Merge remote-tracking branch 'upstream/master' into toyota-radarUnavailable-experimental

.github/workflows/release.yaml

@@ -7,6 +7,10 @@ on:
 jobs:
   build_masterci:
     name: build master-ci
+    env:
+      TARGET_DIR: /tmp/openpilot
+    container:
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-20.04
     if: github.repository == 'commaai/openpilot'
     steps:
@@ -22,7 +26,19 @@ jobs:
         submodules: true
         fetch-depth: 0
     - name: Pull LFS
-      run: git lfs pull
+      run: |
+        git config --global --add safe.directory '*'
+        git lfs pull
     - name: Build master-ci
       run: |
+        release/build_devel.sh
+    - name: Run tests
+      run: |
+        export PYTHONPATH=$TARGET_DIR
+        cd $TARGET_DIR
+        scons -j$(nproc)
+        selfdrive/car/tests/test_car_interfaces.py
+    - name: Push master-ci
+      run: |
+        unset TARGET_DIR
         BRANCH=master-ci release/build_devel.sh

.github/workflows/selfdrive_tests.yaml

@@ -81,61 +81,87 @@ jobs:
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
 
-  #build_mac:
-  #  name: build macos
-  #  runs-on: macos-latest
-  #  steps:
-  #  - uses: actions/checkout@v3
-  #    with:
-  #      submodules: true
-  #  - name: Determine pre-existing Homebrew packages
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
-  #      ls -1 /usr/local/Cellar >> $GITHUB_ENV
-  #      echo 'EOF' >> $GITHUB_ENV
-  #  - name: Cache dependencies
-  #    id: dependency-cache
-  #    uses: actions/cache@v2
-  #    with:
-  #      path: |
-  #        ~/.pyenv
-  #        ~/.local/share/virtualenvs/
-  #        /usr/local/Cellar
-  #        ~/github_brew_cache_entries.txt
-  #        /tmp/scons_cache
-  #      key: macos-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
-  #      restore-keys: macos-
-  #  - name: Brew link restored dependencies
-  #    run: |
-  #      if [ -f ~/github_brew_cache_entries.txt ]; then
-  #        while read pkg; do
-  #          brew link --force "$pkg" # `--force` for keg-only packages
-  #        done < ~/github_brew_cache_entries.txt
-  #      else
-  #        echo "Cache entries not found"
-  #      fi
-  #  - name: Install dependencies
-  #    run: ./tools/mac_setup.sh
-  #  - name: Build openpilot
-  #    run: |
-  #      source tools/openpilot_env.sh
-  #      poetry run selfdrive/manager/build.py
-  #
-  #      # cleanup scons cache
-  #      rm -rf /tmp/scons_cache/
-  #      poetry run scons -j$(nproc) --cache-populate
-  #  - name: Remove pre-existing Homebrew packages for caching
-  #    if: steps.dependency-cache.outputs.cache-hit != 'true'
-  #    run: |
-  #      cd /usr/local/Cellar
-  #      new_cellar=$(ls -1)
-  #      comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
-  #        if [[ $pkg != "zstd" ]]; then # caching step needs zstd
-  #          rm -rf "$pkg"
-  #        fi
-  #      done
-  #      comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+  build_mac:
+    name: build macos
+    runs-on: macos-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+    - name: Determine pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        echo 'EXISTING_CELLAR<<EOF' >> $GITHUB_ENV
+        brew list --formula -1 >> $GITHUB_ENV
+        echo 'EOF' >> $GITHUB_ENV
+    - name: Restore scons cache
+      id: scons-restore-cache
+      uses: actions/cache/restore@v3
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+        restore-keys: macos_scons-
+    - name: Cache dependencies
+      id: dependency-cache
+      uses: actions/cache@v2
+      with:
+        path: |
+          ~/github_brew_cache_entries.txt
+          ~/.pyenv
+          ~/Library/Caches/pypoetry
+          /usr/local/Cellar
+          /usr/local/opt
+          /usr/local/Caskroom/gcc-arm-*
+          /opt/homebrew/Cellar
+          /opt/homebrew/opt
+          /opt/homebrew/Caskroom/gcc-arm-*
+          /Applications/ArmGNUToolchain/*/*/*
+        key: macos_deps-${{ hashFiles('tools/mac_setup.sh', 'update_requirements.sh', 'poetry.lock') }}
+        restore-keys: macos_deps-
+    - name: Brew link restored dependencies
+      run: |
+        if [ -f ~/github_brew_cache_entries.txt ]; then
+          brew link --force --overwrite $(cat ~/github_brew_cache_entries.txt) # `--force` for keg-only packages
+          if [ -d /Applications/ArmGNUToolchain ]; then # link gcc-arm-embedded manually
+            GCC_TOOLCHAIN="$(echo /Applications/ArmGNUToolchain/**/**/bin)"
+            echo "$GCC_TOOLCHAIN" >> $GITHUB_PATH
+          fi
+        else
+          echo "Cache entries not found"
+        fi
+    - name: Install dependencies
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: ./tools/mac_setup.sh
+    - name: Build openpilot
+      run: |
+        source tools/openpilot_env.sh
+        poetry run scons -j$(nproc)
+    - name: Pre Cache - Cleanup scons cache
+      if: github.ref == 'refs/heads/master'
+      run: |
+        source tools/openpilot_env.sh
+        rm -rf /tmp/scons_cache/*
+        poetry run scons -j$(nproc) --cache-populate
+    - name: Save scons cache
+      id: scons-save-cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: /tmp/scons_cache
+        key: macos_scons-${{ github.sha }}
+    - name: Pre Cache - Remove pre-existing Homebrew packages
+      if: steps.dependency-cache.outputs.cache-hit != 'true'
+      run: |
+        new_cellar=$(brew list --formula -1)
+        comm -12 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | while read pkg; do
+          if [[ $pkg != "zstd" ]]; then # caching step needs zstd
+            rm -rf "$(brew --cellar)/$pkg"
+          fi
+        done
+        comm -13 <(echo "$EXISTING_CELLAR") <(echo "$new_cellar") | tee ~/github_brew_cache_entries.txt
+        # .fseventsd directory causes permission errors in dep caching step
+        # its used by the system to observe changes within the directory - toolchain works without it, just remove it
+        sudo rm -rf /Applications/ArmGNUToolchain/*/*/.fseventsd
 
   docker_push:
     name: docker push
@@ -209,6 +235,7 @@ jobs:
                         $UNIT_TEST system/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        $UNIT_TEST system/tests && \
                         $UNIT_TEST system/ubloxd && \
                         selfdrive/locationd/test/_test_locationd_lib.py && \
                         ./system/ubloxd/tests/test_glonass_runner && \

.gitignore

@@ -46,6 +46,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
+selfdrive/car/tests/cars_dump
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld

.pre-commit-config.yaml

@@ -17,7 +17,7 @@ repos:
     -   id: check-added-large-files
         args: ['--maxkb=100']
 -   repo: https://github.com/codespell-project/codespell
-    rev: v2.2.4
+    rev: v2.2.5
     hooks:
     -   id: codespell
         exclude: '^(third_party/)|(body/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(opendbc/)|(laika_repo/)|(rednose_repo/)|(selfdrive/ui/translations/.*.ts)|(poetry.lock)'

Jenkinsfile

@@ -139,6 +139,7 @@ pipeline {
               ["test camerad", "python system/camerad/test/test_camerad.py"],
               ["test exposure", "python system/camerad/test/test_exposure.py"],
               ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+              ["test rawgpsd", "python system/sensord/rawgps/test_rawgps.py"],
             ])
           }
         }
@@ -155,7 +156,6 @@ pipeline {
               ["check dirty", "release/check-dirty.sh"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
             ])
           }
         }
@@ -218,7 +218,7 @@ pipeline {
         stage('replay') {
           agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
           steps {
-            phone_steps("tici-common", [
+            phone_steps("tici-replay", [
               ["build", "cd selfdrive/manager && ./build.py"],
               ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
             ])

RELEASES.md

@@ -1,11 +1,22 @@
-Version 0.9.3 (2023-06-XX)
+Version 0.9.4 (2023-XX-XX)
+========================
+* Navigate on openpilot
+* UI updates
+  * navigation settings moved to home screen and map
+* Ford Focus 2018 support
+
+Version 0.9.3 (2023-06-29)
 ========================
 * New driving model
+  * Improved height estimation and added height tracking in liveCalibration
+  * Model inputs refactor
 * New driving personality setting
   * Three settings: aggressive, standard, and relaxed
   * Standard is recommended and the default
-  * In aggressive mode lead follow distance is shorter and quicker gas/brake response
-  * In relaxed mode lead follow distance is longer
+  * In aggressive mode, lead follow distance is shorter and acceleration response is quicker
+  * In relaxed mode, lead follow distance is longer
+* Improved fuzzy fingerprinting for Hyundai, Kia, and Genesis
+* Improved thermal management logic
 
 Version 0.9.2 (2023-05-22)
 ========================

SConstruct

@@ -67,17 +67,22 @@ AddOption('--no-test',
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
   arch = "Darwin"
+  brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
 
 if arch == "aarch64" and AGNOS:
   arch = "larch64"
 
+# create symlink to lib dir of current arch, so the ACADOS_SOURCE_DIR would have valid structure
+acados_lib_path = Dir(f"#third_party/acados/lib")
+if not Dir(f"#third_party/acados/lib").exists():
+  os.symlink(Dir(f"#third_party/acados/{arch}/lib").abspath, acados_lib_path.abspath)
 
 lenv = {
   "PATH": os.environ['PATH'],
   "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
   "PYTHONPATH": Dir("#").abspath,
 
-  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
+  "ACADOS_SOURCE_DIR": Dir("#third_party/acados").abspath,
   "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
   "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }
@@ -110,26 +115,21 @@ else:
   cflags = []
   cxxflags = []
   cpppath = []
+  rpath += [
+    Dir("#cereal").abspath,
+    Dir("#common").abspath
+  ]
 
   # MacOS
   if arch == "Darwin":
-    if real_arch == "x86_64":
-      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
-
-    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
     yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
     libpath = [
       f"#third_party/libyuv/{yuv_dir}/lib",
+      f"#third_party/acados/{arch}/lib",
       f"{brew_prefix}/lib",
-      f"{brew_prefix}/Library",
       f"{brew_prefix}/opt/openssl@3.0/lib",
-      f"{brew_prefix}/Cellar",
       "/System/Library/Frameworks/OpenGL.framework/Libraries",
     ]
-    if real_arch == "x86_64":
-      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
-    else:
-      libpath.append(f"#third_party/acados/{arch}/lib")
 
     cflags += ["-DGL_SILENCE_DEPRECATION"]
     cxxflags += ["-DGL_SILENCE_DEPRECATION"]
@@ -137,6 +137,7 @@ else:
       f"{brew_prefix}/include",
       f"{brew_prefix}/opt/openssl@3.0/include",
     ]
+    lenv["DYLD_LIBRARY_PATH"] = lenv["LD_LIBRARY_PATH"]
   # Linux 86_64
   else:
     libpath = [
@@ -149,12 +150,9 @@ else:
       "/usr/lib",
       "/usr/local/lib",
     ]
-
-  rpath += [
-    Dir("#third_party/snpe/x86_64-linux-clang").abspath,
-    Dir("#cereal").abspath,
-    Dir("#common").abspath
-  ]
+    rpath += [
+      Dir("#third_party/snpe/x86_64-linux-clang").abspath,
+    ]
 
 if GetOption('asan'):
   ccflags = ["-fsanitize=address", "-fno-omit-frame-pointer"]
@@ -231,7 +229,9 @@ env = Environment(
 )
 
 if arch == "Darwin":
-  env['RPATHPREFIX'] = "-rpath "
+  # RPATH is not supported on macOS, instead use the linker flags
+  darwin_rpath_link_flags = [f"-Wl,-rpath,{path}" for path in env["RPATH"]]
+  env["LINKFLAGS"] += darwin_rpath_link_flags
 
 if GetOption('compile_db'):
   env.CompilationDatabase('compile_commands.json')
@@ -271,7 +271,7 @@ envCython["CCFLAGS"] += ["-Wno-#warnings", "-Wno-shadow", "-Wno-deprecated-decla
 
 envCython["LIBS"] = []
 if arch == "Darwin":
-  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"]
+  envCython["LINKFLAGS"] = ["-bundle", "-undefined", "dynamic_lookup"] + darwin_rpath_link_flags
 elif arch == "aarch64":
   envCython["LINKFLAGS"] = ["-shared"]
   envCython["LIBS"] = [os.path.basename(py_include)]
@@ -286,10 +286,7 @@ qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "
 
 qt_libs = []
 if arch == "Darwin":
-  if real_arch == "arm64":
-    qt_env['QTDIR'] = "/opt/homebrew/opt/qt@5"
-  else:
-    qt_env['QTDIR'] = "/usr/local/opt/qt@5"
+  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
   qt_dirs = [
     os.path.join(qt_env['QTDIR'], "include"),
   ]

cereal

@@ -1 +1 @@
-Subproject commit f319a83ab7a902477c786a25aa34077b6f640990
+Subproject commit f1463a08eebd98725724cb21c5966ea7b23da8b8

common/modeldata.h

@@ -10,6 +10,9 @@ const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
 const float MAX_DRAW_DISTANCE = 100.0;
 
+const float RYG_GREEN = 0.01165;
+const float RYG_YELLOW = 0.06157;
+
 template <typename T, size_t size>
 constexpr std::array<T, size> build_idxs(float max_val) {
   std::array<T, size> result{};
@@ -33,14 +36,3 @@ const mat3 fcam_intrinsic_matrix = (mat3){{2648.0, 0.0, 1928.0 / 2,
 const mat3 ecam_intrinsic_matrix = (mat3){{567.0, 0.0, 1928.0 / 2,
                                            0.0, 567.0, 1208.0 / 2,
                                            0.0, 0.0, 1.0}};
-
-static inline mat3 get_model_yuv_transform() {
-  float db_s = 1.0;
-  const mat3 transform = (mat3){{
-    1.0, 0.0, 0.0,
-    0.0, 1.0, 0.0,
-    0.0, 0.0, 1.0
-  }};
-  // Can this be removed since scale is 1?
-  return transform_scale_buffer(transform, db_s);
-}

common/params.cc

@@ -85,6 +85,9 @@ private:
 
 std::unordered_map<std::string, uint32_t> keys = {
     {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"ApiCache_Device", PERSISTENT},
+    {"ApiCache_DriveStats", PERSISTENT},
+    {"ApiCache_NavDestinations", PERSISTENT},
     {"AssistNowToken", PERSISTENT},
     {"AthenadPid", PERSISTENT},
     {"AthenadUploadQueue", PERSISTENT},
@@ -102,16 +105,15 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"DisablePowerDown", PERSISTENT},
-    {"ExperimentalMode", PERSISTENT},
-    {"ExperimentalModeConfirmed", PERSISTENT},
-    {"LongitudinalPersonality", PERSISTENT},
-    {"ExperimentalLongitudinalEnabled", PERSISTENT},
     {"DisableUpdates", PERSISTENT},
     {"DisengageOnAccelerator", PERSISTENT},
     {"DongleId", PERSISTENT},
     {"DoReboot", CLEAR_ON_MANAGER_START},
     {"DoShutdown", CLEAR_ON_MANAGER_START},
     {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
     {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ForcePowerDown", PERSISTENT},
     {"GitBranch", PERSISTENT},
@@ -134,9 +136,9 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
     {"IsRhdDetected", PERSISTENT},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
     {"IsTestedBranch", CLEAR_ON_MANAGER_START},
-    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
@@ -144,6 +146,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
+    {"LastOffroadStatusPacket", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"LastPowerDropDetected", CLEAR_ON_MANAGER_START},
     {"LastSystemShutdown", CLEAR_ON_MANAGER_START},
     {"LastUpdateException", CLEAR_ON_MANAGER_START},
@@ -151,13 +154,27 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"LiveTorqueCarParams", PERSISTENT},
     {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"LongitudinalPersonality", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
-    {"NavSettingTime24h", PERSISTENT},
     {"NavSettingLeftSide", PERSISTENT},
+    {"NavSettingTime24h", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
+    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
+    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
+    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
+    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
+    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
+    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
     {"PandaSignatures", CLEAR_ON_MANAGER_START},
@@ -176,32 +193,16 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"UbloxAvailable", PERSISTENT},
     {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
     {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
-    {"UpdaterState", CLEAR_ON_MANAGER_START},
-    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
-    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
     {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
     {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
     {"Version", PERSISTENT},
     {"VisionRadarToggle", PERSISTENT},
-    {"ApiCache_Device", PERSISTENT},
-    {"ApiCache_DriveStats", PERSISTENT},
-    {"ApiCache_NavDestinations", PERSISTENT},
-    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
-    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
-    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
-    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
-    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
-    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
-    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
-    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
-    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
-    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
 };
 
 } // namespace

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.3"
+#define COMMA_VERSION "0.9.4"

docs/CARS.md

@@ -4,27 +4,27 @@
 
 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. Supported vehicles reference the US market unless otherwise specified.
 
-# 252 Supported Cars
+# 253 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Buy Here</a></sub></details>||
 |Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Buy Here</a></sub></details>||
 |Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Buy Here</a></sub></details>||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
-|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
-|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
-|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
-|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">Buy Here</a></sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">Buy Here</a></sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">Buy Here</a></sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">Buy Here</a></sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">Buy Here</a></sub></details>||
+|Buick|LaCrosse 2017-19[<sup>4</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">Buy Here</a></sub></details>||
+|Cadillac|Escalade 2017[<sup>4</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">Buy Here</a></sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">Buy Here</a></sub></details>||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">Buy Here</a></sub></details>||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">Buy Here</a></sub></details>||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">Buy Here</a></sub></details>||
-|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Volt 2017-18[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">Buy Here</a></sub></details>||
 |Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">Buy Here</a></sub></details>||
@@ -34,6 +34,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Buy Here</a></sub></details>||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Buy Here</a></sub></details>||
 |Ford|Explorer 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Buy Here</a></sub></details>||
+|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Focus 2018">Buy Here</a></sub></details>||
 |Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Buy Here</a></sub></details>||
 |Ford|Maverick 2022-23|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 angled mount (8 degrees)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Buy Here</a></sub></details>||
 |Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Buy Here</a></sub></details>||
@@ -41,17 +42,17 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Buy Here</a></sub></details>||
 |Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Buy Here</a></sub></details>||
 |Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Buy Here</a></sub></details>||
-|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
-|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
-|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
-|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Genesis|GV60 (Advanced Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Buy Here</a></sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Buy Here</a></sub></details>||
+|Genesis|GV80 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai M connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Buy Here</a></sub></details>||
+|GMC|Acadia 2018[<sup>4</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 OBD-II connector<br>- 1 comma three<br>- 2 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 GM connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Buy Here</a></sub></details>||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Buy Here</a></sub></details>||
 |Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Honda Bosch B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -75,9 +76,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai J connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Buy Here</a></sub></details>||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
@@ -89,7 +90,7 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Santa Cruz 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
@@ -98,17 +99,17 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
-|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2022[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Buy Here</a></sub></details>||
+|Hyundai|Tucson 2023[<sup>6</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Buy Here</a></sub></details>||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Buy Here</a></sub></details>||
-|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
-|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
-|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
@@ -117,9 +118,9 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
+|Kia|Niro EV 2023[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Buy Here</a></sub></details>||
 |Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Buy Here</a></sub></details>||
-|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Niro Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Buy Here</a></sub></details>||
 |Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
@@ -127,10 +128,10 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
-|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
-|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
-|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
+|Kia|Sorento 2021-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Buy Here</a></sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
+|Kia|Sportage 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Buy Here</a></sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai N connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Buy Here</a></sub></details>||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Buy Here</a></sub></details>||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Buy Here</a></sub></details>||
@@ -153,8 +154,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Buy Here</a></sub></details>||
 |Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Buy Here</a></sub></details>||
 |Lincoln|Aviator 2020-21|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Ford Q3 connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2020-21">Buy Here</a></sub></details>||
-|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Buy Here</a></sub></details>||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 Mazda connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Buy Here</a></sub></details>||
@@ -162,8 +163,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Buy Here</a></sub></details>||
 |Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 Nissan A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Buy Here</a></sub></details>||
 |Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Ram connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Buy Here</a></sub></details>||
-|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">Buy Here</a></sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">Buy Here</a></sub></details>||
 |Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Buy Here</a></sub></details>||
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Buy Here</a></sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Buy Here</a></sub></details>||
@@ -174,14 +175,14 @@ 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)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru B connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Buy Here</a></sub></details>||
 |Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Buy Here</a></sub></details>|<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)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Subaru A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Buy Here</a></sub></details>||
-|Škoda|Fabia 2022-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Škoda|Kamiq 2021[<sup>7,9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Škoda|Karoq 2019-21[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
-|Škoda|Kodiaq 2017-23[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
-|Škoda|Octavia 2015, 2018-19[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
-|Škoda|Octavia RS 2016[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
-|Škoda|Scala 2020[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Škoda|Superb 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
+|Škoda|Fabia 2022-23[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>8,10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Škoda|Karoq 2019-21[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">Buy Here</a></sub></details>||
+|Škoda|Kodiaq 2017-23[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">Buy Here</a></sub></details>||
+|Škoda|Octavia 2015, 2018-19[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">Buy Here</a></sub></details>||
+|Škoda|Octavia RS 2016[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">Buy Here</a></sub></details>||
+|Škoda|Scala 2020[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Škoda|Superb 2015-22[<sup>10</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">Buy Here</a></sub></details>||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Buy Here</a></sub></details>||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Buy Here</a></sub></details>||
 |Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Buy Here</a></sub></details>||
@@ -194,8 +195,8 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Buy Here</a></sub></details>||
 |Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Buy Here</a></sub></details>||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>7</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>7</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Buy Here</a></sub></details>||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Buy Here</a></sub></details>||
 |Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Buy Here</a></sub></details>||
@@ -225,54 +226,55 @@ A supported vehicle is one that just works when you install a comma three. All s
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Buy Here</a></sub></details>||
 |Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
-|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>11</sup>](#footnotes)||
-|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">Buy Here</a></sub></details>||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,10</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">Buy Here</a></sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">Buy Here</a></sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">Buy Here</a></sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">Buy Here</a></sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">Buy Here</a></sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 angled mount (8 degrees)<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat 2015-22[<sup>9</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">Buy Here</a></sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">Buy Here</a></sub></details>[<sup>12</sup>](#footnotes)||
+|Volkswagen|Taos 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022-23">Buy Here</a></sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">Buy Here</a></sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">Buy Here</a></sub></details>||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,11</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 J533 connector<br>- 1 USB-C coupler<br>- 1 comma three<br>- 1 harness box<br>- 1 long OBD-C cable<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2016-23">Buy Here</a></sub></details>||
 
 ### Footnotes
 <sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
 <sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
-<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>9</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
-<sup>10</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>11</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>4</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>6</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
+<sup>7</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>8</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>9</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>10</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma three functionality. <br />
+<sup>11</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>12</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

opendbc

@@ -1 +1 @@
-Subproject commit 49b31858a36275dc16f768781297e443e57d16ab
+Subproject commit f241a87591b0e0339c5c8b6e2b1976271807ac56

panda

@@ -1 +1 @@
-Subproject commit b56340590485bba2428538259e020f176127458c
+Subproject commit b2cf1976796dbd9f700a76543466c8c9c9665827

poetry.lock

@@ -508,12 +508,15 @@ python-versions = "*"
 
 [[package]]
 name = "casadi"
-version = "3.5.5"
+version = "3.6.3"
 description = "CasADi -- framework for algorithmic differentiation and numeric optimization"
 category = "main"
 optional = false
 python-versions = "*"
 
+[package.dependencies]
+numpy = "*"
+
 [[package]]
 name = "certifi"
 version = "2022.9.24"
@@ -2641,19 +2644,19 @@ PyYAML = ">=5.1.0"
 
 [[package]]
 name = "onnx"
-version = "1.12.0"
+version = "1.14.0"
 description = "Open Neural Network Exchange"
 category = "main"
 optional = false
 python-versions = "*"
 
 [package.dependencies]
-numpy = ">=1.16.6"
-protobuf = ">=3.12.2,<=3.20.1"
+numpy = "*"
+protobuf = ">=3.20.2"
 typing-extensions = ">=3.6.2.1"
 
 [package.extras]
-lint = ["clang-format (==13.0.0)", "flake8", "mypy (==0.782)", "types-protobuf (==3.18.4)"]
+lint = ["lintrunner (>=0.10.0)", "lintrunner-adapters (>=0.3)"]
 
 [[package]]
 name = "onnx2torch"
@@ -2685,7 +2688,7 @@ mypy = ["mypy (==0.600)"]
 
 [[package]]
 name = "onnxruntime-gpu"
-version = "1.12.1"
+version = "1.15.1"
 description = "ONNX Runtime is a runtime accelerator for Machine Learning models"
 category = "main"
 optional = false
@@ -2694,7 +2697,7 @@ python-versions = "*"
 [package.dependencies]
 coloredlogs = "*"
 flatbuffers = "*"
-numpy = ">=1.21.0"
+numpy = ">=1.21.6"
 packaging = "*"
 protobuf = "*"
 sympy = "*"
@@ -3102,7 +3105,7 @@ wcwidth = "*"
 
 [[package]]
 name = "protobuf"
-version = "3.20.1"
+version = "3.20.3"
 description = "Protocol Buffers"
 category = "main"
 optional = false
@@ -3667,6 +3670,14 @@ packaging = ">=20.4"
 hiredis = ["hiredis (>=1.0.0)"]
 ocsp = ["cryptography (>=36.0.1)", "pyopenssl (==20.0.1)", "requests (>=2.26.0)"]
 
+[[package]]
+name = "regex"
+version = "2023.6.3"
+description = "Alternative regular expression module, to replace re."
+category = "dev"
+optional = false
+python-versions = ">=3.6"
+
 [[package]]
 name = "requests"
 version = "2.28.1"
@@ -3747,6 +3758,25 @@ future = ">=0.15"
 docs = ["Sphinx (>=1.6.5)", "sphinx-rtd-theme (>=0.1.9)"]
 tests = ["flake8 (>=2.5.4)", "hacking (>=0.11.0)", "nose (>=1.3.4)", "numpy (>=1.11.0)"]
 
+[[package]]
+name = "safetensors"
+version = "0.3.1"
+description = "Fast and Safe Tensor serialization"
+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.extras]
+all = ["black (==22.3)", "click (==8.0.4)", "flake8 (>=3.8.3)", "flax (>=0.6.3)", "h5py (>=3.7.0)", "huggingface-hub (>=0.12.1)", "isort (>=5.5.4)", "jax (>=0.3.25)", "jaxlib (>=0.3.25)", "numpy (>=1.21.6)", "paddlepaddle (>=2.4.1)", "pytest (>=7.2.0)", "pytest-benchmark (>=4.0.0)", "setuptools-rust (>=1.5.2)", "tensorflow (>=2.11.0)", "torch (>=1.10)"]
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+
 [[package]]
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 version = "0.19.3"
@@ -4391,6 +4421,19 @@ webencodings = ">=0.4"
 doc = ["sphinx", "sphinx_rtd_theme"]
 test = ["flake8", "isort", "pytest"]
 
+[[package]]
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+category = "dev"
+optional = false
+python-versions = "*"
+
+[package.extras]
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+testing = ["black (==22.3)", "datasets", "numpy", "pytest", "requests"]
+
 [[package]]
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 version = "0.10.2"
@@ -4504,6 +4547,72 @@ python-versions = ">=3.7"
 docs = ["myst-parser", "pydata-sphinx-theme", "sphinx"]
 test = ["pre-commit", "pytest"]
 
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 [[package]]
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 version = "2.0.0"
@@ -4812,7 +4921,7 @@ testing = ["coverage (>=5.0.3)", "zope.event", "zope.testing"]
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@@ -8530,6 +8784,48 @@ tinycss2 = [
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 ]
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+    {file = "tokenizers-0.13.3-cp39-cp39-win32.whl", hash = "sha256:48625a108029cb1ddf42e17a81b5a3230ba6888a70c9dc14e81bc319e812652d"},
+    {file = "tokenizers-0.13.3-cp39-cp39-win_amd64.whl", hash = "sha256:bc0a6f1ba036e482db6453571c9e3e60ecd5489980ffd95d11dc9f960483d783"},
+    {file = "tokenizers-0.13.3.tar.gz", hash = "sha256:2e546dbb68b623008a5442353137fbb0123d311a6d7ba52f2667c8862a75af2e"},
+]
 toml = [
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@@ -8569,6 +8865,10 @@ traitlets = [
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 ]
+transformers = [
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+    {file = "transformers-4.30.2.tar.gz", hash = "sha256:f4a8aac4e1baffab4033f4a345b0d7dc7957d12a4f1ba969afea08205a513045"},
+]
 triton = [
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pyproject.toml

@@ -12,7 +12,7 @@ documentation = "https://docs.comma.ai"
 [tool.poetry.dependencies]
 python = "~3.8"
 atomicwrites = "^1.4.0"
-casadi = { version = "==3.5.5", platform = "linux" }
+casadi = "==3.6.3"
 cffi = "^1.15.1"
 crcmod = "^1.7"
 cryptography = "^37.0.4"
@@ -28,11 +28,11 @@ json-rpc = "^1.13.0"
 libusb1 = "^3.0.0"
 nose = "^1.3.7"
 numpy = "^1.23.0"
-onnx = "^1.12.0"
-onnxruntime-gpu = { version = "^1.11.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
+onnx = "^1.14.0"
+onnxruntime-gpu = { version = "^1.15.1", platform = "linux", markers = "platform_machine == 'x86_64'" }
 pillow = "^9.2.0"
 poetry = "==1.2.2"
-protobuf = "==3.20.1"
+protobuf = "==3.20.3"
 psutil = "^5.9.1"
 pycapnp = "==1.1.0"
 pycryptodome = "^3.15.0"
@@ -178,6 +178,7 @@ omegaconf = "^2.3.0"
 osmnx = "==1.2.2"
 tritonclient = {version = "2.28.0", extras = ["http"]}
 tensorrt = "^8.6.0"
+transformers = "^4.29.2"
 
 
 [build-system]

release/files_common

@@ -290,6 +290,7 @@ selfdrive/thermald/power_monitoring.py
 selfdrive/thermald/fan_controller.py
 
 selfdrive/test/__init__.py
+selfdrive/test/fuzzy_generation.py
 selfdrive/test/helpers.py
 selfdrive/test/setup_device_ci.sh
 selfdrive/test/test_onroad.py
@@ -438,6 +439,7 @@ third_party/libyuv/larch64/**
 third_party/snpe/include/**
 third_party/snpe/dsp**
 
+third_party/acados/.gitignore
 third_party/acados/x86_64/**
 third_party/acados/larch64/**
 third_party/acados/include/**

selfdrive/assets/navigation/icon_directions.svg

@@ -0,0 +1 @@
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selfdrive/assets/navigation/icon_directions_outlined.svg

@@ -0,0 +1 @@
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selfdrive/assets/navigation/icon_favorite.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M49.1 0 36.35 31.82H0l27.27 27.27L13.64 100l35.45-23.64L86.36 100 72.73 59.1 100 31.81H63.64L49.09 0Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_home.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M7.7 98.08c0 1.06.85 1.92 1.92 1.92h28.84V76.92h23.08V100H90.4c1.06 0 1.92-.86 1.92-1.92V53.85H7.69v44.23ZM99.47 42.9l-7.17-6.3V7.7a7.7 7.7 0 0 0-15.39 0v15.4L51.4.68A1.92 1.92 0 0 0 48.68.6l-.08.08L.52 42.72a1.92 1.92 0 0 0 1.38 3.24l13.49.2h82.68a1.92 1.92 0 0 0 1.41-3.25Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_recent.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g fill="#fff" clip-path="url(#a)"><path d="M53.22 6.37a43.75 43.75 0 0 0-3.21-.12V0a50 50 0 0 1 3.68.14l-.47 6.23Zm12.53 2.81c-2-.77-4.06-1.4-6.16-1.87l1.37-6.1c2.4.54 4.75 1.25 7.04 2.14l-2.25 5.83Zm8.56 4.44c-.9-.6-1.8-1.16-2.74-1.69l3.08-5.44a50.15 50.15 0 0 1 6.12 4.09l-3.85 4.93a43.75 43.75 0 0 0-2.61-1.89ZM85.77 24.8a43.7 43.7 0 0 0-4.08-4.97l4.53-4.31a52.14 52.14 0 0 1 4.66 5.68l-5.1 3.6Zm4.65 8.45a36.5 36.5 0 0 0-1.34-2.92l5.59-2.81a48.6 48.6 0 0 1 2.8 6.8l-5.93 1.95a43.9 43.9 0 0 0-1.12-3.02Zm3.31 15.67a43.68 43.68 0 0 0-.62-6.4l6.15-1.07c.42 2.41.67 4.86.73 7.31l-6.25.16Zm-.81 9.61c.2-1.06.37-2.12.5-3.19l6.2.77a49.3 49.3 0 0 1-1.43 7.22l-6.02-1.67c.28-1.03.53-2.07.75-3.13ZM86.97 73.4A44.16 44.16 0 0 0 90 67.72l5.72 2.53c-1 2.25-2.16 4.42-3.47 6.49l-5.28-3.34Zm-6.03 7.53c.76-.77 1.5-1.55 2.19-2.36l4.74 4.08a49.2 49.2 0 0 1-2.51 2.7l-4.42-4.42Z"/><path d="M50 6.25a43.75 43.75 0 1 0 30.94 74.68l4.42 4.42A50 50 0 1 1 50 0v6.25Z"/><path d="M46.88 18.75a3.13 3.13 0 0 1 3.13 3.12v32.56l20.3 11.6a3.12 3.12 0 0 1-3.1 5.42l-21.88-12.5a3.12 3.12 0 0 1-1.57-2.7V21.86a3.12 3.12 0 0 1 3.12-3.12Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/assets/navigation/icon_settings.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="128" height="128" fill="#fff" class="bi bi-gear-fill"><path d="M75.24 8.4c-3.304-11.2-19.176-11.2-22.48 0l-.8 2.72a11.712 11.712 0 0 1-16.84 6.976l-2.48-1.36c-10.264-5.584-21.488 5.64-15.896 15.896l1.352 2.488c3.568 6.56.184 14.728-6.976 16.84l-2.72.8c-11.2 3.304-11.2 19.176 0 22.48l2.72.8a11.712 11.712 0 0 1 6.976 16.84l-1.36 2.48c-5.584 10.264 5.64 21.488 15.896 15.896l2.488-1.352a11.712 11.712 0 0 1 16.84 6.976l.8 2.72c3.304 11.2 19.176 11.2 22.48 0l.8-2.72a11.712 11.712 0 0 1 16.84-6.976l2.48 1.36c10.264 5.584 21.488-5.64 15.896-15.896l-1.352-2.488a11.712 11.712 0 0 1 6.976-16.84l2.72-.8c11.2-3.304 11.2-19.176 0-22.48l-2.72-.8a11.712 11.712 0 0 1-6.976-16.84l1.36-2.48c5.584-10.264-5.64-21.488-15.896-15.896l-2.488 1.352a11.712 11.712 0 0 1-16.84-6.976ZM64 87.44a23.44 23.44 0 1 1 0-46.88 23.432 23.432 0 0 1 0 46.864z" style="stroke-width:8"/></svg>

selfdrive/assets/navigation/icon_work.svg

@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" width="100" height="100" fill="none"><g clip-path="url(#a)"><path fill="#fff" d="M77.78 22.22V6.42L70.67 0H29.33l-7.1 8.3v13.92H5.55L0 27.78v66.66L5.56 100h88.88l5.56-5.56V27.78l-5.56-5.56H77.78Zm-44.45-11.1h33.34v11.1H33.33v-11.1Z"/></g><defs><clipPath id="a"><path fill="#fff" d="M0 0h100v100H0z"/></clipPath></defs></svg>

selfdrive/athena/tests/test_athenad.py

@@ -159,7 +159,7 @@ class TestAthenadMethods(unittest.TestCase):
     resp = dispatcher["uploadFileToUrl"]("qlog.bz2", f"{host}/qlog.bz2", {})
     self.assertEqual(resp['enqueued'], 1)
     self.assertNotIn('failed', resp)
-    self.assertDictContainsSubset({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}, resp['items'][0])
+    self.assertLessEqual({"path": fn, "url": f"{host}/qlog.bz2", "headers": {}}.items(), resp['items'][0].items())
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 

selfdrive/boardd/pandad.py

@@ -10,6 +10,7 @@ from functools import cmp_to_key
 from panda import Panda, PandaDFU, FW_PATH
 from common.basedir import BASEDIR
 from common.params import Params
+from selfdrive.boardd.set_time import set_time
 from system.hardware import HARDWARE
 from system.swaglog import cloudlog
 
@@ -133,6 +134,11 @@ def main() -> NoReturn:
           cloudlog.event("heartbeat lost", deviceState=health, serial=panda.get_usb_serial())
 
         if first_run:
+          if panda.is_internal():
+            # update time from RTC
+            set_time(cloudlog)
+
+          # reset panda to ensure we're in a good state
           cloudlog.info(f"Resetting panda {panda.get_usb_serial()}")
           if panda.is_internal():
             HARDWARE.reset_internal_panda()

selfdrive/boardd/spi.cc

@@ -220,21 +220,31 @@ bool check_checksum(uint8_t *data, int data_len) {
 
 int PandaSpiHandle::spi_transfer_retry(uint8_t endpoint, uint8_t *tx_data, uint16_t tx_len, uint8_t *rx_data, uint16_t max_rx_len, unsigned int timeout) {
   int ret;
-  int count = 0;
+  int nack_count = 0;
+  int timeout_count = 0;
   bool timed_out = false;
   double start_time = millis_since_boot();
+
   do {
     ret = spi_transfer(endpoint, tx_data, tx_len, rx_data, max_rx_len, timeout);
 
     if (ret < 0) {
-      timed_out = (timeout != 0) && (count > 5);
-      count += ret == SpiError::ACK_TIMEOUT;
+      timed_out = (timeout != 0) && (timeout_count > 5);
+      timeout_count += ret == SpiError::ACK_TIMEOUT;
+
+      // give other threads a chance to run
       std::this_thread::yield();
+
+      if (ret == SpiError::NACK) {
+        // prevent busy wait while the panda is NACK'ing
+        nack_count += 1;
+        usleep(std::clamp(nack_count*10, 200, 2000));
+      }
     }
   } while (ret < 0 && connected && !timed_out);
 
   if (ret < 0) {
-    LOGE("transfer failed, after %d tries, %.2fms", count, millis_since_boot() - start_time);
+    LOGE("transfer failed, after %d tries, %.2fms", timeout_count, millis_since_boot() - start_time);
   }
 
   return ret;
@@ -250,7 +260,7 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout)
   spi_ioc_transfer transfer = {
     .tx_buf = (uint64_t)tx_buf,
     .rx_buf = (uint64_t)rx_buf,
-    .delay_usecs = 5,
+    .delay_usecs = 10,
     .len = 1
   };
   tx_buf[0] = tx;
@@ -274,6 +284,9 @@ int PandaSpiHandle::wait_for_ack(uint8_t ack, uint8_t tx, unsigned int timeout)
       LOGD("SPI: timed out waiting for ACK");
       return SpiError::ACK_TIMEOUT;
     }
+
+    // backoff
+    transfer.delay_usecs = std::clamp(transfer.delay_usecs*2, 10, 250);
   }
 
   return 0;

selfdrive/car/car_helpers.py

@@ -79,6 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan, num_pandas):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
+  disable_fw_cache = os.environ.get('DISABLE_FW_CACHE', False)
   ecu_rx_addrs = set()
   params = Params()
 
@@ -92,7 +93,8 @@ def fingerprint(logcan, sendcan, num_pandas):
       if cached_params.carName == "mock":
         cached_params = None
 
-    if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
+    if cached_params is not None and len(cached_params.carFw) > 0 and \
+       cached_params.carVin is not VIN_UNKNOWN and not disable_fw_cache:
       cloudlog.warning("Using cached CarParams")
       vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)

selfdrive/car/chrysler/values.py

@@ -167,7 +167,7 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [CHRYSLER_VERSION_REQUEST],
       [CHRYSLER_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.hcp, Ecu.engine, Ecu.transmission],
+      whitelist_ecus=[Ecu.abs, Ecu.hybrid, Ecu.engine, Ecu.transmission],
       bus=0,
     ),
     Request(
@@ -178,8 +178,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     ),
   ],
   extra_ecus=[
-    (Ecu.hcp, 0x7e2, None),  # manages transmission on hybrids
-    (Ecu.abs, 0x7e4, None),  # alt address for abs on hybrids
+    (Ecu.hybrid, 0x7e2, None),  # manages transmission on hybrids
+    (Ecu.abs, 0x7e4, None),     # alt address for abs on hybrids
   ],
 )
 

selfdrive/car/ford/fordcan.py

@@ -13,15 +13,15 @@ class CanBus(CanBusBase):
     return self.offset
 
   @property
-  def radar(self):
+  def radar(self) -> int:
     return self.offset + 1
 
   @property
-  def camera(self):
+  def camera(self) -> int:
     return self.offset + 2
 
 
-def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray):
+def calculate_lat_ctl2_checksum(mode: int, counter: int, dat: bytearray) -> int:
   curvature = (dat[2] << 3) | ((dat[3]) >> 5)
   curvature_rate = (dat[6] << 3) | ((dat[7]) >> 5)
   path_angle = ((dat[3] & 0x1F) << 6) | ((dat[4]) >> 2)

selfdrive/car/ford/interface.py

@@ -16,11 +16,6 @@ class CarInterface(CarInterfaceBase):
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "ford"
 
-    # These cars are dashcam only for lack of test coverage.
-    # 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.FOCUS_MK4}
-
     ret.radarUnavailable = True
     ret.steerControlType = car.CarParams.SteerControlType.angle
     ret.steerActuatorDelay = 0.2

selfdrive/car/ford/values.py

@@ -1,10 +1,12 @@
 from collections import defaultdict
 from dataclasses import dataclass
+from enum import Enum
 from typing import Dict, List, Set, Union
 
 from cereal import car
 from selfdrive.car import AngleRateLimit, dbc_dict
-from selfdrive.car.docs_definitions import CarHarness, CarInfo, CarParts, Device
+from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column, \
+                                           Device
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, StdQueries
 
 Ecu = car.CarParams.Ecu
@@ -57,6 +59,14 @@ class RADAR:
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict("ford_lincoln_base_pt", RADAR.DELPHI_MRR))
 
 
+class Footnote(Enum):
+  FOCUS = CarFootnote(
+    "Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in " +
+    "North and South America/Southeast Asia.",
+    Column.MODEL,
+  )
+
+
 @dataclass
 class FordCarInfo(CarInfo):
   package: str = "Co-Pilot360 Assist+"
@@ -77,7 +87,7 @@ CAR_INFO: Dict[str, Union[CarInfo, List[CarInfo]]] = {
     FordCarInfo("Ford Explorer 2020-22"),
     FordCarInfo("Lincoln Aviator 2020-21", "Co-Pilot360 Plus"),
   ],
-  CAR.FOCUS_MK4: FordCarInfo("Ford Focus EU 2018", "Adaptive Cruise Control with Lane Centering"),
+  CAR.FOCUS_MK4: FordCarInfo("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS]),
   CAR.MAVERICK_MK1: FordCarInfo("Ford Maverick 2022-23", "Co-Pilot360 Assist"),
 }
 
@@ -119,6 +129,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7E0, None): [
       b'M1PA-14C204-GF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'N1PA-14C204-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1PA-14C204-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.ESCAPE_MK4: {
@@ -141,6 +152,7 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7E0, None): [
       b'LX6A-14C204-BJV\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6A-14C204-BJX\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6A-14C204-ESG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'MX6A-14C204-BEJ\x00\x00\x00\x00\x00\x00\x00\x00\x00',

selfdrive/car/fw_query_definitions.py

@@ -3,7 +3,7 @@ import capnp
 import copy
 from dataclasses import dataclass, field
 import struct
-from typing import Dict, List, Optional, Tuple
+from typing import Callable, Dict, List, Optional, Set, Tuple
 
 import panda.python.uds as uds
 
@@ -74,6 +74,9 @@ class FwQueryConfig:
   non_essential_ecus: Dict[capnp.lib.capnp._EnumModule, List[str]] = field(default_factory=dict)
   # Ecus added for data collection, not to be fingerprinted on
   extra_ecus: List[Tuple[capnp.lib.capnp._EnumModule, int, Optional[int]]] = field(default_factory=list)
+  # Function a brand can implement to provide better fuzzy matching. Takes in FW versions,
+  # returns set of candidates. Only will match if one candidate is returned
+  match_fw_to_car_fuzzy: Optional[Callable[[Dict[Tuple[int, Optional[int]], Set[bytes]]], Set[str]]] = None
 
   def __post_init__(self):
     for i in range(len(self.requests)):

selfdrive/car/fw_versions.py

@@ -54,7 +54,7 @@ def get_brand_addrs() -> Dict[str, Set[Tuple[int, Optional[int]]]]:
   return dict(brand_addrs)
 
 
-def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
+def match_fw_to_car_fuzzy(live_fw_versions, 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
   the match is rejected."""
@@ -77,7 +77,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
 
   matched_ecus = set()
   candidate = None
-  for addr, versions in fw_versions_dict.items():
+  for addr, versions in live_fw_versions.items():
     ecu_key = (addr[0], addr[1])
     for version in versions:
       # All cars that have this FW response on the specified address
@@ -101,7 +101,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
     return set()
 
 
-def match_fw_to_car_exact(fw_versions_dict, log=True) -> Set[str]:
+def match_fw_to_car_exact(live_fw_versions, log=True) -> Set[str]:
   """Do an exact FW match. Returns all cars that match the given
   FW versions for a list of "essential" ECUs. If an ECU is not considered
   essential the FW version can be missing to get a fingerprint, but if it's present it
@@ -115,7 +115,7 @@ def match_fw_to_car_exact(fw_versions_dict, log=True) -> Set[str]:
       ecu_type = ecu[0]
       addr = ecu[1:]
 
-      found_versions = fw_versions_dict.get(addr, set())
+      found_versions = live_fw_versions.get(addr, set())
       if not len(found_versions):
         # Some models can sometimes miss an ecu, or show on two different addresses
         if candidate in config.non_essential_ecus.get(ecu_type, []):
@@ -151,6 +151,11 @@ def match_fw_to_car(fw_versions, allow_exact=True, allow_fuzzy=True, log=True):
       fw_versions_dict = build_fw_dict(fw_versions, filter_brand=brand)
       matches |= match_func(fw_versions_dict, log=log)
 
+      # If specified and no matches so far, fall back to brand's fuzzy fingerprinting function
+      config = FW_QUERY_CONFIGS[brand]
+      if not exact_match and not len(matches) and config.match_fw_to_car_fuzzy is not None:
+        matches |= config.match_fw_to_car_fuzzy(fw_versions_dict)
+
     if len(matches):
       return exact_match, matches
 
@@ -250,10 +255,6 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   versions = VERSIONS.copy()
   params = Params()
 
-  # Each brand can define extra ECUs to query for data collection
-  for brand, config in FW_QUERY_CONFIGS.items():
-    versions[brand]["debug"] = {ecu: [] for ecu in config.extra_ecus}
-
   if query_brand is not None:
     versions = {query_brand: versions[query_brand]}
 
@@ -267,8 +268,10 @@ def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1,
   ecu_types = {}
 
   for brand, brand_versions in versions.items():
+    config = FW_QUERY_CONFIGS[brand]
     for ecu in brand_versions.values():
-      for ecu_type, addr, sub_addr in ecu.keys():
+      # Each brand can define extra ECUs to query for data collection
+      for ecu_type, addr, sub_addr in list(ecu) + config.extra_ecus:
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
           ecu_types[a] = ecu_type

selfdrive/car/gm/tests/test_gm.py

@@ -0,0 +1,27 @@
+#!/usr/bin/env python3
+from parameterized import parameterized
+import unittest
+
+from selfdrive.car.gm.values import CAMERA_ACC_CAR, CAR, FINGERPRINTS, GM_RX_OFFSET
+
+CAMERA_DIAGNOSTIC_ADDRESS = 0x24b
+
+
+class TestGMFingerprint(unittest.TestCase):
+  @parameterized.expand(FINGERPRINTS.items())
+  def test_can_fingerprints(self, car_model, fingerprints):
+    self.assertGreater(len(fingerprints), 0)
+
+    # Trailblazer is in dashcam
+    if car_model != CAR.TRAILBLAZER:
+      self.assertTrue(all(len(finger) for finger in fingerprints))
+
+    # The camera can sometimes be communicating on startup
+    if car_model in CAMERA_ACC_CAR - {CAR.TRAILBLAZER}:
+      for finger in fingerprints:
+        for required_addr in (CAMERA_DIAGNOSTIC_ADDRESS, CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET):
+          self.assertEqual(finger.get(required_addr), 8, required_addr)
+
+
+if __name__ == "__main__":
+  unittest.main()

selfdrive/car/gm/values.py

@@ -199,24 +199,26 @@ FINGERPRINTS = {
   }],
   CAR.BOLT_EUV: [
   {
-    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    189: 7, 190: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 3, 241: 6, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 458: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.SILVERADO: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 208: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 322: 7, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 460: 5, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 528: 5, 532: 6, 534: 2, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 801: 8, 810: 8, 840: 5, 842: 5, 844: 8, 848: 4, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   CAR.EQUINOX: [
   {
-    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1930: 7
+    190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 257: 8, 288: 5, 289: 8, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 463: 3, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 510: 8, 528: 5, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1611: 8, 1930: 7
   }],
   # Trailblazer also matches as a Silverado, so comment out to avoid conflicts.
   # TODO: split with FW versions
   CAR.TRAILBLAZER: [
   {
-  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
+  #   190: 6, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 289: 8, 298: 8, 304: 3, 309: 8, 311: 8, 313: 8, 320: 4, 328: 1, 352: 5, 381: 8, 384: 4, 386: 8, 388: 8, 413: 8, 451: 8, 452: 8, 453: 6, 455: 7, 479: 3, 481: 7, 485: 8, 489: 8, 497: 8, 500: 6, 501: 8, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 587: 8, 707: 8, 715: 8, 717: 5, 761: 7, 789: 5, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 880: 6, 977: 8, 1001: 8, 1011: 6, 1017: 8, 1020: 8, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1609: 8, 1611: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1930: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8
   }],
 }
 
+GM_RX_OFFSET = 0x400
+
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'))
 
 EV_CAR = {CAR.VOLT, CAR.BOLT_EUV}

selfdrive/car/hyundai/tests/print_platform_codes.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+from cereal import car
+from selfdrive.car.hyundai.values import FW_VERSIONS, PLATFORM_CODE_ECUS, get_platform_codes
+
+Ecu = car.CarParams.Ecu
+ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+
+if __name__ == "__main__":
+  for car_model, ecus in FW_VERSIONS.items():
+    print()
+    print(car_model)
+    for ecu in sorted(ecus, key=lambda x: int(x[0])):
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      platform_codes = get_platform_codes(ecus[ecu])
+      codes = {code for code, _ in platform_codes}
+      dates = {date for _, date in platform_codes if date is not None}
+      print(f'  (Ecu.{ECU_NAME[ecu[0]]}, {hex(ecu[1])}, {ecu[2]}):')
+      print(f'    Codes: {codes}')
+      print(f'    Dates: {dates}')

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -2,13 +2,38 @@
 import unittest
 
 from cereal import car
-from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, FW_QUERY_CONFIG, \
-                                         FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, PART_NUMBER_FW_PATTERN, PLATFORM_CODE_ECUS, \
-                                         get_platform_codes
+from selfdrive.car.fw_versions import build_fw_dict
+from selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
+                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         PLATFORM_CODE_ECUS, get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
 
+# Some platforms have date codes in a different format we don't yet parse (or are missing).
+# For now, assert list of expected missing date cars
+NO_DATES_PLATFORMS = {
+  # CAN FD
+  CAR.KIA_SPORTAGE_5TH_GEN,
+  CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
+  CAR.SANTA_CRUZ_1ST_GEN,
+  CAR.TUCSON_4TH_GEN,
+  CAR.TUCSON_HYBRID_4TH_GEN,
+  # CAN
+  CAR.ELANTRA,
+  CAR.KIA_CEED,
+  CAR.KIA_FORTE,
+  CAR.KIA_OPTIMA_G4,
+  CAR.KIA_OPTIMA_G4_FL,
+  CAR.KIA_SORENTO,
+  CAR.KONA,
+  CAR.KONA_EV,
+  CAR.KONA_EV_2022,
+  CAR.KONA_HEV,
+  CAR.SONATA_LF,
+  CAR.VELOSTER,
+}
+
 
 class TestHyundaiFingerprint(unittest.TestCase):
   def test_canfd_not_in_can_features(self):
@@ -62,48 +87,76 @@ class TestHyundaiFingerprint(unittest.TestCase):
             self.assertEqual(1, len(result), f"Unable to parse FW: {fw}")
             codes |= result
 
-          # Some newer platforms have date codes in a different format we don't yet parse,
-          # for now assert we can parse all FW or none
-          self.assertEqual(len({b"-" in code for code in codes}), 1,
-                           "Not all FW dates are parsable")
+          if ecu[0] not in DATE_FW_ECUS or car_model in NO_DATES_PLATFORMS:
+            self.assertTrue(all({date is None for _, date in codes}))
+          else:
+            self.assertTrue(all({date is not None for _, date in codes}))
 
           if car_model == CAR.HYUNDAI_GENESIS:
             raise unittest.SkipTest("No part numbers for car model")
 
           # Hyundai places the ECU part number in their FW versions, assert all parsable
           # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          for fw in fws:
-            match = PART_NUMBER_FW_PATTERN.search(fw)
-            self.assertIsNotNone(match, fw)
+          self.assertTrue(all({b"-" in code for code, _ in codes}),
+                          f"FW does not have part number: {fw}")
 
   def test_platform_codes_spot_check(self):
     # Asserts basic platform code parsing behavior for a few cases
-    codes = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
-    self.assertEqual(codes, {b"DH-1502"})
+    results = get_platform_codes([b"\xf1\x00DH LKAS 1.1 -150210"])
+    self.assertEqual(results, {(b"DH", b"150210")})
 
     # Some cameras and all radars do not have dates
-    codes = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
-    self.assertEqual(codes, {b"AEhe"})
+    results = get_platform_codes([b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         "])
+    self.assertEqual(results, {(b"AEhe-G2000", None)})
 
-    codes = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
-    self.assertEqual(codes, {b"CV1"})
+    results = get_platform_codes([b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         "])
+    self.assertEqual(results, {(b"CV1-CV000", None)})
 
-    codes = get_platform_codes([
+    results = get_platform_codes([
       b"\xf1\x00DH LKAS 1.1 -150210",
       b"\xf1\x00AEhe SCC H-CUP      1.01 1.01 96400-G2000         ",
       b"\xf1\x00CV1_ RDR -----      1.00 1.01 99110-CV000         ",
     ])
-    self.assertEqual(codes, {b"DH-1502", b"AEhe", b"CV1"})
+    self.assertEqual(results, {(b"DH", b"150210"), (b"AEhe-G2000", None), (b"CV1-CV000", None)})
 
-    # Returned platform codes must inclusively contain start/end dates
-    codes = get_platform_codes([
+    results = get_platform_codes([
       b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.07 99211-S8100 220222",
       b"\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 211103",
       b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 190405",
       b"\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 190720",
     ])
-    self.assertEqual(codes, {b"LX2-2111", b"LX2-2112", b"LX2-2201", b"LX2-2202",
-                             b"ON-1904", b"ON-1905", b"ON-1906", b"ON-1907"})
+    self.assertEqual(results, {(b"LX2-S8100", b"220222"), (b"LX2-S8100", b"211103"),
+                               (b"ON-S9100", b"190405"), (b"ON-S9100", b"190720")})
+
+  def test_fuzzy_excluded_platforms(self):
+    # Asserts a list of platforms that will not fuzzy fingerprint with platform codes due to them being shared.
+    # This list can be shrunk as we combine platforms and detect features
+    excluded_platforms = {
+      CAR.GENESIS_G70,            # shared platform code, part number, and date
+      CAR.GENESIS_G70_2020,
+      CAR.TUCSON_4TH_GEN,         # shared platform code and part number
+      CAR.TUCSON_HYBRID_4TH_GEN,
+    }
+    excluded_platforms |= CANFD_CAR - EV_CAR  # shared platform codes
+    excluded_platforms |= NO_DATES_PLATFORMS  # date codes are required to match
+
+    platforms_with_shared_codes = set()
+    for platform, fw_by_addr in FW_VERSIONS.items():
+      car_fw = []
+      for ecu, fw_versions in fw_by_addr.items():
+        ecu_name, addr, sub_addr = ecu
+        for fw in fw_versions:
+          car_fw.append({"ecu": ecu_name, "fwVersion": fw, "address": addr,
+                         "subAddress": 0 if sub_addr is None else sub_addr})
+
+      CP = car.CarParams.new_message(carFw=car_fw)
+      matches = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+      if len(matches) == 1:
+        self.assertEqual(list(matches)[0], platform)
+      else:
+        platforms_with_shared_codes.add(platform)
+
+    self.assertEqual(platforms_with_shared_codes, excluded_platforms)
 
 
 if __name__ == "__main__":

selfdrive/car/hyundai/values.py

@@ -1,10 +1,7 @@
 import re
-from datetime import datetime
-from dateutil import rrule
-from collections import defaultdict
 from dataclasses import dataclass
 from enum import Enum, IntFlag
-from typing import DefaultDict, Dict, List, Optional, Set, Union, cast
+from typing import Dict, List, Optional, Set, Tuple, Union
 
 from cereal import car
 from panda.python import uds
@@ -12,7 +9,6 @@ from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarFootnote, CarHarness, CarInfo, CarParts, Column
 from selfdrive.car.fw_query_definitions import FwQueryConfig, Request, p16
-from system.swaglog import cloudlog
 
 Ecu = car.CarParams.Ecu
 
@@ -348,35 +344,73 @@ FINGERPRINTS = {
 }
 
 
-def get_platform_codes(fw_versions: List[bytes]) -> Set[bytes]:
-  codes: DefaultDict[bytes, Set[Optional[bytes]]] = defaultdict(set)
+def get_platform_codes(fw_versions: List[bytes]) -> Set[Tuple[bytes, Optional[bytes]]]:
+  # Returns unique, platform-specific identification codes for a set of versions
+  codes = set()  # (code-Optional[part], date)
   for fw in fw_versions:
-    code_match, date_match = (PLATFORM_CODE_FW_PATTERN.search(fw),
-                              DATE_FW_PATTERN.search(fw))
+    code_match = PLATFORM_CODE_FW_PATTERN.search(fw)
+    part_match = PART_NUMBER_FW_PATTERN.search(fw)
+    date_match = DATE_FW_PATTERN.search(fw)
     if code_match is not None:
-      code = code_match.group()
+      code: bytes = code_match.group()
+      part = part_match.group() if part_match else None
       date = date_match.group() if date_match else None
-      codes[code].add(date)
+      if part is not None:
+        # part number starts with generic ECU part type, add what is specific to platform
+        code += b"-" + part[-5:]
 
-  # Create platform codes for all dates inclusive if ECU has FW dates
-  final_codes = set()
-  for code, dates in codes.items():
-    # Radar and some cameras don't have FW dates
-    if None in dates:
-      final_codes.add(code)
-      continue
+      codes.add((code, date))
+  return codes
 
-    try:
-      parsed = {datetime.strptime(cast(bytes, date).decode()[:4], '%y%m') for date in dates}
-    except ValueError:
-      cloudlog.exception(f'Error parsing date in FW versions: {code!r}, {dates}')
-      final_codes.add(code)
-      continue
 
-    for monthly in rrule.rrule(rrule.MONTHLY, dtstart=min(parsed), until=max(parsed)):
-      final_codes.add(code + b'-' + monthly.strftime('%y%m').encode())
+def match_fw_to_car_fuzzy(live_fw_versions) -> Set[str]:
+  # Non-electric CAN FD platforms often do not have platform code specifiers needed
+  # to distinguish between hybrid and ICE. All EVs so far are either exclusively
+  # electric or specify electric in the platform code.
+  fuzzy_platform_blacklist = set(CANFD_CAR - EV_CAR)
+  candidates = set()
 
-  return final_codes
+  for candidate, fws in FW_VERSIONS.items():
+    # Keep track of ECUs which pass all checks (platform codes, within date range)
+    valid_found_ecus = set()
+    valid_expected_ecus = {ecu[1:] for ecu in fws if ecu[0] in PLATFORM_CODE_ECUS}
+    for ecu, expected_versions in fws.items():
+      addr = ecu[1:]
+      # Only check ECUs expected to have platform codes
+      if ecu[0] not in PLATFORM_CODE_ECUS:
+        continue
+
+      # Expected platform codes & dates
+      codes = get_platform_codes(expected_versions)
+      expected_platform_codes = {code for code, _ in codes}
+      expected_dates = {date for _, date in codes if date is not None}
+
+      # Found platform codes & dates
+      codes = get_platform_codes(live_fw_versions.get(addr, set()))
+      found_platform_codes = {code for code, _ in codes}
+      found_dates = {date for _, date in codes if date is not None}
+
+      # Check platform code + part number matches for any found versions
+      if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
+        break
+
+      if ecu[0] in DATE_FW_ECUS:
+        # If ECU can have a FW date, require it to exist
+        # (this excludes candidates in the database without dates)
+        if not len(expected_dates) or not len(found_dates):
+          break
+
+        # Check any date within range in the database, format is %y%m%d
+        if not any(min(expected_dates) <= found_date <= max(expected_dates) for found_date in found_dates):
+          break
+
+      valid_found_ecus.add(addr)
+
+    # If all live ECUs pass all checks for candidate, add it as a match
+    if valid_expected_ecus.issubset(valid_found_ecus):
+      candidates.add(candidate)
+
+  return candidates - fuzzy_platform_blacklist
 
 
 HYUNDAI_VERSION_REQUEST_LONG = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
@@ -401,6 +435,8 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
+# So far we've only seen dates in fwdCamera
+DATE_FW_ECUS = [Ecu.fwdCamera]
 
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
@@ -458,6 +494,8 @@ FW_QUERY_CONFIG = FwQueryConfig(
     (Ecu.hvac, 0x7b3, None),         # HVAC Control Assembly
     (Ecu.cornerRadar, 0x7b7, None),
   ],
+  # Custom fuzzy fingerprinting function using platform codes, part numbers + FW dates:
+  match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )
 
 FW_VERSIONS = {

selfdrive/car/mazda/carstate.py

@@ -38,8 +38,8 @@ class CarState(CarStateBase):
     ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(can_gear, None))
 
     ret.genericToggle = bool(cp.vl["BLINK_INFO"]["HIGH_BEAMS"])
-    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS1"] == 1
-    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS1"] == 1
+    ret.leftBlindspot = cp.vl["BSM"]["LEFT_BS_STATUS"] != 0
+    ret.rightBlindspot = cp.vl["BSM"]["RIGHT_BS_STATUS"] != 0
     ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(40, cp.vl["BLINK_INFO"]["LEFT_BLINK"] == 1,
                                                                       cp.vl["BLINK_INFO"]["RIGHT_BLINK"] == 1)
 
@@ -151,8 +151,8 @@ class CarState(CarStateBase):
         ("PEDAL_GAS", "ENGINE_DATA"),
         ("SPEED", "ENGINE_DATA"),
         ("CTR", "CRZ_BTNS"),
-        ("LEFT_BS1", "BSM"),
-        ("RIGHT_BS1", "BSM"),
+        ("LEFT_BS_STATUS", "BSM"),
+        ("RIGHT_BS_STATUS", "BSM"),
       ]
 
       checks += [

selfdrive/car/nissan/values.py

@@ -79,25 +79,35 @@ FINGERPRINTS = {
   ]
 }
 
-NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL, 0xc0])
-NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40, 0xc0])
+NISSAN_DIAGNOSTIC_REQUEST_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL])
+NISSAN_DIAGNOSTIC_RESPONSE_KWP = bytes([uds.SERVICE_TYPE.DIAGNOSTIC_SESSION_CONTROL + 0x40])
 
 NISSAN_VERSION_REQUEST_KWP = b'\x21\x83'
 NISSAN_VERSION_RESPONSE_KWP = b'\x61\x83'
 
 NISSAN_RX_OFFSET = 0x20
 
+# Try diagnostic sessions: default, standby, extended, Nissan-specific
+NISSAN_DIAGNOSTIC_SESSION_TYPES = (0x81, 0x89, 0x92, 0xc0)
+NISSAN_DEFAULT_DIAGNOSTIC_SESSION_TYPE = 0xc0
+
 FW_QUERY_CONFIG = FwQueryConfig(
   requests=[
-    Request(
-      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-    ),
-    Request(
-      [NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_VERSION_REQUEST_KWP],
-      [NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_VERSION_RESPONSE_KWP],
-      rx_offset=NISSAN_RX_OFFSET,
-    ),
+    *[
+      Request(
+        [NISSAN_DIAGNOSTIC_REQUEST_KWP + bytes([subfunction]), NISSAN_VERSION_REQUEST_KWP],
+        [NISSAN_DIAGNOSTIC_RESPONSE_KWP + bytes([subfunction]), NISSAN_VERSION_RESPONSE_KWP],
+        logging=subfunction != NISSAN_DEFAULT_DIAGNOSTIC_SESSION_TYPE,
+      ) for subfunction in NISSAN_DIAGNOSTIC_SESSION_TYPES
+    ],
+    *[
+      Request(
+        [NISSAN_DIAGNOSTIC_REQUEST_KWP + bytes([subfunction]), NISSAN_VERSION_REQUEST_KWP],
+        [NISSAN_DIAGNOSTIC_RESPONSE_KWP + bytes([subfunction]), NISSAN_VERSION_RESPONSE_KWP],
+        rx_offset=NISSAN_RX_OFFSET,
+        logging=subfunction != NISSAN_DEFAULT_DIAGNOSTIC_SESSION_TYPE,
+      ) for subfunction in NISSAN_DIAGNOSTIC_SESSION_TYPES
+    ],
     Request(
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],

selfdrive/car/subaru/carcontroller.py

@@ -1,7 +1,7 @@
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_driver_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams, SubaruFlags
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, CarControllerParams, SubaruFlags
 
 
 class CarController:
@@ -44,7 +44,6 @@ class CarController:
 
 
     # *** alerts and pcm cancel ***
-
     if self.CP.carFingerprint in PREGLOBAL_CARS:
       if self.frame % 5 == 0:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
@@ -66,7 +65,7 @@ class CarController:
 
     else:
       if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
-        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
+        bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
         can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
         self.last_cancel_frame = self.frame
 
@@ -78,7 +77,7 @@ class CarController:
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_infotainmentstatus(self.packer, CS.es_infotainmentstatus_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/carstate.py

@@ -4,7 +4,7 @@ from opendbc.can.can_define import CANDefine
 from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
-from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, SubaruFlags
+from selfdrive.car.subaru.values import DBC, CAR, GLOBAL_GEN2, PREGLOBAL_CARS, CanBus, SubaruFlags
 
 
 class CarState(CarStateBase):
@@ -69,6 +69,7 @@ class CarState(CarStateBase):
                         cp.vl["BodyInfo"]["DOOR_OPEN_FL"]])
     ret.steerFaultPermanent = cp.vl["Steering_Torque"]["Steer_Error_1"] == 1
 
+    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     if self.car_fingerprint in PREGLOBAL_CARS:
       self.cruise_button = cp_cam.vl["ES_Distance"]["Cruise_Button"]
       self.ready = not cp_cam.vl["ES_DashStatus"]["Not_Ready_Startup"]
@@ -76,19 +77,22 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
-      ret.stockFcw = cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2
+      ret.stockFcw = (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 1) or \
+                     (cp_cam.vl["ES_LKAS_State"]["LKAS_Alert"] == 2)
+      # 8 is known AEB, there are a few other values related to AEB we ignore
+      ret.stockAeb = (cp_es_distance.vl["ES_Brake"]["AEB_Status"] == 8) and \
+                     (cp_es_distance.vl["ES_Brake"]["Brake_Pressure"] != 0)
       self.es_lkas_state_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
 
-    cp_es_distance = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp_cam
     self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])
     self.es_dashstatus_msg = copy.copy(cp_cam.vl["ES_DashStatus"])
     if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-      self.es_infotainmentstatus_msg = copy.copy(cp_cam.vl["INFOTAINMENT_STATUS"])
+      self.es_infotainment_msg = copy.copy(cp_cam.vl["ES_Infotainment"])
 
     return ret
 
   @staticmethod
-  def get_common_global_signals():
+  def get_common_global_body_signals():
     signals = [
       ("Cruise_On", "CruiseControl"),
       ("Cruise_Activated", "CruiseControl"),
@@ -107,8 +111,10 @@ class CarState(CarStateBase):
     return signals, checks
 
   @staticmethod
-  def get_global_es_distance_signals():
+  def get_common_global_es_signals():
     signals = [
+      ("AEB_Status", "ES_Brake"),
+      ("Brake_Pressure", "ES_Brake"),
       ("COUNTER", "ES_Distance"),
       ("CHECKSUM", "ES_Distance"),
       ("Signal1", "ES_Distance"),
@@ -130,7 +136,9 @@ class CarState(CarStateBase):
       ("Cruise_Resume", "ES_Distance"),
       ("Signal6", "ES_Distance"),
     ]
+
     checks = [
+      ("ES_Brake", 20),
       ("ES_Distance", 20),
     ]
 
@@ -177,8 +185,8 @@ class CarState(CarStateBase):
 
     if CP.carFingerprint not in PREGLOBAL_CARS:
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_common_global_signals()[0]
-        checks += CarState.get_common_global_signals()[1]
+        signals += CarState.get_common_global_body_signals()[0]
+        checks += CarState.get_common_global_body_signals()[1]
 
       signals += [
         ("Steer_Warning", "Steering_Torque"),
@@ -217,7 +225,7 @@ class CarState(CarStateBase):
           ("CruiseControl", 50),
         ]
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.main)
 
   @staticmethod
   def get_cam_can_parser(CP):
@@ -303,28 +311,28 @@ class CarState(CarStateBase):
       ]
 
       if CP.carFingerprint not in GLOBAL_GEN2:
-        signals += CarState.get_global_es_distance_signals()[0]
-        checks += CarState.get_global_es_distance_signals()[1]
+        signals += CarState.get_common_global_es_signals()[0]
+        checks += CarState.get_common_global_es_signals()[1]
 
       if CP.flags & SubaruFlags.SEND_INFOTAINMENT:
         signals += [
-          ("COUNTER", "INFOTAINMENT_STATUS"),
-          ("CHECKSUM", "INFOTAINMENT_STATUS"),
-          ("LKAS_State_Infotainment", "INFOTAINMENT_STATUS"),
-          ("LKAS_Blue_Lines", "INFOTAINMENT_STATUS"),
-          ("Signal1", "INFOTAINMENT_STATUS"),
-          ("Signal2", "INFOTAINMENT_STATUS"),
+          ("COUNTER", "ES_Infotainment"),
+          ("CHECKSUM", "ES_Infotainment"),
+          ("LKAS_State_Infotainment", "ES_Infotainment"),
+          ("LKAS_Blue_Lines", "ES_Infotainment"),
+          ("Signal1", "ES_Infotainment"),
+          ("Signal2", "ES_Infotainment"),
         ]
-        checks.append(("INFOTAINMENT_STATUS", 10))
+        checks.append(("ES_Infotainment", 10))
 
-    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+    return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.camera)
 
   @staticmethod
   def get_body_can_parser(CP):
     if CP.carFingerprint in GLOBAL_GEN2:
-      signals, checks = CarState.get_common_global_signals()
-      signals += CarState.get_global_es_distance_signals()[0]
-      checks += CarState.get_global_es_distance_signals()[1]
-      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 1)
+      signals, checks = CarState.get_common_global_body_signals()
+      signals += CarState.get_common_global_es_signals()[0]
+      checks += CarState.get_common_global_es_signals()[1]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.alt)
 
     return None

selfdrive/car/subaru/subarucan.py

@@ -1,4 +1,5 @@
 from cereal import car
+from selfdrive.car.subaru.values import CanBus
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -102,7 +103,7 @@ def create_es_lkas_state(packer, es_lkas_state_msg, enabled, visual_alert, left_
   values["LKAS_Left_Line_Visible"] = int(left_line)
   values["LKAS_Right_Line_Visible"] = int(right_line)
 
-  return packer.make_can_msg("ES_LKAS_State", 0, values)
+  return packer.make_can_msg("ES_LKAS_State", CanBus.main, values)
 
 
 def create_es_dashstatus(packer, dashstatus_msg):
@@ -140,12 +141,12 @@ def create_es_dashstatus(packer, dashstatus_msg):
   if values["LKAS_State_Msg"] in (2, 3):
     values["LKAS_State_Msg"] = 0
 
-  return packer.make_can_msg("ES_DashStatus", 0, values)
+  return packer.make_can_msg("ES_DashStatus", CanBus.main, values)
 
 
-def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
+def create_es_infotainment(packer, es_infotainment_msg, visual_alert):
   # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
-  values = {s: infotainmentstatus_msg[s] for s in [
+  values = {s: es_infotainment_msg[s] for s in [
     "CHECKSUM",
     "COUNTER",
     "LKAS_State_Infotainment",
@@ -164,7 +165,7 @@ def create_infotainmentstatus(packer, infotainmentstatus_msg, visual_alert):
   if visual_alert == VisualAlert.fcw:
     values["LKAS_State_Infotainment"] = 2
 
-  return packer.make_can_msg("INFOTAINMENT_STATUS", 0, values)
+  return packer.make_can_msg("ES_Infotainment", CanBus.main, values)
 
 
 # *** Subaru Pre-global ***
@@ -181,7 +182,7 @@ def create_preglobal_steering_control(packer, apply_steer, steer_req):
   }
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_LKAS")
 
-  return packer.make_can_msg("ES_LKAS", 0, values)
+  return packer.make_can_msg("ES_LKAS", CanBus.main, values)
 
 
 def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
@@ -208,4 +209,4 @@ def create_preglobal_es_distance(packer, cruise_button, es_distance_msg):
   values["Cruise_Button"] = cruise_button
   values["Checksum"] = subaru_preglobal_checksum(packer, values, "ES_Distance")
 
-  return packer.make_can_msg("ES_Distance", 0, values)
+  return packer.make_can_msg("ES_Distance", CanBus.main, values)

selfdrive/car/subaru/values.py

@@ -34,6 +34,12 @@ class SubaruFlags(IntFlag):
   SEND_INFOTAINMENT = 1
 
 
+class CanBus:
+  main = 0
+  alt = 1
+  camera = 2
+
+
 class CAR:
   # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"

selfdrive/car/tests/routes.py

@@ -16,7 +16,6 @@ from selfdrive.car.body.values import CAR as COMMA
 
 # TODO: add routes for these cars
 non_tested_cars = [
-  FORD.FOCUS_MK4,
   GM.CADILLAC_ATS,
   GM.HOLDEN_ASTRA,
   GM.MALIBU,
@@ -47,6 +46,7 @@ routes = [
   CarTestRoute("54827bf84c38b14f|2023-01-25--14-14-11", FORD.BRONCO_SPORT_MK1),
   CarTestRoute("f8eaaccd2a90aef8|2023-05-04--15-10-09", FORD.ESCAPE_MK4),
   CarTestRoute("62241b0c7fea4589|2022-09-01--15-32-49", FORD.EXPLORER_MK6),
+  CarTestRoute("e886087f430e7fe7|2023-06-16--23-06-36", FORD.FOCUS_MK4),
   CarTestRoute("bd37e43731e5964b|2023-04-30--10-42-26", FORD.MAVERICK_MK1),
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 

selfdrive/car/tests/test_car_interfaces.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import math
 import unittest
+from hypothesis import given, settings
 import importlib
 from parameterized import parameterized
 
@@ -8,12 +9,15 @@ from cereal import car
 from selfdrive.car import gen_empty_fingerprint
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import _FINGERPRINTS as FINGERPRINTS, all_known_cars
+from selfdrive.test.fuzzy_generation import get_random_msg
 
 
 class TestCarInterfaces(unittest.TestCase):
 
   @parameterized.expand([(car,) for car in all_known_cars()])
-  def test_car_interfaces(self, car_name):
+  @settings(max_examples=5)
+  @given(cc_msg=get_random_msg(car.CarControl, real_floats=True))
+  def test_car_interfaces(self, car_name, cc_msg):
     if car_name in FINGERPRINTS:
       fingerprint = FINGERPRINTS[car_name][0]
     else:
@@ -57,13 +61,13 @@ class TestCarInterfaces(unittest.TestCase):
         self.assertTrue(len(tune.indi.outerLoopGainV))
 
     # Run car interface
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     for _ in range(10):
       car_interface.update(CC, [])
       car_interface.apply(CC, 0)
       car_interface.apply(CC, 0)
 
-    CC = car.CarControl.new_message()
+    CC = car.CarControl.new_message(**cc_msg)
     CC.enabled = True
     for _ in range(10):
       car_interface.update(CC, [])

selfdrive/car/tests/test_fw_fingerprint.py

@@ -10,7 +10,8 @@ from cereal import car
 from common.params import Params
 from selfdrive.car.car_helpers import interfaces
 from selfdrive.car.fingerprints import FW_VERSIONS
-from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, match_fw_to_car, get_fw_versions
+from selfdrive.car.fw_versions import FW_QUERY_CONFIGS, FUZZY_EXCLUDE_ECUS, VERSIONS, build_fw_dict, match_fw_to_car, get_fw_versions, get_present_ecus
+from selfdrive.car.vin import get_vin
 
 CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
@@ -45,6 +46,28 @@ class TestFwFingerprint(unittest.TestCase):
       _, matches = match_fw_to_car(CP.carFw, allow_fuzzy=False)
       self.assertFingerprints(matches, car_model)
 
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_custom_fuzzy_match(self, brand, car_model, ecus):
+    # Assert brand-specific fuzzy fingerprinting function doesn't disagree with standard fuzzy function
+    config = FW_QUERY_CONFIGS[brand]
+    if config.match_fw_to_car_fuzzy is None:
+      raise unittest.SkipTest("Brand does not implement custom fuzzy fingerprinting function")
+
+    CP = car.CarParams.new_message()
+    for _ in range(5):
+      fw = []
+      for ecu, fw_versions in ecus.items():
+        ecu_name, addr, sub_addr = ecu
+        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, allow_exact=False, log=False)
+      brand_matches = config.match_fw_to_car_fuzzy(build_fw_dict(CP.carFw))
+
+      # If both have matches, they must agree
+      if len(matches) == 1 and len(brand_matches) == 1:
+        self.assertEqual(matches, brand_matches)
+
   @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
   def test_fuzzy_match_ecu_count(self, brand, car_model, ecus):
     # Asserts that fuzzy matching does not count matching FW, but ECU address keys
@@ -135,36 +158,62 @@ class TestFwFingerprint(unittest.TestCase):
 
         ecu_strings = ", ".join([f'Ecu.{ECU_NAME[ecu]}' for ecu in ecus_not_whitelisted])
         self.assertFalse(len(whitelisted_ecus) and len(ecus_not_whitelisted),
-                         f'{brand.title()}: FW query whitelist missing ecus: {ecu_strings}')
+                         f'{brand.title()}: ECUs not in any FW query whitelists: {ecu_strings}')
 
 
 class TestFwFingerprintTiming(unittest.TestCase):
+  N: int = 5
+  TOL: float = 0.1
+
   @staticmethod
-  def _benchmark(brand, num_pandas, n):
+  def _run_thread(thread: threading.Thread) -> float:
     params = Params()
+    params.put_bool("ObdMultiplexingEnabled", True)
+    thread.start()
+    t = time.perf_counter()
+    while thread.is_alive():
+      time.sleep(0.02)
+      if not params.get_bool("ObdMultiplexingChanged"):
+        params.put_bool("ObdMultiplexingChanged", True)
+    return time.perf_counter() - t
+
+  def _benchmark_brand(self, brand, num_pandas):
     fake_socket = FakeSocket()
+    brand_time = 0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand),
+                                kwargs=dict(num_pandas=num_pandas))
+      brand_time += self._run_thread(thread)
+
+    return round(brand_time / self.N, 2)
 
-    times = []
-    for _ in range(n):
-      params.put_bool("ObdMultiplexingEnabled", True)
-      thread = threading.Thread(target=get_fw_versions, args=(fake_socket, fake_socket, brand), kwargs=dict(num_pandas=num_pandas))
-      thread.start()
-      t = time.perf_counter()
-      while thread.is_alive():
-        time.sleep(0.02)
-        if not params.get_bool("ObdMultiplexingChanged"):
-          params.put_bool("ObdMultiplexingChanged", True)
-      times.append(time.perf_counter() - t)
+  def _assert_timing(self, avg_time, ref_time):
+    self.assertLess(avg_time, ref_time + self.TOL)
+    self.assertGreater(avg_time, ref_time - self.TOL, "Performance seems to have improved, update test refs.")
 
-    return round(sum(times) / len(times), 2)
+  def test_startup_timing(self):
+    # Tests worse-case VIN query time and typical present ECU query time
+    vin_ref_time = 1.0
+    present_ecu_ref_time = 0.8
 
-  def _assert_timing(self, avg_time, ref_time, tol):
-    self.assertLess(avg_time, ref_time + tol)
-    self.assertGreater(avg_time, ref_time - tol, "Performance seems to have improved, update test refs.")
+    fake_socket = FakeSocket()
+    present_ecu_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_present_ecus, args=(fake_socket, fake_socket),
+                                kwargs=dict(num_pandas=2))
+      present_ecu_time += self._run_thread(thread)
+    self._assert_timing(present_ecu_time / self.N, present_ecu_ref_time)
+    print(f'get_present_ecus, query time={present_ecu_time / self.N} seconds')
+
+    vin_time = 0.0
+    for _ in range(self.N):
+      thread = threading.Thread(target=get_vin, args=(fake_socket, fake_socket, 1))
+      vin_time += self._run_thread(thread)
+    self._assert_timing(vin_time / self.N, vin_ref_time)
+    print(f'get_vin, query time={vin_time / self.N} seconds')
 
   def test_fw_query_timing(self):
-    tol = 0.1
-    total_ref_time = 4.6
+    total_ref_time = 6.1
     brand_ref_times = {
       1: {
         'body': 0.1,
@@ -173,10 +222,10 @@ class TestFwFingerprintTiming(unittest.TestCase):
         'honda': 0.5,
         'hyundai': 0.7,
         'mazda': 0.1,
-        'nissan': 0.3,
+        'nissan': 0.9,
         'subaru': 0.1,
         'tesla': 0.2,
-        'toyota': 0.7,
+        'toyota': 1.6,
         'volkswagen': 0.2,
       },
       2: {
@@ -192,13 +241,13 @@ class TestFwFingerprintTiming(unittest.TestCase):
           if not len(multi_panda_requests) and num_pandas > 1:
             raise unittest.SkipTest("No multi-panda FW queries")
 
-          avg_time = self._benchmark(brand, num_pandas, 5)
+          avg_time = self._benchmark_brand(brand, num_pandas)
           total_time += avg_time
-          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand], tol)
+          self._assert_timing(avg_time, brand_ref_times[num_pandas][brand])
           print(f'{brand=}, {num_pandas=}, {len(config.requests)=}, avg FW query time={avg_time} seconds')
 
     with self.subTest(brand='all_brands'):
-      self._assert_timing(total_time, total_ref_time, tol)
+      self._assert_timing(total_time, total_ref_time)
       print(f'all brands, total FW query time={total_time} seconds')
 
 

selfdrive/car/torque_data/override.yaml

@@ -29,7 +29,7 @@ COMMA BODY: [.nan, 1000, .nan]
 # Totally new cars
 RAM 1500 5TH GEN: [2.0, 2.0, 0.05]
 RAM HD 5TH GEN: [1.4, 1.4, 0.05]
-SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
+SUBARU OUTBACK 6TH GEN: [2.0, 2.0, 0.2]
 CADILLAC ESCALADE 2017: [1.899999976158142, 1.842270016670227, 0.1120000034570694]
 CHEVROLET BOLT EUV 2022: [2.0, 2.0, 0.05]
 CHEVROLET SILVERADO 1500 2020: [1.9, 1.9, 0.112]

selfdrive/car/toyota/interface.py

@@ -207,6 +207,10 @@ class CarInterface(CarInterfaceBase):
     if 0x2FF in fingerprint[0]:
       ret.flags |= ToyotaFlags.SMART_DSU.value
 
+    # No radar dbc for cars without DSU which are not TSS 2.0
+    # TODO: make an adas dbc file for dsu-less models
+    ret.radarUnavailable = DBC[candidate]['radar'] is None or candidate in (NO_DSU_CAR - TSS2_CAR)
+
     # In TSS2 cars, the camera does long control
     found_ecus = [fw.ecu for fw in car_fw]
     ret.enableDsu = len(found_ecus) > 0 and Ecu.dsu not in found_ecus and candidate not in (NO_DSU_CAR | UNSUPPORTED_DSU_CAR) and not (ret.flags & ToyotaFlags.SMART_DSU)

selfdrive/car/toyota/radar_interface.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 from opendbc.can.parser import CANParser
 from cereal import car
-from selfdrive.car.toyota.values import NO_DSU_CAR, DBC, TSS2_CAR
+from selfdrive.car.toyota.values import DBC, TSS2_CAR
 from selfdrive.car.interfaces import RadarInterfaceBase
 
 
@@ -43,12 +43,8 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = self.RADAR_B_MSGS[-1]
     self.updated_messages = set()
 
-    # No radar dbc for cars without DSU which are not TSS 2.0
-    # TODO: make a adas dbc file for dsu-less models
-    self.no_radar = CP.carFingerprint in NO_DSU_CAR and CP.carFingerprint not in TSS2_CAR
-
   def update(self, can_strings):
-    if self.no_radar or self.rcp is None:
+    if self.rcp is None:
       return super().update(None)
 
     vls = self.rcp.update_strings(can_strings)

selfdrive/car/toyota/values.py

@@ -215,27 +215,31 @@ STATIC_DSU_MSGS = [
   (0x4CB, (CAR.PRIUS, CAR.RAV4H, CAR.LEXUS_RXH, CAR.LEXUS_NXH, CAR.LEXUS_NX, CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDERH, CAR.HIGHLANDER, CAR.AVALON, CAR.SIENNA, CAR.LEXUS_CTH, CAR.LEXUS_ES, CAR.LEXUS_ESH, CAR.LEXUS_RX, CAR.PRIUS_V), 0, 100, b'\x0c\x00\x00\x00\x00\x00\x00\x00'),
 ]
 
-TOYOTA_VERSION_REQUEST = b'\x1a\x88\x01'
-TOYOTA_VERSION_RESPONSE = b'\x5a\x88\x01'
+TOYOTA_VERSION_REQUEST_KWP = b'\x1a\x88\x01'
+TOYOTA_VERSION_RESPONSE_KWP = b'\x5a\x88\x01'
 
 FW_QUERY_CONFIG = FwQueryConfig(
+  # TODO: look at data to whitelist new ECUs effectively
   requests=[
     Request(
-      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
-      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps],
+      [StdQueries.SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST_KWP],
+      [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE_KWP],
+      whitelist_ecus=[Ecu.fwdCamera, Ecu.fwdRadar, Ecu.dsu, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.SHORT_TESTER_PRESENT_REQUEST, StdQueries.OBD_VERSION_REQUEST],
       [StdQueries.SHORT_TESTER_PRESENT_RESPONSE, StdQueries.OBD_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine],
+      whitelist_ecus=[Ecu.engine, Ecu.epb, Ecu.telematics, Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission,
+                      Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.DEFAULT_DIAGNOSTIC_REQUEST, StdQueries.EXTENDED_DIAGNOSTIC_REQUEST, StdQueries.UDS_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.DEFAULT_DIAGNOSTIC_RESPONSE, StdQueries.EXTENDED_DIAGNOSTIC_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps],
+      whitelist_ecus=[Ecu.engine, Ecu.fwdRadar, Ecu.fwdCamera, Ecu.abs, Ecu.eps, Ecu.epb, Ecu.telematics,
+                      Ecu.hybrid, Ecu.srs, Ecu.combinationMeter, Ecu.transmission, Ecu.gateway, Ecu.hvac],
       bus=0,
     ),
   ],
@@ -244,7 +248,38 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Ecu.abs: [CAR.RAV4, CAR.COROLLA, CAR.HIGHLANDER, CAR.SIENNA, CAR.LEXUS_IS],
     # On some models, the engine can show on two different addresses
     Ecu.engine: [CAR.CAMRY, CAR.COROLLA_TSS2, CAR.CHR, CAR.CHR_TSS2, CAR.LEXUS_IS, CAR.LEXUS_RC],
-  }
+  },
+  extra_ecus=[
+    # All known ECUs on a late-model Toyota vehicle not queried here:
+    # Responds to UDS:
+    # - HV Battery (0x713, 0x747)
+    # - Motor Generator (0x716, 0x724)
+    # - 2nd ABS "Brake/EPB" (0x730)
+    # Responds to KWP:
+    # - Steering Angle Sensor (0x7b3)
+    # - EPS/EMPS (0x7a0, 0x7a1)
+
+    # Hybrid control computer can be on one of two addresses
+    (Ecu.hybrid, 0x7e2, None),  # Hybrid Control Assembly & Computer
+    (Ecu.hybrid, 0x7d2, None),  # Hybrid Control Assembly & Computer
+    # TODO: if these duplicate ECUs always exist together, remove one
+    (Ecu.srs, 0x780, None),     # SRS Airbag
+    (Ecu.srs, 0x784, None),     # SRS Airbag 2
+    # Likely only exists on cars where EPB isn't standard (e.g. Camry, Avalon (/Hybrid))
+    # On some cars, EPB is controlled by the ABS module
+    (Ecu.epb, 0x750, 0x2c),     # Electronic Parking Brake
+    # This isn't accessible on all cars
+    (Ecu.gateway, 0x750, 0x5f),
+    # On some cars, this only responds to b'\x1a\x88\x81', which is reflected by the b'\x1a\x88\x00' query
+    (Ecu.telematics, 0x750, 0xc7),
+    # Transmission is combined with engine on some platforms, such as TSS-P RAV4
+    (Ecu.transmission, 0x701, None),
+    # A few platforms have a tester present response on this address, add to log
+    (Ecu.transmission, 0x7e1, None),
+    # On some cars, this only responds to b'\x1a\x88\x80'
+    (Ecu.combinationMeter, 0x7c0, None),
+    (Ecu.hvac, 0x7c4, None),
+  ],
 )
 
 FW_VERSIONS = {
@@ -875,7 +910,6 @@ FW_VERSIONS = {
       b'\x01F152612B81\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B90\x00\x00\x00\x00\x00\x00',
       b'\x01F152612C00\x00\x00\x00\x00\x00\x00',
-      b'F152602191\x00\x00\x00\x00\x00\x00',
       b'\x01F152612862\x00\x00\x00\x00\x00\x00',
       b'\x01F152612B91\x00\x00\x00\x00\x00\x00',
       b'\x01F15260A070\x00\x00\x00\x00\x00\x00',
@@ -1491,6 +1525,7 @@ FW_VERSIONS = {
       b'\x028965B0R11000\x00\x00\x00\x008965B0R12000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634A88100\x00\x00\x00\x00',
       b'\x01896634AJ2000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
@@ -1836,9 +1871,11 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'\x0237887000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02378A0000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02378F4000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152678210\x00\x00\x00\x00\x00\x00',
+      b'F152678211\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B78120\x00\x00\x00\x00\x00\x00',
@@ -1849,6 +1886,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F78030A0\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
+      b'\x028646F7803100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_NXH: {

selfdrive/car/volkswagen/carcontroller.py

@@ -21,8 +21,9 @@ class CarController:
     self.apply_steer_last = 0
     self.gra_acc_counter_last = None
     self.frame = 0
-    self.hcaSameTorqueCount = 0
-    self.hcaEnabledFrameCount = 0
+    self.eps_timer_soft_disable_alert = False
+    self.hca_frame_timer_running = 0
+    self.hca_frame_same_torque = 0
 
   def update(self, CC, CS, ext_bus, now_nanos):
     actuators = CC.actuators
@@ -38,36 +39,31 @@ class CarController:
       #   * Don't send > 3.00 Newton-meters torque
       #   * Don't send the same torque for > 6 seconds
       #   * Don't send uninterrupted steering for > 360 seconds
-      # One frame of HCA disabled is enough to reset the timer, without zeroing the
-      # torque value. Do that anytime we happen to have 0 torque, or failing that,
-      # when exceeding ~1/3 the 360 second timer.
+      # MQB racks reset the uninterrupted steering timer after a single frame
+      # of HCA disabled; this is done whenever output happens to be zero.
 
       if CC.latActive:
         new_steer = int(round(actuators.steer * self.CCP.STEER_MAX))
         apply_steer = apply_driver_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.CCP)
-        if apply_steer == 0:
-          hcaEnabled = False
-          self.hcaEnabledFrameCount = 0
+        self.hca_frame_timer_running += self.CCP.STEER_STEP
+        if self.apply_steer_last == apply_steer:
+          self.hca_frame_same_torque += self.CCP.STEER_STEP
+          if self.hca_frame_same_torque > self.CCP.STEER_TIME_STUCK_TORQUE / DT_CTRL:
+            apply_steer -= (1, -1)[apply_steer < 0]
+            self.hca_frame_same_torque = 0
         else:
-          self.hcaEnabledFrameCount += 1
-          if self.hcaEnabledFrameCount >= 118 * (100 / self.CCP.STEER_STEP):  # 118s
-            hcaEnabled = False
-            self.hcaEnabledFrameCount = 0
-          else:
-            hcaEnabled = True
-            if self.apply_steer_last == apply_steer:
-              self.hcaSameTorqueCount += 1
-              if self.hcaSameTorqueCount > 1.9 * (100 / self.CCP.STEER_STEP):  # 1.9s
-                apply_steer -= (1, -1)[apply_steer < 0]
-                self.hcaSameTorqueCount = 0
-            else:
-              self.hcaSameTorqueCount = 0
+          self.hca_frame_same_torque = 0
+        hca_enabled = abs(apply_steer) > 0
       else:
-        hcaEnabled = False
+        hca_enabled = False
         apply_steer = 0
 
+      if not hca_enabled:
+        self.hca_frame_timer_running = 0
+
+      self.eps_timer_soft_disable_alert = self.hca_frame_timer_running > self.CCP.STEER_TIME_ALERT / DT_CTRL
       self.apply_steer_last = apply_steer
-      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
+      can_sends.append(self.CCS.create_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hca_enabled))
 
     # **** Acceleration Controls ******************************************** #
 
@@ -110,4 +106,4 @@ class CarController:
 
     self.gra_acc_counter_last = CS.gra_stock_values["COUNTER"]
     self.frame += 1
-    return new_actuators, can_sends
+    return new_actuators, can_sends, self.eps_timer_soft_disable_alert

selfdrive/car/volkswagen/interface.py

@@ -20,6 +20,8 @@ class CarInterface(CarInterfaceBase):
       self.ext_bus = CANBUS.cam
       self.cp_ext = self.cp_cam
 
+    self.eps_timer_soft_disable_alert = False
+
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "volkswagen"
@@ -90,6 +92,7 @@ class CarInterface(CarInterfaceBase):
     ret.stoppingControl = True
     ret.startingState = True
     ret.startAccel = 1.0
+    ret.stopAccel = -0.55
     ret.vEgoStarting = 1.0
     ret.vEgoStopping = 1.0
     ret.longitudinalTuning.kpV = [0.1]
@@ -242,9 +245,13 @@ class CarInterface(CarInterfaceBase):
       if c.enabled and ret.vEgo < self.CP.minEnableSpeed:
         events.add(EventName.speedTooLow)
 
+    if self.eps_timer_soft_disable_alert:
+      events.add(EventName.steerTimeLimit)
+
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c, now_nanos):
-    return self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    new_actuators, can_sends, self.eps_timer_soft_disable_alert = self.CC.update(c, self.CS, self.ext_bus, now_nanos)
+    return new_actuators, can_sends

selfdrive/car/volkswagen/values.py

@@ -19,20 +19,25 @@ Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
-  STEER_STEP = 2                          # HCA_01/HCA_1 message frequency 50Hz
-  ACC_CONTROL_STEP = 2                    # ACC_06/ACC_07/ACC_System frequency 50Hz
+  STEER_STEP = 2                           # HCA_01/HCA_1 message frequency 50Hz
+  ACC_CONTROL_STEP = 2                     # ACC_06/ACC_07/ACC_System frequency 50Hz
 
-  ACCEL_MAX = 2.0                         # 2.0 m/s max acceleration
-  ACCEL_MIN = -3.5                        # 3.5 m/s max deceleration
+  # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
+  # MQB vs PQ maximums are shared, but rate-of-change limited differently
+  # based on safety requirements driven by lateral accel testing.
 
-  def __init__(self, CP):
-    # Documented lateral limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
-    # MQB vs PQ maximums are shared, but rate-of-change limited differently
-    # based on safety requirements driven by lateral accel testing.
-    self.STEER_MAX = 300                  # Max heading control assist torque 3.00 Nm
-    self.STEER_DRIVER_MULTIPLIER = 3      # weight driver torque heavily
-    self.STEER_DRIVER_FACTOR = 1          # from dbc
+  STEER_MAX = 300                          # Max heading control assist torque 3.00 Nm
+  STEER_DRIVER_MULTIPLIER = 3              # weight driver torque heavily
+  STEER_DRIVER_FACTOR = 1                  # from dbc
+
+  STEER_TIME_MAX = 360                     # Max time that EPS allows uninterrupted HCA steering control
+  STEER_TIME_ALERT = STEER_TIME_MAX - 10   # If mitigation fails, time to soft disengage before EPS timer expires
+  STEER_TIME_STUCK_TORQUE = 1.9            # EPS limits same torque to 6 seconds, reset timer 3x within that period
 
+  ACCEL_MAX = 2.0                          # 2.0 m/s max acceleration
+  ACCEL_MIN = -3.5                         # 3.5 m/s max deceleration
+
+  def __init__(self, CP):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
 
     if CP.carFingerprint in PQ_CARS:
@@ -231,7 +236,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
     VWCarInfo("Volkswagen Sharan 2018-22"),
     VWCarInfo("SEAT Alhambra 2018-20"),
   ],
-  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022"),
+  CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022-23"),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_MQB_A0]),
   CAR.TIGUAN_MK2: [
     VWCarInfo("Volkswagen Tiguan 2018-23"),
@@ -404,6 +409,7 @@ FW_VERSIONS = {
   CAR.GOLF_MK7: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906016A \xf1\x897697',
+      b'\xf1\x8704E906016N \xf1\x899105',
       b'\xf1\x8704E906016AD\xf1\x895758',
       b'\xf1\x8704E906016CE\xf1\x899096',
       b'\xf1\x8704E906016CH\xf1\x899226',
@@ -546,6 +552,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00504A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
       b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00407A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
@@ -744,9 +751,11 @@ FW_VERSIONS = {
   CAR.TAOS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8704E906027NJ\xf1\x891445',
+      b'\xf1\x8704E906027NP\xf1\x891286',
       b'\xf1\x8705E906013E \xf1\x891624',
     ],
     (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x8709G927158EM\xf1\x893812',
       b'\xf1\x8709S927158BL\xf1\x893791',
       b'\xf1\x8709S927158FF\xf1\x893876',
     ],
@@ -755,10 +764,12 @@ FW_VERSIONS = {
       b'\xf1\x875Q0959655CE\xf1\x890421\xf1\x82\x1311110011333300314240021350139333613100',
     ],
     (Ecu.eps, 0x712, None): [
+      b'\xf1\x875QM907144D \xf1\x891063\xf1\x82\x001O06081OOM',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060405A1',
       b'\xf1\x875QM909144C \xf1\x891082\xf1\x82\x0521060605A1',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572AA\xf1\x890396',
       b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
@@ -876,24 +887,28 @@ FW_VERSIONS = {
       b'\xf1\x8704L906056AL\xf1\x899970',
       b'\xf1\x8704L906057AP\xf1\x891186',
       b'\xf1\x8704L906057N \xf1\x890413',
+      b'\xf1\x8705L906023E \xf1\x891352',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870BT300012G \xf1\x893102',
       b'\xf1\x870BT300012E \xf1\x893105',
       b'\xf1\x870BT300046R \xf1\x893102',
+      b'\xf1\x870DV300012B \xf1\x893701',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704161611152S1411',
       b'\xf1\x872Q0959655AE\xf1\x890506\xf1\x82\x1316170411110411--04041704171711152S1411',
       b'\xf1\x872Q0959655AF\xf1\x890506\xf1\x82\x1316171111110411--04041711121211152S1413',
+      b'\xf1\x872Q0959655AQ\xf1\x890511\xf1\x82\x1316170411110411--0404170426261215391421',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x0532380518A2',
       b'\xf1\x877LA909144G \xf1\x897160\xf1\x82\x05333A5519A2',
-      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\005323A5519A2',
+      b'\xf1\x877LA909144F \xf1\x897150\xf1\x82\x05323A5519A2',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572R \xf1\x890372',
+      b'\xf1\x872Q0907572AA\xf1\x890396',
     ],
   },
   CAR.TROC_MK1: {
@@ -1064,6 +1079,7 @@ FW_VERSIONS = {
       b'\xf1\x8704L906021EL\xf1\x897542',
       b'\xf1\x8704L906026BP\xf1\x891198',
       b'\xf1\x8704L906026BP\xf1\x897608',
+      b'\xf1\x8704L906056CR\xf1\x892181',
       b'\xf1\x8704L906056CR\xf1\x892797',
       b'\xf1\x8705E906018AS\xf1\x899596',
       b'\xf1\x878V0906264H \xf1\x890005',
@@ -1096,6 +1112,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572K \xf1\x890402\xf1\x82\x0101',
       b'\xf1\x875Q0907572P \xf1\x890682',
+      b'\xf1\x875Q0907572R \xf1\x890771',
     ],
   },
   CAR.SKODA_FABIA_MK4: {

selfdrive/controls/controlsd.py

@@ -373,7 +373,7 @@ class Controls:
     else:
       self.logged_comm_issue = None
 
-    if not self.sm['liveParameters'].valid and not TESTING_CLOSET:
+    if not self.sm['liveParameters'].valid and not TESTING_CLOSET and not SIMULATION:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)

selfdrive/controls/lib/alertmanager.py

@@ -16,10 +16,8 @@ with open(os.path.join(BASEDIR, "selfdrive/controls/lib/alerts_offroad.json")) a
 
 def set_offroad_alert(alert: str, show_alert: bool, extra_text: Optional[str] = None) -> None:
   if show_alert:
-    a = OFFROAD_ALERTS[alert]
-    if extra_text is not None:
-      a = copy.copy(OFFROAD_ALERTS[alert])
-      a['text'] += extra_text
+    a = copy.copy(OFFROAD_ALERTS[alert])
+    a['extra'] = extra_text or ''
     Params().put(alert, json.dumps(a))
   else:
     Params().remove(alert)

selfdrive/controls/lib/alerts_offroad.json

@@ -1,21 +1,21 @@
 {
   "Offroad_TemperatureTooHigh": {
-    "text": "Device temperature too high. System won't start.",
+    "text": "Device temperature too high. System cooling down before starting. Current internal component temperature: %1",
     "severity": 1
   },
   "Offroad_ConnectivityNeededPrompt": {
-    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in ",
+    "text": "Immediately connect to the internet to check for updates. If you do not connect to the internet, openpilot won't engage in %1",
     "severity": 0,
-    "_comment": "Append the number of days at the end of the text"
+    "_comment": "Set extra field to number of days"
   },
   "Offroad_ConnectivityNeeded": {
     "text": "Connect to internet to check for updates. openpilot won't automatically start until it connects to internet to check for updates.",
     "severity": 1
   },
   "Offroad_UpdateFailed": {
-    "text": "Unable to download updates\n",
+    "text": "Unable to download updates\n%1",
     "severity": 1,
-    "_comment": "Append the command and error to the text."
+    "_comment": "Set extra field to the failed reason."
   },
   "Offroad_InvalidTime": {
     "text": "Invalid date and time settings, system won't start. Connect to internet to set time.",

selfdrive/controls/lib/lateral_planner.py

@@ -25,7 +25,7 @@ STEERING_RATE_COST = 700.0
 
 
 class LateralPlanner:
-  def __init__(self, CP):
+  def __init__(self, CP, debug=False):
     self.DH = DesireHelper()
 
     # Vehicle model parameters used to calculate lateral movement of car
@@ -45,6 +45,8 @@ class LateralPlanner:
     self.l_lane_change_prob = 0.0
     self.r_lane_change_prob = 0.0
 
+    self.debug_mode = debug
+
     self.lat_mpc = LateralMpc()
     self.reset_mpc(np.zeros(4))
 
@@ -132,6 +134,11 @@ class LateralPlanner:
 
     lateralPlan.mpcSolutionValid = bool(plan_solution_valid)
     lateralPlan.solverExecutionTime = self.lat_mpc.solve_time
+    if self.debug_mode:
+      lateralPlan.solverCost = self.lat_mpc.cost
+      lateralPlan.solverState = log.LateralPlan.SolverState.new_message()
+      lateralPlan.solverState.x = self.lat_mpc.x_sol.tolist()
+      lateralPlan.solverState.u = self.lat_mpc.u_sol.flatten().tolist()
 
     lateralPlan.desire = self.DH.desire
     lateralPlan.useLaneLines = False

selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py

@@ -357,7 +357,7 @@ class LongitudinalMpc:
       v_cruise_clipped = np.clip(v_cruise * np.ones(N+1),
                                  v_lower,
                                  v_upper)
-      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW())
+      cruise_obstacle = np.cumsum(T_DIFFS * v_cruise_clipped) + get_safe_obstacle_distance(v_cruise_clipped, get_T_FOLLOW(personality))
       x_obstacles = np.column_stack([lead_0_obstacle, lead_1_obstacle, cruise_obstacle])
       self.source = SOURCES[np.argmin(x_obstacles[0])]
 

selfdrive/controls/plannerd.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import os
 import numpy as np
 from cereal import car
 from common.params import Params
@@ -34,8 +35,10 @@ def plannerd_thread(sm=None, pm=None):
   CP = car.CarParams.from_bytes(params.get("CarParams", block=True))
   cloudlog.info("plannerd got CarParams: %s", CP.carName)
 
+  debug_mode = bool(int(os.getenv("DEBUG", "0")))
+
   longitudinal_planner = LongitudinalPlanner(CP)
-  lateral_planner = LateralPlanner(CP)
+  lateral_planner = LateralPlanner(CP, debug=debug_mode)
 
   if sm is None:
     sm = messaging.SubMaster(['carControl', 'carState', 'controlsState', 'radarState', 'modelV2'],

selfdrive/controls/tests/test_alerts.py

@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import copy
 import json
 import os
 import unittest
@@ -76,9 +77,10 @@ class TestAlerts(unittest.TestCase):
           break
 
         font = fonts[alert.alert_size][i]
-        w, _ = draw.textsize(txt, font)
+        left, _, right, _ = draw.textbbox((0, 0), txt, font)
+        width = right - left
         msg = f"type: {alert.alert_type} msg: {txt}"
-        self.assertLessEqual(w, max_text_width, msg=msg)
+        self.assertLessEqual(width, max_text_width, msg=msg)
 
   def test_alert_sanity_check(self):
     for event_types in EVENTS.values():
@@ -108,8 +110,9 @@ class TestAlerts(unittest.TestCase):
     params = Params()
     for a in self.offroad_alerts:
       # set the alert
-      alert = self.offroad_alerts[a]
+      alert = copy.copy(self.offroad_alerts[a])
       set_offroad_alert(a, True)
+      alert['extra'] = ''
       self.assertTrue(json.dumps(alert) == params.get(a, encoding='utf8'))
 
       # then delete it
@@ -124,9 +127,9 @@ class TestAlerts(unittest.TestCase):
       alert = self.offroad_alerts[a]
       set_offroad_alert(a, True, extra_text="a"*i)
 
-      expected_txt = alert['text'] + "a"*i
-      written_txt = json.loads(params.get(a, encoding='utf8'))['text']
-      self.assertTrue(expected_txt == written_txt)
+      written_alert = json.loads(params.get(a, encoding='utf8'))
+      self.assertTrue("a"*i == written_alert['extra'])
+      self.assertTrue(alert["text"] == written_alert['text'])
 
 if __name__ == "__main__":
   unittest.main()

selfdrive/controls/tests/test_cruise_speed.py

@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 import numpy as np
-from parameterized import parameterized_class
 import unittest
 
+from parameterized import parameterized_class
+from cereal import log
+from common.params import Params
 from selfdrive.controls.lib.drive_helpers import VCruiseHelper, V_CRUISE_MIN, V_CRUISE_MAX, V_CRUISE_INITIAL, IMPERIAL_INCREMENT
 from cereal import car
 from common.conversions import Conversions as CV
@@ -31,13 +33,19 @@ def run_cruise_simulation(cruise, e2e, t_end=20.):
 
 class TestCruiseSpeed(unittest.TestCase):
   def test_cruise_speed(self):
-    for e2e in [False, True]:
-      for speed in np.arange(5, 40, 5):
-        print(f'Testing {speed} m/s')
-        cruise_speed = float(speed)
-
-        simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
-        self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [5,35]:
+          print(f'Testing {speed} m/s')
+          cruise_speed = float(speed)
+
+          simulation_steady_state = run_cruise_simulation(cruise_speed, e2e)
+          self.assertAlmostEqual(simulation_steady_state, cruise_speed, delta=.01, msg=f'Did not reach {speed} m/s')
 
 
 # TODO: test pcmCruise

selfdrive/controls/tests/test_following_distance.py

@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 import unittest
-import numpy as np
+from common.params import Params
+from cereal import log
 
-from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance, get_T_FOLLOW
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -24,14 +25,20 @@ def run_following_distance_simulation(v_lead, t_end=100.0, e2e=False):
 
 class TestFollowingDistance(unittest.TestCase):
   def test_following_distance(self):
-    for e2e in [False, True]:
-      for speed in np.arange(0, 40, 5):
-        print(f'Testing {speed} m/s')
-        v_lead = float(speed)
-        simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
-        correct_steady_state = desired_follow_distance(v_lead, v_lead)
-        err_ratio = 0.2 if e2e else 0.1
-        self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
+    params = Params()
+    personalities = [log.LongitudinalPersonality.relaxed,
+                     log.LongitudinalPersonality.standard,
+                     log.LongitudinalPersonality.aggressive]
+    for personality in personalities:
+      params.put("LongitudinalPersonality", str(personality))
+      for e2e in [False, True]:
+        for speed in [0,10,35]:
+          print(f'Testing {speed} m/s')
+          v_lead = float(speed)
+          simulation_steady_state = run_following_distance_simulation(v_lead, e2e=e2e)
+          correct_steady_state = desired_follow_distance(v_lead, v_lead, get_T_FOLLOW(personality))
+          err_ratio = 0.2 if e2e else 0.1
+          self.assertAlmostEqual(simulation_steady_state, correct_steady_state, delta=(err_ratio * correct_steady_state + .5))
 
 
 if __name__ == "__main__":

selfdrive/debug/hyundai_enable_radar_points.py

@@ -59,6 +59,9 @@ SUPPORTED_FW_VERSIONS = {
   b"TM__ SCC F-CUP      1.00 1.00 99110-S1210\x19\x01%\x168    ": ConfigValues(
     default_config=b"\x00\x00\x00\x01\x00\x00",
     tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
+  b"TM__ SCC F-CUP      1.00 1.02 99110-S2000\x18\x07\x08\x18W    ": ConfigValues(
+    default_config=b"\x00\x00\x00\x01\x00\x00",
+    tracks_enabled=b"\x00\x00\x00\x01\x00\x01"),
 }
 
 if __name__ == "__main__":

selfdrive/locationd/laikad.py

@@ -196,11 +196,11 @@ class Laikad:
       try:
         constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
         good_constellation = constellation_id in [ConstellationId.GPS, ConstellationId.SBAS, ConstellationId.GLONASS]
+        report_time = self.gps_time_from_qcom_report(gnss_msg)
       except NotImplementedError:
-        good_constellation = False
+        return False
       # Garbage timestamps with week > 32767 are sometimes sent by module.
       # This is an issue with gpsTime and GLONASS time.
-      report_time = self.gps_time_from_qcom_report(gnss_msg)
       good_week = report_time.week < np.iinfo(np.int16).max
       return good_constellation and good_week
     elif gnss_msg.which() == 'measurementReport' and not self.use_qcom:

selfdrive/locationd/models/loc_kf.py

@@ -334,12 +334,13 @@ class LocKalman():
 
 
     # process noise
-    clock_error_drift = 100.0 if erratic_clock else 0.1
+    q_clock_error = 100.0 if erratic_clock else 0.1
+    q_clock_error_rate = 10 if erratic_clock else 0.0
     self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.0**2, 0.0**2, 0.0**2,
                       0.1**2, 0.1**2, 0.1**2,
-                      (clock_error_drift)**2, (0)**2,
+                      (q_clock_error)**2, (q_clock_error_rate)**2,
                       (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
                       (0.02 / 100)**2,
                       3**2, 3**2, 3**2,

selfdrive/locationd/paramsd.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
+import os
 import math
 import json
 import numpy as np
 
 import cereal.messaging as messaging
 from cereal import car
+from cereal import log
 from common.params import Params, put_nonblocking
 from common.realtime import config_realtime_process, DT_MDL
 from common.numpy_fast import clip
@@ -16,8 +18,11 @@ from system.swaglog import cloudlog
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = math.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
 ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
+ROLL_LOWERED_MAX = math.radians(8)
 ROLL_STD_MAX = math.radians(1.5)
 LATERAL_ACC_SENSOR_THRESHOLD = 4.0
+OFFSET_MAX = 10.0
+OFFSET_LOWERED_MAX = 8.0
 
 
 class ParamsLearner:
@@ -102,9 +107,20 @@ class ParamsLearner:
       self.kf.filter.reset_rewind()
 
 
+def check_valid_with_hysteresis(current_valid: bool, val: float, threshold: float, lowered_threshold: float):
+  if current_valid:
+    current_valid = abs(val) < threshold
+  else:
+    current_valid = abs(val) < lowered_threshold
+  return current_valid
+
+
 def main(sm=None, pm=None):
   config_realtime_process([0, 1, 2, 3], 5)
 
+  DEBUG = bool(int(os.getenv("DEBUG", "0")))
+  REPLAY = bool(int(os.getenv("REPLAY", "0")))
+
   if sm is None:
     sm = messaging.SubMaster(['liveLocationKalman', 'carState'], poll=['liveLocationKalman'])
   if pm is None:
@@ -130,10 +146,8 @@ def main(sm=None, pm=None):
   # Check if starting values are sane
   if params is not None:
     try:
-      angle_offset_sane = abs(params.get('angleOffsetAverageDeg')) < 10.0
       steer_ratio_sane = min_sr <= params['steerRatio'] <= max_sr
-      params_sane = angle_offset_sane and steer_ratio_sane
-      if not params_sane:
+      if not steer_ratio_sane:
         cloudlog.info(f"Invalid starting values found {params}")
         params = None
     except Exception as e:
@@ -150,13 +164,22 @@ def main(sm=None, pm=None):
     }
     cloudlog.info("Parameter learner resetting to default values")
 
-  # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
-  # Without a way to detect this we have to reset the stiffness every drive
-  params['stiffnessFactor'] = 1.0
-  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']))
+  if not REPLAY:
+    # When driving in wet conditions the stiffness can go down, and then be too low on the next drive
+    # Without a way to detect this we have to reset the stiffness every drive
+    params['stiffnessFactor'] = 1.0
+
+  pInitial = None
+  if DEBUG:
+    pInitial = np.array(params['filterState']['std']) if 'filterState' in params else None
+
+  learner = ParamsLearner(CP, params['steerRatio'], params['stiffnessFactor'], math.radians(params['angleOffsetAverageDeg']), pInitial)
   angle_offset_average = params['angleOffsetAverageDeg']
   angle_offset = angle_offset_average
   roll = 0.0
+  avg_offset_valid = True
+  total_offset_valid = True
+  roll_valid = True
 
   while True:
     sm.update()
@@ -180,6 +203,9 @@ def main(sm=None, pm=None):
       roll_std = float(P[States.ROAD_ROLL])
       # Account for the opposite signs of the yaw rates
       sensors_valid = bool(abs(learner.speed * (x[States.YAW_RATE] + learner.yaw_rate)) < LATERAL_ACC_SENSOR_THRESHOLD)
+      avg_offset_valid = check_valid_with_hysteresis(avg_offset_valid, angle_offset_average, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      total_offset_valid = check_valid_with_hysteresis(total_offset_valid, angle_offset, OFFSET_MAX, OFFSET_LOWERED_MAX)
+      roll_valid = check_valid_with_hysteresis(roll_valid, roll, ROLL_MAX, ROLL_LOWERED_MAX)
 
       msg = messaging.new_message('liveParameters')
 
@@ -192,9 +218,9 @@ def main(sm=None, pm=None):
       liveParameters.angleOffsetAverageDeg = angle_offset_average
       liveParameters.angleOffsetDeg = angle_offset
       liveParameters.valid = all((
-        abs(liveParameters.angleOffsetAverageDeg) < 10.0,
-        abs(liveParameters.angleOffsetDeg) < 10.0,
-        abs(liveParameters.roll) < ROLL_MAX,
+        avg_offset_valid,
+        total_offset_valid,
+        roll_valid,
         roll_std < ROLL_STD_MAX,
         0.2 <= liveParameters.stiffnessFactor <= 5.0,
         min_sr <= liveParameters.steerRatio <= max_sr,
@@ -203,6 +229,11 @@ def main(sm=None, pm=None):
       liveParameters.stiffnessFactorStd = float(P[States.STIFFNESS])
       liveParameters.angleOffsetAverageStd = float(P[States.ANGLE_OFFSET])
       liveParameters.angleOffsetFastStd = float(P[States.ANGLE_OFFSET_FAST])
+      if DEBUG:
+        liveParameters.filterState = log.LiveLocationKalman.Measurement.new_message()
+        liveParameters.filterState.value = x.tolist()
+        liveParameters.filterState.std = P.tolist()
+        liveParameters.filterState.valid = True
 
       msg.valid = sm.all_checks()
 

selfdrive/locationd/test/_test_locationd_lib.py

@@ -10,10 +10,12 @@ from cffi import FFI
 import cereal.messaging as messaging
 from cereal import log
 
+from common.ffi_wrapper import suffix
+
 SENSOR_DECIMATION = 1
 VISION_DECIMATION = 1
 
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd' + suffix()))
 
 
 class TestLocationdLib(unittest.TestCase):

selfdrive/manager/process.py

@@ -100,8 +100,9 @@ class ManagerProcess(ABC):
 
     try:
       fn = WATCHDOG_FN + str(self.proc.pid)
-      # TODO: why can't pylint find struct.unpack?
-      self.last_watchdog_time = struct.unpack('Q', open(fn, "rb").read())[0] # pylint: disable=no-member
+      with open(fn, "rb") as f:
+        # TODO: why can't pylint find struct.unpack?
+        self.last_watchdog_time = struct.unpack('Q', f.read())[0] # pylint: disable=no-member
     except Exception:
       pass
 

selfdrive/manager/process_config.py

@@ -43,8 +43,8 @@ procs = [
   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("mapsd", "selfdrive/navd", ["./mapsd"]),
+  NativeProcess("navmodeld", "selfdrive/modeld", ["./navmodeld"]),
   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"]),

selfdrive/modeld/modeld.cc

@@ -53,15 +53,14 @@ mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camer
   for (int i=0; i<3*3; i++) {
     transform.v[i] = warp_matrix(i / 3, i % 3);
   }
-  static const mat3 yuv_transform = get_model_yuv_transform();
-  return matmul3(yuv_transform, transform);
+  return transform;
 }
 
 
 void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcClient &vipc_client_extra, bool main_wide_camera, bool use_extra_client) {
   // messaging
   PubMaster pm({"modelV2", "cameraOdometry"});
-  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState", "mapRenderState", "navInstruction", "navModel"});
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
@@ -72,6 +71,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
 
   mat3 model_transform_main = {};
   mat3 model_transform_extra = {};
+  bool nav_enabled = false;
   bool live_calib_seen = false;
   float driving_style[DRIVING_STYLE_LEN] = {1, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0};
   float nav_features[NAV_FEATURE_LEN] = {0};
@@ -137,6 +137,25 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
       vec_desire[desire] = 1.0;
     }
 
+    // Enable/disable nav features
+    double tsm = (float)(nanos_since_boot() - sm["mapRenderState"].getMapRenderState().getLocationMonoTime()) / 1e6;
+    bool route_valid = sm["navInstruction"].getValid() && (tsm < 1000);
+    bool render_valid = sm["mapRenderState"].getValid() && (sm["navModel"].getNavModel().getFrameId() == sm["mapRenderState"].getMapRenderState().getFrameId());
+    bool nav_valid = route_valid && render_valid;
+    if (!nav_enabled && nav_valid) {
+      nav_enabled = true;
+    } else if (nav_enabled && !nav_valid) {
+      memset(nav_features, 0, sizeof(float)*NAV_FEATURE_LEN);
+      nav_enabled = false;
+    }
+
+    if (nav_enabled && sm.updated("navModel")) {
+      auto nav_model_features = sm["navModel"].getNavModel().getFeatures();
+      for (int i=0; i<NAV_FEATURE_LEN; i++) {
+        nav_features[i] = nav_model_features[i];
+      }
+    }
+
     // tracked dropped frames
     uint32_t vipc_dropped_frames = meta_main.frame_id - last_vipc_frame_id - 1;
     float frames_dropped = frame_dropped_filter.update((float)std::min(vipc_dropped_frames, 10U));
@@ -159,8 +178,8 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
     if (model_output != nullptr) {
-      model_publish(pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
-                    kj::ArrayPtr<const float>(model.output.data(), model.output.size()), live_calib_seen);
+      model_publish(&model, pm, meta_main.frame_id, meta_extra.frame_id, frame_id, frame_drop_ratio, *model_output, meta_main.timestamp_eof, model_execution_time,
+                    nav_enabled, live_calib_seen);
       posenet_publish(pm, meta_main.frame_id, vipc_dropped_frames, *model_output, meta_main.timestamp_eof, live_calib_seen);
     }
 

selfdrive/modeld/models/driving.cc

@@ -199,6 +199,44 @@ void fill_meta(cereal::ModelDataV2::MetaData::Builder meta, const ModelOutputMet
   meta.setHardBrakePredicted(above_fcw_threshold);
 }
 
+void fill_confidence(ModelState* s, cereal::ModelDataV2::Builder &framed) {
+  if (framed.getFrameId() % (2*MODEL_FREQ) == 0) {
+    // update every 2s to match predictions interval
+    auto dbps = framed.getMeta().getDisengagePredictions().getBrakeDisengageProbs();
+    auto dgps = framed.getMeta().getDisengagePredictions().getGasDisengageProbs();
+    auto dsps = framed.getMeta().getDisengagePredictions().getSteerOverrideProbs();
+
+    float any_dp[DISENGAGE_LEN];
+    float dp_ind[DISENGAGE_LEN];
+
+    for (int i = 0; i < DISENGAGE_LEN; i++) {
+      any_dp[i] = 1 - ((1-dbps[i])*(1-dgps[i])*(1-dsps[i])); // any disengage prob
+    }
+
+    dp_ind[0] = any_dp[0];
+    for (int i = 0; i < DISENGAGE_LEN-1; i++) {
+      dp_ind[i+1] = (any_dp[i+1] - any_dp[i]) / (1 - any_dp[i]); // independent disengage prob for each 2s slice
+    }
+
+    // rolling buf for 2, 4, 6, 8, 10s
+    std::memmove(&s->disengage_buffer[0], &s->disengage_buffer[DISENGAGE_LEN], sizeof(float) * DISENGAGE_LEN * (DISENGAGE_LEN-1));
+    std::memcpy(&s->disengage_buffer[DISENGAGE_LEN * (DISENGAGE_LEN-1)], &dp_ind[0], sizeof(float) * DISENGAGE_LEN);
+  }
+
+  float score = 0;
+  for (int i = 0; i < DISENGAGE_LEN; i++) {
+    score += s->disengage_buffer[i*DISENGAGE_LEN+DISENGAGE_LEN-1-i] / DISENGAGE_LEN;
+  }
+
+  if (score < RYG_GREEN) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::GREEN);
+  } else if (score < RYG_YELLOW) {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::YELLOW);
+  } else {
+    framed.setConfidence(cereal::ModelDataV2::ConfidenceClass::RED);
+  }
+}
+
 template<size_t size>
 void fill_xyzt(cereal::XYZTData::Builder xyzt, const std::array<float, size> &t,
                const std::array<float, size> &x, const std::array<float, size> &y, const std::array<float, size> &z) {
@@ -313,7 +351,7 @@ void fill_road_edges(cereal::ModelDataV2::Builder &framed, const std::array<floa
   });
 }
 
-void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs) {
+void fill_model(ModelState* s, cereal::ModelDataV2::Builder &framed, const ModelOutput &net_outputs) {
   const auto &best_plan = net_outputs.plans.get_best_prediction();
   std::array<float, TRAJECTORY_SIZE> plan_t;
   std::fill_n(plan_t.data(), plan_t.size(), NAN);
@@ -343,6 +381,9 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
   // meta
   fill_meta(framed.initMeta(), net_outputs.meta);
 
+  // confidence
+  fill_confidence(s, framed);
+
   // leads
   auto leads = framed.initLeadsV3(LEAD_MHP_SELECTION);
   std::array<float, LEAD_MHP_SELECTION> t_offsets = {0.0, 2.0, 4.0};
@@ -362,9 +403,9 @@ void fill_model(cereal::ModelDataV2::Builder &framed, const ModelOutput &net_out
   temporal_pose.setRotStd({exp(r_std.x), exp(r_std.y), exp(r_std.z)});
 }
 
-void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
+void model_publish(ModelState* s, PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid) {
+                   float model_execution_time, const bool nav_enabled, const bool valid) {
   const uint32_t frame_age = (frame_id > vipc_frame_id) ? (frame_id - vipc_frame_id) : 0;
   MessageBuilder msg;
   auto framed = msg.initEvent(valid).initModelV2();
@@ -374,10 +415,11 @@ void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id
   framed.setFrameDropPerc(frame_drop * 100);
   framed.setTimestampEof(timestamp_eof);
   framed.setModelExecutionTime(model_execution_time);
+  framed.setNavEnabled(nav_enabled);
   if (send_raw_pred) {
-    framed.setRawPredictions(raw_pred.asBytes());
+    framed.setRawPredictions((kj::ArrayPtr<const float>(s->output.data(), s->output.size())).asBytes());
   }
-  fill_model(framed, net_outputs);
+  fill_model(s, framed, net_outputs);
   pm.send("modelV2", msg);
 }
 

selfdrive/modeld/models/driving.h

@@ -262,6 +262,7 @@ struct ModelState {
   ModelFrame *frame = nullptr;
   ModelFrame *wide_frame = nullptr;
   std::array<float, HISTORY_BUFFER_LEN * FEATURE_LEN> feature_buffer = {};
+  std::array<float, DISENGAGE_LEN * DISENGAGE_LEN> disengage_buffer = {};
   std::array<float, NET_OUTPUT_SIZE> output = {};
   std::unique_ptr<RunModel> m;
 #ifdef DESIRE
@@ -283,8 +284,8 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context);
 ModelOutput *model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* buf_wide,
                               const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, float *driving_style, float *nav_features, bool prepare_only);
 void model_free(ModelState* s);
-void model_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
+void model_publish(ModelState* s, PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_frame_id_extra, uint32_t frame_id, float frame_drop,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,
-                   float model_execution_time, kj::ArrayPtr<const float> raw_pred, const bool valid);
+                   float model_execution_time, const bool nav_enabled, const bool valid);
 void posenet_publish(PubMaster &pm, uint32_t vipc_frame_id, uint32_t vipc_dropped_frames,
                      const ModelOutput &net_outputs, uint64_t timestamp_eof, const bool valid);

selfdrive/modeld/models/navmodel.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:9028b36a591763724e95205b48f37f09260b4434fb1f3c6f228db1710a401aa8
-size 12258591
+oid sha256:05596296cdc1955e2c32a1d83fe82473c3e40c6e74ee545e3915fc59220a4088
+size 12281735

selfdrive/modeld/models/navmodel_q.dlc

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:bc7ade56bb4f9525c84a46df22252ea1e321a0518cbcef8bdfc76ccd8ad10b41
-size 3154304
+oid sha256:f81eeb842a0ab9a444a4399bdd881db834035d43e16cd11411e245e0f28964de
+size 3166978

selfdrive/modeld/models/supercombo.onnx

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:4aa77af40335462062c6eb06632bb84cbc8e5c9e3ad759f66862711620e2a840
+oid sha256:9a9a9ded468e0a5255b88d42f25075c63babfac9c8acab72259c1d5bffc1516b
 size 46117948

selfdrive/modeld/tests/test_modeld.py

@@ -9,10 +9,7 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.transformations.camera import tici_f_frame_size
 from common.realtime import DT_MDL
 from selfdrive.manager.process_config import managed_processes
-
-
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
+from selfdrive.test.process_replay.vision_meta import meta_from_camera_state
 
 IMG = np.zeros(int(tici_f_frame_size[0]*tici_f_frame_size[1]*(3/2)), dtype=np.uint8)
 IMG_BYTES = IMG.flatten().tobytes()
@@ -48,9 +45,10 @@ class TestModeld(unittest.TestCase):
       cs.frameId = frame_id
       cs.timestampSof = int((frame_id * DT_MDL) * 1e9)
       cs.timestampEof = int(cs.timestampSof + (DT_MDL * 1e9))
+      cam_meta = meta_from_camera_state(cam)
 
       self.pm.send(msg.which(), msg)
-      self.vipc_server.send(VIPC_STREAM[msg.which()], IMG_BYTES, cs.frameId,
+      self.vipc_server.send(cam_meta.stream, IMG_BYTES, cs.frameId,
                             cs.timestampSof, cs.timestampEof)
     return cs
 

selfdrive/navd/.gitignore

@@ -1,5 +1,6 @@
 moc_*
 *.moc
 
+mapsd
 map_renderer
 libmap_renderer.so

selfdrive/navd/README.md

@@ -1,6 +1,6 @@
 # navigation
 
-This directory contains two daemons, `navd` and `map_renderer`, which support navigation in the openpilot stack.
+This directory contains two daemons, `navd` and `mapsd`, which support navigation in the openpilot stack.
 
 ### navd
 

selfdrive/navd/SConscript

@@ -17,4 +17,4 @@ if arch in ['larch64', 'x86_64']:
   map_env["RPATH"].append(Dir('.').abspath)
   map_env["LIBPATH"].append(Dir('.').abspath)
   maplib = map_env.SharedLibrary("maprender", ["map_renderer.cc"], LIBS=libs)
-  map_env.Program("map_renderer", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)
+  map_env.Program("mapsd", ["main.cc", ], LIBS=[maplib[0].get_path(), ] + libs)

selfdrive/navd/map_renderer.cc

@@ -101,8 +101,7 @@ void MapRenderer::msgUpdate() {
     auto pos = location.getPositionGeodetic();
     auto orientation = location.getCalibratedOrientationNED();
 
-    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
-    if (localizer_valid && (sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
+    if ((sm->rcv_frame("liveLocationKalman") % LLK_DECIMATION) == 0) {
       float bearing = RAD2DEG(orientation.getValue()[2]);
       updatePosition(get_point_along_line(pos.getValue()[0], pos.getValue()[1], bearing, MAP_OFFSET), bearing);
 
@@ -116,6 +115,7 @@ void MapRenderer::msgUpdate() {
 
         if (!loaded()) {
           LOGE("failed to render map after retry");
+          publish(0, false);
         }
       }
     }
@@ -161,7 +161,7 @@ void MapRenderer::update() {
   double end_t = millis_since_boot();
 
   if ((vipc_server != nullptr) && loaded()) {
-    publish((end_t - start_t) / 1000.0);
+    publish((end_t - start_t) / 1000.0, true);
   }
 }
 
@@ -174,7 +174,7 @@ void MapRenderer::sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte>
   pm->send("navThumbnail", msg);
 }
 
-void MapRenderer::publish(const double render_time) {
+void MapRenderer::publish(const double render_time, const bool loaded) {
   QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
   uint64_t ts = nanos_since_boot();
   VisionBuf* buf = vipc_server->get_buffer(VisionStreamType::VISION_STREAM_MAP);
@@ -213,8 +213,13 @@ void MapRenderer::publish(const double render_time) {
   }
 
   // Send state msg
+  auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+  bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && location.getPositionGeodetic().getValid();
+
   MessageBuilder msg;
-  auto state = msg.initEvent().initMapRenderState();
+  auto evt = msg.initEvent();
+  auto state = evt.initMapRenderState();
+  evt.setValid(loaded && localizer_valid);
   state.setLocationMonoTime((*sm)["liveLocationKalman"].getLogMonoTime());
   state.setRenderTime(render_time);
   state.setFrameId(frame_id);

selfdrive/navd/map_renderer.h

@@ -34,7 +34,7 @@ private:
   std::unique_ptr<VisionIpcServer> vipc_server;
   std::unique_ptr<PubMaster> pm;
   std::unique_ptr<SubMaster> sm;
-  void publish(const double render_time);
+  void publish(const double render_time, const bool loaded);
   void sendThumbnail(const uint64_t ts, const kj::Array<capnp::byte> &buf);
 
   QMapboxGLSettings m_settings;

selfdrive/test/fuzzy_generation.py

@@ -0,0 +1,69 @@
+import hypothesis.strategies as st
+import random
+
+class FuzzyGenerator:
+  def __init__(self, real_floats):
+    self.real_floats=real_floats
+
+  def generate_native_type(self, field):
+    def floats(**kwargs):
+      allow_nan = not self.real_floats
+      allow_infinity = not self.real_floats
+      return st.floats(**kwargs, allow_nan=allow_nan, allow_infinity=allow_infinity)
+
+    if field == 'bool':
+      return st.booleans()
+    elif field == 'int8':
+      return st.integers(min_value=-2**7, max_value=2**7-1)
+    elif field == 'int16':
+      return st.integers(min_value=-2**15, max_value=2**15-1)
+    elif field == 'int32':
+      return st.integers(min_value=-2**31, max_value=2**31-1)
+    elif field == 'int64':
+      return st.integers(min_value=-2**63, max_value=2**63-1)
+    elif field == 'uint8':
+      return st.integers(min_value=0, max_value=2**8-1)
+    elif field == 'uint16':
+      return st.integers(min_value=0, max_value=2**16-1)
+    elif field == 'uint32':
+      return st.integers(min_value=0, max_value=2**32-1)
+    elif field == 'uint64':
+      return st.integers(min_value=0, max_value=2**64-1)
+    elif field == 'float32':
+      return floats(width=32)
+    elif field == 'float64':
+      return floats(width=64)
+    elif field == 'text':
+      return st.text(max_size=1000)
+    elif field == 'data':
+      return st.text(max_size=1000)
+    elif field == 'anyPointer':
+      return st.text()
+    else:
+      raise NotImplementedError(f'Invalid type : {field}')
+
+  def generate_field(self, field):
+    def rec(field_type):
+      if field_type.which() == 'struct':
+        return self.generate_struct(field.schema.elementType if base_type == 'list' else field.schema)
+      elif field_type.which() == 'list':
+        return st.lists(rec(field_type.list.elementType))
+      elif field_type.which() == 'enum':
+        schema = field.schema.elementType if base_type == 'list' else field.schema
+        return st.sampled_from(list(schema.enumerants.keys()))
+      else:
+        return self.generate_native_type(field_type.which())
+
+    if 'slot' in field.proto.to_dict():
+      base_type = field.proto.slot.type.which()
+      return rec(field.proto.slot.type)
+    else:
+      return self.generate_struct(field.schema)
+
+  def generate_struct(self, schema):
+    full_fill = list(schema.non_union_fields) if schema.non_union_fields else []
+    single_fill = [random.choice(schema.union_fields)] if schema.union_fields else []
+    return st.fixed_dictionaries(dict((field, self.generate_field(schema.fields[field])) for field in full_fill + single_fill))
+
+def get_random_msg(struct, real_floats=False):
+  return FuzzyGenerator(real_floats=real_floats).generate_struct(struct.schema)

selfdrive/test/process_replay/migration.py

@@ -1,13 +1,57 @@
+from collections import defaultdict
+
 from cereal import messaging
+from selfdrive.test.process_replay.vision_meta import meta_from_encode_index
 
 
-def migrate_all(lr, old_logtime=False):
+def migrate_all(lr, old_logtime=False, camera_states=False):
   msgs = migrate_sensorEvents(lr, old_logtime)
   msgs = migrate_carParams(msgs, old_logtime)
+  if camera_states:
+    msgs = migrate_cameraStates(msgs)
 
   return msgs
 
 
+def migrate_cameraStates(lr):
+  all_msgs = []
+  frame_to_encode_id = defaultdict(dict)
+
+  for msg in lr:
+    if msg.which() not in ["roadEncodeIdx", "wideRoadEncodeIdx", "driverEncodeIdx"]:
+      continue
+    
+    encode_index = getattr(msg, msg.which())
+    meta = meta_from_encode_index(msg.which())
+
+    assert encode_index.segmentId < 1200, f"Encoder index segmentId greater that 1200: {msg.which()} {encode_index.segmentId}"
+    frame_to_encode_id[meta.camera_state][encode_index.frameId] = encode_index.segmentId
+  
+  for msg in lr:
+    if msg.which() not in ["roadCameraState", "wideRoadCameraState", "driverCameraState"]:
+      all_msgs.append(msg)
+      continue
+
+    camera_state = getattr(msg, msg.which())
+    encode_id = frame_to_encode_id[msg.which()].get(camera_state.frameId)
+    if encode_id is None:
+      print(f"Missing encoded frame for camera feed {msg.which()} with frameId: {camera_state.frameId}")
+      continue
+
+    new_msg = messaging.new_message(msg.which())
+    new_camera_state = getattr(new_msg, new_msg.which())
+    new_camera_state.frameId = encode_id
+    new_camera_state.encodeId = encode_id
+    new_camera_state.timestampSof = camera_state.timestampSof
+    new_camera_state.timestampEof = camera_state.timestampEof
+    new_msg.logMonoTime = msg.logMonoTime
+    new_msg.valid = msg.valid
+
+    all_msgs.append(new_msg.as_reader())
+
+  return all_msgs
+
+
 def migrate_carParams(lr, old_logtime=False):
   all_msgs = []
   for msg in lr:

selfdrive/test/process_replay/model_replay.py

@@ -4,18 +4,15 @@ import sys
 import time
 from collections import defaultdict
 from typing import Any
-from itertools import zip_longest
 
 import cereal.messaging as messaging
-from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.spinner import Spinner
-from common.timeout import Timeout
-from common.transformations.camera import tici_f_frame_size, tici_d_frame_size
 from system.hardware import PC
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.openpilotci import BASE_URL, get_url
 from selfdrive.test.process_replay.compare_logs import compare_logs
 from selfdrive.test.process_replay.test_processes import format_diff
+from selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from system.version import get_commit
 from tools.lib.framereader import FrameReader
 from tools.lib.logreader import LogReader
@@ -27,20 +24,30 @@ MAX_FRAMES = 100 if PC else 600
 NAV_FRAMES = 50
 
 NO_NAV = "NO_NAV" in os.environ
-SEND_EXTRA_INPUTS = bool(os.getenv("SEND_EXTRA_INPUTS", "0"))
+SEND_EXTRA_INPUTS = bool(int(os.getenv("SEND_EXTRA_INPUTS", "0")))
 
-VIPC_STREAM = {"roadCameraState": VisionStreamType.VISION_STREAM_ROAD, "driverCameraState": VisionStreamType.VISION_STREAM_DRIVER,
-               "wideRoadCameraState": VisionStreamType.VISION_STREAM_WIDE_ROAD}
 
 def get_log_fn(ref_commit, test_route):
   return f"{test_route}_model_tici_{ref_commit}.bz2"
 
 
-def replace_calib(msg, calib):
-  msg = msg.as_builder()
-  if calib is not None:
-    msg.liveCalibration.rpyCalib = calib.tolist()
-  return msg
+def trim_logs_to_max_frames(logs, max_frames, frs_types, include_all_types):
+  all_msgs = []
+  cam_state_counts = defaultdict(int)
+  # keep adding messages until cam states are equal to MAX_FRAMES
+  for msg in sorted(logs, key=lambda m: m.logMonoTime):
+    all_msgs.append(msg)
+    if msg.which() in frs_types:
+      cam_state_counts[msg.which()] += 1
+
+    if all(cam_state_counts[state] == max_frames for state in frs_types):
+      break
+
+  if len(include_all_types) != 0:
+    other_msgs = [m for m in logs if m.which() in include_all_types]
+    all_msgs.extend(other_msgs)
+
+  return all_msgs
 
 
 def nav_model_replay(lr):
@@ -102,102 +109,38 @@ def model_replay(lr, frs):
   else:
     spinner = None
 
-  vipc_server = VisionIpcServer("camerad")
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_DRIVER, 40, False, *(tici_d_frame_size))
-  vipc_server.create_buffers(VisionStreamType.VISION_STREAM_WIDE_ROAD, 40, False, *(tici_f_frame_size))
-  vipc_server.start_listener()
+  log_msgs = []
 
-  sm = messaging.SubMaster(['modelV2', 'driverStateV2'])
-  pm = messaging.PubMaster(['roadCameraState', 'wideRoadCameraState', 'driverCameraState', 'liveCalibration', 'lateralPlan'])
+  # modeld is using frame pairs
+  modeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"roadCameraState", "wideRoadCameraState"}, {"roadEncodeIdx", "wideRoadEncodeIdx"})
+  dmodeld_logs = trim_logs_to_max_frames(lr, MAX_FRAMES, {"driverCameraState"}, {"driverEncodeIdx"})
+  if not SEND_EXTRA_INPUTS:
+    modeld_logs = [msg for msg in modeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+    dmodeld_logs = [msg for msg in dmodeld_logs if msg.which() not in ["liveCalibration", "lateralPlan"]]
+  # initial calibration
+  cal_msg = next(msg for msg in lr if msg.which() == "liveCalibration").as_builder()
+  cal_msg.logMonoTime = lr[0].logMonoTime
+  modeld_logs.insert(0, cal_msg.as_reader())
+  dmodeld_logs.insert(0, cal_msg.as_reader())
+
+  modeld = get_process_config("modeld")
+  dmonitoringmodeld = get_process_config("dmonitoringmodeld")
 
   try:
-    managed_processes['modeld'].start()
-    managed_processes['dmonitoringmodeld'].start()
-    time.sleep(5)
-    sm.update(1000)
-
-    log_msgs = []
-    last_desire = None
-    recv_cnt = defaultdict(int)
-    frame_idxs = defaultdict(int)
-
-    # init modeld with valid calibration
-    cal_msgs = [msg for msg in lr if msg.which() == "liveCalibration"]
-    for _ in range(5):
-      pm.send(cal_msgs[0].which(), cal_msgs[0].as_builder())
-      time.sleep(0.1)
-
-    msgs = defaultdict(list)
-    for msg in lr:
-      msgs[msg.which()].append(msg)
-
-    for cam_msgs in zip_longest(msgs['roadCameraState'], msgs['wideRoadCameraState'], msgs['driverCameraState']):
-      # need a pair of road/wide msgs
-      if None in (cam_msgs[0], cam_msgs[1]):
-        break
-
-      for msg in cam_msgs:
-        if msg is None:
-          continue
-
-        if SEND_EXTRA_INPUTS:
-          if msg.which() == "liveCalibration":
-            last_calib = list(msg.liveCalibration.rpyCalib)
-            pm.send(msg.which(), replace_calib(msg, last_calib))
-          elif msg.which() == "lateralPlan":
-            last_desire = msg.lateralPlan.desire
-            dat = messaging.new_message('lateralPlan')
-            dat.lateralPlan.desire = last_desire
-            pm.send('lateralPlan', dat)
-
-        if msg.which() in VIPC_STREAM:
-          msg = msg.as_builder()
-          camera_state = getattr(msg, msg.which())
-          img = frs[msg.which()].get(frame_idxs[msg.which()], pix_fmt="nv12")[0]
-          frame_idxs[msg.which()] += 1
-
-          # send camera state and frame
-          camera_state.frameId = frame_idxs[msg.which()]
-          pm.send(msg.which(), msg)
-          vipc_server.send(VIPC_STREAM[msg.which()], img.flatten().tobytes(), camera_state.frameId,
-                           camera_state.timestampSof, camera_state.timestampEof)
-
-          recv = None
-          if msg.which() in ('roadCameraState', 'wideRoadCameraState'):
-            if min(frame_idxs['roadCameraState'], frame_idxs['wideRoadCameraState']) > recv_cnt['modelV2']:
-              recv = "modelV2"
-          elif msg.which() == 'driverCameraState':
-            recv = "driverStateV2"
-
-          # wait for a response
-          with Timeout(15, f"timed out waiting for {recv}"):
-            if recv:
-              recv_cnt[recv] += 1
-              log_msgs.append(messaging.recv_one(sm.sock[recv]))
-
-          if spinner:
-            spinner.update("replaying models:  road %d/%d,  driver %d/%d" % (frame_idxs['roadCameraState'],
-                           frs['roadCameraState'].frame_count, frame_idxs['driverCameraState'], frs['driverCameraState'].frame_count))
-
-
-      if any(frame_idxs[c] >= frs[c].frame_count for c in frame_idxs.keys()) or frame_idxs['roadCameraState'] == MAX_FRAMES:
-        break
-      else:
-        print(f'Received {frame_idxs["roadCameraState"]} frames')
-
+    if spinner:
+      spinner.update("running model replay")
+    modeld_msgs = replay_process(modeld, modeld_logs, frs)
+    dmonitoringmodeld_msgs = replay_process(dmonitoringmodeld, dmodeld_logs, frs)
+    log_msgs.extend([m for m in modeld_msgs if m.which() == "modelV2"])
+    log_msgs.extend([m for m in dmonitoringmodeld_msgs if m.which() == "driverStateV2"])
   finally:
     if spinner:
       spinner.close()
-    managed_processes['modeld'].stop()
-    managed_processes['dmonitoringmodeld'].stop()
-
 
   return log_msgs
 
 
 if __name__ == "__main__":
-
   update = "--update" in sys.argv
   replay_dir = os.path.dirname(os.path.abspath(__file__))
   ref_commit_fn = os.path.join(replay_dir, "model_replay_ref_commit")
@@ -247,10 +190,18 @@ if __name__ == "__main__":
       ref_commit = f.read().strip()
     log_fn = get_log_fn(ref_commit, TEST_ROUTE)
     try:
-      expected_msgs = 2*MAX_FRAMES
+      all_logs = list(LogReader(BASE_URL + log_fn))
+      cmp_log = []
+
+      # logs are ordered based on type: modelV2, driverStateV2, nav messages (navThumbnail, mapRenderState, navModel)
+      model_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "modelV2")
+      cmp_log += all_logs[model_start_index:model_start_index + MAX_FRAMES]
+      dmon_start_index = next(i for i, m in enumerate(all_logs) if m.which() == "driverStateV2")
+      cmp_log += all_logs[dmon_start_index:dmon_start_index + MAX_FRAMES]
       if not NO_NAV:
-        expected_msgs += NAV_FRAMES*3
-      cmp_log = list(LogReader(BASE_URL + log_fn))[:expected_msgs]
+        nav_start_index = next(i for i, m in enumerate(all_logs) if m.which() in ["navThumbnail", "mapRenderState", "navModel"])
+        nav_logs = all_logs[nav_start_index:nav_start_index + NAV_FRAMES*3]
+        cmp_log += nav_logs
 
       ignore = [
         'logMonoTime',

selfdrive/test/process_replay/model_replay_ref_commit

@@ -1 +1 @@
-69270554b3c3ae574b9f357f2473395edf7db8af
+3257b354b31c3d42c85a86fc4883f29c47ef56cb

selfdrive/test/process_replay/process_replay.py

@@ -5,12 +5,14 @@ import signal
 import platform
 from collections import OrderedDict
 from dataclasses import dataclass, field
-from typing import Dict, List, Optional, Callable
+from typing import Dict, List, Optional, Callable, Union, Any
 from tqdm import tqdm
+import capnp
 
 import cereal.messaging as messaging
 from cereal import car
 from cereal.services import service_list
+from cereal.visionipc import VisionIpcServer, get_endpoint_name as vipc_get_endpoint_name
 from common.params import Params
 from common.timeout import Timeout
 from common.realtime import DT_CTRL
@@ -18,7 +20,9 @@ from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
+from selfdrive.test.process_replay.vision_meta import meta_from_camera_state, available_streams
 from selfdrive.test.process_replay.migration import migrate_all
+from tools.lib.logreader import LogReader
 
 # Numpy gives different results based on CPU features after version 19
 NUMPY_TOLERANCE = 1e-7
@@ -27,24 +31,24 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-
 class ReplayContext:
   def __init__(self, cfg):
     self.proc_name = cfg.proc_name
     self.pubs = cfg.pubs
-    self.drained_pub = cfg.drained_pub
-    assert(len(self.pubs) != 0 or self.drained_pub is not None)
+    self.main_pub = cfg.main_pub
+    self.main_pub_drained = cfg.main_pub_drained
+    assert(len(self.pubs) != 0 or self.main_pub is not None)
   
   def __enter__(self):
     messaging.toggle_fake_events(True)
     messaging.set_fake_prefix(self.proc_name)
 
-    if self.drained_pub is None:
+    if self.main_pub is None:
       self.events = OrderedDict()
       for pub in self.pubs:
         self.events[pub] = messaging.fake_event_handle(pub, enable=True)
     else:
-      self.events = {self.drained_pub: messaging.fake_event_handle(self.drained_pub, enable=True)}
+      self.events = {self.main_pub: messaging.fake_event_handle(self.main_pub, enable=True)}
 
     return self
 
@@ -81,7 +85,7 @@ class ReplayContext:
 
   def wait_for_next_recv(self, trigger_empty_recv):
     index = messaging.wait_for_one_event(self.all_recv_called_events)
-    if self.drained_pub is not None and trigger_empty_recv:
+    if self.main_pub is not None and self.main_pub_drained and trigger_empty_recv:
       self.all_recv_called_events[index].clear()
       self.all_recv_ready_events[index].set()
       self.all_recv_called_events[index].wait()
@@ -93,16 +97,19 @@ class ProcessConfig:
   pubs: List[str]
   subs: List[str]
   ignore: List[str]
-  config_callback: Optional[Callable]
-  init_callback: Optional[Callable]
-  should_recv_callback: Optional[Callable]
+  config_callback: Optional[Callable] = None
+  init_callback: Optional[Callable] = None
+  should_recv_callback: Optional[Callable] = None
   tolerance: Optional[float] = None
   environ: Dict[str, str] = field(default_factory=dict)
   subtest_name: str = ""
   field_tolerances: Dict[str, float] = field(default_factory=dict)
   timeout: int = 30
   simulation: bool = True
-  drained_pub: Optional[str] = None
+  main_pub: Optional[str] = None
+  main_pub_drained: bool = True
+  vision_pubs: List[str] = field(default_factory=list)
+  ignore_alive_pubs: List[str] = field(default_factory=list)
 
 
 class DummySocket:
@@ -141,6 +148,7 @@ def controlsd_fingerprint_callback(rc, pm, msgs, fingerprint):
 
 
 def get_car_params_callback(rc, pm, msgs, fingerprint):
+  params = Params()
   if fingerprint:
     CarInterface, _, _ = interfaces[fingerprint]
     CP = CarInterface.get_non_essential_params(fingerprint)
@@ -149,12 +157,15 @@ def get_car_params_callback(rc, pm, msgs, fingerprint):
     sendcan = DummySocket()
 
     canmsgs = [msg for msg in msgs if msg.which() == "can"]
-    assert len(canmsgs) != 0, "CAN messages are required for carParams initialization"
+    has_cached_cp = params.get("CarParamsCache") is not None
+    assert len(canmsgs) != 0, "CAN messages are required for fingerprinting"
+    assert os.environ.get("SKIP_FW_QUERY", False) or has_cached_cp, "CarParamsCache is required for fingerprinting. Make sure to keep carParams msgs in the logs."
 
     for m in canmsgs[:300]:
       can.send(m.as_builder().to_bytes())
     _, CP = get_car(can, sendcan, Params().get_bool("ExperimentalLongitudinalEnabled"))
-  Params().put("CarParams", CP.to_bytes())
+  params.put("CarParams", CP.to_bytes())
+  return CP
 
 
 def controlsd_rcv_callback(msg, cfg, frame):
@@ -171,10 +182,6 @@ def controlsd_rcv_callback(msg, cfg, frame):
   return len(socks) > 0
 
 
-def radar_rcv_callback(msg, cfg, frame):
-  return msg.which() == "can"
-
-
 def calibration_rcv_callback(msg, cfg, frame):
   # calibrationd publishes 1 calibrationData every 5 cameraOdometry packets.
   # should_recv always true to increment frame
@@ -186,6 +193,42 @@ def torqued_rcv_callback(msg, cfg, frame):
   return (frame - 1) == 0 or msg.which() == 'liveLocationKalman'
 
 
+def dmonitoringmodeld_rcv_callback(msg, cfg, frame):
+  return msg.which() == "driverCameraState"
+
+
+class ModeldCameraSyncRcvCallback:
+  def __init__(self):
+    self.road_present = False
+    self.wide_road_present = False
+    self.is_dual_camera = True
+
+  def __call__(self, msg, cfg, frame):
+    if msg.which() == "initData":
+      self.is_dual_camera = msg.initData.deviceType in ["tici", "tizi"]
+    elif msg.which() == "roadCameraState":
+      self.road_present = True
+    elif msg.which() == "wideRoadCameraState":
+      self.wide_road_present = True
+
+    if self.road_present and self.wide_road_present:
+      self.road_present, self.wide_road_present = False, False
+      return True
+    elif self.road_present and not self.is_dual_camera:
+      self.road_present = False
+      return True
+    else:
+      return False
+
+
+class MessageBasedRcvCallback:
+  def __init__(self, trigger_msg_type):
+    self.trigger_msg_type = trigger_msg_type
+
+  def __call__(self, msg, cfg, frame):
+    return msg.which() == self.trigger_msg_type
+
+
 class FrequencyBasedRcvCallback:
   def __init__(self, trigger_msg_type):
     self.trigger_msg_type = trigger_msg_type
@@ -203,17 +246,17 @@ class FrequencyBasedRcvCallback:
 
 def laikad_config_pubsub_callback(params, cfg):
   ublox = params.get_bool("UbloxAvailable")
-  drained_key = "ubloxGnss" if ublox else "qcomGnss"
+  main_key = "ubloxGnss" if ublox else "qcomGnss"
   sub_keys = ({"qcomGnss", } if ublox else {"ubloxGnss", })
 
-  return set(cfg.pubs) - sub_keys, drained_key
+  return set(cfg.pubs) - sub_keys, main_key, True
 
 
 def locationd_config_pubsub_callback(params, cfg):
   ublox = params.get_bool("UbloxAvailable")
   sub_keys = ({"gpsLocation", } if ublox else {"gpsLocationExternal", })
   
-  return set(cfg.pubs) - sub_keys, None
+  return set(cfg.pubs) - sub_keys, None, False
 
 
 CONFIGS = [
@@ -227,29 +270,26 @@ CONFIGS = [
     ],
     subs=["controlsState", "carState", "carControl", "sendcan", "carEvents", "carParams"],
     ignore=["logMonoTime", "valid", "controlsState.startMonoTime", "controlsState.cumLagMs"],
-    config_callback=None,
     init_callback=controlsd_fingerprint_callback,
     should_recv_callback=controlsd_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
     simulation=False,
-    drained_pub="can",
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="radard",
     pubs=["can", "carState", "modelV2"],
     subs=["radarState", "liveTracks"],
     ignore=["logMonoTime", "valid", "radarState.cumLagMs"],
-    config_callback=None,
     init_callback=get_car_params_callback,
-    should_recv_callback=radar_rcv_callback,
-    drained_pub="can",
+    should_recv_callback=MessageBasedRcvCallback("can"),
+    main_pub="can",
   ),
   ProcessConfig(
     proc_name="plannerd",
     pubs=["modelV2", "carControl", "carState", "controlsState", "radarState"],
     subs=["lateralPlan", "longitudinalPlan", "uiPlan"],
     ignore=["logMonoTime", "valid", "longitudinalPlan.processingDelay", "longitudinalPlan.solverExecutionTime", "lateralPlan.solverExecutionTime"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("modelV2"),
     tolerance=NUMPY_TOLERANCE,
@@ -259,8 +299,6 @@ CONFIGS = [
     pubs=["carState", "cameraOdometry", "carParams"],
     subs=["liveCalibration"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
-    init_callback=None,
     should_recv_callback=calibration_rcv_callback,
   ),
   ProcessConfig(
@@ -268,8 +306,6 @@ CONFIGS = [
     pubs=["driverStateV2", "liveCalibration", "carState", "modelV2", "controlsState"],
     subs=["driverMonitoringState"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
-    init_callback=None,
     should_recv_callback=FrequencyBasedRcvCallback("driverStateV2"),
     tolerance=NUMPY_TOLERANCE,
   ),
@@ -282,8 +318,6 @@ CONFIGS = [
     subs=["liveLocationKalman"],
     ignore=["logMonoTime", "valid"],
     config_callback=locationd_config_pubsub_callback,
-    init_callback=None,
-    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
   ),
   ProcessConfig(
@@ -291,7 +325,6 @@ CONFIGS = [
     pubs=["liveLocationKalman", "carState"],
     subs=["liveParameters"],
     ignore=["logMonoTime", "valid"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=FrequencyBasedRcvCallback("liveLocationKalman"),
     tolerance=NUMPY_TOLERANCE,
@@ -301,9 +334,6 @@ CONFIGS = [
     pubs=["ubloxRaw"],
     subs=["ubloxGnss", "gpsLocationExternal"],
     ignore=["logMonoTime"],
-    config_callback=None,
-    init_callback=None,
-    should_recv_callback=None,
   ),
   ProcessConfig(
     proc_name="laikad",
@@ -311,22 +341,43 @@ CONFIGS = [
     subs=["gnssMeasurements"],
     ignore=["logMonoTime"],
     config_callback=laikad_config_pubsub_callback,
-    init_callback=None,
-    should_recv_callback=None,
     tolerance=NUMPY_TOLERANCE,
     timeout=60*10,  # first messages are blocked on internet assistance
-    drained_pub="ubloxGnss", # config_callback will switch this to qcom if needed 
+    main_pub="ubloxGnss", # config_callback will switch this to qcom if needed 
   ),
   ProcessConfig(
     proc_name="torqued",
     pubs=["liveLocationKalman", "carState", "carControl"],
     subs=["liveTorqueParameters"],
     ignore=["logMonoTime"],
-    config_callback=None,
     init_callback=get_car_params_callback,
     should_recv_callback=torqued_rcv_callback,
     tolerance=NUMPY_TOLERANCE,
   ),
+  ProcessConfig(
+    proc_name="modeld",
+    pubs=["lateralPlan", "roadCameraState", "wideRoadCameraState", "liveCalibration", "driverMonitoringState"],
+    subs=["modelV2", "cameraOdometry"],
+    ignore=["logMonoTime", "modelV2.frameDropPerc", "modelV2.modelExecutionTime"],
+    should_recv_callback=ModeldCameraSyncRcvCallback(),
+    tolerance=NUMPY_TOLERANCE,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("roadCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["roadCameraState", "wideRoadCameraState"],
+    ignore_alive_pubs=["wideRoadCameraState"],
+  ),
+  ProcessConfig(
+    proc_name="dmonitoringmodeld",
+    pubs=["liveCalibration", "driverCameraState"],
+    subs=["driverStateV2"],
+    ignore=["logMonoTime", "driverStateV2.modelExecutionTime", "driverStateV2.dspExecutionTime"],
+    should_recv_callback=dmonitoringmodeld_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    main_pub=vipc_get_endpoint_name("camerad", meta_from_camera_state("driverCameraState").stream),
+    main_pub_drained=False,
+    vision_pubs=["driverCameraState"],
+    ignore_alive_pubs=["driverCameraState"],
+  ),
 ]
 
 
@@ -342,9 +393,9 @@ def replay_process_with_name(name, lr, *args, **kwargs):
   return replay_process(cfg, lr, *args, **kwargs)
 
 
-def replay_process(cfg, lr, fingerprint=None, return_all_logs=False, disable_progress=False):
-  all_msgs = migrate_all(lr, old_logtime=True)
-  process_logs = _replay_single_process(cfg, all_msgs, fingerprint, disable_progress)
+def replay_process(cfg, lr, frs=None, fingerprint=None, return_all_logs=False, custom_params=None, disable_progress=False):
+  all_msgs = migrate_all(lr, old_logtime=True, camera_states=len(cfg.vision_pubs) != 0)
+  process_logs = _replay_single_process(cfg, all_msgs, frs, fingerprint, custom_params, disable_progress)
 
   if return_all_logs:
     keys = set(cfg.subs)
@@ -358,7 +409,10 @@ def replay_process(cfg, lr, fingerprint=None, return_all_logs=False, disable_pro
   return log_msgs
 
 
-def _replay_single_process(cfg, lr, fingerprint, disable_progress):
+def _replay_single_process(
+  cfg: ProcessConfig, lr: Union[LogReader, List[capnp._DynamicStructReader]], frs: Optional[Dict[str, Any]],
+  fingerprint: Optional[str], custom_params: Optional[Dict[str, Any]], disable_progress: bool
+):
   with OpenpilotPrefix():
     controlsState = None
     initialized = False
@@ -374,15 +428,15 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
       assert controlsState is not None and initialized, "controlsState never initialized"
 
     if fingerprint is not None:
-      setup_env(cfg=cfg, controlsState=controlsState, lr=lr, fingerprint=fingerprint)
+      setup_env(cfg=cfg, controlsState=controlsState, lr=lr, fingerprint=fingerprint, custom_params=custom_params)
     else:
       CP = next((m.carParams for m in lr if m.which() == "carParams"), None)
       assert CP is not None or "carParams" not in cfg.pubs, "carParams are missing and process needs it" 
-      setup_env(CP=CP, cfg=cfg, controlsState=controlsState, lr=lr)
+      setup_env(cfg=cfg, CP=CP, controlsState=controlsState, lr=lr, custom_params=custom_params)
 
     if cfg.config_callback is not None:
       params = Params()
-      cfg.pubs, cfg.drained_pub = cfg.config_callback(params, cfg)
+      cfg.pubs, cfg.main_pub, cfg.main_pub_drained = cfg.config_callback(params, cfg)
 
     all_msgs = sorted(lr, key=lambda msg: msg.logMonoTime)
     pub_msgs = [msg for msg in all_msgs if msg.which() in set(cfg.pubs)]
@@ -391,6 +445,13 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
       pm = messaging.PubMaster(cfg.pubs)
       sockets = {s: messaging.sub_sock(s, timeout=100) for s in cfg.subs}
 
+      vipc_server = None
+      if len(cfg.vision_pubs) != 0:
+        assert frs is not None, "frs must be provided when replaying process using vision streams"
+        assert all(meta_from_camera_state(st) is not None for st in cfg.vision_pubs),f"undefined vision stream spotted, probably misconfigured process: {cfg.vision_pubs}"
+        assert all(st in frs for st in cfg.vision_pubs), f"frs for this process must contain following vision streams: {cfg.vision_pubs}"
+        vipc_server = setup_vision_ipc(cfg, lr)
+
       managed_processes[cfg.proc_name].prepare()
       managed_processes[cfg.proc_name].start()
 
@@ -401,7 +462,7 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
       try:
         # Wait for process to startup
         with Timeout(10, error_msg=f"timed out waiting for process to start: {repr(cfg.proc_name)}"):
-          while not all(pm.all_readers_updated(s) for s in cfg.pubs):
+          while not all(pm.all_readers_updated(s) for s in cfg.pubs if s not in cfg.ignore_alive_pubs):
             time.sleep(0)
 
         # Do the replay
@@ -423,11 +484,19 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
 
               # empty recv on drained pub indicates the end of messages, only do that if there're any
               trigger_empty_recv = False
-              if cfg.drained_pub:
-                trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.drained_pub), False)
+              if cfg.main_pub and cfg.main_pub_drained:
+                trigger_empty_recv = next((True for m in msg_queue if m.which() == cfg.main_pub), False)
 
               for m in msg_queue:
                 pm.send(m.which(), m.as_builder())
+                # send frames if needed
+                if vipc_server is not None and m.which() in cfg.vision_pubs:
+                  camera_state = getattr(m, m.which())
+                  camera_meta = meta_from_camera_state(m.which())
+                  assert frs is not None
+                  img = frs[m.which()].get(camera_state.frameId, pix_fmt="nv12")[0]
+                  vipc_server.send(camera_meta.stream, img.flatten().tobytes(),
+                                  camera_state.frameId, camera_state.timestampSof, camera_state.timestampEof)
               msg_queue = []
 
               rc.unlock_sockets()
@@ -440,7 +509,8 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
                   m.logMonoTime = msg.logMonoTime
                   log_msgs.append(m.as_reader())
               cnt += 1
-          assert(managed_processes[cfg.proc_name].proc.is_alive())
+          proc = managed_processes[cfg.proc_name].proc
+          assert(proc and proc.is_alive())
       finally:
         managed_processes[cfg.proc_name].signal(signal.SIGKILL)
         managed_processes[cfg.proc_name].stop()
@@ -448,7 +518,22 @@ def _replay_single_process(cfg, lr, fingerprint, disable_progress):
       return log_msgs
 
 
-def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None, log_dir=None):
+def setup_vision_ipc(cfg, lr):
+  assert len(cfg.vision_pubs) != 0
+
+  device_type = next(msg.initData.deviceType for msg in lr if msg.which() == "initData")
+
+  vipc_server = VisionIpcServer("camerad")
+  streams_metas = available_streams(lr)
+  for meta in streams_metas:
+    if meta.camera_state in cfg.vision_pubs:
+      vipc_server.create_buffers(meta.stream, 2, False, *meta.frame_sizes[device_type])
+  vipc_server.start_listener()
+
+  return vipc_server
+
+
+def setup_env(cfg=None, CP=None, controlsState=None, lr=None, fingerprint=None, custom_params=None, log_dir=None):
   if platform.system() != "Darwin":
     os.environ["PARAMS_ROOT"] = "/dev/shm/params"
   if log_dir is not None:
@@ -460,6 +545,12 @@ def setup_env(CP=None, cfg=None, controlsState=None, lr=None, fingerprint=None,
   params.put_bool("Passive", False)
   params.put_bool("DisengageOnAccelerator", True)
   params.put_bool("DisableLogging", False)
+  if custom_params is not None:
+    for k, v in custom_params.items():
+      if type(v) == bool:
+        params.put_bool(k, v)
+      else:
+        params.put(k, v)
 
   os.environ["NO_RADAR_SLEEP"] = "1"
   os.environ["REPLAY"] = "1"

selfdrive/test/process_replay/ref_commit

@@ -1 +1 @@
-72b5d91c92a72b2a708526dade78960950c5b595
+02c134e5a0d1f707c79f7a0ad6c1a5b6b038ee7c

selfdrive/test/process_replay/test_processes.py

@@ -65,6 +65,7 @@ excluded_interfaces = ["mock", "mazda", "tesla"]
 
 BASE_URL = "https://commadataci.blob.core.windows.net/openpilotci/"
 REF_COMMIT_FN = os.path.join(PROC_REPLAY_DIR, "ref_commit")
+EXCLUDED_PROCS = {"modeld", "dmonitoringmodeld"}
 
 
 def run_test_process(data):
@@ -155,7 +156,7 @@ def format_diff(results, log_paths, ref_commit):
 
 if __name__ == "__main__":
   all_cars = {car for car, _ in segments}
-  all_procs = {cfg.proc_name for cfg in CONFIGS}
+  all_procs = {cfg.proc_name for cfg in CONFIGS if cfg.proc_name not in EXCLUDED_PROCS}
 
   parser = argparse.ArgumentParser(description="Regression test to identify changes in a process's output")
   parser.add_argument("--whitelist-procs", type=str, nargs="*", default=all_procs,

selfdrive/test/process_replay/vision_meta.py

@@ -0,0 +1,43 @@
+from collections import namedtuple
+from cereal.visionipc import VisionStreamType
+from common.realtime import DT_MDL, DT_DMON
+from common.transformations.camera import tici_f_frame_size, tici_d_frame_size, tici_e_frame_size, eon_f_frame_size, eon_d_frame_size
+
+VideoStreamMeta = namedtuple("VideoStreamMeta", ["camera_state", "encode_index", "stream", "dt", "frame_sizes"])
+ROAD_CAMERA_FRAME_SIZES = {"tici": tici_f_frame_size, "tizi": tici_f_frame_size, "eon": eon_f_frame_size}
+WIDE_ROAD_CAMERA_FRAME_SIZES = {"tici": tici_e_frame_size, "tizi": tici_e_frame_size}
+DRIVER_FRAME_SIZES = {"tici": tici_d_frame_size, "tizi": tici_d_frame_size, "eon": eon_d_frame_size}
+VIPC_STREAM_METADATA = [
+  # metadata: (state_msg_type, encode_msg_type, stream_type, dt, frame_sizes)
+  ("roadCameraState", "roadEncodeIdx", VisionStreamType.VISION_STREAM_ROAD, DT_MDL, ROAD_CAMERA_FRAME_SIZES),
+  ("wideRoadCameraState", "wideRoadEncodeIdx", VisionStreamType.VISION_STREAM_WIDE_ROAD, DT_MDL, WIDE_ROAD_CAMERA_FRAME_SIZES),
+  ("driverCameraState", "driverEncodeIdx", VisionStreamType.VISION_STREAM_DRIVER, DT_DMON, DRIVER_FRAME_SIZES),
+]
+
+
+def meta_from_camera_state(state):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[0] == state), None)
+  return meta
+
+
+def meta_from_encode_index(encode_index):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[1] == encode_index), None)
+  return meta
+
+
+def meta_from_stream_type(stream_type):
+  meta = next((VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA if meta[2] == stream_type), None)
+  return meta
+
+
+def available_streams(lr=None):
+  if lr is None:
+    return [VideoStreamMeta(*meta) for meta in VIPC_STREAM_METADATA]
+
+  result = []
+  for meta in VIPC_STREAM_METADATA:
+    has_cam_state = next((True for m in lr if m.which() == meta[0]), False)
+    if has_cam_state:
+      result.append(VideoStreamMeta(*meta))
+
+  return result

selfdrive/test/setup_device_ci.sh

@@ -33,6 +33,7 @@ echo tici-$(cat /proc/cmdline | sed -e 's/^.*androidboot.serialno=//' -e 's/ .*$
 sudo sed -i "s,/data/params/d/GithubSshKeys,/usr/comma/setup_keys," /etc/ssh/sshd_config
 sudo systemctl daemon-reload
 sudo systemctl restart ssh
+sudo systemctl restart NetworkManager
 sudo systemctl disable ssh-param-watcher.path
 sudo systemctl disable ssh-param-watcher.service
 sudo mount -o ro,remount /

selfdrive/test/test_onroad.py

@@ -30,6 +30,7 @@ PROCS = {
   "./encoderd": 17.0,
   "./camerad": 14.5,
   "./locationd": 11.0,
+  "./mapsd": 2.0,
   "selfdrive.controls.plannerd": 16.5,
   "./_ui": 21.0,
   "selfdrive.locationd.paramsd": 9.0,
@@ -37,6 +38,7 @@ PROCS = {
   "selfdrive.controls.radard": 4.5,
   "./_modeld": 4.48,
   "./_dmonitoringmodeld": 5.0,
+  "./_navmodeld": 1.0,
   "selfdrive.thermald.thermald": 3.87,
   "selfdrive.locationd.calibrationd": 2.0,
   "selfdrive.locationd.torqued": 5.0,
@@ -84,6 +86,8 @@ TIMINGS = {
   "driverCameraState": [2.5, 0.35],
   "modelV2": [2.5, 0.35],
   "driverStateV2": [2.5, 0.40],
+  "navModel": [2.5, 0.35],
+  "mapRenderState": [2.5, 0.35],
   "liveLocationKalman": [2.5, 0.35],
   "wideRoadCameraState": [1.5, 0.35],
 }

selfdrive/thermald/thermald.py

@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import datetime
 import os
+import json
 import queue
 import threading
 import time
@@ -47,7 +48,7 @@ THERMAL_BANDS = OrderedDict({
 })
 
 # Override to highest thermal band when offroad and above this temp
-OFFROAD_DANGER_TEMP = 79.5
+OFFROAD_DANGER_TEMP = 75
 
 prev_offroad_states: Dict[str, Tuple[bool, Optional[str]]] = {}
 
@@ -166,7 +167,8 @@ def thermald_thread(end_event, hw_queue):
   off_ts = None
   started_ts = None
   started_seen = False
-  thermal_status = ThermalStatus.green
+  startup_blocked_ts = None
+  thermal_status = ThermalStatus.yellow
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
@@ -178,8 +180,8 @@ def thermald_thread(end_event, hw_queue):
     modem_temps=[],
   )
 
-  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
-  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML)
+  all_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
+  offroad_temp_filter = FirstOrderFilter(0., TEMP_TAU, DT_TRML, initialized=False)
   should_start_prev = False
   in_car = False
   engaged_prev = False
@@ -241,7 +243,7 @@ def thermald_thread(end_event, hw_queue):
 
     msg.deviceState.screenBrightnessPercent = HARDWARE.get_screen_brightness()
 
-    # this one is only used for offroad
+    # this subset is only used for offroad
     temp_sources = [
       msg.deviceState.memoryTempC,
       max(msg.deviceState.cpuTempC),
@@ -252,14 +254,15 @@ def thermald_thread(end_event, hw_queue):
     # this drives the thermal status while onroad
     temp_sources.append(max(msg.deviceState.pmicTempC))
     all_comp_temp = all_temp_filter.update(max(temp_sources))
+    msg.deviceState.maxTempC = all_comp_temp
 
     if fan_controller is not None:
       msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
 
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (sec_since_boot() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
-      # If device is offroad we want to cool down before going onroad
-      # since going onroad increases load and can make temps go over 107
+      # if device is offroad and already hot without the extra onroad load,
+      # we want to cool down first before increasing load
       thermal_status = ThermalStatus.danger
     else:
       current_band = THERMAL_BANDS[thermal_status]
@@ -279,7 +282,6 @@ def thermald_thread(end_event, hw_queue):
     startup_conditions["up_to_date"] = params.get("Offroad_ConnectivityNeeded") is None or params.get_bool("DisableUpdates") or params.get_bool("SnoozeUpdate")
     startup_conditions["not_uninstalling"] = not params.get_bool("DoUninstall")
     startup_conditions["accepted_terms"] = params.get("HasAcceptedTerms") == terms_version
-    startup_conditions["offroad_min_time"] = (not started_seen) or ((off_ts is not None) and (sec_since_boot() - off_ts) > 5.)
 
     # with 2% left, we killall, otherwise the phone will take a long time to boot
     startup_conditions["free_space"] = msg.deviceState.freeSpacePercent > 2
@@ -293,7 +295,9 @@ def thermald_thread(end_event, hw_queue):
 
     # if the temperature enters the danger zone, go offroad to cool down
     onroad_conditions["device_temp_good"] = thermal_status < ThermalStatus.danger
-    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", (not onroad_conditions["device_temp_good"]))
+    extra_text = f"{offroad_comp_temp:.1f}C"
+    show_alert = (not onroad_conditions["device_temp_good"] or not startup_conditions["device_temp_engageable"]) and onroad_conditions["ignition"]
+    set_offroad_alert_if_changed("Offroad_TemperatureTooHigh", show_alert, extra_text=extra_text)
 
     # TODO: this should move to TICI.initialize_hardware, but we currently can't import params there
     if TICI:
@@ -338,10 +342,16 @@ def thermald_thread(end_event, hw_queue):
       if started_ts is None:
         started_ts = sec_since_boot()
         started_seen = True
+        if startup_blocked_ts is not None:
+          cloudlog.event("Startup after block", block_duration=(sec_since_boot() - startup_blocked_ts),
+                         startup_conditions=startup_conditions, onroad_conditions=onroad_conditions,
+                         startup_conditions_prev=startup_conditions_prev, error=True)
+      startup_blocked_ts = None
     else:
       if onroad_conditions["ignition"] and (startup_conditions != startup_conditions_prev):
         cloudlog.event("Startup blocked", startup_conditions=startup_conditions, onroad_conditions=onroad_conditions, error=True)
         startup_conditions_prev = startup_conditions.copy()
+        startup_blocked_ts = sec_since_boot()
 
       started_ts = None
       if off_ts is None:
@@ -375,8 +385,6 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.thermalStatus = thermal_status
     pm.send("deviceState", msg)
 
-    should_start_prev = should_start
-
     # Log to statsd
     statlog.gauge("free_space_percent", msg.deviceState.freeSpacePercent)
     statlog.gauge("gpu_usage_percent", msg.deviceState.gpuUsagePercent)
@@ -399,15 +407,26 @@ def thermald_thread(end_event, hw_queue):
     statlog.gauge("screen_brightness_percent", msg.deviceState.screenBrightnessPercent)
 
     # report to server once every 10 minutes
-    if (count % int(600. / DT_TRML)) == 0:
-      cloudlog.event("STATUS_PACKET",
-                     count=count,
-                     pandaStates=[strip_deprecated_keys(p.to_dict()) for p in pandaStates],
-                     peripheralState=strip_deprecated_keys(peripheralState.to_dict()),
-                     location=(strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
-                     deviceState=strip_deprecated_keys(msg.to_dict()))
+    rising_edge_started = should_start and not should_start_prev
+    if rising_edge_started or (count % int(600. / DT_TRML)) == 0:
+      dat = {
+        'count': count,
+        'pandaStates': [strip_deprecated_keys(p.to_dict()) for p in pandaStates],
+        'peripheralState': strip_deprecated_keys(peripheralState.to_dict()),
+        'location': (strip_deprecated_keys(sm["gpsLocationExternal"].to_dict()) if sm.alive["gpsLocationExternal"] else None),
+        'deviceState': strip_deprecated_keys(msg.to_dict())
+      }
+      cloudlog.event("STATUS_PACKET", **dat)
+
+      # save last one before going onroad
+      if rising_edge_started:
+        try:
+          params.put("LastOffroadStatusPacket", json.dumps(dat))
+        except Exception:
+          cloudlog.exception("failed to save offroad status")
 
     count += 1
+    should_start_prev = should_start
 
 
 def main():

selfdrive/ui/.gitignore

@@ -12,3 +12,4 @@ qt/setup/setup
 qt/setup/reset
 qt/setup/wifi
 qt/setup/updater
+translations/alerts_generated.h

selfdrive/ui/SConscript

@@ -29,7 +29,7 @@ widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc", "qt/
 qt_env['CPPDEFINES'] = []
 if maps:
   base_libs += ['qmapboxgl']
-  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc"]
+  widgets_src += ["qt/maps/map_helpers.cc", "qt/maps/map_settings.cc", "qt/maps/map.cc", "qt/maps/map_panel.cc"]
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)

selfdrive/ui/mui.cc

@@ -110,14 +110,8 @@ int main(int argc, char *argv[]) {
     if (onroad) {
       auto cs = sm["controlsState"].getControlsState();
       UIStatus status = cs.getEnabled() ? STATUS_ENGAGED : STATUS_DISENGAGED;
-      if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::USER_PROMPT) {
-        status = STATUS_WARNING;
-      } else if (cs.getAlertStatus() == cereal::ControlsState::AlertStatus::CRITICAL) {
-        status = STATUS_ALERT;
-      }
-
       auto lp = sm["lateralPlan"].getLateralPlan();
-      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE || status == STATUS_ALERT) {
+      if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::PRE_LANE_CHANGE) {
         status_bar->blinkingColor(bg_colors[status]);
       } else if (lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_STARTING ||
                  lp.getLaneChangeState() == cereal::LateralPlan::LaneChangeState::LANE_CHANGE_FINISHING) {

selfdrive/ui/qt/home.cc

@@ -7,9 +7,14 @@
 
 #include "selfdrive/ui/qt/offroad/experimental_mode.h"
 #include "selfdrive/ui/qt/util.h"
-#include "selfdrive/ui/qt/widgets/drive_stats.h"
 #include "selfdrive/ui/qt/widgets/prime.h"
 
+#ifdef ENABLE_MAPS
+#include "selfdrive/ui/qt/maps/map_settings.h"
+#else
+#include "selfdrive/ui/qt/widgets/drive_stats.h"
+#endif
+
 // HomeWindow: the container for the offroad and onroad UIs
 
 HomeWindow::HomeWindow(QWidget* parent) : QWidget(parent) {
@@ -137,10 +142,15 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
     home_layout->setContentsMargins(0, 0, 0, 0);
     home_layout->setSpacing(30);
 
-    // left: DriveStats/PrimeAdWidget
+    // left: MapSettings/PrimeAdWidget
     QStackedWidget *left_widget = new QStackedWidget(this);
+#ifdef ENABLE_MAPS
+    left_widget->addWidget(new MapSettings);
+#else
     left_widget->addWidget(new DriveStats);
+#endif
     left_widget->addWidget(new PrimeAdWidget);
+    left_widget->setStyleSheet("border-radius: 10px;");
 
     left_widget->setCurrentIndex(uiState()->primeType() ? 0 : 1);
     connect(uiState(), &UIState::primeTypeChanged, [=](int prime_type) {