Merge branch 'master' of github.com:commaai/openpilot into ui_accel_gradient

3 years ago · f09b0c6d5d
parent af3e4aa700 e2f4a82c03
commit f09b0c6d5d
188 changed files with 1009 additions and 711 deletions
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@ -204,11 +204,12 @@ jobs:
                        $UNIT_TEST selfdrive/boardd && \
                        $UNIT_TEST selfdrive/controls && \
                        $UNIT_TEST selfdrive/monitoring && \
-                        $UNIT_TEST selfdrive/loggerd && \
+                        $UNIT_TEST system/loggerd && \
                        $UNIT_TEST selfdrive/car && \
                        $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST system/ubloxd && \
                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./selfdrive/locationd/test/test_glonass_runner && \
+                        ./system/ubloxd/tests/test_glonass_runner && \
                        $UNIT_TEST selfdrive/athena && \
                        $UNIT_TEST selfdrive/thermald && \
                        $UNIT_TEST system/hardware/tici && \
@ -219,7 +220,7 @@ jobs:
                        ./common/tests/test_util && \
                        ./common/tests/test_swaglog && \
                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./selfdrive/loggerd/tests/test_logger &&\
+                        ./system/loggerd/tests/test_logger &&\
                        ./system/proclogd/tests/test_proclog && \
                        ./tools/replay/tests/test_replay && \
                        ./tools/cabana/tests/test_cabana && \
--- a/.gitignore
+++ b/.gitignore
@ -46,9 +46,6 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
--- a/11
+++ b/11
@ -157,10 +157,11 @@ pipeline {
            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "python selfdrive/sensord/tests/test_pigeond.py"],
+              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
            ])
          }
        }
@ -192,11 +193,11 @@ pipeline {
          steps {
            phone_steps("tici-lsmc", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
            ])
            phone_steps("tici-bmx-lsm", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd selfdrive/sensord/tests && python -m unittest test_sensord.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
            ])
          }
        }
--- a/README.md
+++ b/README.md
@ -108,7 +108,10 @@ Directory Structure
        ├── clocksd         # Broadcasts current time
        ├── hardware        # Hardware abstraction classes
        ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
@ -117,12 +120,10 @@ Directory Structure
        ├── controls        # Planning and controls
        ├── debug           # Tools to help you debug and do car ports
        ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── loggerd         # Logger and uploader of car data
        ├── manager         # Daemon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
        ├── monitoring      # Daemon to determine driver attention
        ├── navd            # Turn-by-turn navigation
-        ├── sensord         # IMU interface code
        ├── test            # Unit tests, system tests, and a car simulator
        └── ui              # The UI

--- a/RELEASES.md
+++ b/RELEASES.md
@ -1,6 +1,7 @@
 Version 0.9.2 (2023-03-XX)
 ========================
 * Draw MPC path instead of model predicted path, this is a more accurate representation of what the car will do.
+* Škoda Fabia 2022-23 support thanks to jyoung8607!

 Version 0.9.1 (2023-02-28)
 ========================
--- a/5
+++ b/5
@ -398,6 +398,7 @@ SConscript([
  'system/camerad/SConscript',
  'system/clocksd/SConscript',
  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
 ])
 if arch != "Darwin":
  SConscript(['system/logcatd/SConscript'])
@ -424,10 +425,10 @@ SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])

 SConscript(['selfdrive/boardd/SConscript'])

-SConscript(['selfdrive/loggerd/SConscript'])
+SConscript(['system/loggerd/SConscript'])

 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
+SConscript(['system/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 42f84fd85d06c0fc85371daa2b4820fca49d763e
+Subproject commit 9888e0476c05069d46f273569467e4371b2d8690
--- a/common/params.cc
+++ b/common/params.cc
@ -99,7 +99,6 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"CompletedTrainingVersion", PERSISTENT},
    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DashcamOverride", PERSISTENT},
    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
    {"DisablePowerDown", PERSISTENT},
    {"ExperimentalMode", PERSISTENT},
--- a/docs/CARS.md
+++ b/docs/CARS.md
@ -4,7 +4,7 @@

 A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system.

-# 237 Supported Cars
+# 238 Supported Cars

 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|Harness|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@ -161,9 +161,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B</a>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A</a>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A</a>||
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533</a>[<sup>10</sup>](#footnotes)||
 |Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533</a>||
-|Škoda|Kodiaq 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2018-19">J533</a>||
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533</a>||
 |Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533</a>||
 |Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533</a>||
 |Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533</a>[<sup>10</sup>](#footnotes)||
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@ -83,7 +83,7 @@ common
 sensorsd
 ^^^^^^^^
 .. autodoxygenindex::
-   :project: selfdrive_sensord_sensors
+   :project: system_sensord_sensors

 boardd
 ^^^^^^
--- a/docs/overview.rst
+++ b/docs/overview.rst
@ -5,7 +5,7 @@ openpilot
   :maxdepth: 4

   Debugging <selfdrive/debug/README.md>
-   selfdrive/loggerd/README.md
+   system/loggerd/README.md
   Driver Monitoring <selfdrive/monitoring/README.md>
   Process Replay <selfdrive/test/process_replay/README.md>

--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 510bfc06954e31257f8d8de17adf92f9a68a1b71
+Subproject commit b7d4a6e2718d9ec3cf436441696528bedb1d44cf
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit e0e754de2c7fdbf943dd02db203b7bb40bf3e9b5
+Subproject commit b231281c8b2c79c46892576dee4c8a56d5e0b2d2
--- a/poetry.lock
+++ b/poetry.lock
@ -4355,6 +4355,14 @@ python-versions = "*"
 [package.dependencies]
 types-urllib3 = "<1.27"

+[[package]]
+name = "types-tabulate"
+version = "0.9.0.1"
+description = "Typing stubs for tabulate"
+category = "main"
+optional = false
+python-versions = "*"
+
 [[package]]
 name = "types-urllib3"
 version = "1.26.25.1"
@ -4567,7 +4575,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
 [metadata]
 lock-version = "1.1"
 python-versions = "~3.8"
-content-hash = "9e9495c896e6fd0855803aeaf46513c6c22424b86be820759a8baf27d44e73ee"
+content-hash = "669485055bf8d77336509cb7a3878e06aa32431c520825948914d76b57347fde"

 [metadata.files]
 adal = [
@ -6616,7 +6624,6 @@ onnx = [
 ]
 onnx2torch = [
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-    {file = "onnx2torch-1.5.4.tar.gz", hash = "sha256:df837b557a63540223d85fde4a1d679fde0ca8d8bb89d5379c030b01eddc9c24"},
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@ -7002,7 +7009,6 @@ pycryptodome = [
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    {file = "setproctitle-1.3.2-cp37-cp37m-macosx_10_9_x86_64.whl", hash = "sha256:92c626edc66169a1b09e9541b9c0c9f10488447d8a2b1d87c8f0672e771bc927"},
    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_aarch64.manylinux2014_aarch64.whl", hash = "sha256:710e16fa3bade3b026907e4a5e841124983620046166f355bbb84be364bf2a02"},
    {file = "setproctitle-1.3.2-cp37-cp37m-manylinux_2_17_ppc64le.manylinux2014_ppc64le.whl", hash = "sha256:1f29b75e86260b0ab59adb12661ef9f113d2f93a59951373eb6d68a852b13e83"},
@ -8066,6 +8058,10 @@ types-requests = [
    {file = "types-requests-2.28.11.2.tar.gz", hash = "sha256:fdcd7bd148139fb8eef72cf4a41ac7273872cad9e6ada14b11ff5dfdeee60ed3"},
    {file = "types_requests-2.28.11.2-py3-none-any.whl", hash = "sha256:14941f8023a80b16441b3b46caffcbfce5265fd14555844d6029697824b5a2ef"},
 ]
+types-tabulate = [
+    {file = "types-tabulate-0.9.0.1.tar.gz", hash = "sha256:e486292c279f19247865bdabe802419740a0e74b53444e7f7a8009e08129da5d"},
+    {file = "types_tabulate-0.9.0.1-py3-none-any.whl", hash = "sha256:be2ea0de05f615ccfcbadf6206aa720e265955eb1de23e343aec9d8bf3fa9aaa"},
+]
 types-urllib3 = [
    {file = "types-urllib3-1.26.25.1.tar.gz", hash = "sha256:a948584944b2412c9a74b9cf64f6c48caf8652cb88b38361316f6d15d8a184cd"},
    {file = "types_urllib3-1.26.25.1-py3-none-any.whl", hash = "sha256:f6422596cc9ee5fdf68f9d547f541096a20c2dcfd587e37c804c9ea720bf5cb2"},
--- a/pyproject.toml
+++ b/pyproject.toml
@ -59,6 +59,7 @@ urllib3 = "^1.26.10"
 utm = "^0.7.0"
 websocket_client = "^1.3.3"
 polyline = "^1.4.0"
+types-tabulate = "^0.9.0.1"


 [tool.poetry.group.dev.dependencies]
--- a/release/files_common
+++ b/release/files_common
@ -219,14 +219,15 @@ system/hardware/pc/__init__.py
 system/hardware/pc/hardware.h
 system/hardware/pc/hardware.py

+system/ubloxd/.gitignore
+system/ubloxd/SConscript
+system/ubloxd/generated/*
+system/ubloxd/*.h
+system/ubloxd/*.cc
+
 selfdrive/locationd/__init__.py
-selfdrive/locationd/.gitignore
 selfdrive/locationd/SConscript
-selfdrive/locationd/ubloxd.cc
-selfdrive/locationd/ublox_msg.cc
-selfdrive/locationd/ublox_msg.h
-selfdrive/locationd/generated/*
-
+selfdrive/locationd/.gitignore
 selfdrive/locationd/laikad.py
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
@ -253,35 +254,36 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h

-selfdrive/loggerd/.gitignore
-selfdrive/loggerd/SConscript
-selfdrive/loggerd/encoder/encoder.cc
-selfdrive/loggerd/encoder/encoder.h
-selfdrive/loggerd/encoder/v4l_encoder.cc
-selfdrive/loggerd/encoder/v4l_encoder.h
-selfdrive/loggerd/video_writer.cc
-selfdrive/loggerd/video_writer.h
-selfdrive/loggerd/logger.cc
-selfdrive/loggerd/logger.h
-selfdrive/loggerd/loggerd.cc
-selfdrive/loggerd/loggerd.h
-selfdrive/loggerd/encoderd.cc
-selfdrive/loggerd/bootlog.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.cc
-selfdrive/loggerd/encoder/ffmpeg_encoder.h
-
-selfdrive/loggerd/__init__.py
-selfdrive/loggerd/config.py
-selfdrive/loggerd/uploader.py
-selfdrive/loggerd/deleter.py
-selfdrive/loggerd/xattr_cache.py
-
-selfdrive/sensord/SConscript
-selfdrive/sensord/sensors_qcom2.cc
-selfdrive/sensord/sensors/*.cc
-selfdrive/sensord/sensors/*.h
-selfdrive/sensord/sensord
-selfdrive/sensord/pigeond.py
+system/loggerd/.gitignore
+system/loggerd/SConscript
+system/loggerd/encoder/encoder.cc
+system/loggerd/encoder/encoder.h
+system/loggerd/encoder/v4l_encoder.cc
+system/loggerd/encoder/v4l_encoder.h
+system/loggerd/video_writer.cc
+system/loggerd/video_writer.h
+system/loggerd/logger.cc
+system/loggerd/logger.h
+system/loggerd/loggerd.cc
+system/loggerd/loggerd.h
+system/loggerd/encoderd.cc
+system/loggerd/bootlog.cc
+system/loggerd/encoder/ffmpeg_encoder.cc
+system/loggerd/encoder/ffmpeg_encoder.h
+
+system/loggerd/__init__.py
+system/loggerd/config.py
+system/loggerd/uploader.py
+system/loggerd/deleter.py
+system/loggerd/xattr_cache.py
+
+system/sensord/.gitignore
+system/sensord/SConscript
+system/sensord/sensors_qcom2.cc
+system/sensord/sensors/*.cc
+system/sensord/sensors/*.h
+system/sensord/sensord
+system/sensord/pigeond.py

 selfdrive/thermald/thermald.py
 selfdrive/thermald/power_monitoring.py
@ -577,13 +579,14 @@ opendbc/tesla_can.dbc
 opendbc/tesla_radar.dbc
 opendbc/tesla_powertrain.dbc

-tinygrad_repo/accel/opencl/*
-tinygrad_repo/tinygrad/llops/ops_opencl.py
 tinygrad_repo/openpilot/compile.py
 tinygrad_repo/extra/onnx.py
+tinygrad_repo/extra/onnx_ops.py
 tinygrad_repo/extra/thneed.py
 tinygrad_repo/extra/utils.py
-tinygrad_repo/tinygrad/llops/ops_gpu.py
-tinygrad_repo/tinygrad/shape/*
+tinygrad_repo/tinygrad/codegen/ast.py
+tinygrad_repo/tinygrad/codegen/gpu.py
 tinygrad_repo/tinygrad/nn/*
+tinygrad_repo/tinygrad/runtime/ops_gpu.py
+tinygrad_repo/tinygrad/shape/*
 tinygrad_repo/tinygrad/*.py
--- a/release/files_tici
+++ b/release/files_tici
@ -13,7 +13,7 @@ system/camerad/cameras/camera_util.cc
 system/camerad/cameras/camera_util.h
 system/camerad/cameras/real_debayer.cl

-selfdrive/sensord/rawgps/*
+system/sensord/rawgps/*

 selfdrive/ui/qt/spinner_larch64
 selfdrive/ui/qt/text_larch64
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@ -36,8 +36,8 @@ from common.file_helpers import CallbackReader
 from common.params import Params
 from common.realtime import sec_since_boot, set_core_affinity
 from system.hardware import HARDWARE, PC, AGNOS
-from selfdrive.loggerd.config import ROOT
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
+from system.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr, setxattr
 from selfdrive.statsd import STATS_DIR
 from system.swaglog import SWAGLOG_DIR, cloudlog
 from system.version import get_commit, get_origin, get_short_branch, get_version
--- a/selfdrive/boardd/pandad.py
+++ b/selfdrive/boardd/pandad.py
@ -84,9 +84,9 @@ def main() -> NoReturn:
      params.remove("PandaSignatures")

      # Flash all Pandas in DFU mode
-      for p in PandaDFU.list():
-        cloudlog.info(f"Panda in DFU mode found, flashing recovery {p}")
-        PandaDFU(p).recover()
+      for serial in PandaDFU.list():
+        cloudlog.info(f"Panda in DFU mode found, flashing recovery {serial}")
+        PandaDFU(serial).recover()
      time.sleep(1)

      panda_serials = Panda.list()
--- a/selfdrive/boardd/tests/test_pandad.py
+++ b/selfdrive/boardd/tests/test_pandad.py
@ -0,0 +1,48 @@
+#!/usr/bin/env python3
+import time
+import unittest
+
+import cereal.messaging as messaging
+from panda import Panda
+from selfdrive.test.helpers import phone_only
+from selfdrive.manager.process_config import managed_processes
+from system.hardware import HARDWARE
+
+
+class TestPandad(unittest.TestCase):
+
+  def tearDown(self):
+    managed_processes['pandad'].stop()
+
+  def _wait_for_boardd(self):
+    sm = messaging.SubMaster(['peripheralState'])
+    for _ in range(30):
+      sm.update(1000)
+      if sm.updated['peripheralState']:
+        break
+
+    if not sm.updated['peripheralState']:
+      raise Exception("boardd failed to start")
+
+  @phone_only
+  def test_in_dfu(self):
+    HARDWARE.recover_internal_panda()
+    time.sleep(1)
+
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  @phone_only
+  def test_in_bootstub(self):
+    with Panda() as p:
+      p.reset(enter_bootstub=True)
+      assert p.bootstub
+    managed_processes['pandad'].start()
+    self._wait_for_boardd()
+
+  #def test_out_of_date_fw(self):
+  #  pass
+
+
+if __name__ == "__main__":
+  unittest.main()
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@ -180,7 +180,7 @@ def get_car(logcan, sendcan, experimental_long_allowed, num_pandas=1):
  candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(logcan, sendcan, num_pandas)

  if candidate is None:
-    cloudlog.warning("car doesn't match any fingerprints: %r", fingerprints)
+    cloudlog.event("car doesn't match any fingerprints", fingerprints=fingerprints, error=True)
    candidate = "mock"

  CarInterface, CarController, CarState = interfaces[candidate]
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@ -99,7 +99,7 @@ FINGERPRINTS = {
    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 8, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
  },
  {
-    55: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
+    55: 8, 58: 6, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 784: 8, 792: 8, 799: 8, 800: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 897: 8, 924: 3, 926: 3, 937: 8, 947: 8, 948: 8, 956: 8, 969: 4, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1537: 8, 1538: 8, 1562: 8
  }],
  CAR.PACIFICA_2020: [{
    55: 8, 179: 8, 181: 8, 257: 5, 258: 8, 264: 8, 268: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 516: 7, 517: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 536: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 650: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 776: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 882: 8, 886: 8, 897: 8, 906: 8, 924: 8, 926: 3, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1223: 7, 1225: 8, 1227: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1284: 8, 1543: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1867: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 2015: 8, 2016: 8, 2017:8, 2024: 8, 2025: 8
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@ -165,6 +165,7 @@ FW_VERSIONS = {
      b'M1MC-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.abs, 0x760, None): [
+      b'L1MC-2D053-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-BF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'L1MC-2D053-KB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@ -178,6 +179,7 @@ FW_VERSIONS = {
      b'LC5T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
    ],
    (Ecu.engine, 0x7E0, None): [
+      b'LB5A-14C204-BUJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'LB5A-14C204-EAC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'MB5A-14C204-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
      b'MB5A-14C204-RC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@ -206,6 +206,7 @@ routes = [
  CarTestRoute("0cd0b7f7e31a3853|2021-12-03--03-12-05", VOLKSWAGEN.AUDI_Q3_MK2),
  CarTestRoute("8f205bdd11bcbb65|2021-03-26--01-00-17", VOLKSWAGEN.SEAT_ATECA_MK1),
  CarTestRoute("fc6b6c9a3471c846|2021-05-27--13-39-56", VOLKSWAGEN.SEAT_LEON_MK3),
+  CarTestRoute("0bbe367c98fa1538|2023-03-04--17-46-11", VOLKSWAGEN.SKODA_FABIA_MK4),
  CarTestRoute("12d6ae3057c04b0d|2021-09-15--00-04-07", VOLKSWAGEN.SKODA_KAMIQ_MK1),
  CarTestRoute("12d6ae3057c04b0d|2021-09-04--21-21-21", VOLKSWAGEN.SKODA_KAROQ_MK1),
  CarTestRoute("90434ff5d7c8d603|2021-03-15--12-07-31", VOLKSWAGEN.SKODA_KODIAQ_MK1),
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@ -56,6 +56,7 @@ CADILLAC ATS Premium Performance 2018: CHEVROLET VOLT PREMIER 2017
 CHEVROLET MALIBU PREMIER 2017: CHEVROLET VOLT PREMIER 2017
 HOLDEN ASTRA RS-V BK 2017: CHEVROLET VOLT PREMIER 2017

+SKODA FABIA 4TH GEN: VOLKSWAGEN GOLF 7TH GEN
 SKODA OCTAVIA 3RD GEN: SKODA SUPERB 3RD GEN
 SKODA SCALA 1ST GEN: SKODA SUPERB 3RD GEN
 SKODA KODIAQ 1ST GEN: SKODA SUPERB 3RD GEN
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@ -1637,6 +1637,7 @@ FW_VERSIONS = {
      b'\x028966333S8000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x028966333T0100\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x028966333V4000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
+      b'\x028966333W1000\x00\x00\x00\x00897CF3305001\x00\x00\x00\x00',
      b'\x02896633T09000\x00\x00\x00\x00897CF3307001\x00\x00\x00\x00',
      b'\x01896633T38000\x00\x00\x00\x00',
      b'\x01896633T58000\x00\x00\x00\x00',
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@ -228,13 +228,13 @@ class CarState(CarStateBase):
    ret.cruiseState.available = bool(pt_cp.vl["Motor_5"]["GRA_Hauptschalter"])
    ret.cruiseState.enabled = pt_cp.vl["Motor_2"]["GRA_Status"] in (1, 2)
    if self.CP.pcmCruise:
-      ret.accFaulted = ext_cp.vl["ACC_GRA_Anziege"]["ACA_StaACC"] in (6, 7)
+      ret.accFaulted = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_StaACC"] in (6, 7)
    else:
      ret.accFaulted = pt_cp.vl["Motor_2"]["GRA_Status"] == 3

    # Update ACC setpoint. When the setpoint reads as 255, the driver has not
    # yet established an ACC setpoint, so treat it as zero.
-    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anziege"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
+    ret.cruiseState.speed = ext_cp.vl["ACC_GRA_Anzeige"]["ACA_V_Wunsch"] * CV.KPH_TO_MS
    if ret.cruiseState.speed > 70:  # 255 kph in m/s == no current setpoint
      ret.cruiseState.speed = 0

@ -516,12 +516,12 @@ class PqExtraSignals:
  # Additional signal and message lists for optional or bus-portable controllers
  fwd_radar_signals = [
    ("ACS_Typ_ACC", "ACC_System"),               # Basic vs FtS (no SnG support on PQ)
-    ("ACA_StaACC", "ACC_GRA_Anziege"),           # ACC drivetrain coordinator status
-    ("ACA_V_Wunsch", "ACC_GRA_Anziege"),         # ACC set speed
+    ("ACA_StaACC", "ACC_GRA_Anzeige"),           # ACC drivetrain coordinator status
+    ("ACA_V_Wunsch", "ACC_GRA_Anzeige"),         # ACC set speed
  ]
  fwd_radar_checks = [
    ("ACC_System", 50),                          # From J428 ACC radar control module
-    ("ACC_GRA_Anziege", 25),                     # From J428 ACC radar control module
+    ("ACC_GRA_Anzeige", 25),                     # From J428 ACC radar control module
  ]
  bsm_radar_signals = [
    ("SWA_Infostufe_SWA_li", "SWA_1"),           # Blind spot object info, left
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@ -187,6 +187,10 @@ class CarInterface(CarInterfaceBase):
      ret.mass = 1227 + STD_CARGO_KG
      ret.wheelbase = 2.64

+    elif candidate == CAR.SKODA_FABIA_MK4:
+      ret.mass = 1266 + STD_CARGO_KG
+      ret.wheelbase = 2.56
+
    elif candidate == CAR.SKODA_KAMIQ_MK1:
      ret.mass = 1265 + STD_CARGO_KG
      ret.wheelbase = 2.66
--- a/selfdrive/car/volkswagen/pqcan.py
+++ b/selfdrive/car/volkswagen/pqcan.py
@ -88,4 +88,4 @@ def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, lead_distance
    # kmh_mph handling probably needed to resolve rounding errors in displayed setpoint
  }

-  return packer.make_can_msg("ACC_GRA_Anziege", bus, values)
+  return packer.make_can_msg("ACC_GRA_Anzeige", bus, values)
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@ -36,7 +36,7 @@ class CarControllerParams:

    if CP.carFingerprint in PQ_CARS:
      self.LDW_STEP = 5                   # LDW_1 message frequency 20Hz
-      self.ACC_HUD_STEP = 4               # ACC_GRA_Anziege frequency 25Hz
+      self.ACC_HUD_STEP = 4               # ACC_GRA_Anzeige frequency 25Hz
      self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
      self.STEER_DELTA_UP = 6             # Max HCA reached in 1.00s (STEER_MAX / (50Hz * 1.00))
      self.STEER_DELTA_DOWN = 10          # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
@ -129,6 +129,7 @@ class CAR:
  AUDI_Q3_MK2 = "AUDI Q3 2ND GEN"                   # Chassis 8U/F3/FS, Mk2 Audi Q3 and variants
  SEAT_ATECA_MK1 = "SEAT ATECA 1ST GEN"             # Chassis 5F, Mk1 SEAT Ateca and CUPRA Ateca
  SEAT_LEON_MK3 = "SEAT LEON 3RD GEN"               # Chassis 5F, Mk3 SEAT Leon and variants
+  SKODA_FABIA_MK4 = "SKODA FABIA 4TH GEN"           # Chassis PJ, Mk4 Skoda Fabia
  SKODA_KAMIQ_MK1 = "SKODA KAMIQ 1ST GEN"           # Chassis NW, Mk1 Skoda Kamiq
  SKODA_KAROQ_MK1 = "SKODA KAROQ 1ST GEN"           # Chassis NU, Mk1 Skoda Karoq
  SKODA_KODIAQ_MK1 = "SKODA KODIAQ 1ST GEN"         # Chassis NS, Mk1 Skoda Kodiaq
@ -239,9 +240,10 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
  CAR.AUDI_Q3_MK2: VWCarInfo("Audi Q3 2019-23"),
  CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
  CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
+  CAR.SKODA_FABIA_MK4: VWCarInfo("Škoda Fabia 2022-23", footnotes=[Footnote.VW_MQB_A0]),
  CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.VW_MQB_A0, Footnote.KAMIQ]),
  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
-  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
+  CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2017-23"),
  CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020", footnotes=[Footnote.VW_MQB_A0]),
  CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-22"),
  CAR.SKODA_OCTAVIA_MK3: [
@ -1009,6 +1011,23 @@ FW_VERSIONS = {
      b'\xf1\x875Q0907572P \xf1\x890682',
    ],
  },
+  CAR.SKODA_FABIA_MK4: {
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x8705E906018CF\xf1\x891905',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x870CW300051M \xf1\x891936',
+    ],
+    (Ecu.srs, 0x715, None): [
+      b'\xf1\x875QF959655AT\xf1\x890755\xf1\x82\x1311110011110011111100110200--1111120749',
+    ],
+    (Ecu.eps, 0x712, None): [
+      b'\xf1\x872Q1909144S \xf1\x896042',
+    ],
+    (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
+    ],
+  },
  CAR.SKODA_KAMIQ_MK1: {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8705C906032M \xf1\x891333',
@ -1052,17 +1071,20 @@ FW_VERSIONS = {
    (Ecu.engine, 0x7e0, None): [
      b'\xf1\x8704E906027DD\xf1\x893123',
      b'\xf1\x8704L906026DE\xf1\x895418',
+      b'\xf1\x8704L906026EJ\xf1\x893661',
      b'\xf1\x8704L906026HT\xf1\x893617',
      b'\xf1\x875NA907115E \xf1\x890003',
      b'\xf1\x875NA907115E \xf1\x890005',
    ],
    (Ecu.transmission, 0x7e1, None): [
      b'\xf1\x870D9300043  \xf1\x895202',
+      b'\xf1\x870DL300011N \xf1\x892014',
      b'\xf1\x870DL300012M \xf1\x892107',
      b'\xf1\x870DL300012N \xf1\x892110',
      b'\xf1\x870DL300013G \xf1\x892119',
    ],
    (Ecu.srs, 0x715, None): [
+      b'\xf1\x873Q0959655AP\xf1\x890306\xf1\x82\r11110011110011421111314211',
      b'\xf1\x873Q0959655BJ\xf1\x890703\xf1\x82\x0e1213001211001205212111052100',
      b'\xf1\x873Q0959655BK\xf1\x890703\xf1\x82\x0e1213001211001244212111442100',
      b'\xf1\x873Q0959655CN\xf1\x890720\xf1\x82\x0e1213001211001205212112052100',
@ -1077,6 +1099,7 @@ FW_VERSIONS = {
    (Ecu.fwdRadar, 0x757, None): [
      b'\xf1\x872Q0907572Q \xf1\x890342',
      b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572T \xf1\x890383',
      b'\xf1\x872Q0907572AA\xf1\x890396',
    ],
  },
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@ -112,9 +112,6 @@ class Controls:
    if not self.disengage_on_accelerator:
      self.CP.alternativeExperience |= ALTERNATIVE_EXPERIENCE.DISABLE_DISENGAGE_ON_GAS

-    if self.CP.dashcamOnly and self.params.get_bool("DashcamOverride"):
-      self.CP.dashcamOnly = False
-
    # read params
    self.is_metric = self.params.get_bool("IsMetric")
    self.is_ldw_enabled = self.params.get_bool("IsLdwEnabled")
--- a/selfdrive/controls/plannerd.py
+++ b/selfdrive/controls/plannerd.py
@ -19,6 +19,7 @@ def publish_ui_plan(sm, pm, lateral_planner, longitudinal_planner):
  ui_send = messaging.new_message('uiPlan')
  ui_send.valid = sm.all_checks(service_list=['carState', 'controlsState', 'modelV2'])
  uiPlan = ui_send.uiPlan
+  uiPlan.frameId = sm['modelV2'].frameId
  uiPlan.position.x = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,0]).tolist()
  uiPlan.position.y = np.interp(plan_odo, model_odo, lateral_planner.lat_mpc.x_sol[:,1]).tolist()
  uiPlan.position.z = np.interp(plan_odo, model_odo, lateral_planner.path_xyz[:,2]).tolist()
--- a/selfdrive/locationd/.gitignore
+++ b/selfdrive/locationd/.gitignore
@ -1,6 +1,3 @@
-ubloxd
-ubloxd_test
 params_learner
 paramsd
 locationd
-test/test_glonass_runner
--- a/selfdrive/locationd/SConscript
+++ b/selfdrive/locationd/SConscript
@ -1,20 +1,6 @@
 Import('env', 'common', 'cereal', 'messaging', 'libkf', 'transformations')

-loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'kaitai', 'pthread']
-
-if GetOption('kaitai'):
-  generated = Dir('generated').srcnode().abspath
-  cmd = f"kaitai-struct-compiler --target cpp_stl --outdir {generated} $SOURCES"
-  env.Command(['generated/ubx.cpp', 'generated/ubx.h'], 'ubx.ksy', cmd)
-  env.Command(['generated/gps.cpp', 'generated/gps.h'], 'gps.ksy', cmd)
-  glonass = env.Command(['generated/glonass.cpp', 'generated/glonass.h'], 'glonass.ksy', cmd)
-
-  # kaitai issue: https://github.com/kaitai-io/kaitai_struct/issues/910
-  patch = env.Command(None, 'glonass_fix.patch', 'git apply $SOURCES')
-  env.Depends(patch, glonass)
-
-glonass_obj = env.Object('generated/glonass.cpp')
-env.Program("ubloxd", ["ubloxd.cc", "ublox_msg.cc", "generated/ubx.cpp", "generated/gps.cpp",  glonass_obj], LIBS=loc_libs)
+loc_libs = [cereal, messaging, 'zmq', common, 'capnp', 'kj', 'pthread']

 ekf_sym_cc = env.SharedObject("#rednose/helpers/ekf_sym.cc")
 locationd_sources = ["locationd.cc", "models/live_kf.cc", ekf_sym_cc]
@ -25,7 +11,4 @@ lenv.Depends(locationd, libkf)

 if File("liblocationd.cc").exists():
  liblocationd = lenv.SharedLibrary("liblocationd", ["liblocationd.cc"] + locationd_sources, LIBS=loc_libs + transformations)
-  lenv.Depends(liblocationd, libkf)
-
-if GetOption('test'):
-  env.Program("test/test_glonass_runner", ['test/test_glonass_runner.cc', 'test/test_glonass_kaitai.cc', glonass_obj], LIBS=[loc_libs])
+  lenv.Depends(liblocationd, libkf)
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@ -14,7 +14,7 @@
 #include "common/timing.h"
 #include "common/util.h"

-#include "selfdrive/sensord/sensors/constants.h"
+#include "system/sensord/sensors/constants.h"
 #define VISION_DECIMATION 2
 #define SENSOR_DECIMATION 10
 #include "selfdrive/locationd/models/live_kf.h"
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@ -29,7 +29,7 @@ def manager_init() -> None:
  set_time(cloudlog)

  # save boot log
-  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"))
+  subprocess.call("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"))

  params = Params()
  params.clear_all(ParamKeyType.CLEAR_ON_MANAGER_START)
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@ -17,11 +17,17 @@ def logging(started, params, CP: car.CarParams) -> bool:
  run = (not CP.notCar) or not params.get_bool("DisableLogging")
  return started and run

+def ublox_available() -> bool:
+  return os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+
 def ublox(started, params, CP: car.CarParams) -> bool:
-  use_ublox = os.path.exists('/dev/ttyHS0') and not os.path.exists('/persist/comma/use-quectel-gps')
+  use_ublox = ublox_available()
  params.put_bool("UbloxAvailable", use_ublox)
  return started and use_ublox

+def qcomgps(started, params, CP: car.CarParams) -> bool:
+  return started and not ublox_available()
+
 procs = [
  # due to qualcomm kernel bugs SIGKILLing camerad sometimes causes page table corruption
  NativeProcess("camerad", "system/camerad", ["./camerad"], unkillable=True, callback=driverview),
@ -34,12 +40,12 @@ procs = [

  DaemonProcess("manage_athenad", "selfdrive.athena.manage_athenad", "AthenadPid"),
  NativeProcess("dmonitoringmodeld", "selfdrive/modeld", ["./dmonitoringmodeld"], enabled=(not PC or WEBCAM), callback=driverview),
-  NativeProcess("encoderd", "selfdrive/loggerd", ["./encoderd"]),
-  NativeProcess("loggerd", "selfdrive/loggerd", ["./loggerd"], onroad=False, callback=logging),
+  NativeProcess("encoderd", "system/loggerd", ["./encoderd"]),
+  NativeProcess("loggerd", "system/loggerd", ["./loggerd"], onroad=False, callback=logging),
  NativeProcess("modeld", "selfdrive/modeld", ["./modeld"]),
  NativeProcess("mapsd", "selfdrive/navd", ["./map_renderer"], enabled=False),
  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"], enabled=False),
-  NativeProcess("sensord", "selfdrive/sensord", ["./sensord"], enabled=not PC),
+  NativeProcess("sensord", "system/sensord", ["./sensord"], enabled=not PC),
  NativeProcess("ui", "selfdrive/ui", ["./ui"], offroad=True, watchdog_max_dt=(5 if not PC else None)),
  NativeProcess("soundd", "selfdrive/ui/soundd", ["./soundd"], offroad=True),
  NativeProcess("locationd", "selfdrive/locationd", ["./locationd"]),
@ -47,21 +53,21 @@ procs = [
  PythonProcess("calibrationd", "selfdrive.locationd.calibrationd"),
  PythonProcess("torqued", "selfdrive.locationd.torqued"),
  PythonProcess("controlsd", "selfdrive.controls.controlsd"),
-  PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
+  PythonProcess("deleter", "system.loggerd.deleter", offroad=True),
  PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
  PythonProcess("laikad", "selfdrive.locationd.laikad"),
-  PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=TICI),
+  PythonProcess("rawgpsd", "system.sensord.rawgps.rawgpsd", enabled=TICI, onroad=False, callback=qcomgps),
  PythonProcess("navd", "selfdrive.navd.navd"),
  PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
  PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
-  NativeProcess("ubloxd", "selfdrive/locationd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
-  PythonProcess("pigeond", "selfdrive.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
+  NativeProcess("ubloxd", "system/ubloxd", ["./ubloxd"], enabled=TICI, onroad=False, callback=ublox),
+  PythonProcess("pigeond", "system.sensord.pigeond", enabled=TICI, onroad=False, callback=ublox),
  PythonProcess("plannerd", "selfdrive.controls.plannerd"),
  PythonProcess("radard", "selfdrive.controls.radard"),
  PythonProcess("thermald", "selfdrive.thermald.thermald", offroad=True),
  PythonProcess("tombstoned", "selfdrive.tombstoned", enabled=not PC, offroad=True),
  PythonProcess("updated", "selfdrive.updated", enabled=not PC, onroad=False, offroad=True),
-  PythonProcess("uploader", "selfdrive.loggerd.uploader", offroad=True),
+  PythonProcess("uploader", "system.loggerd.uploader", offroad=True),
  PythonProcess("statsd", "selfdrive.statsd", offroad=True),

  # debug procs
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@ -70,7 +70,7 @@ lenv.Program('_dmonitoringmodeld', [
 if use_thneed and arch == "larch64" or GetOption('pc_thneed'):
  fn = File("models/supercombo").abspath

-  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTWG=1", "IMAGE=2", "GPU=1", "CLCACHE=0"]
+  tinygrad_opts = ["NATIVE_EXPLOG=1", "VALIDHACKS=1", "OPTLOCAL=1", "IMAGE=2", "GPU=1", "ENABLE_METHOD_CACHE=1"]
  if not GetOption('pc_thneed'):
    # use FLOAT16 on device for speed + don't cache the CL kernels for space
    tinygrad_opts += ["FLOAT16=1", "PYOPENCL_NO_CACHE=1"]
--- a/selfdrive/modeld/models/README.md
+++ b/selfdrive/modeld/models/README.md
@ -2,7 +2,7 @@
 To view the architecture of the ONNX networks, you can use [netron](https://netron.app/)

 ## Supercombo
-### Supercombo input format (Full size: 393738 x float32)
+### Supercombo input format (Full size: 799906 x float32)
 * **image stream**
  * Two consecutive images (256 * 512 * 3 in RGB) recorded at 20 Hz : 393216 = 2 * 6 * 128 * 256
    * Each 256 * 512 image is represented in YUV420 with 6 channels : 6 * 128 * 256
@ -16,11 +16,11 @@ To view the architecture of the ONNX networks, you can use [netron](https://netr
      * Channel 4 represents the half-res U channel
      * Channel 5 represents the half-res V channel
 * **desire**
-  * one-hot encoded vector to command model to execute certain actions, bit only needs to be sent for 1 frame : 8
+  * one-hot encoded buffer to command model to execute certain actions, bit needs to be sent for the past 5 seconds (at 20FPS) : 100 * 8
 * **traffic convention**
  * one-hot encoded vector to tell model whether traffic is right-hand or left-hand traffic : 2
-* **recurrent state**
-  * The recurrent state vector that is fed back into the GRU for temporal context : 512
+* **feature buffer**
+  * A buffer of intermediate features that gets appended to the current feature to form a 5 seconds temporal context (at 20FPS) : 99 * 128


 ### Supercombo output format (Full size: XXX x float32)
--- a/selfdrive/statsd.py
+++ b/selfdrive/statsd.py
@ -13,7 +13,7 @@ from system.swaglog import cloudlog
 from system.hardware import HARDWARE
 from common.file_helpers import atomic_write_in_dir
 from system.version import get_normalized_origin, get_short_branch, get_short_version, is_dirty
-from selfdrive.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S
+from system.loggerd.config import STATS_DIR, STATS_DIR_FILE_LIMIT, STATS_SOCKET, STATS_FLUSH_TIME_S


 class METRIC_TYPE:
--- a/selfdrive/test/process_replay/model_replay_ref_commit
+++ b/selfdrive/test/process_replay/model_replay_ref_commit
@ -1 +1 @@
-ba947edbb131a2a36ced7c490dfcf3280ad5b167
+ab64afd1abd1059c14f50c67b51e5ef89029f216
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@ -449,9 +449,6 @@ def setup_env(simulation=False, CP=None, cfg=None, controlsState=None):
    if CP.openpilotLongitudinalControl:
      params.put_bool("ExperimentalLongitudinalEnabled", True)

-    # controlsd process configuration assume all routes are out of dashcam
-    params.put_bool("DashcamOverride", True)
-

 def python_replay_process(cfg, lr, fingerprint=None):
  sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@ -1 +1 @@
-f9c7e05b836c4bff364978752e82d64b90f9d6e6
+3c5ebb007f76ba0de710ff7a8cf5910ad2edf22f
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@ -29,12 +29,12 @@ source_segments = [
  ("SUBARU", "341dccd5359e3c97|2022-09-12--10-35-33--3"),      # SUBARU.OUTBACK
  ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),         # GM.BOLT_EUV
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),        # FORD.BRONCO_SPORT_MK1
  ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
  ("VOLKSWAGEN", "de9592456ad7d144|2021-06-29--11-00-15--6"),  # VOLKSWAGEN.GOLF
  ("MAZDA", "bd6a637565e91581|2021-10-30--15-14-53--4"),       # MAZDA.CX9_2021

  # Enable when port is tested and dashcamOnly is no longer set
+  #("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),  # FORD.BRONCO_SPORT_MK1
  #("TESLA", "bb50caf5f0945ab1|2021-06-19--17-20-18--3"),      # TESLA.AP2_MODELS
  #("VOLKSWAGEN2", "3cfdec54aa035f3f|2022-07-19--23-45-10--2"),  # VOLKSWAGEN.PASSAT_NMS
 ]
@ -53,7 +53,6 @@ segments = [
  ("SUBARU", "regen1E72BBDCED5|2022-09-27--15-55-31--0"),
  ("GM", "regen45B05A80EF6|2022-09-27--15-57-22--0"),
  ("GM2", "376bf99325883932|2022-10-27--13-41-22--1"),
-  ("FORD", "54827bf84c38b14f|2023-01-26--21-59-07--4"),
  ("NISSAN", "regenC19D899B46D|2022-09-27--15-59-13--0"),
  ("VOLKSWAGEN", "regenD8F7AC4BD0D|2022-09-27--16-41-45--0"),
  ("MAZDA", "regenFC3F9ECBB64|2022-09-27--16-03-09--0"),
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@ -15,7 +15,7 @@ from common.basedir import BASEDIR
 from common.timeout import Timeout
 from common.params import Params
 from selfdrive.controls.lib.events import EVENTS, ET
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.test.helpers import set_params_enabled, release_only
 from tools.lib.logreader import LogReader

--- a/selfdrive/test/test_valgrind_replay.py
+++ b/selfdrive/test/test_valgrind_replay.py
@ -28,7 +28,7 @@ CONFIGS = [
    },
    ignore=[],
    command="./ubloxd",
-    path="selfdrive/locationd/",
+    path="system/ubloxd",
    segment="0375fdf7b1ce594d|2019-06-13--08-32-25--3",
    wait_for_response=True
  ),
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@ -18,7 +18,7 @@ from common.params import Params
 from common.realtime import DT_TRML, sec_since_boot
 from selfdrive.controls.lib.alertmanager import set_offroad_alert
 from system.hardware import HARDWARE, TICI, AGNOS
-from selfdrive.loggerd.config import get_available_percent
+from system.loggerd.config import get_available_percent
 from selfdrive.statsd import statlog
 from system.swaglog import cloudlog
 from selfdrive.thermald.power_monitoring import PowerMonitoring
--- a/selfdrive/tombstoned.py
+++ b/selfdrive/tombstoned.py
@ -10,7 +10,7 @@ import glob
 from typing import NoReturn

 from common.file_helpers import mkdirs_exists_ok
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 import selfdrive.sentry as sentry
 from system.swaglog import cloudlog
 from system.version import get_commit
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@ -24,8 +24,6 @@ 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) {
@ -125,42 +123,6 @@ void MapWindow::updateState(const UIState &s) {
    }
  }

-  // TODO should check a valid/status flag
-  if (sm.updated("gnssMeasurements") && sm["gnssMeasurements"].getGnssMeasurements().getGpsWeek() > 0){
-    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;
-        }
-      }
-    }
-  }
-
  if (sm.updated("navRoute") && sm["navRoute"].getNavRoute().getCoordinates().size()) {
    qWarning() << "Got new navRoute from navd. Opening map:" << allow_open;

--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@ -669,16 +669,18 @@ void AnnotatedCameraWidget::paintGL() {
    }

    // Wide or narrow cam dependent on speed
-    float v_ego = sm["carState"].getCarState().getVEgo();
-    if ((v_ego < 10) || s->wide_cam_only) {
-      wide_cam_requested = true;
-    } else if (v_ego > 15) {
-      wide_cam_requested = false;
+    bool has_wide_cam = available_streams.count(VISION_STREAM_WIDE_ROAD);
+    if (has_wide_cam) {
+      float v_ego = sm["carState"].getCarState().getVEgo();
+      if ((v_ego < 10) || available_streams.size() == 1) {
+        wide_cam_requested = true;
+      } else if (v_ego > 15) {
+        wide_cam_requested = false;
+      }
+      wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode();
+      // for replay of old routes, never go to widecam
+      wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
    }
-    wide_cam_requested = wide_cam_requested && sm["controlsState"].getControlsState().getExperimentalMode() && false;
-    // TODO: also detect when ecam vision stream isn't available
-    // for replay of old routes, never go to widecam
-    wide_cam_requested = wide_cam_requested && s->scene.calibration_wide_valid;
    CameraWidget::setStreamType(wide_cam_requested ? VISION_STREAM_WIDE_ROAD : VISION_STREAM_ROAD);

    s->scene.wide_cam = CameraWidget::getStreamType() == VISION_STREAM_WIDE_ROAD;
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@ -96,8 +96,10 @@ mat4 get_fit_view_transform(float widget_aspect_ratio, float frame_aspect_ratio)
 CameraWidget::CameraWidget(std::string stream_name, VisionStreamType type, bool zoom, QWidget* parent) :
                          stream_name(stream_name), requested_stream_type(type), zoomed_view(zoom), QOpenGLWidget(parent) {
  setAttribute(Qt::WA_OpaquePaintEvent);
+  qRegisterMetaType<std::set<VisionStreamType>>("availableStreams");
  QObject::connect(this, &CameraWidget::vipcThreadConnected, this, &CameraWidget::vipcConnected, Qt::BlockingQueuedConnection);
  QObject::connect(this, &CameraWidget::vipcThreadFrameReceived, this, &CameraWidget::vipcFrameReceived, Qt::QueuedConnection);
+  QObject::connect(this, &CameraWidget::vipcAvailableStreamsUpdated, this, &CameraWidget::availableStreamsUpdated, Qt::QueuedConnection);
 }

 CameraWidget::~CameraWidget() {
@ -181,6 +183,10 @@ void CameraWidget::stopVipcThread() {
  }
 }

+void CameraWidget::availableStreamsUpdated(std::set<VisionStreamType> streams) {
+  available_streams = streams;
+}
+
 void CameraWidget::updateFrameMat() {
  int w = width(), h = height();

@ -366,6 +372,14 @@ void CameraWidget::vipcThread() {

    if (!vipc_client->connected) {
      clearFrames();
+      auto streams = VisionIpcClient::getAvailableStreams(stream_name, false);
+      if (streams.empty()) {
+        qWarning() << "VisionIPC connected, but no streams available";
+        QThread::msleep(100);
+        continue;
+      }
+      emit vipcAvailableStreamsUpdated(streams);
+
      if (!vipc_client->connect(false)) {
        QThread::msleep(100);
        continue;
@ -400,4 +414,5 @@ void CameraWidget::vipcThread() {
 void CameraWidget::clearFrames() {
  std::lock_guard lk(frame_lock);
  frames.clear();
+  available_streams.clear();
 }
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@ -41,6 +41,7 @@ signals:
  void clicked();
  void vipcThreadConnected(VisionIpcClient *);
  void vipcThreadFrameReceived();
+  void vipcAvailableStreamsUpdated(std::set<VisionStreamType>);

 protected:
  void paintGL() override;
@ -71,6 +72,7 @@ protected:
  int stream_stride = 0;
  std::atomic<VisionStreamType> active_stream_type;
  std::atomic<VisionStreamType> requested_stream_type;
+  std::set<VisionStreamType> available_streams;
  QThread *vipc_thread = nullptr;

  // Calibration
@ -88,4 +90,7 @@ protected:
 protected slots:
  void vipcConnected(VisionIpcClient *vipc_client);
  void vipcFrameReceived();
+  void availableStreamsUpdated(std::set<VisionStreamType> streams);
 };
+
+Q_DECLARE_METATYPE(std::set<VisionStreamType>);
--- a/selfdrive/ui/translations/main_pt-BR.ts
+++ b/selfdrive/ui/translations/main_pt-BR.ts
@ -596,16 +596,17 @@ trabalho definido</translation>
    </message>
    <message>
        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Não é possível montar a partição de dados. Partição corrompida. Confirme para apagar e redefinir o dispositivo.</translation>
    </message>
    <message>
        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>Pressione confirmar para apagar todo o conteúdo e configurações. Pressione cancelar para voltar.</translation>
    </message>
    <message>
        <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>Redefinindo o dispositivo
+Isso pode levar até um minuto.</translation>
    </message>
 </context>
 <context>
@ -707,11 +708,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>Não há software personalizado nesta URL.</translation>
    </message>
    <message>
        <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>Algo deu errado. Reinicie o dispositivo.</translation>
    </message>
 </context>
 <context>
--- a/selfdrive/ui/translations/main_zh-CHT.ts
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@ -200,7 +200,7 @@
    </message>
    <message>
        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
-        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+        <translation>openpilot 需要將設備固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
    </message>
    <message>
        <source> Your device is pointed %1° %2 and %3° %4.</source>
@ -592,16 +592,16 @@ location set</source>
    </message>
    <message>
        <source>Unable to mount data partition. Partition may be corrupted. Press confirm to erase and reset your device.</source>
-        <translation type="unfinished"></translation>
+        <translation>無法掛載資料分割區 分割區可能已經毀損 請確認是否要刪除並重新設定</translation>
    </message>
    <message>
        <source>Press confirm to erase all content and settings. Press cancel to resume boot.</source>
-        <translation type="unfinished"></translation>
+        <translation>按下確認以刪除所有內容及設定 按下取消來繼續開機</translation>
    </message>
    <message>
        <source>Resetting device...
 This may take up to a minute.</source>
-        <translation type="unfinished"></translation>
+        <translation>設備重置中 此過程可能需要幾分鐘</translation>
    </message>
 </context>
 <context>
@ -703,11 +703,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>No custom software found at this URL.</source>
-        <translation type="unfinished"></translation>
+        <translation>無法在此URL找到定制的軟體</translation>
    </message>
    <message>
        <source>Something went wrong. Reboot the device.</source>
-        <translation type="unfinished"></translation>
+        <translation>發生了一些錯誤 請重新啟動您的設備</translation>
    </message>
 </context>
 <context>
@ -1028,11 +1028,11 @@ This may take up to a minute.</source>
    </message>
    <message>
        <source>openpilot longitudinal control may come in a future update.</source>
-        <translation type="unfinished"></translation>
+        <translation>未來可能會推出openpilot縱向控制</translation>
    </message>
    <message>
        <source>An experimental version of openpilot longitudinal control can be tested, along with Experimental mode, on non-release branches.</source>
-        <translation type="unfinished"></translation>
+        <translation>在非發行分支中 可找到包含實驗模式的openpilot縱向控制測試版本</translation>
    </message>
    <message>
        <source>Enable experimental longitudinal control to allow Experimental mode.</source>
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@ -234,7 +234,6 @@ void UIState::updateStatus() {
    if (scene.started) {
      status = STATUS_DISENGAGED;
      scene.started_frame = sm->frame;
-      wide_cam_only = Params().getBool("WideCameraOnly");
    }
    started_prev = scene.started;
    emit offroadTransition(!scene.started);
@ -252,12 +251,10 @@ UIState::UIState(QObject *parent) : QObject(parent) {
  sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
    "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
    "pandaStates", "carParams", "driverMonitoringState", "carState", "liveLocationKalman", "driverStateV2",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
-    "uiPlan",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "uiPlan",
  });

  Params params;
-  wide_cam_only = params.getBool("WideCameraOnly");
  prime_type = std::atoi(params.get("PrimeType").c_str());
  language = QString::fromStdString(params.get("LanguageSetting"));

--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@ -150,7 +150,6 @@ public:
  QString language;

  QTransform car_space_transform;
-  bool wide_cam_only;

 signals:
  void uiUpdate(const UIState &s);
--- a/system/hardware/tici/amplifier.py
+++ b/system/hardware/tici/amplifier.py
@ -24,13 +24,10 @@ BASE_CONFIG = [
  AmpConfig("MCLK prescaler", 0b01, 0x10, 4, 0b00110000),
  AmpConfig("PM: enable speakers", 0b11, 0x4D, 4, 0b00110000),
  AmpConfig("PM: enable DACs", 0b11, 0x4D, 0, 0b00000011),
-  AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
-  AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
  AmpConfig("Enable PLL1", 0b1, 0x12, 7, 0b10000000),
  AmpConfig("Enable PLL2", 0b1, 0x1A, 7, 0b10000000),
  AmpConfig("DAI1: I2S mode", 0b00100, 0x14, 2, 0b01111100),
  AmpConfig("DAI2: I2S mode", 0b00100, 0x1C, 2, 0b01111100),
-  AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
  AmpConfig("DAI1 Passband filtering: music mode", 0b1, 0x18, 7, 0b10000000),
  AmpConfig("DAI1 voice mode gain (DV1G)", 0b00, 0x2F, 4, 0b00110000),
  AmpConfig("DAI1 attenuation (DV1)", 0x0, 0x2F, 0, 0b00001111),
@ -41,7 +38,6 @@ BASE_CONFIG = [
  AmpConfig("ALC/excursion limiter release time", 0b101, 0x43, 4, 0b01110000),
  AmpConfig("ALC multiband enable", 0b1, 0x43, 3, 0b00001000),
  AmpConfig("DAI1 EQ enable", 0b0, 0x49, 0, 0b00000001),
-  AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
  AmpConfig("DAI2 EQ clip detection disabled", 0b1, 0x32, 4, 0b00010000),
  AmpConfig("DAI2 EQ attenuation", 0x5, 0x32, 0, 0b00001111),
  AmpConfig("Excursion limiter upper corner freq", 0b100, 0x41, 4, 0b01110000),
@ -64,6 +60,11 @@ BASE_CONFIG = [

 CONFIGS = {
  "tici": [
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Right speaker output volume", 0x1c, 0x3E, 0, 0b00011111),
+    AmpConfig("DAI2 EQ enable", 0b1, 0x49, 1, 0b00000010),
+
    *configs_from_eq_params(0x84, EQParams(0x274F, 0xC0FF, 0x3BF9, 0x0B3C, 0x1656)),
    *configs_from_eq_params(0x8E, EQParams(0x1009, 0xC6BF, 0x2952, 0x1C97, 0x30DF)),
    *configs_from_eq_params(0x98, EQParams(0x0F75, 0xCBE5, 0x0ED2, 0x2528, 0x3E42)),
@ -72,11 +73,13 @@ CONFIGS = {
  ],
  "tizi": [
    AmpConfig("Left speaker output from left DAC", 0b1, 0x2B, 0, 0b11111111),
+    AmpConfig("Right speaker output from right DAC", 0b1, 0x2C, 0, 0b11111111),
    AmpConfig("Left Speaker Mixer Gain", 0b00, 0x2D, 0, 0b00000011),
-    AmpConfig("Left speaker output volume", 0x1F, 0x3D, 0, 0b00011111),
-    AmpConfig("Right speaker output volume", 0x1F, 0x3E, 0, 0b00011111),
-    AmpConfig("DAI1 attenuation (DV1)", 0x4, 0x2F, 0, 0b00001111),
-    AmpConfig("DAI2 attenuation (DV2)", 0x4, 0x31, 0, 0b00001111),
+    AmpConfig("Right Speaker Mixer Gain", 0b00, 0x2D, 2, 0b00001100),
+    AmpConfig("Left speaker output volume", 0x17, 0x3D, 0, 0b00011111),
+    AmpConfig("Right speaker output volume", 0x17, 0x3E, 0, 0b00011111),
+
+    AmpConfig("DAI2 EQ enable", 0b0, 0x49, 1, 0b00000010),
    AmpConfig("DAI2: DC blocking", 0b0, 0x20, 0, 0b00000001),
    AmpConfig("ALC enable", 0b0, 0x43, 7, 0b10000000),
    AmpConfig("DAI2 EQ attenuation", 0x2, 0x32, 0, 0b00001111),
@ -91,12 +94,6 @@ CONFIGS = {
    AmpConfig("Right DAC input mixer: DAI2 left", 0b0, 0x22, 1, 0b00000010),
    AmpConfig("Right DAC input mixer: DAI2 right", 0b1, 0x22, 0, 0b00000001),
    AmpConfig("Volume adjustment smoothing disabled", 0b1, 0x49, 6, 0b01000000),
-
-    *configs_from_eq_params(0x84, EQParams(0x3084, 0xC023, 0x3D60, 0x042B, 0x1222)),
-    *configs_from_eq_params(0x8E, EQParams(0x2FB2, 0xC05C, 0x3BD3, 0x06C5, 0x16BB)),
-    *configs_from_eq_params(0x98, EQParams(0x21F5, 0xDF73, 0x2DFE, 0x371A, 0x2C80)),
-    *configs_from_eq_params(0xA2, EQParams(0x2A5A, 0x0AD0, 0x14FA, 0x3F14, 0x3C76)),
-    *configs_from_eq_params(0xAC, EQParams(0x1577, 0x3FAE, 0xEE60, 0x0664, 0x3D86)),
  ],
 }

--- a/system/hardware/tici/test_power_draw.py
+++ b/system/hardware/tici/test_power_draw.py
@ -3,6 +3,7 @@ import unittest
 import time
 import math
 from dataclasses import dataclass
+from tabulate import tabulate

 from system.hardware import HARDWARE, TICI
 from system.hardware.tici.power_monitor import get_power
@ -20,7 +21,7 @@ class Proc:

 PROCS = [
  Proc('camerad', 2.15),
-  Proc('modeld', 1.15, atol=0.2),
+  Proc('modeld', 0.93, atol=0.2),
  Proc('dmonitoringmodeld', 0.4),
  Proc('encoderd', 0.23),
 ]
@ -58,15 +59,16 @@ class TestPowerDraw(unittest.TestCase):

    manager_cleanup()

-    print("-"*35)
-    print(f"Baseline {baseline:.2f}W\n")
+    tab = []
+    tab.append(['process', 'expected (W)', 'current (W)'])
    for proc in PROCS:
      cur = used[proc.name]
      expected = proc.power
-      print(f"{proc.name.ljust(20)} {expected:.2f}W  {cur:.2f}W")
+      tab.append([proc.name, round(expected, 2), round(cur, 2)])
      with self.subTest(proc=proc.name):
        self.assertTrue(math.isclose(cur, expected, rel_tol=proc.rtol, abs_tol=proc.atol))
-    print("-"*35)
+    print(tabulate(tab))
+    print(f"Baseline {baseline:.2f}W\n")


 if __name__ == "__main__":
--- a/selfdrive/loggerd/.gitignore
+++ b/selfdrive/loggerd/.gitignore
--- a/selfdrive/loggerd/README.md
+++ b/selfdrive/loggerd/README.md
--- a/selfdrive/loggerd/SConscript
+++ b/selfdrive/loggerd/SConscript
--- a/selfdrive/loggerd/init.py
+++ b/selfdrive/loggerd/init.py
--- a/selfdrive/loggerd/bootlog.cc
+++ b/selfdrive/loggerd/bootlog.cc
@ -3,7 +3,7 @@

 #include "cereal/messaging/messaging.h"
 #include "common/swaglog.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"


 static kj::Array<capnp::word> build_boot_log() {
--- a/selfdrive/loggerd/config.py
+++ b/selfdrive/loggerd/config.py
--- a/selfdrive/loggerd/deleter.py
+++ b/selfdrive/loggerd/deleter.py
@ -3,8 +3,8 @@ import os
 import shutil
 import threading
 from system.swaglog import cloudlog
-from selfdrive.loggerd.config import ROOT, get_available_bytes, get_available_percent
-from selfdrive.loggerd.uploader import listdir_by_creation
+from system.loggerd.config import ROOT, get_available_bytes, get_available_percent
+from system.loggerd.uploader import listdir_by_creation

 MIN_BYTES = 5 * 1024 * 1024 * 1024
 MIN_PERCENT = 10
--- a/selfdrive/loggerd/encoder/encoder.cc
+++ b/selfdrive/loggerd/encoder/encoder.cc
@ -1,5 +1,5 @@
 #include <cassert>
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"

 VideoEncoder::~VideoEncoder() {}

--- a/selfdrive/loggerd/encoder/encoder.h
+++ b/selfdrive/loggerd/encoder/encoder.h
@ -7,7 +7,7 @@
 #include "cereal/messaging/messaging.h"
 #include "cereal/visionipc/visionipc.h"
 #include "common/queue.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "system/camerad/cameras/camera_common.h"

 #define V4L2_BUF_FLAG_KEYFRAME 8
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
+++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.cc
@ -1,6 +1,6 @@
 #pragma clang diagnostic ignored "-Wdeprecated-declarations"

-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"

 #include <fcntl.h>
 #include <unistd.h>
--- a/selfdrive/loggerd/encoder/ffmpeg_encoder.h
+++ b/selfdrive/loggerd/encoder/ffmpeg_encoder.h
@ -11,8 +11,8 @@ extern "C" {
 #include <libavutil/imgutils.h>
 }

-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/loggerd.h"

 class FfmpegEncoder : public VideoEncoder {
 public:
--- a/selfdrive/loggerd/encoder/v4l_encoder.cc
+++ b/selfdrive/loggerd/encoder/v4l_encoder.cc
@ -2,7 +2,7 @@
 #include <sys/ioctl.h>
 #include <poll.h>

-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #include "common/util.h"
 #include "common/timing.h"

--- a/selfdrive/loggerd/encoder/v4l_encoder.h
+++ b/selfdrive/loggerd/encoder/v4l_encoder.h
@ -1,7 +1,7 @@
 #pragma once

 #include "common/queue.h"
-#include "selfdrive/loggerd/encoder/encoder.h"
+#include "system/loggerd/encoder/encoder.h"

 #define BUF_IN_COUNT 7
 #define BUF_OUT_COUNT 6
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/loggerd.h"
+#include "system/loggerd/loggerd.h"

 ExitHandler do_exit;

--- a/selfdrive/loggerd/logger.cc
+++ b/selfdrive/loggerd/logger.cc
@ -1,4 +1,4 @@
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"

 #include <sys/stat.h>
 #include <unistd.h>
--- a/selfdrive/loggerd/logger.h
+++ b/selfdrive/loggerd/logger.h
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@ -1,5 +1,5 @@
-#include "selfdrive/loggerd/loggerd.h"
-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/loggerd.h"
+#include "system/loggerd/video_writer.h"

 ExitHandler do_exit;

--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@ -23,13 +23,13 @@
 #include "common/util.h"
 #include "system/hardware/hw.h"

-#include "selfdrive/loggerd/encoder/encoder.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/encoder/encoder.h"
+#include "system/loggerd/logger.h"
 #ifdef QCOM2
-#include "selfdrive/loggerd/encoder/v4l_encoder.h"
+#include "system/loggerd/encoder/v4l_encoder.h"
 #define Encoder V4LEncoder
 #else
-#include "selfdrive/loggerd/encoder/ffmpeg_encoder.h"
+#include "system/loggerd/encoder/ffmpeg_encoder.h"
 #define Encoder FfmpegEncoder
 #endif

--- a/selfdrive/loggerd/tests/init.py
+++ b/selfdrive/loggerd/tests/init.py
--- a/selfdrive/loggerd/tests/fill_eon.py
+++ b/selfdrive/loggerd/tests/fill_eon.py
@ -3,8 +3,8 @@

 import os

-from selfdrive.loggerd.config import ROOT, get_available_percent
-from selfdrive.loggerd.tests.loggerd_tests_common import create_random_file
+from system.loggerd.config import ROOT, get_available_percent
+from system.loggerd.tests.loggerd_tests_common import create_random_file


 if __name__ == "__main__":
--- a/selfdrive/loggerd/tests/loggerd_tests_common.py
+++ b/selfdrive/loggerd/tests/loggerd_tests_common.py
@ -5,7 +5,7 @@ import random
 import tempfile
 import unittest

-import selfdrive.loggerd.uploader as uploader
+import system.loggerd.uploader as uploader

 def create_random_file(file_path, size_mb, lock=False):
  try:
--- a/selfdrive/loggerd/tests/test_deleter.py
+++ b/selfdrive/loggerd/tests/test_deleter.py
@ -6,8 +6,8 @@ import unittest
 from collections import namedtuple

 from common.timeout import Timeout, TimeoutException
-import selfdrive.loggerd.deleter as deleter
-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
+import system.loggerd.deleter as deleter
+from system.loggerd.tests.loggerd_tests_common import UploaderTestCase

 Stats = namedtuple("Stats", ['f_bavail', 'f_blocks', 'f_frsize'])

--- a/selfdrive/loggerd/tests/test_encoder.py
+++ b/selfdrive/loggerd/tests/test_encoder.py
@ -14,7 +14,7 @@ from tqdm import trange
 from common.params import Params
 from common.timeout import Timeout
 from system.hardware import TICI
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from tools.lib.logreader import LogReader

--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@ -9,7 +9,7 @@
 #include "catch2/catch.hpp"
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
-#include "selfdrive/loggerd/logger.h"
+#include "system/loggerd/logger.h"
 #include "tools/replay/util.h"

 typedef cereal::Sentinel::SentinelType SentinelType;
--- a/selfdrive/loggerd/tests/test_loggerd.py
+++ b/selfdrive/loggerd/tests/test_loggerd.py
@ -15,7 +15,7 @@ from cereal.services import service_list
 from common.basedir import BASEDIR
 from common.params import Params
 from common.timeout import Timeout
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 from selfdrive.manager.process_config import managed_processes
 from system.version import get_version
 from tools.lib.logreader import LogReader
@ -51,7 +51,7 @@ class TestLoggerd(unittest.TestCase):

  def _gen_bootlog(self):
    with Timeout(5):
-      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "selfdrive/loggerd"), encoding='utf-8')
+      out = subprocess.check_output("./bootlog", cwd=os.path.join(BASEDIR, "system/loggerd"), encoding='utf-8')

    log_fn = self._get_log_fn(out)

--- a/selfdrive/loggerd/tests/test_runner.cc
+++ b/selfdrive/loggerd/tests/test_runner.cc
--- a/selfdrive/loggerd/tests/test_uploader.py
+++ b/selfdrive/loggerd/tests/test_uploader.py
@ -7,9 +7,9 @@ import logging
 import json

 from system.swaglog import cloudlog
-import selfdrive.loggerd.uploader as uploader
+import system.loggerd.uploader as uploader

-from selfdrive.loggerd.tests.loggerd_tests_common import UploaderTestCase
+from system.loggerd.tests.loggerd_tests_common import UploaderTestCase


 class TestLogHandler(logging.Handler):
--- a/selfdrive/loggerd/tools/mark_all_uploaded.py
+++ b/selfdrive/loggerd/tools/mark_all_uploaded.py
@ -1,7 +1,7 @@
 import os
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE
+from system.loggerd.uploader import UPLOAD_ATTR_NAME, UPLOAD_ATTR_VALUE

-from selfdrive.loggerd.config import ROOT
+from system.loggerd.config import ROOT
 for folder in os.walk(ROOT):
  for file1 in folder[2]:
    full_path = os.path.join(folder[0], file1)
--- a/selfdrive/loggerd/tools/mark_unuploaded.py
+++ b/selfdrive/loggerd/tools/mark_unuploaded.py
@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import os
 import sys
-from selfdrive.loggerd.uploader import UPLOAD_ATTR_NAME
+from system.loggerd.uploader import UPLOAD_ATTR_NAME

 for fn in sys.argv[1:]:
  print(f"unmarking {fn}")
--- a/selfdrive/loggerd/uploader.py
+++ b/selfdrive/loggerd/uploader.py
@ -16,8 +16,8 @@ from common.api import Api
 from common.params import Params
 from common.realtime import set_core_affinity
 from system.hardware import TICI
-from selfdrive.loggerd.xattr_cache import getxattr, setxattr
-from selfdrive.loggerd.config import ROOT
+from system.loggerd.xattr_cache import getxattr, setxattr
+from system.loggerd.config import ROOT
 from system.swaglog import cloudlog

 NetworkType = log.DeviceState.NetworkType
--- a/selfdrive/loggerd/video_writer.cc
+++ b/selfdrive/loggerd/video_writer.cc
@ -2,7 +2,7 @@
 #include <cassert>
 #include <cstdlib>

-#include "selfdrive/loggerd/video_writer.h"
+#include "system/loggerd/video_writer.h"
 #include "common/swaglog.h"
 #include "common/util.h"

--- a/selfdrive/loggerd/video_writer.h
+++ b/selfdrive/loggerd/video_writer.h
--- a/selfdrive/loggerd/xattr_cache.py
+++ b/selfdrive/loggerd/xattr_cache.py
--- a/system/sensord/.gitignore
+++ b/system/sensord/.gitignore
@ -0,0 +1 @@
+_sensord
--- a/selfdrive/sensord/SConscript
+++ b/selfdrive/sensord/SConscript
--- a/selfdrive/sensord/init.py
+++ b/selfdrive/sensord/init.py
--- a/selfdrive/sensord/pigeond.py
+++ b/selfdrive/sensord/pigeond.py
@ -183,6 +183,7 @@ def initialize_pigeon(pigeon: TTYPigeon) -> bool:
      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x02\x13\x01\x20\x6C")
      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x09\x01\x1E\x70")
      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x0A\x0B\x01\x20\x74")
+      pigeon.send_with_ack(b"\xB5\x62\x06\x01\x03\x00\x01\x35\x01\x41\xAD")
      cloudlog.debug("pigeon configured")

      # try restoring almanac backup
--- a/selfdrive/sensord/rawgps/compare.py
+++ b/selfdrive/sensord/rawgps/compare.py
--- a/selfdrive/sensord/rawgps/modemdiag.py
+++ b/selfdrive/sensord/rawgps/modemdiag.py
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@ -15,8 +15,8 @@ from common.gpio import gpio_init, gpio_set
 from laika.gps_time import GPSTime
 from system.hardware.tici.pins import GPIO
 from system.swaglog import cloudlog
-from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
-from selfdrive.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
+from system.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
+from system.sensord.rawgps.structs import (dict_unpacker, position_report, relist,
                                              gps_measurement_report, gps_measurement_report_sv,
                                              glonass_measurement_report, glonass_measurement_report_sv,
                                              oemdre_measurement_report, oemdre_measurement_report_sv, oemdre_svpoly_report,
--- a/selfdrive/sensord/rawgps/structs.py
+++ b/selfdrive/sensord/rawgps/structs.py
--- a/selfdrive/sensord/rawgps/test_rawgps.py
+++ b/selfdrive/sensord/rawgps/test_rawgps.py
--- a/Show More
+++ b/Show More