Merge branch 'master' into pq-upstream

3 years ago · d17c8aa525
parent 2ade2d9480 98a0cd9455
commit d17c8aa525
80 changed files with 921 additions and 823 deletions
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@ -25,7 +25,7 @@ jobs:
      IMAGE_NAME: openpilot-prebuilt
    steps:
    - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
      with:
        ref: master
        wait-interval: 30
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@ -12,7 +12,7 @@ jobs:
    if: github.repository == 'commaai/openpilot'
    steps:
    - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
      with:
        ref: master
        wait-interval: 30
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -17,12 +17,12 @@ env:
      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .

-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  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 $BASE_IMAGE /bin/sh -c

  BUILD_CL: |
      docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
      docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
+  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

  UNIT_TEST: coverage run --append -m unittest discover

@ -58,6 +58,9 @@ jobs:
      run: |
        TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
        cp Dockerfile.openpilot_base $STRIPPED_DIR
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp .pylintrc $STRIPPED_DIR
+        cp mypy.ini $STRIPPED_DIR
    - name: Build Docker image
      run: |
          eval "$BUILD"
@ -66,6 +69,10 @@ jobs:
      run: |
          cd $STRIPPED_DIR
          ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          pre-commit run --all && \
+                          rm .pre-commit-config.yaml && \
+                          rm .pylintrc && \
+                          rm mypy.ini && \
                          release/check-dirty.sh && \
                          python -m unittest discover selfdrive/car"

@ -510,3 +517,67 @@ jobs:
      run: |
        $DOCKER_LOGIN
        docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+  car_docs_diff:
+    name: comment on PR with car docs diff
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - name: Cache scons
+        id: scons-cache
+        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+        env:
+          CACHE_SKIP_SAVE: true
+        with:
+          path: /tmp/scons_cache
+          key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          restore-keys: |
+            scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+            scons-
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Save car docs diff
+        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")
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@ -54,7 +54,7 @@ repos:
        entry: cppcheck
        language: system
        types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
        args:
        - --error-exitcode=1
        - --language=c++
--- a/README.md
+++ b/README.md
@ -105,23 +105,25 @@ Directory Structure
    ├── 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
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
        ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
        ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
        ├── 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         # Deamon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU interface code
+        ├── 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

--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,3 +1,6 @@
+Version 0.8.16 (2022-XX-XX)
+========================
+
 Version 0.8.15 (2022-07-20)
 ========================
 * New driving model
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3
+Subproject commit a4c1afa3bfcbba989c128ec9b5092f6c91f4da22
--- a/common/modeldata.h
+++ b/common/modeldata.h
@ -34,12 +34,13 @@ 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(bool bayer = true) {
+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
  }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+  // Can this be removed since scale is 1?
+  return transform_scale_buffer(transform, db_s);
 }
--- a/common/version.h
+++ b/common/version.h
@ -1 +1 @@
-#define COMMA_VERSION "0.8.15"
+#define COMMA_VERSION "0.8.16"
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -35,7 +35,7 @@ How We Rate The Cars

 **All supported cars can move between the tiers as support changes.**

-# Gold - 31 cars
+# Gold - 30 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -49,18 +49,17 @@ How We Rate The Cars
 |Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|ES 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|NX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|UX Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -71,7 +70,7 @@ How We Rate The Cars
 |Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|

-# Silver - 69 cars
+# Silver - 78 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
@ -80,8 +79,8 @@ How We Rate The Cars
 |Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G70 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Genesis|G80 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -105,7 +104,7 @@ How We Rate The Cars
 |Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|Stinger 2018-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -117,15 +116,17 @@ How We Rate The Cars
 |Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Ascent 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Forester 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Subaru|Impreza 2020-22|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Toyota|Corolla Cross Hybrid 2020-22 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -133,25 +134,32 @@ How We Rate The Cars
 |Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Bronze - 80 cars
+|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Passat GTE 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+
+# Bronze - 83 cars

 |Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Acura|RDX 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
@ -159,27 +167,27 @@ How We Rate The Cars
 |Chrysler|Pacifica 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
+|Genesis|G90 2017-18|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
 |GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Accord Hybrid 2018-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Civic 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>2</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|CR-V 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Fit 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|HR-V 2019-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Insight 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Odyssey 2018-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Honda|Pilot 2016-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -190,16 +198,16 @@ How We Rate The Cars
 |Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Lexus|RC 2017-2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Ram|1500 2019-21|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Mazda|CX-9 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Ram|1500 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Subaru|XV 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -219,11 +227,14 @@ How We Rate The Cars
 |Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Arteon R 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|CC 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@ -239,6 +250,7 @@ How We Rate The Cars
 <sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
 <sup>6</sup>Refers only to the MQB-based European B8 Passat, not including the NMS Passat in the USA/China/Mideast markets. <br />
 <sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <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/).
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@ -29,8 +29,6 @@ camerad
 ^^^^^^^
 .. autodoxygenindex::
   :project: system_camerad_cameras
-.. autodoxygenindex::
-   :project: system_camerad_transforms
 .. autodoxygenindex::
   :project: system_camerad_imgproc

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da
+Subproject commit 3ce2628dfc8ddba1769c518f90275e3caca9e8c6
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 481b505c07895ace6af471a09df818afbc208931
+Subproject commit d7a734f54c8cced94185864f5f04eda603946f6e
--- a/release/files_common
+++ b/release/files_common
@ -57,6 +57,7 @@ common/api/__init__.py

 release/*

+tools/__init__.py
 tools/lib/*
 tools/joystick/*
 tools/replay/*.cc
@ -128,7 +129,15 @@ system/clocksd/.gitignore
 system/clocksd/SConscript
 system/clocksd/clocksd.cc

-selfdrive/debug/*.py
+selfdrive/debug/can_printer.py
+selfdrive/debug/check_freq.py
+selfdrive/debug/dump.py
+selfdrive/debug/filter_log_message.py
+selfdrive/debug/get_fingerprint.py
+selfdrive/debug/uiview.py
+
+selfdrive/debug/hyundai_enable_radar_points.py
+selfdrive/debug/vw_mqb_config.py

 common/SConscript
 common/version.h
@ -187,6 +196,9 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*

 selfdrive/hardware
+
+system/__init__.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@ -220,6 +232,7 @@ selfdrive/locationd/laikad_helpers.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
 selfdrive/locationd/models/gnss_kf.py
@ -311,11 +324,6 @@ system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h

-system/camerad/transforms/rgb_to_yuv.cc
-system/camerad/transforms/rgb_to_yuv.h
-system/camerad/transforms/rgb_to_yuv.cl
-system/camerad/transforms/rgb_to_yuv_test.cc
-
 system/camerad/imgproc/conv.cl
 system/camerad/imgproc/pool.cl
 system/camerad/imgproc/utils.cc
@ -330,6 +338,7 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py

+selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc
--- a/selfdrive/assets/navigation/direction_turn_left_inactive.png
+++ b/selfdrive/assets/navigation/direction_turn_left_inactive.png
--- a/selfdrive/assets/navigation/direction_turn_right_inactive.png
+++ b/selfdrive/assets/navigation/direction_turn_right_inactive.png
--- a/selfdrive/assets/navigation/direction_turn_straight_inactive.png
+++ b/selfdrive/assets/navigation/direction_turn_straight_inactive.png
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -93,17 +93,17 @@ def fingerprint(logcan, sendcan):

    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
      cloudlog.warning("Using cached CarParams")
-      vin = cached_params.carVin
+      vin, vin_rx_addr = cached_params.carVin, 0
      car_fw = list(cached_params.carFw)
    else:
      cloudlog.warning("Getting VIN & FW versions")
-      _, vin = get_vin(logcan, sendcan, bus)
+      _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)

    exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
  else:
-    vin = VIN_UNKNOWN
+    vin, vin_rx_addr = VIN_UNKNOWN, 0
    exact_fw_match, fw_candidates, car_fw = True, set(), []

  if len(vin) != 17:
@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
    source = car.CarParams.FingerprintSource.fixed

  cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
-                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
  return car_fingerprint, finger, vin, car_fw, source, exact_match


--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@ -1,7 +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 RAM_CARS, CarControllerParams
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams


 class CarController:
@ -13,23 +14,45 @@ class CarController:

    self.hud_count = 0
    self.last_lkas_falling_edge = 0
-    self.lkas_active_prev = False
+    self.lkas_control_bit_prev = False
+    self.last_button_frame = 0

    self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)

-  def update(self, CC, CS, low_speed_alert):
+  def update(self, CC, CS):
    can_sends = []

+    # 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):
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
+
    # EPS faults if LKAS re-enables too quickly
-    lkas_active = CC.latActive and not low_speed_alert and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_active = CC.latActive and self.lkas_control_bit_prev

    # *** control msgs ***

-    das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
-    elif CC.enabled and CS.out.cruiseState.standstill:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
+
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
+
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))

    # HUD alerts
    if self.frame % 25 == 0:
@ -40,22 +63,22 @@ class CarController:
    # steering
    if self.frame % 2 == 0:
      # steer torque
-      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
-      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, CarControllerParams)
+      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)
      if not lkas_active:
        apply_steer = 0
      self.steer_rate_limited = new_steer != apply_steer
      self.apply_steer_last = apply_steer

      idx = self.frame // 2
-      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_active, idx))
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit, idx))

    self.frame += 1
-    if not lkas_active and self.lkas_active_prev:
+    if not lkas_control_bit and self.lkas_control_bit_prev:
      self.last_lkas_falling_edge = self.frame
-    self.lkas_active_prev = lkas_active
+    self.lkas_control_bit_prev = lkas_control_bit

    new_actuators = CC.actuators.copy()
-    new_actuators.steer = self.apply_steer_last / CarControllerParams.STEER_MAX
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX

    return new_actuators, can_sends
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@ -52,12 +52,12 @@ def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, au
  return packer.make_can_msg("DAS_6", 0, values)


-def create_lkas_command(packer, CP, apply_steer, lat_active, frame):
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit, frame):
  # LKAS_COMMAND Lane-keeping signal to turn the wheel
  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
  values = {
    "STEERING_TORQUE": apply_steer,
-    "LKAS_CONTROL_BIT": enabled_val if lat_active else 0,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
  }
  return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)

--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@ -46,15 +46,15 @@ class CarInterface(CarInterfaceBase):

    # Ram
    elif candidate == CAR.RAM_1500:
+      ret.steerActuatorDelay = 0.2
+
      ret.wheelbase = 3.88
      ret.steerRatio = 16.3
      ret.mass = 2493. + STD_CARGO_KG
      ret.maxLateralAccel = 2.4
      ret.minSteerSpeed = 14.5
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-      ret.lateralTuning.pid.kpBP, ret.lateralTuning.pid.kiBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1], [0.02]]
-      ret.lateralTuning.pid.kf = 0.00003

    else:
      raise ValueError(f"Unsupported car: {candidate}")
@ -93,4 +93,4 @@ class CarInterface(CarInterfaceBase):
    return ret

  def apply(self, c):
-    return self.CC.update(c, self.CS, self.low_speed_alert)
+    return self.CC.update(c, self.CS)
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -26,10 +26,16 @@ class CAR:


 class CarControllerParams:
-  STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
-  STEER_DELTA_UP = 3
-  STEER_DELTA_DOWN = 3
-  STEER_ERROR_MAX = 80
+  def __init__(self, CP):
+    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
+    self.STEER_ERROR_MAX = 80
+
+    if CP.carFingerprint in RAM_CARS:
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
+    else:
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3

 STEER_THRESHOLD = 120

@ -47,8 +53,8 @@ CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
  CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2019-20"),
  CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
-  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-21"),
+  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"),
 }

 # Unique CAN messages:
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@ -6,6 +6,7 @@ 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):
  """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.
@ -26,9 +27,22 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'

        cloudlog.warning("ecu disabled")
        return True
+
    except Exception:
      cloudlog.exception("ecu disable exception")

    print(f"ecu disable retry ({i+1}) ...")
  cloudlog.warning("ecu disable failed")
  return False
+
+
+if __name__ == "__main__":
+  import time
+  import cereal.messaging as messaging
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  print(f"disabled: {disabled}")
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@ -99,6 +99,11 @@ CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x

 CHRYSLER_RX_OFFSET = -0x280

+FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+

@dataclass
 class Request:
@ -207,6 +212,13 @@ REQUESTS: List[Request] = [
    [CHRYSLER_VERSION_REQUEST],
    [CHRYSLER_VERSION_RESPONSE],
  ),
+  # Ford
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    bus=0,
+  ),
 ]


@ -394,7 +406,7 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)

  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
-    car_fw = get_fw_versions(logcan, sendcan, brand=brand, timeout=timeout, debug=debug, progress=progress)
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
    all_car_fw.extend(car_fw)
    matches = match_fw_to_car_exact(build_fw_dict(car_fw))
    if len(matches) == 1:
@ -403,10 +415,10 @@ def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=Fa
  return all_car_fw


-def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=False, progress=False):
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
-  if brand is not None:
-    versions = {brand: versions[brand]}
+  if query_brand is not None:
+    versions = {query_brand: versions[query_brand]}

  if extra is not None:
    versions.update(extra)
@ -434,7 +446,7 @@ def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=
  addrs.insert(0, parallel_addrs)

  fw_versions = {}
-  requests = [r for r in REQUESTS if brand is None or r.brand == brand]
+  requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
  for addr in tqdm(addrs, disable=not progress):
    for addr_chunk in chunks(addr):
      for r in requests:
@ -444,7 +456,7 @@ def get_fw_versions(logcan, sendcan, brand=None, extra=None, timeout=0.1, debug=

          if addrs:
            query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            fw_versions.update({(r.brand, addr): (version, r) for addr, version in query.get_data(timeout).items()})
+            fw_versions.update({(r.brand, addr): (version, r) for (addr, _), version in query.get_data(timeout).items()})
        except Exception:
          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")

@ -497,13 +509,13 @@ if __name__ == "__main__":

  t = time.time()
  print("Getting vin...")
-  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f"VIN: {vin}")
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
  print(f"Getting VIN took {time.time() - t:.3f} s")
  print()

  t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, brand=args.brand, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
  _, candidates = match_fw_to_car(fw_vers)

  print()
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@ -109,13 +109,13 @@ class HondaCarInfo(CarInfo):

 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
    HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
  CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    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, harness=Harness.bosch_a),
    HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
  ],
  CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
@ -125,20 +125,20 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
  ],
  CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
  CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
  CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
  CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
  CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
  CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
  CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
  CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
  CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }

@ -1406,6 +1406,7 @@ FW_VERSIONS = {
      b'38897-T20-A020\x00\x00',
      b'38897-T20-A510\x00\x00',
      b'38897-T21-A010\x00\x00',
+      b'38897-T20-A210\x00\x00',
    ],
    (Ecu.srs, 0x18DA53F1, None): [
      b'77959-T20-A970\x00\x00',
@ -1415,6 +1416,7 @@ FW_VERSIONS = {
      b'78108-T21-A220\x00\x00',
      b'78108-T21-A620\x00\x00',
      b'78108-T23-A110\x00\x00',
+      b'78108-T21-A230\x00\x00',
    ],
    (Ecu.vsa, 0x18DA28F1, None): [
      b'57114-T20-AB40\x00\x00',
@ -1429,6 +1431,7 @@ FW_VERSIONS = {
      b'37805-64L-A540\x00\x00',
      b'37805-64S-A540\x00\x00',
      b'37805-64S-A720\x00\x00',
+      b'37805-64A-A540\x00\x00',
    ],
  },
 }
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@ -82,12 +82,12 @@ class CarController:
      if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
        if CC.cruiseControl.cancel:
          for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
+            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
          self.last_button_frame = self.frame

        # cruise standstill resume
        elif CC.cruiseControl.resume:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
+          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
          self.last_button_frame = self.frame
    else:

--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@ -8,7 +8,7 @@ from opendbc.can.can_define import CANDefine
 from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase

-PREV_BUTTON_SAMPLES = 4
+PREV_BUTTON_SAMPLES = 8


 class CarState(CarStateBase):
@ -171,7 +171,10 @@ class CarState(CarStateBase):
    speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
    ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor

-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+
    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])

    return ret
@ -362,7 +365,9 @@ class CarState(CarStateBase):
      ("CRUISE_ACTIVE", "SCC1"),
      ("SET_SPEED", "CRUISE_INFO"),
      ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-      ("_COUNTER", "CRUISE_BUTTONS"),
+      ("COUNTER", "CRUISE_BUTTONS"),
+      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),

      ("DISTANCE_UNIT", "CLUSTER_INFO"),

--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@ -18,11 +18,9 @@ def create_cam_0x2a4(packer, frame, camera_values):
  })
  return packer.make_can_msg("CAM_0x2a4", 4, camera_values, frame % 255)

-def create_buttons(packer, cnt, cancel, resume):
+def create_buttons(packer, cnt, btn):
  values = {
-    "_COUNTER": cnt % 0xf,
    "SET_ME_1": 1,
-    "DISTANCE_BTN": 1 if resume else 0,
-    "PAUSE_RESUME_BTN": 1 if cancel else 0,
+    "CRUISE_BUTTONS": btn,
  }
-  return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", 5, values, cnt % 0xf)
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@ -321,8 +321,7 @@ class CarInterface(CarInterfaceBase):
    # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
    # Main button also can trigger an engagement on these cars
    allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
+    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)
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@ -151,15 +151,15 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
    HyundaiCarInfo("Kia Sorento 2018", video_link="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),
  ],
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
  CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),

  # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
+  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_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c),
+  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),
 }

 class Buttons:
@ -167,7 +167,7 @@ class Buttons:
  RES_ACCEL = 1
  SET_DECEL = 2
  GAP_DIST = 3
-  CANCEL = 4
+  CANCEL = 4  # on newer models, this is a pause/resume button

 FINGERPRINTS = {
  CAR.ELANTRA: [{
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@ -135,11 +135,11 @@ class CarInterfaceBase(ABC):
    return ret

  @staticmethod
-  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
    params = get_torque_params(candidate)

    tune.init('torque')
-    tune.torque.useSteeringAngle = True
+    tune.torque.useSteeringAngle = use_steering_angle
    tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
    tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
    tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@ -126,7 +126,7 @@ class IsoTpParallelQuery:
            msg.send(self.request[counter + 1])
            request_counter[tx_addr] += 1
          else:
-            results[tx_addr] = dat[len(expected_response):]
+            results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
            request_done[tx_addr] = True
        else:
          error_code = dat[2] if len(dat) > 2 else -1
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@ -40,7 +40,7 @@ CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }

@ -65,6 +65,7 @@ FW_VERSIONS = {
    ],
    (Ecu.engine, 0x7e0, None): [
      b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x764, None): [
@ -266,6 +267,7 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      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',
    ],
    (Ecu.fwdRadar, 0x764, None): [
      b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -278,9 +280,11 @@ FW_VERSIONS = {
      b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'GSH7-67XK2-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',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
  }
 }
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@ -41,18 +41,18 @@ class SubaruCarInfo(CarInfo):


 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All"),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
  CAR.IMPREZA: [
    SubaruCarInfo("Subaru Impreza 2017-19"),
    SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
    SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
  ],
  CAR.IMPREZA_2020: [
-    SubaruCarInfo("Subaru Impreza 2020-21"),
+    SubaruCarInfo("Subaru Impreza 2020-22"),
    SubaruCarInfo("Subaru Crosstrek 2020-21"),
    SubaruCarInfo("Subaru XV 2020-21"),
  ],
-  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
+  CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-22", "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"),
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@ -21,7 +21,7 @@ COMMA BODY: [.nan, 1000, .nan]

 # Totally new cars
 KIA EV6 2022: [3.5, 2.5, 0.0]
-RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.0]

 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@ -126,7 +126,7 @@ 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 % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V):
      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))
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -119,12 +119,13 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
  CAR.COROLLA_TSS2: [
    ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"),
+    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)", min_enable_speed=7.5),
    ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
  ],
  CAR.COROLLAH_TSS2: [
    ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
-    ToyotaCarInfo("Lexus UX Hybrid 2019-21"),
+    ToyotaCarInfo("Toyota Corolla Cross Hybrid 2020-22 (Non-US only)", min_enable_speed=7.5),
+    ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
  ],
  CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
  CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
@ -151,14 +152,14 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
  # Lexus
  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
+  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_IS: ToyotaCarInfo("Lexus IS 2017-19"),
  CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
-  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
+  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
+  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-2020"),
  CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
  CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
  CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
@ -788,6 +789,7 @@ FW_VERSIONS = {
    (Ecu.eps, 0x7a1, None): [
      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'8965B76012\x00\x00\x00\x00\x00\x00',
      b'8965B76050\x00\x00\x00\x00\x00\x00',
      b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@ -808,15 +810,16 @@ FW_VERSIONS = {
      b'F152612800\x00\x00\x00\x00\x00\x00',
      b'F152612820\x00\x00\x00\x00\x00\x00',
      b'F152612840\x00\x00\x00\x00\x00\x00',
+      b'F152612842\x00\x00\x00\x00\x00\x00',
      b'F152612890\x00\x00\x00\x00\x00\x00',
      b'F152612A00\x00\x00\x00\x00\x00\x00',
      b'F152612A10\x00\x00\x00\x00\x00\x00',
+      b'F152612D00\x00\x00\x00\x00\x00\x00',
+      b'F152616011\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'F152612D00\x00\x00\x00\x00\x00\x00',
-      b'F152612842\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F3301100\x00\x00\x00\x00',
@ -832,6 +835,7 @@ FW_VERSIONS = {
      b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
      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"\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',
@ -1302,6 +1306,7 @@ FW_VERSIONS = {
      b'\x01896634AA0000\x00\x00\x00\x00',
      b'\x01896634AA1000\x00\x00\x00\x00',
      b'\x01896634A88000\x00\x00\x00\x00',
+      b'\x01896634A89000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R01100\x00\x00\x00\x00',
@ -1381,11 +1386,12 @@ FW_VERSIONS = {
      b'8965B42172\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x700, None): [
-      b'\x01896634A62000\x00\x00\x00\x00',
-      b'\x01896634A08000\x00\x00\x00\x00',
-      b'\x01896634A61000\x00\x00\x00\x00',
      b'\x01896634A02001\x00\x00\x00\x00',
      b'\x01896634A03000\x00\x00\x00\x00',
+      b'\x01896634A08000\x00\x00\x00\x00',
+      b'\x01896634A61000\x00\x00\x00\x00',
+      b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A63000\x00\x00\x00\x00',
    ],
    (Ecu.fwdRadar, 0x750, 0xf): [
      b'\x018821F0R01100\x00\x00\x00\x00',
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@ -22,18 +22,18 @@ def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
    for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
      try:
        query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
-        for addr, vin in query.get_data(timeout).items():
+        for (addr, rx_addr), vin in query.get_data(timeout).items():

          # Honda Bosch response starts with a length, trim to correct length
          if vin.startswith(b'\x11'):
            vin = vin[1:18]

-          return addr[0], vin.decode()
+          return addr[0], rx_addr, vin.decode()
        print(f"vin query retry ({i+1}) ...")
      except Exception:
        cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")

-  return 0, VIN_UNKNOWN
+  return 0, 0, VIN_UNKNOWN


 if __name__ == "__main__":
@ -41,5 +41,5 @@ if __name__ == "__main__":
  sendcan = messaging.pub_sock('sendcan')
  logcan = messaging.sub_sock('can')
  time.sleep(1)
-  addr, vin = get_vin(logcan, sendcan, 1, debug=False)
-  print(hex(addr), vin)
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -37,6 +37,7 @@ class CANBUS:
  pt = 0
  cam = 2

+
 class DBC_FILES:
  mqb = "vw_mqb_2010"  # Used for all cars with MQB-style CAN messaging
  pq = "vw_golf_mk4"  # Used for all cars with PQ-style (legacy) CAN messaging
@ -124,6 +125,9 @@ class Footnote(Enum):
    "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
    "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
    Column.MODEL)
+  VW_VARIANT = CarFootnote(
+    "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
+    Column.MODEL)


@dataclass
@ -133,25 +137,43 @@ class VWCarInfo(CarInfo):


 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
-  CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
-  CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.ARTEON_MK1: [
+    VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+  ],
+  CAR.ATLAS_MK1: [
+    VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
  CAR.GOLF_MK7: [
-    VWCarInfo("Volkswagen e-Golf 2014, 2018-20"),
-    VWCarInfo("Volkswagen Golf 2015-20"),
-    VWCarInfo("Volkswagen Golf Alltrack 2017-18"),
-    VWCarInfo("Volkswagen Golf GTE 2016"),
-    VWCarInfo("Volkswagen Golf GTI 2018-21"),
-    VWCarInfo("Volkswagen Golf R 2016-19"),
-    VWCarInfo("Volkswagen Golf SportsVan 2016"),
-    VWCarInfo("Volkswagen Golf SportWagen 2015"),
+    VWCarInfo("Volkswagen e-Golf 2014-20"),
+    VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
+    VWCarInfo("Volkswagen Golf GTD 2015-20"),
+    VWCarInfo("Volkswagen Golf GTE 2015-20"),
+    VWCarInfo("Volkswagen Golf GTI 2015-21"),
+    VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
  ],
  CAR.JETTA_MK7: [
-    VWCarInfo("Volkswagen Jetta 2018-21"),
-    VWCarInfo("Volkswagen Jetta GLI 2021"),
+    VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
+  CAR.PASSAT_MK8: [
+    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
  ],
-  CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]),
  CAR.PASSAT_NMS: VWCarInfo("Volkswagen Passat NMS 2017, 2021"),
-  CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
+  CAR.POLO_MK6: [
+    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
  CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
  CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -96,7 +96,11 @@ class Controls:

    self.sm = sm
    if self.sm is None:
-      ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
+      ignore = []
+      if SIMULATION:
+        ignore += ['driverCameraState', 'managerState']
+      if params.get_bool('WideCameraOnly'):
+        ignore += ['roadCameraState']
      self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                     'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                     'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
@ -224,12 +228,8 @@ class Controls:
    if not self.CP.notCar:
      self.events.add_from_msg(self.sm['driverMonitoringState'].events)

-    # Handle car events. Ignore when CAN is invalid
-    if CS.canTimeout:
-      self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
-      self.events.add(EventName.canError)
-    else:
+    # Add car events, ignore if CAN isn't valid
+    if CS.canValid:
      self.events.add_from_msg(CS.events)

    # Create events for temperature, disk space, and memory
@ -309,14 +309,19 @@ class Controls:
          self.events.add(EventName.cameraFrameRate)
    if self.rk.lagging:
      self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors):
+    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
      self.events.add(EventName.radarFault)
    if not self.sm.valid['pandaStates']:
      self.events.add(EventName.usbError)
+    if CS.canTimeout:
+      self.events.add(EventName.canBusMissing)
+    elif not CS.canValid:
+      self.events.add(EventName.canError)

    # generic catch-all. ideally, a more specific event should be added above instead
-    no_system_errors = len(self.events) != num_events
-    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
+    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(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_error) and no_system_errors:
      if not self.sm.all_alive():
        self.events.add(EventName.commIssue)
      elif not self.sm.all_freq_ok():
@ -406,7 +411,8 @@ class Controls:

    if not self.initialized:
      all_valid = CS.canValid and self.sm.all_checks()
-      if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
+      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      if all_valid or timed_out or SIMULATION:
        if not self.read_only:
          self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
        self.initialized = True
--- a/selfdrive/debug/disable_ecu.py
+++ b/selfdrive/debug/disable_ecu.py
@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import traceback
-
-import cereal.messaging as messaging
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from system.swaglog import cloudlog
-
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-COM_CONT_REQUEST = b'\x28\x83\x03'
-COM_CONT_RESPONSE = b''
-
-def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False):
-  print(f"ecu disable {hex(ecu_addr)} ...")
-  for i in range(retry):
-    try:
-      # enter extended diagnostic session
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-      for addr, dat in query.get_data(timeout).items(): # pylint: disable=unused-variable
-        print("ecu communication control disable tx/rx ...")
-        # communication control disable tx and rx
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
-        query.get_data(0)
-        return True
-      print(f"ecu disable retry ({i+1}) ...")
-    except Exception:
-      cloudlog.warning(f"ecu disable exception: {traceback.format_exc()}")
-
-  return False
-
-
-if __name__ == "__main__":
-  import time
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  time.sleep(1)
-
-  # honda bosch radar disable
-  disabled = disable_ecu(0x18DAB0F1, logcan, sendcan, 1, debug=False)
-  print(f"disabled: {disabled}")
--- a/selfdrive/debug/dump_car_info.py
+++ b/selfdrive/debug/dump_car_info.py
@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+
+
+def dump_car_info(path):
+  with open(path, 'wb') as f:
+    pickle.dump(get_all_car_info(), f)
+  print(f'Dumping car info to {path}')
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  dump_car_info(args.path)
--- a/selfdrive/debug/print_docs_diff.py
+++ b/selfdrive/debug/print_docs_diff.py
@ -0,0 +1,90 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+from selfdrive.car.docs_definitions import Column
+
+STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
+COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
+COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|:---:|"
+ARROW_SYMBOL = "➡️"
+
+
+def load_base_car_info(path):
+  with open(path, "rb") as f:
+    return pickle.load(f)
+
+
+def get_star_diff(base_car, new_car):
+  return [column for column, value in base_car.row.items() if value != new_car.row[column]]
+
+
+def format_row(builder):
+  return "|" + "|".join(builder) + "|"
+
+
+def print_car_info_diff(path):
+  base_car_info = {f"{i.make} {i.model}": i for i in load_base_car_info(path)}
+  new_car_info = {f"{i.make} {i.model}": i for i in get_all_car_info()}
+
+  tier_changes = []
+  star_changes = []
+  removals = []
+  additions = []
+
+  # Changes (tier + stars)
+  for base_car_model, base_car in base_car_info.items():
+    if base_car_model not in new_car_info:
+      continue
+
+    new_car = new_car_info[base_car_model]
+
+    # Tier changes
+    if base_car.tier != new_car.tier:
+      tier_changes.append(f"- Tier for {base_car.make} {base_car.model} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+
+    # Star changes
+    diff = get_star_diff(base_car, new_car)
+    if not len(diff):
+      continue
+
+    row_builder = []
+    for column in list(Column):
+      if column not in diff:
+        row_builder.append(new_car.get_column(column, STAR_ICON, "{}"))
+      else:
+        row_builder.append(base_car.get_column(column, STAR_ICON, "{}") + ARROW_SYMBOL + new_car.get_column(column, STAR_ICON, "{}"))
+
+    star_changes.append(format_row(row_builder))
+
+  # Removals
+  for model in set(base_car_info) - set(new_car_info):
+    car_info = base_car_info[model]
+    removals.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
+
+  # Additions
+  for model in set(new_car_info) - set(base_car_info):
+    car_info = new_car_info[model]
+    additions.append(format_row([car_info.get_column(column, STAR_ICON, "{}") for column in Column]))
+
+  # Print diff
+  if len(star_changes) or len(tier_changes) or len(removals) or len(additions):
+    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
+
+    for title, category in (("## 🏅 Tier Changes", tier_changes), ("## 🔀 Star Changes", star_changes), ("## ❌ Removed", removals), ("## ➕ Added", additions)):
+      if len(category):
+        markdown_builder.append(title)
+        if "Tier" not in title:
+          markdown_builder.append(COLUMNS)
+          markdown_builder.append(COLUMN_HEADER)
+        markdown_builder.extend(category)
+
+    print("\n".join(markdown_builder))
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  print_car_info_diff(args.path)
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@ -15,6 +15,7 @@ from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
+from laika.downloader import DownloadFailed
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@ -27,6 +28,7 @@ from system.swaglog import cloudlog

 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemeris'
+DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache"
 CACHE_VERSION = 0.1
 POS_FIX_RESIDUAL_THRESHOLD = 100.0

@ -42,7 +44,7 @@ class Laikad:
    valid_ephem_types: Valid ephemeris types to be used by AstroDog
    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
    """
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
+    self.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)

    self.auto_fetch_orbits = auto_fetch_orbits
@ -77,8 +79,8 @@ class Laikad:
      cloudlog.exception("Error parsing cache")
    timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
    cloudlog.debug(
-      f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
-      f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
+      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):
@ -92,10 +94,15 @@ class Laikad:
    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 and np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
-        self.last_pos_fix = pos_fix[:3]
-        self.last_pos_residual = pos_fix_residual
+      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

  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
@ -113,10 +120,11 @@ class Laikad:
      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 ublox_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))
@ -183,7 +191,7 @@ class Laikad:
  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):
-      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
      ret = None

      if block:  # Used for testing purposes
@ -203,15 +211,17 @@ class Laikad:
          self.cache_ephemeris(t=t)


-def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
-  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+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()}")
  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())}" +
+                   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
-  except (RuntimeError, ValueError, IOError) as e:
+  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
  return None, None, t

@ -301,6 +311,7 @@ def main(sm=None, pm=None):
  replay = "REPLAY" in os.environ
  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
+
  while True:
    sm.update()

--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@ -8,6 +8,7 @@ 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.gps_time import GPSTime
 from laika.helpers import ConstellationId, TimeRangeHolder
@ -51,6 +52,9 @@ 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
@ -109,7 +113,7 @@ class TestLaikad(unittest.TestCase):
    data_mock = defaultdict(str)
    data_mock['sv_id'] = 1

-    gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=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])
@ -165,7 +169,13 @@ class TestLaikad(unittest.TestCase):

  @mock.patch('laika.downloader.download_and_cache_file')
  def test_laika_offline(self, downloader_mock):
-    downloader_mock.side_effect = IOError
+    downloader_mock.side_effect = DownloadFailed("Mock download failed")
+    laikad = Laikad(auto_update=False)
+    laikad.fetch_orbits(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))
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@ -46,11 +46,25 @@ def remove_ignored_fields(msg, ignore):
  return msg.as_reader()


-def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None):
+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]
+
+
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=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

  log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))

@ -72,7 +86,6 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
      msg1_dict = msg1.to_dict(verbose=True)
      msg2_dict = msg2.to_dict(verbose=True)

-      tolerance = EPSILON if tolerance is None else tolerance
      dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)

      # Dictdiffer only supports relative tolerance, we also want to check for absolute
@ -80,10 +93,13 @@ 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(tolerance, tolerance * max(abs(a), abs(b)))
+              return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b)))
        except TypeError:
          pass
        return True
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -14,6 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
+from 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
@ -27,7 +28,7 @@ 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'], defaults=({}, {}, ""))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))


 def wait_for_event(evt):
@ -548,11 +549,17 @@ def cpp_replay_process(cfg, lr, fingerprint=None):


 def check_enabled(msgs):
+  cur_enabled_count = 0
+  max_enabled_count = 0
  for msg in msgs:
    if msg.which() == "carParams":
      if msg.carParams.notCar:
        return True
    elif msg.which() == "controlsState":
      if msg.controlsState.active:
-        return True
-  return False
+        cur_enabled_count += 1
+      else:
+        cur_enabled_count = 0
+      max_enabled_count = max(max_enabled_count, cur_enabled_count)
+
+  return max_enabled_count > int(10. / DT_CTRL)
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-825acfae98543c915c18d3b19a9c5d2503e431a6
+7c1168af0311d2fef67b82812cd863a0e97c030e
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@ -263,7 +263,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
  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 never enabled: {segment}")
+    raise Exception(f"Route did not engage for long enough: {segment}")

  return seg_path

--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -18,14 +18,14 @@ from tools.lib.logreader import LogReader
 original_segments = [
  ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
  ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
-  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--1"),     # HYUNDAI.KIA_EV6
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),     # HYUNDAI.KIA_EV6
  ("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
-  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),         # CHRYSLER.RAM_1500
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),         # CHRYSLER.RAM_1500
  ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"),      # SUBARU.IMPREZA
  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
@ -38,17 +38,18 @@ original_segments = [

 segments = [
  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
-  ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--0"),
+  ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
  ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
  ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
  ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
-  ("HONDA", "regen17B09D158B8|2022-07-06--14-31-46--0"),
-  ("HONDA2", "regen041739C3E9A|2022-07-06--15-08-02--0"),
-  ("CHRYSLER", "regenBB2F9C1425C|2022-07-06--14-31-41--0"),
-  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--2"),
-  ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
+  ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
+  ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
+  ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
+  ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
-  ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
+  ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
@ -65,7 +66,7 @@ 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, args.ignore_fields, args.ignore_msgs)
+    res, log_msgs = test_process(cfg, lr, 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)

@ -83,7 +84,7 @@ def get_log_data(segment):
    return (segment, f.read())


-def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
  if ignore_fields is None:
    ignore_fields = []
  if ignore_msgs is None:
@ -96,10 +97,10 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
  # check to make sure openpilot is engaged in the route
  if cfg.proc_name == "controlsd":
    if not check_enabled(log_msgs):
-      raise Exception(f"Route never enabled: {ref_log_path}")
+      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), log_msgs
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs
  except Exception as e:
    return str(e), log_msgs

@ -216,7 +217,7 @@ if __name__ == "__main__":
    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)):
-      if isinstance(result, list):
+      if not args.upload_only:
        results[segment][proc + subtest_name] = result

  diff1, diff2, failed = format_diff(results, ref_commit)
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@ -526,6 +526,10 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
      fn += "turn_straight";
    }

+    if (!active) {
+      fn += "_inactive";
+    }
+
    auto icon = new QLabel;
    int wh = active ? 125 : 75;
    icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio));
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
    screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
    no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);

-    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai"));
+    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai"));
    signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
    signup->setAlignment(Qt::AlignCenter);

--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) {
  } else if (n.security_type == SecurityType::OPEN) {
    wifi->connect(n);
  } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"") + n.ssid + "\"", true, 8);
+    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
    if (!pass.isEmpty()) {
      wifi->connect(n, pass);
    }
@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) {
 void Networking::wrongPassword(const QString &ssid) {
  if (wifi->seenNetworks.contains(ssid)) {
    const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"") + n.ssid +"\"", true, 8);
+    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
    if (!pass.isEmpty()) {
      wifi->connect(n, pass);
    }
@ -174,7 +174,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
  list->addItem(editApnButton);

  // Set initial config
-  wifi->updateGsmSettings(roamingEnabled,  QString::fromStdString(params.get("GsmApn")));
+  wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")));

  main_layout->addWidget(new ScrollView(list, this));
  main_layout->addStretch(1);
@ -296,7 +296,7 @@ void WifiUI::refresh() {
      QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
      forgetBtn->setObjectName("forgetBtn");
      QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"") + QString::fromUtf8(network.ssid) + "\"?", this)) {
+        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) {
          wifi->forgetConnection(network.ssid);
        }
      });
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@ -102,7 +102,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
  // offroad-only buttons

  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
-                                   tr("Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)"));
+                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
  connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
  addItem(dcamBtn);

@ -249,7 +249,7 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
  });


-  auto uninstallBtn = new ButtonControl(tr("Uninstall ") + getBrand(), tr("UNINSTALL"));
+  auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
  connect(uninstallBtn, &ButtonControl::clicked, [&]() {
    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
      params.putBool("DoUninstall", true);
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@ -165,7 +165,7 @@ void InputDialog::handleEnter() {
    done(QDialog::Accepted);
    emitText(line->text());
  } else {
-    setMessage(tr("Need at least ") + QString::number(minLength) + tr(" characters!"), false);
+    setMessage(tr("Need at least %1 characters!").arg(minLength), false);
  }
 }

--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@ -88,13 +88,16 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
    title->setWordWrap(true);
    vlayout->addWidget(title);

-    QLabel *instructions = new QLabel(tr(R"(
+    QLabel *instructions = new QLabel(QString(R"(
      <ol type='1' style='margin-left: 15px;'>
-        <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
-        <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
-        <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
+        <li style='margin-bottom: 50px;'>%1</li>
+        <li style='margin-bottom: 50px;'>%2</li>
+        <li style='margin-bottom: 50px;'>%3</li>
      </ol>
-    )"), this);
+    )").arg(tr("Go to https://connect.comma.ai on your phone"))
+    .arg(tr("Click \"add new device\" and scan the QR code on the right"))
+    .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this);
+
    instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
    instructions->setWordWrap(true);
    vlayout->addWidget(instructions);
--- a/selfdrive/ui/translations/README.md
+++ b/selfdrive/ui/translations/README.md
@ -0,0 +1,39 @@
+# Multilanguage
+
+![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
+
+## Contributing
+
+Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
+
+### Adding a New Language
+
+openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
+
+1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Simplified Chinese is `中文（繁體）`).
+2. Generate the translation file (`*.ts`):
+   ```shell
+   selfdrive/ui/update_translations.py
+   ```
+3. Edit the translation file, marking each translation as completed:
+   ```shell
+   linguist selfdrive/ui/translations/your_language_file.ts
+   ```
+4. Save your file and generate the compiled QM file used by the Qt UI:
+   ```shell
+   selfdrive/ui/update_translations.py --release
+   ```
+
+### Improving an Existing Language
+
+Follow the steps above, omitting steps 1. and 2. Any time you edit translations you'll want to make sure to compile them.
+
+### Testing
+
+openpilot has a unit test to make sure all translations are up to date with the text in openpilot and that all translations are completed.
+
+Run and fix any issues:
+
+```python
+selfdrive/ui/tests/test_translations.py
+```
--- a/selfdrive/ui/translations/main_ja.ts
+++ b/selfdrive/ui/translations/main_ja.ts
@ -134,8 +134,8 @@
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="104"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>ドライバーカメラのプレビューにより、デバイスの取り付け位置を最適化し、最高のドライバーモニタリング体験を提供します。(車両の電源を切る必要があります)</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>ドライバー向けカメラをプレビューする、ドライバーモニタリングの視認性を確保します。(車両の電源を切る必要があります)</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="108"/>
--- a/selfdrive/ui/translations/main_ko.qm
+++ b/selfdrive/ui/translations/main_ko.qm
--- a/selfdrive/ui/translations/main_ko.ts
+++ b/selfdrive/ui/translations/main_ko.ts
@ -45,7 +45,7 @@
    <message>
        <location filename="../qt/offroad/networking.cc" line="136"/>
        <source>Enter new tethering password</source>
-        <translation>새 테더링 비밀번호 입력</translation>
+        <translation>새 테더링 비밀번호를 입력하세요</translation>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="144"/>
@ -70,7 +70,7 @@
    <message>
        <location filename="../qt/offroad/networking.cc" line="165"/>
        <source>leave blank for automatic configuration</source>
-        <translation>자동 구성을 위해 비워둠</translation>
+        <translation>자동설정을 하려면 공백으로 두세요</translation>
    </message>
 </context>
 <context>
@ -92,7 +92,7 @@
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="140"/>
        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
-        <translation>당신은 반드시 약관에 동의해야만 openpilot을 사용할 수 있습니다.</translation>
+        <translation>openpilot을 사용하려면 이용 약관에 동의해야 합니다.</translation>
    </message>
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="149"/>
@ -102,7 +102,7 @@
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="154"/>
        <source>Decline, uninstall %1</source>
-        <translation>거절，삭제 %1</translation>
+        <translation>거절, %1 제거</translation>
    </message>
 </context>
 <context>
@ -134,8 +134,8 @@
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>운전자 카메라를 미리 보면서 최적의 운전자 모니터링 경험을 위해 기기 장착 위치를 최적화할수 있습니다. (차량은 반드시 닫아야 합니다)</translation>
+        <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>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="109"/>
@ -150,7 +150,7 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="112"/>
        <source>Are you sure you want to reset calibration?</source>
-        <translation>캘리브레이션을 재설정하시겠습니까？</translation>
+        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="119"/>
@ -165,12 +165,12 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="119"/>
        <source>Review the rules, features, and limitations of openpilot</source>
-        <translation>openpilot의 규칙, 기능, 제한 다시보기</translation>
+        <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="121"/>
        <source>Are you sure you want to review the training guide?</source>
-        <translation>트레이닝 가이드를 다시보시겠습니까？</translation>
+        <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="129"/>
@ -185,7 +185,7 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="137"/>
        <source>Change Language</source>
-        <translation>언어변경</translation>
+        <translation>언어 변경</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="137"/>
@ -195,7 +195,7 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="141"/>
        <source>Select a language</source>
-        <translation>언어선택</translation>
+        <translation>언어를 선택하세요</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="161"/>
@ -210,37 +210,37 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="186"/>
        <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 장치를 왼쪽 또는 오른쪽 4° 이내, 위쪽 5° 또는 아래쪽 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
+        <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="197"/>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
-        <translation> 사용자의 기기가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+        <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="198"/>
        <source>down</source>
-        <translation>아래</translation>
+        <translation>아래로</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="198"/>
        <source>up</source>
-        <translation>위</translation>
+        <translation>위로</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="199"/>
        <source>left</source>
-        <translation>왼쪽</translation>
+        <translation>좌측으로</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="199"/>
        <source>right</source>
-        <translation>오른쪽</translation>
+        <translation>우측으로</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="210"/>
        <source>Are you sure you want to reboot?</source>
-        <translation>재부팅 하시겠습니까？</translation>
+        <translation>재부팅 하시겠습니까?</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="217"/>
@ -250,7 +250,7 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="223"/>
        <source>Are you sure you want to power off?</source>
-        <translation>전원을 종료하시겠습니까？</translation>
+        <translation>전원을 종료하시겠습니까?</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="230"/>
@ -263,7 +263,7 @@
    <message>
        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
        <source>Drives</source>
-        <translation>주행수</translation>
+        <translation>주행</translation>
    </message>
    <message>
        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
@ -273,7 +273,7 @@
    <message>
        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
        <source>ALL TIME</source>
-        <translation>전체 시간</translation>
+        <translation>전체</translation>
    </message>
    <message>
        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
@ -308,13 +308,8 @@
    </message>
    <message>
        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>최소 필요 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation> 문자！</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>최소 %1 자가 필요합니다!</translation>
    </message>
 </context>
 <context>
@ -343,27 +338,27 @@
 <context>
    <name>MapETA</name>
    <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
        <source>eta</source>
-        <translation>에타</translation>
+        <translation>도착</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
        <source>min</source>
        <translation>분</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
        <source>hr</source>
        <translation>시간</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
        <source>km</source>
        <translation>km</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
        <source>mi</source>
        <translation>mi</translation>
    </message>
@ -401,7 +396,7 @@
    <message>
        <location filename="../qt/maps/map_settings.cc" line="66"/>
        <source>CLEAR</source>
-        <translation>CLEAR</translation>
+        <translation>삭제</translation>
    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="81"/>
@ -411,14 +406,14 @@
    <message>
        <location filename="../qt/maps/map_settings.cc" line="95"/>
        <source>Try the Navigation Beta</source>
-        <translation>네비게이션(베타)을 사용해보세요</translation>
+        <translation>네비게이션(베타)를 사용해보세요</translation>
    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <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 확인하시려면 comma prime을 구독하세요.
-즉시등록：https://connect.comma.ai</translation>
+        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
+등록：https://connect.comma.ai</translation>
    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="164"/>
@ -437,7 +432,7 @@ location set</source>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="282"/>
        <source>no recent destinations</source>
-        <translation>최근 경로 없음</translation>
+        <translation>최근 목적지 없음</translation>
    </message>
 </context>
 <context>
@ -471,7 +466,7 @@ location set</source>
    <message>
        <location filename="../qt/offroad/networking.cc" line="30"/>
        <source>Advanced</source>
-        <translation>고급</translation>
+        <translation>고급 설정</translation>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="87"/>
@ -481,8 +476,8 @@ location set</source>
    <message>
        <location filename="../qt/offroad/networking.cc" line="87"/>
        <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>하기위한 &quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>하기위한 &quot;%1&quot;</translation>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="97"/>
@ -547,52 +542,50 @@ location set</source>
        <translation>장치를 콤마 계정과 페어링합니다</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;https://connect.comma.ai에 접속하세요&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다.&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오.&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>https://connect.comma.ai에 접속하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <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>
    </message>
 </context>
 <context>
    <name>PrimeAdWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
        <source>Upgrade Now</source>
        <translation>지금 업그레이드</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
        <source>Become a comma prime member at connect.comma.ai</source>
        <translation>connect.comma.ai에서 comma prime에 가입합니다</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
        <source>PRIME FEATURES:</source>
        <translation>PRIME 기능：</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Remote access</source>
        <translation>원격 접속</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>1 year of storage</source>
        <translation>1년간 저장</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Developer perks</source>
        <translation>개발자 혜택</translation>
    </message>
@ -600,22 +593,22 @@ location set</source>
 <context>
    <name>PrimeUserWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
        <source>✓ SUBSCRIBED</source>
        <translation>✓ 구독함</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
        <source>comma prime</source>
        <translation>comma prime</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
        <source>CONNECT.COMMA.AI</source>
        <translation>CONNECT.COMMA.AI</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
        <source>COMMA POINTS</source>
        <translation>COMMA POINTS</translation>
    </message>
@ -775,12 +768,12 @@ location set</source>
    <message>
        <location filename="../qt/setup/setup.cc" line="117"/>
        <source>Getting Started</source>
-        <translation>시작</translation>
+        <translation>설정 시작</translation>
    </message>
    <message>
        <location filename="../qt/setup/setup.cc" line="122"/>
        <source>Before we get on the road, let’s finish installation and cover some details.</source>
-        <translation>출발하기 전에 설치를 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+        <translation>출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
    </message>
    <message>
        <location filename="../qt/setup/setup.cc" line="147"/>
@ -857,19 +850,19 @@ location set</source>
 <context>
    <name>SetupWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
        <source>Finish Setup</source>
-        <translation>설치완료</translation>
+        <translation>설정 완료</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
        <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>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
        <source>Pair device</source>
-        <translation>페어링</translation>
+        <translation>장치 페어링</translation>
    </message>
 </context>
 <context>
@ -911,12 +904,12 @@ location set</source>
    <message>
        <location filename="../qt/sidebar.cc" line="76"/>
        <source>GOOD</source>
-        <translation>경고</translation>
+        <translation>좋음</translation>
    </message>
    <message>
        <location filename="../qt/sidebar.cc" line="78"/>
        <source>OK</source>
-        <translation>좋음</translation>
+        <translation>경고</translation>
    </message>
    <message>
        <location filename="../qt/sidebar.cc" line="82"/>
@ -1009,7 +1002,7 @@ location set</source>
    <message>
        <location filename="../qt/offroad/settings.cc" line="239"/>
        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
-        <translation>이전에 openpilot에서 업데이트를 성공적으로 확인한 시간입니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
+        <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="240"/>
@ -1019,22 +1012,22 @@ location set</source>
    <message>
        <location filename="../qt/offroad/settings.cc" line="245"/>
        <source>CHECKING</source>
-        <translation>검사중</translation>
+        <translation>확인중</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>삭제 </translation>
+        <source>UNINSTALL</source>
+        <translation>제거</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>삭제</translation>
+        <source>Uninstall %1</source>
+        <translation>제거 %1</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="254"/>
        <source>Are you sure you want to uninstall?</source>
-        <translation>삭제하시겠습니까？</translation>
+        <translation>제거하시겠습니까?</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="268"/>
@ -1084,7 +1077,7 @@ location set</source>
    <message>
        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
        <source>Username &apos;%1&apos; has no keys on GitHub</source>
-        <translation>사용자 이름 &apos;%1&apos; GitHub에 키가 없습니다</translation>
+        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
    </message>
    <message>
        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
@ -1094,7 +1087,7 @@ location set</source>
    <message>
        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
-        <translation>사용자 이름 &apos;%1&apos; GitHub에 없습니다</translation>
+        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
    </message>
 </context>
 <context>
@ -1120,7 +1113,7 @@ location set</source>
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="111"/>
        <source>Scroll to accept</source>
-        <translation>스크롤 허용</translation>
+        <translation>허용하려면 아래로 스크롤하세요</translation>
    </message>
    <message>
        <location filename="../qt/offroad/onboarding.cc" line="126"/>
@ -1168,12 +1161,12 @@ location set</source>
    <message>
        <location filename="../qt/offroad/settings.cc" line="52"/>
        <source>Display speed in km/h instead of mph.</source>
-        <translation>mph가 아닌 km/h로 속도 표시.</translation>
+        <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="57"/>
        <source>Record and Upload Driver Camera</source>
-        <translation>운전자 카메라 기록 및 업로드</translation>
+        <translation>운전자 카메라 녹화 및 업로드</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="58"/>
@ -1193,7 +1186,7 @@ location set</source>
    <message>
        <location filename="../qt/offroad/settings.cc" line="70"/>
        <source>Show ETA in 24h format</source>
-        <translation>24시간 형식으로 ETA 표시</translation>
+        <translation>24시간 형식으로 도착예정시간 표시</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="71"/>
@ -1274,8 +1267,8 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>wifi 네트워크 저장안함&quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
    </message>
 </context>
 </TS>
--- a/selfdrive/ui/translations/main_zh-CHS.qm
+++ b/selfdrive/ui/translations/main_zh-CHS.qm
--- a/selfdrive/ui/translations/main_zh-CHS.ts
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@ -134,8 +134,8 @@
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>打开并预览驾驶员摄像头，用于调整安装角度以获得最优驾驶员监控体验。仅熄火时可用。</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="109"/>
@ -308,13 +308,8 @@
    </message>
    <message>
        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>至少需要 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation> 个字符！</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>至少需要 %1 个字符！</translation>
    </message>
 </context>
 <context>
@ -343,27 +338,27 @@
 <context>
    <name>MapETA</name>
    <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
        <source>eta</source>
        <translation>埃塔</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
        <source>min</source>
        <translation>分钟</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
        <source>hr</source>
        <translation>小时</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
        <source>km</source>
        <translation>km</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
        <source>mi</source>
        <translation>mi</translation>
    </message>
@ -415,7 +410,7 @@
    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <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>
@ -479,8 +474,8 @@ location set</source>
    <message>
        <location filename="../qt/offroad/networking.cc" line="87"/>
        <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>网络名称：&quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>网络名称：&quot;%1&quot;</translation>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="97"/>
@ -545,52 +540,50 @@ location set</source>
        <translation>将您的设备与comma账号配对</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;在手机上访问 https://connect.comma.ai&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;点击“添加新设备”，扫描右侧二维码&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>在手机上访问 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>点击“添加新设备”，扫描右侧二维码</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
    </message>
 </context>
 <context>
    <name>PrimeAdWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
        <source>Upgrade Now</source>
        <translation>现在升级</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
        <source>Become a comma prime member at connect.comma.ai</source>
        <translation>打开connect.comma.ai以注册comma prime会员</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
        <source>PRIME FEATURES:</source>
        <translation>comma prime特权：</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Remote access</source>
        <translation>远程访问</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>1 year of storage</source>
        <translation>1年数据存储</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Developer perks</source>
        <translation>开发者福利</translation>
    </message>
@ -598,22 +591,22 @@ location set</source>
 <context>
    <name>PrimeUserWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
        <source>✓ SUBSCRIBED</source>
        <translation>✓ 已订阅</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
        <source>comma prime</source>
        <translation>comma prime</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
        <source>CONNECT.COMMA.AI</source>
        <translation>CONNECT.COMMA.AI</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
        <source>COMMA POINTS</source>
        <translation>COMMA POINTS点数</translation>
    </message>
@ -855,17 +848,17 @@ location set</source>
 <context>
    <name>SetupWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
        <source>Finish Setup</source>
        <translation>完成设置</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
        <source>Pair device</source>
        <translation>配对设备</translation>
    </message>
@ -1021,13 +1014,13 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>卸载 </translation>
+        <source>UNINSTALL</source>
+        <translation>卸载</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>卸载</translation>
+        <source>Uninstall %1</source>
+        <translation>卸载 %1</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="254"/>
@ -1272,8 +1265,8 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>忘记WiFi网络&quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>忘记WiFi网络 &quot;%1&quot;?</translation>
    </message>
 </context>
 </TS>
--- a/selfdrive/ui/translations/main_zh-CHT.qm
+++ b/selfdrive/ui/translations/main_zh-CHT.qm
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -125,7 +125,7 @@
    <message>
        <location filename="../qt/offroad/settings.cc" line="104"/>
        <source>Driver Camera</source>
-        <translation>駕駛監控</translation>
+        <translation>駕駛員攝像頭</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="104"/>
@ -134,8 +134,8 @@
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="105"/>
-        <source>Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)</source>
-        <translation>預覽駕駛監控鏡頭畫面，方便調整設備安裝的位置，以提供更準確的駕駛監控。(車子必須保持在熄火的狀態)</translation>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。僅在熄火時可用。</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="109"/>
@ -308,13 +308,8 @@
    </message>
    <message>
        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source>Need at least </source>
-        <translation>需要至少 </translation>
-    </message>
-    <message>
-        <location filename="../qt/widgets/input.cc" line="168"/>
-        <source> characters!</source>
-        <translation> 個字元！</translation>
+        <source>Need at least %1 characters!</source>
+        <translation>需要至少 %1 個字元！</translation>
    </message>
 </context>
 <context>
@ -343,27 +338,27 @@
 <context>
    <name>MapETA</name>
    <message>
-        <location filename="../qt/maps/map.cc" line="618"/>
+        <location filename="../qt/maps/map.cc" line="622"/>
        <source>eta</source>
        <translation>埃塔</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="628"/>
+        <location filename="../qt/maps/map.cc" line="632"/>
        <source>min</source>
        <translation>分鐘</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="632"/>
+        <location filename="../qt/maps/map.cc" line="636"/>
        <source>hr</source>
        <translation>小時</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="652"/>
+        <location filename="../qt/maps/map.cc" line="656"/>
        <source>km</source>
        <translation>km</translation>
    </message>
    <message>
-        <location filename="../qt/maps/map.cc" line="655"/>
+        <location filename="../qt/maps/map.cc" line="659"/>
        <source>mi</source>
        <translation>mi</translation>
    </message>
@ -415,16 +410,11 @@
    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="107"/>
-        <source>Get turn-by-turn directions displayed and more with a comma 
+        <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>
    </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 type="vanished">成為 comma 高級會員來使用導航功能，立即註冊：https://connect.comma.ai</translation>
-    </message>
    <message>
        <location filename="../qt/maps/map_settings.cc" line="164"/>
        <source>No home
@ -486,8 +476,8 @@ location set</source>
    <message>
        <location filename="../qt/offroad/networking.cc" line="87"/>
        <location filename="../qt/offroad/networking.cc" line="97"/>
-        <source>for &quot;</source>
-        <translation>給 &quot;</translation>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="97"/>
@ -552,52 +542,50 @@ location set</source>
        <translation>將設備與您的 comma 帳號配對</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="91"/>
-        <source>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Go to https://connect.comma.ai on your phone&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Click &quot;add new device&quot; and scan the QR code on the right&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;Bookmark connect.comma.ai to your home screen to use it like an app&lt;/li&gt;
-      &lt;/ol&gt;
-    </source>
-        <translation>
-      &lt;ol type=&apos;1&apos; style=&apos;margin-left: 15px;&apos;&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;用手機連至 https://connect.comma.ai&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;點選 &quot;add new device&quot; 後掃描右邊的二維碼&lt;/li&gt;
-        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它&lt;/li&gt;
-      &lt;/ol&gt;
-    </translation>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>用手機連至 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>點選 &quot;add new device&quot; 後掃描右邊的二維碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
    </message>
 </context>
 <context>
    <name>PrimeAdWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
        <source>Upgrade Now</source>
        <translation>馬上升級</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
        <source>Become a comma prime member at connect.comma.ai</source>
        <translation>成為 connect.comma.ai 的高級會員</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
        <source>PRIME FEATURES:</source>
        <translation>高級會員特點：</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Remote access</source>
        <translation>遠程訪問</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>1 year of storage</source>
        <translation>一年的雲端行車記錄</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
        <source>Developer perks</source>
        <translation>開發者福利</translation>
    </message>
@ -605,22 +593,22 @@ location set</source>
 <context>
    <name>PrimeUserWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
        <source>✓ SUBSCRIBED</source>
        <translation>✓ 已訂閱</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
        <source>comma prime</source>
        <translation>comma 高級會員</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
        <source>CONNECT.COMMA.AI</source>
        <translation>CONNECT.COMMA.AI</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
        <source>COMMA POINTS</source>
        <translation>COMMA 積分</translation>
    </message>
@ -865,17 +853,17 @@ location set</source>
 <context>
    <name>SetupWidget</name>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
        <source>Finish Setup</source>
        <translation>完成設置</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
    </message>
    <message>
-        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
        <source>Pair device</source>
        <translation>配對設備</translation>
    </message>
@ -1031,13 +1019,13 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>Uninstall </source>
-        <translation>卸載 </translation>
+        <source>UNINSTALL</source>
+        <translation>卸載</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="252"/>
-        <source>UNINSTALL</source>
-        <translation>卸載</translation>
+        <source>Uninstall %1</source>
+        <translation>卸載 %1</translation>
    </message>
    <message>
        <location filename="../qt/offroad/settings.cc" line="254"/>
@ -1282,8 +1270,8 @@ location set</source>
    </message>
    <message>
        <location filename="../qt/offroad/networking.cc" line="299"/>
-        <source>Forget Wi-Fi Network &quot;</source>
-        <translation>清除 Wi-Fi 網路 &quot;</translation>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
    </message>
 </context>
 </TS>
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@ -10,7 +10,7 @@ TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
 LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")


-def update_translations(release=False, translations_dir=TRANSLATIONS_DIR):
+def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR):
  with open(LANGUAGES_FILE, "r") as f:
    translation_files = json.load(f)

@ -20,7 +20,10 @@ def update_translations(release=False, translations_dir=TRANSLATIONS_DIR):
      continue

    tr_file = os.path.join(translations_dir, f"{file}.ts")
-    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
+    if vanish:
+      args += " -no-obsolete"
+    ret = os.system(args)
    assert ret == 0

    if release:
@ -32,6 +35,7 @@ if __name__ == "__main__":
  parser = argparse.ArgumentParser(description="Update translation files for UI",
                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
  parser.add_argument("--release", action="store_true", help="Create compiled QM translation files used by UI")
+  parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
  args = parser.parse_args()

-  update_translations(args.release)
+  update_translations(args.release, args.vanish)
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@ -10,7 +10,6 @@ if arch == "larch64":
  env.Program('camerad', [
      'main.cc',
      'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
      'imgproc/utils.cc',
      cameras,
    ], LIBS=libs)
@ -19,5 +18,4 @@ if GetOption("test"):
  env.Program('test/ae_gray_test', [
      'test/ae_gray_test.cc',
      'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
    ], LIBS=libs)
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@ -32,15 +32,14 @@ public:
  Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
    char args[4096];
    const CameraInfo *ci = &s->ci;
-    hdr_ = ci->hdr;
    snprintf(args, sizeof(args),
             "-cl-fast-relaxed-math -cl-denorms-are-zero "
             "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
             "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d%s",
+             "-DCAM_NUM=%d%s",
             ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
             b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             ci->bayer_flip, ci->hdr, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
    const char *cl_file = "cameras/real_debayer.cl";
    cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
    krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@ -63,12 +62,10 @@ public:

 private:
  cl_kernel krnl_;
-  bool hdr_;
 };

-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) {
  vipc_server = v;
-  this->rgb_type = init_rgb_type;
  this->yuv_type = init_yuv_type;

  const CameraInfo *ci = &s->ci;
@ -89,11 +86,7 @@ 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(ci->bayer);
-
-  vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
-  rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
-  LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_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);
@ -104,10 +97,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
  vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
  LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);

-  if (ci->bayer) {
-    debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
-  }
-  rgb2yuv = std::make_unique<Rgb2Yuv>(context, device_id, rgb_width, rgb_height, rgb_stride);
+  debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);

 #ifdef __APPLE__
  q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
@ -135,7 +125,6 @@ bool CameraBuf::acquire() {
  }

  cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_rgb_buf = vipc_server->get_buffer(rgb_type);
  cur_yuv_buf = vipc_server->get_buffer(yuv_type);
  cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
  cl_event event;
@ -144,12 +133,7 @@ bool CameraBuf::acquire() {

  cur_camera_buf = &camera_bufs[cur_buf_idx];

-  if (debayer) {
-    debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
-  } else {
-    assert(rgb_stride == camera_state->ci.frame_stride);
-    rgb2yuv->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl);
-  }
+  debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);

  clWaitForEvents(1, &event);
  CL_CHECK(clReleaseEvent(event));
@ -193,32 +177,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
  framed.setProcessingTime(frame_data.processing_time);
 }

-kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
-  static const int x_min = util::getenv("XMIN", 0);
-  static const int y_min = util::getenv("YMIN", 0);
-  static const int env_xmax = util::getenv("XMAX", -1);
-  static const int env_ymax = util::getenv("YMAX", -1);
-  static const int scale = util::getenv("SCALE", 1);
-
-  assert(b->cur_rgb_buf);
-
-  const int x_max = env_xmax != -1 ? env_xmax : b->rgb_width - 1;
-  const int y_max = env_ymax != -1 ? env_ymax : b->rgb_height - 1;
-  const int new_width = (x_max - x_min + 1) / scale;
-  const int new_height = (y_max - y_min + 1) / scale;
-  const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr;
-
-  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(new_width*new_height*3);
-  uint8_t *resized_dat = frame_image.begin();
-  int goff = x_min*3 + y_min*b->rgb_stride;
-  for (int r=0;r<new_height;r++) {
-    for (int c=0;c<new_width;c++) {
-      memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*b->rgb_stride*scale+c*3*scale], 3*sizeof(uint8_t));
-    }
-  }
-  return kj::mv(frame_image);
-}
-
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
  const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;

--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@ -9,7 +9,6 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
@ -27,7 +26,6 @@
 #define CAMERA_ID_IMX390 9
 #define CAMERA_ID_MAX 10

-const int UI_BUF_COUNT = 4;
 const int YUV_BUFFER_COUNT = 40;

 enum CameraType {
@ -36,11 +34,6 @@ enum CameraType {
  WideRoadCam
 };

-// TODO: remove these once all the internal tools are moved to vipc
-const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
-const bool env_send_road = getenv("SEND_ROAD") != NULL;
-const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
-
 // for debugging
 const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
 const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
@ -51,9 +44,6 @@ const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 typedef struct CameraInfo {
  uint32_t frame_width, frame_height;
  uint32_t frame_stride;
-  bool bayer;
-  int bayer_flip;
-  bool hdr;
  uint32_t frame_offset = 0;
  uint32_t extra_height = 0;
  int registers_offset = -1;
@ -92,9 +82,8 @@ private:
  VisionIpcServer *vipc_server;
  CameraState *camera_state;
  Debayer *debayer = nullptr;
-  std::unique_ptr<Rgb2Yuv> rgb2yuv;

-  VisionStreamType rgb_type, yuv_type;
+  VisionStreamType yuv_type;

  int cur_buf_idx;

@ -116,7 +105,7 @@ public:

  CameraBuf() = default;
  ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
  bool acquire();
  void release();
  void queue(size_t buf_idx);
@ -125,7 +114,6 @@ public:
 typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);

 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
-kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@ -46,19 +46,11 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
    .registers_offset = 0,
    .frame_offset = AR0231_REGISTERS_HEIGHT,
    .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
  },
  [CAMERA_ID_IMX390] = {
    .frame_width = FRAME_WIDTH,
    .frame_height = FRAME_HEIGHT,
    .frame_stride = FRAME_STRIDE,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
  },
 };

@ -614,7 +606,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {

 // ******************* camera *******************

-void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled_) {
+void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) {
  multi_cam_state = multi_cam_state_;
  camera_id = camera_id_;
  camera_num = camera_num_;
@ -638,7 +630,7 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
  exposure_time = 5;
  cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;

-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
 }

 void CameraState::camera_open() {
@ -833,9 +825,9 @@ void CameraState::camera_open() {
 }

 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, !env_disable_driver);
-  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
-  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
+  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver);
+  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road);
+  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);

  s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@ -1233,9 +1225,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
  auto framed = msg.initEvent().initDriverCameraState();
  framed.setFrameType(cereal::FrameData::FrameType::FRONT);
  fill_frame_data(framed, c->buf.cur_frame_data);
-  if (env_send_driver) {
-    framed.setImage(get_frame_image(&c->buf));
-  }
+
  if (c->camera_id == CAMERA_ID_AR0231) {
    ar0231_process_registers(s, c, framed);
  }
@ -1248,9 +1238,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
  MessageBuilder msg;
  auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
  fill_frame_data(framed, b->cur_frame_data);
-  if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
-    framed.setImage(get_frame_image(b));
-  } else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
+  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
    framed.setImage(get_raw_frame_image(b));
  }
  LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@ -55,7 +55,7 @@ public:
  void sensors_start();

  void camera_open();
-  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
+  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled);
  void camera_close();

  std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
--- a/system/camerad/transforms/rgb_to_yuv.cc
+++ b/system/camerad/transforms/rgb_to_yuv.cc
@ -1,36 +0,0 @@
-#include "system/camerad/transforms/rgb_to_yuv.h"
-
-#include <cassert>
-#include <cstdio>
-
-Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  assert(width % 2 == 0 && height % 2 == 0);
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-#ifdef CL_DEBUG
-           "-DCL_DEBUG "
-#endif
-           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width / 2, height / 2, rgb_stride, width * height);
-
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
-  CL_CHECK(clReleaseProgram(prg));
-
-  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
-  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
-}
-
-Rgb2Yuv::~Rgb2Yuv() {
-  CL_CHECK(clReleaseKernel(krnl));
-}
-
-void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
-  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
-  cl_event event;
-  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
-  CL_CHECK(clWaitForEvents(1, &event));
-  CL_CHECK(clReleaseEvent(event));
-}
--- a/system/camerad/transforms/rgb_to_yuv.h
+++ b/system/camerad/transforms/rgb_to_yuv.h
@ -1,14 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-class Rgb2Yuv {
-public:
-  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-  ~Rgb2Yuv();
-  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-private:
-  size_t work_size[2];
-  cl_kernel krnl;
-};
-
--- a/system/camerad/transforms/rgb_to_yuv_test.cc
+++ b/system/camerad/transforms/rgb_to_yuv_test.cc
@ -1,191 +0,0 @@
-#include <fcntl.h>
-#include <getopt.h>
-#include <memory.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cmath>
-#include <csignal>
-#include <cstdint>
-#include <cstdlib>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <string>
-#include <thread>
-#include <vector>
-
-#ifdef ANDROID
-
-#define MAXE 0
-#include <unistd.h>
-
-#else
-// The libyuv implementation on ARM is slightly different than on x86
-// Our implementation matches the ARM version, so accept errors of 1
-#define MAXE 1
-
-#endif
-
-#include <CL/cl.h>
-
-#include "libyuv.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
-#include "common/clutil.h"
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-void cl_init(cl_device_id &device_id, cl_context &context) {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-
-bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) {
-  int min_diff = 0., max_diff = 0., max_e = 0.;
-  int e1 = 0, e0 = 0;
-  int e0y = 0, e0u = 0, e0v = 0, e1y = 0, e1u = 0, e1v = 0;
-  int max_e_i = 0;
-  for (int i = 0;i < len;i++) {
-    int e = ((int)a[i]) - ((int)b[i]);
-    if(e < min_diff) {
-      min_diff = e;
-    }
-    if(e > max_diff) {
-      max_diff = e;
-    }
-    int e_abs = std::abs(e);
-    if(e_abs > max_e) {
-      max_e = e_abs;
-      max_e_i = i;
-    }
-    if(e_abs < 1) {
-      e0++;
-      if(i < stride * height)
-        e0y++;
-      else if(i < stride * height + stride * height / 4)
-        e0u++;
-      else
-        e0v++;
-    } else {
-      e1++;
-      if(i < stride * height)
-        e1y++;
-      else if(i < stride * height + stride * height / 4)
-        e1u++;
-      else
-        e1v++;
-    }
-  }
-  //printf("max diff : %d, min diff : %d, e < 1: %d, e >= 1: %d\n", max_diff, min_diff, e0, e1);
-  //printf("Y: e < 1: %d, e >= 1: %d, U: e < 1: %d, e >= 1: %d, V: e < 1: %d, e >= 1: %d\n", e0y, e1y, e0u, e1u, e0v, e1v);
-  if(max_e <= MAXE) {
-    return true;
-  }
-  int row = max_e_i / stride;
-  if(row < height) {
-    printf("max error is Y: %d = (libyuv: %u - cl: %u), row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], row, max_e_i % stride);
-  } else if(row >= height && row < (height + height / 4)) {
-    printf("max error is U: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height) / 2, max_e_i % stride / 2);
-  } else {
-    printf("max error is V: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height - height / 4) / 2, max_e_i % stride / 2);
-  }
-  return false;
-}
-
-int main(int argc, char** argv) {
-  srand(1337);
-
-  cl_device_id device_id;
-  cl_context context;
-  cl_init(device_id, context)	;
-
-  int err;
-  const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
-  if(err != 0) {
-    std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl;
-  }
-
-  int width = 1164;
-  int height = 874;
-
-  int opt = 0;
-  while ((opt = getopt(argc, argv, "f")) != -1)
-    {
-      switch (opt)
-        {
-        case 'f':
-          std::cout << "Using front camera dimensions" << std::endl;
-          int width = 1152;
-          int height = 846;
-        }
-  }
-
-  std::cout << "Width: " << width << " Height: " << height << std::endl;
-  uint8_t *rgb_frame = new uint8_t[width * height * 3];
-
-
-  RGBToYUVState rgb_to_yuv_state;
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
-
-  int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
-  uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
-  uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
-  uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
-  uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
-
-  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
-  int mismatched = 0;
-  int counter = 0;
-  srand (time(NULL));
-
-  for (int i = 0; i < 100; i++) {
-    for (int i = 0; i < width * height * 3; i++) {
-      rgb_frame[i] = (uint8_t)rand();
-    }
-
-    double t1 = millis_since_boot();
-    libyuv::RGB24ToI420((uint8_t*)rgb_frame, width * 3,
-                        frame_yuv_ptr_y, width,
-                        frame_yuv_ptr_u, width/2,
-                        frame_yuv_ptr_v, width/2,
-                        width, height);
-    double t2 = millis_since_boot();
-    //printf("Libyuv: rgb to yuv: %.2fms\n", t2-t1);
-
-    clEnqueueWriteBuffer(q, rgb_cl, CL_TRUE, 0, width * height * 3, (void *)rgb_frame, 0, NULL, NULL);
-    t1 = millis_since_boot();
-    rgb_to_yuv_queue(&rgb_to_yuv_state, q, rgb_cl, yuv_cl);
-    t2 = millis_since_boot();
-
-    //printf("OpenCL: rgb to yuv: %.2fms\n", t2-t1);
-    uint8_t *yyy = (uint8_t *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
-                                                 CL_MAP_READ, 0, frame_yuv_buf_size,
-                                                 0, NULL, NULL, &err);
-    if(!compare_results(frame_yuv_ptr_y, yyy, frame_yuv_buf_size, width, width, height, (uint8_t*)rgb_frame))
-      mismatched++;
-    clEnqueueUnmapMemObject(q, yuv_cl, yyy, 0, NULL, NULL);
-
-    // std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    if(counter++ % 100 == 0)
-      printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  }
-  printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  delete[] frame_yuv_buf;
-  rgb_to_yuv_destroy(&rgb_to_yuv_state);
-  clReleaseContext(context);
-  delete[] rgb_frame;
-
-  if (mismatched == 0)
-    return 0;
-  else
-    return -1;
-}
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@ -222,7 +222,7 @@ def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")


-def flash_partition(target_slot_number: int, partition: dict, cloudlog):
+def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
  cloudlog.info(f"Downloading and writing {partition['name']}")

  if verify_partition(target_slot_number, partition):
@ -236,7 +236,7 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog):

  path = get_partition_path(target_slot_number, partition)

-  if 'casync_caibx' in partition:
+  if ('casync_caibx' in partition) and not standalone:
    extract_casync_image(target_slot_number, partition, cloudlog)
  else:
    extract_compressed_image(target_slot_number, partition, cloudlog)
@ -263,7 +263,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
      cloudlog.error(f"Swap failed {out}")


-def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None:
  update = json.load(open(manifest_path))

  cloudlog.info(f"Target slot {target_slot_number}")
@ -276,7 +276,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) ->

    for retries in range(10):
      try:
-        flash_partition(target_slot_number, partition, cloudlog)
+        flash_partition(target_slot_number, partition, cloudlog, standalone)
        success = True
        break

@ -320,9 +320,9 @@ if __name__ == "__main__":
  elif args.swap:
    while not verify_agnos_update(args.manifest, target_slot_number):
      logging.error("Verification failed. Flashing AGNOS")
-      flash_agnos_update(args.manifest, target_slot_number, logging)
+      flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)

    logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
    swap(args.manifest, target_slot_number, logging)
  else:
-    flash_agnos_update(args.manifest, target_slot_number, logging)
+    flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
--- a/system/hardware/tici/tests/compare_casync_manifest.py
+++ b/system/hardware/tici/tests/compare_casync_manifest.py
@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import argparse
+import collections
+import multiprocessing
+import os
+from typing import Dict, List
+
+import requests
+from tqdm import tqdm
+
+import system.hardware.tici.casync as casync
+
+
+def get_chunk_download_size(chunk):
+  sha = chunk.sha.hex()
+  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
+  if os.path.isfile(path):
+    return os.path.getsize(path)
+  else:
+    r = requests.head(path)
+    r.raise_for_status()
+    return int(r.headers['content-length'])
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
+  parser.add_argument('frm')
+  parser.add_argument('to')
+  args = parser.parse_args()
+
+  frm = casync.parse_caibx(args.frm)
+  to = casync.parse_caibx(args.to)
+  remote_url = args.to.replace('.caibx', '')
+
+  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
+
+  frm_dict = casync.build_chunk_dict(frm)
+
+  # 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)}
+
+  sources: Dict[str, List[int]] = {
+    'seed': [],
+    'remote_uncompressed': [],
+    'remote_compressed': [],
+  }
+
+  for chunk in to:
+    # Assume most common chunk is the zero chunk
+    if chunk.sha == most_common:
+      continue
+
+    if chunk.sha in frm_dict:
+      sources['seed'].append(chunk.length)
+    else:
+      sources['remote_uncompressed'].append(chunk.length)
+      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
+
+  print()
+  print("Update statistics (excluding zeros)")
+  print()
+  print("Download only with no seed:")
+  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print()
+  print("Upgrade with seed partition:")
+  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
+  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
+  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
+  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
+  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
--- a/tools/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@ -47,22 +47,22 @@ LogReader::~LogReader() {
 }

 bool LogReader::load(const std::string &url, 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;
+  raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  if (raw_.empty()) return false;

-  return load((std::byte*)data.data(), data.size(), abort);
+  if (url.find(".bz2") != std::string::npos) {
+    raw_ = decompressBZ2(raw_, abort);
+    if (raw_.empty()) return false;
+  }
+  return parse(abort);
 }

 bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
-  raw_ = decompressBZ2(data, size, abort);
-  if (raw_.empty()) {
-    if (!(abort && *abort)) {
-      rWarning("failed to decompress log");
-    }
-    return false;
-  }
+  raw_.assign((const char *)data, size);
+  return parse(abort);
+}

+bool LogReader::parse(std::atomic<bool> *abort) {
  try {
    kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
    while (words.size() > 0 && !(abort && *abort)) {
--- a/tools/replay/logreader.h
+++ b/tools/replay/logreader.h
@ -52,10 +52,10 @@ public:
  ~LogReader();
  bool load(const std::string &url, 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, std::atomic<bool> *abort = nullptr);
-
  std::vector<Event*> events;

 private:
+  bool parse(std::atomic<bool> *abort);
  std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
  std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
--- a/tools/replay/route.cc
+++ b/tools/replay/route.cc
@ -82,9 +82,9 @@ void Route::addFileToSegment(int n, const QString &file) {
  const int pos = name.lastIndexOf("--");
  name = pos != -1 ? name.mid(pos + 2) : name;

-  if (name == "rlog.bz2") {
+  if (name == "rlog.bz2" || name == "rlog") {
    segments_[n].rlog = file;
-  } else if (name == "qlog.bz2") {
+  } else if (name == "qlog.bz2" || name == "qlog") {
    segments_[n].qlog = file;
  } else if (name == "fcamera.hevc") {
    segments_[n].road_cam = file;
--- a/tools/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@ -71,6 +71,7 @@ TEST_CASE("LogReader") {
    FileReader reader(true);
    std::string corrupt_content = reader.read(TEST_RLOG_URL);
    corrupt_content.resize(corrupt_content.length() / 2);
+    corrupt_content = decompressBZ2(corrupt_content);
    LogReader log;
    REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
    REQUIRE(log.events.size() > 0);
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@ -22,6 +22,7 @@ if [[ "$DETACH" ]]; then
  EXTRA_ARGS="-d"
 fi

+docker kill carla_sim || true
 docker run \
  --name carla_sim \
  --rm \