diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 7acc8a2254..99d9694f24 100644
--- 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
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index fb5a37eeef..8df89dcc38 100644
--- 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
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index 0ff0092b02..fbc0d94194 100644
--- 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
 
@@ -58,12 +58,22 @@ 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"
+      run: |
+          eval "$BUILD"
+          rm $STRIPPED_DIR/Dockerfile.openpilot_base
     - name: Build openpilot and run checks
       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"
 
   build_all:
@@ -89,7 +99,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
@@ -302,7 +312,7 @@ jobs:
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
@@ -507,3 +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 }}
+            })
diff --git a/.gitignore b/.gitignore
index 0092c4dc94..e1ff5d5008 100644
--- a/.gitignore
+++ b/.gitignore
@@ -45,8 +45,6 @@ system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 system/camerad/camerad
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b901e07721..8b8bc1f1b9 100644
--- 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++
diff --git a/Jenkinsfile b/Jenkinsfile
index 0fa623fbcd..4e13717851 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -115,6 +115,7 @@ pipeline {
             phone_steps("tici", [
               ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
diff --git a/Pipfile b/Pipfile
index b8545b1a21..81669e4807 100644
--- a/Pipfile
+++ b/Pipfile
@@ -41,6 +41,8 @@ tenacity = "*"
 mpld3 = "*"
 carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
+pandas = "*"
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
@@ -86,8 +88,6 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
-PyQt5 = "==5.15.4"
-PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index cc347a60f4..0612d0ff39 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
+            "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -79,75 +79,89 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7",
-                "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a"
+                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
+                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.5.18.1"
+            "version": "==2022.6.15"
         },
         "cffi": {
             "hashes": [
-                "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3",
-                "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2",
-                "sha256:06c48159c1abed75c2e721b1715c379fa3200c7784271b3c46df01383b593636",
-                "sha256:0808014eb713677ec1292301ea4c81ad277b6cdf2fdd90fd540af98c0b101d20",
-                "sha256:10dffb601ccfb65262a27233ac273d552ddc4d8ae1bf93b21c94b8511bffe728",
-                "sha256:14cd121ea63ecdae71efa69c15c5543a4b5fbcd0bbe2aad864baca0063cecf27",
-                "sha256:17771976e82e9f94976180f76468546834d22a7cc404b17c22df2a2c81db0c66",
-                "sha256:181dee03b1170ff1969489acf1c26533710231c58f95534e3edac87fff06c443",
-                "sha256:23cfe892bd5dd8941608f93348c0737e369e51c100d03718f108bf1add7bd6d0",
-                "sha256:263cc3d821c4ab2213cbe8cd8b355a7f72a8324577dc865ef98487c1aeee2bc7",
-                "sha256:2756c88cbb94231c7a147402476be2c4df2f6078099a6f4a480d239a8817ae39",
-                "sha256:27c219baf94952ae9d50ec19651a687b826792055353d07648a5695413e0c605",
-                "sha256:2a23af14f408d53d5e6cd4e3d9a24ff9e05906ad574822a10563efcef137979a",
-                "sha256:31fb708d9d7c3f49a60f04cf5b119aeefe5644daba1cd2a0fe389b674fd1de37",
-                "sha256:3415c89f9204ee60cd09b235810be700e993e343a408693e80ce7f6a40108029",
-                "sha256:3773c4d81e6e818df2efbc7dd77325ca0dcb688116050fb2b3011218eda36139",
-                "sha256:3b96a311ac60a3f6be21d2572e46ce67f09abcf4d09344c49274eb9e0bf345fc",
-                "sha256:3f7d084648d77af029acb79a0ff49a0ad7e9d09057a9bf46596dac9514dc07df",
-                "sha256:41d45de54cd277a7878919867c0f08b0cf817605e4eb94093e7516505d3c8d14",
-                "sha256:4238e6dab5d6a8ba812de994bbb0a79bddbdf80994e4ce802b6f6f3142fcc880",
-                "sha256:45db3a33139e9c8f7c09234b5784a5e33d31fd6907800b316decad50af323ff2",
-                "sha256:45e8636704eacc432a206ac7345a5d3d2c62d95a507ec70d62f23cd91770482a",
-                "sha256:4958391dbd6249d7ad855b9ca88fae690783a6be9e86df65865058ed81fc860e",
-                "sha256:4a306fa632e8f0928956a41fa8e1d6243c71e7eb59ffbd165fc0b41e316b2474",
-                "sha256:57e9ac9ccc3101fac9d6014fba037473e4358ef4e89f8e181f8951a2c0162024",
-                "sha256:59888172256cac5629e60e72e86598027aca6bf01fa2465bdb676d37636573e8",
-                "sha256:5e069f72d497312b24fcc02073d70cb989045d1c91cbd53979366077959933e0",
-                "sha256:64d4ec9f448dfe041705426000cc13e34e6e5bb13736e9fd62e34a0b0c41566e",
-                "sha256:6dc2737a3674b3e344847c8686cf29e500584ccad76204efea14f451d4cc669a",
-                "sha256:74fdfdbfdc48d3f47148976f49fab3251e550a8720bebc99bf1483f5bfb5db3e",
-                "sha256:75e4024375654472cc27e91cbe9eaa08567f7fbdf822638be2814ce059f58032",
-                "sha256:786902fb9ba7433aae840e0ed609f45c7bcd4e225ebb9c753aa39725bb3e6ad6",
-                "sha256:8b6c2ea03845c9f501ed1313e78de148cd3f6cad741a75d43a29b43da27f2e1e",
-                "sha256:91d77d2a782be4274da750752bb1650a97bfd8f291022b379bb8e01c66b4e96b",
-                "sha256:91ec59c33514b7c7559a6acda53bbfe1b283949c34fe7440bcf917f96ac0723e",
-                "sha256:920f0d66a896c2d99f0adbb391f990a84091179542c205fa53ce5787aff87954",
-                "sha256:a5263e363c27b653a90078143adb3d076c1a748ec9ecc78ea2fb916f9b861962",
-                "sha256:abb9a20a72ac4e0fdb50dae135ba5e77880518e742077ced47eb1499e29a443c",
-                "sha256:c2051981a968d7de9dd2d7b87bcb9c939c74a34626a6e2f8181455dd49ed69e4",
-                "sha256:c21c9e3896c23007803a875460fb786118f0cdd4434359577ea25eb556e34c55",
-                "sha256:c2502a1a03b6312837279c8c1bd3ebedf6c12c4228ddbad40912d671ccc8a962",
-                "sha256:d4d692a89c5cf08a8557fdeb329b82e7bf609aadfaed6c0d79f5a449a3c7c023",
-                "sha256:da5db4e883f1ce37f55c667e5c0de439df76ac4cb55964655906306918e7363c",
-                "sha256:e7022a66d9b55e93e1a845d8c9eba2a1bebd4966cd8bfc25d9cd07d515b33fa6",
-                "sha256:ef1f279350da2c586a69d32fc8733092fd32cc8ac95139a00377841f59a3f8d8",
-                "sha256:f54a64f8b0c8ff0b64d18aa76675262e1700f3995182267998c31ae974fbc382",
-                "sha256:f5c7150ad32ba43a07c4479f40241756145a1f03b43480e058cfd862bf5041c7",
-                "sha256:f6f824dc3bce0edab5f427efcfb1d63ee75b6fcb7282900ccaf925be84efb0fc",
-                "sha256:fd8a250edc26254fe5b33be00402e6d287f562b6a5b2152dec302fa15bb3e997",
-                "sha256:ffaa5c925128e29efbde7301d8ecaf35c8c60ffbcd6a1ffd3a552177c8e5e796"
-            ],
-            "index": "pypi",
-            "version": "==1.15.0"
+                "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5",
+                "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef",
+                "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104",
+                "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426",
+                "sha256:173379135477dc8cac4bc58f45db08ab45d228b3363adb7af79436135d028405",
+                "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375",
+                "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a",
+                "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e",
+                "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc",
+                "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf",
+                "sha256:285d29981935eb726a4399badae8f0ffdff4f5050eaa6d0cfc3f64b857b77185",
+                "sha256:30d78fbc8ebf9c92c9b7823ee18eb92f2e6ef79b45ac84db507f52fbe3ec4497",
+                "sha256:320dab6e7cb2eacdf0e658569d2575c4dad258c0fcc794f46215e1e39f90f2c3",
+                "sha256:33ab79603146aace82c2427da5ca6e58f2b3f2fb5da893ceac0c42218a40be35",
+                "sha256:3548db281cd7d2561c9ad9984681c95f7b0e38881201e157833a2342c30d5e8c",
+                "sha256:3799aecf2e17cf585d977b780ce79ff0dc9b78d799fc694221ce814c2c19db83",
+                "sha256:39d39875251ca8f612b6f33e6b1195af86d1b3e60086068be9cc053aa4376e21",
+                "sha256:3b926aa83d1edb5aa5b427b4053dc420ec295a08e40911296b9eb1b6170f6cca",
+                "sha256:3bcde07039e586f91b45c88f8583ea7cf7a0770df3a1649627bf598332cb6984",
+                "sha256:3d08afd128ddaa624a48cf2b859afef385b720bb4b43df214f85616922e6a5ac",
+                "sha256:3eb6971dcff08619f8d91607cfc726518b6fa2a9eba42856be181c6d0d9515fd",
+                "sha256:40f4774f5a9d4f5e344f31a32b5096977b5d48560c5592e2f3d2c4374bd543ee",
+                "sha256:4289fc34b2f5316fbb762d75362931e351941fa95fa18789191b33fc4cf9504a",
+                "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2",
+                "sha256:4f2c9f67e9821cad2e5f480bc8d83b8742896f1242dba247911072d4fa94c192",
+                "sha256:50a74364d85fd319352182ef59c5c790484a336f6db772c1a9231f1c3ed0cbd7",
+                "sha256:54a2db7b78338edd780e7ef7f9f6c442500fb0d41a5a4ea24fff1c929d5af585",
+                "sha256:5635bd9cb9731e6d4a1132a498dd34f764034a8ce60cef4f5319c0541159392f",
+                "sha256:59c0b02d0a6c384d453fece7566d1c7e6b7bae4fc5874ef2ef46d56776d61c9e",
+                "sha256:5d598b938678ebf3c67377cdd45e09d431369c3b1a5b331058c338e201f12b27",
+                "sha256:5df2768244d19ab7f60546d0c7c63ce1581f7af8b5de3eb3004b9b6fc8a9f84b",
+                "sha256:5ef34d190326c3b1f822a5b7a45f6c4535e2f47ed06fec77d3d799c450b2651e",
+                "sha256:6975a3fac6bc83c4a65c9f9fcab9e47019a11d3d2cf7f3c0d03431bf145a941e",
+                "sha256:6c9a799e985904922a4d207a94eae35c78ebae90e128f0c4e521ce339396be9d",
+                "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c",
+                "sha256:7473e861101c9e72452f9bf8acb984947aa1661a7704553a9f6e4baa5ba64415",
+                "sha256:8102eaf27e1e448db915d08afa8b41d6c7ca7a04b7d73af6514df10a3e74bd82",
+                "sha256:87c450779d0914f2861b8526e035c5e6da0a3199d8f1add1a665e1cbc6fc6d02",
+                "sha256:8b7ee99e510d7b66cdb6c593f21c043c248537a32e0bedf02e01e9553a172314",
+                "sha256:91fc98adde3d7881af9b59ed0294046f3806221863722ba7d8d120c575314325",
+                "sha256:94411f22c3985acaec6f83c6df553f2dbe17b698cc7f8ae751ff2237d96b9e3c",
+                "sha256:98d85c6a2bef81588d9227dde12db8a7f47f639f4a17c9ae08e773aa9c697bf3",
+                "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914",
+                "sha256:a0b71b1b8fbf2b96e41c4d990244165e2c9be83d54962a9a1d118fd8657d2045",
+                "sha256:a0f100c8912c114ff53e1202d0078b425bee3649ae34d7b070e9697f93c5d52d",
+                "sha256:a591fe9e525846e4d154205572a029f653ada1a78b93697f3b5a8f1f2bc055b9",
+                "sha256:a5c84c68147988265e60416b57fc83425a78058853509c1b0629c180094904a5",
+                "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2",
+                "sha256:a8c4917bd7ad33e8eb21e9a5bbba979b49d9a97acb3a803092cbc1133e20343c",
+                "sha256:b3bbeb01c2b273cca1e1e0c5df57f12dce9a4dd331b4fa1635b8bec26350bde3",
+                "sha256:cba9d6b9a7d64d4bd46167096fc9d2f835e25d7e4c121fb2ddfc6528fb0413b2",
+                "sha256:cc4d65aeeaa04136a12677d3dd0b1c0c94dc43abac5860ab33cceb42b801c1e8",
+                "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d",
+                "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d",
+                "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9",
+                "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162",
+                "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76",
+                "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4",
+                "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
+                "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9",
+                "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6",
+                "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b",
+                "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01",
+                "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
+            ],
+            "index": "pypi",
+            "version": "==1.15.1"
         },
         "charset-normalizer": {
             "hashes": [
-                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
-                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
+                "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5",
+                "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413"
             ],
-            "markers": "python_full_version >= '3.5.0'",
-            "version": "==2.0.12"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.1.0"
         },
         "click": {
             "hashes": [
@@ -169,31 +183,31 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:093cb351031656d3ee2f4fa1be579a8c69c754cf874206be1d4cf3b542042804",
-                "sha256:0cc20f655157d4cfc7bada909dc5cc228211b075ba8407c46467f63597c78178",
-                "sha256:1b9362d34363f2c71b7853f6251219298124aa4cc2075ae2932e64c91a3e2717",
-                "sha256:1f3bfbd611db5cb58ca82f3deb35e83af34bb8cf06043fa61500157d50a70982",
-                "sha256:2bd1096476aaac820426239ab534b636c77d71af66c547b9ddcd76eb9c79e004",
-                "sha256:31fe38d14d2e5f787e0aecef831457da6cec68e0bb09a35835b0b44ae8b988fe",
-                "sha256:3b8398b3d0efc420e777c40c16764d6870bcef2eb383df9c6dbb9ffe12c64452",
-                "sha256:3c81599befb4d4f3d7648ed3217e00d21a9341a9a688ecdd615ff72ffbed7336",
-                "sha256:419c57d7b63f5ec38b1199a9521d77d7d1754eb97827bbb773162073ccd8c8d4",
-                "sha256:46f4c544f6557a2fefa7ac8ac7d1b17bf9b647bd20b16decc8fbcab7117fbc15",
-                "sha256:471e0d70201c069f74c837983189949aa0d24bb2d751b57e26e3761f2f782b8d",
-                "sha256:59b281eab51e1b6b6afa525af2bd93c16d49358404f814fe2c2410058623928c",
-                "sha256:731c8abd27693323b348518ed0e0705713a36d79fdbd969ad968fbef0979a7e0",
-                "sha256:95e590dd70642eb2079d280420a888190aa040ad20f19ec8c6e097e38aa29e06",
-                "sha256:a68254dd88021f24a68b613d8c51d5c5e74d735878b9e32cc0adf19d1f10aaf9",
-                "sha256:a7d5137e556cc0ea418dca6186deabe9129cee318618eb1ffecbd35bee55ddc1",
-                "sha256:aeaba7b5e756ea52c8861c133c596afe93dd716cbcacae23b80bc238202dc023",
-                "sha256:dc26bb134452081859aa21d4990474ddb7e863aa39e60d1592800a8865a702de",
-                "sha256:e53258e69874a306fcecb88b7534d61820db8a98655662a3dd2ec7f1afd9132f",
-                "sha256:ef15c2df7656763b4ff20a9bc4381d8352e6640cfeb95c2972c38ef508e75181",
-                "sha256:f224ad253cc9cea7568f49077007d2263efa57396a2f2f78114066fd54b5c68e",
-                "sha256:f8ec91983e638a9bcd75b39f1396e5c0dc2330cbd9ce4accefe68717e6779e0a"
-            ],
-            "index": "pypi",
-            "version": "==37.0.2"
+                "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59",
+                "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596",
+                "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3",
+                "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5",
+                "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab",
+                "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884",
+                "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82",
+                "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b",
+                "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441",
+                "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa",
+                "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d",
+                "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b",
+                "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a",
+                "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6",
+                "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157",
+                "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280",
+                "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282",
+                "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67",
+                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
+                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
+                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
+                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
+            ],
+            "index": "pypi",
+            "version": "==37.0.4"
         },
         "cython": {
             "hashes": [
@@ -347,31 +361,31 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_full_version >= '3.5.0'",
+            "markers": "python_version >= '3.5'",
             "version": "==3.3"
         },
         "importlib-metadata": {
             "hashes": [
-                "sha256:5d26852efe48c0a32b0509ffbc583fda1a2266545a78d104a6f4aff3db17d700",
-                "sha256:c58c8eb8a762858f49e18436ff552e83914778e50e9d2f1660535ffb364552ec"
+                "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670",
+                "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"
             ],
             "markers": "python_version < '3.10'",
-            "version": "==4.11.4"
+            "version": "==4.12.0"
         },
         "importlib-resources": {
             "hashes": [
-                "sha256:b6062987dfc51f0fcb809187cffbd60f35df7acb4589091f154214af6d0d49d3",
-                "sha256:e447dc01619b1e951286f3929be820029d48c75eb25d265c28b92a16548212b8"
+                "sha256:568c9f16cb204f9decc8d6d24a572eeea27dacbb4cee9e6b03a8025736769751",
+                "sha256:7952325ffd516c05a8ad0858c74dff2c3343f136fe66a6002b2623dd1d43f223"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==5.7.1"
+            "version": "==5.8.0"
         },
         "isort": {
             "hashes": [
                 "sha256:6f62d78e2f89b4500b080fe3a81690850cd254227f27f75c3a0c491a1f351ba7",
                 "sha256:e8443a5e7a020e9d7f97f1d7d9cd17c88bcb3bc7e218bf9cf5095fe550be2951"
             ],
-            "markers": "python_version < '4.0' and python_full_version >= '3.6.1'",
+            "markers": "python_version < '4' and python_full_version >= '3.6.1'",
             "version": "==5.10.1"
         },
         "itsdangerous": {
@@ -563,62 +577,58 @@
         },
         "numpy": {
             "hashes": [
-                "sha256:0791fbd1e43bf74b3502133207e378901272f3c156c4df4954cad833b1380207",
-                "sha256:1ce7ab2053e36c0a71e7a13a7475bd3b1f54750b4b433adc96313e127b870887",
-                "sha256:2d487e06ecbf1dc2f18e7efce82ded4f705f4bd0cd02677ffccfb39e5c284c7e",
-                "sha256:37431a77ceb9307c28382c9773da9f306435135fae6b80b62a11c53cfedd8802",
-                "sha256:3e1ffa4748168e1cc8d3cde93f006fe92b5421396221a02f2274aab6ac83b077",
-                "sha256:425b390e4619f58d8526b3dcf656dde069133ae5c240229821f01b5f44ea07af",
-                "sha256:43a8ca7391b626b4c4fe20aefe79fec683279e31e7c79716863b4b25021e0e74",
-                "sha256:4c6036521f11a731ce0648f10c18ae66d7143865f19f7299943c985cdc95afb5",
-                "sha256:59d55e634968b8f77d3fd674a3cf0b96e85147cd6556ec64ade018f27e9479e1",
-                "sha256:64f56fc53a2d18b1924abd15745e30d82a5782b2cab3429aceecc6875bd5add0",
-                "sha256:7228ad13744f63575b3a972d7ee4fd61815b2879998e70930d4ccf9ec721dce0",
-                "sha256:9ce7df0abeabe7fbd8ccbf343dc0db72f68549856b863ae3dd580255d009648e",
-                "sha256:a911e317e8c826ea632205e63ed8507e0dc877dcdc49744584dfc363df9ca08c",
-                "sha256:b89bf9b94b3d624e7bb480344e91f68c1c6c75f026ed6755955117de00917a7c",
-                "sha256:ba9ead61dfb5d971d77b6c131a9dbee62294a932bf6a356e48c75ae684e635b3",
-                "sha256:c1d937820db6e43bec43e8d016b9b3165dcb42892ea9f106c70fb13d430ffe72",
-                "sha256:cc7f00008eb7d3f2489fca6f334ec19ca63e31371be28fd5dad955b16ec285bd",
-                "sha256:d4c5d5eb2ec8da0b4f50c9a843393971f31f1d60be87e0fb0917a49133d257d6",
-                "sha256:e96d7f3096a36c8754207ab89d4b3282ba7b49ea140e4973591852c77d09eb76",
-                "sha256:f0725df166cf4785c0bc4cbfb320203182b1ecd30fee6e541c8752a92df6aa32",
-                "sha256:f3eb268dbd5cfaffd9448113539e44e2dd1c5ca9ce25576f7c04a5453edc26fa",
-                "sha256:fb7a980c81dd932381f8228a426df8aeb70d59bbcda2af075b627bbc50207cba"
-            ],
-            "index": "pypi",
-            "version": "==1.22.4"
+                "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450",
+                "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0",
+                "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160",
+                "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171",
+                "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a",
+                "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38",
+                "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10",
+                "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5",
+                "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f",
+                "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860",
+                "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd",
+                "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d",
+                "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05",
+                "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66",
+                "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187",
+                "sha256:d6ca8dabe696c2785d0c8c9b0d8a9b6e5fdbe4f922bde70d57fa1a2848134f95",
+                "sha256:d8cc87bed09de55477dba9da370c1679bd534df9baa171dd01accbb09687dac3",
+                "sha256:f0f18804df7370571fb65db9b98bf1378172bd4e962482b857e612d1fec0f53e",
+                "sha256:f1d88ef79e0a7fa631bb2c3dda1ea46b32b1fe614e10fedd611d3d5398447f2f",
+                "sha256:f9c3fc2adf67762c9fe1849c859942d23f8d3e0bee7b5ed3d4a9c3eeb50a2f07",
+                "sha256:fc431493df245f3c627c0c05c2bd134535e7929dbe2e602b80e42bf52ff760bc",
+                "sha256:fe8b9683eb26d2c4d5db32cd29b38fdcf8381324ab48313b5b69088e0e355379"
+            ],
+            "index": "pypi",
+            "version": "==1.23.0"
         },
         "onnx": {
             "hashes": [
-                "sha256:0cf47c205b376b3763beef92a6de4152f3b1552d6f640d93044938500baf5958",
-                "sha256:3403884c482859f8cf2e0c276da84bd9ac2235d266726f4ddc9625d3fd263218",
-                "sha256:43b32a2f20c94aa98866deae9e4218faf0495144ad05402e918fa279674b6df9",
-                "sha256:4454906de80a351de6929b0896ad605d106c324c3112c92249240e531f68fbba",
-                "sha256:4aa899f74acd4c5543f0efed8bfe98a3b701df75c5ffa179212e3088c51971bb",
-                "sha256:58d4873ec587ac14c44227d8027787edc88cd61596e646e3417f2a826a920898",
-                "sha256:593ca9e11f15afa26b3aaf2d170bb803d4bd86dbd560aa7be4e5f535d03f83d5",
-                "sha256:67c6d2654c1c203e5c839a47900b51f588fd0de71bbd497fb193d30a0b3ec1e9",
-                "sha256:7924d9baa13dbbf335737229f6d068f380d153679f357e495da60007b61cf56d",
-                "sha256:7a2f5d6998fe79aed80fad9d4522140d02c4d29513047e335d5c5355c1ebda5e",
-                "sha256:82221a07707b1ccf71fb18c6abb77f2566517a55d5185809775b5ff008bfb35c",
-                "sha256:89420e5b824d7e182846fe2aa09190ddb41162b261465c6ca928174bc2ac10b7",
-                "sha256:997d91ffd7b7ae7aee09c6d652a896d906be430d425865c759b51a8de5df9fe0",
-                "sha256:9b9f58ea01c1b20b057f55f628df4fc0403bbc160b7282a56e3bb4df5c7fb96f",
-                "sha256:a6e9135f1d02539ca7573f699fb0d31d3c43d10fac1d2d2239a9a1c553506c29",
-                "sha256:ae74bf8fa343b64e2b7fe205091b7f3728887c018ae061d161dd86ec95eb66a8",
-                "sha256:b2de0b117ad77689d308824a0c9eb89539ec28a799b4e2e05b3bb977b0da0b45",
-                "sha256:c3d3503110f2cab2c818f4a7b2bc8abc3bc79649daa39e70d5fb504b208ddb1e",
-                "sha256:d6581dd2122525549d1d8b431b8bf375298993c77bddb8fd0bf0d92611df76a1",
-                "sha256:d6ddbe89e32f885db736d36fcb132784e368331a18c3b6168ac9f561eb462057",
-                "sha256:df85666ab2b88fd9cf9b2504bcb551da39422eab65a143926a8db58f81b09164",
-                "sha256:ea06dbf57a287657b6dc4e189918e4cb451450308589d482117216194d6f83d6",
-                "sha256:eb46f31f12bb0bfdcfb68497d10b20447cf8fa6c4f693120c013e052645357b8",
-                "sha256:eca224c7c2c8ee4072a0743e4898a84a9bdf8297b5e5910a2632e4c4182ffb2a",
-                "sha256:f335d982b8ed201cf767459b993630acfd20c32b100529f70af9f28a26e72167"
-            ],
-            "index": "pypi",
-            "version": "==1.11.0"
+                "sha256:13b3e77d27523b9dbf4f30dfc9c959455859d5e34e921c44f712d69b8369eff9",
+                "sha256:213e73610173f6b2e99f99a4b0636f80b379c417312079d603806e48ada4ca8b",
+                "sha256:23781594bb8b7ee985de1005b3c601648d5b0568a81e01365c48f91d1f5648e4",
+                "sha256:2d9a7db54e75529160337232282a4816cc50667dc7dc34be178fd6f6b79d4705",
+                "sha256:341c7016e23273e9ffa9b6e301eee95b8c37d0f04df7cedbdb169d2c39524c96",
+                "sha256:3c6e6bcffc3f5c1e148df3837dc667fa4c51999788c1b76b0b8fbba607e02da8",
+                "sha256:5578b93dc6c918cec4dee7fb7d9dd3b09d338301ee64ca8b4f28bc217ed42dca",
+                "sha256:56ceb7e094c43882b723cfaa107d85ad673cfdf91faeb28d7dcadacca4f43a07",
+                "sha256:81a3555fd67be2518bf86096299b48fb9154652596219890abfe90bd43a9ec13",
+                "sha256:8a7aa61aea339bd28f310f4af4f52ce6c4b876386228760b16308efd58f95059",
+                "sha256:9fd2f4e23078df197bb76a59b9cd8f5a43a6ad2edc035edb3ecfb9042093e05a",
+                "sha256:af90427ca04c6b7b8107c2021e1273227a3ef1a7a01f3073039cae7855a59833",
+                "sha256:b3629e8258db15d4e2c9b7f1be91a3186719dd94661c218c6f5fde3cc7de3d4d",
+                "sha256:bdbd2578424c70836f4d0f9dda16c21868ddb07cc8192f9e8a176908b43d694b",
+                "sha256:c11162ffc487167da140f1112f49c4f82d815824f06e58bc3095407699f05863",
+                "sha256:c39a7a0352c856f1df30dccf527eb6cb4909052e5eaf6fa2772a637324c526aa",
+                "sha256:c7a9b3ea02c30efc1d2662337e280266aca491a8e86be0d8a657f874b7cccd1e",
+                "sha256:f66d2996e65f490a57b3ae952e4e9189b53cc9fe3f75e601d50d4db2dc1b1cd9",
+                "sha256:f8800f28c746ab06e51ef8449fd1215621f4ddba91be3ffc264658937d38a2af",
+                "sha256:fab13feb4d94342aae6d357d480f2e47d41b9f4e584367542b21ca6defda9e0a",
+                "sha256:fea5156a03398fe0e23248042d8651c1eaac5f6637d4dd683b4c1f1320b9f7b4"
+            ],
+            "index": "pypi",
+            "version": "==1.12.0"
         },
         "onnxruntime-gpu": {
             "hashes": [
@@ -635,47 +645,67 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:088df396b047477dd1bbc7de6e22f58400dae2f21310d9e2ec2933b2ef7dfa4f",
-                "sha256:09e67ef6e430f90caa093528bd758b0616f8165e57ed8d8ce014ae32df6a831d",
-                "sha256:0b4d5ad2cd3a1f0d1df882d926b37dbb2ab6c823ae21d041b46910c8f8cd844b",
-                "sha256:0b525a356680022b0af53385944026d3486fc8c013638cf9900eb87c866afb4c",
-                "sha256:1d4331aeb12f6b3791911a6da82de72257a99ad99726ed6b63f481c0184b6fb9",
-                "sha256:20d514c989fa28e73a5adbddd7a171afa5824710d0ab06d4e1234195d2a2e546",
-                "sha256:2b291cab8a888658d72b575a03e340509b6b050b62db1f5539dd5cd18fd50578",
-                "sha256:3f6c1716c473ebd1649663bf3b42702d0d53e27af8b64642be0dd3598c761fb1",
-                "sha256:42dfefbef90eb67c10c45a73a9bc1599d4dac920f7dfcbf4ec6b80cb620757fe",
-                "sha256:488f3383cf5159907d48d32957ac6f9ea85ccdcc296c14eca1a4e396ecc32098",
-                "sha256:4d45dbe4b21a9679c3e8b3f7f4f42a45a7d3ddff8a4a16109dff0e1da30a35b2",
-                "sha256:53c27bd452e0f1bc4bfed07ceb235663a1df7c74df08e37fd6b03eb89454946a",
-                "sha256:55e74faf8359ddda43fee01bffbc5bd99d96ea508d8a08c527099e84eb708f45",
-                "sha256:59789a7d06c742e9d13b883d5e3569188c16acb02eeed2510fd3bfdbc1bd1530",
-                "sha256:5b650dbbc0969a4e226d98a0b440c2f07a850896aed9266b6fedc0f7e7834108",
-                "sha256:66daa16952d5bf0c9d5389c5e9df562922a59bd16d77e2a276e575d32e38afd1",
-                "sha256:6e760cf01259a1c0a50f3c845f9cad1af30577fd8b670339b1659c6d0e7a41dd",
-                "sha256:7502539939b53d7565f3d11d87c78e7ec900d3c72945d4ee0e2f250d598309a0",
-                "sha256:769a7f131a2f43752455cc72f9f7a093c3ff3856bf976c5fb53a59d0ccc704f6",
-                "sha256:7c150dbbb4a94ea4825d1e5f2c5501af7141ea95825fadd7829f9b11c97aaf6c",
-                "sha256:8844217cdf66eabe39567118f229e275f0727e9195635a15e0e4b9227458daaf",
-                "sha256:8a66fe50386162df2da701b3722781cbe90ce043e7d53c1fd6bd801bca6b48d4",
-                "sha256:9370d6744d379f2de5d7fa95cdbd3a4d92f0b0ef29609b4b1687f16bc197063d",
-                "sha256:937a54e5694684f74dcbf6e24cc453bfc5b33940216ddd8f4cd8f0f79167f765",
-                "sha256:9c857532c719fb30fafabd2371ce9b7031812ff3889d75273827633bca0c4602",
-                "sha256:a4165205a13b16a29e1ac57efeee6be2dfd5b5408122d59ef2145bc3239fa340",
-                "sha256:b3fe2ff1e1715d4475d7e2c3e8dabd7c025f4410f79513b4ff2de3d51ce0fa9c",
-                "sha256:b6617221ff08fbd3b7a811950b5c3f9367f6e941b86259843eab77c8e3d2b56b",
-                "sha256:b761727ed7d593e49671d1827044b942dd2f4caae6e51bab144d4accf8244a84",
-                "sha256:baf3be0b9446a4083cc0c5bb9f9c964034be5374b5bc09757be89f5d2fa247b8",
-                "sha256:c17770a62a71718a74b7548098a74cd6880be16bcfff5f937f900ead90ca8e92",
-                "sha256:c67db410508b9de9c4694c57ed754b65a460e4812126e87f5052ecf23a011a54",
-                "sha256:d78ca526a559fb84faaaf84da2dd4addef5edb109db8b81677c0bb1aad342601",
-                "sha256:e9ed59d1b6ee837f4515b9584f3d26cf0388b742a11ecdae0d9237a94505d03a",
-                "sha256:f054b020c4d7e9786ae0404278ea318768eb123403b18453e28e47cdb7a0a4bf",
-                "sha256:f372d0f08eff1475ef426344efe42493f71f377ec52237bf153c5713de987251",
-                "sha256:f3f6a6034140e9e17e9abc175fc7a266a6e63652028e157750bd98e804a8ed9a",
-                "sha256:ffde4c6fabb52891d81606411cbfaf77756e3b561b566efd270b3ed3791fde4e"
-            ],
-            "index": "pypi",
-            "version": "==9.1.1"
+                "sha256:0030fdbd926fb85844b8b92e2f9449ba89607231d3dd597a21ae72dc7fe26927",
+                "sha256:030e3460861488e249731c3e7ab59b07c7853838ff3b8e16aac9561bb345da14",
+                "sha256:0ed2c4ef2451de908c90436d6e8092e13a43992f1860275b4d8082667fbb2ffc",
+                "sha256:136659638f61a251e8ed3b331fc6ccd124590eeff539de57c5f80ef3a9594e58",
+                "sha256:13b725463f32df1bfeacbf3dd197fb358ae8ebcd8c5548faa75126ea425ccb60",
+                "sha256:1536ad017a9f789430fb6b8be8bf99d2f214c76502becc196c6f2d9a75b01b76",
+                "sha256:15928f824870535c85dbf949c09d6ae7d3d6ac2d6efec80f3227f73eefba741c",
+                "sha256:17d4cafe22f050b46d983b71c707162d63d796a1235cdf8b9d7a112e97b15bac",
+                "sha256:1802f34298f5ba11d55e5bb09c31997dc0c6aed919658dfdf0198a2fe75d5490",
+                "sha256:1cc1d2451e8a3b4bfdb9caf745b58e6c7a77d2e469159b0d527a4554d73694d1",
+                "sha256:1fd6f5e3c0e4697fa7eb45b6e93996299f3feee73a3175fa451f49a74d092b9f",
+                "sha256:254164c57bab4b459f14c64e93df11eff5ded575192c294a0c49270f22c5d93d",
+                "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f",
+                "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069",
+                "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402",
+                "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885",
+                "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e",
+                "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be",
+                "sha256:408673ed75594933714482501fe97e055a42996087eeca7e5d06e33218d05aa8",
+                "sha256:4134d3f1ba5f15027ff5c04296f13328fecd46921424084516bdb1b2548e66ff",
+                "sha256:4ad2f835e0ad81d1689f1b7e3fbac7b01bb8777d5a985c8962bedee0cc6d43da",
+                "sha256:50dff9cc21826d2977ef2d2a205504034e3a4563ca6f5db739b0d1026658e004",
+                "sha256:510cef4a3f401c246cfd8227b300828715dd055463cdca6176c2e4036df8bd4f",
+                "sha256:5aed7dde98403cd91d86a1115c78d8145c83078e864c1de1064f52e6feb61b20",
+                "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d",
+                "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c",
+                "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544",
+                "sha256:727dd1389bc5cb9827cbd1f9d40d2c2a1a0c9b32dd2261db522d22a604a6eec9",
+                "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3",
+                "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04",
+                "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c",
+                "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5",
+                "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4",
+                "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb",
+                "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4",
+                "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c",
+                "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467",
+                "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e",
+                "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421",
+                "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b",
+                "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
+                "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
+                "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
+                "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
+                "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
+                "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28",
+                "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0",
+                "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1",
+                "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8",
+                "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd",
+                "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4",
+                "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8",
+                "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f",
+                "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013",
+                "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59",
+                "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc",
+                "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"
+            ],
+            "index": "pypi",
+            "version": "==9.2.0"
         },
         "platformdirs": {
             "hashes": [
@@ -803,39 +833,39 @@
         },
         "pycryptodome": {
             "hashes": [
-                "sha256:028dcbf62d128b4335b61c9fbb7dd8c376594db607ef36d5721ee659719935d5",
-                "sha256:12ef157eb1e01a157ca43eda275fa68f8db0dd2792bc4fe00479ab8f0e6ae075",
-                "sha256:2562de213960693b6d657098505fd4493c45f3429304da67efcbeb61f0edfe89",
-                "sha256:27e92c1293afcb8d2639baf7eb43f4baada86e4de0f1fb22312bfc989b95dae2",
-                "sha256:36e3242c4792e54ed906c53f5d840712793dc68b726ec6baefd8d978c5282d30",
-                "sha256:50a5346af703330944bea503106cd50c9c2212174cfcb9939db4deb5305a8367",
-                "sha256:53dedbd2a6a0b02924718b520a723e88bcf22e37076191eb9b91b79934fb2192",
-                "sha256:69f05aaa90c99ac2f2af72d8d7f185f729721ad7c4be89e9e3d0ab101b0ee875",
-                "sha256:75a3a364fee153e77ed889c957f6f94ec6d234b82e7195b117180dcc9fc16f96",
-                "sha256:766a8e9832128c70012e0c2b263049506cbf334fb21ff7224e2704102b6ef59e",
-                "sha256:7fb90a5000cc9c9ff34b4d99f7f039e9c3477700e309ff234eafca7b7471afc0",
-                "sha256:893f32210de74b9f8ac869ed66c97d04e7d351182d6d39ebd3b36d3db8bda65d",
-                "sha256:8b5c28058102e2974b9868d72ae5144128485d466ba8739abd674b77971454cc",
-                "sha256:924b6aad5386fb54f2645f22658cb0398b1f25bc1e714a6d1522c75d527deaa5",
-                "sha256:9924248d6920b59c260adcae3ee231cd5af404ac706ad30aa4cd87051bf09c50",
-                "sha256:9ec761a35dbac4a99dcbc5cd557e6e57432ddf3e17af8c3c86b44af9da0189c0",
-                "sha256:a36ab51674b014ba03da7f98b675fcb8eabd709a2d8e18219f784aba2db73b72",
-                "sha256:aae395f79fa549fb1f6e3dc85cf277f0351e15a22e6547250056c7f0c990d6a5",
-                "sha256:c880a98376939165b7dc504559f60abe234b99e294523a273847f9e7756f4132",
-                "sha256:ce7a875694cd6ccd8682017a7c06c6483600f151d8916f2b25cf7a439e600263",
-                "sha256:d1b7739b68a032ad14c5e51f7e4e1a5f92f3628bba024a2bda1f30c481fc85d8",
-                "sha256:dcd65355acba9a1d0fc9b923875da35ed50506e339b35436277703d7ace3e222",
-                "sha256:e04e40a7f8c1669195536a37979dd87da2c32dbdc73d6fe35f0077b0c17c803b",
-                "sha256:e0c04c41e9ade19fbc0eff6aacea40b831bfcb2c91c266137bcdfd0d7b2f33ba",
-                "sha256:e24d4ec4b029611359566c52f31af45c5aecde7ef90bf8f31620fd44c438efe7",
-                "sha256:e64738207a02a83590df35f59d708bf1e7ea0d6adce712a777be2967e5f7043c",
-                "sha256:ea56a35fd0d13121417d39a83f291017551fa2c62d6daa6b04af6ece7ed30d84",
-                "sha256:f2772af1c3ef8025c85335f8b828d0193fa1e43256621f613280e2c81bfad423",
-                "sha256:f403a3e297a59d94121cb3ee4b1cf41f844332940a62d71f9e4a009cc3533493",
-                "sha256:f572a3ff7b6029dd9b904d6be4e0ce9e309dcb847b03e3ac8698d9d23bb36525"
-            ],
-            "index": "pypi",
-            "version": "==3.14.1"
+                "sha256:045d75527241d17e6ef13636d845a12e54660aa82e823b3b3341bcf5af03fa79",
+                "sha256:0926f7cc3735033061ef3cf27ed16faad6544b14666410727b31fea85a5b16eb",
+                "sha256:092a26e78b73f2530b8bd6b3898e7453ab2f36e42fd85097d705d6aba2ec3e5e",
+                "sha256:1b22bcd9ec55e9c74927f6b1f69843cb256fb5a465088ce62837f793d9ffea88",
+                "sha256:2aa55aae81f935a08d5a3c2042eb81741a43e044bd8a81ea7239448ad751f763",
+                "sha256:2ea63d46157386c5053cfebcdd9bd8e0c8b7b0ac4a0507a027f5174929403884",
+                "sha256:2ec709b0a58b539a4f9d33fb8508264c3678d7edb33a68b8906ba914f71e8c13",
+                "sha256:2ffd8b31561455453ca9f62cb4c24e6b8d119d6d531087af5f14b64bee2c23e6",
+                "sha256:4b52cb18b0ad46087caeb37a15e08040f3b4c2d444d58371b6f5d786d95534c2",
+                "sha256:4c3ccad74eeb7b001f3538643c4225eac398c77d617ebb3e57571a897943c667",
+                "sha256:5099c9ca345b2f252f0c28e96904643153bae9258647585e5e6f649bb7a1844a",
+                "sha256:57f565acd2f0cf6fb3e1ba553d0cb1f33405ec1f9c5ded9b9a0a5320f2c0bd3d",
+                "sha256:60b4faae330c3624cc5a546ba9cfd7b8273995a15de94ee4538130d74953ec2e",
+                "sha256:7c9ed8aa31c146bef65d89a1b655f5f4eab5e1120f55fc297713c89c9e56ff0b",
+                "sha256:7e3a8f6ee405b3bd1c4da371b93c31f7027944b2bcce0697022801db93120d83",
+                "sha256:9135dddad504592bcc18b0d2d95ce86c3a5ea87ec6447ef25cfedea12d6018b8",
+                "sha256:9c772c485b27967514d0df1458b56875f4b6d025566bf27399d0c239ff1b369f",
+                "sha256:9eaadc058106344a566dc51d3d3a758ab07f8edde013712bc8d22032a86b264f",
+                "sha256:9ee40e2168f1348ae476676a2e938ca80a2f57b14a249d8fe0d3cdf803e5a676",
+                "sha256:a8f06611e691c2ce45ca09bbf983e2ff2f8f4f87313609d80c125aff9fad6e7f",
+                "sha256:b9c5b1a1977491533dfd31e01550ee36ae0249d78aae7f632590db833a5012b8",
+                "sha256:b9cc96e274b253e47ad33ae1fccc36ea386f5251a823ccb50593a935db47fdd2",
+                "sha256:c3640deff4197fa064295aaac10ab49a0d55ef3d6a54ae1499c40d646655c89f",
+                "sha256:c77126899c4b9c9827ddf50565e93955cb3996813c18900c16b2ea0474e130e9",
+                "sha256:d2a39a66057ab191e5c27211a7daf8f0737f23acbf6b3562b25a62df65ffcb7b",
+                "sha256:e244ab85c422260de91cda6379e8e986405b4f13dc97d2876497178707f87fc1",
+                "sha256:ecaaef2d21b365d9c5ca8427ffc10cebed9d9102749fd502218c23cb9a05feb5",
+                "sha256:fd2184aae6ee2a944aaa49113e6f5787cdc5e4db1eb8edb1aea914bd75f33a0c",
+                "sha256:ff287bcba9fbeb4f1cccc1f2e90a08d691480735a611ee83c80a7d74ad72b9d9",
+                "sha256:ff7ae90e36c1715a54446e7872b76102baa5c63aa980917f4aa45e8c78d1a3ec"
+            ],
+            "index": "pypi",
+            "version": "==3.15.0"
         },
         "pyflakes": {
             "hashes": [
@@ -855,101 +885,54 @@
         },
         "pylint": {
             "hashes": [
-                "sha256:549261e0762c3466cc001024c4419c08252cb8c8d40f5c2c6966fea690e7fe2a",
-                "sha256:bb71e6d169506de585edea997e48d9ff20c0dc0e2fbc1d166bad6b640120326b"
+                "sha256:47705453aa9dce520e123a7d51843d5f0032cbfa06870f89f00927aa1f735a4a",
+                "sha256:89b61867db16eefb7b3c5b84afc94081edaf11544189e2b238154677529ad69f"
             ],
             "index": "pypi",
-            "version": "==2.14.1"
+            "version": "==2.14.4"
         },
         "pyopencl": {
             "hashes": [
-                "sha256:01030054c201b021715deb3d6f1355844f9795429dfa0591b59b6f8000ec2d38",
-                "sha256:02997935ac164f519be65c371f9dd2267a2b7532247dc0a2ef43f435cf76cf4b",
-                "sha256:07482df440e1246cba6dc46ef70d3ebf1a6c8157a3c6456091026c7f9e4d18d2",
-                "sha256:0b179591c60b4446846fbea035cb3d1acd2685b0226ba91724109882dc59af2c",
-                "sha256:15ebc3f3eb2df1d196a7dcefd68d0e9ffa11e275f8a6c57a1145a1d0ff36c382",
-                "sha256:1a5fb7dc32cf24cdeab1205bc075710d7112656720c2bf9972bebe906e28ec4b",
-                "sha256:1b649637d608e8dabdec0e0f85392f727fdf622463b425cf7587bdd313b4d9eb",
-                "sha256:22eed49903178bc686287192a8319ce763129b4e5d42a9dfb5d8f763ba5d6bd6",
-                "sha256:2deef59d73d0bdd11ba40613ab0798c767214a669a1a5a672500787fb7da63d3",
-                "sha256:3736bfdc946068be66fe4b5c680926c84366b724b3c4b649b2a1940f7bd6afde",
-                "sha256:3dd0b5ff24d12ad4c13446d8e5439e63914496dfcf9e23a26baeaa65ec3c7039",
-                "sha256:5430b938e9391309be2ffaefb6269a0a3c016af5d729121cf8a5fce62a5146c2",
-                "sha256:5e89596e7f18824fc1f84e2cb0ae059fbfe187d1e2e3919ab0cd701cc634eb03",
-                "sha256:65e406603fbe47ca72298e022a3c3855b2e1732cb9d04ecbb411025050d0bc57",
-                "sha256:6f9f91594358af6a9728908c31c5ed4bec3fe1a0d25c6292e37e40c92903fe36",
-                "sha256:77a70b76789aac85566cb0e3ff6b60c4c00729bbd7f0edd24ac4b3b43e4627e2",
-                "sha256:799355c27463bf801260e3398643c3c9359627fa9e6ac621cfb5dc1d6e77d859",
-                "sha256:7ae4825562f7c5956b8926cb99882df1631c5e28aa1310d896c22a8471cf8f56",
-                "sha256:7b17906a4821a30aa1ce7a9d783bba2564230ea6a55ff31eb3f0e2a4aa5b80af",
-                "sha256:7d4bf4c858554e9e3af9e7f18b06e8d6c39b25d7a80c28db6e5dd412dc457aee",
-                "sha256:8981a9274796272508158b08a3cb1a5711318cf32b5f0e4829edecb1a9efcf93",
-                "sha256:8da3ef5a03cfd0a9859a5ebe623f3c43037e9f0dffd2b658e944bbc381beb529",
-                "sha256:94c744997f4aff86e68fa3a5d383dc8b5f1e529a360156b82c7583a757eddaa5",
-                "sha256:9a7fb5769bce7ec09a2d264a233ec9c730b15b391c830d04a381df3fc85bdaca",
-                "sha256:a6ce276a42caedd3a9a7be00031cfe6bf5d1796efdac40e47f1b707846c96d86",
-                "sha256:a84310ae508f998ed31825b6e3ab888098cb69a2c627bf5970706620a8d4b127",
-                "sha256:ad08e37cdeda5d38ac3ca9820400da62ce3a67aab76a5eefa5d089ef3a4877c9",
-                "sha256:b6e426b5fdce61051b112825da20df4cb78429967e491223bfedaf95c025273a",
-                "sha256:bb363f9993013b04c0b146e269a73b3d5ebef30f78d5fa542f317cc2440e15b6",
-                "sha256:c58f05b050ae4ac3b0584d97738ae7ac4381e611567b9d67fe7cf4210c0a7b62",
-                "sha256:c84ef85cf6b83dbcef4e034390fc1ed6bd8eadf5260b5ae89515d3b9744ef207",
-                "sha256:c9a841b80ef4c332a6133377fc295fe5376f90f8f2e7c63d36903b07b8ea7262",
-                "sha256:cd5871aff617d3c9d338fd94c9187382390db82452be0868055b8c519a73445d",
-                "sha256:cf45c232bf818ef54ee831eb41f4edbd5dfe4c67d894b1e65fc17a690a63c81e",
-                "sha256:e90bd1ed69cca2a750ffabafc70b4f9eb4d109299e986c3c8fdc4c40fee36ef2",
-                "sha256:ea5b6ef0e4ad23a3ccbdb382f7cccadbb200a47ceb6ff3e965a3c6c46360b4c2",
-                "sha256:f433ddd7bfd688b591ea95b6971e5e6cb00f8d5f2dc5db833e528e5ede6909d6"
-            ],
-            "index": "pypi",
-            "version": "==2022.1.5"
-        },
-        "pyqt5": {
-            "hashes": [
-                "sha256:213bebd51821ed89b4d5b35bb10dbe67564228b3568f463a351a08e8b1677025",
-                "sha256:2a69597e0dd11caabe75fae133feca66387819fc9bc050f547e5551bce97e5be",
-                "sha256:883a549382fc22d29a0568f3ef20b38c8e7ab633a59498ac4eb63a3bf36d3fd3",
-                "sha256:8c0848ba790a895801d5bfd171da31cad3e551dbcc4e59677a3b622de2ceca98",
-                "sha256:a88526a271e846e44779bb9ad7a738c6d3c4a9d01e15a128ecfc6dd4696393b7"
-            ],
-            "index": "pypi",
-            "version": "==5.15.4"
-        },
-        "pyqt5-qt5": {
-            "hashes": [
-                "sha256:1988f364ec8caf87a6ee5d5a3a5210d57539988bf8e84714c7d60972692e2f4a",
-                "sha256:750b78e4dba6bdf1607febedc08738e318ea09e9b10aea9ff0d73073f11f6962",
-                "sha256:76980cd3d7ae87e3c7a33bfebfaee84448fd650bad6840471d6cae199b56e154",
-                "sha256:9cc7a768b1921f4b982ebc00a318ccb38578e44e45316c7a4a850e953e1dd327"
-            ],
-            "version": "==5.15.2"
-        },
-        "pyqt5-sip": {
-            "hashes": [
-                "sha256:055581c6fed44ba4302b70eeb82e979ff70400037358908f251cd85cbb3dbd93",
-                "sha256:0fc9aefacf502696710b36cdc9fa2a61487f55ee883dbcf2c2a6477e261546f7",
-                "sha256:42274a501ab4806d2c31659170db14c282b8313d2255458064666d9e70d96206",
-                "sha256:4347bd81d30c8e3181e553b3734f91658cfbdd8f1a19f254777f906870974e6d",
-                "sha256:485972daff2fb0311013f471998f8ec8262ea381bded244f9d14edaad5f54271",
-                "sha256:4f8e05fe01d54275877c59018d8e82dcdd0bc5696053a8b830eecea3ce806121",
-                "sha256:69a3ad4259172e2b1aa9060de211efac39ddd734a517b1924d9c6c0cc4f55f96",
-                "sha256:6a8701892a01a5a2a4720872361197cc80fdd5f49c8482d488ddf38c9c84f055",
-                "sha256:6d5bca2fc222d58e8093ee8a81a6e3437067bb22bc3f86d06ec8be721e15e90a",
-                "sha256:83c3220b1ca36eb8623ba2eb3766637b19eb0ce9f42336ad8253656d32750c0a",
-                "sha256:a25b9843c7da6a1608f310879c38e6434331aab1dc2fe6cb65c14f1ecf33780e",
-                "sha256:ac57d796c78117eb39edd1d1d1aea90354651efac9d3590aac67fa4983f99f1f",
-                "sha256:b09f4cd36a4831229fb77c424d89635fa937d97765ec90685e2f257e56a2685a",
-                "sha256:c446971c360a0a1030282a69375a08c78e8a61d568bfd6dab3dcc5cf8817f644",
-                "sha256:c5216403d4d8d857ec4a61f631d3945e44fa248aa2415e9ee9369ab7c8a4d0c7",
-                "sha256:d3e4489d7c2b0ece9d203ae66e573939f7f60d4d29e089c9f11daa17cfeaae32",
-                "sha256:d59af63120d1475b2bf94fe8062610720a9be1e8940ea146c7f42bb449d49067",
-                "sha256:d85002238b5180bce4b245c13d6face848faa1a7a9e5c6e292025004f2fd619a",
-                "sha256:d8b2bdff7bbf45bc975c113a03b14fd669dc0c73e1327f02706666a7dd51a197",
-                "sha256:dd05c768c2b55ffe56a9d49ce6cc77cdf3d53dbfad935258a9e347cbfd9a5850",
-                "sha256:fc43f2d7c438517ee33e929e8ae77132749c15909afab6aeece5fcf4147ffdb5"
-            ],
-            "index": "pypi",
-            "version": "==12.9.0"
+                "sha256:069e7eb1a223d88c13eafa54d6ae896fa892e75ba3d56ff2135a26107ef1142b",
+                "sha256:1490e6cdeaecba42854013c273685d65fd9102ee6dc6bc3bcb814e9e2b8179e5",
+                "sha256:15f7b3d29c9359e1e440e4f52f70de031f8d0d8d0f8de53a3bc01501b89360c0",
+                "sha256:1a2029b7fda6709eca077f618f997372c3d6f2780ad45512632b0d056e6305f9",
+                "sha256:25e87b4ccc0cc53487d445bea07ce9bdb478a335725df16986aead2ff65b68a4",
+                "sha256:2c9ad1cbc3f540afc52038851be8e06640aacfece051c89408bc3aece605a7ee",
+                "sha256:2df01c95ea9ae3dd66b277f0df47144cf7535a27b48a8d49fdd98e0583e368ce",
+                "sha256:316f59d0c40bfce4f6c160dbaf6501883b33880370bb1819f360dad747e52dfe",
+                "sha256:4836bc4619be967d6c28627adac151223037fdca056c4ab54da16b591f719347",
+                "sha256:4b53f7f3ed85ab671c8bfc61a0bbc5476725a7a5f51a94bba5512c3962b2d609",
+                "sha256:5304cb336af7316ae0650abb7467c076032635bfe4710b8df191612d245dca28",
+                "sha256:55e9302b8f0b1964c87b0fdab7b853aa2b2f10b4188f5b4618782d4380448c11",
+                "sha256:6032bef8a35f6df727a0b66e3c9faedb3f560318052848b28d2f72622cfbeace",
+                "sha256:6ec55934057e99461f684ccd293d87db59a452f5834c13ae36b19d31dfe38599",
+                "sha256:7176f96728be9b43024bd71704f60849cbfcf0fafd20270181b68ea4730ceb2d",
+                "sha256:730901d409d8251cd6e9dc59e6c518dff5cdb20a3a0b728344bfd2c707f28b64",
+                "sha256:75be43c7f33fb86f9d18b7b6f8e9081d8bd5b6331a90aec0d2cad3e81e72bc8f",
+                "sha256:7bef8e8bcfff574b481565390113ea0a37cf33fd2587ade7f2980f15e73f7b08",
+                "sha256:7ca9597877e1f8bdb4a49810988230f538b2d7aac389c33418a21cf4358f2fd4",
+                "sha256:814389b3eb9e6930cf43b984283c94a955edf20ec286402da5acfa503d3ae790",
+                "sha256:8efc3467454ce8c644f09029a3308496f9cb6e93ca5e8c08f6b79e7825da72c5",
+                "sha256:98bad7035f27b6de5c9268f52c1e10bffe3a2874994e862468a1792b699a4884",
+                "sha256:9bbfe94bb6e9d0458693183334e73c973e2fcba01568f42db15b453b926fb816",
+                "sha256:9d112a4426f5b356641c1312bf1004247dc4019e649502589b86333557203c01",
+                "sha256:a845779f505ed57b83f279307ae6307d886f3e41fb24dcf7889da27daa726118",
+                "sha256:aca3581f1a7f6b809b8cdc78b0e66587848b38b143bf2983e91ff8fb9a41bc8f",
+                "sha256:af5664b98140a29966c5fb12e9d29b85b6c6310efa97d82aee58310774917e8f",
+                "sha256:b85fa5ba1678dd40713587fd437787b6aa940000c2ddffa360884431be21723a",
+                "sha256:bcabfb5217ca8f8770f9c69298f79576080bb994b1883a99494b4c2668b04836",
+                "sha256:c00989bed1e7e5b32ad498fec3deb1c93403ab802cd99b7c78b9c692bd0910ef",
+                "sha256:d0ddc3b74ad1804eb3fe238dfa3b844b997e88b1ca5164a717c16b362b4f34c3",
+                "sha256:d8bb2eea4e960917e0a6132dedd34c8ec0b7a384f22713f775d50dbce154263a",
+                "sha256:db833ebb1e756969a8f851f15486598eb9e3fb27b0535c2a8193cc1c71455016",
+                "sha256:dc2d78cb5da0081ada1c263aaa773fd5479b3da5e2c421547bf7f3258d3239a5",
+                "sha256:dd2728e59ae088c900ed68f68d953476d0ff07189f182f917b74de2ac7b3972e",
+                "sha256:ea4eff6b922fa4ad2077ef90b3254d78597d050ada09bfbe74c22dd22d10c6ac",
+                "sha256:f8887d54e654598f3854472540b2eb228ac56b56a2491b95bdfac8f15be1c943"
+            ],
+            "index": "pypi",
+            "version": "==2022.1.6"
         },
         "pyserial": {
             "hashes": [
@@ -969,10 +952,10 @@
         },
         "pytools": {
             "hashes": [
-                "sha256:3393d25029982080e3fb94c47bf627a1e553ccd174fe2edef6c1c5ec723918ff"
+                "sha256:4d62875e9a2ab2a24e393a9a8b799492f1a721bffa840af3807bfd42871dd1f4"
             ],
             "markers": "python_version ~= '3.6'",
-            "version": "==2022.1.9"
+            "version": "==2022.1.12"
         },
         "pyyaml": {
             "hashes": [
@@ -1015,74 +998,74 @@
         },
         "pyzmq": {
             "hashes": [
-                "sha256:057176dd3f5ccf5aad4abd662d76b6a39bbf799baaf2f39cd4fdaf2eab326e43",
-                "sha256:05ec90a8da618f2398f9d1aa20b18a9ef332992c6ac23e8c866099faad6ef0d6",
-                "sha256:154de02b15422af28b53d29a02de72121ba503634955017255573fc1f995143d",
-                "sha256:16b832adb5d8716f46051da5533c480250bf126984ce86804db6137a3a7f931b",
-                "sha256:1df26aa854bdd3a8341bf199064dd6aa6e240f2eaa3c9fa8d217e5d8b868c73e",
-                "sha256:28f9164fb2658b7b414fa0894c75b1a9c61375774cdc1bdb7298beb042a2cd87",
-                "sha256:2951c29b8649f3672af9dca8ff61d86310d3664d9629788b1c66422fb13b1239",
-                "sha256:2b08774057ae7ce8a2eb4e7d54db05358234440706ce43a85814500c5d7bd22e",
-                "sha256:2e2ac40f7a91c740ec68d6db07ae19ea9259c959333c68bee56ab2c799a67d66",
-                "sha256:312e56799410c34797417a4060a8bd37d4db1f06d1ec0c54f7c8fd81e0d90376",
-                "sha256:38f778a74e3889392e949326cfd0e9b2eb37dcbb2980d98fad2c51703d523db2",
-                "sha256:3955dd5bbbe02f454655296ee36a66c334c7102a29b8458223d168c0380edfd5",
-                "sha256:425ba851a6f9892bde1da2024d82e2fe6796bd77e3391fb96665c50fe9d4c6a5",
-                "sha256:48bbc2db041ab28eeee4a3e8ada0ed336640946dd5a8e53dbd3805f9dbdcf0dc",
-                "sha256:4fbcd657cda75574fd1315a4c44bd322bc2e219039fb09f146bbe6f8aef039e9",
-                "sha256:523ba7fd4d8fe75ad09c1e574a648892b75a97d0cfc8005727681053ac19555b",
-                "sha256:53b2c1326c2e484d450932d2be739f064b7cb572faabec38386098a28516a529",
-                "sha256:540d7146c3cdc9bbffab039ea067f494eba24d1abe5bd33eb9f963c01e3305d4",
-                "sha256:563d4281c4dbdf647d93114420151d33f895afc4c46b7115a67a0aa5347e6624",
-                "sha256:67a049bcf967a39993858beed873ed3405536019820922d4efacfe35ab3da51a",
-                "sha256:67ec63ae3c9c1fa2e077fcb42e77035e2121a04f987464bdf9945a28535d30ad",
-                "sha256:68e22c5d3be451e87d47f956b397a7823bfbde2176341bc902fba30f96831d7e",
-                "sha256:6ab4b6108e69f63c917cd7ef7217c5727955b1ac90600e44a13ed5312019a014",
-                "sha256:6bd7f18bd4cf51ea8d7e54825902cf36f9d2f35cc51ef618373988d5398b8dd0",
-                "sha256:6cd53e861bccc0bdc4620f68fb4a91d5bcfe9f4213cf8e200fa498044d33a6dc",
-                "sha256:6d346e551fa64b89d57a4ac74b9bc66703413f02f50093e089e861999ec5cccc",
-                "sha256:6ff8708fabc9f9bc2949f457d39b4088c9656c4c9ac15fbbbbaafce8f6d07833",
-                "sha256:7626e8384275a7dea6f3d1f749fb5e00299042e9c895fc3dbe24cb154909c242",
-                "sha256:7e7346b2b33dcd4a2171dd8a9870ae283eec8f6231dcbcf237a0f41e74751a50",
-                "sha256:81623c67cb71b93b5f7e06c9107f3781738ae86866db830c950223d87af2a235",
-                "sha256:83f1c76068faf62c32a36dd62dc4db642c2027bbbd960f8f6345b59e9d4dc472",
-                "sha256:8679bb1dd723ecbea03b1f96c98972815775fd8ec756c440a14f289c436c472e",
-                "sha256:86fb683cb9a9c0bb7476988b7957393ecdd22777d87d804442c66e62c99197f9",
-                "sha256:8757c62f7960cd26122f7aaaf86eda1e016fa85734c3777b8054dd334d7dea4d",
-                "sha256:894be7d17228e7328cc188096c0162697211ec91761f6812fff12790cbe11c66",
-                "sha256:8a0f240bf43c29be1bd82d77e602a61c798e9de02e5f8bb7bb414cb814f43236",
-                "sha256:8c3abf7eab5b76ae162c4fbb16d514a947fc57fd995b64e5ea8ef8ba3b888a69",
-                "sha256:93332c6972e4c91522c4810e907f3aea067424338071161b39cacded022559df",
-                "sha256:97d6c676dc97d593625d9fc48154f2ffeabb619a1e6fe8d2a5b53f97e3e9bdee",
-                "sha256:99dd85f0ca1db8d17a01a25c2bbb7784d25a2d39497c6beddbe96bff74194e04",
-                "sha256:9c7fb691fb07ec7ab99fd173bb0e7e0248d31bf83d484a87b917a342f63812c9",
-                "sha256:b3bc3cf200aab74f3d758586ac50295214eda496ac6a6636e0c881c5958d9123",
-                "sha256:bba54f97578943f48f621b4a7afb8eb022370da26a88b88ccc9fee9f3ef7ce45",
-                "sha256:bd2a13a0f8367e50347cbac87ae230ae1953935443240238f956bf10668bead6",
-                "sha256:cbc1184349ca6e5112898aa7fc3efa1b1bbae24ab1edc774cfd09cbfd3b091d7",
-                "sha256:cd82cca9c489e441574804dbda2dd8e114cf3be7935b03de11dade2c9478aea6",
-                "sha256:ce8ba5ed8b0a7a203922d61cff45ee6001a41a9359f04f00d055a4e988755569",
-                "sha256:cfee22e072a382b92ee0709dbb8203dabd52d54258051e770d9d2a81b162530b",
-                "sha256:d977df6f7c4109ed1d96ffb6795f6af77114be606ae4556efbfc9cac725db65d",
-                "sha256:da72a384a1d7e87490ca71182f3ab469ed21d847adc16b70c34faac5a3b12801",
-                "sha256:ddf4ad1d651e6c9234945061e1a31fe27a4be0dea21c498b87b186fadf8f5919",
-                "sha256:eb0ae5dfda83bbce660179d7b41c1c38fd833a54d2e6d9b258c644f3b75ef94d",
-                "sha256:f4c7d370badc60ac94a554bc571a46d03e39d8aacfba8006b334512e184aed59",
-                "sha256:f6c378b435a26fda8996579c0e324b108d2ca0d01b4661503a75634e5155559f",
-                "sha256:f6c9d30888503f2f5f87d6d41f016301352dd98da4a861bd10663c3a2d99d3b5",
-                "sha256:fab8a7877275060f7b303e1f91c218069a2814a616b6a5ee2d8a3737deb15915",
-                "sha256:fc32e7d7f98cac3d8d5153ed2cb583158ae3d446a6efb8e28ccb1c54a09f4169"
-            ],
-            "index": "pypi",
-            "version": "==23.1.0"
+                "sha256:004a431dfa0459123e6f4660d7e3c4ac19217d134ca38bacfffb2e78716fe944",
+                "sha256:057b154471e096e2dda147f7b057041acc303bb7ca4aa24c3b88c6cecdd78717",
+                "sha256:0e08671dc202a1880fa522f921f35ca5925ba30da8bc96228d74a8f0643ead9c",
+                "sha256:1b2a21f595f8cc549abd6c8de1fcd34c83441e35fb24b8a59bf161889c62a486",
+                "sha256:21552624ce69e69f7924f413b802b1fb554f4c0497f837810e429faa1cd4f163",
+                "sha256:22ac0243a41798e3eb5d5714b28c2f28e3d10792dffbc8a5fca092f975fdeceb",
+                "sha256:2b054525c9f7e240562185bf21671ca16d56bde92e9bd0f822c07dec7626b704",
+                "sha256:30c365e60c39c53f8eea042b37ea28304ffa6558fb7241cf278745095a5757da",
+                "sha256:3a4d87342c2737fbb9eee5c33c792db27b36b04957b4e6b7edd73a5b239a2a13",
+                "sha256:420b9abd1a7330687a095373b8280a20cdee04342fbc8ccb3b56d9ec8efd4e62",
+                "sha256:444f7d615d5f686d0ef508b9edfa8a286e6d89f449a1ba37b60ef69d869220a3",
+                "sha256:558f5f636e3e65f261b64925e8b190e8689e334911595394572cc7523879006d",
+                "sha256:5592fb4316f895922b1cacb91b04a0fa09d6f6f19bbab4442b4d0a0825177b93",
+                "sha256:59928dfebe93cf1e203e3cb0fd5d5dd384da56b99c8305f2e1b0a933751710f6",
+                "sha256:5cb642e94337b0c76c9c8cb9bfb0f8a78654575847d080d3e1504f312d691fc3",
+                "sha256:5d57542429df6acff02ff022067aa75b677603cee70e3abb9742787545eec966",
+                "sha256:5d92e7cbeab7f70b08cc0f27255b0bb2500afc30f31075bca0b1cb87735d186c",
+                "sha256:602835e5672ca9ca1d78e6c148fb28c4f91b748ebc41fbd2f479d8763d58bc9b",
+                "sha256:60746a7e8558655420a69441c0a1d47ed225ed3ac355920b96a96d0554ef7e6b",
+                "sha256:61b97f624da42813f74977425a3a6144d604ea21cf065616d36ea3a866d92c1c",
+                "sha256:693c96ae4d975eb8efa1639670e9b1fac0c3f98b7845b65c0f369141fb4bb21f",
+                "sha256:814e5aaf0c3be9991a59066eafb2d6e117aed6b413e3e7e9be45d4e55f5e2748",
+                "sha256:83005d8928f8a5cebcfb33af3bfb84b1ad65d882b899141a331cc5d07d89f093",
+                "sha256:831da96ba3f36cc892f0afbb4fb89b28b61b387261676e55d55a682addbd29f7",
+                "sha256:8355744fdbdeac5cfadfa4f38b82029b5f2b8cab7472a33453a217a7f3a9dce2",
+                "sha256:8496a2a5efd055c61ac2c6a18116c768a25c644b6747dcfde43e91620ab3453c",
+                "sha256:859059caf564f0c9398c9005278055ed3d37af4d73de6b1597821193b04ca09b",
+                "sha256:8c0f4d6f8c985bab83792be26ff3233940ba42e22237610ac50cbcfc10a5c235",
+                "sha256:8c2d8b69a2bf239ae3d987537bf3fbc2b044a405394cf4c258fc684971dd48b2",
+                "sha256:984b232802eddf9f0be264a4d57a10b3a1fd7319df14ee6fc7b41c6d155a3e6c",
+                "sha256:99cedf38eaddf263cf7e2a50e405f12c02cedf6d9df00a0d9c5d7b9417b57f76",
+                "sha256:a3dc339f7bc185d5fd0fd976242a5baf35de404d467e056484def8a4dd95868b",
+                "sha256:a51f12a8719aad9dcfb55d456022f16b90abc8dde7d3ca93ce3120b40e3fa169",
+                "sha256:bbabd1df23bf63ae829e81200034c0e433499275a6ed29ca1a912ea7629426d9",
+                "sha256:bcc6953e47bcfc9028ddf9ab2a321a3c51d7cc969db65edec092019bb837959f",
+                "sha256:c0a5f987d73fd9b46c3d180891f829afda714ab6bab30a1218724d4a0a63afd8",
+                "sha256:c223a13555444707a0a7ebc6f9ee63053147c8c082bd1a31fd1207a03e8b0500",
+                "sha256:c616893a577e9d6773a3836732fd7e2a729157a108b8fccd31c87512fa01671a",
+                "sha256:c882f1d4f96fbd807e92c334251d8ebd159a1ef89059ccd386ddea83fdb91bd8",
+                "sha256:c8dec8a2f3f0bb462e6439df436cd8c7ec37968e90b4209ac621e7fbc0ed3b00",
+                "sha256:c9638e0057e3f1a8b7c5ce33c7575349d9183a033a19b5676ad55096ae36820b",
+                "sha256:ce4f71e17fa849de41a06109030d3f6815fcc33338bf98dd0dde6d456d33c929",
+                "sha256:ced12075cdf3c7332ecc1960f77f7439d5ebb8ea20bbd3c34c8299e694f1b0a1",
+                "sha256:d11628212fd731b8986f1561d9bb3f8c38d9c15b330c3d8a88963519fbcd553b",
+                "sha256:d1610260cc672975723fcf7705c69a95f3b88802a594c9867781bedd9b13422c",
+                "sha256:d4651de7316ec8560afe430fb042c0782ed8ac54c0be43a515944d7c78fddac8",
+                "sha256:da338e2728410d74ddeb1479ec67cfba73311607037455a40f92b6f5c62bf11d",
+                "sha256:de727ea906033b30527b4a99498f19aca3f4d1073230a958679a5b726e2784e0",
+                "sha256:e2e2db5c6ef376e97c912733dfc24406f5949474d03e800d5f07b6aca4d870af",
+                "sha256:e669913cb2179507628419ec4f0e453e48ce6f924de5884d396f18c31836089c",
+                "sha256:eb4a573a8499685d62545e806d8fd143c84ac8b3439f925cd92c8763f0ed9bd7",
+                "sha256:f146648941cadaaaf01254a75651a23c08159d009d36c5af42a7cc200a5e53ec",
+                "sha256:f3ff6abde52e702397949054cb5b06c1c75b5d6542f6a2ce029e46f71ffbbbf2",
+                "sha256:f5aa9da520e4bb8cee8189f2f541701405e7690745094ded7a37b425d60527ea",
+                "sha256:f5fdb00d65ec44b10cc6b9b6318ef1363b81647a4aa3270ca39565eadb2d1201",
+                "sha256:f685003d836ad0e5d4f08d1e024ee3ac7816eb2f873b2266306eef858f058133",
+                "sha256:fee86542dc4ee8229e023003e3939b4d58cc2453922cf127778b69505fc9064b"
+            ],
+            "index": "pypi",
+            "version": "==23.2.0"
         },
         "requests": {
             "hashes": [
-                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
+                "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983",
+                "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"
             ],
             "index": "pypi",
-            "version": "==2.28.0"
+            "version": "==2.28.1"
         },
         "scons": {
             "hashes": [
@@ -1094,11 +1077,11 @@
         },
         "sentry-sdk": {
             "hashes": [
-                "sha256:259535ba66933eacf85ab46524188c84dcb4c39f40348455ce15e2c0aca68863",
-                "sha256:778b53f0a6c83b1ee43d3b7886318ba86d975e686cb2c7906ccc35b334360be1"
+                "sha256:b82ad57306d5546713f15d5d70daea0408cf7f998c7566db16e0e6257e51e561",
+                "sha256:ddbd191b6f4e696b7845b4d87389898ae1207981faf114f968a57363aa6be03c"
             ],
             "index": "pypi",
-            "version": "==1.5.12"
+            "version": "==1.6.0"
         },
         "setproctitle": {
             "hashes": [
@@ -1179,11 +1162,11 @@
         },
         "setuptools": {
             "hashes": [
-                "sha256:5a844ad6e190dccc67d6d7411d119c5152ce01f7c76be4d8a1eaa314501bba77",
-                "sha256:bf8a748ac98b09d32c9a64a995a6b25921c96cc5743c1efa82763ba80ff54e91"
+                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
+                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==62.4.0"
+            "version": "==63.1.0"
         },
         "six": {
             "hashes": [
@@ -1227,11 +1210,11 @@
         },
         "tomlkit": {
             "hashes": [
-                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
-                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
+                "sha256:1c5bebdf19d5051e2e1de6cf70adfc5948d47221f097fcff7a3ffc91e953eaf5",
+                "sha256:61901f81ff4017951119cd0d1ed9b7af31c821d6845c8c477587bbdcd5e5854e"
             ],
-            "markers": "python_version >= '3.6' and python_version < '4.0'",
-            "version": "==0.11.0"
+            "markers": "python_version >= '3.6' and python_version < '4'",
+            "version": "==0.11.1"
         },
         "tqdm": {
             "hashes": [
@@ -1243,19 +1226,19 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
+                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
+                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
             ],
             "index": "pypi",
-            "version": "==1.26.9"
+            "version": "==1.26.10"
         },
         "utm": {
             "hashes": [
@@ -1266,11 +1249,11 @@
         },
         "websocket-client": {
             "hashes": [
-                "sha256:50b21db0058f7a953d67cc0445be4b948d7fc196ecbeb8083d68d94628e4abf6",
-                "sha256:722b171be00f2b90e1d4fb2f2b53146a536ca38db1da8ff49c972a4e1365d0ef"
+                "sha256:5d55652dc1d0b3c734f044337d929aaf83f4f9138816ec680c1aefefb4dc4877",
+                "sha256:d58c5f284d6a9bf8379dab423259fe8f85b70d5fa5d2916d5791a84594b122b1"
             ],
             "index": "pypi",
-            "version": "==1.3.2"
+            "version": "==1.3.3"
         },
         "werkzeug": {
             "hashes": [
@@ -1443,11 +1426,11 @@
         },
         "babel": {
             "hashes": [
-                "sha256:7aed055f0c04c9e7f51a2f75261e41e1c804efa724cb65b60a970dd4448d469d",
-                "sha256:81a3beca4d0cd40a9cfb9e2adb2cf39261c2f959b92e7a74750befe5d79afd7b"
+                "sha256:7614553711ee97490f732126dc077f8d0ae084ebc6a96e23db1482afabdb2c51",
+                "sha256:ff56f4892c1c4bf0d814575ea23471c230d544203c7748e8c68f0089478d48eb"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2.10.2"
+            "version": "==2.10.3"
         },
         "bcrypt": {
             "hashes": [
@@ -1468,11 +1451,11 @@
         },
         "breathe": {
             "hashes": [
-                "sha256:553aeffb00efc2cf96c4c9ed388d6ee8036ecd6d1bd9bd0c656fc25ca271bd3c",
-                "sha256:c4b9ff4d5298fd91518d336ede28b6a2d8cacc685d0eae17eb20e760e06bb904"
+                "sha256:48804dcf0e607a89fb6ad88c729ef12743a42db03ae9489be4ef8f7c4011774a",
+                "sha256:ac0768a5e84addad3e632028fe67749c567aba2b29088493b64c2c1634bcdba1"
             ],
             "index": "pypi",
-            "version": "==4.33.1"
+            "version": "==4.34.0"
         },
         "carla": {
             "hashes": [
@@ -1490,67 +1473,81 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7",
-                "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a"
+                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
+                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.5.18.1"
+            "version": "==2022.6.15"
         },
         "cffi": {
             "hashes": [
-                "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3",
-                "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2",
-                "sha256:06c48159c1abed75c2e721b1715c379fa3200c7784271b3c46df01383b593636",
-                "sha256:0808014eb713677ec1292301ea4c81ad277b6cdf2fdd90fd540af98c0b101d20",
-                "sha256:10dffb601ccfb65262a27233ac273d552ddc4d8ae1bf93b21c94b8511bffe728",
-                "sha256:14cd121ea63ecdae71efa69c15c5543a4b5fbcd0bbe2aad864baca0063cecf27",
-                "sha256:17771976e82e9f94976180f76468546834d22a7cc404b17c22df2a2c81db0c66",
-                "sha256:181dee03b1170ff1969489acf1c26533710231c58f95534e3edac87fff06c443",
-                "sha256:23cfe892bd5dd8941608f93348c0737e369e51c100d03718f108bf1add7bd6d0",
-                "sha256:263cc3d821c4ab2213cbe8cd8b355a7f72a8324577dc865ef98487c1aeee2bc7",
-                "sha256:2756c88cbb94231c7a147402476be2c4df2f6078099a6f4a480d239a8817ae39",
-                "sha256:27c219baf94952ae9d50ec19651a687b826792055353d07648a5695413e0c605",
-                "sha256:2a23af14f408d53d5e6cd4e3d9a24ff9e05906ad574822a10563efcef137979a",
-                "sha256:31fb708d9d7c3f49a60f04cf5b119aeefe5644daba1cd2a0fe389b674fd1de37",
-                "sha256:3415c89f9204ee60cd09b235810be700e993e343a408693e80ce7f6a40108029",
-                "sha256:3773c4d81e6e818df2efbc7dd77325ca0dcb688116050fb2b3011218eda36139",
-                "sha256:3b96a311ac60a3f6be21d2572e46ce67f09abcf4d09344c49274eb9e0bf345fc",
-                "sha256:3f7d084648d77af029acb79a0ff49a0ad7e9d09057a9bf46596dac9514dc07df",
-                "sha256:41d45de54cd277a7878919867c0f08b0cf817605e4eb94093e7516505d3c8d14",
-                "sha256:4238e6dab5d6a8ba812de994bbb0a79bddbdf80994e4ce802b6f6f3142fcc880",
-                "sha256:45db3a33139e9c8f7c09234b5784a5e33d31fd6907800b316decad50af323ff2",
-                "sha256:45e8636704eacc432a206ac7345a5d3d2c62d95a507ec70d62f23cd91770482a",
-                "sha256:4958391dbd6249d7ad855b9ca88fae690783a6be9e86df65865058ed81fc860e",
-                "sha256:4a306fa632e8f0928956a41fa8e1d6243c71e7eb59ffbd165fc0b41e316b2474",
-                "sha256:57e9ac9ccc3101fac9d6014fba037473e4358ef4e89f8e181f8951a2c0162024",
-                "sha256:59888172256cac5629e60e72e86598027aca6bf01fa2465bdb676d37636573e8",
-                "sha256:5e069f72d497312b24fcc02073d70cb989045d1c91cbd53979366077959933e0",
-                "sha256:64d4ec9f448dfe041705426000cc13e34e6e5bb13736e9fd62e34a0b0c41566e",
-                "sha256:6dc2737a3674b3e344847c8686cf29e500584ccad76204efea14f451d4cc669a",
-                "sha256:74fdfdbfdc48d3f47148976f49fab3251e550a8720bebc99bf1483f5bfb5db3e",
-                "sha256:75e4024375654472cc27e91cbe9eaa08567f7fbdf822638be2814ce059f58032",
-                "sha256:786902fb9ba7433aae840e0ed609f45c7bcd4e225ebb9c753aa39725bb3e6ad6",
-                "sha256:8b6c2ea03845c9f501ed1313e78de148cd3f6cad741a75d43a29b43da27f2e1e",
-                "sha256:91d77d2a782be4274da750752bb1650a97bfd8f291022b379bb8e01c66b4e96b",
-                "sha256:91ec59c33514b7c7559a6acda53bbfe1b283949c34fe7440bcf917f96ac0723e",
-                "sha256:920f0d66a896c2d99f0adbb391f990a84091179542c205fa53ce5787aff87954",
-                "sha256:a5263e363c27b653a90078143adb3d076c1a748ec9ecc78ea2fb916f9b861962",
-                "sha256:abb9a20a72ac4e0fdb50dae135ba5e77880518e742077ced47eb1499e29a443c",
-                "sha256:c2051981a968d7de9dd2d7b87bcb9c939c74a34626a6e2f8181455dd49ed69e4",
-                "sha256:c21c9e3896c23007803a875460fb786118f0cdd4434359577ea25eb556e34c55",
-                "sha256:c2502a1a03b6312837279c8c1bd3ebedf6c12c4228ddbad40912d671ccc8a962",
-                "sha256:d4d692a89c5cf08a8557fdeb329b82e7bf609aadfaed6c0d79f5a449a3c7c023",
-                "sha256:da5db4e883f1ce37f55c667e5c0de439df76ac4cb55964655906306918e7363c",
-                "sha256:e7022a66d9b55e93e1a845d8c9eba2a1bebd4966cd8bfc25d9cd07d515b33fa6",
-                "sha256:ef1f279350da2c586a69d32fc8733092fd32cc8ac95139a00377841f59a3f8d8",
-                "sha256:f54a64f8b0c8ff0b64d18aa76675262e1700f3995182267998c31ae974fbc382",
-                "sha256:f5c7150ad32ba43a07c4479f40241756145a1f03b43480e058cfd862bf5041c7",
-                "sha256:f6f824dc3bce0edab5f427efcfb1d63ee75b6fcb7282900ccaf925be84efb0fc",
-                "sha256:fd8a250edc26254fe5b33be00402e6d287f562b6a5b2152dec302fa15bb3e997",
-                "sha256:ffaa5c925128e29efbde7301d8ecaf35c8c60ffbcd6a1ffd3a552177c8e5e796"
-            ],
-            "index": "pypi",
-            "version": "==1.15.0"
+                "sha256:00a9ed42e88df81ffae7a8ab6d9356b371399b91dbdf0c3cb1e84c03a13aceb5",
+                "sha256:03425bdae262c76aad70202debd780501fabeaca237cdfddc008987c0e0f59ef",
+                "sha256:04ed324bda3cda42b9b695d51bb7d54b680b9719cfab04227cdd1e04e5de3104",
+                "sha256:0e2642fe3142e4cc4af0799748233ad6da94c62a8bec3a6648bf8ee68b1c7426",
+                "sha256:173379135477dc8cac4bc58f45db08ab45d228b3363adb7af79436135d028405",
+                "sha256:198caafb44239b60e252492445da556afafc7d1e3ab7a1fb3f0584ef6d742375",
+                "sha256:1e74c6b51a9ed6589199c787bf5f9875612ca4a8a0785fb2d4a84429badaf22a",
+                "sha256:2012c72d854c2d03e45d06ae57f40d78e5770d252f195b93f581acf3ba44496e",
+                "sha256:21157295583fe8943475029ed5abdcf71eb3911894724e360acff1d61c1d54bc",
+                "sha256:2470043b93ff09bf8fb1d46d1cb756ce6132c54826661a32d4e4d132e1977adf",
+                "sha256:285d29981935eb726a4399badae8f0ffdff4f5050eaa6d0cfc3f64b857b77185",
+                "sha256:30d78fbc8ebf9c92c9b7823ee18eb92f2e6ef79b45ac84db507f52fbe3ec4497",
+                "sha256:320dab6e7cb2eacdf0e658569d2575c4dad258c0fcc794f46215e1e39f90f2c3",
+                "sha256:33ab79603146aace82c2427da5ca6e58f2b3f2fb5da893ceac0c42218a40be35",
+                "sha256:3548db281cd7d2561c9ad9984681c95f7b0e38881201e157833a2342c30d5e8c",
+                "sha256:3799aecf2e17cf585d977b780ce79ff0dc9b78d799fc694221ce814c2c19db83",
+                "sha256:39d39875251ca8f612b6f33e6b1195af86d1b3e60086068be9cc053aa4376e21",
+                "sha256:3b926aa83d1edb5aa5b427b4053dc420ec295a08e40911296b9eb1b6170f6cca",
+                "sha256:3bcde07039e586f91b45c88f8583ea7cf7a0770df3a1649627bf598332cb6984",
+                "sha256:3d08afd128ddaa624a48cf2b859afef385b720bb4b43df214f85616922e6a5ac",
+                "sha256:3eb6971dcff08619f8d91607cfc726518b6fa2a9eba42856be181c6d0d9515fd",
+                "sha256:40f4774f5a9d4f5e344f31a32b5096977b5d48560c5592e2f3d2c4374bd543ee",
+                "sha256:4289fc34b2f5316fbb762d75362931e351941fa95fa18789191b33fc4cf9504a",
+                "sha256:470c103ae716238bbe698d67ad020e1db9d9dba34fa5a899b5e21577e6d52ed2",
+                "sha256:4f2c9f67e9821cad2e5f480bc8d83b8742896f1242dba247911072d4fa94c192",
+                "sha256:50a74364d85fd319352182ef59c5c790484a336f6db772c1a9231f1c3ed0cbd7",
+                "sha256:54a2db7b78338edd780e7ef7f9f6c442500fb0d41a5a4ea24fff1c929d5af585",
+                "sha256:5635bd9cb9731e6d4a1132a498dd34f764034a8ce60cef4f5319c0541159392f",
+                "sha256:59c0b02d0a6c384d453fece7566d1c7e6b7bae4fc5874ef2ef46d56776d61c9e",
+                "sha256:5d598b938678ebf3c67377cdd45e09d431369c3b1a5b331058c338e201f12b27",
+                "sha256:5df2768244d19ab7f60546d0c7c63ce1581f7af8b5de3eb3004b9b6fc8a9f84b",
+                "sha256:5ef34d190326c3b1f822a5b7a45f6c4535e2f47ed06fec77d3d799c450b2651e",
+                "sha256:6975a3fac6bc83c4a65c9f9fcab9e47019a11d3d2cf7f3c0d03431bf145a941e",
+                "sha256:6c9a799e985904922a4d207a94eae35c78ebae90e128f0c4e521ce339396be9d",
+                "sha256:70df4e3b545a17496c9b3f41f5115e69a4f2e77e94e1d2a8e1070bc0c38c8a3c",
+                "sha256:7473e861101c9e72452f9bf8acb984947aa1661a7704553a9f6e4baa5ba64415",
+                "sha256:8102eaf27e1e448db915d08afa8b41d6c7ca7a04b7d73af6514df10a3e74bd82",
+                "sha256:87c450779d0914f2861b8526e035c5e6da0a3199d8f1add1a665e1cbc6fc6d02",
+                "sha256:8b7ee99e510d7b66cdb6c593f21c043c248537a32e0bedf02e01e9553a172314",
+                "sha256:91fc98adde3d7881af9b59ed0294046f3806221863722ba7d8d120c575314325",
+                "sha256:94411f22c3985acaec6f83c6df553f2dbe17b698cc7f8ae751ff2237d96b9e3c",
+                "sha256:98d85c6a2bef81588d9227dde12db8a7f47f639f4a17c9ae08e773aa9c697bf3",
+                "sha256:9ad5db27f9cabae298d151c85cf2bad1d359a1b9c686a275df03385758e2f914",
+                "sha256:a0b71b1b8fbf2b96e41c4d990244165e2c9be83d54962a9a1d118fd8657d2045",
+                "sha256:a0f100c8912c114ff53e1202d0078b425bee3649ae34d7b070e9697f93c5d52d",
+                "sha256:a591fe9e525846e4d154205572a029f653ada1a78b93697f3b5a8f1f2bc055b9",
+                "sha256:a5c84c68147988265e60416b57fc83425a78058853509c1b0629c180094904a5",
+                "sha256:a66d3508133af6e8548451b25058d5812812ec3798c886bf38ed24a98216fab2",
+                "sha256:a8c4917bd7ad33e8eb21e9a5bbba979b49d9a97acb3a803092cbc1133e20343c",
+                "sha256:b3bbeb01c2b273cca1e1e0c5df57f12dce9a4dd331b4fa1635b8bec26350bde3",
+                "sha256:cba9d6b9a7d64d4bd46167096fc9d2f835e25d7e4c121fb2ddfc6528fb0413b2",
+                "sha256:cc4d65aeeaa04136a12677d3dd0b1c0c94dc43abac5860ab33cceb42b801c1e8",
+                "sha256:ce4bcc037df4fc5e3d184794f27bdaab018943698f4ca31630bc7f84a7b69c6d",
+                "sha256:cec7d9412a9102bdc577382c3929b337320c4c4c4849f2c5cdd14d7368c5562d",
+                "sha256:d400bfb9a37b1351253cb402671cea7e89bdecc294e8016a707f6d1d8ac934f9",
+                "sha256:d61f4695e6c866a23a21acab0509af1cdfd2c013cf256bbf5b6b5e2695827162",
+                "sha256:db0fbb9c62743ce59a9ff687eb5f4afbe77e5e8403d6697f7446e5f609976f76",
+                "sha256:dd86c085fae2efd48ac91dd7ccffcfc0571387fe1193d33b6394db7ef31fe2a4",
+                "sha256:e00b098126fd45523dd056d2efba6c5a63b71ffe9f2bbe1a4fe1716e1d0c331e",
+                "sha256:e229a521186c75c8ad9490854fd8bbdd9a0c9aa3a524326b55be83b54d4e0ad9",
+                "sha256:e263d77ee3dd201c3a142934a086a4450861778baaeeb45db4591ef65550b0a6",
+                "sha256:ed9cb427ba5504c1dc15ede7d516b84757c3e3d7868ccc85121d9310d27eed0b",
+                "sha256:fa6693661a4c91757f4412306191b6dc88c1703f780c8234035eac011922bc01",
+                "sha256:fcd131dd944808b5bdb38e6f5b53013c5aa4f334c5cad0c72742f6eba4b73db0"
+            ],
+            "index": "pypi",
+            "version": "==1.15.1"
         },
         "cfgv": {
             "hashes": [
@@ -1562,11 +1559,11 @@
         },
         "charset-normalizer": {
             "hashes": [
-                "sha256:2857e29ff0d34db842cd7ca3230549d1a697f96ee6d3fb071cfa6c7393832597",
-                "sha256:6881edbebdb17b39b4eaaa821b438bf6eddffb4468cf344f09f89def34a8b1df"
+                "sha256:5189b6f22b01957427f35b6a08d9a0bc45b46d3788ef5a92e978433c7a35f8a5",
+                "sha256:575e708016ff3a5e3681541cb9d79312c416835686d054a23accb873b254f413"
             ],
-            "markers": "python_full_version >= '3.5.0'",
-            "version": "==2.0.12"
+            "markers": "python_version >= '3.6'",
+            "version": "==2.1.0"
         },
         "control": {
             "hashes": [
@@ -1624,31 +1621,31 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:093cb351031656d3ee2f4fa1be579a8c69c754cf874206be1d4cf3b542042804",
-                "sha256:0cc20f655157d4cfc7bada909dc5cc228211b075ba8407c46467f63597c78178",
-                "sha256:1b9362d34363f2c71b7853f6251219298124aa4cc2075ae2932e64c91a3e2717",
-                "sha256:1f3bfbd611db5cb58ca82f3deb35e83af34bb8cf06043fa61500157d50a70982",
-                "sha256:2bd1096476aaac820426239ab534b636c77d71af66c547b9ddcd76eb9c79e004",
-                "sha256:31fe38d14d2e5f787e0aecef831457da6cec68e0bb09a35835b0b44ae8b988fe",
-                "sha256:3b8398b3d0efc420e777c40c16764d6870bcef2eb383df9c6dbb9ffe12c64452",
-                "sha256:3c81599befb4d4f3d7648ed3217e00d21a9341a9a688ecdd615ff72ffbed7336",
-                "sha256:419c57d7b63f5ec38b1199a9521d77d7d1754eb97827bbb773162073ccd8c8d4",
-                "sha256:46f4c544f6557a2fefa7ac8ac7d1b17bf9b647bd20b16decc8fbcab7117fbc15",
-                "sha256:471e0d70201c069f74c837983189949aa0d24bb2d751b57e26e3761f2f782b8d",
-                "sha256:59b281eab51e1b6b6afa525af2bd93c16d49358404f814fe2c2410058623928c",
-                "sha256:731c8abd27693323b348518ed0e0705713a36d79fdbd969ad968fbef0979a7e0",
-                "sha256:95e590dd70642eb2079d280420a888190aa040ad20f19ec8c6e097e38aa29e06",
-                "sha256:a68254dd88021f24a68b613d8c51d5c5e74d735878b9e32cc0adf19d1f10aaf9",
-                "sha256:a7d5137e556cc0ea418dca6186deabe9129cee318618eb1ffecbd35bee55ddc1",
-                "sha256:aeaba7b5e756ea52c8861c133c596afe93dd716cbcacae23b80bc238202dc023",
-                "sha256:dc26bb134452081859aa21d4990474ddb7e863aa39e60d1592800a8865a702de",
-                "sha256:e53258e69874a306fcecb88b7534d61820db8a98655662a3dd2ec7f1afd9132f",
-                "sha256:ef15c2df7656763b4ff20a9bc4381d8352e6640cfeb95c2972c38ef508e75181",
-                "sha256:f224ad253cc9cea7568f49077007d2263efa57396a2f2f78114066fd54b5c68e",
-                "sha256:f8ec91983e638a9bcd75b39f1396e5c0dc2330cbd9ce4accefe68717e6779e0a"
-            ],
-            "index": "pypi",
-            "version": "==37.0.2"
+                "sha256:190f82f3e87033821828f60787cfa42bff98404483577b591429ed99bed39d59",
+                "sha256:2be53f9f5505673eeda5f2736bea736c40f051a739bfae2f92d18aed1eb54596",
+                "sha256:30788e070800fec9bbcf9faa71ea6d8068f5136f60029759fd8c3efec3c9dcb3",
+                "sha256:3d41b965b3380f10e4611dbae366f6dc3cefc7c9ac4e8842a806b9672ae9add5",
+                "sha256:4c590ec31550a724ef893c50f9a97a0c14e9c851c85621c5650d699a7b88f7ab",
+                "sha256:549153378611c0cca1042f20fd9c5030d37a72f634c9326e225c9f666d472884",
+                "sha256:63f9c17c0e2474ccbebc9302ce2f07b55b3b3fcb211ded18a42d5764f5c10a82",
+                "sha256:6bc95ed67b6741b2607298f9ea4932ff157e570ef456ef7ff0ef4884a134cc4b",
+                "sha256:7099a8d55cd49b737ffc99c17de504f2257e3787e02abe6d1a6d136574873441",
+                "sha256:75976c217f10d48a8b5a8de3d70c454c249e4b91851f6838a4e48b8f41eb71aa",
+                "sha256:7bc997818309f56c0038a33b8da5c0bfbb3f1f067f315f9abd6fc07ad359398d",
+                "sha256:80f49023dd13ba35f7c34072fa17f604d2f19bf0989f292cedf7ab5770b87a0b",
+                "sha256:91ce48d35f4e3d3f1d83e29ef4a9267246e6a3be51864a5b7d2247d5086fa99a",
+                "sha256:a958c52505c8adf0d3822703078580d2c0456dd1d27fabfb6f76fe63d2971cd6",
+                "sha256:b62439d7cd1222f3da897e9a9fe53bbf5c104fff4d60893ad1355d4c14a24157",
+                "sha256:b7f8dd0d4c1f21759695c05a5ec8536c12f31611541f8904083f3dc582604280",
+                "sha256:d204833f3c8a33bbe11eda63a54b1aad7aa7456ed769a982f21ec599ba5fa282",
+                "sha256:e007f052ed10cc316df59bc90fbb7ff7950d7e2919c9757fd42a2b8ecf8a5f67",
+                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
+                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
+                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
+                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
+            ],
+            "index": "pypi",
+            "version": "==37.0.4"
         },
         "cycler": {
             "hashes": [
@@ -1742,11 +1739,11 @@
         },
         "fonttools": {
             "hashes": [
-                "sha256:c0fdcfa8ceebd7c1b2021240bd46ef77aa8e7408cf10434be55df52384865f8e",
-                "sha256:f829c579a8678fa939a1d9e9894d01941db869de44390adb49ce67055a06cc2a"
+                "sha256:9a1c52488045cd6c6491fd07711a380f932466e317cb8e016fc4e99dc7eac2f0",
+                "sha256:d73f25b283cd8033367451122aa868a23de0734757a01984e4b30b18b9050c72"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==4.33.3"
+            "version": "==4.34.4"
         },
         "ft4222": {
             "hashes": [
@@ -1805,24 +1802,24 @@
                 "sha256:84d9dd047ffa80596e0f246e2eab0b391788b0503584e8945f2368256d2735ff",
                 "sha256:9d643ff0a55b762d5cdb124b8eaa99c66322e2157b69160bc32796e824360e6d"
             ],
-            "markers": "python_full_version >= '3.5.0'",
+            "markers": "python_version >= '3.5'",
             "version": "==3.3"
         },
         "imagesize": {
             "hashes": [
-                "sha256:1db2f82529e53c3e929e8926a1fa9235aa82d0bd0c580359c67ec31b2fddaa8c",
-                "sha256:cd1750d452385ca327479d45b64d9c7729ecf0b3969a58148298c77092261f9d"
+                "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b",
+                "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3'",
-            "version": "==1.3.0"
+            "version": "==1.4.1"
         },
         "importlib-metadata": {
             "hashes": [
-                "sha256:5d26852efe48c0a32b0509ffbc583fda1a2266545a78d104a6f4aff3db17d700",
-                "sha256:c58c8eb8a762858f49e18436ff552e83914778e50e9d2f1660535ffb364552ec"
+                "sha256:637245b8bab2b6502fcbc752cc4b7a6f6243bb02b31c5c26156ad103d3d45670",
+                "sha256:7401a975809ea1fdc658c3aa4f78cc2195a0e019c5cbc4c06122884e9ae80c23"
             ],
             "markers": "python_version < '3.10'",
-            "version": "==4.11.4"
+            "version": "==4.12.0"
         },
         "iniconfig": {
             "hashes": [
@@ -2076,38 +2073,39 @@
         },
         "nodeenv": {
             "hashes": [
-                "sha256:3ef13ff90291ba2a4a7a4ff9a979b63ffdd00a464dbe04acf0ea6471517a4c2b",
-                "sha256:621e6b7076565ddcacd2db0294c0381e01fd28945ab36bcf00f41c5daf63bef7"
+                "sha256:27083a7b96a25f2f5e1d8cb4b6317ee8aeda3bdd121394e5ac54e498028a042e",
+                "sha256:e0e7f7dfb85fc5394c6fe1e8fa98131a2473e04311a45afb6508f7cf1836fa2b"
             ],
-            "version": "==1.6.0"
+            "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4, 3.5, 3.6'",
+            "version": "==1.7.0"
         },
         "numpy": {
             "hashes": [
-                "sha256:0791fbd1e43bf74b3502133207e378901272f3c156c4df4954cad833b1380207",
-                "sha256:1ce7ab2053e36c0a71e7a13a7475bd3b1f54750b4b433adc96313e127b870887",
-                "sha256:2d487e06ecbf1dc2f18e7efce82ded4f705f4bd0cd02677ffccfb39e5c284c7e",
-                "sha256:37431a77ceb9307c28382c9773da9f306435135fae6b80b62a11c53cfedd8802",
-                "sha256:3e1ffa4748168e1cc8d3cde93f006fe92b5421396221a02f2274aab6ac83b077",
-                "sha256:425b390e4619f58d8526b3dcf656dde069133ae5c240229821f01b5f44ea07af",
-                "sha256:43a8ca7391b626b4c4fe20aefe79fec683279e31e7c79716863b4b25021e0e74",
-                "sha256:4c6036521f11a731ce0648f10c18ae66d7143865f19f7299943c985cdc95afb5",
-                "sha256:59d55e634968b8f77d3fd674a3cf0b96e85147cd6556ec64ade018f27e9479e1",
-                "sha256:64f56fc53a2d18b1924abd15745e30d82a5782b2cab3429aceecc6875bd5add0",
-                "sha256:7228ad13744f63575b3a972d7ee4fd61815b2879998e70930d4ccf9ec721dce0",
-                "sha256:9ce7df0abeabe7fbd8ccbf343dc0db72f68549856b863ae3dd580255d009648e",
-                "sha256:a911e317e8c826ea632205e63ed8507e0dc877dcdc49744584dfc363df9ca08c",
-                "sha256:b89bf9b94b3d624e7bb480344e91f68c1c6c75f026ed6755955117de00917a7c",
-                "sha256:ba9ead61dfb5d971d77b6c131a9dbee62294a932bf6a356e48c75ae684e635b3",
-                "sha256:c1d937820db6e43bec43e8d016b9b3165dcb42892ea9f106c70fb13d430ffe72",
-                "sha256:cc7f00008eb7d3f2489fca6f334ec19ca63e31371be28fd5dad955b16ec285bd",
-                "sha256:d4c5d5eb2ec8da0b4f50c9a843393971f31f1d60be87e0fb0917a49133d257d6",
-                "sha256:e96d7f3096a36c8754207ab89d4b3282ba7b49ea140e4973591852c77d09eb76",
-                "sha256:f0725df166cf4785c0bc4cbfb320203182b1ecd30fee6e541c8752a92df6aa32",
-                "sha256:f3eb268dbd5cfaffd9448113539e44e2dd1c5ca9ce25576f7c04a5453edc26fa",
-                "sha256:fb7a980c81dd932381f8228a426df8aeb70d59bbcda2af075b627bbc50207cba"
-            ],
-            "index": "pypi",
-            "version": "==1.22.4"
+                "sha256:092f5e6025813e64ad6d1b52b519165d08c730d099c114a9247c9bb635a2a450",
+                "sha256:196cd074c3f97c4121601790955f915187736f9cf458d3ee1f1b46aff2b1ade0",
+                "sha256:1c29b44905af288b3919803aceb6ec7fec77406d8b08aaa2e8b9e63d0fe2f160",
+                "sha256:2b2da66582f3a69c8ce25ed7921dcd8010d05e59ac8d89d126a299be60421171",
+                "sha256:5043bcd71fcc458dfb8a0fc5509bbc979da0131b9d08e3d5f50fb0bbb36f169a",
+                "sha256:58bfd40eb478f54ff7a5710dd61c8097e169bc36cc68333d00a9bcd8def53b38",
+                "sha256:79a506cacf2be3a74ead5467aee97b81fca00c9c4c8b3ba16dbab488cd99ba10",
+                "sha256:94b170b4fa0168cd6be4becf37cb5b127bd12a795123984385b8cd4aca9857e5",
+                "sha256:97a76604d9b0e79f59baeca16593c711fddb44936e40310f78bfef79ee9a835f",
+                "sha256:98e8e0d8d69ff4d3fa63e6c61e8cfe2d03c29b16b58dbef1f9baa175bbed7860",
+                "sha256:ac86f407873b952679f5f9e6c0612687e51547af0e14ddea1eedfcb22466babd",
+                "sha256:ae8adff4172692ce56233db04b7ce5792186f179c415c37d539c25de7298d25d",
+                "sha256:bd3fa4fe2e38533d5336e1272fc4e765cabbbde144309ccee8675509d5cd7b05",
+                "sha256:d0d2094e8f4d760500394d77b383a1b06d3663e8892cdf5df3c592f55f3bff66",
+                "sha256:d54b3b828d618a19779a84c3ad952e96e2c2311b16384e973e671aa5be1f6187",
+                "sha256:d6ca8dabe696c2785d0c8c9b0d8a9b6e5fdbe4f922bde70d57fa1a2848134f95",
+                "sha256:d8cc87bed09de55477dba9da370c1679bd534df9baa171dd01accbb09687dac3",
+                "sha256:f0f18804df7370571fb65db9b98bf1378172bd4e962482b857e612d1fec0f53e",
+                "sha256:f1d88ef79e0a7fa631bb2c3dda1ea46b32b1fe614e10fedd611d3d5398447f2f",
+                "sha256:f9c3fc2adf67762c9fe1849c859942d23f8d3e0bee7b5ed3d4a9c3eeb50a2f07",
+                "sha256:fc431493df245f3c627c0c05c2bd134535e7929dbe2e602b80e42bf52ff760bc",
+                "sha256:fe8b9683eb26d2c4d5db32cd29b38fdcf8381324ab48313b5b69088e0e355379"
+            ],
+            "index": "pypi",
+            "version": "==1.23.0"
         },
         "opencv-python-headless": {
             "hashes": [
@@ -2130,6 +2128,33 @@
             "markers": "python_version >= '3.6'",
             "version": "==21.3"
         },
+        "pandas": {
+            "hashes": [
+                "sha256:07238a58d7cbc8a004855ade7b75bbd22c0db4b0ffccc721556bab8a095515f6",
+                "sha256:0daf876dba6c622154b2e6741f29e87161f844e64f84801554f879d27ba63c0d",
+                "sha256:16ad23db55efcc93fa878f7837267973b61ea85d244fc5ff0ccbcfa5638706c5",
+                "sha256:1d9382f72a4f0e93909feece6fef5500e838ce1c355a581b3d8f259839f2ea76",
+                "sha256:24ea75f47bbd5574675dae21d51779a4948715416413b30614c1e8b480909f81",
+                "sha256:2893e923472a5e090c2d5e8db83e8f907364ec048572084c7d10ef93546be6d1",
+                "sha256:2ff7788468e75917574f080cd4681b27e1a7bf36461fe968b49a87b5a54d007c",
+                "sha256:41fc406e374590a3d492325b889a2686b31e7a7780bec83db2512988550dadbf",
+                "sha256:48350592665ea3cbcd07efc8c12ff12d89be09cd47231c7925e3b8afada9d50d",
+                "sha256:605d572126eb4ab2eadf5c59d5d69f0608df2bf7bcad5c5880a47a20a0699e3e",
+                "sha256:6dfbf16b1ea4f4d0ee11084d9c026340514d1d30270eaa82a9f1297b6c8ecbf0",
+                "sha256:6f803320c9da732cc79210d7e8cc5c8019aad512589c910c66529eb1b1818230",
+                "sha256:721a3dd2f06ef942f83a819c0f3f6a648b2830b191a72bbe9451bcd49c3bd42e",
+                "sha256:755679c49460bd0d2f837ab99f0a26948e68fa0718b7e42afbabd074d945bf84",
+                "sha256:78b00429161ccb0da252229bcda8010b445c4bf924e721265bec5a6e96a92e92",
+                "sha256:958a0588149190c22cdebbc0797e01972950c927a11a900fe6c2296f207b1d6f",
+                "sha256:a3924692160e3d847e18702bb048dc38e0e13411d2b503fecb1adf0fcf950ba4",
+                "sha256:d51674ed8e2551ef7773820ef5dab9322be0828629f2cbf8d1fc31a0c4fed640",
+                "sha256:d5ebc990bd34f4ac3c73a2724c2dcc9ee7bf1ce6cf08e87bb25c6ad33507e318",
+                "sha256:d6c0106415ff1a10c326c49bc5dd9ea8b9897a6ca0c8688eb9c30ddec49535ef",
+                "sha256:e48fbb64165cda451c06a0f9e4c7a16b534fcabd32546d531b3c240ce2844112"
+            ],
+            "index": "pypi",
+            "version": "==1.4.3"
+        },
         "parameterized": {
             "hashes": [
                 "sha256:41bbff37d6186430f77f900d777e5bb6a24928a1c46fb1de692f8b52b8833b5c",
@@ -2148,47 +2173,67 @@
         },
         "pillow": {
             "hashes": [
-                "sha256:088df396b047477dd1bbc7de6e22f58400dae2f21310d9e2ec2933b2ef7dfa4f",
-                "sha256:09e67ef6e430f90caa093528bd758b0616f8165e57ed8d8ce014ae32df6a831d",
-                "sha256:0b4d5ad2cd3a1f0d1df882d926b37dbb2ab6c823ae21d041b46910c8f8cd844b",
-                "sha256:0b525a356680022b0af53385944026d3486fc8c013638cf9900eb87c866afb4c",
-                "sha256:1d4331aeb12f6b3791911a6da82de72257a99ad99726ed6b63f481c0184b6fb9",
-                "sha256:20d514c989fa28e73a5adbddd7a171afa5824710d0ab06d4e1234195d2a2e546",
-                "sha256:2b291cab8a888658d72b575a03e340509b6b050b62db1f5539dd5cd18fd50578",
-                "sha256:3f6c1716c473ebd1649663bf3b42702d0d53e27af8b64642be0dd3598c761fb1",
-                "sha256:42dfefbef90eb67c10c45a73a9bc1599d4dac920f7dfcbf4ec6b80cb620757fe",
-                "sha256:488f3383cf5159907d48d32957ac6f9ea85ccdcc296c14eca1a4e396ecc32098",
-                "sha256:4d45dbe4b21a9679c3e8b3f7f4f42a45a7d3ddff8a4a16109dff0e1da30a35b2",
-                "sha256:53c27bd452e0f1bc4bfed07ceb235663a1df7c74df08e37fd6b03eb89454946a",
-                "sha256:55e74faf8359ddda43fee01bffbc5bd99d96ea508d8a08c527099e84eb708f45",
-                "sha256:59789a7d06c742e9d13b883d5e3569188c16acb02eeed2510fd3bfdbc1bd1530",
-                "sha256:5b650dbbc0969a4e226d98a0b440c2f07a850896aed9266b6fedc0f7e7834108",
-                "sha256:66daa16952d5bf0c9d5389c5e9df562922a59bd16d77e2a276e575d32e38afd1",
-                "sha256:6e760cf01259a1c0a50f3c845f9cad1af30577fd8b670339b1659c6d0e7a41dd",
-                "sha256:7502539939b53d7565f3d11d87c78e7ec900d3c72945d4ee0e2f250d598309a0",
-                "sha256:769a7f131a2f43752455cc72f9f7a093c3ff3856bf976c5fb53a59d0ccc704f6",
-                "sha256:7c150dbbb4a94ea4825d1e5f2c5501af7141ea95825fadd7829f9b11c97aaf6c",
-                "sha256:8844217cdf66eabe39567118f229e275f0727e9195635a15e0e4b9227458daaf",
-                "sha256:8a66fe50386162df2da701b3722781cbe90ce043e7d53c1fd6bd801bca6b48d4",
-                "sha256:9370d6744d379f2de5d7fa95cdbd3a4d92f0b0ef29609b4b1687f16bc197063d",
-                "sha256:937a54e5694684f74dcbf6e24cc453bfc5b33940216ddd8f4cd8f0f79167f765",
-                "sha256:9c857532c719fb30fafabd2371ce9b7031812ff3889d75273827633bca0c4602",
-                "sha256:a4165205a13b16a29e1ac57efeee6be2dfd5b5408122d59ef2145bc3239fa340",
-                "sha256:b3fe2ff1e1715d4475d7e2c3e8dabd7c025f4410f79513b4ff2de3d51ce0fa9c",
-                "sha256:b6617221ff08fbd3b7a811950b5c3f9367f6e941b86259843eab77c8e3d2b56b",
-                "sha256:b761727ed7d593e49671d1827044b942dd2f4caae6e51bab144d4accf8244a84",
-                "sha256:baf3be0b9446a4083cc0c5bb9f9c964034be5374b5bc09757be89f5d2fa247b8",
-                "sha256:c17770a62a71718a74b7548098a74cd6880be16bcfff5f937f900ead90ca8e92",
-                "sha256:c67db410508b9de9c4694c57ed754b65a460e4812126e87f5052ecf23a011a54",
-                "sha256:d78ca526a559fb84faaaf84da2dd4addef5edb109db8b81677c0bb1aad342601",
-                "sha256:e9ed59d1b6ee837f4515b9584f3d26cf0388b742a11ecdae0d9237a94505d03a",
-                "sha256:f054b020c4d7e9786ae0404278ea318768eb123403b18453e28e47cdb7a0a4bf",
-                "sha256:f372d0f08eff1475ef426344efe42493f71f377ec52237bf153c5713de987251",
-                "sha256:f3f6a6034140e9e17e9abc175fc7a266a6e63652028e157750bd98e804a8ed9a",
-                "sha256:ffde4c6fabb52891d81606411cbfaf77756e3b561b566efd270b3ed3791fde4e"
-            ],
-            "index": "pypi",
-            "version": "==9.1.1"
+                "sha256:0030fdbd926fb85844b8b92e2f9449ba89607231d3dd597a21ae72dc7fe26927",
+                "sha256:030e3460861488e249731c3e7ab59b07c7853838ff3b8e16aac9561bb345da14",
+                "sha256:0ed2c4ef2451de908c90436d6e8092e13a43992f1860275b4d8082667fbb2ffc",
+                "sha256:136659638f61a251e8ed3b331fc6ccd124590eeff539de57c5f80ef3a9594e58",
+                "sha256:13b725463f32df1bfeacbf3dd197fb358ae8ebcd8c5548faa75126ea425ccb60",
+                "sha256:1536ad017a9f789430fb6b8be8bf99d2f214c76502becc196c6f2d9a75b01b76",
+                "sha256:15928f824870535c85dbf949c09d6ae7d3d6ac2d6efec80f3227f73eefba741c",
+                "sha256:17d4cafe22f050b46d983b71c707162d63d796a1235cdf8b9d7a112e97b15bac",
+                "sha256:1802f34298f5ba11d55e5bb09c31997dc0c6aed919658dfdf0198a2fe75d5490",
+                "sha256:1cc1d2451e8a3b4bfdb9caf745b58e6c7a77d2e469159b0d527a4554d73694d1",
+                "sha256:1fd6f5e3c0e4697fa7eb45b6e93996299f3feee73a3175fa451f49a74d092b9f",
+                "sha256:254164c57bab4b459f14c64e93df11eff5ded575192c294a0c49270f22c5d93d",
+                "sha256:2ad0d4df0f5ef2247e27fc790d5c9b5a0af8ade9ba340db4a73bb1a4a3e5fb4f",
+                "sha256:2c58b24e3a63efd22554c676d81b0e57f80e0a7d3a5874a7e14ce90ec40d3069",
+                "sha256:2d33a11f601213dcd5718109c09a52c2a1c893e7461f0be2d6febc2879ec2402",
+                "sha256:337a74fd2f291c607d220c793a8135273c4c2ab001b03e601c36766005f36885",
+                "sha256:37ff6b522a26d0538b753f0b4e8e164fdada12db6c6f00f62145d732d8a3152e",
+                "sha256:3d1f14f5f691f55e1b47f824ca4fdcb4b19b4323fe43cc7bb105988cad7496be",
+                "sha256:408673ed75594933714482501fe97e055a42996087eeca7e5d06e33218d05aa8",
+                "sha256:4134d3f1ba5f15027ff5c04296f13328fecd46921424084516bdb1b2548e66ff",
+                "sha256:4ad2f835e0ad81d1689f1b7e3fbac7b01bb8777d5a985c8962bedee0cc6d43da",
+                "sha256:50dff9cc21826d2977ef2d2a205504034e3a4563ca6f5db739b0d1026658e004",
+                "sha256:510cef4a3f401c246cfd8227b300828715dd055463cdca6176c2e4036df8bd4f",
+                "sha256:5aed7dde98403cd91d86a1115c78d8145c83078e864c1de1064f52e6feb61b20",
+                "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d",
+                "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c",
+                "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544",
+                "sha256:727dd1389bc5cb9827cbd1f9d40d2c2a1a0c9b32dd2261db522d22a604a6eec9",
+                "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3",
+                "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04",
+                "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c",
+                "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5",
+                "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4",
+                "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb",
+                "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4",
+                "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c",
+                "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467",
+                "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e",
+                "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421",
+                "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b",
+                "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
+                "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
+                "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
+                "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
+                "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
+                "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28",
+                "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0",
+                "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1",
+                "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8",
+                "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd",
+                "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4",
+                "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8",
+                "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f",
+                "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013",
+                "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59",
+                "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc",
+                "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"
+            ],
+            "index": "pypi",
+            "version": "==9.2.0"
         },
         "platformdirs": {
             "hashes": [
@@ -2426,11 +2471,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
+                "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983",
+                "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"
             ],
             "index": "pypi",
-            "version": "==2.28.0"
+            "version": "==2.28.1"
         },
         "reverse-geocoder": {
             "hashes": [
@@ -2468,6 +2513,14 @@
             "index": "pypi",
             "version": "==1.8.1"
         },
+        "setuptools": {
+            "hashes": [
+                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
+                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==63.1.0"
+        },
         "six": {
             "hashes": [
                 "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926",
@@ -2492,11 +2545,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:7bf8ca9637a4ee15af412d1a1d9689fec70523a68ca9bb9127c2f3eeb344e2e6",
-                "sha256:ebf612653238bcc8f4359627a9b7ce44ede6fdd75d9d30f68255c7383d3a6226"
+                "sha256:b18e978ea7565720f26019c702cd85c84376e948370f1cd43d60265010e1c7b0",
+                "sha256:d3e57663eed1d7c5c50895d191fdeda0b54ded6f44d5621b50709466c338d1e8"
             ],
             "index": "pypi",
-            "version": "==4.5.0"
+            "version": "==5.0.2"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2570,6 +2623,15 @@
             "index": "pypi",
             "version": "==3.5.4"
         },
+        "tabulate": {
+            "hashes": [
+                "sha256:0ba055423dbaa164b9e456abe7920c5e8ed33fcc16f6d1b2f2d152c8e1e8b4fc",
+                "sha256:436f1c768b424654fce8597290d2764def1eea6a77cfa5c33be00b1bc0f4f63d",
+                "sha256:6c57f3f3dd7ac2782770155f3adb2db0b1a269637e42f27599925e64b114f519"
+            ],
+            "index": "pypi",
+            "version": "==0.8.10"
+        },
         "tenacity": {
             "hashes": [
                 "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f",
@@ -2596,27 +2658,27 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
+                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
+                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
             ],
             "index": "pypi",
-            "version": "==1.26.9"
+            "version": "==1.26.10"
         },
         "virtualenv": {
             "hashes": [
-                "sha256:e617f16e25b42eb4f6e74096b9c9e37713cf10bf30168fb4a739f3fa8f898a3a",
-                "sha256:ef589a79795589aada0c1c5b319486797c03b67ac3984c48c669c0e4f50df3a5"
+                "sha256:288171134a2ff3bfb1a2f54f119e77cd1b81c29fc1265a2356f3e8d14c7d58c4",
+                "sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==20.14.1"
+            "version": "==20.15.1"
         },
         "zipp": {
             "hashes": [
diff --git a/README.md b/README.md
index 34b17625f9..3dce9d4475 100755
--- 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
 
diff --git a/RELEASES.md b/RELEASES.md
index 5b71fc3375..b87bd2ee7d 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,24 +1,37 @@
-Version 0.8.15 (2022-07-XX)
+Version 0.8.15 (2022-07-20)
 ========================
+* New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
 * New lateral controller based on physical wheel torque model
-  * Much smoother control, consistent across the speed range
+  * Much smoother control that's consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
   * Significantly improved control on TSS-P Prius
 * New driver monitoring model
-  * takes a larger input frame
-  * outputs a driver state for both driver and passenger
-  * automatically determines which side the driver is on (soon)
-* Reduced power usage: device runs cooler and fan spins less
-* Minor UI updates
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
   * New font
   * Refreshed max speed design
-  * Speed limits shown while navigating
   * More consistent camera view perspective across cars
+* Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
 
 Version 0.8.14 (2022-06-01)
 ========================
diff --git a/cereal b/cereal
index df08568318..cda60ec965 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit df08568318da97ed6f87747caee0a5b2c30086c4
+Subproject commit cda60ec9652c05de4ccfcad1fae7936e708434a3
diff --git a/common/params.cc b/common/params.cc
index f93c87cd98..c4f65a9e02 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -129,6 +129,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 5a10207828..920df4030a 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -1,12 +1,9 @@
 #include "common/watchdog.h"
-#include "common/timing.h"
 #include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick() {
+bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-
-  uint64_t ts = nanos_since_boot();
   return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
 }
diff --git a/common/watchdog.h b/common/watchdog.h
index 7ed23aa0d9..12dd2ca035 100644
--- a/common/watchdog.h
+++ b/common/watchdog.h
@@ -1,3 +1,5 @@
 #pragma once
 
-bool watchdog_kick();
+#include <cstdint>
+
+bool watchdog_kick(uint64_t ts);
diff --git a/docs/CARS.md b/docs/CARS.md
index 25de6a2549..754052085d 100644
--- 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 - 67 cars
+# Silver - 70 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>|
@@ -95,6 +94,7 @@ How We Rate The Cars
 |Hyundai|Santa Fe Plug-in 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>|
 |Hyundai|Tucson Diesel 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|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+|Kia|EV6 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>|
 |Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
@@ -104,7 +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>|
@@ -116,14 +116,16 @@ 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|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>|
@@ -143,13 +145,13 @@ How We Rate The Cars
 |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 - 78 cars
+# Bronze - 80 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>|
@@ -157,27 +159,27 @@ 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>|
@@ -188,17 +190,19 @@ 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>|
+|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>|
 |Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
 |Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
diff --git a/laika_repo b/laika_repo
index 6e87f536db..828612e1b8 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 6e87f536dbe8cf80040f724c89798e66ca17cf9d
+Subproject commit 828612e1b8848ccf70072d5513c0b7977f1707da
diff --git a/launch_env.sh b/launch_env.sh
index 769613bc79..ac84d6dcbd 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5.1"
+  export AGNOS_VERSION="5.2"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/opendbc b/opendbc
index 7fbf7c2a68..3fb3f5e821 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 7fbf7c2a685a90ff01e744cfb410f1a8a3c06278
+Subproject commit 3fb3f5e82129ad76232bcdca10632ed0566b20f8
diff --git a/panda b/panda
index 2652453892..e51aa5ebce 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit 265245389208e1e6ada86b169e879c0a2e30426c
+Subproject commit e51aa5ebce031c96e802b07d13120a039fa7b82f
diff --git a/rednose_repo b/rednose_repo
index 225dbacbaa..3b6bd703b7 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 225dbacbaac312f85eaaee0b97a3acc31f9c6b47
+Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd
diff --git a/release/check-dirty.sh b/release/check-dirty.sh
new file mode 100755
index 0000000000..9c6389f380
--- /dev/null
+++ b/release/check-dirty.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ ! -z "$(git status --porcelain)" ]; then
+  echo "Dirty working tree after build:"
+  git status --porcelain
+  exit 1
+fi
diff --git a/release/files_common b/release/files_common
index acf74e2137..954726d967 100644
--- a/release/files_common
+++ b/release/files_common
@@ -35,7 +35,6 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
-common/SConscript
 
 common/kalman/.gitignore
 common/kalman/*
@@ -58,6 +57,7 @@ common/api/__init__.py
 
 release/*
 
+tools/__init__.py
 tools/lib/*
 tools/joystick/*
 tools/replay/*.cc
@@ -129,7 +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
@@ -188,6 +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
@@ -197,6 +208,7 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
+system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@@ -217,10 +229,10 @@ selfdrive/locationd/generated/gps.h
 
 selfdrive/locationd/laikad.py
 selfdrive/locationd/laikad_helpers.py
-selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
 selfdrive/locationd/models/gnss_kf.py
@@ -232,6 +244,7 @@ selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/calibrationd.py
 
+system/logcatd/.gitignore
 system/logcatd/SConscript
 system/logcatd/logcatd_systemd.cc
 
@@ -240,6 +253,7 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
+selfdrive/loggerd/.gitignore
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc
 selfdrive/loggerd/encoder/encoder.h
@@ -329,6 +343,7 @@ 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
@@ -415,6 +430,7 @@ scripts/stop_updater.sh
 pyextra/.gitignore
 pyextra/acados_template/**
 
+rednose/.gitignore
 rednose/**
 laika/**
 
@@ -475,7 +491,8 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
-opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_ram_dt_generated.dbc
+opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
 opendbc/gm_global_a_powertrain_generated.dbc
diff --git a/selfdrive/assets/navigation/direction_turn_left_inactive.png b/selfdrive/assets/navigation/direction_turn_left_inactive.png
new file mode 100644
index 0000000000..2946984acd
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_left_inactive.png differ
diff --git a/selfdrive/assets/navigation/direction_turn_right_inactive.png b/selfdrive/assets/navigation/direction_turn_right_inactive.png
new file mode 100644
index 0000000000..7d327766af
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_right_inactive.png differ
diff --git a/selfdrive/assets/navigation/direction_turn_straight_inactive.png b/selfdrive/assets/navigation/direction_turn_straight_inactive.png
new file mode 100644
index 0000000000..4c567966ee
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_straight_inactive.png differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index b0e138c495..6ccd6c3de1 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -364,6 +364,11 @@ def uploadFilesToUrls(files_data):
       failed.append(fn)
       continue
 
+    # Skip item if already in queue
+    url = file['url'].split('?')[0]
+    if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
+      continue
+
     item = UploadItem(
       path=path,
       url=file['url'],
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 382b549c1b..7f511eecf6 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -124,7 +124,7 @@ class TestAthenadMethods(unittest.TestCase):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
     if fn.endswith('.bz2'):
-      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
 
   @with_http_server
@@ -142,9 +142,6 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
-
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
 
@@ -155,6 +152,24 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
+  @with_http_server
+  def test_uploadFileToUrl_duplicate(self, host):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+
+    url1 = f"{host}/qlog.bz2?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+
+    # Upload same file again, but with different signature
+    url2 = f"{host}/qlog.bz2?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    self.assertEqual(resp, {'enqueued': 0, 'items': []})
+
+  @with_http_server
+  def test_uploadFileToUrl_does_not_exist(self, host):
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
+    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
+
   @with_http_server
   def test_upload_handler(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 7f83732153..1a9a5f50f3 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -8,7 +8,7 @@ from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus
+from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -79,7 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  ecu_responses = set()
+  ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -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)
-      ecu_responses = get_present_ecus(logcan, sendcan)
-      car_fw = get_fw_versions(logcan, sendcan)
+      _, 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=ecu_responses, 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
 
 
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 49525646ca..6d158e7cd0 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,8 +1,8 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
 from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
-from selfdrive.car.chrysler.values import CAR, CarControllerParams
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -10,61 +10,75 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.frame = 0
-    self.prev_lkas_frame = -1
-    self.hud_count = 0
-    self.car_fingerprint = CP.carFingerprint
-    self.gone_fast_yet = False
     self.steer_rate_limited = False
 
+    self.hud_count = 0
+    self.last_lkas_falling_edge = 0
+    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):
-    # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    if self.prev_lkas_frame == CS.lkas_counter:
-      return car.CarControl.Actuators.new_message(), []
-
-    actuators = CC.actuators
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, CarControllerParams)
-    self.steer_rate_limited = new_steer != apply_steer
-
-    moving_fast = CS.out.vEgo > self.CP.minSteerSpeed  # for status message
-    if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5):  # for command high bit
-      self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+    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):
-        self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and CC.enabled
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
 
-    if not lkas_active:
-      apply_steer = 0
+    # EPS faults if LKAS re-enables too quickly
+    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
 
-    self.apply_steer_last = apply_steer
+    # *** control msgs ***
 
-    can_sends = []
+    # 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
 
-    # *** control msgs ***
+      # 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))
 
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, 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))
 
-    # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
-    # frame is 100Hz (0.01s period)
-    if self.frame % 25 == 0:  # 0.25s period
+    # HUD alerts
+    if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
-        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
-                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
+        can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
-    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
+    # steering
+    if self.frame % 2 == 0:
+      # steer torque
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      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_control_bit, idx))
 
     self.frame += 1
-    self.prev_lkas_frame = CS.lkas_counter
+    if not lkas_control_bit and self.lkas_control_bit_prev:
+      self.last_lkas_falling_edge = self.frame
+    self.lkas_control_bit_prev = lkas_control_bit
 
-    new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators = CC.actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index 444557191a..47b28f9e05 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -3,21 +3,29 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
+from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
+
+    self.auto_high_beam = 0
+    self.button_counter = 0
+    self.lkas_car_model = -1
+
+    if CP.carFingerprint in RAM_CARS:
+      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
+    else:
+      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_2"]["COUNTER"])
-
+    # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RL"],
@@ -32,8 +40,15 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
     ret.gasPressed = ret.gas > 1e-5
 
-    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
-
+    # car speed
+    if self.CP.carFingerprint in RAM_CARS:
+      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
+    else:
+      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
     ret.wheelSpeeds = self.get_wheel_speeds(
       cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
       cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
@@ -41,55 +56,72 @@ class CarState(CarStateBase):
       cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
-    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
 
+    # button presses
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
-
-    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
-    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DAS_4"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
-    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DAS_4"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
+    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
 
+    # steering wheel
     ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
     ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
     ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_2"]["LKAS_STATE"]
-    ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
+    # cruise state
+    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
+
+    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
+    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
+    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
+    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
+    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
+    if self.CP.carFingerprint in RAM_CARS:
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+    else:
+      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
+
+    # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
+      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
+    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
     self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
+  @staticmethod
+  def get_cruise_signals():
+    signals = [
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
+      ("ACC_STANDSTILL", "DAS_3"),
+      ("COUNTER", "DAS_3"),
+      ("ACC_SET_SPEED_KPH", "DAS_4"),
+      ("ACC_STATE", "DAS_4"),
+    ]
+    checks = [
+      ("DAS_3", 50),
+      ("DAS_4", 50),
+    ]
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("PRNDL", "GEAR"),
       ("DOOR_OPEN_FL", "BCM_1"),
       ("DOOR_OPEN_FR", "BCM_1"),
       ("DOOR_OPEN_RL", "BCM_1"),
       ("DOOR_OPEN_RR", "BCM_1"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
-      ("SPEED_LEFT", "SPEED_1"),
-      ("SPEED_RIGHT", "SPEED_1"),
       ("WHEEL_SPEED_FL", "ESP_6"),
       ("WHEEL_SPEED_RR", "ESP_6"),
       ("WHEEL_SPEED_RL", "ESP_6"),
@@ -97,18 +129,12 @@ class CarState(CarStateBase):
       ("STEER_ANGLE", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
-      ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DAS_4"),
-      ("CRUISE_STATE", "DAS_4"),
+      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "EPS_2",),
       ("COLUMN_TORQUE", "EPS_2"),
       ("EPS_TORQUE_MOTOR", "EPS_2"),
       ("LKAS_STATE", "EPS_2"),
-      ("COUNTER", "EPS_2",),
-      ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
       ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
@@ -116,41 +142,63 @@ class CarState(CarStateBase):
       # sig_address, frequency
       ("ESP_1", 50),
       ("EPS_2", 100),
-      ("SPEED_1", 100),
       ("ESP_6", 50),
       ("STEERING", 100),
-      ("DAS_3", 50),
-      ("GEAR", 50),
       ("ECM_5", 50),
       ("CRUISE_BUTTONS", 50),
-      ("DAS_4", 15),
       ("STEERING_LEVERS", 10),
       ("ORC_1", 2),
       ("BCM_1", 1),
-      ("TRACTION_BUTTON", 1),
     ]
 
     if CP.enableBsm:
       signals += [
-        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
-        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
+        ("RIGHT_STATUS", "BSM_1"),
+        ("LEFT_STATUS", "BSM_1"),
+      ]
+      checks.append(("BSM_1", 2))
+
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("DASM_FAULT", "EPS_3"),
+        ("Vehicle_Speed", "ESP_8"),
+        ("Gear_State", "Transmission_Status"),
+      ]
+      checks += [
+        ("ESP_8", 50),
+        ("EPS_3", 50),
+        ("Transmission_Status", 50),
+      ]
+    else:
+      signals += [
+        ("PRNDL", "GEAR"),
+        ("SPEED_LEFT", "SPEED_1"),
+        ("SPEED_RIGHT", "SPEED_1"),
       ]
-      checks.append(("BLIND_SPOT_WARNINGS", 2))
+      checks += [
+        ("GEAR", 50),
+        ("SPEED_1", 100),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     signals = [
-      # sig_name, sig_address
-      ("COUNTER", "LKAS_COMMAND"),
-      ("CAR_MODEL", "LKAS_HUD"),
-      ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
+      # sig_name, sig_address, default
+      ("CAR_MODEL", "DAS_6"),
     ]
     checks = [
-      ("LKAS_COMMAND", 100),
-      ("LKAS_HEARTBIT", 10),
-      ("LKAS_HUD", 4),
+      ("DAS_6", 4),
     ]
 
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 53b79cab73..1e26a6d275 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,56 +1,70 @@
 from cereal import car
-from selfdrive.car import make_can_msg
-
+from selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
-  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
+
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
 
-  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
-    return make_can_msg(0x2a6, msg, 0)
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
 
-  color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
-  lines = 1
-  alerts = 0
+  color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
 
   if hud_count < (1 * 4):  # first 3 seconds, 4Hz
     alerts = 1
-  # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
-  # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
-  if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
-    if lkas_active:
-      color = 2  # control active, display green.
-      lines = 6
-    else:
-      color = 1  # control off, display white.
-      lines = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
 
   values = {
-    "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
-    "CAR_MODEL": lkas_car_model,  # byte 1
-    "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
-    "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
-    }
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
 
-  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, apply_steer, moving_fast, frame):
-  # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
+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 = {
-    "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": int(moving_fast),
-    "COUNTER": frame % 0x10,
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
-  return packer.make_can_msg("LKAS_COMMAND", 0, values)
+  return packer.make_can_msg("LKAS_COMMAND", 0, values, frame % 0x10)
 
 
-def create_cruise_buttons(packer, frame, cancel=False):
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
     "ACC_Cancel": cancel,
-    "COUNTER": frame % 0x10,
+    "ACC_Resume": resume,
   }
-  return packer.make_can_msg("CRUISE_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values, frame % 0x10)
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ebcb6b126..acc08954a8 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,7 +11,11 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+
+    ret.radarOffCan = DBC[candidate]['radar'] is None
+
+    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
@@ -39,6 +44,18 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    # 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)
+
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -64,9 +81,9 @@ class CarInterface(CarInterfaceBase):
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
       self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = False
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 8882dc2d91..348e3c3632 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
 def _create_radar_can_parser(car_fingerprint):
+  dbc = DBC[car_fingerprint]['radar']
+  if dbc is None:
+    return None
+
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number), (...)]
   # [('RADAR_STATE', 1024),
@@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
@@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
+    return ret
\ No newline at end of file
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index d624bd2727..80baba9bd6 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -1,20 +1,14 @@
+import capnp
 from dataclasses import dataclass
 from enum import Enum
-from typing import Dict, List, Optional, Union
+from typing import Dict, List, Optional, Tuple, Union
 
+from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
 Ecu = car.CarParams.Ecu
 
 
-class CarControllerParams:
-  STEER_MAX = 261         # 262 faults
-  STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
-  STEER_DELTA_DOWN = 3    # no faults on the way down it seems
-  STEER_ERROR_MAX = 80
-
-
 class CAR:
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
@@ -24,16 +18,34 @@ class CAR:
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
   # Jeep
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"   # includes 2017 Trailhawk
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
+
+  # Ram
+  RAM_1500 = "RAM 1500 5TH GEN"
+
+
+class CarControllerParams:
+  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
 
+RAM_CARS = {CAR.RAM_1500, }
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
   package: str = "Adaptive Cruise"
   harness: Enum = Harness.fca
 
-
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
@@ -41,7 +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.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:
@@ -97,17 +110,36 @@ FINGERPRINTS = {
     # Jeep Grand Cherokee 2019, including most 2020 models
     55: 8, 168: 8, 179: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 341: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 530: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 960: 4, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 8, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1250: 8, 1251: 8, 1252: 8, 1254: 8, 1264: 8, 1284: 8, 1536: 8, 1537: 8, 1543: 8, 1545: 8, 1562: 8, 1568: 8, 1570: 8, 1572: 8, 1593: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1890: 8, 1891: 8, 1892: 8, 1894: 8, 1896: 8, 1904: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
   }],
+  CAR.RAM_1500: [
+    {35: 8, 37: 8, 39: 8, 41: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8,  129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8,  164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 298: 8, 299: 8, 305: 8, 307: 8, 311: 8, 315: 8, 317: 8, 319: 8, 323: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 505: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 611: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 818: 8, 819: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 848: 8, 856: 4, 860: 6, 862: 8, 875: 2, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8},
+    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 276: 8, 277: 8, 278: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 327: 8, 333: 8, 334: 8, 341: 8, 343: 8, 345: 8, 347: 8, 421: 8, 448: 6, 456: 4, 457: 8, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 663: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 738: 8, 752: 2, 754: 8, 773: 8, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 823: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 874: 2, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 975: 8, 976: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8},
+    {35: 8, 37: 8, 39: 8, 43: 8, 47: 8, 49: 8, 53: 8, 55: 8, 113: 8, 119: 2, 121: 8, 123: 7, 125: 6, 127: 8, 129: 8, 131: 8, 133: 8, 135: 8, 137: 8, 139: 8, 141: 8, 145: 8, 147: 8, 149: 7, 153: 8, 155: 8, 157: 8, 163: 8, 164: 8, 166: 8, 167: 8, 169: 8, 171: 8, 173: 5, 177: 3, 179: 8, 181: 8, 213: 3, 221: 8, 232: 8, 250: 8, 289: 5, 293: 3, 295: 8, 296: 8, 297: 4, 299: 8, 301: 8, 302: 8, 305: 8, 307: 8, 311: 8, 317: 8, 319: 8, 323: 8, 334: 8, 337: 8, 343: 8, 347: 8, 409: 6, 421: 8, 448: 6, 456: 4, 464: 8, 489: 8, 491: 8, 502: 8, 503: 8, 507: 5, 516: 7, 517: 7, 524: 8, 526: 6, 557: 8, 560: 8, 584: 8, 601: 8, 605: 8, 607: 8, 609: 8, 613: 8, 623: 8, 631: 8, 633: 8, 634: 8, 635: 8, 637: 8, 641: 8, 643: 8, 645: 2, 649: 8, 650: 8, 651: 8, 656: 4, 657: 8, 659: 5, 663: 8, 664: 8, 673: 8, 676: 8, 679: 8, 685: 8, 687: 8, 689: 5, 706: 8, 709: 8, 710: 8, 711: 8, 720: 6, 752: 2, 754: 8, 773: 8, 788: 3, 792: 8, 808: 8, 812: 8, 813: 8, 814: 8, 818: 8, 819: 8, 821: 8, 822: 8, 825: 2, 838: 2, 840: 8, 847: 1, 848: 8, 856: 4, 860: 6, 862: 8, 876: 8, 897: 8, 906: 8, 910: 8, 926: 3, 929: 8, 930: 8, 931: 8, 932: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 961: 8, 962: 8, 969: 4, 971: 8, 972: 8, 973: 8, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1030: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8},
+  ],
 }
 
+FW_VERSIONS: Dict[str, Dict[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]], List[str]]] = {
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [],
+    (Ecu.srs, 0x744, None): [],
+    (Ecu.esp, 0x747, None): [],
+    (Ecu.fwdCamera, 0x753, None): [],
+    (Ecu.fwdCamera, 0x764, None): [],
+    (Ecu.eps, 0x761, None): [],
+    (Ecu.fwdRadar, 0x757, None): [],
+    (Ecu.eps, 0x75A, None): [],
+    (Ecu.engine, 0x7e0, None): [],
+    (Ecu.transmission, 0x7e1, None): [],
+    (Ecu.gateway, 0x18DACBF1, None): [],
+  }
+}
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
 }
-
-STEER_THRESHOLD = 120
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
old mode 100644
new mode 100755
index ac5c6c9f8f..cd3e93fa80
--- 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}")
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 758485c393..5a33cdf6b7 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -92,6 +92,13 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_RX_OFFSET = -0x280
+
 
 @dataclass
 class Request:
@@ -148,12 +155,14 @@ REQUESTS: List[Request] = [
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(
@@ -186,6 +195,18 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
+  # Chrysler / FCA / Stellantis
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+    rx_offset=CHRYSLER_RX_OFFSET,
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+  ),
 ]
 
 
@@ -194,15 +215,25 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def build_fw_dict(fw_versions):
+def build_fw_dict(fw_versions, filter_brand=None):
   fw_versions_dict = {}
   for fw in fw_versions:
-    addr = fw.address
-    sub_addr = fw.subAddress if fw.subAddress != 0 else None
-    fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
+    if filter_brand is None or fw.brand == filter_brand:
+      addr = fw.address
+      sub_addr = fw.subAddress if fw.subAddress != 0 else None
+      fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
   return fw_versions_dict
 
 
+def get_brand_addrs():
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  brand_addrs = defaultdict(set)
+  for brand, cars in versions.items():
+    for fw in cars.values():
+      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
+  return brand_addrs
+
+
 def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   """Do a fuzzy FW match. This function will return a match, and the number of firmware version
   that were matched uniquely to that specific car. If multiple ECUs uniquely match to different cars
@@ -214,7 +245,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   # time and only one is in our database.
   exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
     if candidate == exclude:
@@ -284,18 +315,24 @@ def match_fw_to_car_exact(fw_versions_dict):
 
 
 def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  fw_versions_dict = build_fw_dict(fw_versions)
-  matches = match_fw_to_car_exact(fw_versions_dict)
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
 
-  exact_match = True
-  if allow_fuzzy and len(matches) == 0:
-    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+  # Try exact matching first
+  exact_matches = [(True, match_fw_to_car_exact)]
+  if allow_fuzzy:
+    exact_matches.append((False, match_fw_to_car_fuzzy))
 
-    # Fuzzy match found
-    if len(matches) == 1:
-      exact_match = False
+  for exact_match, match_func in exact_matches:
+    # For each brand, attempt to fingerprint using FW returned from its queries
+    matches = set()
+    for brand in versions.keys():
+      fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
+      matches |= match_func(fw_versions_dict)
 
-  return exact_match, matches
+    if len(matches):
+      return exact_match, matches
+
+  return True, set()
 
 
 def get_present_ecus(logcan, sendcan):
@@ -333,24 +370,59 @@ def get_present_ecus(logcan, sendcan):
   return ecu_responses
 
 
-def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
-  ecu_types = {}
+def get_brand_ecu_matches(ecu_rx_addrs):
+  """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  # Extract ECU addresses to query from fingerprints
-  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
-  addrs = []
-  parallel_addrs = []
+  brand_addrs = get_brand_addrs()
+  brand_matches = {r.brand: set() for r in REQUESTS}
 
+  brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
+  for addr, sub_addr, _ in ecu_rx_addrs:
+    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
+    for brand, rx_offset in brand_rx_offsets:
+      a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr)
+      if a in brand_addrs[brand]:
+        brand_matches[brand].add(a)
+
+  return brand_matches
+
+
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
+
+  all_car_fw = []
+  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+
+  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    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:
+      break
+
+  return all_car_fw
+
+
+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 query_brand is not None:
+    versions = {query_brand: versions[query_brand]}
+
   if extra is not None:
     versions.update(extra)
 
+  # Extract ECU addresses to query from fingerprints
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
+  addrs = []
+  parallel_addrs = []
+  ecu_types = {}
+
   for brand, brand_versions in versions.items():
     for c in brand_versions.values():
       for ecu_type, addr, sub_addr in c.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
-          ecu_types[(addr, sub_addr)] = ecu_type
+          ecu_types[a] = ecu_type
 
         if sub_addr is None:
           if a not in parallel_addrs:
@@ -362,30 +434,31 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
   addrs.insert(0, parallel_addrs)
 
   fw_versions = {}
-  for i, addr in enumerate(tqdm(addrs, disable=not progress)):
+  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:
+      for r in requests:
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
-                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            t = 2 * timeout if i == 0 else timeout
-            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).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()}")
 
   # Build capnp list to put into CarParams
   car_fw = []
-  for addr, (version, request, rx_offset) in fw_versions.items():
+  for (brand, addr), (version, request) in fw_versions.items():
     f = car.CarParams.CarFw.new_message()
 
-    f.ecu = ecu_types[addr]
+    f.ecu = ecu_types[(brand, addr[0], addr[1])]
     f.fwVersion = version
     f.address = addr[0]
-    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
-    f.request = request
+    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], request.rx_offset)
+    f.request = request.request
+    f.brand = brand
 
     if addr[1] is not None:
       f.subAddress = addr[1]
@@ -404,6 +477,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
   parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
@@ -423,21 +497,22 @@ 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, 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()
   print("Found FW versions")
   print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 14049c9997..d47caaa9ad 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -195,7 +195,7 @@ class CarController:
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CS.out.cruiseState.standstill:
+      elif CC.cruiseControl.resume:
         can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
 
     else:
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c6e20f2d83..c665b1cd03 100644
--- 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',
     ],
   },
 }
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index 4fbb5ce0e1..d0d9c40839 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -52,7 +52,12 @@ class CarController:
     hud_control = CC.hudControl
 
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    steer = actuators.steer
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+      steer = clip(steer, -0.7, 0.7)
+    new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
     self.steer_rate_limited = new_steer != apply_steer
 
@@ -70,16 +75,19 @@ class CarController:
       # steering control
       can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
 
+      if self.frame % 5 == 0:
+        can_sends.append(hda2can.create_cam_0x2a4(self.packer, self.frame, CS.cam_0x2a4))
+
       # cruise cancel
       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.enabled and CS.out.cruiseState.standstill:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
+        elif CC.cruiseControl.resume:
+          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 
@@ -96,7 +104,7 @@ class CarController:
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
           can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-        elif CS.out.cruiseState.standstill:
+        elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 6c82c33856..8afd851f00 100644
--- 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 +171,11 @@ 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
 
@@ -313,7 +317,9 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in HDA2_CAR:
-      return None
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -359,7 +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"),
 
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index e4c658c1a9..9a9e477cf5 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -12,12 +12,15 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
   }
   return packer.make_can_msg("LKAS", 4, values, frame % 255)
 
+def create_cam_0x2a4(packer, frame, camera_values):
+  camera_values.update({
+    "BYTE7": 0,
+  })
+  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)
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 97119c77b7..a32ee2c0ab 100644
--- 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
@@ -36,7 +36,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -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)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 0717ed1fbe..ffa29c60d4 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -32,6 +32,8 @@ class CarControllerParams:
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
+
+    # Default for most HKG
     else:
       self.STEER_MAX = 384
 
@@ -105,7 +107,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
@@ -149,15 +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:
@@ -165,7 +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: [{
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 136337c5a4..4c7ea97dff 100644
--- 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']
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 0e807512cf..bb96572c33 100644
--- 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
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index 0e43a11ceb..a83cef508a 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -29,13 +29,6 @@ class CarController:
                                                   CS.out.steeringTorque, CarControllerParams)
       self.steer_rate_limited = new_steer != apply_steer
 
-    if CC.enabled:
-      if CS.out.standstill and self.frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
-        # TODO: improve the resume trigger logic by looking at actual radar data
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
-
     if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
@@ -48,6 +41,10 @@ class CarController:
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
+      if CC.cruiseControl.resume and self.frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button when planner wants car to move
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 09b9b7732b..e1d6907991 100644
--- 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',
     ],
   }
 }
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 45358eb3a4..8fac934285 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -41,16 +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"),
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 19b1a05c23..96eb5f67b9 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -38,6 +38,7 @@ routes = [
   TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
   TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
   TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
+  TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index ed7e420e1a..cda241c73f 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
 
 
 class TestFwFingerprint(unittest.TestCase):
@@ -20,14 +21,16 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
     self.assertEqual(candidates[0], expected)
 
-  @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
-  def test_fw_fingerprint(self, car_model, ecus):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fw_fingerprint(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
+        if not len(fw_versions):
+          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw)
@@ -60,10 +63,9 @@ class TestFwFingerprint(unittest.TestCase):
   def test_fw_request_ecu_whitelist(self):
     passed = True
     brands = set(r.brand for r in REQUESTS)
-    versions = get_interface_attr('FW_VERSIONS')
     for brand in brands:
       whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
-      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
+      brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
 
       # each ecu in brand's fw versions needs to be whitelisted at least once
       ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index a2200926c0..8e6f62c4e7 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -19,8 +19,9 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 # No steering wheel
 COMMA BODY: [.nan, 1000, .nan]
 
-# Totally new car
-KIA EV6 2022: [3.0, 2.5, 0.0]
+# Totally new cars
+KIA EV6 2022: [3.5, 2.5, 0.0]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 43d923338e..63b7240e2f 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -119,12 +119,12 @@ 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("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 +151,14 @@ 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_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
+  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"),
@@ -816,6 +816,7 @@ FW_VERSIONS = {
       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',
@@ -953,11 +954,13 @@ FW_VERSIONS = {
       b'\x01F15264873500\x00\x00\x00\x00',
       b'\x01F152648C6300\x00\x00\x00\x00',
       b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EE6000\x00\x00\x00\x00',
       b'\x01896630E67000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EE4000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@@ -1299,6 +1302,7 @@ 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',
@@ -1316,6 +1320,7 @@ FW_VERSIONS = {
       b'\x018966342X6000\x00\x00\x00\x00',
       b'\x01896634A25000\x00\x00\x00\x00',
       b'\x018966342W5000\x00\x00\x00\x00',
+      b'\x018966342W7000\x00\x00\x00\x00',
       b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@@ -1377,11 +1382,12 @@ 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',
@@ -1761,13 +1767,14 @@ FW_VERSIONS = {
       b'\x01896630EB0000\x00\x00\x00\x00',
       b'\x01896630EC9000\x00\x00\x00\x00',
       b'\x01896630ED0000\x00\x00\x00\x00',
+      b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
-      b'\x01896630ED0100\x00\x00\x00\x00',
+      b'\x01896634D44000\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 7413c3f235..007c10e772 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -18,22 +18,22 @@ VIN_UNKNOWN = "0" * 17
 
 
 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)):
-    for i in range(retry):
+  for i in range(retry):
+    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}')
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 3ee47c620b..b344705f9d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -12,6 +12,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
+from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -62,6 +63,9 @@ class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     config_realtime_process(4, Priority.CTRL_HIGH)
 
+    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
+    self.branch = get_short_branch("")
+
     # Setup sockets
     self.pm = pm
     if self.pm is None:
@@ -402,7 +406,8 @@ 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
@@ -598,14 +603,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque':
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
       undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
       turning = abs(lac_log.desiredLateralAccel) > 1.0
       good_speed = CS.vEgo > 5
       max_torque = abs(self.last_actuators.steer) > 0.99
       if undershooting and turning and good_speed and max_torque:
         self.events.add(EventName.steerSaturated)
-    elif lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path
@@ -654,6 +659,10 @@ class Controls:
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
+    speeds = self.sm['longitudinalPlan'].speeds
+    if len(speeds):
+      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+
     hudControl = CC.hudControl
     hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index cc63d4995d..95ccb7b7ec 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -222,7 +222,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   return func
 
 def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  branch = get_short_branch("")
+  branch = get_short_branch("")  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d4a6aaef8f..cf51136770 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -66,11 +66,11 @@ class Planner:
     v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
-    long_control_state = sm['controlsState'].longControlState
+    long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_state == LongCtrlState.off
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index b2c9914457..3d958139d6 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -102,7 +102,7 @@ class RadarD():
 
     self.ready = False
 
-  def update(self, sm, rr, enable_lead):
+  def update(self, sm, rr):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     if sm.updated['carState']:
@@ -169,11 +169,10 @@ class RadarD():
     radarState.radarErrors = list(rr.errors)
     radarState.carStateMonoTime = sm.logMonoTime['carState']
 
-    if enable_lead:
-      leads_v3 = sm['modelV2'].leadsV3
-      if len(leads_v3) > 1:
-        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
-        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
+    leads_v3 = sm['modelV2'].leadsV3
+    if len(leads_v3) > 1:
+      radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
+      radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
     return dat
 
 
@@ -203,9 +202,6 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
   RD = RadarD(CP.radarTimeStep, RI.delay)
 
-  # TODO: always log leads once we can hide them conditionally
-  enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan
-
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
     rr = RI.update(can_strings)
@@ -215,7 +211,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(sm, rr, enable_lead)
+    dat = RD.update(sm, rr)
     dat.radarState.cumLagMs = -rk.remaining*1000.
 
     pm.send('radarState', dat)
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 9d13453045..a94311c8c7 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -42,27 +42,27 @@ class TestStartup(unittest.TestCase):
     # TODO: test EventName.startup for release branches
 
     # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
     # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
 
     # unrecognized car with no fw
-    (EventName.startupNoFw, None, None),
-    (EventName.startupNoFw, None, None),
+    (EventName.startupNoFw, None, None, ""),
+    (EventName.startupNoFw, None, None, ""),
 
     # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
 
     # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
   ])
   @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions):
+  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
@@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase):
         f.ecu = ecu
         f.address = addr
         f.fwVersion = version
+        f.brand = brand
 
         if subaddress is not None:
           f.subAddress = subaddress
diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py
index e8cd084a32..11d070e708 100755
--- a/selfdrive/debug/can_table.py
+++ b/selfdrive/debug/can_table.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import argparse
-import pandas as pd  # pylint: disable=import-error
+import pandas as pd
 
 import cereal.messaging as messaging
 
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
deleted file mode 100644
index af007207eb..0000000000
--- a/selfdrive/debug/disable_ecu.py
+++ /dev/null
@@ -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}")
diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py
new file mode 100755
index 0000000000..c9a21c2848
--- /dev/null
+++ 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)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
new file mode 100755
index 0000000000..5cf3867b2d
--- /dev/null
+++ 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)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 011dd6c9a3..9ce0ebb3f5 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -8,24 +8,16 @@ import traceback
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
-from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
-from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
-from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
-from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
-from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS
-from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS
 
 
 NO_API = "NO_API" in os.environ
-SUPPORTED_CARS = set(interface_names['toyota'])
-SUPPORTED_CARS |= set(interface_names['honda'])
-SUPPORTED_CARS |= set(interface_names['hyundai'])
-SUPPORTED_CARS |= set(interface_names['volkswagen'])
-SUPPORTED_CARS |= set(interface_names['mazda'])
-SUPPORTED_CARS |= set(interface_names['subaru'])
-SUPPORTED_CARS |= set(interface_names['nissan'])
+VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
+SUPPORTED_BRANDS = VERSIONS.keys()
+SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
+UNKNOWN_BRAND = "unknown"
 
 try:
   from xx.pipeline.c.CarState import migration
@@ -97,9 +89,24 @@ if __name__ == "__main__":
             print("not in supported cars")
             break
 
-          fw_versions_dict = build_fw_dict(car_fw)
-          exact_matches = match_fw_to_car_exact(fw_versions_dict)
-          fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+          # Older routes only have carFw from their brand
+          old_route = not any([len(fw.brand) for fw in car_fw])
+          brands = SUPPORTED_BRANDS if not old_route else [None]
+
+          # Exact match
+          exact_matches, fuzzy_matches = [], []
+          for brand in brands:
+            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
+            exact_matches = match_fw_to_car_exact(fw_versions_dict)
+            if len(exact_matches) == 1:
+              break
+
+          # Fuzzy match
+          for brand in brands:
+            fw_versions_dict = build_fw_dict(car_fw, filter_brand=brand)
+            fuzzy_matches = match_fw_to_car_fuzzy(fw_versions_dict)
+            if len(fuzzy_matches) == 1:
+              break
 
           if (len(exact_matches) == 1) and (list(exact_matches)[0] == live_fingerprint):
             good_exact += 1
@@ -120,18 +127,22 @@ if __name__ == "__main__":
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
 
-          for version in car_fw:
+          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
+          for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
-          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]:
+          for brand in SUPPORTED_BRANDS:
+            car_fws = VERSIONS[brand]
             if live_fingerprint in car_fws:
               found = True
               expected = car_fws[live_fingerprint]
               for (_, expected_addr, expected_sub_addr), v in expected.items():
                 for version in car_fw:
+                  if version.brand != brand and len(version.brand):
+                    continue
                   sub_addr = None if version.subAddress == 0 else version.subAddress
                   addr = version.address
 
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index 0df48dd893..4868e8ae52 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -5,6 +5,7 @@ import os
 import time
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
+from datetime import datetime
 from enum import IntEnum
 from typing import List, Optional
 
@@ -13,7 +14,7 @@ import numpy as np
 from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
-from laika.constants import SECS_IN_MIN
+from laika.constants import SECS_IN_HR, SECS_IN_MIN
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
@@ -26,11 +27,14 @@ 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
 
 
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False,
+               valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
                save_ephemeris=False):
     """
     valid_const: GNSS constellation which can be used
@@ -39,7 +43,7 @@ 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
@@ -47,6 +51,7 @@ class Laikad:
     self.orbit_fetch_future: Optional[Future] = None
 
     self.last_fetch_orbits_t = None
+    self.got_first_ublox_msg = False
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
@@ -72,8 +77,9 @@ class Laikad:
     except json.decoder.JSONDecodeError:
       cloudlog.exception("Error parsing cache")
     timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
-    cloudlog.debug(f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
-                  f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
+    cloudlog.debug(
+      f"Loaded nav and orbits cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+      f"Total: {sum([len(v) for v in cache['orbits']])} and {sum([len(v) for v in cache['nav']])}")
 
   def cache_ephemeris(self, t: GPSTime):
     if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
@@ -85,9 +91,9 @@ class Laikad:
 
   def get_est_pos(self, t, processed_measurements):
     if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
-      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      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:
+      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
         self.last_pos_fix_t = t
@@ -98,11 +104,15 @@ class Laikad:
       t = ublox_mono_time * 1e-9
       report = ublox_msg.measurementReport
       if report.gpsWeek > 0:
+        self.got_first_ublox_msg = True
         latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
         if self.auto_fetch_orbits:
-          self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
+          self.fetch_orbits(latest_msg_t, block)
 
       new_meas = read_raw_ublox(report)
+      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+
       processed_measurements = process_measurements(new_meas, self.astro_dog)
 
       est_pos = self.get_est_pos(t, processed_measurements)
@@ -111,11 +121,12 @@ class Laikad:
 
       self.update_localizer(est_pos, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
-      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
-      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
+      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
+      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
 
-      pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
-      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
+      p = self.gnss_kf.P.diagonal()
+      pos_std = np.sqrt(p[GStates.ECEF_POS])
+      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY])
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
       dat = messaging.new_message("gnssMeasurements")
@@ -123,8 +134,8 @@ class Laikad:
       dat.gnssMeasurements = {
         "gpsWeek": report.gpsWeek,
         "gpsTimeOfWeek": report.rcvTow,
-        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
+        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
+        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
         "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
         "ubloxMonoTime": ublox_mono_time,
         "correctedMeasurements": meas_msgs
@@ -171,36 +182,39 @@ class Laikad:
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
   def fetch_orbits(self, t: GPSTime, block):
-    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_MIN):
-      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
-
+    # 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, self.astro_dog.cache_dir
       ret = None
 
-      if block:
+      if block:  # Used for testing purposes
         ret = get_orbit_data(t, *astro_dog_vars)
       elif self.orbit_fetch_future is None:
         self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
         self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
       elif self.orbit_fetch_future.done():
-        self.last_fetch_orbits_t = t
         ret = self.orbit_fetch_future.result()
         self.orbit_fetch_executor = self.orbit_fetch_future = None
 
       if ret is not None:
-        self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
-        self.cache_ephemeris(t=t)
+        if ret[0] is None:
+          self.last_fetch_orbits_t = ret[2]
+        else:
+          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times, self.last_fetch_orbits_t = ret
+          self.cache_ephemeris(t=t)
 
 
-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")
-    return astro_dog.orbits, astro_dog.orbit_fetched_times
+    return astro_dog.orbits, astro_dog.orbit_fetched_times, t
   except (RuntimeError, ValueError, IOError) as e:
     cloudlog.warning(f"No orbit data found or parsing failure: {e}")
+  return None, None, t
 
 
 def create_measurement_msg(meas: GNSSMeasurement):
@@ -281,13 +295,14 @@ class EphemerisSourceType(IntEnum):
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['ubloxGnss'])
+    sm = messaging.SubMaster(['ubloxGnss', 'clocks'])
   if pm is None:
     pm = messaging.PubMaster(['gnssMeasurements'])
 
   replay = "REPLAY" in os.environ
   use_internet = "LAIKAD_NO_INTERNET" not in os.environ
   laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet)
+
   while True:
     sm.update()
 
@@ -296,6 +311,11 @@ def main(sm=None, pm=None):
       msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)
+    if not laikad.got_first_ublox_msg and sm.updated['clocks']:
+      clocks_msg = sm['clocks']
+      t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
+      if laikad.auto_fetch_orbits:
+        laikad.fetch_orbits(t, block=replay)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 26c1d28820..c10a470d1a 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -67,7 +67,7 @@ class TestLaikad(unittest.TestCase):
     gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
     laikad = Laikad()
     laikad.fetch_orbits(gpstime, block=False)
-    laikad.orbit_fetch_future.result(5)
+    laikad.orbit_fetch_future.result(30)
     # Get results and save orbits to laikad:
     laikad.fetch_orbits(gpstime, block=False)
 
@@ -75,7 +75,7 @@ class TestLaikad(unittest.TestCase):
     self.assertIsNotNone(ephem)
 
     laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
-    laikad.orbit_fetch_future.result(5)
+    laikad.orbit_fetch_future.result(30)
     # Get results and save orbits to laikad:
     laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
 
@@ -83,6 +83,28 @@ class TestLaikad(unittest.TestCase):
     self.assertIsNotNone(ephem)
     self.assertNotEqual(ephem, ephem2)
 
+  def test_fetch_orbits_with_wrong_clocks(self):
+    laikad = Laikad()
+
+    def check_has_orbits():
+      self.assertGreater(len(laikad.astro_dog.orbits), 0)
+      ephem = laikad.astro_dog.orbits['G01'][0]
+      self.assertIsNotNone(ephem)
+    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    wrong_future_clock_time = real_current_time + SECS_IN_DAY
+
+    laikad.fetch_orbits(wrong_future_clock_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time)
+
+    # Test fetching orbits with earlier time
+    assert real_current_time < laikad.last_fetch_orbits_t
+
+    laikad.astro_dog.orbits = {}
+    laikad.fetch_orbits(real_current_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, real_current_time)
+
   def test_ephemeris_source_in_msg(self):
     data_mock = defaultdict(str)
     data_mock['sv_id'] = 1
@@ -116,7 +138,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 560
+    correct_msgs_expected = 555
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -137,7 +159,7 @@ class TestLaikad(unittest.TestCase):
     # Disable fetch_orbits to test NAV only
     laikad.fetch_orbits = Mock()
     correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 560
+    correct_msgs_expected = 559
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
@@ -146,8 +168,8 @@ class TestLaikad(unittest.TestCase):
     downloader_mock.side_effect = IOError
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(256, len(correct_msgs))
-    self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(16, len(correct_msgs))
+    self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
diff --git a/selfdrive/loggerd/.gitignore b/selfdrive/loggerd/.gitignore
index 6437be5e38..53dc24e6f2 100644
--- a/selfdrive/loggerd/.gitignore
+++ b/selfdrive/loggerd/.gitignore
@@ -1,3 +1,4 @@
 loggerd
 encoderd
+bootlog
 tests/test_logger
diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc
index 87cf4a492f..9bd8e2f1d4 100644
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@@ -124,10 +124,8 @@ void encoderd_thread() {
 
   std::vector<std::thread> encoder_threads;
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
-      s.max_waiting++;
-    }
+    encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
+    s.max_waiting++;
   }
   for (auto &t : encoder_threads) t.join();
 }
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index a75ab2c92b..e0892e68b4 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -204,10 +204,8 @@ void loggerd_thread() {
   // init encoders
   s.last_camera_seen_tms = millis_since_boot();
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      s.max_waiting++;
-      if (cam.has_qcamera) { s.max_waiting++; }
-    }
+    s.max_waiting++;
+    if (cam.has_qcamera) { s.max_waiting++; }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 2c4990086a..6eafbe08d0 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -50,7 +50,6 @@ struct LogCameraInfo {
   int bitrate;
   bool is_h265;
   bool has_qcamera;
-  bool enable;
   bool record;
 };
 
@@ -63,7 +62,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = true,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -76,7 +74,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = DCAM_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = Params().getBool("RecordFront"),
     .frame_width = 1928,
     .frame_height = 1208,
@@ -89,7 +86,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -100,7 +96,6 @@ const LogCameraInfo qcam_info = {
   .fps = MAIN_FPS,
   .bitrate = 256000,
   .is_h265 = false,
-  .enable = true,
   .record = true,
   .frame_width = 526,
   .frame_height = 330,
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index f02de43c7b..89a1c9bdfb 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -4,12 +4,14 @@ import os
 import threading
 
 import requests
+import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from common.api import Api
 from common.params import Params
 from common.realtime import Ratekeeper
+from common.transformations.coordinates import ecef2geodetic
 from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -18,6 +20,7 @@ from system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
+VALID_POS_STD = 50.0
 
 
 class RouteEngine:
@@ -72,13 +75,21 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
+    laikad = self.sm['gnssMeasurements']
 
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
 
-    if self.localizer_valid:
+    self.localizer_valid = locationd_valid or laikad_valid
+    self.gps_ok = location.gpsOK or laikad_valid
+
+    if locationd_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+    elif laikad_valid:
+      geodetic = ecef2geodetic(laikad.positionECEF.value)
+      self.last_position = Coordinate(geodetic[0], geodetic[1])
+      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -276,7 +287,7 @@ class RouteEngine:
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
   if pm is None:
     pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 9b4d016430..0d605a5fc7 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -16,6 +16,7 @@ class Maneuver():
 
     self.only_lead2 = kwargs.get("only_lead2", False)
     self.only_radar = kwargs.get("only_radar", False)
+    self.ensure_start = kwargs.get("ensure_start", False)
 
     self.duration = duration
     self.title = title
@@ -52,5 +53,9 @@ class Maneuver():
         print("Crashed!!!!")
         valid = False
 
+      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
+        print('Planner not starting!')
+        valid = False
+
     print("maneuver end", valid)
     return valid, np.array(logs)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 13025a9f03..3bd50ebcfa 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -28,6 +28,7 @@ class Plant():
     self.distance = 0.
     self.speed = speed
     self.acceleration = 0.0
+    self.speeds = []
 
     # lead car
     self.distance_lead = distance_lead
@@ -98,6 +99,7 @@ class Plant():
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
     self.acceleration = self.planner.a_desired
+    self.speeds = self.planner.v_desired_trajectory.tolist()
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
@@ -129,6 +131,7 @@ class Plant():
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
+      "speeds": self.speeds,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
     }
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 698877dd3a..ec698d88fa 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -3,6 +3,7 @@ import os
 import unittest
 
 from common.params import Params
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -106,6 +107,17 @@ maneuvers = [
     breakpoints=[1., 1.01, 11.],
     cruise_values=[float("nan"), 15., 15.],
   ),
+  # controls relies on planner commanding to move for stock-ACC resume spamming
+  Maneuver(
+    "resume from a stop",
+    duration=20.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=STOP_DISTANCE,
+    speed_lead_values=[0., 0., 2.],
+    breakpoints=[1., 10., 15.],
+    ensure_start=True,
+  ),
 ]
 
 
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 057e46cd9c..bf6daf5fed 100755
--- 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
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 9c45281b0c..0c642cde17 100755
--- 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):
@@ -239,7 +240,7 @@ def ublox_rcv_callback(msg):
 
 
 def laika_rcv_callback(msg, CP, cfg, fsm):
-  if msg.ubloxGnss.which() == "measurementReport":
+  if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
     return ["gnssMeasurements"], True
   else:
     return [], True
@@ -352,6 +353,7 @@ CONFIGS = [
     subtest_name="Offline",
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,
@@ -364,6 +366,7 @@ CONFIGS = [
     proc_name="laikad",
     pub_sub={
       "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
     },
     ignore=["logMonoTime"],
     init_callback=get_car_params,
@@ -546,11 +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)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 90444b1fa7..dff232911e 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-806984d4206056fb132625c5dad6c0ca1835a2d6
\ No newline at end of file
+fa52fa6c6703269e23610b1c6aba8a56b911fbbb
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index d2f239c249..1a2d436f1a 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -15,6 +15,8 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
+from panda.python import Panda
+from selfdrive.car.toyota.values import EPS_SCALE
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -30,8 +32,8 @@ def replay_panda_states(s, msgs):
 
   # TODO: new safety params from flags, remove after getting new routes for Toyota
   safety_param_migration = {
-    "TOYOTA PRIUS 2017": 578,
-    "TOYOTA RAV4 2017": 329
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
   }
 
   # Migrate safety param base on carState
@@ -177,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   return vs, p
 
 
+def migrate_carparams(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carParams':
+      CP = messaging.new_message('carParams')
+      CP.carParams = msg.carParams.as_builder()
+      for car_fw in CP.carParams.carFw:
+        car_fw.brand = CP.carParams.carName
+      msg = CP.as_reader()
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
 def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
-  lr = list(lr)
+  lr = migrate_carparams(list(lr))
   if frs is None:
     frs = dict()
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 4e7ba4a6dd..4ebb0701dd 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -18,12 +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--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--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
@@ -35,19 +37,21 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
-  ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
-  ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
-  ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
-  ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
-  ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
-  ("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
-  ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
-  ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
-  ("GM", "fakedata|2022-01-20--18-03-41--0"),
-  ("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
-  ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
-  ("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
+  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
+  ("HYUNDAI", "regen657E25856BB|2022-07-06--14-26-51--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--3"),
+  ("SUBARU", "regen732B69F33B1|2022-07-06--14-36-18--0"),
+  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
+  ("NISSAN", "regenEA6FB2773F5|2022-07-06--14-58-23--0"),
+  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
+  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -62,7 +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)
 
@@ -71,7 +75,7 @@ def run_test_process(data):
     assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
     upload_file(cur_log_fn, os.path.basename(cur_log_fn))
     os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, res)
+  return (segment, cfg.proc_name, cfg.subtest_name, res)
 
 
 def get_log_data(segment):
@@ -80,7 +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:
@@ -93,10 +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
 
@@ -212,9 +216,9 @@ if __name__ == "__main__":
 
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if isinstance(result, list):
-        results[segment][proc] = result
+    for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+      if not args.upload_only:
+        results[segment][proc + subtest_name] = result
 
   diff1, diff2, failed = format_diff(results, ref_commit)
   if not upload:
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 1eecd78b19..ed54d5aa19 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -1,6 +1,7 @@
 #include <sys/resource.h>
 
 #include <QApplication>
+#include <QTranslator>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -13,7 +14,15 @@ int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
   initApp(argc, argv);
 
+  QTranslator translator;
+  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
+  if (!translator.load(translation_file, "translations") && translation_file.length()) {
+    qCritical() << "Failed to load translation file:" << translation_file;
+  }
+
   QApplication a(argc, argv);
+  a.installTranslator(&translator);
+
   MainWindow w;
   setMainWindow(&w);
   a.installEventFilter(&w);
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 4c6a0a4e65..3967416f73 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/maps/map.h"
 
+#include <eigen3/Eigen/Dense>
 #include <cmath>
 
 #include <QDebug>
@@ -7,6 +8,7 @@
 #include <QPainterPath>
 
 #include "common/swaglog.h"
+#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
@@ -22,6 +24,8 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
+const float VALID_POS_STD = 50.0; // m
+
 const QString ICON_SUFFIX = ".png";
 
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@@ -105,18 +109,53 @@ void MapWindow::updateState(const UIState &s) {
   update();
 
   if (sm.updated("liveLocationKalman")) {
-    auto location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-    auto velocity = location.getVelocityCalibrated();
-
-    localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
-     pos.getValid() && orientation.getValid() && velocity.getValid();
-
-    if (localizer_valid) {
-      last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
-      last_bearing = RAD2DEG(orientation.getValue()[2]);
-      velocity_filter.update(velocity.getValue()[0]);
+    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
+    auto locationd_pos = locationd_location.getPositionGeodetic();
+    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
+    auto locationd_velocity = locationd_location.getVelocityCalibrated();
+
+    locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
+      locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid();
+
+    if (locationd_valid) {
+      last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
+      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
+      velocity_filter.update(locationd_velocity.getValue()[0]);
+    }
+  }
+
+  if (sm.updated("gnssMeasurements")) {
+    auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
+    auto laikad_pos = laikad_location.getPositionECEF();
+    auto laikad_pos_ecef = laikad_pos.getValue();
+    auto laikad_pos_std = laikad_pos.getStd();
+    auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
+
+    laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
+
+    if (laikad_valid && !locationd_valid) {
+      ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
+      Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
+      last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
+
+      // Compute NED velocity
+      LocalCoord converter(ecef);
+      ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
+      Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
+
+      float velocity = ned_vel.norm();
+      velocity_filter.update(velocity);
+
+      // Convert NED velocity to angle
+      if (velocity > 1.0) {
+        float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
+        if (last_bearing) {
+          float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
+          last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
+        } else {
+          last_bearing = new_bearing;
+        }
+      }
     }
   }
 
@@ -136,15 +175,13 @@ void MapWindow::updateState(const UIState &s) {
 
   loaded_once = loaded_once || m_map->isFullyLoaded();
   if (!loaded_once) {
-    map_instructions->showError("Map Loading");
+    map_instructions->showError(tr("Map Loading"));
     return;
   }
 
   initLayers();
 
-  if (!localizer_valid) {
-    map_instructions->showError("Waiting for GPS");
-  } else {
+  if (locationd_valid || laikad_valid) {
     map_instructions->noError();
 
     // Update current location marker
@@ -154,6 +191,8 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["type"] = "geojson";
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
+  } else {
+    map_instructions->showError(tr("Waiting for GPS"));
   }
 
   if (pan_counter == 0) {
@@ -174,7 +213,7 @@ void MapWindow::updateState(const UIState &s) {
       auto i = sm["navInstruction"].getNavInstruction();
       emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
 
-      if (localizer_valid) {
+      if (locationd_valid || laikad_valid) {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
         emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
         emit instructionsChanged(i);
@@ -379,10 +418,10 @@ void MapInstructions::updateDistance(float d) {
   if (uiState()->scene.is_metric) {
     if (d > 500) {
       distance_str.setNum(d / 1000, 'f', 1);
-      distance_str += " km";
+      distance_str += tr(" km");
     } else {
       distance_str.setNum(50 * int(d / 50));
-      distance_str += " m";
+      distance_str += tr(" m");
     }
   } else {
     float miles = d * METER_TO_MILE;
@@ -390,10 +429,10 @@ void MapInstructions::updateDistance(float d) {
 
     if (feet > 500) {
       distance_str.setNum(miles, 'f', 1);
-      distance_str += " mi";
+      distance_str += tr(" mi");
     } else {
       distance_str.setNum(50 * int(feet / 50));
-      distance_str += " ft";
+      distance_str += tr(" ft");
     }
   }
 
@@ -487,6 +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));
@@ -576,7 +619,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
   if (params.getBool("NavSettingTime24h")) {
     eta->setText(eta_time.toString("HH:mm"));
-    eta_unit->setText("eta");
+    eta_unit->setText(tr("eta"));
   } else {
     auto t = eta_time.toString("h:mm a").split(' ');
     eta->setText(t[0]);
@@ -586,11 +629,11 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   // Remaining time
   if (s < 3600) {
     time->setText(QString::number(int(s / 60)));
-    time_unit->setText("min");
+    time_unit->setText(tr("min"));
   } else {
     int hours = int(s) / 3600;
     time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
-    time_unit->setText("hr");
+    time_unit->setText(tr("hr"));
   }
 
   QString color;
@@ -610,10 +653,10 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   float num = 0;
   if (uiState()->scene.is_metric) {
     num = d / 1000.0;
-    distance_unit->setText("km");
+    distance_unit->setText(tr("km"));
   } else {
     num = d * METER_TO_MILE;
-    distance_unit->setText("mi");
+    distance_unit->setText(tr("mi"));
   }
 
   distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 7c39b24c3c..ecba867edb 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -104,7 +104,8 @@ private:
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
-  bool localizer_valid = false;
+  bool laikad_valid = false;
+  bool locationd_valid = false;
 
   MapInstructions* map_instructions;
   MapETA* map_eta;
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 2b2c27418e..66acb7a25d 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -116,3 +116,8 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
     return {};
   }
 }
+
+double angle_difference(double angle1, double angle2) {
+  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
+  return diff < -180.0 ? diff + 360.0 : diff;
+}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 344246bb05..1c08c541c3 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -26,3 +26,4 @@ QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp:
 QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
 
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index eaa8b1f703..d143b44e70 100644
--- 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);
 
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 536ca495ca..c7341d1987 100644
--- 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);
         }
       });
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 547ad168f1..9a6e203966 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -13,6 +13,7 @@
 #endif
 
 #include "common/params.h"
+#include "common/watchdog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -101,7 +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);
 
@@ -133,6 +134,20 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     addItem(regulatoryBtn);
   }
 
+  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
+  connect(translateBtn, &ButtonControl::clicked, [=]() {
+    QMap<QString, QString> langs = getSupportedLanguages();
+    QString currentLang = QString::fromStdString(Params().get("LanguageSetting"));
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this);
+    if (!selection.isEmpty()) {
+      // put language setting, exit Qt UI, and trigger fast restart
+      Params().put("LanguageSetting", langs[selection].toStdString());
+      qApp->exit(18);
+      watchdog_kick(0);
+    }
+  });
+  addItem(translateBtn);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
@@ -234,7 +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);
@@ -279,10 +294,6 @@ void SoftwarePanel::updateLabels() {
   osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed());
 }
 
-QWidget *network_panel(QWidget *parent) {
-  return new Networking(parent);
-}
-
 void SettingsWindow::showEvent(QShowEvent *event) {
   panel_widget->setCurrentIndex(0);
   nav_btns->buttons()[0]->setChecked(true);
@@ -328,7 +339,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
 
   QList<QPair<QString, QWidget *>> panels = {
     {tr("Device"), device},
-    {tr("Network"), network_panel(this)},
+    {tr("Network"), new Networking(this)},
     {tr("Toggles"), new TogglesPanel(this)},
     {tr("Software"), new SoftwarePanel(this)},
   };
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 604d3c09a9..ca39a89ae4 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -296,7 +296,7 @@ void NvgWindow::drawHud(QPainter &p) {
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
     const int border_width = 6;
-    const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
+    const int sign_width = rect_width - 24;
     const int sign_height = 186;
 
     // White outer square
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 98ae6564d6..4c6d8f47e5 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -34,13 +34,13 @@ protected:
 
   QPixmap home_img, settings_img;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
-    {cereal::DeviceState::NetworkType::NONE, "--"},
-    {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"},
-    {cereal::DeviceState::NetworkType::ETHERNET, "ETH"},
-    {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
-    {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
-    {cereal::DeviceState::NetworkType::CELL4_G, "LTE"},
-    {cereal::DeviceState::NetworkType::CELL5_G, "5G"}
+    {cereal::DeviceState::NetworkType::NONE, tr("--")},
+    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
+    {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")},
+    {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")},
+    {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")},
+    {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")},
+    {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")}
   };
 
   const QRect settings_btn = QRect(50, 35, 200, 117);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index cab7299cd6..a7d5438ae4 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -1,6 +1,9 @@
 #include "selfdrive/ui/qt/util.h"
 
 #include <QApplication>
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
 #include <QLayoutItem>
 #include <QStyleOption>
 #include <QPainterPath>
@@ -36,6 +39,19 @@ std::optional<QString> getDongleId() {
   }
 }
 
+QMap<QString, QString> getSupportedLanguages() {
+  QFile f("translations/languages.json");
+  f.open(QIODevice::ReadOnly | QIODevice::Text);
+  QString val = f.readAll();
+
+  QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object();
+  QMap<QString, QString> map;
+  for (auto key : obj.keys()) {
+    map[key] = obj[key].toString();
+  }
+  return map;
+}
+
 void configFont(QPainter &p, const QString &family, int size, const QString &style) {
   QFont f(family);
   f.setPixelSize(size);
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 9491c6798e..f0e57526c8 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -14,6 +14,7 @@ QString getBrand();
 QString getBrandVersion();
 QString getUserAgent();
 std::optional<QString> getDongleId();
+QMap<QString, QString> getSupportedLanguages();
 void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 89c95843fb..3264fd3aac 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -45,21 +45,23 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   main_layout->addLayout(hlayout);
 
   // description
-  if (!desc.isEmpty()) {
-    description = new QLabel(desc);
-    description->setContentsMargins(40, 20, 40, 20);
-    description->setStyleSheet("font-size: 40px; color: grey");
-    description->setWordWrap(true);
-    description->setVisible(false);
-    main_layout->addWidget(description);
-
-    connect(title_label, &QPushButton::clicked, [=]() {
-      if (!description->isVisible()) {
-        emit showDescription();
-      }
+  description = new QLabel(desc);
+  description->setContentsMargins(40, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  connect(title_label, &QPushButton::clicked, [=]() {
+    if (!description->isVisible()) {
+      emit showDescription();
+    }
+
+    if (!description->text().isEmpty()) {
       description->setVisible(!description->isVisible());
-    });
-  }
+    }
+  });
+
   main_layout->addStretch();
 }
 
@@ -125,7 +127,9 @@ void ElidedLabel::paintEvent(QPaintEvent *event) {
 ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
 
 void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
-  emit clicked();
+  if (rect().contains(event->pos())) {
+    emit clicked();
+  }
 }
 
 // Fix stylesheets
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index b6684e28b2..aed99edae8 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -24,7 +24,11 @@ signals:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void resizeEvent(QResizeEvent* event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void mouseReleaseEvent(QMouseEvent *event) override { 
+    if (rect().contains(event->pos())) {
+      emit clicked(); 
+    }
+  }
   QString lastText_, elidedText_;
 };
 
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 755ccfe8c5..dc54a3621c 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 #include <QPushButton>
+#include <QButtonGroup>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -164,7 +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);
   }
 }
 
@@ -257,3 +258,93 @@ bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
   auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
   return d.exec();
 }
+
+// MultiOptionDialog
+
+MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : QDialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  QWidget *listWidget = new QWidget(this);
+  QVBoxLayout *listLayout = new QVBoxLayout(listWidget);
+  listLayout->setSpacing(20);
+  listWidget->setStyleSheet(R"(
+    QPushButton {
+      height: 135;
+      padding: 0px 50px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked { background-color: #465BEA; }
+  )");
+
+  QButtonGroup *group = new QButtonGroup(listWidget);
+  group->setExclusive(true);
+
+  QPushButton *confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  for (const QString &s : l) {
+    QPushButton *selectionLabel = new QPushButton(s);
+    selectionLabel->setCheckable(true);
+    selectionLabel->setChecked(s == current);
+    QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) {
+      if (checked) selection = s;
+      if (selection != current) {
+        confirm_btn->setEnabled(true);
+      } else {
+        confirm_btn->setEnabled(false);
+      }
+    });
+
+    group->addButton(selectionLabel);
+    listLayout->addWidget(selectionLabel);
+  }
+
+  ScrollView *scroll_view = new ScrollView(listWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addStretch(1);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) {
+  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index f81211d0ee..6c47a31d87 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -68,3 +68,12 @@ public:
   explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent);
   static bool alert(const QString &prompt_text, QWidget *parent);
 };
+
+class MultiOptionDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
+  static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
+  QString selection;
+};
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index d2529821f4..5419475262 100644
--- 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);
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index 1aa05b4157..bd4309d8d0 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -37,7 +37,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
 
   sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
   sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
-
+  sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01);
   scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture);
   scroller->setScrollerProperties(sp);
 }
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
index fecb9da44a..ba0612b4c0 100644
--- a/selfdrive/ui/tests/test_translations.cc
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -41,6 +41,7 @@ void checkWidgetTrWrap(MainWindow &w) {
 
 // Tests all strings in the UI are wrapped with tr()
 TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("LanguageSetting");
   Params().remove("HardwareSerial");
   Params().remove("DongleId");
   qputenv("TICI", "1");
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
index ccea748e24..3230a99543 100755
--- a/selfdrive/ui/tests/test_translations.py
+++ b/selfdrive/ui/tests/test_translations.py
@@ -1,10 +1,13 @@
 #!/usr/bin/env python3
 import json
 import os
+import shutil
 import unittest
 
 from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
 
+TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp")
+
 
 class TestTranslations(unittest.TestCase):
   @classmethod
@@ -12,11 +15,25 @@ class TestTranslations(unittest.TestCase):
     with open(LANGUAGES_FILE, "r") as f:
       cls.translation_files = json.load(f)
 
+    # Set up temp directory
+    shutil.copytree(TRANSLATIONS_DIR, TMP_TRANSLATIONS_DIR, dirs_exist_ok=True)
+
+  @classmethod
+  def tearDownClass(cls):
+    shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True)
+
+  @staticmethod
+  def _read_translation_file(path, file, file_ext):
+    tr_file = os.path.join(path, f"{file}.{file_ext}")
+    with open(tr_file, "rb") as f:
+      # fix relative path depth
+      return f.read().replace(b"filename=\"../../", b"filename=\"../")
+
   def test_missing_translation_files(self):
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
         if not len(file):
-          self.skipTest(f"{name} translation has no file")
+          self.skipTest(f"{name} translation has no defined file")
 
         self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
                         f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
@@ -24,26 +41,35 @@ class TestTranslations(unittest.TestCase):
                         f"{name} has no compiled QM translation file, run selfdrive/ui/update_translations.py --release")
 
   def test_translations_updated(self):
-    suffix = "_test"
-    update_translations(suffix=suffix)
+    update_translations(release=True, translations_dir=TMP_TRANSLATIONS_DIR)
 
     for name, file in self.translation_files.items():
       with self.subTest(name=name, file=file):
-        cur_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}.ts")
-        new_tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
-
         if not len(file):
-          self.skipTest(f"{name} translation has no file")
-        elif not os.path.exists(cur_tr_file):
-          self.skipTest(f"{name} missing translation file")  # caught by test_missing_translation_files
+          self.skipTest(f"{name} translation has no defined file")
+
+        for file_ext in ["ts", "qm"]:
+          with self.subTest(file_ext=file_ext):
 
-        with open(cur_tr_file, "r") as f:
-          cur_translations = f.read()
-        with open(new_tr_file, "r") as f:
-          new_translations = f.read()
+            # caught by test_missing_translation_files
+            if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.{file_ext}")):
+              self.skipTest(f"{name} missing translation file")
+
+            cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, file_ext)
+            new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file, file_ext)
+
+            self.assertEqual(cur_translations, new_translations,
+                             f"{file} ({name}) {file_ext.upper()} translation file out of date. Run selfdrive/ui/update_translations.py --release to update the translation files")
+
+  def test_unfinished_translations(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          raise self.skipTest(f"{name} translation has no defined file")
 
-        self.assertEqual(cur_translations, new_translations,
-                         f"{name} translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file, "ts")
+        self.assertTrue(b"<translation type=\"unfinished\">" not in cur_translations,
+                        f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
index f2f9400d64..48f0948674 100644
--- a/selfdrive/ui/translations/languages.json
+++ b/selfdrive/ui/translations/languages.json
@@ -1,3 +1,6 @@
 {
-  "English": ""
+  "English": "",
+  "中文（繁體）": "main_zh-CHT",
+  "中文（简体）": "main_zh-CHS",
+  "한국어": "main_ko"
 }
diff --git a/selfdrive/ui/translations/main_ja.qm b/selfdrive/ui/translations/main_ja.qm
new file mode 100644
index 0000000000..552545cf87
Binary files /dev/null and b/selfdrive/ui/translations/main_ja.qm differ
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
new file mode 100644
index 0000000000..f3b8733128
--- /dev/null
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -0,0 +1,1207 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ja_JP">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>閉じる</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>更新停止</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>再起動してアップデート</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>もどる</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>テザリングを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>テザリングパスワード</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編集</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>新しいテザリングパスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IPアドレス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>ローミングを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN 入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>空欄で自動設定</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="220"/>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="225"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>openpilotを利用するためには、利用規約に同意する必要があります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒否してアンインストール %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>Dongle ID</source>
+        <translation>ドングル ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="98"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Serial</source>
+        <translation>シリアル</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>Driver Camera</source>
+        <translation>ドライバーカメラ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="103"/>
+        <source>PREVIEW</source>
+        <translation>プレビュー</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <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"/>
+        <source>Reset Calibration</source>
+        <translation>キャリブレーションリセット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="108"/>
+        <source>RESET</source>
+        <translation>リセット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="111"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>本当にキャリブレーションをリセットしますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review Training Guide</source>
+        <translation>トレーニングガイドを見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>REVIEW</source>
+        <translation>レビュー</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="118"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot 規約 機能 制約を見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>本当にトレーニングガイドを見ますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>Regulatory</source>
+        <translation>レギュレーション</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="128"/>
+        <source>VIEW</source>
+        <translation>ビュー</translation>
+    </message>
+    <message>
+        <source>Change Language</source>
+        <translation type="obsolete">言語を変更</translation>
+    </message>
+    <message>
+        <source>CHANGE</source>
+        <translation type="obsolete">変更</translation>
+    </message>
+    <message>
+        <source>Select a language</source>
+        <translation type="obsolete">言語を選択する</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="146"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="151"/>
+        <source>Power Off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="171"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot は、左右に4°、上に5°、下に8°の範囲に設置する必要があります。openpilot は継続的に校正されているので、手動でリセットする必要はほとんどありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="182"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> デバイスは %1° %2 と %3° %4を示しています。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="183"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="184"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="195"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>本当に再起動しますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="202"/>
+        <source>Disengage to Reboot</source>
+        <translation>再起動するために離脱します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="208"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>本当に電源を切っても良いですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="215"/>
+        <source>Disengage to Power Off</source>
+        <translation>電源を切るために離脱します</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>ドライブ</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>累計</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>先週</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>マイル</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>カメラ起動</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="70"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source>Need at least </source>
+        <translation>最低限必要なもの </translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="167"/>
+        <source> characters!</source>
+        <translation> 記号！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>インストール...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>オブジェクトを受信中： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>リゾルブ解決中： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>ファイルを更新中： </translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>現在の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>クリア</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>ベータ版ナビゲーション</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma 
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>より詳細な案内や表示に関する情報を得ることができます。 詳しくはこちら：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>自宅の登録なし
+位置を設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>職場の登録なし
+位置を設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>最寄りの目的地がありません</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <source>Select</source>
+        <translation type="obsolete">選択</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>詳細</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>パスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;</source>
+        <translation>のため &quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>パスワードが間違っています</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/時</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>マイル/時</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最大</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>制限</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 警告</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>デバイスとアカウントを連携する</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;モバイルでアクセス https://connect.comma.ai&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;“新しいデバイスを追加”をクリックし，QRコードを読み込みます&lt;/li&gt;
+        &lt;li style=&apos;margin-bottom: 50px;&apos;&gt;connect.comma.aiをホーム画面にブックマークして、アプリのように使うことができます&lt;/li&gt;
+      &lt;/ol&gt;
+    </translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="184"/>
+        <source>Upgrade Now</source>
+        <translation>いますぐアップグレード</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="189"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai のプライムメンバーになる</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="196"/>
+        <source>PRIME FEATURES:</source>
+        <translation>主な機能：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Remote access</source>
+        <translation>リモートアクセス</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>1 year of storage</source>
+        <translation>1年の保存期間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="201"/>
+        <source>Developer perks</source>
+        <translation>開発者特典</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="123"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 購読しました</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="129"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="135"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="148"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>退出</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>dashcam</source>
+        <translation>ダッシュカム</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="18"/>
+        <source>openpilot</source>
+        <translation>オープンパイロット</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="66"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 分%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="69"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 時間%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="72"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 日%2 前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>初期化に失敗しました。再起動後に再試行してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>本当に初期化しますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>デバイスが初期化されます...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>システムを初期化</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>システムを初期化させます。 すべてのコンテンツと設定が削除されます。 キャンセルを押すと再起動します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>dataパーティションをマウントできません。 確認を押すとデバイスが初期化されます。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="257"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="300"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="326"/>
+        <source>Device</source>
+        <translation>デバイス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="327"/>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Network</source>
+        <translation>ネットワーク</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="328"/>
+        <source>Toggles</source>
+        <translation>切り替え</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="329"/>
+        <source>Software</source>
+        <translation>ソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="334"/>
+        <source>Navigation</source>
+        <translation>ナビゲーション</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低電圧</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>自己責任でハーネスから電源を供給してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>続ける</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>はじめに</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>その前に、インストールを完了し、いくつかの詳細を説明します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fiに接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>Wi-Fi に未接続で続行</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>インターネット接続を待機中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>インストールするソフトウェアを選びます</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>ダッシュカム</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URLを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>ダウンロード中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>ダウンロード失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>入力されたURLが有効であること、デバイスがインターネットに接続されていることを確認してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>デバイスを再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>再スタート</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="230"/>
+        <source>Finish Setup</source>
+        <translation>セットアップ完了</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="236"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="243"/>
+        <source>Pair device</source>
+        <translation>デバイスをペアリング</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>オフライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>オンライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>エラー</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>高温</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>最適</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車両</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>パンダ</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>検索</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="220"/>
+        <source>Git Branch</source>
+        <translation>Git ブランチ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="221"/>
+        <source>Git Commit</source>
+        <translation>Git コミット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="222"/>
+        <source>OS Version</source>
+        <translation>OS バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Version</source>
+        <translation>バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Last Update Check</source>
+        <translation>最終更新確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="225"/>
+        <source>Check for Update</source>
+        <translation>更新確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>CHECKING</source>
+        <translation>確認中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Uninstall </source>
+        <translation>アンインストール </translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>UNINSTALL</source>
+        <translation>アンインストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>本当にアンインストールしますか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>failed to fetch update</source>
+        <translation>更新の取得に失敗しました</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <location filename="../qt/offroad/settings.cc" line="275"/>
+        <source>CHECK</source>
+        <translation>確認</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 鍵</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外のGitHubのユーザー名を入力しないでください。コンマのスタッフがGitHubのユーザー名を追加するようお願いすることはありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>追加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHubのユーザー名を入力してください</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>ローディング</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>ユーザー名“%1”は GitHub に鍵がありません</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>リクエストタイムアウト</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>ユーザー名 &apos;%1&apos; は GitHub に存在しません</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH を有効化</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>利用規約</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒否</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>スクロールして同意</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="32"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="38"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>車線逸脱警報機能を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="44"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>右ハンドルを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilotが左側通行規則を遵守し、右側の運転席でドライバーの監視を行うことを可能にします。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="50"/>
+        <source>Use Metric System</source>
+        <translation>メートル法を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>速度はmphではなくkm/hで表示されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="56"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>ドライバーカメラの録画とアップロード</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>ドライバーカメラからのデータをアップロードし、ドライバー監視のアルゴリズム向上に役立てます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="62"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>アクセルペダルで解除する</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>有効な場合 openpilot はアクセルペダルを踏むと解除されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="69"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24時間表示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>AM/PMの代わりに24時間形式を使用します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="82"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot による垂直方向の制御</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilotは、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEBを無効にします!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>更新が必要です</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>OSのアップデートが必要です。Wi-Fiに接続することで、最速のアップデートを体験できます。ダウンロードサイズは約1GBです。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fiに接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>インストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>読み込み中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>ネットワークをスキャン中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>接続中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;</source>
+        <translation>Wi-Fiを削除する”</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_ko.qm b/selfdrive/ui/translations/main_ko.qm
new file mode 100644
index 0000000000..d59698e074
Binary files /dev/null and b/selfdrive/ui/translations/main_ko.qm differ
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
new file mode 100644
index 0000000000..07d6877463
--- /dev/null
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -0,0 +1,1274 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ko_KR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>닫기</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>업데이트 일시중지</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>업데이트 및 재부팅</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>테더링 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>테더링 비밀번호</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>편집</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>새 테더링 비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 주소</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>로밍 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>자동설정을 하려면 공백으로 두세요</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>openpilot을 사용하려면 이용 약관에 동의해야 합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>거절, %1 제거</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Driver Camera</source>
+        <translation>운전자 카메라</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>PREVIEW</source>
+        <translation>미리보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <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"/>
+        <source>Reset Calibration</source>
+        <translation>캘리브레이션 재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <source>RESET</source>
+        <translation>재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review Training Guide</source>
+        <translation>트레이닝 가이드 다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>REVIEW</source>
+        <translation>다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <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>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>Regulatory</source>
+        <translation>규제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>VIEW</source>
+        <translation>보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>Change Language</source>
+        <translation>언어 변경</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>CHANGE</source>
+        <translation>변경</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <source>Select a language</source>
+        <translation>언어를 선택하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <source>Power Off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <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 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 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>down</source>
+        <translation>아래로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>up</source>
+        <translation>위로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>left</source>
+        <translation>좌측으로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>right</source>
+        <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>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <source>Disengage to Reboot</source>
+        <translation>재부팅 하려면 해제하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>전원을 종료하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>Disengage to Power Off</source>
+        <translation>전원을 종료하려면 해제하세요</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>주행</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>전체</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>지난주</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>Km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>Miles</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>카메라 시작중</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %1 characters!</source>
+        <translation>최소 %1 자가 필요합니다!</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>설치중...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>수신중： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>델타병합： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>파일갱신： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>도착</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>분</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>현재 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>삭제</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>최근 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <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
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
+등록：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>집
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>회사
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>최근 목적지 없음</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>지도 로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>GPS를 기다리는 중</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>선택</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>고급 설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>하기위한 &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>비밀번호가 틀렸습니다</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>업데이트</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 알림</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 알림</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>장치를 콤마 계정과 페어링합니다</translation>
+    </message>
+    <message>
+        <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="187"/>
+        <source>Upgrade Now</source>
+        <translation>지금 업그레이드</translation>
+    </message>
+    <message>
+        <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="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME 기능：</translation>
+    </message>
+    <message>
+        <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="204"/>
+        <source>1 year of storage</source>
+        <translation>1년간 저장</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>개발자 혜택</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 구독함</translation>
+    </message>
+    <message>
+        <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="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 분%2 전</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 시간%2 전</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 일%2 전</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>초기화 실패. 재부팅후 다시 시도하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>장치를 초기화 하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>장치 초기화중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>장치 초기화</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <source>Device</source>
+        <translation>장치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <source>Network</source>
+        <translation>네트워크</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <source>Toggles</source>
+        <translation>토글</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <source>Software</source>
+        <translation>소프트웨어</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <source>Navigation</source>
+        <translation>네비게이션</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>경고: 전압이 낮습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>하네스 보드에 차량의 전원을 연결하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <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 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>wifi 없이 계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>네트워크 접속을 기다립니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>설치할 소프트웨어를 선택하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URL 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>for Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>다운로드중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>다운로드 실패</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>다시 시작</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>설정 완료</translation>
+    </message>
+    <message>
+        <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="246"/>
+        <source>Pair device</source>
+        <translation>장치 페어링</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>오프라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>온라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>오류</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>온도</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>높음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>좋음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>차량</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>검색중</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>이더넷</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <source>Git Branch</source>
+        <translation>Git 브렌치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Commit</source>
+        <translation>Git 커밋</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>OS Version</source>
+        <translation>OS 버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>Version</source>
+        <translation>버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Last Update Check</source>
+        <translation>최신 업데이트 검사</translation>
+    </message>
+    <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>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Check for Update</source>
+        <translation>업데이트 확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <source>CHECKING</source>
+        <translation>확인중</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <source>UNINSTALL</source>
+        <translation>제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <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>제거하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>failed to fetch update</source>
+        <translation>업데이트를 가져올수없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <source>CHECK</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 키</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>추가</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHub 사용자 ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>요청 시간 초과</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH 사용</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>약관</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>거절</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>허용하려면 아래로 스크롤하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>동의</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>차선 이탈 경고 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>우측핸들 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilot이 좌측 교통 규칙을 준수하고 우측 운전석에서 운전자 모니터링을 수행합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Use Metric System</source>
+        <translation>미터법 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <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 녹화 및 업로드</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>가속페달 조작시 해제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24시간 형식으로 도착예정시간 표시</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>오전/오후 대신 24시간 형식 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot Longitudinal Control</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>업데이트 필요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>설치</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>로딩중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>업데이트 실패</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>네트워크 검색 중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>연결중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>저장안함</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.qm b/selfdrive/ui/translations/main_zh-CHS.qm
new file mode 100644
index 0000000000..eed52b2778
Binary files /dev/null and b/selfdrive/ui/translations/main_zh-CHS.qm differ
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
new file mode 100644
index 0000000000..424488fc56
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -0,0 +1,1272 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>关闭</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暂停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重启并更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>启用WiFi热点</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>WiFi热点密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>编辑</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>输入新的WiFi热点密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>启用数据漫游</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>输入APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>留空以自动配置</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必须接受条款和条件以使用openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒绝并卸载%1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Dongle ID</source>
+        <translation>设备ID（Dongle ID）</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Serial</source>
+        <translation>序列号</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Driver Camera</source>
+        <translation>驾驶员摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>PREVIEW</source>
+        <translation>预览</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <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"/>
+        <source>Reset Calibration</source>
+        <translation>重置设备校准</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您确定要重置设备校准吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review Training Guide</source>
+        <translation>新手指南</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>REVIEW</source>
+        <translation>查看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="121"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您确定要查看新手指南吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>Regulatory</source>
+        <translation>监管信息</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>VIEW</source>
+        <translation>查看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>Change Language</source>
+        <translation>切换语言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>CHANGE</source>
+        <translation>切换</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <source>Select a language</source>
+        <translation>选择语言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <source>Power Off</source>
+        <translation>关机</translation>
+    </message>
+    <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>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation>您的设备校准为%1° %2、%3° %4。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>down</source>
+        <translation>朝下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>up</source>
+        <translation>朝上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>left</source>
+        <translation>朝左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>right</source>
+        <translation>朝右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="210"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您确定要重新启动吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <source>Disengage to Reboot</source>
+        <translation>取消openpilot以重新启动</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您确定要关机吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>Disengage to Power Off</source>
+        <translation>取消openpilot以关机</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>旅程数</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>全部</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>过去一周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>正在启动相机</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %1 characters!</source>
+        <translation>至少需要 %1 个字符！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>正在安装……</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>正在接收： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>正在处理： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>正在更新文件： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>埃塔</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分钟</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>当前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>清空</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>试用导航测试版</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <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>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>家：未设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>工作：未设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>无最近目的地</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地图加载中</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>选择</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>高级</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>输入密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <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"/>
+        <source>Wrong password</source>
+        <translation>密码错误</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 警报</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 警报</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>将您的设备与comma账号配对</translation>
+    </message>
+    <message>
+        <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="187"/>
+        <source>Upgrade Now</source>
+        <translation>现在升级</translation>
+    </message>
+    <message>
+        <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="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>comma prime特权：</translation>
+    </message>
+    <message>
+        <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="204"/>
+        <source>1 year of storage</source>
+        <translation>1年数据存储</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>开发者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <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="132"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <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="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS点数</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>退出</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>行车记录仪</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%1 minute%2 ago</source>
+        <translation>%1 分钟%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%1 hour%2 ago</source>
+        <translation>%1 小时%2 前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%1 day%2 ago</source>
+        <translation>%1 天%2 前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失败。 重新启动以重试。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您确定要重置您的设备吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>正在重置设备……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>恢复出厂设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>确认</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>无法挂载数据分区。 确认以重置您的设备。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <source>Device</source>
+        <translation>设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <source>Network</source>
+        <translation>网络</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <source>Toggles</source>
+        <translation>设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <source>Software</source>
+        <translation>软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <source>Navigation</source>
+        <translation>导航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低电压</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>请使用car harness线束为您的设备供电，或自行承担风险。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>关机</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>开始设置</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>开始旅程之前，让我们完成安装并介绍一些细节。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到WiFi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>不连接WiFi并继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>等待网络连接</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>选择要安装的软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam（行车记录仪）</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>自定义软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>输入网址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>以下载自定义软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>正在下载……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下载失败</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>请确保互联网连接良好且输入的URL有效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重启设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重来</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <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="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="246"/>
+        <source>Pair device</source>
+        <translation>配对设备</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>离线</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>在线</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>连接出错</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>设备温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>过热</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>良好</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>一般</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>车辆连接</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>无</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>搜索中</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>以太网</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <source>Git Branch</source>
+        <translation>Git Branch</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Commit</source>
+        <translation>Git Commit</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>OS Version</source>
+        <translation>系统版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>Version</source>
+        <translation>软件版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Last Update Check</source>
+        <translation>上次检查更新</translation>
+    </message>
+    <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>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Check for Update</source>
+        <translation>检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <source>CHECKING</source>
+        <translation>正在检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <source>UNINSTALL</source>
+        <translation>卸载</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <source>Uninstall %1</source>
+        <translation>卸载 %1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您确定要卸载吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>failed to fetch update</source>
+        <translation>获取更新失败</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <source>CHECK</source>
+        <translation>查看</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>添加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>输入您的GitHub用户名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>正在加载</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>删除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>用户名“%1”在GitHub上没有密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>请求超时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub上不存在用户名“%1”</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>启用SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>条款和条件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒绝</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滑动以接受</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Enable openpilot</source>
+        <translation>启用openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>启用车道偏离警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>启用右舵模式</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>允许openpilot遵守左侧交通惯例并在右侧驾驶座上执行驾驶员监控。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Use Metric System</source>
+        <translation>使用公制单位</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>显示车速时，以km/h代替mph。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>录制并上传驾驶员摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>踩油门时取消控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>启用后，踩下油门踏板将取消openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Show ETA in 24h format</source>
+        <translation>以24小时格式显示预计到达时间</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用24小时制代替am/pm</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot纵向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>需要更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到WiFi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安装</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>正在加载……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失败</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>正在扫描网络……</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>正在连接……</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>忘记</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>忘记WiFi网络 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHT.qm b/selfdrive/ui/translations/main_zh-CHT.qm
new file mode 100644
index 0000000000..029332de23
Binary files /dev/null and b/selfdrive/ui/translations/main_zh-CHT.qm differ
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
new file mode 100644
index 0000000000..1eab75a6b4
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -0,0 +1,1277 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_TW">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>關閉</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暫停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重啟並更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>啟用網路分享</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編輯</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>輸入新的網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>啟用漫遊</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>輸入 APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>留空白將自動配置</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必須先接受條款和條件才能使用 openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒絕並卸載 %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="99"/>
+        <source>N/A</source>
+        <translation>無法使用</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Serial</source>
+        <translation>序號</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>Driver Camera</source>
+        <translation>駕駛員攝像頭</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="104"/>
+        <source>PREVIEW</source>
+        <translation>預覽</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <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"/>
+        <source>Reset Calibration</source>
+        <translation>重置校準</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="109"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="112"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您確定要重置校準嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review Training Guide</source>
+        <translation>觀看使用教學</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>REVIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="119"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>觀看 openpilot 的使用規則、功能和限制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="121"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您確定要觀看使用教學嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>Regulatory</source>
+        <translation>法規/監管</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="129"/>
+        <source>VIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>Change Language</source>
+        <translation>更改語言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="137"/>
+        <source>CHANGE</source>
+        <translation>更改</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="141"/>
+        <source>Select a language</source>
+        <translation>選擇語言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="161"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="166"/>
+        <source>Power Off</source>
+        <translation>關機</translation>
+    </message>
+    <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>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="197"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="210"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您確定要重新啟動嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="217"/>
+        <source>Disengage to Reboot</source>
+        <translation>請先取消控車才能重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="223"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您確定您要關機嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="230"/>
+        <source>Disengage to Power Off</source>
+        <translation>請先取消控車才能關機</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>旅程</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>總共</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>上周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="56"/>
+        <source>camera starting</source>
+        <translation>開啟相機中</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %1 characters!</source>
+        <translation>需要至少 %1 個字元！</translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>安裝中…</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>接收對象： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>分析差異： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>更新檔案： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>埃塔</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分鐘</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>當前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>試用導航功能</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <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>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>未設定
+住家位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>未設定
+工作位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>沒有最近的導航記錄</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地圖加載</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>選擇</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>進階</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>輸入密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>密碼錯誤</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="202"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="269"/>
+        <location filename="../qt/onroad.cc" line="272"/>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="316"/>
+        <location filename="../qt/onroad.cc" line="319"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="322"/>
+        <location filename="../qt/onroad.cc" line="325"/>
+        <source>LIMIT</source>
+        <translation>速限</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 提醒</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 提醒</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>將設備與您的 comma 帳號配對</translation>
+    </message>
+    <message>
+        <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="187"/>
+        <source>Upgrade Now</source>
+        <translation>馬上升級</translation>
+    </message>
+    <message>
+        <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="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>高級會員特點：</translation>
+    </message>
+    <message>
+        <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="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="204"/>
+        <source>Developer perks</source>
+        <translation>開發者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <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="132"/>
+        <source>comma prime</source>
+        <translation>comma 高級會員</translation>
+    </message>
+    <message>
+        <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="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA 積分</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>離開</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%1 minute%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 分鐘前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%1 hour%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 小時前</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%1 day%2 ago</source>
+        <translatorcomment>we don&apos;t need %2</translatorcomment>
+        <translation>%1 天前</translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失敗。請重新啟動後再試。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您確定要重置你的設備嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>重置設備中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>系統重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>無法掛載數據分區。請按確認重置您的設備。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="315"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="341"/>
+        <source>Device</source>
+        <translation>設備</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="342"/>
+        <location filename="../qt/offroad/settings.cc" line="381"/>
+        <source>Network</source>
+        <translation>網路</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="343"/>
+        <source>Toggles</source>
+        <translation>設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="344"/>
+        <source>Software</source>
+        <translation>軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="349"/>
+        <source>Navigation</source>
+        <translation>導航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：電壓過低</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>關機</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>入門</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>在我們上路之前，讓我們完成安裝並介紹一些細節。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>在沒有 Wi-Fi 的情況下繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>連接至網路中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>選擇要安裝的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>輸入網址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>下載中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下載失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重新開始</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <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="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="246"/>
+        <source>Pair device</source>
+        <translation>配對設備</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>雲端服務</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>已離線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>已連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>錯誤</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>溫度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>偏高</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>正常</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>一般</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>未連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation></translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="235"/>
+        <source>Git Branch</source>
+        <translation>Git 分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Commit</source>
+        <translation>Git 提交</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>OS Version</source>
+        <translation>系統版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>Version</source>
+        <translation>版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Last Update Check</source>
+        <translation>上次檢查時間</translation>
+    </message>
+    <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>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Check for Update</source>
+        <translation>檢查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="245"/>
+        <source>CHECKING</source>
+        <translation>檢查中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <source>UNINSTALL</source>
+        <translation>卸載</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="252"/>
+        <source>Uninstall %1</source>
+        <translation>卸載 %1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="254"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您確定您要卸載嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>failed to fetch update</source>
+        <translation>下載更新失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="269"/>
+        <location filename="../qt/offroad/settings.cc" line="290"/>
+        <source>CHECK</source>
+        <translation>檢查</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>新增</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>請輸入您 GitHub 的用戶名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>載入中</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>移除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>請求超時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 不存在</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>啟用 SSH 服務</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>條款和條件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒絕</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滑動至頁尾接受條款</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>接受</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="33"/>
+        <source>Enable openpilot</source>
+        <translation>啟用 openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="39"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>啟用車道偏離警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="45"/>
+        <source>Enable Right-Hand Drive</source>
+        <translation>啟用右駕模式</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.</source>
+        <translation>openpilot 將對右側駕駛進行監控 (但仍遵守靠左駕的交通慣例)。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="51"/>
+        <source>Use Metric System</source>
+        <translation>使用公制單位</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="57"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>記錄並上傳駕駛監控影像</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="63"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>油門取消控車</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="64"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="70"/>
+        <source>Show ETA in 24h format</source>
+        <translation>預計到達時間單位改用 24 小時制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="83"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot 縱向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>系統更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安裝</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>載入中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>掃描無線網路中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>連線中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index f6193f97a6..7922714c17 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -227,7 +227,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
   });
 
   Params params;
@@ -246,7 +246,7 @@ void UIState::update() {
   updateStatus();
 
   if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick();
+    watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
 }
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
index 5d57fa39d2..f06d54b2d5 100755
--- a/selfdrive/ui/update_translations.py
+++ b/selfdrive/ui/update_translations.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import argparse
-import os
 import json
+import os
 
 from common.basedir import BASEDIR
 
@@ -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, suffix=""):
+def update_translations(release=False, vanish=False, translations_dir=TRANSLATIONS_DIR):
   with open(LANGUAGES_FILE, "r") as f:
     translation_files = json.load(f)
 
@@ -19,8 +19,11 @@ def update_translations(release=False, suffix=""):
       print(f"{name} has no translation file, skipping...")
       continue
 
-    tr_file = os.path.join(TRANSLATIONS_DIR, f"{file}{suffix}.ts")
-    ret = os.system(f"lupdate -recursive {UI_DIR} -ts {tr_file}")
+    tr_file = os.path.join(translations_dir, f"{file}.ts")
+    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)
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 004a0f9dfb..7ccea95ee7 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz",
-    "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
-    "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz",
+    "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
+    "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
     "size": 14780416,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz",
-    "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36",
-    "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz",
+    "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f",
+    "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index e664654c65..ca2498a00c 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -1,15 +1,19 @@
 #!/usr/bin/env python3
+import hashlib
 import json
 import lzma
-import hashlib
-import requests
+import os
 import struct
 import subprocess
 import time
-import os
-from typing import Dict, Generator, Union
+from typing import Dict, Generator, List, Tuple, Union
+
+import requests
+
+import system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
+CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
 
 class StreamingDecompressor:
@@ -74,6 +78,7 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
     else:
       raise Exception("Unhandled sparse chunk type")
 
+
 # noop wrapper with same API as unsparsify() for non sparse images
 def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
   while not f.eof:
@@ -99,28 +104,37 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str:
   return path
 
 
-def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]]) -> bool:
-  full_check = partition['full_check']
+def get_raw_hash(path: str, partition_size: int) -> str:
+  raw_hash = hashlib.sha256()
+  pos, chunk_size = 0, 1024 * 1024
+
+  with open(path, 'rb+') as out:
+    while pos < partition_size:
+      n = min(chunk_size, partition_size - pos)
+      raw_hash.update(out.read(n))
+      pos += n
+
+  return raw_hash.hexdigest().lower()
+
+
+def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool:
+  full_check = partition['full_check'] or force_full_check
   path = get_partition_path(target_slot_number, partition)
+
   if not isinstance(partition['size'], int):
     return False
+
   partition_size: int = partition['size']
 
   if not isinstance(partition['hash_raw'], str):
     return False
-  partition_hash: str = partition['hash_raw']
-  with open(path, 'rb+') as out:
-    if full_check:
-      raw_hash = hashlib.sha256()
 
-      pos, chunk_size = 0, 1024 * 1024
-      while pos < partition_size:
-        n = min(chunk_size, partition_size - pos)
-        raw_hash.update(out.read(n))
-        pos += n
+  partition_hash: str = partition['hash_raw']
 
-      return raw_hash.hexdigest().lower() == partition_hash.lower()
-    else:
+  if full_check:
+    return get_raw_hash(path, partition_size) == partition_hash.lower()
+  else:
+    with open(path, 'rb+') as out:
       out.seek(partition_size)
       return out.read(64) == partition_hash.lower().encode()
 
@@ -135,21 +149,10 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
     os.sync()
 
 
-def flash_partition(target_slot_number: int, partition: dict, cloudlog):
-  cloudlog.info(f"Downloading and writing {partition['name']}")
-
-  if verify_partition(target_slot_number, partition):
-    cloudlog.info(f"Already flashed {partition['name']}")
-    return
-
+def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
   downloader = StreamingDecompressor(partition['url'])
 
-  # Clear hash before flashing in case we get interrupted
-  full_check = partition['full_check']
-  if not full_check:
-    clear_partition_hash(target_slot_number, partition)
-
-  path = get_partition_path(target_slot_number, partition)
   with open(path, 'wb+') as out:
     # Flash partition
     last_p = 0
@@ -172,9 +175,76 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog):
     if out.tell() != partition['size']:
       raise Exception("Uncompressed size mismatch")
 
-    # Write hash after successfull flash
     os.sync()
-    if not full_check:
+
+
+def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
+  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
+
+  target = casync.parse_caibx(partition['casync_caibx'])
+
+  sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
+
+  # First source is the current partition.
+  try:
+    raw_hash = get_raw_hash(seed_path, partition['size'])
+    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+
+    try:
+      cloudlog.info(f"casync fetching {caibx_url}")
+      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
+    except requests.RequestException:
+      cloudlog.error(f"casync failed to load {caibx_url}")
+  except Exception:
+    cloudlog.exception("casync failed to hash seed partition")
+
+  # Second source is the target partition, this allows for resuming
+  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
+
+  # Finally we add the remote source to download any missing chunks
+  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
+
+  last_p = 0
+
+  def progress(cur):
+    nonlocal last_p
+    p = int(cur / partition['size'] * 100)
+    if p != last_p:
+      last_p = p
+      print(f"Installing {partition['name']}: {p}", flush=True)
+
+  stats = casync.extract(target, sources, path, progress)
+  cloudlog.error(f'casync done {json.dumps(stats)}')
+
+  os.sync()
+  if not verify_partition(target_slot_number, partition, force_full_check=True):
+    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
+
+
+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):
+    cloudlog.info(f"Already flashed {partition['name']}")
+    return
+
+  # Clear hash before flashing in case we get interrupted
+  full_check = partition['full_check']
+  if not full_check:
+    clear_partition_hash(target_slot_number, partition)
+
+  path = get_partition_path(target_slot_number, 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)
+
+  # Write hash after successfull flash
+  if not full_check:
+    with open(path, 'wb+') as out:
+      out.seek(partition['size'])
       out.write(partition['hash_raw'].lower().encode())
 
 
@@ -193,7 +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}")
@@ -206,7 +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
 
@@ -228,8 +298,8 @@ def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
 
 
 if __name__ == "__main__":
-  import logging
   import argparse
+  import logging
 
   parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@@ -250,9 +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)
diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
new file mode 100755
index 0000000000..9dff64239e
--- /dev/null
+++ b/system/hardware/tici/casync.py
@@ -0,0 +1,198 @@
+#!/usr/bin/env python3
+import io
+import lzma
+import os
+import struct
+import sys
+import time
+from abc import ABC, abstractmethod
+from collections import defaultdict, namedtuple
+from typing import Callable, Dict, List, Optional, Tuple
+
+import requests
+from Crypto.Hash import SHA512
+
+CA_FORMAT_INDEX = 0x96824d9c7b129ff9
+CA_FORMAT_TABLE = 0xe75b9e112f17417d
+CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417
+FLAGS = 0xb000000000000000
+
+CA_HEADER_LEN = 48
+CA_TABLE_HEADER_LEN = 16
+CA_TABLE_ENTRY_LEN = 40
+CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
+
+CHUNK_DOWNLOAD_TIMEOUT = 60
+CHUNK_DOWNLOAD_RETRIES = 3
+
+CAIBX_DOWNLOAD_TIMEOUT = 120
+
+Chunk = namedtuple('Chunk', ['sha', 'offset', 'length'])
+ChunkDict = Dict[bytes, Chunk]
+
+
+class ChunkReader(ABC):
+  @abstractmethod
+  def read(self, chunk: Chunk) -> bytes:
+    ...
+
+
+class FileChunkReader(ChunkReader):
+  """Reads chunks from a local file"""
+  def __init__(self, fn: str) -> None:
+
+    super().__init__()
+    self.f = open(fn, 'rb')
+
+  def read(self, chunk: Chunk) -> bytes:
+    self.f.seek(chunk.offset)
+    return self.f.read(chunk.length)
+
+
+class RemoteChunkReader(ChunkReader):
+  """Reads lzma compressed chunks from a remote store"""
+
+  def __init__(self, url: str) -> None:
+    super().__init__()
+    self.url = url
+    self.session = requests.Session()
+
+  def read(self, chunk: Chunk) -> bytes:
+    sha_hex = chunk.sha.hex()
+    url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
+
+    for i in range(CHUNK_DOWNLOAD_RETRIES):
+      try:
+        resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
+        break
+      except Exception:
+        if i == CHUNK_DOWNLOAD_RETRIES - 1:
+          raise
+        time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
+
+    resp.raise_for_status()
+
+    decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+    return decompressor.decompress(resp.content)
+
+
+def parse_caibx(caibx_path: str) -> List[Chunk]:
+  """Parses the chunks from a caibx file. Can handle both local and remote files.
+  Returns a list of chunks with hash, offset and length"""
+  if os.path.isfile(caibx_path):
+    caibx = open(caibx_path, 'rb')
+  else:
+    resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT)
+    resp.raise_for_status()
+    caibx = io.BytesIO(resp.content)
+
+  caibx.seek(0, os.SEEK_END)
+  caibx_len = caibx.tell()
+  caibx.seek(0, os.SEEK_SET)
+
+  # Parse header
+  length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN))
+  assert flags == flags
+  assert length == CA_HEADER_LEN
+  assert magic == CA_FORMAT_INDEX
+
+  # Parse table header
+  length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN))
+  assert magic == CA_FORMAT_TABLE
+
+  # Parse chunks
+  num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN
+  chunks = []
+
+  offset = 0
+  for i in range(num_chunks):
+    new_offset = struct.unpack("<Q", caibx.read(8))[0]
+
+    sha = caibx.read(32)
+    length = new_offset - offset
+
+    assert length <= max_size
+
+    # Last chunk can be smaller
+    if i < num_chunks - 1:
+      assert length >= min_size
+
+    chunks.append(Chunk(sha, offset, length))
+    offset = new_offset
+
+  return chunks
+
+
+def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict:
+  """Turn a list of chunks into a dict for faster lookups based on hash.
+  Keep first chunk since it's more likely to be already downloaded."""
+  r = {}
+  for c in chunks:
+    if c.sha not in r:
+      r[c.sha] = c
+  return r
+
+
+def extract(target: List[Chunk],
+            sources: List[Tuple[str, ChunkReader, ChunkDict]],
+            out_path: str,
+            progress: Optional[Callable[[int], None]] = None):
+  stats: Dict[str, int] = defaultdict(int)
+
+  with open(out_path, 'wb') as out:
+    for cur_chunk in target:
+
+      # Find source for desired chunk
+      for name, chunk_reader, store_chunks in sources:
+        if cur_chunk.sha in store_chunks:
+          bts = chunk_reader.read(store_chunks[cur_chunk.sha])
+
+          # Check length
+          if len(bts) != cur_chunk.length:
+            continue
+
+          # Check hash
+          if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha:
+            continue
+
+          # Write to output
+          out.seek(cur_chunk.offset)
+          out.write(bts)
+
+          stats[name] += cur_chunk.length
+
+          if progress is not None:
+            progress(sum(stats.values()))
+
+          break
+      else:
+        raise RuntimeError("Desired chunk not found in provided stores")
+
+  return stats
+
+
+def print_stats(stats: Dict[str, int]):
+  total_bytes = sum(stats.values())
+  print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
+  for name, total in stats.items():
+    print(f"  {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)")
+
+
+def extract_simple(caibx_path, out_path, store_path):
+  # (name, callback, chunks)
+  target = parse_caibx(caibx_path)
+  sources = [
+    # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)),
+    (store_path, FileChunkReader(store_path), build_chunk_dict(target)),
+  ]
+
+  return extract(target, sources, out_path)
+
+
+if __name__ == "__main__":
+  caibx = sys.argv[1]
+  out = sys.argv[2]
+  store = sys.argv[3]
+
+  stats = extract_simple(caibx, out, store)
+  print_stats(stats)
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
new file mode 100755
index 0000000000..5e5fa24556
--- /dev/null
+++ 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}")
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
index 4a85f46d61..d3967708fa 100644
--- a/tools/replay/SConscript
+++ b/tools/replay/SConscript
@@ -2,8 +2,14 @@ import os
 Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
        'cereal', 'transformations')
 
+base_frameworks = qt_env['FRAMEWORKS']
 base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
-             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks.append('OpenCL')
+else:
+  base_libs.append('OpenCL')
 
 qt_libs = ['qt_util'] + base_libs
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
@@ -11,9 +17,9 @@ if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
 
   replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
 
-  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs)
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks)
   replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
-  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs)
+  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
 
   if GetOption('test'):
     qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f88741813e..fa1f442bbc 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -27,8 +27,10 @@ if __name__ == "__main__":
     while duration is None or time.monotonic() - start_time < duration:
       fltr.update(z.read_power())
       if rk.frame % rate == 0:
-        print(f"{fltr.x:.2f} W")
         measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
       rk.keep_time()
   except KeyboardInterrupt:
     pass