From 3707efff6b30a83be60f036c5ea3bced4ca7d72a Mon Sep 17 00:00:00 2001
From: Adeeb Shihadeh <adeebshihadeh@gmail.com>
Date: Tue, 1 Apr 2025 16:54:53 -0700
Subject: [PATCH 1/3] camerad: don't gate first frame on FSIN (#34972)

don't wait
---
 system/camerad/sensors/ox03c10_registers.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/system/camerad/sensors/ox03c10_registers.h b/system/camerad/sensors/ox03c10_registers.h
index 5c6282942b..bb7a1c5dd6 100644
--- a/system/camerad/sensors/ox03c10_registers.h
+++ b/system/camerad/sensors/ox03c10_registers.h
@@ -65,7 +65,6 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3008, 0x80}, // io_pad_sel
 
   // FSIN (frame sync) with external pulses
-  {0x3822, 0x33},  // wait for pulse before first frame
   {0x3009, 0x2},
   {0x3015, 0x2},
   {0x383E, 0x80},
@@ -73,6 +72,9 @@ const struct i2c_random_wr_payload init_array_ox03c10[] = {
   {0x3882, 0x8}, {0x3883, 0x0D},
   {0x3836, 0x1F}, {0x3837, 0x40},
 
+  // causes issues on some devices
+  //{0x3822, 0x33},  // wait for pulse before first frame
+
   {0x3892, 0x44},
   {0x3823, 0x41},
 

From 6a3d0e090c65c5d7685d1f8c37f3dffaac726071 Mon Sep 17 00:00:00 2001
From: Jason Wen <haibin.wen3@gmail.com>
Date: Wed, 2 Apr 2025 14:38:29 -0400
Subject: [PATCH 2/3] ci: update package management for `ui_preview` (#34967)

* ci: update package management for `ui_preview`

Add `apt-get update` before installing ImageMagick to ensure the package list is up-to-date. This prevents potential installation issues due to outdated package information.

* test commit

* try this

* revert
---
 .github/workflows/ui_preview.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/ui_preview.yaml b/.github/workflows/ui_preview.yaml
index f3fdc270db..4e8338c483 100644
--- a/.github/workflows/ui_preview.yaml
+++ b/.github/workflows/ui_preview.yaml
@@ -82,7 +82,7 @@ jobs:
         if: github.event_name == 'pull_request_target'
         id: find_diff
         run: >-
-          sudo apt-get install -y imagemagick
+          sudo apt-get update && sudo apt-get install -y imagemagick
 
           scenes=$(find ${{ github.workspace }}/pr_ui/*.png -type f -printf "%f\n" | cut -d '.' -f 1 | grep -v 'pair_device')
           A=($scenes)

From 5c4ceb7b39fb480755b58a3d60d52e86a004b1cd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kacper=20R=C4=85czy?= <gfw.kra@gmail.com>
Date: Wed, 2 Apr 2025 15:12:54 -0400
Subject: [PATCH 3/3] liveDelay message (#34976)

Bring back the lag message
---
 cereal/log.capnp | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/cereal/log.capnp b/cereal/log.capnp
index 593399f832..797c2cd8ac 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -2278,6 +2278,21 @@ struct LiveTorqueParametersData {
   useParams @12 :Bool;
 }
 
+struct LiveDelayData {
+  lateralDelay @0 :Float32;
+  validBlocks @1 :Int32;
+  status @2 :Status;
+
+  lateralDelayEstimate @3 :Float32;
+  points @4 :List(Float32);
+
+  enum Status {
+    unestimated @0;
+    estimated @1;
+    invalid @2;
+  }
+}
+
 struct LiveMapDataDEPRECATED {
   speedLimitValid @0 :Bool;
   speedLimit @1 :Float32;
@@ -2508,6 +2523,7 @@ struct Event {
     gnssMeasurements @91 :GnssMeasurements;
     liveParameters @61 :LiveParametersData;
     liveTorqueParameters @94 :LiveTorqueParametersData;
+    liveDelay @146 : LiveDelayData;
     cameraOdometry @63 :CameraOdometry;
     thumbnail @66: Thumbnail;
     onroadEvents @134: List(OnroadEvent);