diff --git a/selfdrive/camerad/cameras/camera_qcom2.cc b/selfdrive/camerad/cameras/camera_qcom2.cc
index 291b6ab51b..20f62fd010 100644
--- a/selfdrive/camerad/cameras/camera_qcom2.cc
+++ b/selfdrive/camerad/cameras/camera_qcom2.cc
@@ -22,6 +22,10 @@
 #include "selfdrive/common/swaglog.h"
 #include "selfdrive/camerad/cameras/sensor2_i2c.h"
 
+#define FRAME_WIDTH  1928
+#define FRAME_HEIGHT 1208
+//#define FRAME_STRIDE 1936 // for 8 bit output
+#define FRAME_STRIDE 2416  // for 10 bit output
 //#define FRAME_STRIDE 1936 // for 8 bit output
 
 #define MIPI_SETTLE_CNT 33  // Calculated by camera_freqs.py
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 70a2441c3d..a9df5f1170 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -197,7 +197,7 @@ void Localizer::handle_sensors(double current_time, const capnp::List<cereal::Se
     double sensor_time = 1e-9 * sensor_reading.getTimestamp();
 
     // sensor time and log time should be close
-    if (abs(current_time - sensor_time) > 0.1) {
+    if (std::abs(current_time - sensor_time) > 0.1) {
       LOGE("Sensor reading ignored, sensor timestamp more than 100ms off from log time");
       return;
     }
diff --git a/selfdrive/modeld/models/dmonitoring.cc b/selfdrive/modeld/models/dmonitoring.cc
index d5b2d4a63b..b16062dbe9 100644
--- a/selfdrive/modeld/models/dmonitoring.cc
+++ b/selfdrive/modeld/models/dmonitoring.cc
@@ -1,5 +1,3 @@
-#include "selfdrive/modeld/models/dmonitoring.h"
-
 #include <cstring>
 
 #include "libyuv.h"
@@ -9,6 +7,8 @@
 #include "selfdrive/common/timing.h"
 #include "selfdrive/hardware/hw.h"
 
+#include "selfdrive/modeld/models/dmonitoring.h"
+
 #define MODEL_WIDTH 320
 #define MODEL_HEIGHT 640
 #define FULL_W 852 // should get these numbers from camerad