diff --git a/cereal/car.capnp b/cereal/car.capnp
index 68d2176508..21d3951c4f 100644
--- a/cereal/car.capnp
+++ b/cereal/car.capnp
@@ -79,6 +79,9 @@ struct CarEvent @0x9b1657f34caf3ad3 {
     tooDistracted @54;
     posenetInvalid @55;
     soundsUnavailable @56;
+    preLaneChangeLeft @57;
+    preLaneChangeRight @58;
+    laneChange @59;
   }
 }
 
@@ -300,6 +303,7 @@ struct CarParams {
   minEnableSpeed @7 :Float32;
   minSteerSpeed @8 :Float32;
   safetyModel @9 :SafetyModel;
+  safetyModelPassive @42 :SafetyModel = noOutput;
   safetyParam @10 :Int16;
 
   steerMaxBP @11 :List(Float32);
@@ -343,6 +347,7 @@ struct CarParams {
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
   isPandaBlack @39: Bool;
+  dashcamOnly @41: Bool;
 
   struct LateralPIDTuning {
     kpBP @0 :List(Float32);
@@ -398,6 +403,7 @@ struct CarParams {
     chrysler @9;
     tesla @10;
     subaru @11;
+    gmPassive @12;
   }
 
   enum SteerControlType {
diff --git a/cereal/log.capnp b/cereal/log.capnp
index 479e5ec642..cc17deebc4 100644
--- a/cereal/log.capnp
+++ b/cereal/log.capnp
@@ -442,7 +442,7 @@ struct ControlsState @0x97ff69c53601abf1 {
   alertSoundDEPRECATED @45 :Text;
   alertSound @56 :Car.CarControl.HUDControl.AudibleAlert;
   awarenessStatus @26 :Float32;
-  angleModelBias @27 :Float32;
+  angleModelBiasDEPRECATED @27 :Float32;
   gpsPlannerActive @40 :Bool;
   engageable @41 :Bool;  # can OP be engaged?
   driverMonitoringOn @43 :Bool;
@@ -516,8 +516,10 @@ struct ControlsState @0x97ff69c53601abf1 {
     steerAngle @1 :Float32;
     i @2 :Float32;
     output @3 :Float32;
+    lqrOutput @4 :Float32;
    }
 
+
 }
 
 struct LiveEventData {
@@ -527,6 +529,7 @@ struct LiveEventData {
 
 struct ModelData {
   frameId @0 :UInt32;
+  timestampEof @9 :UInt64;
 
   path @1 :PathData;
   leftLane @2 :PathData;
@@ -697,6 +700,32 @@ struct PathPlan {
   sensorValid @14 :Bool;
   commIssue @15 :Bool;
   posenetValid @16 :Bool;
+  desire @17 :Desire;
+  laneChangeState @18 :LaneChangeState;
+  laneChangeDirection @19 :LaneChangeDirection;
+
+  enum Desire {
+    none @0;
+    turnLeft @1;
+    turnRight @2;
+    laneChangeLeft @3;
+    laneChangeRight @4;
+    keepLeft @5;
+    keepRight @6;
+  }
+
+  enum LaneChangeState {
+    off @0;
+    preLaneChange @1;
+    laneChangeStarting @2;
+    laneChangeFinishing @3;
+  }
+
+  enum LaneChangeDirection {
+    none @0;
+    left @1;
+    right @2;
+  }
 }
 
 struct LiveLocationData {
@@ -1726,6 +1755,8 @@ struct LiveMapData {
 }
 
 struct CameraOdometry {
+  frameId @4 :UInt32;
+  timestampEof @5 :UInt64;
   trans @0 :List(Float32); # m/s in device frame
   rot @1 :List(Float32); # rad/s in device frame
   transStd @2 :List(Float32); # std m/s in device frame