%- endif -%}
 
   {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
@@ -629,7 +680,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     for (int i = 0; i < {{ dims.ny * dims.ny }}; i++)
         buffer[i] = (double)(*in_sign[i]);
 
-    for (int ii = 1; ii < {{ dims.N }}; ii++)
+    for (int ii = 1; ii < N; ii++)
         ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, ii, "W", buffer);
   {%- endif %}
 
@@ -640,7 +691,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     for (int i = 0; i < {{ dims.ny_e * dims.ny_e }}; i++)
         buffer[i] = (double)(*in_sign[i]);
 
-    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, {{ dims.N }}, "W", buffer);
+    ocp_nlp_cost_model_set(nlp_config, nlp_dims, nlp_in, N, "W", buffer);
   {%- endif %}
 
   {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
@@ -650,7 +701,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     double reset = (double)(*in_sign[0]);
     if (reset)
     {
-        {{ model.name }}_acados_reset(capsule);
+        {{ model.name }}_acados_reset(capsule, 1);
     }
   {%- endif %}
 
@@ -670,7 +721,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     // u_init
     {%- set i_input = i_input + 1 %}
     in_sign = ssGetInputPortRealSignalPtrs(S, {{ i_input }});
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    for (int ii = 0; ii < N; ii++)
     {
         for (int jj = 0; jj < {{ dims.nu }}; jj++)
             buffer[jj] = (double)(*in_sign[(ii)*{{ dims.nu }}+jj]);
@@ -686,7 +737,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
 
     /* set outputs */
     // assign pointers to output signals
-    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin;
+    real_t *out_u0, *out_utraj, *out_xtraj, *out_status, *out_sqp_iter, *out_KKT_res, *out_KKT_residuals, *out_x1, *out_cpu_time, *out_cpu_time_sim, *out_cpu_time_qp, *out_cpu_time_lin, *out_cost_value;
     int tmp_int;
 
     {%- set i_output = -1 -%}{# note here i_output is 0-based #}
@@ -699,7 +750,7 @@ static void mdlOutputs(SimStruct *S, int_T tid)
   {%- if simulink_opts.outputs.utraj == 1 %}
     {%- set i_output = i_output + 1 %}
     out_utraj = ssGetOutputPortRealSignal(S, {{ i_output }});
-    for (int ii = 0; ii < {{ dims.N }}; ii++)
+    for (int ii = 0; ii < N; ii++)
         ocp_nlp_out_get(nlp_config, nlp_dims, nlp_out, ii,
                         "u", (void *) (out_utraj + ii * {{ dims.nu }}));
   {%- endif %}
@@ -719,12 +770,32 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     *out_status = (real_t) acados_status;
   {%- endif %}
 
+  {%- if simulink_opts.outputs.cost_value == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_cost_value = ssGetOutputPortRealSignal(S, {{ i_output }});
+    ocp_nlp_eval_cost(capsule->nlp_solver, nlp_in, nlp_out);
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "cost_value", (void *) out_cost_value);
+  {%- endif %}
+
   {%- if simulink_opts.outputs.KKT_residual == 1 %}
     {%- set i_output = i_output + 1 %}
     out_KKT_res = ssGetOutputPortRealSignal(S, {{ i_output }});
     *out_KKT_res = (real_t) nlp_out->inf_norm_res;
   {%- endif %}
 
+  {%- if simulink_opts.outputs.KKT_residuals == 1 %}
+    {%- set i_output = i_output + 1 %}
+    out_KKT_residuals = ssGetOutputPortRealSignal(S, {{ i_output }});
+
+    {%- if solver_options.nlp_solver_type == "SQP_RTI" %}
+    ocp_nlp_eval_residuals(capsule->nlp_solver, nlp_in, nlp_out);
+    {%- endif %}
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_stat", (void *) &out_KKT_residuals[0]);
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_eq", (void *) &out_KKT_residuals[1]);
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_ineq", (void *) &out_KKT_residuals[2]);
+    ocp_nlp_get(nlp_config, capsule->nlp_solver, "res_comp", (void *) &out_KKT_residuals[3]);
+  {%- endif %}
+
   {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
     {%- set i_output = i_output + 1 %}
     out_x1 = ssGetOutputPortRealSignal(S, {{ i_output }});
diff --git a/pyextra/acados_template/c_templates_tera/main_mex.in.c b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
similarity index 95%
rename from pyextra/acados_template/c_templates_tera/main_mex.in.c
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
index 8da5db29a0..851a3cc04f 100644
--- a/pyextra/acados_template/c_templates_tera/main_mex.in.c
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/main_mex.in.c
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/pyextra/acados_template/c_templates_tera/make_main_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
similarity index 93%
rename from pyextra/acados_template/c_templates_tera/make_main_mex.in.m
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
index 9188686a0d..d217948456 100644
--- a/pyextra/acados_template/c_templates_tera/make_main_mex.in.m
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_main_mex.in.m
@@ -1,8 +1,5 @@
 %
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+% Copyright (c) The acados authors.
 %
 % This file is part of acados.
 %
@@ -29,6 +26,7 @@
 % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 % POSSIBILITY OF SUCH DAMAGE.;
+
 %
 
 function make_main_mex_{{ model.name }}()
diff --git a/pyextra/acados_template/c_templates_tera/make_mex.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
similarity index 81%
rename from pyextra/acados_template/c_templates_tera/make_mex.in.m
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
index cde30f6f41..5e35827137 100644
--- a/pyextra/acados_template/c_templates_tera/make_mex.in.m
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_mex.in.m
@@ -1,8 +1,5 @@
 %
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+% Copyright (c) The acados authors.
 %
 % This file is part of acados.
 %
@@ -29,6 +26,7 @@
 % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 % POSSIBILITY OF SUCH DAMAGE.;
+
 %
 
 function make_mex_{{ model.name }}()
@@ -48,6 +46,23 @@ function make_mex_{{ model.name }}()
     blasfeo_include = ['-I', fullfile(acados_folder, 'external', 'blasfeo', 'include')];
     hpipm_include = ['-I', fullfile(acados_folder, 'external', 'hpipm', 'include')];
 
+    % load linking information of compiled acados
+    link_libs_core_filename = fullfile(acados_folder, 'lib', 'link_libs.json');
+    addpath(fullfile(acados_folder, 'external', 'jsonlab'));
+    link_libs = loadjson(link_libs_core_filename);
+
+    % add necessary link instructs
+    acados_lib_extra = {};
+    lib_names = fieldnames(link_libs);
+    for idx = 1 : numel(lib_names)
+        lib_name = lib_names{idx};
+        link_arg = link_libs.(lib_name);
+        if ~isempty(link_arg)
+            acados_lib_extra = [acados_lib_extra, link_arg];
+        end
+    end
+
+
     mex_include = ['-I', fullfile(acados_folder, 'interfaces', 'acados_matlab_octave')];
 
     mex_names = { ...
@@ -94,7 +109,8 @@ function make_mex_{{ model.name }}()
         if is_octave()
     %        mkoctfile -p CFLAGS
             mex(acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-            acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
+                acados_lib_extra{:}, mex_files{ii})
         else
             if ismac()
                 FLAGS = 'CFLAGS=$CFLAGS -std=c99';
@@ -102,7 +118,8 @@ function make_mex_{{ model.name }}()
                 FLAGS = 'CFLAGS=$CFLAGS -std=c99 -fopenmp';
             end
             mex(FLAGS, acados_include, template_lib_include, external_include, blasfeo_include, hpipm_include,...
-                acados_lib_path, template_lib_path, mex_include, '-lacados', '-lhpipm', '-lblasfeo', mex_files{ii})
+                template_lib_path, mex_include, acados_lib_path, '-lacados', '-lhpipm', '-lblasfeo',...
+                acados_lib_extra{:}, mex_files{ii})
         end
     end
 
diff --git a/pyextra/acados_template/c_templates_tera/make_sfun.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
similarity index 74%
rename from pyextra/acados_template/c_templates_tera/make_sfun.in.m
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
index 77603a78fa..5d74c523f8 100644
--- a/pyextra/acados_template/c_templates_tera/make_sfun.in.m
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun.in.m
@@ -1,8 +1,5 @@
 %
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+% Copyright (c) The acados authors.
 %
 % This file is part of acados.
 %
@@ -29,6 +26,7 @@
 % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 % POSSIBILITY OF SUCH DAMAGE.;
+
 %
 
 SOURCES = { ...
@@ -133,6 +131,9 @@ COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_OSQP ' ];
 {%- elif solver_options.qp_solver is containing("QPDUNES") %}
 CFLAGS = [ CFLAGS, ' -DACADOS_WITH_QPDUNES ' ];
 COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_QPDUNES ' ];
+{%- elif solver_options.qp_solver is containing("DAQP") %}
+CFLAGS = [ CFLAGS, ' -DACADOS_WITH_DAQP' ];
+COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_DAQP' ];
 {%- elif solver_options.qp_solver is containing("HPMPC") %}
 CFLAGS = [ CFLAGS, ' -DACADOS_WITH_HPMPC ' ];
 COMPDEFINES = [ COMPDEFINES, ' -DACADOS_WITH_HPMPC ' ];
@@ -153,129 +154,176 @@ LIBS{end+1} = '{{ acados_link_libs.osqp }}';
     {% if solver_options.qp_solver is containing("QPOASES") %}
 LIBS{end+1} = '-lqpOASES_e';
     {% endif %}
+    {% if solver_options.qp_solver is containing("DAQP") %}
+LIBS{end+1} = '-ldaqp';
+    {% endif %}
 {%- endif %}
 
-mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
-    LIB_PATH, LIBS{:}, SOURCES{:}, ...
-    '-output', 'acados_solver_sfunction_{{ model.name }}' );
+
+try
+    %     mex('-v', '-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
+    mex('-O', CFLAGS, LDFLAGS, COMPFLAGS, COMPDEFINES, INCS{:}, ...
+            LIB_PATH, LIBS{:}, SOURCES{:}, ...
+            '-output', 'acados_solver_sfunction_{{ model.name }}' );
+catch exception
+    disp('make_sfun failed with the following exception:')
+    disp(exception);
+    disp('Try adding -v to the mex command above to get more information.')
+    keyboard
+end
 
 fprintf( [ '\n\nSuccessfully created sfunction:\nacados_solver_sfunction_{{ model.name }}', '.', ...
     eval('mexext')] );
 
 
-%% print note on usage of s-function
+%% print note on usage of s-function, and create I/O port names vectors
 fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
 input_note = 'Inputs are:\n';
 i_in = 1;
 
+global sfun_input_names
+sfun_input_names = {};
 
 {%- if dims.nbx_0 > 0 and simulink_opts.inputs.lbx_0 -%}  {#- lbx_0 #}
 input_note = strcat(input_note, num2str(i_in), ') lbx_0 - lower bound on x for stage 0,',...
                     ' size [{{ dims.nbx_0 }}]\n ');
+sfun_input_names = [sfun_input_names; 'lbx_0 [{{ dims.nbx_0 }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.nbx_0 > 0 and simulink_opts.inputs.ubx_0 -%}  {#- ubx_0 #}
 input_note = strcat(input_note, num2str(i_in), ') ubx_0 - upper bound on x for stage 0,',...
                     ' size [{{ dims.nbx_0 }}]\n ');
+sfun_input_names = [sfun_input_names; 'ubx_0 [{{ dims.nbx_0 }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.np > 0 and simulink_opts.inputs.parameter_traj -%}  {#- parameter_traj #}
-input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N+1,',...
+input_note = strcat(input_note, num2str(i_in), ') parameters - concatenated for all shooting nodes 0 to N,',...
                     ' size [{{ (dims.N+1)*dims.np }}]\n ');
+sfun_input_names = [sfun_input_names; 'parameter_traj [{{ (dims.N+1)*dims.np }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny_0 > 0 and simulink_opts.inputs.y_ref_0 %}
 input_note = strcat(input_note, num2str(i_in), ') y_ref_0, size [{{ dims.ny_0 }}]\n ');
+sfun_input_names = [sfun_input_names; 'y_ref_0 [{{ dims.ny_0 }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny > 0 and dims.N > 1 and simulink_opts.inputs.y_ref %}
 input_note = strcat(input_note, num2str(i_in), ') y_ref - concatenated for shooting nodes 1 to N-1,',...
                     ' size [{{ (dims.N-1) * dims.ny }}]\n ');
+sfun_input_names = [sfun_input_names; 'y_ref [{{ (dims.N-1) * dims.ny }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny_e > 0 and dims.N > 0 and simulink_opts.inputs.y_ref_e %}
 input_note = strcat(input_note, num2str(i_in), ') y_ref_e, size [{{ dims.ny_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'y_ref_e [{{ dims.ny_e }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.lbx -%}  {#- lbx #}
 input_note = strcat(input_note, num2str(i_in), ') lbx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
+sfun_input_names = [sfun_input_names; 'lbx [{{ (dims.N-1) * dims.nbx }}]'];
 i_in = i_in + 1;
 {%- endif %}
 {%- if dims.nbx > 0 and dims.N > 1 and simulink_opts.inputs.ubx -%}  {#- ubx #}
 input_note = strcat(input_note, num2str(i_in), ') ubx for shooting nodes 1 to N-1, size [{{ (dims.N-1) * dims.nbx }}]\n ');
+sfun_input_names = [sfun_input_names; 'ubx [{{ (dims.N-1) * dims.nbx }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 
 {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.lbx_e -%}  {#- lbx_e #}
 input_note = strcat(input_note, num2str(i_in), ') lbx_e (lbx at shooting node N), size [{{ dims.nbx_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'lbx_e [{{ dims.nbx_e }}]'];
 i_in = i_in + 1;
 {%- endif %}
 {%- if dims.nbx_e > 0 and dims.N > 0 and simulink_opts.inputs.ubx_e -%}  {#- ubx_e #}
 input_note = strcat(input_note, num2str(i_in), ') ubx_e (ubx at shooting node N), size [{{ dims.nbx_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'ubx_e [{{ dims.nbx_e }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.lbu -%}  {#- lbu #}
 input_note = strcat(input_note, num2str(i_in), ') lbu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
+sfun_input_names = [sfun_input_names; 'lbu [{{ dims.N*dims.nbu }}]'];
 i_in = i_in + 1;
 {%- endif -%}
 {%- if dims.nbu > 0 and dims.N > 0 and simulink_opts.inputs.ubu -%}  {#- ubu #}
 input_note = strcat(input_note, num2str(i_in), ') ubu for shooting nodes 0 to N-1, size [{{ dims.N*dims.nbu }}]\n ');
+sfun_input_names = [sfun_input_names; 'ubu [{{ dims.N*dims.nbu }}]'];
 i_in = i_in + 1;
 {%- endif -%}
 
 {%- if dims.ng > 0 and simulink_opts.inputs.lg -%}  {#- lg #}
-input_note = strcat(input_note, num2str(i_in), ') lg, size [{{ dims.ng }}]\n ');
+input_note = strcat(input_note, num2str(i_in), ') lg for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
+sfun_input_names = [sfun_input_names; 'lg [{{ dims.N*dims.ng }}]'];
 i_in = i_in + 1;
 {%- endif %}
 {%- if dims.ng > 0 and simulink_opts.inputs.ug -%}  {#- ug #}
-input_note = strcat(input_note, num2str(i_in), ') ug, size [{{ dims.ng }}]\n ');
+input_note = strcat(input_note, num2str(i_in), ') ug for shooting nodes 0 to N-1, size [{{ dims.N*dims.ng }}]\n ');
+sfun_input_names = [sfun_input_names; 'ug [{{ dims.N*dims.ng }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.nh > 0 and simulink_opts.inputs.lh -%}  {#- lh #}
-input_note = strcat(input_note, num2str(i_in), ') lh, size [{{ dims.nh }}]\n ');
+input_note = strcat(input_note, num2str(i_in), ') lh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
+sfun_input_names = [sfun_input_names; 'lh [{{ dims.N*dims.nh }}]'];
 i_in = i_in + 1;
 {%- endif %}
 {%- if dims.nh > 0 and simulink_opts.inputs.uh -%}  {#- uh #}
-input_note = strcat(input_note, num2str(i_in), ') uh, size [{{ dims.nh }}]\n ');
+input_note = strcat(input_note, num2str(i_in), ') uh for shooting nodes 0 to N-1, size [{{ dims.N*dims.nh }}]\n ');
+sfun_input_names = [sfun_input_names; 'uh [{{ dims.N*dims.nh }}]'];
+i_in = i_in + 1;
+{%- endif %}
+
+{%- if dims.nh_e > 0 and simulink_opts.inputs.lh_e -%}  {#- lh_e #}
+input_note = strcat(input_note, num2str(i_in), ') lh_e, size [{{ dims.nh_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'lh_e [{{ dims.nh_e }}]'];
+i_in = i_in + 1;
+{%- endif %}
+{%- if dims.nh_e > 0 and simulink_opts.inputs.uh_e -%}  {#- uh_e #}
+input_note = strcat(input_note, num2str(i_in), ') uh_e, size [{{ dims.nh_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'uh_e [{{ dims.nh_e }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny_0 > 0 and simulink_opts.inputs.cost_W_0 %}  {#- cost_W_0 #}
 input_note = strcat(input_note, num2str(i_in), ') cost_W_0 in column-major format, size [{{ dims.ny_0 * dims.ny_0 }}]\n ');
+sfun_input_names = [sfun_input_names; 'cost_W_0 [{{ dims.ny_0 * dims.ny_0 }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny > 0 and simulink_opts.inputs.cost_W %}  {#- cost_W #}
 input_note = strcat(input_note, num2str(i_in), ') cost_W in column-major format, that is set for all intermediate shooting nodes: 1 to N-1, size [{{ dims.ny * dims.ny }}]\n ');
+sfun_input_names = [sfun_input_names; 'cost_W [{{ dims.ny * dims.ny }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if dims.ny_e > 0 and simulink_opts.inputs.cost_W_e %}  {#- cost_W_e #}
 input_note = strcat(input_note, num2str(i_in), ') cost_W_e in column-major format, size [{{ dims.ny_e * dims.ny_e }}]\n ');
+sfun_input_names = [sfun_input_names; 'cost_W_e [{{ dims.ny_e * dims.ny_e }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if simulink_opts.inputs.reset_solver %}  {#- reset_solver #}
 input_note = strcat(input_note, num2str(i_in), ') reset_solver determines if iterate is set to all zeros before other initializations (x_init, u_init) are set and before solver is called, size [1]\n ');
+sfun_input_names = [sfun_input_names; 'reset_solver [1]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if simulink_opts.inputs.x_init %}  {#- x_init #}
 input_note = strcat(input_note, num2str(i_in), ') initialization of x for all shooting nodes, size [{{ dims.nx * (dims.N+1) }}]\n ');
+sfun_input_names = [sfun_input_names; 'x_init [{{ dims.nx * (dims.N+1) }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
 {%- if simulink_opts.inputs.u_init %}  {#- u_init #}
 input_note = strcat(input_note, num2str(i_in), ') initialization of u for shooting nodes 0 to N-1, size [{{ dims.nu * (dims.N) }}]\n ');
+sfun_input_names = [sfun_input_names; 'u_init [{{ dims.nu * (dims.N) }}]'];
 i_in = i_in + 1;
 {%- endif %}
 
@@ -286,59 +334,99 @@ disp(' ')
 output_note = 'Outputs are:\n';
 i_out = 0;
 
+global sfun_output_names
+sfun_output_names = {};
+
 {%- if dims.nu > 0 and simulink_opts.outputs.u0 == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') u0, control input at node 0, size [{{ dims.nu }}]\n ');
+sfun_output_names = [sfun_output_names; 'u0 [{{ dims.nu }}]'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.utraj == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') utraj, control input concatenated for nodes 0 to N-1, size [{{ dims.nu * dims.N }}]\n ');
+sfun_output_names = [sfun_output_names; 'utraj [{{ dims.nu * dims.N }}]'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.xtraj == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') xtraj, state concatenated for nodes 0 to N, size [{{ dims.nx * (dims.N + 1) }}]\n ');
+sfun_output_names = [sfun_output_names; 'xtraj [{{ dims.nx * (dims.N + 1) }}]'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.solver_status == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') acados solver status (0 = SUCCESS)\n ');
+sfun_output_names = [sfun_output_names; 'solver_status'];
 {%- endif %}
 
+{%- if simulink_opts.outputs.cost_value == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') cost function value\n ');
+sfun_output_names = [sfun_output_names; 'cost_value'];
+{%- endif %}
+
+
 {%- if simulink_opts.outputs.KKT_residual == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') KKT residual\n ');
+sfun_output_names = [sfun_output_names; 'KKT_residual'];
+{%- endif %}
+
+{%- if simulink_opts.outputs.KKT_residuals == 1 %}
+i_out = i_out + 1;
+output_note = strcat(output_note, num2str(i_out), ') KKT residuals, size [4] (stat, eq, ineq, comp)\n ');
+sfun_output_names = [sfun_output_names; 'KKT_residuals [4]'];
 {%- endif %}
 
 {%- if dims.N > 0 and simulink_opts.outputs.x1 == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') x1, state at node 1\n ');
+sfun_output_names = [sfun_output_names; 'x1'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.CPU_time == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') CPU time\n ');
+sfun_output_names = [sfun_output_names; 'CPU_time'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.CPU_time_sim == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') CPU time integrator\n ');
+sfun_output_names = [sfun_output_names; 'CPU_time_sim'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.CPU_time_qp == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') CPU time QP solution\n ');
+sfun_output_names = [sfun_output_names; 'CPU_time_qp'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.CPU_time_lin == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') CPU time linearization (including integrator)\n ');
+sfun_output_names = [sfun_output_names; 'CPU_time_lin'];
 {%- endif %}
 
 {%- if simulink_opts.outputs.sqp_iter == 1 %}
 i_out = i_out + 1;
 output_note = strcat(output_note, num2str(i_out), ') SQP iterations\n ');
+sfun_output_names = [sfun_output_names; 'sqp_iter'];
 {%- endif %}
 
 fprintf(output_note)
+
+% The mask drawing command is:
+% ---
+% global sfun_input_names sfun_output_names
+% for i = 1:length(sfun_input_names)
+% 	port_label('input', i, sfun_input_names{i})
+% end
+% for i = 1:length(sfun_output_names)
+% 	port_label('output', i, sfun_output_names{i})
+% end
+% ---
+% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
+%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
similarity index 70%
rename from pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
index a0c503e41a..e4c32a8c19 100644
--- a/pyextra/acados_template/c_templates_tera/make_sfun_sim.in.m
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/make_sfun_sim.in.m
@@ -1,8 +1,5 @@
 %
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+% Copyright (c) The acados authors.
 %
 % This file is part of acados.
 %
@@ -29,17 +26,19 @@
 % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 % POSSIBILITY OF SUCH DAMAGE.;
+
 %
 
 SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
             'acados_sim_solver_{{ model.name }}.c ', ...
             {%- if  solver_options.integrator_type == 'ERK' %}
-            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ', ...
+            '{{ model.name }}_model/{{ model.name }}_expl_ode_fun.c ',...
             '{{ model.name }}_model/{{ model.name }}_expl_vde_forw.c ',...
+            '{{ model.name }}_model/{{ model.name }}_expl_vde_adj.c ',...
                 {%- if solver_options.hessian_approx == 'EXACT' %}
             '{{ model.name }}_model/{{ model.name }}_expl_ode_hess.c ',...
                 {%- endif %}
-        {%- elif solver_options.integrator_type == "IRK" %}
+            {%- elif solver_options.integrator_type == "IRK" %}
             '{{ model.name }}_model/{{ model.name }}_impl_dae_fun.c ', ...
             '{{ model.name }}_model/{{ model.name }}_impl_dae_fun_jac_x_xdot_z.c ', ...
             '{{ model.name }}_model/{{ model.name }}_impl_dae_jac_x_xdot_u_z.c ', ...
@@ -47,15 +46,15 @@ SOURCES = [ 'acados_sim_solver_sfunction_{{ model.name }}.c ', ...
             '{{ model.name }}_model/{{ model.name }}_impl_dae_hess.c ',...
                 {%- endif %}
             {%- elif solver_options.integrator_type == "GNSF" %}
-                {% if model.gnsf.purely_linear != 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c '
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c '
-            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c '
-                {% if model.gnsf.nontrivial_f_LO == 1 %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c '
+                {%- if model.gnsf.purely_linear != 1 %}
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun.c ',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_fun_jac_y.c ',...
+            '{{ model.name }}_model/{{ model.name }}_gnsf_phi_jac_y_uhat.c ',...
+                {%- if model.gnsf.nontrivial_f_LO == 1 %}
+            '{{ model.name }}_model/{{ model.name }}_gnsf_f_lo_fun_jac_x1k1uz.c ',...
                 {%- endif %}
                 {%- endif %}
-            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c '
+            '{{ model.name }}_model/{{ model.name }}_gnsf_get_matrices_fun.c ',...
             {%- endif %}
           ];
 
@@ -71,25 +70,42 @@ LIB_PATH = '{{ acados_lib_path }}';
 
 LIBS = '-lacados -lblasfeo -lhpipm';
 
-eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
-    CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
+try
+    % eval( [ 'mex -v -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
+    eval( [ 'mex -output  acados_sim_solver_sfunction_{{ model.name }} ', ...
+        CFLAGS, INCS, ' ', SOURCES, ' -L', LIB_PATH, ' ', LIBS ]);
+
+catch exception
+    disp('make_sfun failed with the following exception:')
+    disp(exception);
+    disp('Try adding -v to the mex command above to get more information.')
+    keyboard
+end
+
 
 fprintf( [ '\n\nSuccessfully created sfunction:\nacados_sim_solver_sfunction_{{ model.name }}', '.', ...
     eval('mexext')] );
 
 
+global sfun_sim_input_names
+sfun_sim_input_names = {};
+
 %% print note on usage of s-function
 fprintf('\n\nNote: Usage of Sfunction is as follows:\n')
 input_note = 'Inputs are:\n1) x0, initial state, size [{{ dims.nx }}]\n ';
 i_in = 2;
+sfun_sim_input_names = [sfun_sim_input_names; 'x0 [{{ dims.nx }}]'];
+
 {%- if dims.nu > 0 %}
 input_note = strcat(input_note, num2str(i_in), ') u, size [{{ dims.nu }}]\n ');
 i_in = i_in + 1;
+sfun_sim_input_names = [sfun_sim_input_names; 'u [{{ dims.nu }}]'];
 {%- endif %}
 
 {%- if dims.np > 0 %}
 input_note = strcat(input_note, num2str(i_in), ') parameters, size [{{ dims.np }}]\n ');
 i_in = i_in + 1;
+sfun_sim_input_names = [sfun_sim_input_names; 'p [{{ dims.np }}]'];
 {%- endif %}
 
 
@@ -97,7 +113,25 @@ fprintf(input_note)
 
 disp(' ')
 
+global sfun_sim_output_names
+sfun_sim_output_names = {};
+
 output_note = strcat('Outputs are:\n', ...
                 '1) x1 - simulated state, size [{{ dims.nx }}]\n');
+sfun_sim_output_names = [sfun_sim_output_names; 'x1 [{{ dims.nx }}]'];
 
 fprintf(output_note)
+
+
+% The mask drawing command is:
+% ---
+% global sfun_sim_input_names sfun_sim_output_names
+% for i = 1:length(sfun_sim_input_names)
+% 	port_label('input', i, sfun_sim_input_names{i})
+% end
+% for i = 1:length(sfun_sim_output_names)
+% 	port_label('output', i, sfun_sim_output_names{i})
+% end
+% ---
+% It can be used by copying it in sfunction/Mask/Edit mask/Icon drawing commands
+%   (you can access it wirth ctrl+M on the s-function)
\ No newline at end of file
diff --git a/pyextra/acados_template/c_templates_tera/mex_solver.in.m b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
similarity index 61%
rename from pyextra/acados_template/c_templates_tera/mex_solver.in.m
rename to third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
index 278e0a605c..3743212830 100644
--- a/pyextra/acados_template/c_templates_tera/mex_solver.in.m
+++ b/third_party/acados/acados_template/c_templates_tera/matlab_templates/mex_solver.in.m
@@ -1,8 +1,5 @@
 %
-% Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-% Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-% Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-% Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+% Copyright (c) The acados authors.
 %
 % This file is part of acados.
 %
@@ -29,6 +26,7 @@
 % CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 % ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 % POSSIBILITY OF SUCH DAMAGE.;
+
 %
 
 classdef {{ model.name }}_mex_solver < handle
@@ -38,6 +36,9 @@ classdef {{ model.name }}_mex_solver < handle
         C_ocp_ext_fun
         cost_ext_fun_type
         cost_ext_fun_type_e
+        N
+        name
+        code_gen_dir
     end % properties
 
 
@@ -52,13 +53,21 @@ classdef {{ model.name }}_mex_solver < handle
             addpath('.')
             obj.cost_ext_fun_type = '{{ cost.cost_ext_fun_type }}';
             obj.cost_ext_fun_type_e = '{{ cost.cost_ext_fun_type_e }}';
+            obj.N = {{ dims.N }};
+            obj.name = '{{ model.name }}';
+            obj.code_gen_dir = pwd();
         end
 
         % destructor
         function delete(obj)
+            disp("delete template...");
+            return_dir = pwd();
+            cd(obj.code_gen_dir);
             if ~isempty(obj.C_ocp)
                 acados_mex_free_{{ model.name }}(obj.C_ocp);
             end
+            cd(return_dir);
+            disp("done.");
         end
 
         % solve
@@ -112,6 +121,101 @@ classdef {{ model.name }}_mex_solver < handle
         end
 
 
+        function [] = store_iterate(varargin)
+            %%%  Stores the current iterate of the ocp solver in a json file.
+            %%% param1: filename: if not set, use model_name + timestamp + '.json'
+            %%% param2: overwrite: if false and filename exists add timestamp to filename
+
+            obj = varargin{1};
+            filename = '';
+            overwrite = false;
+
+            if nargin>=2
+                filename = varargin{2};
+                if ~isa(filename, 'char')
+                    error('filename must be a char vector, use '' ''');
+                end
+            end
+
+            if nargin==3
+                overwrite = varargin{3};
+            end
+
+            if nargin > 3
+                disp('acados_ocp.get: wrong number of input arguments (1 or 2 allowed)');
+            end
+
+            if strcmp(filename,'')
+                filename = [obj.name '_iterate.json'];
+            end
+            if ~overwrite
+                % append timestamp
+                if exist(filename, 'file')
+                    filename = filename(1:end-5);
+                    filename = [filename '_' datestr(now,'yyyy-mm-dd-HH:MM:SS') '.json'];
+                end
+            end
+            filename = fullfile(pwd, filename);
+
+            % get iterate:
+            solution = struct();
+            for i=0:obj.N
+                solution.(['x_' num2str(i)]) = obj.get('x', i);
+                solution.(['lam_' num2str(i)]) = obj.get('lam', i);
+                solution.(['t_' num2str(i)]) = obj.get('t', i);
+                solution.(['sl_' num2str(i)]) = obj.get('sl', i);
+                solution.(['su_' num2str(i)]) = obj.get('su', i);
+            end
+            for i=0:obj.N-1
+                solution.(['z_' num2str(i)]) = obj.get('z', i);
+                solution.(['u_' num2str(i)]) = obj.get('u', i);
+                solution.(['pi_' num2str(i)]) = obj.get('pi', i);
+            end
+
+            acados_folder = getenv('ACADOS_INSTALL_DIR');
+            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
+            savejson('', solution, filename);
+
+            json_string = savejson('', solution, 'ForceRootName', 0);
+
+            fid = fopen(filename, 'w');
+            if fid == -1, error('store_iterate: Cannot create JSON file'); end
+            fwrite(fid, json_string, 'char');
+            fclose(fid);
+
+            disp(['stored current iterate in ' filename]);
+        end
+
+
+        function [] = load_iterate(obj, filename)
+            %%%  Loads the iterate stored in json file with filename into the ocp solver.
+            acados_folder = getenv('ACADOS_INSTALL_DIR');
+            addpath(fullfile(acados_folder, 'external', 'jsonlab'));
+            filename = fullfile(pwd, filename);
+
+            if ~exist(filename, 'file')
+                error(['load_iterate: failed, file does not exist: ' filename])
+            end
+
+            solution = loadjson(filename);
+            keys = fieldnames(solution);
+
+            for k = 1:numel(keys)
+                key = keys{k};
+                key_parts = strsplit(key, '_');
+                field = key_parts{1};
+                stage = key_parts{2};
+
+                val = solution.(key);
+
+                % check if array is empty (can happen for z)
+                if numel(val) > 0
+                    obj.set(field, val, str2num(stage))
+                end
+            end
+        end
+
+
         % print
         function print(varargin)
             if nargin < 2
diff --git a/pyextra/acados_template/c_templates_tera/model.in.h b/third_party/acados/acados_template/c_templates_tera/model.in.h
similarity index 94%
rename from pyextra/acados_template/c_templates_tera/model.in.h
rename to third_party/acados/acados_template/c_templates_tera/model.in.h
index 918e2bc29e..e5059df9ff 100644
--- a/pyextra/acados_template/c_templates_tera/model.in.h
+++ b/third_party/acados/acados_template/c_templates_tera/model.in.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -47,7 +44,8 @@ extern "C" {
 {%- endif %}
 
 {% if solver_options.integrator_type == "IRK" or solver_options.integrator_type == "LIFTED_IRK" %}
-// implicit ODE
+  {% if model.dyn_ext_fun_type == "casadi" %}
+// implicit ODE: function
 int {{ model.name }}_impl_dae_fun(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_fun_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_fun_sparsity_in(int);
@@ -55,7 +53,7 @@ const int *{{ model.name }}_impl_dae_fun_sparsity_out(int);
 int {{ model.name }}_impl_dae_fun_n_in(void);
 int {{ model.name }}_impl_dae_fun_n_out(void);
 
-// implicit ODE
+// implicit ODE: function + jacobians
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_in(int);
@@ -63,7 +61,7 @@ const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_z_sparsity_out(int);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_in(void);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_z_n_out(void);
 
-// implicit ODE
+// implicit ODE: jacobians only
 int {{ model.name }}_impl_dae_jac_x_xdot_u_z(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_jac_x_xdot_u_z_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_jac_x_xdot_u_z_sparsity_in(int);
@@ -79,14 +77,23 @@ const int *{{ model.name }}_impl_dae_fun_jac_x_xdot_u_sparsity_out(int);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_in(void);
 int {{ model.name }}_impl_dae_fun_jac_x_xdot_u_n_out(void);
 
-{%- if hessian_approx == "EXACT" %}
+	{%- if hessian_approx == "EXACT" %}
+// implicit ODE - hessian
 int {{ model.name }}_impl_dae_hess(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
 int {{ model.name }}_impl_dae_hess_work(int *, int *, int *, int *);
 const int *{{ model.name }}_impl_dae_hess_sparsity_in(int);
 const int *{{ model.name }}_impl_dae_hess_sparsity_out(int);
 int {{ model.name }}_impl_dae_hess_n_in(void);
 int {{ model.name }}_impl_dae_hess_n_out(void);
-{%- endif %}
+	{% endif %}
+  {% else %}{# ext_fun_type #}
+    {%- if hessian_approx == "EXACT" %}
+int {{ model.dyn_impl_dae_hess }}(void **, void **, void *);
+    {% endif %}
+int {{ model.dyn_impl_dae_fun_jac }}(void **, void **, void *);
+int {{ model.dyn_impl_dae_jac }}(void **, void **, void *);
+int {{ model.dyn_impl_dae_fun }}(void **, void **, void *);
+  {% endif %}{# ext_fun_type #}
 
 {% elif solver_options.integrator_type == "GNSF" %}
 /* GNSF Functions */
diff --git a/third_party/acados/acados_template/casadi_function_generation.py b/third_party/acados/acados_template/casadi_function_generation.py
new file mode 100644
index 0000000000..6373a2809d
--- /dev/null
+++ b/third_party/acados/acados_template/casadi_function_generation.py
@@ -0,0 +1,708 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+import os
+import casadi as ca
+from .utils import is_empty, casadi_length
+
+
+def get_casadi_symbol(x):
+    if isinstance(x, ca.MX):
+        return ca.MX.sym
+    elif isinstance(x, ca.SX):
+        return ca.SX.sym
+    else:
+        raise TypeError("Expected casadi SX or MX.")
+
+################
+# Dynamics
+################
+
+
+def generate_c_code_discrete_dynamics( model, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    # load model
+    x = model.x
+    u = model.u
+    p = model.p
+    phi = model.disc_dyn_expr
+    model_name = model.name
+    nx = casadi_length(x)
+
+    symbol = get_casadi_symbol(x)
+    # assume nx1 = nx !!!
+    lam = symbol('lam', nx, 1)
+
+    # generate jacobians
+    ux = ca.vertcat(u,x)
+    jac_ux = ca.jacobian(phi, ux)
+    # generate adjoint
+    adj_ux = ca.jtimes(phi, ux, lam, True)
+    # generate hessian
+    hess_ux = ca.jacobian(adj_ux, ux)
+
+    # change directory
+    cwd = os.getcwd()
+    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+    os.chdir(model_dir)
+
+    # set up & generate ca.Functions
+    fun_name = model_name + '_dyn_disc_phi_fun'
+    phi_fun = ca.Function(fun_name, [x, u, p], [phi])
+    phi_fun.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_dyn_disc_phi_fun_jac'
+    phi_fun_jac_ut_xt = ca.Function(fun_name, [x, u, p], [phi, jac_ux.T])
+    phi_fun_jac_ut_xt.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_dyn_disc_phi_fun_jac_hess'
+    phi_fun_jac_ut_xt_hess = ca.Function(fun_name, [x, u, lam, p], [phi, jac_ux.T, hess_ux])
+    phi_fun_jac_ut_xt_hess.generate(fun_name, casadi_codegen_opts)
+
+    os.chdir(cwd)
+    return
+
+
+
+def generate_c_code_explicit_ode( model, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    generate_hess = opts["generate_hess"]
+
+    # load model
+    x = model.x
+    u = model.u
+    p = model.p
+    f_expl = model.f_expl_expr
+    model_name = model.name
+
+    ## get model dimensions
+    nx = x.size()[0]
+    nu = u.size()[0]
+
+    symbol = get_casadi_symbol(x)
+
+    ## set up functions to be exported
+    Sx = symbol('Sx', nx, nx)
+    Sp = symbol('Sp', nx, nu)
+    lambdaX = symbol('lambdaX', nx, 1)
+
+    fun_name = model_name + '_expl_ode_fun'
+
+    ## Set up functions
+    expl_ode_fun = ca.Function(fun_name, [x, u, p], [f_expl])
+
+    vdeX = ca.jtimes(f_expl,x,Sx)
+    vdeP = ca.jacobian(f_expl,u) + ca.jtimes(f_expl,x,Sp)
+
+    fun_name = model_name + '_expl_vde_forw'
+
+    expl_vde_forw = ca.Function(fun_name, [x, Sx, Sp, u, p], [f_expl, vdeX, vdeP])
+
+    adj = ca.jtimes(f_expl, ca.vertcat(x, u), lambdaX, True)
+
+    fun_name = model_name + '_expl_vde_adj'
+    expl_vde_adj = ca.Function(fun_name, [x, lambdaX, u, p], [adj])
+
+    if generate_hess:
+        S_forw = ca.vertcat(ca.horzcat(Sx, Sp), ca.horzcat(ca.DM.zeros(nu,nx), ca.DM.eye(nu)))
+        hess = ca.mtimes(ca.transpose(S_forw),ca.jtimes(adj, ca.vertcat(x,u), S_forw))
+        hess2 = []
+        for j in range(nx+nu):
+            for i in range(j,nx+nu):
+                hess2 = ca.vertcat(hess2, hess[i,j])
+
+        fun_name = model_name + '_expl_ode_hess'
+        expl_ode_hess = ca.Function(fun_name, [x, Sx, Sp, lambdaX, u, p], [adj, hess2])
+
+    # change directory
+    cwd = os.getcwd()
+    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+    os.chdir(model_dir)
+
+    # generate C code
+    fun_name = model_name + '_expl_ode_fun'
+    expl_ode_fun.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_expl_vde_forw'
+    expl_vde_forw.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_expl_vde_adj'
+    expl_vde_adj.generate(fun_name, casadi_codegen_opts)
+
+    if generate_hess:
+        fun_name = model_name + '_expl_ode_hess'
+        expl_ode_hess.generate(fun_name, casadi_codegen_opts)
+    os.chdir(cwd)
+
+    return
+
+
+def generate_c_code_implicit_ode( model, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    # load model
+    x = model.x
+    xdot = model.xdot
+    u = model.u
+    z = model.z
+    p = model.p
+    f_impl = model.f_impl_expr
+    model_name = model.name
+
+    # get model dimensions
+    nx = casadi_length(x)
+    nz = casadi_length(z)
+
+    # generate jacobians
+    jac_x       = ca.jacobian(f_impl, x)
+    jac_xdot    = ca.jacobian(f_impl, xdot)
+    jac_u       = ca.jacobian(f_impl, u)
+    jac_z       = ca.jacobian(f_impl, z)
+
+    # Set up functions
+    p = model.p
+    fun_name = model_name + '_impl_dae_fun'
+    impl_dae_fun = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
+    impl_dae_fun_jac_x_xdot_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_z])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
+    impl_dae_fun_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u, jac_z])
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
+    impl_dae_fun_jac_x_xdot_u = ca.Function(fun_name, [x, xdot, u, z, p], [f_impl, jac_x, jac_xdot, jac_u])
+
+    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
+    impl_dae_jac_x_xdot_u_z = ca.Function(fun_name, [x, xdot, u, z, p], [jac_x, jac_xdot, jac_u, jac_z])
+
+    if opts["generate_hess"]:
+        x_xdot_z_u = ca.vertcat(x, xdot, z, u)
+        symbol = get_casadi_symbol(x)
+        multiplier = symbol('multiplier', nx + nz)
+        ADJ = ca.jtimes(f_impl, x_xdot_z_u, multiplier, True)
+        HESS = ca.jacobian(ADJ, x_xdot_z_u)
+        fun_name = model_name + '_impl_dae_hess'
+        impl_dae_hess = ca.Function(fun_name, [x, xdot, u, z, multiplier, p], [HESS])
+
+    # change directory
+    cwd = os.getcwd()
+    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+    os.chdir(model_dir)
+
+    # generate C code
+    fun_name = model_name + '_impl_dae_fun'
+    impl_dae_fun.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_z'
+    impl_dae_fun_jac_x_xdot_z.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_impl_dae_jac_x_xdot_u_z'
+    impl_dae_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u_z'
+    impl_dae_fun_jac_x_xdot_u_z.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_impl_dae_fun_jac_x_xdot_u'
+    impl_dae_fun_jac_x_xdot_u.generate(fun_name, casadi_codegen_opts)
+
+    if opts["generate_hess"]:
+        fun_name = model_name + '_impl_dae_hess'
+        impl_dae_hess.generate(fun_name, casadi_codegen_opts)
+
+    os.chdir(cwd)
+    return
+
+
+def generate_c_code_gnsf( model, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    model_name = model.name
+
+    # set up directory
+    cwd = os.getcwd()
+    model_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model_name}_model'))
+    if not os.path.exists(model_dir):
+        os.makedirs(model_dir)
+    os.chdir(model_dir)
+
+    # obtain gnsf dimensions
+    get_matrices_fun = model.get_matrices_fun
+    phi_fun = model.phi_fun
+
+    size_gnsf_A = get_matrices_fun.size_out(0)
+    gnsf_nx1 = size_gnsf_A[1]
+    gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
+    gnsf_nuhat = max(phi_fun.size_in(1))
+    gnsf_ny = max(phi_fun.size_in(0))
+    gnsf_nout = max(phi_fun.size_out(0))
+
+    # set up expressions
+    # if the model uses ca.MX because of cost/constraints
+    # the DAE can be exported as ca.SX -> detect GNSF in Matlab
+    # -> evaluated ca.SX GNSF functions with ca.MX.
+    u = model.u
+    symbol = get_casadi_symbol(u)
+
+    y = symbol("y", gnsf_ny, 1)
+    uhat = symbol("uhat", gnsf_nuhat, 1)
+    p = model.p
+    x1 = symbol("gnsf_x1", gnsf_nx1, 1)
+    x1dot = symbol("gnsf_x1dot", gnsf_nx1, 1)
+    z1 = symbol("gnsf_z1", gnsf_nz1, 1)
+    dummy = symbol("gnsf_dummy", 1, 1)
+    empty_var = symbol("gnsf_empty_var", 0, 0)
+
+    ## generate C code
+    fun_name = model_name + '_gnsf_phi_fun'
+    phi_fun_ = ca.Function(fun_name, [y, uhat, p], [phi_fun(y, uhat, p)])
+    phi_fun_.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_gnsf_phi_fun_jac_y'
+    phi_fun_jac_y = model.phi_fun_jac_y
+    phi_fun_jac_y_ = ca.Function(fun_name, [y, uhat, p], phi_fun_jac_y(y, uhat, p))
+    phi_fun_jac_y_.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_gnsf_phi_jac_y_uhat'
+    phi_jac_y_uhat = model.phi_jac_y_uhat
+    phi_jac_y_uhat_ = ca.Function(fun_name, [y, uhat, p], phi_jac_y_uhat(y, uhat, p))
+    phi_jac_y_uhat_.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_gnsf_f_lo_fun_jac_x1k1uz'
+    f_lo_fun_jac_x1k1uz = model.f_lo_fun_jac_x1k1uz
+    f_lo_fun_jac_x1k1uz_eval = f_lo_fun_jac_x1k1uz(x1, x1dot, z1, u, p)
+
+    # avoid codegeneration issue
+    if not isinstance(f_lo_fun_jac_x1k1uz_eval, tuple) and is_empty(f_lo_fun_jac_x1k1uz_eval):
+        f_lo_fun_jac_x1k1uz_eval = [empty_var]
+
+    f_lo_fun_jac_x1k1uz_ = ca.Function(fun_name, [x1, x1dot, z1, u, p],
+                 f_lo_fun_jac_x1k1uz_eval)
+    f_lo_fun_jac_x1k1uz_.generate(fun_name, casadi_codegen_opts)
+
+    fun_name = model_name + '_gnsf_get_matrices_fun'
+    get_matrices_fun_ = ca.Function(fun_name, [dummy], get_matrices_fun(1))
+    get_matrices_fun_.generate(fun_name, casadi_codegen_opts)
+
+    # remove fields for json dump
+    del model.phi_fun
+    del model.phi_fun_jac_y
+    del model.phi_jac_y_uhat
+    del model.f_lo_fun_jac_x1k1uz
+    del model.get_matrices_fun
+
+    os.chdir(cwd)
+
+    return
+
+
+################
+# Cost
+################
+
+def generate_c_code_external_cost(model, stage_type, opts):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    x = model.x
+    p = model.p
+    u = model.u
+    z = model.z
+    symbol = get_casadi_symbol(x)
+
+    if stage_type == 'terminal':
+        suffix_name = "_cost_ext_cost_e_fun"
+        suffix_name_hess = "_cost_ext_cost_e_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_e_fun_jac"
+        ext_cost = model.cost_expr_ext_cost_e
+        custom_hess = model.cost_expr_ext_cost_custom_hess_e
+        # Last stage cannot depend on u and z
+        u = symbol("u", 0, 0)
+        z = symbol("z", 0, 0)
+
+    elif stage_type == 'path':
+        suffix_name = "_cost_ext_cost_fun"
+        suffix_name_hess = "_cost_ext_cost_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_fun_jac"
+        ext_cost = model.cost_expr_ext_cost
+        custom_hess = model.cost_expr_ext_cost_custom_hess
+
+    elif stage_type == 'initial':
+        suffix_name = "_cost_ext_cost_0_fun"
+        suffix_name_hess = "_cost_ext_cost_0_fun_jac_hess"
+        suffix_name_jac = "_cost_ext_cost_0_fun_jac"
+        ext_cost = model.cost_expr_ext_cost_0
+        custom_hess = model.cost_expr_ext_cost_custom_hess_0
+
+    nunx = x.shape[0] + u.shape[0]
+
+    # set up functions to be exported
+    fun_name = model.name + suffix_name
+    fun_name_hess = model.name + suffix_name_hess
+    fun_name_jac = model.name + suffix_name_jac
+
+    # generate expression for full gradient and Hessian
+    hess_uxz, grad_uxz = ca.hessian(ext_cost, ca.vertcat(u, x, z))
+
+    hess_ux = hess_uxz[:nunx, :nunx]
+    hess_z = hess_uxz[nunx:, nunx:]
+    hess_z_ux = hess_uxz[nunx:, :nunx]
+
+    if custom_hess is not None:
+        hess_ux = custom_hess
+
+    ext_cost_fun = ca.Function(fun_name, [x, u, z, p], [ext_cost])
+
+    ext_cost_fun_jac_hess = ca.Function(
+        fun_name_hess, [x, u, z, p], [ext_cost, grad_uxz, hess_ux, hess_z, hess_z_ux]
+    )
+    ext_cost_fun_jac = ca.Function(
+        fun_name_jac, [x, u, z, p], [ext_cost, grad_uxz]
+    )
+
+    # change directory
+    cwd = os.getcwd()
+    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
+    if not os.path.exists(cost_dir):
+        os.makedirs(cost_dir)
+    os.chdir(cost_dir)
+
+    ext_cost_fun.generate(fun_name, casadi_codegen_opts)
+    ext_cost_fun_jac_hess.generate(fun_name_hess, casadi_codegen_opts)
+    ext_cost_fun_jac.generate(fun_name_jac, casadi_codegen_opts)
+
+    os.chdir(cwd)
+    return
+
+
+def generate_c_code_nls_cost( model, cost_name, stage_type, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    x = model.x
+    z = model.z
+    p = model.p
+    u = model.u
+
+    symbol = get_casadi_symbol(x)
+
+    if stage_type == 'terminal':
+        middle_name = '_cost_y_e'
+        u = symbol('u', 0, 0)
+        y_expr = model.cost_y_expr_e
+
+    elif stage_type == 'initial':
+        middle_name = '_cost_y_0'
+        y_expr = model.cost_y_expr_0
+
+    elif stage_type == 'path':
+        middle_name = '_cost_y'
+        y_expr = model.cost_y_expr
+
+    # change directory
+    cwd = os.getcwd()
+    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
+    if not os.path.exists(cost_dir):
+        os.makedirs(cost_dir)
+    os.chdir(cost_dir)
+
+    # set up expressions
+    cost_jac_expr = ca.transpose(ca.jacobian(y_expr, ca.vertcat(u, x)))
+    dy_dz = ca.jacobian(y_expr, z)
+    ny = casadi_length(y_expr)
+
+    y = symbol('y', ny, 1)
+
+    y_adj = ca.jtimes(y_expr, ca.vertcat(u, x), y, True)
+    y_hess = ca.jacobian(y_adj, ca.vertcat(u, x))
+
+    ## generate C code
+    suffix_name = '_fun'
+    fun_name = cost_name + middle_name + suffix_name
+    y_fun = ca.Function( fun_name, [x, u, z, p], [ y_expr ])
+    y_fun.generate( fun_name, casadi_codegen_opts )
+
+    suffix_name = '_fun_jac_ut_xt'
+    fun_name = cost_name + middle_name + suffix_name
+    y_fun_jac_ut_xt = ca.Function(fun_name, [x, u, z, p], [ y_expr, cost_jac_expr, dy_dz ])
+    y_fun_jac_ut_xt.generate( fun_name, casadi_codegen_opts )
+
+    suffix_name = '_hess'
+    fun_name = cost_name + middle_name + suffix_name
+    y_hess = ca.Function(fun_name, [x, u, z, y, p], [ y_hess ])
+    y_hess.generate( fun_name, casadi_codegen_opts )
+
+    os.chdir(cwd)
+
+    return
+
+
+
+def generate_c_code_conl_cost(model, cost_name, stage_type, opts):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    x = model.x
+    z = model.z
+    p = model.p
+
+    symbol = get_casadi_symbol(x)
+
+    if stage_type == 'terminal':
+        u = symbol('u', 0, 0)
+
+        yref = model.cost_r_in_psi_expr_e
+        inner_expr = model.cost_y_expr_e - yref
+        outer_expr = model.cost_psi_expr_e
+        res_expr = model.cost_r_in_psi_expr_e
+
+        suffix_name_fun = '_conl_cost_e_fun'
+        suffix_name_fun_jac_hess = '_conl_cost_e_fun_jac_hess'
+
+        custom_hess = model.cost_conl_custom_outer_hess_e
+
+    elif stage_type == 'initial':
+        u = model.u
+
+        yref = model.cost_r_in_psi_expr_0
+        inner_expr = model.cost_y_expr_0 - yref
+        outer_expr = model.cost_psi_expr_0
+        res_expr = model.cost_r_in_psi_expr_0
+
+        suffix_name_fun = '_conl_cost_0_fun'
+        suffix_name_fun_jac_hess = '_conl_cost_0_fun_jac_hess'
+
+        custom_hess = model.cost_conl_custom_outer_hess_0
+
+    elif stage_type == 'path':
+        u = model.u
+
+        yref = model.cost_r_in_psi_expr
+        inner_expr = model.cost_y_expr - yref
+        outer_expr = model.cost_psi_expr
+        res_expr = model.cost_r_in_psi_expr
+
+        suffix_name_fun = '_conl_cost_fun'
+        suffix_name_fun_jac_hess = '_conl_cost_fun_jac_hess'
+
+        custom_hess = model.cost_conl_custom_outer_hess
+
+    # set up function names
+    fun_name_cost_fun = model.name + suffix_name_fun
+    fun_name_cost_fun_jac_hess = model.name + suffix_name_fun_jac_hess
+
+    # set up functions to be exported
+    outer_loss_fun = ca.Function('psi', [res_expr, p], [outer_expr])
+    cost_expr = outer_loss_fun(inner_expr, p)
+
+    outer_loss_grad_fun = ca.Function('outer_loss_grad', [res_expr, p], [ca.jacobian(outer_expr, res_expr).T])
+
+    if custom_hess is None:
+        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [ca.hessian(outer_loss_fun(res_expr, p), res_expr)[0]])
+    else:
+        outer_hess_fun = ca.Function('inner_hess', [res_expr, p], [custom_hess])
+
+    Jt_ux_expr = ca.jacobian(inner_expr, ca.vertcat(u, x)).T
+    Jt_z_expr = ca.jacobian(inner_expr, z).T
+
+    cost_fun = ca.Function(
+        fun_name_cost_fun,
+        [x, u, z, yref, p],
+        [cost_expr])
+
+    cost_fun_jac_hess = ca.Function(
+        fun_name_cost_fun_jac_hess,
+        [x, u, z, yref, p],
+        [cost_expr, outer_loss_grad_fun(inner_expr, p), Jt_ux_expr, Jt_z_expr, outer_hess_fun(inner_expr, p)]
+    )
+    # change directory
+    cwd = os.getcwd()
+    cost_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_cost'))
+    if not os.path.exists(cost_dir):
+        os.makedirs(cost_dir)
+    os.chdir(cost_dir)
+
+    # generate C code
+    cost_fun.generate(fun_name_cost_fun, casadi_codegen_opts)
+    cost_fun_jac_hess.generate(fun_name_cost_fun_jac_hess, casadi_codegen_opts)
+
+    os.chdir(cwd)
+
+    return
+
+
+################
+# Constraints
+################
+def generate_c_code_constraint( model, con_name, is_terminal, opts ):
+
+    casadi_codegen_opts = dict(mex=False, casadi_int='int', casadi_real='double')
+
+    # load constraint variables and expression
+    x = model.x
+    p = model.p
+
+    symbol = get_casadi_symbol(x)
+
+    if is_terminal:
+        con_h_expr = model.con_h_expr_e
+        con_phi_expr = model.con_phi_expr_e
+        # create dummy u, z
+        u = symbol('u', 0, 0)
+        z = symbol('z', 0, 0)
+    else:
+        con_h_expr = model.con_h_expr
+        con_phi_expr = model.con_phi_expr
+        u = model.u
+        z = model.z
+
+    if (not is_empty(con_h_expr)) and (not is_empty(con_phi_expr)):
+        raise Exception("acados: you can either have constraint_h, or constraint_phi, not both.")
+
+    if (is_empty(con_h_expr) and is_empty(con_phi_expr)):
+        # both empty -> nothing to generate
+        return
+
+    if is_empty(con_h_expr):
+        constr_type = 'BGP'
+    else:
+        constr_type = 'BGH'
+
+    if is_empty(p):
+        p = symbol('p', 0, 0)
+
+    if is_empty(z):
+        z = symbol('z', 0, 0)
+
+    if not (is_empty(con_h_expr)) and opts['generate_hess']:
+        # multipliers for hessian
+        nh = casadi_length(con_h_expr)
+        lam_h = symbol('lam_h', nh, 1)
+
+    # set up & change directory
+    cwd = os.getcwd()
+    constraints_dir = os.path.abspath(os.path.join(opts["code_export_directory"], f'{model.name}_constraints'))
+    if not os.path.exists(constraints_dir):
+        os.makedirs(constraints_dir)
+    os.chdir(constraints_dir)
+
+    # export casadi functions
+    if constr_type == 'BGH':
+        if is_terminal:
+            fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt'
+        else:
+            fun_name = con_name + '_constr_h_fun_jac_uxt_zt'
+
+        jac_ux_t = ca.transpose(ca.jacobian(con_h_expr, ca.vertcat(u,x)))
+        jac_z_t = ca.jacobian(con_h_expr, z)
+        constraint_fun_jac_tran = ca.Function(fun_name, [x, u, z, p], \
+                [con_h_expr, jac_ux_t, jac_z_t])
+
+        constraint_fun_jac_tran.generate(fun_name, casadi_codegen_opts)
+        if opts['generate_hess']:
+
+            if is_terminal:
+                fun_name = con_name + '_constr_h_e_fun_jac_uxt_zt_hess'
+            else:
+                fun_name = con_name + '_constr_h_fun_jac_uxt_zt_hess'
+
+            # adjoint
+            adj_ux = ca.jtimes(con_h_expr, ca.vertcat(u, x), lam_h, True)
+            # hessian
+            hess_ux = ca.jacobian(adj_ux, ca.vertcat(u, x))
+
+            adj_z = ca.jtimes(con_h_expr, z, lam_h, True)
+            hess_z = ca.jacobian(adj_z, z)
+
+            # set up functions
+            constraint_fun_jac_tran_hess = \
+                ca.Function(fun_name, [x, u, lam_h, z, p], \
+                    [con_h_expr, jac_ux_t, hess_ux, jac_z_t, hess_z])
+
+            # generate C code
+            constraint_fun_jac_tran_hess.generate(fun_name, casadi_codegen_opts)
+
+        if is_terminal:
+            fun_name = con_name + '_constr_h_e_fun'
+        else:
+            fun_name = con_name + '_constr_h_fun'
+        h_fun = ca.Function(fun_name, [x, u, z, p], [con_h_expr])
+        h_fun.generate(fun_name, casadi_codegen_opts)
+
+    else: # BGP constraint
+        if is_terminal:
+            fun_name = con_name + '_phi_e_constraint'
+            r = model.con_r_in_phi_e
+            con_r_expr = model.con_r_expr_e
+        else:
+            fun_name = con_name + '_phi_constraint'
+            r = model.con_r_in_phi
+            con_r_expr = model.con_r_expr
+
+        nphi = casadi_length(con_phi_expr)
+        con_phi_expr_x_u_z = ca.substitute(con_phi_expr, r, con_r_expr)
+        phi_jac_u = ca.jacobian(con_phi_expr_x_u_z, u)
+        phi_jac_x = ca.jacobian(con_phi_expr_x_u_z, x)
+        phi_jac_z = ca.jacobian(con_phi_expr_x_u_z, z)
+
+        hess = ca.hessian(con_phi_expr[0], r)[0]
+        for i in range(1, nphi):
+            hess = ca.vertcat(hess, ca.hessian(con_phi_expr[i], r)[0])
+
+        r_jac_u = ca.jacobian(con_r_expr, u)
+        r_jac_x = ca.jacobian(con_r_expr, x)
+
+        constraint_phi = \
+            ca.Function(fun_name, [x, u, z, p], \
+                [con_phi_expr_x_u_z, \
+                ca.vertcat(ca.transpose(phi_jac_u), ca.transpose(phi_jac_x)), \
+                ca.transpose(phi_jac_z), \
+                hess,
+                ca.vertcat(ca.transpose(r_jac_u), ca.transpose(r_jac_x))])
+
+        constraint_phi.generate(fun_name, casadi_codegen_opts)
+
+    # change directory back
+    os.chdir(cwd)
+
+    return
+
diff --git a/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
new file mode 100644
index 0000000000..b39ff2e23b
--- /dev/null
+++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.c
@@ -0,0 +1,819 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+// This is a template based custom_update function
+#include <stdlib.h>
+#include <stdio.h>
+#include <assert.h>
+#include <math.h>
+
+#include "custom_update_function.h"
+#include "acados_solver_{{ model.name }}.h"
+#include "acados_c/ocp_nlp_interface.h"
+#include "acados/utils/mem.h"
+
+#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+#include "blasfeo/include/blasfeo_d_blasfeo_api.h"
+
+
+typedef struct custom_memory
+{
+    // covariance matrics
+    struct blasfeo_dmat *uncertainty_matrix_buffer;      // shape = (N+1, nx, nx)
+    // covariance matrix of the additive disturbance
+    struct blasfeo_dmat W_mat;                           // shape = (nw, nw)
+    struct blasfeo_dmat unc_jac_G_mat;                   // shape = (nx, nw)
+    struct blasfeo_dmat temp_GW_mat;                     // shape = (nx, nw)
+    struct blasfeo_dmat GWG_mat;                         // shape = (nx, nx)
+    // sensitivity matrices
+    struct blasfeo_dmat A_mat;                           // shape = (nx, nx)
+    struct blasfeo_dmat B_mat;                           // shape = (nx, nu)
+    // matrix in linear constraints
+    struct blasfeo_dmat Cg_mat;                          // shape = (ng, nx)
+    struct blasfeo_dmat Dg_mat;                          // shape = (ng, nu)
+    struct blasfeo_dmat Cg_e_mat;                        // shape = (ng_e, nx)
+    struct blasfeo_dmat dummy_Dgh_e_mat;                 // shape = (ngh_e_max, nu)
+    // matrix in nonlinear constraints
+    struct blasfeo_dmat Ch_mat;                          // shape = (nh, nx)
+    struct blasfeo_dmat Dh_mat;                          // shape = (nh, nu)
+    struct blasfeo_dmat Ch_e_mat;                        // shape = (nh_e, nx)
+    // feedback gain matrix
+    struct blasfeo_dmat K_mat;                           // shape = (nu, nx)
+    // AK = A - B@K
+    struct blasfeo_dmat AK_mat;                          // shape = (nx, nx)
+    // A@P_k
+    struct blasfeo_dmat temp_AP_mat;                     // shape = (nx, nx)
+    // K@P_k, K@P_k@K^T
+    struct blasfeo_dmat temp_KP_mat;                     // shape = (nu, nx)
+    struct blasfeo_dmat temp_KPK_mat;                    // shape = (nu, nu)
+    // C + D @ K, (C + D @ K) @ P_k
+    struct blasfeo_dmat temp_CaDK_mat;                   // shape = (ngh_me_max, nx)
+    struct blasfeo_dmat temp_CaDKmP_mat;                 // shape = (ngh_me_max, nx)
+    struct blasfeo_dmat temp_beta_mat;                   // shape = (ngh_me_max, ngh_me_max)
+
+    double *d_A_mat;                                     // shape = (nx, nx)
+    double *d_B_mat;                                     // shape = (nx, nu)
+    double *d_Cg_mat;                                    // shape = (ng, nx)
+    double *d_Dg_mat;                                    // shape = (ng, nu)
+    double *d_Cg_e_mat;                                  // shape = (ng_e, nx)
+    double *d_Cgh_mat;                                   // shape = (ng+nh, nx)
+    double *d_Dgh_mat;                                   // shape = (ng+nh, nu)
+    double *d_Cgh_e_mat;                                 // shape = (ng_e+nh_e, nx)
+    double *d_state_vec;
+    // upper and lower bounds on state variables
+    double *d_lbx;                                       // shape = (nbx,)
+    double *d_ubx;                                       // shape = (nbx,)
+    double *d_lbx_e;                                     // shape = (nbx_e,)
+    double *d_ubx_e;                                     // shape = (nbx_e,)
+    // tightened upper and lower bounds on state variables
+    double *d_lbx_tightened;                             // shape = (nbx,)
+    double *d_ubx_tightened;                             // shape = (nbx,)
+    double *d_lbx_e_tightened;                           // shape = (nbx_e,)
+    double *d_ubx_e_tightened;                           // shape = (nbx_e,)
+    // upper and lower bounds on control inputs
+    double *d_lbu;                                       // shape = (nbu,)
+    double *d_ubu;                                       // shape = (nbu,)
+    // tightened upper and lower bounds on control inputs
+    double *d_lbu_tightened;                             // shape = (nbu,)
+    double *d_ubu_tightened;                             // shape = (nbu,)
+    // upper and lower bounds on polytopic constraints
+    double *d_lg;                                        // shape = (ng,)
+    double *d_ug;                                        // shape = (ng,)
+    double *d_lg_e;                                      // shape = (ng_e,)
+    double *d_ug_e;                                      // shape = (ng_e,)
+    // tightened lower bounds on polytopic constraints
+    double *d_lg_tightened;                              // shape = (ng,)
+    double *d_ug_tightened;                              // shape = (ng,)
+    double *d_lg_e_tightened;                            // shape = (ng_e,)
+    double *d_ug_e_tightened;                            // shape = (ng_e,)
+    // upper and lower bounds on nonlinear constraints
+    double *d_lh;                                        // shape = (nh,)
+    double *d_uh;                                        // shape = (nh,)
+    double *d_lh_e;                                      // shape = (nh_e,)
+    double *d_uh_e;                                      // shape = (nh_e,)
+    // tightened upper and lower bounds on nonlinear constraints
+    double *d_lh_tightened;                              // shape = (nh,)
+    double *d_uh_tightened;                              // shape = (nh,)
+    double *d_lh_e_tightened;                            // shape = (nh_e,)
+    double *d_uh_e_tightened;                            // shape = (nh_e,)
+
+    int *idxbx;                                          // shape = (nbx,)
+    int *idxbu;                                          // shape = (nbu,)
+    int *idxbx_e;                                        // shape = (nbx_e,)
+
+    void *raw_memory; // Pointer to allocated memory, to be used for freeing
+} custom_memory;
+
+static int int_max(int num1, int num2)
+{
+    return (num1 > num2 ) ? num1 : num2;
+}
+
+
+static int custom_memory_calculate_size(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims)
+{
+    int N = nlp_dims->N;
+    int nx = {{ dims.nx }};
+    int nu = {{ dims.nu }};
+    int nw = {{ zoro_description.nw }};
+
+    int ng = {{ dims.ng }};
+    int nh = {{ dims.nh }};
+    int nbx = {{ dims.nbx }};
+    int nbu = {{ dims.nbu }};
+
+    int ng_e = {{ dims.ng_e }};
+    int nh_e = {{ dims.nh_e }};
+    int ngh_e_max = int_max(ng_e, nh_e);
+    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
+    int nbx_e = {{ dims.nbx_e }};
+
+    assert({{zoro_description.nlbx_t}} <= nbx);
+    assert({{zoro_description.nubx_t}} <= nbx);
+    assert({{zoro_description.nlbu_t}} <= nbu);
+    assert({{zoro_description.nubu_t}} <= nbu);
+    assert({{zoro_description.nlg_t}} <= ng);
+    assert({{zoro_description.nug_t}} <= ng);
+    assert({{zoro_description.nlh_t}} <= nh);
+    assert({{zoro_description.nuh_t}} <= nh);
+    assert({{zoro_description.nlbx_e_t}} <= nbx_e);
+    assert({{zoro_description.nubx_e_t}} <= nbx_e);
+    assert({{zoro_description.nlg_e_t}} <= ng_e);
+    assert({{zoro_description.nug_e_t}} <= ng_e);
+    assert({{zoro_description.nlh_e_t}} <= nh_e);
+    assert({{zoro_description.nuh_e_t}} <= nh_e);
+
+    acados_size_t size = sizeof(custom_memory);
+    size += nbx * sizeof(int);
+    /* blasfeo structs */
+    size += (N + 1) * sizeof(struct blasfeo_dmat);
+    /* blasfeo mem: mat */
+    size += (N + 1) * blasfeo_memsize_dmat(nx, nx); // uncertainty_matrix_buffer
+    size += blasfeo_memsize_dmat(nw, nw);           // W_mat
+    size += 2 * blasfeo_memsize_dmat(nx, nw);       // unc_jac_G_mat, temp_GW_mat
+    size += 4 * blasfeo_memsize_dmat(nx, nx);       // GWG_mat, A_mat, AK_mat, temp_AP_mat
+    size += blasfeo_memsize_dmat(nx, nu);           // B_mat
+    size += 2 * blasfeo_memsize_dmat(nu, nx);       // K_mat, temp_KP_mat
+    size += blasfeo_memsize_dmat(nu, nu);           // temp_KPK_mat
+    size += blasfeo_memsize_dmat(ng, nx);           // Cg_mat
+    size += blasfeo_memsize_dmat(ng, nu);           // Dg_mat
+    size += blasfeo_memsize_dmat(ng_e, nx);         // Cg_e_mat
+    size += blasfeo_memsize_dmat(ngh_e_max, nu);    // dummy_Dgh_e_mat
+    size += blasfeo_memsize_dmat(nh, nx);           // Ch_mat
+    size += blasfeo_memsize_dmat(nh, nu);           // Dh_mat
+    size += blasfeo_memsize_dmat(nh_e, nx);         // Ch_e_mat
+    size += 2 * blasfeo_memsize_dmat(ngh_me_max, nx);           // temp_CaDK_mat, temp_CaDKmP_mat
+    size += blasfeo_memsize_dmat(ngh_me_max, ngh_me_max);       // temp_beta_mat
+    /* blasfeo mem: vec */
+    /* Arrays */
+    size += nx*nx *sizeof(double);                  // d_A_mat
+    size += nx*nu *sizeof(double);                  // d_B_mat
+    size += (ng + ng_e) * nx * sizeof(double);      // d_Cg_mat, d_Cg_e_mat
+    size += (ng) * nu * sizeof(double);             // d_Dg_mat
+    size += (nh + nh_e + ng + ng_e) * nx * sizeof(double);      // d_Cgh_mat, d_Cgh_e_mat
+    size += (nh + ng) * nu * sizeof(double);        // d_Dgh_mat
+    // d_state_vec
+    size += nx *sizeof(double);
+    // constraints and tightened constraints
+    size += 4 * (nbx + nbu + ng + nh)*sizeof(double);
+    size += 4 * (nbx_e + ng_e + nh_e)*sizeof(double);
+    size += (nbx + nbu + nbx_e)*sizeof(int);        // idxbx, idxbu, idxbx_e
+
+    size += 1 * 8; // initial alignment
+    make_int_multiple_of(64, &size);
+    size += 1 * 64;
+
+    return size;
+}
+
+
+static custom_memory *custom_memory_assign(ocp_nlp_config *nlp_config, ocp_nlp_dims *nlp_dims, void *raw_memory)
+{
+    int N = nlp_dims->N;
+    int nx = {{ dims.nx }};
+    int nu = {{ dims.nu }};
+    int nw = {{ zoro_description.nw }};
+
+    int ng = {{ dims.ng }};
+    int nh = {{ dims.nh }};
+    int nbx = {{ dims.nbx }};
+    int nbu = {{ dims.nbu }};
+
+    int ng_e = {{ dims.ng_e }};
+    int nh_e = {{ dims.nh_e }};
+    int ngh_e_max = int_max(ng_e, nh_e);
+    int ngh_me_max = int_max(ngh_e_max, int_max(ng, nh));
+    int nbx_e = {{ dims.nbx_e }};
+
+    char *c_ptr = (char *) raw_memory;
+    custom_memory *mem = (custom_memory *) c_ptr;
+    c_ptr += sizeof(custom_memory);
+
+    align_char_to(8, &c_ptr);
+    assign_and_advance_blasfeo_dmat_structs(N+1, &mem->uncertainty_matrix_buffer, &c_ptr);
+
+    align_char_to(64, &c_ptr);
+
+    for (int ii = 0; ii <= N; ii++)
+    {
+        assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->uncertainty_matrix_buffer[ii], &c_ptr);
+    }
+    // Disturbance Dynamics
+    assign_and_advance_blasfeo_dmat_mem(nw, nw, &mem->W_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->unc_jac_G_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nw, &mem->temp_GW_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->GWG_mat, &c_ptr);
+    // System Dynamics
+    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->A_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nu, &mem->B_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ng, nx, &mem->Cg_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ng, nu, &mem->Dg_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ng_e, nx, &mem->Cg_e_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ngh_e_max, nu, &mem->dummy_Dgh_e_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nh, nx, &mem->Ch_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nh, nu, &mem->Dh_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nh_e, nx, &mem->Ch_e_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->K_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->AK_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nx, nx, &mem->temp_AP_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nu, nx, &mem->temp_KP_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(nu, nu, &mem->temp_KPK_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDK_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, nx, &mem->temp_CaDKmP_mat, &c_ptr);
+    assign_and_advance_blasfeo_dmat_mem(ngh_me_max, ngh_me_max, &mem->temp_beta_mat, &c_ptr);
+
+    assign_and_advance_double(nx*nx, &mem->d_A_mat, &c_ptr);
+    assign_and_advance_double(nx*nu, &mem->d_B_mat, &c_ptr);
+    assign_and_advance_double(ng*nx, &mem->d_Cg_mat, &c_ptr);
+    assign_and_advance_double(ng*nu, &mem->d_Dg_mat, &c_ptr);
+    assign_and_advance_double(ng_e*nx, &mem->d_Cg_e_mat, &c_ptr);
+    assign_and_advance_double((ng + nh)*nx, &mem->d_Cgh_mat, &c_ptr);
+    assign_and_advance_double((ng + nh)*nu, &mem->d_Dgh_mat, &c_ptr);
+    assign_and_advance_double((ng_e + nh_e)*nx, &mem->d_Cgh_e_mat, &c_ptr);
+    assign_and_advance_double(nx, &mem->d_state_vec, &c_ptr);
+    assign_and_advance_double(nbx, &mem->d_lbx, &c_ptr);
+    assign_and_advance_double(nbx, &mem->d_ubx, &c_ptr);
+    assign_and_advance_double(nbx_e, &mem->d_lbx_e, &c_ptr);
+    assign_and_advance_double(nbx_e, &mem->d_ubx_e, &c_ptr);
+    assign_and_advance_double(nbx, &mem->d_lbx_tightened, &c_ptr);
+    assign_and_advance_double(nbx, &mem->d_ubx_tightened, &c_ptr);
+    assign_and_advance_double(nbx_e, &mem->d_lbx_e_tightened, &c_ptr);
+    assign_and_advance_double(nbx_e, &mem->d_ubx_e_tightened, &c_ptr);
+    assign_and_advance_double(nbu, &mem->d_lbu, &c_ptr);
+    assign_and_advance_double(nbu, &mem->d_ubu, &c_ptr);
+    assign_and_advance_double(nbu, &mem->d_lbu_tightened, &c_ptr);
+    assign_and_advance_double(nbu, &mem->d_ubu_tightened, &c_ptr);
+    assign_and_advance_double(ng, &mem->d_lg, &c_ptr);
+    assign_and_advance_double(ng, &mem->d_ug, &c_ptr);
+    assign_and_advance_double(ng_e, &mem->d_lg_e, &c_ptr);
+    assign_and_advance_double(ng_e, &mem->d_ug_e, &c_ptr);
+    assign_and_advance_double(ng, &mem->d_lg_tightened, &c_ptr);
+    assign_and_advance_double(ng, &mem->d_ug_tightened, &c_ptr);
+    assign_and_advance_double(ng_e, &mem->d_lg_e_tightened, &c_ptr);
+    assign_and_advance_double(ng_e, &mem->d_ug_e_tightened, &c_ptr);
+    assign_and_advance_double(nh, &mem->d_lh, &c_ptr);
+    assign_and_advance_double(nh, &mem->d_uh, &c_ptr);
+    assign_and_advance_double(nh_e, &mem->d_lh_e, &c_ptr);
+    assign_and_advance_double(nh_e, &mem->d_uh_e, &c_ptr);
+    assign_and_advance_double(nh, &mem->d_lh_tightened, &c_ptr);
+    assign_and_advance_double(nh, &mem->d_uh_tightened, &c_ptr);
+    assign_and_advance_double(nh_e, &mem->d_lh_e_tightened, &c_ptr);
+    assign_and_advance_double(nh_e, &mem->d_uh_e_tightened, &c_ptr);
+
+    assign_and_advance_int(nbx, &mem->idxbx, &c_ptr);
+    assign_and_advance_int(nbu, &mem->idxbu, &c_ptr);
+    assign_and_advance_int(nbx_e, &mem->idxbx_e, &c_ptr);
+
+    assert((char *) raw_memory + custom_memory_calculate_size(nlp_config, nlp_dims) >= c_ptr);
+    mem->raw_memory = raw_memory;
+
+    return mem;
+}
+
+
+
+static void *custom_memory_create({{ model.name }}_solver_capsule* capsule)
+{
+    printf("\nin custom_memory_create_function\n");
+
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
+    acados_size_t bytes = custom_memory_calculate_size(nlp_config, nlp_dims);
+
+    void *ptr = acados_calloc(1, bytes);
+
+    custom_memory *custom_mem = custom_memory_assign(nlp_config, nlp_dims, ptr);
+    custom_mem->raw_memory = ptr;
+
+    return custom_mem;
+}
+
+
+static void custom_val_init_function(ocp_nlp_dims *nlp_dims, ocp_nlp_in *nlp_in, ocp_nlp_solver *nlp_solver, custom_memory *custom_mem)
+{
+    int N = nlp_dims->N;
+    int nx = {{ dims.nx }};
+    int nu = {{ dims.nu }};
+    int nw = {{ zoro_description.nw }};
+
+    int ng = {{ dims.ng }};
+    int nh = {{ dims.nh }};
+    int nbx = {{ dims.nbx }};
+    int nbu = {{ dims.nbu }};
+
+    int ng_e = {{ dims.ng_e }};
+    int nh_e = {{ dims.nh_e }};
+    int ngh_e_max = int_max(ng_e, nh_e);
+    int nbx_e = {{ dims.nbx_e }};
+
+    /* Get the state constraint bounds */
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbx", custom_mem->idxbx);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "idxbx", custom_mem->idxbx_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "idxbu", custom_mem->idxbu);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu);
+    // Get the Jacobians and the bounds of the linear constraints
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "C", custom_mem->d_Cg_mat);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "D", custom_mem->d_Dg_mat);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "C", custom_mem->d_Cg_e_mat);
+    blasfeo_pack_dmat(ng, nx, custom_mem->d_Cg_mat, ng, &custom_mem->Cg_mat, 0, 0);
+    blasfeo_pack_dmat(ng, nu, custom_mem->d_Dg_mat, ng, &custom_mem->Dg_mat, 0, 0);
+    blasfeo_pack_dmat(ng_e, nx, custom_mem->d_Cg_e_mat, ng_e, &custom_mem->Cg_e_mat, 0, 0);
+    blasfeo_dgese(ngh_e_max, nu, 0., &custom_mem->dummy_Dgh_e_mat, 0, 0); //fill with zeros
+    // NOTE: fixed lower and upper bounds of nonlinear constraints
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e);
+
+    /* Initilize tightened constraints*/
+    // NOTE: tightened constraints are only initialized once
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbx", custom_mem->d_lbx_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubx", custom_mem->d_ubx_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lbu", custom_mem->d_lbu_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ubu", custom_mem->d_ubu_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lg", custom_mem->d_lg_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "ug", custom_mem->d_ug_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "lh", custom_mem->d_lh_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, 1, "uh", custom_mem->d_uh_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
+    ocp_nlp_constraints_model_get(nlp_solver->config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
+
+    /* Initialize the W matrix */
+    // blasfeo_dgese(nw, nw, 0., &custom_mem->W_mat, 0, 0);
+{%- for ir in range(end=zoro_description.nw) %}
+    {%- for ic in range(end=zoro_description.nw) %}
+    blasfeo_dgein1({{zoro_description.W_mat[ir][ic]}}, &custom_mem->W_mat, {{ir}}, {{ic}});
+    {%- endfor %}
+{%- endfor %}
+
+{%- for ir in range(end=dims.nx) %}
+    {%- for ic in range(end=zoro_description.nw) %}
+    blasfeo_dgein1({{zoro_description.unc_jac_G_mat[ir][ic]}}, &custom_mem->unc_jac_G_mat, {{ir}}, {{ic}});
+    {%- endfor %}
+{%- endfor %}
+
+    // NOTE: if G is changing this is not in init!
+    // temp_GW_mat = unc_jac_G_mat * W_mat
+    blasfeo_dgemm_nn(nx, nw, nw, 1.0, &custom_mem->unc_jac_G_mat, 0, 0,
+                        &custom_mem->W_mat, 0, 0, 0.0,
+                        &custom_mem->temp_GW_mat, 0, 0, &custom_mem->temp_GW_mat, 0, 0);
+    // GWG_mat = temp_GW_mat * unc_jac_G_mat^T
+    blasfeo_dgemm_nt(nx, nx, nw, 1.0, &custom_mem->temp_GW_mat, 0, 0,
+                        &custom_mem->unc_jac_G_mat, 0, 0, 0.0,
+                        &custom_mem->GWG_mat, 0, 0, &custom_mem->GWG_mat, 0, 0);
+
+    /* Initialize the uncertainty_matrix_buffer[0] */
+{%- for ir in range(end=dims.nx) %}
+    {%- for ic in range(end=dims.nx) %}
+    blasfeo_dgein1({{zoro_description.P0_mat[ir][ic]}}, &custom_mem->uncertainty_matrix_buffer[0], {{ir}}, {{ic}});
+    {%- endfor %}
+{%- endfor %}
+
+    /* Initialize the feedback gain matrix */
+{%- for ir in range(end=dims.nu) %}
+    {%- for ic in range(end=dims.nx) %}
+    blasfeo_dgein1({{zoro_description.fdbk_K_mat[ir][ic]}}, &custom_mem->K_mat, {{ir}}, {{ic}});
+    {%- endfor %}
+{%- endfor %}
+}
+
+
+int custom_update_init_function({{ model.name }}_solver_capsule* capsule)
+{
+    capsule->custom_update_memory = custom_memory_create(capsule);
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
+
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
+    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
+    custom_val_init_function(nlp_dims, nlp_in, nlp_solver, capsule->custom_update_memory);
+    return 1;
+}
+
+static void compute_gh_beta(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* C_mat,
+                         struct blasfeo_dmat* D_mat, struct blasfeo_dmat* CaDK_mat,
+                         struct blasfeo_dmat* CaDKmP_mat, struct blasfeo_dmat* beta_mat,
+                         struct blasfeo_dmat* P_mat,
+                         int n_cstr, int nx, int nu)
+{
+    // (C+DK)@P@(C^T+K^TD^T)
+    // CaDK_mat = C_mat + D_mat @ K_mat
+    blasfeo_dgemm_nn(n_cstr, nx, nu, 1.0, D_mat, 0, 0,
+                        K_mat, 0, 0, 1.0,
+                        C_mat, 0, 0, CaDK_mat, 0, 0);
+    // CaDKmP_mat = CaDK_mat @ P_mat
+    blasfeo_dgemm_nn(n_cstr, nx, nx, 1.0, CaDK_mat, 0, 0,
+                        P_mat, 0, 0, 0.0,
+                        CaDKmP_mat, 0, 0, CaDKmP_mat, 0, 0);
+    // beta_mat = CaDKmP_mat @ CaDK_mat^T
+    blasfeo_dgemm_nt(n_cstr, n_cstr, nx, 1.0, CaDKmP_mat, 0, 0,
+                        CaDK_mat, 0, 0, 0.0,
+                        beta_mat, 0, 0, beta_mat, 0, 0);
+}
+
+static void compute_KPK(struct blasfeo_dmat* K_mat, struct blasfeo_dmat* temp_KP_mat,
+                        struct blasfeo_dmat* temp_KPK_mat, struct blasfeo_dmat* P_mat,
+                        int nx, int nu)
+{
+    // K @ P_k @ K^T
+    // temp_KP_mat = K_mat @ P_mat
+    blasfeo_dgemm_nn(nu, nx, nx, 1.0, K_mat, 0, 0,
+                     P_mat, 0, 0, 0.0,
+                     temp_KP_mat, 0, 0, temp_KP_mat, 0, 0);
+    // temp_KPK_mat = temp_KP_mat @ K_mat^T
+    blasfeo_dgemm_nt(nu, nu, nx, 1.0, temp_KP_mat, 0, 0,
+                     K_mat, 0, 0, 0.0,
+                     temp_KPK_mat, 0, 0, temp_KPK_mat, 0, 0);
+}
+
+static void compute_next_P_matrix(struct blasfeo_dmat* P_mat, struct blasfeo_dmat* P_next_mat,
+                                  struct blasfeo_dmat* A_mat, struct blasfeo_dmat* B_mat,
+                                  struct blasfeo_dmat* K_mat, struct blasfeo_dmat* W_mat,
+                                  struct blasfeo_dmat* AK_mat, struct blasfeo_dmat* temp_AP_mat, int nx, int nu)
+{
+    // AK_mat = -B@K + A
+    blasfeo_dgemm_nn(nx, nx, nu, -1.0, B_mat, 0, 0, K_mat, 0, 0,
+                        1.0, A_mat, 0, 0, AK_mat, 0, 0);
+    // temp_AP_mat = AK_mat @ P_k
+    blasfeo_dgemm_nn(nx, nx, nx, 1.0, AK_mat, 0, 0,
+                        P_mat, 0, 0, 0.0,
+                        temp_AP_mat, 0, 0, temp_AP_mat, 0, 0);
+    // P_{k+1} = temp_AP_mat @ AK_mat^T + GWG_mat
+    blasfeo_dgemm_nt(nx, nx, nx, 1.0, temp_AP_mat, 0, 0,
+                        AK_mat, 0, 0, 1.0,
+                        W_mat, 0, 0, P_next_mat, 0, 0);
+}
+
+static void reset_P0_matrix(ocp_nlp_dims *nlp_dims, struct blasfeo_dmat* P_mat, double* data)
+{
+    int nx = nlp_dims->nx[0];
+    blasfeo_pack_dmat(nx, nx, data, nx, P_mat, 0, 0);
+}
+
+static void uncertainty_propagate_and_update(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out, custom_memory *custom_mem)
+{
+    ocp_nlp_config *nlp_config = solver->config;
+    ocp_nlp_dims *nlp_dims = solver->dims;
+
+    int N = nlp_dims->N;
+    int nx = nlp_dims->nx[0];
+    int nu = nlp_dims->nu[0];
+    int nx_sqr = nx*nx;
+    int nbx = {{ dims.nbx }};
+    int nbu = {{ dims.nbu }};
+    int ng = {{ dims.ng }};
+    int nh = {{ dims.nh }};
+    int ng_e = {{ dims.ng_e }};
+    int nh_e = {{ dims.nh_e }};
+    int nbx_e = {{ dims.nbx_e }};
+    double backoff_scaling_gamma = {{ zoro_description.backoff_scaling_gamma }};
+
+    // First Stage
+    // NOTE: lbx_0 and ubx_0 should not be tightened.
+    // NOTE: lg_0 and ug_0 are not tightened.
+    // NOTE: lh_0 and uh_0 are not tightened.
+{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
+    compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
+                &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[0]), nx, nu);
+
+{%- if zoro_description.nlbu_t > 0 %}
+    // backoff lbu
+    {%- for it in zoro_description.idx_lbu_t %}
+    custom_mem->d_lbu_tightened[{{it}}]
+        = custom_mem->d_lbu[{{it}}]
+            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
+                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "lbu", custom_mem->d_lbu_tightened);
+{%- endif %}
+{%- if zoro_description.nubu_t > 0 %}
+    // backoff ubu
+    {%- for it in zoro_description.idx_ubu_t %}
+    custom_mem->d_ubu_tightened[{{it}}]
+        = custom_mem->d_ubu[{{it}}]
+            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
+                custom_mem->idxbu[{{it}}],custom_mem->idxbu[{{it}}]));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, 0, "ubu", custom_mem->d_ubu_tightened);
+{%- endif %}
+{%- endif %}
+    // Middle Stages
+    // constraint tightening: for next stage based on dynamics of ii stage
+    // P[ii+1] = (A-B@K) @ P[ii] @ (A-B@K).T + G@W@G.T
+    for (int ii = 0; ii < N-1; ii++)
+    {
+        // get and pack: A, B
+        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "A", custom_mem->d_A_mat);
+        blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
+        ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, ii, "B", custom_mem->d_B_mat);
+        blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
+
+        compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[ii]),
+                              &(custom_mem->uncertainty_matrix_buffer[ii+1]),
+                              &custom_mem->A_mat, &custom_mem->B_mat,
+                              &custom_mem->K_mat, &custom_mem->GWG_mat,
+                              &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
+
+        // state constraints
+{%- if zoro_description.nlbx_t + zoro_description.nubx_t> 0 %}
+    {%- if zoro_description.nlbx_t > 0 %}
+        // lbx
+        {%- for it in zoro_description.idx_lbx_t %}
+        custom_mem->d_lbx_tightened[{{it}}]
+            = custom_mem->d_lbx[{{it}}]
+                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
+                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbx", custom_mem->d_lbx_tightened);
+    {%- endif %}
+    {% if zoro_description.nubx_t > 0 %}
+        // ubx
+        {%- for it in zoro_description.idx_ubx_t %}
+        custom_mem->d_ubx_tightened[{{it}}] = custom_mem->d_ubx[{{it}}]
+                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[ii+1],
+                    custom_mem->idxbx[{{it}}],custom_mem->idxbx[{{it}}]));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubx", custom_mem->d_ubx_tightened);
+    {%- endif %}
+{%- endif %}
+
+{%- if zoro_description.nlbu_t + zoro_description.nubu_t > 0 %}
+        // input constraints
+        compute_KPK(&custom_mem->K_mat, &custom_mem->temp_KP_mat,
+            &custom_mem->temp_KPK_mat, &(custom_mem->uncertainty_matrix_buffer[ii+1]), nx, nu);
+
+    {%- if zoro_description.nlbu_t > 0 %}
+        {%- for it in zoro_description.idx_lbu_t %}
+        custom_mem->d_lbu_tightened[{{it}}] = custom_mem->d_lbu[{{it}}]
+                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
+                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
+        {%- endfor %}
+
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lbu", custom_mem->d_lbu_tightened);
+    {%- endif %}
+    {%- if zoro_description.nubu_t > 0 %}
+        {%- for it in zoro_description.idx_ubu_t %}
+        custom_mem->d_ubu_tightened[{{it}}] = custom_mem->d_ubu[{{it}}]
+                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_KPK_mat,
+                    custom_mem->idxbu[{{it}}], custom_mem->idxbu[{{it}}]));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ubu", custom_mem->d_ubu_tightened);
+    {%- endif %}
+{%- endif %}
+
+{%- if zoro_description.nlg_t + zoro_description.nug_t > 0 %}
+        // Linear constraints: g
+        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
+                     &custom_mem->Dg_mat, &custom_mem->temp_CaDK_mat,
+                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
+                     &custom_mem->uncertainty_matrix_buffer[ii+1], ng, nx, nu);
+
+    {%- if zoro_description.nlg_t > 0 %}
+        {%- for it in zoro_description.idx_lg_t %}
+        custom_mem->d_lg_tightened[{{it}}]
+            = custom_mem->d_lg[{{it}}]
+                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lg", custom_mem->d_lg_tightened);
+    {%- endif %}
+    {%- if zoro_description.nug_t > 0 %}
+        {%- for it in zoro_description.idx_ug_t %}
+        custom_mem->d_ug_tightened[{{it}}]
+            = custom_mem->d_ug[{{it}}]
+                - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "ug", custom_mem->d_ug_tightened);
+    {%- endif %}
+{%- endif %}
+
+
+{%- if zoro_description.nlh_t + zoro_description.nuh_t > 0 %}
+        // nonlinear constraints: h
+        // Get C_{k+1} and D_{k+1}
+        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "C", custom_mem->d_Cgh_mat);
+        ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, ii+1, "D", custom_mem->d_Dgh_mat);
+        // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
+        blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
+        blasfeo_pack_dmat(nh, nu, custom_mem->d_Dgh_mat+ng, ng+nh, &custom_mem->Dh_mat, 0, 0);
+
+        compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
+                     &custom_mem->Dh_mat, &custom_mem->temp_CaDK_mat,
+                     &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
+                     &custom_mem->uncertainty_matrix_buffer[ii+1], nh, nx, nu);
+
+    {%- if zoro_description.nlh_t > 0 %}
+        {%- for it in zoro_description.idx_lh_t %}
+        custom_mem->d_lh_tightened[{{it}}]
+            = custom_mem->d_lh[{{it}}]
+                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "lh", custom_mem->d_lh_tightened);
+    {%- endif %}
+    {%- if zoro_description.nuh_t > 0 %}
+        {%- for it in zoro_description.idx_uh_t %}
+        custom_mem->d_uh_tightened[{{it}}] = custom_mem->d_uh[{{it}}]
+                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, ii+1, "uh", custom_mem->d_uh_tightened);
+    {%- endif %}
+{%- endif %}
+    }
+
+    // Last stage
+    // get and pack: A, B
+    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "A", custom_mem->d_A_mat);
+    blasfeo_pack_dmat(nx, nx, custom_mem->d_A_mat, nx, &custom_mem->A_mat, 0, 0);
+    ocp_nlp_get_at_stage(nlp_config, nlp_dims, solver, N-1, "B", custom_mem->d_B_mat);
+    blasfeo_pack_dmat(nx, nu, custom_mem->d_B_mat, nx, &custom_mem->B_mat, 0, 0);
+    // AK_mat = -B*K + A
+    compute_next_P_matrix(&(custom_mem->uncertainty_matrix_buffer[N-1]),
+                        &(custom_mem->uncertainty_matrix_buffer[N]),
+                        &custom_mem->A_mat, &custom_mem->B_mat,
+                        &custom_mem->K_mat, &custom_mem->GWG_mat,
+                        &custom_mem->AK_mat, &custom_mem->temp_AP_mat, nx, nu);
+
+    // state constraints nlbx_e_t
+{%- if zoro_description.nlbx_e_t + zoro_description.nubx_e_t> 0 %}
+{%- if zoro_description.nlbx_e_t > 0 %}
+    // lbx_e
+    {%- for it in zoro_description.idx_lbx_e_t %}
+    custom_mem->d_lbx_e_tightened[{{it}}]
+        = custom_mem->d_lbx_e[{{it}}]
+            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
+                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lbx", custom_mem->d_lbx_e_tightened);
+{%- endif %}
+{% if zoro_description.nubx_e_t > 0 %}
+    // ubx_e
+    {%- for it in zoro_description.idx_ubx_e_t %}
+    custom_mem->d_ubx_e_tightened[{{it}}] = custom_mem->d_ubx_e[{{it}}]
+            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->uncertainty_matrix_buffer[N],
+                custom_mem->idxbx_e[{{it}}],custom_mem->idxbx_e[{{it}}]));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ubx", custom_mem->d_ubx_e_tightened);
+{%- endif %}
+{%- endif %}
+
+{%- if zoro_description.nlg_e_t + zoro_description.nug_e_t > 0 %}
+    // Linear constraints: g
+    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Cg_mat,
+                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
+                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
+                    &custom_mem->uncertainty_matrix_buffer[N], ng, nx, nu);
+
+{%- if zoro_description.nlg_e_t > 0 %}
+    {%- for it in zoro_description.idx_lg_e_t %}
+    custom_mem->d_lg_e_tightened[{{it}}]
+        = custom_mem->d_lg_e[{{it}}]
+            + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lg", custom_mem->d_lg_e_tightened);
+{%- endif %}
+{%- if zoro_description.nug_e_t > 0 %}
+    {%- for it in zoro_description.idx_ug_e_t %}
+    custom_mem->d_ug_e_tightened[{{it}}]
+        = custom_mem->d_ug_e[{{it}}]
+            - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+    {%- endfor %}
+    ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "ug", custom_mem->d_ug_e_tightened);
+{%- endif %}
+{%- endif %}
+
+
+{%- if zoro_description.nlh_e_t + zoro_description.nuh_e_t > 0 %}
+    // nonlinear constraints: h
+    // Get C_{k+1} and D_{k+1}
+    ocp_nlp_get_at_stage(solver->config, nlp_dims, solver, N, "C", custom_mem->d_Cgh_mat);
+    // NOTE: the d_Cgh_mat is column-major, the first ng rows are the Jacobians of the linear constraints
+    blasfeo_pack_dmat(nh, nx, custom_mem->d_Cgh_mat+ng, ng+nh, &custom_mem->Ch_mat, 0, 0);
+
+    compute_gh_beta(&custom_mem->K_mat, &custom_mem->Ch_mat,
+                    &custom_mem->dummy_Dgh_e_mat, &custom_mem->temp_CaDK_mat,
+                    &custom_mem->temp_CaDKmP_mat, &custom_mem->temp_beta_mat,
+                    &custom_mem->uncertainty_matrix_buffer[N], nh, nx, nu);
+
+    {%- if zoro_description.nlh_e_t > 0 %}
+        {%- for it in zoro_description.idx_lh_e_t %}
+        custom_mem->d_lh_e_tightened[{{it}}]
+            = custom_mem->d_lh_e[{{it}}]
+                + backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "lh", custom_mem->d_lh_e_tightened);
+    {%- endif %}
+    {%- if zoro_description.nuh_e_t > 0 %}
+        {%- for it in zoro_description.idx_uh_e_t %}
+        custom_mem->d_uh_e_tightened[{{it}}] = custom_mem->d_uh_e[{{it}}]
+                        - backoff_scaling_gamma * sqrt(blasfeo_dgeex1(&custom_mem->temp_beta_mat, {{it}}, {{it}}));
+        {%- endfor %}
+        ocp_nlp_constraints_model_set(nlp_config, nlp_dims, nlp_in, N, "uh", custom_mem->d_uh_e_tightened);
+    {%- endif %}
+{%- endif %}
+
+}
+
+
+int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len)
+{
+    custom_memory *custom_mem = (custom_memory *) capsule->custom_update_memory;
+    ocp_nlp_config *nlp_config = {{ model.name }}_acados_get_nlp_config(capsule);
+    ocp_nlp_dims *nlp_dims = {{ model.name }}_acados_get_nlp_dims(capsule);
+    ocp_nlp_in *nlp_in = {{ model.name }}_acados_get_nlp_in(capsule);
+    ocp_nlp_out *nlp_out = {{ model.name }}_acados_get_nlp_out(capsule);
+    ocp_nlp_solver *nlp_solver = {{ model.name }}_acados_get_nlp_solver(capsule);
+    void *nlp_opts = {{ model.name }}_acados_get_nlp_opts(capsule);
+
+    if (data_len > 0)
+    {
+        reset_P0_matrix(nlp_dims, &custom_mem->uncertainty_matrix_buffer[0], data);
+    }
+    uncertainty_propagate_and_update(nlp_solver, nlp_in, nlp_out, custom_mem);
+
+    return 1;
+}
+
+
+int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule)
+{
+    custom_memory *mem = capsule->custom_update_memory;
+
+    free(mem->raw_memory);
+    return 1;
+}
+
+// useful prints for debugging
+
+/*
+printf("A_mat:\n");
+blasfeo_print_exp_dmat(nx, nx, &custom_mem->A_mat, 0, 0);
+printf("B_mat:\n");
+blasfeo_print_exp_dmat(nx, nu, &custom_mem->B_mat, 0, 0);
+printf("K_mat:\n");
+blasfeo_print_exp_dmat(nu, nx, &custom_mem->K_mat, 0, 0);
+printf("AK_mat:\n");
+blasfeo_print_exp_dmat(nx, nx, &custom_mem->AK_mat, 0, 0);
+printf("temp_AP_mat:\n");
+blasfeo_print_exp_dmat(nx, nx, &custom_mem->temp_AP_mat, 0, 0);
+printf("W_mat:\n");
+blasfeo_print_exp_dmat(nx, nx, &custom_mem->W_mat, 0, 0);
+printf("P_k+1:\n");
+blasfeo_print_exp_dmat(nx, nx, &(custom_mem->uncertainty_matrix_buffer[ii+1]), 0, 0);*/
\ No newline at end of file
diff --git a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
similarity index 59%
rename from pyextra/acados_template/c_templates_tera/phi_constraint.in.h
rename to third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
index 283ed7f889..9611ea210c 100644
--- a/pyextra/acados_template/c_templates_tera/phi_constraint.in.h
+++ b/third_party/acados/acados_template/custom_update_templates/custom_update_function_zoro_template.in.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -31,25 +28,17 @@
  * POSSIBILITY OF SUCH DAMAGE.;
  */
 
-#ifndef {{ model.name }}_PHI_CONSTRAINT
-#define {{ model.name }}_PHI_CONSTRAINT
+#include "acados_solver_{{ model.name }}.h"
 
-#ifdef __cplusplus
-extern "C" {
-#endif
+// Called at the end of solver creation.
+// This is allowed to allocate memory and store the pointer to it into capsule->custom_update_memory.
+int custom_update_init_function({{ model.name }}_solver_capsule* capsule);
 
-{% if dims.nphi > 0 %}
-// implicit ODE
-int {{ model.name }}_phi_constraint(const real_t** arg, real_t** res, int* iw, real_t* w, void *mem);
-int {{ model.name }}_phi_constraint_work(int *, int *, int *, int *);
-const int *{{ model.name }}_phi_constraint_sparsity_in(int);
-const int *{{ model.name }}_phi_constraint_sparsity_out(int);
-int {{ model.name }}_phi_constraint_n_in(void);
-int {{ model.name }}_phi_constraint_n_out(void);
-{% endif %}
 
-#ifdef __cplusplus
-} /* extern "C" */
-#endif
+// Custom update function that can be called between solver calls
+int custom_update_function({{ model.name }}_solver_capsule* capsule, double* data, int data_len);
 
-#endif  // {{ model.name }}_PHI_CONSTRAINT
+
+// Called just before destroying the solver.
+// Responsible to free allocated memory, stored at capsule->custom_update_memory.
+int custom_update_terminate_function({{ model.name }}_solver_capsule* capsule);
diff --git a/third_party/acados/acados_template/gnsf/__init__.py b/third_party/acados/acados_template/gnsf/__init__.py
new file mode 100644
index 0000000000..8b13789179
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/__init__.py
@@ -0,0 +1 @@
+
diff --git a/third_party/acados/acados_template/gnsf/check_reformulation.py b/third_party/acados/acados_template/gnsf/check_reformulation.py
new file mode 100644
index 0000000000..2bdfbbc336
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/check_reformulation.py
@@ -0,0 +1,216 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+from acados_template.utils import casadi_length
+from casadi import *
+import numpy as np
+
+
+def check_reformulation(model, gnsf, print_info):
+
+    ## Description:
+    # this function takes the implicit ODE/ index-1 DAE and a gnsf structure
+    # to evaluate both models at num_eval random points x0, x0dot, z0, u0
+    # if for all points the relative error is <= TOL, the function will return::
+    # 1, otherwise it will give an error.
+
+    TOL = 1e-14
+    num_eval = 10
+
+    # get dimensions
+    nx = gnsf["nx"]
+    nu = gnsf["nu"]
+    nz = gnsf["nz"]
+    nx1 = gnsf["nx1"]
+    nx2 = gnsf["nx2"]
+    nz1 = gnsf["nz1"]
+    nz2 = gnsf["nz2"]
+    n_out = gnsf["n_out"]
+
+    # get model matrices
+    A = gnsf["A"]
+    B = gnsf["B"]
+    C = gnsf["C"]
+    E = gnsf["E"]
+    c = gnsf["c"]
+
+    L_x = gnsf["L_x"]
+    L_xdot = gnsf["L_xdot"]
+    L_z = gnsf["L_z"]
+    L_u = gnsf["L_u"]
+
+    A_LO = gnsf["A_LO"]
+    E_LO = gnsf["E_LO"]
+    B_LO = gnsf["B_LO"]
+    c_LO = gnsf["c_LO"]
+
+    I_x1 = range(nx1)
+    I_x2 = range(nx1, nx)
+
+    I_z1 = range(nz1)
+    I_z2 = range(nz1, nz)
+
+    idx_perm_f = gnsf["idx_perm_f"]
+
+    # get casadi variables
+    x = gnsf["x"]
+    xdot = gnsf["xdot"]
+    z = gnsf["z"]
+    u = gnsf["u"]
+    y = gnsf["y"]
+    uhat = gnsf["uhat"]
+    p = gnsf["p"]
+
+    # create functions
+    impl_dae_fun = Function("impl_dae_fun", [x, xdot, u, z, p], [model.f_impl_expr])
+    phi_fun = Function("phi_fun", [y, uhat, p], [gnsf["phi_expr"]])
+    f_lo_fun = Function(
+        "f_lo_fun", [x[range(nx1)], xdot[range(nx1)], z, u, p], [gnsf["f_lo_expr"]]
+    )
+
+    # print(gnsf)
+    # print(gnsf["n_out"])
+
+    for i_check in range(num_eval):
+        # generate random values
+        x0 = np.random.rand(nx, 1)
+        x0dot = np.random.rand(nx, 1)
+        z0 = np.random.rand(nz, 1)
+        u0 = np.random.rand(nu, 1)
+
+        if gnsf["ny"] > 0:
+            y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0[I_z1]
+        else:
+            y0 = []
+        if gnsf["nuhat"] > 0:
+            uhat0 = L_u @ u0
+        else:
+            uhat0 = []
+
+        # eval functions
+        p0 = np.random.rand(gnsf["np"], 1)
+        f_impl_val = impl_dae_fun(x0, x0dot, u0, z0, p0).full()
+        phi_val = phi_fun(y0, uhat0, p0)
+        f_lo_val = f_lo_fun(x0[I_x1], x0dot[I_x1], z0[I_z1], u0, p0)
+
+        f_impl_val = f_impl_val[idx_perm_f]
+        # eval gnsf
+        if n_out > 0:
+            C_phi = C @ phi_val
+        else:
+            C_phi = np.zeros((nx1 + nz1, 1))
+        try:
+            gnsf_val1 = (
+                A @ x0[I_x1] + B @ u0 + C_phi + c - E @ vertcat(x0dot[I_x1], z0[I_z1])
+            )
+            # gnsf_1 = (A @ x[I_x1] + B @ u + C_phi + c - E @ vertcat(xdot[I_x1], z[I_z1]))
+        except:
+            import pdb
+
+            pdb.set_trace()
+
+        if nx2 > 0:  # eval LOS:
+            gnsf_val2 = (
+                A_LO @ x0[I_x2]
+                + B_LO @ u0
+                + c_LO
+                + f_lo_val
+                - E_LO @ vertcat(x0dot[I_x2], z0[I_z2])
+            )
+            gnsf_val = vertcat(gnsf_val1, gnsf_val2).full()
+        else:
+            gnsf_val = gnsf_val1.full()
+        # compute error and check
+        rel_error = np.linalg.norm(f_impl_val - gnsf_val) / np.linalg.norm(f_impl_val)
+
+        if rel_error > TOL:
+            print("transcription failed rel_error > TOL")
+            print("you are in debug mode now: import pdb; pdb.set_trace()")
+            abs_error = gnsf_val - f_impl_val
+            # T = table(f_impl_val, gnsf_val, abs_error)
+            # print(T)
+            print("abs_error:", abs_error)
+            #         error('transcription failed rel_error > TOL')
+            #         check = 0
+            import pdb
+
+            pdb.set_trace()
+    if print_info:
+        print(" ")
+        print("model reformulation checked: relative error <= TOL = ", str(TOL))
+        print(" ")
+        check = 1
+    ## helpful for debugging:
+    # # use in calling function and compare
+    # # compare f_impl(i) with gnsf_val1(i)
+    #
+
+    #     nx  = gnsf['nx']
+    #     nu  = gnsf['nu']
+    #     nz  = gnsf['nz']
+    #     nx1 = gnsf['nx1']
+    #     nx2 = gnsf['nx2']
+    #
+    #         A  = gnsf['A']
+    #     B  = gnsf['B']
+    #     C  = gnsf['C']
+    #     E  = gnsf['E']
+    #     c  = gnsf['c']
+    #
+    #     L_x    = gnsf['L_x']
+    #     L_z    = gnsf['L_z']
+    #     L_xdot = gnsf['L_xdot']
+    #     L_u    = gnsf['L_u']
+    #
+    #     A_LO = gnsf['A_LO']
+    #
+    #     x0 = rand(nx, 1)
+    #     x0dot = rand(nx, 1)
+    #     z0 = rand(nz, 1)
+    #     u0 = rand(nu, 1)
+    #     I_x1 = range(nx1)
+    #     I_x2 = nx1+range(nx)
+    #
+    #     y0 = L_x @ x0[I_x1] + L_xdot @ x0dot[I_x1] + L_z @ z0
+    #     uhat0 = L_u @ u0
+    #
+    #     gnsf_val1 = (A @ x[I_x1] + B @ u + #         C @ phi_current + c) - E @ [xdot[I_x1] z]
+    #     gnsf_val1 = gnsf_val1.simplify()
+    #
+    # #     gnsf_val2 = A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
+    #     gnsf_val2 =  A_LO @ x[I_x2] + gnsf['f_lo_fun'](x[I_x1], xdot[I_x1], z, u) - xdot[I_x2]
+    #
+    #
+    #     gnsf_val = [gnsf_val1 gnsf_val2]
+    #     gnsf_val = gnsf_val.simplify()
+    #     dyn_expr_f = dyn_expr_f.simplify()
+    # import pdb; pdb.set_trace()
+
+    return check
diff --git a/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
new file mode 100644
index 0000000000..ebf1f373a4
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/detect_affine_terms_reduce_nonlinearity.py
@@ -0,0 +1,278 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+from casadi import *
+from .check_reformulation import check_reformulation
+from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
+from ..utils import casadi_length, print_casadi_expression
+
+
+def detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info):
+
+    ## Description
+    # this function takes a gnsf structure with trivial model matrices (A, B,
+    # E, c are zeros, and C is eye).
+    # It detects all affine linear terms and sets up an equivalent model in the
+    # GNSF structure, where all affine linear terms are modeled through the
+    # matrices A, B, E, c and the linear output system (LOS) is empty.
+    # NOTE: model is just taken as an argument to check equivalence of the
+    # models within the function.
+
+    model = acados_ocp.model
+    if print_info:
+        print(" ")
+        print("====================================================================")
+        print(" ")
+        print("============  Detect affine-linear dependencies   ==================")
+        print(" ")
+        print("====================================================================")
+        print(" ")
+    # symbolics
+    x = gnsf["x"]
+    xdot = gnsf["xdot"]
+    u = gnsf["u"]
+    z = gnsf["z"]
+
+    # dimensions
+    nx = gnsf["nx"]
+    nu = gnsf["nu"]
+    nz = gnsf["nz"]
+
+    ny_old = gnsf["ny"]
+    nuhat_old = gnsf["nuhat"]
+
+    ## Represent all affine dependencies through the model matrices A, B, E, c
+    ## determine A
+    n_nodes_current = n_nodes(gnsf["phi_expr"])
+
+    for ii in range(casadi_length(gnsf["phi_expr"])):
+        fii = gnsf["phi_expr"][ii]
+        for ix in range(nx):
+            var = x[ix]
+            varname = var.name
+            # symbolic jacobian of fii w.r.t. xi
+            jac_fii_xi = jacobian(fii, var)
+            if jac_fii_xi.is_constant():
+                # jacobian value
+                jac_fii_xi_fun = Function("jac_fii_xi_fun", [x[1]], [jac_fii_xi])
+                # x[1] as input just to have a scalar input and call the function as follows:
+                gnsf["A"][ii, ix] = jac_fii_xi_fun(0).full()
+            else:
+                gnsf["A"][ii, ix] = 0
+                if print_info:
+                    print(
+                        "phi(",
+                        str(ii),
+                        ") is nonlinear in x(",
+                        str(ix),
+                        ") = ",
+                        varname,
+                    )
+                    print(fii)
+                    print("-----------------------------------------------------")
+    f_next = gnsf["phi_expr"] - gnsf["A"] @ x
+    f_next = simplify(f_next)
+    n_nodes_next = n_nodes(f_next)
+
+    if print_info:
+        print("\n")
+        print(f"determined matrix A:")
+        print(gnsf["A"])
+        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
+    # assert(n_nodes_current >= n_nodes_next,'n_nodes_current >= n_nodes_next FAILED')
+    gnsf["phi_expr"] = f_next
+
+    check_reformulation(model, gnsf, print_info)
+
+    ## determine B
+    n_nodes_current = n_nodes(gnsf["phi_expr"])
+
+    for ii in range(casadi_length(gnsf["phi_expr"])):
+        fii = gnsf["phi_expr"][ii]
+        for iu in range(nu):
+            var = u[iu]
+            varname = var.name
+            # symbolic jacobian of fii w.r.t. ui
+            jac_fii_ui = jacobian(fii, var)
+            if jac_fii_ui.is_constant():  # i.e. hessian is structural zero:
+                # jacobian value
+                jac_fii_ui_fun = Function("jac_fii_ui_fun", [x[1]], [jac_fii_ui])
+                gnsf["B"][ii, iu] = jac_fii_ui_fun(0).full()
+            else:
+                gnsf["B"][ii, iu] = 0
+                if print_info:
+                    print(f"phi({ii}) is nonlinear in u(", str(iu), ") = ", varname)
+                    print(fii)
+                    print("-----------------------------------------------------")
+    f_next = gnsf["phi_expr"] - gnsf["B"] @ u
+    f_next = simplify(f_next)
+    n_nodes_next = n_nodes(f_next)
+
+    if print_info:
+        print("\n")
+        print(f"determined matrix B:")
+        print(gnsf["B"])
+        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
+
+    gnsf["phi_expr"] = f_next
+
+    check_reformulation(model, gnsf, print_info)
+
+    ## determine E
+    n_nodes_current = n_nodes(gnsf["phi_expr"])
+    k = vertcat(xdot, z)
+
+    for ii in range(casadi_length(gnsf["phi_expr"])):
+        fii = gnsf["phi_expr"][ii]
+        for ik in range(casadi_length(k)):
+            # symbolic jacobian of fii w.r.t. ui
+            var = k[ik]
+            varname = var.name
+            jac_fii_ki = jacobian(fii, var)
+            if jac_fii_ki.is_constant():
+                # jacobian value
+                jac_fii_ki_fun = Function("jac_fii_ki_fun", [x[1]], [jac_fii_ki])
+                gnsf["E"][ii, ik] = -jac_fii_ki_fun(0).full()
+            else:
+                gnsf["E"][ii, ik] = 0
+                if print_info:
+                    print(f"phi( {ii}) is nonlinear in xdot_z({ik}) = ", varname)
+                    print(fii)
+                    print("-----------------------------------------------------")
+    f_next = gnsf["phi_expr"] + gnsf["E"] @ k
+    f_next = simplify(f_next)
+    n_nodes_next = n_nodes(f_next)
+
+    if print_info:
+        print("\n")
+        print(f"determined matrix E:")
+        print(gnsf["E"])
+        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
+
+    gnsf["phi_expr"] = f_next
+    check_reformulation(model, gnsf, print_info)
+
+    ## determine constant term c
+
+    n_nodes_current = n_nodes(gnsf["phi_expr"])
+    for ii in range(casadi_length(gnsf["phi_expr"])):
+        fii = gnsf["phi_expr"][ii]
+        if fii.is_constant():
+            # function value goes into c
+            fii_fun = Function("fii_fun", [x[1]], [fii])
+            gnsf["c"][ii] = fii_fun(0).full()
+        else:
+            gnsf["c"][ii] = 0
+            if print_info:
+                print(f"phi(", str(ii), ") is NOT constant")
+                print(fii)
+                print("-----------------------------------------------------")
+    gnsf["phi_expr"] = gnsf["phi_expr"] - gnsf["c"]
+    gnsf["phi_expr"] = simplify(gnsf["phi_expr"])
+    n_nodes_next = n_nodes(gnsf["phi_expr"])
+
+    if print_info:
+        print("\n")
+        print(f"determined vector c:")
+        print(gnsf["c"])
+        print(f"reduced nonlinearity from {n_nodes_current} to {n_nodes_next} nodes")
+
+    check_reformulation(model, gnsf, print_info)
+
+    ## determine nonlinearity & corresponding matrix C
+    ## Reduce dimension of phi
+    n_nodes_current = n_nodes(gnsf["phi_expr"])
+    ind_non_zero = []
+    for ii in range(casadi_length(gnsf["phi_expr"])):
+        fii = gnsf["phi_expr"][ii]
+        fii = simplify(fii)
+        if not fii.is_zero():
+            ind_non_zero = list(set.union(set(ind_non_zero), set([ii])))
+    gnsf["phi_expr"] = gnsf["phi_expr"][ind_non_zero]
+
+    # C
+    gnsf["C"] = np.zeros((nx + nz, len(ind_non_zero)))
+    for ii in range(len(ind_non_zero)):
+        gnsf["C"][ind_non_zero[ii], ii] = 1
+    gnsf = determine_input_nonlinearity_function(gnsf)
+    n_nodes_next = n_nodes(gnsf["phi_expr"])
+
+    if print_info:
+        print(" ")
+        print("determined matrix C:")
+        print(gnsf["C"])
+        print(
+            "---------------------------------------------------------------------------------"
+        )
+        print(
+            "------------- Success: Affine linear terms detected -----------------------------"
+        )
+        print(
+            "---------------------------------------------------------------------------------"
+        )
+        print(
+            f'reduced nonlinearity dimension n_out from  {nx+nz}  to  {gnsf["n_out"]}'
+        )
+        print(f"reduced nonlinearity from  {n_nodes_current} to {n_nodes_next} nodes")
+        print(" ")
+        print("phi now reads as:")
+        print_casadi_expression(gnsf["phi_expr"])
+
+    ## determine input of nonlinearity function
+    check_reformulation(model, gnsf, print_info)
+
+    gnsf["ny"] = casadi_length(gnsf["y"])
+    gnsf["nuhat"] = casadi_length(gnsf["uhat"])
+
+    if print_info:
+        print(
+            "-----------------------------------------------------------------------------------"
+        )
+        print(" ")
+        print(
+            f"reduced input ny    of phi from  ",
+            str(ny_old),
+            "   to  ",
+            str(gnsf["ny"]),
+        )
+        print(
+            f"reduced input nuhat of phi from  ",
+            str(nuhat_old),
+            "   to  ",
+            str(gnsf["nuhat"]),
+        )
+        print(
+            "-----------------------------------------------------------------------------------"
+        )
+
+    # if print_info:
+    #     print(f"gnsf: {gnsf}")
+
+    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
new file mode 100644
index 0000000000..24ffe643b8
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/detect_gnsf_structure.py
@@ -0,0 +1,240 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
+
+from casadi import Function, jacobian, SX, vertcat, horzcat
+
+from .determine_trivial_gnsf_transcription import determine_trivial_gnsf_transcription
+from .detect_affine_terms_reduce_nonlinearity import (
+    detect_affine_terms_reduce_nonlinearity,
+)
+from .reformulate_with_LOS import reformulate_with_LOS
+from .reformulate_with_invertible_E_mat import reformulate_with_invertible_E_mat
+from .structure_detection_print_summary import structure_detection_print_summary
+from .check_reformulation import check_reformulation
+
+
+def detect_gnsf_structure(acados_ocp, transcribe_opts=None):
+
+    ## Description
+    # This function takes a CasADi implicit ODE or index-1 DAE model "model"
+    # consisting of a CasADi expression f_impl in the symbolic CasADi
+    # variables x, xdot, u, z, (and possibly parameters p), which are also part
+    # of the model, as well as a model name.
+    # It will create a struct "gnsf" containing all information needed to use
+    # it with the gnsf integrator in acados.
+    # Additionally it will create the struct "reordered_model" which contains
+    # the permuted state vector and permuted f_impl, in which additionally some
+    # functions, which were made part of the linear output system of the gnsf,
+    # have changed signs.
+
+    # Options: transcribe_opts is a Matlab struct consisting of booleans:
+    #   print_info: if extensive information on how the model is processed
+    #       is printed to the console.
+    #   generate_gnsf_model: if the neccessary C functions to simulate the gnsf
+    #       model with the acados implementation of the GNSF exploiting
+    #       integrator should be generated.
+    #   generate_gnsf_model: if the neccessary C functions to simulate the
+    #       reordered model with the acados implementation of the IRK
+    #       integrator should be generated.
+    #   check_E_invertibility: if the transcription method should check if the
+    #       assumption that the main blocks of the matrix gnsf.E are invertible
+    #       holds. If not, the method will try to reformulate the gnsf model
+    #       with a different model, such that the assumption holds.
+
+    # acados_root_dir = getenv('ACADOS_INSTALL_DIR')
+
+    ## load transcribe_opts
+    if transcribe_opts is None:
+        print("WARNING: GNSF structure detection called without transcribe_opts")
+        print(" using default settings")
+        print("")
+        transcribe_opts = dict()
+
+    if "print_info" in transcribe_opts:
+        print_info = transcribe_opts["print_info"]
+    else:
+        print_info = 1
+        print("print_info option was not set - default is true")
+
+    if "detect_LOS" in transcribe_opts:
+        detect_LOS = transcribe_opts["detect_LOS"]
+    else:
+        detect_LOS = 1
+        if print_info:
+            print("detect_LOS option was not set - default is true")
+
+    if "check_E_invertibility" in transcribe_opts:
+        check_E_invertibility = transcribe_opts["check_E_invertibility"]
+    else:
+        check_E_invertibility = 1
+        if print_info:
+            print("check_E_invertibility option was not set - default is true")
+
+    ## Reformulate implicit index-1 DAE into GNSF form
+    # (Generalized nonlinear static feedback)
+    gnsf = determine_trivial_gnsf_transcription(acados_ocp, print_info)
+    gnsf = detect_affine_terms_reduce_nonlinearity(gnsf, acados_ocp, print_info)
+
+    if detect_LOS:
+        gnsf = reformulate_with_LOS(acados_ocp, gnsf, print_info)
+
+    if check_E_invertibility:
+        gnsf = reformulate_with_invertible_E_mat(gnsf, acados_ocp, print_info)
+
+    # detect purely linear model
+    if gnsf["nx1"] == 0 and gnsf["nz1"] == 0 and gnsf["nontrivial_f_LO"] == 0:
+        gnsf["purely_linear"] = 1
+    else:
+        gnsf["purely_linear"] = 0
+
+    structure_detection_print_summary(gnsf, acados_ocp)
+    check_reformulation(acados_ocp.model, gnsf, print_info)
+
+    ## copy relevant fields from gnsf to model
+    acados_ocp.model.get_matrices_fun = Function()
+    dummy = acados_ocp.model.x[0]
+    model_name = acados_ocp.model.name
+
+    get_matrices_fun = Function(
+        f"{model_name}_gnsf_get_matrices_fun",
+        [dummy],
+        [
+            gnsf["A"],
+            gnsf["B"],
+            gnsf["C"],
+            gnsf["E"],
+            gnsf["L_x"],
+            gnsf["L_xdot"],
+            gnsf["L_z"],
+            gnsf["L_u"],
+            gnsf["A_LO"],
+            gnsf["c"],
+            gnsf["E_LO"],
+            gnsf["B_LO"],
+            gnsf["nontrivial_f_LO"],
+            gnsf["purely_linear"],
+            gnsf["ipiv_x"] + 1,
+            gnsf["ipiv_z"] + 1,
+            gnsf["c_LO"],
+        ],
+    )
+
+    phi = gnsf["phi_expr"]
+    y = gnsf["y"]
+    uhat = gnsf["uhat"]
+    p = gnsf["p"]
+
+    jac_phi_y = jacobian(phi, y)
+    jac_phi_uhat = jacobian(phi, uhat)
+
+    phi_fun = Function(f"{model_name}_gnsf_phi_fun", [y, uhat, p], [phi])
+    acados_ocp.model.phi_fun = phi_fun
+    acados_ocp.model.phi_fun_jac_y = Function(
+        f"{model_name}_gnsf_phi_fun_jac_y", [y, uhat, p], [phi, jac_phi_y]
+    )
+    acados_ocp.model.phi_jac_y_uhat = Function(
+        f"{model_name}_gnsf_phi_jac_y_uhat", [y, uhat, p], [jac_phi_y, jac_phi_uhat]
+    )
+
+    x1 = acados_ocp.model.x[gnsf["idx_perm_x"][: gnsf["nx1"]]]
+    x1dot = acados_ocp.model.xdot[gnsf["idx_perm_x"][: gnsf["nx1"]]]
+    if gnsf["nz1"] > 0:
+        z1 = acados_ocp.model.z[gnsf["idx_perm_z"][: gnsf["nz1"]]]
+    else:
+        z1 = SX.sym("z1", 0, 0)
+    f_lo = gnsf["f_lo_expr"]
+    u = acados_ocp.model.u
+    acados_ocp.model.f_lo_fun_jac_x1k1uz = Function(
+        f"{model_name}_gnsf_f_lo_fun_jac_x1k1uz",
+        [x1, x1dot, z1, u, p],
+        [
+            f_lo,
+            horzcat(
+                jacobian(f_lo, x1),
+                jacobian(f_lo, x1dot),
+                jacobian(f_lo, u),
+                jacobian(f_lo, z1),
+            ),
+        ],
+    )
+
+    acados_ocp.model.get_matrices_fun = get_matrices_fun
+
+    size_gnsf_A = gnsf["A"].shape
+    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
+    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
+    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
+    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
+    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
+
+    # # dim
+    # model['dim_gnsf_nx1'] = gnsf['nx1']
+    # model['dim_gnsf_nx2'] = gnsf['nx2']
+    # model['dim_gnsf_nz1'] = gnsf['nz1']
+    # model['dim_gnsf_nz2'] = gnsf['nz2']
+    # model['dim_gnsf_nuhat'] = gnsf['nuhat']
+    # model['dim_gnsf_ny'] = gnsf['ny']
+    # model['dim_gnsf_nout'] = gnsf['n_out']
+
+    # # sym
+    # model['sym_gnsf_y'] = gnsf['y']
+    # model['sym_gnsf_uhat'] = gnsf['uhat']
+
+    # # data
+    # model['dyn_gnsf_A'] = gnsf['A']
+    # model['dyn_gnsf_A_LO'] = gnsf['A_LO']
+    # model['dyn_gnsf_B'] = gnsf['B']
+    # model['dyn_gnsf_B_LO'] = gnsf['B_LO']
+    # model['dyn_gnsf_E'] = gnsf['E']
+    # model['dyn_gnsf_E_LO'] = gnsf['E_LO']
+    # model['dyn_gnsf_C'] = gnsf['C']
+    # model['dyn_gnsf_c'] = gnsf['c']
+    # model['dyn_gnsf_c_LO'] = gnsf['c_LO']
+    # model['dyn_gnsf_L_x'] = gnsf['L_x']
+    # model['dyn_gnsf_L_xdot'] = gnsf['L_xdot']
+    # model['dyn_gnsf_L_z'] = gnsf['L_z']
+    # model['dyn_gnsf_L_u'] = gnsf['L_u']
+    # model['dyn_gnsf_idx_perm_x'] = gnsf['idx_perm_x']
+    # model['dyn_gnsf_ipiv_x'] = gnsf['ipiv_x']
+    # model['dyn_gnsf_idx_perm_z'] = gnsf['idx_perm_z']
+    # model['dyn_gnsf_ipiv_z'] = gnsf['ipiv_z']
+    # model['dyn_gnsf_idx_perm_f'] = gnsf['idx_perm_f']
+    # model['dyn_gnsf_ipiv_f'] = gnsf['ipiv_f']
+
+    # # flags
+    # model['dyn_gnsf_nontrivial_f_LO'] = gnsf['nontrivial_f_LO']
+    # model['dyn_gnsf_purely_linear'] = gnsf['purely_linear']
+
+    # # casadi expr
+    # model['dyn_gnsf_expr_phi'] = gnsf['phi_expr']
+    # model['dyn_gnsf_expr_f_lo'] = gnsf['f_lo_expr']
+
+    return acados_ocp
diff --git a/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
new file mode 100644
index 0000000000..94aa001c79
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/determine_input_nonlinearity_function.py
@@ -0,0 +1,110 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
+
+from casadi import *
+from ..utils import casadi_length, is_empty
+
+
+def determine_input_nonlinearity_function(gnsf):
+
+    ## Description
+    # this function takes a structure gnsf and updates the matrices L_x,
+    # L_xdot, L_z, L_u and CasADi vectors y, uhat of this structure as follows:
+
+    # given a CasADi expression phi_expr, which may depend on the variables
+    # (x1, x1dot, z, u), this function determines a vector y (uhat) consisting
+    # of all components of (x1, x1dot, z) (respectively u) that enter phi_expr.
+    # Additionally matrices L_x, L_xdot, L_z, L_u are determined such that
+    #           y    = L_x * x + L_xdot * xdot + L_z * z
+    #           uhat = L_u * u
+    # Furthermore the dimensions ny, nuhat, n_out are updated
+
+    ## y
+    y = SX.sym('y', 0, 0)
+    # components of x1
+    for ii in range(gnsf["nx1"]):
+        if which_depends(gnsf["phi_expr"], gnsf["x"][ii])[0]:
+            y = vertcat(y, gnsf["x"][ii])
+        # else:
+        # x[ii] is not part of y
+    # components of x1dot
+    for ii in range(gnsf["nx1"]):
+        if which_depends(gnsf["phi_expr"], gnsf["xdot"][ii])[0]:
+            print(gnsf["phi_expr"], "depends on", gnsf["xdot"][ii])
+            y = vertcat(y, gnsf["xdot"][ii])
+        # else:
+        # xdot[ii] is not part of y
+    # components of z
+    for ii in range(gnsf["nz1"]):
+        if which_depends(gnsf["phi_expr"], gnsf["z"][ii])[0]:
+            y = vertcat(y, gnsf["z"][ii])
+        # else:
+        # z[ii] is not part of y
+    ## uhat
+    uhat = SX.sym('uhat', 0, 0)
+    # components of u
+    for ii in range(gnsf["nu"]):
+        if which_depends(gnsf["phi_expr"], gnsf["u"][ii])[0]:
+            uhat = vertcat(uhat, gnsf["u"][ii])
+        # else:
+        # u[ii] is not part of uhat
+    ## generate gnsf['phi_expr_fun']
+    # linear input matrices
+    if is_empty(y):
+        gnsf["L_x"] = []
+        gnsf["L_xdot"] = []
+        gnsf["L_u"] = []
+        gnsf["L_z"] = []
+    else:
+        dummy = SX.sym("dummy_input", 0)
+        L_x_fun = Function(
+            "L_x_fun", [dummy], [jacobian(y, gnsf["x"][range(gnsf["nx1"])])]
+        )
+        L_xdot_fun = Function(
+            "L_xdot_fun", [dummy], [jacobian(y, gnsf["xdot"][range(gnsf["nx1"])])]
+        )
+        L_z_fun = Function(
+            "L_z_fun", [dummy], [jacobian(y, gnsf["z"][range(gnsf["nz1"])])]
+        )
+        L_u_fun = Function("L_u_fun", [dummy], [jacobian(uhat, gnsf["u"])])
+
+        gnsf["L_x"] = L_x_fun(0).full()
+        gnsf["L_xdot"] = L_xdot_fun(0).full()
+        gnsf["L_u"] = L_u_fun(0).full()
+        gnsf["L_z"] = L_z_fun(0).full()
+    gnsf["y"] = y
+    gnsf["uhat"] = uhat
+
+    gnsf["ny"] = casadi_length(y)
+    gnsf["nuhat"] = casadi_length(uhat)
+    gnsf["n_out"] = casadi_length(gnsf["phi_expr"])
+
+    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
new file mode 100644
index 0000000000..23c2440537
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/determine_trivial_gnsf_transcription.py
@@ -0,0 +1,155 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+
+from casadi import *
+import numpy as np
+from ..utils import casadi_length, idx_perm_to_ipiv
+from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
+from .check_reformulation import check_reformulation
+
+
+def determine_trivial_gnsf_transcription(acados_ocp, print_info):
+    ## Description
+    # this function takes a model of an implicit ODE/ index-1 DAE and sets up
+    # an equivalent model in the GNSF structure, with empty linear output
+    # system and trivial model matrices, i.e. A, B, E, c are zeros, and C is
+    # eye. - no structure is exploited
+
+    model = acados_ocp.model
+    # initial print
+    print("*****************************************************************")
+    print(" ")
+    print(f"******      Restructuring {model.name} model    ***********")
+    print(" ")
+    print("*****************************************************************")
+
+    # load model
+    f_impl_expr = model.f_impl_expr
+
+    model_name_prefix = model.name
+
+    # x
+    x = model.x
+    nx = acados_ocp.dims.nx
+    # check type
+    if isinstance(x[0], SX):
+        isSX = True
+    else:
+        print("GNSF detection only works for SX CasADi type!!!")
+        import pdb
+
+        pdb.set_trace()
+    # xdot
+    xdot = model.xdot
+    # u
+    nu = acados_ocp.dims.nu
+    if nu == 0:
+        u = SX.sym("u", 0, 0)
+    else:
+        u = model.u
+
+    nz = acados_ocp.dims.nz
+    if nz == 0:
+        z = SX.sym("z", 0, 0)
+    else:
+        z = model.z
+
+    p = model.p
+    nparam = acados_ocp.dims.np
+
+    # avoid SX of size 0x1
+    if casadi_length(u) == 0:
+        u = SX.sym("u", 0, 0)
+        nu = 0
+    ## initialize gnsf struct
+    # dimensions
+    gnsf = {"nx": nx, "nu": nu, "nz": nz, "np": nparam}
+    gnsf["nx1"] = nx
+    gnsf["nx2"] = 0
+    gnsf["nz1"] = nz
+    gnsf["nz2"] = 0
+    gnsf["nuhat"] = nu
+    gnsf["ny"] = 2 * nx + nz
+
+    gnsf["phi_expr"] = f_impl_expr
+    gnsf["A"] = np.zeros((nx + nz, nx))
+    gnsf["B"] = np.zeros((nx + nz, nu))
+    gnsf["E"] = np.zeros((nx + nz, nx + nz))
+    gnsf["c"] = np.zeros((nx + nz, 1))
+    gnsf["C"] = np.eye(nx + nz)
+    gnsf["name"] = model_name_prefix
+
+    gnsf["x"] = x
+    gnsf["xdot"] = xdot
+    gnsf["z"] = z
+    gnsf["u"] = u
+    gnsf["p"] = p
+
+    gnsf = determine_input_nonlinearity_function(gnsf)
+
+    gnsf["A_LO"] = []
+    gnsf["E_LO"] = []
+    gnsf["B_LO"] = []
+    gnsf["c_LO"] = []
+    gnsf["f_lo_expr"] = []
+
+    # permutation
+    gnsf["idx_perm_x"] = range(nx)  # matlab-style)
+    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])  # blasfeo-style
+    gnsf["idx_perm_z"] = range(nz)
+    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
+    gnsf["idx_perm_f"] = range((nx + nz))
+    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
+
+    gnsf["nontrivial_f_LO"] = 0
+
+    check_reformulation(model, gnsf, print_info)
+    if print_info:
+        print(f"Success: Set up equivalent GNSF model with trivial matrices")
+        print(" ")
+    if print_info:
+        print(
+            "-----------------------------------------------------------------------------------"
+        )
+        print(" ")
+        print(
+            "reduced input ny    of phi from  ",
+            str(2 * nx + nz),
+            "   to  ",
+            str(gnsf["ny"]),
+        )
+        print(
+            "reduced input nuhat of phi from  ", str(nu), "   to  ", str(gnsf["nuhat"])
+        )
+        print(" ")
+        print(
+            "-----------------------------------------------------------------------------------"
+        )
+    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/matlab to python.md b/third_party/acados/acados_template/gnsf/matlab to python.md
new file mode 100644
index 0000000000..53a0ed971e
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/matlab to python.md	
@@ -0,0 +1,43 @@
+# matlab to python
+
+% -> #
+
+; -> 
+
+from casadi import *
+->
+from casadi import *
+
+
+print\('(.*)'\)
+print('$1')
+
+print\(\['(.*)'\]\)
+print(f'$1')
+
+keyboard
+import pdb; pdb.set_trace()
+
+
+range((([^))]*))
+range($1)
+
+\s*end
+->
+nothing
+
+
+if (.*)
+if $1:
+
+else
+else:
+
+num2str
+str
+
+for ([a-z_]*) =
+for $1 in
+
+length\(
+len(
\ No newline at end of file
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
new file mode 100644
index 0000000000..297a56556c
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/reformulate_with_LOS.py
@@ -0,0 +1,394 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
+
+from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
+from .check_reformulation import check_reformulation
+from casadi import *
+from ..utils import casadi_length, idx_perm_to_ipiv, is_empty
+
+
+def reformulate_with_LOS(acados_ocp, gnsf, print_info):
+
+    ## Description:
+    # This function takes an intitial transcription of the implicit ODE model
+    # "model" into "gnsf" and reformulates "gnsf" with a linear output system
+    # (LOS), containing as many states of the model as possible.
+    # Therefore it might be that the state vector and the implicit function
+    # vector have to be reordered. This reordered model is part of the output,
+    # namely reordered_model.
+
+    ## import CasADi and load models
+    model = acados_ocp.model
+
+    # symbolics
+    x = gnsf["x"]
+    xdot = gnsf["xdot"]
+    u = gnsf["u"]
+    z = gnsf["z"]
+
+    # dimensions
+    nx = gnsf["nx"]
+    nz = gnsf["nz"]
+
+    # get model matrices
+    A = gnsf["A"]
+    B = gnsf["B"]
+    C = gnsf["C"]
+    E = gnsf["E"]
+    c = gnsf["c"]
+
+    A_LO = gnsf["A_LO"]
+
+    y = gnsf["y"]
+
+    phi_old = gnsf["phi_expr"]
+
+    if print_info:
+        print(" ")
+        print("=================================================================")
+        print(" ")
+        print("================    Detect Linear Output System   ===============")
+        print(" ")
+        print("=================================================================")
+        print(" ")
+    ## build initial I_x1 and I_x2_candidates
+    # I_xrange( all components of x for which either xii or xdot_ii enters y):
+    # I_LOS_candidates: the remaining components
+
+    I_nsf_components = set()
+    I_LOS_candidates = set()
+
+    if gnsf["ny"] > 0:
+        for ii in range(nx):
+            if which_depends(y, x[ii])[0] or which_depends(y, xdot[ii])[0]:
+                # i.e. xii or xiidot are part of y, and enter phi_expr
+                if print_info:
+                    print(f"x_{ii} is part of x1")
+                I_nsf_components = set.union(I_nsf_components, set([ii]))
+            else:
+                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
+                I_LOS_candidates = set.union(I_LOS_candidates, set([ii]))
+                if print_info:
+                    print(" ")
+        for ii in range(nz):
+            if which_depends(y, z[ii])[0]:
+                # i.e. xii or xiidot are part of y, and enter phi_expr
+                if print_info:
+                    print(f"z_{ii} is part of x1")
+                I_nsf_components = set.union(I_nsf_components, set([ii + nx]))
+            else:
+                # i.e. neither xii nor xiidot are part of y, i.e. enter phi_expr
+                I_LOS_candidates = set.union(I_LOS_candidates, set([ii + nx]))
+    else:
+        I_LOS_candidates = set(range((nx + nz)))
+    if print_info:
+        print(" ")
+        print(f"I_LOS_candidates {I_LOS_candidates}")
+    new_nsf_components = I_nsf_components
+    I_nsf_eq = set([])
+    unsorted_dyn = set(range(nx + nz))
+    xdot_z = vertcat(xdot, z)
+
+    ## determine components of Linear Output System
+    # determine maximal index set I_x2
+    # such that the components x(I_x2) can be written as a LOS
+    Eq_map = []
+    while True:
+        ## find equations corresponding to new_nsf_components
+        for ii in new_nsf_components:
+            current_var = xdot_z[ii]
+            var_name = current_var.name
+
+            # print( unsorted_dyn)
+            # print("np.nonzero(E[:,ii])[0]",np.nonzero(E[:,ii])[0])
+            I_eq = set.intersection(set(np.nonzero(E[:, ii])[0]), unsorted_dyn)
+            if len(I_eq) == 1:
+                i_eq = I_eq.pop()
+                if print_info:
+                    print(f"component {i_eq} is associated with state {ii}")
+            elif len(I_eq) > 1:  # x_ii_dot occurs in more than 1 eq linearly
+                # find the equation with least linear dependencies on
+                # I_LOS_cancidates
+                number_of_eq = 0
+                candidate_dependencies = np.zeros(len(I_eq), 1)
+                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
+                for eq in I_eq:
+                    depending_candidates = set.union(
+                        np.nonzero(E[eq, I_LOS_candidates])[0],
+                        np.nonzero(A[eq, I_x2_candidates])[0],
+                    )
+                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
+                    number_of_eq += 1
+                    number_of_eq = np.argmin(candidate_dependencies)
+                i_eq = I_eq[number_of_eq]
+            else:  ## x_ii_dot does not occur linearly in any of the unsorted dynamics
+                for j in unsorted_dyn:
+                    phi_eq_j = gnsf["phi_expr"][np.nonzero(C[j, :])[0]]
+                    if which_depends(phi_eq_j, xdot_z(ii))[0]:
+                        I_eq = set.union(I_eq, j)
+                if is_empty(I_eq):
+                    I_eq = unsorted_dyn
+                # find the equation with least linear dependencies on I_LOS_cancidates
+                number_of_eq = 0
+                candidate_dependencies = np.zeros(len(I_eq), 1)
+                I_x2_candidates = set.intersection(I_LOS_candidates, set(range(nx)))
+                for eq in I_eq:
+                    depending_candidates = set.union(
+                        np.nonzero(E[eq, I_LOS_candidates])[0],
+                        np.nonzero(A[eq, I_x2_candidates])[0],
+                    )
+                    candidate_dependencies[number_of_eq] = +len(depending_candidates)
+                    number_of_eq += 1
+                    number_of_eq = np.argmin(candidate_dependencies)
+                i_eq = I_eq[number_of_eq]
+                ## add 1 * [xdot,z](ii) to both sides of i_eq
+                if print_info:
+                    print(
+                        "adding 1 * ",
+                        var_name,
+                        " to both sides of equation ",
+                        i_eq,
+                        ".",
+                    )
+                gnsf["E"][i_eq, ii] = 1
+                i_phi = np.nonzero(gnsf["C"][i_eq, :])
+                if is_empty(i_phi):
+                    i_phi = len(gnsf["phi_expr"]) + 1
+                    gnsf["C"][i_eq, i_phi] = 1  # add column to C with 1 entry
+                    gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], 0)
+                    gnsf["phi_expr"][i_phi] = (
+                        gnsf["phi_expr"](i_phi)
+                        + gnsf["E"][i_eq, ii] / gnsf["C"][i_eq, i_phi] * xdot_z[ii]
+                    )
+                if print_info:
+                    print(
+                        "detected equation ",
+                        i_eq,
+                        " to correspond to variable ",
+                        var_name,
+                    )
+            I_nsf_eq = set.union(I_nsf_eq, {i_eq})
+            # remove i_eq from unsorted_dyn
+            unsorted_dyn.remove(i_eq)
+            Eq_map.append([ii, i_eq])
+
+        ## add components to I_x1
+        for eq in I_nsf_eq:
+            I_linear_dependence = set.union(
+                set(np.nonzero(A[eq, :])[0]), set(np.nonzero(E[eq, :])[0])
+            )
+            I_nsf_components = set.union(I_linear_dependence, I_nsf_components)
+            # I_nsf_components = I_nsf_components[:]
+
+        new_nsf_components = set.intersection(I_LOS_candidates, I_nsf_components)
+        if is_empty(new_nsf_components):
+            if print_info:
+                print("new_nsf_components is empty")
+            break
+        # remove new_nsf_components from candidates
+        I_LOS_candidates = set.difference(I_LOS_candidates, new_nsf_components)
+    if not is_empty(Eq_map):
+        # [~, new_eq_order] = sort(Eq_map(1,:))
+        # I_nsf_eq = Eq_map(2, new_eq_order )
+        for count, m in enumerate(Eq_map):
+            m.append(count)
+        sorted(Eq_map, key=lambda x: x[1])
+        new_eq_order = [m[2] for m in Eq_map]
+        Eq_map = [Eq_map[i] for i in new_eq_order]
+        I_nsf_eq = [m[1] for m in Eq_map]
+
+    else:
+        I_nsf_eq = []
+
+    I_LOS_components = I_LOS_candidates
+    I_LOS_eq = sorted(set.difference(set(range(nx + nz)), I_nsf_eq))
+    I_nsf_eq = sorted(I_nsf_eq)
+
+    I_x1 = set.intersection(I_nsf_components, set(range(nx)))
+    I_z1 = set.intersection(I_nsf_components, set(range(nx, nx + nz)))
+    I_z1 = set([i - nx for i in I_z1])
+
+    I_x2 = set.intersection(I_LOS_components, set(range(nx)))
+    I_z2 = set.intersection(I_LOS_components, set(range(nx, nx + nz)))
+    I_z2 = set([i - nx for i in I_z2])
+
+    if print_info:
+        print(f"I_x1 {I_x1}, I_x2 {I_x2}")
+
+    ## permute x, xdot
+    if is_empty(I_x1):
+        x1 = []
+        x1dot = []
+    else:
+        x1 = x[list(I_x1)]
+        x1dot = xdot[list(I_x1)]
+    if is_empty(I_x2):
+        x2 = []
+        x2dot = []
+    else:
+        x2 = x[list(I_x2)]
+        x2dot = xdot[list(I_x2)]
+    if is_empty(I_z1):
+        z1 = []
+    else:
+        z1 = z(I_z1)
+    if is_empty(I_z2):
+        z2 = []
+    else:
+        z2 = z[list(I_z2)]
+
+    I_x1 = sorted(I_x1)
+    I_x2 = sorted(I_x2)
+    I_z1 = sorted(I_z1)
+    I_z2 = sorted(I_z2)
+    gnsf["xdot"] = vertcat(x1dot, x2dot)
+    gnsf["x"] = vertcat(x1, x2)
+    gnsf["z"] = vertcat(z1, z2)
+    gnsf["nx1"] = len(I_x1)
+    gnsf["nx2"] = len(I_x2)
+    gnsf["nz1"] = len(I_z1)
+    gnsf["nz2"] = len(I_z2)
+
+    # store permutations
+    gnsf["idx_perm_x"] = I_x1 + I_x2
+    gnsf["ipiv_x"] = idx_perm_to_ipiv(gnsf["idx_perm_x"])
+    gnsf["idx_perm_z"] = I_z1 + I_z2
+    gnsf["ipiv_z"] = idx_perm_to_ipiv(gnsf["idx_perm_z"])
+    gnsf["idx_perm_f"] = I_nsf_eq + I_LOS_eq
+    gnsf["ipiv_f"] = idx_perm_to_ipiv(gnsf["idx_perm_f"])
+
+    f_LO = SX.sym("f_LO", 0, 0)
+
+    ## rewrite I_LOS_eq as LOS
+    if gnsf["n_out"] == 0:
+        C_phi = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
+    else:
+        C_phi = C @ phi_old
+    if gnsf["nx1"] == 0:
+        Ax1 = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
+    else:
+        Ax1 = A[:, sorted(I_x1)] @ x1
+    if gnsf["nx1"] + gnsf["nz1"] == 0:
+        lhs_nsf = np.zeros(gnsf["nx"] + gnsf["nz"], 1)
+    else:
+        lhs_nsf = E[:, sorted(I_nsf_components)] @ vertcat(x1, z1)
+    n_LO = len(I_LOS_eq)
+    B_LO = np.zeros((n_LO, gnsf["nu"]))
+    A_LO = np.zeros((gnsf["nx2"] + gnsf["nz2"], gnsf["nx2"]))
+    E_LO = np.zeros((n_LO, n_LO))
+    c_LO = np.zeros((n_LO, 1))
+
+    I_LOS_eq = list(I_LOS_eq)
+    for eq in I_LOS_eq:
+        i_LO = I_LOS_eq.index(eq)
+        f_LO = vertcat(f_LO, Ax1[eq] + C_phi[eq] - lhs_nsf[eq])
+        print(f"eq {eq} I_LOS_components {I_LOS_components}, i_LO {i_LO}, f_LO {f_LO}")
+        E_LO[i_LO, :] = E[eq, sorted(I_LOS_components)]
+        A_LO[i_LO, :] = A[eq, I_x2]
+        c_LO[i_LO, :] = c[eq]
+        B_LO[i_LO, :] = B[eq, :]
+    if casadi_length(f_LO) == 0:
+        f_LO = SX.zeros((gnsf["nx2"] + gnsf["nz2"], 1))
+    f_LO = simplify(f_LO)
+    gnsf["A_LO"] = A_LO
+    gnsf["E_LO"] = E_LO
+    gnsf["B_LO"] = B_LO
+    gnsf["c_LO"] = c_LO
+    gnsf["f_lo_expr"] = f_LO
+
+    ## remove I_LOS_eq from NSF type system
+    gnsf["A"] = gnsf["A"][np.ix_(sorted(I_nsf_eq), sorted(I_x1))]
+    gnsf["B"] = gnsf["B"][sorted(I_nsf_eq), :]
+    gnsf["C"] = gnsf["C"][sorted(I_nsf_eq), :]
+    gnsf["E"] = gnsf["E"][np.ix_(sorted(I_nsf_eq), sorted(I_nsf_components))]
+    gnsf["c"] = gnsf["c"][sorted(I_nsf_eq), :]
+
+    ## reduce phi, C
+    I_nonzero = []
+    for ii in range(gnsf["C"].shape[1]):  # n_colums of C:
+        print(f"ii {ii}")
+        if not all(gnsf["C"][:, ii] == 0):  # if column ~= 0
+            I_nonzero.append(ii)
+    gnsf["C"] = gnsf["C"][:, I_nonzero]
+    gnsf["phi_expr"] = gnsf["phi_expr"][I_nonzero]
+
+    gnsf = determine_input_nonlinearity_function(gnsf)
+
+    check_reformulation(model, gnsf, print_info)
+
+    gnsf["nontrivial_f_LO"] = 0
+    if not is_empty(gnsf["f_lo_expr"]):
+        for ii in range(casadi_length(gnsf["f_lo_expr"])):
+            fii = gnsf["f_lo_expr"][ii]
+            if not fii.is_zero():
+                gnsf["nontrivial_f_LO"] = 1
+            if not gnsf["nontrivial_f_LO"] and print_info:
+                print("f_LO is fully trivial (== 0)")
+    check_reformulation(model, gnsf, print_info)
+
+    if print_info:
+        print("")
+        print(
+            "---------------------------------------------------------------------------------"
+        )
+        print(
+            "------------- Success: Linear Output System (LOS) detected ----------------------"
+        )
+        print(
+            "---------------------------------------------------------------------------------"
+        )
+        print("")
+        print(
+            "==>>  moved  ",
+            gnsf["nx2"],
+            "differential states and ",
+            gnsf["nz2"],
+            " algebraic variables to the Linear Output System",
+        )
+        print(
+            "==>>  recuced output dimension of phi from  ",
+            casadi_length(phi_old),
+            " to ",
+            casadi_length(gnsf["phi_expr"]),
+        )
+        print(" ")
+        print("Matrices defining the LOS read as")
+        print(" ")
+        print("E_LO =")
+        print(gnsf["E_LO"])
+        print("A_LO =")
+        print(gnsf["A_LO"])
+        print("B_LO =")
+        print(gnsf["B_LO"])
+        print("c_LO =")
+        print(gnsf["c_LO"])
+
+    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
new file mode 100644
index 0000000000..21ab8ebfd5
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/reformulate_with_invertible_E_mat.py
@@ -0,0 +1,167 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
+
+from casadi import *
+from .determine_input_nonlinearity_function import determine_input_nonlinearity_function
+from .check_reformulation import check_reformulation
+
+
+def reformulate_with_invertible_E_mat(gnsf, model, print_info):
+    ## Description
+    # this function checks that the necessary condition to apply the gnsf
+    # structure exploiting integrator to a model, namely that the matrices E11,
+    # E22 are invertible holds.
+    # if this is not the case, it will make these matrices invertible and add:
+    # corresponding terms, to the term C * phi, such that the obtained model is
+    # still equivalent
+
+    # check invertibility of E11, E22 and reformulate if needed:
+    ind_11 = range(gnsf["nx1"])
+    ind_22 = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
+
+    if print_info:
+        print(" ")
+        print("----------------------------------------------------")
+        print("checking rank of E11 and E22")
+        print("----------------------------------------------------")
+    ## check if E11, E22 are invertible:
+    z_check = False
+    if gnsf["nz1"] > 0:
+        z_check = (
+            np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_22, ind_22)]) != gnsf["nz1"]
+        )
+
+    if (
+        np.linalg.matrix_rank(gnsf["E"][np.ix_(ind_11, ind_11)]) != gnsf["nx1"]
+        or z_check
+    ):
+        # print warning (always)
+        print(f"the rank of E11 or E22 is not full after the reformulation")
+        print("")
+        print(
+            f"the script will try to reformulate the model with an invertible matrix instead"
+        )
+        print(
+            f"NOTE: this feature is based on a heuristic, it should be used with care!!!"
+        )
+
+        ## load models
+        xdot = gnsf["xdot"]
+        z = gnsf["z"]
+
+        # # GNSF
+        # get dimensions
+        nx1 = gnsf["nx1"]
+        x1dot = xdot[range(nx1)]
+
+        k = vertcat(x1dot, z)
+        for i in [1, 2]:
+            if i == 1:
+                ind = range(gnsf["nx1"])
+            else:
+                ind = range(gnsf["nx1"], gnsf["nx1"] + gnsf["nz1"])
+            mat = gnsf["E"][np.ix_(ind, ind)]
+            import pdb
+
+            pdb.set_trace()
+            while np.linalg.matrix_rank(mat) < len(ind):
+                # import pdb; pdb.set_trace()
+                if print_info:
+                    print(" ")
+                    print(f"the rank of E", str(i), str(i), " is not full")
+                    print(
+                        f"the algorithm will try to reformulate the model with an invertible matrix instead"
+                    )
+                    print(
+                        f"NOTE: this feature is not super stable and might need more testing!!!!!!"
+                    )
+                for sub_max in ind:
+                    sub_ind = range(min(ind), sub_max)
+                    # regard the submatrix mat(sub_ind, sub_ind)
+                    sub_mat = gnsf["E"][sub_ind, sub_ind]
+                    if np.linalg.matrix_rank(sub_mat) < len(sub_ind):
+                        # reformulate the model by adding a 1 to last diagonal
+                        # element and changing rhs respectively.
+                        gnsf["E"][sub_max, sub_max] = gnsf["E"][sub_max, sub_max] + 1
+                        # this means adding the term 1 * k(sub_max) to the sub_max
+                        # row of the l.h.s
+                        if len(np.nonzero(gnsf["C"][sub_max, :])[0]) == 0:
+                            # if isempty(find(gnsf['C'](sub_max,:), 1)):
+                            # add new nonlinearity entry
+                            gnsf["C"][sub_max, gnsf["n_out"] + 1] = 1
+                            gnsf["phi_expr"] = vertcat(gnsf["phi_expr"], k[sub_max])
+                        else:
+                            ind_f = np.nonzero(gnsf["C"][sub_max, :])[0]
+                            if len(ind_f) != 1:
+                                raise Exception("C is assumed to be a selection matrix")
+                            else:
+                                ind_f = ind_f[0]
+                            # add term to corresponding nonlinearity entry
+                            # note: herbey we assume that C is a selection matrix,
+                            # i.e. gnsf['phi_expr'](ind_f) is only entering one equation
+
+                            gnsf["phi_expr"][ind_f] = (
+                                gnsf["phi_expr"][ind_f]
+                                + k[sub_max] / gnsf["C"][sub_max, ind_f]
+                            )
+                            gnsf = determine_input_nonlinearity_function(gnsf)
+                            check_reformulation(model, gnsf, print_info)
+        print("successfully reformulated the model with invertible matrices E11, E22")
+    else:
+        if print_info:
+            print(" ")
+            print(
+                "the rank of both E11 and E22 is naturally full after the reformulation "
+            )
+            print("==>  model reformulation finished")
+            print(" ")
+    if (gnsf['nx2'] > 0 or gnsf['nz2'] > 0) and det(gnsf["E_LO"]) == 0:
+        print(
+            "_______________________________________________________________________________________________________"
+        )
+        print(" ")
+        print("TAKE CARE ")
+        print("E_LO matrix is NOT regular after automatic transcription!")
+        print("->> this means the model CANNOT be used with the gnsf integrator")
+        print(
+            "->> it probably means that one entry (of xdot or z) that was moved to the linear output type system"
+        )
+        print("    does not appear in the model at all (zero column in E_LO)")
+        print(" OR: the columns of E_LO are linearly dependent ")
+        print(" ")
+        print(
+            " SOLUTIONs: a) go through your model & check equations the method wanted to move to LOS"
+        )
+        print("            b) deactivate the detect_LOS option")
+        print(
+            "_______________________________________________________________________________________________________"
+        )
+    return gnsf
diff --git a/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
new file mode 100644
index 0000000000..db2d18758e
--- /dev/null
+++ b/third_party/acados/acados_template/gnsf/structure_detection_print_summary.py
@@ -0,0 +1,174 @@
+#
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+#
+#   Author: Jonathan Frey: jonathanpaulfrey(at)gmail.com
+
+from casadi import n_nodes
+import numpy as np
+
+
+def structure_detection_print_summary(gnsf, acados_ocp):
+
+    ## Description
+    # this function prints the most important info after determining a GNSF
+    # reformulation of the implicit model "initial_model" into "gnsf", which is
+    # equivalent to the "reordered_model".
+    model = acados_ocp.model
+    # # GNSF
+    # get dimensions
+    nx = gnsf["nx"]
+    nu = gnsf["nu"]
+    nz = gnsf["nz"]
+
+    nx1 = gnsf["nx1"]
+    nx2 = gnsf["nx2"]
+
+    nz1 = gnsf["nz1"]
+    nz2 = gnsf["nz2"]
+
+    # np = gnsf['np']
+    n_out = gnsf["n_out"]
+    ny = gnsf["ny"]
+    nuhat = gnsf["nuhat"]
+
+    #
+    f_impl_expr = model.f_impl_expr
+    n_nodes_initial = n_nodes(model.f_impl_expr)
+    # x_old = model.x
+    # f_impl_old = model.f_impl_expr
+
+    x = gnsf["x"]
+    z = gnsf["z"]
+
+    phi_current = gnsf["phi_expr"]
+
+    ## PRINT SUMMARY -- STRUCHTRE DETECTION
+    print(" ")
+    print(
+        "*********************************************************************************************"
+    )
+    print(" ")
+    print(
+        "******************        SUCCESS: GNSF STRUCTURE DETECTION COMPLETE !!!      ***************"
+    )
+    print(" ")
+    print(
+        "*********************************************************************************************"
+    )
+    print(" ")
+    print(
+        f"========================= STRUCTURE DETECTION SUMMARY ===================================="
+    )
+    print(" ")
+    print("-------- Nonlinear Static Feedback type system --------")
+    print(" ")
+    print(" successfully transcribed dynamic system model into GNSF structure ")
+    print(" ")
+    print(
+        "reduced dimension of nonlinearity phi from        ",
+        str(nx + nz),
+        " to ",
+        str(gnsf["n_out"]),
+    )
+    print(" ")
+    print(
+        "reduced input dimension of nonlinearity phi from  ",
+        2 * nx + nz + nu,
+        " to ",
+        gnsf["ny"] + gnsf["nuhat"],
+    )
+    print(" ")
+    print(f"reduced number of nodes in CasADi expression of nonlinearity phi from  {n_nodes_initial}  to  {n_nodes(phi_current)}\n")
+    print("----------- Linear Output System (LOS) ---------------")
+    if nx2 + nz2 > 0:
+        print(" ")
+        print(f"introduced Linear Output System of size           ", str(nx2 + nz2))
+        print(" ")
+        if nx2 > 0:
+            print("consisting of the states:")
+            print(" ")
+            print(x[range(nx1, nx)])
+            print(" ")
+        if nz2 > 0:
+            print("and algebraic variables:")
+            print(" ")
+            print(z[range(nz1, nz)])
+            print(" ")
+        if gnsf["purely_linear"] == 1:
+            print(" ")
+            print("Model is fully linear!")
+            print(" ")
+    if not all(gnsf["idx_perm_x"] == np.array(range(nx))):
+        print(" ")
+        print(
+            "--------------------------------------------------------------------------------------------------"
+        )
+        print(
+            "NOTE: permuted differential state vector x, such that x_gnsf = x(idx_perm_x) with idx_perm_x ="
+        )
+        print(" ")
+        print(gnsf["idx_perm_x"])
+    if nz != 0 and not all(gnsf["idx_perm_z"] == np.array(range(nz))):
+        print(" ")
+        print(
+            "--------------------------------------------------------------------------------------------------"
+        )
+        print(
+            "NOTE: permuted algebraic state vector z, such that z_gnsf = z(idx_perm_z) with idx_perm_z ="
+        )
+        print(" ")
+        print(gnsf["idx_perm_z"])
+    if not all(gnsf["idx_perm_f"] == np.array(range(nx + nz))):
+        print(" ")
+        print(
+            "--------------------------------------------------------------------------------------------------"
+        )
+        print(
+            "NOTE: permuted rhs expression vector f, such that f_gnsf = f(idx_perm_f) with idx_perm_f ="
+        )
+        print(" ")
+        print(gnsf["idx_perm_f"])
+    ## print GNSF dimensions
+    print(
+        "--------------------------------------------------------------------------------------------------------"
+    )
+    print(" ")
+    print("The dimensions of the GNSF reformulated model read as:")
+    print(" ")
+    # T_dim = table(nx, nu, nz, np, nx1, nz1, n_out, ny, nuhat)
+    # print( T_dim )
+    print(f"nx    ", {nx})
+    print(f"nu    ", {nu})
+    print(f"nz    ", {nz})
+    # print(f"np    ", {np})
+    print(f"nx1   ", {nx1})
+    print(f"nz1   ", {nz1})
+    print(f"n_out ", {n_out})
+    print(f"ny    ", {ny})
+    print(f"nuhat ", {nuhat})
diff --git a/pyextra/acados_template/simulink_default_opts.json b/third_party/acados/acados_template/simulink_default_opts.json
similarity index 89%
rename from pyextra/acados_template/simulink_default_opts.json
rename to third_party/acados/acados_template/simulink_default_opts.json
index 70c939cb88..5d178fef85 100644
--- a/pyextra/acados_template/simulink_default_opts.json
+++ b/third_party/acados/acados_template/simulink_default_opts.json
@@ -4,7 +4,9 @@
         "utraj": 0,
         "xtraj": 0,
         "solver_status": 1,
+        "cost_value": 0,
         "KKT_residual": 1,
+        "KKT_residuals": 0,
         "x1": 1,
         "CPU_time": 1,
         "CPU_time_sim": 0,
@@ -29,6 +31,8 @@
         "ug": 1,
         "lh": 1,
         "uh": 1,
+        "lh_e": 1,
+        "uh_e": 1,
         "cost_W_0": 0,
         "cost_W": 0,
         "cost_W_e": 0,
diff --git a/pyextra/acados_template/utils.py b/third_party/acados/acados_template/utils.py
similarity index 66%
rename from pyextra/acados_template/utils.py
rename to third_party/acados/acados_template/utils.py
index 8f44f61e7e..d6f6c02f84 100644
--- a/pyextra/acados_template/utils.py
+++ b/third_party/acados/acados_template/utils.py
@@ -1,9 +1,6 @@
 # -*- coding: future_fstrings -*-
 #
-# Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
-# Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
-# Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
-# Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+# Copyright (c) The acados authors.
 #
 # This file is part of acados.
 #
@@ -38,10 +35,17 @@ import shutil
 import numpy as np
 from casadi import SX, MX, DM, Function, CasadiMeta
 
-ALLOWED_CASADI_VERSIONS = ('3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
+ALLOWED_CASADI_VERSIONS = ('3.5.6', '3.5.5', '3.5.4', '3.5.3', '3.5.2', '3.5.1', '3.4.5', '3.4.0')
 
 TERA_VERSION = "0.0.34"
 
+PLATFORM2TERA = {
+    "linux": "linux",
+    "darwin": "osx",
+    "win32": "windows"
+}
+
+
 def get_acados_path():
     ACADOS_PATH = os.environ.get('ACADOS_SOURCE_DIR')
     if not ACADOS_PATH:
@@ -72,20 +76,17 @@ def get_tera_exec_path():
     return TERA_PATH
 
 
-platform2tera = {
-    "linux": "linux",
-    "darwin": "osx",
-    "win32": "windows"
-}
-
-
-def casadi_version_warning(casadi_version):
-    msg =  'Warning: Please note that the following versions of CasADi  are '
-    msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
-    msg += 'If there is an incompatibility with the CasADi generated code, '
-    msg += 'please consider changing your CasADi version.\n'
-    msg += 'Version {} currently in use.'.format(casadi_version)
-    print(msg)
+def check_casadi_version():
+    casadi_version = CasadiMeta.version()
+    if casadi_version in ALLOWED_CASADI_VERSIONS:
+        return
+    else:
+        msg =  'Warning: Please note that the following versions of CasADi  are '
+        msg += 'officially supported: {}.\n '.format(" or ".join(ALLOWED_CASADI_VERSIONS))
+        msg += 'If there is an incompatibility with the CasADi generated code, '
+        msg += 'please consider changing your CasADi version.\n'
+        msg += 'Version {} currently in use.'.format(casadi_version)
+        print(msg)
 
 
 def is_column(x):
@@ -118,11 +119,16 @@ def is_empty(x):
             return True
         else:
             return False
-    elif x == None or x == []:
+    elif x == None:
         return True
+    elif isinstance(x, (set, list)):
+        if len(x)==0:
+            return True
+        else:
+            return False
     else:
         raise Exception("is_empty expects one of the following types: casadi.MX, casadi.SX, "
-                        + "None, numpy array empty list. Got: " + str(type(x)))
+                        + "None, numpy array empty list, set. Got: " + str(type(x)))
 
 
 def casadi_length(x):
@@ -155,6 +161,14 @@ def make_model_consistent(model):
 
     return model
 
+def get_lib_ext():
+    lib_ext = '.so'
+    if sys.platform == 'darwin':
+        lib_ext = '.dylib'
+    elif os.name == 'nt':
+        lib_ext = ''
+
+    return lib_ext
 
 def get_tera():
     tera_path = get_tera_exec_path()
@@ -165,7 +179,7 @@ def get_tera():
 
     repo_url = "https://github.com/acados/tera_renderer/releases"
     url = "{}/download/v{}/t_renderer-v{}-{}".format(
-        repo_url, TERA_VERSION, TERA_VERSION, platform2tera[sys.platform])
+        repo_url, TERA_VERSION, TERA_VERSION, PLATFORM2TERA[sys.platform])
 
     manual_install = 'For manual installation follow these instructions:\n'
     manual_install += '1 Download binaries from {}\n'.format(url)
@@ -200,17 +214,18 @@ def get_tera():
     sys.exit(1)
 
 
-def render_template(in_file, out_file, template_dir, json_path):
+def render_template(in_file, out_file, output_dir, json_path, template_glob=None):
+
+    acados_path = os.path.dirname(os.path.abspath(__file__))
+    if template_glob is None:
+        template_glob = os.path.join(acados_path, 'c_templates_tera', '**', '*')
     cwd = os.getcwd()
-    if not os.path.exists(template_dir):
-        os.mkdir(template_dir)
-    os.chdir(template_dir)
 
-    tera_path = get_tera()
+    if not os.path.exists(output_dir):
+        os.makedirs(output_dir)
+    os.chdir(output_dir)
 
-    # setting up loader and environment
-    acados_path = os.path.dirname(os.path.abspath(__file__))
-    template_glob = os.path.join(acados_path, 'c_templates_tera', '*')
+    tera_path = get_tera()
 
     # call tera as system cmd
     os_cmd = f"{tera_path} '{template_glob}' '{in_file}' '{json_path}' '{out_file}'"
@@ -220,21 +235,24 @@ def render_template(in_file, out_file, template_dir, json_path):
 
     status = os.system(os_cmd)
     if (status != 0):
-        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\nExiting.\n')
+        raise Exception(f'Rendering of {in_file} failed!\n\nAttempted to execute OS command:\n{os_cmd}\n\n')
 
     os.chdir(cwd)
 
 
 ## Conversion functions
-def np_array_to_list(np_array):
-    if isinstance(np_array, (np.ndarray)):
-        return np_array.tolist()
-    elif isinstance(np_array, (SX)):
-        return DM(np_array).full()
-    elif isinstance(np_array, (DM)):
-        return np_array.full()
+def make_object_json_dumpable(input):
+    if isinstance(input, (np.ndarray)):
+        return input.tolist()
+    elif isinstance(input, (SX)):
+        return input.serialize()
+    elif isinstance(input, (MX)):
+        # NOTE: MX expressions can not be serialized, only Functions.
+        return input.__str__()
+    elif isinstance(input, (DM)):
+        return input.full()
     else:
-        raise(Exception(f"Cannot convert to list type {type(np_array)}"))
+        raise TypeError(f"Cannot make input of type {type(input)} dumpable.")
 
 
 def format_class_dict(d):
@@ -251,7 +269,7 @@ def format_class_dict(d):
     return out
 
 
-def get_ocp_nlp_layout():
+def get_ocp_nlp_layout() -> dict:
     python_interface_path = get_python_interface_path()
     abs_path = os.path.join(python_interface_path, 'acados_layout.json')
     with open(abs_path, 'r') as f:
@@ -259,62 +277,12 @@ def get_ocp_nlp_layout():
     return ocp_nlp_layout
 
 
-def ocp_check_against_layout(ocp_nlp, ocp_dims):
-    """
-    Check dimensions against layout
-    Parameters
-    ---------
-    ocp_nlp : dict
-        dictionary loaded from JSON to be post-processed.
-
-    ocp_dims : instance of AcadosOcpDims
-    """
-
-    ocp_nlp_layout = get_ocp_nlp_layout()
-
-    ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, ocp_nlp_layout)
-    return
-
-
-def ocp_check_against_layout_recursion(ocp_nlp, ocp_dims, layout):
-
-    for key, item in ocp_nlp.items():
-
-        try:
-            layout_of_key = layout[key]
-        except KeyError:
-            raise Exception("ocp_check_against_layout_recursion: field" \
-                            " '{0}' is not in layout but in OCP description.".format(key))
-
-        if isinstance(item, dict):
-            ocp_check_against_layout_recursion(item, ocp_dims, layout_of_key)
-
-        if 'ndarray' in layout_of_key:
-            if isinstance(item, int) or isinstance(item, float):
-                item = np.array([item])
-        if isinstance(item, (list, np.ndarray)) and (layout_of_key[0] != 'str'):
-            dim_layout = []
-            dim_names = layout_of_key[1]
-
-            for dim_name in dim_names:
-                dim_layout.append(ocp_dims[dim_name])
-
-            dims = tuple(dim_layout)
-
-            item = np.array(item)
-            item_dims = item.shape
-            if len(item_dims) != len(dims):
-                raise Exception('Mismatching dimensions for field {0}. ' \
-                    'Expected {1} dimensional array, got {2} dimensional array.' \
-                        .format(key, len(dims), len(item_dims)))
-
-            if np.prod(item_dims) != 0 or np.prod(dims) != 0:
-                if dims != item_dims:
-                    raise Exception('acados -- mismatching dimensions for field {0}. ' \
-                        'Provided data has dimensions {1}, ' \
-                        'while associated dimensions {2} are {3}' \
-                            .format(key, item_dims, dim_names, dims))
-    return
+def get_default_simulink_opts() -> dict:
+    python_interface_path = get_python_interface_path()
+    abs_path = os.path.join(python_interface_path, 'simulink_default_opts.json')
+    with open(abs_path, 'r') as f:
+        simulink_opts = json.load(f)
+    return simulink_opts
 
 
 def J_to_idx(J):
@@ -324,9 +292,9 @@ def J_to_idx(J):
         this_idx = np.nonzero(J[i,:])[0]
         if len(this_idx) != 1:
             raise Exception('Invalid J matrix structure detected, ' \
-                'must contain one nonzero element per row. Exiting.')
+                'must contain one nonzero element per row.')
         if this_idx.size > 0 and J[i,this_idx[0]] != 1:
-            raise Exception('J matrices can only contain 1s. Exiting.')
+            raise Exception('J matrices can only contain 1s.')
         idx[i] = this_idx[0]
     return idx
 
@@ -342,7 +310,7 @@ def J_to_idx_slack(J):
             idx[i_idx] = i
             i_idx = i_idx + 1
         elif len(this_idx) > 1:
-            raise Exception('J_to_idx_slack: Invalid J matrix. Exiting. ' \
+            raise Exception('J_to_idx_slack: Invalid J matrix. ' \
                 'Found more than one nonzero in row ' + str(i))
         if this_idx.size > 0 and J[i,this_idx[0]] != 1:
             raise Exception('J_to_idx_slack: J matrices can only contain 1s, ' \
@@ -376,13 +344,13 @@ def acados_dae_model_json_dump(model):
     # dump
     json_file = model_name + '_acados_dae.json'
     with open(json_file, 'w') as f:
-        json.dump(dae_dict, f, default=np_array_to_list, indent=4, sort_keys=True)
+        json.dump(dae_dict, f, default=make_object_json_dumpable, indent=4, sort_keys=True)
     print("dumped ", model_name, " dae to file:", json_file, "\n")
 
 
-def set_up_imported_gnsf_model(acados_formulation):
+def set_up_imported_gnsf_model(acados_ocp):
 
-    gnsf = acados_formulation.gnsf_model
+    gnsf = acados_ocp.gnsf_model
 
     # check CasADi version
     # dump_casadi_version = gnsf['casadi_version']
@@ -402,39 +370,66 @@ def set_up_imported_gnsf_model(acados_formulation):
 
     # obtain gnsf dimensions
     size_gnsf_A = get_matrices_fun.size_out(0)
-    acados_formulation.dims.gnsf_nx1 = size_gnsf_A[1]
-    acados_formulation.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
-    acados_formulation.dims.gnsf_nuhat = max(phi_fun.size_in(1))
-    acados_formulation.dims.gnsf_ny = max(phi_fun.size_in(0))
-    acados_formulation.dims.gnsf_nout = max(phi_fun.size_out(0))
+    acados_ocp.dims.gnsf_nx1 = size_gnsf_A[1]
+    acados_ocp.dims.gnsf_nz1 = size_gnsf_A[0] - size_gnsf_A[1]
+    acados_ocp.dims.gnsf_nuhat = max(phi_fun.size_in(1))
+    acados_ocp.dims.gnsf_ny = max(phi_fun.size_in(0))
+    acados_ocp.dims.gnsf_nout = max(phi_fun.size_out(0))
 
     # save gnsf functions in model
-    acados_formulation.model.phi_fun = phi_fun
-    acados_formulation.model.phi_fun_jac_y = phi_fun_jac_y
-    acados_formulation.model.phi_jac_y_uhat = phi_jac_y_uhat
-    acados_formulation.model.get_matrices_fun = get_matrices_fun
+    acados_ocp.model.phi_fun = phi_fun
+    acados_ocp.model.phi_fun_jac_y = phi_fun_jac_y
+    acados_ocp.model.phi_jac_y_uhat = phi_jac_y_uhat
+    acados_ocp.model.get_matrices_fun = get_matrices_fun
 
     # get_matrices_fun = Function([model_name,'_gnsf_get_matrices_fun'], {dummy},...
     #  {A, B, C, E, L_x, L_xdot, L_z, L_u, A_LO, c, E_LO, B_LO,...
     #   nontrivial_f_LO, purely_linear, ipiv_x, ipiv_z, c_LO});
     get_matrices_out = get_matrices_fun(0)
-    acados_formulation.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
-    acados_formulation.model.gnsf['purely_linear'] = int(get_matrices_out[13])
+    acados_ocp.model.gnsf['nontrivial_f_LO'] = int(get_matrices_out[12])
+    acados_ocp.model.gnsf['purely_linear'] = int(get_matrices_out[13])
 
     if "f_lo_fun_jac_x1k1uz" in gnsf:
         f_lo_fun_jac_x1k1uz = Function.deserialize(gnsf['f_lo_fun_jac_x1k1uz'])
-        acados_formulation.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
+        acados_ocp.model.f_lo_fun_jac_x1k1uz = f_lo_fun_jac_x1k1uz
     else:
-        dummy_var_x1 = SX.sym('dummy_var_x1', acados_formulation.dims.gnsf_nx1)
-        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_formulation.dims.gnsf_nx1)
-        dummy_var_z1 = SX.sym('dummy_var_z1', acados_formulation.dims.gnsf_nz1)
-        dummy_var_u = SX.sym('dummy_var_z1', acados_formulation.dims.nu)
-        dummy_var_p = SX.sym('dummy_var_z1', acados_formulation.dims.np)
+        dummy_var_x1 = SX.sym('dummy_var_x1', acados_ocp.dims.gnsf_nx1)
+        dummy_var_x1dot = SX.sym('dummy_var_x1dot', acados_ocp.dims.gnsf_nx1)
+        dummy_var_z1 = SX.sym('dummy_var_z1', acados_ocp.dims.gnsf_nz1)
+        dummy_var_u = SX.sym('dummy_var_z1', acados_ocp.dims.nu)
+        dummy_var_p = SX.sym('dummy_var_z1', acados_ocp.dims.np)
         empty_var = SX.sym('empty_var', 0, 0)
 
         empty_fun = Function('empty_fun', \
             [dummy_var_x1, dummy_var_x1dot, dummy_var_z1, dummy_var_u, dummy_var_p],
                 [empty_var])
-        acados_formulation.model.f_lo_fun_jac_x1k1uz = empty_fun
+        acados_ocp.model.f_lo_fun_jac_x1k1uz = empty_fun
+
+    del acados_ocp.gnsf_model
+
+
+def idx_perm_to_ipiv(idx_perm):
+    n = len(idx_perm)
+    vec = list(range(n))
+    ipiv = np.zeros(n)
+
+    print(n, idx_perm)
+    # import pdb; pdb.set_trace()
+    for ii in range(n):
+        idx0 = idx_perm[ii]
+        for jj in range(ii,n):
+            if vec[jj]==idx0:
+                idx1 = jj
+                break
+        tmp = vec[ii]
+        vec[ii] = vec[idx1]
+        vec[idx1] = tmp
+        ipiv[ii] = idx1
+
+    ipiv = ipiv-1 # C 0-based indexing
+    return ipiv
+
 
-    del acados_formulation.gnsf_model
+def print_casadi_expression(f):
+    for ii in range(casadi_length(f)):
+        print(f[ii,:])
diff --git a/third_party/acados/acados_template/zoro_description.py b/third_party/acados/acados_template/zoro_description.py
new file mode 100644
index 0000000000..4d795c1502
--- /dev/null
+++ b/third_party/acados/acados_template/zoro_description.py
@@ -0,0 +1,78 @@
+# Copyright (c) The acados authors.
+#
+# This file is part of acados.
+#
+# The 2-Clause BSD License
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+#
+# 1. Redistributions of source code must retain the above copyright notice,
+# this list of conditions and the following disclaimer.
+#
+# 2. Redistributions in binary form must reproduce the above copyright notice,
+# this list of conditions and the following disclaimer in the documentation
+# and/or other materials provided with the distribution.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.;
+
+from dataclasses import dataclass, field
+import numpy as np
+
+
+@dataclass
+class ZoroDescription:
+    """
+    Zero-Order Robust Optimization scheme.
+
+    For advanced users.
+    """
+    backoff_scaling_gamma: float = 1.0
+    fdbk_K_mat: np.ndarray = None
+    unc_jac_G_mat: np.ndarray = None    # default: an identity matrix
+    P0_mat: np.ndarray = None
+    W_mat: np.ndarray = None
+    idx_lbx_t: list = field(default_factory=list)
+    idx_ubx_t: list = field(default_factory=list)
+    idx_lbx_e_t: list = field(default_factory=list)
+    idx_ubx_e_t: list = field(default_factory=list)
+    idx_lbu_t: list = field(default_factory=list)
+    idx_ubu_t: list = field(default_factory=list)
+    idx_lg_t: list = field(default_factory=list)
+    idx_ug_t: list = field(default_factory=list)
+    idx_lg_e_t: list = field(default_factory=list)
+    idx_ug_e_t: list = field(default_factory=list)
+    idx_lh_t: list = field(default_factory=list)
+    idx_uh_t: list = field(default_factory=list)
+    idx_lh_e_t: list = field(default_factory=list)
+    idx_uh_e_t: list = field(default_factory=list)
+
+def process_zoro_description(zoro_description: ZoroDescription):
+    zoro_description.nw, _ = zoro_description.W_mat.shape
+    if zoro_description.unc_jac_G_mat is None:
+        zoro_description.unc_jac_G_mat = np.eye(zoro_description.nw)
+    zoro_description.nlbx_t = len(zoro_description.idx_lbx_t)
+    zoro_description.nubx_t = len(zoro_description.idx_ubx_t)
+    zoro_description.nlbx_e_t = len(zoro_description.idx_lbx_e_t)
+    zoro_description.nubx_e_t = len(zoro_description.idx_ubx_e_t)
+    zoro_description.nlbu_t = len(zoro_description.idx_lbu_t)
+    zoro_description.nubu_t = len(zoro_description.idx_ubu_t)
+    zoro_description.nlg_t = len(zoro_description.idx_lg_t)
+    zoro_description.nug_t = len(zoro_description.idx_ug_t)
+    zoro_description.nlg_e_t = len(zoro_description.idx_lg_e_t)
+    zoro_description.nug_e_t = len(zoro_description.idx_ug_e_t)
+    zoro_description.nlh_t = len(zoro_description.idx_lh_t)
+    zoro_description.nuh_t = len(zoro_description.idx_uh_t)
+    zoro_description.nlh_e_t = len(zoro_description.idx_lh_e_t)
+    zoro_description.nuh_e_t = len(zoro_description.idx_uh_e_t)
+    return zoro_description.__dict__
diff --git a/third_party/acados/build.sh b/third_party/acados/build.sh
index 0481e8159b..b45c167b16 100755
--- a/third_party/acados/build.sh
+++ b/third_party/acados/build.sh
@@ -13,13 +13,8 @@ fi
 ACADOS_FLAGS="-DACADOS_WITH_QPOASES=ON -UBLASFEO_TARGET -DBLASFEO_TARGET=$BLAS_TARGET"
 
 if [[ "$OSTYPE" == "darwin"* ]]; then
-  if [[  $(uname -m) == "x86_64" ]]; then
-    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=x86_64"
-    ARCHNAME="Darwin_x86_64"
-  else
-    ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64"
-    ARCHNAME="Darwin"
-  fi
+  ACADOS_FLAGS="$ACADOS_FLAGS -DCMAKE_OSX_ARCHITECTURES=arm64;x86_64 -DCMAKE_MACOSX_RPATH=1"
+  ARCHNAME="Darwin"
 fi
 
 if [ ! -d acados_repo/ ]; then
@@ -28,8 +23,8 @@ if [ ! -d acados_repo/ ]; then
 fi
 cd acados_repo
 git fetch --all
-git checkout 8ea8827fafb1b23b4c7da1c4cf650de1cbd73584
-git submodule update --recursive --init
+git checkout 8af9b0ad180940ef611884574a0b27a43504311d # v0.2.2
+git submodule update --depth=1 --recursive --init
 
 # build
 mkdir -p build
@@ -43,14 +38,19 @@ mkdir -p $INSTALL_DIR
 
 rm $DIR/acados_repo/lib/*.json
 
-rm -rf $DIR/include
+rm -rf $DIR/include $DIR/acados_template
 cp -r $DIR/acados_repo/include $DIR
 cp -r $DIR/acados_repo/lib $INSTALL_DIR
-rm -rf $DIR/../../pyextra/acados_template
-cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/../../pyextra
+cp -r $DIR/acados_repo/interfaces/acados_template/acados_template $DIR/
 #pip3 install -e $DIR/acados/interfaces/acados_template
 
 # build tera
 cd $DIR/acados_repo/interfaces/acados_template/tera_renderer/
-cargo build --verbose --release
+if [[ "$OSTYPE" == "darwin"* ]]; then
+  cargo build --verbose --release --target aarch64-apple-darwin
+  cargo build --verbose --release --target x86_64-apple-darwin
+  lipo -create -output target/release/t_renderer target/x86_64-apple-darwin/release/t_renderer target/aarch64-apple-darwin/release/t_renderer
+else
+  cargo build --verbose --release
+fi
 cp target/release/t_renderer $INSTALL_DIR/
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_common.h b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
index f3809c4294..2a9a974f99 100644
--- a/third_party/acados/include/acados/dense_qp/dense_qp_common.h
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
new file mode 100644
index 0000000000..b262089b4f
--- /dev/null
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_daqp.h
@@ -0,0 +1,110 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+#ifndef ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
+#define ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// daqp
+#include "daqp/include/types.h"
+
+// acados
+#include "acados/dense_qp/dense_qp_common.h"
+#include "acados/utils/types.h"
+
+
+typedef struct dense_qp_daqp_opts_
+{
+    DAQPSettings* daqp_opts;
+    int warm_start;
+} dense_qp_daqp_opts;
+
+
+typedef struct dense_qp_daqp_memory_
+{
+    double* lb_tmp;
+    double* ub_tmp;
+    int* idxb;
+    int* idxv_to_idxb;
+    int* idxs;
+    int* idxdaqp_to_idxs;
+
+    double* Zl;
+    double* Zu;
+    double* zl;
+    double* zu;
+    double* d_ls;
+    double* d_us;
+
+    double time_qp_solver_call;
+    int iter;
+    DAQPWorkspace * daqp_work;
+
+} dense_qp_daqp_memory;
+
+// opts
+acados_size_t dense_qp_daqp_opts_calculate_size(void *config, dense_qp_dims *dims);
+//
+void *dense_qp_daqp_opts_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+void dense_qp_daqp_opts_initialize_default(void *config, dense_qp_dims *dims, void *opts_);
+//
+void dense_qp_daqp_opts_update(void *config, dense_qp_dims *dims, void *opts_);
+//
+// memory 
+acados_size_t dense_qp_daqp_workspace_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_workspace_assign(void *config, dense_qp_dims *dims, void *raw_memory);
+//
+acados_size_t dense_qp_daqp_memory_calculate_size(void *config, dense_qp_dims *dims, void *opts_);
+//
+void *dense_qp_daqp_memory_assign(void *config, dense_qp_dims *dims, void *opts_, void *raw_memory);
+//
+// functions
+int dense_qp_daqp(void *config, dense_qp_in *qp_in, dense_qp_out *qp_out, void *opts_, void *memory_, void *work_);
+//
+void dense_qp_daqp_eval_sens(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_memory_reset(void *config_, void *qp_in, void *qp_out, void *opts_, void *mem_, void *work_);
+//
+void dense_qp_daqp_config_initialize_default(void *config_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_DENSE_QP_DENSE_QP_DAQP_H_
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
index 20eedc26a2..136279d666 100644
--- a/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_hpipm.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
index 646f11f06f..d051cb15f7 100644
--- a/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_ooqp.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
index 52606fac5d..392e472918 100644
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qore.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
index 9f0bb1af68..0e13d3ef64 100644
--- a/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
+++ b/third_party/acados/include/acados/dense_qp/dense_qp_qpoases.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
index 60d835fc58..ba97db9768 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -419,6 +416,9 @@ void ocp_nlp_embed_initial_value(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp
 void ocp_nlp_update_variables_sqp(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work, double alpha);
 //
+int ocp_nlp_precompute_common(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
+            ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work);
+//
 double ocp_nlp_line_search(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_in *in,
             ocp_nlp_out *out, ocp_nlp_opts *opts, ocp_nlp_memory *mem, ocp_nlp_workspace *work,
             int check_early_termination);
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
index 7f7a30faf3..9dbf16f6dc 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgh.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -82,9 +79,6 @@ acados_size_t ocp_nlp_constraints_bgh_dims_calculate_size(void *config);
 //
 void *ocp_nlp_constraints_bgh_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_constraints_bgh_dims_initialize(void *config, void *dims, int nx, int nu, int nz, int nbx,
-                                         int nbu, int ng, int nh, int dummy0, int ns);
-//
 void ocp_nlp_constraints_bgh_dims_get(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_constraints_bgh_dims_set(void *config_, void *dims_,
@@ -116,6 +110,9 @@ void *ocp_nlp_constraints_bgh_model_assign(void *config, void *dims, void *raw_m
 int ocp_nlp_constraints_bgh_model_set(void *config_, void *dims_,
                          void *model_, const char *field, void *value);
 
+//
+void ocp_nlp_constraints_bgh_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
 
 
 /************************************************
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
index beeec78411..eb05edf7a6 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_bgp.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -63,7 +60,7 @@ typedef struct
     int nbu;
     int nbx;
     int ng;   // number of general linear constraints
-    int nphi; // dimension of convex outer part 
+    int nphi; // dimension of convex outer part
     int ns;   // nsbu + nsbx + nsg + nsphi
     int nsbu; // number of softened input bounds
     int nsbx; // number of softened state bounds
@@ -81,9 +78,6 @@ acados_size_t ocp_nlp_constraints_bgp_dims_calculate_size(void *config);
 //
 void *ocp_nlp_constraints_bgp_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_constraints_bgp_dims_initialize(void *config, void *dims, int nx, int nu, int nz, 
-		int nbx, int nbu, int ng, int nphi, int nq, int ns);
-//
 void ocp_nlp_constraints_bgp_dims_get(void *config_, void *dims_, const char *field, int* value);
 
 
@@ -109,6 +103,9 @@ void *ocp_nlp_constraints_bgp_assign(void *config, void *dims, void *raw_memory)
 //
 int ocp_nlp_constraints_bgp_model_set(void *config_, void *dims_,
                          void *model_, const char *field, void *value);
+//
+void ocp_nlp_constraints_bgp_model_get(void *config_, void *dims_,
+                         void *model_, const char *field, void *value);
 
 /* options */
 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
index 7cadecab46..bb73c468de 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_constraints_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -60,11 +57,10 @@ typedef struct
 {
     acados_size_t (*dims_calculate_size)(void *config);
     void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nz, int nbx, int nbu, int ng,
-                            int nh, int nq, int ns);
     acados_size_t (*model_calculate_size)(void *config, void *dims);
     void *(*model_assign)(void *config, void *dims, void *raw_memory);
     int (*model_set)(void *config_, void *dims_, void *model_, const char *field, void *value);
+    void (*model_get)(void *config_, void *dims_, void *model_, const char *field, void *value);
     acados_size_t (*opts_calculate_size)(void *config, void *dims);
     void *(*opts_assign)(void *config, void *dims, void *raw_memory);
     void (*opts_initialize_default)(void *config, void *dims, void *opts);
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
index c9fbbfb404..eb40564036 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -33,8 +30,8 @@
 
 
 ///
-/// \defgroup ocp_nlp_cost ocp_nlp_cost 
-/// 
+/// \defgroup ocp_nlp_cost ocp_nlp_cost
+///
 
 /// \addtogroup ocp_nlp_cost ocp_nlp_cost
 /// @{
@@ -62,7 +59,6 @@ typedef struct
 {
     acados_size_t (*dims_calculate_size)(void *config);
     void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
     void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
     void (*dims_get)(void *config_, void *dims_, const char *field, int *value);
     acados_size_t (*model_calculate_size)(void *config, void *dims);
@@ -91,6 +87,8 @@ typedef struct
     // computes the cost function value (intended for globalization)
     void (*compute_fun)(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
     void (*config_initialize_default)(void *config);
+    void (*precompute)(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+
 } ocp_nlp_cost_config;
 
 //
@@ -105,5 +103,5 @@ ocp_nlp_cost_config *ocp_nlp_cost_config_assign(void *raw_memory);
 #endif
 
 #endif  // ACADOS_OCP_NLP_OCP_NLP_COST_COMMON_H_
-/// @} 
-/// @} 
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
new file mode 100644
index 0000000000..2eb3f5d127
--- /dev/null
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_conl.h
@@ -0,0 +1,207 @@
+/*
+ * Copyright (c) The acados authors.
+ *
+ * This file is part of acados.
+ *
+ * The 2-Clause BSD License
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ * this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ * this list of conditions and the following disclaimer in the documentation
+ * and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+ * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+ * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+ * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+ * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.;
+ */
+
+
+/// \addtogroup ocp_nlp
+/// @{
+/// \addtogroup ocp_nlp_cost ocp_nlp_cost
+/// @{
+/// \addtogroup ocp_nlp_cost_conl ocp_nlp_cost_conl
+/// \brief This module implements convex-over-nonlinear costs of the form
+/// \f$\min_{x,u,z} \psi(y(x,u,z,p) - y_{\text{ref}}, p)\f$,
+
+
+#ifndef ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+#define ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+// blasfeo
+#include "blasfeo/include/blasfeo_common.h"
+
+// acados
+#include "acados/ocp_nlp/ocp_nlp_cost_common.h"
+#include "acados/utils/external_function_generic.h"
+#include "acados/utils/types.h"
+
+
+
+/************************************************
+ * dims
+ ************************************************/
+
+typedef struct
+{
+    int nx;  // number of states
+    int nz;  // number of algebraic variables
+    int nu;  // number of inputs
+    int ny;  // number of outputs
+    int ns;  // number of slacks
+} ocp_nlp_cost_conl_dims;
+
+//
+acados_size_t ocp_nlp_cost_conl_dims_calculate_size(void *config);
+//
+void *ocp_nlp_cost_conl_dims_assign(void *config, void *raw_memory);
+//
+void ocp_nlp_cost_conl_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
+//
+void ocp_nlp_cost_conl_dims_set(void *config_, void *dims_, const char *field, int* value);
+//
+void ocp_nlp_cost_conl_dims_get(void *config_, void *dims_, const char *field, int* value);
+
+
+
+/************************************************
+ * model
+ ************************************************/
+
+typedef struct
+{
+    // slack penalty has the form z^T * s + .5 * s^T * Z * s
+    external_function_generic *conl_cost_fun;
+    external_function_generic *conl_cost_fun_jac_hess;
+    struct blasfeo_dvec y_ref;
+    struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
+    struct blasfeo_dvec z;              // gradient of slacks as vector
+    double scaling;
+} ocp_nlp_cost_conl_model;
+
+//
+acados_size_t ocp_nlp_cost_conl_model_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_model_assign(void *config, void *dims, void *raw_memory);
+//
+int ocp_nlp_cost_conl_model_set(void *config_, void *dims_, void *model_, const char *field, void *value_);
+
+
+
+/************************************************
+ * options
+ ************************************************/
+
+typedef struct
+{
+    bool gauss_newton_hess;  // dummy options, we always use a gauss-newton hessian
+} ocp_nlp_cost_conl_opts;
+
+//
+acados_size_t ocp_nlp_cost_conl_opts_calculate_size(void *config, void *dims);
+//
+void *ocp_nlp_cost_conl_opts_assign(void *config, void *dims, void *raw_memory);
+//
+void ocp_nlp_cost_conl_opts_initialize_default(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_update(void *config, void *dims, void *opts);
+//
+void ocp_nlp_cost_conl_opts_set(void *config, void *opts, const char *field, void *value);
+
+
+
+/************************************************
+ * memory
+ ************************************************/
+typedef struct
+{
+    struct blasfeo_dvec grad;    // gradient of cost function
+    struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to ux in tmp_nlp_out
+    struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
+    struct blasfeo_dvec *Z;      // pointer to Z in qp_in
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
+} ocp_nlp_cost_conl_memory;
+
+//
+acados_size_t ocp_nlp_cost_conl_memory_calculate_size(void *config, void *dims, void *opts);
+//
+void *ocp_nlp_cost_conl_memory_assign(void *config, void *dims, void *opts, void *raw_memory);
+//
+double *ocp_nlp_cost_conl_memory_get_fun_ptr(void *memory_);
+//
+struct blasfeo_dvec *ocp_nlp_cost_conl_memory_get_grad_ptr(void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_RSQrq_ptr(struct blasfeo_dmat *RSQrq, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_Z_ptr(struct blasfeo_dvec *Z, void *memory);
+//
+void ocp_nlp_cost_conl_memory_set_ux_ptr(struct blasfeo_dvec *ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_tmp_ux_ptr(struct blasfeo_dvec *tmp_ux, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_z_alg_ptr(struct blasfeo_dvec *z_alg, void *memory_);
+//
+void ocp_nlp_cost_conl_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_tran, void *memory_);
+
+/************************************************
+ * workspace
+ ************************************************/
+
+typedef struct
+{
+    struct blasfeo_dmat W;             // hessian of outer loss function
+    struct blasfeo_dmat W_chol;        // cholesky factor of hessian of outer loss function
+    struct blasfeo_dmat Jt_ux;         // jacobian of inner residual function
+    struct blasfeo_dmat Jt_ux_tilde;   // jacobian of inner residual function plus gradient contribution of algebraic variables
+    struct blasfeo_dmat Jt_z;          // jacobian of inner residual function wrt algebraic variables
+    struct blasfeo_dmat tmp_nv_ny;
+    struct blasfeo_dvec tmp_ny;
+    struct blasfeo_dvec tmp_2ns;
+} ocp_nlp_cost_conl_workspace;
+
+//
+acados_size_t ocp_nlp_cost_conl_workspace_calculate_size(void *config, void *dims, void *opts);
+
+/************************************************
+ * functions
+ ************************************************/
+
+//
+void ocp_nlp_cost_conl_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_config_initialize_default(void *config);
+//
+void ocp_nlp_cost_conl_initialize(void *config_, void *dims, void *model_, void *opts_, void *mem_, void *work_);
+//
+void ocp_nlp_cost_conl_update_qp_matrices(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+//
+void ocp_nlp_cost_conl_compute_fun(void *config_, void *dims, void *model_, void *opts_, void *memory_, void *work_);
+
+#ifdef __cplusplus
+} /* extern "C" */
+#endif
+
+#endif  // ACADOS_OCP_NLP_OCP_NLP_COST_CONL_H_
+/// @}
+/// @}
+/// @}
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
index f2196dbee7..78958270de 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_external.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -54,6 +51,7 @@ extern "C" {
 typedef struct
 {
     int nx;  // number of states
+    int nz;  // number of algebraic variables
     int nu;  // number of inputs
     int ns;  // number of slacks
 } ocp_nlp_cost_external_dims;
@@ -63,9 +61,6 @@ acados_size_t ocp_nlp_cost_external_dims_calculate_size(void *config);
 //
 void *ocp_nlp_cost_external_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_cost_external_dims_initialize(void *config, void *dims, int nx,
-                                           int nu, int ny, int ns, int nz);
-//
 void ocp_nlp_cost_external_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_cost_external_dims_get(void *config_, void *dims_, const char *field, int* value);
@@ -122,7 +117,7 @@ typedef struct
 {
     struct blasfeo_dvec grad;    // gradient of cost function
     struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
-    struct blasfeo_dvec *tmp_ux;     // pointer to tmp_ux in nlp_out
+    struct blasfeo_dvec *tmp_ux; // pointer to tmp_ux in nlp_out
     struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
     struct blasfeo_dvec *Z;      // pointer to Z in qp_in
     struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
@@ -157,7 +152,10 @@ void ocp_nlp_cost_external_memory_set_dzdux_tran_ptr(struct blasfeo_dmat *dzdux_
 
 typedef struct
 {
-    struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat tmp_nunx_nunx;
+    struct blasfeo_dmat tmp_nz_nz;
+    struct blasfeo_dmat tmp_nz_nunx;
+    struct blasfeo_dvec tmp_nunxnz;
     struct blasfeo_dvec tmp_2ns;  // temporary vector of dimension 2*ns
 } ocp_nlp_cost_external_workspace;
 
@@ -168,6 +166,8 @@ acados_size_t ocp_nlp_cost_external_workspace_calculate_size(void *config, void
  * functions
  ************************************************/
 
+//
+void ocp_nlp_cost_external_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_external_config_initialize_default(void *config);
 //
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
index 3cf759504a..801e9a5b87 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_ls.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -82,30 +79,14 @@ typedef struct
 acados_size_t ocp_nlp_cost_ls_dims_calculate_size(void *config);
 
 
-///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct 
+///  Assign memory pointed to by raw_memory to ocp_nlp-cost_ls dims struct
 ///
-///  \param[in] config structure containing configuration of ocp_nlp_cost 
+///  \param[in] config structure containing configuration of ocp_nlp_cost
 ///  module
-///  \param[in] raw_memory pointer to memory location  
+///  \param[in] raw_memory pointer to memory location
 ///  \param[out] []
 ///  \return dims
 void *ocp_nlp_cost_ls_dims_assign(void *config, void *raw_memory);
-
-
-///  Initialize the dimensions struct of the 
-///  ocp_nlp-cost_ls component    
-///
-///  \param[in] config structure containing configuration ocp_nlp-cost_ls component 
-///  \param[in] nx number of states
-///  \param[in] nu number of inputs
-///  \param[in] ny number of residuals
-///  \param[in] ns number of slacks
-///  \param[in] nz number of algebraic variables
-///  \param[out] dims
-///  \return size
-void ocp_nlp_cost_ls_dims_initialize(void *config, void *dims, int nx,
-        int nu, int ny, int ns, int nz);
-
 //
 void ocp_nlp_cost_ls_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
@@ -117,7 +98,7 @@ void ocp_nlp_cost_ls_dims_get(void *config_, void *dims_, const char *field, int
 ////////////////////////////////////////////////////////////////////////////////
 
 
-/// structure containing the data describing the linear least-square cost 
+/// structure containing the data describing the linear least-square cost
 typedef struct
 {
     // slack penalty has the form z^T * s + .5 * s^T * Z * s
@@ -128,6 +109,8 @@ typedef struct
     struct blasfeo_dvec Z;              ///< diagonal Hessian of slacks as vector (lower and upper)
     struct blasfeo_dvec z;              ///< gradient of slacks as vector (lower and upper)
     double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
+    int Cyt_or_scaling_changed;         ///< flag indicating whether Cyt or scaling has changed and Hessian needs to be recomputed
 } ocp_nlp_cost_ls_model;
 
 //
@@ -170,7 +153,7 @@ void ocp_nlp_cost_ls_opts_set(void *config, void *opts, const char *field, void
 
 
 
-/// structure containing the memory associated with cost_ls component 
+/// structure containing the memory associated with cost_ls component
 /// of the ocp_nlp module
 typedef struct
 {
@@ -237,7 +220,8 @@ acados_size_t ocp_nlp_cost_ls_workspace_calculate_size(void *config, void *dims,
 ////////////////////////////////////////////////////////////////////////////////
 
 
-
+// computations that are done once when solver is created
+void ocp_nlp_cost_ls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_ls_config_initialize_default(void *config);
 //
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
index aafb6b3540..5ec68cf580 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_cost_nls.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -38,8 +35,7 @@
 /// @{
 /// \addtogroup ocp_nlp_cost_nls ocp_nlp_cost_nls
 /// \brief This module implements nonlinear-least squares costs of the form
-/// \f$\min_{x,u} \| r(x,u) - y_{\text{ref}} \|_W^2\f$.
-/// @{
+/// \f$\min_{x,u,z} \| y(x,u,z,p) - y_{\text{ref}} \|_W^2\f$,
 
 #ifndef ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
 #define ACADOS_OCP_NLP_OCP_NLP_COST_NLS_H_
@@ -65,6 +61,7 @@ extern "C" {
 typedef struct
 {
     int nx;  // number of states
+    int nz;  // number of algebraic variables
     int nu;  // number of inputs
     int ny;  // number of outputs
     int ns;  // number of slacks
@@ -75,8 +72,6 @@ acados_size_t ocp_nlp_cost_nls_dims_calculate_size(void *config);
 //
 void *ocp_nlp_cost_nls_dims_assign(void *config, void *raw_memory);
 //
-void ocp_nlp_cost_nls_dims_initialize(void *config, void *dims, int nx, int nu, int ny, int ns, int nz);
-//
 void ocp_nlp_cost_nls_dims_set(void *config_, void *dims_, const char *field, int* value);
 //
 void ocp_nlp_cost_nls_dims_get(void *config_, void *dims_, const char *field, int* value);
@@ -99,6 +94,7 @@ typedef struct
     struct blasfeo_dvec Z;              // diagonal Hessian of slacks as vector
     struct blasfeo_dvec z;              // gradient of slacks as vector
     double scaling;
+    int W_changed;                      ///< flag indicating whether W has changed and needs to be refactorized
 } ocp_nlp_cost_nls_model;
 
 //
@@ -144,11 +140,11 @@ typedef struct
     struct blasfeo_dvec grad;    // gradient of cost function
     struct blasfeo_dvec *ux;     // pointer to ux in nlp_out
     struct blasfeo_dvec *tmp_ux;     // pointer to ux in tmp_nlp_out
-    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
-    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
     struct blasfeo_dmat *RSQrq;  // pointer to RSQrq in qp_in
     struct blasfeo_dvec *Z;      // pointer to Z in qp_in
-	double fun;                         ///< value of the cost function
+    struct blasfeo_dvec *z_alg;         ///< pointer to z in sim_out
+    struct blasfeo_dmat *dzdux_tran;    ///< pointer to sensitivity of a wrt ux in sim_out
+    double fun;                         ///< value of the cost function
 } ocp_nlp_cost_nls_memory;
 
 //
@@ -180,8 +176,11 @@ typedef struct
 {
     struct blasfeo_dmat tmp_nv_ny;
     struct blasfeo_dmat tmp_nv_nv;
+    struct blasfeo_dmat Vz;
+    struct blasfeo_dmat Cyt_tilde;
     struct blasfeo_dvec tmp_ny;
-    struct blasfeo_dvec tmp_2ns;     // temporary vector of dimension ny
+    struct blasfeo_dvec tmp_2ns;
+    struct blasfeo_dvec tmp_nz;
 } ocp_nlp_cost_nls_workspace;
 
 //
@@ -191,6 +190,8 @@ acados_size_t ocp_nlp_cost_nls_workspace_calculate_size(void *config, void *dims
  * functions
  ************************************************/
 
+//
+void ocp_nlp_cost_nls_precompute(void *config_, void *dims_, void *model_, void *opts_, void *memory_, void *work_);
 //
 void ocp_nlp_cost_nls_config_initialize_default(void *config);
 //
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
index f2128a8574..43fe71b12f 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -68,7 +65,6 @@ typedef struct
     /* dims */
     acados_size_t (*dims_calculate_size)(void *config);
     void *(*dims_assign)(void *config, void *raw_memory);
-    void (*dims_initialize)(void *config, void *dims, int nx, int nu, int nx1, int nu1, int nz);
     void (*dims_set)(void *config_, void *dims_, const char *field, int *value);
     void (*dims_get)(void *config_, void *dims_, const char *field, int* value);
     /* model */
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
index 59a2df4f47..3afdc9f4ed 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_cont.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -75,10 +72,6 @@ typedef struct
 acados_size_t ocp_nlp_dynamics_cont_dims_calculate_size(void *config);
 //
 void *ocp_nlp_dynamics_cont_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_cont_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
-                                           int nu1, int nz);
-
 //
 void ocp_nlp_dynamics_cont_dims_set(void *config_, void *dims_, const char *field, int* value);
 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
index 8b2a6177bf..6ea26a7010 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_dynamics_disc.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -68,10 +65,6 @@ typedef struct
 acados_size_t ocp_nlp_dynamics_disc_dims_calculate_size(void *config);
 //
 void *ocp_nlp_dynamics_disc_dims_assign(void *config, void *raw_memory);
-//
-void ocp_nlp_dynamics_disc_dims_initialize(void *config, void *dims, int nx, int nu, int nx1,
-                                           int nu1, int nz);
-
 //
 void ocp_nlp_dynamics_disc_dims_set(void *config_, void *dims_, const char *dim, int* value);
 
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
index cd26788a56..9388f3fd24 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
index df31361680..cb523525e1 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_convexify.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
index f6bd7dcafd..84a023cb69 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_mirror.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
index c085e00d5d..b571f3bac1 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_noreg.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
index 104c297207..682ea206dc 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
index e0b854bc1a..7e12952c15 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_reg_project_reduc_hess.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
index 74cfb042e3..fdb96417f9 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
index af22c06a17..364d0f4717 100644
--- a/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
+++ b/third_party/acados/include/acados/ocp_nlp/ocp_nlp_sqp_rti.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -145,12 +142,6 @@ acados_size_t ocp_nlp_sqp_rti_workspace_calculate_size(void *config_, void *dims
 /************************************************
  * functions
  ************************************************/
-
-void ocp_nlp_sqp_rti_preparation_step(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts, void *mem_, void *work_);
-//
-void ocp_nlp_sqp_rti_feedback_step(void *config_, void *dims_,
-    void *nlp_in_, void *nlp_out_, void *opts_, void *mem_, void *work_);
 //
 int ocp_nlp_sqp_rti(void *config_, void *dims_, void *nlp_in_, void *nlp_out_,
     void *opts_, void *mem_, void *work_);
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
index caf6caf2f0..d1a45635e4 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
index 50b80850c6..f65f602c15 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_common_frontend.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
index 14ac97bbf4..d23e658b48 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_full_condensing.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
index 91690e458d..261606b842 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpipm.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
index de6ce501b1..8db53a279d 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_hpmpc.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
index 1a3b7b2fa2..a535503f21 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_ooqp.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
index 4ae391a9ff..51df1b1cd6 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_osqp.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
index b95a11114e..844f6048fe 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_partial_condensing.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
index ad4d094516..3b875caeb5 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_qpdunes.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
index d4b30e007b..a78bc65bb9 100644
--- a/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
+++ b/third_party/acados/include/acados/ocp_qp/ocp_qp_xcond_solver.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -84,6 +81,7 @@ typedef struct
     acados_size_t (*dims_calculate_size)(void *config, int N);
     ocp_qp_xcond_solver_dims *(*dims_assign)(void *config, int N, void *raw_memory);
     void (*dims_set)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
+    void (*dims_get)(void *config_, ocp_qp_xcond_solver_dims *dims, int stage, const char *field, int* value);
     acados_size_t (*opts_calculate_size)(void *config, ocp_qp_xcond_solver_dims *dims);
     void *(*opts_assign)(void *config, ocp_qp_xcond_solver_dims *dims, void *raw_memory);
     void (*opts_initialize_default)(void *config, ocp_qp_xcond_solver_dims *dims, void *opts);
diff --git a/third_party/acados/include/acados/sim/sim_collocation_utils.h b/third_party/acados/include/acados/sim/sim_collocation_utils.h
index 40a0b1c0cc..045d165cbc 100644
--- a/third_party/acados/include/acados/sim/sim_collocation_utils.h
+++ b/third_party/acados/include/acados/sim/sim_collocation_utils.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/sim/sim_common.h b/third_party/acados/include/acados/sim/sim_common.h
index 1838d76f81..c4bbd6ed2b 100644
--- a/third_party/acados/include/acados/sim/sim_common.h
+++ b/third_party/acados/include/acados/sim/sim_common.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -149,6 +146,8 @@ typedef struct
     bool jac_reuse;
     // Newton_scheme *scheme;
 
+    double newton_tol; // optinally used in implicit integrators
+
     // workspace
     void *work;
 
diff --git a/third_party/acados/include/acados/sim/sim_erk_integrator.h b/third_party/acados/include/acados/sim/sim_erk_integrator.h
index 24a00c7077..fd46cb4d99 100644
--- a/third_party/acados/include/acados/sim/sim_erk_integrator.h
+++ b/third_party/acados/include/acados/sim/sim_erk_integrator.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/sim/sim_gnsf.h b/third_party/acados/include/acados/sim/sim_gnsf.h
index 5524b384e0..404532a732 100644
--- a/third_party/acados/include/acados/sim/sim_gnsf.h
+++ b/third_party/acados/include/acados/sim/sim_gnsf.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -46,12 +43,12 @@ extern "C" {
 #include "acados/sim/sim_common.h"
 
 #include "blasfeo/include/blasfeo_common.h"
-#include "blasfeo/include/blasfeo_d_aux.h"
-#include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_d_blas.h"
-#include "blasfeo/include/blasfeo_d_kernel.h"
-#include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
-#include "blasfeo/include/blasfeo_target.h"
+// #include "blasfeo/include/blasfeo_d_aux.h"
+// #include "blasfeo/include/blasfeo_d_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_d_blas.h"
+// #include "blasfeo/include/blasfeo_d_kernel.h"
+// #include "blasfeo/include/blasfeo_i_aux_ext_dep.h"
+// #include "blasfeo/include/blasfeo_target.h"
 
 /* 
 GNSF - Generalized Nonlinear Static Feedback Model
diff --git a/third_party/acados/include/acados/sim/sim_irk_integrator.h b/third_party/acados/include/acados/sim/sim_irk_integrator.h
index 6851bacb3a..5090aa0bb5 100644
--- a/third_party/acados/include/acados/sim/sim_irk_integrator.h
+++ b/third_party/acados/include/acados/sim/sim_irk_integrator.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
index 9ec2d97bed..e60bb80ebf 100644
--- a/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
+++ b/third_party/acados/include/acados/sim/sim_lifted_irk_integrator.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/utils/external_function_generic.h b/third_party/acados/include/acados/utils/external_function_generic.h
index 021363f26e..1e68dc155d 100644
--- a/third_party/acados/include/acados/utils/external_function_generic.h
+++ b/third_party/acados/include/acados/utils/external_function_generic.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -137,8 +134,8 @@ typedef struct
     int (*casadi_work)(int *, int *, int *, int *);
     const int *(*casadi_sparsity_in)(int);
     const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)();
-    int (*casadi_n_out)();
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
     double **args;
     double **res;
     double *w;
@@ -195,8 +192,8 @@ typedef struct
     int (*casadi_work)(int *, int *, int *, int *);
     const int *(*casadi_sparsity_in)(int);
     const int *(*casadi_sparsity_out)(int);
-    int (*casadi_n_in)();
-    int (*casadi_n_out)();
+    int (*casadi_n_in)(void);
+    int (*casadi_n_out)(void);
     double **args;
     double **res;
     double *w;
diff --git a/third_party/acados/include/acados/utils/math.h b/third_party/acados/include/acados/utils/math.h
index fe1da875f6..7156a82084 100644
--- a/third_party/acados/include/acados/utils/math.h
+++ b/third_party/acados/include/acados/utils/math.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -42,6 +39,7 @@ extern "C" {
 
 #if defined(__MABX2__)
 double fmax(double a, double b);
+int isnan(double x);
 #endif
 
 #define MIN(a,b) (((a)<(b))?(a):(b))
diff --git a/third_party/acados/include/acados/utils/mem.h b/third_party/acados/include/acados/utils/mem.h
index 7b9efc5ed8..681a371e36 100644
--- a/third_party/acados/include/acados/utils/mem.h
+++ b/third_party/acados/include/acados/utils/mem.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/utils/print.h b/third_party/acados/include/acados/utils/print.h
index f8568afb26..824d3cee22 100644
--- a/third_party/acados/include/acados/utils/print.h
+++ b/third_party/acados/include/acados/utils/print.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/utils/strsep.h b/third_party/acados/include/acados/utils/strsep.h
index 02f1835593..62bdfb4891 100644
--- a/third_party/acados/include/acados/utils/strsep.h
+++ b/third_party/acados/include/acados/utils/strsep.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/utils/timing.h b/third_party/acados/include/acados/utils/timing.h
index fe561d3891..b0955932da 100644
--- a/third_party/acados/include/acados/utils/timing.h
+++ b/third_party/acados/include/acados/utils/timing.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados/utils/types.h b/third_party/acados/include/acados/utils/types.h
index d3da0a86b7..a27ef9e552 100644
--- a/third_party/acados/include/acados/utils/types.h
+++ b/third_party/acados/include/acados/utils/types.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -78,7 +75,7 @@ typedef int (*casadi_function_t)(const double** arg, double** res, int* iw, doub
 enum return_values
 {
     ACADOS_SUCCESS,
-    ACADOS_FAILURE,
+    ACADOS_NAN_DETECTED,
     ACADOS_MAXITER,
     ACADOS_MINSTEP,
     ACADOS_QP_FAILURE,
diff --git a/third_party/acados/include/acados_c/condensing_interface.h b/third_party/acados/include/acados_c/condensing_interface.h
index 51fe827127..b4302078d6 100644
--- a/third_party/acados/include/acados_c/condensing_interface.h
+++ b/third_party/acados/include/acados_c/condensing_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados_c/dense_qp_interface.h b/third_party/acados/include/acados_c/dense_qp_interface.h
index 4ecc77381d..b3af4bf682 100644
--- a/third_party/acados/include/acados_c/dense_qp_interface.h
+++ b/third_party/acados/include/acados_c/dense_qp_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -41,7 +38,7 @@ extern "C" {
 
 #include "acados/dense_qp/dense_qp_common.h"
 
-typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP } dense_qp_solver_t;
+typedef enum { DENSE_QP_HPIPM, DENSE_QP_QORE, DENSE_QP_QPOASES, DENSE_QP_OOQP, DENSE_QP_DAQP } dense_qp_solver_t;
 
 typedef struct
 {
diff --git a/third_party/acados/include/acados_c/external_function_interface.h b/third_party/acados/include/acados_c/external_function_interface.h
index 6838975071..d4f52db850 100644
--- a/third_party/acados/include/acados_c/external_function_interface.h
+++ b/third_party/acados/include/acados_c/external_function_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/acados_c/ocp_nlp_interface.h b/third_party/acados/include/acados_c/ocp_nlp_interface.h
index 50bc0cf1af..dd3e596f8b 100644
--- a/third_party/acados/include/acados_c/ocp_nlp_interface.h
+++ b/third_party/acados/include/acados_c/ocp_nlp_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -66,6 +63,7 @@ typedef enum
 {
     LINEAR_LS,
     NONLINEAR_LS,
+    CONVEX_OVER_NONLINEAR,
     EXTERNAL,
     INVALID_COST,
 } ocp_nlp_cost_t;
@@ -246,6 +244,10 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_cost_model_set(ocp_nlp_config *config, ocp_nlp_
 ACADOS_SYMBOL_EXPORT int ocp_nlp_constraints_model_set(ocp_nlp_config *config, ocp_nlp_dims *dims,
         ocp_nlp_in *in, int stage, const char *field, void *value);
 
+///
+ACADOS_SYMBOL_EXPORT void ocp_nlp_constraints_model_get(ocp_nlp_config *config, ocp_nlp_dims *dims,
+        ocp_nlp_in *in, int stage, const char *field, void *value);
+
 /* out */
 
 /// Constructs an output struct for the non-linear program.
@@ -297,7 +299,7 @@ ACADOS_SYMBOL_EXPORT void ocp_nlp_constraint_dims_get_from_attr(ocp_nlp_config *
 ACADOS_SYMBOL_EXPORT void ocp_nlp_cost_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, int *dims_out);
 
-void ocp_nlp_dynamics_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
+ACADOS_SYMBOL_EXPORT void ocp_nlp_qp_dims_get_from_attr(ocp_nlp_config *config, ocp_nlp_dims *dims, ocp_nlp_out *out,
         int stage, const char *field, int *dims_out);
 
 /* opts */
@@ -386,8 +388,6 @@ ACADOS_SYMBOL_EXPORT int ocp_nlp_precompute(ocp_nlp_solver *solver, ocp_nlp_in *
 /// \param nlp_out The output struct.
 ACADOS_SYMBOL_EXPORT void ocp_nlp_eval_cost(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
-//
-void ocp_nlp_eval_residuals(ocp_nlp_solver *solver, ocp_nlp_in *nlp_in, ocp_nlp_out *nlp_out);
 
 /// Computes the residuals.
 ///
diff --git a/third_party/acados/include/acados_c/ocp_qp_interface.h b/third_party/acados/include/acados_c/ocp_qp_interface.h
index 2582f142da..3dc3f1a532 100644
--- a/third_party/acados/include/acados_c/ocp_qp_interface.h
+++ b/third_party/acados/include/acados_c/ocp_qp_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
@@ -87,6 +84,11 @@ typedef enum {
 #else
     FULL_CONDENSING_QPOASES_NOT_AVAILABLE,
 #endif
+#ifdef ACADOS_WITH_DAQP
+    FULL_CONDENSING_DAQP,
+#else
+    FULL_CONDENSING_DAQP_NOT_AVAILABLE,
+#endif
 #ifdef ACADOS_WITH_QORE
     FULL_CONDENSING_QORE,
 #else
diff --git a/third_party/acados/include/acados_c/sim_interface.h b/third_party/acados/include/acados_c/sim_interface.h
index 5dce6f153a..09a05d6995 100644
--- a/third_party/acados/include/acados_c/sim_interface.h
+++ b/third_party/acados/include/acados_c/sim_interface.h
@@ -1,8 +1,5 @@
 /*
- * Copyright 2019 Gianluca Frison, Dimitris Kouzoupis, Robin Verschueren,
- * Andrea Zanelli, Niels van Duijkeren, Jonathan Frey, Tommaso Sartor,
- * Branimir Novoselnik, Rien Quirynen, Rezart Qelibari, Dang Doan,
- * Jonas Koenemann, Yutao Chen, Tobias Schöls, Jonas Schlagenhauf, Moritz Diehl
+ * Copyright (c) The acados authors.
  *
  * This file is part of acados.
  *
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
index ff9e9d4c16..2eab1e4094 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_d_blas_api.h
@@ -50,18 +50,20 @@
 #define BLASFEO_CBLAS_ENUM
 #ifdef FORTRAN_BLAS_API
 #ifndef CBLAS_H
-enum CBLAS_ORDER {CblasRowMajor=101, CblasColMajor=102};
+enum CBLAS_LAYOUT {CblasRowMajor=101, CblasColMajor=102};
 enum CBLAS_TRANSPOSE {CblasNoTrans=111, CblasTrans=112, CblasConjTrans=113};
 enum CBLAS_UPLO {CblasUpper=121, CblasLower=122};
 enum CBLAS_DIAG {CblasNonUnit=131, CblasUnit=132};
 enum CBLAS_SIDE {CblasLeft=141, CblasRight=142};
+#define CBLAS_ORDER CBLAS_LAYOUT /* this for backward compatibility with CBLAS_ORDER */
 #endif // CBLAS_H
 #else // FORTRAN_BLAS_API
-enum BLASFEO_CBLAS_ORDER {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
+enum BLASFEO_CBLAS_LAYOUT {BlasfeoCblasRowMajor=101, BlasfeoCblasColMajor=102};
 enum BLASFEO_CBLAS_TRANSPOSE {BlasfeoCblasNoTrans=111, BlasfeoCblasTrans=112, BlasfeoCblasConjTrans=113};
 enum BLASFEO_CBLAS_UPLO {BlasfeoCblasUpper=121, BlasfeoCblasLower=122};
 enum BLASFEO_CBLAS_DIAG {BlasfeoCblasNonUnit=131, BlasfeoCblasUnit=132};
 enum BLASFEO_CBLAS_SIDE {BlasfeoCblasLeft=141, BlasfeoCblasRight=142};
+#define BLASFEO_CBLAS_ORDER BLASFEO_CBLAS_LAYOUT /* this for backward compatibility with BLASFEO_CBLAS_ORDER */
 #endif // FORTRAN_BLAS_API
 #endif // BLASFEO_CBLAS_ENUM
 #endif // CBLAS_API
@@ -151,15 +153,19 @@ void cblas_dswap(const int N, double *X, const int incX, double *Y, const int in
 //
 void cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
 
+// CBLAS 2
+//
+void cblas_dgemv(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
 // CBLAS 3
 //
-void cblas_dgemm(const enum CBLAS_ORDER Order, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+void cblas_dgemm(const enum CBLAS_LAYOUT layout, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
 //
-void cblas_dsyrk(const enum CBLAS_ORDER Order, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+void cblas_dsyrk(const enum CBLAS_LAYOUT layout, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
 //
-void cblas_dtrmm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void cblas_dtrmm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 //
-void cblas_dtrsm(const enum CBLAS_ORDER Order, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void cblas_dtrsm(const enum CBLAS_LAYOUT layout, const enum CBLAS_SIDE Side, const enum CBLAS_UPLO Uplo, const enum CBLAS_TRANSPOSE TransA, const enum CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 
 
 
@@ -240,15 +246,19 @@ void blasfeo_cblas_dswap(const int N, double *X, const int incX, double *Y, cons
 //
 void blasfeo_cblas_dcopy(const int N, const double *X, const int incX, double *Y, const int incY);
 
+// CBLAS 2
+//
+void blasfeo_cblas_dgemv(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const int M, const int N, const double alpha, const double *A, const int lda, const double *X, const int incX, const double beta, double *Y, const int incY);
+
 // CBLAS 3
 //
-void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
+void blasfeo_cblas_dgemm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_TRANSPOSE TransB, const int M, const int N, const int K, const double alpha, const double *A, const int lda, const double *B, const int ldb, const double beta, double *C, const int ldc);
 //
-void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
+void blasfeo_cblas_dsyrk(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE Trans, const int N, const int K, const double alpha, const double *A, const int lda, const double beta, double *C, const int ldc);
 //
-void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void blasfeo_cblas_dtrmm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 //
-void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_ORDER Order, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
+void blasfeo_cblas_dtrsm(const enum BLASFEO_CBLAS_LAYOUT layout, const enum BLASFEO_CBLAS_SIDE Side, const enum BLASFEO_CBLAS_UPLO Uplo, const enum BLASFEO_CBLAS_TRANSPOSE TransA, const enum BLASFEO_CBLAS_DIAG Diag, const int M, const int N, const double alpha, const double *A, const int lda, double *B, const int ldb);
 
 
 
diff --git a/third_party/acados/include/blasfeo/include/blasfeo_target.h b/third_party/acados/include/blasfeo/include/blasfeo_target.h
index 4ff4f307b3..51f617a649 100644
--- a/third_party/acados/include/blasfeo/include/blasfeo_target.h
+++ b/third_party/acados/include/blasfeo/include/blasfeo_target.h
@@ -1,13 +1,13 @@
-#ifndef TARGET_ARMV8A_ARM_CORTEX_A57
-#define TARGET_ARMV8A_ARM_CORTEX_A57
+#ifndef TARGET_X64_INTEL_HASWELL
+#define TARGET_X64_INTEL_HASWELL
 #endif
 
 #ifndef TARGET_NEED_FEATURE_AVX2
-/* #undef TARGET_NEED_FEATURE_AVX2 */
+#define TARGET_NEED_FEATURE_AVX2 1
 #endif
 
 #ifndef TARGET_NEED_FEATURE_FMA
-/* #undef TARGET_NEED_FEATURE_FMA */
+#define TARGET_NEED_FEATURE_FMA 1
 #endif
 
 #ifndef TARGET_NEED_FEATURE_SSE3
@@ -27,11 +27,11 @@
 #endif
 
 #ifndef TARGET_NEED_FEATURE_VFPv4
-#define TARGET_NEED_FEATURE_VFPv4 1
+/* #undef TARGET_NEED_FEATURE_VFPv4 */
 #endif
 
 #ifndef TARGET_NEED_FEATURE_NEONv2
-#define TARGET_NEED_FEATURE_NEONv2 1
+/* #undef TARGET_NEED_FEATURE_NEONv2 */
 #endif
 
 #ifndef LA_HIGH_PERFORMANCE
diff --git a/third_party/acados/larch64/lib/libacados.so b/third_party/acados/larch64/lib/libacados.so
index 35f83d4159..9a28b4c9d6 100644
Binary files a/third_party/acados/larch64/lib/libacados.so and b/third_party/acados/larch64/lib/libacados.so differ
diff --git a/third_party/acados/larch64/lib/libblasfeo.so b/third_party/acados/larch64/lib/libblasfeo.so
index 6b0e26de79..b97ed876e2 100644
Binary files a/third_party/acados/larch64/lib/libblasfeo.so and b/third_party/acados/larch64/lib/libblasfeo.so differ
diff --git a/third_party/acados/larch64/lib/libhpipm.so b/third_party/acados/larch64/lib/libhpipm.so
index bebd5e8911..cd4b1f1b5b 100644
Binary files a/third_party/acados/larch64/lib/libhpipm.so and b/third_party/acados/larch64/lib/libhpipm.so differ
diff --git a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1
index 0611c8a939..19e7a69bd5 100644
Binary files a/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/larch64/lib/libqpOASES_e.so.3.1 differ
diff --git a/third_party/acados/larch64/t_renderer b/third_party/acados/larch64/t_renderer
index b4ff8bc319..b6f70bde06 100755
Binary files a/third_party/acados/larch64/t_renderer and b/third_party/acados/larch64/t_renderer differ
diff --git a/third_party/acados/x86_64/lib/libacados.so b/third_party/acados/x86_64/lib/libacados.so
index b8a6280d68..ae5fc363f2 100644
Binary files a/third_party/acados/x86_64/lib/libacados.so and b/third_party/acados/x86_64/lib/libacados.so differ
diff --git a/third_party/acados/x86_64/lib/libblasfeo.so b/third_party/acados/x86_64/lib/libblasfeo.so
index e4a19caf13..676ff67e98 100644
Binary files a/third_party/acados/x86_64/lib/libblasfeo.so and b/third_party/acados/x86_64/lib/libblasfeo.so differ
diff --git a/third_party/acados/x86_64/lib/libhpipm.so b/third_party/acados/x86_64/lib/libhpipm.so
index 428c76a117..8d026b1185 100644
Binary files a/third_party/acados/x86_64/lib/libhpipm.so and b/third_party/acados/x86_64/lib/libhpipm.so differ
diff --git a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1
index cf3604688c..c0c8b66650 100644
Binary files a/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 and b/third_party/acados/x86_64/lib/libqpOASES_e.so.3.1 differ
diff --git a/third_party/acados/x86_64/t_renderer b/third_party/acados/x86_64/t_renderer
index 5ced89c28d..d84fc762c8 100755
Binary files a/third_party/acados/x86_64/t_renderer and b/third_party/acados/x86_64/t_renderer differ
diff --git a/third_party/bootstrap/.gitignore b/third_party/bootstrap/.gitignore
new file mode 100644
index 0000000000..ac06c0cf85
--- /dev/null
+++ b/third_party/bootstrap/.gitignore
@@ -0,0 +1 @@
+/icons/
diff --git a/third_party/bootstrap/bootstrap-icons.svg b/third_party/bootstrap/bootstrap-icons.svg
new file mode 100644
index 0000000000..61f2720db4
--- /dev/null
+++ b/third_party/bootstrap/bootstrap-icons.svg
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/third_party/bootstrap/pull.sh b/third_party/bootstrap/pull.sh
new file mode 100755
index 0000000000..0b03b4db9e
--- /dev/null
+++ b/third_party/bootstrap/pull.sh
@@ -0,0 +1,14 @@
+#!/bin/bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
+cd $DIR
+
+if [ ! -d icons/ ]; then
+  git clone https://github.com/twbs/icons/
+fi
+
+cd icons
+git fetch --all
+git checkout d5aa187483a1b0b186f87adcfa8576350d970d98
+cp bootstrap-icons.svg ../
diff --git a/third_party/curl/build.txt b/third_party/curl/build.txt
deleted file mode 100644
index def0763b46..0000000000
--- a/third_party/curl/build.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-# with neos tree
-cd ~/android/system
-mka libcurl
-
-cp ~/android/system/out/target/product/oneplus3/obj/STATIC_LIBRARIES/libcurl_intermediates/libcurl.a lib/
diff --git a/third_party/curl/include/Makefile.am b/third_party/curl/include/Makefile.am
deleted file mode 100644
index 3b24860299..0000000000
--- a/third_party/curl/include/Makefile.am
+++ /dev/null
@@ -1,5 +0,0 @@
-SUBDIRS = curl
-
-EXTRA_DIST = README
-
-AUTOMAKE_OPTIONS = foreign no-dependencies
diff --git a/third_party/curl/include/README b/third_party/curl/include/README
deleted file mode 100644
index 3e52a1d0a6..0000000000
--- a/third_party/curl/include/README
+++ /dev/null
@@ -1,55 +0,0 @@
-                                  _   _ ____  _
-                              ___| | | |  _ \| |
-                             / __| | | | |_) | |
-                            | (__| |_| |  _ <| |___
-                             \___|\___/|_| \_\_____|
-
-Include files for libcurl, external users.
-
-They're all placed in the curl subdirectory here for better fit in any kind
-of environment. You must include files from here using...
-
-        #include <curl/curl.h>
-
-... style and point the compiler's include path to the directory holding the
-curl subdirectory. It makes it more likely to survive future modifications.
-
-NOTE FOR LIBCURL HACKERS
-
-The following notes apply to libcurl version 7.19.0 and later.
-
-* The distributed curl/curlbuild.h file is only intended to be used on systems
-  which can not run the also distributed configure script.
-
-* The distributed curlbuild.h file is generated as a copy of curlbuild.h.dist
-  when the libcurl source code distribution archive file is originally created.
-
-* If you check out from git on a non-configure platform, you must run the
-  appropriate buildconf* script to set up curlbuild.h and other local files
-  before being able of compiling the library.
-
-* On systems capable of running the configure script, the configure process
-  will overwrite the distributed include/curl/curlbuild.h file with one that
-  is suitable and specific to the library being configured and built, which
-  is generated from the include/curl/curlbuild.h.in template file.
-
-* If you intend to distribute an already compiled libcurl library you _MUST_
-  also distribute along with it the generated curl/curlbuild.h which has been
-  used to compile it. Otherwise the library will be of no use for the users of
-  the library that you have built. It is _your_ responsibility to provide this
-  file. No one at the cURL project can know how you have built the library.
-
-* File curl/curlbuild.h includes platform and configuration dependent info,
-  and must not be modified by anyone. Configure script generates it for you.
-
-* We cannot assume anything else but very basic compiler features being
-  present. While libcurl requires an ANSI C compiler to build, some of the
-  earlier ANSI compilers clearly can't deal with some preprocessor operators.
-
-* Newlines must remain unix-style for older compilers' sake.
-
-* Comments must be written in the old-style /* unnested C-fashion */
-
-To figure out how to do good and portable checks for features, operating
-systems or specific hardwarare, a very good resource is Bjorn Reese's
-collection at http://predef.sf.net/
diff --git a/third_party/curl/include/curl/.gitignore b/third_party/curl/include/curl/.gitignore
deleted file mode 100644
index 5f3bc3ce01..0000000000
--- a/third_party/curl/include/curl/.gitignore
+++ /dev/null
@@ -1,3 +0,0 @@
-stamp-h2
-stamp-h3
-curlver.h.dist
diff --git a/third_party/curl/include/curl/Makefile.am b/third_party/curl/include/curl/Makefile.am
deleted file mode 100644
index 86e8b78344..0000000000
--- a/third_party/curl/include/curl/Makefile.am
+++ /dev/null
@@ -1,53 +0,0 @@
-#***************************************************************************
-#                                  _   _ ____  _
-#  Project                     ___| | | |  _ \| |
-#                             / __| | | | |_) | |
-#                            | (__| |_| |  _ <| |___
-#                             \___|\___/|_| \_\_____|
-#
-# Copyright (C) 1998 - 2011, Daniel Stenberg, <daniel@haxx.se>, et al.
-#
-# This software is licensed as described in the file COPYING, which
-# you should have received as part of this distribution. The terms
-# are also available at http://curl.haxx.se/docs/copyright.html.
-#
-# You may opt to use, copy, modify, merge, publish, distribute and/or sell
-# copies of the Software, and permit persons to whom the Software is
-# furnished to do so, under the terms of the COPYING file.
-#
-# This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
-# KIND, either express or implied.
-#
-###########################################################################
-pkginclude_HEADERS = \
-	curl.h curlver.h easy.h mprintf.h stdcheaders.h multi.h \
-	typecheck-gcc.h curlbuild.h curlrules.h
-
-pkgincludedir= $(includedir)/curl
-
-# curlbuild.h does not exist in the git tree. When the original libcurl
-# source code distribution archive file is created, curlbuild.h.dist is
-# renamed to curlbuild.h and included in the tarball so that it can be
-# used directly on non-configure systems.
-#
-# The distributed curlbuild.h will be overwritten on configure systems
-# when the configure script runs, with one that is suitable and specific
-# to the library being configured and built.
-#
-# curlbuild.h.in is the distributed template file from which the configure
-# script creates curlbuild.h at library configuration time, overwiting the
-# one included in the distribution archive.
-#
-# curlbuild.h.dist is not included in the source code distribution archive.
-
-EXTRA_DIST = curlbuild.h.in
-
-DISTCLEANFILES = curlbuild.h
-
-checksrc:
-	@@PERL@ $(top_srcdir)/lib/checksrc.pl -Wcurlbuild.h -D$(top_srcdir)/include/curl $(pkginclude_HEADERS) $(EXTRA_DIST)
-
-if CURLDEBUG
-# for debug builds, we scan the sources on all regular make invokes
-all-local: checksrc
-endif
diff --git a/third_party/curl/include/curl/curl.h b/third_party/curl/include/curl/curl.h
deleted file mode 100644
index eab2f6e99a..0000000000
--- a/third_party/curl/include/curl/curl.h
+++ /dev/null
@@ -1,2376 +0,0 @@
-#ifndef __CURL_CURL_H
-#define __CURL_CURL_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/*
- * If you have libcurl problems, all docs and details are found here:
- *   http://curl.haxx.se/libcurl/
- *
- * curl-library mailing list subscription and unsubscription web interface:
- *   http://cool.haxx.se/mailman/listinfo/curl-library/
- */
-
-#include "curlver.h"         /* libcurl version defines   */
-#include "curlbuild.h"       /* libcurl build definitions */
-#include "curlrules.h"       /* libcurl rules enforcement */
-
-/*
- * Define WIN32 when build target is Win32 API
- */
-
-#if (defined(_WIN32) || defined(__WIN32__)) && \
-     !defined(WIN32) && !defined(__SYMBIAN32__)
-#define WIN32
-#endif
-
-#include <stdio.h>
-#include <limits.h>
-
-#if defined(__FreeBSD__) && (__FreeBSD__ >= 2)
-/* Needed for __FreeBSD_version symbol definition */
-#include <osreldate.h>
-#endif
-
-/* The include stuff here below is mainly for time_t! */
-#include <sys/types.h>
-#include <time.h>
-
-#if defined(WIN32) && !defined(_WIN32_WCE) && !defined(__CYGWIN__)
-#if !(defined(_WINSOCKAPI_) || defined(_WINSOCK_H) || defined(__LWIP_OPT_H__))
-/* The check above prevents the winsock2 inclusion if winsock.h already was
-   included, since they can't co-exist without problems */
-#include <winsock2.h>
-#include <ws2tcpip.h>
-#endif
-#endif
-
-/* HP-UX systems version 9, 10 and 11 lack sys/select.h and so does oldish
-   libc5-based Linux systems. Only include it on systems that are known to
-   require it! */
-#if defined(_AIX) || defined(__NOVELL_LIBC__) || defined(__NetBSD__) || \
-    defined(__minix) || defined(__SYMBIAN32__) || defined(__INTEGRITY) || \
-    defined(ANDROID) || defined(__ANDROID__) || defined(__OpenBSD__) || \
-   (defined(__FreeBSD_version) && (__FreeBSD_version < 800000))
-#include <sys/select.h>
-#endif
-
-#if !defined(WIN32) && !defined(_WIN32_WCE)
-#include <sys/socket.h>
-#endif
-
-#if !defined(WIN32) && !defined(__WATCOMC__) && !defined(__VXWORKS__)
-#include <sys/time.h>
-#endif
-
-#ifdef __BEOS__
-#include <support/SupportDefs.h>
-#endif
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURL;
-
-/*
- * libcurl external API function linkage decorations.
- */
-
-#ifdef CURL_STATICLIB
-#  define CURL_EXTERN
-#elif defined(WIN32) || defined(_WIN32) || defined(__SYMBIAN32__)
-#  if defined(BUILDING_LIBCURL)
-#    define CURL_EXTERN  __declspec(dllexport)
-#  else
-#    define CURL_EXTERN  __declspec(dllimport)
-#  endif
-#elif defined(BUILDING_LIBCURL) && defined(CURL_HIDDEN_SYMBOLS)
-#  define CURL_EXTERN CURL_EXTERN_SYMBOL
-#else
-#  define CURL_EXTERN
-#endif
-
-#ifndef curl_socket_typedef
-/* socket typedef */
-#if defined(WIN32) && !defined(__LWIP_OPT_H__)
-typedef SOCKET curl_socket_t;
-#define CURL_SOCKET_BAD INVALID_SOCKET
-#else
-typedef int curl_socket_t;
-#define CURL_SOCKET_BAD -1
-#endif
-#define curl_socket_typedef
-#endif /* curl_socket_typedef */
-
-struct curl_httppost {
-  struct curl_httppost *next;       /* next entry in the list */
-  char *name;                       /* pointer to allocated name */
-  long namelength;                  /* length of name length */
-  char *contents;                   /* pointer to allocated data contents */
-  long contentslength;              /* length of contents field */
-  char *buffer;                     /* pointer to allocated buffer contents */
-  long bufferlength;                /* length of buffer field */
-  char *contenttype;                /* Content-Type */
-  struct curl_slist* contentheader; /* list of extra headers for this form */
-  struct curl_httppost *more;       /* if one field name has more than one
-                                       file, this link should link to following
-                                       files */
-  long flags;                       /* as defined below */
-#define HTTPPOST_FILENAME (1<<0)    /* specified content is a file name */
-#define HTTPPOST_READFILE (1<<1)    /* specified content is a file name */
-#define HTTPPOST_PTRNAME (1<<2)     /* name is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_PTRCONTENTS (1<<3) /* contents is only stored pointer
-                                       do not free in formfree */
-#define HTTPPOST_BUFFER (1<<4)      /* upload file from buffer */
-#define HTTPPOST_PTRBUFFER (1<<5)   /* upload file from pointer contents */
-#define HTTPPOST_CALLBACK (1<<6)    /* upload file contents by using the
-                                       regular read callback to get the data
-                                       and pass the given pointer as custom
-                                       pointer */
-
-  char *showfilename;               /* The file name to show. If not set, the
-                                       actual file name will be used (if this
-                                       is a file part) */
-  void *userp;                      /* custom pointer used for
-                                       HTTPPOST_CALLBACK posts */
-};
-
-/* This is the CURLOPT_PROGRESSFUNCTION callback proto. It is now considered
-   deprecated but was the only choice up until 7.31.0 */
-typedef int (*curl_progress_callback)(void *clientp,
-                                      double dltotal,
-                                      double dlnow,
-                                      double ultotal,
-                                      double ulnow);
-
-/* This is the CURLOPT_XFERINFOFUNCTION callback proto. It was introduced in
-   7.32.0, it avoids floating point and provides more detailed information. */
-typedef int (*curl_xferinfo_callback)(void *clientp,
-                                      curl_off_t dltotal,
-                                      curl_off_t dlnow,
-                                      curl_off_t ultotal,
-                                      curl_off_t ulnow);
-
-#ifndef CURL_MAX_WRITE_SIZE
-  /* Tests have proven that 20K is a very bad buffer size for uploads on
-     Windows, while 16K for some odd reason performed a lot better.
-     We do the ifndef check to allow this value to easier be changed at build
-     time for those who feel adventurous. The practical minimum is about
-     400 bytes since libcurl uses a buffer of this size as a scratch area
-     (unrelated to network send operations). */
-#define CURL_MAX_WRITE_SIZE 16384
-#endif
-
-#ifndef CURL_MAX_HTTP_HEADER
-/* The only reason to have a max limit for this is to avoid the risk of a bad
-   server feeding libcurl with a never-ending header that will cause reallocs
-   infinitely */
-#define CURL_MAX_HTTP_HEADER (100*1024)
-#endif
-
-/* This is a magic return code for the write callback that, when returned,
-   will signal libcurl to pause receiving on the current transfer. */
-#define CURL_WRITEFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_write_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *outstream);
-
-
-
-/* enumeration of file types */
-typedef enum {
-  CURLFILETYPE_FILE = 0,
-  CURLFILETYPE_DIRECTORY,
-  CURLFILETYPE_SYMLINK,
-  CURLFILETYPE_DEVICE_BLOCK,
-  CURLFILETYPE_DEVICE_CHAR,
-  CURLFILETYPE_NAMEDPIPE,
-  CURLFILETYPE_SOCKET,
-  CURLFILETYPE_DOOR, /* is possible only on Sun Solaris now */
-
-  CURLFILETYPE_UNKNOWN /* should never occur */
-} curlfiletype;
-
-#define CURLFINFOFLAG_KNOWN_FILENAME    (1<<0)
-#define CURLFINFOFLAG_KNOWN_FILETYPE    (1<<1)
-#define CURLFINFOFLAG_KNOWN_TIME        (1<<2)
-#define CURLFINFOFLAG_KNOWN_PERM        (1<<3)
-#define CURLFINFOFLAG_KNOWN_UID         (1<<4)
-#define CURLFINFOFLAG_KNOWN_GID         (1<<5)
-#define CURLFINFOFLAG_KNOWN_SIZE        (1<<6)
-#define CURLFINFOFLAG_KNOWN_HLINKCOUNT  (1<<7)
-
-/* Content of this structure depends on information which is known and is
-   achievable (e.g. by FTP LIST parsing). Please see the url_easy_setopt(3) man
-   page for callbacks returning this structure -- some fields are mandatory,
-   some others are optional. The FLAG field has special meaning. */
-struct curl_fileinfo {
-  char *filename;
-  curlfiletype filetype;
-  time_t time;
-  unsigned int perm;
-  int uid;
-  int gid;
-  curl_off_t size;
-  long int hardlinks;
-
-  struct {
-    /* If some of these fields is not NULL, it is a pointer to b_data. */
-    char *time;
-    char *perm;
-    char *user;
-    char *group;
-    char *target; /* pointer to the target filename of a symlink */
-  } strings;
-
-  unsigned int flags;
-
-  /* used internally */
-  char * b_data;
-  size_t b_size;
-  size_t b_used;
-};
-
-/* return codes for CURLOPT_CHUNK_BGN_FUNCTION */
-#define CURL_CHUNK_BGN_FUNC_OK      0
-#define CURL_CHUNK_BGN_FUNC_FAIL    1 /* tell the lib to end the task */
-#define CURL_CHUNK_BGN_FUNC_SKIP    2 /* skip this chunk over */
-
-/* if splitting of data transfer is enabled, this callback is called before
-   download of an individual chunk started. Note that parameter "remains" works
-   only for FTP wildcard downloading (for now), otherwise is not used */
-typedef long (*curl_chunk_bgn_callback)(const void *transfer_info,
-                                        void *ptr,
-                                        int remains);
-
-/* return codes for CURLOPT_CHUNK_END_FUNCTION */
-#define CURL_CHUNK_END_FUNC_OK      0
-#define CURL_CHUNK_END_FUNC_FAIL    1 /* tell the lib to end the task */
-
-/* If splitting of data transfer is enabled this callback is called after
-   download of an individual chunk finished.
-   Note! After this callback was set then it have to be called FOR ALL chunks.
-   Even if downloading of this chunk was skipped in CHUNK_BGN_FUNC.
-   This is the reason why we don't need "transfer_info" parameter in this
-   callback and we are not interested in "remains" parameter too. */
-typedef long (*curl_chunk_end_callback)(void *ptr);
-
-/* return codes for FNMATCHFUNCTION */
-#define CURL_FNMATCHFUNC_MATCH    0 /* string corresponds to the pattern */
-#define CURL_FNMATCHFUNC_NOMATCH  1 /* pattern doesn't match the string */
-#define CURL_FNMATCHFUNC_FAIL     2 /* an error occurred */
-
-/* callback type for wildcard downloading pattern matching. If the
-   string matches the pattern, return CURL_FNMATCHFUNC_MATCH value, etc. */
-typedef int (*curl_fnmatch_callback)(void *ptr,
-                                     const char *pattern,
-                                     const char *string);
-
-/* These are the return codes for the seek callbacks */
-#define CURL_SEEKFUNC_OK       0
-#define CURL_SEEKFUNC_FAIL     1 /* fail the entire transfer */
-#define CURL_SEEKFUNC_CANTSEEK 2 /* tell libcurl seeking can't be done, so
-                                    libcurl might try other means instead */
-typedef int (*curl_seek_callback)(void *instream,
-                                  curl_off_t offset,
-                                  int origin); /* 'whence' */
-
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to immediately abort the current transfer. */
-#define CURL_READFUNC_ABORT 0x10000000
-/* This is a return code for the read callback that, when returned, will
-   signal libcurl to pause sending data on the current transfer. */
-#define CURL_READFUNC_PAUSE 0x10000001
-
-typedef size_t (*curl_read_callback)(char *buffer,
-                                      size_t size,
-                                      size_t nitems,
-                                      void *instream);
-
-typedef enum  {
-  CURLSOCKTYPE_IPCXN,  /* socket created for a specific IP connection */
-  CURLSOCKTYPE_ACCEPT, /* socket created by accept() call */
-  CURLSOCKTYPE_LAST    /* never use */
-} curlsocktype;
-
-/* The return code from the sockopt_callback can signal information back
-   to libcurl: */
-#define CURL_SOCKOPT_OK 0
-#define CURL_SOCKOPT_ERROR 1 /* causes libcurl to abort and return
-                                CURLE_ABORTED_BY_CALLBACK */
-#define CURL_SOCKOPT_ALREADY_CONNECTED 2
-
-typedef int (*curl_sockopt_callback)(void *clientp,
-                                     curl_socket_t curlfd,
-                                     curlsocktype purpose);
-
-struct curl_sockaddr {
-  int family;
-  int socktype;
-  int protocol;
-  unsigned int addrlen; /* addrlen was a socklen_t type before 7.18.0 but it
-                           turned really ugly and painful on the systems that
-                           lack this type */
-  struct sockaddr addr;
-};
-
-typedef curl_socket_t
-(*curl_opensocket_callback)(void *clientp,
-                            curlsocktype purpose,
-                            struct curl_sockaddr *address);
-
-typedef int
-(*curl_closesocket_callback)(void *clientp, curl_socket_t item);
-
-typedef enum {
-  CURLIOE_OK,            /* I/O operation successful */
-  CURLIOE_UNKNOWNCMD,    /* command was unknown to callback */
-  CURLIOE_FAILRESTART,   /* failed to restart the read */
-  CURLIOE_LAST           /* never use */
-} curlioerr;
-
-typedef enum  {
-  CURLIOCMD_NOP,         /* no operation */
-  CURLIOCMD_RESTARTREAD, /* restart the read stream from start */
-  CURLIOCMD_LAST         /* never use */
-} curliocmd;
-
-typedef curlioerr (*curl_ioctl_callback)(CURL *handle,
-                                         int cmd,
-                                         void *clientp);
-
-/*
- * The following typedef's are signatures of malloc, free, realloc, strdup and
- * calloc respectively.  Function pointers of these types can be passed to the
- * curl_global_init_mem() function to set user defined memory management
- * callback routines.
- */
-typedef void *(*curl_malloc_callback)(size_t size);
-typedef void (*curl_free_callback)(void *ptr);
-typedef void *(*curl_realloc_callback)(void *ptr, size_t size);
-typedef char *(*curl_strdup_callback)(const char *str);
-typedef void *(*curl_calloc_callback)(size_t nmemb, size_t size);
-
-/* the kind of data that is passed to information_callback*/
-typedef enum {
-  CURLINFO_TEXT = 0,
-  CURLINFO_HEADER_IN,    /* 1 */
-  CURLINFO_HEADER_OUT,   /* 2 */
-  CURLINFO_DATA_IN,      /* 3 */
-  CURLINFO_DATA_OUT,     /* 4 */
-  CURLINFO_SSL_DATA_IN,  /* 5 */
-  CURLINFO_SSL_DATA_OUT, /* 6 */
-  CURLINFO_END
-} curl_infotype;
-
-typedef int (*curl_debug_callback)
-       (CURL *handle,      /* the handle/transfer this concerns */
-        curl_infotype type, /* what kind of data */
-        char *data,        /* points to the data */
-        size_t size,       /* size of the data pointed to */
-        void *userptr);    /* whatever the user please */
-
-/* All possible error codes from all sorts of curl functions. Future versions
-   may return other values, stay prepared.
-
-   Always add new return codes last. Never *EVER* remove any. The return
-   codes must remain the same!
- */
-
-typedef enum {
-  CURLE_OK = 0,
-  CURLE_UNSUPPORTED_PROTOCOL,    /* 1 */
-  CURLE_FAILED_INIT,             /* 2 */
-  CURLE_URL_MALFORMAT,           /* 3 */
-  CURLE_NOT_BUILT_IN,            /* 4 - [was obsoleted in August 2007 for
-                                    7.17.0, reused in April 2011 for 7.21.5] */
-  CURLE_COULDNT_RESOLVE_PROXY,   /* 5 */
-  CURLE_COULDNT_RESOLVE_HOST,    /* 6 */
-  CURLE_COULDNT_CONNECT,         /* 7 */
-  CURLE_FTP_WEIRD_SERVER_REPLY,  /* 8 */
-  CURLE_REMOTE_ACCESS_DENIED,    /* 9 a service was denied by the server
-                                    due to lack of access - when login fails
-                                    this is not returned. */
-  CURLE_FTP_ACCEPT_FAILED,       /* 10 - [was obsoleted in April 2006 for
-                                    7.15.4, reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASS_REPLY,    /* 11 */
-  CURLE_FTP_ACCEPT_TIMEOUT,      /* 12 - timeout occurred accepting server
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in Dec 2011 for 7.24.0]*/
-  CURLE_FTP_WEIRD_PASV_REPLY,    /* 13 */
-  CURLE_FTP_WEIRD_227_FORMAT,    /* 14 */
-  CURLE_FTP_CANT_GET_HOST,       /* 15 */
-  CURLE_HTTP2,                   /* 16 - A problem in the http2 framing layer.
-                                    [was obsoleted in August 2007 for 7.17.0,
-                                    reused in July 2014 for 7.38.0] */
-  CURLE_FTP_COULDNT_SET_TYPE,    /* 17 */
-  CURLE_PARTIAL_FILE,            /* 18 */
-  CURLE_FTP_COULDNT_RETR_FILE,   /* 19 */
-  CURLE_OBSOLETE20,              /* 20 - NOT USED */
-  CURLE_QUOTE_ERROR,             /* 21 - quote command failure */
-  CURLE_HTTP_RETURNED_ERROR,     /* 22 */
-  CURLE_WRITE_ERROR,             /* 23 */
-  CURLE_OBSOLETE24,              /* 24 - NOT USED */
-  CURLE_UPLOAD_FAILED,           /* 25 - failed upload "command" */
-  CURLE_READ_ERROR,              /* 26 - couldn't open/read from file */
-  CURLE_OUT_OF_MEMORY,           /* 27 */
-  /* Note: CURLE_OUT_OF_MEMORY may sometimes indicate a conversion error
-           instead of a memory allocation error if CURL_DOES_CONVERSIONS
-           is defined
-  */
-  CURLE_OPERATION_TIMEDOUT,      /* 28 - the timeout time was reached */
-  CURLE_OBSOLETE29,              /* 29 - NOT USED */
-  CURLE_FTP_PORT_FAILED,         /* 30 - FTP PORT operation failed */
-  CURLE_FTP_COULDNT_USE_REST,    /* 31 - the REST command failed */
-  CURLE_OBSOLETE32,              /* 32 - NOT USED */
-  CURLE_RANGE_ERROR,             /* 33 - RANGE "command" didn't work */
-  CURLE_HTTP_POST_ERROR,         /* 34 */
-  CURLE_SSL_CONNECT_ERROR,       /* 35 - wrong when connecting with SSL */
-  CURLE_BAD_DOWNLOAD_RESUME,     /* 36 - couldn't resume download */
-  CURLE_FILE_COULDNT_READ_FILE,  /* 37 */
-  CURLE_LDAP_CANNOT_BIND,        /* 38 */
-  CURLE_LDAP_SEARCH_FAILED,      /* 39 */
-  CURLE_OBSOLETE40,              /* 40 - NOT USED */
-  CURLE_FUNCTION_NOT_FOUND,      /* 41 */
-  CURLE_ABORTED_BY_CALLBACK,     /* 42 */
-  CURLE_BAD_FUNCTION_ARGUMENT,   /* 43 */
-  CURLE_OBSOLETE44,              /* 44 - NOT USED */
-  CURLE_INTERFACE_FAILED,        /* 45 - CURLOPT_INTERFACE failed */
-  CURLE_OBSOLETE46,              /* 46 - NOT USED */
-  CURLE_TOO_MANY_REDIRECTS ,     /* 47 - catch endless re-direct loops */
-  CURLE_UNKNOWN_OPTION,          /* 48 - User specified an unknown option */
-  CURLE_TELNET_OPTION_SYNTAX ,   /* 49 - Malformed telnet option */
-  CURLE_OBSOLETE50,              /* 50 - NOT USED */
-  CURLE_PEER_FAILED_VERIFICATION, /* 51 - peer's certificate or fingerprint
-                                     wasn't verified fine */
-  CURLE_GOT_NOTHING,             /* 52 - when this is a specific error */
-  CURLE_SSL_ENGINE_NOTFOUND,     /* 53 - SSL crypto engine not found */
-  CURLE_SSL_ENGINE_SETFAILED,    /* 54 - can not set SSL crypto engine as
-                                    default */
-  CURLE_SEND_ERROR,              /* 55 - failed sending network data */
-  CURLE_RECV_ERROR,              /* 56 - failure in receiving network data */
-  CURLE_OBSOLETE57,              /* 57 - NOT IN USE */
-  CURLE_SSL_CERTPROBLEM,         /* 58 - problem with the local certificate */
-  CURLE_SSL_CIPHER,              /* 59 - couldn't use specified cipher */
-  CURLE_SSL_CACERT,              /* 60 - problem with the CA cert (path?) */
-  CURLE_BAD_CONTENT_ENCODING,    /* 61 - Unrecognized/bad encoding */
-  CURLE_LDAP_INVALID_URL,        /* 62 - Invalid LDAP URL */
-  CURLE_FILESIZE_EXCEEDED,       /* 63 - Maximum file size exceeded */
-  CURLE_USE_SSL_FAILED,          /* 64 - Requested FTP SSL level failed */
-  CURLE_SEND_FAIL_REWIND,        /* 65 - Sending the data requires a rewind
-                                    that failed */
-  CURLE_SSL_ENGINE_INITFAILED,   /* 66 - failed to initialise ENGINE */
-  CURLE_LOGIN_DENIED,            /* 67 - user, password or similar was not
-                                    accepted and we failed to login */
-  CURLE_TFTP_NOTFOUND,           /* 68 - file not found on server */
-  CURLE_TFTP_PERM,               /* 69 - permission problem on server */
-  CURLE_REMOTE_DISK_FULL,        /* 70 - out of disk space on server */
-  CURLE_TFTP_ILLEGAL,            /* 71 - Illegal TFTP operation */
-  CURLE_TFTP_UNKNOWNID,          /* 72 - Unknown transfer ID */
-  CURLE_REMOTE_FILE_EXISTS,      /* 73 - File already exists */
-  CURLE_TFTP_NOSUCHUSER,         /* 74 - No such user */
-  CURLE_CONV_FAILED,             /* 75 - conversion failed */
-  CURLE_CONV_REQD,               /* 76 - caller must register conversion
-                                    callbacks using curl_easy_setopt options
-                                    CURLOPT_CONV_FROM_NETWORK_FUNCTION,
-                                    CURLOPT_CONV_TO_NETWORK_FUNCTION, and
-                                    CURLOPT_CONV_FROM_UTF8_FUNCTION */
-  CURLE_SSL_CACERT_BADFILE,      /* 77 - could not load CACERT file, missing
-                                    or wrong format */
-  CURLE_REMOTE_FILE_NOT_FOUND,   /* 78 - remote file not found */
-  CURLE_SSH,                     /* 79 - error from the SSH layer, somewhat
-                                    generic so the error message will be of
-                                    interest when this has happened */
-
-  CURLE_SSL_SHUTDOWN_FAILED,     /* 80 - Failed to shut down the SSL
-                                    connection */
-  CURLE_AGAIN,                   /* 81 - socket is not ready for send/recv,
-                                    wait till it's ready and try again (Added
-                                    in 7.18.2) */
-  CURLE_SSL_CRL_BADFILE,         /* 82 - could not load CRL file, missing or
-                                    wrong format (Added in 7.19.0) */
-  CURLE_SSL_ISSUER_ERROR,        /* 83 - Issuer check failed.  (Added in
-                                    7.19.0) */
-  CURLE_FTP_PRET_FAILED,         /* 84 - a PRET command failed */
-  CURLE_RTSP_CSEQ_ERROR,         /* 85 - mismatch of RTSP CSeq numbers */
-  CURLE_RTSP_SESSION_ERROR,      /* 86 - mismatch of RTSP Session Ids */
-  CURLE_FTP_BAD_FILE_LIST,       /* 87 - unable to parse FTP file list */
-  CURLE_CHUNK_FAILED,            /* 88 - chunk callback reported error */
-  CURLE_NO_CONNECTION_AVAILABLE, /* 89 - No connection available, the
-                                    session will be queued */
-  CURLE_SSL_PINNEDPUBKEYNOTMATCH, /* 90 - specified pinned public key did not
-                                     match */
-  CURLE_SSL_INVALIDCERTSTATUS,   /* 91 - invalid certificate status */
-  CURL_LAST /* never use! */
-} CURLcode;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Previously obsolete error code re-used in 7.38.0 */
-#define CURLE_OBSOLETE16 CURLE_HTTP2
-
-/* Previously obsolete error codes re-used in 7.24.0 */
-#define CURLE_OBSOLETE10 CURLE_FTP_ACCEPT_FAILED
-#define CURLE_OBSOLETE12 CURLE_FTP_ACCEPT_TIMEOUT
-
-/*  compatibility with older names */
-#define CURLOPT_ENCODING CURLOPT_ACCEPT_ENCODING
-
-/* The following were added in 7.21.5, April 2011 */
-#define CURLE_UNKNOWN_TELNET_OPTION CURLE_UNKNOWN_OPTION
-
-/* The following were added in 7.17.1 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_SSL_PEER_CERTIFICATE CURLE_PEER_FAILED_VERIFICATION
-
-/* The following were added in 7.17.0 */
-/* These are scheduled to disappear by 2009 */
-#define CURLE_OBSOLETE CURLE_OBSOLETE50 /* no one should be using this! */
-#define CURLE_BAD_PASSWORD_ENTERED CURLE_OBSOLETE46
-#define CURLE_BAD_CALLING_ORDER CURLE_OBSOLETE44
-#define CURLE_FTP_USER_PASSWORD_INCORRECT CURLE_OBSOLETE10
-#define CURLE_FTP_CANT_RECONNECT CURLE_OBSOLETE16
-#define CURLE_FTP_COULDNT_GET_SIZE CURLE_OBSOLETE32
-#define CURLE_FTP_COULDNT_SET_ASCII CURLE_OBSOLETE29
-#define CURLE_FTP_WEIRD_USER_REPLY CURLE_OBSOLETE12
-#define CURLE_FTP_WRITE_ERROR CURLE_OBSOLETE20
-#define CURLE_LIBRARY_NOT_FOUND CURLE_OBSOLETE40
-#define CURLE_MALFORMAT_USER CURLE_OBSOLETE24
-#define CURLE_SHARE_IN_USE CURLE_OBSOLETE57
-#define CURLE_URL_MALFORMAT_USER CURLE_NOT_BUILT_IN
-
-#define CURLE_FTP_ACCESS_DENIED CURLE_REMOTE_ACCESS_DENIED
-#define CURLE_FTP_COULDNT_SET_BINARY CURLE_FTP_COULDNT_SET_TYPE
-#define CURLE_FTP_QUOTE_ERROR CURLE_QUOTE_ERROR
-#define CURLE_TFTP_DISKFULL CURLE_REMOTE_DISK_FULL
-#define CURLE_TFTP_EXISTS CURLE_REMOTE_FILE_EXISTS
-#define CURLE_HTTP_RANGE_ERROR CURLE_RANGE_ERROR
-#define CURLE_FTP_SSL_FAILED CURLE_USE_SSL_FAILED
-
-/* The following were added earlier */
-
-#define CURLE_OPERATION_TIMEOUTED CURLE_OPERATION_TIMEDOUT
-
-#define CURLE_HTTP_NOT_FOUND CURLE_HTTP_RETURNED_ERROR
-#define CURLE_HTTP_PORT_FAILED CURLE_INTERFACE_FAILED
-#define CURLE_FTP_COULDNT_STOR_FILE CURLE_UPLOAD_FAILED
-
-#define CURLE_FTP_PARTIAL_FILE CURLE_PARTIAL_FILE
-#define CURLE_FTP_BAD_DOWNLOAD_RESUME CURLE_BAD_DOWNLOAD_RESUME
-
-/* This was the error code 50 in 7.7.3 and a few earlier versions, this
-   is no longer used by libcurl but is instead #defined here only to not
-   make programs break */
-#define CURLE_ALREADY_COMPLETE 99999
-
-/* Provide defines for really old option names */
-#define CURLOPT_FILE CURLOPT_WRITEDATA /* name changed in 7.9.7 */
-#define CURLOPT_INFILE CURLOPT_READDATA /* name changed in 7.9.7 */
-#define CURLOPT_WRITEHEADER CURLOPT_HEADERDATA
-
-/* Since long deprecated options with no code in the lib that does anything
-   with them. */
-#define CURLOPT_WRITEINFO CURLOPT_OBSOLETE40
-#define CURLOPT_CLOSEPOLICY CURLOPT_OBSOLETE72
-
-#endif /*!CURL_NO_OLDIES*/
-
-/* This prototype applies to all conversion callbacks */
-typedef CURLcode (*curl_conv_callback)(char *buffer, size_t length);
-
-typedef CURLcode (*curl_ssl_ctx_callback)(CURL *curl,    /* easy handle */
-                                          void *ssl_ctx, /* actually an
-                                                            OpenSSL SSL_CTX */
-                                          void *userptr);
-
-typedef enum {
-  CURLPROXY_HTTP = 0,   /* added in 7.10, new in 7.19.4 default is to use
-                           CONNECT HTTP/1.1 */
-  CURLPROXY_HTTP_1_0 = 1,   /* added in 7.19.4, force to use CONNECT
-                               HTTP/1.0  */
-  CURLPROXY_SOCKS4 = 4, /* support added in 7.15.2, enum existed already
-                           in 7.10 */
-  CURLPROXY_SOCKS5 = 5, /* added in 7.10 */
-  CURLPROXY_SOCKS4A = 6, /* added in 7.18.0 */
-  CURLPROXY_SOCKS5_HOSTNAME = 7 /* Use the SOCKS5 protocol but pass along the
-                                   host name rather than the IP address. added
-                                   in 7.18.0 */
-} curl_proxytype;  /* this enum was added in 7.10 */
-
-/*
- * Bitmasks for CURLOPT_HTTPAUTH and CURLOPT_PROXYAUTH options:
- *
- * CURLAUTH_NONE         - No HTTP authentication
- * CURLAUTH_BASIC        - HTTP Basic authentication (default)
- * CURLAUTH_DIGEST       - HTTP Digest authentication
- * CURLAUTH_NEGOTIATE    - HTTP Negotiate (SPNEGO) authentication
- * CURLAUTH_GSSNEGOTIATE - Alias for CURLAUTH_NEGOTIATE (deprecated)
- * CURLAUTH_NTLM         - HTTP NTLM authentication
- * CURLAUTH_DIGEST_IE    - HTTP Digest authentication with IE flavour
- * CURLAUTH_NTLM_WB      - HTTP NTLM authentication delegated to winbind helper
- * CURLAUTH_ONLY         - Use together with a single other type to force no
- *                         authentication or just that single type
- * CURLAUTH_ANY          - All fine types set
- * CURLAUTH_ANYSAFE      - All fine types except Basic
- */
-
-#define CURLAUTH_NONE         ((unsigned long)0)
-#define CURLAUTH_BASIC        (((unsigned long)1)<<0)
-#define CURLAUTH_DIGEST       (((unsigned long)1)<<1)
-#define CURLAUTH_NEGOTIATE    (((unsigned long)1)<<2)
-/* Deprecated since the advent of CURLAUTH_NEGOTIATE */
-#define CURLAUTH_GSSNEGOTIATE CURLAUTH_NEGOTIATE
-#define CURLAUTH_NTLM         (((unsigned long)1)<<3)
-#define CURLAUTH_DIGEST_IE    (((unsigned long)1)<<4)
-#define CURLAUTH_NTLM_WB      (((unsigned long)1)<<5)
-#define CURLAUTH_ONLY         (((unsigned long)1)<<31)
-#define CURLAUTH_ANY          (~CURLAUTH_DIGEST_IE)
-#define CURLAUTH_ANYSAFE      (~(CURLAUTH_BASIC|CURLAUTH_DIGEST_IE))
-
-#define CURLSSH_AUTH_ANY       ~0     /* all types supported by the server */
-#define CURLSSH_AUTH_NONE      0      /* none allowed, silly but complete */
-#define CURLSSH_AUTH_PUBLICKEY (1<<0) /* public/private key files */
-#define CURLSSH_AUTH_PASSWORD  (1<<1) /* password */
-#define CURLSSH_AUTH_HOST      (1<<2) /* host key files */
-#define CURLSSH_AUTH_KEYBOARD  (1<<3) /* keyboard interactive */
-#define CURLSSH_AUTH_AGENT     (1<<4) /* agent (ssh-agent, pageant...) */
-#define CURLSSH_AUTH_DEFAULT CURLSSH_AUTH_ANY
-
-#define CURLGSSAPI_DELEGATION_NONE        0      /* no delegation (default) */
-#define CURLGSSAPI_DELEGATION_POLICY_FLAG (1<<0) /* if permitted by policy */
-#define CURLGSSAPI_DELEGATION_FLAG        (1<<1) /* delegate always */
-
-#define CURL_ERROR_SIZE 256
-
-enum curl_khtype {
-  CURLKHTYPE_UNKNOWN,
-  CURLKHTYPE_RSA1,
-  CURLKHTYPE_RSA,
-  CURLKHTYPE_DSS
-};
-
-struct curl_khkey {
-  const char *key; /* points to a zero-terminated string encoded with base64
-                      if len is zero, otherwise to the "raw" data */
-  size_t len;
-  enum curl_khtype keytype;
-};
-
-/* this is the set of return values expected from the curl_sshkeycallback
-   callback */
-enum curl_khstat {
-  CURLKHSTAT_FINE_ADD_TO_FILE,
-  CURLKHSTAT_FINE,
-  CURLKHSTAT_REJECT, /* reject the connection, return an error */
-  CURLKHSTAT_DEFER,  /* do not accept it, but we can't answer right now so
-                        this causes a CURLE_DEFER error but otherwise the
-                        connection will be left intact etc */
-  CURLKHSTAT_LAST    /* not for use, only a marker for last-in-list */
-};
-
-/* this is the set of status codes pass in to the callback */
-enum curl_khmatch {
-  CURLKHMATCH_OK,       /* match */
-  CURLKHMATCH_MISMATCH, /* host found, key mismatch! */
-  CURLKHMATCH_MISSING,  /* no matching host/key found */
-  CURLKHMATCH_LAST      /* not for use, only a marker for last-in-list */
-};
-
-typedef int
-  (*curl_sshkeycallback) (CURL *easy,     /* easy handle */
-                          const struct curl_khkey *knownkey, /* known */
-                          const struct curl_khkey *foundkey, /* found */
-                          enum curl_khmatch, /* libcurl's view on the keys */
-                          void *clientp); /* custom pointer passed from app */
-
-/* parameter for the CURLOPT_USE_SSL option */
-typedef enum {
-  CURLUSESSL_NONE,    /* do not attempt to use SSL */
-  CURLUSESSL_TRY,     /* try using SSL, proceed anyway otherwise */
-  CURLUSESSL_CONTROL, /* SSL for the control connection or fail */
-  CURLUSESSL_ALL,     /* SSL for all communication or fail */
-  CURLUSESSL_LAST     /* not an option, never use */
-} curl_usessl;
-
-/* Definition of bits for the CURLOPT_SSL_OPTIONS argument: */
-
-/* - ALLOW_BEAST tells libcurl to allow the BEAST SSL vulnerability in the
-   name of improving interoperability with older servers. Some SSL libraries
-   have introduced work-arounds for this flaw but those work-arounds sometimes
-   make the SSL communication fail. To regain functionality with those broken
-   servers, a user can this way allow the vulnerability back. */
-#define CURLSSLOPT_ALLOW_BEAST (1<<0)
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2009 */
-
-#define CURLFTPSSL_NONE CURLUSESSL_NONE
-#define CURLFTPSSL_TRY CURLUSESSL_TRY
-#define CURLFTPSSL_CONTROL CURLUSESSL_CONTROL
-#define CURLFTPSSL_ALL CURLUSESSL_ALL
-#define CURLFTPSSL_LAST CURLUSESSL_LAST
-#define curl_ftpssl curl_usessl
-#endif /*!CURL_NO_OLDIES*/
-
-/* parameter for the CURLOPT_FTP_SSL_CCC option */
-typedef enum {
-  CURLFTPSSL_CCC_NONE,    /* do not send CCC */
-  CURLFTPSSL_CCC_PASSIVE, /* Let the server initiate the shutdown */
-  CURLFTPSSL_CCC_ACTIVE,  /* Initiate the shutdown */
-  CURLFTPSSL_CCC_LAST     /* not an option, never use */
-} curl_ftpccc;
-
-/* parameter for the CURLOPT_FTPSSLAUTH option */
-typedef enum {
-  CURLFTPAUTH_DEFAULT, /* let libcurl decide */
-  CURLFTPAUTH_SSL,     /* use "AUTH SSL" */
-  CURLFTPAUTH_TLS,     /* use "AUTH TLS" */
-  CURLFTPAUTH_LAST /* not an option, never use */
-} curl_ftpauth;
-
-/* parameter for the CURLOPT_FTP_CREATE_MISSING_DIRS option */
-typedef enum {
-  CURLFTP_CREATE_DIR_NONE,  /* do NOT create missing dirs! */
-  CURLFTP_CREATE_DIR,       /* (FTP/SFTP) if CWD fails, try MKD and then CWD
-                               again if MKD succeeded, for SFTP this does
-                               similar magic */
-  CURLFTP_CREATE_DIR_RETRY, /* (FTP only) if CWD fails, try MKD and then CWD
-                               again even if MKD failed! */
-  CURLFTP_CREATE_DIR_LAST   /* not an option, never use */
-} curl_ftpcreatedir;
-
-/* parameter for the CURLOPT_FTP_FILEMETHOD option */
-typedef enum {
-  CURLFTPMETHOD_DEFAULT,   /* let libcurl pick */
-  CURLFTPMETHOD_MULTICWD,  /* single CWD operation for each path part */
-  CURLFTPMETHOD_NOCWD,     /* no CWD at all */
-  CURLFTPMETHOD_SINGLECWD, /* one CWD to full dir, then work on file */
-  CURLFTPMETHOD_LAST       /* not an option, never use */
-} curl_ftpmethod;
-
-/* bitmask defines for CURLOPT_HEADEROPT */
-#define CURLHEADER_UNIFIED  0
-#define CURLHEADER_SEPARATE (1<<0)
-
-/* CURLPROTO_ defines are for the CURLOPT_*PROTOCOLS options */
-#define CURLPROTO_HTTP   (1<<0)
-#define CURLPROTO_HTTPS  (1<<1)
-#define CURLPROTO_FTP    (1<<2)
-#define CURLPROTO_FTPS   (1<<3)
-#define CURLPROTO_SCP    (1<<4)
-#define CURLPROTO_SFTP   (1<<5)
-#define CURLPROTO_TELNET (1<<6)
-#define CURLPROTO_LDAP   (1<<7)
-#define CURLPROTO_LDAPS  (1<<8)
-#define CURLPROTO_DICT   (1<<9)
-#define CURLPROTO_FILE   (1<<10)
-#define CURLPROTO_TFTP   (1<<11)
-#define CURLPROTO_IMAP   (1<<12)
-#define CURLPROTO_IMAPS  (1<<13)
-#define CURLPROTO_POP3   (1<<14)
-#define CURLPROTO_POP3S  (1<<15)
-#define CURLPROTO_SMTP   (1<<16)
-#define CURLPROTO_SMTPS  (1<<17)
-#define CURLPROTO_RTSP   (1<<18)
-#define CURLPROTO_RTMP   (1<<19)
-#define CURLPROTO_RTMPT  (1<<20)
-#define CURLPROTO_RTMPE  (1<<21)
-#define CURLPROTO_RTMPTE (1<<22)
-#define CURLPROTO_RTMPS  (1<<23)
-#define CURLPROTO_RTMPTS (1<<24)
-#define CURLPROTO_GOPHER (1<<25)
-#define CURLPROTO_SMB    (1<<26)
-#define CURLPROTO_SMBS   (1<<27)
-#define CURLPROTO_ALL    (~0) /* enable everything */
-
-/* long may be 32 or 64 bits, but we should never depend on anything else
-   but 32 */
-#define CURLOPTTYPE_LONG          0
-#define CURLOPTTYPE_OBJECTPOINT   10000
-#define CURLOPTTYPE_FUNCTIONPOINT 20000
-#define CURLOPTTYPE_OFF_T         30000
-
-/* name is uppercase CURLOPT_<name>,
-   type is one of the defined CURLOPTTYPE_<type>
-   number is unique identifier */
-#ifdef CINIT
-#undef CINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CINIT(na,t,nu) CURLOPT_ ## na = CURLOPTTYPE_ ## t + nu
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLOPT_/**/name = type + number
-#endif
-
-/*
- * This macro-mania below setups the CURLOPT_[what] enum, to be used with
- * curl_easy_setopt(). The first argument in the CINIT() macro is the [what]
- * word.
- */
-
-typedef enum {
-  /* This is the FILE * or void * the regular output should be written to. */
-  CINIT(WRITEDATA, OBJECTPOINT, 1),
-
-  /* The full URL to get/put */
-  CINIT(URL, OBJECTPOINT, 2),
-
-  /* Port number to connect to, if other than default. */
-  CINIT(PORT, LONG, 3),
-
-  /* Name of proxy to use. */
-  CINIT(PROXY, OBJECTPOINT, 4),
-
-  /* "user:password;options" to use when fetching. */
-  CINIT(USERPWD, OBJECTPOINT, 5),
-
-  /* "user:password" to use with proxy. */
-  CINIT(PROXYUSERPWD, OBJECTPOINT, 6),
-
-  /* Range to get, specified as an ASCII string. */
-  CINIT(RANGE, OBJECTPOINT, 7),
-
-  /* not used */
-
-  /* Specified file stream to upload from (use as input): */
-  CINIT(READDATA, OBJECTPOINT, 9),
-
-  /* Buffer to receive error messages in, must be at least CURL_ERROR_SIZE
-   * bytes big. If this is not used, error messages go to stderr instead: */
-  CINIT(ERRORBUFFER, OBJECTPOINT, 10),
-
-  /* Function that will be called to store the output (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(WRITEFUNCTION, FUNCTIONPOINT, 11),
-
-  /* Function that will be called to read the input (instead of fread). The
-   * parameters will use fread() syntax, make sure to follow them. */
-  CINIT(READFUNCTION, FUNCTIONPOINT, 12),
-
-  /* Time-out the read operation after this amount of seconds */
-  CINIT(TIMEOUT, LONG, 13),
-
-  /* If the CURLOPT_INFILE is used, this can be used to inform libcurl about
-   * how large the file being sent really is. That allows better error
-   * checking and better verifies that the upload was successful. -1 means
-   * unknown size.
-   *
-   * For large file support, there is also a _LARGE version of the key
-   * which takes an off_t type, allowing platforms with larger off_t
-   * sizes to handle larger files.  See below for INFILESIZE_LARGE.
-   */
-  CINIT(INFILESIZE, LONG, 14),
-
-  /* POST static input fields. */
-  CINIT(POSTFIELDS, OBJECTPOINT, 15),
-
-  /* Set the referrer page (needed by some CGIs) */
-  CINIT(REFERER, OBJECTPOINT, 16),
-
-  /* Set the FTP PORT string (interface name, named or numerical IP address)
-     Use i.e '-' to use default address. */
-  CINIT(FTPPORT, OBJECTPOINT, 17),
-
-  /* Set the User-Agent string (examined by some CGIs) */
-  CINIT(USERAGENT, OBJECTPOINT, 18),
-
-  /* If the download receives less than "low speed limit" bytes/second
-   * during "low speed time" seconds, the operations is aborted.
-   * You could i.e if you have a pretty high speed connection, abort if
-   * it is less than 2000 bytes/sec during 20 seconds.
-   */
-
-  /* Set the "low speed limit" */
-  CINIT(LOW_SPEED_LIMIT, LONG, 19),
-
-  /* Set the "low speed time" */
-  CINIT(LOW_SPEED_TIME, LONG, 20),
-
-  /* Set the continuation offset.
-   *
-   * Note there is also a _LARGE version of this key which uses
-   * off_t types, allowing for large file offsets on platforms which
-   * use larger-than-32-bit off_t's.  Look below for RESUME_FROM_LARGE.
-   */
-  CINIT(RESUME_FROM, LONG, 21),
-
-  /* Set cookie in request: */
-  CINIT(COOKIE, OBJECTPOINT, 22),
-
-  /* This points to a linked list of headers, struct curl_slist kind. This
-     list is also used for RTSP (in spite of its name) */
-  CINIT(HTTPHEADER, OBJECTPOINT, 23),
-
-  /* This points to a linked list of post entries, struct curl_httppost */
-  CINIT(HTTPPOST, OBJECTPOINT, 24),
-
-  /* name of the file keeping your private SSL-certificate */
-  CINIT(SSLCERT, OBJECTPOINT, 25),
-
-  /* password for the SSL or SSH private key */
-  CINIT(KEYPASSWD, OBJECTPOINT, 26),
-
-  /* send TYPE parameter? */
-  CINIT(CRLF, LONG, 27),
-
-  /* send linked-list of QUOTE commands */
-  CINIT(QUOTE, OBJECTPOINT, 28),
-
-  /* send FILE * or void * to store headers to, if you use a callback it
-     is simply passed to the callback unmodified */
-  CINIT(HEADERDATA, OBJECTPOINT, 29),
-
-  /* point to a file to read the initial cookies from, also enables
-     "cookie awareness" */
-  CINIT(COOKIEFILE, OBJECTPOINT, 31),
-
-  /* What version to specifically try to use.
-     See CURL_SSLVERSION defines below. */
-  CINIT(SSLVERSION, LONG, 32),
-
-  /* What kind of HTTP time condition to use, see defines */
-  CINIT(TIMECONDITION, LONG, 33),
-
-  /* Time to use with the above condition. Specified in number of seconds
-     since 1 Jan 1970 */
-  CINIT(TIMEVALUE, LONG, 34),
-
-  /* 35 = OBSOLETE */
-
-  /* Custom request, for customizing the get command like
-     HTTP: DELETE, TRACE and others
-     FTP: to use a different list command
-     */
-  CINIT(CUSTOMREQUEST, OBJECTPOINT, 36),
-
-  /* HTTP request, for odd commands like DELETE, TRACE and others */
-  CINIT(STDERR, OBJECTPOINT, 37),
-
-  /* 38 is not used */
-
-  /* send linked-list of post-transfer QUOTE commands */
-  CINIT(POSTQUOTE, OBJECTPOINT, 39),
-
-  CINIT(OBSOLETE40, OBJECTPOINT, 40), /* OBSOLETE, do not use! */
-
-  CINIT(VERBOSE, LONG, 41),      /* talk a lot */
-  CINIT(HEADER, LONG, 42),       /* throw the header out too */
-  CINIT(NOPROGRESS, LONG, 43),   /* shut off the progress meter */
-  CINIT(NOBODY, LONG, 44),       /* use HEAD to get http document */
-  CINIT(FAILONERROR, LONG, 45),  /* no output on http error codes >= 400 */
-  CINIT(UPLOAD, LONG, 46),       /* this is an upload */
-  CINIT(POST, LONG, 47),         /* HTTP POST method */
-  CINIT(DIRLISTONLY, LONG, 48),  /* bare names when listing directories */
-
-  CINIT(APPEND, LONG, 50),       /* Append instead of overwrite on upload! */
-
-  /* Specify whether to read the user+password from the .netrc or the URL.
-   * This must be one of the CURL_NETRC_* enums below. */
-  CINIT(NETRC, LONG, 51),
-
-  CINIT(FOLLOWLOCATION, LONG, 52),  /* use Location: Luke! */
-
-  CINIT(TRANSFERTEXT, LONG, 53), /* transfer data in text/ASCII format */
-  CINIT(PUT, LONG, 54),          /* HTTP PUT */
-
-  /* 55 = OBSOLETE */
-
-  /* DEPRECATED
-   * Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_progress_callback
-   * prototype defines. */
-  CINIT(PROGRESSFUNCTION, FUNCTIONPOINT, 56),
-
-  /* Data passed to the CURLOPT_PROGRESSFUNCTION and CURLOPT_XFERINFOFUNCTION
-     callbacks */
-  CINIT(PROGRESSDATA, OBJECTPOINT, 57),
-#define CURLOPT_XFERINFODATA CURLOPT_PROGRESSDATA
-
-  /* We want the referrer field set automatically when following locations */
-  CINIT(AUTOREFERER, LONG, 58),
-
-  /* Port of the proxy, can be set in the proxy string as well with:
-     "[host]:[port]" */
-  CINIT(PROXYPORT, LONG, 59),
-
-  /* size of the POST input data, if strlen() is not good to use */
-  CINIT(POSTFIELDSIZE, LONG, 60),
-
-  /* tunnel non-http operations through a HTTP proxy */
-  CINIT(HTTPPROXYTUNNEL, LONG, 61),
-
-  /* Set the interface string to use as outgoing network interface */
-  CINIT(INTERFACE, OBJECTPOINT, 62),
-
-  /* Set the krb4/5 security level, this also enables krb4/5 awareness.  This
-   * is a string, 'clear', 'safe', 'confidential' or 'private'.  If the string
-   * is set but doesn't match one of these, 'private' will be used.  */
-  CINIT(KRBLEVEL, OBJECTPOINT, 63),
-
-  /* Set if we should verify the peer in ssl handshake, set 1 to verify. */
-  CINIT(SSL_VERIFYPEER, LONG, 64),
-
-  /* The CApath or CAfile used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAINFO, OBJECTPOINT, 65),
-
-  /* 66 = OBSOLETE */
-  /* 67 = OBSOLETE */
-
-  /* Maximum number of http redirects to follow */
-  CINIT(MAXREDIRS, LONG, 68),
-
-  /* Pass a long set to 1 to get the date of the requested document (if
-     possible)! Pass a zero to shut it off. */
-  CINIT(FILETIME, LONG, 69),
-
-  /* This points to a linked list of telnet options */
-  CINIT(TELNETOPTIONS, OBJECTPOINT, 70),
-
-  /* Max amount of cached alive connections */
-  CINIT(MAXCONNECTS, LONG, 71),
-
-  CINIT(OBSOLETE72, LONG, 72), /* OBSOLETE, do not use! */
-
-  /* 73 = OBSOLETE */
-
-  /* Set to explicitly use a new connection for the upcoming transfer.
-     Do not use this unless you're absolutely sure of this, as it makes the
-     operation slower and is less friendly for the network. */
-  CINIT(FRESH_CONNECT, LONG, 74),
-
-  /* Set to explicitly forbid the upcoming transfer's connection to be re-used
-     when done. Do not use this unless you're absolutely sure of this, as it
-     makes the operation slower and is less friendly for the network. */
-  CINIT(FORBID_REUSE, LONG, 75),
-
-  /* Set to a file name that contains random data for libcurl to use to
-     seed the random engine when doing SSL connects. */
-  CINIT(RANDOM_FILE, OBJECTPOINT, 76),
-
-  /* Set to the Entropy Gathering Daemon socket pathname */
-  CINIT(EGDSOCKET, OBJECTPOINT, 77),
-
-  /* Time-out connect operations after this amount of seconds, if connects are
-     OK within this time, then fine... This only aborts the connect phase. */
-  CINIT(CONNECTTIMEOUT, LONG, 78),
-
-  /* Function that will be called to store headers (instead of fwrite). The
-   * parameters will use fwrite() syntax, make sure to follow them. */
-  CINIT(HEADERFUNCTION, FUNCTIONPOINT, 79),
-
-  /* Set this to force the HTTP request to get back to GET. Only really usable
-     if POST, PUT or a custom request have been used first.
-   */
-  CINIT(HTTPGET, LONG, 80),
-
-  /* Set if we should verify the Common name from the peer certificate in ssl
-   * handshake, set 1 to check existence, 2 to ensure that it matches the
-   * provided hostname. */
-  CINIT(SSL_VERIFYHOST, LONG, 81),
-
-  /* Specify which file name to write all known cookies in after completed
-     operation. Set file name to "-" (dash) to make it go to stdout. */
-  CINIT(COOKIEJAR, OBJECTPOINT, 82),
-
-  /* Specify which SSL ciphers to use */
-  CINIT(SSL_CIPHER_LIST, OBJECTPOINT, 83),
-
-  /* Specify which HTTP version to use! This must be set to one of the
-     CURL_HTTP_VERSION* enums set below. */
-  CINIT(HTTP_VERSION, LONG, 84),
-
-  /* Specifically switch on or off the FTP engine's use of the EPSV command. By
-     default, that one will always be attempted before the more traditional
-     PASV command. */
-  CINIT(FTP_USE_EPSV, LONG, 85),
-
-  /* type of the file keeping your SSL-certificate ("DER", "PEM", "ENG") */
-  CINIT(SSLCERTTYPE, OBJECTPOINT, 86),
-
-  /* name of the file keeping your private SSL-key */
-  CINIT(SSLKEY, OBJECTPOINT, 87),
-
-  /* type of the file keeping your private SSL-key ("DER", "PEM", "ENG") */
-  CINIT(SSLKEYTYPE, OBJECTPOINT, 88),
-
-  /* crypto engine for the SSL-sub system */
-  CINIT(SSLENGINE, OBJECTPOINT, 89),
-
-  /* set the crypto engine for the SSL-sub system as default
-     the param has no meaning...
-   */
-  CINIT(SSLENGINE_DEFAULT, LONG, 90),
-
-  /* Non-zero value means to use the global dns cache */
-  CINIT(DNS_USE_GLOBAL_CACHE, LONG, 91), /* DEPRECATED, do not use! */
-
-  /* DNS cache timeout */
-  CINIT(DNS_CACHE_TIMEOUT, LONG, 92),
-
-  /* send linked-list of pre-transfer QUOTE commands */
-  CINIT(PREQUOTE, OBJECTPOINT, 93),
-
-  /* set the debug function */
-  CINIT(DEBUGFUNCTION, FUNCTIONPOINT, 94),
-
-  /* set the data for the debug function */
-  CINIT(DEBUGDATA, OBJECTPOINT, 95),
-
-  /* mark this as start of a cookie session */
-  CINIT(COOKIESESSION, LONG, 96),
-
-  /* The CApath directory used to validate the peer certificate
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(CAPATH, OBJECTPOINT, 97),
-
-  /* Instruct libcurl to use a smaller receive buffer */
-  CINIT(BUFFERSIZE, LONG, 98),
-
-  /* Instruct libcurl to not use any signal/alarm handlers, even when using
-     timeouts. This option is useful for multi-threaded applications.
-     See libcurl-the-guide for more background information. */
-  CINIT(NOSIGNAL, LONG, 99),
-
-  /* Provide a CURLShare for mutexing non-ts data */
-  CINIT(SHARE, OBJECTPOINT, 100),
-
-  /* indicates type of proxy. accepted values are CURLPROXY_HTTP (default),
-     CURLPROXY_SOCKS4, CURLPROXY_SOCKS4A and CURLPROXY_SOCKS5. */
-  CINIT(PROXYTYPE, LONG, 101),
-
-  /* Set the Accept-Encoding string. Use this to tell a server you would like
-     the response to be compressed. Before 7.21.6, this was known as
-     CURLOPT_ENCODING */
-  CINIT(ACCEPT_ENCODING, OBJECTPOINT, 102),
-
-  /* Set pointer to private data */
-  CINIT(PRIVATE, OBJECTPOINT, 103),
-
-  /* Set aliases for HTTP 200 in the HTTP Response header */
-  CINIT(HTTP200ALIASES, OBJECTPOINT, 104),
-
-  /* Continue to send authentication (user+password) when following locations,
-     even when hostname changed. This can potentially send off the name
-     and password to whatever host the server decides. */
-  CINIT(UNRESTRICTED_AUTH, LONG, 105),
-
-  /* Specifically switch on or off the FTP engine's use of the EPRT command (
-     it also disables the LPRT attempt). By default, those ones will always be
-     attempted before the good old traditional PORT command. */
-  CINIT(FTP_USE_EPRT, LONG, 106),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_USERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(HTTPAUTH, LONG, 107),
-
-  /* Set the ssl context callback function, currently only for OpenSSL ssl_ctx
-     in second argument. The function must be matching the
-     curl_ssl_ctx_callback proto. */
-  CINIT(SSL_CTX_FUNCTION, FUNCTIONPOINT, 108),
-
-  /* Set the userdata for the ssl context callback function's third
-     argument */
-  CINIT(SSL_CTX_DATA, OBJECTPOINT, 109),
-
-  /* FTP Option that causes missing dirs to be created on the remote server.
-     In 7.19.4 we introduced the convenience enums for this option using the
-     CURLFTP_CREATE_DIR prefix.
-  */
-  CINIT(FTP_CREATE_MISSING_DIRS, LONG, 110),
-
-  /* Set this to a bitmask value to enable the particular authentications
-     methods you like. Use this in combination with CURLOPT_PROXYUSERPWD.
-     Note that setting multiple bits may cause extra network round-trips. */
-  CINIT(PROXYAUTH, LONG, 111),
-
-  /* FTP option that changes the timeout, in seconds, associated with
-     getting a response.  This is different from transfer timeout time and
-     essentially places a demand on the FTP server to acknowledge commands
-     in a timely manner. */
-  CINIT(FTP_RESPONSE_TIMEOUT, LONG, 112),
-#define CURLOPT_SERVER_RESPONSE_TIMEOUT CURLOPT_FTP_RESPONSE_TIMEOUT
-
-  /* Set this option to one of the CURL_IPRESOLVE_* defines (see below) to
-     tell libcurl to resolve names to those IP versions only. This only has
-     affect on systems with support for more than one, i.e IPv4 _and_ IPv6. */
-  CINIT(IPRESOLVE, LONG, 113),
-
-  /* Set this option to limit the size of a file that will be downloaded from
-     an HTTP or FTP server.
-
-     Note there is also _LARGE version which adds large file support for
-     platforms which have larger off_t sizes.  See MAXFILESIZE_LARGE below. */
-  CINIT(MAXFILESIZE, LONG, 114),
-
-  /* See the comment for INFILESIZE above, but in short, specifies
-   * the size of the file being uploaded.  -1 means unknown.
-   */
-  CINIT(INFILESIZE_LARGE, OFF_T, 115),
-
-  /* Sets the continuation offset.  There is also a LONG version of this;
-   * look above for RESUME_FROM.
-   */
-  CINIT(RESUME_FROM_LARGE, OFF_T, 116),
-
-  /* Sets the maximum size of data that will be downloaded from
-   * an HTTP or FTP server.  See MAXFILESIZE above for the LONG version.
-   */
-  CINIT(MAXFILESIZE_LARGE, OFF_T, 117),
-
-  /* Set this option to the file name of your .netrc file you want libcurl
-     to parse (using the CURLOPT_NETRC option). If not set, libcurl will do
-     a poor attempt to find the user's home directory and check for a .netrc
-     file in there. */
-  CINIT(NETRC_FILE, OBJECTPOINT, 118),
-
-  /* Enable SSL/TLS for FTP, pick one of:
-     CURLUSESSL_TRY     - try using SSL, proceed anyway otherwise
-     CURLUSESSL_CONTROL - SSL for the control connection or fail
-     CURLUSESSL_ALL     - SSL for all communication or fail
-  */
-  CINIT(USE_SSL, LONG, 119),
-
-  /* The _LARGE version of the standard POSTFIELDSIZE option */
-  CINIT(POSTFIELDSIZE_LARGE, OFF_T, 120),
-
-  /* Enable/disable the TCP Nagle algorithm */
-  CINIT(TCP_NODELAY, LONG, 121),
-
-  /* 122 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 123 OBSOLETE. Gone in 7.16.0 */
-  /* 124 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 125 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 126 OBSOLETE, used in 7.12.3. Gone in 7.13.0 */
-  /* 127 OBSOLETE. Gone in 7.16.0 */
-  /* 128 OBSOLETE. Gone in 7.16.0 */
-
-  /* When FTP over SSL/TLS is selected (with CURLOPT_USE_SSL), this option
-     can be used to change libcurl's default action which is to first try
-     "AUTH SSL" and then "AUTH TLS" in this order, and proceed when a OK
-     response has been received.
-
-     Available parameters are:
-     CURLFTPAUTH_DEFAULT - let libcurl decide
-     CURLFTPAUTH_SSL     - try "AUTH SSL" first, then TLS
-     CURLFTPAUTH_TLS     - try "AUTH TLS" first, then SSL
-  */
-  CINIT(FTPSSLAUTH, LONG, 129),
-
-  CINIT(IOCTLFUNCTION, FUNCTIONPOINT, 130),
-  CINIT(IOCTLDATA, OBJECTPOINT, 131),
-
-  /* 132 OBSOLETE. Gone in 7.16.0 */
-  /* 133 OBSOLETE. Gone in 7.16.0 */
-
-  /* zero terminated string for pass on to the FTP server when asked for
-     "account" info */
-  CINIT(FTP_ACCOUNT, OBJECTPOINT, 134),
-
-  /* feed cookies into cookie engine */
-  CINIT(COOKIELIST, OBJECTPOINT, 135),
-
-  /* ignore Content-Length */
-  CINIT(IGNORE_CONTENT_LENGTH, LONG, 136),
-
-  /* Set to non-zero to skip the IP address received in a 227 PASV FTP server
-     response. Typically used for FTP-SSL purposes but is not restricted to
-     that. libcurl will then instead use the same IP address it used for the
-     control connection. */
-  CINIT(FTP_SKIP_PASV_IP, LONG, 137),
-
-  /* Select "file method" to use when doing FTP, see the curl_ftpmethod
-     above. */
-  CINIT(FTP_FILEMETHOD, LONG, 138),
-
-  /* Local port number to bind the socket to */
-  CINIT(LOCALPORT, LONG, 139),
-
-  /* Number of ports to try, including the first one set with LOCALPORT.
-     Thus, setting it to 1 will make no additional attempts but the first.
-  */
-  CINIT(LOCALPORTRANGE, LONG, 140),
-
-  /* no transfer, set up connection and let application use the socket by
-     extracting it with CURLINFO_LASTSOCKET */
-  CINIT(CONNECT_ONLY, LONG, 141),
-
-  /* Function that will be called to convert from the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_FROM_NETWORK_FUNCTION, FUNCTIONPOINT, 142),
-
-  /* Function that will be called to convert to the
-     network encoding (instead of using the iconv calls in libcurl) */
-  CINIT(CONV_TO_NETWORK_FUNCTION, FUNCTIONPOINT, 143),
-
-  /* Function that will be called to convert from UTF8
-     (instead of using the iconv calls in libcurl)
-     Note that this is used only for SSL certificate processing */
-  CINIT(CONV_FROM_UTF8_FUNCTION, FUNCTIONPOINT, 144),
-
-  /* if the connection proceeds too quickly then need to slow it down */
-  /* limit-rate: maximum number of bytes per second to send or receive */
-  CINIT(MAX_SEND_SPEED_LARGE, OFF_T, 145),
-  CINIT(MAX_RECV_SPEED_LARGE, OFF_T, 146),
-
-  /* Pointer to command string to send if USER/PASS fails. */
-  CINIT(FTP_ALTERNATIVE_TO_USER, OBJECTPOINT, 147),
-
-  /* callback function for setting socket options */
-  CINIT(SOCKOPTFUNCTION, FUNCTIONPOINT, 148),
-  CINIT(SOCKOPTDATA, OBJECTPOINT, 149),
-
-  /* set to 0 to disable session ID re-use for this transfer, default is
-     enabled (== 1) */
-  CINIT(SSL_SESSIONID_CACHE, LONG, 150),
-
-  /* allowed SSH authentication methods */
-  CINIT(SSH_AUTH_TYPES, LONG, 151),
-
-  /* Used by scp/sftp to do public/private key authentication */
-  CINIT(SSH_PUBLIC_KEYFILE, OBJECTPOINT, 152),
-  CINIT(SSH_PRIVATE_KEYFILE, OBJECTPOINT, 153),
-
-  /* Send CCC (Clear Command Channel) after authentication */
-  CINIT(FTP_SSL_CCC, LONG, 154),
-
-  /* Same as TIMEOUT and CONNECTTIMEOUT, but with ms resolution */
-  CINIT(TIMEOUT_MS, LONG, 155),
-  CINIT(CONNECTTIMEOUT_MS, LONG, 156),
-
-  /* set to zero to disable the libcurl's decoding and thus pass the raw body
-     data to the application even when it is encoded/compressed */
-  CINIT(HTTP_TRANSFER_DECODING, LONG, 157),
-  CINIT(HTTP_CONTENT_DECODING, LONG, 158),
-
-  /* Permission used when creating new files and directories on the remote
-     server for protocols that support it, SFTP/SCP/FILE */
-  CINIT(NEW_FILE_PERMS, LONG, 159),
-  CINIT(NEW_DIRECTORY_PERMS, LONG, 160),
-
-  /* Set the behaviour of POST when redirecting. Values must be set to one
-     of CURL_REDIR* defines below. This used to be called CURLOPT_POST301 */
-  CINIT(POSTREDIR, LONG, 161),
-
-  /* used by scp/sftp to verify the host's public key */
-  CINIT(SSH_HOST_PUBLIC_KEY_MD5, OBJECTPOINT, 162),
-
-  /* Callback function for opening socket (instead of socket(2)). Optionally,
-     callback is able change the address or refuse to connect returning
-     CURL_SOCKET_BAD.  The callback should have type
-     curl_opensocket_callback */
-  CINIT(OPENSOCKETFUNCTION, FUNCTIONPOINT, 163),
-  CINIT(OPENSOCKETDATA, OBJECTPOINT, 164),
-
-  /* POST volatile input fields. */
-  CINIT(COPYPOSTFIELDS, OBJECTPOINT, 165),
-
-  /* set transfer mode (;type=<a|i>) when doing FTP via an HTTP proxy */
-  CINIT(PROXY_TRANSFER_MODE, LONG, 166),
-
-  /* Callback function for seeking in the input stream */
-  CINIT(SEEKFUNCTION, FUNCTIONPOINT, 167),
-  CINIT(SEEKDATA, OBJECTPOINT, 168),
-
-  /* CRL file */
-  CINIT(CRLFILE, OBJECTPOINT, 169),
-
-  /* Issuer certificate */
-  CINIT(ISSUERCERT, OBJECTPOINT, 170),
-
-  /* (IPv6) Address scope */
-  CINIT(ADDRESS_SCOPE, LONG, 171),
-
-  /* Collect certificate chain info and allow it to get retrievable with
-     CURLINFO_CERTINFO after the transfer is complete. */
-  CINIT(CERTINFO, LONG, 172),
-
-  /* "name" and "pwd" to use when fetching. */
-  CINIT(USERNAME, OBJECTPOINT, 173),
-  CINIT(PASSWORD, OBJECTPOINT, 174),
-
-    /* "name" and "pwd" to use with Proxy when fetching. */
-  CINIT(PROXYUSERNAME, OBJECTPOINT, 175),
-  CINIT(PROXYPASSWORD, OBJECTPOINT, 176),
-
-  /* Comma separated list of hostnames defining no-proxy zones. These should
-     match both hostnames directly, and hostnames within a domain. For
-     example, local.com will match local.com and www.local.com, but NOT
-     notlocal.com or www.notlocal.com. For compatibility with other
-     implementations of this, .local.com will be considered to be the same as
-     local.com. A single * is the only valid wildcard, and effectively
-     disables the use of proxy. */
-  CINIT(NOPROXY, OBJECTPOINT, 177),
-
-  /* block size for TFTP transfers */
-  CINIT(TFTP_BLKSIZE, LONG, 178),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_SERVICE, OBJECTPOINT, 179),
-
-  /* Socks Service */
-  CINIT(SOCKS5_GSSAPI_NEC, LONG, 180),
-
-  /* set the bitmask for the protocols that are allowed to be used for the
-     transfer, which thus helps the app which takes URLs from users or other
-     external inputs and want to restrict what protocol(s) to deal
-     with. Defaults to CURLPROTO_ALL. */
-  CINIT(PROTOCOLS, LONG, 181),
-
-  /* set the bitmask for the protocols that libcurl is allowed to follow to,
-     as a subset of the CURLOPT_PROTOCOLS ones. That means the protocol needs
-     to be set in both bitmasks to be allowed to get redirected to. Defaults
-     to all protocols except FILE and SCP. */
-  CINIT(REDIR_PROTOCOLS, LONG, 182),
-
-  /* set the SSH knownhost file name to use */
-  CINIT(SSH_KNOWNHOSTS, OBJECTPOINT, 183),
-
-  /* set the SSH host key callback, must point to a curl_sshkeycallback
-     function */
-  CINIT(SSH_KEYFUNCTION, FUNCTIONPOINT, 184),
-
-  /* set the SSH host key callback custom pointer */
-  CINIT(SSH_KEYDATA, OBJECTPOINT, 185),
-
-  /* set the SMTP mail originator */
-  CINIT(MAIL_FROM, OBJECTPOINT, 186),
-
-  /* set the SMTP mail receiver(s) */
-  CINIT(MAIL_RCPT, OBJECTPOINT, 187),
-
-  /* FTP: send PRET before PASV */
-  CINIT(FTP_USE_PRET, LONG, 188),
-
-  /* RTSP request method (OPTIONS, SETUP, PLAY, etc...) */
-  CINIT(RTSP_REQUEST, LONG, 189),
-
-  /* The RTSP session identifier */
-  CINIT(RTSP_SESSION_ID, OBJECTPOINT, 190),
-
-  /* The RTSP stream URI */
-  CINIT(RTSP_STREAM_URI, OBJECTPOINT, 191),
-
-  /* The Transport: header to use in RTSP requests */
-  CINIT(RTSP_TRANSPORT, OBJECTPOINT, 192),
-
-  /* Manually initialize the client RTSP CSeq for this handle */
-  CINIT(RTSP_CLIENT_CSEQ, LONG, 193),
-
-  /* Manually initialize the server RTSP CSeq for this handle */
-  CINIT(RTSP_SERVER_CSEQ, LONG, 194),
-
-  /* The stream to pass to INTERLEAVEFUNCTION. */
-  CINIT(INTERLEAVEDATA, OBJECTPOINT, 195),
-
-  /* Let the application define a custom write method for RTP data */
-  CINIT(INTERLEAVEFUNCTION, FUNCTIONPOINT, 196),
-
-  /* Turn on wildcard matching */
-  CINIT(WILDCARDMATCH, LONG, 197),
-
-  /* Directory matching callback called before downloading of an
-     individual file (chunk) started */
-  CINIT(CHUNK_BGN_FUNCTION, FUNCTIONPOINT, 198),
-
-  /* Directory matching callback called after the file (chunk)
-     was downloaded, or skipped */
-  CINIT(CHUNK_END_FUNCTION, FUNCTIONPOINT, 199),
-
-  /* Change match (fnmatch-like) callback for wildcard matching */
-  CINIT(FNMATCH_FUNCTION, FUNCTIONPOINT, 200),
-
-  /* Let the application define custom chunk data pointer */
-  CINIT(CHUNK_DATA, OBJECTPOINT, 201),
-
-  /* FNMATCH_FUNCTION user pointer */
-  CINIT(FNMATCH_DATA, OBJECTPOINT, 202),
-
-  /* send linked-list of name:port:address sets */
-  CINIT(RESOLVE, OBJECTPOINT, 203),
-
-  /* Set a username for authenticated TLS */
-  CINIT(TLSAUTH_USERNAME, OBJECTPOINT, 204),
-
-  /* Set a password for authenticated TLS */
-  CINIT(TLSAUTH_PASSWORD, OBJECTPOINT, 205),
-
-  /* Set authentication type for authenticated TLS */
-  CINIT(TLSAUTH_TYPE, OBJECTPOINT, 206),
-
-  /* Set to 1 to enable the "TE:" header in HTTP requests to ask for
-     compressed transfer-encoded responses. Set to 0 to disable the use of TE:
-     in outgoing requests. The current default is 0, but it might change in a
-     future libcurl release.
-
-     libcurl will ask for the compressed methods it knows of, and if that
-     isn't any, it will not ask for transfer-encoding at all even if this
-     option is set to 1.
-
-  */
-  CINIT(TRANSFER_ENCODING, LONG, 207),
-
-  /* Callback function for closing socket (instead of close(2)). The callback
-     should have type curl_closesocket_callback */
-  CINIT(CLOSESOCKETFUNCTION, FUNCTIONPOINT, 208),
-  CINIT(CLOSESOCKETDATA, OBJECTPOINT, 209),
-
-  /* allow GSSAPI credential delegation */
-  CINIT(GSSAPI_DELEGATION, LONG, 210),
-
-  /* Set the name servers to use for DNS resolution */
-  CINIT(DNS_SERVERS, OBJECTPOINT, 211),
-
-  /* Time-out accept operations (currently for FTP only) after this amount
-     of miliseconds. */
-  CINIT(ACCEPTTIMEOUT_MS, LONG, 212),
-
-  /* Set TCP keepalive */
-  CINIT(TCP_KEEPALIVE, LONG, 213),
-
-  /* non-universal keepalive knobs (Linux, AIX, HP-UX, more) */
-  CINIT(TCP_KEEPIDLE, LONG, 214),
-  CINIT(TCP_KEEPINTVL, LONG, 215),
-
-  /* Enable/disable specific SSL features with a bitmask, see CURLSSLOPT_* */
-  CINIT(SSL_OPTIONS, LONG, 216),
-
-  /* Set the SMTP auth originator */
-  CINIT(MAIL_AUTH, OBJECTPOINT, 217),
-
-  /* Enable/disable SASL initial response */
-  CINIT(SASL_IR, LONG, 218),
-
-  /* Function that will be called instead of the internal progress display
-   * function. This function should be defined as the curl_xferinfo_callback
-   * prototype defines. (Deprecates CURLOPT_PROGRESSFUNCTION) */
-  CINIT(XFERINFOFUNCTION, FUNCTIONPOINT, 219),
-
-  /* The XOAUTH2 bearer token */
-  CINIT(XOAUTH2_BEARER, OBJECTPOINT, 220),
-
-  /* Set the interface string to use as outgoing network
-   * interface for DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_INTERFACE, OBJECTPOINT, 221),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP4, OBJECTPOINT, 222),
-
-  /* Set the local IPv4 address to use for outgoing DNS requests.
-   * Only supported by the c-ares DNS backend */
-  CINIT(DNS_LOCAL_IP6, OBJECTPOINT, 223),
-
-  /* Set authentication options directly */
-  CINIT(LOGIN_OPTIONS, OBJECTPOINT, 224),
-
-  /* Enable/disable TLS NPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_NPN, LONG, 225),
-
-  /* Enable/disable TLS ALPN extension (http2 over ssl might fail without) */
-  CINIT(SSL_ENABLE_ALPN, LONG, 226),
-
-  /* Time to wait for a response to a HTTP request containing an
-   * Expect: 100-continue header before sending the data anyway. */
-  CINIT(EXPECT_100_TIMEOUT_MS, LONG, 227),
-
-  /* This points to a linked list of headers used for proxy requests only,
-     struct curl_slist kind */
-  CINIT(PROXYHEADER, OBJECTPOINT, 228),
-
-  /* Pass in a bitmask of "header options" */
-  CINIT(HEADEROPT, LONG, 229),
-
-  /* The public key in DER form used to validate the peer public key
-     this option is used only if SSL_VERIFYPEER is true */
-  CINIT(PINNEDPUBLICKEY, OBJECTPOINT, 230),
-
-  /* Path to Unix domain socket */
-  CINIT(UNIX_SOCKET_PATH, OBJECTPOINT, 231),
-
-  /* Set if we should verify the certificate status. */
-  CINIT(SSL_VERIFYSTATUS, LONG, 232),
-
-  /* Set if we should enable TLS false start. */
-  CINIT(SSL_FALSESTART, LONG, 233),
-
-  /* Do not squash dot-dot sequences */
-  CINIT(PATH_AS_IS, LONG, 234),
-
-  /* Proxy Service Name */
-  CINIT(PROXY_SERVICE_NAME, OBJECTPOINT, 235),
-
-  /* Service Name */
-  CINIT(SERVICE_NAME, OBJECTPOINT, 236),
-
-  /* Wait/don't wait for pipe/mutex to clarify */
-  CINIT(PIPEWAIT, LONG, 237),
-
-  CURLOPT_LASTENTRY /* the last unused */
-} CURLoption;
-
-#ifndef CURL_NO_OLDIES /* define this to test if your app builds with all
-                          the obsolete stuff removed! */
-
-/* Backwards compatibility with older names */
-/* These are scheduled to disappear by 2011 */
-
-/* This was added in version 7.19.1 */
-#define CURLOPT_POST301 CURLOPT_POSTREDIR
-
-/* These are scheduled to disappear by 2009 */
-
-/* The following were added in 7.17.0 */
-#define CURLOPT_SSLKEYPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_FTPAPPEND CURLOPT_APPEND
-#define CURLOPT_FTPLISTONLY CURLOPT_DIRLISTONLY
-#define CURLOPT_FTP_SSL CURLOPT_USE_SSL
-
-/* The following were added earlier */
-
-#define CURLOPT_SSLCERTPASSWD CURLOPT_KEYPASSWD
-#define CURLOPT_KRB4LEVEL CURLOPT_KRBLEVEL
-
-#else
-/* This is set if CURL_NO_OLDIES is defined at compile-time */
-#undef CURLOPT_DNS_USE_GLOBAL_CACHE /* soon obsolete */
-#endif
-
-
-  /* Below here follows defines for the CURLOPT_IPRESOLVE option. If a host
-     name resolves addresses using more than one IP protocol version, this
-     option might be handy to force libcurl to use a specific IP version. */
-#define CURL_IPRESOLVE_WHATEVER 0 /* default, resolves addresses to all IP
-                                     versions that your system allows */
-#define CURL_IPRESOLVE_V4       1 /* resolve to IPv4 addresses */
-#define CURL_IPRESOLVE_V6       2 /* resolve to IPv6 addresses */
-
-  /* three convenient "aliases" that follow the name scheme better */
-#define CURLOPT_RTSPHEADER CURLOPT_HTTPHEADER
-
-  /* These enums are for use with the CURLOPT_HTTP_VERSION option. */
-enum {
-  CURL_HTTP_VERSION_NONE, /* setting this means we don't care, and that we'd
-                             like the library to choose the best possible
-                             for us! */
-  CURL_HTTP_VERSION_1_0,  /* please use HTTP 1.0 in the request */
-  CURL_HTTP_VERSION_1_1,  /* please use HTTP 1.1 in the request */
-  CURL_HTTP_VERSION_2_0,  /* please use HTTP 2.0 in the request */
-
-  CURL_HTTP_VERSION_LAST /* *ILLEGAL* http version */
-};
-
-/* Convenience definition simple because the name of the version is HTTP/2 and
-   not 2.0. The 2_0 version of the enum name was set while the version was
-   still planned to be 2.0 and we stick to it for compatibility. */
-#define CURL_HTTP_VERSION_2 CURL_HTTP_VERSION_2_0
-
-/*
- * Public API enums for RTSP requests
- */
-enum {
-    CURL_RTSPREQ_NONE, /* first in list */
-    CURL_RTSPREQ_OPTIONS,
-    CURL_RTSPREQ_DESCRIBE,
-    CURL_RTSPREQ_ANNOUNCE,
-    CURL_RTSPREQ_SETUP,
-    CURL_RTSPREQ_PLAY,
-    CURL_RTSPREQ_PAUSE,
-    CURL_RTSPREQ_TEARDOWN,
-    CURL_RTSPREQ_GET_PARAMETER,
-    CURL_RTSPREQ_SET_PARAMETER,
-    CURL_RTSPREQ_RECORD,
-    CURL_RTSPREQ_RECEIVE,
-    CURL_RTSPREQ_LAST /* last in list */
-};
-
-  /* These enums are for use with the CURLOPT_NETRC option. */
-enum CURL_NETRC_OPTION {
-  CURL_NETRC_IGNORED,     /* The .netrc will never be read.
-                           * This is the default. */
-  CURL_NETRC_OPTIONAL,    /* A user:password in the URL will be preferred
-                           * to one in the .netrc. */
-  CURL_NETRC_REQUIRED,    /* A user:password in the URL will be ignored.
-                           * Unless one is set programmatically, the .netrc
-                           * will be queried. */
-  CURL_NETRC_LAST
-};
-
-enum {
-  CURL_SSLVERSION_DEFAULT,
-  CURL_SSLVERSION_TLSv1, /* TLS 1.x */
-  CURL_SSLVERSION_SSLv2,
-  CURL_SSLVERSION_SSLv3,
-  CURL_SSLVERSION_TLSv1_0,
-  CURL_SSLVERSION_TLSv1_1,
-  CURL_SSLVERSION_TLSv1_2,
-
-  CURL_SSLVERSION_LAST /* never use, keep last */
-};
-
-enum CURL_TLSAUTH {
-  CURL_TLSAUTH_NONE,
-  CURL_TLSAUTH_SRP,
-  CURL_TLSAUTH_LAST /* never use, keep last */
-};
-
-/* symbols to use with CURLOPT_POSTREDIR.
-   CURL_REDIR_POST_301, CURL_REDIR_POST_302 and CURL_REDIR_POST_303
-   can be bitwise ORed so that CURL_REDIR_POST_301 | CURL_REDIR_POST_302
-   | CURL_REDIR_POST_303 == CURL_REDIR_POST_ALL */
-
-#define CURL_REDIR_GET_ALL  0
-#define CURL_REDIR_POST_301 1
-#define CURL_REDIR_POST_302 2
-#define CURL_REDIR_POST_303 4
-#define CURL_REDIR_POST_ALL \
-    (CURL_REDIR_POST_301|CURL_REDIR_POST_302|CURL_REDIR_POST_303)
-
-typedef enum {
-  CURL_TIMECOND_NONE,
-
-  CURL_TIMECOND_IFMODSINCE,
-  CURL_TIMECOND_IFUNMODSINCE,
-  CURL_TIMECOND_LASTMOD,
-
-  CURL_TIMECOND_LAST
-} curl_TimeCond;
-
-
-/* curl_strequal() and curl_strnequal() are subject for removal in a future
-   libcurl, see lib/README.curlx for details */
-CURL_EXTERN int (curl_strequal)(const char *s1, const char *s2);
-CURL_EXTERN int (curl_strnequal)(const char *s1, const char *s2, size_t n);
-
-/* name is uppercase CURLFORM_<name> */
-#ifdef CFINIT
-#undef CFINIT
-#endif
-
-#ifdef CURL_ISOCPP
-#define CFINIT(name) CURLFORM_ ## name
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define CFINIT(name) CURLFORM_/**/name
-#endif
-
-typedef enum {
-  CFINIT(NOTHING),        /********* the first one is unused ************/
-
-  /*  */
-  CFINIT(COPYNAME),
-  CFINIT(PTRNAME),
-  CFINIT(NAMELENGTH),
-  CFINIT(COPYCONTENTS),
-  CFINIT(PTRCONTENTS),
-  CFINIT(CONTENTSLENGTH),
-  CFINIT(FILECONTENT),
-  CFINIT(ARRAY),
-  CFINIT(OBSOLETE),
-  CFINIT(FILE),
-
-  CFINIT(BUFFER),
-  CFINIT(BUFFERPTR),
-  CFINIT(BUFFERLENGTH),
-
-  CFINIT(CONTENTTYPE),
-  CFINIT(CONTENTHEADER),
-  CFINIT(FILENAME),
-  CFINIT(END),
-  CFINIT(OBSOLETE2),
-
-  CFINIT(STREAM),
-
-  CURLFORM_LASTENTRY /* the last unused */
-} CURLformoption;
-
-#undef CFINIT /* done */
-
-/* structure to be used as parameter for CURLFORM_ARRAY */
-struct curl_forms {
-  CURLformoption option;
-  const char     *value;
-};
-
-/* use this for multipart formpost building */
-/* Returns code for curl_formadd()
- *
- * Returns:
- * CURL_FORMADD_OK             on success
- * CURL_FORMADD_MEMORY         if the FormInfo allocation fails
- * CURL_FORMADD_OPTION_TWICE   if one option is given twice for one Form
- * CURL_FORMADD_NULL           if a null pointer was given for a char
- * CURL_FORMADD_MEMORY         if the allocation of a FormInfo struct failed
- * CURL_FORMADD_UNKNOWN_OPTION if an unknown option was used
- * CURL_FORMADD_INCOMPLETE     if the some FormInfo is not complete (or error)
- * CURL_FORMADD_MEMORY         if a curl_httppost struct cannot be allocated
- * CURL_FORMADD_MEMORY         if some allocation for string copying failed.
- * CURL_FORMADD_ILLEGAL_ARRAY  if an illegal option is used in an array
- *
- ***************************************************************************/
-typedef enum {
-  CURL_FORMADD_OK, /* first, no error */
-
-  CURL_FORMADD_MEMORY,
-  CURL_FORMADD_OPTION_TWICE,
-  CURL_FORMADD_NULL,
-  CURL_FORMADD_UNKNOWN_OPTION,
-  CURL_FORMADD_INCOMPLETE,
-  CURL_FORMADD_ILLEGAL_ARRAY,
-  CURL_FORMADD_DISABLED, /* libcurl was built with this disabled */
-
-  CURL_FORMADD_LAST /* last */
-} CURLFORMcode;
-
-/*
- * NAME curl_formadd()
- *
- * DESCRIPTION
- *
- * Pretty advanced function for building multi-part formposts. Each invoke
- * adds one part that together construct a full post. Then use
- * CURLOPT_HTTPPOST to send it off to libcurl.
- */
-CURL_EXTERN CURLFORMcode curl_formadd(struct curl_httppost **httppost,
-                                      struct curl_httppost **last_post,
-                                      ...);
-
-/*
- * callback function for curl_formget()
- * The void *arg pointer will be the one passed as second argument to
- *   curl_formget().
- * The character buffer passed to it must not be freed.
- * Should return the buffer length passed to it as the argument "len" on
- *   success.
- */
-typedef size_t (*curl_formget_callback)(void *arg, const char *buf,
-                                        size_t len);
-
-/*
- * NAME curl_formget()
- *
- * DESCRIPTION
- *
- * Serialize a curl_httppost struct built with curl_formadd().
- * Accepts a void pointer as second argument which will be passed to
- * the curl_formget_callback function.
- * Returns 0 on success.
- */
-CURL_EXTERN int curl_formget(struct curl_httppost *form, void *arg,
-                             curl_formget_callback append);
-/*
- * NAME curl_formfree()
- *
- * DESCRIPTION
- *
- * Free a multipart formpost previously built with curl_formadd().
- */
-CURL_EXTERN void curl_formfree(struct curl_httppost *form);
-
-/*
- * NAME curl_getenv()
- *
- * DESCRIPTION
- *
- * Returns a malloc()'ed string that MUST be curl_free()ed after usage is
- * complete. DEPRECATED - see lib/README.curlx
- */
-CURL_EXTERN char *curl_getenv(const char *variable);
-
-/*
- * NAME curl_version()
- *
- * DESCRIPTION
- *
- * Returns a static ascii string of the libcurl version.
- */
-CURL_EXTERN char *curl_version(void);
-
-/*
- * NAME curl_easy_escape()
- *
- * DESCRIPTION
- *
- * Escapes URL strings (converts all letters consider illegal in URLs to their
- * %XX versions). This function returns a new allocated string or NULL if an
- * error occurred.
- */
-CURL_EXTERN char *curl_easy_escape(CURL *handle,
-                                   const char *string,
-                                   int length);
-
-/* the previous version: */
-CURL_EXTERN char *curl_escape(const char *string,
-                              int length);
-
-
-/*
- * NAME curl_easy_unescape()
- *
- * DESCRIPTION
- *
- * Unescapes URL encoding in strings (converts all %XX codes to their 8bit
- * versions). This function returns a new allocated string or NULL if an error
- * occurred.
- * Conversion Note: On non-ASCII platforms the ASCII %XX codes are
- * converted into the host encoding.
- */
-CURL_EXTERN char *curl_easy_unescape(CURL *handle,
-                                     const char *string,
-                                     int length,
-                                     int *outlength);
-
-/* the previous version */
-CURL_EXTERN char *curl_unescape(const char *string,
-                                int length);
-
-/*
- * NAME curl_free()
- *
- * DESCRIPTION
- *
- * Provided for de-allocation in the same translation unit that did the
- * allocation. Added in libcurl 7.10
- */
-CURL_EXTERN void curl_free(void *p);
-
-/*
- * NAME curl_global_init()
- *
- * DESCRIPTION
- *
- * curl_global_init() should be invoked exactly once for each application that
- * uses libcurl and before any call of other libcurl functions.
- *
- * This function is not thread-safe!
- */
-CURL_EXTERN CURLcode curl_global_init(long flags);
-
-/*
- * NAME curl_global_init_mem()
- *
- * DESCRIPTION
- *
- * curl_global_init() or curl_global_init_mem() should be invoked exactly once
- * for each application that uses libcurl.  This function can be used to
- * initialize libcurl and set user defined memory management callback
- * functions.  Users can implement memory management routines to check for
- * memory leaks, check for mis-use of the curl library etc.  User registered
- * callback routines with be invoked by this library instead of the system
- * memory management routines like malloc, free etc.
- */
-CURL_EXTERN CURLcode curl_global_init_mem(long flags,
-                                          curl_malloc_callback m,
-                                          curl_free_callback f,
-                                          curl_realloc_callback r,
-                                          curl_strdup_callback s,
-                                          curl_calloc_callback c);
-
-/*
- * NAME curl_global_cleanup()
- *
- * DESCRIPTION
- *
- * curl_global_cleanup() should be invoked exactly once for each application
- * that uses libcurl
- */
-CURL_EXTERN void curl_global_cleanup(void);
-
-/* linked-list structure for the CURLOPT_QUOTE option (and other) */
-struct curl_slist {
-  char *data;
-  struct curl_slist *next;
-};
-
-/*
- * NAME curl_slist_append()
- *
- * DESCRIPTION
- *
- * Appends a string to a linked list. If no list exists, it will be created
- * first. Returns the new list, after appending.
- */
-CURL_EXTERN struct curl_slist *curl_slist_append(struct curl_slist *,
-                                                 const char *);
-
-/*
- * NAME curl_slist_free_all()
- *
- * DESCRIPTION
- *
- * free a previously built curl_slist.
- */
-CURL_EXTERN void curl_slist_free_all(struct curl_slist *);
-
-/*
- * NAME curl_getdate()
- *
- * DESCRIPTION
- *
- * Returns the time, in seconds since 1 Jan 1970 of the time string given in
- * the first argument. The time argument in the second parameter is unused
- * and should be set to NULL.
- */
-CURL_EXTERN time_t curl_getdate(const char *p, const time_t *unused);
-
-/* info about the certificate chain, only for OpenSSL builds. Asked
-   for with CURLOPT_CERTINFO / CURLINFO_CERTINFO */
-struct curl_certinfo {
-  int num_of_certs;             /* number of certificates with information */
-  struct curl_slist **certinfo; /* for each index in this array, there's a
-                                   linked list with textual information in the
-                                   format "name: value" */
-};
-
-/* enum for the different supported SSL backends */
-typedef enum {
-  CURLSSLBACKEND_NONE = 0,
-  CURLSSLBACKEND_OPENSSL = 1,
-  CURLSSLBACKEND_GNUTLS = 2,
-  CURLSSLBACKEND_NSS = 3,
-  CURLSSLBACKEND_OBSOLETE4 = 4,  /* Was QSOSSL. */
-  CURLSSLBACKEND_GSKIT = 5,
-  CURLSSLBACKEND_POLARSSL = 6,
-  CURLSSLBACKEND_CYASSL = 7,
-  CURLSSLBACKEND_SCHANNEL = 8,
-  CURLSSLBACKEND_DARWINSSL = 9,
-  CURLSSLBACKEND_AXTLS = 10
-} curl_sslbackend;
-
-/* Information about the SSL library used and the respective internal SSL
-   handle, which can be used to obtain further information regarding the
-   connection. Asked for with CURLINFO_TLS_SESSION. */
-struct curl_tlssessioninfo {
-  curl_sslbackend backend;
-  void *internals;
-};
-
-#define CURLINFO_STRING   0x100000
-#define CURLINFO_LONG     0x200000
-#define CURLINFO_DOUBLE   0x300000
-#define CURLINFO_SLIST    0x400000
-#define CURLINFO_MASK     0x0fffff
-#define CURLINFO_TYPEMASK 0xf00000
-
-typedef enum {
-  CURLINFO_NONE, /* first, never use this */
-  CURLINFO_EFFECTIVE_URL    = CURLINFO_STRING + 1,
-  CURLINFO_RESPONSE_CODE    = CURLINFO_LONG   + 2,
-  CURLINFO_TOTAL_TIME       = CURLINFO_DOUBLE + 3,
-  CURLINFO_NAMELOOKUP_TIME  = CURLINFO_DOUBLE + 4,
-  CURLINFO_CONNECT_TIME     = CURLINFO_DOUBLE + 5,
-  CURLINFO_PRETRANSFER_TIME = CURLINFO_DOUBLE + 6,
-  CURLINFO_SIZE_UPLOAD      = CURLINFO_DOUBLE + 7,
-  CURLINFO_SIZE_DOWNLOAD    = CURLINFO_DOUBLE + 8,
-  CURLINFO_SPEED_DOWNLOAD   = CURLINFO_DOUBLE + 9,
-  CURLINFO_SPEED_UPLOAD     = CURLINFO_DOUBLE + 10,
-  CURLINFO_HEADER_SIZE      = CURLINFO_LONG   + 11,
-  CURLINFO_REQUEST_SIZE     = CURLINFO_LONG   + 12,
-  CURLINFO_SSL_VERIFYRESULT = CURLINFO_LONG   + 13,
-  CURLINFO_FILETIME         = CURLINFO_LONG   + 14,
-  CURLINFO_CONTENT_LENGTH_DOWNLOAD   = CURLINFO_DOUBLE + 15,
-  CURLINFO_CONTENT_LENGTH_UPLOAD     = CURLINFO_DOUBLE + 16,
-  CURLINFO_STARTTRANSFER_TIME = CURLINFO_DOUBLE + 17,
-  CURLINFO_CONTENT_TYPE     = CURLINFO_STRING + 18,
-  CURLINFO_REDIRECT_TIME    = CURLINFO_DOUBLE + 19,
-  CURLINFO_REDIRECT_COUNT   = CURLINFO_LONG   + 20,
-  CURLINFO_PRIVATE          = CURLINFO_STRING + 21,
-  CURLINFO_HTTP_CONNECTCODE = CURLINFO_LONG   + 22,
-  CURLINFO_HTTPAUTH_AVAIL   = CURLINFO_LONG   + 23,
-  CURLINFO_PROXYAUTH_AVAIL  = CURLINFO_LONG   + 24,
-  CURLINFO_OS_ERRNO         = CURLINFO_LONG   + 25,
-  CURLINFO_NUM_CONNECTS     = CURLINFO_LONG   + 26,
-  CURLINFO_SSL_ENGINES      = CURLINFO_SLIST  + 27,
-  CURLINFO_COOKIELIST       = CURLINFO_SLIST  + 28,
-  CURLINFO_LASTSOCKET       = CURLINFO_LONG   + 29,
-  CURLINFO_FTP_ENTRY_PATH   = CURLINFO_STRING + 30,
-  CURLINFO_REDIRECT_URL     = CURLINFO_STRING + 31,
-  CURLINFO_PRIMARY_IP       = CURLINFO_STRING + 32,
-  CURLINFO_APPCONNECT_TIME  = CURLINFO_DOUBLE + 33,
-  CURLINFO_CERTINFO         = CURLINFO_SLIST  + 34,
-  CURLINFO_CONDITION_UNMET  = CURLINFO_LONG   + 35,
-  CURLINFO_RTSP_SESSION_ID  = CURLINFO_STRING + 36,
-  CURLINFO_RTSP_CLIENT_CSEQ = CURLINFO_LONG   + 37,
-  CURLINFO_RTSP_SERVER_CSEQ = CURLINFO_LONG   + 38,
-  CURLINFO_RTSP_CSEQ_RECV   = CURLINFO_LONG   + 39,
-  CURLINFO_PRIMARY_PORT     = CURLINFO_LONG   + 40,
-  CURLINFO_LOCAL_IP         = CURLINFO_STRING + 41,
-  CURLINFO_LOCAL_PORT       = CURLINFO_LONG   + 42,
-  CURLINFO_TLS_SESSION      = CURLINFO_SLIST  + 43,
-  /* Fill in new entries below here! */
-
-  CURLINFO_LASTONE          = 43
-} CURLINFO;
-
-/* CURLINFO_RESPONSE_CODE is the new name for the option previously known as
-   CURLINFO_HTTP_CODE */
-#define CURLINFO_HTTP_CODE CURLINFO_RESPONSE_CODE
-
-typedef enum {
-  CURLCLOSEPOLICY_NONE, /* first, never use this */
-
-  CURLCLOSEPOLICY_OLDEST,
-  CURLCLOSEPOLICY_LEAST_RECENTLY_USED,
-  CURLCLOSEPOLICY_LEAST_TRAFFIC,
-  CURLCLOSEPOLICY_SLOWEST,
-  CURLCLOSEPOLICY_CALLBACK,
-
-  CURLCLOSEPOLICY_LAST /* last, never use this */
-} curl_closepolicy;
-
-#define CURL_GLOBAL_SSL (1<<0)
-#define CURL_GLOBAL_WIN32 (1<<1)
-#define CURL_GLOBAL_ALL (CURL_GLOBAL_SSL|CURL_GLOBAL_WIN32)
-#define CURL_GLOBAL_NOTHING 0
-#define CURL_GLOBAL_DEFAULT CURL_GLOBAL_ALL
-#define CURL_GLOBAL_ACK_EINTR (1<<2)
-
-
-/*****************************************************************************
- * Setup defines, protos etc for the sharing stuff.
- */
-
-/* Different data locks for a single share */
-typedef enum {
-  CURL_LOCK_DATA_NONE = 0,
-  /*  CURL_LOCK_DATA_SHARE is used internally to say that
-   *  the locking is just made to change the internal state of the share
-   *  itself.
-   */
-  CURL_LOCK_DATA_SHARE,
-  CURL_LOCK_DATA_COOKIE,
-  CURL_LOCK_DATA_DNS,
-  CURL_LOCK_DATA_SSL_SESSION,
-  CURL_LOCK_DATA_CONNECT,
-  CURL_LOCK_DATA_LAST
-} curl_lock_data;
-
-/* Different lock access types */
-typedef enum {
-  CURL_LOCK_ACCESS_NONE = 0,   /* unspecified action */
-  CURL_LOCK_ACCESS_SHARED = 1, /* for read perhaps */
-  CURL_LOCK_ACCESS_SINGLE = 2, /* for write perhaps */
-  CURL_LOCK_ACCESS_LAST        /* never use */
-} curl_lock_access;
-
-typedef void (*curl_lock_function)(CURL *handle,
-                                   curl_lock_data data,
-                                   curl_lock_access locktype,
-                                   void *userptr);
-typedef void (*curl_unlock_function)(CURL *handle,
-                                     curl_lock_data data,
-                                     void *userptr);
-
-typedef void CURLSH;
-
-typedef enum {
-  CURLSHE_OK,  /* all is fine */
-  CURLSHE_BAD_OPTION, /* 1 */
-  CURLSHE_IN_USE,     /* 2 */
-  CURLSHE_INVALID,    /* 3 */
-  CURLSHE_NOMEM,      /* 4 out of memory */
-  CURLSHE_NOT_BUILT_IN, /* 5 feature not present in lib */
-  CURLSHE_LAST        /* never use */
-} CURLSHcode;
-
-typedef enum {
-  CURLSHOPT_NONE,  /* don't use */
-  CURLSHOPT_SHARE,   /* specify a data type to share */
-  CURLSHOPT_UNSHARE, /* specify which data type to stop sharing */
-  CURLSHOPT_LOCKFUNC,   /* pass in a 'curl_lock_function' pointer */
-  CURLSHOPT_UNLOCKFUNC, /* pass in a 'curl_unlock_function' pointer */
-  CURLSHOPT_USERDATA,   /* pass in a user data pointer used in the lock/unlock
-                           callback functions */
-  CURLSHOPT_LAST  /* never use */
-} CURLSHoption;
-
-CURL_EXTERN CURLSH *curl_share_init(void);
-CURL_EXTERN CURLSHcode curl_share_setopt(CURLSH *, CURLSHoption option, ...);
-CURL_EXTERN CURLSHcode curl_share_cleanup(CURLSH *);
-
-/****************************************************************************
- * Structures for querying information about the curl library at runtime.
- */
-
-typedef enum {
-  CURLVERSION_FIRST,
-  CURLVERSION_SECOND,
-  CURLVERSION_THIRD,
-  CURLVERSION_FOURTH,
-  CURLVERSION_LAST /* never actually use this */
-} CURLversion;
-
-/* The 'CURLVERSION_NOW' is the symbolic name meant to be used by
-   basically all programs ever that want to get version information. It is
-   meant to be a built-in version number for what kind of struct the caller
-   expects. If the struct ever changes, we redefine the NOW to another enum
-   from above. */
-#define CURLVERSION_NOW CURLVERSION_FOURTH
-
-typedef struct {
-  CURLversion age;          /* age of the returned struct */
-  const char *version;      /* LIBCURL_VERSION */
-  unsigned int version_num; /* LIBCURL_VERSION_NUM */
-  const char *host;         /* OS/host/cpu/machine when configured */
-  int features;             /* bitmask, see defines below */
-  const char *ssl_version;  /* human readable string */
-  long ssl_version_num;     /* not used anymore, always 0 */
-  const char *libz_version; /* human readable string */
-  /* protocols is terminated by an entry with a NULL protoname */
-  const char * const *protocols;
-
-  /* The fields below this were added in CURLVERSION_SECOND */
-  const char *ares;
-  int ares_num;
-
-  /* This field was added in CURLVERSION_THIRD */
-  const char *libidn;
-
-  /* These field were added in CURLVERSION_FOURTH */
-
-  /* Same as '_libiconv_version' if built with HAVE_ICONV */
-  int iconv_ver_num;
-
-  const char *libssh_version; /* human readable string */
-
-} curl_version_info_data;
-
-#define CURL_VERSION_IPV6         (1<<0)  /* IPv6-enabled */
-#define CURL_VERSION_KERBEROS4    (1<<1)  /* Kerberos V4 auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_SSL          (1<<2)  /* SSL options are present */
-#define CURL_VERSION_LIBZ         (1<<3)  /* libz features are present */
-#define CURL_VERSION_NTLM         (1<<4)  /* NTLM auth is supported */
-#define CURL_VERSION_GSSNEGOTIATE (1<<5)  /* Negotiate auth is supported
-                                             (deprecated) */
-#define CURL_VERSION_DEBUG        (1<<6)  /* Built with debug capabilities */
-#define CURL_VERSION_ASYNCHDNS    (1<<7)  /* Asynchronous DNS resolves */
-#define CURL_VERSION_SPNEGO       (1<<8)  /* SPNEGO auth is supported */
-#define CURL_VERSION_LARGEFILE    (1<<9)  /* Supports files larger than 2GB */
-#define CURL_VERSION_IDN          (1<<10) /* Internationized Domain Names are
-                                             supported */
-#define CURL_VERSION_SSPI         (1<<11) /* Built against Windows SSPI */
-#define CURL_VERSION_CONV         (1<<12) /* Character conversions supported */
-#define CURL_VERSION_CURLDEBUG    (1<<13) /* Debug memory tracking supported */
-#define CURL_VERSION_TLSAUTH_SRP  (1<<14) /* TLS-SRP auth is supported */
-#define CURL_VERSION_NTLM_WB      (1<<15) /* NTLM delegation to winbind helper
-                                             is suported */
-#define CURL_VERSION_HTTP2        (1<<16) /* HTTP2 support built-in */
-#define CURL_VERSION_GSSAPI       (1<<17) /* Built against a GSS-API library */
-#define CURL_VERSION_KERBEROS5    (1<<18) /* Kerberos V5 auth is supported */
-#define CURL_VERSION_UNIX_SOCKETS (1<<19) /* Unix domain sockets support */
-
- /*
- * NAME curl_version_info()
- *
- * DESCRIPTION
- *
- * This function returns a pointer to a static copy of the version info
- * struct. See above.
- */
-CURL_EXTERN curl_version_info_data *curl_version_info(CURLversion);
-
-/*
- * NAME curl_easy_strerror()
- *
- * DESCRIPTION
- *
- * The curl_easy_strerror function may be used to turn a CURLcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_easy_strerror(CURLcode);
-
-/*
- * NAME curl_share_strerror()
- *
- * DESCRIPTION
- *
- * The curl_share_strerror function may be used to turn a CURLSHcode value
- * into the equivalent human readable error string.  This is useful
- * for printing meaningful error messages.
- */
-CURL_EXTERN const char *curl_share_strerror(CURLSHcode);
-
-/*
- * NAME curl_easy_pause()
- *
- * DESCRIPTION
- *
- * The curl_easy_pause function pauses or unpauses transfers. Select the new
- * state by setting the bitmask, use the convenience defines below.
- *
- */
-CURL_EXTERN CURLcode curl_easy_pause(CURL *handle, int bitmask);
-
-#define CURLPAUSE_RECV      (1<<0)
-#define CURLPAUSE_RECV_CONT (0)
-
-#define CURLPAUSE_SEND      (1<<2)
-#define CURLPAUSE_SEND_CONT (0)
-
-#define CURLPAUSE_ALL       (CURLPAUSE_RECV|CURLPAUSE_SEND)
-#define CURLPAUSE_CONT      (CURLPAUSE_RECV_CONT|CURLPAUSE_SEND_CONT)
-
-#ifdef  __cplusplus
-}
-#endif
-
-/* unfortunately, the easy.h and multi.h include files need options and info
-  stuff before they can be included! */
-#include "easy.h" /* nothing in curl is fun without the easy stuff */
-#include "multi.h"
-
-/* the typechecker doesn't work in C++ (yet) */
-#if defined(__GNUC__) && defined(__GNUC_MINOR__) && \
-    ((__GNUC__ > 4) || (__GNUC__ == 4 && __GNUC_MINOR__ >= 3)) && \
-    !defined(__cplusplus) && !defined(CURL_DISABLE_TYPECHECK)
-#include "typecheck-gcc.h"
-#else
-#if defined(__STDC__) && (__STDC__ >= 1)
-/* This preprocessor magic that replaces a call with the exact same call is
-   only done to make sure application authors pass exactly three arguments
-   to these functions. */
-#define curl_easy_setopt(handle,opt,param) curl_easy_setopt(handle,opt,param)
-#define curl_easy_getinfo(handle,info,arg) curl_easy_getinfo(handle,info,arg)
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-#endif /* __STDC__ >= 1 */
-#endif /* gcc >= 4.3 && !__cplusplus */
-
-#endif /* __CURL_CURL_H */
diff --git a/third_party/curl/include/curl/curlbuild.h b/third_party/curl/include/curl/curlbuild.h
deleted file mode 100644
index 2bf01cf37c..0000000000
--- a/third_party/curl/include/curl/curlbuild.h
+++ /dev/null
@@ -1,195 +0,0 @@
-/* include/curl/curlbuild.h.  Generated from curlbuild.h.in by configure.  */
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-/* #undef CURL_PULL_WS2TCPIP_H */
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#define CURL_PULL_SYS_TYPES_H 1
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#define CURL_PULL_STDINT_H 1
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#define CURL_PULL_INTTYPES_H 1
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#define CURL_PULL_SYS_SOCKET_H 1
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-/* #undef CURL_PULL_SYS_POLL_H */
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T int64_t
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "lld"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "llu"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "%lld"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T 8
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T LL
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ULL
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.cmake b/third_party/curl/include/curl/curlbuild.h.cmake
deleted file mode 100644
index 60bc7a70ec..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.cmake
+++ /dev/null
@@ -1,197 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#cmakedefine CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#cmakedefine CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#cmakedefine CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#cmakedefine CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* The size of `long', as computed by sizeof. */
-#define CURL_SIZEOF_LONG ${CURL_SIZEOF_LONG}
-
-/* Integral data type used for curl_socklen_t. */
-#define CURL_TYPEOF_CURL_SOCKLEN_T ${CURL_TYPEOF_CURL_SOCKLEN_T}
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_SOCKLEN_T ${CURL_SIZEOF_CURL_SOCKLEN_T}
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#define CURL_TYPEOF_CURL_OFF_T ${CURL_TYPEOF_CURL_OFF_T}
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_T "${CURL_FORMAT_CURL_OFF_T}"
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#define CURL_FORMAT_CURL_OFF_TU "${CURL_FORMAT_CURL_OFF_TU}"
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#define CURL_FORMAT_OFF_T "${CURL_FORMAT_OFF_T}"
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#define CURL_SIZEOF_CURL_OFF_T ${CURL_SIZEOF_CURL_OFF_T}
-
-/* curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_T ${CURL_SUFFIX_CURL_OFF_T}
-
-/* unsigned curl_off_t constant suffix. */
-#define CURL_SUFFIX_CURL_OFF_TU ${CURL_SUFFIX_CURL_OFF_TU}
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.dist b/third_party/curl/include/curl/curlbuild.h.dist
deleted file mode 100644
index f09419a843..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.dist
+++ /dev/null
@@ -1,585 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2013, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * See file include/curl/curlbuild.h.in, run configure, and forget
- * that this file exists it is only used for non-configure systems.
- * But you can keep reading if you want ;-)
- *
- */
-
-/* ================================================================ */
-/*                 NOTES FOR NON-CONFIGURE SYSTEMS                  */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * Try to keep one section per platform, compiler and architecture,
- * otherwise, if an existing section is reused for a different one and
- * later on the original is adjusted, probably the piggybacking one can
- * be adversely changed.
- *
- * In order to differentiate between platforms/compilers/architectures
- * use only compiler built in predefined preprocessor symbols.
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * For any given platform/compiler curl_off_t must be typedef'ed to a
- * 64-bit wide signed integral data type. The width of this data type
- * must remain constant and independent of any possible large file
- * support settings.
- *
- * As an exception to the above, curl_off_t shall be typedef'ed to a
- * 32-bit wide signed integral data type if there is no 64-bit type.
- *
- * As a general rule, curl_off_t shall not be mapped to off_t. This
- * rule shall only be violated if off_t is the only 64-bit data type
- * available and the size of off_t is independent of large file support
- * settings. Keep your build on the safe side avoiding an off_t gating.
- * If you have a 64-bit off_t then take for sure that another 64-bit
- * data type exists, dig deeper and you will find it.
- *
- * NOTE 3:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.dist or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- * file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h
- * when the libcurl source code distribution archive file is created.
- *
- * File include/curl/curlbuild.h.dist is not included in the distribution
- * archive. File include/curl/curlbuild.h is not present in the git tree.
- *
- * The distributed include/curl/curlbuild.h file is only intended to be used
- * on systems which can not run the also distributed configure script.
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- * If you check out from git on a non-configure platform, you must run the
- * appropriate buildconf* script to set up curlbuild.h and other local files.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#  error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*    EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY    */
-/* ================================================================ */
-
-#if defined(__DJGPP__) || defined(__GO32__)
-#  if defined(__DJGPP__) && (__DJGPP__ > 1)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SALFORDC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__BORLANDC__)
-#  if (__BORLANDC__ < 0x520)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__TURBOC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__WATCOMC__)
-#  if defined(__386__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__POCC__)
-#  if (__POCC__ < 280)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  elif defined(_MSC_VER)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__LCC__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     4
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__SYMBIAN32__)
-#  if defined(__EABI__)  /* Treat all ARM compilers equally */
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__CW32__)
-#    pragma longlong on
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__VC32__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MWERKS__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "lld"
-#  define CURL_FORMAT_CURL_OFF_TU    "llu"
-#  define CURL_FORMAT_OFF_T          "%lld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(_WIN32_WCE)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     __int64
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     i64
-#  define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__MINGW32__)
-#  define CURL_SIZEOF_LONG           4
-#  define CURL_TYPEOF_CURL_OFF_T     long long
-#  define CURL_FORMAT_CURL_OFF_T     "I64d"
-#  define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#  define CURL_FORMAT_OFF_T          "%I64d"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     LL
-#  define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__VMS)
-#  if defined(__VAX)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-#elif defined(__OS400__)
-#  if defined(__ILEC400__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__MVS__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(__370__)
-#  if defined(__IBMC__) || defined(__IBMCPP__)
-#    if defined(_ILP32)
-#      define CURL_SIZEOF_LONG           4
-#    elif defined(_LP64)
-#      define CURL_SIZEOF_LONG           8
-#    endif
-#    if defined(_LONG_LONG)
-#      define CURL_TYPEOF_CURL_OFF_T     long long
-#      define CURL_FORMAT_CURL_OFF_T     "lld"
-#      define CURL_FORMAT_CURL_OFF_TU    "llu"
-#      define CURL_FORMAT_OFF_T          "%lld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     LL
-#      define CURL_SUFFIX_CURL_OFF_TU    ULL
-#    elif defined(_LP64)
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     8
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    else
-#      define CURL_TYPEOF_CURL_OFF_T     long
-#      define CURL_FORMAT_CURL_OFF_T     "ld"
-#      define CURL_FORMAT_CURL_OFF_TU    "lu"
-#      define CURL_FORMAT_OFF_T          "%ld"
-#      define CURL_SIZEOF_CURL_OFF_T     4
-#      define CURL_SUFFIX_CURL_OFF_T     L
-#      define CURL_SUFFIX_CURL_OFF_TU    UL
-#    endif
-#    define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#    define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#    define CURL_PULL_SYS_TYPES_H      1
-#    define CURL_PULL_SYS_SOCKET_H     1
-#  endif
-
-#elif defined(TPF)
-#  define CURL_SIZEOF_LONG           8
-#  define CURL_TYPEOF_CURL_OFF_T     long
-#  define CURL_FORMAT_CURL_OFF_T     "ld"
-#  define CURL_FORMAT_CURL_OFF_TU    "lu"
-#  define CURL_FORMAT_OFF_T          "%ld"
-#  define CURL_SIZEOF_CURL_OFF_T     8
-#  define CURL_SUFFIX_CURL_OFF_T     L
-#  define CURL_SUFFIX_CURL_OFF_TU    UL
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP MSVC THE PENULTIMATE ENTRY    */
-/* ===================================== */
-
-#elif defined(_MSC_VER)
-#  if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     __int64
-#    define CURL_FORMAT_CURL_OFF_T     "I64d"
-#    define CURL_FORMAT_CURL_OFF_TU    "I64u"
-#    define CURL_FORMAT_OFF_T          "%I64d"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     i64
-#    define CURL_SUFFIX_CURL_OFF_TU    ui64
-#  else
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     4
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T int
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-
-/* ===================================== */
-/*    KEEP GENERIC GCC THE LAST ENTRY    */
-/* ===================================== */
-
-#elif defined(__GNUC__)
-#  if defined(__ILP32__) || \
-      defined(__i386__) || defined(__ppc__) || defined(__arm__) || defined(__sparc__)
-#    define CURL_SIZEOF_LONG           4
-#    define CURL_TYPEOF_CURL_OFF_T     long long
-#    define CURL_FORMAT_CURL_OFF_T     "lld"
-#    define CURL_FORMAT_CURL_OFF_TU    "llu"
-#    define CURL_FORMAT_OFF_T          "%lld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     LL
-#    define CURL_SUFFIX_CURL_OFF_TU    ULL
-#  elif defined(__LP64__) || \
-        defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__)
-#    define CURL_SIZEOF_LONG           8
-#    define CURL_TYPEOF_CURL_OFF_T     long
-#    define CURL_FORMAT_CURL_OFF_T     "ld"
-#    define CURL_FORMAT_CURL_OFF_TU    "lu"
-#    define CURL_FORMAT_OFF_T          "%ld"
-#    define CURL_SIZEOF_CURL_OFF_T     8
-#    define CURL_SUFFIX_CURL_OFF_T     L
-#    define CURL_SUFFIX_CURL_OFF_TU    UL
-#  endif
-#  define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
-#  define CURL_SIZEOF_CURL_SOCKLEN_T 4
-#  define CURL_PULL_SYS_TYPES_H      1
-#  define CURL_PULL_SYS_SOCKET_H     1
-
-#else
-#  error "Unknown non-configure build target!"
-   Error Compilation_aborted_Unknown_non_configure_build_target
-#endif
-
-/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file  */
-/* sys/types.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file  */
-/* sys/socket.h is required here to properly make type definitions below. */
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Data type definition of curl_socklen_t. */
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-  typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-#endif
-
-/* Data type definition of curl_off_t. */
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-  typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-#endif
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlbuild.h.in b/third_party/curl/include/curl/curlbuild.h.in
deleted file mode 100644
index 7cb2b6ef7e..0000000000
--- a/third_party/curl/include/curl/curlbuild.h.in
+++ /dev/null
@@ -1,194 +0,0 @@
-#ifndef __CURL_CURLBUILD_H
-#define __CURL_CURLBUILD_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*               NOTES FOR CONFIGURE CAPABLE SYSTEMS                */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * If you think that something actually needs to be changed, adjusted
- * or fixed in this file, then, report it on the libcurl development
- * mailing list: http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * This header file shall only export symbols which are 'curl' or 'CURL'
- * prefixed, otherwise public name space would be polluted.
- *
- * NOTE 2:
- * -------
- *
- * Right now you might be staring at file include/curl/curlbuild.h.in or
- * at file include/curl/curlbuild.h, this is due to the following reason:
- *
- * On systems capable of running the configure script, the configure process
- * will overwrite the distributed include/curl/curlbuild.h file with one that
- * is suitable and specific to the library being configured and built, which
- * is generated from the include/curl/curlbuild.h.in template file.
- *
- */
-
-/* ================================================================ */
-/*  DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE  */
-/* ================================================================ */
-
-#ifdef CURL_SIZEOF_LONG
-#error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
-#error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
-#error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
-#endif
-
-#ifdef CURL_TYPEOF_CURL_OFF_T
-#error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_T
-#error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_FORMAT_CURL_OFF_TU
-#error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
-#endif
-
-#ifdef CURL_FORMAT_OFF_T
-#error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SIZEOF_CURL_OFF_T
-#error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_T
-#error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
-#endif
-
-#ifdef CURL_SUFFIX_CURL_OFF_TU
-#error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
-#endif
-
-/* ================================================================ */
-/*  EXTERNAL INTERFACE SETTINGS FOR CONFIGURE CAPABLE SYSTEMS ONLY  */
-/* ================================================================ */
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file ws2tcpip.h must be included by the external interface. */
-#undef CURL_PULL_WS2TCPIP_H
-#ifdef CURL_PULL_WS2TCPIP_H
-#  ifndef WIN32_LEAN_AND_MEAN
-#    define WIN32_LEAN_AND_MEAN
-#  endif
-#  include <windows.h>
-#  include <winsock2.h>
-#  include <ws2tcpip.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system   */
-/* header file sys/types.h must be included by the external interface. */
-#undef CURL_PULL_SYS_TYPES_H
-#ifdef CURL_PULL_SYS_TYPES_H
-#  include <sys/types.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system */
-/* header file stdint.h must be included by the external interface.  */
-#undef CURL_PULL_STDINT_H
-#ifdef CURL_PULL_STDINT_H
-#  include <stdint.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file inttypes.h must be included by the external interface. */
-#undef CURL_PULL_INTTYPES_H
-#ifdef CURL_PULL_INTTYPES_H
-#  include <inttypes.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system    */
-/* header file sys/socket.h must be included by the external interface. */
-#undef CURL_PULL_SYS_SOCKET_H
-#ifdef CURL_PULL_SYS_SOCKET_H
-#  include <sys/socket.h>
-#endif
-
-/* Configure process defines this to 1 when it finds out that system  */
-/* header file sys/poll.h must be included by the external interface. */
-#undef CURL_PULL_SYS_POLL_H
-#ifdef CURL_PULL_SYS_POLL_H
-#  include <sys/poll.h>
-#endif
-
-/* Integral data type used for curl_socklen_t. */
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-
-/* The size of `curl_socklen_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_SOCKLEN_T
-
-/* Data type definition of curl_socklen_t. */
-typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
-
-/* Signed integral data type used for curl_off_t. */
-#undef CURL_TYPEOF_CURL_OFF_T
-
-/* Data type definition of curl_off_t. */
-typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
-
-/* curl_off_t formatting string directive without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_T
-
-/* unsigned curl_off_t formatting string without "%" conversion specifier. */
-#undef CURL_FORMAT_CURL_OFF_TU
-
-/* curl_off_t formatting string directive with "%" conversion specifier. */
-#undef CURL_FORMAT_OFF_T
-
-/* The size of `curl_off_t', as computed by sizeof. */
-#undef CURL_SIZEOF_CURL_OFF_T
-
-/* curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_T
-
-/* unsigned curl_off_t constant suffix. */
-#undef CURL_SUFFIX_CURL_OFF_TU
-
-#endif /* __CURL_CURLBUILD_H */
diff --git a/third_party/curl/include/curl/curlrules.h b/third_party/curl/include/curl/curlrules.h
deleted file mode 100644
index 1163e95f48..0000000000
--- a/third_party/curl/include/curl/curlrules.h
+++ /dev/null
@@ -1,248 +0,0 @@
-#ifndef __CURL_CURLRULES_H
-#define __CURL_CURLRULES_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* ================================================================ */
-/*                    COMPILE TIME SANITY CHECKS                    */
-/* ================================================================ */
-
-/*
- * NOTE 1:
- * -------
- *
- * All checks done in this file are intentionally placed in a public
- * header file which is pulled by curl/curl.h when an application is
- * being built using an already built libcurl library. Additionally
- * this file is also included and used when building the library.
- *
- * If compilation fails on this file it is certainly sure that the
- * problem is elsewhere. It could be a problem in the curlbuild.h
- * header file, or simply that you are using different compilation
- * settings than those used to build the library.
- *
- * Nothing in this file is intended to be modified or adjusted by the
- * curl library user nor by the curl library builder.
- *
- * Do not deactivate any check, these are done to make sure that the
- * library is properly built and used.
- *
- * You can find further help on the libcurl development mailing list:
- * http://cool.haxx.se/mailman/listinfo/curl-library/
- *
- * NOTE 2
- * ------
- *
- * Some of the following compile time checks are based on the fact
- * that the dimension of a constant array can not be a negative one.
- * In this way if the compile time verification fails, the compilation
- * will fail issuing an error. The error description wording is compiler
- * dependent but it will be quite similar to one of the following:
- *
- *   "negative subscript or subscript is too large"
- *   "array must have at least one element"
- *   "-1 is an illegal array size"
- *   "size of array is negative"
- *
- * If you are building an application which tries to use an already
- * built libcurl library and you are getting this kind of errors on
- * this file, it is a clear indication that there is a mismatch between
- * how the library was built and how you are trying to use it for your
- * application. Your already compiled or binary library provider is the
- * only one who can give you the details you need to properly use it.
- */
-
-/*
- * Verify that some macros are actually defined.
- */
-
-#ifndef CURL_TYPEOF_CURL_SOCKLEN_T
-#  error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_SOCKLEN_T
-#  error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing
-#endif
-
-#ifndef CURL_TYPEOF_CURL_OFF_T
-#  error "CURL_TYPEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_T
-#  error "CURL_FORMAT_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_FORMAT_CURL_OFF_TU
-#  error "CURL_FORMAT_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing
-#endif
-
-#ifndef CURL_FORMAT_OFF_T
-#  error "CURL_FORMAT_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SIZEOF_CURL_OFF_T
-#  error "CURL_SIZEOF_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_T
-#  error "CURL_SUFFIX_CURL_OFF_T definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing
-#endif
-
-#ifndef CURL_SUFFIX_CURL_OFF_TU
-#  error "CURL_SUFFIX_CURL_OFF_TU definition is missing!"
-   Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing
-#endif
-
-/*
- * Macros private to this header file.
- */
-
-#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1
-
-#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1
-
-/*
- * Verify that the size previously defined and expected for
- * curl_off_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_02__
-    [CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)];
-
-/*
- * Verify at compile time that the size of curl_off_t as reported
- * by sizeof() is greater or equal than the one reported for long
- * for the current compilation.
- */
-
-typedef char
-  __curl_rule_03__
-    [CurlchkszGE(curl_off_t, long)];
-
-/*
- * Verify that the size previously defined and expected for
- * curl_socklen_t is actually the the same as the one reported
- * by sizeof() at compile time.
- */
-
-typedef char
-  __curl_rule_04__
-    [CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)];
-
-/*
- * Verify at compile time that the size of curl_socklen_t as reported
- * by sizeof() is greater or equal than the one reported for int for
- * the current compilation.
- */
-
-typedef char
-  __curl_rule_05__
-    [CurlchkszGE(curl_socklen_t, int)];
-
-/* ================================================================ */
-/*          EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS           */
-/* ================================================================ */
-
-/*
- * CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow
- * these to be visible and exported by the external libcurl interface API,
- * while also making them visible to the library internals, simply including
- * curl_setup.h, without actually needing to include curl.h internally.
- * If some day this section would grow big enough, all this should be moved
- * to its own header file.
- */
-
-/*
- * Figure out if we can use the ## preprocessor operator, which is supported
- * by ISO/ANSI C and C++. Some compilers support it without setting __STDC__
- * or  __cplusplus so we need to carefully check for them too.
- */
-
-#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \
-  defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \
-  defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \
-  defined(__ILEC400__)
-  /* This compiler is believed to have an ISO compatible preprocessor */
-#define CURL_ISOCPP
-#else
-  /* This compiler is believed NOT to have an ISO compatible preprocessor */
-#undef CURL_ISOCPP
-#endif
-
-/*
- * Macros for minimum-width signed and unsigned curl_off_t integer constants.
- */
-
-#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551)
-#  define __CURL_OFF_T_C_HLPR2(x) x
-#  define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
-                             __CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU)
-#else
-#  ifdef CURL_ISOCPP
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix
-#  else
-#    define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix
-#  endif
-#  define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix)
-#  define CURL_OFF_T_C(Val)  __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T)
-#  define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU)
-#endif
-
-/*
- * Get rid of macros private to this header file.
- */
-
-#undef CurlchkszEQ
-#undef CurlchkszGE
-
-/*
- * Get rid of macros not intended to exist beyond this point.
- */
-
-#undef CURL_PULL_WS2TCPIP_H
-#undef CURL_PULL_SYS_TYPES_H
-#undef CURL_PULL_SYS_SOCKET_H
-#undef CURL_PULL_SYS_POLL_H
-#undef CURL_PULL_STDINT_H
-#undef CURL_PULL_INTTYPES_H
-
-#undef CURL_TYPEOF_CURL_SOCKLEN_T
-#undef CURL_TYPEOF_CURL_OFF_T
-
-#ifdef CURL_NO_OLDIES
-#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */
-#endif
-
-#endif /* __CURL_CURLRULES_H */
diff --git a/third_party/curl/include/curl/curlver.h b/third_party/curl/include/curl/curlver.h
deleted file mode 100644
index be442eff8f..0000000000
--- a/third_party/curl/include/curl/curlver.h
+++ /dev/null
@@ -1,77 +0,0 @@
-#ifndef __CURL_CURLVER_H
-#define __CURL_CURLVER_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* This header file contains nothing but libcurl version info, generated by
-   a script at release-time. This was made its own header file in 7.11.2 */
-
-/* This is the global package copyright */
-#define LIBCURL_COPYRIGHT "1996 - 2015 Daniel Stenberg, <daniel@haxx.se>."
-
-/* This is the version number of the libcurl package from which this header
-   file origins: */
-#define LIBCURL_VERSION "7.43.0-DEV"
-
-/* The numeric version number is also available "in parts" by using these
-   defines: */
-#define LIBCURL_VERSION_MAJOR 7
-#define LIBCURL_VERSION_MINOR 43
-#define LIBCURL_VERSION_PATCH 0
-
-/* This is the numeric version of the libcurl version number, meant for easier
-   parsing and comparions by programs. The LIBCURL_VERSION_NUM define will
-   always follow this syntax:
-
-         0xXXYYZZ
-
-   Where XX, YY and ZZ are the main version, release and patch numbers in
-   hexadecimal (using 8 bits each). All three numbers are always represented
-   using two digits.  1.2 would appear as "0x010200" while version 9.11.7
-   appears as "0x090b07".
-
-   This 6-digit (24 bits) hexadecimal number does not show pre-release number,
-   and it is always a greater number in a more recent release. It makes
-   comparisons with greater than and less than work.
-
-   Note: This define is the full hex number and _does not_ use the
-   CURL_VERSION_BITS() macro since curl's own configure script greps for it
-   and needs it to contain the full number.
-*/
-#define LIBCURL_VERSION_NUM 0x072B00
-
-/*
- * This is the date and time when the full source package was created. The
- * timestamp is not stored in git, as the timestamp is properly set in the
- * tarballs by the maketgz script.
- *
- * The format of the date should follow this template:
- *
- * "Mon Feb 12 11:35:33 UTC 2007"
- */
-#define LIBCURL_TIMESTAMP "DEV"
-
-#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z)
-#define CURL_AT_LEAST_VERSION(x,y,z) \
-  (LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z))
-
-#endif /* __CURL_CURLVER_H */
diff --git a/third_party/curl/include/curl/easy.h b/third_party/curl/include/curl/easy.h
deleted file mode 100644
index c1e3e76096..0000000000
--- a/third_party/curl/include/curl/easy.h
+++ /dev/null
@@ -1,102 +0,0 @@
-#ifndef __CURL_EASY_H
-#define __CURL_EASY_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2008, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN CURL *curl_easy_init(void);
-CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...);
-CURL_EXTERN CURLcode curl_easy_perform(CURL *curl);
-CURL_EXTERN void curl_easy_cleanup(CURL *curl);
-
-/*
- * NAME curl_easy_getinfo()
- *
- * DESCRIPTION
- *
- * Request internal information from the curl session with this function.  The
- * third argument MUST be a pointer to a long, a pointer to a char * or a
- * pointer to a double (as the documentation describes elsewhere).  The data
- * pointed to will be filled in accordingly and can be relied upon only if the
- * function returns CURLE_OK.  This function is intended to get used *AFTER* a
- * performed transfer, all results from this function are undefined until the
- * transfer is completed.
- */
-CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...);
-
-
-/*
- * NAME curl_easy_duphandle()
- *
- * DESCRIPTION
- *
- * Creates a new curl session handle with the same options set for the handle
- * passed in. Duplicating a handle could only be a matter of cloning data and
- * options, internal state info and things like persistent connections cannot
- * be transferred. It is useful in multithreaded applications when you can run
- * curl_easy_duphandle() for each new thread to avoid a series of identical
- * curl_easy_setopt() invokes in every thread.
- */
-CURL_EXTERN CURL* curl_easy_duphandle(CURL *curl);
-
-/*
- * NAME curl_easy_reset()
- *
- * DESCRIPTION
- *
- * Re-initializes a CURL handle to the default values. This puts back the
- * handle to the same state as it was in when it was just created.
- *
- * It does keep: live connections, the Session ID cache, the DNS cache and the
- * cookies.
- */
-CURL_EXTERN void curl_easy_reset(CURL *curl);
-
-/*
- * NAME curl_easy_recv()
- *
- * DESCRIPTION
- *
- * Receives data from the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen,
-                                    size_t *n);
-
-/*
- * NAME curl_easy_send()
- *
- * DESCRIPTION
- *
- * Sends data over the connected socket. Use after successful
- * curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
- */
-CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer,
-                                    size_t buflen, size_t *n);
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif
diff --git a/third_party/curl/include/curl/mprintf.h b/third_party/curl/include/curl/mprintf.h
deleted file mode 100644
index c6b0d7679a..0000000000
--- a/third_party/curl/include/curl/mprintf.h
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef __CURL_MPRINTF_H
-#define __CURL_MPRINTF_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <stdarg.h>
-#include <stdio.h> /* needed for FILE */
-
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-CURL_EXTERN int curl_mprintf(const char *format, ...);
-CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...);
-CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...);
-CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength,
-                               const char *format, ...);
-CURL_EXTERN int curl_mvprintf(const char *format, va_list args);
-CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args);
-CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args);
-CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength,
-                                const char *format, va_list args);
-CURL_EXTERN char *curl_maprintf(const char *format, ...);
-CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args);
-
-#ifdef _MPRINTF_REPLACE
-# undef printf
-# undef fprintf
-# undef sprintf
-# undef vsprintf
-# undef snprintf
-# undef vprintf
-# undef vfprintf
-# undef vsnprintf
-# undef aprintf
-# undef vaprintf
-# define printf curl_mprintf
-# define fprintf curl_mfprintf
-# define sprintf curl_msprintf
-# define vsprintf curl_mvsprintf
-# define snprintf curl_msnprintf
-# define vprintf curl_mvprintf
-# define vfprintf curl_mvfprintf
-# define vsnprintf curl_mvsnprintf
-# define aprintf curl_maprintf
-# define vaprintf curl_mvaprintf
-#endif
-
-#ifdef  __cplusplus
-}
-#endif
-
-#endif /* __CURL_MPRINTF_H */
diff --git a/third_party/curl/include/curl/multi.h b/third_party/curl/include/curl/multi.h
deleted file mode 100644
index 0d859f8fd9..0000000000
--- a/third_party/curl/include/curl/multi.h
+++ /dev/null
@@ -1,404 +0,0 @@
-#ifndef __CURL_MULTI_H
-#define __CURL_MULTI_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2015, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-/*
-  This is an "external" header file. Don't give away any internals here!
-
-  GOALS
-
-  o Enable a "pull" interface. The application that uses libcurl decides where
-    and when to ask libcurl to get/send data.
-
-  o Enable multiple simultaneous transfers in the same thread without making it
-    complicated for the application.
-
-  o Enable the application to select() on its own file descriptors and curl's
-    file descriptors simultaneous easily.
-
-*/
-
-/*
- * This header file should not really need to include "curl.h" since curl.h
- * itself includes this file and we expect user applications to do #include
- * <curl/curl.h> without the need for especially including multi.h.
- *
- * For some reason we added this include here at one point, and rather than to
- * break existing (wrongly written) libcurl applications, we leave it as-is
- * but with this warning attached.
- */
-#include "curl.h"
-
-#ifdef  __cplusplus
-extern "C" {
-#endif
-
-typedef void CURLM;
-
-typedef enum {
-  CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or
-                                    curl_multi_socket*() soon */
-  CURLM_OK,
-  CURLM_BAD_HANDLE,      /* the passed-in handle is not a valid CURLM handle */
-  CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */
-  CURLM_OUT_OF_MEMORY,   /* if you ever get this, you're in deep sh*t */
-  CURLM_INTERNAL_ERROR,  /* this is a libcurl bug */
-  CURLM_BAD_SOCKET,      /* the passed in socket argument did not match */
-  CURLM_UNKNOWN_OPTION,  /* curl_multi_setopt() with unsupported option */
-  CURLM_ADDED_ALREADY,   /* an easy handle already added to a multi handle was
-                            attempted to get added - again */
-  CURLM_LAST
-} CURLMcode;
-
-/* just to make code nicer when using curl_multi_socket() you can now check
-   for CURLM_CALL_MULTI_SOCKET too in the same style it works for
-   curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */
-#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM
-
-/* bitmask bits for CURLMOPT_PIPELINING */
-#define CURLPIPE_NOTHING   0L
-#define CURLPIPE_HTTP1     1L
-#define CURLPIPE_MULTIPLEX 2L
-
-typedef enum {
-  CURLMSG_NONE, /* first, not used */
-  CURLMSG_DONE, /* This easy handle has completed. 'result' contains
-                   the CURLcode of the transfer */
-  CURLMSG_LAST /* last, not used */
-} CURLMSG;
-
-struct CURLMsg {
-  CURLMSG msg;       /* what this message means */
-  CURL *easy_handle; /* the handle it concerns */
-  union {
-    void *whatever;    /* message-specific data */
-    CURLcode result;   /* return code for transfer */
-  } data;
-};
-typedef struct CURLMsg CURLMsg;
-
-/* Based on poll(2) structure and values.
- * We don't use pollfd and POLL* constants explicitly
- * to cover platforms without poll(). */
-#define CURL_WAIT_POLLIN    0x0001
-#define CURL_WAIT_POLLPRI   0x0002
-#define CURL_WAIT_POLLOUT   0x0004
-
-struct curl_waitfd {
-  curl_socket_t fd;
-  short events;
-  short revents; /* not supported yet */
-};
-
-/*
- * Name:    curl_multi_init()
- *
- * Desc:    inititalize multi-style curl usage
- *
- * Returns: a new CURLM handle to use in all 'curl_multi' functions.
- */
-CURL_EXTERN CURLM *curl_multi_init(void);
-
-/*
- * Name:    curl_multi_add_handle()
- *
- * Desc:    add a standard curl handle to the multi stack
- *
- * Returns: CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle,
-                                            CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_remove_handle()
-  *
-  * Desc:    removes a curl handle from the multi stack again
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle,
-                                               CURL *curl_handle);
-
- /*
-  * Name:    curl_multi_fdset()
-  *
-  * Desc:    Ask curl for its fd_set sets. The app can use these to select() or
-  *          poll() on. We want curl_multi_perform() called as soon as one of
-  *          them are ready.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle,
-                                       fd_set *read_fd_set,
-                                       fd_set *write_fd_set,
-                                       fd_set *exc_fd_set,
-                                       int *max_fd);
-
-/*
- * Name:     curl_multi_wait()
- *
- * Desc:     Poll on all fds within a CURLM set as well as any
- *           additional fds passed to the function.
- *
- * Returns:  CURLMcode type, general multi error code.
- */
-CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle,
-                                      struct curl_waitfd extra_fds[],
-                                      unsigned int extra_nfds,
-                                      int timeout_ms,
-                                      int *ret);
-
- /*
-  * Name:    curl_multi_perform()
-  *
-  * Desc:    When the app thinks there's data available for curl it calls this
-  *          function to read/write whatever there is right now. This returns
-  *          as soon as the reads and writes are done. This function does not
-  *          require that there actually is data available for reading or that
-  *          data can be written, it can be called just in case. It returns
-  *          the number of handles that still transfer data in the second
-  *          argument's integer-pointer.
-  *
-  * Returns: CURLMcode type, general multi error code. *NOTE* that this only
-  *          returns errors etc regarding the whole multi stack. There might
-  *          still have occurred problems on invidual transfers even when this
-  *          returns OK.
-  */
-CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle,
-                                         int *running_handles);
-
- /*
-  * Name:    curl_multi_cleanup()
-  *
-  * Desc:    Cleans up and removes a whole multi stack. It does not free or
-  *          touch any individual easy handles in any way. We need to define
-  *          in what state those handles will be if this function is called
-  *          in the middle of a transfer.
-  *
-  * Returns: CURLMcode type, general multi error code.
-  */
-CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle);
-
-/*
- * Name:    curl_multi_info_read()
- *
- * Desc:    Ask the multi handle if there's any messages/informationals from
- *          the individual transfers. Messages include informationals such as
- *          error code from the transfer or just the fact that a transfer is
- *          completed. More details on these should be written down as well.
- *
- *          Repeated calls to this function will return a new struct each
- *          time, until a special "end of msgs" struct is returned as a signal
- *          that there is no more to get at this point.
- *
- *          The data the returned pointer points to will not survive calling
- *          curl_multi_cleanup().
- *
- *          The 'CURLMsg' struct is meant to be very simple and only contain
- *          very basic informations. If more involved information is wanted,
- *          we will provide the particular "transfer handle" in that struct
- *          and that should/could/would be used in subsequent
- *          curl_easy_getinfo() calls (or similar). The point being that we
- *          must never expose complex structs to applications, as then we'll
- *          undoubtably get backwards compatibility problems in the future.
- *
- * Returns: A pointer to a filled-in struct, or NULL if it failed or ran out
- *          of structs. It also writes the number of messages left in the
- *          queue (after this read) in the integer the second argument points
- *          to.
- */
-CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle,
-                                          int *msgs_in_queue);
-
-/*
- * Name:    curl_multi_strerror()
- *
- * Desc:    The curl_multi_strerror function may be used to turn a CURLMcode
- *          value into the equivalent human readable error string.  This is
- *          useful for printing meaningful error messages.
- *
- * Returns: A pointer to a zero-terminated error message.
- */
-CURL_EXTERN const char *curl_multi_strerror(CURLMcode);
-
-/*
- * Name:    curl_multi_socket() and
- *          curl_multi_socket_all()
- *
- * Desc:    An alternative version of curl_multi_perform() that allows the
- *          application to pass in one of the file descriptors that have been
- *          detected to have "action" on them and let libcurl perform.
- *          See man page for details.
- */
-#define CURL_POLL_NONE   0
-#define CURL_POLL_IN     1
-#define CURL_POLL_OUT    2
-#define CURL_POLL_INOUT  3
-#define CURL_POLL_REMOVE 4
-
-#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD
-
-#define CURL_CSELECT_IN   0x01
-#define CURL_CSELECT_OUT  0x02
-#define CURL_CSELECT_ERR  0x04
-
-typedef int (*curl_socket_callback)(CURL *easy,      /* easy handle */
-                                    curl_socket_t s, /* socket */
-                                    int what,        /* see above */
-                                    void *userp,     /* private callback
-                                                        pointer */
-                                    void *socketp);  /* private socket
-                                                        pointer */
-/*
- * Name:    curl_multi_timer_callback
- *
- * Desc:    Called by libcurl whenever the library detects a change in the
- *          maximum number of milliseconds the app is allowed to wait before
- *          curl_multi_socket() or curl_multi_perform() must be called
- *          (to allow libcurl's timed events to take place).
- *
- * Returns: The callback should return zero.
- */
-typedef int (*curl_multi_timer_callback)(CURLM *multi,    /* multi handle */
-                                         long timeout_ms, /* see above */
-                                         void *userp);    /* private callback
-                                                             pointer */
-
-CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s,
-                                        int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle,
-                                               curl_socket_t s,
-                                               int ev_bitmask,
-                                               int *running_handles);
-
-CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle,
-                                            int *running_handles);
-
-#ifndef CURL_ALLOW_OLD_MULTI_SOCKET
-/* This macro below was added in 7.16.3 to push users who recompile to use
-   the new curl_multi_socket_action() instead of the old curl_multi_socket()
-*/
-#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z)
-#endif
-
-/*
- * Name:    curl_multi_timeout()
- *
- * Desc:    Returns the maximum number of milliseconds the app is allowed to
- *          wait before curl_multi_socket() or curl_multi_perform() must be
- *          called (to allow libcurl's timed events to take place).
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle,
-                                         long *milliseconds);
-
-#undef CINIT /* re-using the same name as in curl.h */
-
-#ifdef CURL_ISOCPP
-#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num
-#else
-/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
-#define LONG          CURLOPTTYPE_LONG
-#define OBJECTPOINT   CURLOPTTYPE_OBJECTPOINT
-#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
-#define OFF_T         CURLOPTTYPE_OFF_T
-#define CINIT(name,type,number) CURLMOPT_/**/name = type + number
-#endif
-
-typedef enum {
-  /* This is the socket callback function pointer */
-  CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1),
-
-  /* This is the argument passed to the socket callback */
-  CINIT(SOCKETDATA, OBJECTPOINT, 2),
-
-    /* set to 1 to enable pipelining for this multi handle */
-  CINIT(PIPELINING, LONG, 3),
-
-   /* This is the timer callback function pointer */
-  CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4),
-
-  /* This is the argument passed to the timer callback */
-  CINIT(TIMERDATA, OBJECTPOINT, 5),
-
-  /* maximum number of entries in the connection cache */
-  CINIT(MAXCONNECTS, LONG, 6),
-
-  /* maximum number of (pipelining) connections to one host */
-  CINIT(MAX_HOST_CONNECTIONS, LONG, 7),
-
-  /* maximum number of requests in a pipeline */
-  CINIT(MAX_PIPELINE_LENGTH, LONG, 8),
-
-  /* a connection with a content-length longer than this
-     will not be considered for pipelining */
-  CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9),
-
-  /* a connection with a chunk length longer than this
-     will not be considered for pipelining */
-  CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10),
-
-  /* a list of site names(+port) that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11),
-
-  /* a list of server types that are blacklisted from
-     pipelining */
-  CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12),
-
-  /* maximum number of open connections in total */
-  CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13),
-
-  CURLMOPT_LASTENTRY /* the last unused */
-} CURLMoption;
-
-
-/*
- * Name:    curl_multi_setopt()
- *
- * Desc:    Sets options for the multi handle.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle,
-                                        CURLMoption option, ...);
-
-
-/*
- * Name:    curl_multi_assign()
- *
- * Desc:    This function sets an association in the multi handle between the
- *          given socket and a private pointer of the application. This is
- *          (only) useful for curl_multi_socket uses.
- *
- * Returns: CURLM error code.
- */
-CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle,
-                                        curl_socket_t sockfd, void *sockp);
-
-#ifdef __cplusplus
-} /* end of extern "C" */
-#endif
-
-#endif
diff --git a/third_party/curl/include/curl/stdcheaders.h b/third_party/curl/include/curl/stdcheaders.h
deleted file mode 100644
index ad82ef6335..0000000000
--- a/third_party/curl/include/curl/stdcheaders.h
+++ /dev/null
@@ -1,33 +0,0 @@
-#ifndef __STDC_HEADERS_H
-#define __STDC_HEADERS_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2010, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-#include <sys/types.h>
-
-size_t fread (void *, size_t, size_t, FILE *);
-size_t fwrite (const void *, size_t, size_t, FILE *);
-
-int strcasecmp(const char *, const char *);
-int strncasecmp(const char *, const char *, size_t);
-
-#endif /* __STDC_HEADERS_H */
diff --git a/third_party/curl/include/curl/typecheck-gcc.h b/third_party/curl/include/curl/typecheck-gcc.h
deleted file mode 100644
index 13fb0fa9ee..0000000000
--- a/third_party/curl/include/curl/typecheck-gcc.h
+++ /dev/null
@@ -1,612 +0,0 @@
-#ifndef __CURL_TYPECHECK_GCC_H
-#define __CURL_TYPECHECK_GCC_H
-/***************************************************************************
- *                                  _   _ ____  _
- *  Project                     ___| | | |  _ \| |
- *                             / __| | | | |_) | |
- *                            | (__| |_| |  _ <| |___
- *                             \___|\___/|_| \_\_____|
- *
- * Copyright (C) 1998 - 2014, Daniel Stenberg, <daniel@haxx.se>, et al.
- *
- * This software is licensed as described in the file COPYING, which
- * you should have received as part of this distribution. The terms
- * are also available at http://curl.haxx.se/docs/copyright.html.
- *
- * You may opt to use, copy, modify, merge, publish, distribute and/or sell
- * copies of the Software, and permit persons to whom the Software is
- * furnished to do so, under the terms of the COPYING file.
- *
- * This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
- * KIND, either express or implied.
- *
- ***************************************************************************/
-
-/* wraps curl_easy_setopt() with typechecking */
-
-/* To add a new kind of warning, add an
- *   if(_curl_is_sometype_option(_curl_opt))
- *     if(!_curl_is_sometype(value))
- *       _curl_easy_setopt_err_sometype();
- * block and define _curl_is_sometype_option, _curl_is_sometype and
- * _curl_easy_setopt_err_sometype below
- *
- * NOTE: We use two nested 'if' statements here instead of the && operator, in
- *       order to work around gcc bug #32061.  It affects only gcc 4.3.x/4.4.x
- *       when compiling with -Wlogical-op.
- *
- * To add an option that uses the same type as an existing option, you'll just
- * need to extend the appropriate _curl_*_option macro
- */
-#define curl_easy_setopt(handle, option, value)                               \
-__extension__ ({                                                              \
-  __typeof__ (option) _curl_opt = option;                                     \
-  if(__builtin_constant_p(_curl_opt)) {                                       \
-    if(_curl_is_long_option(_curl_opt))                                       \
-      if(!_curl_is_long(value))                                               \
-        _curl_easy_setopt_err_long();                                         \
-    if(_curl_is_off_t_option(_curl_opt))                                      \
-      if(!_curl_is_off_t(value))                                              \
-        _curl_easy_setopt_err_curl_off_t();                                   \
-    if(_curl_is_string_option(_curl_opt))                                     \
-      if(!_curl_is_string(value))                                             \
-        _curl_easy_setopt_err_string();                                       \
-    if(_curl_is_write_cb_option(_curl_opt))                                   \
-      if(!_curl_is_write_cb(value))                                           \
-        _curl_easy_setopt_err_write_callback();                               \
-    if((_curl_opt) == CURLOPT_READFUNCTION)                                   \
-      if(!_curl_is_read_cb(value))                                            \
-        _curl_easy_setopt_err_read_cb();                                      \
-    if((_curl_opt) == CURLOPT_IOCTLFUNCTION)                                  \
-      if(!_curl_is_ioctl_cb(value))                                           \
-        _curl_easy_setopt_err_ioctl_cb();                                     \
-    if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION)                                \
-      if(!_curl_is_sockopt_cb(value))                                         \
-        _curl_easy_setopt_err_sockopt_cb();                                   \
-    if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION)                             \
-      if(!_curl_is_opensocket_cb(value))                                      \
-        _curl_easy_setopt_err_opensocket_cb();                                \
-    if((_curl_opt) == CURLOPT_PROGRESSFUNCTION)                               \
-      if(!_curl_is_progress_cb(value))                                        \
-        _curl_easy_setopt_err_progress_cb();                                  \
-    if((_curl_opt) == CURLOPT_DEBUGFUNCTION)                                  \
-      if(!_curl_is_debug_cb(value))                                           \
-        _curl_easy_setopt_err_debug_cb();                                     \
-    if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION)                               \
-      if(!_curl_is_ssl_ctx_cb(value))                                         \
-        _curl_easy_setopt_err_ssl_ctx_cb();                                   \
-    if(_curl_is_conv_cb_option(_curl_opt))                                    \
-      if(!_curl_is_conv_cb(value))                                            \
-        _curl_easy_setopt_err_conv_cb();                                      \
-    if((_curl_opt) == CURLOPT_SEEKFUNCTION)                                   \
-      if(!_curl_is_seek_cb(value))                                            \
-        _curl_easy_setopt_err_seek_cb();                                      \
-    if(_curl_is_cb_data_option(_curl_opt))                                    \
-      if(!_curl_is_cb_data(value))                                            \
-        _curl_easy_setopt_err_cb_data();                                      \
-    if((_curl_opt) == CURLOPT_ERRORBUFFER)                                    \
-      if(!_curl_is_error_buffer(value))                                       \
-        _curl_easy_setopt_err_error_buffer();                                 \
-    if((_curl_opt) == CURLOPT_STDERR)                                         \
-      if(!_curl_is_FILE(value))                                               \
-        _curl_easy_setopt_err_FILE();                                         \
-    if(_curl_is_postfields_option(_curl_opt))                                 \
-      if(!_curl_is_postfields(value))                                         \
-        _curl_easy_setopt_err_postfields();                                   \
-    if((_curl_opt) == CURLOPT_HTTPPOST)                                       \
-      if(!_curl_is_arr((value), struct curl_httppost))                        \
-        _curl_easy_setopt_err_curl_httpost();                                 \
-    if(_curl_is_slist_option(_curl_opt))                                      \
-      if(!_curl_is_arr((value), struct curl_slist))                           \
-        _curl_easy_setopt_err_curl_slist();                                   \
-    if((_curl_opt) == CURLOPT_SHARE)                                          \
-      if(!_curl_is_ptr((value), CURLSH))                                      \
-        _curl_easy_setopt_err_CURLSH();                                       \
-  }                                                                           \
-  curl_easy_setopt(handle, _curl_opt, value);                                 \
-})
-
-/* wraps curl_easy_getinfo() with typechecking */
-/* FIXME: don't allow const pointers */
-#define curl_easy_getinfo(handle, info, arg)                                  \
-__extension__ ({                                                              \
-  __typeof__ (info) _curl_info = info;                                        \
-  if(__builtin_constant_p(_curl_info)) {                                      \
-    if(_curl_is_string_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), char *))                                        \
-        _curl_easy_getinfo_err_string();                                      \
-    if(_curl_is_long_info(_curl_info))                                        \
-      if(!_curl_is_arr((arg), long))                                          \
-        _curl_easy_getinfo_err_long();                                        \
-    if(_curl_is_double_info(_curl_info))                                      \
-      if(!_curl_is_arr((arg), double))                                        \
-        _curl_easy_getinfo_err_double();                                      \
-    if(_curl_is_slist_info(_curl_info))                                       \
-      if(!_curl_is_arr((arg), struct curl_slist *))                           \
-        _curl_easy_getinfo_err_curl_slist();                                  \
-  }                                                                           \
-  curl_easy_getinfo(handle, _curl_info, arg);                                 \
-})
-
-/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(),
- * for now just make sure that the functions are called with three
- * arguments
- */
-#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
-#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
-
-
-/* the actual warnings, triggered by calling the _curl_easy_setopt_err*
- * functions */
-
-/* To define a new warning, use _CURL_WARNING(identifier, "message") */
-#define _CURL_WARNING(id, message)                                            \
-  static void __attribute__((__warning__(message)))                           \
-  __attribute__((__unused__)) __attribute__((__noinline__))                   \
-  id(void) { __asm__(""); }
-
-_CURL_WARNING(_curl_easy_setopt_err_long,
-  "curl_easy_setopt expects a long argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_off_t,
-  "curl_easy_setopt expects a curl_off_t argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_string,
-              "curl_easy_setopt expects a "
-              "string (char* or char[]) argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_write_callback,
-  "curl_easy_setopt expects a curl_write_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_read_cb,
-  "curl_easy_setopt expects a curl_read_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb,
-  "curl_easy_setopt expects a curl_ioctl_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb,
-  "curl_easy_setopt expects a curl_sockopt_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb,
-              "curl_easy_setopt expects a "
-              "curl_opensocket_callback argument for this option"
-  )
-_CURL_WARNING(_curl_easy_setopt_err_progress_cb,
-  "curl_easy_setopt expects a curl_progress_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_debug_cb,
-  "curl_easy_setopt expects a curl_debug_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb,
-  "curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_conv_cb,
-  "curl_easy_setopt expects a curl_conv_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_seek_cb,
-  "curl_easy_setopt expects a curl_seek_callback argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_cb_data,
-              "curl_easy_setopt expects a "
-              "private data pointer as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_error_buffer,
-              "curl_easy_setopt expects a "
-              "char buffer of CURL_ERROR_SIZE as argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_FILE,
-  "curl_easy_setopt expects a FILE* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_postfields,
-  "curl_easy_setopt expects a void* or char* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_httpost,
-  "curl_easy_setopt expects a struct curl_httppost* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_curl_slist,
-  "curl_easy_setopt expects a struct curl_slist* argument for this option")
-_CURL_WARNING(_curl_easy_setopt_err_CURLSH,
-  "curl_easy_setopt expects a CURLSH* argument for this option")
-
-_CURL_WARNING(_curl_easy_getinfo_err_string,
-  "curl_easy_getinfo expects a pointer to char * for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_long,
-  "curl_easy_getinfo expects a pointer to long for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_double,
-  "curl_easy_getinfo expects a pointer to double for this info")
-_CURL_WARNING(_curl_easy_getinfo_err_curl_slist,
-  "curl_easy_getinfo expects a pointer to struct curl_slist * for this info")
-
-/* groups of curl_easy_setops options that take the same type of argument */
-
-/* To add a new option to one of the groups, just add
- *   (option) == CURLOPT_SOMETHING
- * to the or-expression. If the option takes a long or curl_off_t, you don't
- * have to do anything
- */
-
-/* evaluates to true if option takes a long argument */
-#define _curl_is_long_option(option)                                          \
-  (0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT)
-
-#define _curl_is_off_t_option(option)                                         \
-  ((option) > CURLOPTTYPE_OFF_T)
-
-/* evaluates to true if option takes a char* argument */
-#define _curl_is_string_option(option)                                        \
-  ((option) == CURLOPT_URL ||                                                 \
-   (option) == CURLOPT_PROXY ||                                               \
-   (option) == CURLOPT_INTERFACE ||                                           \
-   (option) == CURLOPT_NETRC_FILE ||                                          \
-   (option) == CURLOPT_USERPWD ||                                             \
-   (option) == CURLOPT_USERNAME ||                                            \
-   (option) == CURLOPT_PASSWORD ||                                            \
-   (option) == CURLOPT_PROXYUSERPWD ||                                        \
-   (option) == CURLOPT_PROXYUSERNAME ||                                       \
-   (option) == CURLOPT_PROXYPASSWORD ||                                       \
-   (option) == CURLOPT_NOPROXY ||                                             \
-   (option) == CURLOPT_ACCEPT_ENCODING ||                                     \
-   (option) == CURLOPT_REFERER ||                                             \
-   (option) == CURLOPT_USERAGENT ||                                           \
-   (option) == CURLOPT_COOKIE ||                                              \
-   (option) == CURLOPT_COOKIEFILE ||                                          \
-   (option) == CURLOPT_COOKIEJAR ||                                           \
-   (option) == CURLOPT_COOKIELIST ||                                          \
-   (option) == CURLOPT_FTPPORT ||                                             \
-   (option) == CURLOPT_FTP_ALTERNATIVE_TO_USER ||                             \
-   (option) == CURLOPT_FTP_ACCOUNT ||                                         \
-   (option) == CURLOPT_RANGE ||                                               \
-   (option) == CURLOPT_CUSTOMREQUEST ||                                       \
-   (option) == CURLOPT_SSLCERT ||                                             \
-   (option) == CURLOPT_SSLCERTTYPE ||                                         \
-   (option) == CURLOPT_SSLKEY ||                                              \
-   (option) == CURLOPT_SSLKEYTYPE ||                                          \
-   (option) == CURLOPT_KEYPASSWD ||                                           \
-   (option) == CURLOPT_SSLENGINE ||                                           \
-   (option) == CURLOPT_CAINFO ||                                              \
-   (option) == CURLOPT_CAPATH ||                                              \
-   (option) == CURLOPT_RANDOM_FILE ||                                         \
-   (option) == CURLOPT_EGDSOCKET ||                                           \
-   (option) == CURLOPT_SSL_CIPHER_LIST ||                                     \
-   (option) == CURLOPT_KRBLEVEL ||                                            \
-   (option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 ||                             \
-   (option) == CURLOPT_SSH_PUBLIC_KEYFILE ||                                  \
-   (option) == CURLOPT_SSH_PRIVATE_KEYFILE ||                                 \
-   (option) == CURLOPT_CRLFILE ||                                             \
-   (option) == CURLOPT_ISSUERCERT ||                                          \
-   (option) == CURLOPT_SOCKS5_GSSAPI_SERVICE ||                               \
-   (option) == CURLOPT_SSH_KNOWNHOSTS ||                                      \
-   (option) == CURLOPT_MAIL_FROM ||                                           \
-   (option) == CURLOPT_RTSP_SESSION_ID ||                                     \
-   (option) == CURLOPT_RTSP_STREAM_URI ||                                     \
-   (option) == CURLOPT_RTSP_TRANSPORT ||                                      \
-   (option) == CURLOPT_XOAUTH2_BEARER ||                                      \
-   (option) == CURLOPT_DNS_SERVERS ||                                         \
-   (option) == CURLOPT_DNS_INTERFACE ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP4 ||                                       \
-   (option) == CURLOPT_DNS_LOCAL_IP6 ||                                       \
-   (option) == CURLOPT_LOGIN_OPTIONS ||                                       \
-   (option) == CURLOPT_PROXY_SERVICE_NAME ||                                  \
-   (option) == CURLOPT_SERVICE_NAME ||                                        \
-   0)
-
-/* evaluates to true if option takes a curl_write_callback argument */
-#define _curl_is_write_cb_option(option)                                      \
-  ((option) == CURLOPT_HEADERFUNCTION ||                                      \
-   (option) == CURLOPT_WRITEFUNCTION)
-
-/* evaluates to true if option takes a curl_conv_callback argument */
-#define _curl_is_conv_cb_option(option)                                       \
-  ((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION ||                            \
-   (option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION ||                          \
-   (option) == CURLOPT_CONV_FROM_UTF8_FUNCTION)
-
-/* evaluates to true if option takes a data argument to pass to a callback */
-#define _curl_is_cb_data_option(option)                                       \
-  ((option) == CURLOPT_WRITEDATA ||                                           \
-   (option) == CURLOPT_READDATA ||                                            \
-   (option) == CURLOPT_IOCTLDATA ||                                           \
-   (option) == CURLOPT_SOCKOPTDATA ||                                         \
-   (option) == CURLOPT_OPENSOCKETDATA ||                                      \
-   (option) == CURLOPT_PROGRESSDATA ||                                        \
-   (option) == CURLOPT_HEADERDATA ||                                         \
-   (option) == CURLOPT_DEBUGDATA ||                                           \
-   (option) == CURLOPT_SSL_CTX_DATA ||                                        \
-   (option) == CURLOPT_SEEKDATA ||                                            \
-   (option) == CURLOPT_PRIVATE ||                                             \
-   (option) == CURLOPT_SSH_KEYDATA ||                                         \
-   (option) == CURLOPT_INTERLEAVEDATA ||                                      \
-   (option) == CURLOPT_CHUNK_DATA ||                                          \
-   (option) == CURLOPT_FNMATCH_DATA ||                                        \
-   0)
-
-/* evaluates to true if option takes a POST data argument (void* or char*) */
-#define _curl_is_postfields_option(option)                                    \
-  ((option) == CURLOPT_POSTFIELDS ||                                          \
-   (option) == CURLOPT_COPYPOSTFIELDS ||                                      \
-   0)
-
-/* evaluates to true if option takes a struct curl_slist * argument */
-#define _curl_is_slist_option(option)                                         \
-  ((option) == CURLOPT_HTTPHEADER ||                                          \
-   (option) == CURLOPT_HTTP200ALIASES ||                                      \
-   (option) == CURLOPT_QUOTE ||                                               \
-   (option) == CURLOPT_POSTQUOTE ||                                           \
-   (option) == CURLOPT_PREQUOTE ||                                            \
-   (option) == CURLOPT_TELNETOPTIONS ||                                       \
-   (option) == CURLOPT_MAIL_RCPT ||                                           \
-   0)
-
-/* groups of curl_easy_getinfo infos that take the same type of argument */
-
-/* evaluates to true if info expects a pointer to char * argument */
-#define _curl_is_string_info(info)                                            \
-  (CURLINFO_STRING < (info) && (info) < CURLINFO_LONG)
-
-/* evaluates to true if info expects a pointer to long argument */
-#define _curl_is_long_info(info)                                              \
-  (CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE)
-
-/* evaluates to true if info expects a pointer to double argument */
-#define _curl_is_double_info(info)                                            \
-  (CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST)
-
-/* true if info expects a pointer to struct curl_slist * argument */
-#define _curl_is_slist_info(info)                                             \
-  (CURLINFO_SLIST < (info))
-
-
-/* typecheck helpers -- check whether given expression has requested type*/
-
-/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros,
- * otherwise define a new macro. Search for __builtin_types_compatible_p
- * in the GCC manual.
- * NOTE: these macros MUST NOT EVALUATE their arguments! The argument is
- * the actual expression passed to the curl_easy_setopt macro. This
- * means that you can only apply the sizeof and __typeof__ operators, no
- * == or whatsoever.
- */
-
-/* XXX: should evaluate to true iff expr is a pointer */
-#define _curl_is_any_ptr(expr)                                                \
-  (sizeof(expr) == sizeof(void*))
-
-/* evaluates to true if expr is NULL */
-/* XXX: must not evaluate expr, so this check is not accurate */
-#define _curl_is_NULL(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL)))
-
-/* evaluates to true if expr is type*, const type* or NULL */
-#define _curl_is_ptr(expr, type)                                              \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), type *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), const type *))
-
-/* evaluates to true if expr is one of type[], type*, NULL or const type* */
-#define _curl_is_arr(expr, type)                                              \
-  (_curl_is_ptr((expr), type) ||                                              \
-   __builtin_types_compatible_p(__typeof__(expr), type []))
-
-/* evaluates to true if expr is a string */
-#define _curl_is_string(expr)                                                 \
-  (_curl_is_arr((expr), char) ||                                              \
-   _curl_is_arr((expr), signed char) ||                                       \
-   _curl_is_arr((expr), unsigned char))
-
-/* evaluates to true if expr is a long (no matter the signedness)
- * XXX: for now, int is also accepted (and therefore short and char, which
- * are promoted to int when passed to a variadic function) */
-#define _curl_is_long(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), long) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed long) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned long) ||           \
-   __builtin_types_compatible_p(__typeof__(expr), int) ||                     \
-   __builtin_types_compatible_p(__typeof__(expr), signed int) ||              \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned int) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), short) ||                   \
-   __builtin_types_compatible_p(__typeof__(expr), signed short) ||            \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned short) ||          \
-   __builtin_types_compatible_p(__typeof__(expr), char) ||                    \
-   __builtin_types_compatible_p(__typeof__(expr), signed char) ||             \
-   __builtin_types_compatible_p(__typeof__(expr), unsigned char))
-
-/* evaluates to true if expr is of type curl_off_t */
-#define _curl_is_off_t(expr)                                                  \
-  (__builtin_types_compatible_p(__typeof__(expr), curl_off_t))
-
-/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */
-/* XXX: also check size of an char[] array? */
-#define _curl_is_error_buffer(expr)                                           \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), char *) ||                  \
-   __builtin_types_compatible_p(__typeof__(expr), char[]))
-
-/* evaluates to true if expr is of type (const) void* or (const) FILE* */
-#if 0
-#define _curl_is_cb_data(expr)                                                \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_ptr((expr), FILE))
-#else /* be less strict */
-#define _curl_is_cb_data(expr)                                                \
-  _curl_is_any_ptr(expr)
-#endif
-
-/* evaluates to true if expr is of type FILE* */
-#define _curl_is_FILE(expr)                                                   \
-  (__builtin_types_compatible_p(__typeof__(expr), FILE *))
-
-/* evaluates to true if expr can be passed as POST data (void* or char*) */
-#define _curl_is_postfields(expr)                                             \
-  (_curl_is_ptr((expr), void) ||                                              \
-   _curl_is_arr((expr), char))
-
-/* FIXME: the whole callback checking is messy...
- * The idea is to tolerate char vs. void and const vs. not const
- * pointers in arguments at least
- */
-/* helper: __builtin_types_compatible_p distinguishes between functions and
- * function pointers, hide it */
-#define _curl_callback_compatible(func, type)                                 \
-  (__builtin_types_compatible_p(__typeof__(func), type) ||                    \
-   __builtin_types_compatible_p(__typeof__(func), type*))
-
-/* evaluates to true if expr is of type curl_read_callback or "similar" */
-#define _curl_is_read_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fread)) ||       \
-   __builtin_types_compatible_p(__typeof__(expr), curl_read_callback) ||      \
-   _curl_callback_compatible((expr), _curl_read_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback4) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback5) ||                 \
-   _curl_callback_compatible((expr), _curl_read_callback6))
-typedef size_t (_curl_read_callback1)(char *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback2)(char *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback3)(char *, size_t, size_t, FILE*);
-typedef size_t (_curl_read_callback4)(void *, size_t, size_t, void*);
-typedef size_t (_curl_read_callback5)(void *, size_t, size_t, const void*);
-typedef size_t (_curl_read_callback6)(void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_write_callback or "similar" */
-#define _curl_is_write_cb(expr)                                               \
-  (_curl_is_read_cb(expr) ||                                            \
-   __builtin_types_compatible_p(__typeof__(expr), __typeof__(fwrite)) ||      \
-   __builtin_types_compatible_p(__typeof__(expr), curl_write_callback) ||     \
-   _curl_callback_compatible((expr), _curl_write_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_write_callback6))
-typedef size_t (_curl_write_callback1)(const char *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback2)(const char *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback3)(const char *, size_t, size_t, FILE*);
-typedef size_t (_curl_write_callback4)(const void *, size_t, size_t, void*);
-typedef size_t (_curl_write_callback5)(const void *, size_t, size_t,
-                                       const void*);
-typedef size_t (_curl_write_callback6)(const void *, size_t, size_t, FILE*);
-
-/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */
-#define _curl_is_ioctl_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ioctl_callback) ||     \
-   _curl_callback_compatible((expr), _curl_ioctl_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_ioctl_callback4))
-typedef curlioerr (_curl_ioctl_callback1)(CURL *, int, void*);
-typedef curlioerr (_curl_ioctl_callback2)(CURL *, int, const void*);
-typedef curlioerr (_curl_ioctl_callback3)(CURL *, curliocmd, void*);
-typedef curlioerr (_curl_ioctl_callback4)(CURL *, curliocmd, const void*);
-
-/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */
-#define _curl_is_sockopt_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_sockopt_callback) ||   \
-   _curl_callback_compatible((expr), _curl_sockopt_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_sockopt_callback2))
-typedef int (_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype);
-typedef int (_curl_sockopt_callback2)(const void *, curl_socket_t,
-                                      curlsocktype);
-
-/* evaluates to true if expr is of type curl_opensocket_callback or
-   "similar" */
-#define _curl_is_opensocket_cb(expr)                                    \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_opensocket_callback) ||\
-   _curl_callback_compatible((expr), _curl_opensocket_callback1) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback2) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback3) ||           \
-   _curl_callback_compatible((expr), _curl_opensocket_callback4))
-typedef curl_socket_t (_curl_opensocket_callback1)
-  (void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback2)
-  (void *, curlsocktype, const struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback3)
-  (const void *, curlsocktype, struct curl_sockaddr *);
-typedef curl_socket_t (_curl_opensocket_callback4)
-  (const void *, curlsocktype, const struct curl_sockaddr *);
-
-/* evaluates to true if expr is of type curl_progress_callback or "similar" */
-#define _curl_is_progress_cb(expr)                                      \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_progress_callback) ||  \
-   _curl_callback_compatible((expr), _curl_progress_callback1) ||             \
-   _curl_callback_compatible((expr), _curl_progress_callback2))
-typedef int (_curl_progress_callback1)(void *,
-    double, double, double, double);
-typedef int (_curl_progress_callback2)(const void *,
-    double, double, double, double);
-
-/* evaluates to true if expr is of type curl_debug_callback or "similar" */
-#define _curl_is_debug_cb(expr)                                         \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_debug_callback) ||     \
-   _curl_callback_compatible((expr), _curl_debug_callback1) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback2) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback3) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback4) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback5) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback6) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback7) ||                \
-   _curl_callback_compatible((expr), _curl_debug_callback8))
-typedef int (_curl_debug_callback1) (CURL *,
-    curl_infotype, char *, size_t, void *);
-typedef int (_curl_debug_callback2) (CURL *,
-    curl_infotype, char *, size_t, const void *);
-typedef int (_curl_debug_callback3) (CURL *,
-    curl_infotype, const char *, size_t, void *);
-typedef int (_curl_debug_callback4) (CURL *,
-    curl_infotype, const char *, size_t, const void *);
-typedef int (_curl_debug_callback5) (CURL *,
-    curl_infotype, unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback6) (CURL *,
-    curl_infotype, unsigned char *, size_t, const void *);
-typedef int (_curl_debug_callback7) (CURL *,
-    curl_infotype, const unsigned char *, size_t, void *);
-typedef int (_curl_debug_callback8) (CURL *,
-    curl_infotype, const unsigned char *, size_t, const void *);
-
-/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */
-/* this is getting even messier... */
-#define _curl_is_ssl_ctx_cb(expr)                                       \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_ssl_ctx_callback) ||   \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback1) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback2) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback3) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback4) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback5) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback6) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback7) ||              \
-   _curl_callback_compatible((expr), _curl_ssl_ctx_callback8))
-typedef CURLcode (_curl_ssl_ctx_callback1)(CURL *, void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback2)(CURL *, void *, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback3)(CURL *, const void *, void *);
-typedef CURLcode (_curl_ssl_ctx_callback4)(CURL *, const void *, const void *);
-#ifdef HEADER_SSL_H
-/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX
- * this will of course break if we're included before OpenSSL headers...
- */
-typedef CURLcode (_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *);
-typedef CURLcode (_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *);
-typedef CURLcode (_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX,
-                                           const void *);
-#else
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7;
-typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8;
-#endif
-
-/* evaluates to true if expr is of type curl_conv_callback or "similar" */
-#define _curl_is_conv_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_conv_callback) ||      \
-   _curl_callback_compatible((expr), _curl_conv_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback2) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback3) ||                 \
-   _curl_callback_compatible((expr), _curl_conv_callback4))
-typedef CURLcode (*_curl_conv_callback1)(char *, size_t length);
-typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length);
-typedef CURLcode (*_curl_conv_callback3)(void *, size_t length);
-typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length);
-
-/* evaluates to true if expr is of type curl_seek_callback or "similar" */
-#define _curl_is_seek_cb(expr)                                          \
-  (_curl_is_NULL(expr) ||                                                     \
-   __builtin_types_compatible_p(__typeof__(expr), curl_seek_callback) ||      \
-   _curl_callback_compatible((expr), _curl_seek_callback1) ||                 \
-   _curl_callback_compatible((expr), _curl_seek_callback2))
-typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int);
-typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int);
-
-
-#endif /* __CURL_TYPECHECK_GCC_H */
diff --git a/third_party/curl/lib/libcurl.a b/third_party/curl/lib/libcurl.a
deleted file mode 100644
index 494ac6c043..0000000000
Binary files a/third_party/curl/lib/libcurl.a and /dev/null differ
diff --git a/third_party/libyuv/mac/lib/libyuv.a b/third_party/libyuv/Darwin/lib/libyuv.a
similarity index 56%
rename from third_party/libyuv/mac/lib/libyuv.a
rename to third_party/libyuv/Darwin/lib/libyuv.a
index 4a1609ca7a..3265bd8da0 100644
Binary files a/third_party/libyuv/mac/lib/libyuv.a and b/third_party/libyuv/Darwin/lib/libyuv.a differ
diff --git a/third_party/libyuv/LICENSE.libyuv b/third_party/libyuv/LICENSE.libyuv
deleted file mode 100644
index c911747a6b..0000000000
--- a/third_party/libyuv/LICENSE.libyuv
+++ /dev/null
@@ -1,29 +0,0 @@
-Copyright 2011 The LibYuv Project Authors. All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are
-met:
-
-  * Redistributions of source code must retain the above copyright
-    notice, this list of conditions and the following disclaimer.
-
-  * Redistributions in binary form must reproduce the above copyright
-    notice, this list of conditions and the following disclaimer in
-    the documentation and/or other materials provided with the
-    distribution.
-
-  * Neither the name of Google nor the names of its contributors may
-    be used to endorse or promote products derived from this software
-    without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
-A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
-HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
-SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
-LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
-DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
-THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/third_party/libyuv/aarch64 b/third_party/libyuv/aarch64
new file mode 120000
index 0000000000..062c65e8d9
--- /dev/null
+++ b/third_party/libyuv/aarch64
@@ -0,0 +1 @@
+larch64/
\ No newline at end of file
diff --git a/third_party/libyuv/build.sh b/third_party/libyuv/build.sh
new file mode 100644
index 0000000000..e044312d05
--- /dev/null
+++ b/third_party/libyuv/build.sh
@@ -0,0 +1,12 @@
+#!/usr/bin/env bash
+set -e
+
+git clone https://chromium.googlesource.com/libyuv/libyuv
+cd libyuv
+git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
+cmake .
+
+## To create universal binary on Darwin:
+## ```
+## lipo -create -output Darwin/libyuv.a path-to-x64/libyuv.a path-to-arm64/libyuv.a
+## ```
\ No newline at end of file
diff --git a/third_party/libyuv/build.txt b/third_party/libyuv/build.txt
deleted file mode 100644
index 376e981ec7..0000000000
--- a/third_party/libyuv/build.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-git clone https://chromium.googlesource.com/libyuv/libyuv
-cd libyuv
-git reset --hard 4a14cb2e81235ecd656e799aecaaf139db8ce4a2
-cmake .
diff --git a/third_party/libyuv/lib/libyuv.a b/third_party/libyuv/lib/libyuv.a
deleted file mode 100644
index 228de4d03e..0000000000
Binary files a/third_party/libyuv/lib/libyuv.a and /dev/null differ
diff --git a/third_party/libyuv/mac_arm64/lib/libyuv.a b/third_party/libyuv/mac_arm64/lib/libyuv.a
deleted file mode 100644
index 96c11829e5..0000000000
Binary files a/third_party/libyuv/mac_arm64/lib/libyuv.a and /dev/null differ
diff --git a/third_party/libyuv/x64/include b/third_party/libyuv/x86_64/include
similarity index 100%
rename from third_party/libyuv/x64/include
rename to third_party/libyuv/x86_64/include
diff --git a/third_party/libyuv/x64/lib/libyuv.a b/third_party/libyuv/x86_64/lib/libyuv.a
similarity index 100%
rename from third_party/libyuv/x64/lib/libyuv.a
rename to third_party/libyuv/x86_64/lib/libyuv.a
diff --git a/system/camerad/include/media/cam_cpas.h b/third_party/linux/include/media/cam_cpas.h
similarity index 100%
rename from system/camerad/include/media/cam_cpas.h
rename to third_party/linux/include/media/cam_cpas.h
diff --git a/system/camerad/include/media/cam_defs.h b/third_party/linux/include/media/cam_defs.h
similarity index 100%
rename from system/camerad/include/media/cam_defs.h
rename to third_party/linux/include/media/cam_defs.h
diff --git a/system/camerad/include/media/cam_fd.h b/third_party/linux/include/media/cam_fd.h
similarity index 100%
rename from system/camerad/include/media/cam_fd.h
rename to third_party/linux/include/media/cam_fd.h
diff --git a/system/camerad/include/media/cam_icp.h b/third_party/linux/include/media/cam_icp.h
similarity index 100%
rename from system/camerad/include/media/cam_icp.h
rename to third_party/linux/include/media/cam_icp.h
diff --git a/system/camerad/include/media/cam_isp.h b/third_party/linux/include/media/cam_isp.h
similarity index 100%
rename from system/camerad/include/media/cam_isp.h
rename to third_party/linux/include/media/cam_isp.h
diff --git a/system/camerad/include/media/cam_isp_ife.h b/third_party/linux/include/media/cam_isp_ife.h
similarity index 100%
rename from system/camerad/include/media/cam_isp_ife.h
rename to third_party/linux/include/media/cam_isp_ife.h
diff --git a/system/camerad/include/media/cam_isp_vfe.h b/third_party/linux/include/media/cam_isp_vfe.h
similarity index 100%
rename from system/camerad/include/media/cam_isp_vfe.h
rename to third_party/linux/include/media/cam_isp_vfe.h
diff --git a/system/camerad/include/media/cam_jpeg.h b/third_party/linux/include/media/cam_jpeg.h
similarity index 100%
rename from system/camerad/include/media/cam_jpeg.h
rename to third_party/linux/include/media/cam_jpeg.h
diff --git a/system/camerad/include/media/cam_lrme.h b/third_party/linux/include/media/cam_lrme.h
similarity index 100%
rename from system/camerad/include/media/cam_lrme.h
rename to third_party/linux/include/media/cam_lrme.h
diff --git a/system/camerad/include/media/cam_req_mgr.h b/third_party/linux/include/media/cam_req_mgr.h
similarity index 100%
rename from system/camerad/include/media/cam_req_mgr.h
rename to third_party/linux/include/media/cam_req_mgr.h
diff --git a/system/camerad/include/media/cam_sensor.h b/third_party/linux/include/media/cam_sensor.h
similarity index 100%
rename from system/camerad/include/media/cam_sensor.h
rename to third_party/linux/include/media/cam_sensor.h
diff --git a/system/camerad/include/media/cam_sensor_cmn_header.h b/third_party/linux/include/media/cam_sensor_cmn_header.h
similarity index 100%
rename from system/camerad/include/media/cam_sensor_cmn_header.h
rename to third_party/linux/include/media/cam_sensor_cmn_header.h
diff --git a/system/camerad/include/media/cam_sync.h b/third_party/linux/include/media/cam_sync.h
similarity index 100%
rename from system/camerad/include/media/cam_sync.h
rename to third_party/linux/include/media/cam_sync.h
diff --git a/system/camerad/include/msm_cam_sensor.h b/third_party/linux/include/msm_cam_sensor.h
similarity index 100%
rename from system/camerad/include/msm_cam_sensor.h
rename to third_party/linux/include/msm_cam_sensor.h
diff --git a/system/camerad/include/msm_camsensor_sdk.h b/third_party/linux/include/msm_camsensor_sdk.h
similarity index 100%
rename from system/camerad/include/msm_camsensor_sdk.h
rename to third_party/linux/include/msm_camsensor_sdk.h
diff --git a/selfdrive/modeld/thneed/include/msm_kgsl.h b/third_party/linux/include/msm_kgsl.h
similarity index 100%
rename from selfdrive/modeld/thneed/include/msm_kgsl.h
rename to third_party/linux/include/msm_kgsl.h
diff --git a/system/camerad/include/msmb_camera.h b/third_party/linux/include/msmb_camera.h
similarity index 100%
rename from system/camerad/include/msmb_camera.h
rename to third_party/linux/include/msmb_camera.h
diff --git a/system/camerad/include/msmb_isp.h b/third_party/linux/include/msmb_isp.h
similarity index 100%
rename from system/camerad/include/msmb_isp.h
rename to third_party/linux/include/msmb_isp.h
diff --git a/system/camerad/include/msmb_ispif.h b/third_party/linux/include/msmb_ispif.h
similarity index 100%
rename from system/camerad/include/msmb_ispif.h
rename to third_party/linux/include/msmb_ispif.h
diff --git a/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so
new file mode 100755
index 0000000000..d417101ac0
Binary files /dev/null and b/third_party/mapbox-gl-native-qt/aarch64/libqmapboxgl.so differ
diff --git a/tinygrad_repo b/tinygrad_repo
index 8e22d5ee67..d8dda2af3a 160000
--- a/tinygrad_repo
+++ b/tinygrad_repo
@@ -1 +1 @@
-Subproject commit 8e22d5ee675277181e1eff644dde9e844fc40fce
+Subproject commit d8dda2af3afcef0bb772fff580cfa8b3eabf7f69
diff --git a/tools/README.md b/tools/README.md
index 3969deb24d..28f4f7ebd2 100644
--- a/tools/README.md
+++ b/tools/README.md
@@ -2,17 +2,19 @@
 
 ## System Requirements
 
-openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-pc). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
+openpilot is developed and tested on **Ubuntu 20.04**, which is the primary development target aside from the [supported embedded hardware](https://github.com/commaai/openpilot#running-on-a-dedicated-device-in-a-car). We also have a CI test to verify that openpilot builds on macOS, but the tools are untested. For the best experience, stick to Ubuntu 20.04, otherwise openpilot and the tools should work with minimal to no modifications on macOS and other Linux systems.
 
 ## Setup your PC
 
 First, clone openpilot:
 ``` bash
 cd ~
-git clone https://github.com/commaai/openpilot.git
+git clone --recurse-submodules https://github.com/commaai/openpilot.git
+
+# or do a partial clone instead for a faster clone and smaller repo size
+git clone --filter=blob:none --recurse-submodules --also-filter-submodules https://github.com/commaai/openpilot.git
 
 cd openpilot
-git submodule update --init
 ```
 
 Then, run the setup script:
@@ -36,14 +38,23 @@ Build openpilot with this command:
 scons -u -j$(nproc)
 ```
 
-### Windows
+### Dev Container
+
+openpilot supports [Dev Containers](https://containers.dev/). Dev containers provide customizable and consistent development environment wrapped inside a container. This means you can develop in a designated environment matching our primary development target, regardless of your local setup.
+
+Dev containers are supported in [multiple editors and IDEs](https://containers.dev/supporting), including [Visual Studio Code](https://code.visualstudio.com/docs/devcontainers/containers).
 
-Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should get Windows users a similar experience to Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
+#### X11 forwarding on macOS
+
+GUI apps like `ui` or `cabana` can also run inside the container by leveraging X11 forwarding. To make use of it on macOS, additional configuration steps must be taken. Follow [these](https://gist.github.com/sorny/969fe55d85c9b0035b0109a31cbcb088) steps to setup X11 forwarding on macOS.
+
+### Windows
 
-Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment.
+Neither openpilot nor any of the tools are developed or tested on Windows, but the [Windows Subsystem for Linux (WSL)](https://docs.microsoft.com/en-us/windows/wsl/about) should provide a similar experience to native Ubuntu. [WSL 2](https://docs.microsoft.com/en-us/windows/wsl/compare-versions) specifically has been reported by several users to be a seamless experience.
 
-GUI applications do not work with WSL out of the box. You will have to either [upgrade your system to Windows 11](https://docs.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) or [set up an Xorg server](https://techcommunity.microsoft.com/t5/windows-dev-appconsult/running-wsl-gui-apps-on-windows-10/ba-p/1493242).
+Follow [these instructions](https://docs.microsoft.com/en-us/windows/wsl/install) to setup the WSL and install the `Ubuntu-20.04` distribution. Once your Ubuntu WSL environment is setup, follow the Linux setup instructions to finish setting up your environment. See [these instructions](https://learn.microsoft.com/en-us/windows/wsl/tutorials/gui-apps) for running GUI apps.
 
+**NOTE**: If you are running WSL and any GUIs are failing (segfaulting or other strange issues) even after following the steps above, you may need to enable software rendering with `LIBGL_ALWAYS_SOFTWARE=1`, e.g. `LIBGL_ALWAYS_SOFTWARE=1 selfdrive/ui/ui`.
 
 ## CTF
 Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md).
@@ -53,6 +64,7 @@ Learn about the openpilot ecosystem and tools by playing our [CTF](/tools/CTF.md
 ```
 ├── ubuntu_setup.sh     # Setup script for Ubuntu
 ├── mac_setup.sh        # Setup script for macOS
+├── cabana/             # View and plot CAN messages from drives or in realtime
 ├── joystick/           # Control your car with a joystick
 ├── lib/                # Libraries to support the tools and reading openpilot logs
 ├── plotjuggler/        # A tool to plot openpilot logs
diff --git a/tools/bodyteleop/.gitignore b/tools/bodyteleop/.gitignore
new file mode 100644
index 0000000000..adeab99a95
--- /dev/null
+++ b/tools/bodyteleop/.gitignore
@@ -0,0 +1,4 @@
+av
+av-10.0.0/*
+key.pem
+cert.pem
\ No newline at end of file
diff --git a/tools/bodyteleop/bodyav.py b/tools/bodyteleop/bodyav.py
new file mode 100644
index 0000000000..3f11f8d4f2
--- /dev/null
+++ b/tools/bodyteleop/bodyav.py
@@ -0,0 +1,159 @@
+import asyncio
+import io
+import numpy as np
+import pyaudio
+import wave
+
+from aiortc.contrib.media import MediaBlackhole
+from aiortc.mediastreams import AudioStreamTrack, MediaStreamError, MediaStreamTrack
+from aiortc.mediastreams import VIDEO_CLOCK_RATE, VIDEO_TIME_BASE
+from aiortc.rtcrtpsender import RTCRtpSender
+from av import CodecContext, Packet
+from pydub import AudioSegment
+import cereal.messaging as messaging
+
+AUDIO_RATE = 16000
+SOUNDS = {
+  'engage': '../../selfdrive/assets/sounds/engage.wav',
+  'disengage': '../../selfdrive/assets/sounds/disengage.wav',
+  'error': '../../selfdrive/assets/sounds/warning_immediate.wav',
+}
+
+
+def force_codec(pc, sender, forced_codec='video/VP9', stream_type="video"):
+  codecs = RTCRtpSender.getCapabilities(stream_type).codecs
+  codec = [codec for codec in codecs if codec.mimeType == forced_codec]
+  transceiver = next(t for t in pc.getTransceivers() if t.sender == sender)
+  transceiver.setCodecPreferences(codec)
+
+
+class EncodedBodyVideo(MediaStreamTrack):
+  kind = "video"
+
+  _start: float
+  _timestamp: int
+
+  def __init__(self):
+    super().__init__()
+    sock_name = 'livestreamDriverEncodeData'
+    messaging.context = messaging.Context()
+    self.sock = messaging.sub_sock(sock_name, None, conflate=True)
+    self.pts = 0
+
+  async def recv(self) -> Packet:
+    while True:
+      msg = messaging.recv_one_or_none(self.sock)
+      if msg is not None:
+        break
+      await asyncio.sleep(0.005)
+
+    evta = getattr(msg, msg.which())
+    self.last_idx = evta.idx.encodeId
+
+    packet = Packet(evta.header + evta.data)
+    packet.time_base = VIDEO_TIME_BASE
+    packet.pts = self.pts
+    self.pts += 0.05 * VIDEO_CLOCK_RATE
+    return packet
+
+
+class WebClientSpeaker(MediaBlackhole):
+  def __init__(self):
+    super().__init__()
+    self.p = pyaudio.PyAudio()
+    self.buffer = io.BytesIO()
+    self.channels = 2
+    self.stream = self.p.open(format=pyaudio.paInt16, channels=self.channels, rate=48000, frames_per_buffer=9600,
+                              output=True, stream_callback=self.pyaudio_callback)
+
+  def pyaudio_callback(self, in_data, frame_count, time_info, status):
+    if self.buffer.getbuffer().nbytes < frame_count * self.channels * 2:
+      buff = np.zeros((frame_count, 2), dtype=np.int16).tobytes()
+    elif self.buffer.getbuffer().nbytes > 115200:  # 3x the usual read size
+      self.buffer.seek(0)
+      buff = self.buffer.read(frame_count * self.channels * 4)
+      buff = buff[:frame_count * self.channels * 2]
+      self.buffer.seek(2)
+    else:
+      self.buffer.seek(0)
+      buff = self.buffer.read(frame_count * self.channels * 2)
+      self.buffer.seek(2)
+    return (buff, pyaudio.paContinue)
+
+  async def consume(self, track):
+    while True:
+      try:
+        frame = await track.recv()
+      except MediaStreamError:
+        return
+      bio = bytes(frame.planes[0])
+      self.buffer.write(bio)
+
+  async def start(self):
+    for track, task in self._MediaBlackhole__tracks.items():
+      if task is None:
+        self._MediaBlackhole__tracks[track] = asyncio.ensure_future(self.consume(track))
+
+  async def stop(self):
+    for task in self._MediaBlackhole__tracks.values():
+      if task is not None:
+        task.cancel()
+    self._MediaBlackhole__tracks = {}
+    self.stream.stop_stream()
+    self.stream.close()
+    self.p.terminate()
+
+
+class BodyMic(AudioStreamTrack):
+  def __init__(self):
+    super().__init__()
+
+    self.sample_rate = AUDIO_RATE
+    self.AUDIO_PTIME = 0.020  # 20ms audio packetization
+    self.samples = int(self.AUDIO_PTIME * self.sample_rate)
+    self.FORMAT = pyaudio.paInt16
+    self.CHANNELS = 2
+    self.RATE = self.sample_rate
+    self.CHUNK = int(AUDIO_RATE * 0.020)
+    self.p = pyaudio.PyAudio()
+    self.mic_stream = self.p.open(format=self.FORMAT, channels=1, rate=self.RATE, input=True, frames_per_buffer=self.CHUNK)
+
+    self.codec = CodecContext.create('pcm_s16le', 'r')
+    self.codec.sample_rate = self.RATE
+    self.codec.channels = 2
+    self.audio_samples = 0
+    self.chunk_number = 0
+
+  async def recv(self):
+    mic_data = self.mic_stream.read(self.CHUNK)
+    mic_sound = AudioSegment(mic_data, sample_width=2, channels=1, frame_rate=self.RATE)
+    mic_sound = AudioSegment.from_mono_audiosegments(mic_sound, mic_sound)
+    mic_sound += 3  # increase volume by 3db
+    packet = Packet(mic_sound.raw_data)
+    frame = self.codec.decode(packet)[0]
+    frame.pts = self.audio_samples
+    self.audio_samples += frame.samples
+    self.chunk_number = self.chunk_number + 1
+    return frame
+
+
+async def play_sound(sound):
+  chunk = 5120
+  with wave.open(SOUNDS[sound], 'rb') as wf:
+    def callback(in_data, frame_count, time_info, status):
+      data = wf.readframes(frame_count)
+      return data, pyaudio.paContinue
+
+    p = pyaudio.PyAudio()
+    stream = p.open(format=p.get_format_from_width(wf.getsampwidth()),
+                    channels=wf.getnchannels(),
+                    rate=wf.getframerate(),
+                    output=True,
+                    frames_per_buffer=chunk,
+                    stream_callback=callback)
+    stream.start_stream()
+    while stream.is_active():
+      await asyncio.sleep(0)
+    stream.stop_stream()
+    stream.close()
+    p.terminate()
diff --git a/tools/bodyteleop/static/index.html b/tools/bodyteleop/static/index.html
new file mode 100644
index 0000000000..3654769756
--- /dev/null
+++ b/tools/bodyteleop/static/index.html
@@ -0,0 +1,103 @@
+<html>
+  <head>
+    <meta charset="UTF-8"/>
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <title>commabody</title>
+    <link rel="stylesheet" href="/static/main.css">
+    <link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/css/bootstrap.min.css" integrity="sha512-SbiR/eusphKoMVVXysTKG/7VseWii+Y3FdHrt0EpKgpToZeemhqHeZeLWLhJutz/2ut2Vw1uQEj2MbRF+TVBUA==" crossorigin="anonymous" referrerpolicy="no-referrer" /><script src="https://code.jquery.com/jquery-3.6.0.min.js"></script>
+    <link rel="stylesheet" href="https://cdn.jsdelivr.net/npm/bootstrap-icons@1.10.5/font/bootstrap-icons.css">
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/bootstrap/5.2.3/js/bootstrap.min.js" integrity="sha512-1/RvZTcCDEUjY/CypiMz+iqqtaoQfAITmNSJY17Myp4Ms5mdxPS5UV7iOfdZoxcGhzFbOm6sntTKJppjvuhg4g==" crossorigin="anonymous" referrerpolicy="no-referrer"></script>
+    <script src="https://cdnjs.cloudflare.com/ajax/libs/moment.js/2.29.1/moment.min.js"></script>
+    <script src="https://cdn.jsdelivr.net/npm/chart.js@^3"></script>
+    <script src="https://cdn.jsdelivr.net/npm/moment@^2"></script>
+    <script src="https://cdn.jsdelivr.net/npm/chartjs-adapter-moment@^1"></script>
+  </head>
+  <body>
+    <div id="main">
+      <p class="jumbo">comma body</p>
+      <audio id="audio" autoplay="true"></audio>
+      <video id="video" playsinline autoplay muted loop poster="/static/poster.png"></video>
+      <div id="icon-panel" class="row">
+        <div class="col-sm-12 col-md-6 details">
+          <div class="icon-sup-panel col-12">
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i class="bi bi-speaker-fill pre-blob"></i>
+                <i class="bi bi-mic-fill pre-blob"></i>
+                <i class="bi bi-camera-video-fill pre-blob"></i>
+              </div>
+              <p class="small">body</p>
+            </div>
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i class="bi bi-speaker-fill pre-blob"></i>
+                <i class="bi bi-mic-fill pre-blob"></i>
+              </div>
+              <p class="small">you</p>
+            </div>
+          </div>
+        </div>
+        <div class="col-sm-12 col-md-6 details">
+          <div class="icon-sup-panel col-12">
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i id="ping-time" class="pre-blob1">-</i>
+              </div>
+              <p class="bi bi-arrow-repeat small"> ping time</p>
+            </div>
+            <div class="icon-sub-panel">
+              <div class="icon-sub-sub-panel">
+                <i id="battery" class="pre-blob1">-</i>
+              </div>
+              <p class="bi bi-battery-half small"> battery</p>
+            </div>
+          </div>
+        </div>
+        <!-- <div class="icon-sub-panel">
+                <button type="button" id="start" class="btn btn-light btn-lg">Start</button>
+                <button type="button" id="stop" class="btn btn-light btn-lg">Stop</button>
+            </div> -->
+      </div>
+      <div class="row" style="width: 100%; padding: 0px 10px 0px 10px;">
+        <div id="wasd" class="col-md-12 row">
+          <div class="col-md-6 col-sm-12" style="justify-content: center; display: flex; flex-direction: column;">
+            <div class="wasd-row">
+              <div class="keys" id="key-w">W</div>
+              <div id="key-val"><span id="pos-vals">0,0</span><span>x,y</span></div>
+            </div>
+            <div class="wasd-row">
+              <div class="keys" id="key-a">A</div>
+              <div class="keys" id="key-s">S</div>
+              <div class="keys" id="key-d">D</div>
+            </div>
+          </div>
+          <div class="col-md-6 col-sm-12 form-group plan-form">
+            <label for="plan-text">Plan (w, a, s, d, t)</label>
+            <label style="font-size: 15px;" for="plan-text">*Extremely Experimental*</label>
+            <textarea class="form-control" id="plan-text" rows="7" placeholder="1,0,0,0,2"></textarea>
+            <button type="button" id="plan-button" class="btn btn-light btn-lg">Execute</button>
+          </div>
+        </div>
+      </div>
+      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
+        <div class="panel row">
+          <div class="col-sm-3" style="text-align: center;">
+            <p>Play Sounds</p>
+          </div>
+          <div class="btn-group col-sm-8">
+            <button type="button" id="sound-engage" class="btn btn-outline-success btn-lg sound">Engage</button>
+            <button type="button" id="sound-disengage" class="btn btn-outline-warning btn-lg sound">Disengage</button>
+            <button type="button" id="sound-error" class="btn btn-outline-danger btn-lg sound">Error</button>
+          </div>
+        </div>
+      </div>
+      <div class="row" style="padding: 0px 10px 0px 10px; width: 100%;">
+        <div class="panel row">
+          <div class="col-sm-6"><canvas id="chart-ping"></canvas></div>
+          <div class="col-sm-6"><canvas id="chart-battery"></canvas></div>
+        </div>
+      </div>
+    </div>
+    <script src="/static/js/jsmain.js" type="module"></script>
+  </body>
+</html>
diff --git a/tools/bodyteleop/static/js/controls.js b/tools/bodyteleop/static/js/controls.js
new file mode 100644
index 0000000000..b1e0e7ee70
--- /dev/null
+++ b/tools/bodyteleop/static/js/controls.js
@@ -0,0 +1,54 @@
+const keyVals = {w: 0, a: 0, s: 0, d: 0}
+
+export function getXY() {
+  let x = -keyVals.w + keyVals.s
+  let y = -keyVals.d + keyVals.a
+  return {x, y}
+}
+
+export const handleKeyX = (key, setValue) => {
+  if (['w', 'a', 's', 'd'].includes(key)){
+    keyVals[key] = setValue;
+    let color = "#333";
+    if (setValue === 1){
+      color = "#e74c3c";
+    }
+    $("#key-"+key).css('background', color);
+    const {x, y} = getXY();
+    $("#pos-vals").text(x+","+y);
+  }
+};
+
+export async function executePlan() {
+  let plan = $("#plan-text").val();
+  const planList = [];
+  plan.split("\n").forEach(function(e){
+    let line = e.split(",").map(k=>parseInt(k));
+    if (line.length != 5 || line.slice(0, 4).map(e=>[1, 0].includes(e)).includes(false) || line[4] < 0 || line[4] > 10){
+      console.log("invalid plan");
+    }
+    else{
+      planList.push(line)
+    }
+  });
+
+  async function execute() {
+    for (var i = 0; i < planList.length; i++) {
+      let [w, a, s, d, t] = planList[i];
+      while(t > 0){
+        console.log(w, a, s, d, t);
+        if(w==1){$("#key-w").mousedown();}
+        if(a==1){$("#key-a").mousedown();}
+        if(s==1){$("#key-s").mousedown();}
+        if(d==1){$("#key-d").mousedown();}
+        await sleep(50);
+        $("#key-w").mouseup();
+        $("#key-a").mouseup();
+        $("#key-s").mouseup();
+        $("#key-d").mouseup();
+        t = t - 0.05;
+      }
+    }
+  }
+  execute();
+}
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/jsmain.js b/tools/bodyteleop/static/js/jsmain.js
new file mode 100644
index 0000000000..f521905724
--- /dev/null
+++ b/tools/bodyteleop/static/js/jsmain.js
@@ -0,0 +1,23 @@
+import { handleKeyX, executePlan } from "./controls.js";
+import { start, stop, last_ping } from "./webrtc.js";
+
+export var pc = null;
+export var dc = null;
+
+document.addEventListener('keydown', (e)=>(handleKeyX(e.key.toLowerCase(), 1)));
+document.addEventListener('keyup', (e)=>(handleKeyX(e.key.toLowerCase(), 0)));
+$(".keys").bind("mousedown touchstart", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 1));
+$(".keys").bind("mouseup touchend", (e)=>handleKeyX($(e.target).attr('id').replace('key-', ''), 0));
+$("#plan-button").click(executePlan);
+
+setInterval( () => {
+  const dt = new Date().getTime();
+  if ((dt - last_ping) > 1000) {
+    $(".pre-blob").removeClass('blob');
+    $("#battery").text("-");
+    $("#ping-time").text('-');
+    $("video")[0].load();
+  }
+}, 5000);
+
+start(pc, dc);
\ No newline at end of file
diff --git a/tools/bodyteleop/static/js/plots.js b/tools/bodyteleop/static/js/plots.js
new file mode 100644
index 0000000000..5327bf71be
--- /dev/null
+++ b/tools/bodyteleop/static/js/plots.js
@@ -0,0 +1,53 @@
+export const pingPoints = [];
+export const batteryPoints = [];
+
+function getChartConfig(pts, color, title, ymax=100) {
+  return {
+    type: 'line',
+    data: {
+      datasets: [{
+        label: title,
+        data: pts,
+        borderWidth: 1,
+        borderColor: color,
+        backgroundColor: color,
+        fill: 'origin'
+      }]
+    },
+    options: {
+      scales: {
+        x: {
+          type: 'time',
+          time: {
+            unit: 'minute',
+            displayFormats: {
+              second: 'h:mm a'
+            }
+          },
+          grid: {
+            color: '#222', // Grid lines color
+          },
+          ticks: {
+            source: 'data',
+            fontColor: 'rgba(255, 255, 255, 1.0)', // Y-axis label color
+          }
+        },
+        y: {
+          beginAtZero: true,
+          max: ymax,
+          grid: {
+            color: 'rgba(255, 255, 255, 0.1)', // Grid lines color
+          },
+          ticks: {
+            fontColor: 'rgba(255, 255, 255, 0.7)', // Y-axis label color
+          }
+        }
+      }
+    }
+  }
+}
+
+const ctxPing = document.getElementById('chart-ping');
+const ctxBattery = document.getElementById('chart-battery');
+export const chartPing = new Chart(ctxPing, getChartConfig(pingPoints, 'rgba(192, 57, 43, 0.7)', 'Controls Ping Time (ms)', 250));
+export const chartBattery = new Chart(ctxBattery, getChartConfig(batteryPoints, 'rgba(41, 128, 185, 0.7)', 'Battery %', 100));
diff --git a/tools/bodyteleop/static/js/webrtc.js b/tools/bodyteleop/static/js/webrtc.js
new file mode 100644
index 0000000000..8bc8e77317
--- /dev/null
+++ b/tools/bodyteleop/static/js/webrtc.js
@@ -0,0 +1,217 @@
+import { getXY } from "./controls.js";
+import { pingPoints, batteryPoints, chartPing, chartBattery } from "./plots.js";
+
+export let dcInterval = null;
+export let batteryInterval = null;
+export let last_ping = null;
+
+
+export function createPeerConnection(pc) {
+  var config = {
+    sdpSemantics: 'unified-plan'
+  };
+
+  pc = new RTCPeerConnection(config);
+
+  // connect audio / video
+  pc.addEventListener('track', function(evt) {
+    console.log("Adding Tracks!")
+    if (evt.track.kind == 'video')
+      document.getElementById('video').srcObject = evt.streams[0];
+    else
+      document.getElementById('audio').srcObject = evt.streams[0];
+  });
+  return pc;
+}
+
+
+export function negotiate(pc) {
+  return pc.createOffer({offerToReceiveAudio:true, offerToReceiveVideo:true}).then(function(offer) {
+    return pc.setLocalDescription(offer);
+  }).then(function() {
+    return new Promise(function(resolve) {
+      if (pc.iceGatheringState === 'complete') {
+        resolve();
+      }
+      else {
+        function checkState() {
+          if (pc.iceGatheringState === 'complete') {
+            pc.removeEventListener('icegatheringstatechange', checkState);
+            resolve();
+          }
+        }
+        pc.addEventListener('icegatheringstatechange', checkState);
+      }
+    });
+  }).then(function() {
+    var offer = pc.localDescription;
+    return fetch('/offer', {
+      body: JSON.stringify({
+        sdp: offer.sdp,
+        type: offer.type,
+      }),
+      headers: {
+        'Content-Type': 'application/json'
+      },
+      method: 'POST'
+    });
+  }).then(function(response) {
+    console.log(response);
+    return response.json();
+  }).then(function(answer) {
+    return pc.setRemoteDescription(answer);
+  }).catch(function(e) {
+    alert(e);
+  });
+}
+
+
+function isMobile() {
+    let check = false;
+    (function(a){if(/(android|bb\d+|meego).+mobile|avantgo|bada\/|blackberry|blazer|compal|elaine|fennec|hiptop|iemobile|ip(hone|od)|iris|kindle|lge |maemo|midp|mmp|mobile.+firefox|netfront|opera m(ob|in)i|palm( os)?|phone|p(ixi|re)\/|plucker|pocket|psp|series(4|6)0|symbian|treo|up\.(browser|link)|vodafone|wap|windows ce|xda|xiino/i.test(a)||/1207|6310|6590|3gso|4thp|50[1-6]i|770s|802s|a wa|abac|ac(er|oo|s\-)|ai(ko|rn)|al(av|ca|co)|amoi|an(ex|ny|yw)|aptu|ar(ch|go)|as(te|us)|attw|au(di|\-m|r |s )|avan|be(ck|ll|nq)|bi(lb|rd)|bl(ac|az)|br(e|v)w|bumb|bw\-(n|u)|c55\/|capi|ccwa|cdm\-|cell|chtm|cldc|cmd\-|co(mp|nd)|craw|da(it|ll|ng)|dbte|dc\-s|devi|dica|dmob|do(c|p)o|ds(12|\-d)|el(49|ai)|em(l2|ul)|er(ic|k0)|esl8|ez([4-7]0|os|wa|ze)|fetc|fly(\-|_)|g1 u|g560|gene|gf\-5|g\-mo|go(\.w|od)|gr(ad|un)|haie|hcit|hd\-(m|p|t)|hei\-|hi(pt|ta)|hp( i|ip)|hs\-c|ht(c(\-| |_|a|g|p|s|t)|tp)|hu(aw|tc)|i\-(20|go|ma)|i230|iac( |\-|\/)|ibro|idea|ig01|ikom|im1k|inno|ipaq|iris|ja(t|v)a|jbro|jemu|jigs|kddi|keji|kgt( |\/)|klon|kpt |kwc\-|kyo(c|k)|le(no|xi)|lg( g|\/(k|l|u)|50|54|\-[a-w])|libw|lynx|m1\-w|m3ga|m50\/|ma(te|ui|xo)|mc(01|21|ca)|m\-cr|me(rc|ri)|mi(o8|oa|ts)|mmef|mo(01|02|bi|de|do|t(\-| |o|v)|zz)|mt(50|p1|v )|mwbp|mywa|n10[0-2]|n20[2-3]|n30(0|2)|n50(0|2|5)|n7(0(0|1)|10)|ne((c|m)\-|on|tf|wf|wg|wt)|nok(6|i)|nzph|o2im|op(ti|wv)|oran|owg1|p800|pan(a|d|t)|pdxg|pg(13|\-([1-8]|c))|phil|pire|pl(ay|uc)|pn\-2|po(ck|rt|se)|prox|psio|pt\-g|qa\-a|qc(07|12|21|32|60|\-[2-7]|i\-)|qtek|r380|r600|raks|rim9|ro(ve|zo)|s55\/|sa(ge|ma|mm|ms|ny|va)|sc(01|h\-|oo|p\-)|sdk\/|se(c(\-|0|1)|47|mc|nd|ri)|sgh\-|shar|sie(\-|m)|sk\-0|sl(45|id)|sm(al|ar|b3|it|t5)|so(ft|ny)|sp(01|h\-|v\-|v )|sy(01|mb)|t2(18|50)|t6(00|10|18)|ta(gt|lk)|tcl\-|tdg\-|tel(i|m)|tim\-|t\-mo|to(pl|sh)|ts(70|m\-|m3|m5)|tx\-9|up(\.b|g1|si)|utst|v400|v750|veri|vi(rg|te)|vk(40|5[0-3]|\-v)|vm40|voda|vulc|vx(52|53|60|61|70|80|81|83|85|98)|w3c(\-| )|webc|whit|wi(g |nc|nw)|wmlb|wonu|x700|yas\-|your|zeto|zte\-/i.test(a.substr(0,4))) check = true;})(navigator.userAgent||navigator.vendor||window.opera);
+    return check;
+};
+
+
+export const constraints = {
+  audio: {
+    autoGainControl: false,
+    sampleRate: 48000,
+    sampleSize: 16,
+    echoCancellation: true,
+    noiseSuppression: true,
+    channelCount: 1
+  },
+  video: isMobile()
+};
+
+
+export function createDummyVideoTrack() {
+  const canvas = document.createElement('canvas');
+  const context = canvas.getContext('2d');
+  
+  const frameWidth = 5; // Set the width of the frame
+  const frameHeight = 5; // Set the height of the frame
+  canvas.width = frameWidth;
+  canvas.height = frameHeight;
+  
+  context.fillStyle = 'black';
+  context.fillRect(0, 0, frameWidth, frameHeight);
+  
+  const stream = canvas.captureStream();
+  const videoTrack = stream.getVideoTracks()[0];
+  
+  return videoTrack;
+}
+
+
+export function start(pc, dc) {
+  pc = createPeerConnection(pc);
+
+  if (constraints.audio || constraints.video) {
+    // add audio track
+    navigator.mediaDevices.getUserMedia(constraints).then(function(stream) {
+      stream.getTracks().forEach(function(track) {
+        pc.addTrack(track, stream);
+        // only audio?
+        // if (track.kind === 'audio'){
+        //     pc.addTrack(track, stream);
+        // }
+      });
+        return negotiate(pc);
+      }, function(err) {
+        alert('Could not acquire media: ' + err);
+      });
+
+    // add a fake video?
+    // const dummyVideoTrack = createDummyVideoTrack();
+    // const dummyMediaStream = new MediaStream();
+    // dummyMediaStream.addTrack(dummyVideoTrack);
+    // pc.addTrack(dummyVideoTrack, dummyMediaStream);
+
+  } else {
+    negotiate(pc);
+  }
+  
+  // setInterval(() => {pc.getStats(null).then((stats) => {stats.forEach((report) => console.log(report))})}, 10000)
+  // var video = document.querySelector('video');
+  // var print = function (e, f){console.log(e, f);  video.requestVideoFrameCallback(print);};
+  // video.requestVideoFrameCallback(print);
+
+
+  var parameters = {"ordered": true};
+  dc = pc.createDataChannel('data', parameters);
+  dc.onclose = function() {
+    console.log("data channel closed");
+    clearInterval(dcInterval);
+    clearInterval(batteryInterval);
+  };
+  function controlCommand() {
+    const {x, y} = getXY();
+    const dt = new Date().getTime();
+    var message = JSON.stringify({type: 'control_command', x, y, dt});
+    dc.send(message);
+  }
+
+  function batteryLevel() {
+    var message = JSON.stringify({type: 'battery_level'});
+    dc.send(message);
+  }
+  
+  dc.onopen = function() {
+    dcInterval = setInterval(controlCommand, 50);
+    batteryInterval = setInterval(batteryLevel, 10000);
+    controlCommand();
+    batteryLevel();
+    $(".sound").click((e)=>{
+      const sound = $(e.target).attr('id').replace('sound-', '')
+      dc.send(JSON.stringify({type: 'play_sound', sound}));
+    });
+  };
+
+  let val_print_idx = 0;
+  dc.onmessage = function(evt) {
+    const data = JSON.parse(evt.data);
+    if(val_print_idx == 0 && data.type === 'ping_time') {
+      const dt = new Date().getTime();
+      const pingtime = dt - data.incoming_time;
+      pingPoints.push({'x': dt, 'y': pingtime});
+        if (pingPoints.length > 1000) {
+        pingPoints.shift();
+      }
+      chartPing.update();
+      $("#ping-time").text((pingtime) + "ms");
+      last_ping = dt;
+      $(".pre-blob").addClass('blob');
+    }
+    val_print_idx = (val_print_idx + 1 ) % 20;
+    if(data.type === 'battery_level') {
+      $("#battery").text(data.value + "%");
+      batteryPoints.push({'x': new Date().getTime(), 'y': data.value});
+        if (batteryPoints.length > 1000) {
+        batteryPoints.shift();
+      }
+      chartBattery.update();
+    }
+  };
+}
+
+
+export function stop(pc, dc) {
+  if (dc) {
+    dc.close();
+  }
+  if (pc.getTransceivers) {
+    pc.getTransceivers().forEach(function(transceiver) {
+      if (transceiver.stop) {
+        transceiver.stop();
+      }
+    });
+  }
+  pc.getSenders().forEach(function(sender) {
+    sender.track.stop();
+  });
+  setTimeout(function() {
+    pc.close();
+  }, 500);
+}
diff --git a/tools/bodyteleop/static/main.css b/tools/bodyteleop/static/main.css
new file mode 100644
index 0000000000..1bfb5982b4
--- /dev/null
+++ b/tools/bodyteleop/static/main.css
@@ -0,0 +1,185 @@
+body {
+  background: #333 !important;
+  color: #fff !important;
+  display: flex;
+  justify-content: center;
+  align-items: start;
+}
+
+p {
+  margin: 0px !important;
+}
+
+i {
+  font-style: normal;
+}
+
+.small {
+  font-size: 1em !important
+}
+
+.jumbo {
+  font-size: 8rem;
+}
+
+
+@media (max-width: 600px) {
+  .small {
+      font-size: 0.5em !important
+  }
+  .jumbo {
+      display: none;
+  }
+  
+}
+
+#main {
+  display: flex;
+  flex-direction: column;
+  align-content: center;
+  justify-content: center;
+  align-items: center;
+  font-size: 30px;
+  width: 100%;
+  max-width: 1200px;
+}
+
+video {
+  width: 95%;
+}
+
+.pre-blob {
+  display: flex;
+  background: #333;
+  border-radius: 50%;
+  margin: 10px;
+  height: 45px;
+  width: 45px;
+  justify-content: center;
+  align-items: center;
+  font-size: 1rem;
+}
+
+.blob {
+  background: rgba(231, 76, 60,1.0);
+  box-shadow: 0 0 0 0 rgba(231, 76, 60,1.0);
+  animation: pulse 2s infinite;
+}
+
+@keyframes pulse {
+  0% {
+    box-shadow: 0 0 0 0px rgba(192, 57, 43, 1);
+  }
+  100% {
+    box-shadow: 0 0 0 20px rgba(192, 57, 43, 0);
+  }
+}
+
+
+.icon-sup-panel {
+  display: flex;
+  flex-direction: row;
+  justify-content: space-around;
+  align-items: center;
+  background: #222;
+  border-radius: 10px;
+  padding: 5px;
+  margin: 5px 0px 5px 0px;
+}
+
+.icon-sub-panel {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  align-items: center;
+}
+
+#icon-panel {
+  display: flex;
+  width: 100%;
+  justify-content: space-between;
+  margin-top: 5px;
+}
+
+.icon-sub-sub-panel {
+  display: flex;
+  flex-direction: row;
+}
+
+.keys, #key-val {
+  background: #333;
+  padding: 2rem;
+  margin: 5px;
+  color: #fff;
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  border-radius: 10px;
+  cursor: pointer;
+}
+
+#key-val {
+  pointer-events: none;
+  background: #fff;
+  color: #333;
+  line-height: 1;
+  font-size: 20px;
+  flex-direction: column;
+}
+
+.wasd-row {
+  display: flex;
+  flex-direction: row;
+  justify-content: center;
+  align-items: stretch;
+}
+
+#wasd {
+  margin: 5px 0px 5px 0px;
+  background: #222;
+  border-radius: 10px;
+  width: 100%;
+  padding: 20px;
+  display: flex;
+  flex-direction: row;
+  justify-content: space-around;
+  align-items: stretch;
+
+  user-select: none;
+  -webkit-touch-callout: none;
+  -webkit-user-select: none;
+  -khtml-user-select: none;
+  -moz-user-select: none;
+  -ms-user-select: none;
+  touch-action: manipulation;
+}
+
+.panel {
+  display: flex;
+  justify-content: center;
+  margin: 5px 0px 5px 0px !important;
+  background: #222;
+  border-radius: 10px;
+  width: 100%;
+  padding: 10px;
+}
+
+#ping-time, #battery {
+  font-size: 25px;
+}
+
+#stop {
+  display: none;
+}
+
+.plan-form {
+  display: flex;
+  flex-direction: column;
+  justify-content: space-between;
+  align-items: center;
+}
+
+.details {
+  display: flex;
+  padding: 0px 10px 0px 10px;
+}
diff --git a/tools/bodyteleop/static/poster.png b/tools/bodyteleop/static/poster.png
new file mode 100644
index 0000000000..ba0e846b22
Binary files /dev/null and b/tools/bodyteleop/static/poster.png differ
diff --git a/tools/bodyteleop/web.py b/tools/bodyteleop/web.py
new file mode 100644
index 0000000000..717afdeaf8
--- /dev/null
+++ b/tools/bodyteleop/web.py
@@ -0,0 +1,207 @@
+import asyncio
+import json
+import logging
+import os
+import ssl
+import uuid
+import time
+
+# aiortc and its dependencies have lots of internal warnings :(
+import warnings
+warnings.resetwarnings()
+warnings.simplefilter("always")
+
+from aiohttp import web
+from aiortc import RTCPeerConnection, RTCSessionDescription
+
+import cereal.messaging as messaging
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.bodyteleop.bodyav import BodyMic, WebClientSpeaker, force_codec, play_sound, MediaBlackhole, EncodedBodyVideo
+
+logger = logging.getLogger("pc")
+logging.basicConfig(level=logging.INFO)
+
+pcs = set()
+pm, sm = None, None
+TELEOPDIR = f"{BASEDIR}/tools/bodyteleop"
+
+
+async def index(request):
+  content = open(TELEOPDIR + "/static/index.html", "r").read()
+  now = time.monotonic()
+  request.app['mutable_vals']['last_send_time'] = now
+  request.app['mutable_vals']['last_override_time'] = now
+  request.app['mutable_vals']['prev_command'] = []
+  request.app['mutable_vals']['find_person'] = False
+
+  return web.Response(content_type="text/html", text=content)
+
+
+async def control_body(data, app):
+  now = time.monotonic()
+  if (data['type'] == 'dummy_controls') and (now < (app['mutable_vals']['last_send_time'] + 0.2)):
+    return
+  if (data['type'] == 'control_command') and (app['mutable_vals']['prev_command'] == [data['x'], data['y']] and data['x'] == 0 and data['y'] == 0):
+    return
+
+  logger.info(str(data))
+  x = max(-1.0, min(1.0, data['x']))
+  y = max(-1.0, min(1.0, data['y']))
+  dat = messaging.new_message('testJoystick')
+  dat.testJoystick.axes = [x, y]
+  dat.testJoystick.buttons = [False]
+  pm.send('testJoystick', dat)
+  app['mutable_vals']['last_send_time'] = now
+  if (data['type'] == 'control_command'):
+    app['mutable_vals']['last_override_time'] = now
+    app['mutable_vals']['prev_command'] = [data['x'], data['y']]
+
+
+async def dummy_controls_msg(app):
+  while True:
+    if 'last_send_time' in app['mutable_vals']:
+      this_time = time.monotonic()
+      if (app['mutable_vals']['last_send_time'] + 0.2) < this_time:
+        await control_body({'type': 'dummy_controls', 'x': 0, 'y': 0}, app)
+    await asyncio.sleep(0.2)
+
+
+async def start_background_tasks(app):
+  app['bgtask_dummy_controls_msg'] = asyncio.create_task(dummy_controls_msg(app))
+
+
+async def stop_background_tasks(app):
+  app['bgtask_dummy_controls_msg'].cancel()
+  await app['bgtask_dummy_controls_msg']
+
+
+async def offer(request):
+  logger.info("\n\n\nnewoffer!\n\n")
+
+  params = await request.json()
+  offer = RTCSessionDescription(sdp=params["sdp"], type=params["type"])
+  speaker = WebClientSpeaker()
+  blackhole = MediaBlackhole()
+
+  pc = RTCPeerConnection()
+  pc_id = "PeerConnection(%s)" % uuid.uuid4()
+  pcs.add(pc)
+
+  def log_info(msg, *args):
+    logger.info(pc_id + " " + msg, *args)
+
+  log_info("Created for %s", request.remote)
+
+  @pc.on("datachannel")
+  def on_datachannel(channel):
+    request.app['mutable_vals']['remote_channel'] = channel
+
+    @channel.on("message")
+    async def on_message(message):
+      data = json.loads(message)
+      if data['type'] == 'control_command':
+        await control_body(data, request.app)
+        times = {
+          'type': 'ping_time',
+          'incoming_time': data['dt'],
+          'outgoing_time': int(time.time() * 1000),
+        }
+        channel.send(json.dumps(times))
+      if data['type'] == 'battery_level':
+        sm.update(timeout=0)
+        if sm.updated['carState']:
+          channel.send(json.dumps({'type': 'battery_level', 'value': int(sm['carState'].fuelGauge * 100)}))
+      if data['type'] == 'play_sound':
+        logger.info(f"Playing sound: {data['sound']}")
+        await play_sound(data['sound'])
+      if data['type'] == 'find_person':
+        request.app['mutable_vals']['find_person'] = data['value']
+
+  @pc.on("connectionstatechange")
+  async def on_connectionstatechange():
+    log_info("Connection state is %s", pc.connectionState)
+    if pc.connectionState == "failed":
+      await pc.close()
+      pcs.discard(pc)
+
+  @pc.on('track')
+  def on_track(track):
+    logger.info(f"Track received: {track.kind}")
+    if track.kind == "audio":
+      speaker.addTrack(track)
+    elif track.kind == "video":
+      blackhole.addTrack(track)
+
+    @track.on("ended")
+    async def on_ended():
+      log_info("Remote %s track ended", track.kind)
+      if track.kind == "audio":
+        await speaker.stop()
+      elif track.kind == "video":
+        await blackhole.stop()
+
+  video_sender = pc.addTrack(EncodedBodyVideo())
+  force_codec(pc, video_sender, forced_codec='video/H264')
+  _ = pc.addTrack(BodyMic())
+
+  await pc.setRemoteDescription(offer)
+  await speaker.start()
+  await blackhole.start()
+  answer = await pc.createAnswer()
+  await pc.setLocalDescription(answer)
+
+  return web.Response(
+    content_type="application/json",
+    text=json.dumps(
+      {"sdp": pc.localDescription.sdp, "type": pc.localDescription.type}
+    ),
+  )
+
+
+async def on_shutdown(app):
+  coros = [pc.close() for pc in pcs]
+  await asyncio.gather(*coros)
+  pcs.clear()
+
+
+async def run(cmd):
+  proc = await asyncio.create_subprocess_shell(
+    cmd,
+    stdout=asyncio.subprocess.PIPE,
+    stderr=asyncio.subprocess.PIPE
+  )
+  stdout, stderr = await proc.communicate()
+  logger.info("Created key and cert!")
+  if stdout:
+    logger.info(f'[stdout]\n{stdout.decode()}')
+  if stderr:
+    logger.info(f'[stderr]\n{stderr.decode()}')
+
+
+def main():
+  global pm, sm
+  pm = messaging.PubMaster(['testJoystick'])
+  sm = messaging.SubMaster(['carState', 'logMessage'])
+  # App needs to be HTTPS for microphone and audio autoplay to work on the browser
+  cert_path = TELEOPDIR + '/cert.pem'
+  key_path = TELEOPDIR + '/key.pem'
+  if (not os.path.exists(cert_path)) or (not os.path.exists(key_path)):
+    asyncio.run(run(f'openssl req -x509 -newkey rsa:4096 -nodes -out {cert_path} -keyout {key_path} \
+                     -days 365 -subj "/C=US/ST=California/O=commaai/OU=comma body"'))
+  else:
+    logger.info("Certificate exists!")
+  ssl_context = ssl.SSLContext()
+  ssl_context.load_cert_chain(cert_path, key_path)
+  app = web.Application()
+  app['mutable_vals'] = {}
+  app.on_shutdown.append(on_shutdown)
+  app.router.add_post("/offer", offer)
+  app.router.add_get("/", index)
+  app.router.add_static('/static', TELEOPDIR + '/static')
+  app.on_startup.append(start_background_tasks)
+  app.on_cleanup.append(stop_background_tasks)
+  web.run_app(app, access_log=None, host="0.0.0.0", port=5000, ssl_context=ssl_context)
+
+
+if __name__ == "__main__":
+  main()
diff --git a/tools/cabana/.gitignore b/tools/cabana/.gitignore
index 73879ab05d..c3f5ef2b69 100644
--- a/tools/cabana/.gitignore
+++ b/tools/cabana/.gitignore
@@ -1,7 +1,7 @@
 moc_*
 *.moc
 
-_cabana
+cabana
 settings
-car_fingerprint_to_dbc.json
-tests/_test_cabana
+dbc/car_fingerprint_to_dbc.json
+tests/test_cabana
diff --git a/tools/cabana/README.md b/tools/cabana/README.md
index dd131880a6..53723ef8a6 100644
--- a/tools/cabana/README.md
+++ b/tools/cabana/README.md
@@ -1,7 +1,5 @@
 # Cabana
 
-<img src="https://cabana.comma.ai/img/cabana.jpg" width="640" height="267" />
-
 Cabana is a tool developed to view raw CAN data. One use for this is creating and editing [CAN Dictionaries](http://socialledge.com/sjsu/index.php/DBC_Format) (DBC files), and the tool provides direct integration with [commaai/opendbc](https://github.com/commaai/opendbc) (a collection of DBC files), allowing you to load the DBC files direct from source, and save to your fork. In addition, you can load routes from [comma connect](https://connect.comma.ai).
 
 ## Usage Instructions
@@ -11,14 +9,24 @@ $ ./cabana -h
 Usage: ./cabana [options] route
 
 Options:
-  -h, --help             Displays this help.
-  --demo                 use a demo route instead of providing your own
-  --qcam                 load qcamera
-  --data_dir <data_dir>  local directory with routes
+  -h, --help                     Displays help on commandline options.
+  --help-all                     Displays help including Qt specific options.
+  --demo                         use a demo route instead of providing your own
+  --qcam                         load qcamera
+  --ecam                         load wide road camera
+  --stream                       read can messages from live streaming
+  --panda                        read can messages from panda
+  --panda-serial <panda-serial>  read can messages from panda with given serial
+  --socketcan <socketcan>        read can messages from given SocketCAN device
+  --zmq <zmq>                    the ip address on which to receive zmq
+                                 messages
+  --data_dir <data_dir>          local directory with routes
+  --no-vipc                      do not output video
+  --dbc <dbc>                    dbc file to open
 
 Arguments:
-  route                  the drive to replay. find your drives at
-                         connect.comma.ai
+  route                          the drive to replay. find your drives at
+                                 connect.comma.ai
 ```
 
 See [openpilot wiki](https://github.com/commaai/openpilot/wiki/Cabana)
diff --git a/tools/cabana/SConscript b/tools/cabana/SConscript
index 52fe9e346d..be1f613e22 100644
--- a/tools/cabana/SConscript
+++ b/tools/cabana/SConscript
@@ -1,6 +1,6 @@
 import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc', 'replay_lib',
-       'cereal', 'transformations', 'widgets', 'opendbc')
+       'cereal', 'transformations', 'widgets')
 
 base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
@@ -8,22 +8,37 @@ base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
 
 if arch == "Darwin":
   base_frameworks.append('OpenCL')
+  base_frameworks.append('QtCharts')
+  base_frameworks.append('QtSerialBus')
 else:
   base_libs.append('OpenCL')
+  base_libs.append('Qt5Charts')
+  base_libs.append('Qt5SerialBus')
+
+qt_libs = ['qt_util'] + base_libs
 
-qt_libs = ['qt_util', 'Qt5Charts'] + base_libs
-cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, opendbc,'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv'] + qt_libs
 cabana_env = qt_env.Clone()
+cabana_env["LIBPATH"] += ['../../opendbc/can']
+cabana_libs = [widgets, cereal, messaging, visionipc, replay_lib, 'panda', 'libdbc_static', 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'usb-1.0'] + qt_libs
+opendbc_path = '-DOPENDBC_FILE_PATH=\'"%s"\'' % (cabana_env.Dir("../../opendbc").abspath)
+cabana_env['CXXFLAGS'] += [opendbc_path]
+
+# build assets
+assets = "assets/assets.cc"
+assets_src = "assets/assets.qrc"
+cabana_env.Command(assets, assets_src, f"rcc $SOURCES -o $TARGET")
+cabana_env.Depends(assets, Glob('/assets/*', exclude=[assets, assets_src, "assets/assets.o"]))
 
-prev_moc_path = cabana_env['QT_MOCHPREFIX']
-cabana_env['QT_MOCHPREFIX'] = os.path.dirname(prev_moc_path) + '/cabana/moc_'
-cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'binaryview.cc', 'chartswidget.cc', 'historylog.cc', 'videowidget.cc', 'signaledit.cc', 'dbcmanager.cc',
-                            'canmessages.cc', 'commands.cc', 'messageswidget.cc', 'settings.cc', 'detailwidget.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
-cabana_env.Program('_cabana', ['cabana.cc', cabana_lib], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_lib = cabana_env.Library("cabana_lib", ['mainwin.cc', 'streams/socketcanstream.cc', 'streams/pandastream.cc', 'streams/devicestream.cc', 'streams/livestream.cc', 'streams/abstractstream.cc', 'streams/replaystream.cc', 'binaryview.cc', 'historylog.cc', 'videowidget.cc', 'signalview.cc',
+                                               'dbc/dbc.cc', 'dbc/dbcfile.cc', 'dbc/dbcmanager.cc',
+                                               'chart/chartswidget.cc', 'chart/chart.cc', 'chart/signalselector.cc', 'chart/tiplabel.cc', 'chart/sparkline.cc',
+                                               'commands.cc', 'messageswidget.cc', 'streamselector.cc', 'settings.cc', 'util.cc', 'detailwidget.cc', 'tools/findsimilarbits.cc', 'tools/findsignal.cc'], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
+cabana_env.Program('cabana', ['cabana.cc', cabana_lib, assets], LIBS=cabana_libs, FRAMEWORKS=base_frameworks)
 
-if GetOption('test'):
-  cabana_env.Program('tests/_test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
+if GetOption('extras'):
+  cabana_env.Program('tests/test_cabana', ['tests/test_runner.cc', 'tests/test_cabana.cc', cabana_lib], LIBS=[cabana_libs])
 
-def generate_dbc_json(target, source, env):
-  env.Execute('tools/cabana/generate_dbc_json.py --out tools/cabana/car_fingerprint_to_dbc.json')
-cabana_env.Command('generate_dbc_json', [], generate_dbc_json)
+generate_dbc = cabana_env.Command('generate_dbc_json',
+                                   [],
+                                   "python3 tools/cabana/dbc/generate_dbc_json.py --out tools/cabana/dbc/car_fingerprint_to_dbc.json")
+cabana_env.Depends(generate_dbc, ["#common", "#selfdrive/boardd", "#opendbc", "#cereal"])
diff --git a/tools/cabana/assets/.gitignore b/tools/cabana/assets/.gitignore
new file mode 100644
index 0000000000..283034ca8b
--- /dev/null
+++ b/tools/cabana/assets/.gitignore
@@ -0,0 +1 @@
+*.cc
diff --git a/tools/cabana/assets/assets.qrc b/tools/cabana/assets/assets.qrc
new file mode 100644
index 0000000000..6a8e5a3414
--- /dev/null
+++ b/tools/cabana/assets/assets.qrc
@@ -0,0 +1,6 @@
+<!DOCTYPE RCC><RCC version="1.0">
+<qresource>
+  <file alias="bootstrap-icons.svg">../../../third_party/bootstrap/bootstrap-icons.svg</file>
+  <file>cabana-icon.png</file>
+</qresource>
+</RCC>
diff --git a/tools/cabana/assets/cabana-icon.png b/tools/cabana/assets/cabana-icon.png
new file mode 100644
index 0000000000..86add806fd
Binary files /dev/null and b/tools/cabana/assets/cabana-icon.png differ
diff --git a/tools/cabana/binaryview.cc b/tools/cabana/binaryview.cc
index bc64edbfeb..bd43c337bd 100644
--- a/tools/cabana/binaryview.cc
+++ b/tools/cabana/binaryview.cc
@@ -1,20 +1,22 @@
 #include "tools/cabana/binaryview.h"
 
+#include <algorithm>
+
 #include <QFontDatabase>
 #include <QHeaderView>
 #include <QMouseEvent>
 #include <QPainter>
+#include <QScrollBar>
+#include <QShortcut>
 #include <QToolTip>
 
-#include "tools/cabana/canmessages.h"
+#include "tools/cabana/commands.h"
 
 // BinaryView
 
-const int CELL_HEIGHT = 26;
-
-inline int get_bit_index(const QModelIndex &index, bool little_endian) {
-  return index.row() * 8 + (little_endian ? 7 - index.column() : index.column());
-}
+const int CELL_HEIGHT = 36;
+const int VERTICAL_HEADER_WIDTH = 30;
+inline int get_bit_pos(const QModelIndex &index) { return flipBitPos(index.row() * 8 + index.column()); }
 
 BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   model = new BinaryViewModel(this);
@@ -24,20 +26,96 @@ BinaryView::BinaryView(QWidget *parent) : QTableView(parent) {
   horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
   verticalHeader()->setSectionsClickable(false);
   verticalHeader()->setSectionResizeMode(QHeaderView::Fixed);
+  verticalHeader()->setDefaultSectionSize(CELL_HEIGHT);
   horizontalHeader()->hide();
-  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setVerticalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  setSizeAdjustPolicy(QAbstractScrollArea::AdjustToContents);
-  setFrameShape(QFrame::NoFrame);
   setShowGrid(false);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
   setMouseTracking(true);
+  setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &BinaryView::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &BinaryView::refresh);
+
+  addShortcuts();
+  setWhatsThis(R"(
+    <b>Binary View</b><br/>
+    <!-- TODO: add descprition here -->
+    <span style="color:gray">Shortcuts</span><br />
+    Delete Signal:
+      <span style="background-color:lightGray;color:gray">&nbsp;x&nbsp;</span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;Backspace&nbsp;</span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;Delete&nbsp;</span><br />
+    Change endianness: <span style="background-color:lightGray;color:gray">&nbsp;e&nbsp; </span><br />
+    Change singedness: <span style="background-color:lightGray;color:gray">&nbsp;s&nbsp;</span><br />
+    Open chart:
+      <span style="background-color:lightGray;color:gray">&nbsp;c&nbsp;</span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;p&nbsp;</span>,
+      <span style="background-color:lightGray;color:gray">&nbsp;g&nbsp;</span>
+  )");
 }
 
-void BinaryView::highlight(const Signal *sig) {
+void BinaryView::addShortcuts() {
+  // Delete (x, backspace, delete)
+  QShortcut *shortcut_delete_x = new QShortcut(QKeySequence(Qt::Key_X), this);
+  QShortcut *shortcut_delete_backspace = new QShortcut(QKeySequence(Qt::Key_Backspace), this);
+  QShortcut *shortcut_delete_delete = new QShortcut(QKeySequence(Qt::Key_Delete), this);
+  QObject::connect(shortcut_delete_delete, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
+  QObject::connect(shortcut_delete_backspace, &QShortcut::activated, shortcut_delete_x, &QShortcut::activated);
+  QObject::connect(shortcut_delete_x, &QShortcut::activated, [=]{
+    if (hovered_sig != nullptr) {
+      UndoStack::push(new RemoveSigCommand(model->msg_id, hovered_sig));
+      hovered_sig = nullptr;
+    }
+  });
+
+  // Change endianness (e)
+  QShortcut *shortcut_endian = new QShortcut(QKeySequence(Qt::Key_E), this);
+  QObject::connect(shortcut_endian, &QShortcut::activated, [=]{
+    if (hovered_sig != nullptr) {
+      cabana::Signal s = *hovered_sig;
+      s.is_little_endian = !s.is_little_endian;
+      emit editSignal(hovered_sig, s);
+    }
+  });
+
+  // Change signedness (s)
+  QShortcut *shortcut_sign = new QShortcut(QKeySequence(Qt::Key_S), this);
+  QObject::connect(shortcut_sign, &QShortcut::activated, [=]{
+    if (hovered_sig != nullptr) {
+      cabana::Signal s = *hovered_sig;
+      s.is_signed = !s.is_signed;
+      emit editSignal(hovered_sig, s);
+    }
+  });
+
+  // Open chart (c, p, g)
+  QShortcut *shortcut_plot = new QShortcut(QKeySequence(Qt::Key_P), this);
+  QShortcut *shortcut_plot_g = new QShortcut(QKeySequence(Qt::Key_G), this);
+  QShortcut *shortcut_plot_c = new QShortcut(QKeySequence(Qt::Key_C), this);
+  QObject::connect(shortcut_plot_g, &QShortcut::activated, shortcut_plot, &QShortcut::activated);
+  QObject::connect(shortcut_plot_c, &QShortcut::activated, shortcut_plot, &QShortcut::activated);
+  QObject::connect(shortcut_plot, &QShortcut::activated, [=]{
+    if (hovered_sig != nullptr) {
+      emit showChart(model->msg_id, hovered_sig, true, false);
+    }
+  });
+}
+
+QSize BinaryView::minimumSizeHint() const {
+  return {(horizontalHeader()->minimumSectionSize() + 1) * 9 + VERTICAL_HEADER_WIDTH + 2,
+          CELL_HEIGHT * std::min(model->rowCount(), 10) + 2};
+}
+
+void BinaryView::highlight(const cabana::Signal *sig) {
   if (sig != hovered_sig) {
+    for (int i = 0; i < model->items.size(); ++i) {
+      auto &item_sigs = model->items[i].sigs;
+      if ((sig && item_sigs.contains(sig)) || (hovered_sig && item_sigs.contains(hovered_sig))) {
+        auto index = model->index(i / model->columnCount(), i % model->columnCount());
+        emit model->dataChanged(index, index, {Qt::DisplayRole});
+      }
+    }
+
     hovered_sig = sig;
-    model->dataChanged(model->index(0, 0), model->index(model->rowCount() - 1, model->columnCount() - 1));
     emit signalHovered(hovered_sig);
   }
 }
@@ -49,24 +127,24 @@ void BinaryView::setSelection(const QRect &rect, QItemSelectionModel::SelectionF
 
   QItemSelection selection;
   auto [start, size, is_lb] = getSelection(index);
-  for (int i = start; i < start + size; ++i) {
-    auto idx = model->bitIndex(i, is_lb);
-    selection.merge({idx, idx}, flags);
+  for (int i = 0; i < size; ++i) {
+    int pos = is_lb ? flipBitPos(start + i) : flipBitPos(start) + i;
+    selection << QItemSelectionRange{model->index(pos / 8, pos % 8)};
   }
   selectionModel()->select(selection, flags);
 }
 
 void BinaryView::mousePressEvent(QMouseEvent *event) {
-  delegate->setSelectionColor(style()->standardPalette().color(QPalette::Active, QPalette::Highlight));
+  resize_sig = nullptr;
   if (auto index = indexAt(event->pos()); index.isValid() && index.column() != 8) {
     anchor_index = index;
     auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
-    int bit_idx = get_bit_index(anchor_index, true);
+    int bit_pos = get_bit_pos(anchor_index);
     for (auto s : item->sigs) {
-      if (bit_idx == s->lsb || bit_idx == s->msb) {
-        anchor_index = model->bitIndex(bit_idx == s->lsb ? s->msb : s->lsb, true);
+      if (bit_pos == s->lsb || bit_pos == s->msb) {
+        int idx = flipBitPos(bit_pos == s->lsb ? s->msb : s->lsb);
+        anchor_index = model->index(idx / 8, idx % 8);
         resize_sig = s;
-        delegate->setSelectionColor(item->bg_color);
         break;
       }
     }
@@ -77,10 +155,8 @@ void BinaryView::mousePressEvent(QMouseEvent *event) {
 void BinaryView::highlightPosition(const QPoint &pos) {
   if (auto index = indexAt(viewport()->mapFromGlobal(pos)); index.isValid()) {
     auto item = (BinaryViewModel::Item *)index.internalPointer();
-    const Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
+    const cabana::Signal *sig = item->sigs.isEmpty() ? nullptr : item->sigs.back();
     highlight(sig);
-    sig ? QToolTip::showText(pos, sig->name.c_str(), this, rect())
-        : QToolTip::hideText();
   }
 }
 
@@ -95,9 +171,10 @@ void BinaryView::mouseReleaseEvent(QMouseEvent *event) {
   auto release_index = indexAt(event->pos());
   if (release_index.isValid() && anchor_index.isValid()) {
     if (selectionModel()->hasSelection()) {
-      auto [start_bit, size, is_lb] = getSelection(release_index);
-      resize_sig ? emit resizeSignal(resize_sig, start_bit, size)
-                 : emit addSignal(start_bit, size, is_lb);
+      auto sig = resize_sig ? *resize_sig : cabana::Signal{};
+      std::tie(sig.start_bit, sig.size, sig.is_little_endian) = getSelection(release_index);
+      resize_sig ? emit editSignal(resize_sig, sig)
+                 : UndoStack::push(new AddSigCommand(model->msg_id, sig));
     } else {
       auto item = (const BinaryViewModel::Item *)anchor_index.internalPointer();
       if (item && item->sigs.size() > 0)
@@ -114,21 +191,29 @@ void BinaryView::leaveEvent(QEvent *event) {
   QTableView::leaveEvent(event);
 }
 
-void BinaryView::setMessage(const QString &message_id) {
-  model->setMessage(message_id);
+void BinaryView::setMessage(const MessageId &message_id) {
+  model->msg_id = message_id;
+  verticalScrollBar()->setValue(0);
+  refresh();
+}
+
+void BinaryView::refresh() {
   clearSelection();
   anchor_index = QModelIndex();
   resize_sig = nullptr;
   hovered_sig = nullptr;
+  model->refresh();
   highlightPosition(QCursor::pos());
-  updateState();
 }
 
-QSet<const Signal *> BinaryView::getOverlappingSignals() const {
-  QSet<const Signal *> overlapping;
-  for (auto &item : model->items) {
-    if (item.sigs.size() > 1)
-      for (auto s : item.sigs) overlapping += s;
+QSet<const cabana::Signal *> BinaryView::getOverlappingSignals() const {
+  QSet<const cabana::Signal *> overlapping;
+  for (const auto &item : model->items) {
+    if (item.sigs.size() > 1) {
+      for (auto s : item.sigs) {
+        if (s->type == cabana::Signal::Type::Normal) overlapping += s;
+      }
+    }
   }
   return overlapping;
 }
@@ -137,49 +222,77 @@ std::tuple<int, int, bool> BinaryView::getSelection(QModelIndex index) {
   if (index.column() == 8) {
     index = model->index(index.row(), 7);
   }
-  bool is_lb = (resize_sig && resize_sig->is_little_endian) || (!resize_sig && index < anchor_index);
-  int cur_bit_idx = get_bit_index(index, is_lb);
-  int anchor_bit_idx = get_bit_index(anchor_index, is_lb);
-  auto [start_bit, end_bit] = std::minmax(cur_bit_idx, anchor_bit_idx);
-  return {start_bit, end_bit - start_bit + 1, is_lb};
+  bool is_lb = true;
+  if (resize_sig) {
+    is_lb = resize_sig->is_little_endian;
+  } else if (settings.drag_direction == Settings::DragDirection::MsbFirst) {
+    is_lb = index < anchor_index;
+  } else if (settings.drag_direction == Settings::DragDirection::LsbFirst) {
+    is_lb = !(index < anchor_index);
+  } else if (settings.drag_direction == Settings::DragDirection::AlwaysLE) {
+    is_lb = true;
+  } else if (settings.drag_direction == Settings::DragDirection::AlwaysBE) {
+    is_lb = false;
+  }
+
+  int cur_bit_pos = get_bit_pos(index);
+  int anchor_bit_pos = get_bit_pos(anchor_index);
+  int start_bit = is_lb ? std::min(cur_bit_pos, anchor_bit_pos) : get_bit_pos(std::min(index, anchor_index));
+  int size = is_lb ? std::abs(cur_bit_pos - anchor_bit_pos) + 1 : std::abs(flipBitPos(cur_bit_pos) - flipBitPos(anchor_bit_pos)) + 1;
+  return {start_bit, size, is_lb};
 }
 
 // BinaryViewModel
 
-void BinaryViewModel::setMessage(const QString &message_id) {
+void BinaryViewModel::refresh() {
   beginResetModel();
-  msg_id = message_id;
   items.clear();
-  if ((dbc_msg = dbc()->msg(msg_id))) {
+  if (auto dbc_msg = dbc()->msg(msg_id)) {
     row_count = dbc_msg->size;
     items.resize(row_count * column_count);
-    int i = 0;
     for (auto sig : dbc_msg->getSignals()) {
-      auto [start, end] = getSignalRange(sig);
-      for (int j = start; j <= end; ++j) {
-        int bit_index = sig->is_little_endian ? bigEndianBitIndex(j) : j;
-        int idx = column_count * (bit_index / 8) + bit_index % 8;
+      for (int j = 0; j < sig->size; ++j) {
+        int pos = sig->is_little_endian ? flipBitPos(sig->start_bit + j) : flipBitPos(sig->start_bit) + j;
+        int idx = column_count * (pos / 8) + pos % 8;
         if (idx >= items.size()) {
-          qWarning() << "signal " << sig->name.c_str() << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
+          qWarning() << "signal " << sig->name << "out of bounds.start_bit:" << sig->start_bit << "size:" << sig->size;
           break;
         }
-        if (j == start) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
-        if (j == end) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
-        items[idx].bg_color = getColor(i);
-        items[idx].sigs.push_back(sig);
+        if (j == 0) sig->is_little_endian ? items[idx].is_lsb = true : items[idx].is_msb = true;
+        if (j == sig->size - 1) sig->is_little_endian ? items[idx].is_msb = true : items[idx].is_lsb = true;
+
+        auto &sigs = items[idx].sigs;
+        sigs.push_back(sig);
+        if (sigs.size() > 1) {
+          std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) { return l->size > r->size; });
+        }
       }
-      ++i;
     }
   } else {
     row_count = can->lastMessage(msg_id).dat.size();
     items.resize(row_count * column_count);
   }
+  int valid_rows = std::min(can->lastMessage(msg_id).dat.size(), row_count);
+  for (int i = 0; i < valid_rows * column_count; ++i) {
+    items[i].valid = true;
+  }
   endResetModel();
+  updateState();
+}
+
+void BinaryViewModel::updateItem(int row, int col, const QString &val, const QColor &color) {
+  auto &item = items[row * column_count + col];
+  if (item.val != val || item.bg_color != color) {
+    item.val = val;
+    item.bg_color = color;
+    auto idx = index(row, col);
+    emit dataChanged(idx, idx, {Qt::DisplayRole});
+  }
 }
 
 void BinaryViewModel::updateState() {
-  auto prev_items = items;
-  const auto &binary = can->lastMessage(msg_id).dat;
+  const auto &last_msg = can->lastMessage(msg_id);
+  const auto &binary = last_msg.dat;
   // data size may changed.
   if (binary.size() > row_count) {
     beginInsertRows({}, row_count, binary.size() - 1);
@@ -187,26 +300,24 @@ void BinaryViewModel::updateState() {
     items.resize(row_count * column_count);
     endInsertRows();
   }
-  char hex[3] = {'\0'};
-  for (int i = 0; i < binary.size(); ++i) {
-    for (int j = 0; j < column_count - 1; ++j) {
-      items[i * column_count + j].val = ((binary[i] >> (7 - j)) & 1) != 0 ? '1' : '0';
-    }
-    hex[0] = toHex(binary[i] >> 4);
-    hex[1] = toHex(binary[i] & 0xf);
-    items[i * column_count + 8].val = hex;
-  }
-  for (int i = binary.size(); i < row_count; ++i) {
-    for (int j = 0; j < column_count; ++j) {
-      items[i * column_count + j].val = "-";
-    }
-  }
 
-  for (int i = 0; i < row_count; ++i) {
-    if (i >= prev_items.size() || prev_items[i].val != items[i].val) {
-      auto idx = index(i / column_count, i % column_count);
-      emit dataChanged(idx, idx);
+  const double max_f = 255.0;
+  const double factor = 0.25;
+  const double scaler = max_f / log2(1.0 + factor);
+  for (int i = 0; i < binary.size(); ++i) {
+    for (int j = 0; j < 8; ++j) {
+      auto &item = items[i * column_count + j];
+      QString val = ((binary[i] >> (7 - j)) & 1) != 0 ? "1" : "0";
+      // Bit update frequency based highlighting
+      double offset = !item.sigs.empty() ? 50 : 0;
+      auto n = last_msg.bit_change_counts[i][7 - j];
+      double min_f = n == 0 ? offset : offset + 25;
+      double alpha = std::clamp(offset + log2(1.0 + factor * (double)n / (double)last_msg.count) * scaler, min_f, max_f);
+      auto color = item.bg_color;
+      color.setAlpha(alpha);
+      updateItem(i, j, val, color);
     }
+    updateItem(i, 8, toHex(binary[i]), last_msg.colors[i]);
   }
 }
 
@@ -214,26 +325,36 @@ QVariant BinaryViewModel::headerData(int section, Qt::Orientation orientation, i
   if (orientation == Qt::Vertical) {
     switch (role) {
       case Qt::DisplayRole: return section;
-      case Qt::SizeHintRole: return QSize(30, CELL_HEIGHT);
+      case Qt::SizeHintRole: return QSize(VERTICAL_HEADER_WIDTH, 0);
       case Qt::TextAlignmentRole: return Qt::AlignCenter;
     }
   }
   return {};
 }
 
+QVariant BinaryViewModel::data(const QModelIndex &index, int role) const {
+  if (role == Qt::ToolTipRole) {
+    auto item = (const BinaryViewModel::Item *)index.internalPointer();
+    if (item && !item->sigs.empty()) {
+      return signalToolTip(item->sigs.back());
+    }
+  }
+  return {};
+}
+
 // BinaryItemDelegate
 
 BinaryItemDelegate::BinaryItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
-  // cache fonts and color
-  small_font.setPointSize(6);
+  small_font.setPixelSize(8);
   hex_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
   hex_font.setBold(true);
-  selection_color = QApplication::style()->standardPalette().color(QPalette::Active, QPalette::Highlight);
 }
 
-QSize BinaryItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
-  QSize sz = QStyledItemDelegate::sizeHint(option, index);
-  return {sz.width(), CELL_HEIGHT};
+bool BinaryItemDelegate::hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const {
+  if (!index.isValid()) return false;
+  auto model = (const BinaryViewModel*)(index.model());
+  int idx = (index.row() + dy) * model->columnCount() + index.column() + dx;
+  return (idx >=0 && idx < model->items.size()) ? model->items[idx].sigs.contains(sig) : false;
 }
 
 void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
@@ -242,22 +363,90 @@ void BinaryItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &op
   painter->save();
 
   if (index.column() == 8) {
-    painter->setFont(hex_font);
+    if (item->valid) {
+      painter->setFont(hex_font);
+      painter->fillRect(option.rect, item->bg_color);
+    }
   } else if (option.state & QStyle::State_Selected) {
-    painter->fillRect(option.rect, selection_color);
-    painter->setPen(QApplication::style()->standardPalette().color(QPalette::BrightText));
-  } else if (!item->sigs.isEmpty() && (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig))) {
-    painter->fillRect(option.rect, item->bg_color);
-    painter->setPen(item->sigs.contains(bin_view->hovered_sig)
-                        ? QApplication::style()->standardPalette().color(QPalette::BrightText)
-                        : Qt::black);
+    auto color = bin_view->resize_sig ? bin_view->resize_sig->color : option.palette.color(QPalette::Active, QPalette::Highlight);
+    painter->fillRect(option.rect, color);
+    painter->setPen(option.palette.color(QPalette::BrightText));
+  } else if (!bin_view->selectionModel()->hasSelection() || !item->sigs.contains(bin_view->resize_sig)) {  // not resizing
+    if (item->sigs.size() > 0) {
+      for (auto &s : item->sigs) {
+        if (s == bin_view->hovered_sig) {
+          painter->fillRect(option.rect, s->color.darker(125));  // 4/5x brightness
+        } else {
+          drawSignalCell(painter, option, index, s);
+        }
+      }
+    } else if (item->valid) {
+      painter->fillRect(option.rect, item->bg_color);
+    }
+    auto color_role = item->sigs.contains(bin_view->hovered_sig) ? QPalette::BrightText : QPalette::Text;
+    painter->setPen(option.palette.color(color_role));
   }
 
+  if (item->sigs.size() > 1) {
+    painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::Dense7Pattern));
+  } else if (!item->valid) {
+    painter->fillRect(option.rect, QBrush(Qt::darkGray, Qt::BDiagPattern));
+  }
   painter->drawText(option.rect, Qt::AlignCenter, item->val);
   if (item->is_msb || item->is_lsb) {
     painter->setFont(small_font);
-    painter->drawText(option.rect, Qt::AlignHCenter | Qt::AlignBottom, item->is_msb ? "MSB" : "LSB");
+    painter->drawText(option.rect.adjusted(8, 0, -8, -3), Qt::AlignRight | Qt::AlignBottom, item->is_msb ? "M" : "L");
   }
-
   painter->restore();
 }
+
+// Draw border on edge of signal
+void BinaryItemDelegate::drawSignalCell(QPainter *painter, const QStyleOptionViewItem &option,
+                                        const QModelIndex &index, const cabana::Signal *sig) const {
+  bool draw_left = !hasSignal(index, -1, 0, sig);
+  bool draw_top = !hasSignal(index, 0, -1, sig);
+  bool draw_right = !hasSignal(index, 1, 0, sig);
+  bool draw_bottom = !hasSignal(index, 0, 1, sig);
+
+  const int spacing = 2;
+  QRect rc = option.rect.adjusted(draw_left * 3, draw_top * spacing, draw_right * -3, draw_bottom * -spacing);
+  QRegion subtract;
+  if (!draw_top) {
+    if (!draw_left && !hasSignal(index, -1, -1, sig)) {
+      subtract += QRect{rc.left(), rc.top(), 3, spacing};
+    } else if (!draw_right && !hasSignal(index, 1, -1, sig)) {
+      subtract += QRect{rc.right() - 2, rc.top(), 3, spacing};
+    }
+  }
+  if (!draw_bottom) {
+    if (!draw_left && !hasSignal(index, -1, 1, sig)) {
+      subtract += QRect{rc.left(), rc.bottom() - (spacing - 1), 3, spacing};
+    } else if (!draw_right && !hasSignal(index, 1, 1, sig)) {
+      subtract += QRect{rc.right() - 2, rc.bottom() - (spacing - 1), 3, spacing};
+    }
+  }
+  painter->setClipRegion(QRegion(rc).subtracted(subtract));
+
+  auto item = (const BinaryViewModel::Item *)index.internalPointer();
+  QColor color = sig->color;
+  color.setAlpha(item->bg_color.alpha());
+  // Mixing the signal colour with the Base background color to fade it
+  painter->fillRect(rc, option.palette.color(QPalette::Base));
+  painter->fillRect(rc, color);
+
+  // Draw edges
+  color = sig->color.darker(125);
+  painter->setPen(QPen(color, 1));
+  if (draw_left) painter->drawLine(rc.topLeft(), rc.bottomLeft());
+  if (draw_right) painter->drawLine(rc.topRight(), rc.bottomRight());
+  if (draw_bottom) painter->drawLine(rc.bottomLeft(), rc.bottomRight());
+  if (draw_top) painter->drawLine(rc.topLeft(), rc.topRight());
+
+  if (!subtract.isEmpty()) {
+    // fill gaps inside corners.
+    painter->setPen(QPen(color, 2, Qt::SolidLine, Qt::SquareCap, Qt::MiterJoin));
+    for (auto &r : subtract) {
+      painter->drawRect(r);
+    }
+  }
+}
diff --git a/tools/cabana/binaryview.h b/tools/cabana/binaryview.h
index c37b378e44..04e1d5b2af 100644
--- a/tools/cabana/binaryview.h
+++ b/tools/cabana/binaryview.h
@@ -1,39 +1,36 @@
 #pragma once
 
-#include <QApplication>
+#include <tuple>
+#include <vector>
+
 #include <QList>
 #include <QSet>
 #include <QStyledItemDelegate>
 #include <QTableView>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class BinaryItemDelegate : public QStyledItemDelegate {
-  Q_OBJECT
-
 public:
   BinaryItemDelegate(QObject *parent);
   void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
-  void setSelectionColor(const QColor &color) { selection_color = color; }
+  bool hasSignal(const QModelIndex &index, int dx, int dy, const cabana::Signal *sig) const;
+  void drawSignalCell(QPainter* painter, const QStyleOptionViewItem &option, const QModelIndex &index, const cabana::Signal *sig) const;
 
-private:
   QFont small_font, hex_font;
-  QColor selection_color;
 };
 
 class BinaryViewModel : public QAbstractTableModel {
-  Q_OBJECT
-
 public:
   BinaryViewModel(QObject *parent) : QAbstractTableModel(parent) {}
-  void setMessage(const QString &message_id);
+  void refresh();
   void updateState();
+  void updateItem(int row, int col, const QString &val, const QColor &color);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const { return {}; }
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return row_count; }
   int columnCount(const QModelIndex &parent = QModelIndex()) const override { return column_count; }
-  inline QModelIndex bitIndex(int bit, bool is_lb) const { return index(bit / 8, is_lb ? (7 - bit % 8) : bit % 8); }
   QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override {
     return createIndex(row, column, (void *)&items[row * column_count + column]);
   }
@@ -42,17 +39,16 @@ public:
   }
 
   struct Item {
-    QColor bg_color = QApplication::style()->standardPalette().color(QPalette::Base);
+    QColor bg_color = QColor(102, 86, 169, 255);
     bool is_msb = false;
     bool is_lsb = false;
-    QString val = "0";
-    QList<const Signal *> sigs;
+    QString val;
+    QList<const cabana::Signal *> sigs;
+    bool valid = false;
   };
   std::vector<Item> items;
 
-private:
-  QString msg_id;
-  const DBCMsg *dbc_msg;
+  MessageId msg_id;
   int row_count = 0;
   const int column_count = 9;
 };
@@ -62,18 +58,21 @@ class BinaryView : public QTableView {
 
 public:
   BinaryView(QWidget *parent = nullptr);
-  void setMessage(const QString &message_id);
-  void highlight(const Signal *sig);
-  QSet<const Signal*> getOverlappingSignals() const;
+  void setMessage(const MessageId &message_id);
+  void highlight(const cabana::Signal *sig);
+  QSet<const cabana::Signal*> getOverlappingSignals() const;
   inline void updateState() { model->updateState(); }
+  QSize minimumSizeHint() const override;
 
 signals:
-  void signalClicked(const Signal *sig);
-  void signalHovered(const Signal *sig);
-  void addSignal(int start_bit, int size, bool little_endian);
-  void resizeSignal(const Signal *sig, int from, int size);
+  void signalClicked(const cabana::Signal *sig);
+  void signalHovered(const cabana::Signal *sig);
+  void editSignal(const cabana::Signal *origin_s, cabana::Signal &s);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
 
 private:
+  void addShortcuts();
+  void refresh();
   std::tuple<int, int, bool> getSelection(QModelIndex index);
   void setSelection(const QRect &rect, QItemSelectionModel::SelectionFlags flags) override;
   void mousePressEvent(QMouseEvent *event) override;
@@ -85,7 +84,7 @@ private:
   QModelIndex anchor_index;
   BinaryViewModel *model;
   BinaryItemDelegate *delegate;
-  const Signal *resize_sig = nullptr;
-  const Signal *hovered_sig = nullptr;
+  const cabana::Signal *resize_sig = nullptr;
+  const cabana::Signal *hovered_sig = nullptr;
   friend class BinaryItemDelegate;
 };
diff --git a/tools/cabana/cabana b/tools/cabana/cabana
deleted file mode 100755
index b29dd66e3d..0000000000
--- a/tools/cabana/cabana
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_cabana "$1"
diff --git a/tools/cabana/cabana.cc b/tools/cabana/cabana.cc
index e7e3eb213b..7d3e6ab99f 100644
--- a/tools/cabana/cabana.cc
+++ b/tools/cabana/cabana.cc
@@ -3,29 +3,103 @@
 
 #include "selfdrive/ui/qt/util.h"
 #include "tools/cabana/mainwin.h"
+#include "tools/cabana/streamselector.h"
+#include "tools/cabana/streams/devicestream.h"
+#include "tools/cabana/streams/pandastream.h"
+#include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/streams/socketcanstream.h"
 
 int main(int argc, char *argv[]) {
-  initApp(argc, argv);
+  QCoreApplication::setApplicationName("Cabana");
+  QCoreApplication::setAttribute(Qt::AA_ShareOpenGLContexts);
+  initApp(argc, argv, false);
   QApplication app(argc, argv);
+  app.setApplicationDisplayName("Cabana");
+  app.setWindowIcon(QIcon(":cabana-icon.png"));
+
+  UnixSignalHandler signalHandler;
+  utils::setTheme(settings.theme);
 
   QCommandLineParser cmd_parser;
   cmd_parser.addHelpOption();
   cmd_parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   cmd_parser.addOption({"demo", "use a demo route instead of providing your own"});
   cmd_parser.addOption({"qcam", "load qcamera"});
+  cmd_parser.addOption({"ecam", "load wide road camera"});
+  cmd_parser.addOption({"stream", "read can messages from live streaming"});
+  cmd_parser.addOption({"panda", "read can messages from panda"});
+  cmd_parser.addOption({"panda-serial", "read can messages from panda with given serial", "panda-serial"});
+  if (SocketCanStream::available()) {
+    cmd_parser.addOption({"socketcan", "read can messages from given SocketCAN device", "socketcan"});
+  }
+  cmd_parser.addOption({"zmq", "the ip address on which to receive zmq messages", "zmq"});
   cmd_parser.addOption({"data_dir", "local directory with routes", "data_dir"});
+  cmd_parser.addOption({"no-vipc", "do not output video"});
+  cmd_parser.addOption({"dbc", "dbc file to open", "dbc"});
   cmd_parser.process(app);
-  const QStringList args = cmd_parser.positionalArguments();
-  if (args.empty() && !cmd_parser.isSet("demo")) {
-    cmd_parser.showHelp();
-  }
 
-  const QString route = args.empty() ? DEMO_ROUTE : args.first();
-  CANMessages p(&app);
-  if (!p.loadRoute(route, cmd_parser.value("data_dir"), cmd_parser.isSet("qcam"))) {
-    return 0;
+  QString dbc_file = cmd_parser.isSet("dbc") ? cmd_parser.value("dbc") : "";
+
+  AbstractStream *stream = nullptr;
+  if (cmd_parser.isSet("stream")) {
+    stream = new DeviceStream(&app, cmd_parser.value("zmq"));
+  } else if (cmd_parser.isSet("panda") || cmd_parser.isSet("panda-serial")) {
+    PandaStreamConfig config = {};
+    if (cmd_parser.isSet("panda-serial")) {
+      config.serial = cmd_parser.value("panda-serial");
+    }
+    try {
+      stream = new PandaStream(&app, config);
+    } catch (std::exception &e) {
+      qWarning() << e.what();
+      return 0;
+    }
+  } else if (cmd_parser.isSet("socketcan")) {
+    SocketCanStreamConfig config = {};
+    config.device = cmd_parser.value("socketcan");
+    stream = new SocketCanStream(&app, config);
+  } else {
+    uint32_t replay_flags = REPLAY_FLAG_NONE;
+    if (cmd_parser.isSet("ecam")) {
+      replay_flags |= REPLAY_FLAG_ECAM;
+    } else if (cmd_parser.isSet("qcam")) {
+      replay_flags |= REPLAY_FLAG_QCAMERA;
+    } else if (cmd_parser.isSet("no-vipc")) {
+      replay_flags |= REPLAY_FLAG_NO_VIPC;
+    }
+
+    const QStringList args = cmd_parser.positionalArguments();
+    QString route;
+    if (args.size() > 0) {
+      route = args.first();
+    } else if (cmd_parser.isSet("demo")) {
+      route = DEMO_ROUTE;
+    }
+
+    if (route.isEmpty()) {
+      StreamSelector dlg(&stream);
+      dlg.exec();
+      dbc_file = dlg.dbcFile();
+    } else {
+      auto replay_stream = new ReplayStream(&app);
+      if (!replay_stream->loadRoute(route, cmd_parser.value("data_dir"), replay_flags)) {
+        return 0;
+      }
+      stream = replay_stream;
+    }
   }
+
   MainWindow w;
-  w.showMaximized();
-  return app.exec();
+  if (!stream) {
+    stream = new DummyStream(&app);
+  }
+  stream->start();
+  if (!dbc_file.isEmpty()) {
+    w.loadFile(dbc_file);
+  }
+  w.show();
+
+  int ret = app.exec();
+  delete can;
+  return ret;
 }
diff --git a/tools/cabana/canmessages.cc b/tools/cabana/canmessages.cc
deleted file mode 100644
index a8e881c5fe..0000000000
--- a/tools/cabana/canmessages.cc
+++ /dev/null
@@ -1,132 +0,0 @@
-#include "tools/cabana/canmessages.h"
-
-#include <QSettings>
-
-#include "tools/cabana/dbcmanager.h"
-
-CANMessages *can = nullptr;
-
-CANMessages::CANMessages(QObject *parent) : QObject(parent) {
-  can = this;
-  QObject::connect(this, &CANMessages::received, this, &CANMessages::process, Qt::QueuedConnection);
-  QObject::connect(&settings, &Settings::changed, this, &CANMessages::settingChanged);
-}
-
-CANMessages::~CANMessages() {
-  replay->stop();
-}
-
-static bool event_filter(const Event *e, void *opaque) {
-  CANMessages *c = (CANMessages *)opaque;
-  return c->eventFilter(e);
-}
-
-bool CANMessages::loadRoute(const QString &route, const QString &data_dir, bool use_qcam) {
-  replay = new Replay(route, {"can", "roadEncodeIdx", "carParams"}, {}, nullptr, use_qcam ? REPLAY_FLAG_QCAMERA : 0, data_dir, this);
-  replay->setSegmentCacheLimit(settings.cached_segment_limit);
-  replay->installEventFilter(event_filter, this);
-  QObject::connect(replay, &Replay::segmentsMerged, this, &CANMessages::eventsMerged);
-  QObject::connect(replay, &Replay::streamStarted, this, &CANMessages::streamStarted);
-  if (replay->load()) {
-    replay->start();
-    return true;
-  }
-  return false;
-}
-
-QList<QPointF> CANMessages::findSignalValues(const QString &id, const Signal *signal, double value, FindFlags flag, int max_count) {
-  auto evts = events();
-  if (!evts) return {};
-
-  QList<QPointF> ret;
-  ret.reserve(max_count);
-  auto [bus, address] = DBCManager::parseId(id);
-  for (auto &evt : *evts) {
-    if (evt->which != cereal::Event::Which::CAN) continue;
-
-    for (const auto &c : evt->event.getCan()) {
-      if (bus == c.getSrc() && address == c.getAddress()) {
-        double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *signal);
-        if ((flag == EQ && val == value) || (flag == LT && val < value) || (flag == GT && val > value)) {
-          ret.push_back({(evt->mono_time / (double)1e9) - can->routeStartTime(), val});
-          if (ret.size() >= max_count)
-            return ret;
-        }
-      }
-    }
-  }
-  return ret;
-}
-
-void CANMessages::process(QHash<QString, CanData> *messages) {
-  for (auto it = messages->begin(); it != messages->end(); ++it) {
-    can_msgs[it.key()] = it.value();
-  }
-  emit updated();
-  emit msgsReceived(messages);
-  delete messages;
-  processing = false;
-}
-
-bool CANMessages::eventFilter(const Event *event) {
-  static std::unique_ptr<QHash<QString, CanData>> new_msgs;
-  static double prev_update_ts = 0;
-
-  if (event->which == cereal::Event::Which::CAN) {
-    if (!new_msgs) {
-      new_msgs.reset(new QHash<QString, CanData>);
-      new_msgs->reserve(1000);
-    }
-
-    double current_sec = replay->currentSeconds();
-    if (counters_begin_sec == 0 || counters_begin_sec >= current_sec) {
-      counters.clear();
-      counters_begin_sec = current_sec;
-    }
-
-    auto can_events = event->event.getCan();
-    for (const auto &c : can_events) {
-      QString id = QString("%1:%2").arg(c.getSrc()).arg(c.getAddress(), 1, 16);
-
-      std::lock_guard lk(lock);
-      auto &list = received_msgs[id];
-      while (list.size() > settings.can_msg_log_size) {
-        list.pop_back();
-      }
-      CanData &data = list.emplace_front();
-      data.ts = current_sec;
-      data.dat.append((char *)c.getDat().begin(), c.getDat().size());
-
-      data.count = ++counters[id];
-      if (double delta = (current_sec - counters_begin_sec); delta > 0) {
-        data.freq = data.count / delta;
-      }
-      (*new_msgs)[id] = data;
-    }
-
-    double ts = millis_since_boot();
-    if ((ts - prev_update_ts) > (1000.0 / settings.fps) && !processing) {
-      // delay posting CAN message if UI thread is busy
-      processing = true;
-      prev_update_ts = ts;
-      // use pointer to avoid data copy in queued connection.
-      emit received(new_msgs.release());
-    }
-  }
-  return true;
-}
-
-const std::deque<CanData> CANMessages::messages(const QString &id) {
-  std::lock_guard lk(lock);
-  return received_msgs[id];
-}
-
-void CANMessages::seekTo(double ts) {
-  replay->seekTo(std::max(double(0), ts), false);
-  counters_begin_sec = 0;
-  emit updated();
-}
-
-void CANMessages::settingChanged() {
-  replay->setSegmentCacheLimit(settings.cached_segment_limit);
-}
diff --git a/tools/cabana/canmessages.h b/tools/cabana/canmessages.h
deleted file mode 100644
index 1713778af7..0000000000
--- a/tools/cabana/canmessages.h
+++ /dev/null
@@ -1,85 +0,0 @@
-#pragma once
-
-#include <atomic>
-#include <deque>
-#include <mutex>
-
-#include <QColor>
-#include <QHash>
-#include <QList>
-
-#include "opendbc/can/common_dbc.h"
-#include "tools/cabana/settings.h"
-#include "tools/replay/replay.h"
-
-struct CanData {
-  double ts = 0.;
-  uint32_t count = 0;
-  uint32_t freq = 0;
-  QByteArray dat;
-};
-
-class CANMessages : public QObject {
-  Q_OBJECT
-
-public:
-  enum FindFlags{ EQ, LT, GT };
-  CANMessages(QObject *parent);
-  ~CANMessages();
-  bool loadRoute(const QString &route, const QString &data_dir, bool use_qcam);
-  void seekTo(double ts);
-  QList<QPointF> findSignalValues(const QString&id, const Signal* signal, double value, FindFlags flag, int max_count);
-  bool eventFilter(const Event *event);
-
-  inline QString routeName() const { return replay->route()->name(); }
-  inline QString carFingerprint() const { return replay->carFingerprint().c_str(); }
-  inline double totalSeconds() const { return replay->totalSeconds(); }
-  inline double routeStartTime() const { return replay->routeStartTime() / (double)1e9; }
-  inline double currentSec() const { return replay->currentSeconds(); }
-  const std::deque<CanData> messages(const QString &id);
-  inline const CanData &lastMessage(const QString &id) { return can_msgs[id]; }
-
-  inline const Route* route() const { return replay->route(); }
-  inline const std::vector<Event *> *events() const { return replay->events(); }
-  inline void setSpeed(float speed) { replay->setSpeed(speed); }
-  inline bool isPaused() const { return replay->isPaused(); }
-  inline void pause(bool pause) { replay->pause(pause); }
-  inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() { return replay->getTimeline(); }
-
-signals:
-  void streamStarted();
-  void eventsMerged();
-  void updated();
-  void msgsReceived(const QHash<QString, CanData> *);
-  void received(QHash<QString, CanData> *);
-
-public:
-  QMap<QString, CanData> can_msgs;
-
-protected:
-  void process(QHash<QString, CanData> *);
-  void settingChanged();
-
-  Replay *replay = nullptr;
-  std::mutex lock;
-  std::atomic<double> counters_begin_sec = 0;
-  std::atomic<bool> processing = false;
-  QHash<QString, uint32_t> counters;
-  QHash<QString, std::deque<CanData>> received_msgs;
-};
-
-inline QString toHex(const QByteArray &dat) {
-  return dat.toHex(' ').toUpper();
-}
-inline char toHex(uint value) {
-  return "0123456789ABCDEF"[value & 0xF];
-}
-
-inline const QString &getColor(int i) {
-  // TODO: add more colors
-  static const QString SIGNAL_COLORS[] = {"#9FE2BF", "#40E0D0", "#6495ED", "#CCCCFF", "#FF7F50", "#FFBF00"};
-  return SIGNAL_COLORS[i % std::size(SIGNAL_COLORS)];
-}
-
-// A global pointer referring to the unique CANMessages object
-extern CANMessages *can;
diff --git a/tools/cabana/chart/chart.cc b/tools/cabana/chart/chart.cc
new file mode 100644
index 0000000000..18a9adbe07
--- /dev/null
+++ b/tools/cabana/chart/chart.cc
@@ -0,0 +1,827 @@
+#include "tools/cabana/chart/chart.h"
+
+#include <algorithm>
+#include <limits>
+
+#include <QActionGroup>
+#include <QApplication>
+#include <QDrag>
+#include <QGraphicsLayout>
+#include <QGraphicsDropShadowEffect>
+#include <QGraphicsItemGroup>
+#include <QGraphicsOpacityEffect>
+#include <QMenu>
+#include <QMimeData>
+#include <QOpenGLWidget>
+#include <QPropertyAnimation>
+#include <QRubberBand>
+#include <QScreen>
+#include <QtMath>
+#include <QWindow>
+
+#include "tools/cabana/chart/chartswidget.h"
+
+// ChartAxisElement's padding is 4 (https://codebrowser.dev/qt5/qtcharts/src/charts/axis/chartaxiselement_p.h.html)
+const int AXIS_X_TOP_MARGIN = 4;
+static inline bool xLessThan(const QPointF &p, float x) { return p.x() < x; }
+
+ChartView::ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent) : charts_widget(parent), tip_label(this), QChartView(nullptr, parent) {
+  series_type = (SeriesType)settings.chart_series_type;
+  QChart *chart = new QChart();
+  chart->setBackgroundVisible(false);
+  axis_x = new QValueAxis(this);
+  axis_y = new QValueAxis(this);
+  chart->addAxis(axis_x, Qt::AlignBottom);
+  chart->addAxis(axis_y, Qt::AlignLeft);
+  chart->legend()->layout()->setContentsMargins(0, 0, 0, 0);
+  chart->legend()->setShowToolTips(true);
+  chart->setMargins({0, 0, 0, 0});
+
+  axis_x->setRange(x_range.first, x_range.second);
+  setChart(chart);
+
+  createToolButtons();
+  setRubberBand(QChartView::HorizontalRubberBand);
+  setMouseTracking(true);
+  setTheme(settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
+  signal_value_font.setPointSize(9);
+
+  QObject::connect(axis_y, &QValueAxis::rangeChanged, this, &ChartView::resetChartCache);
+  QObject::connect(axis_y, &QAbstractAxis::titleTextChanged, this, &ChartView::resetChartCache);
+  QObject::connect(window()->windowHandle(), &QWindow::screenChanged, this, &ChartView::resetChartCache);
+
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
+  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
+  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
+}
+
+void ChartView::createToolButtons() {
+  move_icon = new QGraphicsPixmapItem(utils::icon("grip-horizontal"), chart());
+  move_icon->setToolTip(tr("Drag and drop to move chart"));
+
+  QToolButton *remove_btn = new ToolButton("x", tr("Remove Chart"));
+  close_btn_proxy = new QGraphicsProxyWidget(chart());
+  close_btn_proxy->setWidget(remove_btn);
+  close_btn_proxy->setZValue(chart()->zValue() + 11);
+
+  // series types
+  QMenu *menu = new QMenu(this);
+  auto change_series_group = new QActionGroup(menu);
+  change_series_group->setExclusive(true);
+  QStringList types{tr("Line"), tr("Step Line"), tr("Scatter")};
+  for (int i = 0; i < types.size(); ++i) {
+    QAction *act = new QAction(types[i], change_series_group);
+    act->setData(i);
+    act->setCheckable(true);
+    act->setChecked(i == (int)series_type);
+    menu->addAction(act);
+  }
+  menu->addSeparator();
+  menu->addAction(tr("Manage Signals"), this, &ChartView::manageSignals);
+  split_chart_act = menu->addAction(tr("Split Chart"), [this]() { charts_widget->splitChart(this); });
+
+  QToolButton *manage_btn = new ToolButton("list", "");
+  manage_btn->setMenu(menu);
+  manage_btn->setPopupMode(QToolButton::InstantPopup);
+  manage_btn->setStyleSheet("QToolButton::menu-indicator { image: none; }");
+  manage_btn_proxy = new QGraphicsProxyWidget(chart());
+  manage_btn_proxy->setWidget(manage_btn);
+  manage_btn_proxy->setZValue(chart()->zValue() + 11);
+
+  QObject::connect(remove_btn, &QToolButton::clicked, [this]() { charts_widget->removeChart(this); });
+  QObject::connect(change_series_group, &QActionGroup::triggered, [this](QAction *action) {
+    setSeriesType((SeriesType)action->data().toInt());
+  });
+}
+
+QSize ChartView::sizeHint() const {
+  return {CHART_MIN_WIDTH, settings.chart_height};
+}
+
+void ChartView::setTheme(QChart::ChartTheme theme) {
+  chart()->setTheme(theme);
+  if (theme == QChart::ChartThemeDark) {
+    axis_x->setTitleBrush(palette().text());
+    axis_x->setLabelsBrush(palette().text());
+    axis_y->setTitleBrush(palette().text());
+    axis_y->setLabelsBrush(palette().text());
+    chart()->legend()->setLabelColor(palette().color(QPalette::Text));
+  }
+  for (auto &s : sigs) {
+    s.series->setColor(s.sig->color);
+  }
+}
+
+void ChartView::addSignal(const MessageId &msg_id, const cabana::Signal *sig) {
+  if (hasSignal(msg_id, sig)) return;
+
+  QXYSeries *series = createSeries(series_type, sig->color);
+  sigs.push_back({.msg_id = msg_id, .sig = sig, .series = series});
+  updateSeries(sig);
+  updateSeriesPoints();
+  updateTitle();
+  emit charts_widget->seriesChanged();
+}
+
+bool ChartView::hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const {
+  return std::any_of(sigs.cbegin(), sigs.cend(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
+}
+
+void ChartView::removeIf(std::function<bool(const SigItem &s)> predicate) {
+  int prev_size = sigs.size();
+  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
+    if (predicate(*it)) {
+      chart()->removeSeries(it->series);
+      it->series->deleteLater();
+      it = sigs.erase(it);
+    } else {
+      ++it;
+    }
+  }
+  if (sigs.empty()) {
+    charts_widget->removeChart(this);
+  } else if (sigs.size() != prev_size) {
+    emit charts_widget->seriesChanged();
+    updateAxisY();
+    resetChartCache();
+  }
+}
+
+void ChartView::signalUpdated(const cabana::Signal *sig) {
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.sig == sig; })) {
+    updateTitle();
+    updateSeries(sig);
+  }
+}
+
+void ChartView::msgUpdated(MessageId id) {
+  if (std::any_of(sigs.cbegin(), sigs.cend(), [=](auto &s) { return s.msg_id.address == id.address; })) {
+    updateTitle();
+  }
+}
+
+void ChartView::manageSignals() {
+  SignalSelector dlg(tr("Mange Chart"), this);
+  for (auto &s : sigs) {
+    dlg.addSelected(s.msg_id, s.sig);
+  }
+  if (dlg.exec() == QDialog::Accepted) {
+    auto items = dlg.seletedItems();
+    for (auto s : items) {
+      addSignal(s->msg_id, s->sig);
+    }
+    removeIf([&](auto &s) {
+      return std::none_of(items.cbegin(), items.cend(), [&](auto &it) { return s.msg_id == it->msg_id && s.sig == it->sig; });
+    });
+  }
+}
+
+void ChartView::resizeEvent(QResizeEvent *event) {
+  qreal left, top, right, bottom;
+  chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
+  move_icon->setPos(left, top);
+  close_btn_proxy->setPos(rect().right() - right - close_btn_proxy->size().width(), top);
+  int x = close_btn_proxy->pos().x() - manage_btn_proxy->size().width() - style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing);
+  manage_btn_proxy->setPos(x, top);
+  if (align_to > 0) {
+    updatePlotArea(align_to, true);
+  }
+  QChartView::resizeEvent(event);
+}
+
+void ChartView::updatePlotArea(int left_pos, bool force) {
+  if (align_to != left_pos || force) {
+    align_to = left_pos;
+
+    qreal left, top, right, bottom;
+    chart()->layout()->getContentsMargins(&left, &top, &right, &bottom);
+    QSizeF legend_size = chart()->legend()->layout()->minimumSize();
+    legend_size.setWidth(manage_btn_proxy->sceneBoundingRect().left() - move_icon->sceneBoundingRect().right());
+    chart()->legend()->setGeometry({move_icon->sceneBoundingRect().topRight(), legend_size});
+
+    // add top space for signal value
+    int adjust_top = chart()->legend()->geometry().height() + QFontMetrics(signal_value_font).height() + 3;
+    adjust_top = std::max<int>(adjust_top, manage_btn_proxy->sceneBoundingRect().height() + style()->pixelMetric(QStyle::PM_LayoutTopMargin));
+    // add right space for x-axis label
+    QSizeF x_label_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, QString::number(axis_x->max(), 'f', 2));
+    x_label_size += QSizeF{5, 5};
+    chart()->setPlotArea(rect().adjusted(align_to + left, adjust_top + top, -x_label_size.width() / 2 - right, -x_label_size.height() - bottom));
+    chart()->layout()->invalidate();
+    resetChartCache();
+  }
+}
+
+void ChartView::updateTitle() {
+  for (QLegendMarker *marker : chart()->legend()->markers()) {
+    QObject::connect(marker, &QLegendMarker::clicked, this, &ChartView::handleMarkerClicked, Qt::UniqueConnection);
+  }
+
+  // Use CSS to draw titles in the WindowText color
+  auto tmp = palette().color(QPalette::WindowText);
+  auto titleColorCss = tmp.name(QColor::HexArgb);
+  // Draw message details in similar color, but slightly fade it to the background
+  tmp.setAlpha(180);
+  auto msgColorCss = tmp.name(QColor::HexArgb);
+
+  for (auto &s : sigs) {
+    auto decoration = s.series->isVisible() ? "none" : "line-through";
+    s.series->setName(QString("<span style=\"text-decoration:%1; color:%2\"><b>%3</b> <font color=\"%4\">%5 %6</font></span>")
+                      .arg(decoration, titleColorCss, s.sig->name,
+                           msgColorCss, msgName(s.msg_id), s.msg_id.toString()));
+  }
+  split_chart_act->setEnabled(sigs.size() > 1);
+  resetChartCache();
+}
+
+void ChartView::updatePlot(double cur, double min, double max) {
+  cur_sec = cur;
+  if (min != axis_x->min() || max != axis_x->max()) {
+    axis_x->setRange(min, max);
+    updateAxisY();
+    updateSeriesPoints();
+    // update tooltip
+    if (tooltip_x >= 0) {
+      showTip(chart()->mapToValue({tooltip_x, 0}).x());
+    }
+    resetChartCache();
+  }
+  viewport()->update();
+}
+
+void ChartView::updateSeriesPoints() {
+  // Show points when zoomed in enough
+  for (auto &s : sigs) {
+    auto begin = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+    auto end = std::lower_bound(begin, s.vals.cend(), axis_x->max(), xLessThan);
+    if (begin != end) {
+      int num_points = std::max<int>((end - begin), 1);
+      QPointF right_pt = end == s.vals.cend() ? s.vals.back() : *end;
+      double pixels_per_point = (chart()->mapToPosition(right_pt).x() - chart()->mapToPosition(*begin).x()) / num_points;
+
+      if (series_type == SeriesType::Scatter) {
+        qreal size = std::clamp(pixels_per_point / 2.0, 2.0, 8.0);
+        if (s.series->useOpenGL()) {
+          size *= devicePixelRatioF();
+        }
+        ((QScatterSeries *)s.series)->setMarkerSize(size);
+      } else {
+        s.series->setPointsVisible(pixels_per_point > 20);
+      }
+    }
+  }
+}
+
+void ChartView::updateSeries(const cabana::Signal *sig, bool clear) {
+  for (auto &s : sigs) {
+    if (!sig || s.sig == sig) {
+      if (clear) {
+        s.vals.clear();
+        s.step_vals.clear();
+        s.last_value_mono_time = 0;
+      }
+      s.series->setColor(s.sig->color);
+
+      const auto &msgs = can->events(s.msg_id);
+      s.vals.reserve(msgs.capacity());
+      s.step_vals.reserve(msgs.capacity() * 2);
+
+      auto first = std::upper_bound(msgs.cbegin(), msgs.cend(), s.last_value_mono_time, [](uint64_t ts, auto e) {
+        return ts < e->mono_time;
+      });
+      const double route_start_time = can->routeStartTime();
+      for (auto end = msgs.cend(); first != end; ++first) {
+        const CanEvent *e = *first;
+        double value = 0;
+        if (s.sig->getValue(e->dat, e->size, &value)) {
+          double ts = e->mono_time / 1e9 - route_start_time;  // seconds
+          s.vals.append({ts, value});
+          if (!s.step_vals.empty()) {
+            s.step_vals.append({ts, s.step_vals.back().y()});
+          }
+          s.step_vals.append({ts, value});
+          s.last_value_mono_time = e->mono_time;
+        }
+      }
+      if (!can->liveStreaming()) {
+        s.segment_tree.build(s.vals);
+      }
+      s.series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
+    }
+  }
+  updateAxisY();
+  // invoke resetChartCache in ui thread
+  QMetaObject::invokeMethod(this, &ChartView::resetChartCache, Qt::QueuedConnection);
+}
+
+// auto zoom on yaxis
+void ChartView::updateAxisY() {
+  if (sigs.isEmpty()) return;
+
+  double min = std::numeric_limits<double>::max();
+  double max = std::numeric_limits<double>::lowest();
+  QString unit = sigs[0].sig->unit;
+
+  for (auto &s : sigs) {
+    if (!s.series->isVisible()) continue;
+
+    // Only show unit when all signals have the same unit
+    if (unit != s.sig->unit) {
+      unit.clear();
+    }
+
+    auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+    auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
+    s.min = std::numeric_limits<double>::max();
+    s.max = std::numeric_limits<double>::lowest();
+    if (can->liveStreaming()) {
+      for (auto it = first; it != last; ++it) {
+        if (it->y() < s.min) s.min = it->y();
+        if (it->y() > s.max) s.max = it->y();
+      }
+    } else {
+      auto [min_y, max_y] = s.segment_tree.minmax(std::distance(s.vals.cbegin(), first), std::distance(s.vals.cbegin(), last));
+      s.min = min_y;
+      s.max = max_y;
+    }
+    min = std::min(min, s.min);
+    max = std::max(max, s.max);
+  }
+  if (min == std::numeric_limits<double>::max()) min = 0;
+  if (max == std::numeric_limits<double>::lowest()) max = 0;
+
+  if (axis_y->titleText() != unit) {
+    axis_y->setTitleText(unit);
+    y_label_width = 0;  // recalc width
+  }
+
+  double delta = std::abs(max - min) < 1e-3 ? 1 : (max - min) * 0.05;
+  auto [min_y, max_y, tick_count] = getNiceAxisNumbers(min - delta, max + delta, 3);
+  if (min_y != axis_y->min() || max_y != axis_y->max() || y_label_width == 0) {
+    axis_y->setRange(min_y, max_y);
+    axis_y->setTickCount(tick_count);
+
+    int n = qMax(int(-qFloor(std::log10((max_y - min_y) / (tick_count - 1)))), 0) + 1;
+    int max_label_width = 0;
+    QFontMetrics fm(axis_y->labelsFont());
+    for (int i = 0; i < tick_count; i++) {
+      qreal value = min_y + (i * (max_y - min_y) / (tick_count - 1));
+      max_label_width = std::max(max_label_width, fm.width(QString::number(value, 'f', n)));
+    }
+
+    int title_spacing = unit.isEmpty() ? 0 : QFontMetrics(axis_y->titleFont()).size(Qt::TextSingleLine, unit).height();
+    y_label_width = title_spacing + max_label_width + 15;
+    axis_y->setLabelFormat(QString("%.%1f").arg(n));
+    emit axisYLabelWidthChanged(y_label_width);
+  }
+}
+
+std::tuple<double, double, int> ChartView::getNiceAxisNumbers(qreal min, qreal max, int tick_count) {
+  qreal range = niceNumber((max - min), true);  // range with ceiling
+  qreal step = niceNumber(range / (tick_count - 1), false);
+  min = qFloor(min / step);
+  max = qCeil(max / step);
+  tick_count = int(max - min) + 1;
+  return {min * step, max * step, tick_count};
+}
+
+// nice numbers can be expressed as form of 1*10^n, 2* 10^n or 5*10^n
+qreal ChartView::niceNumber(qreal x, bool ceiling) {
+  qreal z = qPow(10, qFloor(std::log10(x))); //find corresponding number of the form of 10^n than is smaller than x
+  qreal q = x / z; //q<10 && q>=1;
+  if (ceiling) {
+    if (q <= 1.0) q = 1;
+    else if (q <= 2.0) q = 2;
+    else if (q <= 5.0) q = 5;
+    else q = 10;
+  } else {
+    if (q < 1.5) q = 1;
+    else if (q < 3.0) q = 2;
+    else if (q < 7.0) q = 5;
+    else q = 10;
+  }
+  return q * z;
+}
+
+void ChartView::leaveEvent(QEvent *event) {
+  if (tip_label.isVisible()) {
+    charts_widget->showValueTip(-1);
+  }
+  QChartView::leaveEvent(event);
+}
+
+QPixmap getBlankShadowPixmap(const QPixmap &px, int radius) {
+  QGraphicsDropShadowEffect *e = new QGraphicsDropShadowEffect;
+  e->setColor(QColor(40, 40, 40, 245));
+  e->setOffset(0, 0);
+  e->setBlurRadius(radius);
+
+  qreal dpr = px.devicePixelRatio();
+  QPixmap blank(px.size());
+  blank.setDevicePixelRatio(dpr);
+  blank.fill(Qt::white);
+
+  QGraphicsScene scene;
+  QGraphicsPixmapItem item(blank);
+  item.setGraphicsEffect(e);
+  scene.addItem(&item);
+
+  QPixmap shadow(px.size() + QSize(radius * dpr * 2, radius * dpr * 2));
+  shadow.setDevicePixelRatio(dpr);
+  shadow.fill(Qt::transparent);
+  QPainter p(&shadow);
+  scene.render(&p, {QPoint(), shadow.size() / dpr}, item.boundingRect().adjusted(-radius, -radius, radius, radius));
+  return shadow;
+}
+
+static QPixmap getDropPixmap(const QPixmap &src) {
+  static QPixmap shadow_px;
+  const int radius = 10;
+  if (shadow_px.size() != src.size() + QSize(radius * 2, radius * 2)) {
+    shadow_px = getBlankShadowPixmap(src, radius);
+  }
+  QPixmap px = shadow_px;
+  QPainter p(&px);
+  QRectF target_rect(QPointF(radius, radius), src.size() / src.devicePixelRatio());
+  p.drawPixmap(target_rect.topLeft(), src);
+  p.setCompositionMode(QPainter::CompositionMode_DestinationIn);
+  p.fillRect(target_rect, QColor(0, 0, 0, 200));
+  return px;
+}
+
+void ChartView::mousePressEvent(QMouseEvent *event) {
+  if (event->button() == Qt::LeftButton && move_icon->sceneBoundingRect().contains(event->pos())) {
+    QMimeData *mimeData = new QMimeData;
+    mimeData->setData(CHART_MIME_TYPE, QByteArray::number((qulonglong)this));
+    QPixmap px = grab().scaledToWidth(CHART_MIN_WIDTH * viewport()->devicePixelRatio(), Qt::SmoothTransformation);
+    charts_widget->stopAutoScroll();
+    QDrag *drag = new QDrag(this);
+    drag->setMimeData(mimeData);
+    drag->setPixmap(getDropPixmap(px));
+    drag->setHotSpot(-QPoint(5, 5));
+    drag->exec(Qt::CopyAction | Qt::MoveAction, Qt::MoveAction);
+  } else if (event->button() == Qt::LeftButton && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+    // Save current playback state when scrubbing
+    resume_after_scrub = !can->isPaused();
+    if (resume_after_scrub) {
+      can->pause(true);
+    }
+    is_scrubbing = true;
+  } else {
+    QChartView::mousePressEvent(event);
+  }
+}
+
+void ChartView::mouseReleaseEvent(QMouseEvent *event) {
+  auto rubber = findChild<QRubberBand *>();
+  if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
+    rubber->hide();
+    QRectF rect = rubber->geometry().normalized();
+    double min = chart()->mapToValue(rect.topLeft()).x();
+    double max = chart()->mapToValue(rect.bottomRight()).x();
+
+    // Prevent zooming/seeking past the end of the route
+    min = std::clamp(min, 0., can->totalSeconds());
+    max = std::clamp(max, 0., can->totalSeconds());
+
+    if (rubber->width() <= 0) {
+      // no rubber dragged, seek to mouse position
+      can->seekTo(min);
+    } else if (rubber->width() > 10 && (max - min) > 0.01) { // Minimum range is 10 milliseconds.
+      charts_widget->zoom_undo_stack->push(new ZoomCommand(charts_widget, {min, max}));
+    } else {
+      viewport()->update();
+    }
+    event->accept();
+  } else if (event->button() == Qt::RightButton) {
+    charts_widget->zoom_undo_stack->undo();
+    event->accept();
+  } else {
+    QGraphicsView::mouseReleaseEvent(event);
+  }
+
+  // Resume playback if we were scrubbing
+  is_scrubbing = false;
+  if (resume_after_scrub) {
+    can->pause(false);
+    resume_after_scrub = false;
+  }
+}
+
+void ChartView::mouseMoveEvent(QMouseEvent *ev) {
+  const auto plot_area = chart()->plotArea();
+  // Scrubbing
+  if (is_scrubbing && QApplication::keyboardModifiers().testFlag(Qt::ShiftModifier)) {
+    if (plot_area.contains(ev->pos())) {
+      can->seekTo(std::clamp(chart()->mapToValue(ev->pos()).x(), 0., can->totalSeconds()));
+    }
+  }
+
+  auto rubber = findChild<QRubberBand *>();
+  bool is_zooming = rubber && rubber->isVisible();
+  clearTrackPoints();
+
+  if (!is_zooming && plot_area.contains(ev->pos())) {
+    const double sec = chart()->mapToValue(ev->pos()).x();
+    charts_widget->showValueTip(sec);
+  } else if (tip_label.isVisible()) {
+    charts_widget->showValueTip(-1);
+  }
+
+  QChartView::mouseMoveEvent(ev);
+  if (is_zooming) {
+    QRect rubber_rect = rubber->geometry();
+    rubber_rect.setLeft(std::max(rubber_rect.left(), (int)plot_area.left()));
+    rubber_rect.setRight(std::min(rubber_rect.right(), (int)plot_area.right()));
+    if (rubber_rect != rubber->geometry()) {
+      rubber->setGeometry(rubber_rect);
+    }
+    viewport()->update();
+  }
+}
+
+void ChartView::showTip(double sec) {
+  QRect tip_area(0, chart()->plotArea().top(), rect().width(), chart()->plotArea().height());
+  QRect visible_rect = charts_widget->chartVisibleRect(this).intersected(tip_area);
+  if (visible_rect.isEmpty()) {
+    tip_label.hide();
+    return;
+  }
+
+  tooltip_x = chart()->mapToPosition({sec, 0}).x();
+  qreal x = -1;
+  QStringList text_list;
+  for (auto &s : sigs) {
+    if (s.series->isVisible()) {
+      QString value = "--";
+      // use reverse iterator to find last item <= sec.
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), sec, [](auto &p, double x) { return p.x() > x; });
+      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
+        value = QString::number(it->y());
+        s.track_pt = *it;
+        x = std::max(x, chart()->mapToPosition(*it).x());
+      }
+      QString name = sigs.size() > 1 ? s.sig->name + ": " : "";
+      QString min = s.min == std::numeric_limits<double>::max() ? "--" : QString::number(s.min);
+      QString max = s.max == std::numeric_limits<double>::lowest() ? "--" : QString::number(s.max);
+      text_list << QString("<span style=\"color:%1;\">■ </span>%2<b>%3</b> (%4, %5)")
+                       .arg(s.series->color().name(), name, value, min, max);
+    }
+  }
+  if (x < 0) {
+    x = tooltip_x;
+  }
+  QPoint pt(x, chart()->plotArea().top());
+  text_list.push_front(QString::number(chart()->mapToValue({x, 0}).x(), 'f', 3));
+  QString text = "<p style='white-space:pre'>" % text_list.join("<br />") % "</p>";
+  tip_label.showText(pt, text, this, visible_rect);
+  viewport()->update();
+}
+
+void ChartView::hideTip() {
+  clearTrackPoints();
+  tooltip_x = -1;
+  tip_label.hide();
+  viewport()->update();
+}
+
+void ChartView::dragEnterEvent(QDragEnterEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    drawDropIndicator(event->source() != this);
+    event->acceptProposedAction();
+  }
+}
+
+void ChartView::dragMoveEvent(QDragMoveEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    event->setDropAction(event->source() == this ? Qt::MoveAction : Qt::CopyAction);
+    event->accept();
+  }
+  charts_widget->startAutoScroll();
+}
+
+void ChartView::dropEvent(QDropEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    if (event->source() != this) {
+      ChartView *source_chart = (ChartView *)event->source();
+      for (auto &s : source_chart->sigs) {
+        source_chart->chart()->removeSeries(s.series);
+        addSeries(s.series);
+      }
+      sigs.append(source_chart->sigs);
+      updateAxisY();
+      updateTitle();
+      startAnimation();
+
+      source_chart->sigs.clear();
+      charts_widget->removeChart(source_chart);
+      event->acceptProposedAction();
+    }
+    can_drop = false;
+  }
+}
+
+void ChartView::resetChartCache() {
+  chart_pixmap = QPixmap();
+  viewport()->update();
+}
+
+void ChartView::startAnimation() {
+  QGraphicsOpacityEffect *eff = new QGraphicsOpacityEffect(this);
+  viewport()->setGraphicsEffect(eff);
+  QPropertyAnimation *a = new QPropertyAnimation(eff, "opacity");
+  a->setDuration(250);
+  a->setStartValue(0.3);
+  a->setEndValue(1);
+  a->setEasingCurve(QEasingCurve::InBack);
+  a->start(QPropertyAnimation::DeleteWhenStopped);
+}
+
+void ChartView::paintEvent(QPaintEvent *event) {
+  if (!can->liveStreaming()) {
+    if (chart_pixmap.isNull()) {
+      const qreal dpr = viewport()->devicePixelRatioF();
+      chart_pixmap = QPixmap(viewport()->size() * dpr);
+      chart_pixmap.setDevicePixelRatio(dpr);
+      QPainter p(&chart_pixmap);
+      p.setRenderHints(QPainter::Antialiasing);
+      drawBackground(&p, viewport()->rect());
+      scene()->setSceneRect(viewport()->rect());
+      scene()->render(&p, viewport()->rect());
+    }
+
+    QPainter painter(viewport());
+    painter.setRenderHints(QPainter::Antialiasing);
+    painter.drawPixmap(QPoint(), chart_pixmap);
+    if (can_drop) {
+      painter.setPen(QPen(palette().color(QPalette::Highlight), 4));
+      painter.drawRect(viewport()->rect());
+    }
+    QRectF exposed_rect = mapToScene(event->region().boundingRect()).boundingRect();
+    drawForeground(&painter, exposed_rect);
+  } else {
+    QChartView::paintEvent(event);
+  }
+}
+
+void ChartView::drawBackground(QPainter *painter, const QRectF &rect) {
+  painter->fillRect(rect, palette().color(QPalette::Base));
+}
+
+void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
+  drawTimeline(painter);
+  // draw track points
+  painter->setPen(Qt::NoPen);
+  qreal track_line_x = -1;
+  for (auto &s : sigs) {
+    if (!s.track_pt.isNull() && s.series->isVisible()) {
+      painter->setBrush(s.series->color().darker(125));
+      QPointF pos = chart()->mapToPosition(s.track_pt);
+      painter->drawEllipse(pos, 5.5, 5.5);
+      track_line_x = std::max(track_line_x, pos.x());
+    }
+  }
+  if (track_line_x > 0) {
+    auto plot_area = chart()->plotArea();
+    painter->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
+    painter->drawLine(QPointF{track_line_x, plot_area.top()}, QPointF{track_line_x, plot_area.bottom()});
+  }
+
+  // paint points. OpenGL mode lacks certain features (such as showing points)
+  painter->setPen(Qt::NoPen);
+  for (auto &s : sigs) {
+    if (s.series->useOpenGL() && s.series->isVisible() && s.series->pointsVisible()) {
+      auto first = std::lower_bound(s.vals.cbegin(), s.vals.cend(), axis_x->min(), xLessThan);
+      auto last = std::lower_bound(first, s.vals.cend(), axis_x->max(), xLessThan);
+      painter->setBrush(s.series->color());
+      for (auto it = first; it != last; ++it) {
+        painter->drawEllipse(chart()->mapToPosition(*it), 4, 4);
+      }
+    }
+  }
+
+  // paint zoom range
+  auto rubber = findChild<QRubberBand *>();
+  if (rubber && rubber->isVisible() && rubber->width() > 1) {
+    painter->setPen(Qt::white);
+    auto rubber_rect = rubber->geometry().normalized();
+    for (const auto &pt : {rubber_rect.bottomLeft(), rubber_rect.bottomRight()}) {
+      QString sec = QString::number(chart()->mapToValue(pt).x(), 'f', 2);
+      auto r = painter->fontMetrics().boundingRect(sec).adjusted(-6, -AXIS_X_TOP_MARGIN, 6, AXIS_X_TOP_MARGIN);
+      pt == rubber_rect.bottomLeft() ? r.moveTopRight(pt + QPoint{0, 2}) : r.moveTopLeft(pt + QPoint{0, 2});
+      painter->fillRect(r, Qt::gray);
+      painter->drawText(r, Qt::AlignCenter, sec);
+    }
+  }
+}
+
+void ChartView::drawTimeline(QPainter *painter) {
+  const auto plot_area = chart()->plotArea();
+  // draw line
+  qreal x = std::clamp(chart()->mapToPosition(QPointF{cur_sec, 0}).x(), plot_area.left(), plot_area.right());
+  painter->setPen(QPen(chart()->titleBrush().color(), 2));
+  painter->drawLine(QPointF{x, plot_area.top()}, QPointF{x, plot_area.bottom() + 1});
+
+  // draw current time
+  QString time_str = QString::number(cur_sec, 'f', 2);
+  QSize time_str_size = QFontMetrics(axis_x->labelsFont()).size(Qt::TextSingleLine, time_str) + QSize(8, 2);
+  QRect time_str_rect(QPoint(x - time_str_size.width() / 2, plot_area.bottom() + AXIS_X_TOP_MARGIN), time_str_size);
+  QPainterPath path;
+  path.addRoundedRect(time_str_rect, 3, 3);
+  painter->fillPath(path, settings.theme == DARK_THEME ? Qt::darkGray : Qt::gray);
+  painter->setPen(palette().color(QPalette::BrightText));
+  painter->setFont(axis_x->labelsFont());
+  painter->drawText(time_str_rect, Qt::AlignCenter, time_str);
+
+  // draw signal value
+  auto item_group = qgraphicsitem_cast<QGraphicsItemGroup *>(chart()->legend()->childItems()[0]);
+  assert(item_group != nullptr);
+  auto legend_markers = item_group->childItems();
+  assert(legend_markers.size() == sigs.size());
+
+  painter->setFont(signal_value_font);
+  painter->setPen(chart()->legend()->labelColor());
+  int i = 0;
+  for (auto &s : sigs) {
+    QString value = "--";
+    if (s.series->isVisible()) {
+      auto it = std::lower_bound(s.vals.crbegin(), s.vals.crend(), cur_sec, [](auto &p, double x) { return p.x() > x; });
+      if (it != s.vals.crend() && it->x() >= axis_x->min()) {
+        value = s.sig->formatValue(it->y());
+      }
+    }
+    QRectF marker_rect = legend_markers[i++]->sceneBoundingRect();
+    QRectF value_rect(marker_rect.bottomLeft() - QPoint(0, 1), marker_rect.size());
+    QString elided_val = painter->fontMetrics().elidedText(value, Qt::ElideRight, value_rect.width());
+    painter->drawText(value_rect, Qt::AlignHCenter | Qt::AlignTop, elided_val);
+  }
+}
+
+QXYSeries *ChartView::createSeries(SeriesType type, QColor color) {
+  QXYSeries *series = nullptr;
+  if (type == SeriesType::Line) {
+    series = new QLineSeries(this);
+    chart()->legend()->setMarkerShape(QLegend::MarkerShapeRectangle);
+  } else if (type == SeriesType::StepLine) {
+    series = new QLineSeries(this);
+    chart()->legend()->setMarkerShape(QLegend::MarkerShapeFromSeries);
+  } else {
+    series = new QScatterSeries(this);
+    static_cast<QScatterSeries*>(series)->setBorderColor(color);
+    chart()->legend()->setMarkerShape(QLegend::MarkerShapeCircle);
+  }
+  series->setColor(color);
+  // TODO: Due to a bug in CameraWidget the camera frames
+  // are drawn instead of the graphs on MacOS. Re-enable OpenGL when fixed
+#ifndef __APPLE__
+  series->setUseOpenGL(true);
+  // Qt doesn't properly apply device pixel ratio in OpenGL mode
+  QPen pen = series->pen();
+  pen.setWidthF(2.0 * devicePixelRatioF());
+  series->setPen(pen);
+#endif
+  addSeries(series);
+  return series;
+}
+
+void ChartView::addSeries(QXYSeries *series) {
+  chart()->addSeries(series);
+  series->attachAxis(axis_x);
+  series->attachAxis(axis_y);
+
+  // disables the delivery of mouse events to the opengl widget.
+  // this enables the user to select the zoom area when the mouse press on the data point.
+  auto glwidget = findChild<QOpenGLWidget *>();
+  if (glwidget && !glwidget->testAttribute(Qt::WA_TransparentForMouseEvents)) {
+    glwidget->setAttribute(Qt::WA_TransparentForMouseEvents);
+  }
+}
+
+void ChartView::setSeriesType(SeriesType type) {
+  if (type != series_type) {
+    series_type = type;
+    for (auto &s : sigs) {
+      chart()->removeSeries(s.series);
+      s.series->deleteLater();
+    }
+    for (auto &s : sigs) {
+      auto series = createSeries(series_type, s.sig->color);
+      series->replace(series_type == SeriesType::StepLine ? s.step_vals : s.vals);
+      s.series = series;
+    }
+    updateSeriesPoints();
+    updateTitle();
+  }
+}
+
+void ChartView::handleMarkerClicked() {
+  auto marker = qobject_cast<QLegendMarker *>(sender());
+  Q_ASSERT(marker);
+  if (sigs.size() > 1) {
+    auto series = marker->series();
+    series->setVisible(!series->isVisible());
+    marker->setVisible(true);
+    updateAxisY();
+    updateTitle();
+  }
+}
diff --git a/tools/cabana/chart/chart.h b/tools/cabana/chart/chart.h
new file mode 100644
index 0000000000..2740d81b66
--- /dev/null
+++ b/tools/cabana/chart/chart.h
@@ -0,0 +1,114 @@
+#pragma once
+
+#include <tuple>
+#include <utility>
+
+#include <QGraphicsPixmapItem>
+#include <QGraphicsProxyWidget>
+#include <QtCharts/QChartView>
+#include <QtCharts/QLegendMarker>
+#include <QtCharts/QLineSeries>
+#include <QtCharts/QScatterSeries>
+#include <QtCharts/QValueAxis>
+using namespace QtCharts;
+
+#include "tools/cabana/chart/tiplabel.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+enum class SeriesType {
+  Line = 0,
+  StepLine,
+  Scatter
+};
+
+class ChartsWidget;
+class ChartView : public QChartView {
+  Q_OBJECT
+
+public:
+  ChartView(const std::pair<double, double> &x_range, ChartsWidget *parent = nullptr);
+  void addSignal(const MessageId &msg_id, const cabana::Signal *sig);
+  bool hasSignal(const MessageId &msg_id, const cabana::Signal *sig) const;
+  void updateSeries(const cabana::Signal *sig = nullptr, bool clear = true);
+  void updatePlot(double cur, double min, double max);
+  void setSeriesType(SeriesType type);
+  void updatePlotArea(int left, bool force = false);
+  void showTip(double sec);
+  void hideTip();
+  void startAnimation();
+
+  struct SigItem {
+    MessageId msg_id;
+    const cabana::Signal *sig = nullptr;
+    QXYSeries *series = nullptr;
+    QVector<QPointF> vals;
+    QVector<QPointF> step_vals;
+    uint64_t last_value_mono_time = 0;
+    QPointF track_pt{};
+    SegmentTree segment_tree;
+    double min = 0;
+    double max = 0;
+  };
+
+signals:
+  void axisYLabelWidthChanged(int w);
+
+private slots:
+  void signalUpdated(const cabana::Signal *sig);
+  void manageSignals();
+  void handleMarkerClicked();
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id) { removeIf([=](auto &s) { return s.msg_id.address == id.address && !dbc()->msg(id); }); }
+  void signalRemoved(const cabana::Signal *sig) { removeIf([=](auto &s) { return s.sig == sig; }); }
+
+private:
+  void createToolButtons();
+  void addSeries(QXYSeries *series);
+  void mousePressEvent(QMouseEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  void mouseMoveEvent(QMouseEvent *ev) override;
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator(false); }
+  void dragMoveEvent(QDragMoveEvent *event) override;
+  void dropEvent(QDropEvent *event) override;
+  void leaveEvent(QEvent *event) override;
+  void resizeEvent(QResizeEvent *event) override;
+  QSize sizeHint() const override;
+  void updateAxisY();
+  void updateTitle();
+  void resetChartCache();
+  void setTheme(QChart::ChartTheme theme);
+  void paintEvent(QPaintEvent *event) override;
+  void drawForeground(QPainter *painter, const QRectF &rect) override;
+  void drawBackground(QPainter *painter, const QRectF &rect) override;
+  void drawDropIndicator(bool draw) { if (std::exchange(can_drop, draw) != can_drop) viewport()->update(); }
+  void drawTimeline(QPainter *painter);
+  std::tuple<double, double, int> getNiceAxisNumbers(qreal min, qreal max, int tick_count);
+  qreal niceNumber(qreal x, bool ceiling);
+  QXYSeries *createSeries(SeriesType type, QColor color);
+  void updateSeriesPoints();
+  void removeIf(std::function<bool(const SigItem &)> predicate);
+  inline void clearTrackPoints() { for (auto &s : sigs) s.track_pt = {}; }
+
+  int y_label_width = 0;
+  int align_to = 0;
+  QValueAxis *axis_x;
+  QValueAxis *axis_y;
+  QAction *split_chart_act;
+  QGraphicsPixmapItem *move_icon;
+  QGraphicsProxyWidget *close_btn_proxy;
+  QGraphicsProxyWidget *manage_btn_proxy;
+  TipLabel tip_label;
+  QList<SigItem> sigs;
+  double cur_sec = 0;
+  SeriesType series_type = SeriesType::Line;
+  bool is_scrubbing = false;
+  bool resume_after_scrub = false;
+  QPixmap chart_pixmap;
+  bool can_drop = false;
+  double tooltip_x = -1;
+  QFont signal_value_font;
+  ChartsWidget *charts_widget;
+  friend class ChartsWidget;
+};
diff --git a/tools/cabana/chart/chartswidget.cc b/tools/cabana/chart/chartswidget.cc
new file mode 100644
index 0000000000..e852e6d206
--- /dev/null
+++ b/tools/cabana/chart/chartswidget.cc
@@ -0,0 +1,532 @@
+#include "tools/cabana/chart/chartswidget.h"
+
+#include <algorithm>
+
+#include <QApplication>
+#include <QFutureSynchronizer>
+#include <QMenu>
+#include <QScrollBar>
+#include <QToolBar>
+#include <QtConcurrent>
+
+#include "tools/cabana/chart/chart.h"
+
+const int MAX_COLUMN_COUNT = 4;
+const int CHART_SPACING = 10;
+
+ChartsWidget::ChartsWidget(QWidget *parent) : align_timer(this), auto_scroll_timer(this), QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  // toolbar
+  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
+  int icon_size = style()->pixelMetric(QStyle::PM_SmallIconSize);
+  toolbar->setIconSize({icon_size, icon_size});
+
+  auto new_plot_btn = new ToolButton("file-plus", tr("New Chart"));
+  auto new_tab_btn = new ToolButton("window-stack", tr("New Tab"));
+  toolbar->addWidget(new_plot_btn);
+  toolbar->addWidget(new_tab_btn);
+  toolbar->addWidget(title_label = new QLabel());
+  title_label->setContentsMargins(0, 0, style()->pixelMetric(QStyle::PM_LayoutHorizontalSpacing), 0);
+
+  QMenu *menu = new QMenu(this);
+  for (int i = 0; i < MAX_COLUMN_COUNT; ++i) {
+    menu->addAction(tr("%1").arg(i + 1), [=]() { setColumnCount(i + 1); });
+  }
+  columns_action = toolbar->addAction("");
+  columns_action->setMenu(menu);
+  qobject_cast<QToolButton*>(toolbar->widgetForAction(columns_action))->setPopupMode(QToolButton::InstantPopup);
+
+  QLabel *stretch_label = new QLabel(this);
+  stretch_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
+  toolbar->addWidget(stretch_label);
+
+  range_lb_action = toolbar->addWidget(range_lb = new QLabel(this));
+  range_slider = new LogSlider(1000, Qt::Horizontal, this);
+  range_slider->setMaximumWidth(200);
+  range_slider->setToolTip(tr("Set the chart range"));
+  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  range_slider->setSingleStep(1);
+  range_slider->setPageStep(60);  // 1 min
+  range_slider_action = toolbar->addWidget(range_slider);
+
+  // zoom controls
+  zoom_undo_stack = new QUndoStack(this);
+  toolbar->addAction(undo_zoom_action = zoom_undo_stack->createUndoAction(this));
+  undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+  toolbar->addAction(redo_zoom_action = zoom_undo_stack->createRedoAction(this));
+  redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+  reset_zoom_action = toolbar->addWidget(reset_zoom_btn = new ToolButton("zoom-out", tr("Reset Zoom")));
+  reset_zoom_btn->setToolButtonStyle(Qt::ToolButtonTextBesideIcon);
+
+  toolbar->addWidget(remove_all_btn = new ToolButton("x-square", tr("Remove all charts")));
+  toolbar->addWidget(dock_btn = new ToolButton(""));
+  main_layout->addWidget(toolbar);
+
+  // tabbar
+  tabbar = new TabBar(this);
+  tabbar->setAutoHide(true);
+  tabbar->setExpanding(false);
+  tabbar->setDrawBase(true);
+  tabbar->setAcceptDrops(true);
+  tabbar->setChangeCurrentOnDrag(true);
+  tabbar->setUsesScrollButtons(true);
+  main_layout->addWidget(tabbar);
+
+  // charts
+  charts_container = new ChartsContainer(this);
+
+  charts_scroll = new QScrollArea(this);
+  charts_scroll->setFrameStyle(QFrame::NoFrame);
+  charts_scroll->setWidgetResizable(true);
+  charts_scroll->setWidget(charts_container);
+  charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  main_layout->addWidget(charts_scroll);
+
+  // init settings
+  current_theme = settings.theme;
+  column_count = std::clamp(settings.chart_column_count, 1, MAX_COLUMN_COUNT);
+  max_chart_range = std::clamp(settings.chart_range, 1, settings.max_cached_minutes * 60);
+  display_range = {0, max_chart_range};
+  range_slider->setValue(max_chart_range);
+  updateToolBar();
+
+  align_timer.setSingleShot(true);
+  QObject::connect(&align_timer, &QTimer::timeout, this, &ChartsWidget::alignCharts);
+  QObject::connect(&auto_scroll_timer, &QTimer::timeout, this, &ChartsWidget::doAutoScroll);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
+  QObject::connect(can, &AbstractStream::eventsMerged, this, &ChartsWidget::eventsMerged);
+  QObject::connect(can, &AbstractStream::updated, this, &ChartsWidget::updateState);
+  QObject::connect(range_slider, &QSlider::valueChanged, this, &ChartsWidget::setMaxChartRange);
+  QObject::connect(new_plot_btn, &QToolButton::clicked, this, &ChartsWidget::newChart);
+  QObject::connect(remove_all_btn, &QToolButton::clicked, this, &ChartsWidget::removeAll);
+  QObject::connect(reset_zoom_btn, &QToolButton::clicked, this, &ChartsWidget::zoomReset);
+  QObject::connect(&settings, &Settings::changed, this, &ChartsWidget::settingChanged);
+  QObject::connect(new_tab_btn, &QToolButton::clicked, this, &ChartsWidget::newTab);
+  QObject::connect(this, &ChartsWidget::seriesChanged, this, &ChartsWidget::updateTabBar);
+  QObject::connect(tabbar, &QTabBar::tabCloseRequested, this, &ChartsWidget::removeTab);
+  QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
+    if (index != -1) updateLayout(true);
+  });
+  QObject::connect(dock_btn, &QToolButton::clicked, [this]() {
+    emit dock(!docking);
+    docking = !docking;
+    updateToolBar();
+  });
+
+  newTab();
+  setWhatsThis(tr(R"(
+    <b>Chart view</b><br />
+    <!-- TODO: add descprition here -->
+  )"));
+}
+
+void ChartsWidget::newTab() {
+  static int tab_unique_id = 0;
+  int idx = tabbar->addTab("");
+  tabbar->setTabData(idx, tab_unique_id++);
+  tabbar->setCurrentIndex(idx);
+  updateTabBar();
+}
+
+void ChartsWidget::removeTab(int index) {
+  int id = tabbar->tabData(index).toInt();
+  for (auto &c : tab_charts[id]) {
+    removeChart(c);
+  }
+  tab_charts.erase(id);
+  tabbar->removeTab(index);
+  updateTabBar();
+}
+
+void ChartsWidget::updateTabBar() {
+  for (int i = 0; i < tabbar->count(); ++i) {
+    const auto &charts_in_tab = tab_charts[tabbar->tabData(i).toInt()];
+    tabbar->setTabText(i, QString("Tab %1 (%2)").arg(i + 1).arg(charts_in_tab.count()));
+  }
+}
+
+void ChartsWidget::eventsMerged() {
+  QFutureSynchronizer<void> future_synchronizer;
+  bool clear = !can->liveStreaming();
+  for (auto c : charts) {
+    future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::updateSeries, nullptr, clear));
+  }
+}
+
+void ChartsWidget::setZoom(double min, double max) {
+  zoomed_range = {min, max};
+  is_zoomed = zoomed_range != display_range;
+  updateToolBar();
+  updateState();
+  emit rangeChanged(min, max, is_zoomed);
+}
+
+void ChartsWidget::zoomReset() {
+  setZoom(display_range.first, display_range.second);
+  zoom_undo_stack->clear();
+}
+
+QRect ChartsWidget::chartVisibleRect(ChartView *chart) {
+  const QRect visible_rect(-charts_container->pos(), charts_scroll->viewport()->size());
+  return chart->rect().intersected(QRect(chart->mapFrom(charts_container, visible_rect.topLeft()), visible_rect.size()));
+}
+
+void ChartsWidget::showValueTip(double sec) {
+  for (auto c : currentCharts()) {
+    sec >= 0 ? c->showTip(sec) : c->hideTip();
+  }
+}
+
+void ChartsWidget::updateState() {
+  if (charts.isEmpty()) return;
+
+  const double cur_sec = can->currentSec();
+  if (!is_zoomed) {
+    double pos = (cur_sec - display_range.first) / std::max<float>(1.0, max_chart_range);
+    if (pos < 0 || pos > 0.8) {
+      display_range.first = std::max(0.0, cur_sec - max_chart_range * 0.1);
+    }
+    double max_sec = std::min(std::floor(display_range.first + max_chart_range), can->totalSeconds());
+    display_range.first = std::max(0.0, max_sec - max_chart_range);
+    display_range.second = display_range.first + max_chart_range;
+  } else if (cur_sec < (zoomed_range.first - 0.1) || cur_sec >= zoomed_range.second) {
+    // loop in zoomed range
+    can->seekTo(zoomed_range.first);
+  }
+
+  const auto &range = is_zoomed ? zoomed_range : display_range;
+  for (auto c : charts) {
+    c->updatePlot(cur_sec, range.first, range.second);
+  }
+}
+
+void ChartsWidget::setMaxChartRange(int value) {
+  max_chart_range = settings.chart_range = range_slider->value();
+  updateToolBar();
+  updateState();
+}
+
+void ChartsWidget::updateToolBar() {
+  title_label->setText(tr("Charts: %1").arg(charts.size()));
+  columns_action->setText(tr("Column: %1").arg(column_count));
+  range_lb->setText(utils::formatSeconds(max_chart_range));
+  range_lb_action->setVisible(!is_zoomed);
+  range_slider_action->setVisible(!is_zoomed);
+  undo_zoom_action->setVisible(is_zoomed);
+  redo_zoom_action->setVisible(is_zoomed);
+  reset_zoom_action->setVisible(is_zoomed);
+  reset_zoom_btn->setText(is_zoomed ? tr("%1-%2").arg(zoomed_range.first, 0, 'f', 1).arg(zoomed_range.second, 0, 'f', 1) : "");
+  remove_all_btn->setEnabled(!charts.isEmpty());
+  dock_btn->setIcon(docking ? "arrow-up-right-square" : "arrow-down-left-square");
+  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
+}
+
+void ChartsWidget::settingChanged() {
+  if (std::exchange(current_theme, settings.theme) != current_theme) {
+    undo_zoom_action->setIcon(utils::icon("arrow-counterclockwise"));
+    redo_zoom_action->setIcon(utils::icon("arrow-clockwise"));
+    auto theme = settings.theme == DARK_THEME ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight;
+    for (auto c : charts) {
+      c->setTheme(theme);
+    }
+  }
+  range_slider->setRange(1, settings.max_cached_minutes * 60);
+  for (auto c : charts) {
+    c->setFixedHeight(settings.chart_height);
+    c->setSeriesType((SeriesType)settings.chart_series_type);
+    c->resetChartCache();
+  }
+}
+
+ChartView *ChartsWidget::findChart(const MessageId &id, const cabana::Signal *sig) {
+  for (auto c : charts)
+    if (c->hasSignal(id, sig)) return c;
+  return nullptr;
+}
+
+ChartView *ChartsWidget::createChart() {
+  auto chart = new ChartView(is_zoomed ? zoomed_range : display_range, this);
+  chart->setFixedHeight(settings.chart_height);
+  chart->setMinimumWidth(CHART_MIN_WIDTH);
+  chart->setSizePolicy(QSizePolicy::MinimumExpanding, QSizePolicy::Fixed);
+  QObject::connect(chart, &ChartView::axisYLabelWidthChanged, &align_timer, qOverload<>(&QTimer::start));
+  charts.push_front(chart);
+  currentCharts().push_front(chart);
+  updateLayout(true);
+  updateToolBar();
+  return chart;
+}
+
+void ChartsWidget::showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge) {
+  ChartView *chart = findChart(id, sig);
+  if (show && !chart) {
+    chart = merge && currentCharts().size() > 0 ? currentCharts().front() : createChart();
+    chart->addSignal(id, sig);
+    updateState();
+  } else if (!show && chart) {
+    chart->removeIf([&](auto &s) { return s.msg_id == id && s.sig == sig; });
+  }
+}
+
+void ChartsWidget::splitChart(ChartView *src_chart) {
+  if (src_chart->sigs.size() > 1) {
+    for (auto it = src_chart->sigs.begin() + 1; it != src_chart->sigs.end(); /**/) {
+      auto c = createChart();
+      src_chart->chart()->removeSeries(it->series);
+      c->addSeries(it->series);
+      c->sigs.push_back(*it);
+      c->updateAxisY();
+      c->updateTitle();
+      it = src_chart->sigs.erase(it);
+    }
+    src_chart->updateAxisY();
+    src_chart->updateTitle();
+  }
+}
+
+void ChartsWidget::setColumnCount(int n) {
+  n = std::clamp(n, 1, MAX_COLUMN_COUNT);
+  if (column_count != n) {
+    column_count = settings.chart_column_count = n;
+    updateToolBar();
+    updateLayout();
+  }
+}
+
+void ChartsWidget::updateLayout(bool force) {
+  auto charts_layout = charts_container->charts_layout;
+  int n = MAX_COLUMN_COUNT;
+  for (; n > 1; --n) {
+    if ((n * CHART_MIN_WIDTH + (n - 1) * charts_layout->horizontalSpacing()) < charts_layout->geometry().width()) break;
+  }
+
+  bool show_column_cb = n > 1;
+  columns_action->setVisible(show_column_cb);
+
+  n = std::min(column_count, n);
+  auto &current_charts = currentCharts();
+  if ((current_charts.size() != charts_layout->count() || n != current_column_count) || force) {
+    current_column_count = n;
+    charts_container->setUpdatesEnabled(false);
+    for (auto c : charts) {
+      c->setVisible(false);
+    }
+    for (int i = 0; i < current_charts.size(); ++i) {
+      charts_layout->addWidget(current_charts[i], i / n, i % n);
+      if (current_charts[i]->sigs.isEmpty()) {
+        // the chart will be resized after add signal. delay setVisible to reduce flicker.
+        QTimer::singleShot(0, [c = current_charts[i]]() { c->setVisible(true); });
+      } else {
+        current_charts[i]->setVisible(true);
+      }
+    }
+    charts_container->setUpdatesEnabled(true);
+  }
+}
+
+void ChartsWidget::startAutoScroll() {
+  auto_scroll_timer.start(50);
+}
+
+void ChartsWidget::stopAutoScroll() {
+  auto_scroll_timer.stop();
+  auto_scroll_count = 0;
+}
+
+void ChartsWidget::doAutoScroll() {
+  QScrollBar *scroll = charts_scroll->verticalScrollBar();
+  if (auto_scroll_count < scroll->pageStep()) {
+    ++auto_scroll_count;
+  }
+
+  int value = scroll->value();
+  QPoint pos = charts_scroll->viewport()->mapFromGlobal(QCursor::pos());
+  QRect area = charts_scroll->viewport()->rect();
+
+  if (pos.y() - area.top() < settings.chart_height / 2) {
+    scroll->setValue(value - auto_scroll_count);
+  } else if (area.bottom() - pos.y() < settings.chart_height / 2) {
+    scroll->setValue(value + auto_scroll_count);
+  }
+  bool vertical_unchanged = value == scroll->value();
+  if (vertical_unchanged) {
+    stopAutoScroll();
+  } else {
+    // mouseMoveEvent to updates the drag-selection rectangle
+    const QPoint globalPos = charts_scroll->viewport()->mapToGlobal(pos);
+    const QPoint windowPos = charts_scroll->window()->mapFromGlobal(globalPos);
+    QMouseEvent mm(QEvent::MouseMove, pos, windowPos, globalPos,
+                   Qt::NoButton, Qt::LeftButton, Qt::NoModifier, Qt::MouseEventSynthesizedByQt);
+    QApplication::sendEvent(charts_scroll->viewport(), &mm);
+  }
+}
+
+void ChartsWidget::resizeEvent(QResizeEvent *event) {
+  QWidget::resizeEvent(event);
+  updateLayout();
+}
+
+void ChartsWidget::newChart() {
+  SignalSelector dlg(tr("New Chart"), this);
+  if (dlg.exec() == QDialog::Accepted) {
+    auto items = dlg.seletedItems();
+    if (!items.isEmpty()) {
+      auto c = createChart();
+      for (auto it : items) {
+        c->addSignal(it->msg_id, it->sig);
+      }
+    }
+  }
+}
+
+void ChartsWidget::removeChart(ChartView *chart) {
+  charts.removeOne(chart);
+  chart->deleteLater();
+  for (auto &[_, list] : tab_charts) {
+    list.removeOne(chart);
+  }
+  updateToolBar();
+  updateLayout(true);
+  alignCharts();
+  emit seriesChanged();
+}
+
+void ChartsWidget::removeAll() {
+  while (tabbar->count() > 1) {
+    tabbar->removeTab(1);
+  }
+  tab_charts.clear();
+  zoomReset();
+
+  if (!charts.isEmpty()) {
+    for (auto c : charts) {
+      delete c;
+    }
+    charts.clear();
+    updateToolBar();
+    emit seriesChanged();
+  }
+}
+
+void ChartsWidget::alignCharts() {
+  int plot_left = 0;
+  for (auto c : charts) {
+    plot_left = std::max(plot_left, c->y_label_width);
+  }
+  plot_left = std::max((plot_left / 10) * 10 + 10, 50);
+  for (auto c : charts) {
+    c->updatePlotArea(plot_left);
+  }
+}
+
+bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
+  if (obj != this && event->type() == QEvent::Close) {
+    emit dock_btn->clicked();
+    return true;
+  }
+  return false;
+}
+
+bool ChartsWidget::event(QEvent *event) {
+  bool back_button = false;
+  switch (event->type()) {
+    case QEvent::MouseButtonPress: {
+      QMouseEvent *ev = static_cast<QMouseEvent *>(event);
+      back_button = ev->button() == Qt::BackButton;
+      break;
+    }
+    case QEvent::NativeGesture: {
+      QNativeGestureEvent *ev = static_cast<QNativeGestureEvent *>(event);
+      back_button = (ev->value() == 180);
+      break;
+    }
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+    case QEvent::Leave:
+      showValueTip(-1);
+      break;
+    default:
+      break;
+  }
+
+  if (back_button) {
+    zoom_undo_stack->undo();
+    return true;
+  }
+  return QFrame::event(event);
+}
+
+// ChartsContainer
+
+ChartsContainer::ChartsContainer(ChartsWidget *parent) : charts_widget(parent), QWidget(parent) {
+  setAcceptDrops(true);
+  QVBoxLayout *charts_main_layout = new QVBoxLayout(this);
+  charts_main_layout->setContentsMargins(0, 10, 0, 0);
+  charts_layout = new QGridLayout();
+  charts_layout->setSpacing(CHART_SPACING);
+  charts_main_layout->addLayout(charts_layout);
+  charts_main_layout->addStretch(0);
+}
+
+void ChartsContainer::dragEnterEvent(QDragEnterEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    event->acceptProposedAction();
+    drawDropIndicator(event->pos());
+  }
+}
+
+void ChartsContainer::dropEvent(QDropEvent *event) {
+  if (event->mimeData()->hasFormat(CHART_MIME_TYPE)) {
+    auto w = getDropAfter(event->pos());
+    auto chart = qobject_cast<ChartView *>(event->source());
+    if (w != chart) {
+      for (auto &[_, list] : charts_widget->tab_charts) {
+        list.removeOne(chart);
+      }
+      int to = w ? charts_widget->currentCharts().indexOf(w) + 1 : 0;
+      charts_widget->currentCharts().insert(to, chart);
+      charts_widget->updateLayout(true);
+      charts_widget->updateTabBar();
+      event->acceptProposedAction();
+      chart->startAnimation();
+    }
+    drawDropIndicator({});
+  }
+}
+
+void ChartsContainer::paintEvent(QPaintEvent *ev) {
+  if (!drop_indictor_pos.isNull() && !childAt(drop_indictor_pos)) {
+    QRect r;
+    if (auto insert_after = getDropAfter(drop_indictor_pos)) {
+      QRect area = insert_after->geometry();
+      r = QRect(area.left(), area.bottom() + 1, area.width(), CHART_SPACING);
+    } else {
+      r = geometry();
+      r.setHeight(CHART_SPACING);
+    }
+
+    const int margin = (CHART_SPACING - 2) / 2;
+    QPainterPath path;
+    path.addPolygon(QPolygonF({r.topLeft(), QPointF(r.left() + CHART_SPACING, r.top() + r.height() / 2), r.bottomLeft()}));
+    path.addPolygon(QPolygonF({r.topRight(), QPointF(r.right() - CHART_SPACING, r.top() + r.height() / 2), r.bottomRight()}));
+
+    QPainter p(this);
+    p.setRenderHint(QPainter::Antialiasing);
+    p.fillPath(path, palette().highlight());
+    p.fillRect(r.adjusted(2, margin, -2, -margin), palette().highlight());
+  }
+}
+
+ChartView *ChartsContainer::getDropAfter(const QPoint &pos) const {
+  auto it = std::find_if(charts_widget->currentCharts().crbegin(), charts_widget->currentCharts().crend(), [&pos](auto c) {
+    auto area = c->geometry();
+    return pos.x() >= area.left() && pos.x() <= area.right() && pos.y() >= area.bottom();
+  });
+  return it == charts_widget->currentCharts().crend() ? nullptr : *it;
+}
diff --git a/tools/cabana/chart/chartswidget.h b/tools/cabana/chart/chartswidget.h
new file mode 100644
index 0000000000..88ba4226c0
--- /dev/null
+++ b/tools/cabana/chart/chartswidget.h
@@ -0,0 +1,129 @@
+#pragma once
+
+#include <unordered_map>
+#include <utility>
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QScrollArea>
+#include <QTimer>
+#include <QUndoCommand>
+#include <QUndoStack>
+
+#include "tools/cabana/chart/signalselector.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+const int CHART_MIN_WIDTH = 300;
+const QString CHART_MIME_TYPE = "application/x-cabanachartview";
+
+class ChartView;
+class ChartsWidget;
+
+class ChartsContainer : public QWidget {
+public:
+  ChartsContainer(ChartsWidget *parent);
+  void dragEnterEvent(QDragEnterEvent *event) override;
+  void dropEvent(QDropEvent *event) override;
+  void dragLeaveEvent(QDragLeaveEvent *event) override { drawDropIndicator({}); }
+  void drawDropIndicator(const QPoint &pt) { drop_indictor_pos = pt; update(); }
+  void paintEvent(QPaintEvent *ev) override;
+  ChartView *getDropAfter(const QPoint &pos) const;
+
+  QGridLayout *charts_layout;
+  ChartsWidget *charts_widget;
+  QPoint drop_indictor_pos;
+};
+
+class ChartsWidget : public QFrame {
+  Q_OBJECT
+
+public:
+  ChartsWidget(QWidget *parent = nullptr);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
+  inline bool hasSignal(const MessageId &id, const cabana::Signal *sig) { return findChart(id, sig) != nullptr; }
+
+public slots:
+  void setColumnCount(int n);
+  void removeAll();
+  void setZoom(double min, double max);
+
+signals:
+  void dock(bool floating);
+  void rangeChanged(double min, double max, bool is_zommed);
+  void seriesChanged();
+
+private:
+  void resizeEvent(QResizeEvent *event) override;
+  bool event(QEvent *event) override;
+  void alignCharts();
+  void newChart();
+  ChartView *createChart();
+  void removeChart(ChartView *chart);
+  void splitChart(ChartView *chart);
+  QRect chartVisibleRect(ChartView *chart);
+  void eventsMerged();
+  void updateState();
+  void zoomReset();
+  void startAutoScroll();
+  void stopAutoScroll();
+  void doAutoScroll();
+  void updateToolBar();
+  void updateTabBar();
+  void setMaxChartRange(int value);
+  void updateLayout(bool force = false);
+  void settingChanged();
+  void showValueTip(double sec);
+  bool eventFilter(QObject *obj, QEvent *event) override;
+  void newTab();
+  void removeTab(int index);
+  inline QList<ChartView *> &currentCharts() { return tab_charts[tabbar->tabData(tabbar->currentIndex()).toInt()]; }
+  ChartView *findChart(const MessageId &id, const cabana::Signal *sig);
+
+  QLabel *title_label;
+  QLabel *range_lb;
+  LogSlider *range_slider;
+  QAction *range_lb_action;
+  QAction *range_slider_action;
+  bool docking = true;
+  ToolButton *dock_btn;
+
+  QAction *undo_zoom_action;
+  QAction *redo_zoom_action;
+  QAction *reset_zoom_action;
+  ToolButton *reset_zoom_btn;
+  QUndoStack *zoom_undo_stack;
+
+  ToolButton *remove_all_btn;
+  QList<ChartView *> charts;
+  std::unordered_map<int, QList<ChartView *>> tab_charts;
+  TabBar *tabbar;
+  ChartsContainer *charts_container;
+  QScrollArea *charts_scroll;
+  uint32_t max_chart_range = 0;
+  bool is_zoomed = false;
+  std::pair<double, double> display_range;
+  std::pair<double, double> zoomed_range;
+  QAction *columns_action;
+  int column_count = 1;
+  int current_column_count = 0;
+  int auto_scroll_count = 0;
+  QTimer auto_scroll_timer;
+  QTimer align_timer;
+  int current_theme = 0;
+  friend class ZoomCommand;
+  friend class ChartView;
+  friend class ChartsContainer;
+};
+
+class ZoomCommand : public QUndoCommand {
+public:
+  ZoomCommand(ChartsWidget *charts, std::pair<double, double> range) : charts(charts), range(range), QUndoCommand() {
+    prev_range = charts->is_zoomed ? charts->zoomed_range : charts->display_range;
+    setText(QObject::tr("Zoom to %1-%2").arg(range.first, 0, 'f', 1).arg(range.second, 0, 'f', 1));
+  }
+  void undo() override { charts->setZoom(prev_range.first, prev_range.second); }
+  void redo() override { charts->setZoom(range.first, range.second); }
+  ChartsWidget *charts;
+  std::pair<double, double> prev_range, range;
+};
diff --git a/tools/cabana/chart/signalselector.cc b/tools/cabana/chart/signalselector.cc
new file mode 100644
index 0000000000..50fe861a03
--- /dev/null
+++ b/tools/cabana/chart/signalselector.cc
@@ -0,0 +1,108 @@
+#include "tools/cabana/chart/signalselector.h"
+
+#include <QCompleter>
+#include <QDialogButtonBox>
+#include <QGridLayout>
+#include <QLabel>
+#include <QLineEdit>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+SignalSelector::SignalSelector(QString title, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(title);
+  QGridLayout *main_layout = new QGridLayout(this);
+
+  // left column
+  main_layout->addWidget(new QLabel(tr("Available Signals")), 0, 0);
+  main_layout->addWidget(msgs_combo = new QComboBox(this), 1, 0);
+  msgs_combo->setEditable(true);
+  msgs_combo->lineEdit()->setPlaceholderText(tr("Select a msg..."));
+  msgs_combo->setInsertPolicy(QComboBox::NoInsert);
+  msgs_combo->completer()->setCompletionMode(QCompleter::PopupCompletion);
+  msgs_combo->completer()->setFilterMode(Qt::MatchContains);
+
+  main_layout->addWidget(available_list = new QListWidget(this), 2, 0);
+
+  // buttons
+  QVBoxLayout *btn_layout = new QVBoxLayout();
+  QPushButton *add_btn = new QPushButton(utils::icon("chevron-right"), "", this);
+  add_btn->setEnabled(false);
+  QPushButton *remove_btn = new QPushButton(utils::icon("chevron-left"), "", this);
+  remove_btn->setEnabled(false);
+  btn_layout->addStretch(0);
+  btn_layout->addWidget(add_btn);
+  btn_layout->addWidget(remove_btn);
+  btn_layout->addStretch(0);
+  main_layout->addLayout(btn_layout, 0, 1, 3, 1);
+
+  // right column
+  main_layout->addWidget(new QLabel(tr("Selected Signals")), 0, 2);
+  main_layout->addWidget(selected_list = new QListWidget(this), 1, 2, 2, 1);
+
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  main_layout->addWidget(buttonBox, 3, 2);
+
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    if (auto m = dbc()->msg(it.key())) {
+      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key().toString()), QVariant::fromValue(it.key()));
+    }
+  }
+  msgs_combo->model()->sort(0);
+  msgs_combo->setCurrentIndex(-1);
+
+  QObject::connect(msgs_combo, qOverload<int>(&QComboBox::currentIndexChanged), this, &SignalSelector::updateAvailableList);
+  QObject::connect(available_list, &QListWidget::currentRowChanged, [=](int row) { add_btn->setEnabled(row != -1); });
+  QObject::connect(selected_list, &QListWidget::currentRowChanged, [=](int row) { remove_btn->setEnabled(row != -1); });
+  QObject::connect(available_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::add);
+  QObject::connect(selected_list, &QListWidget::itemDoubleClicked, this, &SignalSelector::remove);
+  QObject::connect(add_btn, &QPushButton::clicked, [this]() { if (auto item = available_list->currentItem()) add(item); });
+  QObject::connect(remove_btn, &QPushButton::clicked, [this]() { if (auto item = selected_list->currentItem()) remove(item); });
+  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
+
+void SignalSelector::add(QListWidgetItem *item) {
+  auto it = (ListItem *)item;
+  addItemToList(selected_list, it->msg_id, it->sig, true);
+  delete item;
+}
+
+void SignalSelector::remove(QListWidgetItem *item) {
+  auto it = (ListItem *)item;
+  if (it->msg_id == msgs_combo->currentData().value<MessageId>()) {
+    addItemToList(available_list, it->msg_id, it->sig);
+  }
+  delete item;
+}
+
+void SignalSelector::updateAvailableList(int index) {
+  if (index == -1) return;
+  available_list->clear();
+  MessageId msg_id = msgs_combo->itemData(index).value<MessageId>();
+  auto selected_items = seletedItems();
+  for (auto s : dbc()->msg(msg_id)->getSignals()) {
+    bool is_selected = std::any_of(selected_items.begin(), selected_items.end(), [=, sig = s](auto it) { return it->msg_id == msg_id && it->sig == sig; });
+    if (!is_selected) {
+      addItemToList(available_list, msg_id, s);
+    }
+  }
+}
+
+void SignalSelector::addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name) {
+  QString text = QString("<span style=\"color:%0;\">■ </span> %1").arg(sig->color.name(), sig->name);
+  if (show_msg_name) text += QString(" <font color=\"gray\">%0 %1</font>").arg(msgName(id), id.toString());
+
+  QLabel *label = new QLabel(text);
+  label->setContentsMargins(5, 0, 5, 0);
+  auto new_item = new ListItem(id, sig, parent);
+  new_item->setSizeHint(label->sizeHint());
+  parent->setItemWidget(new_item, label);
+}
+
+QList<SignalSelector::ListItem *> SignalSelector::seletedItems() {
+  QList<SignalSelector::ListItem *> ret;
+  for (int i = 0; i < selected_list->count(); ++i) ret.push_back((ListItem *)selected_list->item(i));
+  return ret;
+}
diff --git a/tools/cabana/chart/signalselector.h b/tools/cabana/chart/signalselector.h
new file mode 100644
index 0000000000..f46779f044
--- /dev/null
+++ b/tools/cabana/chart/signalselector.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include <QComboBox>
+#include <QDialog>
+#include <QListWidget>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+class SignalSelector : public QDialog {
+public:
+  struct ListItem : public QListWidgetItem {
+    ListItem(const MessageId &msg_id, const cabana::Signal *sig, QListWidget *parent) : msg_id(msg_id), sig(sig), QListWidgetItem(parent) {}
+    MessageId msg_id;
+    const cabana::Signal *sig;
+  };
+
+  SignalSelector(QString title, QWidget *parent);
+  QList<ListItem *> seletedItems();
+  inline void addSelected(const MessageId &id, const cabana::Signal *sig) { addItemToList(selected_list, id, sig, true); }
+
+private:
+  void updateAvailableList(int index);
+  void addItemToList(QListWidget *parent, const MessageId id, const cabana::Signal *sig, bool show_msg_name = false);
+  void add(QListWidgetItem *item);
+  void remove(QListWidgetItem *item);
+
+  QComboBox *msgs_combo;
+  QListWidget *available_list;
+  QListWidget *selected_list;
+};
diff --git a/tools/cabana/chart/sparkline.cc b/tools/cabana/chart/sparkline.cc
new file mode 100644
index 0000000000..4692b41e4b
--- /dev/null
+++ b/tools/cabana/chart/sparkline.cc
@@ -0,0 +1,84 @@
+#include "tools/cabana/chart/sparkline.h"
+
+#include <limits>
+#include <QPainter>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+void Sparkline::update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size) {
+  const auto &msgs = can->events(msg_id);
+  uint64_t ts = (last_msg_ts + can->routeStartTime()) * 1e9;
+  uint64_t first_ts = (ts > range * 1e9) ? ts - range * 1e9 : 0;
+  auto first = std::lower_bound(msgs.cbegin(), msgs.cend(), first_ts, [](auto e, uint64_t ts) {
+    return e->mono_time < ts;
+  });
+  auto last = std::upper_bound(first, msgs.cend(), ts, [](uint64_t ts, auto e) {
+    return ts < e->mono_time;
+  });
+
+  bool update_values = last_ts != last_msg_ts || time_range != range;
+  last_ts = last_msg_ts;
+  time_range = range;
+
+  if (first != last) {
+    if (update_values) {
+      values.clear();
+      if (values.capacity() < std::distance(first, last)) {
+        values.reserve(std::distance(first, last) * 2);
+      }
+      min_val = std::numeric_limits<double>::max();
+      max_val = std::numeric_limits<double>::lowest();
+      for (auto it = first; it != last; ++it) {
+        const CanEvent *e = *it;
+        double value = 0;
+        if (sig->getValue(e->dat, e->size, &value)) {
+          values.emplace_back((e->mono_time - (*first)->mono_time) / 1e9, value);
+          if (min_val > value) min_val = value;
+          if (max_val < value) max_val = value;
+        }
+      }
+      if (min_val == max_val) {
+        min_val -= 1;
+        max_val += 1;
+      }
+    }
+  } else {
+    values.clear();
+  }
+
+  if (!values.empty()) {
+    render(sig->color, size);
+  } else {
+    pixmap = QPixmap();
+    min_val = -1;
+    max_val = 1;
+  }
+}
+
+void Sparkline::render(const QColor &color, QSize size) {
+  const double xscale = (size.width() - 1) / (double)time_range;
+  const double yscale = (size.height() - 3) / (max_val - min_val);
+  points.clear();
+  points.reserve(values.capacity());
+  for (auto &v : values) {
+    points.emplace_back(v.x() * xscale, 1 + std::abs(v.y() - max_val) * yscale);
+  }
+
+  qreal dpr = qApp->devicePixelRatio();
+  size *= dpr;
+  if (size != pixmap.size()) {
+    pixmap = QPixmap(size);
+  }
+  pixmap.setDevicePixelRatio(dpr);
+  pixmap.fill(Qt::transparent);
+  QPainter painter(&pixmap);
+  painter.setRenderHint(QPainter::Antialiasing, points.size() < 500);
+  painter.setPen(color);
+  painter.drawPolyline(points.data(), points.size());
+  painter.setPen(QPen(color, 3));
+  if ((points.back().x() - points.front().x()) / points.size() > 8) {
+    painter.drawPoints(points.data(), points.size());
+  } else {
+    painter.drawPoint(points.back());
+  }
+}
diff --git a/tools/cabana/chart/sparkline.h b/tools/cabana/chart/sparkline.h
new file mode 100644
index 0000000000..21cbd40a3f
--- /dev/null
+++ b/tools/cabana/chart/sparkline.h
@@ -0,0 +1,29 @@
+#pragma once
+
+#include <algorithm>
+
+#include <QPixmap>
+#include <QPointF>
+#include <vector>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+class Sparkline {
+public:
+  void update(const MessageId &msg_id, const cabana::Signal *sig, double last_msg_ts, int range, QSize size);
+  const QSize size() const { return pixmap.size() / pixmap.devicePixelRatio(); }
+  inline double freq() const {
+    return values.empty() ? 0 : values.size() / std::max(values.back().x() - values.front().x(), 1.0);
+  }
+
+  QPixmap pixmap;
+  double min_val = 0;
+  double max_val = 0;
+  double last_ts = 0;
+  int time_range = 0;
+
+private:
+  void render(const QColor &color, QSize size);
+  std::vector<QPointF> values;
+  std::vector<QPointF> points;
+};
diff --git a/tools/cabana/chart/tiplabel.cc b/tools/cabana/chart/tiplabel.cc
new file mode 100644
index 0000000000..f5c9cc9cbd
--- /dev/null
+++ b/tools/cabana/chart/tiplabel.cc
@@ -0,0 +1,55 @@
+#include "tools/cabana/chart/tiplabel.h"
+
+#include <utility>
+
+#include <QApplication>
+#include <QStylePainter>
+#include <QToolTip>
+
+#include "tools/cabana/settings.h"
+
+TipLabel::TipLabel(QWidget *parent) : QLabel(parent, Qt::ToolTip | Qt::FramelessWindowHint) {
+  setForegroundRole(QPalette::ToolTipText);
+  setBackgroundRole(QPalette::ToolTipBase);
+  QFont font;
+  font.setPointSizeF(8.34563465);
+  setFont(font);
+  auto palette = QToolTip::palette();
+  if (settings.theme != DARK_THEME) {
+    palette.setColor(QPalette::ToolTipBase, QApplication::palette().color(QPalette::Base));
+    palette.setColor(QPalette::ToolTipText, QRgb(0x404044));  // same color as chart label brush
+  }
+  setPalette(palette);
+  ensurePolished();
+  setMargin(1 + style()->pixelMetric(QStyle::PM_ToolTipLabelFrameWidth, nullptr, this));
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setTextFormat(Qt::RichText);
+  setVisible(false);
+}
+
+void TipLabel::showText(const QPoint &pt, const QString &text, QWidget *w, const QRect &rect) {
+  setText(text);
+  if (!text.isEmpty()) {
+    QSize extra(1, 1);
+    resize(sizeHint() + extra);
+    QPoint tip_pos(pt.x() + 8, rect.top() + 2);
+    if (tip_pos.x() + size().width() >= rect.right()) {
+      tip_pos.rx() = pt.x() - size().width() - 8;
+    }
+    if (rect.contains({tip_pos, size()})) {
+      move(w->mapToGlobal(tip_pos));
+      setVisible(true);
+      return;
+    }
+  }
+  setVisible(false);
+}
+
+void TipLabel::paintEvent(QPaintEvent *ev) {
+  QStylePainter p(this);
+  QStyleOptionFrame opt;
+  opt.init(this);
+  p.drawPrimitive(QStyle::PE_PanelTipLabel, opt);
+  p.end();
+  QLabel::paintEvent(ev);
+}
diff --git a/tools/cabana/chart/tiplabel.h b/tools/cabana/chart/tiplabel.h
new file mode 100644
index 0000000000..ac6e09e976
--- /dev/null
+++ b/tools/cabana/chart/tiplabel.h
@@ -0,0 +1,10 @@
+#pragma once
+
+#include <QLabel>
+
+class TipLabel : public QLabel {
+public:
+  TipLabel(QWidget *parent = nullptr);
+  void showText(const QPoint &pt, const QString &sec, QWidget *w, const QRect &rect);
+  void paintEvent(QPaintEvent *ev) override;
+};
diff --git a/tools/cabana/chartswidget.cc b/tools/cabana/chartswidget.cc
deleted file mode 100644
index 79b40133a5..0000000000
--- a/tools/cabana/chartswidget.cc
+++ /dev/null
@@ -1,595 +0,0 @@
-#include "tools/cabana/chartswidget.h"
-
-#include <QFutureSynchronizer>
-#include <QGraphicsLayout>
-#include <QRubberBand>
-#include <QTimer>
-#include <QToolBar>
-#include <QToolButton>
-#include <QtConcurrent>
-
-// ChartsWidget
-
-ChartsWidget::ChartsWidget(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-
-  // toolbar
-  QToolBar *toolbar = new QToolBar(tr("Charts"), this);
-  title_label = new QLabel();
-  title_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(title_label);
-  toolbar->addWidget(range_label = new QLabel());
-  reset_zoom_btn = toolbar->addAction("⟲");
-  reset_zoom_btn->setToolTip(tr("Reset zoom (drag on chart to zoom X-Axis)"));
-  remove_all_btn = toolbar->addAction("✖");
-  remove_all_btn->setToolTip(tr("Remove all charts"));
-  dock_btn = toolbar->addAction("");
-  main_layout->addWidget(toolbar);
-  updateToolBar();
-
-  // charts
-  QWidget *charts_container = new QWidget(this);
-  charts_layout = new QVBoxLayout(charts_container);
-  charts_layout->addStretch();
-
-  QScrollArea *charts_scroll = new QScrollArea(this);
-  charts_scroll->setWidgetResizable(true);
-  charts_scroll->setWidget(charts_container);
-  charts_scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-
-  main_layout->addWidget(charts_scroll);
-
-  use_dark_theme = palette().color(QPalette::WindowText).value() > palette().color(QPalette::Background).value();
-
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &ChartsWidget::removeAll);
-  QObject::connect(can, &CANMessages::eventsMerged, this, &ChartsWidget::eventsMerged);
-  QObject::connect(can, &CANMessages::updated, this, &ChartsWidget::updateState);
-  QObject::connect(remove_all_btn, &QAction::triggered, this, &ChartsWidget::removeAll);
-  QObject::connect(reset_zoom_btn, &QAction::triggered, this, &ChartsWidget::zoomReset);
-  QObject::connect(dock_btn, &QAction::triggered, [this]() {
-    emit dock(!docking);
-    docking = !docking;
-    updateToolBar();
-  });
-}
-
-void ChartsWidget::eventsMerged() {
-  if (auto events = can->events(); events && !events->empty()) {
-    event_range.first = (events->front()->mono_time / (double)1e9) - can->routeStartTime();
-    event_range.second = (events->back()->mono_time / (double)1e9) - can->routeStartTime();
-    updateDisplayRange();
-  }
-}
-
-void ChartsWidget::updateDisplayRange() {
-  auto prev_range = display_range;
-  double current_sec = can->currentSec();
-  if (current_sec < display_range.first || current_sec >= (display_range.second - 5)) {
-    // reached the end, or seeked to a timestamp out of range.
-    display_range.first = current_sec - 5;
-  }
-  display_range.first = std::max(display_range.first, event_range.first);
-  display_range.second = std::min(display_range.first + settings.max_chart_x_range, event_range.second);
-  if (prev_range != display_range) {
-    QFutureSynchronizer<void> future_synchronizer;
-    for (auto c : charts)
-      future_synchronizer.addFuture(QtConcurrent::run(c, &ChartView::setEventsRange, display_range));
-  }
-}
-
-void ChartsWidget::zoomIn(double min, double max) {
-  zoomed_range = {min, max};
-  is_zoomed = zoomed_range != display_range;
-  updateToolBar();
-  updateState();
-  emit rangeChanged(min, max, is_zoomed);
-}
-
-void ChartsWidget::zoomReset() {
-  zoomIn(display_range.first, display_range.second);
-}
-
-void ChartsWidget::updateState() {
-  if (charts.isEmpty()) return;
-
-  if (!is_zoomed) {
-    updateDisplayRange();
-  } else if (can->currentSec() < zoomed_range.first || can->currentSec() >= zoomed_range.second) {
-    can->seekTo(zoomed_range.first);
-  }
-
-  const auto &range = is_zoomed ? zoomed_range : display_range;
-  for (auto c : charts) {
-    c->setDisplayRange(range.first, range.second);
-    c->scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
-  }
-}
-
-void ChartsWidget::updateToolBar() {
-  remove_all_btn->setEnabled(!charts.isEmpty());
-  reset_zoom_btn->setEnabled(is_zoomed);
-  range_label->setText(is_zoomed ? tr("%1 - %2").arg(zoomed_range.first, 0, 'f', 2).arg(zoomed_range.second, 0, 'f', 2) : "");
-  title_label->setText(charts.size() > 0 ? tr("Charts (%1)").arg(charts.size()) : tr("Charts"));
-  dock_btn->setText(docking ? "⬈" : "⬋");
-  dock_btn->setToolTip(docking ? tr("Undock charts") : tr("Dock charts"));
-}
-
-ChartView *ChartsWidget::findChart(const QString &id, const Signal *sig) {
-  for (auto c : charts)
-    if (c->hasSeries(id, sig)) return c;
-  return nullptr;
-}
-
-void ChartsWidget::showChart(const QString &id, const Signal *sig, bool show, bool merge) {
-  setUpdatesEnabled(false);
-  if (show) {
-    ChartView *chart = merge && charts.size() > 0 ? charts.back() : nullptr;
-    if (!chart) {
-      chart = new ChartView(this);
-      chart->chart()->setTheme(use_dark_theme ? QChart::QChart::ChartThemeDark : QChart::ChartThemeLight);
-      chart->setEventsRange(display_range);
-      auto range = is_zoomed ? zoomed_range : display_range;
-      chart->setDisplayRange(range.first, range.second);
-      QObject::connect(chart, &ChartView::remove, [=]() { removeChart(chart); });
-      QObject::connect(chart, &ChartView::zoomIn, this, &ChartsWidget::zoomIn);
-      QObject::connect(chart, &ChartView::zoomReset, this, &ChartsWidget::zoomReset);
-      QObject::connect(chart, &ChartView::seriesRemoved, this, &ChartsWidget::chartClosed);
-      charts_layout->insertWidget(0, chart);
-      charts.push_back(chart);
-    }
-    chart->addSeries(id, sig);
-    emit chartOpened(id, sig);
-  } else if (ChartView *chart = findChart(id, sig)) {
-    chart->removeSeries(id, sig);
-  }
-  updateToolBar();
-  setUpdatesEnabled(true);
-}
-
-void ChartsWidget::removeChart(ChartView *chart) {
-  charts.removeOne(chart);
-  chart->deleteLater();
-  updateToolBar();
-}
-
-void ChartsWidget::removeAll() {
-  for (auto c : charts.toVector())
-    removeChart(c);
-}
-
-bool ChartsWidget::eventFilter(QObject *obj, QEvent *event) {
-  if (obj != this && event->type() == QEvent::Close) {
-    emit dock_btn->triggered();
-    return true;
-  }
-  return false;
-}
-
-// ChartView
-
-ChartView::ChartView(QWidget *parent) : QChartView(nullptr, parent) {
-  QChart *chart = new QChart();
-  chart->setBackgroundRoundness(0);
-  axis_x = new QValueAxis(this);
-  axis_y = new QValueAxis(this);
-  chart->addAxis(axis_x, Qt::AlignBottom);
-  chart->addAxis(axis_y, Qt::AlignLeft);
-  chart->legend()->setShowToolTips(true);
-  chart->layout()->setContentsMargins(0, 0, 0, 0);
-  chart->setMargins(QMargins(20, 11, 11, 11));
-
-  track_line = new QGraphicsLineItem(chart);
-  track_line->setPen(QPen(Qt::darkGray, 1, Qt::DashLine));
-  track_ellipse = new QGraphicsEllipseItem(chart);
-  track_ellipse->setBrush(Qt::darkGray);
-  value_text = new QGraphicsTextItem(chart);
-  item_group = scene()->createItemGroup({track_line, track_ellipse, value_text});
-  item_group->setZValue(chart->zValue() + 10);
-
-  // title
-  QToolButton *remove_btn = new QToolButton();
-  remove_btn->setText("X");
-  remove_btn->setAutoRaise(true);
-  remove_btn->setToolTip(tr("Remove Chart"));
-  close_btn_proxy = new QGraphicsProxyWidget(chart);
-  close_btn_proxy->setWidget(remove_btn);
-  close_btn_proxy->setZValue(chart->zValue() + 11);
-
-  QToolButton *manage_btn = new QToolButton();
-  manage_btn->setText("🔧");
-  manage_btn->setAutoRaise(true);
-  manage_btn->setToolTip(tr("Manage series"));
-  manage_btn_proxy = new QGraphicsProxyWidget(chart);
-  manage_btn_proxy->setWidget(manage_btn);
-  manage_btn_proxy->setZValue(chart->zValue() + 11);
-
-  setChart(chart);
-  setRenderHint(QPainter::Antialiasing);
-  setRubberBand(QChartView::HorizontalRubberBand);
-  updateFromSettings();
-
-  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &ChartView::signalRemoved);
-  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &ChartView::signalUpdated);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &ChartView::msgRemoved);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &ChartView::msgUpdated);
-  QObject::connect(&settings, &Settings::changed, this, &ChartView::updateFromSettings);
-  QObject::connect(remove_btn, &QToolButton::clicked, this, &ChartView::remove);
-  QObject::connect(manage_btn, &QToolButton::clicked, this, &ChartView::manageSeries);
-}
-
-ChartView::~ChartView() {
-  for (auto &s : sigs)
-    emit seriesRemoved(s.msg_id, s.sig);
-}
-
-void ChartView::addSeries(const QString &msg_id, const Signal *sig) {
-  QLineSeries *series = new QLineSeries(this);
-  chart()->addSeries(series);
-  series->attachAxis(axis_x);
-  series->attachAxis(axis_y);
-  auto [source, address] = DBCManager::parseId(msg_id);
-  sigs.push_back({.msg_id = msg_id, .address = address, .source = source, .sig = sig, .series = series});
-  updateTitle();
-  updateSeries(sig);
-}
-
-void ChartView::removeSeries(const QString &msg_id, const Signal *sig) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
-  if (it != sigs.end()) {
-    it = removeSeries(it);
-  }
-}
-
-bool ChartView::hasSeries(const QString &msg_id, const Signal *sig) const {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s.msg_id == msg_id && s.sig == sig; });
-  return it != sigs.end();
-}
-
-QList<ChartView::SigItem>::iterator ChartView::removeSeries(const QList<ChartView::SigItem>::iterator &it) {
-  chart()->removeSeries(it->series);
-  it->series->deleteLater();
-  emit seriesRemoved(it->msg_id, it->sig);
-
-  auto ret = sigs.erase(it);
-  if (!sigs.isEmpty()) {
-    updateAxisY();
-  } else {
-    emit remove();
-  }
-  return ret;
-}
-
-void ChartView::signalUpdated(const Signal *sig) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.sig == sig; });
-  if (it != sigs.end()) {
-    updateTitle();
-    // TODO: don't update series if only name changed.
-    updateSeries(sig);
-  }
-}
-
-void ChartView::signalRemoved(const Signal *sig) {
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->sig == sig) ? removeSeries(it) : ++it;
-  }
-}
-
-void ChartView::msgUpdated(uint32_t address) {
-  auto it = std::find_if(sigs.begin(), sigs.end(), [=](auto &s) { return s.address == address; });
-  if (it != sigs.end())
-    updateTitle();
-}
-
-void ChartView::msgRemoved(uint32_t address) {
-  for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-    it = (it->address == address) ? removeSeries(it) : ++it;
-  }
-}
-
-void ChartView::manageSeries() {
-  SeriesSelector dlg(this);
-  for (auto &s : sigs) {
-    dlg.addSeries(s.msg_id, msgName(s.msg_id), QString::fromStdString(s.sig->name));
-  }
-
-  int ret = dlg.exec();
-  if (ret == QDialog::Accepted) {
-    QList<QStringList> series_list = dlg.series();
-    if (series_list.isEmpty()) {
-      emit remove();
-    } else {
-      for (auto &s : series_list) {
-        if (auto m = dbc()->msg(s[0])) {
-          auto it = m->sigs.find(s[2]);
-          if (it != m->sigs.end() && !hasSeries(s[0], &(it->second))) {
-            addSeries(s[0], &(it->second));
-          }
-        }
-      }
-      for (auto it = sigs.begin(); it != sigs.end(); /**/) {
-        bool exists = std::any_of(series_list.cbegin(), series_list.cend(), [&](auto &s) {
-          return s[0] == it->msg_id && s[2] == it->sig->name.c_str();
-        });
-        it = exists ? ++it : removeSeries(it);
-      }
-    }
-  }
-}
-
-void ChartView::resizeEvent(QResizeEvent *event) {
-  QChartView::resizeEvent(event);
-  int x = event->size().width() - close_btn_proxy->size().width() - 11;
-  close_btn_proxy->setPos(x, 8);
-  manage_btn_proxy->setPos(x - manage_btn_proxy->size().width() - 5, 8);
-}
-
-void ChartView::updateTitle() {
-  for (auto &s : sigs) {
-    s.series->setName(QString("<b>%1</b> <font color=\"gray\">%2 %3</font>").arg(s.sig->name.c_str()).arg(msgName(s.msg_id)).arg(s.msg_id));
-  }
-}
-
-void ChartView::updateFromSettings() {
-  setFixedHeight(settings.chart_height);
-}
-
-void ChartView::setEventsRange(const std::pair<double, double> &range) {
-  if (range != events_range) {
-    events_range = range;
-    updateSeries();
-  }
-}
-
-void ChartView::setDisplayRange(double min, double max) {
-  if (min != axis_x->min() || max != axis_x->max()) {
-    axis_x->setRange(min, max);
-    updateAxisY();
-  }
-}
-
-void ChartView::adjustChartMargins() {
-  // TODO: Remove hardcoded aligned_pos
-  const int aligned_pos = 60;
-  if ((int)chart()->plotArea().left() != aligned_pos) {
-    const float left_margin = chart()->margins().left() + aligned_pos - chart()->plotArea().left();
-    chart()->setMargins(QMargins(left_margin, 11, 11, 11));
-    scene()->invalidate({}, QGraphicsScene::ForegroundLayer);
-  }
-}
-
-void ChartView::updateSeries(const Signal *sig) {
-  auto events = can->events();
-  if (!events || sigs.isEmpty()) return;
-
-  for (auto &s : sigs) {
-    if (!sig || s.sig == sig) {
-      s.vals.clear();
-      s.vals.reserve((events_range.second - events_range.first) * 1000);  // [n]seconds * 1000hz
-      s.min_y = std::numeric_limits<double>::max();
-      s.max_y = std::numeric_limits<double>::lowest();
-
-      double route_start_time = can->routeStartTime();
-      Event begin_event(cereal::Event::Which::INIT_DATA, (route_start_time + events_range.first) * 1e9);
-      auto begin = std::lower_bound(events->begin(), events->end(), &begin_event, Event::lessThan());
-      double end_ns = (route_start_time + events_range.second) * 1e9;
-
-      for (auto it = begin; it != events->end() && (*it)->mono_time <= end_ns; ++it) {
-        if ((*it)->which == cereal::Event::Which::CAN) {
-          for (const auto &c : (*it)->event.getCan()) {
-            if (s.source == c.getSrc() && s.address == c.getAddress()) {
-              auto dat = c.getDat();
-              double value = get_raw_value((uint8_t *)dat.begin(), dat.size(), *s.sig);
-              double ts = ((*it)->mono_time / (double)1e9) - route_start_time;  // seconds
-              s.vals.push_back({ts, value});
-
-              if (value < s.min_y) s.min_y = value;
-              if (value > s.max_y) s.max_y = value;
-            }
-          }
-        }
-      }
-      s.series->replace(s.vals);
-    }
-  }
-  updateAxisY();
-}
-
-// auto zoom on yaxis
-void ChartView::updateAxisY() {
-  if (sigs.isEmpty()) return;
-
-  double min_y = std::numeric_limits<double>::max();
-  double max_y = std::numeric_limits<double>::lowest();
-  if (events_range == std::pair{axis_x->min(), axis_x->max()}) {
-    for (auto &s : sigs) {
-      if (s.min_y < min_y) min_y = s.min_y;
-      if (s.max_y > max_y) max_y = s.max_y;
-    }
-  } else {
-    for (auto &s : sigs) {
-      auto begin = std::lower_bound(s.vals.begin(), s.vals.end(), axis_x->min(), [](auto &p, double x) { return p.x() < x; });
-      for (auto it = begin; it != s.vals.end() && it->x() <= axis_x->max(); ++it) {
-        if (it->y() < min_y) min_y = it->y();
-        if (it->y() > max_y) max_y = it->y();
-      }
-    }
-  }
-
-  if (min_y == std::numeric_limits<double>::max()) min_y = 0;
-  if (max_y == std::numeric_limits<double>::lowest()) max_y = 0;
-  if (max_y == min_y) {
-    axis_y->setRange(min_y - 1, max_y + 1);
-  } else {
-    double range = max_y - min_y;
-    axis_y->setRange(min_y - range * 0.05, max_y + range * 0.05);
-    axis_y->applyNiceNumbers();
-  }
-
-  QTimer::singleShot(0, this, &ChartView::adjustChartMargins);
-}
-
-void ChartView::leaveEvent(QEvent *event) {
-  item_group->setVisible(false);
-  QChartView::leaveEvent(event);
-}
-
-void ChartView::mouseReleaseEvent(QMouseEvent *event) {
-  auto rubber = findChild<QRubberBand *>();
-  if (event->button() == Qt::LeftButton && rubber && rubber->isVisible()) {
-    rubber->hide();
-    QRectF rect = rubber->geometry().normalized();
-    double min = std::floor(chart()->mapToValue(rect.topLeft()).x() * 10.0) / 10.0;
-    double max = std::floor(chart()->mapToValue(rect.bottomRight()).x() * 10.0) / 10.0;
-    if (rubber->width() <= 0) {
-      // no rubber dragged, seek to mouse position
-      can->seekTo(min);
-    } else if ((max - min) >= 0.5) {
-      // zoom in if selected range is greater than 0.5s
-      emit zoomIn(min, max);
-    }
-    event->accept();
-  } else if (event->button() == Qt::RightButton) {
-    emit zoomReset();
-    event->accept();
-  } else {
-    QGraphicsView::mouseReleaseEvent(event);
-  }
-}
-
-void ChartView::mouseMoveEvent(QMouseEvent *ev) {
-  auto rubber = findChild<QRubberBand *>();
-  bool is_zooming = rubber && rubber->isVisible();
-  const auto plot_area = chart()->plotArea();
-
-  if (!is_zooming && plot_area.contains(ev->pos())) {
-    QStringList text_list;
-    QPointF pos = {};
-    const double sec = chart()->mapToValue(ev->pos()).x();
-    for (auto &s : sigs) {
-      QString value = "--";
-      // use reverse iterator to find last item <= sec.
-      auto it = std::lower_bound(s.vals.rbegin(), s.vals.rend(), sec, [](auto &p, double x) { return p.x() > x; });
-      if (it != s.vals.rend() && it->x() >= axis_x->min()) {
-        value = QString::number(it->y());
-        auto value_pos = chart()->mapToPosition(*it);
-        if (value_pos.x() > pos.x()) pos = value_pos;
-      }
-      text_list.push_back(QString("&nbsp;%1 : %2&nbsp;").arg(sigs.size() > 1 ? s.sig->name.c_str() : "Value").arg(value));
-    }
-    if (pos.x() == 0) pos = ev->pos();
-
-    QString time = QString::number(chart()->mapToValue(pos).x(), 'f', 3);
-    value_text->setHtml(QString("<div style=\"background-color: darkGray;color: white;\">&nbsp;Time: %1 &nbsp;<br />%2</div>")
-                            .arg(time).arg(text_list.join("<br />")));
-
-    QRectF text_rect = value_text->boundingRect();
-    int text_x = pos.x() + 8;
-    if ((text_x + text_rect.width()) > plot_area.right()) {
-      text_x = pos.x() - text_rect.width() - 8;
-    }
-    value_text->setPos(text_x, pos.y() - text_rect.height() / 2);
-    track_line->setLine(pos.x(), plot_area.top(), pos.x(), plot_area.bottom());
-    track_ellipse->setRect(pos.x() - 5, pos.y() - 5, 10, 10);
-    item_group->setVisible(true);
-  } else {
-    item_group->setVisible(false);
-  }
-  QChartView::mouseMoveEvent(ev);
-}
-
-void ChartView::drawForeground(QPainter *painter, const QRectF &rect) {
-  qreal x = chart()->mapToPosition(QPointF{can->currentSec(), 0}).x();
-  painter->setPen(QPen(chart()->titleBrush().color(), 2));
-  painter->drawLine(QPointF{x, chart()->plotArea().top() - 2}, QPointF{x, chart()->plotArea().bottom() + 2});
-}
-
-// SeriesSelector
-
-SeriesSelector::SeriesSelector(QWidget *parent) {
-  setWindowTitle(tr("Manage Chart Series"));
-  QHBoxLayout *contents_layout = new QHBoxLayout();
-
-  QVBoxLayout *left_layout = new QVBoxLayout();
-  left_layout->addWidget(new QLabel(tr("Select Signals:")));
-  msgs_combo = new QComboBox(this);
-  left_layout->addWidget(msgs_combo);
-  sig_list = new QListWidget(this);
-  sig_list->setSortingEnabled(true);
-  sig_list->setToolTip(tr("Double click on an item to add signal to chart"));
-  left_layout->addWidget(sig_list);
-
-  QVBoxLayout *right_layout = new QVBoxLayout();
-  right_layout->addWidget(new QLabel(tr("Chart Signals:")));
-  chart_series = new QListWidget(this);
-  chart_series->setSortingEnabled(true);
-  chart_series->setToolTip(tr("Double click on an item to remove signal from chart"));
-  right_layout->addWidget(chart_series);
-  contents_layout->addLayout(left_layout);
-  contents_layout->addLayout(right_layout);
-
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->addLayout(contents_layout);
-  main_layout->addWidget(buttonBox);
-
-  for (auto it = can->can_msgs.cbegin(); it != can->can_msgs.cend(); ++it) {
-    if (auto m = dbc()->msg(it.key())) {
-      msgs_combo->addItem(QString("%1 (%2)").arg(m->name).arg(it.key()), it.key());
-    }
-  }
-  msgs_combo->model()->sort(0);
-
-  QObject::connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  QObject::connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
-  QObject::connect(msgs_combo, SIGNAL(currentIndexChanged(int)), SLOT(msgSelected(int)));
-  QObject::connect(sig_list, &QListWidget::itemDoubleClicked, this, &SeriesSelector::addSignal);
-  QObject::connect(chart_series, &QListWidget::itemDoubleClicked, [](QListWidgetItem *item) { delete item; });
-
-  if (int index = msgs_combo->currentIndex(); index >= 0) {
-    msgSelected(index);
-  }
-}
-
-void SeriesSelector::msgSelected(int index) {
-  QString msg_id = msgs_combo->itemData(index).toString();
-  sig_list->clear();
-  if (auto m = dbc()->msg(msg_id)) {
-    for (auto &[name, s] : m->sigs) {
-      QStringList data({msg_id, m->name, name});
-      QListWidgetItem *item = new QListWidgetItem(name, sig_list);
-      item->setData(Qt::UserRole, data);
-      sig_list->addItem(item);
-    }
-  }
-}
-
-void SeriesSelector::addSignal(QListWidgetItem *item) {
-  QStringList data = item->data(Qt::UserRole).toStringList();
-  addSeries(data[0], data[1], data[2]);
-}
-
-void SeriesSelector::addSeries(const QString &id, const QString& msg_name, const QString &sig_name) {
-  QStringList data({id, msg_name, sig_name});
-  for (int i = 0; i < chart_series->count(); ++i) {
-    if (chart_series->item(i)->data(Qt::UserRole).toStringList() == data) {
-      return;
-    }
-  }
-  QListWidgetItem *new_item = new QListWidgetItem(chart_series);
-  new_item->setData(Qt::UserRole, data);
-  chart_series->addItem(new_item);
-  QLabel *label = new QLabel(QString("%0 <font color=\"gray\">%1 %2</font>").arg(data[2]).arg(data[1]).arg(data[0]), chart_series);
-  label->setContentsMargins(5, 0, 5, 0);
-  new_item->setSizeHint(label->sizeHint());
-  chart_series->setItemWidget(new_item, label);
-}
-
-QList<QStringList> SeriesSelector::series() {
-  QList<QStringList> ret;
-  for (int i = 0; i < chart_series->count(); ++i) {
-    ret.push_back(chart_series->item(i)->data(Qt::UserRole).toStringList());
-  }
-  return ret;
-}
diff --git a/tools/cabana/chartswidget.h b/tools/cabana/chartswidget.h
deleted file mode 100644
index 3e3277c5b8..0000000000
--- a/tools/cabana/chartswidget.h
+++ /dev/null
@@ -1,139 +0,0 @@
-#pragma once
-
-#include <QComboBox>
-#include <QDialogButtonBox>
-#include <QLabel>
-#include <QListWidget>
-#include <QGraphicsEllipseItem>
-#include <QGraphicsLineItem>
-#include <QGraphicsProxyWidget>
-#include <QGraphicsTextItem>
-#include <QVBoxLayout>
-#include <QtCharts/QChartView>
-#include <QtCharts/QLineSeries>
-#include <QtCharts/QValueAxis>
-
-#include "tools/cabana/canmessages.h"
-#include "tools/cabana/dbcmanager.h"
-
-using namespace QtCharts;
-
-class ChartView : public QChartView {
-  Q_OBJECT
-
-public:
-  ChartView(QWidget *parent = nullptr);
-  ~ChartView();
-  void addSeries(const QString &msg_id, const Signal *sig);
-  void removeSeries(const QString &msg_id, const Signal *sig);
-  bool hasSeries(const QString &msg_id, const Signal *sig) const;
-  void updateSeries(const Signal *sig = nullptr);
-  void setEventsRange(const std::pair<double, double> &range);
-  void setDisplayRange(double min, double max);
-
-  struct SigItem {
-    QString msg_id;
-    uint8_t source = 0;
-    uint32_t address = 0;
-    const Signal *sig = nullptr;
-    QLineSeries *series = nullptr;
-    double min_y = 0;
-    double max_y = 0;
-    QVector<QPointF> vals;
-  };
-
-signals:
-  void seriesRemoved(const QString &id, const Signal *sig);
-  void zoomIn(double min, double max);
-  void zoomReset();
-  void remove();
-
-private slots:
-  void msgRemoved(uint32_t address);
-  void msgUpdated(uint32_t address);
-  void signalUpdated(const Signal *sig);
-  void signalRemoved(const Signal *sig);
-  void manageSeries();
-
-private:
-  QList<ChartView::SigItem>::iterator removeSeries(const QList<ChartView::SigItem>::iterator &it);
-  void mouseReleaseEvent(QMouseEvent *event) override;
-  void mouseMoveEvent(QMouseEvent *ev) override;
-  void leaveEvent(QEvent *event) override;
-  void resizeEvent(QResizeEvent *event) override;
-  void adjustChartMargins();
-  void updateAxisY();
-  void updateTitle();
-  void updateFromSettings();
-  void drawForeground(QPainter *painter, const QRectF &rect) override;
-
-  QValueAxis *axis_x;
-  QValueAxis *axis_y;
-  QGraphicsItemGroup *item_group;
-  QGraphicsLineItem *track_line;
-  QGraphicsEllipseItem *track_ellipse;
-  QGraphicsTextItem *value_text;
-  QGraphicsProxyWidget *close_btn_proxy;
-  QGraphicsProxyWidget *manage_btn_proxy;
-  std::pair<double, double> events_range = {0, 0};
-  QList<SigItem> sigs;
- };
-
-class ChartsWidget : public QWidget {
-  Q_OBJECT
-
-public:
-  ChartsWidget(QWidget *parent = nullptr);
-  void showChart(const QString &id, const Signal *sig, bool show, bool merge);
-  void removeChart(ChartView *chart);
-  inline bool isChartOpened(const QString &id, const Signal *sig) { return findChart(id, sig) != nullptr; }
-
-signals:
-  void dock(bool floating);
-  void rangeChanged(double min, double max, bool is_zommed);
-  void chartOpened(const QString &id, const Signal *sig);
-  void chartClosed(const QString &id, const Signal *sig);
-
-private:
-  void eventsMerged();
-  void updateState();
-  void updateDisplayRange();
-  void zoomIn(double min, double max);
-  void zoomReset();
-  void updateToolBar();
-  void removeAll();
-  bool eventFilter(QObject *obj, QEvent *event) override;
-  ChartView *findChart(const QString &id, const Signal *sig);
-
-  QLabel *title_label;
-  QLabel *range_label;
-  bool docking = true;
-  QAction *dock_btn;
-  QAction *reset_zoom_btn;
-  QAction *remove_all_btn;
-  QVBoxLayout *charts_layout;
-  QList<ChartView *> charts;
-  bool is_zoomed = false;
-  std::pair<double, double> event_range;
-  std::pair<double, double> display_range;
-  std::pair<double, double> zoomed_range;
-  bool use_dark_theme = false;
-};
-
-class SeriesSelector : public QDialog {
-  Q_OBJECT
-
-public:
-  SeriesSelector(QWidget *parent);
-  void addSeries(const QString &id, const QString& msg_name, const QString &sig_name);
-  QList<QStringList> series();
-
-private slots:
-  void msgSelected(int index);
-  void addSignal(QListWidgetItem *item);
-
-private:
-  QComboBox *msgs_combo;
-  QListWidget *sig_list;
-  QListWidget *chart_series;
-};
diff --git a/tools/cabana/commands.cc b/tools/cabana/commands.cc
index b3f5cb1c66..cf48abb4c9 100644
--- a/tools/cabana/commands.cc
+++ b/tools/cabana/commands.cc
@@ -1,41 +1,46 @@
+#include <QApplication>
+
 #include "tools/cabana/commands.h"
 
 // EditMsgCommand
 
-EditMsgCommand::EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent)
-    : id(id), new_title(title), new_size(size), QUndoCommand(parent) {
+EditMsgCommand::EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent)
+    : id(id), new_name(name), new_size(size), new_comment(comment), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
-    old_title = msg->name;
+    old_name = msg->name;
     old_size = msg->size;
+    old_comment = msg->comment;
+    setText(QObject::tr("edit message %1:%2").arg(name).arg(id.address));
+  } else {
+    setText(QObject::tr("new message %1:%2").arg(name).arg(id.address));
   }
-  setText(QObject::tr("Edit message %1:%2").arg(DBCManager::parseId(id).second).arg(title));
 }
 
 void EditMsgCommand::undo() {
-  if (old_title.isEmpty())
+  if (old_name.isEmpty())
     dbc()->removeMsg(id);
   else
-    dbc()->updateMsg(id, old_title, old_size);
+    dbc()->updateMsg(id, old_name, old_size, old_comment);
 }
 
 void EditMsgCommand::redo() {
-  dbc()->updateMsg(id, new_title, new_size);
+  dbc()->updateMsg(id, new_name, new_size, new_comment);
 }
 
 // RemoveMsgCommand
 
-RemoveMsgCommand::RemoveMsgCommand(const QString &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
+RemoveMsgCommand::RemoveMsgCommand(const MessageId &id, QUndoCommand *parent) : id(id), QUndoCommand(parent) {
   if (auto msg = dbc()->msg(id)) {
     message = *msg;
-    setText(QObject::tr("Remove message %1:%2").arg(DBCManager::parseId(id).second).arg(message.name));
+    setText(QObject::tr("remove message %1:%2").arg(message.name).arg(id.address));
   }
 }
 
 void RemoveMsgCommand::undo() {
   if (!message.name.isEmpty()) {
-    dbc()->updateMsg(id, message.name, message.size);
-    for (auto &[name, s] : message.sigs)
-      dbc()->addSignal(id, s);
+    dbc()->updateMsg(id, message.name, message.size, message.comment);
+    for (auto s : message.getSignals())
+      dbc()->addSignal(id, *s);
   }
 }
 
@@ -46,30 +51,72 @@ void RemoveMsgCommand::redo() {
 
 // AddSigCommand
 
-AddSigCommand::AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent)
+AddSigCommand::AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent)
     : id(id), signal(sig), QUndoCommand(parent) {
-  setText(QObject::tr("Add signal %1 to %2").arg(sig.name.c_str()).arg(DBCManager::parseId(id).second));
+  setText(QObject::tr("add signal %1 to %2:%3").arg(sig.name).arg(msgName(id)).arg(id.address));
+}
+
+void AddSigCommand::undo() {
+  dbc()->removeSignal(id, signal.name);
+  if (msg_created) dbc()->removeMsg(id);
 }
 
-void AddSigCommand::undo() { dbc()->removeSignal(id, signal.name.c_str()); }
-void AddSigCommand::redo() { dbc()->addSignal(id, signal); }
+void AddSigCommand::redo() {
+  if (auto msg = dbc()->msg(id); !msg) {
+    msg_created = true;
+    dbc()->updateMsg(id, dbc()->newMsgName(id), can->lastMessage(id).dat.size(), "");
+  }
+  signal.name = dbc()->newSignalName(id);
+  signal.max = std::pow(2, signal.size) - 1;
+  dbc()->addSignal(id, signal);
+}
 
 // RemoveSigCommand
 
-RemoveSigCommand::RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent)
-    : id(id), signal(*sig), QUndoCommand(parent) {
-  setText(QObject::tr("Remove signal %1 from %2").arg(signal.name.c_str()).arg(DBCManager::parseId(id).second));
+RemoveSigCommand::RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent)
+    : id(id), QUndoCommand(parent) {
+  sigs.push_back(*sig);
+  if (sig->type == cabana::Signal::Type::Multiplexor) {
+    for (const auto &s : dbc()->msg(id)->sigs) {
+      if (s->type == cabana::Signal::Type::Multiplexed) {
+        sigs.push_back(*s);
+      }
+    }
+  }
+  setText(QObject::tr("remove signal %1 from %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
 }
 
-void RemoveSigCommand::undo() { dbc()->addSignal(id, signal); }
-void RemoveSigCommand::redo() { dbc()->removeSignal(id, signal.name.c_str()); }
+void RemoveSigCommand::undo() { for (const auto &s : sigs) dbc()->addSignal(id, s); }
+void RemoveSigCommand::redo() { for (const auto &s : sigs) dbc()->removeSignal(id, s.name); }
 
 // EditSignalCommand
 
-EditSignalCommand::EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent)
-    : id(id), old_signal(*sig), new_signal(new_sig), QUndoCommand(parent) {
-  setText(QObject::tr("Edit signal %1").arg(old_signal.name.c_str()));
+EditSignalCommand::EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent)
+    : id(id), QUndoCommand(parent) {
+  sigs.push_back({*sig, new_sig});
+  if (sig->type == cabana::Signal::Type::Multiplexor && new_sig.type == cabana::Signal::Type::Normal) {
+    // convert all multiplexed signals to normal signals
+    auto msg = dbc()->msg(id);
+    assert(msg);
+    for (const auto &s : msg->sigs) {
+      if (s->type == cabana::Signal::Type::Multiplexed) {
+        auto new_s = *s;
+        new_s.type = cabana::Signal::Type::Normal;
+        sigs.push_back({*s, new_s});
+      }
+    }
+  }
+  setText(QObject::tr("edit signal %1 in %2:%3").arg(sig->name).arg(msgName(id)).arg(id.address));
+}
+
+void EditSignalCommand::undo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.second.name, s.first); }
+void EditSignalCommand::redo() { for (const auto &s : sigs) dbc()->updateSignal(id, s.first.name, s.second); }
+
+namespace UndoStack {
+
+QUndoStack *instance() {
+  static QUndoStack *undo_stack = new QUndoStack(qApp);
+  return undo_stack;
 }
 
-void EditSignalCommand::undo() { dbc()->updateSignal(id, new_signal.name.c_str(), old_signal); }
-void EditSignalCommand::redo() { dbc()->updateSignal(id, old_signal.name.c_str(), new_signal); }
+}  // namespace UndoStack
diff --git a/tools/cabana/commands.h b/tools/cabana/commands.h
index 7ea1f66653..c7f59c4c7f 100644
--- a/tools/cabana/commands.h
+++ b/tools/cabana/commands.h
@@ -1,63 +1,71 @@
 #pragma once
 
+#include <utility>
+
 #include <QUndoCommand>
+#include <QUndoStack>
 
-#include "tools/cabana/canmessages.h"
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class EditMsgCommand : public QUndoCommand {
 public:
-  EditMsgCommand(const QString &id, const QString &title, int size, QUndoCommand *parent = nullptr);
+  EditMsgCommand(const MessageId &id, const QString &name, int size, const QString &comment, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
-  const QString id;
-  QString old_title, new_title;
+  const MessageId id;
+  QString old_name, new_name, old_comment, new_comment;
   int old_size = 0, new_size = 0;
 };
 
 class RemoveMsgCommand : public QUndoCommand {
 public:
-  RemoveMsgCommand(const QString &id, QUndoCommand *parent = nullptr);
+  RemoveMsgCommand(const MessageId &id, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
-  const QString id;
-  DBCMsg message;
+  const MessageId id;
+  cabana::Msg message;
 };
 
 class AddSigCommand : public QUndoCommand {
 public:
-  AddSigCommand(const QString &id, const Signal &sig, QUndoCommand *parent = nullptr);
+  AddSigCommand(const MessageId &id, const cabana::Signal &sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
-  const QString id;
-  Signal signal = {};
+  const MessageId id;
+  bool msg_created = false;
+  cabana::Signal signal = {};
 };
 
 class RemoveSigCommand : public QUndoCommand {
 public:
-  RemoveSigCommand(const QString &id, const Signal *sig, QUndoCommand *parent = nullptr);
+  RemoveSigCommand(const MessageId &id, const cabana::Signal *sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
-  const QString id;
-  Signal signal = {};
+  const MessageId id;
+  QList<cabana::Signal> sigs;
 };
 
 class EditSignalCommand : public QUndoCommand {
 public:
-  EditSignalCommand(const QString &id, const Signal *sig, const Signal &new_sig, QUndoCommand *parent = nullptr);
+  EditSignalCommand(const MessageId &id, const cabana::Signal *sig, const cabana::Signal &new_sig, QUndoCommand *parent = nullptr);
   void undo() override;
   void redo() override;
 
 private:
-  const QString id;
-  Signal old_signal = {};
-  Signal new_signal = {};
+  const MessageId id;
+  QList<std::pair<cabana::Signal, cabana::Signal>> sigs; // QList<{old_sig, new_sig}>
+};
+
+namespace UndoStack {
+  QUndoStack *instance();
+  inline void push(QUndoCommand *cmd) { instance()->push(cmd); }
 };
diff --git a/tools/cabana/dbc/dbc.cc b/tools/cabana/dbc/dbc.cc
new file mode 100644
index 0000000000..537749e48d
--- /dev/null
+++ b/tools/cabana/dbc/dbc.cc
@@ -0,0 +1,205 @@
+#include "tools/cabana/dbc/dbc.h"
+
+#include <algorithm>
+
+#include "tools/cabana/util.h"
+
+uint qHash(const MessageId &item) {
+  return qHash(item.source) ^ qHash(item.address);
+}
+
+// cabana::Msg
+
+cabana::Msg::~Msg() {
+  for (auto s : sigs) {
+    delete s;
+  }
+}
+
+cabana::Signal *cabana::Msg::addSignal(const cabana::Signal &sig) {
+  auto s = sigs.emplace_back(new cabana::Signal(sig));
+  update();
+  return s;
+}
+
+cabana::Signal *cabana::Msg::updateSignal(const QString &sig_name, const cabana::Signal &new_sig) {
+  auto s = sig(sig_name);
+  if (s) {
+    *s = new_sig;
+    update();
+  }
+  return s;
+}
+
+void cabana::Msg::removeSignal(const QString &sig_name) {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
+  if (it != sigs.end()) {
+    delete *it;
+    sigs.erase(it);
+    update();
+  }
+}
+
+cabana::Msg &cabana::Msg::operator=(const cabana::Msg &other) {
+  address = other.address;
+  name = other.name;
+  size = other.size;
+  comment = other.comment;
+
+  for (auto s : sigs) delete s;
+  sigs.clear();
+  for (auto s : other.sigs) {
+    sigs.push_back(new cabana::Signal(*s));
+  }
+
+  update();
+  return *this;
+}
+
+cabana::Signal *cabana::Msg::sig(const QString &sig_name) const {
+  auto it = std::find_if(sigs.begin(), sigs.end(), [&](auto &s) { return s->name == sig_name; });
+  return it != sigs.end() ? *it : nullptr;
+}
+
+int cabana::Msg::indexOf(const cabana::Signal *sig) const {
+  for (int i = 0; i < sigs.size(); ++i) {
+    if (sigs[i] == sig) return i;
+  }
+  return -1;
+}
+
+QString cabana::Msg::newSignalName() {
+  QString new_name;
+  for (int i = 1; /**/; ++i) {
+    new_name = QString("NEW_SIGNAL_%1").arg(i);
+    if (sig(new_name) == nullptr) break;
+  }
+  return new_name;
+}
+
+void cabana::Msg::update() {
+  mask.assign(size, 0x00);
+  multiplexor = nullptr;
+
+  // sort signals
+  std::sort(sigs.begin(), sigs.end(), [](auto l, auto r) {
+    return std::tie(r->type, l->multiplex_value, l->start_bit, l->name) <
+           std::tie(l->type, r->multiplex_value, r->start_bit, r->name);
+  });
+
+  for (auto sig : sigs) {
+    if (sig->type == cabana::Signal::Type::Multiplexor) {
+      multiplexor = sig;
+    }
+    sig->update();
+
+    // update mask
+    int i = sig->msb / 8;
+    int bits = sig->size;
+    while (i >= 0 && i < size && bits > 0) {
+      int lsb = (int)(sig->lsb / 8) == i ? sig->lsb : i * 8;
+      int msb = (int)(sig->msb / 8) == i ? sig->msb : (i + 1) * 8 - 1;
+
+      int sz = msb - lsb + 1;
+      int shift = (lsb - (i * 8));
+
+      mask[i] |= ((1ULL << sz) - 1) << shift;
+
+      bits -= size;
+      i = sig->is_little_endian ? i - 1 : i + 1;
+    }
+  }
+
+  for (auto sig : sigs) {
+    sig->multiplexor = sig->type == cabana::Signal::Type::Multiplexed ? multiplexor : nullptr;
+    if (!sig->multiplexor) {
+      if (sig->type == cabana::Signal::Type::Multiplexed) {
+        sig->type = cabana::Signal::Type::Normal;
+      }
+      sig->multiplex_value = 0;
+    }
+  }
+}
+
+// cabana::Signal
+
+void cabana::Signal::update() {
+  updateMsbLsb(*this);
+
+  float h = 19 * (float)lsb / 64.0;
+  h = fmod(h, 1.0);
+  size_t hash = qHash(name);
+  float s = 0.25 + 0.25 * (float)(hash & 0xff) / 255.0;
+  float v = 0.75 + 0.25 * (float)((hash >> 8) & 0xff) / 255.0;
+
+  color = QColor::fromHsvF(h, s, v);
+  precision = std::max(num_decimals(factor), num_decimals(offset));
+}
+
+QString cabana::Signal::formatValue(double value) const {
+  // Show enum string
+  int64_t raw_value = round((value - offset) / factor);
+  for (const auto &[val, desc] : val_desc) {
+    if (std::abs(raw_value - val) < 1e-6) {
+      return desc;
+    }
+  }
+
+  QString val_str = QString::number(value, 'f', precision);
+  if (!unit.isEmpty()) {
+    val_str += " " + unit;
+  }
+  return val_str;
+}
+
+bool cabana::Signal::getValue(const uint8_t *data, size_t data_size, double *val) const {
+  if (multiplexor && get_raw_value(data, data_size, *multiplexor) != multiplex_value) {
+    return false;
+  }
+  *val = get_raw_value(data, data_size, *this);
+  return true;
+}
+
+bool cabana::Signal::operator==(const cabana::Signal &other) const {
+  return name == other.name && size == other.size &&
+         start_bit == other.start_bit &&
+         msb == other.msb && lsb == other.lsb &&
+         is_signed == other.is_signed && is_little_endian == other.is_little_endian &&
+         factor == other.factor && offset == other.offset &&
+         min == other.min && max == other.max && comment == other.comment && unit == other.unit && val_desc == other.val_desc &&
+         multiplex_value == other.multiplex_value && type == other.type && receiver_name == other.receiver_name;
+}
+
+// helper functions
+
+double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig) {
+  int64_t val = 0;
+
+  int i = sig.msb / 8;
+  int bits = sig.size;
+  while (i >= 0 && i < data_size && bits > 0) {
+    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
+    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
+    int size = msb - lsb + 1;
+
+    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
+    val |= d << (bits - size);
+
+    bits -= size;
+    i = sig.is_little_endian ? i - 1 : i + 1;
+  }
+  if (sig.is_signed) {
+    val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0;
+  }
+  return val * sig.factor + sig.offset;
+}
+
+void updateMsbLsb(cabana::Signal &s) {
+  if (s.is_little_endian) {
+    s.lsb = s.start_bit;
+    s.msb = s.start_bit + s.size - 1;
+  } else {
+    s.lsb = flipBitPos(flipBitPos(s.start_bit) + s.size - 1);
+    s.msb = s.start_bit;
+  }
+}
diff --git a/tools/cabana/dbc/dbc.h b/tools/cabana/dbc/dbc.h
new file mode 100644
index 0000000000..e44bc41abf
--- /dev/null
+++ b/tools/cabana/dbc/dbc.h
@@ -0,0 +1,123 @@
+#pragma once
+
+#include <limits>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <QColor>
+#include <QList>
+#include <QMetaType>
+#include <QString>
+
+#include "opendbc/can/common_dbc.h"
+
+const QString UNTITLED = "untitled";
+
+struct MessageId {
+  uint8_t source = 0;
+  uint32_t address = 0;
+
+  QString toString() const {
+    return QString("%1:%2").arg(source).arg(address, 1, 16);
+  }
+
+  bool operator==(const MessageId &other) const {
+    return source == other.source && address == other.address;
+  }
+
+  bool operator!=(const MessageId &other) const {
+    return !(*this == other);
+  }
+
+  bool operator<(const MessageId &other) const {
+    return std::pair{source, address} < std::pair{other.source, other.address};
+  }
+
+  bool operator>(const MessageId &other) const {
+    return std::pair{source, address} > std::pair{other.source, other.address};
+  }
+};
+
+uint qHash(const MessageId &item);
+Q_DECLARE_METATYPE(MessageId);
+
+template <>
+struct std::hash<MessageId> {
+  std::size_t operator()(const MessageId &k) const noexcept { return qHash(k); }
+};
+
+typedef QList<std::pair<double, QString>> ValueDescription;
+
+namespace cabana {
+
+class Signal {
+public:
+  Signal() = default;
+  Signal(const Signal &other) = default;
+  void update();
+  bool getValue(const uint8_t *data, size_t data_size, double *val) const;
+  QString formatValue(double value) const;
+  bool operator==(const cabana::Signal &other) const;
+  inline bool operator!=(const cabana::Signal &other) const { return !(*this == other); }
+
+  enum class Type {
+    Normal = 0,
+    Multiplexed,
+    Multiplexor
+  };
+
+  Type type = Type::Normal;
+  QString name;
+  int start_bit, msb, lsb, size;
+  double factor = 1.0;
+  double offset = 0;
+  bool is_signed;
+  bool is_little_endian;
+  double min, max;
+  QString unit;
+  QString comment;
+  QString receiver_name;
+  ValueDescription val_desc;
+  int precision = 0;
+  QColor color;
+
+  // Multiplexed
+  int multiplex_value = 0;
+  Signal *multiplexor = nullptr;
+};
+
+class Msg {
+public:
+  Msg() = default;
+  Msg(const Msg &other) { *this = other; }
+  ~Msg();
+  cabana::Signal *addSignal(const cabana::Signal &sig);
+  cabana::Signal *updateSignal(const QString &sig_name, const cabana::Signal &sig);
+  void removeSignal(const QString &sig_name);
+  Msg &operator=(const Msg &other);
+  int indexOf(const cabana::Signal *sig) const;
+  cabana::Signal *sig(const QString &sig_name) const;
+  QString newSignalName();
+  void update();
+  inline const std::vector<cabana::Signal *> &getSignals() const { return sigs; }
+
+  uint32_t address;
+  QString name;
+  uint32_t size;
+  QString comment;
+  QString transmitter;
+  std::vector<cabana::Signal *> sigs;
+
+  std::vector<uint8_t> mask;
+  cabana::Signal *multiplexor = nullptr;
+};
+
+}  // namespace cabana
+
+// Helper functions
+double get_raw_value(const uint8_t *data, size_t data_size, const cabana::Signal &sig);
+void updateMsbLsb(cabana::Signal &s);
+inline int flipBitPos(int start_bit) { return 8 * (start_bit / 8) + 7 - start_bit % 8; }
+inline std::vector<std::string> allDBCNames() { return get_dbc_names(); }
+inline QString doubleToString(double value) { return QString::number(value, 'g', std::numeric_limits<double>::digits10); }
diff --git a/tools/cabana/dbc/dbcfile.cc b/tools/cabana/dbc/dbcfile.cc
new file mode 100644
index 0000000000..2f93c1543e
--- /dev/null
+++ b/tools/cabana/dbc/dbcfile.cc
@@ -0,0 +1,239 @@
+#include "tools/cabana/dbc/dbcfile.h"
+
+#include <QFile>
+#include <QFileInfo>
+#include <QRegularExpression>
+#include <QTextStream>
+#include <numeric>
+#include <sstream>
+
+DBCFile::DBCFile(const QString &dbc_file_name, QObject *parent) : QObject(parent) {
+  QFile file(dbc_file_name);
+  if (file.open(QIODevice::ReadOnly)) {
+    name_ = QFileInfo(dbc_file_name).baseName();
+    filename = dbc_file_name;
+    // Remove auto save file extension
+    if (dbc_file_name.endsWith(AUTO_SAVE_EXTENSION)) {
+      filename.chop(AUTO_SAVE_EXTENSION.length());
+    }
+    parse(file.readAll());
+  } else {
+    throw std::runtime_error("Failed to open file.");
+  }
+}
+
+DBCFile::DBCFile(const QString &name, const QString &content, QObject *parent) : QObject(parent), name_(name), filename("") {
+  // Open from clipboard
+  parse(content);
+}
+
+bool DBCFile::save() {
+  assert(!filename.isEmpty());
+  if (writeContents(filename)) {
+    cleanupAutoSaveFile();
+    return true;
+  }
+  return false;
+}
+
+bool DBCFile::saveAs(const QString &new_filename) {
+  filename = new_filename;
+  return save();
+}
+
+bool DBCFile::autoSave() {
+  return !filename.isEmpty() && writeContents(filename + AUTO_SAVE_EXTENSION);
+}
+
+void DBCFile::cleanupAutoSaveFile() {
+  if (!filename.isEmpty()) {
+    QFile::remove(filename + AUTO_SAVE_EXTENSION);
+  }
+}
+
+bool DBCFile::writeContents(const QString &fn) {
+  QFile file(fn);
+  if (file.open(QIODevice::WriteOnly)) {
+    file.write(generateDBC().toUtf8());
+    return true;
+  }
+  return false;
+}
+
+void DBCFile::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+  auto &m = msgs[id.address];
+  m.address = id.address;
+  m.name = name;
+  m.size = size;
+  m.comment = comment;
+}
+
+cabana::Msg *DBCFile::msg(uint32_t address) {
+  auto it = msgs.find(address);
+  return it != msgs.end() ? &it->second : nullptr;
+}
+
+cabana::Msg *DBCFile::msg(const QString &name) {
+  auto it = std::find_if(msgs.begin(), msgs.end(), [&name](auto &m) { return m.second.name == name; });
+  return it != msgs.end() ? &(it->second) : nullptr;
+}
+
+int DBCFile::signalCount() {
+  return std::accumulate(msgs.cbegin(), msgs.cend(), 0, [](int &n, const auto &m) { return n + m.second.sigs.size(); });
+}
+
+void DBCFile::parse(const QString &content) {
+  static QRegularExpression bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
+  static QRegularExpression sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+  static QRegularExpression sgm_regexp(R"(^SG_ (\w+) (\w+) *: (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
+  static QRegularExpression msg_comment_regexp(R"(^CM_ BO_ *(\w+) *\"([^"]*)\"\s*;)");
+  static QRegularExpression sg_comment_regexp(R"(^CM_ SG_ *(\w+) *(\w+) *\"([^"]*)\"\s*;)");
+  static QRegularExpression val_regexp(R"(VAL_ (\w+) (\w+) (\s*[-+]?[0-9]+\s+\".+?\"[^;]*))");
+
+  int line_num = 0;
+  QString line;
+  auto dbc_assert = [&line_num, &line, this](bool condition, const QString &msg = "") {
+    if (!condition) throw std::runtime_error(QString("[%1:%2]%3: %4").arg(filename).arg(line_num).arg(msg).arg(line).toStdString());
+  };
+  auto get_sig = [this](uint32_t address, const QString &name) -> cabana::Signal * {
+    auto m = (cabana::Msg *)msg(address);
+    return m ? (cabana::Signal *)m->sig(name) : nullptr;
+  };
+
+  msgs.clear();
+  QTextStream stream((QString *)&content);
+  cabana::Msg *current_msg = nullptr;
+  int multiplexor_cnt = 0;
+  while (!stream.atEnd()) {
+    ++line_num;
+    line = stream.readLine().trimmed();
+    if (line.startsWith("BO_ ")) {
+      multiplexor_cnt = 0;
+      auto match = bo_regexp.match(line);
+      dbc_assert(match.hasMatch());
+      auto address = match.captured(1).toUInt();
+      dbc_assert(msgs.count(address) == 0, QString("Duplicate message address: %1").arg(address));
+      current_msg = &msgs[address];
+      current_msg->address = address;
+      current_msg->name = match.captured(2);
+      current_msg->size = match.captured(3).toULong();
+      current_msg->transmitter = match.captured(4).trimmed();
+    } else if (line.startsWith("SG_ ")) {
+      int offset = 0;
+      auto match = sg_regexp.match(line);
+      if (!match.hasMatch()) {
+        match = sgm_regexp.match(line);
+        offset = 1;
+      }
+      dbc_assert(match.hasMatch());
+      dbc_assert(current_msg, "No Message");
+      auto name = match.captured(1);
+      dbc_assert(current_msg->sig(name) == nullptr, "Duplicate signal name");
+      cabana::Signal s{};
+      if (offset == 1) {
+        auto indicator = match.captured(2);
+        if (indicator == "M") {
+          // Only one signal within a single message can be the multiplexer switch.
+          dbc_assert(++multiplexor_cnt < 2, "Multiple multiplexor");
+          s.type = cabana::Signal::Type::Multiplexor;
+        } else {
+          s.type = cabana::Signal::Type::Multiplexed;
+          s.multiplex_value = indicator.mid(1).toInt();
+        }
+      }
+      s.name = name;
+      s.start_bit = match.captured(offset + 2).toInt();
+      s.size = match.captured(offset + 3).toInt();
+      s.is_little_endian = match.captured(offset + 4).toInt() == 1;
+      s.is_signed = match.captured(offset + 5) == "-";
+      s.factor = match.captured(offset + 6).toDouble();
+      s.offset = match.captured(offset + 7).toDouble();
+      s.min = match.captured(8 + offset).toDouble();
+      s.max = match.captured(9 + offset).toDouble();
+      s.unit = match.captured(10 + offset);
+      s.receiver_name = match.captured(11 + offset).trimmed();
+
+      current_msg->sigs.push_back(new cabana::Signal(s));
+    } else if (line.startsWith("VAL_ ")) {
+      auto match = val_regexp.match(line);
+      dbc_assert(match.hasMatch());
+      if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
+        QStringList desc_list = match.captured(3).trimmed().split('"');
+        for (int i = 0; i < desc_list.size(); i += 2) {
+          auto val = desc_list[i].trimmed();
+          if (!val.isEmpty() && (i + 1) < desc_list.size()) {
+            auto desc = desc_list[i + 1].trimmed();
+            s->val_desc.push_back({val.toDouble(), desc});
+          }
+        }
+      }
+    } else if (line.startsWith("CM_ BO_")) {
+      if (!line.endsWith("\";")) {
+        int pos = stream.pos() - line.length() - 1;
+        line = content.mid(pos, content.indexOf("\";", pos));
+      }
+      auto match = msg_comment_regexp.match(line);
+      dbc_assert(match.hasMatch());
+      if (auto m = (cabana::Msg *)msg(match.captured(1).toUInt())) {
+        m->comment = match.captured(2).trimmed();
+      }
+    } else if (line.startsWith("CM_ SG_ ")) {
+      if (!line.endsWith("\";")) {
+        int pos = stream.pos() - line.length() - 1;
+        line = content.mid(pos, content.indexOf("\";", pos));
+      }
+      auto match = sg_comment_regexp.match(line);
+      dbc_assert(match.hasMatch());
+      if (auto s = get_sig(match.captured(1).toUInt(), match.captured(2))) {
+        s->comment = match.captured(3).trimmed();
+      }
+    }
+  }
+
+  for (auto &[_, m] : msgs) {
+    m.update();
+  }
+}
+
+QString DBCFile::generateDBC() {
+  QString dbc_string, signal_comment, message_comment, val_desc;
+  for (const auto &[address, m] : msgs) {
+    dbc_string += QString("BO_ %1 %2: %3 %4\n").arg(address).arg(m.name).arg(m.size).arg(m.transmitter.isEmpty() ? "XXX" : m.transmitter);
+    if (!m.comment.isEmpty()) {
+      message_comment += QString("CM_ BO_ %1 \"%2\";\n").arg(address).arg(m.comment);
+    }
+    for (auto sig : m.getSignals()) {
+      QString multiplexer_indicator;
+      if (sig->type == cabana::Signal::Type::Multiplexor) {
+        multiplexer_indicator = "M ";
+      } else if (sig->type == cabana::Signal::Type::Multiplexed) {
+        multiplexer_indicator = QString("m%1 ").arg(sig->multiplex_value);
+      }
+      dbc_string += QString(" SG_ %1 %2: %3|%4@%5%6 (%7,%8) [%9|%10] \"%11\" %12\n")
+                        .arg(sig->name)
+                        .arg(multiplexer_indicator)
+                        .arg(sig->start_bit)
+                        .arg(sig->size)
+                        .arg(sig->is_little_endian ? '1' : '0')
+                        .arg(sig->is_signed ? '-' : '+')
+                        .arg(doubleToString(sig->factor))
+                        .arg(doubleToString(sig->offset))
+                        .arg(doubleToString(sig->min))
+                        .arg(doubleToString(sig->max))
+                        .arg(sig->unit)
+                        .arg(sig->receiver_name.isEmpty() ? "XXX" : sig->receiver_name);
+      if (!sig->comment.isEmpty()) {
+        signal_comment += QString("CM_ SG_ %1 %2 \"%3\";\n").arg(address).arg(sig->name).arg(sig->comment);
+      }
+      if (!sig->val_desc.isEmpty()) {
+        QStringList text;
+        for (auto &[val, desc] : sig->val_desc) {
+          text << QString("%1 \"%2\"").arg(val).arg(desc);
+        }
+        val_desc += QString("VAL_ %1 %2 %3;\n").arg(address).arg(sig->name).arg(text.join(" "));
+      }
+    }
+    dbc_string += "\n";
+  }
+  return dbc_string + message_comment + signal_comment + val_desc;
+}
diff --git a/tools/cabana/dbc/dbcfile.h b/tools/cabana/dbc/dbcfile.h
new file mode 100644
index 0000000000..78a73d58e4
--- /dev/null
+++ b/tools/cabana/dbc/dbcfile.h
@@ -0,0 +1,44 @@
+#pragma once
+
+#include <map>
+#include <QObject>
+
+#include "tools/cabana/dbc/dbc.h"
+
+const QString AUTO_SAVE_EXTENSION = ".tmp";
+
+class DBCFile : public QObject {
+  Q_OBJECT
+
+public:
+  DBCFile(const QString &dbc_file_name, QObject *parent=nullptr);
+  DBCFile(const QString &name, const QString &content, QObject *parent=nullptr);
+  ~DBCFile() {}
+
+  bool save();
+  bool saveAs(const QString &new_filename);
+  bool autoSave();
+  bool writeContents(const QString &fn);
+  void cleanupAutoSaveFile();
+  QString generateDBC();
+
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  inline void removeMsg(const MessageId &id) { msgs.erase(id.address); }
+
+  inline const std::map<uint32_t, cabana::Msg> &getMessages() const { return msgs; }
+  cabana::Msg *msg(uint32_t address);
+  cabana::Msg *msg(const QString &name);
+  inline cabana::Msg *msg(const MessageId &id) { return msg(id.address); }
+
+  int signalCount();
+  inline int msgCount() { return msgs.size(); }
+  inline QString name() { return name_.isEmpty() ? "untitled" : name_; }
+  inline bool isEmpty() { return (signalCount() == 0) && name_.isEmpty(); }
+
+  QString filename;
+
+private:
+  void parse(const QString &content);
+  std::map<uint32_t, cabana::Msg> msgs;
+  QString name_;
+};
diff --git a/tools/cabana/dbc/dbcmanager.cc b/tools/cabana/dbc/dbcmanager.cc
new file mode 100644
index 0000000000..5736ac1e89
--- /dev/null
+++ b/tools/cabana/dbc/dbcmanager.cc
@@ -0,0 +1,195 @@
+#include "tools/cabana/dbc/dbcmanager.h"
+
+#include <algorithm>
+#include <numeric>
+
+bool DBCManager::open(const SourceSet &sources, const QString &dbc_file_name, QString *error) {
+  try {
+    auto it = std::find_if(dbc_files.begin(), dbc_files.end(),
+                           [&](auto &f) { return f.second && f.second->filename == dbc_file_name; });
+    auto file = (it != dbc_files.end()) ? it->second : std::make_shared<DBCFile>(dbc_file_name, this);
+    for (auto s : sources) {
+      dbc_files[s] = file;
+    }
+  } catch (std::exception &e) {
+    if (error) *error = e.what();
+    return false;
+  }
+
+  emit DBCFileChanged();
+  return true;
+}
+
+bool DBCManager::open(const SourceSet &sources, const QString &name, const QString &content, QString *error) {
+  try {
+    auto file = std::make_shared<DBCFile>(name, content, this);
+    for (auto s : sources) {
+      dbc_files[s] = file;
+    }
+  } catch (std::exception &e) {
+    if (error) *error = e.what();
+    return false;
+  }
+
+  emit DBCFileChanged();
+  return true;
+}
+
+void DBCManager::close(const SourceSet &sources) {
+  for (auto s : sources) {
+    dbc_files[s] = nullptr;
+  }
+  emit DBCFileChanged();
+}
+
+void DBCManager::close(DBCFile *dbc_file) {
+  for (auto &[_, f] : dbc_files) {
+    if (f.get() == dbc_file) f = nullptr;
+  }
+  emit DBCFileChanged();
+}
+
+void DBCManager::closeAll() {
+  dbc_files.clear();
+  emit DBCFileChanged();
+}
+
+void DBCManager::addSignal(const MessageId &id, const cabana::Signal &sig) {
+  if (auto m = msg(id)) {
+    if (auto s = m->addSignal(sig)) {
+      emit signalAdded(id, s);
+      emit maskUpdated();
+    }
+  }
+}
+
+void DBCManager::updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig) {
+  if (auto m = msg(id)) {
+    if (auto s = m->updateSignal(sig_name, sig)) {
+      emit signalUpdated(s);
+      emit maskUpdated();
+    }
+  }
+}
+
+void DBCManager::removeSignal(const MessageId &id, const QString &sig_name) {
+  if (auto m = msg(id)) {
+    if (auto s = m->sig(sig_name)) {
+      emit signalRemoved(s);
+      m->removeSignal(sig_name);
+      emit maskUpdated();
+    }
+  }
+}
+
+void DBCManager::updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment) {
+  auto dbc_file = findDBCFile(id);
+  assert(dbc_file);  // This should be impossible
+  dbc_file->updateMsg(id, name, size, comment);
+  emit msgUpdated(id);
+}
+
+void DBCManager::removeMsg(const MessageId &id) {
+  auto dbc_file = findDBCFile(id);
+  assert(dbc_file);  // This should be impossible
+  dbc_file->removeMsg(id);
+  emit msgRemoved(id);
+  emit maskUpdated();
+}
+
+QString DBCManager::newMsgName(const MessageId &id) {
+  return QString("NEW_MSG_") + QString::number(id.address, 16).toUpper();
+}
+
+QString DBCManager::newSignalName(const MessageId &id) {
+  auto m = msg(id);
+  return m ? m->newSignalName() : "";
+}
+
+const std::vector<uint8_t> &DBCManager::mask(const MessageId &id) {
+  static std::vector<uint8_t> empty_mask;
+  auto m = msg(id);
+  return m ? m->mask : empty_mask;
+}
+
+const std::map<uint32_t, cabana::Msg> &DBCManager::getMessages(uint8_t source) {
+  static std::map<uint32_t, cabana::Msg> empty_msgs;
+  auto dbc_file = findDBCFile(source);
+  return dbc_file ? dbc_file->getMessages() : empty_msgs;
+}
+
+cabana::Msg *DBCManager::msg(const MessageId &id) {
+  auto dbc_file = findDBCFile(id);
+  return dbc_file ? dbc_file->msg(id) : nullptr;
+}
+
+cabana::Msg *DBCManager::msg(uint8_t source, const QString &name) {
+  auto dbc_file = findDBCFile(source);
+  return dbc_file ? dbc_file->msg(name) : nullptr;
+}
+
+QStringList DBCManager::signalNames() {
+  // Used for autocompletion
+  QStringList ret;
+  for (auto &f : allDBCFiles()) {
+    for (auto &[_, m] : f->getMessages()) {
+      for (auto sig : m.getSignals()) {
+        ret << sig->name;
+      }
+    }
+  }
+  ret.sort();
+  ret.removeDuplicates();
+  return ret;
+}
+
+int DBCManager::signalCount(const MessageId &id) {
+  auto m = msg(id);
+  return m ? m->sigs.size() : 0;
+}
+
+int DBCManager::signalCount() {
+  auto files = allDBCFiles();
+  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->signalCount(); });
+}
+
+int DBCManager::msgCount() {
+  auto files = allDBCFiles();
+  return std::accumulate(files.cbegin(), files.cend(), 0, [](int &n, auto &f) { return n + f->msgCount(); });
+}
+
+int DBCManager::dbcCount() {
+  return allDBCFiles().size();
+}
+
+int DBCManager::nonEmptyDBCCount() {
+  auto files = allDBCFiles();
+  return std::count_if(files.cbegin(), files.cend(), [](auto &f) { return !f->isEmpty(); });
+}
+
+DBCFile *DBCManager::findDBCFile(const uint8_t source) {
+  // Find DBC file that matches id.source, fall back to SOURCE_ALL if no specific DBC is found
+  auto it = dbc_files.count(source) ? dbc_files.find(source) : dbc_files.find(-1);
+  return it != dbc_files.end() ? it->second.get() : nullptr;
+}
+
+std::set<DBCFile *> DBCManager::allDBCFiles() {
+  std::set<DBCFile *> files;
+  for (const auto &[_, f] : dbc_files) {
+    if (f) files.insert(f.get());
+  }
+  return files;
+}
+
+const SourceSet DBCManager::sources(const DBCFile *dbc_file) const {
+  SourceSet sources;
+  for (auto &[s, f] : dbc_files) {
+    if (f.get() == dbc_file) sources.insert(s);
+  }
+  return sources;
+}
+
+DBCManager *dbc() {
+  static DBCManager dbc_manager(nullptr);
+  return &dbc_manager;
+}
diff --git a/tools/cabana/dbc/dbcmanager.h b/tools/cabana/dbc/dbcmanager.h
new file mode 100644
index 0000000000..3ac0829487
--- /dev/null
+++ b/tools/cabana/dbc/dbcmanager.h
@@ -0,0 +1,80 @@
+#pragma once
+
+#include <memory>
+#include <map>
+#include <set>
+#include <vector>
+
+#include "tools/cabana/dbc/dbcfile.h"
+
+typedef std::set<int> SourceSet;
+const SourceSet SOURCE_ALL = {-1};
+const int INVALID_SOURCE = 0xff;
+inline bool operator<(const std::shared_ptr<DBCFile> &l, const std::shared_ptr<DBCFile> &r) { return l.get() < r.get(); }
+
+class DBCManager : public QObject {
+  Q_OBJECT
+
+public:
+  DBCManager(QObject *parent) : QObject(parent) {}
+  ~DBCManager() {}
+  bool open(const SourceSet &sources, const QString &dbc_file_name, QString *error = nullptr);
+  bool open(const SourceSet &sources, const QString &name, const QString &content, QString *error = nullptr);
+  void close(const SourceSet &sources);
+  void close(DBCFile *dbc_file);
+  void closeAll();
+
+  void addSignal(const MessageId &id, const cabana::Signal &sig);
+  void updateSignal(const MessageId &id, const QString &sig_name, const cabana::Signal &sig);
+  void removeSignal(const MessageId &id, const QString &sig_name);
+
+  void updateMsg(const MessageId &id, const QString &name, uint32_t size, const QString &comment);
+  void removeMsg(const MessageId &id);
+
+  QString newMsgName(const MessageId &id);
+  QString newSignalName(const MessageId &id);
+  const std::vector<uint8_t>& mask(const MessageId &id);
+
+  const std::map<uint32_t, cabana::Msg> &getMessages(uint8_t source);
+  cabana::Msg *msg(const MessageId &id);
+  cabana::Msg* msg(uint8_t source, const QString &name);
+
+  QStringList signalNames();
+  int signalCount(const MessageId &id);
+  int signalCount();
+  int msgCount();
+  int dbcCount();
+  int nonEmptyDBCCount();
+
+  const SourceSet sources(const DBCFile *dbc_file) const;
+  DBCFile *findDBCFile(const uint8_t source);
+  inline DBCFile *findDBCFile(const MessageId &id) { return findDBCFile(id.source); }
+  std::set<DBCFile *> allDBCFiles();
+
+signals:
+  void signalAdded(MessageId id, const cabana::Signal *sig);
+  void signalRemoved(const cabana::Signal *sig);
+  void signalUpdated(const cabana::Signal *sig);
+  void msgUpdated(MessageId id);
+  void msgRemoved(MessageId id);
+  void DBCFileChanged();
+  void maskUpdated();
+
+private:
+  std::map<int, std::shared_ptr<DBCFile>> dbc_files;
+};
+
+DBCManager *dbc();
+
+inline QString msgName(const MessageId &id) {
+  auto msg = dbc()->msg(id);
+  return msg ? msg->name : UNTITLED;
+}
+
+inline QString toString(const SourceSet &ss) {
+  QStringList ret;
+  for (auto s : ss) {
+    ret << (s == -1 ? QString("all") : QString::number(s));
+  }
+  return ret.join(", ");
+}
diff --git a/tools/cabana/generate_dbc_json.py b/tools/cabana/dbc/generate_dbc_json.py
similarity index 92%
rename from tools/cabana/generate_dbc_json.py
rename to tools/cabana/dbc/generate_dbc_json.py
index cb122e2eb2..da19e27b77 100755
--- a/tools/cabana/generate_dbc_json.py
+++ b/tools/cabana/dbc/generate_dbc_json.py
@@ -2,7 +2,7 @@
 import argparse
 import json
 
-from selfdrive.car.car_helpers import get_interface_attr
+from openpilot.selfdrive.car.car_helpers import get_interface_attr
 
 
 def generate_dbc_json() -> str:
diff --git a/tools/cabana/dbcmanager.cc b/tools/cabana/dbcmanager.cc
deleted file mode 100644
index e7d3ead9c6..0000000000
--- a/tools/cabana/dbcmanager.cc
+++ /dev/null
@@ -1,184 +0,0 @@
-#include "tools/cabana/dbcmanager.h"
-
-#include <limits>
-#include <sstream>
-#include <QVector>
-
-DBCManager::DBCManager(QObject *parent) : QObject(parent) {}
-
-DBCManager::~DBCManager() {}
-
-void DBCManager::open(const QString &dbc_file_name) {
-  dbc = const_cast<DBC *>(dbc_lookup(dbc_file_name.toStdString()));
-  initMsgMap();
-}
-
-void DBCManager::open(const QString &name, const QString &content) {
-  std::istringstream stream(content.toStdString());
-  dbc = const_cast<DBC *>(dbc_parse_from_stream(name.toStdString(), stream));
-  initMsgMap();
-}
-
-void DBCManager::initMsgMap() {
-  msgs.clear();
-  for (auto &msg : dbc->msgs) {
-    auto &m = msgs[msg.address];
-    m.name = msg.name.c_str();
-    m.size = msg.size;
-    for (auto &s : msg.sigs)
-      m.sigs[QString::fromStdString(s.name)] = s;
-  }
-  emit DBCFileChanged();
-}
-
-QString DBCManager::generateDBC() {
-  if (!dbc) return {};
-
-  QString dbc_string;
-  for (auto &[address, m] : msgs) {
-    dbc_string += QString("BO_ %1 %2: %3 XXX\n").arg(address).arg(m.name).arg(m.size);
-    for (auto &[name, sig] : m.sigs) {
-      dbc_string += QString(" SG_ %1 : %2|%3@%4%5 (%6,%7) [0|0] \"\" XXX\n")
-                        .arg(name)
-                        .arg(sig.start_bit)
-                        .arg(sig.size)
-                        .arg(sig.is_little_endian ? '1' : '0')
-                        .arg(sig.is_signed ? '-' : '+')
-                        .arg(sig.factor, 0, 'g', std::numeric_limits<double>::digits10)
-                        .arg(sig.offset, 0, 'g', std::numeric_limits<double>::digits10);
-    }
-    dbc_string += "\n";
-  }
-  return dbc_string;
-}
-
-void DBCManager::updateMsg(const QString &id, const QString &name, uint32_t size) {
-  auto [_, address] = parseId(id);
-  auto &m = msgs[address];
-  m.name = name;
-  m.size = size;
-  emit msgUpdated(address);
-}
-
-void DBCManager::removeMsg(const QString &id) {
-  uint32_t address = parseId(id).second;
-  msgs.erase(address);
-  emit msgRemoved(address);
-}
-
-void DBCManager::addSignal(const QString &id, const Signal &sig) {
-  if (auto m = const_cast<DBCMsg *>(msg(id))) {
-    auto &s = m->sigs[sig.name.c_str()];
-    s = sig;
-    emit signalAdded(&s);
-  }
-}
-
-void DBCManager::updateSignal(const QString &id, const QString &sig_name, const Signal &sig) {
-  if (auto m = const_cast<DBCMsg *>(msg(id))) {
-    // change key name
-    QString new_name = QString::fromStdString(sig.name);
-    auto node = m->sigs.extract(sig_name);
-    node.key() = new_name;
-    auto it = m->sigs.insert(std::move(node));
-    auto &s = m->sigs[new_name];
-    s = sig;
-    emit signalUpdated(&s);
-  }
-}
-
-void DBCManager::removeSignal(const QString &id, const QString &sig_name) {
-  if (auto m = const_cast<DBCMsg *>(msg(id))) {
-    auto it = m->sigs.find(sig_name);
-    if (it != m->sigs.end()) {
-      emit signalRemoved(&(it->second));
-      m->sigs.erase(it);
-    }
-  }
-}
-
-std::pair<uint8_t, uint32_t> DBCManager::parseId(const QString &id) {
-  const auto list = id.split(':');
-  return {list[0].toInt(), list[1].toUInt(nullptr, 16)};
-}
-
-DBCManager *dbc() {
-  static DBCManager dbc_manager(nullptr);
-  return &dbc_manager;
-}
-
-// DBCMsg
-
-std::vector<const Signal*> DBCMsg::getSignals() const {
-  std::vector<const Signal*> ret;
-  for (auto &[name, sig] : sigs) ret.push_back(&sig);
-  std::sort(ret.begin(), ret.end(), [](auto l, auto r) { return l->start_bit < r->start_bit; });
-  return ret;
-}
-
-// helper functions
-
-static QVector<int> BIG_ENDIAN_START_BITS = []() {
-  QVector<int> ret;
-  for (int i = 0; i < 64; i++)
-    for (int j = 7; j >= 0; j--)
-      ret.push_back(j + i * 8);
-  return ret;
-}();
-
-int bigEndianStartBitsIndex(int start_bit) {
-  return BIG_ENDIAN_START_BITS[start_bit];
-}
-
-int bigEndianBitIndex(int index) {
-  return BIG_ENDIAN_START_BITS.indexOf(index);
-}
-
-double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig) {
-  int64_t val = 0;
-
-  int i = sig.msb / 8;
-  int bits = sig.size;
-  while (i >= 0 && i < data_size && bits > 0) {
-    int lsb = (int)(sig.lsb / 8) == i ? sig.lsb : i * 8;
-    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i + 1) * 8 - 1;
-    int size = msb - lsb + 1;
-
-    uint64_t d = (data[i] >> (lsb - (i * 8))) & ((1ULL << size) - 1);
-    val |= d << (bits - size);
-
-    bits -= size;
-    i = sig.is_little_endian ? i - 1 : i + 1;
-  }
-  if (sig.is_signed) {
-    val -= ((val >> (sig.size - 1)) & 0x1) ? (1ULL << sig.size) : 0;
-  }
-  double value = val * sig.factor + sig.offset;
-  return value;
-}
-
-void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size) {
-  s.start_bit = s.is_little_endian ? start_bit : bigEndianBitIndex(start_bit);
-  s.size = size;
-  if (s.is_little_endian) {
-    s.lsb = s.start_bit;
-    s.msb = s.start_bit + s.size - 1;
-  } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
-    s.msb = s.start_bit;
-  }
-}
-
-std::pair<int, int> getSignalRange(const Signal *s) {
-  int from = s->is_little_endian ? s->start_bit : bigEndianBitIndex(s->start_bit);
-  int to = from + s->size - 1;
-  return {from, to};
-}
-
-bool operator==(const Signal &l, const Signal &r) {
-  return l.name == r.name && l.size == r.size &&
-         l.start_bit == r.start_bit &&
-         l.msb == r.msb && l.lsb == r.lsb &&
-         l.is_signed == r.is_signed && l.is_little_endian == r.is_little_endian &&
-         l.factor == r.factor && l.offset == r.offset;
-}
diff --git a/tools/cabana/dbcmanager.h b/tools/cabana/dbcmanager.h
deleted file mode 100644
index c7675121bb..0000000000
--- a/tools/cabana/dbcmanager.h
+++ /dev/null
@@ -1,69 +0,0 @@
-#pragma once
-
-#include <map>
-#include <QObject>
-#include <QString>
-#include "opendbc/can/common_dbc.h"
-
-struct DBCMsg {
-  QString name;
-  uint32_t size;
-  std::map<QString, Signal> sigs;
-  std::vector<const Signal*> getSignals() const;
-};
-
-class DBCManager : public QObject {
-  Q_OBJECT
-
-public:
-  DBCManager(QObject *parent);
-  ~DBCManager();
-
-  void open(const QString &dbc_file_name);
-  void open(const QString &name, const QString &content);
-  QString generateDBC();
-  void addSignal(const QString &id, const Signal &sig);
-  void updateSignal(const QString &id, const QString &sig_name, const Signal &sig);
-  void removeSignal(const QString &id, const QString &sig_name);
-
-  static std::pair<uint8_t, uint32_t> parseId(const QString &id);
-  inline static std::vector<std::string> allDBCNames() { return get_dbc_names(); }
-  inline std::map<uint32_t, DBCMsg> &allMsgs() { return msgs; }
-  inline QString name() const { return dbc ? dbc->name.c_str() : ""; }
-
-  void updateMsg(const QString &id, const QString &name, uint32_t size);
-  void removeMsg(const QString &id);
-  inline const std::map<uint32_t, DBCMsg> &messages() const { return msgs; }
-  inline const DBCMsg *msg(const QString &id) const { return msg(parseId(id).second); }
-  inline const DBCMsg *msg(uint32_t address) const {
-    auto it = msgs.find(address);
-    return it != msgs.end() ? &it->second : nullptr;
-  }
-
-signals:
-  void signalAdded(const Signal *sig);
-  void signalRemoved(const Signal *sig);
-  void signalUpdated(const Signal *sig);
-  void msgUpdated(uint32_t address);
-  void msgRemoved(uint32_t address);
-  void DBCFileChanged();
-
-private:
-  void initMsgMap();
-  DBC *dbc = nullptr;
-  std::map<uint32_t, DBCMsg> msgs;
-};
-
-// TODO: Add helper function in dbc.h
-double get_raw_value(uint8_t *data, size_t data_size, const Signal &sig);
-bool operator==(const Signal &l, const Signal &r);
-inline bool operator!=(const Signal &l, const Signal &r) { return !(l == r); }
-int bigEndianStartBitsIndex(int start_bit);
-int bigEndianBitIndex(int index);
-void updateSigSizeParamsFromRange(Signal &s, int start_bit, int size);
-std::pair<int, int> getSignalRange(const Signal *s);
-DBCManager *dbc();
-inline QString msgName(const QString &id, const char *def = "untitled") {
-  auto msg = dbc()->msg(id);
-  return msg ? msg->name : def;
-}
diff --git a/tools/cabana/detailwidget.cc b/tools/cabana/detailwidget.cc
index cd1057f7e1..2f6e9cbfe8 100644
--- a/tools/cabana/detailwidget.cc
+++ b/tools/cabana/detailwidget.cc
@@ -1,118 +1,87 @@
 #include "tools/cabana/detailwidget.h"
 
-#include <QDialogButtonBox>
 #include <QFormLayout>
 #include <QMenu>
 #include <QMessageBox>
-#include <QScrollBar>
-#include <QTimer>
 
-#include "selfdrive/ui/qt/util.h"
-#include "tools/cabana/canmessages.h"
 #include "tools/cabana/commands.h"
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/mainwin.h"
 
 // DetailWidget
 
 DetailWidget::DetailWidget(ChartsWidget *charts, QWidget *parent) : charts(charts), QWidget(parent) {
-  undo_stack = new QUndoStack(this);
-  setMinimumWidth(500);
-  QWidget *main_widget = new QWidget(this);
-  QVBoxLayout *main_layout = new QVBoxLayout(main_widget);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
 
   // tabbar
-  tabbar = new QTabBar(this);
-  tabbar->setTabsClosable(true);
+  tabbar = new TabBar(this);
   tabbar->setUsesScrollButtons(true);
   tabbar->setAutoHide(true);
   tabbar->setContextMenuPolicy(Qt::CustomContextMenu);
   main_layout->addWidget(tabbar);
 
-  QFrame *title_frame = new QFrame(this);
-  QVBoxLayout *frame_layout = new QVBoxLayout(title_frame);
-  title_frame->setFrameShape(QFrame::StyledPanel);
-
   // message title
-  toolbar = new QToolBar(this);
-  toolbar->addWidget(new QLabel("time:"));
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  title_layout->setContentsMargins(3, 6, 3, 0);
   time_label = new QLabel(this);
-  time_label->setStyleSheet("font-weight:bold");
-  toolbar->addWidget(time_label);
-  name_label = new QLabel(this);
-  name_label->setStyleSheet("font-weight:bold;");
+  time_label->setToolTip(tr("Current time"));
+  time_label->setStyleSheet("QLabel{font-weight:bold;}");
+  title_layout->addWidget(time_label);
+  name_label = new ElidedLabel(this);
+  name_label->setStyleSheet("QLabel{font-weight:bold;}");
   name_label->setAlignment(Qt::AlignCenter);
   name_label->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  toolbar->addWidget(name_label);
-  toolbar->addAction("🖍", this, &DetailWidget::editMsg)->setToolTip(tr("Edit Message"));
-  remove_msg_act = toolbar->addAction("X", this, &DetailWidget::removeMsg);
-  remove_msg_act->setToolTip(tr("Remove Message"));
-  toolbar->setVisible(false);
-  frame_layout->addWidget(toolbar);
+  title_layout->addWidget(name_label);
+  auto edit_btn = new ToolButton("pencil", tr("Edit Message"));
+  title_layout->addWidget(edit_btn);
+  remove_btn = new ToolButton("x-lg", tr("Remove Message"));
+  title_layout->addWidget(remove_btn);
+  main_layout->addLayout(title_layout);
 
   // warning
   warning_widget = new QWidget(this);
   QHBoxLayout *warning_hlayout = new QHBoxLayout(warning_widget);
-  warning_hlayout->setContentsMargins(0, 0, 0, 0);
-  QLabel *warning_icon = new QLabel(this);
-  warning_icon->setPixmap(style()->standardPixmap(QStyle::SP_MessageBoxWarning).scaledToWidth(24, Qt::SmoothTransformation));
-  warning_hlayout->addWidget(warning_icon, 0, Qt::AlignTop);
-  warning_label = new QLabel(this);
-  warning_hlayout->addWidget(warning_label, 1, Qt::AlignLeft);
+  warning_hlayout->addWidget(warning_icon = new QLabel(this), 0, Qt::AlignTop);
+  warning_hlayout->addWidget(warning_label = new QLabel(this), 1, Qt::AlignLeft);
   warning_widget->hide();
-  frame_layout->addWidget(warning_widget);
-  main_layout->addWidget(title_frame);
+  main_layout->addWidget(warning_widget);
 
   // msg widget
-  QWidget *msg_widget = new QWidget(this);
-  QVBoxLayout *msg_layout = new QVBoxLayout(msg_widget);
-  msg_layout->setContentsMargins(0, 0, 0, 0);
-  // binary view
-  binary_view = new BinaryView(this);
-  msg_layout->addWidget(binary_view);
-  // signals
-  signals_layout = new QVBoxLayout();
-  signals_layout->setSpacing(0);
-  msg_layout->addLayout(signals_layout);
-  msg_layout->addStretch(0);
-
-  scroll = new QScrollArea(this);
-  scroll->setFrameShape(QFrame::NoFrame);
-  scroll->setWidget(msg_widget);
-  scroll->setWidgetResizable(true);
-  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
+  splitter = new QSplitter(Qt::Vertical, this);
+  splitter->addWidget(binary_view = new BinaryView(this));
+  splitter->addWidget(signal_view = new SignalView(charts, this));
+  binary_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Minimum);
+  signal_view->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  splitter->setStretchFactor(0, 0);
+  splitter->setStretchFactor(1, 1);
 
   tab_widget = new QTabWidget(this);
+  tab_widget->setStyleSheet("QTabWidget::pane {border: none; margin-bottom: -2px;}");
   tab_widget->setTabPosition(QTabWidget::South);
-  tab_widget->addTab(scroll, "&Msg");
-  history_log = new HistoryLog(this);
-  tab_widget->addTab(history_log, "&Logs");
+  tab_widget->addTab(splitter, utils::icon("file-earmark-ruled"), "&Msg");
+  tab_widget->addTab(history_log = new LogsWidget(this), utils::icon("stopwatch"), "&Logs");
   main_layout->addWidget(tab_widget);
 
-  stacked_layout = new QStackedLayout(this);
-  stacked_layout->addWidget(new WelcomeWidget(this));
-  stacked_layout->addWidget(main_widget);
-
-  QObject::connect(binary_view, &BinaryView::signalClicked, this, &DetailWidget::showForm);
-  QObject::connect(binary_view, &BinaryView::resizeSignal, this, &DetailWidget::resizeSignal);
-  QObject::connect(binary_view, &BinaryView::addSignal, this, &DetailWidget::addSignal);
+  QObject::connect(edit_btn, &QToolButton::clicked, this, &DetailWidget::editMsg);
+  QObject::connect(remove_btn, &QToolButton::clicked, this, &DetailWidget::removeMsg);
+  QObject::connect(binary_view, &BinaryView::signalHovered, signal_view, &SignalView::signalHovered);
+  QObject::connect(binary_view, &BinaryView::signalClicked, [this](const cabana::Signal *s) { signal_view->selectSignal(s, true); });
+  QObject::connect(binary_view, &BinaryView::editSignal, signal_view->model, &SignalModel::saveSignal);
+  QObject::connect(binary_view, &BinaryView::showChart, charts, &ChartsWidget::showChart);
+  QObject::connect(signal_view, &SignalView::showChart, charts, &ChartsWidget::showChart);
+  QObject::connect(signal_view, &SignalView::highlight, binary_view, &BinaryView::highlight);
   QObject::connect(tab_widget, &QTabWidget::currentChanged, [this]() { updateState(); });
-  QObject::connect(can, &CANMessages::msgsReceived, this, &DetailWidget::updateState);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() { dbcMsgChanged(); });
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &DetailWidget::updateState);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &DetailWidget::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &DetailWidget::refresh);
   QObject::connect(tabbar, &QTabBar::customContextMenuRequested, this, &DetailWidget::showTabBarContextMenu);
   QObject::connect(tabbar, &QTabBar::currentChanged, [this](int index) {
-    if (index != -1 && tabbar->tabText(index) != msg_id) {
-      setMessage(tabbar->tabText(index));
+    if (index != -1) {
+      setMessage(tabbar->tabData(index).value<MessageId>());
     }
   });
   QObject::connect(tabbar, &QTabBar::tabCloseRequested, tabbar, &QTabBar::removeTab);
-  QObject::connect(charts, &ChartsWidget::chartOpened, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, true); });
-  QObject::connect(charts, &ChartsWidget::chartClosed, [this](const QString &id, const Signal *sig) { updateChartState(id, sig, false); });
-  QObject::connect(undo_stack, &QUndoStack::indexChanged, [this]() {
-    if (undo_stack->count() > 0)
-      dbcMsgChanged();
-  });
+  QObject::connect(charts, &ChartsWidget::seriesChanged, signal_view, &SignalView::updateChartState);
 }
 
 void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
@@ -123,76 +92,65 @@ void DetailWidget::showTabBarContextMenu(const QPoint &pt) {
     if (menu.exec(tabbar->mapToGlobal(pt))) {
       tabbar->moveTab(index, 0);
       tabbar->setCurrentIndex(0);
-      while (tabbar->count() > 1)
+      while (tabbar->count() > 1) {
         tabbar->removeTab(1);
+      }
     }
   }
 }
 
-void DetailWidget::setMessage(const QString &message_id) {
-  msg_id = message_id;
+void DetailWidget::setMessage(const MessageId &message_id) {
+  if (std::exchange(msg_id, message_id) == message_id) return;
+
+  tabbar->blockSignals(true);
   int index = tabbar->count() - 1;
-  for (/**/; index >= 0 && tabbar->tabText(index) != msg_id; --index) { /**/ }
+  for (/**/; index >= 0; --index) {
+    if (tabbar->tabData(index).value<MessageId>() == message_id) break;
+  }
   if (index == -1) {
-    index = tabbar->addTab(message_id);
+    index = tabbar->addTab(message_id.toString());
+    tabbar->setTabData(index, QVariant::fromValue(message_id));
     tabbar->setTabToolTip(index, msgName(message_id));
   }
   tabbar->setCurrentIndex(index);
-  dbcMsgChanged();
-  scroll->verticalScrollBar()->setValue(0);
-  stacked_layout->setCurrentIndex(1);
-}
-
-void DetailWidget::dbcMsgChanged(int show_form_idx) {
-  if (msg_id.isEmpty()) return;
+  tabbar->blockSignals(false);
 
   setUpdatesEnabled(false);
-
+  signal_view->setMessage(msg_id);
   binary_view->setMessage(msg_id);
   history_log->setMessage(msg_id);
+  refresh();
+  setUpdatesEnabled(true);
+}
 
-  int i = 0;
+void DetailWidget::refresh() {
   QStringList warnings;
-  const DBCMsg *msg = dbc()->msg(msg_id);
+  auto msg = dbc()->msg(msg_id);
   if (msg) {
-    for (auto sig : msg->getSignals()) {
-      SignalEdit *form = i < signal_list.size() ? signal_list[i] : nullptr;
-      if (!form) {
-        form = new SignalEdit(i, this);
-        QObject::connect(form, &SignalEdit::remove, this, &DetailWidget::removeSignal);
-        QObject::connect(form, &SignalEdit::save, this, &DetailWidget::saveSignal);
-        QObject::connect(form, &SignalEdit::showFormClicked, this, &DetailWidget::showForm);
-        QObject::connect(form, &SignalEdit::highlight, binary_view, &BinaryView::highlight);
-        QObject::connect(binary_view, &BinaryView::signalHovered, form, &SignalEdit::signalHovered);
-        QObject::connect(form, &SignalEdit::showChart, charts, &ChartsWidget::showChart);
-        signals_layout->addWidget(form);
-        signal_list.push_back(form);
-      }
-      form->setSignal(msg_id, sig);
-      form->setChartOpened(charts->isChartOpened(msg_id, sig));
-      ++i;
-    }
-    if (msg->size != can->lastMessage(msg_id).dat.size())
+    if (msg_id.source == INVALID_SOURCE) {
+      warnings.push_back(tr("No messages received."));
+    } else if (msg->size != can->lastMessage(msg_id).dat.size()) {
       warnings.push_back(tr("Message size (%1) is incorrect.").arg(msg->size));
+    }
+    for (auto s : binary_view->getOverlappingSignals()) {
+      warnings.push_back(tr("%1 has overlapping bits.").arg(s->name));
+    }
+  } else {
+    warnings.push_back(tr("Drag-Select in binary view to create new signal."));
   }
-  for (/**/; i < signal_list.size(); ++i)
-    signal_list[i]->hide();
-
-  toolbar->setVisible(!msg_id.isEmpty());
-  remove_msg_act->setEnabled(msg != nullptr);
+  remove_btn->setEnabled(msg != nullptr);
   name_label->setText(msgName(msg_id));
 
-  for (auto s : binary_view->getOverlappingSignals())
-    warnings.push_back(tr("%1 has overlapping bits.").arg(s->name.c_str()));
-
-  warning_label->setText(warnings.join('\n'));
+  if (!warnings.isEmpty()) {
+    warning_label->setText(warnings.join('\n'));
+    warning_icon->setPixmap(utils::icon(msg ? "exclamation-triangle" : "info-circle"));
+  }
   warning_widget->setVisible(!warnings.isEmpty());
-  setUpdatesEnabled(true);
 }
 
-void DetailWidget::updateState(const QHash<QString, CanData> * msgs) {
+void DetailWidget::updateState(const QHash<MessageId, CanData> *msgs) {
   time_label->setText(QString::number(can->currentSec(), 'f', 3));
-  if (msg_id.isEmpty() || (msgs && !msgs->contains(msg_id)))
+  if ((msgs && !msgs->contains(msg_id)))
     return;
 
   if (tab_widget->currentIndex() == 0)
@@ -201,97 +159,31 @@ void DetailWidget::updateState(const QHash<QString, CanData> * msgs) {
     history_log->updateState();
 }
 
-void DetailWidget::showForm(const Signal *sig) {
-  setUpdatesEnabled(false);
-  for (auto f : signal_list) {
-    f->updateForm(f->sig == sig && !f->form->isVisible());
-    if (f->sig == sig && f->form->isVisible()) {
-      QTimer::singleShot(0, [=]() { scroll->ensureWidgetVisible(f); });
-    }
-  }
-  setUpdatesEnabled(true);
-}
-
-void DetailWidget::updateChartState(const QString &id, const Signal *sig, bool opened) {
-  for (auto f : signal_list)
-    if (f->msg_id == id && f->sig == sig) f->setChartOpened(opened);
-}
-
 void DetailWidget::editMsg() {
-  QString id = msg_id;
-  auto msg = dbc()->msg(id);
-  int size = msg ? msg->size : can->lastMessage(id).dat.size();
-  EditMessageDialog dlg(id, msgName(id), size, this);
+  auto msg = dbc()->msg(msg_id);
+  int size = msg ? msg->size : can->lastMessage(msg_id).dat.size();
+  EditMessageDialog dlg(msg_id, msgName(msg_id), size, this);
   if (dlg.exec()) {
-    undo_stack->push(new EditMsgCommand(msg_id, dlg.name_edit->text(), dlg.size_spin->value()));
+    UndoStack::push(new EditMsgCommand(msg_id, dlg.name_edit->text().trimmed(),
+                                       dlg.size_spin->value(), dlg.comment_edit->toPlainText().trimmed()));
   }
 }
 
 void DetailWidget::removeMsg() {
-  undo_stack->push(new RemoveMsgCommand(msg_id));
-}
-
-void DetailWidget::addSignal(int start_bit, int size, bool little_endian) {
-  auto msg = dbc()->msg(msg_id);
-  if (!msg) {
-    for (int i = 1; /**/; ++i) {
-      QString name = QString("NEW_MSG_%1").arg(i);
-      auto it = std::find_if(dbc()->messages().begin(), dbc()->messages().end(), [&](auto &m) { return m.second.name == name; });
-      if (it == dbc()->messages().end()) {
-        undo_stack->push(new EditMsgCommand(msg_id, name, can->lastMessage(msg_id).dat.size()));
-        msg = dbc()->msg(msg_id);
-        break;
-      }
-    }
-  }
-  Signal sig = {.is_little_endian = little_endian, .factor = 1};
-  for (int i = 1; /**/; ++i) {
-    sig.name = "NEW_SIGNAL_" + std::to_string(i);
-    if (msg->sigs.count(sig.name.c_str()) == 0) break;
-  }
-  updateSigSizeParamsFromRange(sig, start_bit, size);
-  undo_stack->push(new AddSigCommand(msg_id, sig));
-}
-
-void DetailWidget::resizeSignal(const Signal *sig, int start_bit, int size) {
-  Signal s = *sig;
-  updateSigSizeParamsFromRange(s, start_bit, size);
-  saveSignal(sig, s);
-}
-
-void DetailWidget::saveSignal(const Signal *sig, const Signal &new_sig) {
-  auto msg = dbc()->msg(msg_id);
-  if (new_sig.name != sig->name) {
-    auto it = msg->sigs.find(new_sig.name.c_str());
-    if (it != msg->sigs.end()) {
-      QString warning_str = tr("There is already a signal with the same name '%1'").arg(new_sig.name.c_str());
-      QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
-      return;
-    }
-  }
-  auto [start, end] = getSignalRange(&new_sig);
-  if (start < 0 || end >= msg->size * 8) {
-    QString warning_str = tr("Signal size [%1] exceed limit").arg(new_sig.size);
-    QMessageBox::warning(this, tr("Failed to save signal"), warning_str);
-    return;
-  }
-
-  undo_stack->push(new EditSignalCommand(msg_id, sig, new_sig));
-}
-
-void DetailWidget::removeSignal(const Signal *sig) {
-  undo_stack->push(new RemoveSigCommand(msg_id, sig));
+  UndoStack::push(new RemoveMsgCommand(msg_id));
 }
 
 // EditMessageDialog
 
-EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent) : QDialog(parent) {
-  setWindowTitle(tr("Edit message"));
+EditMessageDialog::EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent)
+    : original_name(title), msg_id(msg_id), QDialog(parent) {
+  setWindowTitle(tr("Edit message: %1").arg(msg_id.toString()));
   QFormLayout *form_layout = new QFormLayout(this);
-  form_layout->addRow("ID", new QLabel(msg_id));
 
+  form_layout->addRow("", error_label = new QLabel);
+  error_label->setVisible(false);
   name_edit = new QLineEdit(title, this);
-  name_edit->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name_edit));
+  name_edit->setValidator(new NameValidator(name_edit));
   form_layout->addRow(tr("Name"), name_edit);
 
   size_spin = new QSpinBox(this);
@@ -300,18 +192,62 @@ EditMessageDialog::EditMessageDialog(const QString &msg_id, const QString &title
   size_spin->setValue(size);
   form_layout->addRow(tr("Size"), size_spin);
 
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  form_layout->addRow(buttonBox);
+  form_layout->addRow(tr("Comment"), comment_edit = new QTextEdit(this));
+  if (auto msg = dbc()->msg(msg_id)) {
+    comment_edit->setText(msg->comment);
+  }
+
+  btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  validateName(name_edit->text());
+  form_layout->addRow(btn_box);
+
   setFixedWidth(parent->width() * 0.9);
+  connect(name_edit, &QLineEdit::textEdited, this, &EditMessageDialog::validateName);
+  connect(btn_box, &QDialogButtonBox::accepted, this, &QDialog::accept);
+  connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+}
 
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &QDialog::accept);
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+void EditMessageDialog::validateName(const QString &text) {
+  bool valid = text.compare(UNTITLED, Qt::CaseInsensitive) != 0;
+  error_label->setVisible(false);
+  if (!text.isEmpty() && valid && text != original_name) {
+    valid = dbc()->msg(msg_id.source, text) == nullptr;
+    if (!valid) {
+      error_label->setText(tr("Name already exists"));
+      error_label->setVisible(true);
+    }
+  }
+  btn_box->button(QDialogButtonBox::Ok)->setEnabled(valid);
 }
 
-// WelcomeWidget
+// CenterWidget
 
-WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) {
+CenterWidget::CenterWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->addWidget(welcome_widget = createWelcomeWidget());
+}
+
+void CenterWidget::setMessage(const MessageId &msg_id) {
+  if (!detail_widget) {
+    delete welcome_widget;
+    welcome_widget = nullptr;
+    layout()->addWidget(detail_widget = new DetailWidget(((MainWindow*)parentWidget())->charts_widget, this));
+  }
+  detail_widget->setMessage(msg_id);
+}
+
+void CenterWidget::clear() {
+  delete detail_widget;
+  detail_widget = nullptr;
+  if (!welcome_widget) {
+    layout()->addWidget(welcome_widget = createWelcomeWidget());
+  }
+}
+
+QWidget *CenterWidget::createWelcomeWidget() {
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(w);
   main_layout->addStretch(0);
   QLabel *logo = new QLabel("CABANA");
   logo->setAlignment(Qt::AlignCenter);
@@ -328,10 +264,16 @@ WelcomeWidget::WelcomeWidget(QWidget *parent) : QWidget(parent) {
     return hlayout;
   };
 
+  auto lb = new QLabel(tr("<-Select a message to view details"));
+  lb->setAlignment(Qt::AlignHCenter);
+  main_layout->addWidget(lb);
   main_layout->addLayout(newShortcutRow("Pause", "Space"));
-  main_layout->addLayout(newShortcutRow("Help", "Alt + H"));
+  main_layout->addLayout(newShortcutRow("Help", "F1"));
+  main_layout->addLayout(newShortcutRow("WhatsThis", "Shift+F1"));
   main_layout->addStretch(0);
 
-  setStyleSheet("QLabel{color:darkGray;}");
+  w->setStyleSheet("QLabel{color:darkGray;}");
+  w->setBackgroundRole(QPalette::Base);
+  w->setAutoFillBackground(true);
+  return w;
 }
-
diff --git a/tools/cabana/detailwidget.h b/tools/cabana/detailwidget.h
index 91127c9b74..10c6a6c46e 100644
--- a/tools/cabana/detailwidget.h
+++ b/tools/cabana/detailwidget.h
@@ -1,62 +1,68 @@
 #pragma once
 
-#include <QStackedLayout>
-#include <QScrollArea>
+#include <QDialogButtonBox>
+#include <QSplitter>
 #include <QTabWidget>
-#include <QToolBar>
-#include <QUndoStack>
+#include <QTextEdit>
 
+#include "selfdrive/ui/qt/widgets/controls.h"
 #include "tools/cabana/binaryview.h"
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chartswidget.h"
 #include "tools/cabana/historylog.h"
-#include "tools/cabana/signaledit.h"
+#include "tools/cabana/signalview.h"
 
+class MainWindow;
 class EditMessageDialog : public QDialog {
 public:
-  EditMessageDialog(const QString &msg_id, const QString &title, int size, QWidget *parent);
+  EditMessageDialog(const MessageId &msg_id, const QString &title, int size, QWidget *parent);
+  void validateName(const QString &text);
 
+  MessageId msg_id;
+  QString original_name;
+  QDialogButtonBox *btn_box;
   QLineEdit *name_edit;
+  QTextEdit *comment_edit;
+  QLabel *error_label;
   QSpinBox *size_spin;
 };
 
-class WelcomeWidget : public QWidget {
-public:
-  WelcomeWidget(QWidget *parent);
-};
-
 class DetailWidget : public QWidget {
   Q_OBJECT
 
 public:
   DetailWidget(ChartsWidget *charts, QWidget *parent);
-  void setMessage(const QString &message_id);
-  void dbcMsgChanged(int show_form_idx = -1);
-  QUndoStack *undo_stack = nullptr;
+  void setMessage(const MessageId &message_id);
+  void refresh();
 
 private:
-  void showForm(const Signal *sig);
-  void updateChartState(const QString &id, const Signal *sig, bool opened);
   void showTabBarContextMenu(const QPoint &pt);
-  void addSignal(int start_bit, int size, bool little_endian);
-  void resizeSignal(const Signal *sig, int from, int to);
-  void saveSignal(const Signal *sig, const Signal &new_sig);
-  void removeSignal(const Signal *sig);
   void editMsg();
   void removeMsg();
-  void updateState(const QHash<QString, CanData> * msgs = nullptr);
+  void updateState(const QHash<MessageId, CanData> * msgs = nullptr);
 
-  QString msg_id;
-  QLabel *name_label, *time_label, *warning_label;
+  MessageId msg_id;
+  QLabel *time_label, *warning_icon, *warning_label;
+  ElidedLabel *name_label;
   QWidget *warning_widget;
-  QVBoxLayout *signals_layout;
-  QTabBar *tabbar;
+  TabBar *tabbar;
   QTabWidget *tab_widget;
-  QToolBar *toolbar;
-  QAction *remove_msg_act;
-  HistoryLog *history_log;
+  QToolButton *remove_btn;
+  LogsWidget *history_log;
   BinaryView *binary_view;
-  QScrollArea *scroll;
+  SignalView *signal_view;
   ChartsWidget *charts;
-  QStackedLayout *stacked_layout;
-  QList<SignalEdit *> signal_list;
+  QSplitter *splitter;
+};
+
+class CenterWidget : public QWidget {
+  Q_OBJECT
+public:
+  CenterWidget(QWidget *parent);
+  void setMessage(const MessageId &msg_id);
+  void clear();
+
+private:
+  QWidget *createWelcomeWidget();
+  DetailWidget *detail_widget = nullptr;
+  QWidget *welcome_widget = nullptr;
 };
diff --git a/tools/cabana/historylog.cc b/tools/cabana/historylog.cc
index 5457555db4..2b57e9d007 100644
--- a/tools/cabana/historylog.cc
+++ b/tools/cabana/historylog.cc
@@ -1,104 +1,308 @@
 #include "tools/cabana/historylog.h"
 
-#include <QFontDatabase>
+#include <functional>
+
 #include <QPainter>
+#include <QPushButton>
+#include <QVBoxLayout>
 
+#include "tools/cabana/commands.h"
 // HistoryLogModel
 
 QVariant HistoryLogModel::data(const QModelIndex &index, int role) const {
+  const bool show_signals = display_signals_mode && sigs.size() > 0;
+  const auto &m = messages[index.row()];
   if (role == Qt::DisplayRole) {
-    const auto &m = messages[index.row()];
     if (index.column() == 0) {
-      return QString::number(m.ts, 'f', 2);
+      return QString::number((m.mono_time / (double)1e9) - can->routeStartTime(), 'f', 2);
     }
-    return !sigs.empty() ? QString::number(get_raw_value((uint8_t *)m.dat.data(), m.dat.size(), *sigs[index.column() - 1]))
-                         : toHex(m.dat);
-  } else if (role == Qt::FontRole && index.column() == 1 && sigs.empty()) {
-    return QFontDatabase::systemFont(QFontDatabase::FixedFont);
+    int i = index.column() - 1;
+    return show_signals ? QString::number(m.sig_values[i], 'f', sigs[i]->precision) : toHex(m.data);
+  } else if (role == ColorsRole) {
+    return QVariant::fromValue(m.colors);
+  } else if (role == BytesRole) {
+    return m.data;
+  } else if (role == Qt::TextAlignmentRole) {
+    return (uint32_t)(Qt::AlignRight | Qt::AlignVCenter);
   }
   return {};
 }
 
-void HistoryLogModel::setMessage(const QString &message_id) {
-  beginResetModel();
+void HistoryLogModel::setMessage(const MessageId &message_id) {
   msg_id = message_id;
+}
+
+void HistoryLogModel::refresh(bool fetch_message) {
+  beginResetModel();
   sigs.clear();
-  messages.clear();
-  if (auto dbc_msg = dbc()->msg(message_id)) {
+  if (auto dbc_msg = dbc()->msg(msg_id)) {
     sigs = dbc_msg->getSignals();
   }
+  last_fetch_time = 0;
+  has_more_data = true;
+  messages.clear();
+  hex_colors = {};
+  if (fetch_message) {
+    updateState();
+  }
   endResetModel();
-  updateState();
 }
 
 QVariant HistoryLogModel::headerData(int section, Qt::Orientation orientation, int role) const {
   if (orientation == Qt::Horizontal) {
+    const bool show_signals = display_signals_mode && !sigs.empty();
     if (role == Qt::DisplayRole || role == Qt::ToolTipRole) {
       if (section == 0) {
         return "Time";
       }
-      return !sigs.empty() ? QString::fromStdString(sigs[section - 1]->name).replace('_', ' ') : "Data";
-    } else if (role == Qt::BackgroundRole && section > 0 && !sigs.empty()) {
-      return QBrush(QColor(getColor(section - 1)));
-    } else if (role == Qt::ForegroundRole && section > 0 && !sigs.empty()) {
-      return QBrush(Qt::black);
+      if (show_signals) {
+        QString name = sigs[section - 1]->name;
+        if (!sigs[section - 1]->unit.isEmpty()) {
+          name += QString(" (%1)").arg(sigs[section - 1]->unit);
+        }
+        return name;
+      } else {
+        return "Data";
+      }
+    } else if (role == Qt::BackgroundRole && section > 0 && show_signals) {
+      // Alpha-blend the signal color with the background to ensure contrast
+      QColor sigColor = sigs[section - 1]->color;
+      sigColor.setAlpha(128);
+      return QBrush(sigColor);
     }
   }
   return {};
 }
 
-void HistoryLogModel::updateState() {
-  int prev_row_count = messages.size();
-  if (!msg_id.isEmpty()) {
-    messages = can->messages(msg_id);
+void HistoryLogModel::setDynamicMode(int state) {
+  dynamic_mode = state != 0;
+  refresh();
+}
+
+void HistoryLogModel::setDisplayType(int type) {
+  display_signals_mode = type == 0;
+  refresh();
+}
+
+void HistoryLogModel::segmentsMerged() {
+  if (!dynamic_mode) {
+    has_more_data = true;
   }
-  int delta = messages.size() - prev_row_count;
-  if (delta > 0) {
-    beginInsertRows({}, prev_row_count, messages.size() - 1);
+}
+
+void HistoryLogModel::setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp) {
+  filter_sig_idx = sig_idx;
+  filter_value = value.toDouble();
+  filter_cmp = value.isEmpty() ? nullptr : cmp;
+}
+
+void HistoryLogModel::updateState() {
+  uint64_t current_time = (can->lastMessage(msg_id).ts + can->routeStartTime()) * 1e9 + 1;
+  auto new_msgs = dynamic_mode ? fetchData(current_time, last_fetch_time) : fetchData(0);
+  if (!new_msgs.empty()) {
+    beginInsertRows({}, 0, new_msgs.size() - 1);
+    messages.insert(messages.begin(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
     endInsertRows();
-  } else if (delta < 0) {
-    beginRemoveRows({}, messages.size(), prev_row_count - 1);
-    endRemoveRows();
   }
+  has_more_data = new_msgs.size() >= batch_size;
+  last_fetch_time = current_time;
+}
+
+void HistoryLogModel::fetchMore(const QModelIndex &parent) {
   if (!messages.empty()) {
-    emit dataChanged(index(0, 0), index(rowCount() - 1, columnCount() - 1), {Qt::DisplayRole});
+    auto new_msgs = fetchData(messages.back().mono_time);
+    if (!new_msgs.empty()) {
+      beginInsertRows({}, messages.size(), messages.size() + new_msgs.size() - 1);
+      messages.insert(messages.end(), std::move_iterator(new_msgs.begin()), std::move_iterator(new_msgs.end()));
+      endInsertRows();
+    }
+    has_more_data = new_msgs.size() >= batch_size;
+  }
+}
+
+template <class InputIt>
+std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(InputIt first, InputIt last, uint64_t min_time) {
+  std::deque<HistoryLogModel::Message> msgs;
+  QVector<double> values(sigs.size());
+  for (; first != last && (*first)->mono_time > min_time; ++first) {
+    const CanEvent *e = *first;
+    for (int i = 0; i < sigs.size(); ++i) {
+      sigs[i]->getValue(e->dat, e->size, &values[i]);
+    }
+    if (!filter_cmp || filter_cmp(values[filter_sig_idx], filter_value)) {
+      auto &m = msgs.emplace_back();
+      m.mono_time = e->mono_time;
+      m.data = QByteArray((const char *)e->dat, e->size);
+      m.sig_values = values;
+      if (msgs.size() >= batch_size && min_time == 0) {
+        return msgs;
+      }
+    }
+  }
+  return msgs;
+}
+
+std::deque<HistoryLogModel::Message> HistoryLogModel::fetchData(uint64_t from_time, uint64_t min_time) {
+  const auto &events = can->events(msg_id);
+  const auto freq = can->lastMessage(msg_id).freq;
+  const bool update_colors = !display_signals_mode || sigs.empty();
+
+  const auto speed = can->getSpeed();
+  if (dynamic_mode) {
+    auto first = std::upper_bound(events.rbegin(), events.rend(), from_time, [](uint64_t ts, auto e) {
+      return ts > e->mono_time;
+    });
+    auto msgs = fetchData(first, events.rend(), min_time);
+    if (update_colors && (min_time > 0 || messages.empty())) {
+      for (auto it = msgs.rbegin(); it != msgs.rend(); ++it) {
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        it->colors = hex_colors.colors;
+      }
+    }
+    return msgs;
+  } else {
+    assert(min_time == 0);
+    auto first = std::upper_bound(events.cbegin(), events.cend(), from_time, [](uint64_t ts, auto e) {
+      return ts < e->mono_time;
+    });
+    auto msgs = fetchData(first, events.cend(), 0);
+    if (update_colors) {
+      for (auto it = msgs.begin(); it != msgs.end(); ++it) {
+        hex_colors.compute(it->data.data(), it->data.size(), it->mono_time / (double)1e9, speed, nullptr, freq);
+        it->colors = hex_colors.colors;
+      }
+    }
+    return msgs;
   }
 }
 
 // HeaderView
 
 QSize HeaderView::sectionSizeFromContents(int logicalIndex) const {
-  const QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString();
-  const QRect rect = fontMetrics().boundingRect(QRect(0, 0, sectionSize(logicalIndex), 1000), defaultAlignment(), text);
-  return rect.size() + QSize{10, 6};
+  static QSize time_col_size = fontMetrics().boundingRect({0, 0, 200, 200}, defaultAlignment(), "000000.000").size() + QSize(10, 6);
+  if (logicalIndex == 0) {
+    return time_col_size;
+  } else {
+    int default_size = qMax(100, (rect().width() - time_col_size.width()) / (model()->columnCount() - 1));
+    QString text = model()->headerData(logicalIndex, this->orientation(), Qt::DisplayRole).toString();
+    const QRect rect = fontMetrics().boundingRect({0, 0, default_size, 2000}, defaultAlignment(), text.replace(QChar('_'), ' '));
+    QSize size = rect.size() + QSize{10, 6};
+    return QSize{qMax(size.width(), default_size), size.height()};
+  }
 }
 
 void HeaderView::paintSection(QPainter *painter, const QRect &rect, int logicalIndex) const {
   auto bg_role = model()->headerData(logicalIndex, Qt::Horizontal, Qt::BackgroundRole);
   if (bg_role.isValid()) {
-    QPen pen(model()->headerData(logicalIndex, Qt::Horizontal, Qt::ForegroundRole).value<QBrush>(), 1);
-    painter->setPen(pen);
     painter->fillRect(rect, bg_role.value<QBrush>());
   }
   QString text = model()->headerData(logicalIndex, Qt::Horizontal, Qt::DisplayRole).toString();
-  painter->drawText(rect.adjusted(5, 3, 5, 3), defaultAlignment(), text);
+  painter->setPen(palette().color(settings.theme == DARK_THEME ? QPalette::BrightText : QPalette::Text));
+  painter->drawText(rect.adjusted(5, 3, -5, -3), defaultAlignment(), text.replace(QChar('_'), ' '));
+}
+
+// LogsWidget
+
+LogsWidget::LogsWidget(QWidget *parent) : QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+
+  QWidget *toolbar = new QWidget(this);
+  toolbar->setAutoFillBackground(true);
+  QHBoxLayout *h = new QHBoxLayout(toolbar);
+
+  filters_widget = new QWidget(this);
+  QHBoxLayout *filter_layout = new QHBoxLayout(filters_widget);
+  filter_layout->setContentsMargins(0, 0, 0, 0);
+  filter_layout->addWidget(display_type_cb = new QComboBox(this));
+  filter_layout->addWidget(signals_cb = new QComboBox(this));
+  filter_layout->addWidget(comp_box = new QComboBox(this));
+  filter_layout->addWidget(value_edit = new QLineEdit(this));
+  h->addWidget(filters_widget);
+  h->addStretch(0);
+  h->addWidget(dynamic_mode = new QCheckBox(tr("Dynamic")), 0, Qt::AlignRight);
+
+  display_type_cb->addItems({"Signal", "Hex"});
+  display_type_cb->setToolTip(tr("Display signal value or raw hex value"));
+  comp_box->addItems({">", "=", "!=", "<"});
+  value_edit->setClearButtonEnabled(true);
+  value_edit->setValidator(new DoubleValidator(this));
+  dynamic_mode->setChecked(true);
+  dynamic_mode->setEnabled(!can->liveStreaming());
+
+  main_layout->addWidget(toolbar);
+  QFrame *line = new QFrame(this);
+  line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
+  main_layout->addWidget(line);
+  main_layout->addWidget(logs = new QTableView(this));
+  logs->setModel(model = new HistoryLogModel(this));
+  delegate = new MessageBytesDelegate(this);
+  logs->setItemDelegateForColumn(1, new MessageBytesDelegate(this));
+  logs->setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
+  logs->horizontalHeader()->setDefaultAlignment(Qt::AlignRight | (Qt::Alignment)Qt::TextWordWrap);
+  logs->horizontalHeader()->setSectionResizeMode(QHeaderView::ResizeToContents);
+  logs->verticalHeader()->setVisible(false);
+  logs->setFrameShape(QFrame::NoFrame);
+
+  QObject::connect(display_type_cb, qOverload<int>(&QComboBox::activated), [this](int index) {
+    logs->setItemDelegateForColumn(1, index == 1 ? delegate : nullptr);
+    model->setDisplayType(index);
+  });
+  QObject::connect(dynamic_mode, &QCheckBox::stateChanged, model, &HistoryLogModel::setDynamicMode);
+  QObject::connect(signals_cb, SIGNAL(activated(int)), this, SLOT(setFilter()));
+  QObject::connect(comp_box, SIGNAL(activated(int)), this, SLOT(setFilter()));
+  QObject::connect(value_edit, &QLineEdit::textChanged, this, &LogsWidget::setFilter);
+  QObject::connect(can, &AbstractStream::seekedTo, model, &HistoryLogModel::refresh);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &LogsWidget::refresh);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &LogsWidget::refresh);
+  QObject::connect(can, &AbstractStream::eventsMerged, model, &HistoryLogModel::segmentsMerged);
+}
+
+void LogsWidget::setMessage(const MessageId &message_id) {
+  model->setMessage(message_id);
+  refresh();
+}
+
+void LogsWidget::refresh() {
+  model->setFilter(0, "", nullptr);
+  model->refresh(isVisible());
+  bool has_signal = model->sigs.size();
+  if (has_signal) {
+    signals_cb->clear();
+    for (auto s : model->sigs) {
+      signals_cb->addItem(s->name);
+    }
+  }
+  logs->setItemDelegateForColumn(1, !has_signal || display_type_cb->currentIndex() == 1 ? delegate : nullptr);
+  value_edit->clear();
+  comp_box->setCurrentIndex(0);
+  filters_widget->setVisible(has_signal);
 }
 
-// HistoryLog
+void LogsWidget::setFilter() {
+  if (value_edit->text().isEmpty() && !value_edit->isModified()) return;
 
-HistoryLog::HistoryLog(QWidget *parent) : QTableView(parent) {
-  model = new HistoryLogModel(this);
-  setModel(model);
-  setHorizontalHeader(new HeaderView(Qt::Horizontal, this));
-  horizontalHeader()->setSectionResizeMode(QHeaderView::Stretch);
-  horizontalHeader()->setDefaultAlignment(Qt::AlignLeft | (Qt::Alignment)Qt::TextWordWrap);
-  horizontalHeader()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
-  verticalHeader()->setVisible(false);
-  setFrameShape(QFrame::NoFrame);
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
+  std::function<bool(double, double)> cmp = nullptr;
+  switch (comp_box->currentIndex()) {
+    case 0: cmp = std::greater<double>{}; break;
+    case 1: cmp = std::equal_to<double>{}; break;
+    case 2: cmp = [](double l, double r) { return l != r; }; break; // not equal
+    case 3: cmp = std::less<double>{}; break;
+  }
+  model->setFilter(signals_cb->currentIndex(), value_edit->text(), cmp);
+  model->refresh();
 }
 
-int HistoryLog::sizeHintForColumn(int column) const {
-  // sizeHintForColumn is only called for column 0 (ResizeToContents)
-  return itemDelegate()->sizeHint(viewOptions(), model->index(0, 0)).width() + 5;
+void LogsWidget::updateState() {
+  if (isVisible() && dynamic_mode->isChecked()) {
+    model->updateState();
+  }
+}
+
+void LogsWidget::showEvent(QShowEvent *event) {
+  if (dynamic_mode->isChecked() || model->canFetchMore({}) && model->rowCount() == 0) {
+    model->refresh();
+  }
 }
diff --git a/tools/cabana/historylog.h b/tools/cabana/historylog.h
index 9ca6f427c7..a68fbdbf43 100644
--- a/tools/cabana/historylog.h
+++ b/tools/cabana/historylog.h
@@ -1,10 +1,17 @@
 #pragma once
 
+#include <deque>
+#include <vector>
+
+#include <QCheckBox>
+#include <QComboBox>
 #include <QHeaderView>
+#include <QLineEdit>
 #include <QTableView>
 
-#include "tools/cabana/canmessages.h"
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+#include "tools/cabana/util.h"
 
 class HeaderView : public QHeaderView {
 public:
@@ -14,28 +21,74 @@ public:
 };
 
 class HistoryLogModel : public QAbstractTableModel {
+  Q_OBJECT
+
 public:
   HistoryLogModel(QObject *parent) : QAbstractTableModel(parent) {}
-  void setMessage(const QString &message_id);
+  void setMessage(const MessageId &message_id);
   void updateState();
+  void setFilter(int sig_idx, const QString &value, std::function<bool(double, double)> cmp);
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  void fetchMore(const QModelIndex &parent) override;
+  inline bool canFetchMore(const QModelIndex &parent) const override { return has_more_data; }
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return messages.size(); }
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return std::max(1ul, sigs.size()) + 1; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override {
+    return display_signals_mode && !sigs.empty() ? sigs.size() + 1 : 2;
+  }
+  void refresh(bool fetch_message = true);
 
-private:
-  QString msg_id;
-  std::deque<CanData> messages;
-  std::vector<const Signal*> sigs;
+public slots:
+  void setDisplayType(int type);
+  void setDynamicMode(int state);
+  void segmentsMerged();
+
+public:
+  struct Message {
+    uint64_t mono_time = 0;
+    QVector<double> sig_values;
+    QByteArray data;
+    QVector<QColor> colors;
+  };
+
+  template <class InputIt>
+  std::deque<HistoryLogModel::Message> fetchData(InputIt first, InputIt last, uint64_t min_time);
+  std::deque<Message> fetchData(uint64_t from_time, uint64_t min_time = 0);
+
+  MessageId msg_id;
+  CanData hex_colors;
+  bool has_more_data = true;
+  const int batch_size = 50;
+  int filter_sig_idx = -1;
+  double filter_value = 0;
+  uint64_t last_fetch_time = 0;
+  std::function<bool(double, double)> filter_cmp = nullptr;
+  std::deque<Message> messages;
+  std::vector<cabana::Signal *> sigs;
+  bool dynamic_mode = true;
+  bool display_signals_mode = true;
 };
 
-class HistoryLog : public QTableView {
+class LogsWidget : public QFrame {
+  Q_OBJECT
+
 public:
-  HistoryLog(QWidget *parent);
-  void setMessage(const QString &message_id) { model->setMessage(message_id); }
-  void updateState() { model->updateState(); }
+  LogsWidget(QWidget *parent);
+  void setMessage(const MessageId &message_id);
+  void updateState();
+  void showEvent(QShowEvent *event) override;
+
+private slots:
+  void setFilter();
 
 private:
-  int sizeHintForColumn(int column) const override;
+  void refresh();
+
+  QTableView *logs;
   HistoryLogModel *model;
+  QCheckBox *dynamic_mode;
+  QComboBox *signals_cb, *comp_box, *display_type_cb;
+  QLineEdit *value_edit;
+  QWidget *filters_widget;
+  MessageBytesDelegate *delegate;
 };
diff --git a/tools/cabana/mainwin.cc b/tools/cabana/mainwin.cc
index 70297f9978..d3caf492a6 100644
--- a/tools/cabana/mainwin.cc
+++ b/tools/cabana/mainwin.cc
@@ -1,95 +1,56 @@
 #include "tools/cabana/mainwin.h"
 
+#include <algorithm>
 #include <iostream>
-#include <QApplication>
+#include <string>
+
 #include <QClipboard>
-#include <QCompleter>
+#include <QDesktopWidget>
 #include <QFile>
 #include <QFileDialog>
 #include <QFileInfo>
-#include <QHBoxLayout>
-#include <QMenu>
 #include <QMenuBar>
 #include <QMessageBox>
+#include <QResizeEvent>
 #include <QShortcut>
-#include <QScreen>
-#include <QToolBar>
+#include <QTextDocument>
 #include <QUndoView>
 #include <QVBoxLayout>
 #include <QWidgetAction>
 
-#include "tools/replay/util.h"
+#include "tools/cabana/commands.h"
+#include "tools/cabana/streamselector.h"
+#include "tools/cabana/tools/findsignal.h"
 
 static MainWindow *main_win = nullptr;
 void qLogMessageHandler(QtMsgType type, const QMessageLogContext &context, const QString &msg) {
   if (type == QtDebugMsg) std::cout << msg.toStdString() << std::endl;
-  if (main_win) emit main_win->showMessage(msg, 0);
+  if (main_win) emit main_win->showMessage(msg, 2000);
 }
 
 MainWindow::MainWindow() : QMainWindow() {
-  setWindowTitle("Cabana");
-  QWidget *central_widget = new QWidget(this);
-  QHBoxLayout *main_layout = new QHBoxLayout(central_widget);
-  main_layout->setContentsMargins(11, 11, 11, 0);
-  main_layout->setSpacing(0);
-
-  splitter = new QSplitter(Qt::Horizontal, this);
-  splitter->setHandleWidth(11);
-
-  // DBC file selector
-  QWidget *messages_container = new QWidget(this);
-  QVBoxLayout *messages_layout = new QVBoxLayout(messages_container);
-  messages_layout->setContentsMargins(0, 0, 0, 0);
-  dbc_combo = new QComboBox(this);
-  auto dbc_names = dbc()->allDBCNames();
-  for (const auto &name : dbc_names) {
-    dbc_combo->addItem(QString::fromStdString(name));
-  }
-  dbc_combo->model()->sort(0);
-  dbc_combo->setInsertPolicy(QComboBox::NoInsert);
-  messages_layout->addWidget(dbc_combo);
-
-  messages_widget = new MessagesWidget(this);
-  messages_layout->addWidget(messages_widget);
-  splitter->addWidget(messages_container);
-
-  charts_widget = new ChartsWidget(this);
-  detail_widget = new DetailWidget(charts_widget, this);
-  splitter->addWidget(detail_widget);
-  if (!settings.splitter_state.isEmpty()) {
-    splitter->restoreState(settings.splitter_state);
-  }
-  main_layout->addWidget(splitter);
-
-  // right widgets
-  QWidget *right_container = new QWidget(this);
-  right_container->setFixedWidth(640);
-  r_layout = new QVBoxLayout(right_container);
-  r_layout->setContentsMargins(11, 0, 0, 0);
-  QHBoxLayout *right_hlayout = new QHBoxLayout();
-  fingerprint_label = new QLabel(this);
-  right_hlayout->addWidget(fingerprint_label, 0, Qt::AlignLeft);
-
-  // TODO: click to select another route.
-  right_hlayout->addWidget(new QLabel(can->routeName()), 0, Qt::AlignRight);
-  r_layout->addLayout(right_hlayout);
-
-  video_widget = new VideoWidget(this);
-  r_layout->addWidget(video_widget, 0, Qt::AlignTop);
-  r_layout->addWidget(charts_widget, 1);
-  r_layout->addStretch(0);
-  main_layout->addWidget(right_container);
-
-  setCentralWidget(central_widget);
+  createDockWindows();
+  setCentralWidget(center_widget = new CenterWidget(this));
   createActions();
   createStatusBar();
   createShortcuts();
 
+  // save default window state to allow resetting it
+  default_state = saveState();
+
+  // restore states
+  restoreGeometry(settings.geometry);
+  if (isMaximized()) {
+    setGeometry(QApplication::desktop()->availableGeometry(this));
+  }
+  restoreState(settings.window_state);
+
   qRegisterMetaType<uint64_t>("uint64_t");
+  qRegisterMetaType<SourceSet>("SourceSet");
   qRegisterMetaType<ReplyMsgType>("ReplyMsgType");
   installMessageHandler([this](ReplyMsgType type, const std::string msg) {
     // use queued connection to recv the log messages from replay.
-    emit showMessage(QString::fromStdString(msg), 3000);
+    emit showMessage(QString::fromStdString(msg), 2000);
   });
   installDownloadProgressHandler([this](uint64_t cur, uint64_t total, bool success) {
     emit updateProgressBar(cur, total, success);
@@ -97,65 +58,162 @@ MainWindow::MainWindow() : QMainWindow() {
 
   main_win = this;
   qInstallMessageHandler(qLogMessageHandler);
-  QFile json_file("./car_fingerprint_to_dbc.json");
+
+  QFile json_file(QApplication::applicationDirPath() + "/dbc/car_fingerprint_to_dbc.json");
   if (json_file.open(QIODevice::ReadOnly)) {
     fingerprint_to_dbc = QJsonDocument::fromJson(json_file.readAll());
   }
 
-  QObject::connect(dbc_combo, SIGNAL(activated(const QString &)), SLOT(loadDBCFromName(const QString &)));
+  setStyleSheet(QString(R"(QMainWindow::separator {
+    width: %1px; /* when vertical */
+    height: %1px; /* when horizontal */
+  })").arg(style()->pixelMetric(QStyle::PM_SplitterWidth)));
+
   QObject::connect(this, &MainWindow::showMessage, statusBar(), &QStatusBar::showMessage);
   QObject::connect(this, &MainWindow::updateProgressBar, this, &MainWindow::updateDownloadProgress);
-  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, detail_widget, &DetailWidget::setMessage);
-  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
-  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::rangeChanged);
-  QObject::connect(can, &CANMessages::streamStarted, this, &MainWindow::loadDBCFromFingerprint);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, [this]() {
-    detail_widget->undo_stack->clear();
-    dbc_combo->setCurrentText(QFileInfo(dbc()->name()).baseName());
-    setWindowTitle(tr("%1 - Cabana").arg(dbc()->name()));
-  });
-  QObject::connect(detail_widget->undo_stack, &QUndoStack::indexChanged, [this](int index) {
-    setWindowTitle(tr("%1%2 - Cabana").arg(index > 0 ? "* " : "").arg(dbc()->name()));
-  });
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MainWindow::DBCFileChanged);
+  QObject::connect(UndoStack::instance(), &QUndoStack::cleanChanged, this, &MainWindow::undoStackCleanChanged);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MainWindow::undoStackIndexChanged);
+  QObject::connect(&settings, &Settings::changed, this, &MainWindow::updateStatus);
+  QObject::connect(StreamNotifier::instance(), &StreamNotifier::changingStream, this, &MainWindow::changingStream);
+  QObject::connect(StreamNotifier::instance(), &StreamNotifier::streamStarted, this, &MainWindow::streamStarted);
 }
 
 void MainWindow::createActions() {
+  // File menu
   QMenu *file_menu = menuBar()->addMenu(tr("&File"));
-  file_menu->addAction(tr("Open DBC File..."), this, &MainWindow::loadDBCFromFile);
-  file_menu->addAction(tr("Load DBC From Clipboard"), this, &MainWindow::loadDBCFromClipboard);
+  file_menu->addAction(tr("Open Stream..."), this, &MainWindow::openStream);
+  close_stream_act = file_menu->addAction(tr("Close stream"), this, &MainWindow::closeStream);
+  close_stream_act->setEnabled(false);
+  file_menu->addSeparator();
+
+  file_menu->addAction(tr("New DBC File"), [this]() { newFile(); })->setShortcuts(QKeySequence::New);
+  file_menu->addAction(tr("Open DBC File..."), [this]() { openFile(); })->setShortcuts(QKeySequence::Open);
+
+  manage_dbcs_menu = file_menu->addMenu(tr("Manage &DBC Files"));
+
+  open_recent_menu = file_menu->addMenu(tr("Open &Recent"));
+  for (int i = 0; i < MAX_RECENT_FILES; ++i) {
+    recent_files_acts[i] = new QAction(this);
+    recent_files_acts[i]->setVisible(false);
+    QObject::connect(recent_files_acts[i], &QAction::triggered, this, &MainWindow::openRecentFile);
+    open_recent_menu->addAction(recent_files_acts[i]);
+  }
+  updateRecentFileActions();
+
   file_menu->addSeparator();
-  file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveDBCToFile);
-  file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveDBCToClipboard);
+  QMenu *load_opendbc_menu = file_menu->addMenu(tr("Load DBC from commaai/opendbc"));
+  // load_opendbc_menu->setStyleSheet("QMenu { menu-scrollable: true; }");
+  auto dbc_names = allDBCNames();
+  std::sort(dbc_names.begin(), dbc_names.end());
+  for (const auto &name : dbc_names) {
+    QString dbc_name = QString::fromStdString(name);
+    load_opendbc_menu->addAction(dbc_name, [=]() { loadDBCFromOpendbc(dbc_name); });
+  }
+
+  file_menu->addAction(tr("Load DBC From Clipboard"), [=]() { loadFromClipboard(); });
+
+  file_menu->addSeparator();
+  save_dbc = file_menu->addAction(tr("Save DBC..."), this, &MainWindow::save);
+  save_dbc->setShortcuts(QKeySequence::Save);
+
+  save_dbc_as = file_menu->addAction(tr("Save DBC As..."), this, &MainWindow::saveAs);
+  save_dbc_as->setShortcuts(QKeySequence::SaveAs);
+
+  copy_dbc_to_clipboard = file_menu->addAction(tr("Copy DBC To Clipboard"), this, &MainWindow::saveToClipboard);
+
   file_menu->addSeparator();
-  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption);
+  file_menu->addAction(tr("Settings..."), this, &MainWindow::setOption)->setShortcuts(QKeySequence::Preferences);
 
+  file_menu->addSeparator();
+  file_menu->addAction(tr("E&xit"), qApp, &QApplication::closeAllWindows)->setShortcuts(QKeySequence::Quit);
+
+  // Edit Menu
   QMenu *edit_menu = menuBar()->addMenu(tr("&Edit"));
-  auto undo_act = detail_widget->undo_stack->createUndoAction(this, tr("&Undo"));
+  auto undo_act = UndoStack::instance()->createUndoAction(this, tr("&Undo"));
   undo_act->setShortcuts(QKeySequence::Undo);
   edit_menu->addAction(undo_act);
-  auto redo_act = detail_widget->undo_stack->createRedoAction(this, tr("&Rndo"));
+  auto redo_act = UndoStack::instance()->createRedoAction(this, tr("&Rndo"));
   redo_act->setShortcuts(QKeySequence::Redo);
   edit_menu->addAction(redo_act);
   edit_menu->addSeparator();
 
   QMenu *commands_menu = edit_menu->addMenu(tr("Command &List"));
-  auto undo_view = new QUndoView(detail_widget->undo_stack);
-  undo_view->setWindowTitle(tr("Command List"));
   QWidgetAction *commands_act = new QWidgetAction(this);
-  commands_act->setDefaultWidget(undo_view);
+  commands_act->setDefaultWidget(new QUndoView(UndoStack::instance()));
   commands_menu->addAction(commands_act);
 
+  // View Menu
+  QMenu *view_menu = menuBar()->addMenu(tr("&View"));
+  auto act = view_menu->addAction(tr("Full Screen"), this, &MainWindow::toggleFullScreen, QKeySequence::FullScreen);
+  addAction(act);
+  view_menu->addSeparator();
+  view_menu->addAction(messages_dock->toggleViewAction());
+  view_menu->addAction(video_dock->toggleViewAction());
+  view_menu->addSeparator();
+  view_menu->addAction(tr("Reset Window Layout"), [this]() { restoreState(default_state); });
+
+  // Tools Menu
+  tools_menu = menuBar()->addMenu(tr("&Tools"));
+  tools_menu->addAction(tr("Find &Similar Bits"), this, &MainWindow::findSimilarBits);
+  tools_menu->addAction(tr("&Find Signal"), this, &MainWindow::findSignal);
+
+  // Help Menu
   QMenu *help_menu = menuBar()->addMenu(tr("&Help"));
+  help_menu->addAction(tr("Help"), this, &MainWindow::onlineHelp)->setShortcuts(QKeySequence::HelpContents);
   help_menu->addAction(tr("About &Qt"), qApp, &QApplication::aboutQt);
 }
 
+void MainWindow::createDockWindows() {
+  messages_dock = new QDockWidget(tr("MESSAGES"), this);
+  messages_dock->setObjectName("MessagesPanel");
+  messages_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea | Qt::TopDockWidgetArea | Qt::BottomDockWidgetArea);
+  messages_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable);
+  addDockWidget(Qt::LeftDockWidgetArea, messages_dock);
+
+  video_dock = new QDockWidget("", this);
+  video_dock->setObjectName(tr("VideoPanel"));
+  video_dock->setAllowedAreas(Qt::LeftDockWidgetArea | Qt::RightDockWidgetArea);
+  video_dock->setFeatures(QDockWidget::DockWidgetMovable | QDockWidget::DockWidgetFloatable | QDockWidget::DockWidgetClosable);
+  addDockWidget(Qt::RightDockWidgetArea, video_dock);
+}
+
+void MainWindow::createDockWidgets() {
+  messages_widget = new MessagesWidget(this);
+  messages_dock->setWidget(messages_widget);
+
+  // right panel
+  charts_widget = new ChartsWidget(this);
+  QWidget *charts_container = new QWidget(this);
+  charts_layout = new QVBoxLayout(charts_container);
+  charts_layout->setContentsMargins(0, 0, 0, 0);
+  charts_layout->addWidget(charts_widget);
+
+  // splitter between video and charts
+  video_splitter = new QSplitter(Qt::Vertical, this);
+  video_widget = new VideoWidget(this);
+  video_splitter->addWidget(video_widget);
+  QObject::connect(charts_widget, &ChartsWidget::rangeChanged, video_widget, &VideoWidget::updateTimeRange);
+
+  video_splitter->addWidget(charts_container);
+  video_splitter->setStretchFactor(1, 1);
+  video_splitter->restoreState(settings.video_splitter_state);
+  video_splitter->handle(1)->setEnabled(!can->liveStreaming());
+  video_dock->setWidget(video_splitter);
+  QObject::connect(charts_widget, &ChartsWidget::dock, this, &MainWindow::dockCharts);
+}
+
 void MainWindow::createStatusBar() {
   progress_bar = new QProgressBar();
   progress_bar->setRange(0, 100);
   progress_bar->setTextVisible(true);
-  progress_bar->setFixedSize({230, 16});
+  progress_bar->setFixedSize({300, 16});
   progress_bar->setVisible(false);
+  statusBar()->addWidget(new QLabel(tr("For Help, Press F1")));
   statusBar()->addPermanentWidget(progress_bar);
+
+  statusBar()->addPermanentWidget(status_label = new QLabel(this));
+  updateStatus();
 }
 
 void MainWindow::createShortcuts() {
@@ -164,58 +222,344 @@ void MainWindow::createShortcuts() {
   // TODO: add more shortcuts here.
 }
 
-void MainWindow::loadDBCFromName(const QString &name) {
-  if (name != dbc()->name())
-    dbc()->open(name);
+void MainWindow::undoStackIndexChanged(int index) {
+  int count = UndoStack::instance()->count();
+  if (count >= 0) {
+    QString command_text;
+    if (index == count) {
+      command_text = (count == prev_undostack_count ? "Redo " : "") + UndoStack::instance()->text(index - 1);
+    } else if (index < prev_undostack_index) {
+      command_text = tr("Undo %1").arg(UndoStack::instance()->text(index));
+    } else if (index > prev_undostack_index) {
+      command_text = tr("Redo %1").arg(UndoStack::instance()->text(index - 1));
+    }
+    statusBar()->showMessage(command_text, 2000);
+  }
+  prev_undostack_index = index;
+  prev_undostack_count = count;
+  autoSave();
+  updateLoadSaveMenus();
 }
 
-void MainWindow::loadDBCFromFile() {
-  QString file_name = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
-  if (!file_name.isEmpty()) {
-    settings.last_dir = QFileInfo(file_name).absolutePath();
-    QFile file(file_name);
-    if (file.open(QIODevice::ReadOnly)) {
-      auto dbc_name = QFileInfo(file_name).baseName();
-      dbc()->open(dbc_name, file.readAll());
+void MainWindow::undoStackCleanChanged(bool clean) {
+  if (clean) {
+    prev_undostack_index = 0;
+    prev_undostack_count = 0;
+  }
+  setWindowModified(!clean);
+}
+
+void MainWindow::DBCFileChanged() {
+  UndoStack::instance()->clear();
+  updateLoadSaveMenus();
+}
+
+void MainWindow::openStream() {
+  AbstractStream *stream = nullptr;
+  StreamSelector dlg(&stream, this);
+  if (dlg.exec()) {
+    if (!dlg.dbcFile().isEmpty()) {
+      loadFile(dlg.dbcFile());
     }
+    stream->start();
+    statusBar()->showMessage(tr("Route %1 loaded").arg(can->routeName()), 2000);
   }
 }
 
-void MainWindow::loadDBCFromClipboard() {
+void MainWindow::closeStream() {
+  AbstractStream *stream = new DummyStream(this);
+  stream->start();
+  if (dbc()->nonEmptyDBCCount() > 0) {
+    emit dbc()->DBCFileChanged();
+  }
+  statusBar()->showMessage(tr("stream closed"));
+}
+
+void MainWindow::newFile(SourceSet s) {
+  closeFile(s);
+  dbc()->open(s, "", "");
+}
+
+void MainWindow::openFile(SourceSet s) {
+  remindSaveChanges();
+  QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+  if (!fn.isEmpty()) {
+    loadFile(fn, s);
+  }
+}
+
+void MainWindow::loadFile(const QString &fn, SourceSet s) {
+  if (!fn.isEmpty()) {
+    closeFile(s);
+
+    QString dbc_fn = fn;
+    // Prompt user to load auto saved file if it exists.
+    if (QFile::exists(fn + AUTO_SAVE_EXTENSION)) {
+      auto ret = QMessageBox::question(this, tr("Auto saved DBC found"), tr("Auto saved DBC file from previous session found. Do you want to load it instead?"));
+      if (ret == QMessageBox::Yes) {
+        dbc_fn += AUTO_SAVE_EXTENSION;
+        UndoStack::instance()->resetClean(); // Force user to save on close so the auto saved file is not lost
+      }
+    }
+
+    QString error;
+    if (dbc()->open(s, dbc_fn, &error)) {
+      updateRecentFiles(fn);
+      statusBar()->showMessage(tr("DBC File %1 loaded").arg(fn), 2000);
+    } else {
+      QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC file"), tr("Failed to parse DBC file %1").arg(fn));
+      msg_box.setDetailedText(error);
+      msg_box.exec();
+    }
+  }
+}
+
+void MainWindow::openRecentFile() {
+  if (auto action = qobject_cast<QAction *>(sender())) {
+    loadFile(action->data().toString());
+  }
+}
+
+void MainWindow::loadDBCFromOpendbc(const QString &name) {
+  QString opendbc_file_path = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, name);
+  loadFile(opendbc_file_path);
+}
+
+void MainWindow::loadFromClipboard(SourceSet s, bool close_all) {
+  closeFile(s);
+
   QString dbc_str = QGuiApplication::clipboard()->text();
-  dbc()->open("From Clipboard", dbc_str);
-  QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
+  QString error;
+  bool ret = dbc()->open(s, "", dbc_str, &error);
+  if (ret && dbc()->msgCount() > 0) {
+    QMessageBox::information(this, tr("Load From Clipboard"), tr("DBC Successfully Loaded!"));
+  } else {
+    QMessageBox msg_box(QMessageBox::Warning, tr("Failed to load DBC from clipboard"), tr("Make sure that you paste the text with correct format."));
+    msg_box.setDetailedText(error);
+    msg_box.exec();
+  }
+}
+
+void MainWindow::changingStream() {
+  center_widget->clear();
+  delete messages_widget;
+  delete video_splitter;
+}
+
+void MainWindow::streamStarted() {
+  bool has_stream = dynamic_cast<DummyStream *>(can) == nullptr;
+  close_stream_act->setEnabled(has_stream);
+  tools_menu->setEnabled(has_stream);
+  createDockWidgets();
+
+  video_dock->setWindowTitle(can->routeName());
+  if (can->liveStreaming() || video_splitter->sizes()[0] == 0) {
+    // display video at minimum size.
+    video_splitter->setSizes({1, 1});
+  }
+  // Don't overwrite already loaded DBC
+  if (!dbc()->msgCount()) {
+    newFile();
+  }
+
+  QObject::connect(messages_widget, &MessagesWidget::msgSelectionChanged, center_widget, &CenterWidget::setMessage);
+  QObject::connect(can, &AbstractStream::eventsMerged, this, &MainWindow::eventsMerged);
+  QObject::connect(can, &AbstractStream::sourcesUpdated, this, &MainWindow::updateLoadSaveMenus);
 }
 
-void MainWindow::loadDBCFromFingerprint() {
-  auto fingerprint = can->carFingerprint();
-  fingerprint_label->setText(fingerprint);
-  if (!fingerprint.isEmpty() && dbc()->name().isEmpty()) {
-    auto dbc_name = fingerprint_to_dbc[fingerprint];
-    if (dbc_name != QJsonValue::Undefined) {
-      loadDBCFromName(dbc_name.toString());
+void MainWindow::eventsMerged() {
+  if (!can->liveStreaming() && std::exchange(car_fingerprint, can->carFingerprint()) != car_fingerprint) {
+    video_dock->setWindowTitle(tr("ROUTE: %1  FINGERPRINT: %2")
+                                    .arg(can->routeName())
+                                    .arg(car_fingerprint.isEmpty() ? tr("Unknown Car") : car_fingerprint));
+    // Don't overwrite already loaded DBC
+    if (!dbc()->msgCount() && !car_fingerprint.isEmpty()) {
+      auto dbc_name = fingerprint_to_dbc[car_fingerprint];
+      if (dbc_name != QJsonValue::Undefined) {
+        // Prevent dialog that load autosaved file from blocking replay->start().
+        QTimer::singleShot(0, [dbc_name, this]() { loadDBCFromOpendbc(dbc_name.toString()); });
+      }
     }
   }
 }
 
-void MainWindow::saveDBCToFile() {
-  QString file_name = QFileDialog::getSaveFileName(this, tr("Save File"),
-                                                   QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
-  if (!file_name.isEmpty()) {
-    settings.last_dir = QFileInfo(file_name).absolutePath();
-    QFile file(file_name);
-    if (file.open(QIODevice::WriteOnly)) {
-      file.write(dbc()->generateDBC().toUtf8());
-      detail_widget->undo_stack->clear();
+void MainWindow::save() {
+  // Save all open DBC files
+  for (auto dbc_file : dbc()->allDBCFiles()) {
+    if (dbc_file->isEmpty()) continue;
+    saveFile(dbc_file);
+  }
+}
+
+void MainWindow::saveAs() {
+  // Save as all open DBC files. Should not be called with more than 1 file open
+  for (auto dbc_file : dbc()->allDBCFiles()) {
+    if (dbc_file->isEmpty()) continue;
+    saveFileAs(dbc_file);
+  }
+}
+
+void MainWindow::autoSave() {
+  if (!UndoStack::instance()->isClean()) {
+    for (auto dbc_file : dbc()->allDBCFiles()) {
+      if (!dbc_file->filename.isEmpty()) {
+        dbc_file->autoSave();
+      }
     }
   }
 }
 
-void MainWindow::saveDBCToClipboard() {
-  QGuiApplication::clipboard()->setText(dbc()->generateDBC());
+void MainWindow::cleanupAutoSaveFile() {
+  for (auto dbc_file : dbc()->allDBCFiles()) {
+    dbc_file->cleanupAutoSaveFile();
+  }
+}
+
+void MainWindow::closeFile(SourceSet s) {
+  remindSaveChanges();
+  if (s == SOURCE_ALL) {
+    dbc()->closeAll();
+  } else {
+    dbc()->close(s);
+  }
+}
+
+void MainWindow::closeFile(DBCFile *dbc_file) {
+  assert(dbc_file != nullptr);
+  remindSaveChanges();
+  dbc()->close(dbc_file);
+  // Ensure we always have at least one file open
+  if (dbc()->dbcCount() == 0) {
+    newFile();
+  }
+}
+
+void MainWindow::saveFile(DBCFile *dbc_file) {
+  assert(dbc_file != nullptr);
+  if (!dbc_file->filename.isEmpty()) {
+    dbc_file->save();
+    updateLoadSaveMenus();
+  } else if (!dbc_file->isEmpty()) {
+    saveFileAs(dbc_file);
+  }
+  UndoStack::instance()->setClean();
+  statusBar()->showMessage(tr("File saved"), 2000);
+}
+
+void MainWindow::saveFileAs(DBCFile *dbc_file) {
+  QString title = tr("Save File (bus: %1)").arg(toString(dbc()->sources(dbc_file)));
+  QString fn = QFileDialog::getSaveFileName(this, title, QDir::cleanPath(settings.last_dir + "/untitled.dbc"), tr("DBC (*.dbc)"));
+  if (!fn.isEmpty()) {
+    dbc_file->saveAs(fn);
+    updateRecentFiles(fn);
+    updateLoadSaveMenus();
+  }
+}
+
+void MainWindow::saveToClipboard() {
+  // Copy all open DBC files to clipboard. Should not be called with more than 1 file open
+  for (auto dbc_file : dbc()->allDBCFiles()) {
+    if (dbc_file->isEmpty()) continue;
+    saveFileToClipboard(dbc_file);
+  }
+}
+
+void MainWindow::saveFileToClipboard(DBCFile *dbc_file) {
+  assert(dbc_file != nullptr);
+  QGuiApplication::clipboard()->setText(dbc_file->generateDBC());
   QMessageBox::information(this, tr("Copy To Clipboard"), tr("DBC Successfully copied!"));
 }
 
+void MainWindow::updateLoadSaveMenus() {
+  int cnt = dbc()->nonEmptyDBCCount();
+  if (cnt > 1) {
+    save_dbc->setText(tr("Save %1 DBCs...").arg(dbc()->dbcCount()));
+  } else {
+    save_dbc->setText(tr("Save DBC..."));
+  }
+  save_dbc->setEnabled(cnt > 0);
+  save_dbc_as->setEnabled(cnt == 1);
+
+  // TODO: Support clipboard for multiple files
+  copy_dbc_to_clipboard->setEnabled(cnt == 1);
+
+  manage_dbcs_menu->clear();
+  manage_dbcs_menu->setEnabled(dynamic_cast<DummyStream *>(can) == nullptr);
+
+  for (int source : can->sources) {
+    if (source >= 64) continue; // Sent and blocked buses are handled implicitly
+
+    SourceSet ss = {source, uint8_t(source + 128), uint8_t(source + 192)};
+
+    QMenu *bus_menu = new QMenu(this);
+    bus_menu->addAction(tr("New DBC File..."), [=]() { newFile(ss); });
+    bus_menu->addAction(tr("Open DBC File..."), [=]() { openFile(ss); });
+    bus_menu->addAction(tr("Load DBC From Clipboard..."), [=]() { loadFromClipboard(ss, false); });
+
+    // Show sub-menu for each dbc for this source.
+    QString file_name = "No DBCs loaded";
+    if (auto dbc_file = dbc()->findDBCFile(source)) {
+      bus_menu->addSeparator();
+      bus_menu->addAction(dbc_file->name() + " (" + toString(dbc()->sources(dbc_file)) + ")")->setEnabled(false);
+      bus_menu->addAction(tr("Save..."), [=]() { saveFile(dbc_file); });
+      bus_menu->addAction(tr("Save As..."), [=]() { saveFileAs(dbc_file); });
+      bus_menu->addAction(tr("Copy to Clipboard..."), [=]() { saveFileToClipboard(dbc_file); });
+      bus_menu->addAction(tr("Remove from this bus..."), [=]() { closeFile(ss); });
+      bus_menu->addAction(tr("Remove from all buses..."), [=]() { closeFile(dbc_file); });
+
+      file_name = dbc_file->name();
+    }
+
+    manage_dbcs_menu->addMenu(bus_menu);
+    bus_menu->setTitle(tr("Bus %1 (%2)").arg(source).arg(file_name));
+  }
+
+  QStringList title;
+  for (auto f : dbc()->allDBCFiles()) {
+    title.push_back(tr("(%1) %2").arg(toString(dbc()->sources(f)), f->name()));
+  }
+  setWindowFilePath(title.join(" | "));
+}
+
+void MainWindow::updateRecentFiles(const QString &fn) {
+  settings.recent_files.removeAll(fn);
+  settings.recent_files.prepend(fn);
+  while (settings.recent_files.size() > MAX_RECENT_FILES) {
+    settings.recent_files.removeLast();
+  }
+  settings.last_dir = QFileInfo(fn).absolutePath();
+  updateRecentFileActions();
+}
+
+void MainWindow::updateRecentFileActions() {
+  int num_recent_files = std::min<int>(settings.recent_files.size(), MAX_RECENT_FILES);
+
+  for (int i = 0; i < num_recent_files; ++i) {
+    QString text = tr("&%1 %2").arg(i + 1).arg(QFileInfo(settings.recent_files[i]).fileName());
+    recent_files_acts[i]->setText(text);
+    recent_files_acts[i]->setData(settings.recent_files[i]);
+    recent_files_acts[i]->setVisible(true);
+  }
+  for (int i = num_recent_files; i < MAX_RECENT_FILES; ++i) {
+    recent_files_acts[i]->setVisible(false);
+  }
+  open_recent_menu->setEnabled(num_recent_files > 0);
+}
+
+void MainWindow::remindSaveChanges() {
+  bool discard_changes = false;
+  while (!UndoStack::instance()->isClean() && !discard_changes) {
+    QString text = tr("You have unsaved changes. Press ok to save them, cancel to discard.");
+    int ret = (QMessageBox::question(this, tr("Unsaved Changes"), text, QMessageBox::Ok | QMessageBox::Cancel));
+    if (ret == QMessageBox::Ok) {
+      save();
+    } else {
+      discard_changes = true;
+    }
+  }
+  UndoStack::instance()->clear();
+}
+
 void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool success) {
   if (success && cur < total) {
     progress_bar->setValue((cur / (double)total) * 100);
@@ -226,40 +570,42 @@ void MainWindow::updateDownloadProgress(uint64_t cur, uint64_t total, bool succe
   }
 }
 
+void MainWindow::updateStatus() {
+  status_label->setText(tr("Cached Minutes:%1 FPS:%2").arg(settings.max_cached_minutes).arg(settings.fps));
+}
+
 void MainWindow::dockCharts(bool dock) {
   if (dock && floating_window) {
     floating_window->removeEventFilter(charts_widget);
-    r_layout->insertWidget(2, charts_widget, 1);
+    charts_layout->insertWidget(0, charts_widget, 1);
     floating_window->deleteLater();
     floating_window = nullptr;
   } else if (!dock && !floating_window) {
     floating_window = new QWidget(this);
     floating_window->setWindowFlags(Qt::Window);
-    floating_window->setWindowTitle("Charts - Cabana");
+    floating_window->setWindowTitle("Charts");
     floating_window->setLayout(new QVBoxLayout());
     floating_window->layout()->addWidget(charts_widget);
     floating_window->installEventFilter(charts_widget);
-    floating_window->setMinimumSize(QGuiApplication::primaryScreen()->size() / 2);
     floating_window->showMaximized();
   }
 }
 
 void MainWindow::closeEvent(QCloseEvent *event) {
-  if (detail_widget->undo_stack->index() > 0) {
-    auto ret = QMessageBox::question(this, tr("Unsaved Changes"),
-                                     tr("Are you sure you want to exit without saving?\nAny unsaved changes will be lost."),
-                                     QMessageBox::Yes | QMessageBox::No);
-    if (ret == QMessageBox::No) {
-      event->ignore();
-      return;
-    }
-  }
+  cleanupAutoSaveFile();
+  remindSaveChanges();
 
   main_win = nullptr;
   if (floating_window)
     floating_window->deleteLater();
 
-  settings.splitter_state = splitter->saveState();
+  // save states
+  settings.geometry = saveGeometry();
+  settings.window_state = saveState();
+  if (!can->liveStreaming()) {
+    settings.video_splitter_state = video_splitter->saveState();
+  }
+  settings.message_header_state = messages_widget->saveHeaderState();
   settings.save();
   QWidget::closeEvent(event);
 }
@@ -268,3 +614,86 @@ void MainWindow::setOption() {
   SettingsDlg dlg(this);
   dlg.exec();
 }
+
+void MainWindow::findSimilarBits() {
+  FindSimilarBitsDlg *dlg = new FindSimilarBitsDlg(this);
+  QObject::connect(dlg, &FindSimilarBitsDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
+  dlg->show();
+}
+
+void MainWindow::findSignal() {
+  FindSignalDlg *dlg = new FindSignalDlg(this);
+  QObject::connect(dlg, &FindSignalDlg::openMessage, messages_widget, &MessagesWidget::selectMessage);
+  dlg->show();
+}
+
+void MainWindow::onlineHelp() {
+  if (auto help = findChild<HelpOverlay*>()) {
+    help->close();
+  } else {
+    help = new HelpOverlay(this);
+    help->setGeometry(rect());
+    help->show();
+    help->raise();
+  }
+}
+
+void MainWindow::toggleFullScreen() {
+  if (isFullScreen()) {
+    menuBar()->show();
+    statusBar()->show();
+    showNormal();
+    showMaximized();
+  } else {
+    menuBar()->hide();
+    statusBar()->hide();
+    showFullScreen();
+  }
+}
+
+// HelpOverlay
+HelpOverlay::HelpOverlay(MainWindow *parent) : QWidget(parent) {
+  setAttribute(Qt::WA_NoSystemBackground, true);
+  setAttribute(Qt::WA_TranslucentBackground, true);
+  setAttribute(Qt::WA_DeleteOnClose);
+  parent->installEventFilter(this);
+}
+
+void HelpOverlay::paintEvent(QPaintEvent *event) {
+  QPainter painter(this);
+  painter.fillRect(rect(), QColor(0, 0, 0, 50));
+  MainWindow *parent = (MainWindow *)parentWidget();
+  drawHelpForWidget(painter, parent->findChild<MessagesWidget *>());
+  drawHelpForWidget(painter, parent->findChild<BinaryView *>());
+  drawHelpForWidget(painter, parent->findChild<SignalView *>());
+  drawHelpForWidget(painter, parent->findChild<ChartsWidget *>());
+  drawHelpForWidget(painter, parent->findChild<VideoWidget *>());
+}
+
+void HelpOverlay::drawHelpForWidget(QPainter &painter, QWidget *w) {
+  if (w && w->isVisible() && !w->whatsThis().isEmpty()) {
+    QPoint pt = mapFromGlobal(w->mapToGlobal(w->rect().center()));
+    if (rect().contains(pt)) {
+      QTextDocument document;
+      document.setHtml(w->whatsThis());
+      QSize doc_size = document.size().toSize();
+      QPoint topleft = {pt.x() - doc_size.width() / 2, pt.y() - doc_size.height() / 2};
+      painter.translate(topleft);
+      painter.fillRect(QRect{{0, 0}, doc_size}, palette().toolTipBase());
+      document.drawContents(&painter);
+      painter.translate(-topleft);
+    }
+  }
+}
+
+bool HelpOverlay::eventFilter(QObject *obj, QEvent *event) {
+  if (obj == parentWidget() && event->type() == QEvent::Resize) {
+    QResizeEvent *resize_event = (QResizeEvent *)(event);
+    setGeometry(QRect{QPoint(0, 0), resize_event->size()});
+  }
+  return false;
+}
+
+void HelpOverlay::mouseReleaseEvent(QMouseEvent *event) {
+  close();
+}
diff --git a/tools/cabana/mainwin.h b/tools/cabana/mainwin.h
index 5d377c44ca..bbbe8730cb 100644
--- a/tools/cabana/mainwin.h
+++ b/tools/cabana/mainwin.h
@@ -1,16 +1,19 @@
 #pragma once
 
-#include <QComboBox>
+#include <QDockWidget>
 #include <QJsonDocument>
 #include <QMainWindow>
+#include <QMenu>
 #include <QProgressBar>
 #include <QSplitter>
 #include <QStatusBar>
 
-#include "tools/cabana/chartswidget.h"
+#include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/dbc/dbcmanager.h"
 #include "tools/cabana/detailwidget.h"
 #include "tools/cabana/messageswidget.h"
 #include "tools/cabana/videowidget.h"
+#include "tools/cabana/tools/findsimilarbits.h"
 
 class MainWindow : public QMainWindow {
   Q_OBJECT
@@ -19,36 +22,93 @@ public:
   MainWindow();
   void dockCharts(bool dock);
   void showStatusMessage(const QString &msg, int timeout = 0) { statusBar()->showMessage(msg, timeout); }
+  void loadFile(const QString &fn, SourceSet s = SOURCE_ALL);
+  ChartsWidget *charts_widget = nullptr;
 
 public slots:
-  void loadDBCFromName(const QString &name);
-  void loadDBCFromFingerprint();
-  void loadDBCFromFile();
-  void loadDBCFromClipboard();
-  void saveDBCToFile();
-  void saveDBCToClipboard();
+  void openStream();
+  void closeStream();
+  void changingStream();
+  void streamStarted();
+
+  void newFile(SourceSet s = SOURCE_ALL);
+  void openFile(SourceSet s = SOURCE_ALL);
+  void openRecentFile();
+  void loadDBCFromOpendbc(const QString &name);
+  void save();
+  void saveAs();
+  void saveToClipboard();
 
 signals:
   void showMessage(const QString &msg, int timeout);
   void updateProgressBar(uint64_t cur, uint64_t total, bool success);
 
 protected:
+  void remindSaveChanges();
+  void closeFile(SourceSet s = SOURCE_ALL);
+  void closeFile(DBCFile *dbc_file);
+  void saveFile(DBCFile *dbc_file);
+  void saveFileAs(DBCFile *dbc_file);
+  void saveFileToClipboard(DBCFile *dbc_file);
+  void loadFromClipboard(SourceSet s = SOURCE_ALL, bool close_all = true);
+  void autoSave();
+  void cleanupAutoSaveFile();
+  void updateRecentFiles(const QString &fn);
+  void updateRecentFileActions();
   void createActions();
+  void createDockWindows();
   void createStatusBar();
   void createShortcuts();
   void closeEvent(QCloseEvent *event) override;
+  void DBCFileChanged();
   void updateDownloadProgress(uint64_t cur, uint64_t total, bool success);
   void setOption();
+  void findSimilarBits();
+  void findSignal();
+  void undoStackCleanChanged(bool clean);
+  void undoStackIndexChanged(int index);
+  void onlineHelp();
+  void toggleFullScreen();
+  void updateStatus();
+  void updateLoadSaveMenus();
+  void createDockWidgets();
+  void eventsMerged();
 
-  VideoWidget *video_widget;
-  MessagesWidget *messages_widget;
-  DetailWidget *detail_widget;
-  ChartsWidget *charts_widget;
-  QSplitter *splitter;
+  VideoWidget *video_widget = nullptr;
+  QDockWidget *video_dock;
+  QDockWidget *messages_dock;
+  MessagesWidget *messages_widget = nullptr;
+  CenterWidget *center_widget;
   QWidget *floating_window = nullptr;
-  QVBoxLayout *r_layout;
+  QVBoxLayout *charts_layout;
   QProgressBar *progress_bar;
-  QLabel *fingerprint_label;
+  QLabel *status_label;
   QJsonDocument fingerprint_to_dbc;
-  QComboBox *dbc_combo;
+  QSplitter *video_splitter = nullptr;
+  enum { MAX_RECENT_FILES = 15 };
+  QAction *recent_files_acts[MAX_RECENT_FILES] = {};
+  QMenu *open_recent_menu = nullptr;
+  QMenu *manage_dbcs_menu = nullptr;
+  QMenu *tools_menu = nullptr;
+  QAction *close_stream_act = nullptr;
+  QAction *save_dbc = nullptr;
+  QAction *save_dbc_as = nullptr;
+  QAction *copy_dbc_to_clipboard = nullptr;
+  QString car_fingerprint;
+  int prev_undostack_index = 0;
+  int prev_undostack_count = 0;
+  QByteArray default_state;
+  friend class OnlineHelp;
+};
+
+class HelpOverlay : public QWidget {
+  Q_OBJECT
+public:
+  HelpOverlay(MainWindow *parent);
+
+protected:
+  void drawHelpForWidget(QPainter &painter, QWidget *w);
+  void paintEvent(QPaintEvent *event) override;
+  void mouseReleaseEvent(QMouseEvent *event) override;
+  bool eventFilter(QObject *obj, QEvent *event) override;
 };
diff --git a/tools/cabana/messageswidget.cc b/tools/cabana/messageswidget.cc
index dbf87a3da2..cd663f0e45 100644
--- a/tools/cabana/messageswidget.cc
+++ b/tools/cabana/messageswidget.cc
@@ -1,131 +1,351 @@
 #include "tools/cabana/messageswidget.h"
 
-#include <QFontDatabase>
-#include <QHeaderView>
-#include <QLineEdit>
+#include <algorithm>
+#include <limits>
+#include <utility>
+#include <vector>
+
+#include <QHBoxLayout>
+#include <QPainter>
+#include <QPushButton>
+#include <QScrollBar>
 #include <QVBoxLayout>
 
-#include "tools/cabana/dbcmanager.h"
+#include "tools/cabana/commands.h"
 
 MessagesWidget::MessagesWidget(QWidget *parent) : QWidget(parent) {
   QVBoxLayout *main_layout = new QVBoxLayout(this);
   main_layout->setContentsMargins(0, 0, 0, 0);
 
-  // message filter
-  QLineEdit *filter = new QLineEdit(this);
-  filter->setClearButtonEnabled(true);
-  filter->setPlaceholderText(tr("filter messages"));
-  main_layout->addWidget(filter);
+  QHBoxLayout *title_layout = new QHBoxLayout();
+  num_msg_label = new QLabel(this);
+  title_layout->addSpacing(10);
+  title_layout->addWidget(num_msg_label);
+
+  title_layout->addStretch();
+  title_layout->addWidget(multiple_lines_bytes = new QCheckBox(tr("Multiple Lines &Bytes"), this));
+  multiple_lines_bytes->setToolTip(tr("Display bytes in multiple lines"));
+  multiple_lines_bytes->setChecked(settings.multiple_lines_bytes);
+  QPushButton *clear_filters = new QPushButton(tr("&Clear Filters"));
+  clear_filters->setEnabled(false);
+  title_layout->addWidget(clear_filters);
+  main_layout->addLayout(title_layout);
 
   // message table
-  table_widget = new QTableView(this);
+  view = new MessageView(this);
   model = new MessageListModel(this);
-  table_widget->setModel(model);
-  table_widget->setSelectionBehavior(QAbstractItemView::SelectRows);
-  table_widget->setSelectionMode(QAbstractItemView::SingleSelection);
-  table_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Expanding);
-  table_widget->setSortingEnabled(true);
-  table_widget->sortByColumn(0, Qt::AscendingOrder);
-  table_widget->setColumnWidth(0, 250);
-  table_widget->setColumnWidth(1, 80);
-  table_widget->setColumnWidth(2, 80);
-  table_widget->horizontalHeader()->setStretchLastSection(true);
-  table_widget->verticalHeader()->hide();
-  main_layout->addWidget(table_widget);
+  header = new MessageViewHeader(this);
+  auto delegate = new MessageBytesDelegate(view, settings.multiple_lines_bytes);
+
+  view->setItemDelegate(delegate);
+  view->setHeader(header);
+  view->setModel(model);
+  view->setHeader(header);
+  view->setSortingEnabled(true);
+  view->sortByColumn(MessageListModel::Column::NAME, Qt::AscendingOrder);
+  view->setAllColumnsShowFocus(true);
+  view->setEditTriggers(QAbstractItemView::NoEditTriggers);
+  view->setItemsExpandable(false);
+  view->setIndentation(0);
+  view->setRootIsDecorated(false);
+
+  // Must be called before setting any header parameters to avoid overriding
+  restoreHeaderState(settings.message_header_state);
+  view->header()->setSectionsMovable(true);
+  view->header()->setSectionResizeMode(MessageListModel::Column::DATA, QHeaderView::Fixed);
+  view->header()->setStretchLastSection(true);
+
+  // Header context menu
+  view->header()->setContextMenuPolicy(Qt::CustomContextMenu);
+  QObject::connect(view->header(), &QHeaderView::customContextMenuRequested, view, &MessageView::headerContextMenuEvent);
+
+  main_layout->addWidget(view);
+
+  // suppress
+  QHBoxLayout *suppress_layout = new QHBoxLayout();
+  suppress_add = new QPushButton("Suppress Highlighted");
+  suppress_clear = new QPushButton();
+  suppress_layout->addWidget(suppress_add);
+  suppress_layout->addWidget(suppress_clear);
+  QCheckBox *suppress_defined_signals = new QCheckBox(tr("Suppress Defined Signals"), this);
+  suppress_defined_signals->setChecked(settings.suppress_defined_signals);
+  suppress_layout->addWidget(suppress_defined_signals);
+  main_layout->addLayout(suppress_layout);
 
   // signals/slots
-  QObject::connect(filter, &QLineEdit::textChanged, model, &MessageListModel::setFilterString);
-  QObject::connect(can, &CANMessages::msgsReceived, model, &MessageListModel::msgsReceived);
-  QObject::connect(dbc(), &DBCManager::DBCFileChanged, model, &MessageListModel::sortMessages);
-  QObject::connect(dbc(), &DBCManager::msgUpdated, model, &MessageListModel::sortMessages);
-  QObject::connect(dbc(), &DBCManager::msgRemoved, model, &MessageListModel::sortMessages);
-  QObject::connect(table_widget->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
+  QObject::connect(header, &MessageViewHeader::filtersUpdated, model, &MessageListModel::setFilterStrings);
+  QObject::connect(header, &MessageViewHeader::filtersUpdated, [=](const QMap<int, QString> &filters) {
+    clear_filters->setEnabled(!filters.isEmpty());
+  });
+  QObject::connect(view->horizontalScrollBar(), &QScrollBar::valueChanged, header, &MessageViewHeader::updateHeaderPositions);
+  QObject::connect(clear_filters, &QPushButton::clicked, header, &MessageViewHeader::clearFilters);
+  QObject::connect(multiple_lines_bytes, &QCheckBox::stateChanged, [=](int state) {
+    settings.multiple_lines_bytes = (state == Qt::Checked);
+    delegate->setMultipleLines(settings.multiple_lines_bytes);
+    view->setUniformRowHeights(!settings.multiple_lines_bytes);
+
+    // Reset model to force recalculation of the width of the bytes column
+    model->forceResetModel();
+  });
+  QObject::connect(suppress_defined_signals, &QCheckBox::stateChanged, [=](int state) {
+    settings.suppress_defined_signals = (state == Qt::Checked);
+    emit settings.changed();
+  });
+  QObject::connect(can, &AbstractStream::msgsReceived, model, &MessageListModel::msgsReceived);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &MessagesWidget::dbcModified);
+  QObject::connect(UndoStack::instance(), &QUndoStack::indexChanged, this, &MessagesWidget::dbcModified);
+  QObject::connect(model, &MessageListModel::modelReset, [this]() {
+    if (current_msg_id) {
+      selectMessage(*current_msg_id);
+    }
+    view->updateBytesSectionSize();
+  });
+  QObject::connect(view->selectionModel(), &QItemSelectionModel::currentChanged, [=](const QModelIndex &current, const QModelIndex &previous) {
     if (current.isValid() && current.row() < model->msgs.size()) {
-      if (model->msgs[current.row()] != current_msg_id) {
-        current_msg_id = model->msgs[current.row()];
-        emit msgSelectionChanged(current_msg_id);
+      auto &id = model->msgs[current.row()];
+      if (!current_msg_id || id != *current_msg_id) {
+        current_msg_id = id;
+        emit msgSelectionChanged(*current_msg_id);
       }
     }
   });
-  QObject::connect(model, &MessageListModel::modelReset, [this]() {
-    if (int row = model->msgs.indexOf(current_msg_id); row != -1)
-      table_widget->selectionModel()->setCurrentIndex(model->index(row, 0), QItemSelectionModel::Rows | QItemSelectionModel::ClearAndSelect);
+  QObject::connect(suppress_add, &QPushButton::clicked, [=]() {
+    model->suppress();
+    updateSuppressedButtons();
   });
+  QObject::connect(suppress_clear, &QPushButton::clicked, [=]() {
+    model->clearSuppress();
+    updateSuppressedButtons();
+  });
+
+  updateSuppressedButtons();
+
+  setWhatsThis(tr(R"(
+    <b>Message View</b><br/>
+    <!-- TODO: add descprition here -->
+    <span style="color:gray">Byte color</span><br />
+    <span style="color:gray;">■ </span> constant changing<br />
+    <span style="color:blue;">■ </span> increasing<br />
+    <span style="color:red;">■ </span> decreasing
+  )"));
+}
+
+void MessagesWidget::dbcModified() {
+  num_msg_label->setText(tr("%1 Messages, %2 Signals").arg(dbc()->msgCount()).arg(dbc()->signalCount()));
+  model->dbcModified();
+}
+
+void MessagesWidget::selectMessage(const MessageId &msg_id) {
+  auto it = std::find(model->msgs.cbegin(), model->msgs.cend(), msg_id);
+  if (it != model->msgs.cend()) {
+    view->setCurrentIndex(model->index(std::distance(model->msgs.cbegin(), it), 0));
+  }
+}
+
+void MessagesWidget::updateSuppressedButtons() {
+  if (model->suppressed_bytes.empty()) {
+    suppress_clear->setEnabled(false);
+    suppress_clear->setText("Clear Suppressed");
+  } else {
+    suppress_clear->setEnabled(true);
+    suppress_clear->setText(QString("Clear Suppressed (%1)").arg(model->suppressed_bytes.size()));
+  }
 }
 
 // MessageListModel
 
 QVariant MessageListModel::headerData(int section, Qt::Orientation orientation, int role) const {
-  if (orientation == Qt::Horizontal && role == Qt::DisplayRole)
-    return (QString[]){"Name", "ID", "Freq", "Count", "Bytes"}[section];
+  if (orientation == Qt::Horizontal && role == Qt::DisplayRole) {
+    switch (section) {
+      case Column::NAME: return tr("Name");
+      case Column::SOURCE: return tr("Bus");
+      case Column::ADDRESS: return tr("ID");
+      case Column::FREQ: return tr("Freq");
+      case Column::COUNT: return tr("Count");
+      case Column::DATA: return tr("Bytes");
+    }
+  }
   return {};
 }
 
 QVariant MessageListModel::data(const QModelIndex &index, int role) const {
+  const auto &id = msgs[index.row()];
+  auto &can_data = can->lastMessage(id);
+
+  auto getFreq = [](const CanData &d) -> QString {
+    if (d.freq > 0 && (can->currentSec() - d.ts - 1.0 / settings.fps) < (5.0 / d.freq)) {
+      return d.freq >= 1 ? QString::number(std::nearbyint(d.freq)) : QString::number(d.freq, 'f', 2);
+    } else {
+      return "--";
+    }
+  };
+
   if (role == Qt::DisplayRole) {
-    const auto &id = msgs[index.row()];
-    auto &can_data = can->lastMessage(id);
     switch (index.column()) {
-      case 0: return msgName(id);
-      case 1: return id;
-      case 2: return can_data.freq;
-      case 3: return can_data.count;
-      case 4: return toHex(can_data.dat);
+      case Column::NAME: return msgName(id);
+      case Column::SOURCE: return id.source != INVALID_SOURCE ? QString::number(id.source) : "N/A";
+      case Column::ADDRESS: return QString::number(id.address, 16);
+      case Column::FREQ: return id.source != INVALID_SOURCE ? getFreq(can_data) : "N/A";
+      case Column::COUNT: return id.source != INVALID_SOURCE ? QString::number(can_data.count) : "N/A";
+      case Column::DATA: return id.source != INVALID_SOURCE ? toHex(can_data.dat) : "N/A";
+    }
+  } else if (role == ColorsRole) {
+    QVector<QColor> colors = can_data.colors;
+    if (!suppressed_bytes.empty()) {
+      for (int i = 0; i < colors.size(); i++) {
+        if (suppressed_bytes.contains({id, i})) {
+          colors[i] = QColor(255, 255, 255, 0);
+        }
+      }
     }
-  } else if (role == Qt::FontRole && index.column() == columnCount() - 1) {
-    return QFontDatabase::systemFont(QFontDatabase::FixedFont);
+    return QVariant::fromValue(colors);
+  } else if (role == BytesRole && index.column() == Column::DATA && id.source != INVALID_SOURCE) {
+    return can_data.dat;
+  } else if (role == Qt::ToolTipRole && index.column() == Column::NAME) {
+    auto msg = dbc()->msg(id);
+    auto tooltip = msg ? msg->name : UNTITLED;
+    if (msg && !msg->comment.isEmpty()) tooltip += "<br /><span style=\"color:gray;\">" + msg->comment + "</span>";
+    return tooltip;
   }
   return {};
 }
 
-void MessageListModel::setFilterString(const QString &string) {
-  filter_str = string;
-  bool search_id = filter_str.contains(':');
-  msgs.clear();
-  for (auto it = can->can_msgs.begin(); it != can->can_msgs.end(); ++it) {
-    if ((search_id ? it.key() : msgName(it.key())).contains(filter_str, Qt::CaseInsensitive))
-      msgs.push_back(it.key());
+void MessageListModel::setFilterStrings(const QMap<int, QString> &filters) {
+  filter_str = filters;
+  fetchData();
+}
+
+void MessageListModel::dbcModified() {
+  dbc_address.clear();
+  for (const auto &[_, m] : dbc()->getMessages(-1)) {
+    dbc_address.insert(m.address);
   }
-  sortMessages();
+  fetchData();
 }
 
-void MessageListModel::sortMessages() {
-  beginResetModel();
-  if (sort_column == 0) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
-      bool ret = std::pair{msgName(l), l} < std::pair{msgName(r), r};
-      return sort_order == Qt::AscendingOrder ? ret : !ret;
+void MessageListModel::sortMessages(std::vector<MessageId> &new_msgs) {
+  if (sort_column == Column::NAME) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
+      auto ll = std::pair{msgName(l), l};
+      auto rr = std::pair{msgName(r), r};
+      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
+    });
+  } else if (sort_column == Column::SOURCE) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
+      auto ll = std::pair{l.source, l};
+      auto rr = std::pair{r.source, r};
+      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 1) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
-      return sort_order == Qt::AscendingOrder ? l < r : l > r;
+  } else if (sort_column == Column::ADDRESS) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
+      auto ll = std::pair{l.address, l};
+      auto rr = std::pair{r.address, r};
+      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 2) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
-      bool ret = std::pair{can->lastMessage(l).freq, l} < std::pair{can->lastMessage(r).freq, r};
-      return sort_order == Qt::AscendingOrder ? ret : !ret;
+  } else if (sort_column == Column::FREQ) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
+      auto ll = std::pair{can->lastMessage(l).freq, l};
+      auto rr = std::pair{can->lastMessage(r).freq, r};
+      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
-  } else if (sort_column == 3) {
-    std::sort(msgs.begin(), msgs.end(), [this](auto &l, auto &r) {
-      bool ret = std::pair{can->lastMessage(l).count, l} < std::pair{can->lastMessage(r).count, r};
-      return sort_order == Qt::AscendingOrder ? ret : !ret;
+  } else if (sort_column == Column::COUNT) {
+    std::sort(new_msgs.begin(), new_msgs.end(), [=](auto &l, auto &r) {
+      auto ll = std::pair{can->lastMessage(l).count, l};
+      auto rr = std::pair{can->lastMessage(r).count, r};
+      return sort_order == Qt::AscendingOrder ? ll < rr : ll > rr;
     });
   }
-  endResetModel();
 }
 
-void MessageListModel::msgsReceived(const QHash<QString, CanData> *new_msgs) {
-  int prev_row_count = msgs.size();
-  if (filter_str.isEmpty() && msgs.size() != can->can_msgs.size()) {
-    msgs = can->can_msgs.keys();
+static bool parseRange(const QString &filter, uint32_t value, int base = 10) {
+  // Parse out filter string into a range (e.g. "1" -> {1, 1}, "1-3" -> {1, 3}, "1-" -> {1, inf})
+  unsigned int min = std::numeric_limits<unsigned int>::min();
+  unsigned int max = std::numeric_limits<unsigned int>::max();
+  auto s = filter.split('-');
+  bool ok = s.size() >= 1 && s.size() <= 2;
+  if (ok && !s[0].isEmpty()) min = s[0].toUInt(&ok, base);
+  if (ok && s.size() == 1) {
+    max = min;
+  } else if (ok && s.size() == 2 && !s[1].isEmpty()) {
+    max = s[1].toUInt(&ok, base);
   }
-  if (msgs.size() != prev_row_count) {
-    sortMessages();
-    return;
+  return ok && value >= min && value <= max;
+}
+
+bool MessageListModel::matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters) {
+  bool match = true;
+  for (auto it = filters.cbegin(); it != filters.cend() && match; ++it) {
+    const QString &txt = it.value();
+    QRegularExpression re(txt, QRegularExpression::CaseInsensitiveOption | QRegularExpression::DotMatchesEverythingOption);
+    switch (it.key()) {
+      case Column::NAME: {
+        const auto msg = dbc()->msg(id);
+        match = re.match(msg ? msg->name : UNTITLED).hasMatch();
+        match |= msg && std::any_of(msg->sigs.cbegin(), msg->sigs.cend(), [&re](const auto &s) { return re.match(s->name).hasMatch(); });
+        break;
+      }
+      case Column::SOURCE:
+        match = parseRange(txt, id.source);
+        break;
+      case Column::ADDRESS: {
+        match = re.match(QString::number(id.address, 16)).hasMatch();
+        match |= parseRange(txt, id.address, 16);
+        break;
+      }
+      case Column::FREQ:
+        // TODO: Hide stale messages?
+        match = parseRange(txt, data.freq);
+        break;
+      case Column::COUNT:
+        match = parseRange(txt, data.count);
+        break;
+      case Column::DATA: {
+        match = QString(data.dat.toHex()).contains(txt, Qt::CaseInsensitive);
+        match |= re.match(QString(data.dat.toHex())).hasMatch();
+        match |= re.match(QString(data.dat.toHex(' '))).hasMatch();
+        break;
+      }
+    }
+  }
+  return match;
+}
+
+void MessageListModel::fetchData() {
+  std::vector<MessageId> new_msgs;
+  new_msgs.reserve(can->last_msgs.size() + dbc_address.size());
+
+  auto address = dbc_address;
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    if (filter_str.isEmpty() || matchMessage(it.key(), it.value(), filter_str)) {
+      new_msgs.push_back(it.key());
+    }
+    address.remove(it.key().address);
+  }
+
+  // merge all DBC messages
+  for (auto &addr : address) {
+    MessageId id{.source = INVALID_SOURCE, .address = addr};
+    if (filter_str.isEmpty() || matchMessage(id, {}, filter_str)) {
+      new_msgs.push_back(id);
+    }
+  }
+
+  sortMessages(new_msgs);
+
+  if (msgs != new_msgs) {
+    beginResetModel();
+    msgs = std::move(new_msgs);
+    endResetModel();
+  }
+}
+
+void MessageListModel::msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids) {
+  if (has_new_ids || filter_str.contains(Column::FREQ) || filter_str.contains(Column::COUNT) || filter_str.contains(Column::DATA)) {
+    fetchData();
   }
   for (int i = 0; i < msgs.size(); ++i) {
     if (new_msgs->contains(msgs[i])) {
-      for (int col = 2; col < columnCount(); ++col)
+      for (int col = Column::FREQ; col < columnCount(); ++col)
         emit dataChanged(index(i, col), index(i, col), {Qt::DisplayRole});
     }
   }
@@ -135,6 +355,161 @@ void MessageListModel::sort(int column, Qt::SortOrder order) {
   if (column != columnCount() - 1) {
     sort_column = column;
     sort_order = order;
-    sortMessages();
+    fetchData();
+  }
+}
+
+void MessageListModel::suppress() {
+  const double cur_ts = can->currentSec();
+
+  for (auto &id : msgs) {
+    auto &can_data = can->lastMessage(id);
+    for (int i = 0; i < can_data.dat.size(); i++) {
+      const double dt = cur_ts - can_data.last_change_t[i];
+      if (dt < 2.0) {
+        suppressed_bytes.insert({id, i});
+      }
+    }
+  }
+}
+
+void MessageListModel::clearSuppress() {
+  suppressed_bytes.clear();
+}
+
+void MessageListModel::forceResetModel() {
+  beginResetModel();
+  endResetModel();
+}
+
+// MessageView
+
+void MessageView::drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  QTreeView::drawRow(painter, option, index);
+  const int gridHint = style()->styleHint(QStyle::SH_Table_GridLineColor, &option, this);
+  const QColor gridColor = QColor::fromRgba(static_cast<QRgb>(gridHint));
+  QPen old_pen = painter->pen();
+  painter->setPen(gridColor);
+  painter->drawLine(option.rect.left(), option.rect.bottom(), option.rect.right(), option.rect.bottom());
+
+  auto y = option.rect.y();
+  painter->translate(visualRect(model()->index(0, 0)).x() - indentation() - .5, -.5);
+  for (int i = 0; i < header()->count(); ++i) {
+    painter->translate(header()->sectionSize(header()->logicalIndex(i)), 0);
+    painter->drawLine(0, y, 0, y + option.rect.height());
+  }
+  painter->setPen(old_pen);
+  painter->resetTransform();
+}
+
+void MessageView::dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles) {
+  // Bypass the slow call to QTreeView::dataChanged.
+  // QTreeView::dataChanged will invalidate the height cache and that's what we don't need in MessageView.
+  QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+}
+
+void MessageView::updateBytesSectionSize() {
+  auto delegate = ((MessageBytesDelegate *)itemDelegate());
+  int max_bytes = 8;
+  if (!delegate->multipleLines()) {
+    for (auto it = can->last_msgs.constBegin(); it != can->last_msgs.constEnd(); ++it) {
+      max_bytes = std::max(max_bytes, it.value().dat.size());
+    }
+  }
+  int width = delegate->widthForBytes(max_bytes);
+  if (header()->sectionSize(MessageListModel::Column::DATA) != width) {
+    header()->resizeSection(MessageListModel::Column::DATA, width);
+  }
+}
+
+void MessageView::headerContextMenuEvent(const QPoint &pos) {
+  QMenu *menu = new QMenu(this);
+  int cur_index = header()->logicalIndexAt(pos);
+
+  QAction *action;
+  for (int visual_index = 0; visual_index < header()->count(); visual_index++) {
+    int logical_index = header()->logicalIndex(visual_index);
+    QString column_name = model()->headerData(logical_index, Qt::Horizontal).toString();
+
+    // Hide show action
+    if (header()->isSectionHidden(logical_index)) {
+      action = menu->addAction(tr("  %1").arg(column_name), [=]() { header()->showSection(logical_index); });
+    } else {
+      action = menu->addAction(tr("✓ %1").arg(column_name), [=]() { header()->hideSection(logical_index); });
+    }
+
+    // Can't hide the name column
+    action->setEnabled(logical_index > 0);
+
+    // Make current column bold
+    if (logical_index == cur_index) {
+      QFont font = action->font();
+      font.setBold(true);
+      action->setFont(font);
+    }
+  }
+
+  menu->popup(header()->mapToGlobal(pos));
+}
+
+MessageViewHeader::MessageViewHeader(QWidget *parent) : QHeaderView(Qt::Horizontal, parent) {
+  QObject::connect(this, &QHeaderView::sectionResized, this, &MessageViewHeader::updateHeaderPositions);
+  QObject::connect(this, &QHeaderView::sectionMoved, this, &MessageViewHeader::updateHeaderPositions);
+}
+
+void MessageViewHeader::updateFilters() {
+  QMap<int, QString> filters;
+  for (int i = 0; i < count(); i++) {
+    if (editors[i]) {
+      QString filter = editors[i]->text();
+      if (!filter.isEmpty()) {
+        filters[i] = filter;
+      }
+    }
+  }
+  emit filtersUpdated(filters);
+}
+
+void MessageViewHeader::clearFilters() {
+  for (QLineEdit *editor : editors) {
+    editor->clear();
+  }
+}
+
+void MessageViewHeader::updateHeaderPositions() {
+  QSize sz = QHeaderView::sizeHint();
+  for (int i = 0; i < count(); i++) {
+    if (editors[i]) {
+      int h = editors[i]->sizeHint().height();
+      editors[i]->move(sectionViewportPosition(i), sz.height());
+      editors[i]->resize(sectionSize(i), h);
+      editors[i]->setHidden(isSectionHidden(i));
+    }
+  }
+}
+
+void MessageViewHeader::updateGeometries() {
+  for (int i = 0; i < count(); i++) {
+    if (!editors[i]) {
+      QString column_name = model()->headerData(i, Qt::Horizontal, Qt::DisplayRole).toString();
+      editors[i] = new QLineEdit(this);
+      editors[i]->setClearButtonEnabled(true);
+      editors[i]->setPlaceholderText(tr("Filter %1").arg(column_name));
+
+      QObject::connect(editors[i], &QLineEdit::textChanged, this, &MessageViewHeader::updateFilters);
+    }
+  }
+  setViewportMargins(0, 0, 0, editors[0] ? editors[0]->sizeHint().height() : 0);
+
+  QHeaderView::updateGeometries();
+  updateHeaderPositions();
+}
+
+
+QSize MessageViewHeader::sizeHint() const {
+  QSize sz = QHeaderView::sizeHint();
+  if (editors[0]) {
+    sz.setHeight(sz.height() + editors[0]->minimumSizeHint().height() + 1);
   }
+  return sz;
 }
diff --git a/tools/cabana/messageswidget.h b/tools/cabana/messageswidget.h
index 3a42bed4be..f6d71a5a2e 100644
--- a/tools/cabana/messageswidget.h
+++ b/tools/cabana/messageswidget.h
@@ -1,41 +1,119 @@
 #pragma once
 
+#include <algorithm>
+#include <utility>
+#include <vector>
+
 #include <QAbstractTableModel>
-#include <QTableView>
+#include <QCheckBox>
+#include <QContextMenuEvent>
+#include <QHeaderView>
+#include <QLabel>
+#include <QLineEdit>
+#include <QMenu>
+#include <QSet>
+#include <QTreeView>
 
-#include "tools/cabana/canmessages.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 class MessageListModel : public QAbstractTableModel {
 Q_OBJECT
 
 public:
+
+  enum Column {
+    NAME = 0,
+    SOURCE,
+    ADDRESS,
+    FREQ,
+    COUNT,
+    DATA,
+  };
+
   MessageListModel(QObject *parent) : QAbstractTableModel(parent) {}
   QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
-  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 5; }
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return Column::DATA + 1; }
   QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const;
   int rowCount(const QModelIndex &parent = QModelIndex()) const override { return msgs.size(); }
   void sort(int column, Qt::SortOrder order = Qt::AscendingOrder) override;
-  void setFilterString(const QString &string);
-  void msgsReceived(const QHash<QString, CanData> *new_msgs = nullptr);
-  void sortMessages();
-  QStringList msgs;
+  void setFilterStrings(const QMap<int, QString> &filters);
+  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
+  void fetchData();
+  void suppress();
+  void clearSuppress();
+  void forceResetModel();
+  void dbcModified();
+  std::vector<MessageId> msgs;
+  QSet<std::pair<MessageId, int>> suppressed_bytes;
 
 private:
-  QString filter_str;
+  void sortMessages(std::vector<MessageId> &new_msgs);
+  bool matchMessage(const MessageId &id, const CanData &data, const QMap<int, QString> &filters);
+
+  QMap<int, QString> filter_str;
+  QSet<uint32_t> dbc_address;
   int sort_column = 0;
   Qt::SortOrder sort_order = Qt::AscendingOrder;
 };
 
+class MessageView : public QTreeView {
+  Q_OBJECT
+public:
+  MessageView(QWidget *parent) : QTreeView(parent) {}
+  void drawRow(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void drawBranches(QPainter *painter, const QRect &rect, const QModelIndex &index) const override {}
+  void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override;
+  void updateBytesSectionSize();
+  void headerContextMenuEvent(const QPoint &pos);
+};
+
+class MessageViewHeader : public QHeaderView {
+  // https://stackoverflow.com/a/44346317
+
+  Q_OBJECT
+public:
+  MessageViewHeader(QWidget *parent);
+  void updateHeaderPositions();
+
+  void updateGeometries() override;
+  QSize sizeHint() const override;
+
+public slots:
+  void clearFilters();
+
+signals:
+  void filtersUpdated(const QMap<int, QString> &filters);
+
+private:
+  void updateFilters();
+
+  QMap<int, QLineEdit *> editors;
+};
+
 class MessagesWidget : public QWidget {
   Q_OBJECT
 
 public:
   MessagesWidget(QWidget *parent);
+  void selectMessage(const MessageId &message_id);
+  QByteArray saveHeaderState() const { return view->header()->saveState(); }
+  bool restoreHeaderState(const QByteArray &state) const { return view->header()->restoreState(state); }
+  void updateSuppressedButtons();
+
+public slots:
+  void dbcModified();
+
 signals:
-  void msgSelectionChanged(const QString &message_id);
+  void msgSelectionChanged(const MessageId &message_id);
 
 protected:
-  QTableView *table_widget;
-  QString current_msg_id;
+  MessageView *view;
+  MessageViewHeader *header;
+  std::optional<MessageId> current_msg_id;
+  QCheckBox *multiple_lines_bytes;
   MessageListModel *model;
+  QPushButton *suppress_add;
+  QPushButton *suppress_clear;
+  QLabel *num_msg_label;
 };
diff --git a/tools/cabana/settings.cc b/tools/cabana/settings.cc
index c90830973b..d0cada680a 100644
--- a/tools/cabana/settings.cc
+++ b/tools/cabana/settings.cc
@@ -1,11 +1,16 @@
 #include "tools/cabana/settings.h"
 
+#include <QAbstractButton>
 #include <QDialogButtonBox>
 #include <QDir>
+#include <QFileDialog>
 #include <QFormLayout>
+#include <QPushButton>
 #include <QSettings>
+#include <QStandardPaths>
+
+#include "tools/cabana/util.h"
 
-// Settings
 Settings settings;
 
 Settings::Settings() {
@@ -15,30 +20,67 @@ Settings::Settings() {
 void Settings::save() {
   QSettings s("settings", QSettings::IniFormat);
   s.setValue("fps", fps);
-  s.setValue("log_size", can_msg_log_size);
-  s.setValue("cached_segment", cached_segment_limit);
+  s.setValue("max_cached_minutes", max_cached_minutes);
   s.setValue("chart_height", chart_height);
-  s.setValue("max_chart_x_range", max_chart_x_range);
+  s.setValue("chart_range", chart_range);
+  s.setValue("chart_column_count", chart_column_count);
   s.setValue("last_dir", last_dir);
-  s.setValue("splitter_state", splitter_state);
+  s.setValue("last_route_dir", last_route_dir);
+  s.setValue("window_state", window_state);
+  s.setValue("geometry", geometry);
+  s.setValue("video_splitter_state", video_splitter_state);
+  s.setValue("recent_files", recent_files);
+  s.setValue("message_header_state_v3", message_header_state);
+  s.setValue("chart_series_type", chart_series_type);
+  s.setValue("theme", theme);
+  s.setValue("sparkline_range", sparkline_range);
+  s.setValue("multiple_lines_bytes", multiple_lines_bytes);
+  s.setValue("log_livestream", log_livestream);
+  s.setValue("log_path", log_path);
+  s.setValue("drag_direction", drag_direction);
+  s.setValue("suppress_defined_signals", suppress_defined_signals);
 }
 
 void Settings::load() {
   QSettings s("settings", QSettings::IniFormat);
   fps = s.value("fps", 10).toInt();
-  can_msg_log_size = s.value("log_size", 50).toInt();
-  cached_segment_limit = s.value("cached_segment", 3).toInt();
+  max_cached_minutes = s.value("max_cached_minutes", 30).toInt();
   chart_height = s.value("chart_height", 200).toInt();
-  max_chart_x_range = s.value("max_chart_x_range", 3 * 60).toInt();
+  chart_range = s.value("chart_range", 3 * 60).toInt();
+  chart_column_count = s.value("chart_column_count", 1).toInt();
   last_dir = s.value("last_dir", QDir::homePath()).toString();
-  splitter_state = s.value("splitter_state").toByteArray();
+  last_route_dir = s.value("last_route_dir", QDir::homePath()).toString();
+  window_state = s.value("window_state").toByteArray();
+  geometry = s.value("geometry").toByteArray();
+  video_splitter_state = s.value("video_splitter_state").toByteArray();
+  recent_files = s.value("recent_files").toStringList();
+  message_header_state = s.value("message_header_state_v3").toByteArray();
+  chart_series_type = s.value("chart_series_type", 0).toInt();
+  theme = s.value("theme", 0).toInt();
+  sparkline_range = s.value("sparkline_range", 15).toInt();
+  multiple_lines_bytes = s.value("multiple_lines_bytes", true).toBool();
+  log_livestream = s.value("log_livestream", true).toBool();
+  log_path = s.value("log_path").toString();
+  drag_direction = (Settings::DragDirection)s.value("drag_direction", 0).toInt();
+  suppress_defined_signals = s.value("suppress_defined_signals", false).toBool();
+  if (log_path.isEmpty()) {
+    log_path = QStandardPaths::writableLocation(QStandardPaths::HomeLocation) + "/cabana_live_stream/";
+  }
 }
 
 // SettingsDlg
 
 SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   setWindowTitle(tr("Settings"));
-  QFormLayout *form_layout = new QFormLayout(this);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  QGroupBox *groupbox = new QGroupBox("General");
+  QFormLayout *form_layout = new QFormLayout(groupbox);
+
+  theme = new QComboBox(this);
+  theme->setToolTip(tr("You may need to restart cabana after changes theme"));
+  theme->addItems({tr("Automatic"), tr("Light"), tr("Dark")});
+  theme->setCurrentIndex(settings.theme);
+  form_layout->addRow(tr("Color Theme"), theme);
 
   fps = new QSpinBox(this);
   fps->setRange(10, 100);
@@ -46,45 +88,83 @@ SettingsDlg::SettingsDlg(QWidget *parent) : QDialog(parent) {
   fps->setValue(settings.fps);
   form_layout->addRow("FPS", fps);
 
-  log_size = new QSpinBox(this);
-  log_size->setRange(50, 500);
-  log_size->setSingleStep(10);
-  log_size->setValue(settings.can_msg_log_size);
-  form_layout->addRow(tr("Signal history log size"), log_size);
+  cached_minutes = new QSpinBox(this);
+  cached_minutes->setRange(5, 60);
+  cached_minutes->setSingleStep(1);
+  cached_minutes->setValue(settings.max_cached_minutes);
+  form_layout->addRow(tr("Max Cached Minutes"), cached_minutes);
+  main_layout->addWidget(groupbox);
 
-  cached_segment = new QSpinBox(this);
-  cached_segment->setRange(3, 60);
-  cached_segment->setSingleStep(1);
-  cached_segment->setValue(settings.cached_segment_limit);
-  form_layout->addRow(tr("Cached segments limit"), cached_segment);
+  groupbox = new QGroupBox("New Signal Settings");
+  form_layout = new QFormLayout(groupbox);
+  drag_direction = new QComboBox(this);
+  drag_direction->addItems({tr("MSB First"), tr("LSB First"), tr("Always Little Endian"), tr("Always Big Endian")});
+  drag_direction->setCurrentIndex(settings.drag_direction);
+  form_layout->addRow(tr("Drag Direction"), drag_direction);
+  main_layout->addWidget(groupbox);
 
-  max_chart_x_range = new QSpinBox(this);
-  max_chart_x_range->setRange(1, 60);
-  max_chart_x_range->setSingleStep(1);
-  max_chart_x_range->setValue(settings.max_chart_x_range / 60);
-  form_layout->addRow(tr("Chart range (minutes)"), max_chart_x_range);
+  groupbox = new QGroupBox("Chart");
+  form_layout = new QFormLayout(groupbox);
+  chart_series_type = new QComboBox(this);
+  chart_series_type->addItems({tr("Line"), tr("Step Line"), tr("Scatter")});
+  chart_series_type->setCurrentIndex(settings.chart_series_type);
+  form_layout->addRow(tr("Chart Default Series Type"), chart_series_type);
 
   chart_height = new QSpinBox(this);
   chart_height->setRange(100, 500);
   chart_height->setSingleStep(10);
   chart_height->setValue(settings.chart_height);
-  form_layout->addRow(tr("Chart height"), chart_height);
+  form_layout->addRow(tr("Chart Height"), chart_height);
+  main_layout->addWidget(groupbox);
+
+  log_livestream = new QGroupBox(tr("Enable live stream logging"), this);
+  log_livestream->setCheckable(true);
+  QHBoxLayout *path_layout = new QHBoxLayout(log_livestream);
+  path_layout->addWidget(log_path = new QLineEdit(settings.log_path, this));
+  log_path->setReadOnly(true);
+  auto browse_btn = new QPushButton(tr("B&rowse..."));
+  path_layout->addWidget(browse_btn);
+  main_layout->addWidget(log_livestream);
+
 
-  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
-  form_layout->addRow(buttonBox);
+  auto buttonBox = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel | QDialogButtonBox::Apply);
+  main_layout->addWidget(buttonBox);
+  main_layout->addStretch(1);
 
-  setFixedWidth(360);
-  connect(buttonBox, &QDialogButtonBox::accepted, this, &SettingsDlg::save);
-  connect(buttonBox, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(browse_btn, &QPushButton::clicked, [this]() {
+    QString fn = QFileDialog::getExistingDirectory(
+        this, tr("Log File Location"),
+        QStandardPaths::writableLocation(QStandardPaths::HomeLocation),
+        QFileDialog::ShowDirsOnly | QFileDialog::DontResolveSymlinks);
+    if (!fn.isEmpty()) {
+      log_path->setText(fn);
+    }
+  });
+  QObject::connect(buttonBox, &QDialogButtonBox::clicked, [=](QAbstractButton *button) {
+    auto role = buttonBox->buttonRole(button);
+    if (role == QDialogButtonBox::AcceptRole) {
+      save();
+      accept();
+    } else if (role == QDialogButtonBox::ApplyRole) {
+      save();
+    } else if (role == QDialogButtonBox::RejectRole) {
+      reject();
+    }
+  });
 }
 
 void SettingsDlg::save() {
   settings.fps = fps->value();
-  settings.can_msg_log_size = log_size->value();
-  settings.cached_segment_limit = cached_segment->value();
+  if (std::exchange(settings.theme, theme->currentIndex()) != settings.theme) {
+    // set theme before emit changed
+    utils::setTheme(settings.theme);
+  }
+  settings.max_cached_minutes = cached_minutes->value();
+  settings.chart_series_type = chart_series_type->currentIndex();
   settings.chart_height = chart_height->value();
-  settings.max_chart_x_range = max_chart_x_range->value() * 60;
+  settings.log_livestream = log_livestream->isChecked();
+  settings.log_path = log_path->text();
+  settings.drag_direction = (Settings::DragDirection)drag_direction->currentIndex();
   settings.save();
-  accept();
   emit settings.changed();
 }
diff --git a/tools/cabana/settings.h b/tools/cabana/settings.h
index ee6541798d..b8a3797f86 100644
--- a/tools/cabana/settings.h
+++ b/tools/cabana/settings.h
@@ -1,25 +1,51 @@
 #pragma once
 
 #include <QByteArray>
+#include <QCheckBox>
 #include <QComboBox>
 #include <QDialog>
+#include <QGroupBox>
+#include <QLineEdit>
 #include <QSpinBox>
 
+#define LIGHT_THEME 1
+#define DARK_THEME 2
+
 class Settings : public QObject {
   Q_OBJECT
 
 public:
+  enum DragDirection {
+    MsbFirst,
+    LsbFirst,
+    AlwaysLE,
+    AlwaysBE,
+  };
+
   Settings();
   void save();
   void load();
 
   int fps = 10;
-  int can_msg_log_size = 50;
-  int cached_segment_limit = 3;
+  int max_cached_minutes = 30;
   int chart_height = 200;
-  int max_chart_x_range = 3 * 60; // 3 minutes
+  int chart_column_count = 1;
+  int chart_range = 3 * 60; // 3 minutes
+  int chart_series_type = 0;
+  int theme = 0;
+  int sparkline_range = 15; // 15 seconds
+  bool multiple_lines_bytes = true;
+  bool log_livestream = true;
+  bool suppress_defined_signals = false;
+  QString log_path;
   QString last_dir;
-  QByteArray splitter_state;
+  QString last_route_dir;
+  QByteArray geometry;
+  QByteArray video_splitter_state;
+  QByteArray window_state;
+  QStringList recent_files;
+  QByteArray message_header_state;
+  DragDirection drag_direction;
 
 signals:
   void changed();
@@ -32,10 +58,13 @@ public:
   SettingsDlg(QWidget *parent);
   void save();
   QSpinBox *fps;
-  QSpinBox *log_size ;
-  QSpinBox *cached_segment;
+  QSpinBox *cached_minutes;
   QSpinBox *chart_height;
-  QSpinBox *max_chart_x_range;
+  QComboBox *chart_series_type;
+  QComboBox *theme;
+  QGroupBox *log_livestream;
+  QLineEdit *log_path;
+  QComboBox *drag_direction;
 };
 
 extern Settings settings;
diff --git a/tools/cabana/signaledit.cc b/tools/cabana/signaledit.cc
deleted file mode 100644
index 85476c2302..0000000000
--- a/tools/cabana/signaledit.cc
+++ /dev/null
@@ -1,279 +0,0 @@
-#include "tools/cabana/signaledit.h"
-
-#include <QDoubleValidator>
-#include <QFormLayout>
-#include <QGuiApplication>
-#include <QHBoxLayout>
-#include <QScrollArea>
-#include <QToolBar>
-#include <QVBoxLayout>
-
-#include "selfdrive/ui/qt/util.h"
-
-// SignalForm
-
-SignalForm::SignalForm(QWidget *parent) : QWidget(parent) {
-  QFormLayout *form_layout = new QFormLayout(this);
-
-  name = new QLineEdit();
-  name->setValidator(new QRegExpValidator(QRegExp("^(\\w+)"), name));
-  form_layout->addRow(tr("Name"), name);
-
-  size = new QSpinBox();
-  size->setMinimum(1);
-  form_layout->addRow(tr("Size"), size);
-
-  endianness = new QComboBox();
-  endianness->addItems({"Little", "Big"});
-  form_layout->addRow(tr("Endianness"), endianness);
-
-  form_layout->addRow(tr("lsb"), lsb = new QLabel());
-  form_layout->addRow(tr("msb"), msb = new QLabel());
-
-  sign = new QComboBox();
-  sign->addItems({"Signed", "Unsigned"});
-  form_layout->addRow(tr("sign"), sign);
-
-  auto double_validator = new QDoubleValidator(this);
-
-  factor = new QLineEdit();
-  factor->setValidator(double_validator);
-  form_layout->addRow(tr("Factor"), factor);
-
-  offset = new QLineEdit();
-  offset->setValidator(double_validator);
-  form_layout->addRow(tr("Offset"), offset);
-
-  // TODO: parse the following parameters in opendbc
-  unit = new QLineEdit();
-  form_layout->addRow(tr("Unit"), unit);
-  comment = new QLineEdit();
-  form_layout->addRow(tr("Comment"), comment);
-  min_val = new QLineEdit();
-  min_val->setValidator(double_validator);
-  form_layout->addRow(tr("Minimum value"), min_val);
-  max_val = new QLineEdit();
-  max_val->setValidator(double_validator);
-  form_layout->addRow(tr("Maximum value"), max_val);
-  val_desc = new QLineEdit();
-  form_layout->addRow(tr("Value descriptions"), val_desc);
-
-  QObject::connect(name, &QLineEdit::textEdited, this, &SignalForm::changed);
-  QObject::connect(factor, &QLineEdit::textEdited, this, &SignalForm::changed);
-  QObject::connect(offset, &QLineEdit::textEdited, this, &SignalForm::changed);
-  QObject::connect(sign, SIGNAL(activated(int)), SIGNAL(changed()));
-  QObject::connect(endianness, SIGNAL(activated(int)), SIGNAL(changed()));
-  QObject::connect(size, SIGNAL(valueChanged(int)), SIGNAL(changed()));
-}
-
-// SignalEdit
-
-SignalEdit::SignalEdit(int index, QWidget *parent) : form_idx(index), QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
-  main_layout->setSpacing(0);
-
-  // title bar
-  auto title_bar = new QWidget(this);
-  title_bar->setFixedHeight(32);
-  QHBoxLayout *title_layout = new QHBoxLayout(title_bar);
-  title_layout->setContentsMargins(0, 0, 0, 0);
-  title_bar->setStyleSheet("QToolButton {width:15px;height:15px;font-size:15px}");
-  color_label = new QLabel(this);
-  color_label->setFixedWidth(25);
-  color_label->setContentsMargins(5, 0, 0, 0);
-  title_layout->addWidget(color_label);
-  icon = new QLabel(this);
-  title_layout->addWidget(icon);
-  title = new ElidedLabel(this);
-  title->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Preferred);
-  title_layout->addWidget(title);
-
-  plot_btn = new QToolButton(this);
-  plot_btn->setText("📈");
-  plot_btn->setCheckable(true);
-  plot_btn->setAutoRaise(true);
-  title_layout->addWidget(plot_btn);
-  auto seek_btn = new QToolButton(this);
-  seek_btn->setText("🔍");
-  seek_btn->setAutoRaise(true);
-  seek_btn->setToolTip(tr("Find signal values"));
-  title_layout->addWidget(seek_btn);
-  auto remove_btn = new QToolButton(this);
-  remove_btn->setAutoRaise(true);
-  remove_btn->setText("x");
-  remove_btn->setToolTip(tr("Remove signal"));
-  title_layout->addWidget(remove_btn);
-  main_layout->addWidget(title_bar);
-
-  // signal form
-  form = new SignalForm(this);
-  form->setVisible(false);
-  main_layout->addWidget(form);
-
-  // bottom line
-  QFrame *hline = new QFrame();
-  hline->setFrameShape(QFrame::HLine);
-  hline->setFrameShadow(QFrame::Sunken);
-  main_layout->addWidget(hline);
-
-  save_timer = new QTimer(this);
-  save_timer->setInterval(300);
-  save_timer->setSingleShot(true);
-  save_timer->callOnTimeout(this, &SignalEdit::saveSignal);
-
-  QObject::connect(title, &ElidedLabel::clicked, [this]() { emit showFormClicked(sig); });
-  QObject::connect(plot_btn, &QToolButton::clicked, [this](bool checked) {
-    emit showChart(msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
-  });
-  QObject::connect(seek_btn, &QToolButton::clicked, [this]() { SignalFindDlg(msg_id, sig, this).exec(); });
-  QObject::connect(remove_btn, &QToolButton::clicked,  [this]() { emit remove(sig); });
-  QObject::connect(form, &SignalForm::changed, [this]() { save_timer->start(); });
-  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Fixed);
-}
-
-void SignalEdit::setSignal(const QString &message_id, const Signal *signal) {
-  sig = signal;
-  updateForm(msg_id == message_id && form->isVisible());
-  msg_id = message_id;
-  color_label->setText(QString::number(form_idx + 1));
-  color_label->setStyleSheet(QString("color:black; background-color:%2").arg(getColor(form_idx)));
-  title->setText(sig->name.c_str());
-  show();
-}
-
-void SignalEdit::saveSignal() {
-  if (!sig || !form->changed_by_user) return;
-
-  Signal s = *sig;
-  s.name = form->name->text().toStdString();
-  s.size = form->size->text().toInt();
-  s.offset = form->offset->text().toDouble();
-  s.factor = form->factor->text().toDouble();
-  s.is_signed = form->sign->currentIndex() == 0;
-  bool little_endian = form->endianness->currentIndex() == 0;
-  if (little_endian != s.is_little_endian) {
-    int start = std::floor(s.start_bit / 8);
-    if (little_endian) {
-      int end = std::floor((s.start_bit - s.size + 1) / 8);
-      s.start_bit = start == end ? s.start_bit - s.size + 1 : bigEndianStartBitsIndex(s.start_bit);
-    } else {
-      int end = std::floor((s.start_bit + s.size - 1) / 8);
-      s.start_bit = start == end ? s.start_bit + s.size - 1 : bigEndianBitIndex(s.start_bit);
-    }
-    s.is_little_endian = little_endian;
-  }
-  if (s.is_little_endian) {
-    s.lsb = s.start_bit;
-    s.msb = s.start_bit + s.size - 1;
-  } else {
-    s.lsb = bigEndianStartBitsIndex(bigEndianBitIndex(s.start_bit) + s.size - 1);
-    s.msb = s.start_bit;
-  }
-  if (s != *sig)
-    emit save(this->sig, s);
-}
-
-void SignalEdit::setChartOpened(bool opened) {
-  plot_btn->setToolTip(opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened chart"));
-  plot_btn->setChecked(opened);
-}
-
-void SignalEdit::updateForm(bool visible) {
-  if (visible && sig) {
-    form->changed_by_user = false;
-    if (form->name->text() != sig->name.c_str()) {
-      form->name->setText(sig->name.c_str());
-    }
-    form->endianness->setCurrentIndex(sig->is_little_endian ? 0 : 1);
-    form->sign->setCurrentIndex(sig->is_signed ? 0 : 1);
-    form->factor->setText(QString::number(sig->factor));
-    form->offset->setText(QString::number(sig->offset));
-    form->msb->setText(QString::number(sig->msb));
-    form->lsb->setText(QString::number(sig->lsb));
-    form->size->setValue(sig->size);
-    form->changed_by_user = true;
-  }
-  form->setVisible(visible);
-  icon->setText(visible ? "▼ " : "> ");
-}
-
-void SignalEdit::signalHovered(const Signal *s) {
-  auto color = sig == s ? "white" : "black";
-  color_label->setStyleSheet(QString("color:%1; background-color:%2").arg(color).arg(getColor(form_idx)));
-}
-
-void SignalEdit::enterEvent(QEvent *event) {
-  emit highlight(sig);
-  QWidget::enterEvent(event);
-}
-
-void SignalEdit::leaveEvent(QEvent *event) {
-  emit highlight(nullptr);
-  QWidget::leaveEvent(event);
-}
-
-// SignalFindDlg
-
-SignalFindDlg::SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent) : QDialog(parent) {
-  setWindowTitle(tr("Find signal values"));
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-
-  QHBoxLayout *h = new QHBoxLayout();
-  h->addWidget(new QLabel(signal->name.c_str()));
-  QComboBox *comp_box = new QComboBox();
-  comp_box->addItems({">", "=", "<"});
-  h->addWidget(comp_box);
-  QLineEdit *value_edit = new QLineEdit("0", this);
-  value_edit->setValidator(new QDoubleValidator(-500000, 500000, 6, this));
-  h->addWidget(value_edit, 1);
-  QPushButton *search_btn = new QPushButton(tr("Find"), this);
-  h->addWidget(search_btn);
-  main_layout->addLayout(h);
-
-  QWidget *container = new QWidget(this);
-  QVBoxLayout *signals_layout = new QVBoxLayout(container);
-  QScrollArea *scroll = new QScrollArea(this);
-  scroll->setWidget(container);
-  scroll->setWidgetResizable(true);
-  scroll->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
-  main_layout->addWidget(scroll);
-
-  QObject::connect(search_btn, &QPushButton::clicked, [=]() {
-    clearLayout(signals_layout);
-
-    CANMessages::FindFlags comp = CANMessages::EQ;
-    if (comp_box->currentIndex() == 0) {
-      comp = CANMessages::GT;
-    } else if (comp_box->currentIndex() == 2) {
-      comp = CANMessages::LT;
-    }
-    double value = value_edit->text().toDouble();
-
-    const int limit_results = 50;
-    auto values = can->findSignalValues(id, signal, value, comp, limit_results);
-    for (auto &v : values) {
-      QHBoxLayout *item_layout = new QHBoxLayout();
-      item_layout->addWidget(new QLabel(QString::number(v.x(), 'f', 2)));
-      item_layout->addWidget(new QLabel(QString::number(v.y())));
-      item_layout->addStretch(1);
-
-      QPushButton *goto_btn = new QPushButton(tr("Goto"), this);
-      QObject::connect(goto_btn, &QPushButton::clicked, [sec = v.x()]() { can->seekTo(sec); });
-      item_layout->addWidget(goto_btn);
-      signals_layout->addLayout(item_layout);
-    }
-    if (values.size() == limit_results) {
-      QFrame *hline = new QFrame();
-      hline->setFrameShape(QFrame::HLine);
-      hline->setFrameShadow(QFrame::Sunken);
-      signals_layout->addWidget(hline);
-      QLabel *info = new QLabel(tr("Only display the first %1 results").arg(limit_results));
-      info->setAlignment(Qt::AlignCenter);
-      signals_layout->addWidget(info);
-    }
-    if (values.size() * 30 > container->height()) {
-      scroll->setFixedHeight(std::min(values.size() * 30, 300));
-    }
-  });
-}
diff --git a/tools/cabana/signaledit.h b/tools/cabana/signaledit.h
deleted file mode 100644
index 205be4bb78..0000000000
--- a/tools/cabana/signaledit.h
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-
-#include <QComboBox>
-#include <QDialog>
-#include <QLabel>
-#include <QLineEdit>
-#include <QSpinBox>
-#include <QTimer>
-#include <QToolButton>
-
-#include "selfdrive/ui/qt/widgets/controls.h"
-
-#include "tools/cabana/canmessages.h"
-#include "tools/cabana/dbcmanager.h"
-
-class SignalForm : public QWidget {
-  Q_OBJECT
-public:
-  SignalForm(QWidget *parent);
-  QLineEdit *name, *unit, *comment, *val_desc, *offset, *factor, *min_val, *max_val;
-  QLabel *lsb, *msb;
-  QSpinBox *size;
-  QComboBox *sign, *endianness;
-  bool changed_by_user = false;
-
- signals:
-  void changed();
-};
-
-class SignalEdit : public QWidget {
-  Q_OBJECT
-
-public:
-  SignalEdit(int index, QWidget *parent = nullptr);
-  void setSignal(const QString &msg_id, const Signal *sig);
-  void setChartOpened(bool opened);
-  void signalHovered(const Signal *sig);
-  void updateForm(bool show);
-  const Signal *sig = nullptr;
-  SignalForm *form = nullptr;
-  QString msg_id;
-
-signals:
-  void highlight(const Signal *sig);
-  void showChart(const QString &name, const Signal *sig, bool show, bool merge);
-  void remove(const Signal *sig);
-  void save(const Signal *sig, const Signal &new_sig);
-  void showFormClicked(const Signal *sig);
-
-protected:
-  void enterEvent(QEvent *event) override;
-  void leaveEvent(QEvent *event) override;
-  void saveSignal();
-
-  ElidedLabel *title;
-  QLabel *color_label;
-  QLabel *icon;
-  int form_idx = 0;
-  QToolButton *plot_btn;
-  QTimer *save_timer;
-};
-
-class SignalFindDlg : public QDialog {
-public:
-  SignalFindDlg(const QString &id, const Signal *signal, QWidget *parent);
-};
diff --git a/tools/cabana/signalview.cc b/tools/cabana/signalview.cc
new file mode 100644
index 0000000000..1b1c8dac22
--- /dev/null
+++ b/tools/cabana/signalview.cc
@@ -0,0 +1,728 @@
+#include "tools/cabana/signalview.h"
+
+#include <algorithm>
+
+#include <QCompleter>
+#include <QDialogButtonBox>
+#include <QHBoxLayout>
+#include <QHeaderView>
+#include <QMessageBox>
+#include <QPainter>
+#include <QPainterPath>
+#include <QPushButton>
+#include <QScrollBar>
+#include <QtConcurrent>
+#include <QVBoxLayout>
+
+#include "tools/cabana/commands.h"
+
+// SignalModel
+
+static QString signalTypeToString(cabana::Signal::Type type) {
+  if (type == cabana::Signal::Type::Multiplexor) return "Multiplexor Signal";
+  else if (type == cabana::Signal::Type::Multiplexed) return "Multiplexed Signal";
+  else return "Normal Signal";
+}
+
+SignalModel::SignalModel(QObject *parent) : root(new Item), QAbstractItemModel(parent) {
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &SignalModel::refresh);
+  QObject::connect(dbc(), &DBCManager::msgUpdated, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbc(), &DBCManager::msgRemoved, this, &SignalModel::handleMsgChanged);
+  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalModel::handleSignalAdded);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalModel::handleSignalUpdated);
+  QObject::connect(dbc(), &DBCManager::signalRemoved, this, &SignalModel::handleSignalRemoved);
+}
+
+void SignalModel::insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig) {
+  Item *item = new Item{.sig = sig, .parent = parent_item, .title = sig->name, .type = Item::Sig};
+  parent_item->children.insert(pos, item);
+  QString titles[]{"Name", "Size", "Little Endian", "Signed", "Offset", "Factor", "Type", "Multiplex Value", "Extra Info",
+                   "Unit", "Comment", "Minimum Value", "Maximum Value", "Value Descriptions"};
+  for (int i = 0; i < std::size(titles); ++i) {
+    item->children.push_back(new Item{.sig = sig, .parent = item, .title = titles[i], .type = (Item::Type)(i + Item::Name)});
+  }
+}
+
+void SignalModel::setMessage(const MessageId &id) {
+  msg_id = id;
+  filter_str = "";
+  refresh();
+}
+
+void SignalModel::setFilter(const QString &txt) {
+  filter_str = txt;
+  refresh();
+}
+
+void SignalModel::refresh() {
+  beginResetModel();
+  root.reset(new SignalModel::Item);
+  if (auto msg = dbc()->msg(msg_id)) {
+    for (auto s : msg->getSignals()) {
+      if (filter_str.isEmpty() || s->name.contains(filter_str, Qt::CaseInsensitive)) {
+        insertItem(root.get(), root->children.size(), s);
+      }
+    }
+  }
+  endResetModel();
+}
+
+SignalModel::Item *SignalModel::getItem(const QModelIndex &index) const {
+  SignalModel::Item *item = nullptr;
+  if (index.isValid()) {
+    item = (SignalModel::Item *)index.internalPointer();
+  }
+  return item ? item : root.get();
+}
+
+int SignalModel::rowCount(const QModelIndex &parent) const {
+  if (parent.isValid() && parent.column() > 0) return 0;
+
+  auto parent_item = getItem(parent);
+  int row_count = parent_item->children.size();
+  if (parent_item->type == Item::Sig && !parent_item->extra_expanded) {
+    row_count -= (Item::Desc - Item::ExtraInfo);
+  }
+  return row_count;
+}
+
+Qt::ItemFlags SignalModel::flags(const QModelIndex &index) const {
+  if (!index.isValid()) return Qt::NoItemFlags;
+
+  auto item = getItem(index);
+  Qt::ItemFlags flags = Qt::ItemIsSelectable | Qt::ItemIsEnabled;
+  if (index.column() == 1  && item->type != Item::Sig && item->type != Item::ExtraInfo) {
+    flags |= (item->type == Item::Endian || item->type == Item::Signed) ? Qt::ItemIsUserCheckable : Qt::ItemIsEditable;
+  }
+  if (item->type == Item::MultiplexValue && item->sig->type != cabana::Signal::Type::Multiplexed) {
+    flags &= ~Qt::ItemIsEnabled;
+  }
+  return flags;
+}
+
+int SignalModel::signalRow(const cabana::Signal *sig) const {
+  for (int i = 0; i < root->children.size(); ++i) {
+    if (root->children[i]->sig == sig) return i;
+  }
+  return -1;
+}
+
+QModelIndex SignalModel::index(int row, int column, const QModelIndex &parent) const {
+  if (parent.isValid() && parent.column() != 0) return {};
+
+  auto parent_item = getItem(parent);
+  if (parent_item && row < parent_item->children.size()) {
+    return createIndex(row, column, parent_item->children[row]);
+  }
+  return {};
+}
+
+QModelIndex SignalModel::parent(const QModelIndex &index) const {
+  if (!index.isValid()) return {};
+  Item *parent_item = getItem(index)->parent;
+  return !parent_item || parent_item == root.get() ? QModelIndex() : createIndex(parent_item->row(), 0, parent_item);
+}
+
+QVariant SignalModel::data(const QModelIndex &index, int role) const {
+  if (index.isValid()) {
+    const Item *item = getItem(index);
+    if (role == Qt::DisplayRole || role == Qt::EditRole) {
+      if (index.column() == 0) {
+        return item->type == Item::Sig ? item->sig->name : item->title;
+      } else {
+        switch (item->type) {
+          case Item::Sig: return item->sig_val;
+          case Item::Name: return item->sig->name;
+          case Item::Size: return item->sig->size;
+          case Item::SignalType: return signalTypeToString(item->sig->type);
+          case Item::MultiplexValue: return item->sig->multiplex_value;
+          case Item::Offset: return doubleToString(item->sig->offset);
+          case Item::Factor: return doubleToString(item->sig->factor);
+          case Item::Unit: return item->sig->unit;
+          case Item::Comment: return item->sig->comment;
+          case Item::Min: return doubleToString(item->sig->min);
+          case Item::Max: return doubleToString(item->sig->max);
+          case Item::Desc: {
+            QStringList val_desc;
+            for (auto &[val, desc] : item->sig->val_desc) {
+              val_desc << QString("%1 \"%2\"").arg(val).arg(desc);
+            }
+            return val_desc.join(" ");
+          }
+          default: break;
+        }
+      }
+    } else if (role == Qt::CheckStateRole && index.column() == 1) {
+      if (item->type == Item::Endian) return item->sig->is_little_endian ? Qt::Checked : Qt::Unchecked;
+      if (item->type == Item::Signed) return item->sig->is_signed ? Qt::Checked : Qt::Unchecked;
+    } else if (role == Qt::DecorationRole && index.column() == 0 && item->type == Item::ExtraInfo) {
+      return utils::icon(item->parent->extra_expanded ? "chevron-compact-down" : "chevron-compact-up");
+    } else if (role == Qt::ToolTipRole && item->type == Item::Sig) {
+      return (index.column() == 0) ? signalToolTip(item->sig) : QString();
+    }
+  }
+  return {};
+}
+
+bool SignalModel::setData(const QModelIndex &index, const QVariant &value, int role) {
+  if (role != Qt::EditRole && role != Qt::CheckStateRole) return false;
+
+  Item *item = getItem(index);
+  cabana::Signal s = *item->sig;
+  switch (item->type) {
+    case Item::Name: s.name = value.toString(); break;
+    case Item::Size: s.size = value.toInt(); break;
+    case Item::SignalType: s.type = (cabana::Signal::Type)value.toInt(); break;
+    case Item::MultiplexValue: s.multiplex_value = value.toInt(); break;
+    case Item::Endian: s.is_little_endian = value.toBool(); break;
+    case Item::Signed: s.is_signed = value.toBool(); break;
+    case Item::Offset: s.offset = value.toDouble(); break;
+    case Item::Factor: s.factor = value.toDouble(); break;
+    case Item::Unit: s.unit = value.toString(); break;
+    case Item::Comment: s.comment = value.toString(); break;
+    case Item::Min: s.min = value.toDouble(); break;
+    case Item::Max: s.max = value.toDouble(); break;
+    case Item::Desc: s.val_desc = value.value<ValueDescription>(); break;
+    default: return false;
+  }
+  bool ret = saveSignal(item->sig, s);
+  emit dataChanged(index, index, {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
+  return ret;
+}
+
+void SignalModel::showExtraInfo(const QModelIndex &index) {
+  auto item = getItem(index);
+  if (item->type == Item::ExtraInfo) {
+    if (!item->parent->extra_expanded) {
+      item->parent->extra_expanded = true;
+      beginInsertRows(index.parent(), 7, 13);
+      endInsertRows();
+    } else {
+      item->parent->extra_expanded = false;
+      beginRemoveRows(index.parent(), 7, 13);
+      endRemoveRows();
+    }
+  }
+}
+
+bool SignalModel::saveSignal(const cabana::Signal *origin_s, cabana::Signal &s) {
+  auto msg = dbc()->msg(msg_id);
+  if (s.name != origin_s->name && msg->sig(s.name) != nullptr) {
+    QString text = tr("There is already a signal with the same name '%1'").arg(s.name);
+    QMessageBox::warning(nullptr, tr("Failed to save signal"), text);
+    return false;
+  }
+
+  if (s.is_little_endian != origin_s->is_little_endian) {
+    s.start_bit = flipBitPos(s.start_bit);
+  }
+  UndoStack::push(new EditSignalCommand(msg_id, origin_s, s));
+  return true;
+}
+
+void SignalModel::handleMsgChanged(MessageId id) {
+  if (id.address == msg_id.address) {
+    refresh();
+  }
+}
+
+void SignalModel::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
+  if (id == msg_id) {
+    if (filter_str.isEmpty()) {
+      int i = dbc()->msg(msg_id)->indexOf(sig);
+      beginInsertRows({}, i, i);
+      insertItem(root.get(), i, sig);
+      endInsertRows();
+    } else if (sig->name.contains(filter_str, Qt::CaseInsensitive)) {
+      refresh();
+    }
+  }
+}
+
+void SignalModel::handleSignalUpdated(const cabana::Signal *sig) {
+  if (int row = signalRow(sig); row != -1) {
+    emit dataChanged(index(row, 0), index(row, 1), {Qt::DisplayRole, Qt::EditRole, Qt::CheckStateRole});
+
+    if (filter_str.isEmpty()) {
+      // move row when the order changes.
+      int to = dbc()->msg(msg_id)->indexOf(sig);
+      if (to != row) {
+        beginMoveRows({}, row, row, {}, to > row ? to + 1 : to);
+        root->children.move(row, to);
+        endMoveRows();
+      }
+    }
+  }
+}
+
+void SignalModel::handleSignalRemoved(const cabana::Signal *sig) {
+  if (int row = signalRow(sig); row != -1) {
+    beginRemoveRows({}, row, row);
+    delete root->children.takeAt(row);
+    endRemoveRows();
+  }
+}
+
+// SignalItemDelegate
+
+SignalItemDelegate::SignalItemDelegate(QObject *parent) : QStyledItemDelegate(parent) {
+  name_validator = new NameValidator(this);
+  double_validator = new DoubleValidator(this);
+
+  label_font.setPointSize(8);
+  minmax_font.setPixelSize(10);
+}
+
+QSize SignalItemDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  int width = option.widget->size().width() / 2;
+  if (index.column() == 0) {
+    int spacing = option.widget->style()->pixelMetric(QStyle::PM_TreeViewIndentation) + color_label_width + 8;
+    auto text = index.data(Qt::DisplayRole).toString();
+    auto item = (SignalModel::Item *)index.internalPointer();
+    if (item->type == SignalModel::Item::Sig && item->sig->type != cabana::Signal::Type::Normal) {
+      text += item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
+      spacing += (option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1) * 2;
+    }
+    auto it = width_cache.find(text);
+    if (it == width_cache.end()) {
+      it = width_cache.insert(text, option.fontMetrics.width(text));
+    }
+    width = std::min<int>(option.widget->size().width() / 3.0, it.value() + spacing);
+  }
+  return {width, option.fontMetrics.height()};
+}
+
+void SignalItemDelegate::updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (editor && item->type == SignalModel::Item::Sig && index.column() == 1) {
+    QRect geom = option.rect;
+    geom.setLeft(geom.right() - editor->sizeHint().width());
+    editor->setGeometry(geom);
+    button_size = geom.size();
+    return;
+  }
+  QStyledItemDelegate::updateEditorGeometry(editor, option, index);
+}
+
+void SignalItemDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (item && item->type == SignalModel::Item::Sig) {
+    painter->setRenderHint(QPainter::Antialiasing);
+    if (option.state & QStyle::State_Selected) {
+      painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+    }
+
+    int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+    int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+    QRect r = option.rect.adjusted(h_margin, v_margin, -h_margin, -v_margin);
+    if (index.column() == 0) {
+      // color label
+      QPainterPath path;
+      QRect icon_rect{r.x(), r.y(), color_label_width, r.height()};
+      path.addRoundedRect(icon_rect, 3, 3);
+      painter->setPen(item->highlight ? Qt::white : Qt::black);
+      painter->setFont(label_font);
+      painter->fillPath(path, item->sig->color.darker(item->highlight ? 125 : 0));
+      painter->drawText(icon_rect, Qt::AlignCenter, QString::number(item->row() + 1));
+
+      r.setLeft(icon_rect.right() + h_margin * 2);
+      // multiplexer indicator
+      if (item->sig->type != cabana::Signal::Type::Normal) {
+        QString indicator = item->sig->type == cabana::Signal::Type::Multiplexor ? QString(" M ") : QString(" m%1 ").arg(item->sig->multiplex_value);
+        QRect indicator_rect{r.x(), r.y(), option.fontMetrics.width(indicator), r.height()};
+        painter->setBrush(Qt::gray);
+        painter->setPen(Qt::NoPen);
+        painter->drawRoundedRect(indicator_rect, 3, 3);
+        painter->setPen(Qt::white);
+        painter->drawText(indicator_rect, Qt::AlignCenter, indicator);
+        r.setLeft(indicator_rect.right() + h_margin * 2);
+      }
+
+      // name
+      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, r.width());
+      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+      painter->setFont(option.font);
+      painter->drawText(r, option.displayAlignment, text);
+    } else if (index.column() == 1 && !item->sparkline.pixmap.isNull()) {
+      // sparkline
+      QSize sparkline_size = item->sparkline.pixmap.size() / item->sparkline.pixmap.devicePixelRatio();
+      painter->drawPixmap(QRect(r.topLeft(), sparkline_size), item->sparkline.pixmap);
+      // min-max value
+      painter->setPen(option.palette.color(option.state & QStyle::State_Selected ? QPalette::HighlightedText : QPalette::Text));
+      QRect rect = r.adjusted(sparkline_size.width() + 1, 0, 0, 0);
+      int value_adjust = 10;
+      if (item->highlight || option.state & QStyle::State_Selected) {
+        painter->drawLine(rect.topLeft(), rect.bottomLeft());
+        rect.adjust(5, -v_margin, 0, v_margin);
+        painter->setFont(minmax_font);
+        QString min = QString::number(item->sparkline.min_val);
+        QString max = QString::number(item->sparkline.max_val);
+        painter->drawText(rect, Qt::AlignLeft | Qt::AlignTop, max);
+        painter->drawText(rect, Qt::AlignLeft | Qt::AlignBottom, min);
+        QFontMetrics fm(minmax_font);
+        value_adjust = std::max(fm.width(min), fm.width(max)) + 5;
+      } else if (item->sig->type == cabana::Signal::Type::Multiplexed) {
+        // display freq of multiplexed signal
+        painter->setFont(label_font);
+        QString freq = QString("%1 hz").arg(item->sparkline.freq(), 0, 'g', 2);
+        painter->drawText(rect.adjusted(5, 0, 0, 0), Qt::AlignLeft | Qt::AlignVCenter, freq);
+        QFontMetrics fm(label_font);
+        value_adjust = fm.width(freq) + 10;
+      }
+      // signal value
+      painter->setFont(option.font);
+      rect.adjust(value_adjust, 0, -button_size.width(), 0);
+      auto text = option.fontMetrics.elidedText(index.data(Qt::DisplayRole).toString(), Qt::ElideRight, rect.width());
+      painter->drawText(rect, Qt::AlignRight | Qt::AlignVCenter, text);
+    }
+  } else {
+    QStyledItemDelegate::paint(painter, option, index);
+  }
+}
+
+QWidget *SignalItemDelegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (item->type == SignalModel::Item::Name || item->type == SignalModel::Item::Offset ||
+      item->type == SignalModel::Item::Factor || item->type == SignalModel::Item::MultiplexValue ||
+      item->type == SignalModel::Item::Min || item->type == SignalModel::Item::Max) {
+    QLineEdit *e = new QLineEdit(parent);
+    e->setFrame(false);
+    e->setValidator(item->type == SignalModel::Item::Name ? name_validator : double_validator);
+
+    if (item->type == SignalModel::Item::Name) {
+      QCompleter *completer = new QCompleter(dbc()->signalNames());
+      completer->setCaseSensitivity(Qt::CaseInsensitive);
+      completer->setFilterMode(Qt::MatchContains);
+      e->setCompleter(completer);
+    }
+
+    return e;
+  } else if (item->type == SignalModel::Item::Size) {
+    QSpinBox *spin = new QSpinBox(parent);
+    spin->setFrame(false);
+    spin->setRange(1, 64);
+    return spin;
+  } else if (item->type == SignalModel::Item::SignalType) {
+    QComboBox *c = new QComboBox(parent);
+    c->addItem(signalTypeToString(cabana::Signal::Type::Normal), (int)cabana::Signal::Type::Normal);
+    if (!dbc()->msg(((SignalModel *)index.model())->msg_id)->multiplexor) {
+      c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexor), (int)cabana::Signal::Type::Multiplexor);
+    } else if (item->sig->type != cabana::Signal::Type::Multiplexor) {
+      c->addItem(signalTypeToString(cabana::Signal::Type::Multiplexed), (int)cabana::Signal::Type::Multiplexed);
+    }
+    return c;
+  } else if (item->type == SignalModel::Item::Desc) {
+    ValueDescriptionDlg dlg(item->sig->val_desc, parent);
+    dlg.setWindowTitle(item->sig->name);
+    if (dlg.exec()) {
+      ((QAbstractItemModel *)index.model())->setData(index, QVariant::fromValue(dlg.val_desc));
+    }
+    return nullptr;
+  }
+  return QStyledItemDelegate::createEditor(parent, option, index);
+}
+
+void SignalItemDelegate::setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const {
+  auto item = (SignalModel::Item *)index.internalPointer();
+  if (item->type == SignalModel::Item::SignalType) {
+    model->setData(index, ((QComboBox*)editor)->currentData().toInt());
+    return;
+  }
+  QStyledItemDelegate::setModelData(editor, model, index);
+}
+
+// SignalView
+
+SignalView::SignalView(ChartsWidget *charts, QWidget *parent) : charts(charts), QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  // title bar
+  QWidget *title_bar = new QWidget(this);
+  QHBoxLayout *hl = new QHBoxLayout(title_bar);
+  hl->addWidget(signal_count_lb = new QLabel());
+  filter_edit = new QLineEdit(this);
+  QRegularExpression re("\\S+");
+  filter_edit->setValidator(new QRegularExpressionValidator(re, this));
+  filter_edit->setClearButtonEnabled(true);
+  filter_edit->setPlaceholderText(tr("filter signals"));
+  hl->addWidget(filter_edit);
+  hl->addStretch(1);
+
+  // WARNING: increasing the maximum range can result in severe performance degradation.
+  // 30s is a reasonable value at present.
+  const int max_range = 30; // 30s
+  settings.sparkline_range = std::clamp(settings.sparkline_range, 1, max_range);
+  hl->addWidget(sparkline_label = new QLabel());
+  hl->addWidget(sparkline_range_slider = new QSlider(Qt::Horizontal, this));
+  sparkline_range_slider->setRange(1, max_range);
+  sparkline_range_slider->setValue(settings.sparkline_range);
+  sparkline_range_slider->setToolTip(tr("Sparkline time range"));
+
+  auto collapse_btn = new ToolButton("dash-square", tr("Collapse All"));
+  collapse_btn->setIconSize({12, 12});
+  hl->addWidget(collapse_btn);
+
+  // tree view
+  tree = new TreeView(this);
+  tree->setModel(model = new SignalModel(this));
+  tree->setItemDelegate(delegate = new SignalItemDelegate(this));
+  tree->setFrameShape(QFrame::NoFrame);
+  tree->setHeaderHidden(true);
+  tree->setMouseTracking(true);
+  tree->setExpandsOnDoubleClick(false);
+  tree->setEditTriggers(QAbstractItemView::AllEditTriggers);
+  tree->header()->setSectionResizeMode(0, QHeaderView::ResizeToContents);
+  tree->header()->setStretchLastSection(true);
+  tree->setMinimumHeight(300);
+
+  // Use a distinctive background for the whole row containing a QSpinBox or QLineEdit
+  QString nodeBgColor = palette().color(QPalette::AlternateBase).name(QColor::HexArgb);
+  tree->setStyleSheet(QString("QSpinBox{background-color:%1;border:none;} QLineEdit{background-color:%1;}").arg(nodeBgColor));
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->setContentsMargins(0, 0, 0, 0);
+  main_layout->setSpacing(0);
+  main_layout->addWidget(title_bar);
+  main_layout->addWidget(tree);
+  updateToolBar();
+
+  QObject::connect(filter_edit, &QLineEdit::textEdited, model, &SignalModel::setFilter);
+  QObject::connect(sparkline_range_slider, &QSlider::valueChanged, this, &SignalView::setSparklineRange);
+  QObject::connect(collapse_btn, &QPushButton::clicked, tree, &QTreeView::collapseAll);
+  QObject::connect(tree, &QAbstractItemView::clicked, this, &SignalView::rowClicked);
+  QObject::connect(tree, &QTreeView::viewportEntered, [this]() { emit highlight(nullptr); });
+  QObject::connect(tree, &QTreeView::entered, [this](const QModelIndex &index) { emit highlight(model->getItem(index)->sig); });
+  QObject::connect(model, &QAbstractItemModel::modelReset, this, &SignalView::rowsChanged);
+  QObject::connect(model, &QAbstractItemModel::rowsRemoved, this, &SignalView::rowsChanged);
+  QObject::connect(dbc(), &DBCManager::signalAdded, this, &SignalView::handleSignalAdded);
+  QObject::connect(dbc(), &DBCManager::signalUpdated, this, &SignalView::handleSignalUpdated);
+  QObject::connect(tree->verticalScrollBar(), &QScrollBar::valueChanged, [this]() { updateState(); });
+  QObject::connect(tree->verticalScrollBar(), &QScrollBar::rangeChanged, [this]() { updateState(); });
+  QObject::connect(can, &AbstractStream::msgsReceived, this, &SignalView::updateState);
+
+  setWhatsThis(tr(R"(
+    <b>Signal view</b><br />
+    <!-- TODO: add descprition here -->
+  )"));
+}
+
+void SignalView::setMessage(const MessageId &id) {
+  max_value_width = 0;
+  filter_edit->clear();
+  model->setMessage(id);
+}
+
+void SignalView::rowsChanged() {
+  for (int i = 0; i < model->rowCount(); ++i) {
+    auto index = model->index(i, 1);
+    if (!tree->indexWidget(index)) {
+      QWidget *w = new QWidget(this);
+      QHBoxLayout *h = new QHBoxLayout(w);
+      int v_margin = style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+      int h_margin = style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
+      h->setContentsMargins(0, v_margin, -h_margin, v_margin);
+      h->setSpacing(style()->pixelMetric(QStyle::PM_ToolBarItemSpacing));
+
+      auto remove_btn = new ToolButton("x", tr("Remove signal"));
+      auto plot_btn = new ToolButton("graph-up", "");
+      plot_btn->setCheckable(true);
+      h->addWidget(plot_btn);
+      h->addWidget(remove_btn);
+
+      tree->setIndexWidget(index, w);
+      auto sig = model->getItem(index)->sig;
+      QObject::connect(remove_btn, &QToolButton::clicked, [=]() { UndoStack::push(new RemoveSigCommand(model->msg_id, sig)); });
+      QObject::connect(plot_btn, &QToolButton::clicked, [=](bool checked) {
+        emit showChart(model->msg_id, sig, checked, QGuiApplication::keyboardModifiers() & Qt::ShiftModifier);
+      });
+    }
+  }
+  updateToolBar();
+  updateChartState();
+  updateState();
+}
+
+void SignalView::rowClicked(const QModelIndex &index) {
+  auto item = model->getItem(index);
+  if (item->type == SignalModel::Item::Sig) {
+    auto sig_index = model->index(index.row(), 0, index.parent());
+    tree->setExpanded(sig_index, !tree->isExpanded(sig_index));
+  } else if (item->type == SignalModel::Item::ExtraInfo) {
+    model->showExtraInfo(index);
+  }
+}
+
+void SignalView::selectSignal(const cabana::Signal *sig, bool expand) {
+  if (int row = model->signalRow(sig); row != -1) {
+    auto idx = model->index(row, 0);
+    if (expand) {
+      tree->setExpanded(idx, !tree->isExpanded(idx));
+    }
+    tree->scrollTo(idx, QAbstractItemView::PositionAtTop);
+    tree->setCurrentIndex(idx);
+  }
+}
+
+void SignalView::updateChartState() {
+  int i = 0;
+  for (auto item : model->root->children) {
+    bool chart_opened = charts->hasSignal(model->msg_id, item->sig);
+    auto buttons = tree->indexWidget(model->index(i, 1))->findChildren<QToolButton *>();
+    if (buttons.size() > 0) {
+      buttons[0]->setChecked(chart_opened);
+      buttons[0]->setToolTip(chart_opened ? tr("Close Plot") : tr("Show Plot\nSHIFT click to add to previous opened plot"));
+    }
+    ++i;
+  }
+}
+
+void SignalView::signalHovered(const cabana::Signal *sig) {
+  auto &children = model->root->children;
+  for (int i = 0; i < children.size(); ++i) {
+    bool highlight = children[i]->sig == sig;
+    if (std::exchange(children[i]->highlight, highlight) != highlight) {
+      emit model->dataChanged(model->index(i, 0), model->index(i, 0), {Qt::DecorationRole});
+      emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole});
+    }
+  }
+}
+
+void SignalView::updateToolBar() {
+  signal_count_lb->setText(tr("Signals: %1").arg(model->rowCount()));
+  sparkline_label->setText(utils::formatSeconds(settings.sparkline_range));
+}
+
+void SignalView::setSparklineRange(int value) {
+  settings.sparkline_range = value;
+  updateToolBar();
+  updateState();
+}
+
+void SignalView::handleSignalAdded(MessageId id, const cabana::Signal *sig) {
+  if (id.address == model->msg_id.address) {
+    selectSignal(sig);
+  }
+}
+
+void SignalView::handleSignalUpdated(const cabana::Signal *sig) {
+  if (int row = model->signalRow(sig); row != -1) {
+    auto item = model->getItem(model->index(row, 1));
+    // invalidate the sparkline
+    item->sparkline.last_ts = 0;
+    updateState();
+  }
+}
+
+void SignalView::updateState(const QHash<MessageId, CanData> *msgs) {
+  const auto &last_msg = can->lastMessage(model->msg_id);
+  if (model->rowCount() == 0 || (msgs && !msgs->contains(model->msg_id)) || last_msg.dat.size() == 0) return;
+
+  for (auto item : model->root->children) {
+    double value = 0;
+    if (item->sig->getValue((uint8_t *)last_msg.dat.constData(), last_msg.dat.size(), &value)) {
+      item->sig_val = item->sig->formatValue(value);
+    }
+    max_value_width = std::max(max_value_width, fontMetrics().width(item->sig_val));
+  }
+
+  QModelIndex top = tree->indexAt(QPoint(0, 0));
+  if (top.isValid()) {
+    // update visible sparkline
+    int first_visible_row = top.parent().isValid() ? top.parent().row() + 1 : top.row();
+    int last_visible_row = model->rowCount() - 1;
+    QModelIndex bottom = tree->indexAt(tree->viewport()->rect().bottomLeft());
+    if (bottom.isValid()) {
+      last_visible_row = bottom.parent().isValid() ? bottom.parent().row() : bottom.row();
+    }
+
+    QSize size(tree->columnWidth(1) - delegate->button_size.width(), delegate->button_size.height());
+    int min_max_width = std::min(size.width() - 10, QFontMetrics(delegate->minmax_font).width("-000.00") + 5);
+    int value_width = std::min<int>(max_value_width, size.width() * 0.35);
+    size -= {value_width + min_max_width, style()->pixelMetric(QStyle::PM_FocusFrameVMargin) * 2};
+
+    QFutureSynchronizer<void> synchronizer;
+    for (int i = first_visible_row; i <= last_visible_row; ++i) {
+      auto item = model->getItem(model->index(i, 1));
+      auto &s = item->sparkline;
+      if (s.last_ts != last_msg.ts || s.size() != size || s.time_range != settings.sparkline_range) {
+        synchronizer.addFuture(QtConcurrent::run(
+            &s, &Sparkline::update, model->msg_id, item->sig, last_msg.ts, settings.sparkline_range, size));
+      }
+    }
+  }
+
+  for (int i = 0; i < model->rowCount(); ++i) {
+    emit model->dataChanged(model->index(i, 1), model->index(i, 1), {Qt::DisplayRole});
+  }
+}
+
+void SignalView::resizeEvent(QResizeEvent* event) {
+  updateState();
+  QFrame::resizeEvent(event);
+}
+
+// ValueDescriptionDlg
+
+ValueDescriptionDlg::ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent) : QDialog(parent) {
+  QHBoxLayout *toolbar_layout = new QHBoxLayout();
+  QPushButton *add = new QPushButton(utils::icon("plus"), "");
+  QPushButton *remove = new QPushButton(utils::icon("dash"), "");
+  remove->setEnabled(false);
+  toolbar_layout->addWidget(add);
+  toolbar_layout->addWidget(remove);
+  toolbar_layout->addStretch(0);
+
+  table = new QTableWidget(descriptions.size(), 2, this);
+  table->setItemDelegate(new Delegate(this));
+  table->setHorizontalHeaderLabels({"Value", "Description"});
+  table->horizontalHeader()->setStretchLastSection(true);
+  table->setSelectionBehavior(QAbstractItemView::SelectRows);
+  table->setSelectionMode(QAbstractItemView::SingleSelection);
+  table->setEditTriggers(QAbstractItemView::DoubleClicked | QAbstractItemView::EditKeyPressed);
+  table->setSizePolicy(QSizePolicy::Expanding, QSizePolicy::Expanding);
+
+  int row = 0;
+  for (auto &[val, desc] : descriptions) {
+    table->setItem(row, 0, new QTableWidgetItem(QString::number(val)));
+    table->setItem(row, 1, new QTableWidgetItem(desc));
+    ++row;
+  }
+
+  auto btn_box = new QDialogButtonBox(QDialogButtonBox::Ok | QDialogButtonBox::Cancel);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addLayout(toolbar_layout);
+  main_layout->addWidget(table);
+  main_layout->addWidget(btn_box);
+  setMinimumWidth(500);
+
+  QObject::connect(btn_box, &QDialogButtonBox::accepted, this, &ValueDescriptionDlg::save);
+  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(add, &QPushButton::clicked, [this]() {
+    table->setRowCount(table->rowCount() + 1);
+    table->setItem(table->rowCount() - 1, 0, new QTableWidgetItem);
+    table->setItem(table->rowCount() - 1, 1, new QTableWidgetItem);
+  });
+  QObject::connect(remove, &QPushButton::clicked, [this]() { table->removeRow(table->currentRow()); });
+  QObject::connect(table, &QTableWidget::itemSelectionChanged, [=]() {
+    remove->setEnabled(table->currentRow() != -1);
+  });
+}
+
+void ValueDescriptionDlg::save() {
+  for (int i = 0; i < table->rowCount(); ++i) {
+    QString val = table->item(i, 0)->text().trimmed();
+    QString desc = table->item(i, 1)->text().trimmed();
+    if (!val.isEmpty() && !desc.isEmpty()) {
+      val_desc.push_back({val.toDouble(), desc});
+    }
+  }
+  QDialog::accept();
+}
+
+QWidget *ValueDescriptionDlg::Delegate::createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  QLineEdit *edit = new QLineEdit(parent);
+  edit->setFrame(false);
+  if (index.column() == 0) {
+    edit->setValidator(new DoubleValidator(parent));
+  }
+  return edit;
+}
diff --git a/tools/cabana/signalview.h b/tools/cabana/signalview.h
new file mode 100644
index 0000000000..9d8571d0b8
--- /dev/null
+++ b/tools/cabana/signalview.h
@@ -0,0 +1,147 @@
+#pragma once
+
+#include <memory>
+
+#include <QAbstractItemModel>
+#include <QLabel>
+#include <QLineEdit>
+#include <QSlider>
+#include <QStyledItemDelegate>
+#include <QTableWidget>
+#include <QTreeView>
+
+#include "tools/cabana/chart/chartswidget.h"
+#include "tools/cabana/chart/sparkline.h"
+
+class SignalModel : public QAbstractItemModel {
+  Q_OBJECT
+public:
+  struct Item {
+    enum Type {Root, Sig, Name, Size, Endian, Signed, Offset, Factor, SignalType, MultiplexValue, ExtraInfo, Unit, Comment, Min, Max, Desc };
+    ~Item() { qDeleteAll(children); }
+    inline int row() { return parent->children.indexOf(this); }
+
+    Type type = Type::Root;
+    Item *parent = nullptr;
+    QList<Item *> children;
+
+    const cabana::Signal *sig = nullptr;
+    QString title;
+    bool highlight = false;
+    bool extra_expanded = false;
+    QString sig_val = "-";
+    Sparkline sparkline;
+  };
+
+  SignalModel(QObject *parent);
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override;
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 2; }
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  QModelIndex index(int row, int column, const QModelIndex &parent = QModelIndex()) const override;
+  QModelIndex parent(const QModelIndex &index) const override;
+  Qt::ItemFlags flags(const QModelIndex &index) const override;
+  bool setData(const QModelIndex &index, const QVariant &value, int role = Qt::EditRole) override;
+  void setMessage(const MessageId &id);
+  void setFilter(const QString &txt);
+  bool saveSignal(const cabana::Signal *origin_s, cabana::Signal &s);
+  Item *getItem(const QModelIndex &index) const;
+  int signalRow(const cabana::Signal *sig) const;
+  void showExtraInfo(const QModelIndex &index);
+
+private:
+  void insertItem(SignalModel::Item *parent_item, int pos, const cabana::Signal *sig);
+  void handleSignalAdded(MessageId id, const cabana::Signal *sig);
+  void handleSignalUpdated(const cabana::Signal *sig);
+  void handleSignalRemoved(const cabana::Signal *sig);
+  void handleMsgChanged(MessageId id);
+  void refresh();
+
+  MessageId msg_id;
+  QString filter_str;
+  std::unique_ptr<Item> root;
+  friend class SignalView;
+  friend class SignalItemDelegate;
+};
+
+class ValueDescriptionDlg : public QDialog {
+public:
+  ValueDescriptionDlg(const ValueDescription &descriptions, QWidget *parent);
+  ValueDescription val_desc;
+
+private:
+  struct Delegate : public QStyledItemDelegate {
+    Delegate(QWidget *parent) : QStyledItemDelegate(parent) {}
+    QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  };
+
+  void save();
+  QTableWidget *table;
+};
+
+class SignalItemDelegate : public QStyledItemDelegate {
+public:
+  SignalItemDelegate(QObject *parent);
+  void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const;
+  QWidget *createEditor(QWidget *parent, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void updateEditorGeometry(QWidget *editor, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  void setModelData(QWidget *editor, QAbstractItemModel *model, const QModelIndex &index) const override;
+
+  QValidator *name_validator, *double_validator;
+  QFont label_font, minmax_font;
+  const int color_label_width = 18;
+  mutable QSize button_size;
+  mutable QHash<QString, int> width_cache;
+};
+
+class SignalView : public QFrame {
+  Q_OBJECT
+
+public:
+  SignalView(ChartsWidget *charts, QWidget *parent);
+  void setMessage(const MessageId &id);
+  void signalHovered(const cabana::Signal *sig);
+  void updateChartState();
+  void selectSignal(const cabana::Signal *sig, bool expand = false);
+  void rowClicked(const QModelIndex &index);
+  SignalModel *model = nullptr;
+
+signals:
+  void highlight(const cabana::Signal *sig);
+  void showChart(const MessageId &id, const cabana::Signal *sig, bool show, bool merge);
+
+private:
+  void rowsChanged();
+  void resizeEvent(QResizeEvent* event) override;
+  void updateToolBar();
+  void setSparklineRange(int value);
+  void handleSignalAdded(MessageId id, const cabana::Signal *sig);
+  void handleSignalUpdated(const cabana::Signal *sig);
+  void updateState(const QHash<MessageId, CanData> *msgs = nullptr);
+
+  struct TreeView : public QTreeView {
+    TreeView(QWidget *parent) : QTreeView(parent) {}
+    void rowsInserted(const QModelIndex &parent, int start, int end) override {
+      ((SignalView *)parentWidget())->rowsChanged();
+      // update widget geometries in QTreeView::rowsInserted
+      QTreeView::rowsInserted(parent, start, end);
+    }
+    void dataChanged(const QModelIndex &topLeft, const QModelIndex &bottomRight, const QVector<int> &roles = QVector<int>()) override {
+      // Bypass the slow call to QTreeView::dataChanged.
+      QAbstractItemView::dataChanged(topLeft, bottomRight, roles);
+    }
+    void leaveEvent(QEvent *event) override {
+      emit static_cast<SignalView *>(parentWidget())->highlight(nullptr);
+      QTreeView::leaveEvent(event);
+    }
+  };
+  int max_value_width = 0;
+  TreeView *tree;
+  QLabel *sparkline_label;
+  QSlider *sparkline_range_slider;
+  QLineEdit *filter_edit;
+  ChartsWidget *charts;
+  QLabel *signal_count_lb;
+  SignalItemDelegate *delegate;
+  friend SignalItemDelegate;
+};
diff --git a/tools/cabana/streams/abstractstream.cc b/tools/cabana/streams/abstractstream.cc
new file mode 100644
index 0000000000..1d35e96c99
--- /dev/null
+++ b/tools/cabana/streams/abstractstream.cc
@@ -0,0 +1,263 @@
+#include "tools/cabana/streams/abstractstream.h"
+
+#include <algorithm>
+#include <vector>
+
+#include <QTimer>
+
+AbstractStream *can = nullptr;
+
+StreamNotifier *StreamNotifier::instance() {
+  static StreamNotifier notifier;
+  return &notifier;
+}
+
+AbstractStream::AbstractStream(QObject *parent) : new_msgs(new QHash<MessageId, CanData>()), QObject(parent) {
+  assert(parent != nullptr);
+  QObject::connect(this, &AbstractStream::seekedTo, this, &AbstractStream::updateLastMsgsTo);
+  QObject::connect(&settings, &Settings::changed, this, &AbstractStream::updateMasks);
+  QObject::connect(dbc(), &DBCManager::DBCFileChanged, this, &AbstractStream::updateMasks);
+  QObject::connect(dbc(), &DBCManager::maskUpdated, this, &AbstractStream::updateMasks);
+  QObject::connect(this, &AbstractStream::streamStarted, [this]() {
+    emit StreamNotifier::instance()->changingStream();
+    delete can;
+    can = this;
+    emit StreamNotifier::instance()->streamStarted();
+  });
+}
+
+void AbstractStream::updateMasks() {
+  std::lock_guard lk(mutex);
+  masks.clear();
+  if (settings.suppress_defined_signals) {
+    for (auto s : sources) {
+      if (auto f = dbc()->findDBCFile(s)) {
+        for (const auto &[address, m] : f->getMessages()) {
+          masks[{.source = (uint8_t)s, .address = address}] = m.mask;
+        }
+      }
+    }
+  }
+}
+
+void AbstractStream::updateMessages(QHash<MessageId, CanData> *messages) {
+  auto prev_src_size = sources.size();
+  auto prev_msg_size = last_msgs.size();
+  for (auto it = messages->begin(); it != messages->end(); ++it) {
+    const auto &id = it.key();
+    last_msgs[id] = it.value();
+    sources.insert(id.source);
+  }
+  if (sources.size() != prev_src_size) {
+    updateMasks();
+    emit sourcesUpdated(sources);
+  }
+  emit updated();
+  emit msgsReceived(messages, prev_msg_size != last_msgs.size());
+  delete messages;
+  processing = false;
+}
+
+void AbstractStream::updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size) {
+  std::lock_guard lk(mutex);
+  auto mask_it = masks.find(id);
+  std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
+  all_msgs[id].compute((const char *)data, size, sec, getSpeed(), mask);
+  if (!new_msgs->contains(id)) {
+    new_msgs->insert(id, {});
+  }
+}
+
+bool AbstractStream::postEvents() {
+  // delay posting CAN message if UI thread is busy
+  if (processing == false) {
+    processing = true;
+    for (auto it = new_msgs->begin(); it != new_msgs->end(); ++it) {
+      it.value() = all_msgs[it.key()];
+    }
+    // use pointer to avoid data copy in queued connection.
+    QMetaObject::invokeMethod(this, std::bind(&AbstractStream::updateMessages, this, new_msgs.release()), Qt::QueuedConnection);
+    new_msgs.reset(new QHash<MessageId, CanData>);
+    new_msgs->reserve(100);
+    return true;
+  }
+  return false;
+}
+
+const std::vector<const CanEvent *> &AbstractStream::events(const MessageId &id) const {
+  static std::vector<const CanEvent *> empty_events;
+  auto it = events_.find(id);
+  return it != events_.end() ? it->second : empty_events;
+}
+
+const CanData &AbstractStream::lastMessage(const MessageId &id) {
+  static CanData empty_data = {};
+  auto it = last_msgs.find(id);
+  return it != last_msgs.end() ? it.value() : empty_data;
+}
+
+// it is thread safe to update data in updateLastMsgsTo.
+// updateLastMsgsTo is always called in UI thread.
+void AbstractStream::updateLastMsgsTo(double sec) {
+  new_msgs.reset(new QHash<MessageId, CanData>);
+  all_msgs.clear();
+  last_msgs.clear();
+
+  uint64_t last_ts = (sec + routeStartTime()) * 1e9;
+  for (auto &[id, ev] : events_) {
+    auto it = std::lower_bound(ev.crbegin(), ev.crend(), last_ts, [](auto e, uint64_t ts) {
+      return e->mono_time > ts;
+    });
+    auto mask_it = masks.find(id);
+    std::vector<uint8_t> *mask = mask_it == masks.end() ? nullptr : &mask_it->second;
+    if (it != ev.crend()) {
+      double ts = (*it)->mono_time / 1e9 - routeStartTime();
+      auto &m = all_msgs[id];
+      m.compute((const char *)(*it)->dat, (*it)->size, ts, getSpeed(), mask);
+      m.count = std::distance(it, ev.crend());
+      m.freq = m.count / std::max(1.0, ts);
+    }
+  }
+
+  // deep copy all_msgs to last_msgs to avoid multi-threading issue.
+  last_msgs = all_msgs;
+  last_msgs.detach();
+  // use a timer to prevent recursive calls
+  QTimer::singleShot(0, [this]() {
+    emit updated();
+    emit msgsReceived(&last_msgs, true);
+  });
+}
+
+void AbstractStream::mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last) {
+  size_t memory_size = 0;
+  size_t events_cnt = 0;
+  for (auto it = first; it != last; ++it) {
+    if ((*it)->which == cereal::Event::Which::CAN) {
+      for (const auto &c : (*it)->event.getCan()) {
+        memory_size += sizeof(CanEvent) + sizeof(uint8_t) * c.getDat().size();
+        ++events_cnt;
+      }
+    }
+  }
+  if (memory_size == 0) return;
+
+  char *ptr = memory_blocks.emplace_back(new char[memory_size]).get();
+  std::unordered_map<MessageId, std::deque<const CanEvent *>> new_events_map;
+  std::vector<const CanEvent *> new_events;
+  new_events.reserve(events_cnt);
+  for (auto it = first; it != last; ++it) {
+    if ((*it)->which == cereal::Event::Which::CAN) {
+      uint64_t ts = (*it)->mono_time;
+      for (const auto &c : (*it)->event.getCan()) {
+        CanEvent *e = (CanEvent *)ptr;
+        e->src = c.getSrc();
+        e->address = c.getAddress();
+        e->mono_time = ts;
+        auto dat = c.getDat();
+        e->size = dat.size();
+        memcpy(e->dat, (uint8_t *)dat.begin(), e->size);
+
+        new_events_map[{.source = e->src, .address = e->address}].push_back(e);
+        new_events.push_back(e);
+        ptr += sizeof(CanEvent) + sizeof(uint8_t) * e->size;
+      }
+    }
+  }
+
+  bool append = new_events.front()->mono_time > lastest_event_ts;
+  for (auto &[id, new_e] : new_events_map) {
+    auto &e = events_[id];
+    auto pos = append ? e.end() : std::upper_bound(e.cbegin(), e.cend(), new_e.front(), [](const CanEvent *l, const CanEvent *r) {
+      return l->mono_time < r->mono_time;
+    });
+    e.insert(pos, new_e.cbegin(), new_e.cend());
+  }
+
+  auto pos = append ? all_events_.end() : std::upper_bound(all_events_.begin(), all_events_.end(), new_events.front(), [](auto l, auto r) {
+    return l->mono_time < r->mono_time;
+  });
+  all_events_.insert(pos, new_events.cbegin(), new_events.cend());
+
+  lastest_event_ts = all_events_.back()->mono_time;
+  emit eventsMerged();
+}
+
+// CanData
+
+constexpr int periodic_threshold = 10;
+constexpr int start_alpha = 128;
+constexpr float fade_time = 2.0;
+const QColor CYAN = QColor(0, 187, 255, start_alpha);
+const QColor RED = QColor(255, 0, 0, start_alpha);
+const QColor GREYISH_BLUE = QColor(102, 86, 169, start_alpha / 2);
+const QColor CYAN_LIGHTER = QColor(0, 187, 255, start_alpha).lighter(135);
+const QColor RED_LIGHTER = QColor(255, 0, 0, start_alpha).lighter(135);
+const QColor GREYISH_BLUE_LIGHTER = QColor(102, 86, 169, start_alpha / 2).lighter(135);
+
+static inline QColor blend(const QColor &a, const QColor &b) {
+  return QColor((a.red() + b.red()) / 2, (a.green() + b.green()) / 2, (a.blue() + b.blue()) / 2, (a.alpha() + b.alpha()) / 2);
+}
+
+void CanData::compute(const char *can_data, const int size, double current_sec, double playback_speed, const std::vector<uint8_t> *mask, uint32_t in_freq) {
+  ts = current_sec;
+  ++count;
+  const double sec_to_first_event = current_sec - (can->allEvents().front()->mono_time / 1e9 - can->routeStartTime());
+  freq = in_freq == 0 ? count / std::max(1.0, sec_to_first_event) : in_freq;
+  if (dat.size() != size) {
+    dat.resize(size);
+    bit_change_counts.resize(size);
+    colors = QVector(size, QColor(0, 0, 0, 0));
+    last_change_t.assign(size, ts);
+    last_delta.resize(size);
+    same_delta_counter.resize(size);
+  } else {
+    bool lighter = settings.theme == DARK_THEME;
+    const QColor &cyan = !lighter ? CYAN : CYAN_LIGHTER;
+    const QColor &red = !lighter ? RED : RED_LIGHTER;
+    const QColor &greyish_blue = !lighter ? GREYISH_BLUE : GREYISH_BLUE_LIGHTER;
+
+    for (int i = 0; i < size; ++i) {
+      const uint8_t mask_byte = (mask && i < mask->size()) ? (~((*mask)[i])) : 0xff;
+      const uint8_t last = dat[i] & mask_byte;
+      const uint8_t cur = can_data[i] & mask_byte;
+      const int delta = cur - last;
+
+      if (last != cur) {
+        double delta_t = ts - last_change_t[i];
+
+        // Keep track if signal is changing randomly, or mostly moving in the same direction
+        if (std::signbit(delta) == std::signbit(last_delta[i])) {
+          same_delta_counter[i] = std::min(16, same_delta_counter[i] + 1);
+        } else {
+          same_delta_counter[i] = std::max(0, same_delta_counter[i] - 4);
+        }
+
+        // Mostly moves in the same direction, color based on delta up/down
+        if (delta_t * freq > periodic_threshold || same_delta_counter[i] > 8) {
+          // Last change was while ago, choose color based on delta up or down
+          colors[i] = (cur > last) ? cyan : red;
+        } else {
+          // Periodic changes
+          colors[i] = blend(colors[i], greyish_blue);
+        }
+
+        // Track bit level changes
+        const uint8_t tmp = (cur ^ last);
+        for (int bit = 0; bit < 8; bit++) {
+          if (tmp & (1 << bit)) {
+            bit_change_counts[i][bit] += 1;
+          }
+        }
+
+        last_change_t[i] = ts;
+        last_delta[i] = delta;
+      } else {
+        // Fade out
+        float alpha_delta = 1.0 / (freq + 1) / (fade_time * playback_speed);
+        colors[i].setAlphaF(std::max(0.0, colors[i].alphaF() - alpha_delta));
+      }
+    }
+  }
+  memcpy(dat.data(), can_data, size);
+}
diff --git a/tools/cabana/streams/abstractstream.h b/tools/cabana/streams/abstractstream.h
new file mode 100644
index 0000000000..e883f45d46
--- /dev/null
+++ b/tools/cabana/streams/abstractstream.h
@@ -0,0 +1,136 @@
+#pragma once
+
+#include <array>
+#include <atomic>
+#include <deque>
+#include <memory>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
+
+#include <QColor>
+#include <QHash>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/settings.h"
+#include "tools/cabana/util.h"
+#include "tools/replay/replay.h"
+
+struct CanData {
+  void compute(const char *dat, const int size, double current_sec, double playback_speed, const std::vector<uint8_t> *mask, uint32_t in_freq = 0);
+
+  double ts = 0.;
+  uint32_t count = 0;
+  double freq = 0;
+  QByteArray dat;
+  QVector<QColor> colors;
+  std::vector<double> last_change_t;
+  std::vector<std::array<uint32_t, 8>> bit_change_counts;
+  std::vector<int> last_delta;
+  std::vector<int> same_delta_counter;
+};
+
+struct CanEvent {
+  uint8_t src;
+  uint32_t address;
+  uint64_t mono_time;
+  uint8_t size;
+  uint8_t dat[];
+};
+
+struct BusConfig {
+  int can_speed_kbps = 500;
+  int data_speed_kbps = 2000;
+  bool can_fd = false;
+};
+
+class AbstractStream : public QObject {
+  Q_OBJECT
+
+public:
+  AbstractStream(QObject *parent);
+  virtual ~AbstractStream() {}
+  virtual void start() = 0;
+  inline bool liveStreaming() const { return route() == nullptr; }
+  virtual void seekTo(double ts) {}
+  virtual QString routeName() const = 0;
+  virtual QString carFingerprint() const { return ""; }
+  virtual double routeStartTime() const { return 0; }
+  virtual double currentSec() const = 0;
+  virtual double totalSeconds() const { return lastEventMonoTime() / 1e9 - routeStartTime(); }
+  const CanData &lastMessage(const MessageId &id);
+  virtual VisionStreamType visionStreamType() const { return VISION_STREAM_ROAD; }
+  virtual const Route *route() const { return nullptr; }
+  virtual void setSpeed(float speed) {}
+  virtual double getSpeed() { return 1; }
+  virtual bool isPaused() const { return false; }
+  virtual void pause(bool pause) {}
+  const std::vector<const CanEvent *> &allEvents() const { return all_events_; }
+  const std::vector<const CanEvent *> &events(const MessageId &id) const;
+  virtual const std::vector<std::tuple<double, double, TimelineType>> getTimeline() { return {}; }
+
+signals:
+  void paused();
+  void resume();
+  void seekedTo(double sec);
+  void streamStarted();
+  void eventsMerged();
+  void updated();
+  void msgsReceived(const QHash<MessageId, CanData> *new_msgs, bool has_new_ids);
+  void sourcesUpdated(const SourceSet &s);
+
+public:
+  QHash<MessageId, CanData> last_msgs;
+  SourceSet sources;
+
+protected:
+  void mergeEvents(std::vector<Event *>::const_iterator first, std::vector<Event *>::const_iterator last);
+  bool postEvents();
+  uint64_t lastEventMonoTime() const { return lastest_event_ts; }
+  void updateEvent(const MessageId &id, double sec, const uint8_t *data, uint8_t size);
+  void updateMessages(QHash<MessageId, CanData> *);
+  void updateMasks();
+  void updateLastMsgsTo(double sec);
+
+  uint64_t lastest_event_ts = 0;
+  std::atomic<bool> processing = false;
+  std::unique_ptr<QHash<MessageId, CanData>> new_msgs;
+  QHash<MessageId, CanData> all_msgs;
+  std::unordered_map<MessageId, std::vector<const CanEvent *>> events_;
+  std::vector<const CanEvent *> all_events_;
+  std::deque<std::unique_ptr<char[]>> memory_blocks;
+  std::mutex mutex;
+  std::unordered_map<MessageId, std::vector<uint8_t>> masks;
+};
+
+class AbstractOpenStreamWidget : public QWidget {
+public:
+  AbstractOpenStreamWidget(AbstractStream **stream, QWidget *parent = nullptr) : stream(stream), QWidget(parent) {}
+  virtual bool open() = 0;
+  virtual QString title() = 0;
+
+protected:
+  AbstractStream **stream = nullptr;
+};
+
+class DummyStream : public AbstractStream {
+  Q_OBJECT
+public:
+  DummyStream(QObject *parent) : AbstractStream(parent) {}
+  QString routeName() const override { return tr("No Stream"); }
+  void start() override { emit streamStarted(); }
+  double currentSec() const override { return 0; }
+};
+
+class StreamNotifier : public QObject {
+  Q_OBJECT
+public:
+  StreamNotifier(QObject *parent = nullptr) : QObject(parent) {}
+  static StreamNotifier* instance();
+signals:
+  void streamStarted();
+  void changingStream();
+};
+
+// A global pointer referring to the unique AbstractStream object
+extern AbstractStream *can;
diff --git a/tools/cabana/streams/devicestream.cc b/tools/cabana/streams/devicestream.cc
new file mode 100644
index 0000000000..349a2d7a1c
--- /dev/null
+++ b/tools/cabana/streams/devicestream.cc
@@ -0,0 +1,72 @@
+#include "tools/cabana/streams/devicestream.h"
+
+#include <memory>
+#include <string>
+
+#include <QButtonGroup>
+#include <QFormLayout>
+#include <QRadioButton>
+#include <QRegularExpression>
+#include <QRegularExpressionValidator>
+
+// DeviceStream
+
+DeviceStream::DeviceStream(QObject *parent, QString address) : zmq_address(address), LiveStream(parent) {
+}
+
+void DeviceStream::streamThread() {
+  zmq_address.isEmpty() ? unsetenv("ZMQ") : setenv("ZMQ", "1", 1);
+
+  std::unique_ptr<Context> context(Context::create());
+  std::string address = zmq_address.isEmpty() ? "127.0.0.1" : zmq_address.toStdString();
+  std::unique_ptr<SubSocket> sock(SubSocket::create(context.get(), "can", address));
+  assert(sock != NULL);
+  sock->setTimeout(50);
+  // run as fast as messages come in
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    Message *msg = sock->receive(true);
+    if (!msg) {
+      QThread::msleep(50);
+      continue;
+    }
+
+    handleEvent(msg->getData(), msg->getSize());
+    delete msg;
+  }
+}
+
+AbstractOpenStreamWidget *DeviceStream::widget(AbstractStream **stream) {
+  return new OpenDeviceWidget(stream);
+}
+
+// OpenDeviceWidget
+
+OpenDeviceWidget::OpenDeviceWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QRadioButton *msgq = new QRadioButton(tr("MSGQ"));
+  QRadioButton *zmq = new QRadioButton(tr("ZMQ"));
+  ip_address = new QLineEdit(this);
+  ip_address->setPlaceholderText(tr("Enter device Ip Address"));
+  QString ip_range = "(?:[0-1]?[0-9]?[0-9]|2[0-4][0-9]|25[0-5])";
+  QString pattern("^" + ip_range + "\\." + ip_range + "\\." + ip_range + "\\." + ip_range + "$");
+  QRegularExpression re(pattern);
+  ip_address->setValidator(new QRegularExpressionValidator(re, this));
+
+  group = new QButtonGroup(this);
+  group->addButton(msgq, 0);
+  group->addButton(zmq, 1);
+
+  QFormLayout *form_layout = new QFormLayout(this);
+  form_layout->addRow(msgq);
+  form_layout->addRow(zmq, ip_address);
+  QObject::connect(group, qOverload<QAbstractButton *, bool>(&QButtonGroup::buttonToggled), [=](QAbstractButton *button, bool checked) {
+    ip_address->setEnabled(button == zmq && checked);
+  });
+  zmq->setChecked(true);
+}
+
+bool OpenDeviceWidget::open() {
+  QString ip = ip_address->text().isEmpty() ? "127.0.0.1" : ip_address->text();
+  bool msgq = group->checkedId() == 0;
+  *stream = new DeviceStream(qApp, msgq ? "" : ip);
+  return true;
+}
diff --git a/tools/cabana/streams/devicestream.h b/tools/cabana/streams/devicestream.h
new file mode 100644
index 0000000000..a65f073458
--- /dev/null
+++ b/tools/cabana/streams/devicestream.h
@@ -0,0 +1,30 @@
+#pragma once
+
+#include "tools/cabana/streams/livestream.h"
+
+class DeviceStream : public LiveStream {
+  Q_OBJECT
+public:
+  DeviceStream(QObject *parent, QString address = {});
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+  inline QString routeName() const override {
+    return QString("Live Streaming From %1").arg(zmq_address.isEmpty() ? "127.0.0.1" : zmq_address);
+  }
+
+protected:
+  void streamThread() override;
+  const QString zmq_address;
+};
+
+class OpenDeviceWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenDeviceWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Device"); }
+
+private:
+  QLineEdit *ip_address;
+  QButtonGroup *group;
+};
diff --git a/tools/cabana/streams/livestream.cc b/tools/cabana/streams/livestream.cc
new file mode 100644
index 0000000000..3f8397f56c
--- /dev/null
+++ b/tools/cabana/streams/livestream.cc
@@ -0,0 +1,132 @@
+#include "tools/cabana/streams/livestream.h"
+
+#include <algorithm>
+#include <memory>
+
+struct LiveStream::Logger {
+  Logger() : start_ts(seconds_since_epoch()), segment_num(-1) {}
+
+  void write(const char *data, const size_t size) {
+    int n = (seconds_since_epoch() - start_ts) / 60.0;
+    if (std::exchange(segment_num, n) != segment_num) {
+      QString dir = QString("%1/%2--%3")
+                        .arg(settings.log_path)
+                        .arg(QDateTime::fromSecsSinceEpoch(start_ts).toString("yyyy-MM-dd--hh-mm-ss"))
+                        .arg(n);
+      util::create_directories(dir.toStdString(), 0755);
+      fs.reset(new std::ofstream((dir + "/rlog").toStdString(), std::ios::binary | std::ios::out));
+    }
+
+    fs->write(data, size);
+  }
+
+  std::unique_ptr<std::ofstream> fs;
+  int segment_num;
+  uint64_t start_ts;
+};
+
+LiveStream::LiveStream(QObject *parent) : AbstractStream(parent) {
+  if (settings.log_livestream) {
+    logger = std::make_unique<Logger>();
+  }
+  stream_thread = new QThread(this);
+
+  QObject::connect(&settings, &Settings::changed, this, &LiveStream::startUpdateTimer);
+  QObject::connect(stream_thread, &QThread::started, [=]() { streamThread(); });
+  QObject::connect(stream_thread, &QThread::finished, stream_thread, &QThread::deleteLater);
+}
+
+void LiveStream::startUpdateTimer() {
+  update_timer.stop();
+  update_timer.start(1000.0 / settings.fps, this);
+  timer_id = update_timer.timerId();
+}
+
+void LiveStream::start() {
+  emit streamStarted();
+  stream_thread->start();
+  startUpdateTimer();
+}
+
+LiveStream::~LiveStream() {
+  update_timer.stop();
+  stream_thread->requestInterruption();
+  stream_thread->quit();
+  stream_thread->wait();
+}
+
+// called in streamThread
+void LiveStream::handleEvent(const char *data, const size_t size) {
+  if (logger) {
+    logger->write(data, size);
+  }
+
+  std::lock_guard lk(lock);
+  auto &msg = receivedMessages.emplace_back(data, size);
+  receivedEvents.push_back(msg.event);
+}
+
+void LiveStream::timerEvent(QTimerEvent *event) {
+  if (event->timerId() == timer_id) {
+    {
+      // merge events received from live stream thread.
+      std::lock_guard lk(lock);
+      mergeEvents(receivedEvents.cbegin(), receivedEvents.cend());
+      receivedEvents.clear();
+      receivedMessages.clear();
+    }
+    if (!all_events_.empty()) {
+      begin_event_ts = all_events_.front()->mono_time;
+      updateEvents();
+      return;
+    }
+  }
+  QObject::timerEvent(event);
+}
+
+void LiveStream::updateEvents() {
+  static double prev_speed = 1.0;
+
+  if (first_update_ts == 0) {
+    first_update_ts = nanos_since_boot();
+    first_event_ts = current_event_ts = all_events_.back()->mono_time;
+  }
+
+  if (paused_ || prev_speed != speed_) {
+    prev_speed = speed_;
+    first_update_ts = nanos_since_boot();
+    first_event_ts = current_event_ts;
+    return;
+  }
+
+  uint64_t last_ts = post_last_event && speed_ == 1.0
+                       ? all_events_.back()->mono_time
+                       : first_event_ts + (nanos_since_boot() - first_update_ts) * speed_;
+  auto first = std::upper_bound(all_events_.cbegin(), all_events_.cend(), current_event_ts, [](uint64_t ts, auto e) {
+    return ts < e->mono_time;
+  });
+  auto last = std::upper_bound(first, all_events_.cend(), last_ts, [](uint64_t ts, auto e) {
+    return ts < e->mono_time;
+  });
+
+  for (auto it = first; it != last; ++it) {
+    const CanEvent *e = *it;
+    MessageId id = {.source = e->src, .address = e->address};
+    updateEvent(id, (e->mono_time - begin_event_ts) / 1e9, e->dat, e->size);
+    current_event_ts = e->mono_time;
+  }
+  postEvents();
+}
+
+void LiveStream::seekTo(double sec) {
+  sec = std::max(0.0, sec);
+  first_update_ts = nanos_since_boot();
+  current_event_ts = first_event_ts = std::min<uint64_t>(sec * 1e9 + begin_event_ts, lastEventMonoTime());
+  post_last_event = (first_event_ts == lastEventMonoTime());
+  emit seekedTo((current_event_ts - begin_event_ts) / 1e9);
+}
+
+void LiveStream::pause(bool pause) {
+  paused_ = pause;
+  emit(pause ? paused() : resume());
+}
diff --git a/tools/cabana/streams/livestream.h b/tools/cabana/streams/livestream.h
new file mode 100644
index 0000000000..38ef2c67f9
--- /dev/null
+++ b/tools/cabana/streams/livestream.h
@@ -0,0 +1,62 @@
+#pragma once
+
+#include <deque>
+#include <memory>
+#include <vector>
+
+#include <QBasicTimer>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class LiveStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  LiveStream(QObject *parent);
+  virtual ~LiveStream();
+  void start() override;
+  inline double routeStartTime() const override { return begin_event_ts / 1e9; }
+  inline double currentSec() const override { return (current_event_ts - begin_event_ts) / 1e9; }
+  void setSpeed(float speed) override { speed_ = speed; }
+  double getSpeed() override { return speed_; }
+  bool isPaused() const override { return paused_; }
+  void pause(bool pause) override;
+  void seekTo(double sec) override;
+
+protected:
+  virtual void streamThread() = 0;
+  void handleEvent(const char *data, const size_t size);
+
+private:
+  void startUpdateTimer();
+  void timerEvent(QTimerEvent *event) override;
+  void updateEvents();
+
+  struct Msg {
+    Msg(const char *data, const size_t size) {
+      event = ::new Event(aligned_buf.align(data, size));
+    }
+    ~Msg() { ::delete event; }
+    Event *event;
+    AlignedBuffer aligned_buf;
+  };
+
+  std::mutex lock;
+  QThread *stream_thread;
+  std::vector<Event *> receivedEvents;
+  std::deque<Msg> receivedMessages;
+
+  int timer_id;
+  QBasicTimer update_timer;
+
+  uint64_t begin_event_ts = 0;
+  uint64_t current_event_ts = 0;
+  uint64_t first_event_ts = 0;
+  uint64_t first_update_ts = 0;
+  bool post_last_event = true;
+  double speed_ = 1;
+  bool paused_ = false;
+
+  struct Logger;
+  std::unique_ptr<Logger> logger;
+};
diff --git a/tools/cabana/streams/pandastream.cc b/tools/cabana/streams/pandastream.cc
new file mode 100644
index 0000000000..4a6c588e51
--- /dev/null
+++ b/tools/cabana/streams/pandastream.cc
@@ -0,0 +1,223 @@
+#include "tools/cabana/streams/pandastream.h"
+
+#include <vector>
+
+#include <QLabel>
+#include <QMessageBox>
+#include <QPushButton>
+#include <QVBoxLayout>
+
+#include "selfdrive/ui/qt/util.h"
+
+// TODO: remove clearLayout
+static void clearLayout(QLayout* layout) {
+  while (layout->count() > 0) {
+    QLayoutItem* item = layout->takeAt(0);
+    if (QWidget* widget = item->widget()) {
+      widget->deleteLater();
+    }
+    if (QLayout* childLayout = item->layout()) {
+      clearLayout(childLayout);
+    }
+    delete item;
+  }
+}
+
+PandaStream::PandaStream(QObject *parent, PandaStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (config.serial.isEmpty()) {
+    auto serials = Panda::list();
+    if (serials.size() == 0) {
+      throw std::runtime_error("No panda found");
+    }
+    config.serial = QString::fromStdString(serials[0]);
+  }
+
+  qDebug() << "Connecting to panda with serial" << config.serial;
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to panda");
+  }
+}
+
+bool PandaStream::connect() {
+  try {
+    panda.reset(new Panda(config.serial.toStdString()));
+    config.bus_config.resize(3);
+    qDebug() << "Connected";
+  } catch (const std::exception& e) {
+    return false;
+  }
+
+  panda->set_safety_model(cereal::CarParams::SafetyModel::SILENT);
+
+  for (int bus = 0; bus < config.bus_config.size(); bus++) {
+    panda->set_can_speed_kbps(bus, config.bus_config[bus].can_speed_kbps);
+
+    // CAN-FD
+    if (panda->hw_type == cereal::PandaState::PandaType::RED_PANDA || panda->hw_type == cereal::PandaState::PandaType::RED_PANDA_V2) {
+      if (config.bus_config[bus].can_fd) {
+        panda->set_data_speed_kbps(bus, config.bus_config[bus].data_speed_kbps);
+      } else {
+        // Hack to disable can-fd by setting data speed to a low value
+        panda->set_data_speed_kbps(bus, 10);
+      }
+    }
+
+  }
+  return true;
+}
+
+void PandaStream::streamThread() {
+  std::vector<can_frame> raw_can_data;
+
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    if (!panda->connected()) {
+      qDebug() << "Connection to panda lost. Attempting reconnect.";
+      if (!connect()){
+        QThread::msleep(1000);
+        continue;
+      }
+    }
+
+    raw_can_data.clear();
+    if (!panda->can_receive(raw_can_data)) {
+      qDebug() << "failed to receive";
+      continue;
+    }
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(raw_can_data.size());
+
+    for (uint i = 0; i<raw_can_data.size(); i++) {
+      canData[i].setAddress(raw_can_data[i].address);
+      canData[i].setBusTime(raw_can_data[i].busTime);
+      canData[i].setDat(kj::arrayPtr((uint8_t*)raw_can_data[i].dat.data(), raw_can_data[i].dat.size()));
+      canData[i].setSrc(raw_can_data[i].src);
+    }
+
+    auto bytes = msg.toBytes();
+    handleEvent((const char*)bytes.begin(), bytes.size());
+
+    panda->send_heartbeat(false);
+  }
+}
+
+AbstractOpenStreamWidget *PandaStream::widget(AbstractStream **stream) {
+  return new OpenPandaWidget(stream);
+}
+
+// OpenPandaWidget
+
+OpenPandaWidget::OpenPandaWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *serial_layout = new QHBoxLayout();
+  serial_edit = new QComboBox();
+  serial_edit->setFixedWidth(300);
+  serial_layout->addWidget(serial_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  serial_layout->addWidget(refresh);
+  form_layout->addRow(tr("Serial"), serial_layout);
+  main_layout->addLayout(form_layout);
+
+  config_layout = new QFormLayout();
+  main_layout->addLayout(config_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenPandaWidget::refreshSerials);
+  QObject::connect(serial_edit, &QComboBox::currentTextChanged, this, &OpenPandaWidget::buildConfigForm);
+
+  // Populate serials
+  refreshSerials();
+  buildConfigForm();
+}
+
+void OpenPandaWidget::refreshSerials() {
+  serial_edit->clear();
+  for (auto serial : Panda::list()) {
+    serial_edit->addItem(QString::fromStdString(serial));
+  }
+}
+
+void OpenPandaWidget::buildConfigForm() {
+  clearLayout(config_layout);
+  QString serial = serial_edit->currentText();
+
+  bool has_fd = false;
+  bool has_panda = !serial.isEmpty();
+
+  if (has_panda) {
+    try {
+      Panda panda = Panda(serial.toStdString());
+      has_fd = (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA) || (panda.hw_type == cereal::PandaState::PandaType::RED_PANDA_V2);
+    } catch (const std::exception& e) {
+      has_panda = false;
+    }
+  }
+
+  if (has_panda) {
+    config.serial = serial;
+    config.bus_config.resize(3);
+    for (int i = 0; i < config.bus_config.size(); i++) {
+      QHBoxLayout *bus_layout = new QHBoxLayout;
+
+      // CAN Speed
+      bus_layout->addWidget(new QLabel(tr("CAN Speed (kbps):")));
+      QComboBox *can_speed = new QComboBox;
+      for (int j = 0; j < std::size(speeds); j++) {
+        can_speed->addItem(QString::number(speeds[j]));
+
+        if (data_speeds[j] == config.bus_config[i].can_speed_kbps) {
+          can_speed->setCurrentIndex(j);
+        }
+      }
+      QObject::connect(can_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].can_speed_kbps = speeds[index];});
+      bus_layout->addWidget(can_speed);
+
+      // CAN-FD Speed
+      if (has_fd) {
+        QCheckBox *enable_fd = new QCheckBox("CAN-FD");
+        bus_layout->addWidget(enable_fd);
+        bus_layout->addWidget(new QLabel(tr("Data Speed (kbps):")));
+        QComboBox *data_speed = new QComboBox;
+        for (int j = 0; j < std::size(data_speeds); j++) {
+          data_speed->addItem(QString::number(data_speeds[j]));
+
+          if (data_speeds[j] == config.bus_config[i].data_speed_kbps) {
+            data_speed->setCurrentIndex(j);
+          }
+        }
+
+        data_speed->setEnabled(false);
+        bus_layout->addWidget(data_speed);
+
+        QObject::connect(data_speed, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {config.bus_config[i].data_speed_kbps = data_speeds[index];});
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, data_speed, &QComboBox::setEnabled);
+        QObject::connect(enable_fd, &QCheckBox::stateChanged, [=](int state) {config.bus_config[i].can_fd = (bool)state;});
+      }
+
+      config_layout->addRow(tr("Bus %1:").arg(i), bus_layout);
+    }
+  } else {
+    config.serial = "";
+    config_layout->addWidget(new QLabel(tr("No panda found")));
+  }
+}
+
+bool OpenPandaWidget::open() {
+  try {
+    *stream = new PandaStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to panda: '%1'").arg(e.what()));
+    return false;
+  }
+  return true;
+}
diff --git a/tools/cabana/streams/pandastream.h b/tools/cabana/streams/pandastream.h
new file mode 100644
index 0000000000..43803950f9
--- /dev/null
+++ b/tools/cabana/streams/pandastream.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <memory>
+#include <vector>
+
+#include <QComboBox>
+#include <QFormLayout>
+#include <QVBoxLayout>
+
+#include "tools/cabana/streams/livestream.h"
+#include "selfdrive/boardd/panda.h"
+
+const uint32_t speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U};
+const uint32_t data_speeds[] = {10U, 20U, 50U, 100U, 125U, 250U, 500U, 1000U, 2000U, 5000U};
+
+struct PandaStreamConfig {
+  QString serial = "";
+  std::vector<BusConfig> bus_config;
+};
+
+class PandaStream : public LiveStream {
+  Q_OBJECT
+public:
+  PandaStream(QObject *parent, PandaStreamConfig config_ = {});
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+  inline QString routeName() const override {
+    return QString("Live Streaming From Panda %1").arg(config.serial);
+  }
+
+protected:
+  void streamThread() override;
+  bool connect();
+
+  std::unique_ptr<Panda> panda;
+  PandaStreamConfig config = {};
+};
+
+class OpenPandaWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenPandaWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Panda"); }
+
+private:
+  void refreshSerials();
+  void buildConfigForm();
+
+  QComboBox *serial_edit;
+  QFormLayout *config_layout;
+  PandaStreamConfig config = {};
+};
diff --git a/tools/cabana/streams/replaystream.cc b/tools/cabana/streams/replaystream.cc
new file mode 100644
index 0000000000..2e580c0f0d
--- /dev/null
+++ b/tools/cabana/streams/replaystream.cc
@@ -0,0 +1,132 @@
+#include "tools/cabana/streams/replaystream.h"
+
+#include <QLabel>
+#include <QFileDialog>
+#include <QGridLayout>
+#include <QMessageBox>
+#include <QPushButton>
+
+ReplayStream::ReplayStream(QObject *parent) : AbstractStream(parent) {
+  unsetenv("ZMQ");
+  // TODO: Remove when OpenpilotPrefix supports ZMQ
+#ifndef __APPLE__
+  op_prefix = std::make_unique<OpenpilotPrefix>();
+#endif
+  QObject::connect(&settings, &Settings::changed, [this]() {
+    if (replay) replay->setSegmentCacheLimit(settings.max_cached_minutes);
+  });
+}
+
+static bool event_filter(const Event *e, void *opaque) {
+  return ((ReplayStream *)opaque)->eventFilter(e);
+}
+
+void ReplayStream::mergeSegments() {
+  for (auto &[n, seg] : replay->segments()) {
+    if (seg && seg->isLoaded() && !processed_segments.count(n)) {
+      processed_segments.insert(n);
+      const auto &events = seg->log->events;
+      mergeEvents(events.cbegin(), events.cend());
+    }
+  }
+}
+
+bool ReplayStream::loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags) {
+  replay.reset(new Replay(route, {"can", "roadEncodeIdx", "wideRoadEncodeIdx", "carParams"}, {}, {}, nullptr, replay_flags, data_dir, this));
+  replay->setSegmentCacheLimit(settings.max_cached_minutes);
+  replay->installEventFilter(event_filter, this);
+  QObject::connect(replay.get(), &Replay::seekedTo, this, &AbstractStream::seekedTo);
+  QObject::connect(replay.get(), &Replay::segmentsMerged, this, &ReplayStream::mergeSegments);
+  return replay->load();
+}
+
+void ReplayStream::start() {
+  emit streamStarted();
+  replay->start();
+}
+
+bool ReplayStream::eventFilter(const Event *event) {
+  static double prev_update_ts = 0;
+  // delay posting CAN message if UI thread is busy
+  if (event->which == cereal::Event::Which::CAN) {
+    double current_sec = event->mono_time / 1e9 - routeStartTime();
+    for (const auto &c : event->event.getCan()) {
+      MessageId id = {.source = c.getSrc(), .address = c.getAddress()};
+      const auto dat = c.getDat();
+      updateEvent(id, current_sec, (const uint8_t*)dat.begin(), dat.size());
+    }
+  }
+
+  double ts = millis_since_boot();
+  if ((ts - prev_update_ts) > (1000.0 / settings.fps)) {
+    if (postEvents()) {
+      prev_update_ts = ts;
+    }
+  }
+  return true;
+}
+
+void ReplayStream::pause(bool pause) {
+  replay->pause(pause);
+  emit(pause ? paused() : resume());
+}
+
+
+AbstractOpenStreamWidget *ReplayStream::widget(AbstractStream **stream) {
+  return new OpenReplayWidget(stream);
+}
+
+// OpenReplayWidget
+
+OpenReplayWidget::OpenReplayWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  // TODO: get route list from api.comma.ai
+  QGridLayout *grid_layout = new QGridLayout();
+  grid_layout->addWidget(new QLabel(tr("Route")), 0, 0);
+  grid_layout->addWidget(route_edit = new QLineEdit(this), 0, 1);
+  route_edit->setPlaceholderText(tr("Enter remote route name or click browse to select a local route"));
+  auto file_btn = new QPushButton(tr("Browse..."), this);
+  grid_layout->addWidget(file_btn, 0, 2);
+
+  grid_layout->addWidget(new QLabel(tr("Video")), 1, 0);
+  grid_layout->addWidget(choose_video_cb = new QComboBox(this), 1, 1);
+  QString items[] = {tr("No Video"), tr("Road Camera"), tr("Wide Road Camera"), tr("Driver Camera"), tr("QCamera")};
+  for (int i = 0; i < std::size(items); ++i) {
+    choose_video_cb->addItem(items[i]);
+  }
+  choose_video_cb->setCurrentIndex(1);  // default is road camera;
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addLayout(grid_layout);
+  setMinimumWidth(550);
+
+  QObject::connect(file_btn, &QPushButton::clicked, [=]() {
+    QString dir = QFileDialog::getExistingDirectory(this, tr("Open Local Route"), settings.last_route_dir);
+    if (!dir.isEmpty()) {
+      route_edit->setText(dir);
+      settings.last_route_dir = QFileInfo(dir).absolutePath();
+    }
+  });
+}
+
+bool OpenReplayWidget::open() {
+  QString route = route_edit->text();
+  QString data_dir;
+  if (int idx = route.lastIndexOf('/'); idx != -1) {
+    data_dir = route.mid(0, idx + 1);
+    route = route.mid(idx + 1);
+  }
+
+  bool is_valid_format = Route::parseRoute(route).str.size() > 0;
+  if (!is_valid_format) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Invalid route format: '%1'").arg(route));
+  } else {
+    uint32_t flags[] = {REPLAY_FLAG_NO_VIPC, REPLAY_FLAG_NONE, REPLAY_FLAG_ECAM, REPLAY_FLAG_DCAM, REPLAY_FLAG_QCAMERA};
+    auto replay_stream = std::make_unique<ReplayStream>(qApp);
+    if (replay_stream->loadRoute(route, data_dir, flags[choose_video_cb->currentIndex()])) {
+      *stream = replay_stream.release();
+    } else {
+      QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to load route: '%1'").arg(route));
+    }
+  }
+  return *stream != nullptr;
+}
diff --git a/tools/cabana/streams/replaystream.h b/tools/cabana/streams/replaystream.h
new file mode 100644
index 0000000000..de69d9e86c
--- /dev/null
+++ b/tools/cabana/streams/replaystream.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <algorithm>
+#include <memory>
+#include <set>
+#include <tuple>
+#include <vector>
+
+#include "common/prefix.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+class ReplayStream : public AbstractStream {
+  Q_OBJECT
+
+public:
+  ReplayStream(QObject *parent);
+  void start() override;
+  bool loadRoute(const QString &route, const QString &data_dir, uint32_t replay_flags = REPLAY_FLAG_NONE);
+  bool eventFilter(const Event *event);
+  void seekTo(double ts) override { replay->seekTo(std::max(double(0), ts), false); }
+  inline QString routeName() const override { return replay->route()->name(); }
+  inline QString carFingerprint() const override { return replay->carFingerprint().c_str(); }
+  double totalSeconds() const override { return replay->totalSeconds(); }
+  inline VisionStreamType visionStreamType() const override { return replay->hasFlag(REPLAY_FLAG_ECAM) ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD; }
+  inline double routeStartTime() const override { return replay->routeStartTime() / (double)1e9; }
+  inline double currentSec() const override { return replay->currentSeconds(); }
+  inline const Route *route() const override { return replay->route(); }
+  inline void setSpeed(float speed) override { replay->setSpeed(speed); }
+  inline float getSpeed() const { return replay->getSpeed(); }
+  inline bool isPaused() const override { return replay->isPaused(); }
+  void pause(bool pause) override;
+  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() override { return replay->getTimeline(); }
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+
+private:
+  void mergeSegments();
+  std::unique_ptr<Replay> replay = nullptr;
+  std::set<int> processed_segments;
+  std::unique_ptr<OpenpilotPrefix> op_prefix;
+};
+
+class OpenReplayWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenReplayWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&Replay"); }
+
+private:
+  QLineEdit *route_edit;
+  QComboBox *choose_video_cb;
+};
diff --git a/tools/cabana/streams/socketcanstream.cc b/tools/cabana/streams/socketcanstream.cc
new file mode 100644
index 0000000000..3df8e31f3b
--- /dev/null
+++ b/tools/cabana/streams/socketcanstream.cc
@@ -0,0 +1,114 @@
+#include "tools/cabana/streams/socketcanstream.h"
+
+#include <QLabel>
+#include <QMessageBox>
+#include <QPushButton>
+
+SocketCanStream::SocketCanStream(QObject *parent, SocketCanStreamConfig config_) : config(config_), LiveStream(parent) {
+  if (!available()) {
+    throw std::runtime_error("SocketCAN plugin not available");
+  }
+
+  qDebug() << "Connecting to SocketCAN device" << config.device;
+  if (!connect()) {
+    throw std::runtime_error("Failed to connect to SocketCAN device");
+  }
+}
+
+bool SocketCanStream::available() {
+  return QCanBus::instance()->plugins().contains("socketcan");
+}
+
+bool SocketCanStream::connect() {
+  // Connecting might generate some warnings about missing socketcan/libsocketcan libraries
+  // These are expected and can be ignored, we don't need the advanced features of libsocketcan
+  QString errorString;
+  device.reset(QCanBus::instance()->createDevice("socketcan", config.device, &errorString));
+
+  if (!device) {
+    qDebug() << "Failed to create SocketCAN device" << errorString;
+    return false;
+  }
+
+  if (!device->connectDevice()) {
+    qDebug() << "Failed to connect to device";
+    return false;
+  }
+
+  return true;
+}
+
+void SocketCanStream::streamThread() {
+  while (!QThread::currentThread()->isInterruptionRequested()) {
+    QThread::msleep(1);
+
+    auto frames = device->readAllFrames();
+    if (frames.size() == 0) continue;
+
+    MessageBuilder msg;
+    auto evt = msg.initEvent();
+    auto canData = evt.initCan(frames.size());
+
+
+    for (uint i = 0; i < frames.size(); i++) {
+      if (!frames[i].isValid()) continue;
+
+      canData[i].setAddress(frames[i].frameId());
+      canData[i].setSrc(0);
+
+      auto payload = frames[i].payload();
+      canData[i].setDat(kj::arrayPtr((uint8_t*)payload.data(), payload.size()));
+    }
+
+    auto bytes = msg.toBytes();
+    handleEvent((const char*)bytes.begin(), bytes.size());
+  }
+}
+
+AbstractOpenStreamWidget *SocketCanStream::widget(AbstractStream **stream) {
+  return new OpenSocketCanWidget(stream);
+}
+
+OpenSocketCanWidget::OpenSocketCanWidget(AbstractStream **stream) : AbstractOpenStreamWidget(stream) {
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+  main_layout->addStretch(1);
+
+  QFormLayout *form_layout = new QFormLayout();
+
+  QHBoxLayout *device_layout = new QHBoxLayout();
+  device_edit = new QComboBox();
+  device_edit->setFixedWidth(300);
+  device_layout->addWidget(device_edit);
+
+  QPushButton *refresh = new QPushButton(tr("Refresh"));
+  refresh->setFixedWidth(100);
+  device_layout->addWidget(refresh);
+  form_layout->addRow(tr("Device"), device_layout);
+  main_layout->addLayout(form_layout);
+
+  main_layout->addStretch(1);
+
+  QObject::connect(refresh, &QPushButton::clicked, this, &OpenSocketCanWidget::refreshDevices);
+  QObject::connect(device_edit, &QComboBox::currentTextChanged, this, [=]{ config.device = device_edit->currentText(); });
+
+  // Populate devices
+  refreshDevices();
+}
+
+void OpenSocketCanWidget::refreshDevices() {
+  device_edit->clear();
+  for (auto device : QCanBus::instance()->availableDevices(QStringLiteral("socketcan"))) {
+    device_edit->addItem(device.name());
+  }
+}
+
+
+bool OpenSocketCanWidget::open() {
+  try {
+    *stream = new SocketCanStream(qApp, config);
+  } catch (std::exception &e) {
+    QMessageBox::warning(nullptr, tr("Warning"), tr("Failed to connect to SocketCAN device: '%1'").arg(e.what()));
+    return false;
+  }
+  return true;
+}
diff --git a/tools/cabana/streams/socketcanstream.h b/tools/cabana/streams/socketcanstream.h
new file mode 100644
index 0000000000..6f2d7aa353
--- /dev/null
+++ b/tools/cabana/streams/socketcanstream.h
@@ -0,0 +1,52 @@
+#pragma once
+
+#include <memory>
+
+#include <QtSerialBus/QCanBus>
+#include <QtSerialBus/QCanBusDevice>
+#include <QtSerialBus/QCanBusDeviceInfo>
+
+#include <QComboBox>
+#include <QFormLayout>
+#include <QVBoxLayout>
+
+#include "tools/cabana/streams/livestream.h"
+
+struct SocketCanStreamConfig {
+  QString device = ""; // TODO: support multiple devices/buses at once
+};
+
+class SocketCanStream : public LiveStream {
+  Q_OBJECT
+public:
+  SocketCanStream(QObject *parent, SocketCanStreamConfig config_ = {});
+  static AbstractOpenStreamWidget *widget(AbstractStream **stream);
+
+  static bool available();
+
+  inline QString routeName() const override {
+    return QString("Live Streaming From Socket CAN %1").arg(config.device);
+  }
+
+protected:
+  void streamThread() override;
+  bool connect();
+
+  SocketCanStreamConfig config = {};
+  std::unique_ptr<QCanBusDevice> device;
+};
+
+class OpenSocketCanWidget : public AbstractOpenStreamWidget {
+  Q_OBJECT
+
+public:
+  OpenSocketCanWidget(AbstractStream **stream);
+  bool open() override;
+  QString title() override { return tr("&SocketCAN"); }
+
+private:
+  void refreshDevices();
+
+  QComboBox *device_edit;
+  SocketCanStreamConfig config = {};
+};
diff --git a/tools/cabana/streamselector.cc b/tools/cabana/streamselector.cc
new file mode 100644
index 0000000000..719ba72920
--- /dev/null
+++ b/tools/cabana/streamselector.cc
@@ -0,0 +1,72 @@
+#include "tools/cabana/streamselector.h"
+
+#include <QDialogButtonBox>
+#include <QFileDialog>
+#include <QFormLayout>
+#include <QLabel>
+#include <QPushButton>
+
+#include "streams/socketcanstream.h"
+#include "tools/cabana/streams/devicestream.h"
+#include "tools/cabana/streams/pandastream.h"
+#include "tools/cabana/streams/replaystream.h"
+#include "tools/cabana/streams/socketcanstream.h"
+
+StreamSelector::StreamSelector(AbstractStream **stream, QWidget *parent) : QDialog(parent) {
+  setWindowTitle(tr("Open stream"));
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *layout = new QVBoxLayout(w);
+  tab = new QTabWidget(this);
+  tab->setTabBarAutoHide(true);
+  layout->addWidget(tab);
+
+  QHBoxLayout *dbc_layout = new QHBoxLayout();
+  dbc_file = new QLineEdit(this);
+  dbc_file->setReadOnly(true);
+  dbc_file->setPlaceholderText(tr("Choose a dbc file to open"));
+  QPushButton *file_btn = new QPushButton(tr("Browse..."));
+  dbc_layout->addWidget(new QLabel(tr("dbc File")));
+  dbc_layout->addWidget(dbc_file);
+  dbc_layout->addWidget(file_btn);
+  layout->addLayout(dbc_layout);
+
+  QFrame *line = new QFrame(this);
+  line->setFrameStyle(QFrame::HLine | QFrame::Sunken);
+  layout->addWidget(line);
+
+  main_layout->addWidget(w);
+  auto btn_box = new QDialogButtonBox(QDialogButtonBox::Open | QDialogButtonBox::Cancel);
+  main_layout->addWidget(btn_box);
+
+  addStreamWidget(ReplayStream::widget(stream));
+  addStreamWidget(PandaStream::widget(stream));
+  if (SocketCanStream::available()) {
+    addStreamWidget(SocketCanStream::widget(stream));
+  }
+  addStreamWidget(DeviceStream::widget(stream));
+
+  QObject::connect(btn_box, &QDialogButtonBox::rejected, this, &QDialog::reject);
+  QObject::connect(btn_box, &QDialogButtonBox::accepted, [=]() {
+    btn_box->button(QDialogButtonBox::Open)->setEnabled(false);
+    w->setEnabled(false);
+    if (((AbstractOpenStreamWidget *)tab->currentWidget())->open()) {
+      accept();
+    } else {
+      btn_box->button(QDialogButtonBox::Open)->setEnabled(true);
+      w->setEnabled(true);
+    }
+  });
+  QObject::connect(file_btn, &QPushButton::clicked, [this]() {
+    QString fn = QFileDialog::getOpenFileName(this, tr("Open File"), settings.last_dir, "DBC (*.dbc)");
+    if (!fn.isEmpty()) {
+      dbc_file->setText(fn);
+      settings.last_dir = QFileInfo(fn).absolutePath();
+    }
+  });
+}
+
+void StreamSelector::addStreamWidget(AbstractOpenStreamWidget *w) {
+  tab->addTab(w, w->title());
+}
diff --git a/tools/cabana/streamselector.h b/tools/cabana/streamselector.h
new file mode 100644
index 0000000000..19b438d55a
--- /dev/null
+++ b/tools/cabana/streamselector.h
@@ -0,0 +1,20 @@
+#pragma once
+
+#include <QDialog>
+#include <QLineEdit>
+#include <QTabWidget>
+
+#include "tools/cabana/streams/abstractstream.h"
+
+class StreamSelector : public QDialog {
+  Q_OBJECT
+
+public:
+  StreamSelector(AbstractStream **stream, QWidget *parent = nullptr);
+  void addStreamWidget(AbstractOpenStreamWidget *w);
+  QString dbcFile() const { return dbc_file->text(); }
+
+private:
+  QLineEdit *dbc_file;
+  QTabWidget *tab;
+};
diff --git a/tools/cabana/tests/test_cabana b/tools/cabana/tests/test_cabana
deleted file mode 100755
index bac242fbdd..0000000000
--- a/tools/cabana/tests/test_cabana
+++ /dev/null
@@ -1,4 +0,0 @@
-#!/bin/sh
-cd "$(dirname "$0")"
-export LD_LIBRARY_PATH="../../../opendbc/can:$LD_LIBRARY_PATH"
-exec ./_test_cabana "$1"
diff --git a/tools/cabana/tests/test_cabana.cc b/tools/cabana/tests/test_cabana.cc
index 586422ffc8..a3d014dd2c 100644
--- a/tools/cabana/tests/test_cabana.cc
+++ b/tools/cabana/tests/test_cabana.cc
@@ -2,34 +2,37 @@
 #include "opendbc/can/common.h"
 #undef INFO
 #include "catch2/catch.hpp"
-#include "tools/cabana/dbcmanager.h"
 #include "tools/replay/logreader.h"
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
 
 // demo route, first segment
-const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/4cf7a6ad03080c90/2021-09-29--13-46-36/0/rlog.bz2";
+const std::string TEST_RLOG_URL = "https://commadata2.blob.core.windows.net/commadata2/a2a0ccea32023010/2023-07-27--13-01-19/0/rlog.bz2";
 
-TEST_CASE("DBCManager::generateDBC") {
-  DBCManager dbc_origin(nullptr);
-  dbc_origin.open("toyota_new_mc_pt_generated");
-  DBCManager dbc_from_generated(nullptr);
-  dbc_from_generated.open("", dbc_origin.generateDBC());
+TEST_CASE("DBCFile::generateDBC") {
+  QString fn = QString("%1/%2.dbc").arg(OPENDBC_FILE_PATH, "tesla_can");
+  DBCFile dbc_origin(fn);
+  DBCFile dbc_from_generated("", dbc_origin.generateDBC());
 
-  auto &msgs = dbc_origin.messages();
-  auto &new_msgs = dbc_from_generated.messages();
-  REQUIRE(msgs.size() == new_msgs.size());
-  for (auto &[address, m] : msgs) {
-    auto new_m = new_msgs.at(address);
+  REQUIRE(dbc_origin.msgCount() == dbc_from_generated.msgCount());
+  auto &msgs = dbc_origin.getMessages();
+  auto &new_msgs = dbc_from_generated.getMessages();
+  for (auto &[id, m] : msgs) {
+    auto &new_m = new_msgs.at(id);
     REQUIRE(m.name == new_m.name);
     REQUIRE(m.size == new_m.size);
-    REQUIRE(m.sigs.size() == new_m.sigs.size());
-    for (auto &[name, sig] : m.sigs)
-      REQUIRE(sig == new_m.sigs[name]);
+    REQUIRE(m.getSignals().size() == new_m.getSignals().size());
+    auto sigs = m.getSignals();
+    auto new_sigs = new_m.getSignals();
+    for (int i = 0; i < sigs.size(); ++i) {
+      REQUIRE(*sigs[i] == *new_sigs[i]);
+    }
   }
 }
 
 TEST_CASE("Parse can messages") {
   DBCManager dbc(nullptr);
-  dbc.open("toyota_new_mc_pt_generated");
+  dbc.open({0}, "toyota_new_mc_pt_generated");
   CANParser can_parser(0, "toyota_new_mc_pt_generated", {}, {});
 
   LogReader log;
@@ -37,23 +40,24 @@ TEST_CASE("Parse can messages") {
   REQUIRE(log.events.size() > 0);
   for (auto e : log.events) {
     if (e->which == cereal::Event::Which::CAN) {
-      std::map<std::pair<uint32_t, std::string>, std::vector<double>> values_1;
+      std::map<std::pair<uint32_t, QString>, std::vector<double>> values_1;
       for (const auto &c : e->event.getCan()) {
-        const auto msg = dbc.msg(c.getAddress());
+        const auto msg = dbc.msg({.source = c.getSrc(), .address = c.getAddress()});
         if (c.getSrc() == 0 && msg) {
-          for (auto &[name, sig] : msg->sigs) {
-            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), sig);
-            values_1[{c.getAddress(), name.toStdString()}].push_back(val);
+          for (auto sig : msg->getSignals()) {
+            double val = get_raw_value((uint8_t *)c.getDat().begin(), c.getDat().size(), *sig);
+            values_1[{c.getAddress(), sig->name}].push_back(val);
           }
         }
       }
 
       can_parser.UpdateCans(e->mono_time, e->event.getCan());
-      auto values_2 = can_parser.query_latest();
+      std::vector<SignalValue> values_2;
+      can_parser.query_latest(values_2);
       for (auto &[key, v1] : values_1) {
         bool found = false;
         for (auto &v2 : values_2) {
-          if (v2.address == key.first && v2.name == key.second) {
+          if (v2.address == key.first && key.second == v2.name.c_str()) {
             REQUIRE(v2.all_values.size() == v1.size());
             REQUIRE(v2.all_values == v1);
             found = true;
@@ -65,3 +69,61 @@ TEST_CASE("Parse can messages") {
     }
   }
 }
+
+TEST_CASE("Parse dbc") {
+  QString content = R"(
+BO_ 160 message_1: 8 EON
+  SG_ signal_1 : 0|12@1+ (1,0) [0|4095] "unit"  XXX
+  SG_ signal_2 : 12|1@1+ (1.0,0.0) [0.0|1] ""  XXX
+
+BO_ 162 message_1: 8 XXX
+  SG_ signal_1 M : 0|12@1+ (1,0) [0|4095] "unit" XXX
+  SG_ signal_2 M4 : 12|1@1+ (1.0,0.0) [0.0|1] "" XXX
+
+VAL_ 160 signal_1 0 "disabled" 1.2 "initializing" 2 "fault";
+
+CM_ BO_ 160 "message comment" ;
+CM_ SG_ 160 signal_1 "signal comment";
+CM_ SG_ 160 signal_2 "multiple line comment
+1
+2
+";)";
+
+  DBCFile file("", content);
+  auto msg = file.msg(160);
+  REQUIRE(msg != nullptr);
+  REQUIRE(msg->name == "message_1");
+  REQUIRE(msg->size == 8);
+  REQUIRE(msg->comment == "message comment");
+  REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->transmitter == "EON");
+  REQUIRE(file.msg("message_1") != nullptr);
+
+  auto sig_1 = msg->sigs[0];
+  REQUIRE(sig_1->name == "signal_1");
+  REQUIRE(sig_1->start_bit == 0);
+  REQUIRE(sig_1->size == 12);
+  REQUIRE(sig_1->min == 0);
+  REQUIRE(sig_1->max == 4095);
+  REQUIRE(sig_1->unit == "unit");
+  REQUIRE(sig_1->comment == "signal comment");
+  REQUIRE(sig_1->receiver_name == "XXX");
+  REQUIRE(sig_1->val_desc.size() == 3);
+  REQUIRE(sig_1->val_desc[0] == std::pair<double, QString>{0, "disabled"});
+  REQUIRE(sig_1->val_desc[1] == std::pair<double, QString>{1.2, "initializing"});
+  REQUIRE(sig_1->val_desc[2] == std::pair<double, QString>{2, "fault"});
+
+  auto &sig_2 = msg->sigs[1];
+  REQUIRE(sig_2->comment == "multiple line comment\n1\n2");
+
+  // multiplexed signals
+  msg = file.msg(162);
+  REQUIRE(msg != nullptr);
+  REQUIRE(msg->sigs.size() == 2);
+  REQUIRE(msg->sigs[0]->type == cabana::Signal::Type::Multiplexor);
+  REQUIRE(msg->sigs[1]->type == cabana::Signal::Type::Multiplexed);
+  REQUIRE(msg->sigs[1]->multiplex_value == 4);
+  REQUIRE(msg->sigs[1]->start_bit == 12);
+  REQUIRE(msg->sigs[1]->size == 1);
+  REQUIRE(msg->sigs[1]->receiver_name == "XXX");
+}
diff --git a/tools/cabana/tools/findsignal.cc b/tools/cabana/tools/findsignal.cc
new file mode 100644
index 0000000000..b19babdf88
--- /dev/null
+++ b/tools/cabana/tools/findsignal.cc
@@ -0,0 +1,267 @@
+#include "tools/cabana/tools/findsignal.h"
+
+#include <QFormLayout>
+#include <QHBoxLayout>
+#include <QHeaderView>
+#include <QMenu>
+#include <QtConcurrent>
+#include <QTimer>
+#include <QVBoxLayout>
+
+// FindSignalModel
+
+QVariant FindSignalModel::headerData(int section, Qt::Orientation orientation, int role) const {
+  static QString titles[] = {"Id", "Start Bit, size", "(time, value)"};
+  if (role != Qt::DisplayRole) return {};
+  return orientation == Qt::Horizontal ? titles[section] : QString::number(section + 1);
+}
+
+QVariant FindSignalModel::data(const QModelIndex &index, int role) const {
+  if (role == Qt::DisplayRole) {
+    const auto &s = filtered_signals[index.row()];
+    switch (index.column()) {
+      case 0: return s.id.toString();
+      case 1: return QString("%1, %2").arg(s.sig.start_bit).arg(s.sig.size);
+      case 2: return s.values.join(" ");
+    }
+  }
+  return {};
+}
+
+void FindSignalModel::search(std::function<bool(double)> cmp) {
+  beginResetModel();
+
+  std::mutex lock;
+  const auto prev_sigs = !histories.isEmpty() ? histories.back() : initial_signals;
+  filtered_signals.clear();
+  filtered_signals.reserve(prev_sigs.size());
+  QtConcurrent::blockingMap(prev_sigs, [&](auto &s) {
+    const auto &events = can->events(s.id);
+    auto first = std::upper_bound(events.cbegin(), events.cend(), s.mono_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    auto last = events.cend();
+    if (last_time < std::numeric_limits<uint64_t>::max()) {
+      last = std::upper_bound(events.cbegin(), events.cend(), last_time, [](uint64_t ts, auto &e) { return ts < e->mono_time; });
+    }
+
+    auto it = std::find_if(first, last, [&](const CanEvent *e) { return cmp(get_raw_value(e->dat, e->size, s.sig)); });
+    if (it != last) {
+      auto values = s.values;
+      values += QString("(%1, %2)").arg((*it)->mono_time / 1e9 - can->routeStartTime(), 0, 'f', 2).arg(get_raw_value((*it)->dat, (*it)->size, s.sig));
+      std::lock_guard lk(lock);
+      filtered_signals.push_back({.id = s.id, .mono_time = (*it)->mono_time, .sig = s.sig, .values = values});
+    }
+  });
+  histories.push_back(filtered_signals);
+
+  endResetModel();
+}
+
+void FindSignalModel::undo() {
+  if (!histories.isEmpty()) {
+    beginResetModel();
+    histories.pop_back();
+    filtered_signals.clear();
+    if (!histories.isEmpty()) filtered_signals = histories.back();
+    endResetModel();
+  }
+}
+
+void FindSignalModel::reset() {
+  beginResetModel();
+  histories.clear();
+  filtered_signals.clear();
+  initial_signals.clear();
+  endResetModel();
+}
+
+// FindSignalDlg
+FindSignalDlg::FindSignalDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
+  setWindowTitle(tr("Find Signal"));
+  setAttribute(Qt::WA_DeleteOnClose);
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  // Messages group
+  message_group = new QGroupBox(tr("Messages"), this);
+  QFormLayout *message_layout = new QFormLayout(message_group);
+  message_layout->addRow(tr("Bus"), bus_edit = new QLineEdit());
+  bus_edit->setPlaceholderText(tr("comma-seperated values. Leave blank for all"));
+  message_layout->addRow(tr("Address"), address_edit = new QLineEdit());
+  address_edit->setPlaceholderText(tr("comma-seperated hex values. Leave blank for all"));
+  QHBoxLayout *hlayout = new QHBoxLayout();
+  hlayout->addWidget(first_time_edit = new QLineEdit("0"));
+  hlayout->addWidget(new QLabel("-"));
+  hlayout->addWidget(last_time_edit = new QLineEdit("MAX"));
+  hlayout->addWidget(new QLabel("seconds"));
+  hlayout->addStretch(0);
+  message_layout->addRow(tr("Time"), hlayout);
+
+  // Signal group
+  properties_group = new QGroupBox(tr("Signal"));
+  QFormLayout *property_layout = new QFormLayout(properties_group);
+  property_layout->setFieldGrowthPolicy(QFormLayout::FieldsStayAtSizeHint);
+
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(min_size = new QSpinBox);
+  hlayout->addWidget(new QLabel("-"));
+  hlayout->addWidget(max_size = new QSpinBox);
+  hlayout->addWidget(litter_endian = new QCheckBox(tr("Little endian")));
+  hlayout->addWidget(is_signed = new QCheckBox(tr("Signed")));
+  hlayout->addStretch(0);
+  min_size->setRange(1, 64);
+  max_size->setRange(1, 64);
+  min_size->setValue(8);
+  max_size->setValue(8);
+  litter_endian->setChecked(true);
+  property_layout->addRow(tr("Size"), hlayout);
+  property_layout->addRow(tr("Factor"), factor_edit = new QLineEdit("1.0"));
+  property_layout->addRow(tr("Offset"), offset_edit = new QLineEdit("0.0"));
+
+  // find group
+  QGroupBox *find_group = new QGroupBox(tr("Find signal"), this);
+  QVBoxLayout *vlayout = new QVBoxLayout(find_group);
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(new QLabel(tr("Value")));
+  hlayout->addWidget(compare_cb = new QComboBox(this));
+  hlayout->addWidget(value1 = new QLineEdit);
+  hlayout->addWidget(to_label = new QLabel("-"));
+  hlayout->addWidget(value2 = new QLineEdit);
+  hlayout->addWidget(undo_btn = new QPushButton(tr("Undo prev find"), this));
+  hlayout->addWidget(search_btn = new QPushButton(tr("Find")));
+  hlayout->addWidget(reset_btn = new QPushButton(tr("Reset"), this));
+  vlayout->addLayout(hlayout);
+
+  compare_cb->addItems({"=", ">", ">=", "!=", "<", "<=", "between"});
+  value1->setFocus(Qt::OtherFocusReason);
+  value2->setVisible(false);
+  to_label->setVisible(false);
+  undo_btn->setEnabled(false);
+  reset_btn->setEnabled(false);
+
+  auto double_validator = new DoubleValidator(this);
+  for (auto edit : {value1, value2, factor_edit, offset_edit, first_time_edit, last_time_edit}) {
+    edit->setValidator(double_validator);
+  }
+
+  vlayout->addWidget(view = new QTableView(this));
+  view->setContextMenuPolicy(Qt::CustomContextMenu);
+  view->horizontalHeader()->setStretchLastSection(true);
+  view->horizontalHeader()->setSelectionMode(QAbstractItemView::NoSelection);
+  view->setSelectionBehavior(QAbstractItemView::SelectRows);
+  view->setModel(model = new FindSignalModel(this));
+
+  hlayout = new QHBoxLayout();
+  hlayout->addWidget(message_group);
+  hlayout->addWidget(properties_group);
+  main_layout->addLayout(hlayout);
+  main_layout->addWidget(find_group);
+  main_layout->addWidget(stats_label = new QLabel());
+
+  setMinimumSize({700, 650});
+  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSignalDlg::search);
+  QObject::connect(undo_btn, &QPushButton::clicked, model, &FindSignalModel::undo);
+  QObject::connect(model, &QAbstractItemModel::modelReset, this, &FindSignalDlg::modelReset);
+  QObject::connect(reset_btn, &QPushButton::clicked, model, &FindSignalModel::reset);
+  QObject::connect(view, &QTableView::customContextMenuRequested, this, &FindSignalDlg::customMenuRequested);
+  QObject::connect(view, &QTableView::doubleClicked, [this](const QModelIndex &index) {
+    if (index.isValid()) emit openMessage(model->filtered_signals[index.row()].id);
+  });
+  QObject::connect(compare_cb, qOverload<int>(&QComboBox::currentIndexChanged), [=](int index) {
+    to_label->setVisible(index == compare_cb->count() - 1);
+    value2->setVisible(index == compare_cb->count() - 1);
+  });
+}
+
+void FindSignalDlg::search() {
+  if (model->histories.isEmpty()) {
+    setInitialSignals();
+  }
+  auto v1 = value1->text().toDouble();
+  auto v2 = value2->text().toDouble();
+  std::function<bool(double)> cmp = nullptr;
+  switch (compare_cb->currentIndex()) {
+    case 0: cmp = [v1](double v) { return v == v1;}; break;
+    case 1: cmp = [v1](double v) { return v > v1;}; break;
+    case 2: cmp = [v1](double v) { return v >= v1;}; break;
+    case 3: cmp = [v1](double v) { return v != v1;}; break;
+    case 4: cmp = [v1](double v) { return v < v1;}; break;
+    case 5: cmp = [v1](double v) { return v <= v1;}; break;
+    case 6: cmp = [v1, v2](double v) { return v >= v1 && v <= v2;}; break;
+  }
+  properties_group->setEnabled(false);
+  message_group->setEnabled(false);
+  search_btn->setEnabled(false);
+  stats_label->setVisible(false);
+  search_btn->setText("Finding ....");
+  QTimer::singleShot(0, [=]() { model->search(cmp); });
+}
+
+void FindSignalDlg::setInitialSignals() {
+  QSet<ushort> buses;
+  for (auto bus : bus_edit->text().trimmed().split(",")) {
+    bus = bus.trimmed();
+    if (!bus.isEmpty()) buses.insert(bus.toUShort());
+  }
+
+  QSet<uint32_t> addresses;
+  for (auto addr : address_edit->text().trimmed().split(",")) {
+    addr = addr.trimmed();
+    if (!addr.isEmpty()) addresses.insert(addr.toULong(nullptr, 16));
+  }
+
+  cabana::Signal sig{};
+  sig.is_little_endian = litter_endian->isChecked();
+  sig.is_signed = is_signed->isChecked();
+  sig.factor = factor_edit->text().toDouble();
+  sig.offset = offset_edit->text().toDouble();
+
+  auto [first_sec, last_sec] = std::minmax(first_time_edit->text().toDouble(), last_time_edit->text().toDouble());
+  uint64_t first_time = (can->routeStartTime() + first_sec) * 1e9;
+  model->last_time = std::numeric_limits<uint64_t>::max();
+  if (last_sec > 0) {
+    model->last_time = (can->routeStartTime() + last_sec) * 1e9;
+  }
+  model->initial_signals.clear();
+
+  for (auto it = can->last_msgs.cbegin(); it != can->last_msgs.cend(); ++it) {
+    if (buses.isEmpty() || buses.contains(it.key().source) && (addresses.isEmpty() || addresses.contains(it.key().address))) {
+      const auto &events = can->events(it.key());
+      auto e = std::lower_bound(events.cbegin(), events.cend(), first_time, [](auto e, uint64_t ts) { return e->mono_time < ts; });
+      if (e != events.cend()) {
+        const int total_size = it.value().dat.size() * 8;
+        for (int size = min_size->value(); size <= max_size->value(); ++size) {
+          for (int start = 0; start <= total_size - size; ++start) {
+            FindSignalModel::SearchSignal s{.id = it.key(), .mono_time = first_time, .sig = sig};
+            s.sig.start_bit = start;
+            s.sig.size = size;
+            updateMsbLsb(s.sig);
+            s.value = get_raw_value((*e)->dat, (*e)->size, s.sig);
+            model->initial_signals.push_back(s);
+          }
+        }
+      }
+    }
+  }
+}
+
+void FindSignalDlg::modelReset() {
+  properties_group->setEnabled(model->histories.isEmpty());
+  message_group->setEnabled(model->histories.isEmpty());
+  search_btn->setText(model->histories.isEmpty() ? tr("Find") : tr("Find Next"));
+  reset_btn->setEnabled(!model->histories.isEmpty());
+  undo_btn->setEnabled(model->histories.size() > 1);
+  search_btn->setEnabled(model->rowCount() > 0 || model->histories.isEmpty());
+  stats_label->setVisible(true);
+  stats_label->setText(tr("%1 matches. right click on an item to create signal. double click to open message").arg(model->filtered_signals.size()));
+}
+
+void FindSignalDlg::customMenuRequested(const QPoint &pos) {
+  if (auto index = view->indexAt(pos); index.isValid()) {
+    QMenu menu(this);
+    menu.addAction(tr("Create Signal"));
+    if (menu.exec(view->mapToGlobal(pos))) {
+      auto &s = model->filtered_signals[index.row()];
+      UndoStack::push(new AddSigCommand(s.id, s.sig));
+      emit openMessage(s.id);
+    }
+  }
+}
diff --git a/tools/cabana/tools/findsignal.h b/tools/cabana/tools/findsignal.h
new file mode 100644
index 0000000000..e9e5f9f180
--- /dev/null
+++ b/tools/cabana/tools/findsignal.h
@@ -0,0 +1,63 @@
+#pragma once
+
+#include <algorithm>
+#include <limits>
+
+#include <QAbstractTableModel>
+#include <QLabel>
+#include <QPushButton>
+#include <QTableView>
+
+#include "tools/cabana/commands.h"
+#include "tools/cabana/settings.h"
+
+class FindSignalModel : public QAbstractTableModel {
+public:
+  struct SearchSignal {
+    MessageId id = {};
+    uint64_t mono_time = 0;
+    cabana::Signal sig = {};
+    double value = 0.;
+    QStringList values;
+  };
+
+  FindSignalModel(QObject *parent) : QAbstractTableModel(parent) {}
+  QVariant headerData(int section, Qt::Orientation orientation, int role = Qt::DisplayRole) const override;
+  QVariant data(const QModelIndex &index, int role = Qt::DisplayRole) const override;
+  int columnCount(const QModelIndex &parent = QModelIndex()) const override { return 3; }
+  int rowCount(const QModelIndex &parent = QModelIndex()) const override { return std::min(filtered_signals.size(), 300); }
+  void search(std::function<bool(double)> cmp);
+  void reset();
+  void undo();
+
+  QList<SearchSignal> filtered_signals;
+  QList<SearchSignal> initial_signals;
+  QList<QList<SearchSignal>> histories;
+  uint64_t last_time = std::numeric_limits<uint64_t>::max();
+};
+
+class FindSignalDlg : public QDialog {
+  Q_OBJECT
+public:
+  FindSignalDlg(QWidget *parent);
+
+signals:
+  void openMessage(const MessageId &id);
+
+private:
+  void search();
+  void modelReset();
+  void setInitialSignals();
+  void customMenuRequested(const QPoint &pos);
+
+  QLineEdit *value1, *value2, *factor_edit, *offset_edit;
+  QLineEdit *bus_edit, *address_edit, *first_time_edit, *last_time_edit;
+  QComboBox *compare_cb;
+  QSpinBox *min_size, *max_size;
+  QCheckBox *litter_endian, *is_signed;
+  QPushButton *search_btn, *reset_btn, *undo_btn;
+  QGroupBox *properties_group, *message_group;
+  QTableView *view;
+  QLabel *to_label, *stats_label;
+  FindSignalModel *model;
+};
diff --git a/tools/cabana/tools/findsimilarbits.cc b/tools/cabana/tools/findsimilarbits.cc
new file mode 100644
index 0000000000..c3c659791a
--- /dev/null
+++ b/tools/cabana/tools/findsimilarbits.cc
@@ -0,0 +1,160 @@
+#include "tools/cabana/tools/findsimilarbits.h"
+
+#include <algorithm>
+
+#include <QGridLayout>
+#include <QHeaderView>
+#include <QHBoxLayout>
+#include <QIntValidator>
+#include <QLabel>
+#include <QPushButton>
+#include <QRadioButton>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+FindSimilarBitsDlg::FindSimilarBitsDlg(QWidget *parent) : QDialog(parent, Qt::WindowFlags() | Qt::Window) {
+  setWindowTitle(tr("Find similar bits"));
+  setAttribute(Qt::WA_DeleteOnClose);
+
+  QVBoxLayout *main_layout = new QVBoxLayout(this);
+
+  QHBoxLayout *src_layout = new QHBoxLayout();
+  src_bus_combo = new QComboBox(this);
+  find_bus_combo = new QComboBox(this);
+  for (auto cb : {src_bus_combo, find_bus_combo}) {
+    for (uint8_t bus : can->sources) {
+      cb->addItem(QString::number(bus), bus);
+    }
+  }
+
+  msg_cb = new QComboBox(this);
+  // TODO: update when src_bus_combo changes
+  for (auto &[address, msg] : dbc()->getMessages(-1)) {
+    msg_cb->addItem(msg.name, address);
+  }
+  msg_cb->model()->sort(0);
+  msg_cb->setCurrentIndex(0);
+
+  byte_idx_sb = new QSpinBox(this);
+  byte_idx_sb->setFixedWidth(50);
+  byte_idx_sb->setRange(0, 63);
+
+  bit_idx_sb = new QSpinBox(this);
+  bit_idx_sb->setFixedWidth(50);
+  bit_idx_sb->setRange(0, 7);
+
+  src_layout->addWidget(new QLabel(tr("Bus")));
+  src_layout->addWidget(src_bus_combo);
+  src_layout->addWidget(msg_cb);
+  src_layout->addWidget(new QLabel(tr("Byte Index")));
+  src_layout->addWidget(byte_idx_sb);
+  src_layout->addWidget(new QLabel(tr("Bit Index")));
+  src_layout->addWidget(bit_idx_sb);
+  src_layout->addStretch(0);
+
+  QHBoxLayout *find_layout = new QHBoxLayout();
+  find_layout->addWidget(new QLabel(tr("Bus")));
+  find_layout->addWidget(find_bus_combo);
+  find_layout->addWidget(new QLabel(tr("Equal")));
+  equal_combo = new QComboBox(this);
+  equal_combo->addItems({"Yes", "No"});
+  find_layout->addWidget(equal_combo);
+  min_msgs = new QLineEdit(this);
+  min_msgs->setValidator(new QIntValidator(this));
+  min_msgs->setText("100");
+  find_layout->addWidget(new QLabel(tr("Min msg count")));
+  find_layout->addWidget(min_msgs);
+  search_btn = new QPushButton(tr("&Find"), this);
+  find_layout->addWidget(search_btn);
+  find_layout->addStretch(0);
+
+  QGridLayout *grid_layout = new QGridLayout();
+  grid_layout->addWidget(new QLabel("Find From:"), 0, 0);
+  grid_layout->addLayout(src_layout, 0, 1);
+  grid_layout->addWidget(new QLabel("Find In:"), 1, 0);
+  grid_layout->addLayout(find_layout, 1, 1);
+  main_layout->addLayout(grid_layout);
+
+  table = new QTableWidget(this);
+  table->setSelectionBehavior(QAbstractItemView::SelectRows);
+  table->setSelectionMode(QAbstractItemView::SingleSelection);
+  table->setEditTriggers(QAbstractItemView::NoEditTriggers);
+  table->horizontalHeader()->setStretchLastSection(true);
+  main_layout->addWidget(table);
+
+  setMinimumSize({700, 500});
+  QObject::connect(search_btn, &QPushButton::clicked, this, &FindSimilarBitsDlg::find);
+  QObject::connect(table, &QTableWidget::doubleClicked, [this](const QModelIndex &index) {
+    if (index.isValid()) {
+      MessageId msg_id = {.source = (uint8_t)find_bus_combo->currentData().toUInt(), .address = table->item(index.row(), 0)->text().toUInt(0, 16)};
+      emit openMessage(msg_id);
+    }
+  });
+}
+
+void FindSimilarBitsDlg::find() {
+  search_btn->setEnabled(false);
+  table->clear();
+  uint32_t selected_address = msg_cb->currentData().toUInt();
+  auto msg_mismatched = calcBits(src_bus_combo->currentText().toUInt(), selected_address, byte_idx_sb->value(), bit_idx_sb->value(),
+                                 find_bus_combo->currentText().toUInt(), equal_combo->currentIndex() == 0, min_msgs->text().toInt());
+  table->setRowCount(msg_mismatched.size());
+  table->setColumnCount(6);
+  table->setHorizontalHeaderLabels({"address", "byte idx", "bit idx", "mismatches", "total msgs", "% mismatched"});
+  for (int i = 0; i < msg_mismatched.size(); ++i) {
+    auto &m = msg_mismatched[i];
+    table->setItem(i, 0, new QTableWidgetItem(QString("%1").arg(m.address, 1, 16)));
+    table->setItem(i, 1, new QTableWidgetItem(QString::number(m.byte_idx)));
+    table->setItem(i, 2, new QTableWidgetItem(QString::number(m.bit_idx)));
+    table->setItem(i, 3, new QTableWidgetItem(QString::number(m.mismatches)));
+    table->setItem(i, 4, new QTableWidgetItem(QString::number(m.total)));
+    table->setItem(i, 5, new QTableWidgetItem(QString::number(m.perc, 'f', 2)));
+  }
+  search_btn->setEnabled(true);
+}
+
+QList<FindSimilarBitsDlg::mismatched_struct> FindSimilarBitsDlg::calcBits(uint8_t bus, uint32_t selected_address, int byte_idx,
+                                                                          int bit_idx, uint8_t find_bus, bool equal, int min_msgs_cnt) {
+  QHash<uint32_t, QVector<uint32_t>> mismatches;
+  QHash<uint32_t, uint32_t> msg_count;
+  const auto &events = can->allEvents();
+  int bit_to_find = -1;
+  for (const CanEvent *e : events) {
+    if (e->src == bus) {
+      if (e->address == selected_address && e->size > byte_idx) {
+        bit_to_find = ((e->dat[byte_idx] >> (7 - bit_idx)) & 1) != 0;
+      }
+    }
+    if (e->src == find_bus) {
+      ++msg_count[e->address];
+      if (bit_to_find == -1) continue;
+
+      auto &mismatched = mismatches[e->address];
+      if (mismatched.size() < e->size * 8) {
+        mismatched.resize(e->size * 8);
+      }
+      for (int i = 0; i < e->size; ++i) {
+        for (int j = 0; j < 8; ++j) {
+          int bit = ((e->dat[i] >> (7 - j)) & 1) != 0;
+          mismatched[i * 8 + j] += equal ? (bit != bit_to_find) : (bit == bit_to_find);
+        }
+      }
+    }
+  }
+
+  QList<mismatched_struct> result;
+  result.reserve(mismatches.size());
+  for (auto it = mismatches.begin(); it != mismatches.end(); ++it) {
+    if (auto cnt = msg_count[it.key()]; cnt > min_msgs_cnt) {
+      auto &mismatched = it.value();
+      for (int i = 0; i < mismatched.size(); ++i) {
+        if (float perc = (mismatched[i] / (double)cnt) * 100; perc < 50) {
+          result.push_back({it.key(), (uint32_t)i / 8, (uint32_t)i % 8, mismatched[i], cnt, perc});
+        }
+      }
+    }
+  }
+  std::sort(result.begin(), result.end(), [](auto &l, auto &r) { return l.perc < r.perc; });
+  return result;
+}
diff --git a/tools/cabana/tools/findsimilarbits.h b/tools/cabana/tools/findsimilarbits.h
new file mode 100644
index 0000000000..77bfac19ca
--- /dev/null
+++ b/tools/cabana/tools/findsimilarbits.h
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <QComboBox>
+#include <QDialog>
+#include <QLineEdit>
+#include <QSpinBox>
+#include <QTableWidget>
+
+#include "tools/cabana/dbc/dbcmanager.h"
+
+class FindSimilarBitsDlg : public QDialog {
+  Q_OBJECT
+
+public:
+  FindSimilarBitsDlg(QWidget *parent);
+
+signals:
+  void openMessage(const MessageId &msg_id);
+
+private:
+  struct mismatched_struct {
+    uint32_t address, byte_idx, bit_idx, mismatches, total;
+    float perc;
+  };
+  QList<mismatched_struct> calcBits(uint8_t bus, uint32_t selected_address, int byte_idx, int bit_idx, uint8_t find_bus,
+                                    bool equal, int min_msgs_cnt);
+  void find();
+
+  QTableWidget *table;
+  QComboBox *src_bus_combo, *find_bus_combo, *msg_cb, *equal_combo;
+  QSpinBox *byte_idx_sb, *bit_idx_sb;
+  QPushButton *search_btn;
+  QLineEdit *min_msgs;
+};
diff --git a/tools/cabana/util.cc b/tools/cabana/util.cc
new file mode 100644
index 0000000000..278e776e9c
--- /dev/null
+++ b/tools/cabana/util.cc
@@ -0,0 +1,266 @@
+#include "tools/cabana/util.h"
+
+#include <algorithm>
+#include <array>
+#include <csignal>
+#include <limits>
+#include <string>
+#include <sys/socket.h>
+#include <unistd.h>
+
+#include <QDebug>
+#include <QColor>
+#include <QFontDatabase>
+#include <QLocale>
+#include <QPainter>
+#include <QPixmapCache>
+
+#include "selfdrive/ui/qt/util.h"
+
+// SegmentTree
+
+void SegmentTree::build(const QVector<QPointF> &arr) {
+  size = arr.size();
+  tree.resize(4 * size);  // size of the tree is 4 times the size of the array
+  if (size > 0) {
+    build_tree(arr, 1, 0, size - 1);
+  }
+}
+
+void SegmentTree::build_tree(const QVector<QPointF> &arr, int n, int left, int right) {
+  if (left == right) {
+    const double y = arr[left].y();
+    tree[n] = {y, y};
+  } else {
+    const int mid = (left + right) >> 1;
+    build_tree(arr, 2 * n, left, mid);
+    build_tree(arr, 2 * n + 1, mid + 1, right);
+    tree[n] = {std::min(tree[2 * n].first, tree[2 * n + 1].first), std::max(tree[2 * n].second, tree[2 * n + 1].second)};
+  }
+}
+
+std::pair<double, double> SegmentTree::get_minmax(int n, int left, int right, int range_left, int range_right) const {
+  if (range_left > right || range_right < left)
+    return {std::numeric_limits<double>::max(), std::numeric_limits<double>::lowest()};
+  if (range_left <= left && range_right >= right)
+    return tree[n];
+  int mid = (left + right) >> 1;
+  auto l = get_minmax(2 * n, left, mid, range_left, range_right);
+  auto r = get_minmax(2 * n + 1, mid + 1, right, range_left, range_right);
+  return {std::min(l.first, r.first), std::max(l.second, r.second)};
+}
+
+// MessageBytesDelegate
+
+MessageBytesDelegate::MessageBytesDelegate(QObject *parent, bool multiple_lines) : multiple_lines(multiple_lines), QStyledItemDelegate(parent) {
+  fixed_font = QFontDatabase::systemFont(QFontDatabase::FixedFont);
+  byte_size = QFontMetrics(fixed_font).size(Qt::TextSingleLine, "00 ") + QSize(0, 2);
+}
+
+int MessageBytesDelegate::widthForBytes(int n) const {
+  int h_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameHMargin) + 1;
+  return n * byte_size.width() + h_margin * 2;
+}
+
+QSize MessageBytesDelegate::sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  int v_margin = QApplication::style()->pixelMetric(QStyle::PM_FocusFrameVMargin) + 1;
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    return {1, byte_size.height() + 2 * v_margin};
+  }
+  int n = data.toByteArray().size();
+  assert(n >= 0 && n <= 64);
+  return !multiple_lines ? QSize{widthForBytes(n), byte_size.height() + 2 * v_margin}
+                         : QSize{widthForBytes(8), byte_size.height() * std::max(1, n / 8) + 2 * v_margin};
+}
+
+void MessageBytesDelegate::paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const {
+  auto data = index.data(BytesRole);
+  if (!data.isValid()) {
+    return QStyledItemDelegate::paint(painter, option, index);
+  }
+
+  auto byte_list = data.toByteArray();
+  auto colors = index.data(ColorsRole).value<QVector<QColor>>();
+
+  int v_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameVMargin);
+  int h_margin = option.widget->style()->pixelMetric(QStyle::PM_FocusFrameHMargin);
+  if (option.state & QStyle::State_Selected) {
+    painter->fillRect(option.rect, option.palette.brush(QPalette::Normal, QPalette::Highlight));
+  }
+
+  const QPoint pt{option.rect.left() + h_margin, option.rect.top() + v_margin};
+  QFont old_font = painter->font();
+  QPen old_pen = painter->pen();
+  painter->setFont(fixed_font);
+  for (int i = 0; i < byte_list.size(); ++i) {
+    int row = !multiple_lines ? 0 : i / 8;
+    int column = !multiple_lines ? i : i % 8;
+    QRect r = QRect({pt.x() + column * byte_size.width(), pt.y() + row * byte_size.height()}, byte_size);
+    if (i < colors.size() && colors[i].alpha() > 0) {
+      if (option.state & QStyle::State_Selected) {
+        painter->setPen(option.palette.color(QPalette::Text));
+        painter->fillRect(r, option.palette.color(QPalette::Window));
+      }
+      painter->fillRect(r, colors[i]);
+    } else if (option.state & QStyle::State_Selected) {
+      painter->setPen(option.palette.color(QPalette::HighlightedText));
+    }
+    painter->drawText(r, Qt::AlignCenter, toHex(byte_list[i]));
+  }
+  painter->setFont(old_font);
+  painter->setPen(old_pen);
+}
+
+// TabBar
+
+int TabBar::addTab(const QString &text) {
+  int index = QTabBar::addTab(text);
+  QToolButton *btn = new ToolButton("x", tr("Close Tab"));
+  int width = style()->pixelMetric(QStyle::PM_TabCloseIndicatorWidth, nullptr, btn);
+  int height = style()->pixelMetric(QStyle::PM_TabCloseIndicatorHeight, nullptr, btn);
+  btn->setFixedSize({width, height});
+  setTabButton(index, QTabBar::RightSide, btn);
+  QObject::connect(btn, &QToolButton::clicked, this, &TabBar::closeTabClicked);
+  return index;
+}
+
+void TabBar::closeTabClicked() {
+  QObject *object = sender();
+  for (int i = 0; i < count(); ++i) {
+    if (tabButton(i, QTabBar::RightSide) == object) {
+      emit tabCloseRequested(i);
+      break;
+    }
+  }
+}
+
+// UnixSignalHandler
+
+UnixSignalHandler::UnixSignalHandler(QObject *parent) : QObject(nullptr) {
+  if (::socketpair(AF_UNIX, SOCK_STREAM, 0, sig_fd)) {
+    qFatal("Couldn't create TERM socketpair");
+  }
+
+  sn = new QSocketNotifier(sig_fd[1], QSocketNotifier::Read, this);
+  connect(sn, &QSocketNotifier::activated, this, &UnixSignalHandler::handleSigTerm);
+  std::signal(SIGINT, signalHandler);
+  std::signal(SIGTERM, UnixSignalHandler::signalHandler);
+}
+
+UnixSignalHandler::~UnixSignalHandler() {
+  ::close(sig_fd[0]);
+  ::close(sig_fd[1]);
+}
+
+void UnixSignalHandler::signalHandler(int s) {
+  ::write(sig_fd[0], &s, sizeof(s));
+}
+
+void UnixSignalHandler::handleSigTerm() {
+  sn->setEnabled(false);
+  int tmp;
+  ::read(sig_fd[1], &tmp, sizeof(tmp));
+
+  printf("\nexiting...\n");
+  qApp->closeAllWindows();
+  qApp->exit();
+}
+
+// NameValidator
+
+NameValidator::NameValidator(QObject *parent) : QRegExpValidator(QRegExp("^(\\w+)"), parent) {}
+
+QValidator::State NameValidator::validate(QString &input, int &pos) const {
+  input.replace(' ', '_');
+  return QRegExpValidator::validate(input, pos);
+}
+
+DoubleValidator::DoubleValidator(QObject *parent) : QDoubleValidator(parent) {
+  // Match locale of QString::toDouble() instead of system
+  QLocale locale(QLocale::C);
+  locale.setNumberOptions(QLocale::RejectGroupSeparator);
+  setLocale(locale);
+}
+
+namespace utils {
+QPixmap icon(const QString &id) {
+  bool dark_theme = settings.theme == DARK_THEME;
+  QPixmap pm;
+  QString key = "bootstrap_" % id % (dark_theme ? "1" : "0");
+  if (!QPixmapCache::find(key, &pm)) {
+    pm = bootstrapPixmap(id);
+    if (dark_theme) {
+      QPainter p(&pm);
+      p.setCompositionMode(QPainter::CompositionMode_SourceIn);
+      p.fillRect(pm.rect(), QColor("#bbbbbb"));
+    }
+    QPixmapCache::insert(key, pm);
+  }
+  return pm;
+}
+
+void setTheme(int theme) {
+  auto style = QApplication::style();
+  if (!style) return;
+
+  static int prev_theme = 0;
+  if (theme != prev_theme) {
+    prev_theme = theme;
+    QPalette new_palette;
+    if (theme == DARK_THEME) {
+      // "Darcula" like dark theme
+      new_palette.setColor(QPalette::Window, QColor("#353535"));
+      new_palette.setColor(QPalette::WindowText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Base, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::AlternateBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipBase, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ToolTipText, QColor("#bbb"));
+      new_palette.setColor(QPalette::Text, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Button, QColor("#3c3f41"));
+      new_palette.setColor(QPalette::ButtonText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::Highlight, QColor("#2f65ca"));
+      new_palette.setColor(QPalette::HighlightedText, QColor("#bbbbbb"));
+      new_palette.setColor(QPalette::BrightText, QColor("#f0f0f0"));
+      new_palette.setColor(QPalette::Disabled, QPalette::ButtonText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::WindowText, QColor("#777777"));
+      new_palette.setColor(QPalette::Disabled, QPalette::Text, QColor("#777777"));
+      new_palette.setColor(QPalette::Light, QColor("#777777"));
+      new_palette.setColor(QPalette::Dark, QColor("#353535"));
+    } else {
+      new_palette = style->standardPalette();
+    }
+    qApp->setPalette(new_palette);
+    style->polish(qApp);
+    for (auto w : QApplication::allWidgets()) {
+      w->setPalette(new_palette);
+    }
+  }
+}
+
+}  // namespace utils
+
+QString toHex(uint8_t byte) {
+  static std::array<QString, 256> hex = []() {
+    std::array<QString, 256> ret;
+    for (int i = 0; i < 256; ++i) ret[i] = QStringLiteral("%1").arg(i, 2, 16, QLatin1Char('0')).toUpper();
+    return ret;
+  }();
+  return hex[byte];
+}
+
+int num_decimals(double num) {
+  const QString string = QString::number(num);
+  auto dot_pos = string.indexOf('.');
+  return dot_pos == -1 ? 0 : string.size() - dot_pos - 1;
+}
+
+QString signalToolTip(const cabana::Signal *sig) {
+  return QObject::tr(R"(
+    %1<br /><span font-size:small">
+    Start Bit: %2 Size: %3<br />
+    MSB: %4 LSB: %5<br />
+    Little Endian: %6 Signed: %7</span>
+  )").arg(sig->name).arg(sig->start_bit).arg(sig->size).arg(sig->msb).arg(sig->lsb)
+     .arg(sig->is_little_endian ? "Y" : "N").arg(sig->is_signed ? "Y" : "N");
+}
diff --git a/tools/cabana/util.h b/tools/cabana/util.h
new file mode 100644
index 0000000000..db681f80f9
--- /dev/null
+++ b/tools/cabana/util.h
@@ -0,0 +1,157 @@
+#pragma once
+
+#include <cmath>
+#include <vector>
+#include <utility>
+
+#include <QApplication>
+#include <QByteArray>
+#include <QDateTime>
+#include <QDoubleValidator>
+#include <QFont>
+#include <QRegExpValidator>
+#include <QSocketNotifier>
+#include <QStringBuilder>
+#include <QStyledItemDelegate>
+#include <QToolButton>
+#include <QVector>
+
+#include "tools/cabana/dbc/dbc.h"
+#include "tools/cabana/settings.h"
+
+class LogSlider : public QSlider {
+  Q_OBJECT
+
+public:
+  LogSlider(double factor, Qt::Orientation orientation, QWidget *parent = nullptr) : factor(factor), QSlider(orientation, parent) {}
+
+  void setRange(double min, double max) {
+    log_min = factor * std::log10(min);
+    log_max = factor * std::log10(max);
+    QSlider::setRange(min, max);
+    setValue(QSlider::value());
+  }
+  int value() const {
+    double v = log_min + (log_max - log_min) * ((QSlider::value() - minimum()) / double(maximum() - minimum()));
+    return std::lround(std::pow(10, v / factor));
+  }
+  void setValue(int v) {
+    double log_v = std::clamp(factor * std::log10(v), log_min, log_max);
+    v = minimum() + (maximum() - minimum()) * ((log_v - log_min) / (log_max - log_min));
+    QSlider::setValue(v);
+  }
+
+private:
+  double factor, log_min = 0, log_max = 1;
+};
+
+enum {
+  ColorsRole = Qt::UserRole + 1,
+  BytesRole = Qt::UserRole + 2
+};
+
+class SegmentTree {
+public:
+  SegmentTree() = default;
+  void build(const QVector<QPointF> &arr);
+  inline std::pair<double, double> minmax(int left, int right) const { return get_minmax(1, 0, size - 1, left, right); }
+
+private:
+  std::pair<double, double> get_minmax(int n, int left, int right, int range_left, int range_right) const;
+  void build_tree(const QVector<QPointF> &arr, int n, int left, int right);
+  std::vector<std::pair<double, double>> tree;
+  int size = 0;
+};
+
+class MessageBytesDelegate : public QStyledItemDelegate {
+  Q_OBJECT
+public:
+  MessageBytesDelegate(QObject *parent, bool multiple_lines = false);
+  void paint(QPainter *painter, const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  QSize sizeHint(const QStyleOptionViewItem &option, const QModelIndex &index) const override;
+  bool multipleLines() const { return multiple_lines; }
+  void setMultipleLines(bool v) { multiple_lines = v; }
+  int widthForBytes(int n) const;
+
+private:
+  QFont fixed_font;
+  QSize byte_size = {};
+  bool multiple_lines = false;
+};
+
+inline QString toHex(const QByteArray &dat) { return dat.toHex(' ').toUpper(); }
+QString toHex(uint8_t byte);
+
+class NameValidator : public QRegExpValidator {
+  Q_OBJECT
+public:
+  NameValidator(QObject *parent=nullptr);
+  QValidator::State validate(QString &input, int &pos) const override;
+};
+
+class DoubleValidator : public QDoubleValidator {
+  Q_OBJECT
+public:
+  DoubleValidator(QObject *parent = nullptr);
+};
+
+namespace utils {
+QPixmap icon(const QString &id);
+void setTheme(int theme);
+inline QString formatSeconds(int seconds) {
+  return QDateTime::fromSecsSinceEpoch(seconds, Qt::UTC).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
+}
+}
+
+class ToolButton : public QToolButton {
+  Q_OBJECT
+public:
+  ToolButton(const QString &icon, const QString &tooltip = {}, QWidget *parent = nullptr) : QToolButton(parent) {
+    setIcon(icon);
+    setToolTip(tooltip);
+    setAutoRaise(true);
+    const int metric = QApplication::style()->pixelMetric(QStyle::PM_SmallIconSize);
+    setIconSize({metric, metric});
+    theme = settings.theme;
+    connect(&settings, &Settings::changed, this, &ToolButton::updateIcon);
+  }
+  void setIcon(const QString &icon) {
+    icon_str = icon;
+    QToolButton::setIcon(utils::icon(icon_str));
+  }
+
+private:
+  void updateIcon() { if (std::exchange(theme, settings.theme) != theme) setIcon(icon_str); }
+  QString icon_str;
+  int theme;
+};
+
+class TabBar : public QTabBar {
+  Q_OBJECT
+
+public:
+  TabBar(QWidget *parent) : QTabBar(parent) {}
+  int addTab(const QString &text);
+
+private:
+  void closeTabClicked();
+};
+
+class UnixSignalHandler : public QObject {
+  Q_OBJECT
+
+public:
+  UnixSignalHandler(QObject *parent = nullptr);
+  ~UnixSignalHandler();
+  static void signalHandler(int s);
+
+public slots:
+  void handleSigTerm();
+
+private:
+  inline static int sig_fd[2] = {};
+  QSocketNotifier *sn;
+};
+
+int num_decimals(double num);
+QString signalToolTip(const cabana::Signal *sig);
diff --git a/tools/cabana/videowidget.cc b/tools/cabana/videowidget.cc
index 3e64d907ec..f535c6b729 100644
--- a/tools/cabana/videowidget.cc
+++ b/tools/cabana/videowidget.cc
@@ -1,47 +1,43 @@
 #include "tools/cabana/videowidget.h"
 
-#include <QBuffer>
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+
 #include <QButtonGroup>
-#include <QDateTime>
 #include <QHBoxLayout>
 #include <QMouseEvent>
 #include <QPainter>
-#include <QPixmap>
+#include <QStackedLayout>
 #include <QStyleOptionSlider>
 #include <QTimer>
-#include <QToolTip>
 #include <QVBoxLayout>
 #include <QtConcurrent>
 
-inline QString formatTime(int seconds) {
-  return QDateTime::fromTime_t(seconds).toString(seconds > 60 * 60 ? "hh:mm:ss" : "mm:ss");
-}
-
-VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
-  QVBoxLayout *main_layout = new QVBoxLayout(this);
-  main_layout->setContentsMargins(0, 0, 0, 0);
+const int MIN_VIDEO_HEIGHT = 100;
+const int THUMBNAIL_MARGIN = 3;
 
-  cam_widget = new CameraWidget("camerad", VISION_STREAM_ROAD, false, this);
-  cam_widget->setFixedSize(parent->width(), parent->width() / 1.596);
-  main_layout->addWidget(cam_widget);
-
-  // slider controls
-  QHBoxLayout *slider_layout = new QHBoxLayout();
-  QLabel *time_label = new QLabel("00:00");
-  slider_layout->addWidget(time_label);
-
-  slider = new Slider(this);
-  slider->setSingleStep(0);
-  slider_layout->addWidget(slider);
+static const QColor timeline_colors[] = {
+  [(int)TimelineType::None] = QColor(111, 143, 175),
+  [(int)TimelineType::Engaged] = QColor(0, 163, 108),
+  [(int)TimelineType::UserFlag] = Qt::magenta,
+  [(int)TimelineType::AlertInfo] = Qt::green,
+  [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
+  [(int)TimelineType::AlertCritical] = QColor(199, 0, 57),
+};
 
-  end_time_label = new QLabel(this);
-  slider_layout->addWidget(end_time_label);
-  main_layout->addLayout(slider_layout);
+VideoWidget::VideoWidget(QWidget *parent) : QFrame(parent) {
+  setFrameStyle(QFrame::StyledPanel | QFrame::Plain);
+  auto main_layout = new QVBoxLayout(this);
+  if (!can->liveStreaming()) {
+    main_layout->addWidget(createCameraWidget());
+  }
 
   // btn controls
   QHBoxLayout *control_layout = new QHBoxLayout();
-  play_btn = new QPushButton("⏸");
-  play_btn->setStyleSheet("font-weight:bold; height:16px");
+  play_btn = new QPushButton();
+  play_btn->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Preferred);
   control_layout->addWidget(play_btn);
 
   QButtonGroup *group = new QButtonGroup(this);
@@ -49,131 +45,194 @@ VideoWidget::VideoWidget(QWidget *parent) : QWidget(parent) {
   for (float speed : {0.1, 0.5, 1., 2.}) {
     QPushButton *btn = new QPushButton(QString("%1x").arg(speed), this);
     btn->setCheckable(true);
-    QObject::connect(btn, &QPushButton::clicked, [=]() { can->setSpeed(speed); });
+    QObject::connect(btn, &QPushButton::clicked, [speed]() { can->setSpeed(speed); });
     control_layout->addWidget(btn);
     group->addButton(btn);
     if (speed == 1.0) btn->setChecked(true);
   }
   main_layout->addLayout(control_layout);
+  setSizePolicy(QSizePolicy::Preferred, QSizePolicy::Maximum);
 
-  setSizePolicy(QSizePolicy::Fixed, QSizePolicy::Fixed);
+  QObject::connect(play_btn, &QPushButton::clicked, []() { can->pause(!can->isPaused()); });
+  QObject::connect(can, &AbstractStream::paused, this, &VideoWidget::updatePlayBtnState);
+  QObject::connect(can, &AbstractStream::resume, this, &VideoWidget::updatePlayBtnState);
+  QObject::connect(&settings, &Settings::changed, this, &VideoWidget::updatePlayBtnState);
+  updatePlayBtnState();
 
-  QObject::connect(can, &CANMessages::updated, this, &VideoWidget::updateState);
-  QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->value() / 1000.0); });
-  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(formatTime(value / 1000)); });
-  QObject::connect(cam_widget, &CameraWidget::clicked, [this]() { pause(!can->isPaused()); });
-  QObject::connect(play_btn, &QPushButton::clicked, [=]() { pause(!can->isPaused()); });
-  QObject::connect(can, &CANMessages::streamStarted, [this]() {
-    end_time_label->setText(formatTime(can->totalSeconds()));
-    slider->setRange(0, can->totalSeconds() * 1000);
-  });
+  setWhatsThis(tr(R"(
+    <b>Video</b><br />
+    <!-- TODO: add descprition here -->
+    <span style="color:gray">Timeline color</span>
+    <table>
+    <tr><td><span style="color:%1;">■ </span>Disengaged </td>
+        <td><span style="color:%2;">■ </span>Engaged</td></tr>
+    <tr><td><span style="color:%3;">■ </span>User Flag </td>
+        <td><span style="color:%4;">■ </span>Info</td></tr>
+    <tr><td><span style="color:%5;">■ </span>Warning </td>
+        <td><span style="color:%6;">■ </span>Critical</td></tr>
+    </table>
+    <span style="color:gray">Shortcuts</span><br/>
+    Pause/Resume: <span style="background-color:lightGray;color:gray">&nbsp;space&nbsp;</span>
+  )").arg(timeline_colors[(int)TimelineType::None].name(),
+          timeline_colors[(int)TimelineType::Engaged].name(),
+          timeline_colors[(int)TimelineType::UserFlag].name(),
+          timeline_colors[(int)TimelineType::AlertInfo].name(),
+          timeline_colors[(int)TimelineType::AlertWarning].name(),
+          timeline_colors[(int)TimelineType::AlertCritical].name()));
 }
 
-void VideoWidget::pause(bool pause) {
-  play_btn->setText(!pause ? "⏸" : "▶");
-  can->pause(pause);
+QWidget *VideoWidget::createCameraWidget() {
+  QWidget *w = new QWidget(this);
+  QVBoxLayout *l = new QVBoxLayout(w);
+  l->setContentsMargins(0, 0, 0, 0);
+
+  QStackedLayout *stacked = new QStackedLayout();
+  stacked->setStackingMode(QStackedLayout::StackAll);
+  stacked->addWidget(cam_widget = new CameraWidget("camerad", can->visionStreamType(), false));
+  cam_widget->setMinimumHeight(MIN_VIDEO_HEIGHT);
+  cam_widget->setSizePolicy(QSizePolicy::Preferred, QSizePolicy::MinimumExpanding);
+  stacked->addWidget(alert_label = new InfoLabel(this));
+  l->addLayout(stacked);
+
+  // slider controls
+  auto slider_layout = new QHBoxLayout();
+  slider_layout->addWidget(time_label = new QLabel("00:00"));
+
+  slider = new Slider(this);
+  slider->setSingleStep(0);
+  slider_layout->addWidget(slider);
+
+  slider_layout->addWidget(end_time_label = new QLabel(this));
+  l->addLayout(slider_layout);
+
+  setMaximumTime(can->totalSeconds());
+  QObject::connect(slider, &QSlider::sliderReleased, [this]() { can->seekTo(slider->currentSecond()); });
+  QObject::connect(slider, &QSlider::valueChanged, [=](int value) { time_label->setText(utils::formatSeconds(slider->currentSecond())); });
+  QObject::connect(slider, &Slider::updateMaximumTime, this, &VideoWidget::setMaximumTime, Qt::QueuedConnection);
+  QObject::connect(cam_widget, &CameraWidget::clicked, []() { can->pause(!can->isPaused()); });
+  QObject::connect(can, &AbstractStream::updated, this, &VideoWidget::updateState);
+  return w;
 }
 
-void VideoWidget::rangeChanged(double min, double max, bool is_zoomed) {
+void VideoWidget::setMaximumTime(double sec) {
+  maximum_time = sec;
+  end_time_label->setText(utils::formatSeconds(sec));
+  slider->setTimeRange(0, sec);
+}
+
+void VideoWidget::updateTimeRange(double min, double max, bool is_zoomed) {
+  if (can->liveStreaming()) return;
+
   if (!is_zoomed) {
     min = 0;
-    max = can->totalSeconds();
+    max = maximum_time;
   }
-  end_time_label->setText(formatTime(max));
-  slider->setRange(min * 1000, max * 1000);
+  end_time_label->setText(utils::formatSeconds(max));
+  slider->setTimeRange(min, max);
 }
 
 void VideoWidget::updateState() {
-  if (!slider->isSliderDown())
-    slider->setValue(can->currentSec() * 1000);
+  if (!slider->isSliderDown()) {
+    slider->setCurrentSecond(can->currentSec());
+  }
+  alert_label->showAlert(slider->alertInfo(can->currentSec()));
+}
+
+void VideoWidget::updatePlayBtnState() {
+  play_btn->setIcon(utils::icon(can->isPaused() ? "play" : "pause"));
+  play_btn->setToolTip(can->isPaused() ? tr("Play") : tr("Pause"));
 }
 
 // Slider
-Slider::Slider(QWidget *parent) : QSlider(Qt::Horizontal, parent) {
-  QTimer *timer = new QTimer(this);
-  timer->setInterval(2000);
+
+Slider::Slider(QWidget *parent) : thumbnail_label(parent), QSlider(Qt::Horizontal, parent) {
+  setMouseTracking(true);
+  auto timer = new QTimer(this);
   timer->callOnTimeout([this]() {
     timeline = can->getTimeline();
+    std::sort(timeline.begin(), timeline.end(), [](auto &l, auto &r) { return std::get<2>(l) < std::get<2>(r); });
     update();
   });
-  setMouseTracking(true);
+  timer->start(2000);
+  QObject::connect(can, &AbstractStream::eventsMerged, [this]() {
+    if (!qlog_future) {
+      qlog_future = std::make_unique<QFuture<void>>(QtConcurrent::run(this, &Slider::parseQLog));
+    }
+  });
+}
 
-  QObject::connect(can, SIGNAL(streamStarted()), timer, SLOT(start()));
-  QObject::connect(can, &CANMessages::streamStarted, this, &Slider::streamStarted);
+Slider::~Slider() {
+  abort_parse_qlog = true;
+  if (qlog_future) {
+    qlog_future->waitForFinished();
+  }
 }
 
-void Slider::streamStarted() {
-  abort_load_thumbnail = true;
-  thumnail_future.waitForFinished();
-  abort_load_thumbnail = false;
-  thumbnails.clear();
-  thumnail_future = QtConcurrent::run(this, &Slider::loadThumbnails);
+AlertInfo Slider::alertInfo(double seconds) {
+  std::lock_guard lk(thumbnail_lock);
+  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  auto alert_it = alerts.lower_bound(mono_time);
+  bool has_alert = (alert_it != alerts.end()) && ((alert_it->first - mono_time) <= 1e8);
+  return has_alert ? alert_it->second : AlertInfo{};
 }
 
-void Slider::loadThumbnails() {
-  const auto segments = can->route()->segments();
-  for (auto it = segments.rbegin(); it != segments.rend() && !abort_load_thumbnail; ++it) {
-    std::string qlog = it->second.qlog.toStdString();
-    if (!qlog.empty()) {
-      LogReader log;
-      if (log.load(qlog, &abort_load_thumbnail, {cereal::Event::Which::THUMBNAIL}, true, 0, 3)) {
-        for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_load_thumbnail; ++ev) {
-          auto thumb = (*ev)->event.getThumbnail();
-          QString str = getThumbnailString(thumb.getThumbnail());
-          std::lock_guard lk(thumbnail_lock);
-          thumbnails[thumb.getTimestampEof()] = str;
-        }
-      }
-    }
-  }
+QPixmap Slider::thumbnail(double seconds)  {
+  std::lock_guard lk(thumbnail_lock);
+  uint64_t mono_time = (seconds + can->routeStartTime()) * 1e9;
+  auto it = thumbnails.lowerBound(mono_time);
+  return it != thumbnails.end() ? it.value() : QPixmap();
 }
 
-QString Slider::getThumbnailString(const capnp::Data::Reader &data) {
-  QPixmap thumb;
-  if (thumb.loadFromData(data.begin(), data.size(), "jpeg")) {
-    thumb = thumb.scaled({thumb.width()/3, thumb.height()/3}, Qt::KeepAspectRatio);
-    thumbnail_size = thumb.size();
-    QByteArray bytes;
-    QBuffer buffer(&bytes);
-    buffer.open(QIODevice::WriteOnly);
-    thumb.save(&buffer, "png");
-    return  QString("<img src='data:image/png;base64, %0'>").arg(QString(bytes.toBase64()));
-  }
-  return {};
+void Slider::setTimeRange(double min, double max) {
+  assert(min < max);
+  setRange(min * factor, max * factor);
 }
 
-void Slider::sliderChange(QAbstractSlider::SliderChange change) {
-  if (change == QAbstractSlider::SliderValueChange) {
-    int x = width() * ((value() - minimum()) / double(maximum() - minimum()));
-    if (x != slider_x) {
-      slider_x = x;
-      update();
+void Slider::parseQLog() {
+  const auto &segments = can->route()->segments();
+  for (auto it = segments.rbegin(); it != segments.rend() && !abort_parse_qlog; ++it) {
+    LogReader log;
+    std::string qlog = it->second.qlog.toStdString();
+    if (!qlog.empty() && log.load(qlog, &abort_parse_qlog, {cereal::Event::Which::THUMBNAIL, cereal::Event::Which::CONTROLS_STATE}, true, 0, 3)) {
+      if (it == segments.rbegin() && !log.events.empty()) {
+        double max_time = log.events.back()->mono_time / 1e9 - can->routeStartTime();
+        emit updateMaximumTime(max_time);
+      }
+      for (auto ev = log.events.cbegin(); ev != log.events.cend() && !abort_parse_qlog; ++ev) {
+        if ((*ev)->which == cereal::Event::Which::THUMBNAIL) {
+          auto thumb = (*ev)->event.getThumbnail();
+          auto data = thumb.getThumbnail();
+          if (QPixmap pm; pm.loadFromData(data.begin(), data.size(), "jpeg")) {
+            pm = pm.scaledToHeight(MIN_VIDEO_HEIGHT - THUMBNAIL_MARGIN * 2, Qt::SmoothTransformation);
+            std::lock_guard lk(thumbnail_lock);
+            thumbnails[thumb.getTimestampEof()] = pm;
+          }
+        } else if ((*ev)->which == cereal::Event::Which::CONTROLS_STATE) {
+          auto cs = (*ev)->event.getControlsState();
+          if (cs.getAlertType().size() > 0 && cs.getAlertText1().size() > 0 &&
+              cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE) {
+            std::lock_guard lk(thumbnail_lock);
+            alerts.emplace((*ev)->mono_time, AlertInfo{cs.getAlertStatus(), cs.getAlertText1().cStr(), cs.getAlertText2().cStr()});
+          }
+        }
+      }
     }
-  } else {
-    QAbstractSlider::sliderChange(change);
   }
 }
 
 void Slider::paintEvent(QPaintEvent *ev) {
-  static const QColor colors[] = {
-    [(int)TimelineType::None] = QColor(111, 143, 175),
-    [(int)TimelineType::Engaged] = QColor(0, 163, 108),
-    [(int)TimelineType::UserFlag] = Qt::white,
-    [(int)TimelineType::AlertInfo] = Qt::green,
-    [(int)TimelineType::AlertWarning] = QColor(255, 195, 0),
-    [(int)TimelineType::AlertCritical] = QColor(199, 0, 57)};
-
   QPainter p(this);
   QRect r = rect().adjusted(0, 4, 0, -4);
-  p.fillRect(r, colors[(int)TimelineType::None]);
-  double min = minimum() / 1000.0;
-  double max = maximum() / 1000.0;
+  p.fillRect(r, timeline_colors[(int)TimelineType::None]);
+  double min = minimum() / factor;
+  double max = maximum() / factor;
+
   for (auto [begin, end, type] : timeline) {
     if (begin > max || end < min)
       continue;
-    r.setLeft(((std::max(min, (double)begin) - min) / (max - min)) * width());
-    r.setRight(((std::min(max, (double)end) - min) / (max - min)) * width());
-    p.fillRect(r, colors[(int)type]);
+    r.setLeft(((std::max(min, begin) - min) / (max - min)) * width());
+    r.setRight(((std::min(max, end) - min) / (max - min)) * width());
+    p.fillRect(r, timeline_colors[(int)type]);
   }
 
   QStyleOptionSlider opt;
@@ -195,16 +254,87 @@ void Slider::mousePressEvent(QMouseEvent *e) {
 }
 
 void Slider::mouseMoveEvent(QMouseEvent *e) {
-  QString thumb;
-  {
-    double seconds = (minimum() + e->pos().x() * ((maximum() - minimum()) / (double)width())) / 1000.0;
-    std::lock_guard lk(thumbnail_lock);
-    auto it = thumbnails.lowerBound((seconds + can->routeStartTime()) * 1e9);
-    if (it != thumbnails.end()) {
-      thumb = it.value();
-    }
+  int pos = std::clamp(e->pos().x(), 0, width());
+  double seconds = (minimum() + pos * ((maximum() - minimum()) / (double)width())) / factor;
+  QPixmap thumb = thumbnail(seconds);
+  if (!thumb.isNull()) {
+    int x = std::clamp(pos - thumb.width() / 2, THUMBNAIL_MARGIN, rect().right() - thumb.width() - THUMBNAIL_MARGIN);
+    int y = -thumb.height();
+    thumbnail_label.showPixmap(mapToParent({x, y}), utils::formatSeconds(seconds), thumb, alertInfo(seconds));
+  } else {
+    thumbnail_label.hide();
   }
-  QPoint pt = mapToGlobal({e->pos().x() - thumbnail_size.width() / 2, -thumbnail_size.height() - 30});
-  QToolTip::showText(pt, thumb, this, rect());
   QSlider::mouseMoveEvent(e);
 }
+
+bool Slider::event(QEvent *event) {
+  switch (event->type()) {
+    case QEvent::WindowActivate:
+    case QEvent::WindowDeactivate:
+    case QEvent::FocusIn:
+    case QEvent::FocusOut:
+    case QEvent::Leave:
+      thumbnail_label.hide();
+      break;
+    default:
+      break;
+  }
+  return QSlider::event(event);
+}
+
+// InfoLabel
+
+InfoLabel::InfoLabel(QWidget *parent) : QWidget(parent, Qt::WindowStaysOnTopHint) {
+  setAttribute(Qt::WA_ShowWithoutActivating);
+  setVisible(false);
+}
+
+void InfoLabel::showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert) {
+  second = sec;
+  pixmap = pm;
+  alert_info = alert;
+  resize(pm.size());
+  move(pt);
+  setVisible(true);
+  update();
+}
+
+void InfoLabel::showAlert(const AlertInfo &alert) {
+  alert_info = alert;
+  pixmap = {};
+  setVisible(!alert_info.text1.isEmpty());
+  update();
+}
+
+void InfoLabel::paintEvent(QPaintEvent *event) {
+  QPainter p(this);
+  p.setPen(QPen(palette().color(QPalette::BrightText), 2));
+  if (!pixmap.isNull()) {
+    p.drawPixmap(0, 0, pixmap);
+    p.drawRect(rect());
+    p.drawText(rect().adjusted(0, 0, 0, -THUMBNAIL_MARGIN), second, Qt::AlignHCenter | Qt::AlignBottom);
+  }
+  if (alert_info.text1.size() > 0) {
+    QColor color = timeline_colors[(int)TimelineType::AlertInfo];
+    if (alert_info.status == cereal::ControlsState::AlertStatus::USER_PROMPT) {
+      color = timeline_colors[(int)TimelineType::AlertWarning];
+    } else if (alert_info.status == cereal::ControlsState::AlertStatus::CRITICAL) {
+      color = timeline_colors[(int)TimelineType::AlertCritical];
+    }
+    color.setAlphaF(0.5);
+    QString text = alert_info.text1;
+    if (!alert_info.text2.isEmpty()) {
+      text += "\n" + alert_info.text2;
+    }
+
+    if (!pixmap.isNull()) {
+      QFont font;
+      font.setPixelSize(11);
+      p.setFont(font);
+    }
+    QRect text_rect = rect().adjusted(2, 2, -2, -2);
+    QRect r = p.fontMetrics().boundingRect(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+    p.fillRect(text_rect.left(), r.top(), text_rect.width(), r.height(), color);
+    p.drawText(text_rect, Qt::AlignTop | Qt::AlignHCenter | Qt::TextWordWrap, text);
+  }
+}
diff --git a/tools/cabana/videowidget.h b/tools/cabana/videowidget.h
index ea62081a91..7ddd315e48 100644
--- a/tools/cabana/videowidget.h
+++ b/tools/cabana/videowidget.h
@@ -1,7 +1,11 @@
 #pragma once
 
 #include <atomic>
+#include <map>
+#include <memory>
 #include <mutex>
+#include <tuple>
+#include <vector>
 
 #include <QFuture>
 #include <QLabel>
@@ -9,45 +13,75 @@
 #include <QSlider>
 
 #include "selfdrive/ui/qt/widgets/cameraview.h"
-#include "tools/cabana/canmessages.h"
+#include "tools/cabana/streams/abstractstream.h"
+
+struct AlertInfo {
+  cereal::ControlsState::AlertStatus status;
+  QString text1;
+  QString text2;
+};
+
+class InfoLabel : public QWidget {
+public:
+  InfoLabel(QWidget *parent);
+  void showPixmap(const QPoint &pt, const QString &sec, const QPixmap &pm, const AlertInfo &alert);
+  void showAlert(const AlertInfo &alert);
+  void paintEvent(QPaintEvent *event) override;
+  QPixmap pixmap;
+  QString second;
+  AlertInfo alert_info;
+};
 
 class Slider : public QSlider {
   Q_OBJECT
 
 public:
   Slider(QWidget *parent);
+  ~Slider();
+  double currentSecond() const { return value() / factor; }
+  void setCurrentSecond(double sec) { setValue(sec * factor); }
+  void setTimeRange(double min, double max);
+  AlertInfo alertInfo(double sec);
+  QPixmap thumbnail(double sec);
+
+signals:
+  void updateMaximumTime(double);
 
 private:
   void mousePressEvent(QMouseEvent *e) override;
   void mouseMoveEvent(QMouseEvent *e) override;
-  void sliderChange(QAbstractSlider::SliderChange change) override;
+  bool event(QEvent *event) override;
   void paintEvent(QPaintEvent *ev) override;
-  void streamStarted();
-  void loadThumbnails();
-  QString getThumbnailString(const capnp::Data::Reader &data);
+  void parseQLog();
 
-  int slider_x = -1;
-  std::vector<std::tuple<int, int, TimelineType>> timeline;
+  const double factor = 1000.0;
+  std::vector<std::tuple<double, double, TimelineType>> timeline;
   std::mutex thumbnail_lock;
-  std::atomic<bool> abort_load_thumbnail = false;
-  QMap<uint64_t, QString> thumbnails;
-  QFuture<void> thumnail_future;
-  QSize thumbnail_size = {};
+  std::atomic<bool> abort_parse_qlog = false;
+  QMap<uint64_t, QPixmap> thumbnails;
+  std::map<uint64_t, AlertInfo> alerts;
+  std::unique_ptr<QFuture<void>> qlog_future;
+  InfoLabel thumbnail_label;
 };
 
-class VideoWidget : public QWidget {
+class VideoWidget : public QFrame {
   Q_OBJECT
 
 public:
   VideoWidget(QWidget *parnet = nullptr);
-  void rangeChanged(double min, double max, bool is_zommed);
+  void updateTimeRange(double min, double max, bool is_zommed);
+  void setMaximumTime(double sec);
 
 protected:
   void updateState();
-  void pause(bool pause);
+  void updatePlayBtnState();
+  QWidget *createCameraWidget();
 
   CameraWidget *cam_widget;
+  double maximum_time = 0;
   QLabel *end_time_label;
+  QLabel *time_label;
   QPushButton *play_btn;
+  InfoLabel *alert_label;
   Slider *slider;
 };
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index cab11493f2..ac7ca2520b 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -13,12 +13,20 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 W, H = 1928, 1208
 V4L2_BUF_FLAG_KEYFRAME = 8
 
-def decoder(addr, sock_name, vipc_server, vst, nvidia):
-  print("start decoder for %s" % sock_name)
+ENCODE_SOCKETS = {
+  VisionStreamType.VISION_STREAM_ROAD: "roadEncodeData",
+  VisionStreamType.VISION_STREAM_WIDE_ROAD: "wideRoadEncodeData",
+  VisionStreamType.VISION_STREAM_DRIVER: "driverEncodeData",
+}
+
+def decoder(addr, vipc_server, vst, nvidia, debug=False):
+  sock_name = ENCODE_SOCKETS[vst]
+  if debug:
+    print("start decoder for %s" % sock_name)
   if nvidia:
     os.environ["NV_LOW_LATENCY"] = "3"    # both bLowLatency and CUVID_PKT_ENDOFPICTURE
     sys.path += os.environ["LD_LIBRARY_PATH"].split(":")
-    import PyNvCodec as nvc # pylint: disable=import-error
+    import PyNvCodec as nvc
 
     nvDec = nvc.PyNvDecoder(W, H, nvc.PixelFormat.NV12, nvc.CudaVideoCodec.HEVC, 0)
     cc1 = nvc.ColorspaceConversionContext(nvc.ColorSpace.BT_709, nvc.ColorRange.JPEG)
@@ -40,11 +48,12 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
     msgs = messaging.drain_sock(sock, wait_for_one=True)
     for evt in msgs:
       evta = getattr(evt, evt.which())
-      if evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
+      if debug and evta.idx.encodeId != 0 and evta.idx.encodeId != (last_idx+1):
         print("DROP PACKET!")
       last_idx = evta.idx.encodeId
       if not seen_iframe and not (evta.idx.flags & V4L2_BUF_FLAG_KEYFRAME):
-        print("waiting for iframe")
+        if debug:
+          print("waiting for iframe")
         continue
       time_q.append(time.monotonic())
       network_latency = (int(time.time()*1e9) - evta.unixTimestampNanos)/1e6
@@ -62,14 +71,16 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
       if nvidia:
         rawSurface = nvDec.DecodeSurfaceFromPacket(np.frombuffer(evta.data, dtype=np.uint8))
         if rawSurface.Empty():
-          print("DROP SURFACE")
+          if debug:
+            print("DROP SURFACE")
           continue
         convSurface = conv_yuv.Execute(rawSurface, cc1)
         nvDwn_yuv.DownloadSingleSurface(convSurface, img_yuv)
       else:
         frames = codec.decode(av.packet.Packet(evta.data))
         if len(frames) == 0:
-          print("DROP SURFACE")
+          if debug:
+            print("DROP SURFACE")
           continue
         assert len(frames) == 1
         img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
@@ -83,34 +94,47 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
 
       pc_latency = (time.monotonic()-time_q[0])*1000
       time_q = time_q[1:]
-      print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms" % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency, process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+      if debug:
+        print("%2d %4d %.3f %.3f roll %6.2f ms latency %6.2f ms + %6.2f ms + %6.2f ms = %6.2f ms"
+              % (len(msgs), evta.idx.encodeId, evt.logMonoTime/1e9, evta.idx.timestampEof/1e6, frame_latency,
+                 process_latency, network_latency, pc_latency, process_latency+network_latency+pc_latency ), len(evta.data), sock_name)
+
+class CompressedVipc:
+  def __init__(self, addr, vision_streams, nvidia=False, debug=False):
+    self.vipc_server = VisionIpcServer("camerad")
+    for vst in vision_streams:
+      self.vipc_server.create_buffers(vst, 4, False, W, H)
+    self.vipc_server.start_listener()
 
-def main(addr, cams, nvidia=False):
-  vipc_server = VisionIpcServer("camerad")
-  for vst in cams.values():
-    vipc_server.create_buffers(vst, 4, False, W, H)
-  vipc_server.start_listener()
+    self.procs = []
+    for vst in vision_streams:
+      p = multiprocessing.Process(target=decoder, args=(addr, self.vipc_server, vst, nvidia, debug))
+      p.start()
+      self.procs.append(p)
 
-  procs = []
-  for k, v in cams.items():
-    p = multiprocessing.Process(target=decoder, args=(addr, k, vipc_server, v, nvidia))
-    p.start()
-    procs.append(p)
+  def join(self):
+    for p in self.procs:
+      p.join()
 
-  for p in procs:
-    p.join()
+  def kill(self):
+    for p in self.procs:
+      p.terminate()
+    self.join()
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Decode video streams and broadcast on VisionIPC")
   parser.add_argument("addr", help="Address of comma three")
   parser.add_argument("--nvidia", action="store_true", help="Use nvidia instead of ffmpeg")
   parser.add_argument("--cams", default="0,1,2", help="Cameras to decode")
+  parser.add_argument("--silent", action="store_true", help="Suppress debug output")
   args = parser.parse_args()
 
-  all_cams = [
-    ("roadEncodeData", VisionStreamType.VISION_STREAM_ROAD),
-    ("wideRoadEncodeData", VisionStreamType.VISION_STREAM_WIDE_ROAD),
-    ("driverEncodeData", VisionStreamType.VISION_STREAM_DRIVER),
+  vision_streams = [
+    VisionStreamType.VISION_STREAM_ROAD,
+    VisionStreamType.VISION_STREAM_WIDE_ROAD,
+    VisionStreamType.VISION_STREAM_DRIVER,
   ]
-  cams = dict([all_cams[int(x)] for x in args.cams.split(",")])
-  main(args.addr, cams, args.nvidia)
+
+  vsts = [vision_streams[int(x)] for x in args.cams.split(",")]
+  cvipc = CompressedVipc(args.addr, vsts, args.nvidia, debug=(not args.silent))
+  cvipc.join()
diff --git a/tools/camerastream/receive.py b/tools/camerastream/receive.py
index 6f8d67c78f..bf6929c039 100755
--- a/tools/camerastream/receive.py
+++ b/tools/camerastream/receive.py
@@ -4,7 +4,7 @@ import sys
 import numpy as np
 os.environ['ZMQ'] = '1'
 
-from common.window import Window
+from openpilot.common.window import Window
 import cereal.messaging as messaging
 
 # start camerad with 'SEND_ROAD=1 SEND_DRIVER=1 SEND_WIDE_ROAD=1 XMIN=771 XMAX=1156 YMIN=483 YMAX=724 ./camerad'
diff --git a/tools/gpstest/README.md b/tools/gpstest/README.md
index 5aff0ee3d7..01f44df0ce 100644
--- a/tools/gpstest/README.md
+++ b/tools/gpstest/README.md
@@ -3,12 +3,9 @@ Testing the GPS receiver using GPS spoofing. At the moment only
 static location relpay is supported.
 
 # Usage
-```
-# on host, start gps signal simulation
-./run_static_lime.py
-```
+on C3 run `rpc_server.py`, on host PC run `fuzzy_testing.py`
 
-`run_static_lime.py` downloads the latest ephemeris file from
+`simulate_gps_signal.py` downloads the latest ephemeris file from
 https://cddis.nasa.gov/archive/gnss/data/daily/20xx/brdc/.
 
 
diff --git a/tools/gpstest/fuzzy_testing.py b/tools/gpstest/fuzzy_testing.py
index df6691c558..3bad2770cd 100755
--- a/tools/gpstest/fuzzy_testing.py
+++ b/tools/gpstest/fuzzy_testing.py
@@ -1,147 +1,115 @@
 #!/usr/bin/env python3
-import sys
-import time
-import random
-import datetime as dt
-import subprocess as sp
+import argparse
 import multiprocessing
-import threading
-from typing import Tuple, Any
+import rpyc
+from collections import defaultdict
 
-from laika.downloader import download_nav
-from laika.gps_time import GPSTime
-from laika.helpers import ConstellationId
+from helper import download_rinex, exec_LimeGPS_bin
+from helper import get_random_coords, get_continuous_coords
 
-cache_dir = '/tmp/gpstest/'
+#------------------------------------------------------------------------------
+# this script is supposed to run on HOST PC
+# limeSDR is unreliable via c3 USB
+#------------------------------------------------------------------------------
 
 
-def download_rinex():
-  # TODO: check if there is a better way to get the full brdc file for LimeGPS
-  gps_time = GPSTime.from_datetime(dt.datetime.utcnow())
-  utc_time = dt.datetime.utcnow() - dt.timedelta(1)
-  gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day))
-  return download_nav(gps_time, cache_dir, ConstellationId.GPS)
-
-
-def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int):
-  # this functions should never return, cause return means, timeout is
-  # reached or it crashed
-  try:
-    cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location]
-    sp.check_output(cmd, timeout=duration)
-  except sp.TimeoutExpired:
-    print("LimeGPS timeout reached!")
-  except Exception as e:
-    print(f"LimeGPS crashed: {str(e)}")
-
-
-def run_lime_gps(rinex_file: str, location: str, duration: int):
-  print(f"LimeGPS {location} {duration}")
-
+def run_lime_gps(rinex_file: str, location: str, timeout: int):
+  # needs to run longer than the checker
+  timeout += 10
+  print(f"LimeGPS {location} {timeout}")
   p = multiprocessing.Process(target=exec_LimeGPS_bin,
-                              args=(rinex_file, location, duration))
+                              args=(rinex_file, location, timeout))
   p.start()
   return p
 
+con = None
+def run_remote_checker(lat, lon, alt, duration, ip_addr):
+  global con
+  try:
+    con = rpyc.connect(ip_addr, 18861)
+    con._config['sync_request_timeout'] = duration+20
+  except ConnectionRefusedError:
+    print("could not run remote checker is 'rpc_server.py' running???")
+    return False, None, None
 
-def get_random_coords(lat, lon) -> Tuple[int, int]:
-  # jump around the world
-  # max values, lat: -90 to 90, lon: -180 to 180
-
-  lat_add = random.random()*20 + 10
-  lon_add = random.random()*20 + 20
-
-  lat = ((lat + lat_add + 90) % 180) - 90
-  lon = ((lon + lon_add + 180) % 360) - 180
-  return round(lat, 5), round(lon, 5)
-
-def get_continuous_coords(lat, lon) -> Tuple[int, int]:
-  # continuously move around the world
-
-  lat_add = random.random()*0.01
-  lon_add = random.random()*0.01
-
-  lat = ((lat + lat_add + 90) % 180) - 90
-  lon = ((lon + lon_add + 180) % 360) - 180
-  return round(lat, 5), round(lon, 5)
-
-rc_p: Any = None
-def exec_remote_checker(lat, lon, duration, ip_addr):
-  global rc_p
-  # TODO: good enough for testing
-  remote_cmd =  "export PYTHONPATH=/data/pythonpath:/data/pythonpath/pyextra && "
-  remote_cmd += "cd /data/openpilot && "
-  remote_cmd += f"timeout {duration} /usr/local/pyenv/shims/python tools/gpstest/remote_checker.py "
-  remote_cmd += f"{lat} {lon}"
-
-  ssh_cmd = ["ssh", "-i", "/home/batman/openpilot/xx/phone/key/id_rsa",
-             f"comma@{ip_addr}"]
-  ssh_cmd += [remote_cmd]
-
-  rc_p = sp.Popen(ssh_cmd, stdout=sp.PIPE)
-  rc_p.wait()
-  rc_output = rc_p.stdout.read()
-  print(f"Checker Result: {rc_output.strip().decode('utf-8')}")
+  matched, log, info = con.root.exposed_run_checker(lat, lon, alt,
+                        timeout=duration,
+                        use_laikad=True)
+  con.close() # TODO: might wanna fetch more logs here
+  con = None
 
+  print(f"Remote Checker: {log} {info}")
+  return matched, log, info
 
-def run_remote_checker(spoof_proc, lat, lon, duration, ip_addr) -> bool:
-  checker_thread = threading.Thread(target=exec_remote_checker,
-                                    args=(lat, lon, duration, ip_addr))
-  checker_thread.start()
 
-  tcnt = 0
-  while True:
-    if not checker_thread.is_alive():
-      # assume this only happens when the signal got matched
-      return True
+stats = defaultdict(int) # type: ignore
+keys = ['success', 'failed', 'ublox_fail', 'laikad_fail', 'proc_crash', 'checker_crash']
 
-    # the spoofing process has a timeout, kill checker if reached
-    if not spoof_proc.is_alive():
-      rc_p.kill()
-      # spoofing process died, assume timeout
-      print("Spoofing process timeout")
-      return False
+def print_report():
+  print("\nFuzzy testing report summary:")
+  for k in keys:
+    print(f"  {k}: {stats[k]}")
 
-    print(f"Time elapsed: {tcnt}[s]", end = "\r")
-    time.sleep(1)
-    tcnt += 1
 
+def update_stats(matched, log, info):
+  if matched:
+    stats['success'] += 1
+    return
 
-def main():
-  if len(sys.argv) < 2:
-    print(f"usage: {sys.argv[0]} <ip_addr> [-c]")
-  ip_addr = sys.argv[1]
+  stats['failed'] += 1
+  if log == "PROC CRASH":
+    stats['proc_crash'] += 1
+  if log == "CHECKER CRASHED":
+    stats['checker_crash'] += 1
+  if log == "TIMEOUT":
+    if "LAIKAD" in info:
+      stats['laikad_fail'] += 1
+    else: # "UBLOX" in info
+      stats['ublox_fail'] += 1
 
-  continuous_mode = False
-  if len(sys.argv) == 3 and sys.argv[2] == '-c':
-    print("Continuous Mode!")
-    continuous_mode = True
 
+def main(ip_addr, continuous_mode, timeout, pos):
   rinex_file = download_rinex()
 
-  duration = 60*3 # max runtime in seconds
-  lat, lon = get_random_coords(47.2020, 15.7403)
+  lat, lon, alt = pos
+  if lat == 0 and lon == 0 and alt == 0:
+    lat, lon, alt = get_random_coords(47.2020, 15.7403)
+
+  try:
+    while True:
+      # spoof random location
+      spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},{alt}", timeout)
 
-  while True:
-    # spoof random location
-    spoof_proc = run_lime_gps(rinex_file, f"{lat},{lon},100", duration)
-    start_time = time.monotonic()
+      # remote checker execs blocking
+      matched, log, info = run_remote_checker(lat, lon, alt, timeout, ip_addr)
+      update_stats(matched, log, info)
+      spoof_proc.terminate()
+      spoof_proc = None
 
-    # remote checker runs blocking
-    if not run_remote_checker(spoof_proc, lat, lon, duration, ip_addr):
-      # location could not be matched by ublox module
-      pass
+      if continuous_mode:
+        lat, lon, alt = get_continuous_coords(lat, lon, alt)
+      else:
+        lat, lon, alt = get_random_coords(lat, lon)
+  except KeyboardInterrupt:
+    if spoof_proc is not None:
+      spoof_proc.terminate()
 
-    end_time = time.monotonic()
-    spoof_proc.terminate()
+    if con is not None and not con.closed:
+      con.root.exposed_kill_procs()
+      con.close()
 
-    # -1 to count process startup
-    print(f"Time to get Signal: {round(end_time - start_time - 1, 4)}")
+    print_report()
 
-    if continuous_mode:
-      lat, lon = get_continuous_coords(lat, lon)
-    else:
-      lat, lon = get_random_coords(lat, lon)
 
 if __name__ == "__main__":
-  main()
+  parser = argparse.ArgumentParser(description="Fuzzy test GPS stack with random locations.")
+  parser.add_argument("ip_addr", type=str)
+  parser.add_argument("-c", "--contin", type=bool, nargs='?', default=False, help='Continous location change')
+  parser.add_argument("-t", "--timeout", type=int, nargs='?', default=180, help='Timeout to get location')
+
+  # for replaying a location
+  parser.add_argument("lat", type=float, nargs='?', default=0)
+  parser.add_argument("lon", type=float, nargs='?', default=0)
+  parser.add_argument("alt", type=float, nargs='?', default=0)
+  args = parser.parse_args()
+  main(args.ip_addr, args.contin, args.timeout, (args.lat, args.lon, args.alt))
diff --git a/tools/gpstest/helper.py b/tools/gpstest/helper.py
new file mode 100644
index 0000000000..4f62e60db0
--- /dev/null
+++ b/tools/gpstest/helper.py
@@ -0,0 +1,53 @@
+import random
+import datetime as dt
+import subprocess as sp
+from typing import Tuple
+
+from laika.downloader import download_nav
+from laika.gps_time import GPSTime
+from laika.helpers import ConstellationId
+
+
+def download_rinex():
+  # TODO: check if there is a better way to get the full brdc file for LimeGPS
+  gps_time = GPSTime.from_datetime(dt.datetime.utcnow())
+  utc_time = dt.datetime.utcnow() - dt.timedelta(1)
+  gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day))
+  return download_nav(gps_time, '/tmp/gpstest/', ConstellationId.GPS)
+
+
+def exec_LimeGPS_bin(rinex_file: str, location: str, duration: int):
+  # this functions should never return, cause return means, timeout is
+  # reached or it crashed
+  try:
+    cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", location]
+    sp.check_output(cmd, timeout=duration)
+  except sp.TimeoutExpired:
+    print("LimeGPS timeout reached!")
+  except Exception as e:
+    print(f"LimeGPS crashed: {str(e)}")
+
+
+def get_random_coords(lat, lon) -> Tuple[float, float, int]:
+  # jump around the world
+  # max values, lat: -90 to 90, lon: -180 to 180
+
+  lat_add = random.random()*20 + 10
+  lon_add = random.random()*20 + 20
+  alt = random.randint(-10**3, 4*10**3)
+
+  lat = ((lat + lat_add + 90) % 180) - 90
+  lon = ((lon + lon_add + 180) % 360) - 180
+  return round(lat, 5), round(lon, 5), alt
+
+
+def get_continuous_coords(lat, lon, alt) -> Tuple[float, float, int]:
+  # continuously move around the world
+  lat_add = random.random()*0.01
+  lon_add = random.random()*0.01
+  alt_add = random.randint(-100, 100)
+
+  lat = ((lat + lat_add + 90) % 180) - 90
+  lon = ((lon + lon_add + 180) % 360) - 180
+  alt += alt_add
+  return round(lat, 5), round(lon, 5), alt
diff --git a/tools/gpstest/remote_checker.py b/tools/gpstest/remote_checker.py
deleted file mode 100644
index a649a105c3..0000000000
--- a/tools/gpstest/remote_checker.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python3
-import sys
-import time
-from typing import List
-
-from common.params import Params
-import cereal.messaging as messaging
-from selfdrive.manager.process_config import managed_processes
-
-DELTA = 0.001
-# assume running openpilot for now
-procs: List[str] = []#"ubloxd", "pigeond"]
-
-
-def main():
-  if len(sys.argv) != 4:
-    print("args: <latitude> <longitude>")
-    return
-
-  quectel_mod = Params().get_bool("UbloxAvailable")
-  sol_lat = float(sys.argv[2])
-  sol_lon = float(sys.argv[3])
-
-  for p in procs:
-    managed_processes[p].start()
-    time.sleep(0.5) # give time to startup
-
-  socket = 'gpsLocation' if quectel_mod else 'gpsLocationExternal'
-  gps_sock = messaging.sub_sock(socket, timeout=0.1)
-
-  # analyze until the location changed
-  while True:
-    events = messaging.drain_sock(gps_sock)
-    for e in events:
-      loc = e.gpsLocation if quectel_mod else e.gpsLocationExternal
-      lat = loc.latitude
-      lon = loc.longitude
-
-      if abs(lat - sol_lat) < DELTA and abs(lon - sol_lon) < DELTA:
-        print("MATCH")
-        return
-
-    time.sleep(0.1)
-
-    for p in procs:
-      if not managed_processes[p].proc.is_alive():
-        print(f"ERROR: '{p}' died")
-        return
-
-
-if __name__ == "__main__":
-  main()
-  for p in procs:
-    managed_processes[p].stop()
diff --git a/tools/gpstest/rpc_server.py b/tools/gpstest/rpc_server.py
new file mode 100644
index 0000000000..cdedd8ea57
--- /dev/null
+++ b/tools/gpstest/rpc_server.py
@@ -0,0 +1,185 @@
+import os
+import time
+import shutil
+from datetime import datetime
+from collections import defaultdict
+
+import rpyc
+from rpyc.utils.server import ThreadedServer
+
+#from openpilot.common.params import Params
+import cereal.messaging as messaging
+from openpilot.selfdrive.manager.process_config import managed_processes
+from laika.lib.coordinates import ecef2geodetic
+
+DELTA = 0.001
+ALT_DELTA = 30
+MATCH_NUM = 10
+REPORT_STATS = 10
+
+EPHEM_CACHE = "/data/params/d/LaikadEphemerisV3"
+DOWNLOAD_CACHE = "/tmp/comma_download_cache"
+
+SERVER_LOG_FILE = "/tmp/fuzzy_server.log"
+server_log = open(SERVER_LOG_FILE, "w+")
+
+def slog(msg):
+  server_log.write(f"{datetime.now().strftime('%H:%M:%S.%f')} | {msg}\n")
+  server_log.flush()
+
+def handle_laikad(msg):
+  if not hasattr(msg, 'correctedMeasurements'):
+    return None
+
+  num_corr = len(msg.correctedMeasurements)
+  pos_ecef = msg.positionECEF.value
+  pos_geo = []
+  if len(pos_ecef) > 0:
+    pos_geo = ecef2geodetic(pos_ecef)
+
+  pos_std = msg.positionECEF.std
+  pos_valid = msg.positionECEF.valid
+
+  slog(f"{num_corr} {pos_geo} {pos_ecef} {pos_std} {pos_valid}")
+  return pos_geo, (num_corr, pos_geo, list(pos_ecef), list(msg.positionECEF.std))
+
+hw_msgs = 0
+ephem_msgs: dict = defaultdict(int)
+def handle_ublox(msg):
+  global hw_msgs
+
+  d = msg.to_dict()
+
+  if 'hwStatus2' in d:
+    hw_msgs += 1
+
+  if 'ephemeris' in d:
+    ephem_msgs[msg.ephemeris.svId] += 1
+
+  num_meas = None
+  if 'measurementReport' in d:
+    num_meas = msg.measurementReport.numMeas
+
+  return [hw_msgs, ephem_msgs, num_meas]
+
+
+def start_procs(procs):
+  for p in procs:
+    managed_processes[p].start()
+  time.sleep(1)
+
+def kill_procs(procs, no_retry=False):
+  for p in procs:
+    managed_processes[p].stop()
+  time.sleep(1)
+
+  if not no_retry:
+    for p in procs:
+      mp = managed_processes[p].proc
+      if mp is not None and mp.is_alive():
+        managed_processes[p].stop()
+    time.sleep(3)
+
+def check_alive_procs(procs):
+  for p in procs:
+    mp = managed_processes[p].proc
+    if mp is None or not mp.is_alive():
+      return False, p
+  return True, None
+
+
+class RemoteCheckerService(rpyc.Service):
+  def on_connect(self, conn):
+    pass
+
+  def on_disconnect(self, conn):
+    #kill_procs(self.procs, no_retry=False)
+    # this execution is delayed, it will kill the next run of laikad
+    # TODO: add polling to wait for everything is killed
+    pass
+
+  def run_checker(self, slat, slon, salt, sockets, procs, timeout):
+    global hw_msgs, ephem_msgs
+    hw_msgs = 0
+    ephem_msgs = defaultdict(int)
+
+    slog(f"Run test: {slat} {slon} {salt}")
+
+    # quectel_mod = Params().get_bool("UbloxAvailable")
+
+    match_cnt = 0
+    msg_cnt = 0
+    stats_laikad = []
+    stats_ublox = []
+
+    self.procs = procs
+    start_procs(procs)
+    sm = messaging.SubMaster(sockets)
+
+    start_time = time.monotonic()
+    while True:
+      sm.update()
+
+      if sm.updated['ubloxGnss']:
+        stats_ublox.append(handle_ublox(sm['ubloxGnss']))
+
+      if sm.updated['gnssMeasurements']:
+        pos_geo, stats = handle_laikad(sm['gnssMeasurements'])
+        if pos_geo is None or len(pos_geo) == 0:
+          continue
+
+        match  = all(abs(g-s) < DELTA for g,s in zip(pos_geo[:2], [slat, slon], strict=True))
+        match &= abs(pos_geo[2] - salt) < ALT_DELTA
+        if match:
+          match_cnt += 1
+          if match_cnt >= MATCH_NUM:
+            return True, "MATCH", f"After: {round(time.monotonic() - start_time, 4)}"
+
+        # keep some stats for error reporting
+        stats_laikad.append(stats)
+
+      if (msg_cnt % 10) == 0:
+        a, p = check_alive_procs(procs)
+        if not a:
+          return False, "PROC CRASH", f"{p}"
+      msg_cnt += 1
+
+      if (time.monotonic() - start_time) > timeout:
+        h = f"LAIKAD: {stats_laikad[-REPORT_STATS:]}"
+        if len(h) == 0:
+          h = f"UBLOX: {stats_ublox[-REPORT_STATS:]}"
+        return False, "TIMEOUT", h
+
+
+  def exposed_run_checker(self, slat, slon, salt, timeout=180, use_laikad=True):
+    try:
+      procs = []
+      sockets = []
+
+      if use_laikad:
+        procs.append("laikad") # pigeond, ubloxd # might wanna keep them running
+        sockets += ['ubloxGnss', 'gnssMeasurements']
+
+        if os.path.exists(EPHEM_CACHE):
+          os.remove(EPHEM_CACHE)
+        shutil.rmtree(DOWNLOAD_CACHE, ignore_errors=True)
+
+      ret = self.run_checker(slat, slon, salt, sockets, procs, timeout)
+      kill_procs(procs)
+      return ret
+
+    except Exception as e:
+      # always make sure processes get killed
+      kill_procs(procs)
+      return False, "CHECKER CRASHED", f"{str(e)}"
+
+
+  def exposed_kill_procs(self):
+    kill_procs(self.procs, no_retry=True)
+
+
+if __name__ == "__main__":
+  print(f"Sever Log written to: {SERVER_LOG_FILE}")
+  t = ThreadedServer(RemoteCheckerService, port=18861)
+  t.start()
+
diff --git a/tools/gpstest/simulate_gps_signal.py b/tools/gpstest/simulate_gps_signal.py
index a6aca1c404..da0f64eaca 100755
--- a/tools/gpstest/simulate_gps_signal.py
+++ b/tools/gpstest/simulate_gps_signal.py
@@ -16,7 +16,7 @@ cache_dir = '/tmp/gpstest/'
 def download_rinex():
   # TODO: check if there is a better way to get the full brdc file for LimeGPS
   gps_time = GPSTime.from_datetime(dt.datetime.utcnow())
-  utc_time = dt.datetime.utcnow() - dt.timedelta(1)
+  utc_time = dt.datetime.utcnow()# - dt.timedelta(1)
   gps_time = GPSTime.from_datetime(dt.datetime(utc_time.year, utc_time.month, utc_time.day))
   return download_nav(gps_time, cache_dir, ConstellationId.GPS)
 
@@ -36,11 +36,15 @@ def get_random_coords(lat, lon) -> Tuple[int, int]:
   # jump around the world
   return get_coords(lat, lon, 20, 20, 10, 20)
 
-def run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout):
+def run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout):
   while True:
     try:
-      print(f"starting LimeGPS, Location: {lat},{lon}")
-      cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},100"]
+      # TODO: add starttime setting and altitude
+      # -t 2023/01/15,00:00:00 -T 2023/01/15,00:00:00
+      # this needs to match the date of the navigation file
+      print(f"starting LimeGPS, Location: {lat} {lon} {alt}")
+      cmd = ["LimeGPS/LimeGPS", "-e", rinex_file, "-l", f"{lat},{lon},{alt}"]
+      print(f"CMD: {cmd}")
       sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
     except KeyboardInterrupt:
       print("stopping LimeGPS")
@@ -71,7 +75,7 @@ def run_hackRF_loop(lat, lon, rinex_file, timeout):
   try:
     print(f"starting gps-sdr-sim, Location: {lat},{lon}")
     # create 30second file and replay with hackrf endless
-    cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},100", "-d", "30"]
+    cmd = ["gps-sdr-sim/gps-sdr-sim", "-e", rinex_file, "-l", f"{lat},{lon},-200", "-d", "30"]
     sp.check_output(cmd, stderr=sp.PIPE, timeout=timeout)
     # created in current working directory
   except Exception:
@@ -90,7 +94,7 @@ def run_hackRF_loop(lat, lon, rinex_file, timeout):
     print(f"hackrf_transfer crashed:{str(e)}")
 
 
-def main(lat, lon, jump_sim, contin_sim, hackrf_mode):
+def main(lat, lon, alt, jump_sim, contin_sim, hackrf_mode):
 
   if hackrf_mode:
     if not os.path.exists('hackrf'):
@@ -130,17 +134,18 @@ def main(lat, lon, jump_sim, contin_sim, hackrf_mode):
   if jump_sim:
     timeout = 30
 
-  if not hackrf_mode:
-    run_limeSDR_loop(lat, lon, contin_sim, rinex_file, timeout)
-  else:
+  if hackrf_mode:
     run_hackRF_loop(lat, lon, rinex_file, timeout)
+  else:
+    run_limeSDR_loop(lat, lon, alt, contin_sim, rinex_file, timeout)
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Simulate static [or random jumping] GPS signal.")
   parser.add_argument("lat", type=float, nargs='?', default=0)
   parser.add_argument("lon", type=float, nargs='?', default=0)
+  parser.add_argument("alt", type=float, nargs='?', default=0)
   parser.add_argument("--jump", action="store_true", help="signal that jumps around the world")
   parser.add_argument("--contin", action="store_true", help="continuously/slowly moving around the world")
   parser.add_argument("--hackrf", action="store_true", help="hackrf mode (DEFAULT: LimeSDR)")
   args = parser.parse_args()
-  main(args.lat, args.lon, args.jump, args.contin, args.hackrf)
+  main(args.lat, args.lon, args.alt, args.jump, args.contin, args.hackrf)
diff --git a/tools/gpstest/test_gps.py b/tools/gpstest/test_gps.py
index 8bc5dc89a8..98f1ad84b8 100644
--- a/tools/gpstest/test_gps.py
+++ b/tools/gpstest/test_gps.py
@@ -3,11 +3,11 @@ import time
 import unittest
 import struct
 
-from common.params import Params
+from openpilot.common.params import Params
 import cereal.messaging as messaging
-import selfdrive.sensord.pigeond as pd
-from system.hardware import TICI
-from selfdrive.test.helpers import with_processes
+import openpilot.system.sensord.pigeond as pd
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.test.helpers import with_processes
 
 
 def read_events(service, duration_sec):
@@ -30,7 +30,7 @@ def create_backup(pigeon):
   pigeon.send(b"\xB5\x62\x09\x14\x04\x00\x00\x00\x00\x00\x21\xEC")
   try:
     if not pigeon.wait_for_ack(ack=pd.UBLOX_SOS_ACK, nack=pd.UBLOX_SOS_NACK):
-      assert False, "Could not store almanac"
+      raise RuntimeError("Could not store almanac")
   except TimeoutError:
     pass
 
diff --git a/tools/gpstest/test_gps_qcom.py b/tools/gpstest/test_gps_qcom.py
index b3ce93fc81..c399671715 100644
--- a/tools/gpstest/test_gps_qcom.py
+++ b/tools/gpstest/test_gps_qcom.py
@@ -3,10 +3,10 @@ import time
 import unittest
 import subprocess as sp
 
-from common.params import Params
-from system.hardware import TICI
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
 import cereal.messaging as messaging
-from selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.manager.process_config import managed_processes
 
 
 def exec_mmcli(cmd):
diff --git a/tools/gpstest/test_laikad.py b/tools/gpstest/test_laikad.py
new file mode 100644
index 0000000000..abb47d4bfc
--- /dev/null
+++ b/tools/gpstest/test_laikad.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python3
+import os
+import time
+import unittest
+
+import cereal.messaging as messaging
+import openpilot.system.sensord.pigeond as pd
+
+from openpilot.common.params import Params
+from openpilot.system.hardware import TICI
+from openpilot.selfdrive.manager.process_config import managed_processes
+from openpilot.selfdrive.test.helpers import with_processes
+
+
+def wait_for_location(sm, timeout, con=10):
+  cons_meas = 0
+  start_time = time.monotonic()
+  while (time.monotonic() - start_time) < timeout:
+    sm.update()
+    if not sm.updated["gnssMeasurements"]:
+      continue
+
+    msg = sm["gnssMeasurements"]
+    cons_meas = (cons_meas + 1) if 'positionECEF' in msg.to_dict() else 0
+    if cons_meas >= con:
+      return True
+  return False
+
+
+class TestLaikad(unittest.TestCase):
+  @classmethod
+  def setUpClass(self):
+    if not TICI:
+      raise unittest.SkipTest
+
+    ublox_available = Params().get_bool("UbloxAvailable")
+    if not ublox_available:
+      raise unittest.SkipTest
+
+  def setUp(self):
+    # ensure laikad cold start
+    Params().remove("LaikadEphemerisV3")
+    os.environ["LAIKAD_NO_INTERNET"] = "1"
+    managed_processes['laikad'].start()
+
+  def tearDown(self):
+    managed_processes['laikad'].stop()
+
+
+  @with_processes(['pigeond', 'ubloxd'])
+  def test_laikad_cold_start(self):
+    time.sleep(5)
+
+    start_time = time.monotonic()
+    sm = messaging.SubMaster(["gnssMeasurements"])
+
+    success = wait_for_location(sm, 60*2, con=10)
+    duration = time.monotonic() - start_time
+
+    assert success, "Waiting for location timed out (2min)!"
+    assert duration < 60, f"Received Location {duration}!"
+
+
+  @with_processes(['ubloxd'])
+  def test_laikad_ublox_reset_start(self):
+    time.sleep(2)
+
+    pigeon, pm = pd.create_pigeon()
+    pd.init_baudrate(pigeon)
+    assert pigeon.reset_device(), "Could not reset device!"
+
+    laikad_sock = messaging.sub_sock("gnssMeasurements", timeout=0.1)
+    ublox_gnss_sock = messaging.sub_sock("ubloxGnss", timeout=0.1)
+
+    pd.init_baudrate(pigeon)
+    pd.initialize_pigeon(pigeon)
+    pd.run_receiving(pigeon, pm, 180)
+
+    ublox_msgs = messaging.drain_sock(ublox_gnss_sock)
+    laikad_msgs = messaging.drain_sock(laikad_sock)
+
+    gps_ephem_cnt = 0
+    glonass_ephem_cnt = 0
+    for um in ublox_msgs:
+      if um.ubloxGnss.which() == 'ephemeris':
+        gps_ephem_cnt += 1
+      elif um.ubloxGnss.which() == 'glonassEphemeris':
+        glonass_ephem_cnt += 1
+
+    assert gps_ephem_cnt > 0, "NO gps ephemeris collected!"
+    assert glonass_ephem_cnt > 0, "NO glonass ephemeris collected!"
+
+    pos_meas = 0
+    duration = -1
+    for lm in laikad_msgs:
+      pos_meas = (pos_meas + 1) if 'positionECEF' in lm.gnssMeasurements.to_dict() else 0
+      if pos_meas > 5:
+        duration = (lm.logMonoTime - laikad_msgs[0].logMonoTime)*1e-9
+        break
+
+    assert pos_meas > 5, "NOT enough positions at end of read!"
+    assert duration < 120, "Laikad took too long to get a Position!"
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/update_requirements.sh b/tools/install_python_dependencies.sh
similarity index 53%
rename from update_requirements.sh
rename to tools/install_python_dependencies.sh
index 9195799ca3..79c36d57d9 100755
--- a/update_requirements.sh
+++ b/tools/install_python_dependencies.sh
@@ -2,7 +2,8 @@
 set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-cd $DIR
+ROOT=$DIR/../
+cd $ROOT
 
 RC_FILE="${HOME}/.$(basename ${SHELL})rc"
 if [ "$(uname)" == "Darwin" ] && [ $SHELL == "/bin/bash" ]; then
@@ -13,26 +14,24 @@ if ! command -v "pyenv" > /dev/null 2>&1; then
   echo "pyenv install ..."
   curl -L https://github.com/pyenv/pyenv-installer/raw/master/bin/pyenv-installer | bash
 
-  echo -e "\n. ~/.pyenvrc" >> $RC_FILE
   cat <<EOF > "${HOME}/.pyenvrc"
 if [ -z "\$PYENV_ROOT" ]; then
   export PATH=\$HOME/.pyenv/bin:\$HOME/.pyenv/shims:\$PATH
   export PYENV_ROOT="\$HOME/.pyenv"
+  eval "\$(pyenv init --path)"
   eval "\$(pyenv init -)"
   eval "\$(pyenv virtualenv-init -)"
 fi
 EOF
+  echo -e "\nsource ~/.pyenvrc" >> $RC_FILE
 
-  # setup now without restarting shell
-  export PATH=$HOME/.pyenv/bin:$HOME/.pyenv/shims:$PATH
-  export PYENV_ROOT="$HOME/.pyenv"
-  eval "$(pyenv init -)"
-  eval "$(pyenv virtualenv-init -)"
+  # activate pyenv now
+  source $RC_FILE
 fi
 
 export MAKEFLAGS="-j$(nproc)"
 
-PYENV_PYTHON_VERSION=$(cat .python-version)
+PYENV_PYTHON_VERSION=$(cat $ROOT/.python-version)
 if ! pyenv prefix ${PYENV_PYTHON_VERSION} &> /dev/null; then
   # no pyenv update on mac
   if [ "$(uname)" == "Linux" ]; then
@@ -45,35 +44,33 @@ fi
 eval "$(pyenv init --path)"
 
 echo "update pip"
-pip install pip==22.3
-pip install poetry==1.2.2
+pip install pip==23.2.1
+pip install poetry==1.5.1
 
 poetry config virtualenvs.prefer-active-python true --local
+poetry config virtualenvs.in-project true --local
 
-POETRY_INSTALL_ARGS=""
-if [ -d "./xx" ] || [ -n "$XX" ]; then
-  echo "WARNING: using xx dependency group, installing globally"
-  poetry config virtualenvs.create false --local
-  POETRY_INSTALL_ARGS="--with xx --sync"
+echo "PYTHONPATH=${PWD}" > $ROOT/.env
+if [[ "$(uname)" == 'Darwin' ]]; then
+  echo "# msgq doesn't work on mac" >> $ROOT/.env
+  echo "export ZMQ=1" >> $ROOT/.env
+  echo "export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES" >> $ROOT/.env
 fi
 
+poetry self add poetry-dotenv-plugin@^0.1.0
+
 echo "pip packages install..."
-poetry install --no-cache --no-root $POETRY_INSTALL_ARGS
+poetry install --no-cache --no-root
 pyenv rehash
 
-if [ -d "./xx" ] || [ -n "$POETRY_VIRTUALENVS_CREATE" ]; then
-  RUN=""
-else
-  echo "PYTHONPATH=${PWD}" > .env
-  poetry self add poetry-dotenv-plugin@^0.1.0
-  RUN="poetry run"
-fi
+[ -n "$POETRY_VIRTUALENVS_CREATE" ] && RUN="" || RUN="poetry run"
 
-echo "pre-commit hooks install..."
-shopt -s nullglob
-for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do
-  cd $DIR/$(dirname $f)
-  if [ -e ".git" ]; then
-    $RUN pre-commit install
-  fi
-done
+if [ "$(uname)" != "Darwin" ]; then
+  echo "pre-commit hooks install..."
+  shopt -s nullglob
+  for f in .pre-commit-config.yaml */.pre-commit-config.yaml; do
+    if [ -e "$ROOT/$(dirname $f)/.git" ]; then
+      $RUN pre-commit install -c "$f"
+    fi
+  done
+fi
diff --git a/tools/install_ubuntu_dependencies.sh b/tools/install_ubuntu_dependencies.sh
new file mode 100755
index 0000000000..78a01f2b75
--- /dev/null
+++ b/tools/install_ubuntu_dependencies.sh
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+SUDO=""
+
+# Use sudo if not root
+if [[ ! $(id -u) -eq 0 ]]; then
+  if [[ -z $(which sudo) ]]; then
+    echo "Please install sudo or run as root"
+    exit 1
+  fi
+  SUDO="sudo"
+fi
+
+# Install packages present in all supported versions of Ubuntu
+function install_ubuntu_common_requirements() {
+  $SUDO apt-get update
+  $SUDO apt-get install -y --no-install-recommends \
+    autoconf \
+    build-essential \
+    ca-certificates \
+    casync \
+    clang \
+    cmake \
+    make \
+    cppcheck \
+    libtool \
+    gcc-arm-none-eabi \
+    bzip2 \
+    liblzma-dev \
+    libarchive-dev \
+    libbz2-dev \
+    capnproto \
+    libcapnp-dev \
+    curl \
+    libcurl4-openssl-dev \
+    git \
+    git-lfs \
+    ffmpeg \
+    libavformat-dev \
+    libavcodec-dev \
+    libavdevice-dev \
+    libavutil-dev \
+    libavfilter-dev \
+    libeigen3-dev \
+    libffi-dev \
+    libglew-dev \
+    libgles2-mesa-dev \
+    libglfw3-dev \
+    libglib2.0-0 \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libomp-dev \
+    libopencv-dev \
+    libpng16-16 \
+    libportaudio2 \
+    libssl-dev \
+    libsqlite3-dev \
+    libusb-1.0-0-dev \
+    libzmq3-dev \
+    libsystemd-dev \
+    locales \
+    opencl-headers \
+    ocl-icd-libopencl1 \
+    ocl-icd-opencl-dev \
+    clinfo \
+    portaudio19-dev \
+    qml-module-qtquick2 \
+    qtmultimedia5-dev \
+    qtlocation5-dev \
+    qtpositioning5-dev \
+    qttools5-dev-tools \
+    libqt5sql5-sqlite \
+    libqt5svg5-dev \
+    libqt5charts5-dev \
+    libqt5serialbus5-dev  \
+    libqt5x11extras5-dev \
+    libreadline-dev \
+    libdw1 \
+    valgrind
+}
+
+# Install Ubuntu 22.04 LTS packages
+function install_ubuntu_lts_latest_requirements() {
+  install_ubuntu_common_requirements
+
+  $SUDO apt-get install -y --no-install-recommends \
+    g++-12 \
+    qtbase5-dev \
+    qtchooser \
+    qt5-qmake \
+    qtbase5-dev-tools \
+    python3-dev
+}
+
+# Install Ubuntu 20.04 packages
+function install_ubuntu_focal_requirements() {
+  install_ubuntu_common_requirements
+
+  $SUDO apt-get install -y --no-install-recommends \
+    libavresample-dev \
+    qt5-default \
+    python-dev
+}
+
+# Detect OS using /etc/os-release file
+if [ -f "/etc/os-release" ]; then
+  source /etc/os-release
+  case "$VERSION_CODENAME" in
+    "jammy")
+      install_ubuntu_lts_latest_requirements
+      ;;
+    "kinetic")
+      install_ubuntu_lts_latest_requirements
+      ;;
+    "focal")
+      install_ubuntu_focal_requirements
+      ;;
+    *)
+      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
+      read -p "Would you like to attempt installation anyway? " -n 1 -r
+      echo ""
+      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
+        exit 1
+      fi
+      if [ "$UBUNTU_CODENAME" = "jammy" ] || [ "$UBUNTU_CODENAME" = "kinetic" ]; then
+        install_ubuntu_lts_latest_requirements
+      else
+        install_ubuntu_focal_requirements
+      fi
+  esac
+else
+  echo "No /etc/os-release in the system"
+  exit 1
+fi
diff --git a/tools/joystick/joystickd.py b/tools/joystick/joystickd.py
index b31dab83fe..82847e3fa1 100755
--- a/tools/joystick/joystickd.py
+++ b/tools/joystick/joystickd.py
@@ -5,10 +5,10 @@ import threading
 from inputs import get_gamepad
 
 import cereal.messaging as messaging
-from common.realtime import Ratekeeper
-from common.numpy_fast import interp, clip
-from common.params import Params
-from tools.lib.kbhit import KBHit
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.numpy_fast import interp, clip
+from openpilot.common.params import Params
+from openpilot.tools.lib.kbhit import KBHit
 
 
 class Keyboard:
diff --git a/tools/joystick/web.py b/tools/joystick/web.py
deleted file mode 100755
index 5cba4e938d..0000000000
--- a/tools/joystick/web.py
+++ /dev/null
@@ -1,78 +0,0 @@
-#!/usr/bin/env python3
-import time
-import threading
-from flask import Flask
-
-import cereal.messaging as messaging
-
-app = Flask(__name__)
-pm = messaging.PubMaster(['testJoystick'])
-
-index = """
-<html>
-<head>
-<script src="https://github.com/bobboteck/JoyStick/releases/download/v1.1.6/joy.min.js"></script>
-</head>
-<body>
-<div id="joyDiv" style="width:100%;height:100%"></div>
-<script type="text/javascript">
-// Set up gamepad handlers
-let gamepad = null;
-window.addEventListener("gamepadconnected", function(e) {
-  gamepad = e.gamepad;
-});
-window.addEventListener("gamepaddisconnected", function(e) {
-  gamepad = null;
-});
-// Create JoyStick object into the DIV 'joyDiv'
-var joy = new JoyStick('joyDiv');
-setInterval(function(){
-  var x = -joy.GetX()/100;
-  var y = joy.GetY()/100;
-  if (x === 0 && y === 0 && gamepad !== null) {
-    let gamepadstate = navigator.getGamepads()[gamepad.index];
-    x = -gamepadstate.axes[0];
-    y = -gamepadstate.axes[1];
-  }
-  let xhr = new XMLHttpRequest();
-  xhr.open("GET", "/control/"+x+"/"+y);
-  xhr.send();
-}, 50);
-</script>
-"""
-
-@app.route("/")
-def hello_world():
-  return index
-
-last_send_time = time.monotonic()
-@app.route("/control/<x>/<y>")
-def control(x, y):
-  global last_send_time
-  x,y = float(x), float(y)
-  x = max(-1, min(1, x))
-  y = max(-1, min(1, y))
-  dat = messaging.new_message('testJoystick')
-  dat.testJoystick.axes = [y,x]
-  dat.testJoystick.buttons = [False]
-  pm.send('testJoystick', dat)
-  last_send_time = time.monotonic()
-  return ""
-
-def handle_timeout():
-  while 1:
-    this_time = time.monotonic()
-    if (last_send_time+0.5) < this_time:
-      #print("timeout, no web in %.2f s" % (this_time-last_send_time))
-      dat = messaging.new_message('testJoystick')
-      dat.testJoystick.axes = [0,0]
-      dat.testJoystick.buttons = [False]
-      pm.send('testJoystick', dat)
-    time.sleep(0.1)
-
-def main():
-  threading.Thread(target=handle_timeout, daemon=True).start()
-  app.run(host="0.0.0.0")
-
-if __name__ == '__main__':
-  main()
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 81a4790dea..f2adc97e01 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -8,7 +8,7 @@ import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
 
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 
 DEMO_ROUTE = "9f583b1d93915c31|2022-05-18--10-49-51--0"
 
diff --git a/tools/lib/README.md b/tools/lib/README.md
index 3cf239d2df..daf74aaf40 100644
--- a/tools/lib/README.md
+++ b/tools/lib/README.md
@@ -1,12 +1,12 @@
 ## LogReader
 
-Route is a class for conveniently accessing all the [logs](/selfdrive/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
+Route is a class for conveniently accessing all the [logs](/system/loggerd/) from your routes. The LogReader class reads the non-video logs, i.e. rlog.bz2 and qlog.bz2. There's also a matching FrameReader class for reading the videos.
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import LogReader
 
-r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36")
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 
 # get a list of paths for the route's rlog files
 print(r.log_paths())
@@ -37,11 +37,11 @@ for msg in lr:
 `MultiLogIterator` is similar to `LogReader`, but reads multiple logs. 
 
 ```python
-from tools.lib.route import Route
-from tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
+from openpilot.tools.lib.logreader import MultiLogIterator
 
 # setup a MultiLogIterator to read all the logs in the route
-r = Route("4cf7a6ad03080c90|2021-09-29--13-46-36")
+r = Route("a2a0ccea32023010|2023-07-27--13-01-19")
 lr = MultiLogIterator(r.log_paths())
 
 # print all the steering angles values from all the logs in the route
diff --git a/tools/lib/auth.py b/tools/lib/auth.py
index 086027968f..997d1f860d 100755
--- a/tools/lib/auth.py
+++ b/tools/lib/auth.py
@@ -29,8 +29,8 @@ from http.server import BaseHTTPRequestHandler, HTTPServer
 from typing import Any, Dict
 from urllib.parse import parse_qs, urlencode
 
-from tools.lib.api import APIError, CommaApi, UnauthorizedError
-from tools.lib.auth_config import set_token, get_token
+from openpilot.tools.lib.api import APIError, CommaApi, UnauthorizedError
+from openpilot.tools.lib.auth_config import set_token, get_token
 
 PORT = 3000
 
@@ -54,7 +54,7 @@ class ClientRedirectHandler(BaseHTTPRequestHandler):
     self.end_headers()
     self.wfile.write(b'Return to the CLI to continue')
 
-  def log_message(self, format, *args):  # pylint: disable=redefined-builtin
+  def log_message(self, *args):
     pass  # this prevent http server from dumping messages to stdout
 
 
diff --git a/tools/lib/auth_config.py b/tools/lib/auth_config.py
index 7952fee495..8863dd57a2 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 system.hardware import PC
+from openpilot.common.file_helpers import mkdirs_exists_ok
+from openpilot.system.hardware import PC
 
 
 class MissingAuthConfigError(Exception):
diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py
index 1e474e5dde..01756bb5e9 100644
--- a/tools/lib/bootlog.py
+++ b/tools/lib/bootlog.py
@@ -3,9 +3,9 @@ import functools
 import re
 from typing import List, Optional
 
-from tools.lib.auth_config import get_token
-from tools.lib.api import CommaApi
-from tools.lib.helpers import RE, timestamp_to_datetime
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.helpers import RE, timestamp_to_datetime
 
 
 @functools.total_ordering
diff --git a/tools/lib/cache.py b/tools/lib/cache.py
index 82b2298730..d142955e59 100644
--- a/tools/lib/cache.py
+++ b/tools/lib/cache.py
@@ -1,6 +1,6 @@
 import os
 import urllib.parse
-from common.file_helpers import mkdirs_exists_ok
+from openpilot.common.file_helpers import mkdirs_exists_ok
 
 DEFAULT_CACHE_DIR = os.path.expanduser("~/.commacache")
 
diff --git a/tools/lib/filereader.py b/tools/lib/filereader.py
index 215f7b2185..5ac23d57ec 100644
--- a/tools/lib/filereader.py
+++ b/tools/lib/filereader.py
@@ -1,11 +1,11 @@
 import os
-from tools.lib.url_file import URLFile
+from openpilot.tools.lib.url_file import URLFile
 
 DATA_ENDPOINT = os.getenv("DATA_ENDPOINT", "http://data-raw.comma.internal/")
 
 def FileReader(fn, debug=False):
   if fn.startswith("cd:/"):
     fn = fn.replace("cd:/", DATA_ENDPOINT)
-  if fn.startswith("http://") or fn.startswith("https://"):
+  if fn.startswith(("http://", "https://")):
     return URLFile(fn, debug=debug)
   return open(fn, "rb")
diff --git a/tools/lib/framereader.py b/tools/lib/framereader.py
index d9920ab128..cbc9310790 100644
--- a/tools/lib/framereader.py
+++ b/tools/lib/framereader.py
@@ -1,4 +1,3 @@
-# pylint: skip-file
 import json
 import os
 import pickle
@@ -13,11 +12,11 @@ import numpy as np
 from lru import LRU
 
 import _io
-from tools.lib.cache import cache_path_for_file_path
-from tools.lib.exceptions import DataUnreadableError
-from common.file_helpers import atomic_write_in_dir
+from openpilot.tools.lib.cache import cache_path_for_file_path
+from openpilot.tools.lib.exceptions import DataUnreadableError
+from openpilot.common.file_helpers import atomic_write_in_dir
 
-from tools.lib.filereader import FileReader
+from openpilot.tools.lib.filereader import FileReader
 
 HEVC_SLICE_B = 0
 HEVC_SLICE_P = 1
@@ -70,8 +69,8 @@ def ffprobe(fn, fmt=None):
 
   try:
     ffprobe_output = subprocess.check_output(cmd)
-  except subprocess.CalledProcessError:
-    raise DataUnreadableError(fn)
+  except subprocess.CalledProcessError as e:
+    raise DataUnreadableError(fn) from e
 
   return json.loads(ffprobe_output)
 
@@ -80,14 +79,14 @@ def vidindex(fn, typ):
   vidindex_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)), "vidindex")
   vidindex = os.path.join(vidindex_dir, "vidindex")
 
-  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=open("/dev/null", "w"))
+  subprocess.check_call(["make"], cwd=vidindex_dir, stdout=subprocess.DEVNULL)
 
   with tempfile.NamedTemporaryFile() as prefix_f, \
        tempfile.NamedTemporaryFile() as index_f:
     try:
       subprocess.check_call([vidindex, typ, fn, prefix_f.name, index_f.name])
-    except subprocess.CalledProcessError:
-      raise DataUnreadableError(f"vidindex failed on file {fn}")
+    except subprocess.CalledProcessError as e:
+      raise DataUnreadableError(f"vidindex failed on file {fn}") from e
     with open(index_f.name, "rb") as f:
       index = f.read()
     with open(prefix_f.name, "rb") as f:
@@ -237,25 +236,23 @@ def decompress_video_data(rawdat, vid_fmt, w, h, pix_fmt):
 
     threads = os.getenv("FFMPEG_THREADS", "0")
     cuda = os.getenv("FFMPEG_CUDA", "0") == "1"
-    proc = subprocess.Popen(
-      ["ffmpeg",
-       "-threads", threads,
-       "-hwaccel", "none" if not cuda else "cuda",
-       "-c:v", "hevc",
-       "-vsync", "0",
-       "-f", vid_fmt,
-       "-flags2", "showall",
-       "-i", "pipe:0",
-       "-threads", threads,
-       "-f", "rawvideo",
-       "-pix_fmt", pix_fmt,
-       "pipe:1"],
-      stdin=tmpf, stdout=subprocess.PIPE, stderr=open("/dev/null"))
-
-    # dat = proc.communicate()[0]
-    dat = proc.stdout.read()
-    if proc.wait() != 0:
-      raise DataUnreadableError("ffmpeg failed")
+    args = ["ffmpeg",
+            "-threads", threads,
+            "-hwaccel", "none" if not cuda else "cuda",
+            "-c:v", "hevc",
+            "-vsync", "0",
+            "-f", vid_fmt,
+            "-flags2", "showall",
+            "-i", "pipe:0",
+            "-threads", threads,
+            "-f", "rawvideo",
+            "-pix_fmt", pix_fmt,
+            "pipe:1"]
+    with subprocess.Popen(args, stdin=tmpf, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL) as proc:
+      # dat = proc.communicate()[0]
+      dat = proc.stdout.read()
+      if proc.wait() != 0:
+        raise DataUnreadableError("ffmpeg failed")
 
   if pix_fmt == "rgb24":
     ret = np.frombuffer(dat, dtype=np.uint8).reshape(-1, h, w, 3)
@@ -418,7 +415,7 @@ class VideoStreamDecompressor:
         elif self.pix_fmt == "yuv444p":
           ret = np.frombuffer(dat, dtype=np.uint8).reshape((3, self.h, self.w))
         else:
-          assert False
+          raise RuntimeError(f"unknown pix_fmt: {self.pix_fmt}")
         yield ret
 
       result_code = self.proc.wait()
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index efe704b9ec..067b64b6ac 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,3 +1,4 @@
+import bz2
 import datetime
 
 TIME_FMT = "%Y-%m-%d--%H-%M-%S"
@@ -13,8 +14,19 @@ class RE:
   EXPLORER_FILE = r'^(?P<segment_name>{})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'.format(SEGMENT_NAME)
   OP_SEGMENT_DIR = r'^(?P<segment_name>{})$'.format(SEGMENT_NAME)
 
+
 def timestamp_to_datetime(t: str) -> datetime.datetime:
   """
     Convert an openpilot route timestamp to a python datetime
   """
   return datetime.datetime.strptime(t, TIME_FMT)
+
+
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress:
+    dat = bz2.compress(dat)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index 46c648ef12..e528996f32 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -8,8 +8,8 @@ import warnings
 
 
 from cereal import log as capnp_log
-from tools.lib.filereader import FileReader
-from tools.lib.route import Route, SegmentName
+from openpilot.tools.lib.filereader import FileReader
+from openpilot.tools.lib.route import Route, SegmentName
 
 # this is an iterator itself, and uses private variables from LogReader
 class MultiLogIterator:
@@ -98,7 +98,7 @@ class LogReader:
       for e in ents:
         _ents.append(e)
     except capnp.KjException:
-      warnings.warn("Corrupted events detected", RuntimeWarning)
+      warnings.warn("Corrupted events detected", RuntimeWarning, stacklevel=1)
 
     self._ents = list(sorted(_ents, key=lambda x: x.logMonoTime) if sort_by_time else _ents)
     self._ts = [x.logMonoTime for x in self._ents]
diff --git a/tools/lib/route.py b/tools/lib/route.py
index 388cb003e6..e37b7d4434 100644
--- a/tools/lib/route.py
+++ b/tools/lib/route.py
@@ -5,9 +5,9 @@ from collections import defaultdict
 from itertools import chain
 from typing import Optional
 
-from tools.lib.auth_config import get_token
-from tools.lib.api import CommaApi
-from tools.lib.helpers import RE
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.api import CommaApi
+from openpilot.tools.lib.helpers import RE
 
 QLOG_FILENAMES = ['qlog', 'qlog.bz2']
 QCAMERA_FILENAMES = ['qcamera.ts']
diff --git a/tools/lib/tests/test_caching.py b/tools/lib/tests/test_caching.py
index d2a2a6872f..1e44b96489 100644
--- a/tools/lib/tests/test_caching.py
+++ b/tools/lib/tests/test_caching.py
@@ -4,7 +4,7 @@ import shutil
 import unittest
 
 os.environ["COMMA_CACHE"] = "/tmp/__test_cache__"
-from tools.lib.url_file import URLFile, CACHE_DIR
+from openpilot.tools.lib.url_file import URLFile, CACHE_DIR
 
 
 class TestFileDownload(unittest.TestCase):
diff --git a/tools/lib/tests/test_readers.py b/tools/lib/tests/test_readers.py
index 6efa0dc351..1f24ae5c8e 100755
--- a/tools/lib/tests/test_readers.py
+++ b/tools/lib/tests/test_readers.py
@@ -5,8 +5,8 @@ import tempfile
 
 from collections import defaultdict
 import numpy as np
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
 
 
 class TestReaders(unittest.TestCase):
diff --git a/tools/lib/tests/test_route_library.py b/tools/lib/tests/test_route_library.py
index fbe7f3e776..7977f17be2 100755
--- a/tools/lib/tests/test_route_library.py
+++ b/tools/lib/tests/test_route_library.py
@@ -2,19 +2,19 @@
 import unittest
 from collections import namedtuple
 
-from tools.lib.route import SegmentName
+from openpilot.tools.lib.route import SegmentName
 
 class TestRouteLibrary(unittest.TestCase):
   def test_segment_name_formats(self):
     Case = namedtuple('Case', ['input', 'expected_route', 'expected_segment_num', 'expected_data_dir'])
 
-    cases = [ Case("4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, None),
-              Case("4cf7a6ad03080c90/2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, None),
-              Case("4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, None),
-              Case("4cf7a6ad03080c90/2021-09-29--13-46-36/3", "4cf7a6ad03080c90|2021-09-29--13-46-36", 3, None),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36", "4cf7a6ad03080c90|2021-09-29--13-46-36", -1, "/data/media/0/realdata"),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36--1", "4cf7a6ad03080c90|2021-09-29--13-46-36", 1, "/data/media/0/realdata"),
-              Case("/data/media/0/realdata/4cf7a6ad03080c90|2021-09-29--13-46-36/2", "4cf7a6ad03080c90|2021-09-29--13-46-36", 2, "/data/media/0/realdata") ]
+    cases = [ Case("a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, None),
+              Case("a2a0ccea32023010/2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, None),
+              Case("a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, None),
+              Case("a2a0ccea32023010/2023-07-27--13-01-19/3", "a2a0ccea32023010|2023-07-27--13-01-19", 3, None),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19", "a2a0ccea32023010|2023-07-27--13-01-19", -1, "/data/media/0/realdata"),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19--1", "a2a0ccea32023010|2023-07-27--13-01-19", 1, "/data/media/0/realdata"),
+              Case("/data/media/0/realdata/a2a0ccea32023010|2023-07-27--13-01-19/2", "a2a0ccea32023010|2023-07-27--13-01-19", 2, "/data/media/0/realdata") ]
 
     def _validate(case):
       route_or_segment_name = case.input
diff --git a/tools/lib/url_file.py b/tools/lib/url_file.py
index 1e94a588f1..e93f8e715c 100644
--- a/tools/lib/url_file.py
+++ b/tools/lib/url_file.py
@@ -1,5 +1,3 @@
-# pylint: skip-file
-
 import os
 import time
 import tempfile
@@ -9,7 +7,7 @@ import pycurl
 from hashlib import sha256
 from io import BytesIO
 from tenacity import retry, wait_random_exponential, stop_after_attempt
-from common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
+from openpilot.common.file_helpers import mkdirs_exists_ok, atomic_write_in_dir
 #  Cache chunk size
 K = 1000
 CHUNK_SIZE = 1000 * K
diff --git a/tools/lib/vidindex/bitstream.c b/tools/lib/vidindex/bitstream.c
index d174ffa8a7..dc6f43f14f 100644
--- a/tools/lib/vidindex/bitstream.c
+++ b/tools/lib/vidindex/bitstream.c
@@ -1,8 +1,8 @@
+#include "./bitstream.h"
+
 #include <stdbool.h>
 #include <assert.h>
 
-#include "bitstream.h"
-
 static const uint32_t BS_MASKS[33] = {
     0,           0x1L,        0x3L,       0x7L,       0xFL,       0x1FL,
     0x3FL,       0x7FL,       0xFFL,      0x1FFL,     0x3FFL,     0x7FFL,
diff --git a/tools/lib/vidindex/vidindex.c b/tools/lib/vidindex/vidindex.c
index 4857c60dd2..1d7da2e193 100644
--- a/tools/lib/vidindex/vidindex.c
+++ b/tools/lib/vidindex/vidindex.c
@@ -9,7 +9,7 @@
 #include <sys/stat.h>
 #include <sys/mman.h>
 
-#include "bitstream.h"
+#include "./bitstream.h"
 
 #define START_CODE 0x000001
 
diff --git a/tools/mac_setup.sh b/tools/mac_setup.sh
index e85292da03..3892efd6bb 100755
--- a/tools/mac_setup.sh
+++ b/tools/mac_setup.sh
@@ -9,7 +9,7 @@ ARCH=$(uname -m)
 if [[ $SHELL == "/bin/zsh" ]]; then
   RC_FILE="$HOME/.zshrc"
 elif [[ $SHELL == "/bin/bash" ]]; then
-  RC_FILE="$HOME/.bashrc"
+  RC_FILE="$HOME/.bash_profile"
 fi
 
 # Install brew if required
@@ -28,7 +28,6 @@ if [[ $(command -v brew) == "" ]]; then
   fi
 fi
 
-# TODO: remove protobuf,protobuf-c,swig when casadi can be pip installed
 brew bundle --file=- <<-EOS
 brew "catch2"
 brew "cmake"
@@ -45,21 +44,16 @@ brew "libarchive"
 brew "libusb"
 brew "libtool"
 brew "llvm"
-brew "openssl"
+brew "openssl@3.0"
 brew "pyenv"
+brew "pyenv-virtualenv"
 brew "qt@5"
 brew "zeromq"
-brew "protobuf"
-brew "protobuf-c"
-brew "swig"
+brew "gcc@12"
+cask "gcc-arm-embedded"
+brew "portaudio"
 EOS
 
-# Install gcc-arm-embedded 10.3-2021.10. 11.x is broken on M1 Macs with Xcode 13.3~
-brew uninstall gcc-arm-embedded || true
-curl -L https://github.com/Homebrew/homebrew-cask/raw/d407663b8017a0a062c7fc0b929faf2e16abd1ff/Casks/gcc-arm-embedded.rb > /tmp/gcc-arm-embedded.rb
-brew install --cask /tmp/gcc-arm-embedded.rb
-rm /tmp/gcc-arm-embedded.rb
-
 echo "[ ] finished brew install t=$SECONDS"
 
 BREW_PREFIX=$(brew --prefix)
@@ -73,43 +67,13 @@ export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/bzip2/include"
 # pycurl curl/openssl backend dependencies
 export LDFLAGS="$LDFLAGS -L${BREW_PREFIX}/opt/openssl@3/lib"
 export CPPFLAGS="$CPPFLAGS -I${BREW_PREFIX}/opt/openssl@3/include"
+export PYCURL_CURL_CONFIG=/usr/bin/curl-config
 export PYCURL_SSL_LIBRARY=openssl
 
-# openpilot environment
-if [ -z "$OPENPILOT_ENV" ] && [ -n "$RC_FILE" ] && [ -z "$CI" ]; then
-  echo "source $ROOT/tools/openpilot_env.sh" >> $RC_FILE
-  source "$ROOT/tools/openpilot_env.sh"
-  echo "Added openpilot_env to RC file: $RC_FILE"
-fi
-
 # install python dependencies
-$ROOT/update_requirements.sh
-eval "$(pyenv init --path)"
+$DIR/install_python_dependencies.sh
 echo "[ ] installed python dependencies t=$SECONDS"
 
-# install casadi
-VENV=`poetry env info --path`
-PYTHON_VER=3.8
-PYTHON_VERSION=$(cat $ROOT/.python-version)
-if [ ! -f "$VENV/include/casadi/casadi.hpp" ]; then
-  echo "-- casadi manual install"
-  cd /tmp/ && curl -L https://github.com/casadi/casadi/archive/refs/tags/ge6.tar.gz --output casadi.tar.gz
-  tar -xzf casadi.tar.gz
-  cd casadi-ge6/ && mkdir -p build && cd build
-  cmake .. \
-    -DWITH_PYTHON=ON \
-    -DWITH_EXAMPLES=OFF \
-    -DCMAKE_INSTALL_PREFIX:PATH=$VENV \
-    -DPYTHON_PREFIX:PATH=$VENV/lib/python$PYTHON_VER/site-packages \
-    -DPYTHON_LIBRARY:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/lib/libpython$PYTHON_VER.dylib \
-    -DPYTHON_EXECUTABLE:FILEPATH=$HOME/.pyenv/versions/$PYTHON_VERSION/bin/python \
-    -DPYTHON_INCLUDE_DIR:PATH=$HOME/.pyenv/versions/$PYTHON_VERSION/include/python$PYTHON_VER \
-    -DCMAKE_CXX_FLAGS="-ferror-limit=0" -DCMAKE_C_FLAGS="-ferror-limit=0"
-  CFLAGS="-ferror-limit=0" make -j$(nproc) && make install
-else
-  echo "----   casadi found in venv. skipping build   ----"
-fi
-
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
 echo "Open a new shell or configure your active shell env by running:"
diff --git a/tools/openpilot_env.sh b/tools/openpilot_env.sh
deleted file mode 100755
index 59108312ac..0000000000
--- a/tools/openpilot_env.sh
+++ /dev/null
@@ -1,22 +0,0 @@
-if [ -z "$OPENPILOT_ENV" ]; then
-  export PATH="$HOME/.pyenv/bin:$PATH"
-
-  # Pyenv suggests we place the below two lines in .profile before we source
-  # .bashrc, but there is no simple way to guarantee we do this correctly
-  # programmatically across heterogeneous systems. For end-user convenience,
-  # we add the lines here as a workaround.
-  # https://github.com/pyenv/pyenv/issues/1906
-  export PYENV_ROOT="$HOME/.pyenv"
-
-  if [[ "$(uname)" == 'Linux' ]]; then
-    eval "$(pyenv virtualenv-init -)"
-  elif [[ "$(uname)" == 'Darwin' ]]; then
-    # msgq doesn't work on mac
-    export ZMQ=1
-    export OBJC_DISABLE_INITIALIZE_FORK_SAFETY=YES
-  fi
-  eval "$(pyenv init --path)"
-  eval "$(pyenv init -)"
-
-  export OPENPILOT_ENV=1
-fi
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index b4190384db..ca9946145d 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -38,11 +38,11 @@ optional arguments:
 
 Examples using route name:
 
-`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36"`
+`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19"`
 
 Examples using segment name:
 
-`./juggle.py "4cf7a6ad03080c90|2021-09-29--13-46-36--1"`
+`./juggle.py "a2a0ccea32023010|2023-07-27--13-01-19--1"`
 
 ## Streaming
 
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1e592da3b1..02858b1edf 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -10,16 +10,16 @@ import tempfile
 import requests
 import argparse
 
-from common.basedir import BASEDIR
-from selfdrive.test.process_replay.compare_logs import save_log
-from selfdrive.test.openpilotci import get_url
-from tools.lib.logreader import LogReader
-from tools.lib.route import Route, SegmentName
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.route import Route, SegmentName
+from openpilot.tools.lib.helpers import save_log
 from urllib.parse import urlparse, parse_qs
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
-DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36"
+DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19"
 RELEASES_URL="https://github.com/commaai/PlotJuggler/releases/download/latest"
 INSTALL_DIR = os.path.join(juggle_dir, "bin")
 PLOTJUGGLER_BIN = os.path.join(juggle_dir, "bin/plotjuggler")
@@ -129,7 +129,7 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
   if dbc is None:
     for cp in [m for m in all_data if m.which() == 'carParams']:
       try:
-        DBC = __import__(f"selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
+        DBC = __import__(f"openpilot.selfdrive.car.{cp.carParams.carName}.values", fromlist=['DBC']).DBC
         dbc = DBC[cp.carParams.carFingerprint]['pt']
       except Exception:
         pass
@@ -168,7 +168,7 @@ if __name__ == "__main__":
   if not os.path.exists(PLOTJUGGLER_BIN):
     print("PlotJuggler is missing. Downloading...")
     install()
-  
+
   if get_plotjuggler_version() < MINIMUM_PLOTJUGGLER_VERSION:
     print("PlotJuggler is out of date. Installing update...")
     install()
diff --git a/tools/plotjuggler/layouts/camera-timings.xml b/tools/plotjuggler/layouts/camera-timings.xml
new file mode 100644
index 0000000000..f91cbd3f53
--- /dev/null
+++ b/tools/plotjuggler/layouts/camera-timings.xml
@@ -0,0 +1,148 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab tab_name="SOF / EOF (encodeIdx)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#1f77b4" name="/driverEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/driverEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/roadEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/roadEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/wideRoadEncodeIdx/timestampSof">
+        <transform name="Derivative" alias="/wideRoadEncodeIdx/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#f14cc1" name="/driverEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/driverEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#9467bd" name="/roadEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/roadEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#17becf" name="/wideRoadEncodeIdx/timestampEof">
+        <transform name="Derivative" alias="/wideRoadEncodeIdx/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="model timings" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.5;0.5" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="0.015143" left="0.000000" top="0.016865" right="630.006367"/>
+       <limitY/>
+       <curve color="#ff7f0e" name="/modelV2/modelExecutionTime"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/modelV2/frameDropPerc"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="sensor info" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="1" count="1">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="-0.100000" left="0.000000" top="0.100000" right="630.006367"/>
+       <limitY/>
+       <curve color="#bcbd22" name="/driverCameraState/sensor"/>
+       <curve color="#1f77b4" name="/roadCameraState/sensor"/>
+       <curve color="#d62728" name="/wideRoadCameraState/sensor"/>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <Tab tab_name="SOF / EOF (cameraState)" containers="1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.500885;0.499115" count="2">
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#1f77b4" name="/driverCameraState/timestampSof">
+        <transform name="Derivative" alias="/driverCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#d62728" name="/roadCameraState/timestampSof">
+        <transform name="Derivative" alias="/roadCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#1ac938" name="/wideRoadCameraState/timestampSof">
+        <transform name="Derivative" alias="/wideRoadCameraState/timestampSof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_x="false" mode="TimeSeries" flip_y="false" style="Lines">
+       <range bottom="35000000.000000" left="0.000000" top="65000000.000000" right="630.006367"/>
+       <limitY max="6.5e+07" min="3.5e+07"/>
+       <curve color="#ff7f0e" name="/driverCameraState/timestampEof">
+        <transform name="Derivative" alias="/driverCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#f14cc1" name="/roadCameraState/timestampEof">
+        <transform name="Derivative" alias="/roadCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+       <curve color="#9467bd" name="/wideRoadCameraState/timestampEof">
+        <transform name="Derivative" alias="/wideRoadCameraState/timestampEof[Derivative]">
+         <options lineEdit="1.0" radioChecked="radioCustom"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </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/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/plotjuggler/layouts/can-states.xml b/tools/plotjuggler/layouts/can-states.xml
new file mode 100644
index 0000000000..8c761517e6
--- /dev/null
+++ b/tools/plotjuggler/layouts/can-states.xml
@@ -0,0 +1,72 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget parent="main_window" name="Main Window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter count="2" sizes="0.500381;0.499619" orientation="-">
+     <DockSplitter count="2" sizes="0.5;0.5" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-17755.925000" top="771630.925000" left="0.000000"/>
+        <limitY/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState0/totalRxCnt"/>
+        <curve color="#d62728" name="/pandaStates/0/canState1/totalRxCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState2/totalRxCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-18545.500000" top="760365.500000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalTxCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalTxCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalTxCnt"/>
+       </plot>
+      </DockArea>
+     </DockSplitter>
+     <DockSplitter count="3" sizes="0.333333;0.333333;0.333333" orientation="|">
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-1.350000" top="55.350000" left="0.000000"/>
+        <limitY/>
+        <curve color="#ff7f0e" name="/pandaStates/0/canState0/totalRxLostCnt"/>
+        <curve color="#f14cc1" name="/pandaStates/0/canState1/totalRxLostCnt"/>
+        <curve color="#9467bd" name="/pandaStates/0/canState2/totalRxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.050000" top="2.050000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/totalTxLostCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState1/totalTxLostCnt"/>
+        <curve color="#1f77b4" name="/pandaStates/0/canState2/totalTxLostCnt"/>
+       </plot>
+      </DockArea>
+      <DockArea name="...">
+       <plot style="Lines" mode="TimeSeries" flip_y="false" flip_x="false">
+        <range right="632.799721" bottom="-0.100000" top="0.100000" left="0.000000"/>
+        <limitY/>
+        <curve color="#17becf" name="/pandaStates/0/canState0/busOffCnt"/>
+        <curve color="#1ac938" name="/pandaStates/0/canState1/busOffCnt"/>
+        <curve color="#bcbd22" name="/pandaStates/0/canState2/busOffCnt"/>
+       </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>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/plotjuggler/layouts/controls_mismatch_debug.xml b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
index adca3eed29..54586d6e7b 100644
--- a/tools/plotjuggler/layouts/controls_mismatch_debug.xml
+++ b/tools/plotjuggler/layouts/controls_mismatch_debug.xml
@@ -1,37 +1,44 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
  <tabbed_widget parent="main_window" name="Main Window">
-  <Tab containers="1" tab_name="tab1">
+  <Tab tab_name="tab1" containers="1">
    <Container>
-    <DockSplitter orientation="-" sizes="0.249729;0.250814;0.249729;0.249729" count="4">
+    <DockSplitter orientation="-" count="5" sizes="0.2;0.2;0.2;0.2;0.2">
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" left="0.000000" right="119.992934" top="1.025000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/controlsState/enabled" color="#1f77b4"/>
-       <curve name="/pandaStates/0/controlsAllowed" color="#d62728"/>
+       <curve color="#1f77b4" name="/controlsState/enabled"/>
+       <curve color="#d62728" name="/pandaStates/0/controlsAllowed"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-8.840137" left="0.000000" right="119.992934" top="12.881991"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="27.087398" bottom="-0.905168" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/controlsState/cumLagMs" color="#9467bd"/>
+       <curve color="#9467bd" name="/controlsState/cumLagMs"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.100000" left="0.000000" right="119.992934" top="0.100000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/pandaStates/0/blockedCnt" color="#d62728"/>
+       <curve color="#1f77b4" name="/pandaStates/0/safetyRxInvalid"/>
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_y="false" flip_x="false" style="Lines" mode="TimeSeries">
-       <range bottom="-0.025000" left="0.000000" right="119.992934" top="1.025000"/>
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="158.850000" bottom="-2.850000" left="0.018309" right="59.674401"/>
        <limitY/>
-       <curve name="/carState/gasPressed" color="#1ac938"/>
-       <curve name="/carState/brakePressed" color="#ff7f0e"/>
+       <curve color="#d62728" name="/pandaStates/0/safetyTxBlocked"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" mode="TimeSeries" flip_y="false">
+       <range top="1.025000" bottom="-0.025000" left="0.018309" right="59.674401"/>
+       <limitY/>
+       <curve color="#1ac938" name="/carState/gasPressed"/>
+       <curve color="#ff7f0e" name="/carState/brakePressed"/>
       </plot>
      </DockArea>
     </DockSplitter>
@@ -46,8 +53,8 @@
   <plugin ID="DataLoad Rlog"/>
   <plugin ID="Cereal Subscriber"/>
  </Plugins>
- <!-- - - - - - - - - - - - - - - -->
- <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations/>
+ <snippets/>
  <!-- - - - - - - - - - - - - - - -->
 </root>
 
diff --git a/tools/plotjuggler/layouts/thermal_debug.xml b/tools/plotjuggler/layouts/thermal_debug.xml
index c10b78f1c5..0a0a077245 100644
--- a/tools/plotjuggler/layouts/thermal_debug.xml
+++ b/tools/plotjuggler/layouts/thermal_debug.xml
@@ -1,12 +1,12 @@
 <?xml version='1.0' encoding='UTF-8'?>
 <root>
  <tabbed_widget name="Main Window" parent="main_window">
-  <Tab tab_name="tab1" containers="1">
+  <Tab containers="1" tab_name="tab1">
    <Container>
-    <DockSplitter orientation="-" count="5" sizes="0.199688;0.200468;0.199688;0.200468;0.199688">
+    <DockSplitter count="6" orientation="-" sizes="0.166785;0.166785;0.166075;0.166785;0.166785;0.166785">
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="59.907502" top="80.592498"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="87.987497" bottom="75.912497" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/cpuTempC/0" color="#1f77b4"/>
        <curve name="/deviceState/cpuTempC/1" color="#d62728"/>
@@ -19,8 +19,8 @@
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="53.190350" top="81.063652"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="85.861052" bottom="66.496950" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/pmicTempC/0" color="#1f77b4"/>
        <curve name="/deviceState/gpuTempC/0" color="#d62728"/>
@@ -29,40 +29,47 @@
       </plot>
      </DockArea>
      <DockArea name="...">
-      <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-       <range left="0.001973" right="4522.285082" bottom="-0.100000" top="0.100000"/>
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="86.207876" bottom="70.665918" right="301.842654"/>
+       <limitY/>
+       <curve name="/deviceState/maxTempC" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+       <range left="0.006955" top="1.025000" bottom="-0.025000" right="301.842654"/>
        <limitY/>
        <curve name="/deviceState/thermalStatus" color="#1f77b4"/>
       </plot>
      </DockArea>
-     <DockSplitter orientation="|" count="3" sizes="0.333333;0.333333;0.333333">
+     <DockSplitter count="3" orientation="|" sizes="0.333124;0.333752;0.333124">
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="4.522255" top="12.156595"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="12.057358" bottom="4.843517" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/powerDrawW" color="#ff7f0e"/>
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="0.000000" top="100.000000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.000000" bottom="0.000000" right="301.842654"/>
         <limitY min="0" max="100"/>
         <curve name="/deviceState/fanSpeedPercentDesired" color="#9467bd"/>
         <curve name="/pandaStates/0/fanPower" color="#1f77b4"/>
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-118.075000" top="4841.075000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="5018.400000" bottom="255.600000" right="301.842654"/>
         <limitY/>
         <curve name="/peripheralState/fanSpeedRpm" color="#1f77b4"/>
        </plot>
       </DockArea>
      </DockSplitter>
-     <DockSplitter orientation="|" count="2" sizes="0.502445;0.497555">
+     <DockSplitter count="2" orientation="|" sizes="0.502513;0.497487">
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-2.300000" top="94.300000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="100.025000" bottom="14.975000" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/cpuUsagePercent/0" color="#1f77b4"/>
         <curve name="/deviceState/cpuUsagePercent/1" color="#d62728"/>
@@ -71,8 +78,8 @@
        </plot>
       </DockArea>
       <DockArea name="...">
-       <plot flip_x="false" style="Lines" flip_y="false" mode="TimeSeries">
-        <range left="0.001973" right="4522.285082" bottom="-2.450000" top="100.450000"/>
+       <plot flip_y="false" style="Lines" mode="TimeSeries" flip_x="false">
+        <range left="0.006955" top="102.500000" bottom="-2.500000" right="301.842654"/>
         <limitY/>
         <curve name="/deviceState/cpuUsagePercent/4" color="#f14cc1"/>
         <curve name="/deviceState/cpuUsagePercent/5" color="#9467bd"/>
diff --git a/tools/plotjuggler/layouts/ublox-debug.xml b/tools/plotjuggler/layouts/ublox-debug.xml
new file mode 100644
index 0000000000..d595a9ecc7
--- /dev/null
+++ b/tools/plotjuggler/layouts/ublox-debug.xml
@@ -0,0 +1,44 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter orientation="-" sizes="0.333333;0.333333;0.333333" count="3">
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="4402341.574525" bottom="-107369.555525" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/accuracy" color="#1f77b4"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="1.025000" bottom="-0.025000" left="0.000000"/>
+       <limitY/>
+       <curve name="/gpsLocationExternal/flags" color="#d62728"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot style="Lines" flip_x="false" flip_y="false" mode="TimeSeries">
+       <range right="134.825489" top="6.150000" bottom="-0.150000" left="0.000000"/>
+       <limitY/>
+       <curve name="/ubloxGnss/measurementReport/numMeas" color="#1ac938"/>
+      </plot>
+     </DockArea>
+    </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/>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/plotjuggler/test_plotjuggler.py b/tools/plotjuggler/test_plotjuggler.py
index 8fc032042a..e29e33f921 100755
--- a/tools/plotjuggler/test_plotjuggler.py
+++ b/tools/plotjuggler/test_plotjuggler.py
@@ -6,9 +6,9 @@ import subprocess
 import time
 import unittest
 
-from common.basedir import BASEDIR
-from common.timeout import Timeout
-from tools.plotjuggler.juggle import install
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.timeout import Timeout
+from openpilot.tools.plotjuggler.juggle import install
 
 PJ_DIR = os.path.join(BASEDIR, "tools/plotjuggler")
 
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 2d0b702bd0..91e89176a2 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -5,16 +5,16 @@
 `replay` replays all the messages logged while running openpilot.
 
 ```bash
-# Log in via browser to have access to non-public routes
+# Log in via browser to have access to routes from your comma account
 python tools/lib/auth.py
 
 # Start a replay
 tools/replay/replay <route-name>
 
 # Example:
-# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+tools/replay/replay 'a2a0ccea32023010|2023-07-27--13-01-19'
 # or use --demo to replay the default demo route:
-# tools/replay/replay --demo
+tools/replay/replay --demo
 
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
@@ -64,12 +64,24 @@ cd selfdrive/ui && ./watch3
 
 Replay CAN messages as they were recorded using a [panda jungle](https://comma.ai/shop/products/panda-jungle). The jungle has 6x OBD-C ports for connecting all your comma devices. Check out the [jungle repo](https://github.com/commaai/panda_jungle) for more info.
 
-`can_replay.py` is a convenient script for when any CAN data will do.
+In order to run your device as if it was in a car:
+* connect a panda jungle to your PC
+* connect a comma device or panda to the jungle via OBD-C
+* run `can_replay.py`
 
-In order to replay specific route:
-```bash
-MOCK=1 selfdrive/boardd/tests/boardd_old.py
+``` bash
+batman:replay$ ./can_replay.py -h
+usage: can_replay.py [-h] [route_or_segment_name]
 
-# In another terminal:
-tools/replay/replay <route-name>
+Replay CAN messages from a route to all connected pandas and jungles
+in a loop.
+
+positional arguments:
+  route_or_segment_name
+                        The route or segment name to replay. If not
+                        specified, a default public route will be
+                        used. (default: None)
+
+optional arguments:
+  -h, --help            show this help message and exit
 ```
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 4ddeb662e0..bce7512e44 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -21,5 +21,5 @@ Export('replay_lib')
 replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
 qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
-if GetOption('test'):
-  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
+if GetOption('extras'):
+  qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs, qt_libs])
diff --git a/tools/replay/camera.cc b/tools/replay/camera.cc
index 72b385dca8..49f3010c6c 100644
--- a/tools/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,7 +1,19 @@
 #include "tools/replay/camera.h"
-#include "tools/replay/util.h"
 
 #include <cassert>
+#include <tuple>
+
+#include "third_party/linux/include/msm_media_info.h"
+#include "tools/replay/util.h"
+
+std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height) {
+  int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, width);
+  int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, height);
+  assert(nv12_width == VENUS_UV_STRIDE(COLOR_FMT_NV12, width));
+  assert(nv12_height / 2 == VENUS_UV_SCANLINES(COLOR_FMT_NV12, height));
+  size_t nv12_buffer_size = 2346 * nv12_width;  // comes from v4l2_format.fmt.pix_mp.plane_fmt[0].sizeimage
+  return {nv12_width, nv12_height, nv12_buffer_size};
+}
 
 CameraServer::CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS]) {
   for (int i = 0; i < MAX_CAMERAS; ++i) {
@@ -25,7 +37,9 @@ void CameraServer::startVipcServer() {
   for (auto &cam : cameras_) {
     if (cam.width > 0 && cam.height > 0) {
       rInfo("camera[%d] frame size %dx%d", cam.type, cam.width, cam.height);
-      vipc_server_->create_buffers(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height);
+      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(cam.width, cam.height);
+      vipc_server_->create_buffers_with_sizes(cam.stream_type, YUV_BUFFER_COUNT, false, cam.width, cam.height,
+                                              nv12_buffer_size, nv12_width, nv12_width * nv12_height);
       if (!cam.thread.joinable()) {
         cam.thread = std::thread(&CameraServer::cameraThread, this, std::ref(cam));
       }
@@ -38,7 +52,7 @@ void CameraServer::cameraThread(Camera &cam) {
   auto read_frame = [&](FrameReader *fr, int frame_id) {
     VisionBuf *yuv_buf = vipc_server_->get_buffer(cam.stream_type);
     assert(yuv_buf);
-    bool ret = fr->get(frame_id, (uint8_t *)yuv_buf->addr);
+    bool ret = fr->get(frame_id, yuv_buf);
     return ret ? yuv_buf : nullptr;
   };
 
@@ -56,7 +70,7 @@ void CameraServer::cameraThread(Camera &cam) {
           .timestamp_eof = eidx.getTimestampEof(),
       };
       yuv->set_frame_id(eidx.getFrameId());
-      vipc_server_->send(yuv, &extra, false);
+      vipc_server_->send(yuv, &extra);
     } else {
       rError("camera[%d] failed to get frame: %lu", cam.type, eidx.getSegmentId());
     }
diff --git a/tools/replay/camera.h b/tools/replay/camera.h
index 66d33142fb..9f43c5a362 100644
--- a/tools/replay/camera.h
+++ b/tools/replay/camera.h
@@ -1,11 +1,18 @@
 #pragma once
 
 #include <unistd.h>
+
+#include <memory>
+#include <tuple>
+#include <utility>
+
 #include "cereal/visionipc/visionipc_server.h"
 #include "common/queue.h"
 #include "tools/replay/framereader.h"
 #include "tools/replay/logreader.h"
 
+std::tuple<size_t, size_t, size_t> get_nv12_info(int width, int height);
+
 class CameraServer {
 public:
   CameraServer(std::pair<int, int> camera_size[MAX_CAMERAS] = nullptr);
diff --git a/tools/replay/can_replay.py b/tools/replay/can_replay.py
index 0b8b4fe0a1..032c29824a 100755
--- a/tools/replay/can_replay.py
+++ b/tools/replay/can_replay.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import argparse
 import os
 import time
 import threading
@@ -7,20 +8,11 @@ from tqdm import tqdm
 
 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.plotjuggler.juggle import load_segment
-from panda import Panda
-
-try:
-  # this bool can be replaced when mypy understands this pattern
-  panda_jungle_imported = True
-  from panda_jungle import PandaJungle  # pylint: disable=import-error  # type: ignore
-except ImportError:
-  PandaJungle = None
-  panda_jungle_imported = False
-
+from openpilot.common.realtime import config_realtime_process, Ratekeeper, DT_CTRL
+from openpilot.selfdrive.boardd.boardd import can_capnp_to_can_list
+from openpilot.tools.plotjuggler.juggle import load_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
+from panda import Panda, PandaJungle
 
 def send_thread(s, flock):
   if "Jungle" in str(type(s)):
@@ -87,18 +79,23 @@ def connect():
 
 
 if __name__ == "__main__":
-  if not panda_jungle_imported:
-    print("\33[31m", "WARNING: cannot connect to jungles. Clone the jungle library to enable support:", "\033[0m")
-    print("\033[34m", f"cd {BASEDIR} && git clone https://github.com/commaai/panda_jungle", "\033[0m")
+  parser = argparse.ArgumentParser(description="Replay CAN messages from a route to all connected pandas and jungles in a loop.",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("route_or_segment_name", nargs='?', help="The route or segment name to replay. If not specified, a default public route will be used.")
+  args = parser.parse_args()
 
   print("Loading log...")
-  ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
-  REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
-  CAN_MSGS = []
-  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']
+  if args.route_or_segment_name is None:
+    ROUTE = "77611a1fac303767/2020-03-24--09-50-38"
+    REPLAY_SEGS = list(range(10, 16))  # route has 82 segments available
+    CAN_MSGS = []
+    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']
+  else:
+    lr = logreader_from_route_or_segment(args.route_or_segment_name)
+    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/tools/replay/consoleui.cc b/tools/replay/consoleui.cc
index 77357a2873..719bbd69ca 100644
--- a/tools/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,7 +1,11 @@
 #include "tools/replay/consoleui.h"
 
-#include <QApplication>
 #include <initializer_list>
+#include <string>
+#include <tuple>
+#include <utility>
+
+#include <QApplication>
 
 #include "common/version.h"
 
@@ -50,14 +54,6 @@ void add_str(WINDOW *w, const char *str, Color color = Color::Default, bool bold
   if (color != Color::Default) wattroff(w, COLOR_PAIR(color));
 }
 
-std::string format_seconds(int s) {
-  int total_minutes = s / 60;
-  int seconds = s % 60;
-  int hours = total_minutes / 60;
-  int minutes = total_minutes % 60;
-  return util::string_format("%02d:%02d:%02d", hours, minutes, seconds);
-}
-
 }  // namespace
 
 ConsoleUI::ConsoleUI(Replay *replay, QObject *parent) : replay(replay), sm({"carState", "liveParameters"}), QObject(parent) {
@@ -173,12 +169,15 @@ void ConsoleUI::updateStatus() {
   sm.update(0);
 
   if (status != Status::Paused) {
-    status = (sm.updated("carState") || sm.updated("liveParameters")) ? Status::Playing : Status::Waiting;
+    auto events = replay->events();
+    uint64_t current_mono_time = replay->routeStartTime() + replay->currentSeconds() * 1e9;
+    bool playing = !events->empty() && events->back()->mono_time > current_mono_time;
+    status = playing ? Status::Playing : Status::Waiting;
   }
   auto [status_str, status_color] = status_text[status];
   write_item(0, 0, "STATUS:    ", status_str, "      ", false, status_color);
-  std::string suffix = " / " + format_seconds(replay->totalSeconds());
-  write_item(0, 25, "TIME:  ", format_seconds(replay->currentSeconds()), suffix, true);
+  std::string current_segment = " - " + std::to_string((int)(replay->currentSeconds() / 60));
+  write_item(0, 25, "TIME:  ", replay->currentDateTime().toString("ddd MMMM dd hh:mm:ss").toStdString(), current_segment, true);
 
   auto p = sm["liveParameters"].getLiveParameters();
   write_item(1, 0, "STIFFNESS: ", util::string_format("%.2f %%", p.getStiffnessFactor() * 100), "  ");
@@ -264,8 +263,8 @@ void ConsoleUI::updateTimeline() {
 
   const int total_sec = replay->totalSeconds();
   for (auto [begin, end, type] : replay->getTimeline()) {
-    int start_pos = ((double)begin / total_sec) * width;
-    int end_pos = ((double)end / total_sec) * width;
+    int start_pos = (begin / total_sec) * width;
+    int end_pos = (end / total_sec) * width;
     if (type == TimelineType::Engaged) {
       mvwchgat(win, 1, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
       mvwchgat(win, 2, start_pos, end_pos - start_pos + 1, A_COLOR, Color::Engaged, NULL);
diff --git a/tools/replay/framereader.cc b/tools/replay/framereader.cc
index a1ff7b9f8e..303f0c60ca 100644
--- a/tools/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -2,9 +2,8 @@
 #include "tools/replay/util.h"
 
 #include <cassert>
-#include "libyuv.h"
-
-#include "cereal/visionipc/visionbuf.h"
+#include <algorithm>
+#include "third_party/libyuv/include/libyuv.h"
 
 #ifdef __APPLE__
 #define HW_DEVICE_TYPE AV_HWDEVICE_TYPE_VIDEOTOOLBOX
@@ -68,14 +67,20 @@ FrameReader::~FrameReader() {
 bool FrameReader::load(const std::string &url, bool no_hw_decoder, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
   FileReader f(local_cache, chunk_size, retries);
   std::string data = f.read(url, abort);
-  if (data.empty()) return false;
+  if (data.empty()) {
+    rWarning("URL %s returned no data", url.c_str());
+    return false;
+  }
 
   return load((std::byte *)data.data(), data.size(), no_hw_decoder, abort);
 }
 
 bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, std::atomic<bool> *abort) {
   input_ctx = avformat_alloc_context();
-  if (!input_ctx) return false;
+  if (!input_ctx) {
+    rError("Error calling avformat_alloc_context");
+    return false;
+  }
 
   struct buffer_data bd = {
     .data = (const uint8_t*)data,
@@ -112,7 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
 
   width = (decoder_ctx->width + 3) & ~3;
   height = decoder_ctx->height;
-  visionbuf_compute_aligned_width_and_height(width, height, &aligned_width, &aligned_height);
 
   if (has_hw_decoder && !no_hw_decoder) {
     if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
@@ -121,7 +125,10 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
   }
 
   ret = avcodec_open2(decoder_ctx, decoder, nullptr);
-  if (ret < 0) return false;
+  if (ret < 0) {
+    rError("avcodec_open2 failed %d", ret);
+    return false;
+  }
 
   packets.reserve(60 * 20);  // 20fps, one minute
   while (!(abort && *abort)) {
@@ -168,15 +175,15 @@ bool FrameReader::initHardwareDecoder(AVHWDeviceType hw_device_type) {
   return true;
 }
 
-bool FrameReader::get(int idx, uint8_t *yuv) {
-  assert(yuv != nullptr);
+bool FrameReader::get(int idx, VisionBuf *buf) {
+  assert(buf != nullptr);
   if (!valid_ || idx < 0 || idx >= packets.size()) {
     return false;
   }
-  return decode(idx, yuv);
+  return decode(idx, buf);
 }
 
-bool FrameReader::decode(int idx, uint8_t *yuv) {
+bool FrameReader::decode(int idx, VisionBuf *buf) {
   int from_idx = idx;
   if (idx != prev_idx + 1 && key_frames_count_ > 1) {
     // seeking to the nearest key frame
@@ -192,7 +199,7 @@ bool FrameReader::decode(int idx, uint8_t *yuv) {
   for (int i = from_idx; i <= idx; ++i) {
     AVFrame *f = decodeFrame(packets[i]);
     if (f && i == idx) {
-      return copyBuffers(f, yuv);
+      return copyBuffers(f, buf);
     }
   }
   return false;
@@ -224,22 +231,20 @@ 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;
+bool FrameReader::copyBuffers(AVFrame *f, VisionBuf *buf) {
+  assert(f != nullptr && buf != nullptr);
   if (hw_pix_fmt == HW_PIX_FMT) {
     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);
+      memcpy(buf->y + (i*2 + 0)*buf->stride, f->data[0] + (i*2 + 0)*f->linesize[0], width);
+      memcpy(buf->y + (i*2 + 1)*buf->stride, f->data[0] + (i*2 + 1)*f->linesize[0], width);
+      memcpy(buf->uv + i*buf->stride, f->data[1] + i*f->linesize[1], width);
     }
   } else {
     libyuv::I420ToNV12(f->data[0], f->linesize[0],
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
-                       y, width,
-                       uv, width,
+                       buf->y, buf->stride,
+                       buf->uv, buf->stride,
                        width, height);
   }
   return true;
diff --git a/tools/replay/framereader.h b/tools/replay/framereader.h
index e50b61d7f4..bb72ac8f8d 100644
--- a/tools/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,6 +4,7 @@
 #include <string>
 #include <vector>
 
+#include "cereal/visionipc/visionbuf.h"
 #include "tools/replay/filereader.h"
 
 extern "C" {
@@ -22,19 +23,18 @@ public:
   bool load(const std::string &url, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr, bool local_cache = false,
             int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, bool no_hw_decoder = false, std::atomic<bool> *abort = nullptr);
-  bool get(int idx, uint8_t *yuv);
+  bool get(int idx, VisionBuf *buf);
   int getYUVSize() const { return width * height * 3 / 2; }
   size_t getFrameCount() const { return packets.size(); }
   bool valid() const { return valid_; }
 
   int width = 0, height = 0;
-  int aligned_width = 0, aligned_height = 0;
 
 private:
   bool initHardwareDecoder(AVHWDeviceType hw_device_type);
-  bool decode(int idx, uint8_t *yuv);
+  bool decode(int idx, VisionBuf *buf);
   AVFrame * decodeFrame(AVPacket *pkt);
-  bool copyBuffers(AVFrame *f, uint8_t *yuv);
+  bool copyBuffers(AVFrame *f, VisionBuf *buf);
 
   std::vector<AVPacket*> packets;
   std::unique_ptr<AVFrame, AVFrameDeleter>av_frame_, hw_frame;
diff --git a/tools/replay/lib/ui_helpers.py b/tools/replay/lib/ui_helpers.py
index d66fe79306..e350b89bac 100644
--- a/tools/replay/lib/ui_helpers.py
+++ b/tools/replay/lib/ui_helpers.py
@@ -3,14 +3,14 @@ from typing import Any, Dict, Tuple
 
 import matplotlib.pyplot as plt
 import numpy as np
-import pygame  # pylint: disable=import-error
+import pygame
 
 from matplotlib.backends.backend_agg import FigureCanvasAgg
 
-from common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
+from openpilot.common.transformations.camera import (eon_f_frame_size, eon_f_focal_length,
                                            tici_f_frame_size, tici_f_focal_length,
                                            get_view_frame_from_calib_frame)
-from selfdrive.controls.lib.radar_helpers import RADAR_TO_CAMERA
+from openpilot.selfdrive.controls.radard import RADAR_TO_CAMERA
 
 
 RED = (255, 0, 0)
@@ -161,7 +161,7 @@ def init_plots(arr, name_to_arr_idx, plot_xlims, plot_ylims, plot_names, plot_co
       idxs.append(name_to_arr_idx[item])
       plot_select.append(i)
     axs[i].set_title(", ".join(f"{nm} ({cl})"
-                               for (nm, cl) in zip(pl_list, plot_colors[i])), fontsize=10)
+                               for (nm, cl) in zip(pl_list, plot_colors[i], strict=False)), fontsize=10)
     axs[i].tick_params(axis="x", colors="white")
     axs[i].tick_params(axis="y", colors="white")
     axs[i].title.set_color("white")
@@ -205,11 +205,11 @@ def plot_model(m, img, calibration, top_down):
     px, py_bottom = to_topdown_pt(x - x_std, y)
     top_down[1][int(round(px - 4)):int(round(px + 4)), py_top:py_bottom] = find_color(top_down[0], YELLOW)
 
-  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds):
+  for path, prob, _ in zip(m.laneLines, m.laneLineProbs, m.laneLineStds, strict=True):
     color = (0, int(255 * prob), 0)
     draw_path(path, color, img, calibration, top_down, YELLOW)
 
-  for edge, std in zip(m.roadEdges, m.roadEdgeStds):
+  for edge, std in zip(m.roadEdges, m.roadEdgeStds, strict=True):
     prob = max(1 - std, 0)
     color = (int(255 * prob), 0, 0)
     draw_path(edge, color, img, calibration, top_down, RED)
diff --git a/tools/replay/logreader.cc b/tools/replay/logreader.cc
index e3d5071412..74aebceae5 100644
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -29,8 +29,7 @@ Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(a
 LogReader::LogReader(size_t memory_pool_block_size) {
 #ifdef HAS_MEMORY_RESOURCE
   const size_t buf_size = sizeof(Event) * memory_pool_block_size;
-  pool_buffer_ = ::operator new(buf_size);
-  mbr_ = new std::pmr::monotonic_buffer_resource(pool_buffer_, buf_size);
+  mbr_ = std::make_unique<std::pmr::monotonic_buffer_resource>(buf_size);
 #endif
   events.reserve(memory_pool_block_size);
 }
@@ -39,11 +38,6 @@ LogReader::~LogReader() {
   for (Event *e : events) {
     delete e;
   }
-
-#ifdef HAS_MEMORY_RESOURCE
-  delete mbr_;
-  ::operator delete(pool_buffer_);
-#endif
 }
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort,
@@ -68,20 +62,16 @@ bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<b
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
-      if (!allow.empty()) {
-        capnp::FlatArrayMessageReader reader(words);
-        auto which = reader.getRoot<cereal::Event>().which();
-        if (allow.find(which) == allow.end()) {
-          words = kj::arrayPtr(reader.getEnd(), words.end());
-          continue;
-        }
-      }
-
 #ifdef HAS_MEMORY_RESOURCE
-      Event *evt = new (mbr_) Event(words);
+      Event *evt = new (mbr_.get()) Event(words);
 #else
       Event *evt = new Event(words);
 #endif
+      if (!allow.empty() && allow.find(evt->which) == allow.end()) {
+        words = kj::arrayPtr(evt->reader.getEnd(), words.end());
+        delete evt;
+        continue;
+      }
 
       // Add encodeIdx packet again as a frame packet for the video stream
       if (evt->which == cereal::Event::ROAD_ENCODE_IDX ||
@@ -89,7 +79,7 @@ bool LogReader::parse(const std::set<cereal::Event::Which> &allow, std::atomic<b
           evt->which == cereal::Event::WIDE_ROAD_ENCODE_IDX) {
 
 #ifdef HAS_MEMORY_RESOURCE
-        Event *frame_evt = new (mbr_) Event(words, true);
+        Event *frame_evt = new (mbr_.get()) Event(words, true);
 #else
         Event *frame_evt = new Event(words, true);
 #endif
diff --git a/tools/replay/logreader.h b/tools/replay/logreader.h
index 010839af22..77d751a91b 100644
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -5,7 +5,10 @@
 #include <memory_resource>
 #endif
 
+#include <memory>
 #include <set>
+#include <string>
+#include <vector>
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
@@ -61,7 +64,6 @@ private:
   bool parse(const std::set<cereal::Event::Which> &allow, std::atomic<bool> *abort);
   std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
-  std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
-  void *pool_buffer_ = nullptr;
+  std::unique_ptr<std::pmr::monotonic_buffer_resource> mbr_;
 #endif
 };
diff --git a/tools/replay/main.cc b/tools/replay/main.cc
index 40dace0c91..98a0bb3333 100644
--- a/tools/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,12 +1,19 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
+#include "common/prefix.h"
 #include "tools/replay/consoleui.h"
 #include "tools/replay/replay.h"
 
 int main(int argc, char *argv[]) {
+#ifdef __APPLE__
+  // With all sockets opened, we might hit the default limit of 256 on macOS
+  util::set_file_descriptor_limit(1024);
+#endif
+
   QCoreApplication app(argc, argv);
 
+  const QStringList base_blacklist = {"uiDebug", "userFlag"};
   const std::tuple<QString, REPLAY_FLAGS, QString> flags[] = {
       {"dcam", REPLAY_FLAG_DCAM, "load driver camera"},
       {"ecam", REPLAY_FLAG_ECAM, "load wide road camera"},
@@ -15,6 +22,8 @@ int main(int argc, char *argv[]) {
       {"qcam", REPLAY_FLAG_QCAMERA, "load qcamera"},
       {"no-hw-decoder", REPLAY_FLAG_NO_HW_DECODER, "disable HW video decoding"},
       {"no-vipc", REPLAY_FLAG_NO_VIPC, "do not output video"},
+      {"all", REPLAY_FLAG_ALL_SERVICES, "do output all messages including " + base_blacklist.join(", ") + 
+                                        ". this may causes issues when used along with UI"}
   };
 
   QCommandLineParser parser;
@@ -23,9 +32,11 @@ int main(int argc, char *argv[]) {
   parser.addPositionalArgument("route", "the drive to replay. find your drives at connect.comma.ai");
   parser.addOption({{"a", "allow"}, "whitelist of services to send", "allow"});
   parser.addOption({{"b", "block"}, "blacklist of services to send", "block"});
+  parser.addOption({{"c", "cache"}, "cache <n> segments in memory. default is 5", "n"});
   parser.addOption({{"s", "start"}, "start from <seconds>", "seconds"});
   parser.addOption({"demo", "use a demo route instead of providing your own"});
   parser.addOption({"data_dir", "local directory with routes", "data_dir"});
+  parser.addOption({"prefix", "set OPENPILOT_PREFIX", "prefix"});
   for (auto &[name, _, desc] : flags) {
     parser.addOption({name, desc});
   }
@@ -46,7 +57,17 @@ int main(int argc, char *argv[]) {
       replay_flags |= flag;
     }
   }
-  Replay *replay = new Replay(route, allow, block, nullptr, replay_flags, parser.value("data_dir"), &app);
+
+  std::unique_ptr<OpenpilotPrefix> op_prefix;
+  auto prefix = parser.value("prefix");
+  if (!prefix.isEmpty()) {
+    op_prefix.reset(new OpenpilotPrefix(prefix.toStdString()));
+  }
+
+  Replay *replay = new Replay(route, allow, block, base_blacklist, nullptr, replay_flags, parser.value("data_dir"), &app);
+  if (!parser.value("c").isEmpty()) {
+    replay->setSegmentCacheLimit(parser.value("c").toInt());
+  }
   if (!replay->load()) {
     return 0;
   }
diff --git a/tools/replay/replay.cc b/tools/replay/replay.cc
index 339e688be1..e323a9f64d 100644
--- a/tools/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -10,21 +10,38 @@
 #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)
+Replay::Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
     : sm(sm_), flags_(flags), QObject(parent) {
   std::vector<const char *> s;
   auto event_struct = capnp::Schema::from<cereal::Event>().asStruct();
   sockets_.resize(event_struct.getUnionFields().size());
   for (const auto &it : services) {
-    if ((allow.empty() || allow.contains(it.name)) && !block.contains(it.name)) {
-      uint16_t which = event_struct.getFieldByName(it.name).getProto().getDiscriminantValue();
-      sockets_[which] = it.name;
+    auto name = it.second.name.c_str();
+    uint16_t which = event_struct.getFieldByName(name).getProto().getDiscriminantValue();
+    if ((which == cereal::Event::Which::UI_DEBUG || which == cereal::Event::Which::USER_FLAG) &&
+        !(flags & REPLAY_FLAG_ALL_SERVICES) &&
+        !allow.contains(name)) {
+      continue;
+    }
+
+    if ((allow.empty() || allow.contains(name)) && !block.contains(name)) {
+      sockets_[which] = name;
       if (!allow.empty() || !block.empty()) {
         allow_list.insert((cereal::Event::Which)which);
       }
-      s.push_back(it.name);
+      s.push_back(name);
+    }
+  }
+
+  if (!allow_list.empty()) {
+    // the following events are needed for replay to work properly.
+    allow_list.insert(cereal::Event::Which::INIT_DATA);
+    allow_list.insert(cereal::Event::Which::CAR_PARAMS);
+    if (sockets_[cereal::Event::Which::PANDA_STATES] != nullptr) {
+      allow_list.insert(cereal::Event::Which::PANDA_STATE_D_E_P_R_E_C_A_T_E_D);
     }
   }
+
   qDebug() << "services " << s;
   qDebug() << "loading route " << route;
 
@@ -51,9 +68,9 @@ void Replay::stop() {
     stream_thread_->wait();
     stream_thread_ = nullptr;
   }
-  segments_.clear();
   camera_server_.reset(nullptr);
   timeline_future.waitForFinished();
+  segments_.clear();
   rInfo("shutdown: done");
 }
 
@@ -84,7 +101,7 @@ void Replay::start(int seconds) {
 }
 
 void Replay::updateEvents(const std::function<bool()> &lambda) {
-  // set updating_events to true to force stream thread release the lock and wait for evnets_udpated.
+  // set updating_events to true to force stream thread release the lock and wait for events_updated.
   updating_events_ = true;
   {
     std::unique_lock lk(stream_lock_);
@@ -107,6 +124,7 @@ void Replay::seekTo(double seconds, bool relative) {
     rInfo("seeking to %d s, segment %d", (int)seconds, seg);
     current_segment_ = seg;
     cur_mono_time_ = route_start_ts_ + seconds * 1e9;
+    emit seekedTo(seconds);
     return isSegmentMerged(seg);
   });
   queueSegment();
@@ -120,8 +138,18 @@ void Replay::seekToFlag(FindFlag flag) {
 
 void Replay::buildTimeline() {
   uint64_t engaged_begin = 0;
+  bool engaged = false;
+
+  auto alert_status = cereal::ControlsState::AlertStatus::NORMAL;
+  auto alert_size = cereal::ControlsState::AlertSize::NONE;
   uint64_t alert_begin = 0;
-  TimelineType alert_type = TimelineType::None;
+  std::string alert_type;
+
+  const TimelineType timeline_types[] = {
+    [(int)cereal::ControlsState::AlertStatus::NORMAL] = TimelineType::AlertInfo,
+    [(int)cereal::ControlsState::AlertStatus::USER_PROMPT] = TimelineType::AlertWarning,
+    [(int)cereal::ControlsState::AlertStatus::CRITICAL] = TimelineType::AlertCritical,
+  };
 
   for (auto it = segments_.cbegin(); it != segments_.cend() && !exit_; ++it) {
     LogReader log;
@@ -133,26 +161,24 @@ void Replay::buildTimeline() {
       if (e->which == cereal::Event::Which::CONTROLS_STATE) {
         auto cs = e->event.getControlsState();
 
-        if (!engaged_begin && cs.getEnabled()) {
+        if (engaged != cs.getEnabled()) {
+          if (engaged) {
+            std::lock_guard lk(timeline_lock);
+            timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
+          }
           engaged_begin = e->mono_time;
-        } else if (engaged_begin && !cs.getEnabled()) {
-          std::lock_guard lk(timeline_lock);
-          timeline.push_back({toSeconds(engaged_begin), toSeconds(e->mono_time), TimelineType::Engaged});
-          engaged_begin = 0;
+          engaged = cs.getEnabled();
         }
 
-        if (!alert_begin && cs.getAlertType().size() > 0) {
-          alert_begin = e->mono_time;
-          alert_type = TimelineType::AlertInfo;
-          if (cs.getAlertStatus() != cereal::ControlsState::AlertStatus::NORMAL) {
-            alert_type = cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT
-                             ? TimelineType::AlertWarning
-                             : TimelineType::AlertCritical;
+        if (alert_type != cs.getAlertType().cStr() || alert_status != cs.getAlertStatus()) {
+          if (!alert_type.empty() && alert_size != cereal::ControlsState::AlertSize::NONE) {
+            std::lock_guard lk(timeline_lock);
+            timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), timeline_types[(int)alert_status]});
           }
-        } else if (alert_begin && cs.getAlertType().size() == 0) {
-          std::lock_guard lk(timeline_lock);
-          timeline.push_back({toSeconds(alert_begin), toSeconds(e->mono_time), alert_type});
-          alert_begin = 0;
+          alert_begin = e->mono_time;
+          alert_type = cs.getAlertType().cStr();
+          alert_size = cs.getAlertSize();
+          alert_status = cs.getAlertStatus();
         }
       } else if (e->which == cereal::Event::Which::USER_FLAG) {
         std::lock_guard lk(timeline_lock);
@@ -185,7 +211,7 @@ std::optional<uint64_t> Replay::find(FindFlag flag) {
 
 void Replay::pause(bool pause) {
   updateEvents([=]() {
-    rWarning("%s at %d s", pause ? "paused..." : "resuming", currentSeconds());
+    rWarning("%s at %.2f s", pause ? "paused..." : "resuming", currentSeconds());
     paused_ = pause;
     return true;
   });
@@ -209,11 +235,17 @@ void Replay::segmentLoadFinished(bool success) {
 void Replay::queueSegment() {
   if (segments_.empty()) return;
 
-  SegmentMap::iterator cur, end;
-  cur = end = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first));
-  for (int i = 0; end != segments_.end() && i <= segment_cache_limit + FORWARD_FETCH_SEGS; ++i) {
+  SegmentMap::iterator begin, cur;
+  begin = cur = segments_.lower_bound(std::min(current_segment_.load(), segments_.rbegin()->first));
+  int distance = std::max<int>(std::ceil(segment_cache_limit / 2.0) - 1, segment_cache_limit - std::distance(cur, segments_.end()));
+  for (int i = 0; begin != segments_.begin() && i < distance; ++i) {
+    --begin;
+  }
+  auto end = begin;
+  for (int i = 0; end != segments_.end() && i < segment_cache_limit; ++i) {
     ++end;
   }
+
   // load one segment at a time
   for (auto it = cur; it != end; ++it) {
     auto &[n, seg] = *it;
@@ -227,12 +259,6 @@ void Replay::queueSegment() {
     }
   }
 
-  const auto &cur_segment = cur->second;
-  // merge the previous adjacent segment if it's loaded
-  auto begin = segments_.find(cur_segment->seg_num - 1);
-  if (begin == segments_.end() || !(begin->second && begin->second->isLoaded())) {
-    begin = cur;
-  }
   mergeSegments(begin, end);
 
   // free segments out of current semgnt window.
@@ -240,6 +266,7 @@ void Replay::queueSegment() {
   std::for_each(end, segments_.end(), [](auto &e) { e.second.reset(nullptr); });
 
   // start stream thread
+  const auto &cur_segment = cur->second;
   if (stream_thread_ == nullptr && cur_segment->isLoaded()) {
     startStream(cur_segment.get());
     emit streamStarted();
@@ -247,12 +274,13 @@ void Replay::queueSegment() {
 }
 
 void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::iterator &end) {
-  // merge 3 segments in sequence.
   std::vector<int> segments_need_merge;
   size_t new_events_size = 0;
-  for (auto it = begin; it != end && it->second && it->second->isLoaded() && segments_need_merge.size() < segment_cache_limit; ++it) {
-    segments_need_merge.push_back(it->first);
-    new_events_size += it->second->log->events.size();
+  for (auto it = begin; it != end; ++it) {
+    if (it->second && it->second->isLoaded()) {
+      segments_need_merge.push_back(it->first);
+      new_events_size += it->second->log->events.size();
+    }
   }
 
   if (segments_need_merge != segments_merged_) {
@@ -266,18 +294,23 @@ void Replay::mergeSegments(const SegmentMap::iterator &begin, const SegmentMap::
     new_events_->reserve(new_events_size);
     for (int n : segments_need_merge) {
       const auto &e = segments_[n]->log->events;
-      auto middle = new_events_->insert(new_events_->end(), e.begin(), e.end());
-      std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan());
+      if (e.size() > 0) {
+        auto insert_from = e.begin();
+        if (new_events_->size() > 0 && (*insert_from)->which == cereal::Event::Which::INIT_DATA) ++insert_from;
+        auto middle = new_events_->insert(new_events_->end(), insert_from, e.end());
+        std::inplace_merge(new_events_->begin(), middle, new_events_->end(), Event::lessThan());
+      }
     }
 
+    if (stream_thread_) {
+      emit segmentsMerged();
+    }
     updateEvents([&]() {
       events_.swap(new_events_);
       segments_merged_ = segments_need_merge;
-      return true;
+      // Do not wake up the stream thread if the current segment has not been merged.
+      return isSegmentMerged(current_segment_) || (segments_.count(current_segment_) == 0);
     });
-    if (stream_thread_) {
-      emit segmentsMerged();
-    }
   }
 }
 
diff --git a/tools/replay/replay.h b/tools/replay/replay.h
index 88c285125a..5ed4ff11b5 100644
--- a/tools/replay/replay.h
+++ b/tools/replay/replay.h
@@ -1,16 +1,24 @@
 #pragma once
 
+#include <algorithm>
+#include <map>
+#include <memory>
 #include <optional>
+#include <set>
+#include <string>
+#include <tuple>
+#include <vector>
+#include <utility>
 
 #include <QThread>
 
 #include "tools/replay/camera.h"
 #include "tools/replay/route.h"
 
-const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
+const QString DEMO_ROUTE = "a2a0ccea32023010|2023-07-27--13-01-19";
 
 // one segment uses about 100M of memory
-constexpr int FORWARD_FETCH_SEGS = 3;
+constexpr int MIN_SEGMENTS_CACHE = 5;
 
 enum REPLAY_FLAGS {
   REPLAY_FLAG_NONE = 0x0000,
@@ -22,6 +30,7 @@ enum REPLAY_FLAGS {
   REPLAY_FLAG_NO_HW_DECODER = 0x0100,
   REPLAY_FLAG_FULL_SPEED = 0x0200,
   REPLAY_FLAG_NO_VIPC = 0x0400,
+  REPLAY_FLAG_ALL_SERVICES = 0x0800,
 };
 
 enum class FindFlag {
@@ -40,7 +49,7 @@ class Replay : public QObject {
   Q_OBJECT
 
 public:
-  Replay(QString route, QStringList allow, QStringList block, SubMaster *sm = nullptr,
+  Replay(QString route, QStringList allow, QStringList block, QStringList base_blacklist, SubMaster *sm = nullptr,
           uint32_t flags = REPLAY_FLAG_NONE, QString data_dir = "", QObject *parent = 0);
   ~Replay();
   bool load();
@@ -58,20 +67,22 @@ public:
     event_filter = filter;
   }
   inline int segmentCacheLimit() const { return segment_cache_limit; }
-  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(3, n); }
+  inline void setSegmentCacheLimit(int n) { segment_cache_limit = std::max(MIN_SEGMENTS_CACHE, n); }
   inline bool hasFlag(REPLAY_FLAGS flag) const { return flags_ & flag; }
   inline void addFlag(REPLAY_FLAGS flag) { flags_ |= flag; }
   inline void removeFlag(REPLAY_FLAGS flag) { flags_ &= ~flag; }
   inline const Route* route() const { return route_.get(); }
   inline double currentSeconds() const { return double(cur_mono_time_ - route_start_ts_) / 1e9; }
+  inline QDateTime currentDateTime() const { return route_->datetime().addSecs(currentSeconds()); }
   inline uint64_t routeStartTime() const { return route_start_ts_; }
-  inline int toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
-  inline int totalSeconds() const { return segments_.size() * 60; }
+  inline double toSeconds(uint64_t mono_time) const { return (mono_time - route_start_ts_) / 1e9; }
+  inline int totalSeconds() const { return (!segments_.empty()) ? (segments_.rbegin()->first + 1) * 60 : 0; }
   inline void setSpeed(float speed) { speed_ = speed; }
   inline float getSpeed() const { return speed_; }
   inline const std::vector<Event *> *events() const { return events_.get(); }
+  inline const std::map<int, std::unique_ptr<Segment>> &segments() const { return segments_; }
   inline const std::string &carFingerprint() const { return car_fingerprint_; }
-  inline const std::vector<std::tuple<int, int, TimelineType>> getTimeline() {
+  inline const std::vector<std::tuple<double, double, TimelineType>> getTimeline() {
     std::lock_guard lk(timeline_lock);
     return timeline;
   }
@@ -79,6 +90,7 @@ public:
 signals:
   void streamStarted();
   void segmentsMerged();
+  void seekedTo(double sec);
 
 protected slots:
   void segmentLoadFinished(bool success);
@@ -127,11 +139,11 @@ protected:
 
   std::mutex timeline_lock;
   QFuture<void> timeline_future;
-  std::vector<std::tuple<int, int, TimelineType>> timeline;
+  std::vector<std::tuple<double, double, TimelineType>> timeline;
   std::set<cereal::Event::Which> allow_list;
   std::string car_fingerprint_;
   float speed_ = 1.0;
   replayEventFilter event_filter = nullptr;
   void *filter_opaque = nullptr;
-  int segment_cache_limit = 3;
+  int segment_cache_limit = MIN_SEGMENTS_CACHE;
 };
diff --git a/tools/replay/route.cc b/tools/replay/route.cc
index f0d6ec5a12..15a57e5e42 100644
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@@ -6,11 +6,13 @@
 #include <QJsonDocument>
 #include <QRegExp>
 #include <QtConcurrent>
-
 #include <array>
+#include <memory>
+#include <set>
+#include <string>
 
-#include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
+#include "system/hardware/hw.h"
 #include "tools/replay/replay.h"
 #include "tools/replay/util.h"
 
@@ -19,18 +21,19 @@ Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir
 }
 
 RouteIdentifier Route::parseRoute(const QString &str) {
-  QRegExp rx(R"(^([a-z0-9]{16})([|_/])(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
+  QRegExp rx(R"(^(?:([a-z0-9]{16})([|_/]))?(\d{4}-\d{2}-\d{2}--\d{2}-\d{2}-\d{2})(?:(--|/)(\d*))?$)");
   if (rx.indexIn(str) == -1) return {};
 
   const QStringList list = rx.capturedTexts();
-  return {list[1], list[3], list[5].toInt(), list[1] + "|" + list[3]};
+  return {.dongle_id = list[1], .timestamp = list[3], .segment_id = list[5].toInt(), .str = list[1] + "|" + list[3]};
 }
 
 bool Route::load() {
-  if (route_.str.isEmpty()) {
+  if (route_.str.isEmpty() || (data_dir_.isEmpty() && route_.dongle_id.isEmpty())) {
     rInfo("invalid route format");
     return false;
   }
+  date_time_ = QDateTime::fromString(route_.timestamp, "yyyy-MM-dd--HH-mm-ss");
   return data_dir_.isEmpty() ? loadFromServer() : loadFromLocal();
 }
 
diff --git a/tools/replay/route.h b/tools/replay/route.h
index 6b78ebad87..7207ff4f5c 100644
--- a/tools/replay/route.h
+++ b/tools/replay/route.h
@@ -1,5 +1,11 @@
 #pragma once
 
+#include <map>
+#include <memory>
+#include <set>
+#include <string>
+
+#include <QDateTime>
 #include <QFutureSynchronizer>
 
 #include "tools/replay/framereader.h"
@@ -27,6 +33,7 @@ public:
   Route(const QString &route, const QString &data_dir = {});
   bool load();
   inline const QString &name() const { return route_.str; }
+  inline const QDateTime datetime() const { return date_time_; }
   inline const QString &dir() const { return data_dir_; }
   inline const RouteIdentifier &identifier() const { return route_; }
   inline const std::map<int, SegmentFile> &segments() const { return segments_; }
@@ -41,6 +48,7 @@ protected:
   RouteIdentifier route_ = {};
   QString data_dir_;
   std::map<int, SegmentFile> segments_;
+  QDateTime date_time_;
 };
 
 class Segment : public QObject {
diff --git a/tools/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
index 30e3c811ee..393a561c0f 100644
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -43,13 +43,6 @@ TEST_CASE("httpMultiPartDownload") {
   REQUIRE(sha256(content) == TEST_RLOG_CHECKSUM);
 }
 
-int random_int(int min, int max) {
-  std::random_device dev;
-  std::mt19937 rng(dev());
-  std::uniform_int_distribution<std::mt19937::result_type> dist(min, max);
-  return dist(rng);
-}
-
 TEST_CASE("FileReader") {
   auto enable_local_cache = GENERATE(true, false);
   std::string cache_file = cacheFilePath(TEST_RLOG_URL);
@@ -102,10 +95,13 @@ void read_segment(int n, const SegmentFile &segment_file, uint32_t flags) {
       if (cam == RoadCam || cam == WideRoadCam) {
         REQUIRE(fr->getFrameCount() == 1200);
       }
-      std::unique_ptr<uint8_t[]> yuv_buf = std::make_unique<uint8_t[]>(fr->getYUVSize());
+      auto [nv12_width, nv12_height, nv12_buffer_size] = get_nv12_info(fr->width, fr->height);
+      VisionBuf buf;
+      buf.allocate(nv12_buffer_size);
+      buf.init_yuv(fr->width, fr->height, nv12_width, nv12_width * nv12_height);
       // sequence get 100 frames
       for (int i = 0; i < 100; ++i) {
-        REQUIRE(fr->get(i, yuv_buf.get()));
+        REQUIRE(fr->get(i, &buf));
       }
     }
 
@@ -144,7 +140,7 @@ TEST_CASE("Route") {
     auto flags = GENERATE(REPLAY_FLAG_DCAM | REPLAY_FLAG_ECAM, REPLAY_FLAG_QCAMERA);
     Route route(DEMO_ROUTE);
     REQUIRE(route.load());
-    REQUIRE(route.segments().size() == 11);
+    REQUIRE(route.segments().size() == 13);
     for (int i = 0; i < 2; ++i) {
       read_segment(i, route.at(i), flags);
     }
@@ -154,7 +150,7 @@ TEST_CASE("Route") {
 // helper class for unit tests
 class TestReplay : public Replay {
  public:
-  TestReplay(const QString &route, uint8_t flags = REPLAY_FLAG_NO_FILE_CACHE) : Replay(route, {}, {}, nullptr, flags) {}
+  TestReplay(const QString &route, uint32_t flags = REPLAY_FLAG_NO_FILE_CACHE | REPLAY_FLAG_NO_VIPC) : Replay(route, {}, {}, {}, nullptr, flags) {}
   void test_seek();
   void testSeekTo(int seek_to);
 };
@@ -198,7 +194,7 @@ void TestReplay::test_seek() {
   QEventLoop loop;
   std::thread thread = std::thread([&]() {
     for (int i = 0; i < 10; ++i) {
-      testSeekTo(random_int(0, 1 * 60));
+      testSeekTo(util::random_int(0, 2 * 60));
     }
     loop.quit();
   });
diff --git a/tools/replay/ui.py b/tools/replay/ui.py
index bbcd49061e..43195a481d 100755
--- a/tools/replay/ui.py
+++ b/tools/replay/ui.py
@@ -3,14 +3,14 @@ import argparse
 import os
 import sys
 
-import cv2  # pylint: disable=import-error
+import cv2
 import numpy as np
-import pygame  # pylint: disable=import-error
+import pygame
 
 import cereal.messaging as messaging
-from common.numpy_fast import clip
-from common.basedir import BASEDIR
-from tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
+from openpilot.common.numpy_fast import clip
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.replay.lib.ui_helpers import (_BB_TO_FULL_FRAME, UP,
                                          _INTRINSICS, BLACK, GREEN,
                                          YELLOW, Calibration,
                                          get_blank_lid_overlay, init_plots,
@@ -113,10 +113,10 @@ def ui_thread(addr):
 
     yuv_img_raw = vipc_client.recv()
 
-    if yuv_img_raw is None or not yuv_img_raw.any():
+    if yuv_img_raw is None or not yuv_img_raw.data.any():
       continue
 
-    imgff = np.frombuffer(yuv_img_raw, dtype=np.uint8).reshape((vipc_client.height * 3 // 2, vipc_client.width))
+    imgff = np.frombuffer(yuv_img_raw.data, 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_NV12)
 
@@ -128,8 +128,8 @@ def ui_thread(addr):
     sm.update(0)
 
     w = sm['controlsState'].lateralControlState.which()
-    if w == 'lqrState':
-      angle_steers_k = sm['controlsState'].lateralControlState.lqrState.steeringAngleDeg
+    if w == 'lqrStateDEPRECATED':
+      angle_steers_k = sm['controlsState'].lateralControlState.lqrStateDEPRECATED.steeringAngleDeg
     elif w == 'indiState':
       angle_steers_k = sm['controlsState'].lateralControlState.indiState.steeringAngleDeg
     else:
diff --git a/tools/replay/unlog_ci_segment.py b/tools/replay/unlog_ci_segment.py
index c008a7aeff..ae97ad45d6 100755
--- a/tools/replay/unlog_ci_segment.py
+++ b/tools/replay/unlog_ci_segment.py
@@ -1,5 +1,4 @@
 #!/usr/bin/env python3
-# pylint: skip-file
 
 import argparse
 import bisect
@@ -11,9 +10,9 @@ import tty
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from tools.lib.framereader import FrameReader
-from tools.lib.logreader import LogReader
-from selfdrive.test.openpilotci import get_url
+from openpilot.tools.lib.framereader import FrameReader
+from openpilot.tools.lib.logreader import LogReader
+from openpilot.selfdrive.test.openpilotci import get_url
 
 IGNORE = ['initData', 'sentinel']
 
diff --git a/tools/replay/util.cc b/tools/replay/util.cc
index a6ebbec615..172d545c75 100644
--- a/tools/replay/util.cc
+++ b/tools/replay/util.cc
@@ -9,8 +9,10 @@
 #include <cmath>
 #include <fstream>
 #include <iostream>
+#include <map>
 #include <mutex>
 #include <numeric>
+#include <utility>
 
 #include "common/timing.h"
 #include "common/util.h"
diff --git a/tools/scripts/fetch_image_from_route.py b/tools/scripts/fetch_image_from_route.py
index 139373f665..471db7ee3e 100755
--- a/tools/scripts/fetch_image_from_route.py
+++ b/tools/scripts/fetch_image_from_route.py
@@ -8,8 +8,8 @@ if len(sys.argv) < 4:
 
 import requests
 from PIL import Image
-from tools.lib.auth_config import get_token
-from tools.lib.framereader import FrameReader
+from openpilot.tools.lib.auth_config import get_token
+from openpilot.tools.lib.framereader import FrameReader
 
 jwt = get_token()
 
diff --git a/tools/scripts/save_ubloxraw_stream.py b/tools/scripts/save_ubloxraw_stream.py
index 3fefd45ba8..541252d270 100644
--- a/tools/scripts/save_ubloxraw_stream.py
+++ b/tools/scripts/save_ubloxraw_stream.py
@@ -2,9 +2,9 @@
 import argparse
 import os
 import sys
-from common.basedir import BASEDIR
-from tools.lib.logreader import MultiLogIterator
-from tools.lib.route import Route
+from openpilot.common.basedir import BASEDIR
+from openpilot.tools.lib.logreader import MultiLogIterator
+from openpilot.tools.lib.route import Route
 
 os.environ['BASEDIR'] = BASEDIR
 
diff --git a/tools/scripts/setup_ssh_keys.py b/tools/scripts/setup_ssh_keys.py
index b6d4486733..699765eee1 100755
--- a/tools/scripts/setup_ssh_keys.py
+++ b/tools/scripts/setup_ssh_keys.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import requests
-from common.params import Params
+from openpilot.common.params import Params
 import sys
 
 
@@ -14,8 +14,10 @@ if __name__ == "__main__":
   keys = requests.get(f"https://github.com/{username}.keys", timeout=10)
 
   if keys.status_code == 200:
-    Params().put("GithubSshKeys", keys.text)
-    Params().put("GithubUsername", username)
+    params = Params()
+    params.put_bool("SshEnabled", True)
+    params.put("GithubSshKeys", keys.text)
+    params.put("GithubUsername", username)
     print("Setup ssh keys successfully")
   else:
     print("Error getting public keys from github")
diff --git a/tools/sim/Dockerfile.sim b/tools/sim/Dockerfile.sim
index 3692d48e0f..96630c9e6f 100644
--- a/tools/sim/Dockerfile.sim
+++ b/tools/sim/Dockerfile.sim
@@ -1,3 +1,5 @@
+FROM scons-cache as scons-cache
+
 FROM ghcr.io/commaai/openpilot-base-cl:latest
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
@@ -14,8 +16,9 @@ RUN mkdir -p $HOME/openpilot
 
 COPY SConstruct $HOME/openpilot/
 
+COPY ./openpilot $HOME/openpilot/openpilot
+COPY ./body $HOME/openpilot/body
 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
@@ -28,6 +31,6 @@ COPY ./system $HOME/openpilot/system
 COPY ./tools $HOME/openpilot/tools
 
 WORKDIR $HOME/openpilot
-RUN scons --cache-readonly -j12
+RUN --mount=type=bind,from=scons-cache,source=/tmp/scons_cache,target=/tmp/scons_cache,rw scons -j12
 
-RUN python -c "from selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
+RUN python -c "from openpilot.selfdrive.test.helpers import set_params_enabled; set_params_enabled()"
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index f72927ba9a..33fb2c020e 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -8,7 +8,7 @@ import time
 from multiprocessing import Process, Queue
 from typing import Any
 
-import carla  # pylint: disable=import-error
+import carla
 import numpy as np
 import pyopencl as cl
 import pyopencl.array as cl_array
@@ -16,13 +16,13 @@ import pyopencl.array as cl_array
 import cereal.messaging as messaging
 from cereal import log
 from cereal.visionipc import VisionIpcServer, VisionStreamType
-from common.basedir import BASEDIR
-from common.numpy_fast import clip
-from common.params import Params
-from common.realtime import DT_DMON, Ratekeeper
-from selfdrive.car.honda.values import CruiseButtons
-from selfdrive.test.helpers import set_params_enabled
-from tools.sim.lib.can import can_function
+from openpilot.common.basedir import BASEDIR
+from openpilot.common.numpy_fast import clip
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_DMON, Ratekeeper
+from openpilot.selfdrive.car.honda.values import CruiseButtons
+from openpilot.selfdrive.test.helpers import set_params_enabled
+from openpilot.tools.sim.lib.can import can_function
 
 W, H = 1928, 1208
 REPEAT_COUNTER = 5
@@ -68,13 +68,14 @@ def steer_rate_limit(old, new):
 
 
 class Camerad:
-  def __init__(self):
+  def __init__(self, dual_camera):
     self.frame_road_id = 0
     self.frame_wide_id = 0
     self.vipc_server = VisionIpcServer("camerad")
 
     self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 5, False, W, H)
-    self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
+    if dual_camera:
+      self.vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 5, False, W, H)
     self.vipc_server.start_listener()
 
     # set up for pyopencl rgb to yuv conversion
@@ -128,7 +129,7 @@ def imu_callback(imu, vehicle_state):
     vehicle_state.bearing_deg = math.degrees(imu.compass)
     dat = messaging.new_message('accelerometer')
     dat.accelerometer.sensor = 4
-    dat.accelerometer.type = 0x1
+    dat.accelerometer.type = 0x10
     dat.accelerometer.timestamp = dat.logMonoTime  # TODO: use the IMU timestamp
     dat.accelerometer.init('acceleration')
     dat.accelerometer.acceleration.v = [imu.accelerometer.x, imu.accelerometer.y, imu.accelerometer.z]
@@ -211,7 +212,10 @@ def fake_driver_monitoring(exit_event: threading.Event):
   while not exit_event.is_set():
     # dmonitoringmodeld output
     dat = messaging.new_message('driverStateV2')
+    dat.driverStateV2.leftDriverData.faceOrientation = [0., 0., 0.]
     dat.driverStateV2.leftDriverData.faceProb = 1.0
+    dat.driverStateV2.rightDriverData.faceOrientation = [0., 0., 0.]
+    dat.driverStateV2.rightDriverData.faceProb = 1.0
     pm.send('driverStateV2', dat)
 
     # dmonitoringd output
@@ -251,7 +255,7 @@ class CarlaBridge:
     msg.liveCalibration.validBlocks = 20
     msg.liveCalibration.rpyCalib = [0.0, 0.0, 0.0]
     self.params.put("CalibrationParams", msg.to_bytes())
-    self.params.put_bool("WideCameraOnly", not arguments.dual_camera)
+    self.params.put_bool("DisengageOnAccelerator", True)
 
     self._args = arguments
     self._carla_objects = []
@@ -346,14 +350,13 @@ class CarlaBridge:
       camera.listen(callback)
       return camera
 
-    self._camerad = Camerad()
+    self._camerad = Camerad(self._args.dual_camera)
 
     if self._args.dual_camera:
-      road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
-      self._carla_objects.append(road_camera)
-
-    road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
-    self._carla_objects.append(road_wide_camera)
+      road_wide_camera = create_camera(fov=120, callback=self._camerad.cam_callback_wide_road)  # fov bigger than 120 shows unwanted artifacts
+      self._carla_objects.append(road_wide_camera)
+    road_camera = create_camera(fov=40, callback=self._camerad.cam_callback_road)
+    self._carla_objects.append(road_camera)
 
     vehicle_state = VehicleState()
 
@@ -542,23 +545,17 @@ if __name__ == "__main__":
   q: Any = Queue()
   args = parse_args()
 
-  try:
-    carla_bridge = CarlaBridge(args)
-    p = carla_bridge.run(q)
+  carla_bridge = CarlaBridge(args)
+  p = carla_bridge.run(q)
 
-    if args.joystick:
-      # start input poll for joystick
-      from tools.sim.lib.manual_ctrl import wheel_poll_thread
+  if args.joystick:
+    # start input poll for joystick
+    from openpilot.tools.sim.lib.manual_ctrl import wheel_poll_thread
 
-      wheel_poll_thread(q)
-    else:
-      # start input poll for keyboard
-      from tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
-
-      keyboard_poll_thread(q)
-    p.join()
+    wheel_poll_thread(q)
+  else:
+    # start input poll for keyboard
+    from openpilot.tools.sim.lib.keyboard_ctrl import keyboard_poll_thread
 
-  finally:
-    # Try cleaning up the wide camera param
-    # in case users want to use replay after
-    Params().remove("WideCameraOnly")
+    keyboard_poll_thread(q)
+  p.join()
diff --git a/tools/sim/launch_openpilot.sh b/tools/sim/launch_openpilot.sh
index 2100f05b67..d5922a4819 100755
--- a/tools/sim/launch_openpilot.sh
+++ b/tools/sim/launch_openpilot.sh
@@ -6,7 +6,7 @@ export SIMULATION="1"
 export SKIP_FW_QUERY="1"
 export FINGERPRINT="HONDA CIVIC 2016"
 
-export BLOCK="camerad,loggerd,encoderd,micd"
+export BLOCK="camerad,loggerd,encoderd,micd,logmessaged"
 if [[ "$CI" ]]; then
   # TODO: offscreen UI should work
   export BLOCK="${BLOCK},ui"
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index af4339b2e4..db321d3193 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -2,8 +2,8 @@
 import cereal.messaging as messaging
 from opendbc.can.packer import CANPacker
 from opendbc.can.parser import CANParser
-from selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp  # pylint: disable=no-name-in-module,import-error
-from selfdrive.car import crc8_pedal
+from openpilot.selfdrive.boardd.boardd_api_impl import can_list_to_can_capnp
+from openpilot.selfdrive.car import crc8_pedal
 
 packer = CANPacker("honda_civic_touring_2016_can_generated")
 rpacker = CANPacker("acura_ilx_2016_nidec")
@@ -11,19 +11,12 @@ rpacker = CANPacker("acura_ilx_2016_nidec")
 
 def get_car_can_parser():
   dbc_f = 'honda_civic_touring_2016_can_generated'
-  signals = [
-    ("STEER_TORQUE", 0xe4),
-    ("STEER_TORQUE_REQUEST", 0xe4),
-    ("COMPUTER_BRAKE", 0x1fa),
-    ("COMPUTER_BRAKE_REQUEST", 0x1fa),
-    ("GAS_COMMAND", 0x200),
-  ]
   checks = [
     (0xe4, 100),
     (0x1fa, 50),
     (0x200, 50),
   ]
-  return CANParser(dbc_f, signals, checks, 0)
+  return CANParser(dbc_f, checks, 0)
 cp = get_car_can_parser()
 
 def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
@@ -68,6 +61,7 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** cam bus ***
   msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
   msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("LKAS_HUD", 2, {}))
   msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***
diff --git a/tools/sim/lib/manual_ctrl.py b/tools/sim/lib/manual_ctrl.py
index 8f1bcc2b57..1687a2e6ba 100755
--- a/tools/sim/lib/manual_ctrl.py
+++ b/tools/sim/lib/manual_ctrl.py
@@ -135,8 +135,8 @@ def wheel_poll_thread(q: 'Queue[str]') -> NoReturn:
   print('%d buttons found: %s' % (num_buttons, ', '.join(button_map)))
 
   # Enable FF
-  import evdev  # pylint: disable=import-error
-  from evdev import ecodes, InputDevice  # pylint: disable=import-error
+  import evdev
+  from evdev import ecodes, InputDevice
   device = evdev.list_devices()[0]
   evtdev = InputDevice(device)
   val = 24000
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 7ead6699f0..f14e0efd16 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -15,7 +15,7 @@ if ! $(apt list --installed | grep -q nvidia-container-toolkit); then
   fi
 fi
 
-docker pull carlasim/carla:0.9.13
+docker pull carlasim/carla:0.9.14
 
 EXTRA_ARGS="-it"
 if [[ "$DETACH" ]]; then
@@ -30,5 +30,5 @@ docker run \
   --net=host \
   -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
   $EXTRA_ARGS \
-  carlasim/carla:0.9.13 \
+  carlasim/carla:0.9.14 \
   /bin/bash ./CarlaUE4.sh -opengl -nosound -RenderOffScreen -benchmark -fps=20 -quality-level=Low
diff --git a/tools/sim/tests/test_carla_integration.py b/tools/sim/tests/test_carla_integration.py
index f467391967..65f5f4a30f 100755
--- a/tools/sim/tests/test_carla_integration.py
+++ b/tools/sim/tests/test_carla_integration.py
@@ -6,10 +6,10 @@ 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
+from openpilot.common.basedir import BASEDIR
+from openpilot.selfdrive.manager.helpers import unblock_stdout
+from openpilot.tools.sim import bridge
+from openpilot.tools.sim.bridge import CarlaBridge
 
 CI = "CI" in os.environ
 
@@ -68,7 +68,8 @@ class TestCarlaIntegration(unittest.TestCase):
         no_car_events_issues_once = True
         break
 
-    self.assertTrue(no_car_events_issues_once, f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
+    self.assertTrue(no_car_events_issues_once,
+                    f"Failed because no messages received, or CarEvents '{car_event_issues}' or processes not running '{not_running}'")
 
     start_time = time.monotonic()
     min_counts_control_active = 100
diff --git a/tools/ssh/README.md b/tools/ssh/README.md
index 67b5271a42..588ea71579 100644
--- a/tools/ssh/README.md
+++ b/tools/ssh/README.md
@@ -24,14 +24,12 @@ The `id_rsa` key in this directory only works while your device is in the setup
 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`.
+SSH into your comma device from anywhere with `ssh.comma.ai`. Requires a [comma prime subscription](https://comma.ai/connect).
 
 ## 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`.<br />
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 4819be770f..c615608852 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -8,7 +8,7 @@ import signal
 from collections import defaultdict
 
 import cereal.messaging as messaging
-from tools.lib.logreader import logreader_from_route_or_segment
+from openpilot.tools.lib.logreader import logreader_from_route_or_segment
 
 def sigint_handler(signal, frame):
   exit(0)
@@ -105,7 +105,10 @@ class SteeringAccuracyTool:
           print(f"  {'-'*118}")
           for k in sorted(self.speed_group_stats[group].keys()):
             v = self.speed_group_stats[group][k]
-            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
+            print(f'  {k:#2}° | actuator:{int(v["steer"] / v["cnt"] * 100):#3}% \
+                              | error: {round(v["err"] / v["cnt"], 2):2.2f}° | -:{int(v["-"] / v["cnt"] * 100):#3}% \
+                              | =:{int(v["="] / v["cnt"] * 100):#3}% | +:{int(v["+"] / v["cnt"] * 100):#3}% | lim:{v["limited"]:#5} \
+                              | sat:{v["saturated"]:#5} | path dev: {round(v["dpp"] / v["cnt"], 2):2.2f}m | total: {v["cnt"]:#5}')
           print("")
 
 
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 89d33a6127..6b9cf7eff6 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -3,144 +3,11 @@
 set -e
 
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
-ROOT="$(cd $DIR/../ && pwd)"
-SUDO=""
 
 # NOTE: this is used in a docker build, so do not run any scripts here.
 
-# Use sudo if not root
-if [[ ! $(id -u) -eq 0 ]]; then
-  if [[ -z $(which sudo) ]]; then
-    echo "Please install sudo or run as root"
-    exit 1
-  fi
-  SUDO="sudo"
-fi
-
-# Install packages present in all supported versions of Ubuntu
-function install_ubuntu_common_requirements() {
-  $SUDO apt-get update
-  $SUDO apt-get install -y --no-install-recommends \
-    autoconf \
-    build-essential \
-    ca-certificates \
-    casync \
-    clang \
-    cmake \
-    make \
-    cppcheck \
-    libtool \
-    gcc-arm-none-eabi \
-    bzip2 \
-    liblzma-dev \
-    libarchive-dev \
-    libbz2-dev \
-    capnproto \
-    libcapnp-dev \
-    curl \
-    libcurl4-openssl-dev \
-    git \
-    git-lfs \
-    ffmpeg \
-    libavformat-dev \
-    libavcodec-dev \
-    libavdevice-dev \
-    libavutil-dev \
-    libavfilter-dev \
-    libeigen3-dev \
-    libffi-dev \
-    libglew-dev \
-    libgles2-mesa-dev \
-    libglfw3-dev \
-    libglib2.0-0 \
-    libomp-dev \
-    libopencv-dev \
-    libpng16-16 \
-    libportaudio2 \
-    libssl-dev \
-    libsqlite3-dev \
-    libusb-1.0-0-dev \
-    libzmq3-dev \
-    libsystemd-dev \
-    locales \
-    opencl-headers \
-    ocl-icd-libopencl1 \
-    ocl-icd-opencl-dev \
-    clinfo \
-    qml-module-qtquick2 \
-    qtmultimedia5-dev \
-    qtlocation5-dev \
-    qtpositioning5-dev \
-    qttools5-dev-tools \
-    libqt5sql5-sqlite \
-    libqt5svg5-dev \
-    libqt5charts5-dev \
-    libqt5x11extras5-dev \
-    libreadline-dev \
-    libdw1 \
-    valgrind
-}
-
-# Install Ubuntu 22.04 LTS packages
-function install_ubuntu_jammy_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    qtbase5-dev \
-    qtchooser \
-    qt5-qmake \
-    qtbase5-dev-tools \
-    python3-dev
-}
-
-# Install Ubuntu 20.04 packages
-function install_ubuntu_focal_requirements() {
-  install_ubuntu_common_requirements
-
-  $SUDO apt-get install -y --no-install-recommends \
-    libavresample-dev \
-    qt5-default \
-    python-dev
-}
-
-# Detect OS using /etc/os-release file
-if [ -f "/etc/os-release" ]; then
-  source /etc/os-release
-  case "$VERSION_CODENAME" in
-    "jammy")
-      install_ubuntu_jammy_requirements
-      ;;
-    "focal")
-      install_ubuntu_focal_requirements
-      ;;
-    *)
-      echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
-      read -p "Would you like to attempt installation anyway? " -n 1 -r
-      echo ""
-      if [[ ! $REPLY =~ ^[Yy]$ ]]; then
-        exit 1
-      fi
-      if [ "$UBUNTU_CODENAME" = "jammy" ]; then
-        install_ubuntu_jammy_requirements
-      else
-        install_ubuntu_focal_requirements
-      fi
-  esac
-else
-  echo "No /etc/os-release in the system"
-  exit 1
-fi
-
-
-# install python dependencies
-$ROOT/update_requirements.sh
-
-source ~/.bashrc
-if [ -z "$OPENPILOT_ENV" ]; then
-  printf "\nsource %s/tools/openpilot_env.sh" "$ROOT" >> ~/.bashrc
-  source ~/.bashrc
-  echo "added openpilot_env to bashrc"
-fi
+$DIR/install_ubuntu_dependencies.sh
+$DIR/install_python_dependencies.sh
 
 echo
 echo "----   OPENPILOT SETUP DONE   ----"
diff --git a/tools/webcam/front_mount_helper.py b/tools/webcam/front_mount_helper.py
index 2ae35992ec..0b7b676f6e 100755
--- a/tools/webcam/front_mount_helper.py
+++ b/tools/webcam/front_mount_helper.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import numpy as np
 
-# copied from common.transformations/camera.py
+# copied from openpilot.common.transformations/camera.py
 eon_dcam_focal_length = 860.0  # pixels
 webcam_focal_length = 908.0  # pixels
 
@@ -18,7 +18,7 @@ webcam_intrinsics = np.array([
 cam_id = 2
 
 if __name__ == "__main__":
-  import cv2  # pylint: disable=import-error
+  import cv2
 
   trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
 
diff --git a/tools/webcam/warp_vis.py b/tools/webcam/warp_vis.py
index 4331614acf..e3f1284a45 100755
--- a/tools/webcam/warp_vis.py
+++ b/tools/webcam/warp_vis.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python
 import numpy as np
 
-# copied from common.transformations/camera.py
+# copied from openpilot.common.transformations/camera.py
 eon_focal_length = 910.0  # pixels
 eon_dcam_focal_length = 860.0  # pixels
 
@@ -23,7 +23,7 @@ webcam_intrinsics = np.array([
   [  0.,    0.,     1.]])
 
 if __name__ == "__main__":
-  import cv2  # pylint: disable=import-error
+  import cv2
   trans_webcam_to_eon_rear = np.dot(eon_intrinsics, np.linalg.inv(webcam_intrinsics))
   trans_webcam_to_eon_front = np.dot(eon_dcam_intrinsics, np.linalg.inv(webcam_intrinsics))
   print("trans_webcam_to_eon_rear:\n", trans_webcam_to_eon_rear)
diff --git a/tools/zookeeper/check_consumption.py b/tools/zookeeper/check_consumption.py
index 1345b90571..dab948318f 100755
--- a/tools/zookeeper/check_consumption.py
+++ b/tools/zookeeper/check_consumption.py
@@ -2,7 +2,7 @@
 
 import sys
 import time
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 # Usage: check_consumption.py <averaging_time_sec> <max_average_power_W>
 # Exit code: 0 -> passed
diff --git a/tools/zookeeper/disable.py b/tools/zookeeper/disable.py
index 6c1eecc18b..4bea3e7ed0 100755
--- a/tools/zookeeper/disable.py
+++ b/tools/zookeeper/disable.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()
diff --git a/tools/zookeeper/enable_and_wait.py b/tools/zookeeper/enable_and_wait.py
index 6907e6017c..51b8dc0a5c 100755
--- a/tools/zookeeper/enable_and_wait.py
+++ b/tools/zookeeper/enable_and_wait.py
@@ -3,7 +3,7 @@ import os
 import sys
 import time
 from socket import gethostbyname, gaierror
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 def is_online(ip):
   try:
diff --git a/tools/zookeeper/ignition.py b/tools/zookeeper/ignition.py
index 5c85be203d..d5f01c362f 100755
--- a/tools/zookeeper/ignition.py
+++ b/tools/zookeeper/ignition.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import sys
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 
 if __name__ == "__main__":
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index fa1f442bbc..a081baa72a 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -3,9 +3,9 @@ import sys
 import time
 import datetime
 
-from common.realtime import Ratekeeper
-from common.filter_simple import FirstOrderFilter
-from tools.zookeeper import Zookeeper
+from openpilot.common.realtime import Ratekeeper
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.tools.zookeeper import Zookeeper
 
 if __name__ == "__main__":
   z = Zookeeper()
diff --git a/tools/zookeeper/test_zookeeper.py b/tools/zookeeper/test_zookeeper.py
index ba395ad7ba..89f7f28975 100755
--- a/tools/zookeeper/test_zookeeper.py
+++ b/tools/zookeeper/test_zookeeper.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 import time
-from tools.zookeeper import Zookeeper
+from openpilot.tools.zookeeper import Zookeeper
 
 
 if __name__ == "__main__":