diff --git a/.github/workflows/badges.yaml b/.github/workflows/badges.yaml
new file mode 100644
index 0000000000..68a13398f6
--- /dev/null
+++ b/.github/workflows/badges.yaml
@@ -0,0 +1,53 @@
+name: badges
+on:
+  schedule:
+    - cron: '0 * * * *'
+  workflow_dispatch:
+
+env:
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
+
+  BUILD: |
+      docker pull $(grep -iohP '(?<=^from)\s+\S+' Dockerfile.openpilot_base) || true
+      docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
+      docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
+
+jobs:
+  badges:
+    name: create badges
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: true
+
+    - name: Cache scons
+      id: scons-cache
+      # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+      uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+      env:
+        CACHE_SKIP_SAVE: true
+      with:
+        path: /tmp/scons_cache
+        key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+        restore-keys: |
+          scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          scons-
+
+    - name: Build Docker image
+      run: eval "$BUILD"
+
+    - name: Push badges
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"
+
+        git checkout --orphan badges
+        git rm -rf --cached .
+        git config user.email "badge-researcher@comma.ai"
+        git config user.name "Badge Researcher"
+
+        git add translation_badge_*.svg
+        git commit -m "Add/Update badges"
+        git push -f origin HEAD
diff --git a/.github/workflows/prebuilt.yaml b/.github/workflows/prebuilt.yaml
index 7acc8a2254..99d9694f24 100644
--- a/.github/workflows/prebuilt.yaml
+++ b/.github/workflows/prebuilt.yaml
@@ -25,7 +25,7 @@ jobs:
       IMAGE_NAME: openpilot-prebuilt
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30
diff --git a/.github/workflows/release.yaml b/.github/workflows/release.yaml
index fb5a37eeef..8df89dcc38 100644
--- a/.github/workflows/release.yaml
+++ b/.github/workflows/release.yaml
@@ -12,7 +12,7 @@ jobs:
     if: github.repository == 'commaai/openpilot'
     steps:
     - name: Wait for green check mark
-      uses: commaai/wait-on-check-action@f16fc3bb6cd4886520b4e9328db1d42104d5cadc
+      uses: lewagon/wait-on-check-action@e2558238c09778af25867eb5de5a3ce4bbae3dcd
       with:
         ref: master
         wait-interval: 30
diff --git a/.github/workflows/selfdrive_tests.yaml b/.github/workflows/selfdrive_tests.yaml
index fedeaa734b..7800323198 100644
--- a/.github/workflows/selfdrive_tests.yaml
+++ b/.github/workflows/selfdrive_tests.yaml
@@ -17,12 +17,12 @@ env:
       docker pull $DOCKER_REGISTRY/$BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $DOCKER_REGISTRY/$BASE_IMAGE:latest -t $BASE_IMAGE:latest -f Dockerfile.openpilot_base .
 
-  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $BASE_IMAGE /bin/sh -c
+  RUN: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/sh -c
 
   BUILD_CL: |
       docker pull $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest || true
       docker build --cache-from $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $DOCKER_REGISTRY/$CL_BASE_IMAGE:latest -t $CL_BASE_IMAGE:latest -f Dockerfile.openpilot_base_cl .
-  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache $CL_BASE_IMAGE /bin/sh -c
+  RUN_CL: docker run --shm-size 1G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e PYTHONPATH=/tmp/openpilot -e NUM_JOBS -e JOB_ID -e GITHUB_ACTION -e GITHUB_REF -e GITHUB_HEAD_REF -e GITHUB_SHA -e GITHUB_REPOSITORY -e GITHUB_RUN_ID -v /tmp/scons_cache:/tmp/scons_cache -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/openpilot_cache:/tmp/openpilot_cache $CL_BASE_IMAGE /bin/sh -c
 
   UNIT_TEST: coverage run --append -m unittest discover
 
@@ -58,12 +58,22 @@ jobs:
       run: |
         TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
         cp Dockerfile.openpilot_base $STRIPPED_DIR
+        cp .pre-commit-config.yaml $STRIPPED_DIR
+        cp .pylintrc $STRIPPED_DIR
+        cp mypy.ini $STRIPPED_DIR
     - name: Build Docker image
-      run: eval "$BUILD"
+      run: |
+          eval "$BUILD"
+          rm $STRIPPED_DIR/Dockerfile.openpilot_base
     - name: Build openpilot and run checks
       run: |
           cd $STRIPPED_DIR
           ${{ env.RUN }} "CI=1 python selfdrive/manager/build.py && \
+                          pre-commit run --all && \
+                          rm .pre-commit-config.yaml && \
+                          rm .pylintrc && \
+                          rm mypy.ini && \
+                          release/check-dirty.sh && \
                           python -m unittest discover selfdrive/car"
 
   build_all:
@@ -89,7 +99,7 @@ jobs:
     - name: Build Docker image
       run: eval "$BUILD"
     - name: Build openpilot with all flags
-      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test"
+      run: ${{ env.RUN }} "scons -j$(nproc) --extras --test && release/check-dirty.sh"
     - name: Cleanup scons cache
       run: |
           ${{ env.RUN }} "scons -j$(nproc) --extras --test && \
@@ -299,17 +309,21 @@ jobs:
                         $UNIT_TEST selfdrive/loggerd && \
                         $UNIT_TEST selfdrive/car && \
                         $UNIT_TEST selfdrive/locationd && \
+                        selfdrive/locationd/test/_test_locationd_lib.py && \
                         $UNIT_TEST selfdrive/athena && \
                         $UNIT_TEST selfdrive/thermald && \
-                        $UNIT_TEST selfdrive/hardware/tici && \
+                        $UNIT_TEST system/hardware/tici && \
                         $UNIT_TEST selfdrive/modeld && \
                         $UNIT_TEST tools/lib/tests && \
+                        ./selfdrive/ui/tests/create_test_translations.sh && \
+                        QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
+                        ./selfdrive/ui/tests/test_translations.py && \
                         ./common/tests/test_util && \
                         ./common/tests/test_swaglog && \
                         ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
                         ./selfdrive/loggerd/tests/test_logger &&\
                         ./system/proclogd/tests/test_proclog && \
-                        ./selfdrive/ui/replay/tests/test_replay && \
+                        ./tools/replay/tests/test_replay && \
                         ./system/camerad/test/ae_gray_test && \
                         coverage xml"
     - name: "Upload coverage to Codecov"
@@ -364,7 +378,7 @@ jobs:
                         CI=1 AZURE_TOKEN='$AZURE_TOKEN' python selfdrive/test/process_replay/test_processes.py -j$(nproc) --upload-only"
     - name: "Upload coverage to Codecov"
       uses: codecov/codecov-action@v2
-  
+
   model_replay_onnx:
     name: model replay onnx
     runs-on: ubuntu-20.04
@@ -503,3 +517,67 @@ jobs:
       run: |
         $DOCKER_LOGIN
         docker push $DOCKER_REGISTRY/openpilot-docs:latest
+
+  car_docs_diff:
+    name: comment on PR with car docs diff
+    runs-on: ubuntu-20.04
+    timeout-minutes: 50
+    if: github.event_name == 'pull_request'
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+          ref: ${{ github.event.pull_request.base.ref }}
+      - name: Cache scons
+        id: scons-cache
+        # TODO: Change the version to the released version when https://github.com/actions/cache/pull/489 (or 571) is merged.
+        uses: actions/cache@03e00da99d75a2204924908e1cca7902cafce66b
+        env:
+          CACHE_SKIP_SAVE: true
+        with:
+          path: /tmp/scons_cache
+          key: scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+          restore-keys: |
+            scons-${{ hashFiles('.github/workflows/selfdrive_tests.yaml') }}-
+            scons-
+      - name: Build Docker image
+        run: eval "$BUILD"
+      - name: Get base car info
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
+          sudo chown -R $USER:$USER ${{ github.workspace }}
+      - uses: actions/checkout@v3
+        with:
+          submodules: true
+      - name: Save car docs diff
+        id: save_diff
+        run: |
+          ${{ env.RUN }} "scons -j$(nproc)"
+          output=$(${{ env.RUN }} "python selfdrive/debug/print_docs_diff.py --path /tmp/openpilot_cache/base_car_info") || true
+          output="${output//$'\n'/'%0A'}"
+          echo "::set-output name=diff::$output"
+      - name: Find comment
+        if: ${{ env.AZURE_TOKEN != '' }}
+        uses: peter-evans/find-comment@1769778a0c5bd330272d749d12c036d65e70d39d
+        id: fc
+        with:
+          issue-number: ${{ github.event.pull_request.number }}
+          body-includes: This PR makes changes to
+      - name: Update comment
+        if: ${{ steps.save_diff.outputs.diff != '' && env.AZURE_TOKEN != '' }}
+        uses: peter-evans/create-or-update-comment@b95e16d2859ad843a14218d1028da5b2c4cbc4b4
+        with:
+          comment-id: ${{ steps.fc.outputs.comment-id }}
+          issue-number: ${{ github.event.pull_request.number }}
+          body: "${{ steps.save_diff.outputs.diff }}"
+          edit-mode: replace
+      - name: Delete comment
+        if: ${{ steps.fc.outputs.comment-id != '' && steps.save_diff.outputs.diff == '' && env.AZURE_TOKEN != '' }}
+        uses: actions/github-script@v6
+        with:
+          script: |
+            github.rest.issues.deleteComment({
+              owner: context.repo.owner,
+              repo: context.repo.repo,
+              comment_id: ${{ steps.fc.outputs.comment-id }}
+            })
diff --git a/.gitignore b/.gitignore
index 0092c4dc94..07626f4e28 100644
--- a/.gitignore
+++ b/.gitignore
@@ -32,6 +32,7 @@ a.out
 *.class
 *.pyxbldc
 *.vcd
+*.qm
 config.json
 clcache
 compile_commands.json
@@ -45,8 +46,6 @@ system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/visiond/visiond
-selfdrive/loggerd/loggerd
-selfdrive/loggerd/bootlog
 selfdrive/sensord/_gpsd
 selfdrive/sensord/_sensord
 system/camerad/camerad
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index b901e07721..8b8bc1f1b9 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -54,7 +54,7 @@ repos:
         entry: cppcheck
         language: system
         types: [c++]
-        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
+        exclude: '^(third_party/)|(pyextra/)|(cereal/)|(rednose/)|(rednose_repo/)|(opendbc/)|(panda/)|(tools/)|(selfdrive/modeld/thneed/debug/)|(selfdrive/modeld/test/)|(selfdrive/camerad/test/)/|(installer/)'
         args:
         - --error-exitcode=1
         - --language=c++
diff --git a/Jenkinsfile b/Jenkinsfile
index 0fa623fbcd..b8ed52611d 100644
--- a/Jenkinsfile
+++ b/Jenkinsfile
@@ -70,7 +70,6 @@ pipeline {
         not {
           anyOf {
             branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release2'; branch 'release2-staging'; branch 'dashcam'; branch 'dashcam-staging';
             branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
             branch 'testing-closet*'; branch 'hotfix-*'
           }
@@ -115,6 +114,7 @@ pipeline {
             phone_steps("tici", [
               ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
               ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["check dirty", "release/check-dirty.sh"],
               ["test manager", "python selfdrive/manager/test/test_manager.py"],
               ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
               ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
diff --git a/Pipfile b/Pipfile
index b8545b1a21..81669e4807 100644
--- a/Pipfile
+++ b/Pipfile
@@ -41,6 +41,8 @@ tenacity = "*"
 mpld3 = "*"
 carla = {version = "==0.9.13", markers="platform_system != 'Darwin'"}
 ft4222 = "*"
+pandas = "*"
+tabulate = "*"
 
 [packages]
 atomicwrites = "*"
@@ -86,8 +88,6 @@ urllib3 = "*"
 utm = "*"
 websocket_client = "*"
 hatanaka = "==2.4"
-PyQt5 = "==5.15.4"
-PyQt5-sip = "==12.9.0"
 
 [requires]
 python_version = "3.8"
diff --git a/Pipfile.lock b/Pipfile.lock
index cc347a60f4..0612d0ff39 100644
--- a/Pipfile.lock
+++ b/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "d2629168f477b3a14f68f26e3b63ea9797b20599c066b2aa23a027bcee2ca40a"
+            "sha256": "c92514c0e6968af008916446514f41b4e004aa7aa4a2951cc1e9e258ac072111"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -79,75 +79,89 @@
         },
         "certifi": {
             "hashes": [
-                "sha256:9c5705e395cd70084351dd8ad5c41e65655e08ce46f2ec9cf6c2c08390f71eb7",
-                "sha256:f1d53542ee8cbedbe2118b5686372fb33c297fcd6379b050cca0ef13a597382a"
+                "sha256:84c85a9078b11105f04f3036a9482ae10e4621616db313fe045dd24743a0820d",
+                "sha256:fe86415d55e84719d75f8b69414f6438ac3547d2078ab91b67e779ef69378412"
             ],
             "markers": "python_version >= '3.6'",
-            "version": "==2022.5.18.1"
+            "version": "==2022.6.15"
         },
         "cffi": {
             "hashes": [
-                "sha256:00c878c90cb53ccfaae6b8bc18ad05d2036553e6d9d1d9dbcf323bbe83854ca3",
-                "sha256:0104fb5ae2391d46a4cb082abdd5c69ea4eab79d8d44eaaf79f1b1fd806ee4c2",
-                "sha256:06c48159c1abed75c2e721b1715c379fa3200c7784271b3c46df01383b593636",
-                "sha256:0808014eb713677ec1292301ea4c81ad277b6cdf2fdd90fd540af98c0b101d20",
-                "sha256:10dffb601ccfb65262a27233ac273d552ddc4d8ae1bf93b21c94b8511bffe728",
-                "sha256:14cd121ea63ecdae71efa69c15c5543a4b5fbcd0bbe2aad864baca0063cecf27",
-                "sha256:17771976e82e9f94976180f76468546834d22a7cc404b17c22df2a2c81db0c66",
-                "sha256:181dee03b1170ff1969489acf1c26533710231c58f95534e3edac87fff06c443",
-                "sha256:23cfe892bd5dd8941608f93348c0737e369e51c100d03718f108bf1add7bd6d0",
-                "sha256:263cc3d821c4ab2213cbe8cd8b355a7f72a8324577dc865ef98487c1aeee2bc7",
-                "sha256:2756c88cbb94231c7a147402476be2c4df2f6078099a6f4a480d239a8817ae39",
-                "sha256:27c219baf94952ae9d50ec19651a687b826792055353d07648a5695413e0c605",
-                "sha256:2a23af14f408d53d5e6cd4e3d9a24ff9e05906ad574822a10563efcef137979a",
-                "sha256:31fb708d9d7c3f49a60f04cf5b119aeefe5644daba1cd2a0fe389b674fd1de37",
-                "sha256:3415c89f9204ee60cd09b235810be700e993e343a408693e80ce7f6a40108029",
-                "sha256:3773c4d81e6e818df2efbc7dd77325ca0dcb688116050fb2b3011218eda36139",
-                "sha256:3b96a311ac60a3f6be21d2572e46ce67f09abcf4d09344c49274eb9e0bf345fc",
-                "sha256:3f7d084648d77af029acb79a0ff49a0ad7e9d09057a9bf46596dac9514dc07df",
-                "sha256:41d45de54cd277a7878919867c0f08b0cf817605e4eb94093e7516505d3c8d14",
-                "sha256:4238e6dab5d6a8ba812de994bbb0a79bddbdf80994e4ce802b6f6f3142fcc880",
-                "sha256:45db3a33139e9c8f7c09234b5784a5e33d31fd6907800b316decad50af323ff2",
-                "sha256:45e8636704eacc432a206ac7345a5d3d2c62d95a507ec70d62f23cd91770482a",
-                "sha256:4958391dbd6249d7ad855b9ca88fae690783a6be9e86df65865058ed81fc860e",
-                "sha256:4a306fa632e8f0928956a41fa8e1d6243c71e7eb59ffbd165fc0b41e316b2474",
-                "sha256:57e9ac9ccc3101fac9d6014fba037473e4358ef4e89f8e181f8951a2c0162024",
-                "sha256:59888172256cac5629e60e72e86598027aca6bf01fa2465bdb676d37636573e8",
-                "sha256:5e069f72d497312b24fcc02073d70cb989045d1c91cbd53979366077959933e0",
-                "sha256:64d4ec9f448dfe041705426000cc13e34e6e5bb13736e9fd62e34a0b0c41566e",
-                "sha256:6dc2737a3674b3e344847c8686cf29e500584ccad76204efea14f451d4cc669a",
-                "sha256:74fdfdbfdc48d3f47148976f49fab3251e550a8720bebc99bf1483f5bfb5db3e",
-                "sha256:75e4024375654472cc27e91cbe9eaa08567f7fbdf822638be2814ce059f58032",
-                "sha256:786902fb9ba7433aae840e0ed609f45c7bcd4e225ebb9c753aa39725bb3e6ad6",
-                "sha256:8b6c2ea03845c9f501ed1313e78de148cd3f6cad741a75d43a29b43da27f2e1e",
-                "sha256:91d77d2a782be4274da750752bb1650a97bfd8f291022b379bb8e01c66b4e96b",
-                "sha256:91ec59c33514b7c7559a6acda53bbfe1b283949c34fe7440bcf917f96ac0723e",
-                "sha256:920f0d66a896c2d99f0adbb391f990a84091179542c205fa53ce5787aff87954",
-                "sha256:a5263e363c27b653a90078143adb3d076c1a748ec9ecc78ea2fb916f9b861962",
-                "sha256:abb9a20a72ac4e0fdb50dae135ba5e77880518e742077ced47eb1499e29a443c",
-                "sha256:c2051981a968d7de9dd2d7b87bcb9c939c74a34626a6e2f8181455dd49ed69e4",
-                "sha256:c21c9e3896c23007803a875460fb786118f0cdd4434359577ea25eb556e34c55",
-                "sha256:c2502a1a03b6312837279c8c1bd3ebedf6c12c4228ddbad40912d671ccc8a962",
-                "sha256:d4d692a89c5cf08a8557fdeb329b82e7bf609aadfaed6c0d79f5a449a3c7c023",
-                "sha256:da5db4e883f1ce37f55c667e5c0de439df76ac4cb55964655906306918e7363c",
-                "sha256:e7022a66d9b55e93e1a845d8c9eba2a1bebd4966cd8bfc25d9cd07d515b33fa6",
-                "sha256:ef1f279350da2c586a69d32fc8733092fd32cc8ac95139a00377841f59a3f8d8",
-                "sha256:f54a64f8b0c8ff0b64d18aa76675262e1700f3995182267998c31ae974fbc382",
-                "sha256:f5c7150ad32ba43a07c4479f40241756145a1f03b43480e058cfd862bf5041c7",
-                "sha256:f6f824dc3bce0edab5f427efcfb1d63ee75b6fcb7282900ccaf925be84efb0fc",
-                "sha256:fd8a250edc26254fe5b33be00402e6d287f562b6a5b2152dec302fa15bb3e997",
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+            "version": "==2.1.0"
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         "click": {
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@@ -169,31 +183,31 @@
         },
         "cryptography": {
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@@ -347,31 +361,31 @@
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@@ -563,62 +577,58 @@
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@@ -635,47 +645,67 @@
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@@ -803,39 +833,39 @@
         },
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@@ -855,101 +885,54 @@
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@@ -969,10 +952,10 @@
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@@ -1015,74 +998,74 @@
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         "requests": {
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-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
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-            "version": "==2.28.0"
+            "version": "==2.28.1"
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@@ -1094,11 +1077,11 @@
         },
         "sentry-sdk": {
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-                "sha256:778b53f0a6c83b1ee43d3b7886318ba86d975e686cb2c7906ccc35b334360be1"
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-            "version": "==1.5.12"
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@@ -1179,11 +1162,11 @@
         },
         "setuptools": {
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             "markers": "python_version >= '3.7'",
-            "version": "==62.4.0"
+            "version": "==63.1.0"
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         "six": {
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@@ -1227,11 +1210,11 @@
         },
         "tomlkit": {
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-                "sha256:0f4050db66fd445b885778900ce4dd9aea8c90c4721141fde0d6ade893820ef1",
-                "sha256:71ceb10c0eefd8b8f11fe34e8a51ad07812cb1dc3de23247425fbc9ddc47b9dd"
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-            "markers": "python_version >= '3.6' and python_version < '4.0'",
-            "version": "==0.11.0"
+            "markers": "python_version >= '3.6' and python_version < '4'",
+            "version": "==0.11.1"
         },
         "tqdm": {
             "hashes": [
@@ -1243,19 +1226,19 @@
         },
         "typing-extensions": {
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-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
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-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
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         "urllib3": {
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-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
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-            "version": "==1.26.9"
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@@ -1266,11 +1249,11 @@
         },
         "websocket-client": {
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-                "sha256:50b21db0058f7a953d67cc0445be4b948d7fc196ecbeb8083d68d94628e4abf6",
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-            "version": "==1.3.2"
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@@ -1443,11 +1426,11 @@
         },
         "babel": {
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@@ -1468,11 +1451,11 @@
         },
         "breathe": {
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@@ -1562,11 +1559,11 @@
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@@ -1624,31 +1621,31 @@
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+                "sha256:f2dcb0b3b63afb6df7fd94ec6fbddac81b5492513f7b0436210d390c14d46ee8",
+                "sha256:f721d1885ecae9078c3f6bbe8a88bc0786b6e749bf32ccec1ef2b18929a05046",
+                "sha256:f7a6de3e98771e183645181b3627e2563dcde3ce94a9e42a3f427d2255190327",
+                "sha256:f8c0a6e9e1dd3eb0414ba320f85da6b0dcbd543126e30fcc546e7372a7fbf3b9"
+            ],
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         "cycler": {
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@@ -1742,11 +1739,11 @@
         },
         "fonttools": {
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-                "sha256:f829c579a8678fa939a1d9e9894d01941db869de44390adb49ce67055a06cc2a"
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@@ -1805,24 +1802,24 @@
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+            "markers": "python_version >= '3.5'",
             "version": "==3.3"
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-            "version": "==1.3.0"
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@@ -2076,38 +2073,39 @@
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@@ -2130,6 +2128,33 @@
             "markers": "python_version >= '3.6'",
             "version": "==21.3"
         },
+        "pandas": {
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@@ -2148,47 +2173,67 @@
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+                "sha256:69bd1a15d7ba3694631e00df8de65a8cb031911ca11f44929c97fe05eb9b6c1d",
+                "sha256:6bf088c1ce160f50ea40764f825ec9b72ed9da25346216b91361eef8ad1b8f8c",
+                "sha256:6e8c66f70fb539301e064f6478d7453e820d8a2c631da948a23384865cd95544",
+                "sha256:727dd1389bc5cb9827cbd1f9d40d2c2a1a0c9b32dd2261db522d22a604a6eec9",
+                "sha256:74a04183e6e64930b667d321524e3c5361094bb4af9083db5c301db64cd341f3",
+                "sha256:75e636fd3e0fb872693f23ccb8a5ff2cd578801251f3a4f6854c6a5d437d3c04",
+                "sha256:7761afe0126d046974a01e030ae7529ed0ca6a196de3ec6937c11df0df1bc91c",
+                "sha256:7888310f6214f19ab2b6df90f3f06afa3df7ef7355fc025e78a3044737fab1f5",
+                "sha256:7b0554af24df2bf96618dac71ddada02420f946be943b181108cac55a7a2dcd4",
+                "sha256:7c7b502bc34f6e32ba022b4a209638f9e097d7a9098104ae420eb8186217ebbb",
+                "sha256:808add66ea764ed97d44dda1ac4f2cfec4c1867d9efb16a33d158be79f32b8a4",
+                "sha256:831e648102c82f152e14c1a0938689dbb22480c548c8d4b8b248b3e50967b88c",
+                "sha256:93689632949aff41199090eff5474f3990b6823404e45d66a5d44304e9cdc467",
+                "sha256:96b5e6874431df16aee0c1ba237574cb6dff1dcb173798faa6a9d8b399a05d0e",
+                "sha256:9a54614049a18a2d6fe156e68e188da02a046a4a93cf24f373bffd977e943421",
+                "sha256:a138441e95562b3c078746a22f8fca8ff1c22c014f856278bdbdd89ca36cff1b",
+                "sha256:a647c0d4478b995c5e54615a2e5360ccedd2f85e70ab57fbe817ca613d5e63b8",
+                "sha256:a9c9bc489f8ab30906d7a85afac4b4944a572a7432e00698a7239f44a44e6efb",
+                "sha256:ad2277b185ebce47a63f4dc6302e30f05762b688f8dc3de55dbae4651872cdf3",
+                "sha256:b6d5e92df2b77665e07ddb2e4dbd6d644b78e4c0d2e9272a852627cdba0d75cf",
+                "sha256:bc431b065722a5ad1dfb4df354fb9333b7a582a5ee39a90e6ffff688d72f27a1",
+                "sha256:bdd0de2d64688ecae88dd8935012c4a72681e5df632af903a1dca8c5e7aa871a",
+                "sha256:c79698d4cd9318d9481d89a77e2d3fcaeff5486be641e60a4b49f3d2ecca4e28",
+                "sha256:cb6259196a589123d755380b65127ddc60f4c64b21fc3bb46ce3a6ea663659b0",
+                "sha256:d5b87da55a08acb586bad5c3aa3b86505f559b84f39035b233d5bf844b0834b1",
+                "sha256:dcd7b9c7139dc8258d164b55696ecd16c04607f1cc33ba7af86613881ffe4ac8",
+                "sha256:dfe4c1fedfde4e2fbc009d5ad420647f7730d719786388b7de0999bf32c0d9fd",
+                "sha256:ea98f633d45f7e815db648fd7ff0f19e328302ac36427343e4432c84432e7ff4",
+                "sha256:ec52c351b35ca269cb1f8069d610fc45c5bd38c3e91f9ab4cbbf0aebc136d9c8",
+                "sha256:eef7592281f7c174d3d6cbfbb7ee5984a671fcd77e3fc78e973d492e9bf0eb3f",
+                "sha256:f07f1f00e22b231dd3d9b9208692042e29792d6bd4f6639415d2f23158a80013",
+                "sha256:f3fac744f9b540148fa7715a435d2283b71f68bfb6d4aae24482a890aed18b59",
+                "sha256:fa768eff5f9f958270b081bb33581b4b569faabf8774726b283edb06617101dc",
+                "sha256:fac2d65901fb0fdf20363fbd345c01958a742f2dc62a8dd4495af66e3ff502a4"
+            ],
+            "index": "pypi",
+            "version": "==9.2.0"
         },
         "platformdirs": {
             "hashes": [
@@ -2426,11 +2471,11 @@
         },
         "requests": {
             "hashes": [
-                "sha256:bc7861137fbce630f17b03d3ad02ad0bf978c844f3536d0edda6499dafce2b6f",
-                "sha256:d568723a7ebd25875d8d1eaf5dfa068cd2fc8194b2e483d7b1f7c81918dbec6b"
+                "sha256:7c5599b102feddaa661c826c56ab4fee28bfd17f5abca1ebbe3e7f19d7c97983",
+                "sha256:8fefa2a1a1365bf5520aac41836fbee479da67864514bdb821f31ce07ce65349"
             ],
             "index": "pypi",
-            "version": "==2.28.0"
+            "version": "==2.28.1"
         },
         "reverse-geocoder": {
             "hashes": [
@@ -2468,6 +2513,14 @@
             "index": "pypi",
             "version": "==1.8.1"
         },
+        "setuptools": {
+            "hashes": [
+                "sha256:16923d366ced322712c71ccb97164d07472abeecd13f3a6c283f6d5d26722793",
+                "sha256:db3b8e2f922b2a910a29804776c643ea609badb6a32c4bcc226fd4fd902cce65"
+            ],
+            "markers": "python_version >= '3.7'",
+            "version": "==63.1.0"
+        },
         "six": {
             "hashes": [
                 "sha256:1e61c37477a1626458e36f7b1d82aa5c9b094fa4802892072e49de9c60c4c926",
@@ -2492,11 +2545,11 @@
         },
         "sphinx": {
             "hashes": [
-                "sha256:7bf8ca9637a4ee15af412d1a1d9689fec70523a68ca9bb9127c2f3eeb344e2e6",
-                "sha256:ebf612653238bcc8f4359627a9b7ce44ede6fdd75d9d30f68255c7383d3a6226"
+                "sha256:b18e978ea7565720f26019c702cd85c84376e948370f1cd43d60265010e1c7b0",
+                "sha256:d3e57663eed1d7c5c50895d191fdeda0b54ded6f44d5621b50709466c338d1e8"
             ],
             "index": "pypi",
-            "version": "==4.5.0"
+            "version": "==5.0.2"
         },
         "sphinx-rtd-theme": {
             "hashes": [
@@ -2570,6 +2623,15 @@
             "index": "pypi",
             "version": "==3.5.4"
         },
+        "tabulate": {
+            "hashes": [
+                "sha256:0ba055423dbaa164b9e456abe7920c5e8ed33fcc16f6d1b2f2d152c8e1e8b4fc",
+                "sha256:436f1c768b424654fce8597290d2764def1eea6a77cfa5c33be00b1bc0f4f63d",
+                "sha256:6c57f3f3dd7ac2782770155f3adb2db0b1a269637e42f27599925e64b114f519"
+            ],
+            "index": "pypi",
+            "version": "==0.8.10"
+        },
         "tenacity": {
             "hashes": [
                 "sha256:43242a20e3e73291a28bcbcacfd6e000b02d3857a9a9fff56b297a27afdc932f",
@@ -2596,27 +2658,27 @@
         },
         "typing-extensions": {
             "hashes": [
-                "sha256:6657594ee297170d19f67d55c05852a874e7eb634f4f753dbd667855e07c1708",
-                "sha256:f1c24655a0da0d1b67f07e17a5e6b2a105894e6824b92096378bb3668ef02376"
+                "sha256:25642c956049920a5aa49edcdd6ab1e06d7e5d467fc00e0506c44ac86fbfca02",
+                "sha256:e6d2677a32f47fc7eb2795db1dd15c1f34eff616bcaf2cfb5e997f854fa1c4a6"
             ],
-            "markers": "python_version < '3.10'",
-            "version": "==4.2.0"
+            "markers": "python_version >= '3.7'",
+            "version": "==4.3.0"
         },
         "urllib3": {
             "hashes": [
-                "sha256:44ece4d53fb1706f667c9bd1c648f5469a2ec925fcf3a776667042d645472c14",
-                "sha256:aabaf16477806a5e1dd19aa41f8c2b7950dd3c746362d7e3223dbe6de6ac448e"
+                "sha256:8298d6d56d39be0e3bc13c1c97d133f9b45d797169a0e11cdd0e0489d786f7ec",
+                "sha256:879ba4d1e89654d9769ce13121e0f94310ea32e8d2f8cf587b77c08bbcdb30d6"
             ],
             "index": "pypi",
-            "version": "==1.26.9"
+            "version": "==1.26.10"
         },
         "virtualenv": {
             "hashes": [
-                "sha256:e617f16e25b42eb4f6e74096b9c9e37713cf10bf30168fb4a739f3fa8f898a3a",
-                "sha256:ef589a79795589aada0c1c5b319486797c03b67ac3984c48c669c0e4f50df3a5"
+                "sha256:288171134a2ff3bfb1a2f54f119e77cd1b81c29fc1265a2356f3e8d14c7d58c4",
+                "sha256:b30aefac647e86af6d82bfc944c556f8f1a9c90427b2fb4e3bfbf338cb82becf"
             ],
             "markers": "python_version >= '2.7' and python_version not in '3.0, 3.1, 3.2, 3.3, 3.4'",
-            "version": "==20.14.1"
+            "version": "==20.15.1"
         },
         "zipp": {
             "hashes": [
diff --git a/README.md b/README.md
index 34b17625f9..94837575b4 100755
--- a/README.md
+++ b/README.md
@@ -4,7 +4,7 @@ Table of Contents
 =======================
 
 * [What is openpilot?](#what-is-openpilot)
-* [Running in a car](#running-in-a-car)
+* [Running in a car](#running-on-a-dedicated-device-in-a-car)
 * [Running on PC](#running-on-pc)
 * [Community and Contributing](#community-and-contributing)
 * [User Data and comma Account](#user-data-and-comma-account)
@@ -105,23 +105,25 @@ Directory Structure
     ├── third_party         # External libraries
     ├── pyextra             # Extra python packages
     └── system              # Generic services
+        ├── camerad         # Driver to capture images from the camera sensors
+        ├── clocksd         # Broadcasts current time
+        ├── hardware        # Hardware abstraction classes
         ├── logcatd         # systemd journal as a service
         └── proclogd        # Logs information from /proc
     └── selfdrive           # Code needed to drive the car
         ├── assets          # Fonts, images, and sounds for UI
         ├── athena          # Allows communication with the app
         ├── boardd          # Daemon to talk to the board
-        ├── camerad         # Driver to capture images from the camera sensors
         ├── car             # Car specific code to read states and control actuators
-        ├── common          # Shared C/C++ code for the daemons
         ├── controls        # Planning and controls
         ├── debug           # Tools to help you debug and do car ports
         ├── locationd       # Precise localization and vehicle parameter estimation
         ├── loggerd         # Logger and uploader of car data
+        ├── manager         # Deamon that starts/stops all other daemons as needed
         ├── modeld          # Driving and monitoring model runners
-        ├── proclogd        # Logs information from proc
-        ├── sensord         # IMU interface code
+        ├── monitoring      # Daemon to determine driver attention
         ├── navd            # Turn-by-turn navigation
+        ├── sensord         # IMU interface code
         ├── test            # Unit tests, system tests, and a car simulator
         └── ui              # The UI
 
diff --git a/RELEASES.md b/RELEASES.md
index 5d81b43085..e69d7461b7 100644
--- a/RELEASES.md
+++ b/RELEASES.md
@@ -1,21 +1,42 @@
-Version 0.8.15 (2022-XX-XX)
+Version 0.8.16 (2022-XX-XX)
+========================
+* Hyundai Kona Electric 2022 support thanks to sunnyhaibin!
+* Subaru Outback 2020-22 support
+
+Version 0.8.15 (2022-07-20)
 ========================
 * New driving model
+  * Path planning uses end-to-end output instead of lane lines at all times
+  * Reduced ping pong
+  * Improved lane centering
 * New lateral controller based on physical wheel torque model
-  * Much smoother control, consistent across the speed range
+  * Much smoother control that's consistent across the speed range
   * Effective feedforward that uses road roll
   * Simplified tuning, all car-specific parameters can be derived from data
+  * Used on select Toyota and Hyundai models at first
   * Significantly improved control on TSS-P Prius
 * New driver monitoring model
-  * takes a larger input frame
-  * outputs a driver state for both driver and passenger
-  * automatically determines which side the driver is on (soon)
-* Display speed limit while navigating
+  * Bigger model, covering full interior view from driver camera
+  * Works with a wider variety of mounting angles
+  * 3x more unique comma three training data than previous
+* Navigation improvements
+  * Speed limits shown while navigating
+  * Faster position fix by using raw GPS measurements
+* UI updates
+  * Multilanguage support for settings and home screen
+  * New font
+  * Refreshed max speed design
+  * More consistent camera view perspective across cars
 * Reduced power usage: device runs cooler and fan spins less
 * AGNOS 5
+  * Support VSCode remote SSH target
+  * Support for delta updates to reduce data usage on future OS updates
+* Chrysler ECU firmware fingerprinting thanks to realfast!
 * Honda Civic 2022 support
 * Hyundai Tucson 2021 support thanks to bluesforte!
+* Kia EV6 2022 support
 * Lexus NX Hybrid 2020 support thanks to AlexandreSato!
+* Ram 1500 2019-21 support thanks to realfast!
 
 Version 0.8.14 (2022-06-01)
 ========================
diff --git a/SConstruct b/SConstruct
index b243a4dc45..940b2367fa 100644
--- a/SConstruct
+++ b/SConstruct
@@ -356,22 +356,27 @@ Export('cereal', 'messaging', 'visionipc')
 
 # Build rednose library and ekf models
 
+rednose_deps = [
+  "#selfdrive/locationd/models/constants.py",
+  "#selfdrive/locationd/models/gnss_helpers.py",
+]
+
 rednose_config = {
   'generated_folder': '#selfdrive/locationd/models/generated',
   'to_build': {
-    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, []),
-    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h']),
-    'car': ('#selfdrive/locationd/models/car_kf.py', True, []),
+    'gnss': ('#selfdrive/locationd/models/gnss_kf.py', True, [], rednose_deps),
+    'live': ('#selfdrive/locationd/models/live_kf.py', True, ['live_kf_constants.h'], rednose_deps),
+    'car': ('#selfdrive/locationd/models/car_kf.py', True, [], rednose_deps),
   },
 }
 
 if arch != "larch64":
   rednose_config['to_build'].update({
-    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, []),
-    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, []),
-    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, []),
+    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
+    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
+    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
   })
 
 Export('rednose_config')
@@ -410,6 +415,9 @@ SConscript(['selfdrive/loggerd/SConscript'])
 SConscript(['selfdrive/locationd/SConscript'])
 SConscript(['selfdrive/sensord/SConscript'])
 SConscript(['selfdrive/ui/SConscript'])
+SConscript(['selfdrive/navd/SConscript'])
+
+SConscript(['tools/replay/SConscript'])
 
 if GetOption('test'):
   SConscript('panda/tests/safety/SConscript')
diff --git a/cereal b/cereal
index c6acc0698a..fbd45de6e6 160000
--- a/cereal
+++ b/cereal
@@ -1 +1 @@
-Subproject commit c6acc0698a604e715e960250359b6bf97e4987e3
+Subproject commit fbd45de6e6bc71b4561eaef65dd86fce952c5d55
diff --git a/common/modeldata.h b/common/modeldata.h
index b193841416..e13840d53e 100644
--- a/common/modeldata.h
+++ b/common/modeldata.h
@@ -34,12 +34,13 @@ 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(bool bayer = true) {
+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
   }};
-  return bayer ? transform_scale_buffer(transform, db_s) : transform;
+  // Can this be removed since scale is 1?
+  return transform_scale_buffer(transform, db_s);
 }
diff --git a/common/params.cc b/common/params.cc
index b8526bc231..11b24fe9c1 100644
--- a/common/params.cc
+++ b/common/params.cc
@@ -124,11 +124,13 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsMetric", PERSISTENT},
     {"IsOffroad", CLEAR_ON_MANAGER_START},
     {"IsOnroad", PERSISTENT},
-    {"IsRHD", PERSISTENT},
+    {"IsRhdDetected", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT},
+    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"LanguageSetting", PERSISTENT},
     {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
     {"LastGPSPosition", PERSISTENT},
     {"LastManagerExitReason", CLEAR_ON_MANAGER_START},
@@ -139,6 +141,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"LiveParameters", PERSISTENT},
     {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"NavSettingTime24h", PERSISTENT},
+    {"NavSettingLeftSide", PERSISTENT},
     {"NavdRender", PERSISTENT},
     {"OpenpilotEnabledToggle", PERSISTENT},
     {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
@@ -152,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
+    {"SwitchToBranch", CLEAR_ON_MANAGER_START},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},
diff --git a/common/params.py b/common/params.py
index 2cfca37129..b6be424d41 100644
--- a/common/params.py
+++ b/common/params.py
@@ -1,8 +1,9 @@
-from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking # pylint: disable=no-name-in-module, import-error
+from common.params_pyx import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking # pylint: disable=no-name-in-module, import-error
 assert Params
 assert ParamKeyType
 assert UnknownKeyName
 assert put_nonblocking
+assert put_bool_nonblocking
 
 if __name__ == "__main__":
   import sys
diff --git a/common/params_pyx.pyx b/common/params_pyx.pyx
index b3b8248529..36c8cf777a 100755
--- a/common/params_pyx.pyx
+++ b/common/params_pyx.pyx
@@ -100,11 +100,7 @@ cdef class Params:
     return self.p.getParamPath(key_bytes).decode("utf-8")
 
 def put_nonblocking(key, val, d=""):
-  def f(key, val):
-    params = Params(d)
-    cdef string k = ensure_bytes(key)
-    params.put(k, val)
-
-  t = threading.Thread(target=f, args=(key, val))
-  t.start()
-  return t
+  threading.Thread(target=lambda: Params(d).put(key, val)).start()
+
+def put_bool_nonblocking(key, bool val, d=""):
+  threading.Thread(target=lambda: Params(d).put_bool(key, val)).start()
diff --git a/common/swaglog.cc b/common/swaglog.cc
index 6b0028326a..22682dc54c 100644
--- a/common/swaglog.cc
+++ b/common/swaglog.cc
@@ -66,8 +66,9 @@ static void log(int levelnum, const char* filename, int lineno, const char* func
   char levelnum_c = levelnum;
   zmq_send(s.sock, (levelnum_c + log_s).c_str(), log_s.length() + 1, ZMQ_NOBLOCK);
 }
+
 static void cloudlog_common(int levelnum, const char* filename, int lineno, const char* func,
-                            char* msg_buf, json11::Json::object msg_j={}) {
+                            char* msg_buf, const json11::Json::object &msg_j={}) {
   std::lock_guard lk(s.lock);
   if (!s.initialized) s.initialize();
 
diff --git a/common/tests/test_params.py b/common/tests/test_params.py
index 906198871b..f99ac81a33 100644
--- a/common/tests/test_params.py
+++ b/common/tests/test_params.py
@@ -4,7 +4,7 @@ import tempfile
 import shutil
 import unittest
 
-from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking
+from common.params import Params, ParamKeyType, UnknownKeyName, put_nonblocking, put_bool_nonblocking
 
 class TestParams(unittest.TestCase):
   def setUp(self):
@@ -89,6 +89,15 @@ class TestParams(unittest.TestCase):
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
+  def test_put_bool_non_blocking_with_get_block(self):
+    q = Params(self.tmpdir)
+    def _delayed_writer():
+      time.sleep(0.1)
+      put_bool_nonblocking("CarParams", True, self.tmpdir)
+    threading.Thread(target=_delayed_writer).start()
+    assert q.get("CarParams") is None
+    assert q.get("CarParams", True) == b"1"
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/common/transformations/camera.py b/common/transformations/camera.py
index 5d100d1047..b20ed5c64b 100644
--- a/common/transformations/camera.py
+++ b/common/transformations/camera.py
@@ -77,6 +77,7 @@ def get_view_frame_from_road_frame(roll, pitch, yaw, height):
   return np.hstack((view_from_road, [[0], [height], [0]]))
 
 
+
 # aka 'extrinsic_matrix'
 def get_view_frame_from_calib_frame(roll, pitch, yaw, height):
   device_from_calib= orient.rot_from_euler([roll, pitch, yaw])
@@ -94,12 +95,6 @@ def vp_from_ke(m):
   return (m[0, 0]/m[2, 0], m[1, 0]/m[2, 0])
 
 
-def vp_from_rpy(rpy, intrinsics=fcam_intrinsics):
-  e = get_view_frame_from_road_frame(rpy[0], rpy[1], rpy[2], 1.22)
-  ke = np.dot(intrinsics, e)
-  return vp_from_ke(ke)
-
-
 def roll_from_ke(m):
   # note: different from calibration.h/RollAnglefromKE: i think that one's just wrong
   return np.arctan2(-(m[1, 0] - m[1, 1] * m[2, 0] / m[2, 1]),
@@ -163,11 +158,3 @@ def img_from_device(pt_device):
   pt_img = pt_view/pt_view[:, 2:3]
   return pt_img.reshape(input_shape)[:, :2]
 
-
-def get_camera_frame_from_calib_frame(camera_frame_from_road_frame, intrinsics=fcam_intrinsics):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  calib_frame_from_ground = np.dot(intrinsics,
-                                     get_view_frame_from_road_frame(0, 0, 0, 1.22))[:, (0, 1, 3)]
-  ground_from_calib_frame = np.linalg.inv(calib_frame_from_ground)
-  camera_frame_from_calib_frame = np.dot(camera_frame_from_ground, ground_from_calib_frame)
-  return camera_frame_from_calib_frame
diff --git a/common/transformations/model.py b/common/transformations/model.py
index 62eb86423b..811a17eafe 100644
--- a/common/transformations/model.py
+++ b/common/transformations/model.py
@@ -1,10 +1,7 @@
 import numpy as np
 
 from common.transformations.camera import (FULL_FRAME_SIZE,
-                                           FOCAL,
-                                           get_view_frame_from_road_frame,
-                                           get_view_frame_from_calib_frame,
-                                           vp_from_ke)
+                                           get_view_frame_from_calib_frame)
 
 # segnet
 SEGNET_SIZE = (512, 384)
@@ -14,21 +11,6 @@ def get_segnet_frame_from_camera_frame(segnet_size=SEGNET_SIZE, full_frame_size=
                    [0.0,  float(segnet_size[1]) / full_frame_size[1]]])
 segnet_frame_from_camera_frame = get_segnet_frame_from_camera_frame() # xx
 
-# model
-MODEL_INPUT_SIZE = (320, 160)
-MODEL_YUV_SIZE = (MODEL_INPUT_SIZE[0], MODEL_INPUT_SIZE[1] * 3 // 2)
-MODEL_CX = MODEL_INPUT_SIZE[0] / 2.
-MODEL_CY = 21.
-
-model_fl = 728.0
-model_height = 1.22
-
-# canonical model transform
-model_intrinsics = np.array([
-  [model_fl,  0.0,  MODEL_CX],
-  [0.0,  model_fl,  MODEL_CY],
-  [0.0,  0.0,            1.0]])
-
 
 # MED model
 MEDMODEL_INPUT_SIZE = (512, 256)
@@ -63,104 +45,73 @@ sbigmodel_intrinsics = np.array([
   [0.0,  sbigmodel_fl,      0.5 * (256 + MEDMODEL_CY)],
   [0.0,  0.0,                                     1.0]])
 
-model_frame_from_road_frame = np.dot(model_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
-bigmodel_frame_from_road_frame = np.dot(bigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 bigmodel_frame_from_calib_frame = np.dot(bigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-sbigmodel_frame_from_road_frame = np.dot(sbigmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
 
 sbigmodel_frame_from_calib_frame = np.dot(sbigmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-medmodel_frame_from_road_frame = np.dot(medmodel_intrinsics,
-  get_view_frame_from_road_frame(0, 0, 0, model_height))
-
 medmodel_frame_from_calib_frame = np.dot(medmodel_intrinsics,
   get_view_frame_from_calib_frame(0, 0, 0, 0))
 
-model_frame_from_bigmodel_frame = np.dot(model_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 medmodel_frame_from_bigmodel_frame = np.dot(medmodel_intrinsics, np.linalg.inv(bigmodel_intrinsics))
 
 
-# 'camera from model camera'
-def get_model_height_transform(camera_frame_from_road_frame, height):
-  camera_frame_from_road_ground = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, 0],
-    [0, 0, 1],
-  ]))
-
-  camera_frame_from_road_high = np.dot(camera_frame_from_road_frame, np.array([
-    [1, 0, 0],
-    [0, 1, 0],
-    [0, 0, height - model_height],
-    [0, 0, 1],
-  ]))
-
-  road_high_from_camera_frame = np.linalg.inv(camera_frame_from_road_high)
-  high_camera_from_low_camera = np.dot(camera_frame_from_road_ground, road_high_from_camera_frame)
-
-  return high_camera_from_low_camera
-
-
-# camera_frame_from_model_frame aka 'warp matrix'
-# was: calibration.h/CalibrationTransform
-def get_camera_frame_from_model_frame(camera_frame_from_road_frame, height=model_height, camera_fl=FOCAL):
-  vp = vp_from_ke(camera_frame_from_road_frame)
-
-  model_zoom = camera_fl / model_fl
-  model_camera_from_model_frame = np.array([
-    [model_zoom,  0.0,  vp[0] - MODEL_CX * model_zoom],
-    [0.0,  model_zoom,  vp[1] - MODEL_CY * model_zoom],
-    [0.0,  0.0,                                   1.0],
-  ])
-
-  # This function is super slow, so skip it if height is very close to canonical
-  # TODO: speed it up!
-  if abs(height - model_height) > 0.001:
-    camera_from_model_camera = get_model_height_transform(camera_frame_from_road_frame, height)
-  else:
-    camera_from_model_camera = np.eye(3)
+### This function mimics the update_calibration logic in modeld.cc
+### Manually verified to give similar results to xx.uncommon.utils.transform_img
+def get_warp_matrix(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  return np.dot(camera_from_model_camera, model_camera_from_model_frame)
-
-
-def get_camera_frame_from_medmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-
-  ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
-  camera_frame_from_medmodel_frame = np.dot(camera_frame_from_ground, ground_from_medmodel_frame)
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-  return camera_frame_from_medmodel_frame
+  if big_model:
+    sbigmodel_from_calib = sbigmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(sbigmodel_from_calib)
+  else:
+    medmodel_from_calib = medmodel_frame_from_calib_frame[:, (0,1,2)]
+    calib_from_model = np.linalg.inv(medmodel_from_calib)
+  device_from_calib = rot_from_euler(rpy_calib)
+  camera_from_calib = intrinsics.dot(view_frame_from_device_frame.dot(device_from_calib))
+  warp_matrix = camera_from_calib.dot(calib_from_model)
+  return warp_matrix
 
 
-def get_camera_frame_from_bigmodel_frame(camera_frame_from_road_frame):
-  camera_frame_from_ground = camera_frame_from_road_frame[:, (0, 1, 3)]
-  bigmodel_frame_from_ground = bigmodel_frame_from_road_frame[:, (0, 1, 3)]
+### This is old, just for debugging
+def get_warp_matrix_old(rpy_calib, wide_cam=False, big_model=False, tici=True):
+  from common.transformations.orientation import rot_from_euler
+  from common.transformations.camera import view_frame_from_device_frame, eon_fcam_intrinsics, tici_ecam_intrinsics, tici_fcam_intrinsics
 
-  ground_from_bigmodel_frame = np.linalg.inv(bigmodel_frame_from_ground)
-  camera_frame_from_bigmodel_frame = np.dot(camera_frame_from_ground, ground_from_bigmodel_frame)
 
-  return camera_frame_from_bigmodel_frame
+  def get_view_frame_from_road_frame(roll, pitch, yaw, height):
+    device_from_road = rot_from_euler([roll, pitch, yaw]).dot(np.diag([1, -1, -1]))
+    view_from_road = view_frame_from_device_frame.dot(device_from_road)
+    return np.hstack((view_from_road, [[0], [height], [0]]))
 
+  if tici and wide_cam:
+    intrinsics = tici_ecam_intrinsics
+  elif tici:
+    intrinsics = tici_fcam_intrinsics
+  else:
+    intrinsics = eon_fcam_intrinsics
 
-def get_model_frame(snu_full, camera_frame_from_model_frame, size):
-  idxs = camera_frame_from_model_frame.dot(np.column_stack([np.tile(np.arange(size[0]), size[1]),
-                                                            np.tile(np.arange(size[1]), (size[0], 1)).T.flatten(),
-                                                            np.ones(size[0] * size[1])]).T).T.astype(int)
-  calib_flat = snu_full[idxs[:, 1], idxs[:, 0]]
-  if len(snu_full.shape) == 3:
-    calib = calib_flat.reshape((size[1], size[0], 3))
-  elif len(snu_full.shape) == 2:
-    calib = calib_flat.reshape((size[1], size[0]))
+  model_height = 1.22
+  if big_model:
+    model_from_road = np.dot(sbigmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
   else:
-    raise ValueError("shape of input img is weird")
-  return calib
+    model_from_road = np.dot(medmodel_intrinsics,
+             get_view_frame_from_road_frame(0, 0, 0, model_height))
+  ground_from_model = np.linalg.inv(model_from_road[:, (0, 1, 3)])
+
+  E = get_view_frame_from_road_frame(*rpy_calib, 1.22)
+  camera_frame_from_road_frame = intrinsics.dot(E)
+  camera_frame_from_ground = camera_frame_from_road_frame[:,(0,1,3)]
+  warp_matrix = camera_frame_from_ground .dot(ground_from_model)
+  return warp_matrix
diff --git a/common/version.h b/common/version.h
index de550d6be5..bf1c58df1e 100644
--- a/common/version.h
+++ b/common/version.h
@@ -1 +1 @@
-#define COMMA_VERSION "0.8.15"
+#define COMMA_VERSION "0.8.16"
diff --git a/common/watchdog.cc b/common/watchdog.cc
index 5a10207828..920df4030a 100644
--- a/common/watchdog.cc
+++ b/common/watchdog.cc
@@ -1,12 +1,9 @@
 #include "common/watchdog.h"
-#include "common/timing.h"
 #include "common/util.h"
 
 const std::string watchdog_fn_prefix = "/dev/shm/wd_";  // + <pid>
 
-bool watchdog_kick() {
+bool watchdog_kick(uint64_t ts) {
   static std::string fn = watchdog_fn_prefix + std::to_string(getpid());
-
-  uint64_t ts = nanos_since_boot();
   return util::write_file(fn.c_str(), &ts, sizeof(ts), O_WRONLY | O_CREAT) > 0;
 }
diff --git a/common/watchdog.h b/common/watchdog.h
index 7ed23aa0d9..12dd2ca035 100644
--- a/common/watchdog.h
+++ b/common/watchdog.h
@@ -1,3 +1,5 @@
 #pragma once
 
-bool watchdog_kick();
+#include <cstdint>
+
+bool watchdog_kick(uint64_t ts);
diff --git a/docs/CARS.md b/docs/CARS.md
index e1c7423fa9..a3455317fa 100644
--- a/docs/CARS.md
+++ b/docs/CARS.md
@@ -1,243 +1,279 @@
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
+
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-- Gold - The best openpilot experience. Great highway driving and beyond.
-- Silver - A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future.
-- Bronze - A good highway experience, but may have limited performance in traffic and on sharp turns.
-
-How We Rate The Cars
----
-
-### openpilot Adaptive Cruise Control (ACC)
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot is able to control the gas and brakes.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - openpilot is able to control the gas and brakes with some restrictions.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system.
+## How We Rate The Cars
 
 ### Stop and Go
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Adaptive Cruise Control (ACC) operates down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed.
+- [![star](assets/icon-star-full.svg)](##) - openpilot operates down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - openpilot operates only above a minimum speed. See your car's manual for the minimum speed.
 
 ### Steer to 0
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - openpilot can control the steering wheel down to 0 mph.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - No steering control below certain speeds.
+- [![star](assets/icon-star-full.svg)](##) - openpilot can control the steering wheel down to 0 mph.
+- [![star](assets/icon-star-empty.svg)](##) - No steering control below certain speeds. See your car's manual for the minimum speed.
 
 ### Steering Torque
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Car has enough steering torque to take tighter turns.
-- <a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a> - Car has enough steering torque for comfortable highway driving.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Limited ability to make turns.
-
-### Actively Maintained
-- <a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a> - Mainline software support, harness hardware sold by comma, lots of users, primary development target.
-- <a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a> - Low user count, community maintained, harness hardware not sold by comma.
-
-**All supported cars can move between the tiers as support changes.**
-
-# Gold - 31 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|comma|body|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Palisade 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Electric 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Telluride 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2020|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|UX Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Cross 2020-21 (Non-US only)|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hatchback 2019-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2020-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Mirai 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Silver - 68 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Audi|A3 2014-19|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|RS3 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|S3 2015-17|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|ACC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G70 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G80 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra Hybrid 2021-22|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2020-22|SCC + LFA|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Electric 2018-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Kona Hybrid 2020|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe 2021-22|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson Diesel 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Ceed 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Forte 2019-21|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|K5 2021-22|SCC|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Hybrid 2022|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Seltos 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Sorento 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Stinger 2018|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|CT Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|ES Hybrid 2017-18|LSS|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|NX Hybrid 2018-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2020-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Altima 2019-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Leaf 2018-22|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|Rogue 2018-20|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Nissan|X-Trail 2017|ProPILOT|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Ateca 2018|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|SEAT|Leon 2014-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Ascent 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Forester 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2020-21|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Alphard Hybrid 2021|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Camry Hybrid 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>[<sup>5</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Highlander Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius 2016-20|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius Prime 2017-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 Hybrid 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Atlas 2018-19, 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|e-Golf 2014, 2018-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf 2015-20|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf Alltrack 2017-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTE 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf GTI 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf R 2016-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportsVan 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Golf SportWagen 2015|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Passat 2015-19[<sup>7</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Polo 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-
-# Bronze - 79 cars
-
-|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|Actively Maintained|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2016-18|AcuraWatch Plus|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Acura|RDX 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q2 2018|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Audi|Q3 2020-21|ACC + Lane Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Bolt EUV Premier 2022[<sup>2</sup>](#footnotes)|Chevy Safety Assist|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chevrolet|Silverado 1500 2020[<sup>2</sup>](#footnotes)|Driver Alert Package II|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica 2020|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Genesis|G90 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Accord Hybrid 2018-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2016-18|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2019-20|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>[<sup>3</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Civic Hatchback 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2015-16|Touring|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V 2017-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|e 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Fit 2018-19|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Freed 2020|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|HR-V 2019-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Insight 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Inspire 2018|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Odyssey 2018-20|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Passport 2019-21|All|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Pilot 2016-21|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Honda|Ridgeline 2017-22|Honda Sensing|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Elantra 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Genesis 2015-16|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Electric 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Hybrid 2017-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Ioniq Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Sonata 2018-19|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Tucson 2021|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Hyundai|Veloster 2019-20|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Jeep|Grand Cherokee 2019-20|Adaptive Cruise|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Niro Plug-in Hybrid 2019|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Kia|Optima 2017|SCC + LKAS|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|IS 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RC 2020|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX 2016-18|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Lexus|RX Hybrid 2016-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-5 2022|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Mazda|CX-9 2021|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Crosstrek 2018-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Subaru|Impreza 2017-19|EyeSight|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kamiq 2021[<sup>6</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Karoq 2019|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Kodiaq 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Octavia RS 2016|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Scala 2020|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Škoda|Superb 2015-18|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Avalon Hybrid 2019-21|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR 2017-21|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|C-HR Hybrid 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Corolla 2017-19|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Prius v 2017|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|RAV4 2016-18|TSS-P|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Toyota|Sienna 2018-20|All|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>[<sup>4</sup>](#footnotes)|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Arteon 2018, 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|California 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Caravelle 2020[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta 2018-21|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Jetta GLI 2021|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Cross 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|T-Roc 2021[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Taos 2022[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Tiguan 2019-22[<sup>8</sup>](#footnotes)|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
-|Volkswagen|Touran 2017|Driver Assistance|<a href="##"><img valign="top" src="assets/icon-star-empty.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-half.svg" width="22" /></a>|<a href="##"><img valign="top" src="assets/icon-star-full.svg" width="22" /></a>|
+- [![star](assets/icon-star-full.svg)](##) - Car has enough steering torque to comfortably take most highway turns.
+- [![star](assets/icon-star-empty.svg)](##) - Limited ability to make tighter turns.
 
 
+# 200 Supported Cars
+
+|Make|Model|Supported Package|openpilot ACC|Stop and Go|Steer to 0|Steering Torque|
+|---|---|---|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2016-18|AcuraWatch Plus|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Acura|RDX 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Audi|A3 2014-19|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q2 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|Q3 2020-21|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|RS3 2018|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Audi|S3 2015-17|ACC + Lane Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Bolt EUV Premier 2022[<sup>2</sup>](#footnotes)|Chevy Safety Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Silverado 1500 2020[<sup>2</sup>](#footnotes)|Driver Alert Package II|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica 2021|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|comma|body|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2018-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G70 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G80 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Genesis|G90 2017-18|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Accord 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Accord Hybrid 2018-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2016-18|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)[<sup>3</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Civic Hatchback 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Honda|CR-V 2015-16|Touring Trim|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V 2017-22|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|e 2020|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Fit 2018-20|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Freed 2020|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|HR-V 2019-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Insight 2019-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Inspire 2018|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Odyssey 2018-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Passport 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Pilot 2016-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Honda|Ridgeline 2017-22|Honda Sensing|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Palisade 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Sonata Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|EV6 2022[<sup>4</sup>](#footnotes)|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Forte 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Electric 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Kia|Telluride 2020|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2017-18|Lexus Safety System+|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|ES Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|IS 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2018-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|NX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RC 2017-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2016-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2016-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|RX Hybrid 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Lexus|UX Hybrid 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-5 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Mazda|CX-9 2021-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Altima 2019-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Leaf 2018-22|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|Rogue 2018-20|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Nissan|X-Trail 2017|ProPILOT Assist|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Ram|1500 2019-22|Adaptive Cruise Control|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Ateca 2018|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|SEAT|Leon 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Ascent 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Forester 2019-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|Outback 2020-22|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Subaru|XV 2018-19|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Karoq 2019-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Kodiaq 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia 2015, 2018-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Octavia RS 2016|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Scala 2020|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Škoda|Superb 2015-18|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard 2019-20|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Alphard Hybrid 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2019-21|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Avalon Hybrid 2022|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR 2017-21|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|C-HR Hybrid 2017-19|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>6</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>6</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2018-20|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)[<sup>6</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Camry Hybrid 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross (Non-US only) 2020-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hatchback 2019-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Corolla Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2017-19|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Highlander Hybrid 2020-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Mirai 2021|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2017-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius Prime 2021-22|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Prius v 2017|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2017-18|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2019-21|All|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|RAV4 Hybrid 2022|All|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Toyota|Sienna 2018-20|All|[![star](assets/icon-star-half.svg)](##)[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon 2018-22[<sup>9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon eHybrid 2020-22[<sup>9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Arteon R 2020-22[<sup>9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas 2018-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Atlas Cross Sport 2021-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|California 2021[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Caravelle 2020[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|CC 2018-22[<sup>9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|e-Golf 2014-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf 2015-20[<sup>10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTD 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTE 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf GTI 2015-21|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf R 2015-19[<sup>10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta 2018-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Jetta GLI 2021-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat 2015-22[<sup>8,9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat Alltrack 2015-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Passat GTE 2015-22[<sup>9,10</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo 2020-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Polo GTI 2020-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Cross 2021[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|T-Roc 2021[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Taos 2022[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont 2018-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont Cross Sport 2021-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Teramont X 2021-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Tiguan 2019-22[<sup>9</sup>](#footnotes)|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+|Volkswagen|Touran 2017|Driver Assistance|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|
+
 <a id="footnotes"></a>
 <sup>1</sup>Requires an <a href="https://comma.ai/shop/products/comma-car-harness">OBD-II car harness</a> and <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
 <sup>2</sup>Currently Requires a [harness box](https://comma.ai/shop/products/harness-box) and [community built GM camera harness](https://github.com/commaai/openpilot/wiki/GMCamHarness) <br />
 <sup>3</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>4</sup>When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>5</sup>28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>6</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>7</sup>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
-<sup>8</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>4</sup>Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a> <br />
+<sup>5</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <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>Not including the USA/China market Passat, which is based on the (currently) unsupported PQ35/NMS platform. <br />
+<sup>9</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). For the newer design, in the interim, choose "VW J533 Development" from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard. <br />
+<sup>10</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <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/).
\ No newline at end of file
+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/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to be supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota RAV4 Prime 2021+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+
\ No newline at end of file
diff --git a/docs/Makefile b/docs/Makefile
index 02db7db2d3..d0aa841c4d 100644
--- a/docs/Makefile
+++ b/docs/Makefile
@@ -32,7 +32,7 @@ clean:
 	@echo "Copying docs & config to build folder..."
 	cp -a "$(DOCSDIR)" "$(BUILDDIR)"
 	cd "$(OPENPILOT_ROOT)" && \
-		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" \) \
+		find . -type f \( -name "*.md" -o -name "*.rst" -o -name "*.png" -o -name "*.jpg" -o -name "*.svg" \) \
 			-not -path "*/.*" \
 			-not -path "./build/*" \
 			-not -path "./docs/*" \
diff --git a/docs/assets/icon-star-empty.svg b/docs/assets/icon-star-empty.svg
index b12b426622..5d3c32d671 100644
--- a/docs/assets/icon-star-empty.svg
+++ b/docs/assets/icon-star-empty.svg
@@ -1,3 +1,56 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" stroke="#B7B7B7"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg1425"
+   sodipodi:docname="icon-star-empty.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata1431">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs1429" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
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+     inkscape:current-layer="svg1425" />
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diff --git a/docs/assets/icon-star-full.svg b/docs/assets/icon-star-full.svg
index 8211fdcc2b..294db2b7f2 100644
--- a/docs/assets/icon-star-full.svg
+++ b/docs/assets/icon-star-full.svg
@@ -1,3 +1,56 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12.2584 16.8419L12 16.686L11.7416 16.8419L6.57613 19.9596L7.94693 14.0836L8.01549 13.7897L7.78739 13.5921L3.22308 9.63803L9.23227 9.12821L9.5327 9.10272L9.65036 8.82511L12 3.2813L14.3496 8.82511L14.4673 9.10272L14.7677 9.12821L20.7769 9.63803L16.2126 13.5921L15.9845 13.7897L16.0531 14.0836L17.4239 19.9596L12.2584 16.8419Z" fill="#F5C543" stroke="#F0A43B"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19"
+   viewBox="0 0 19.999983 19"
+   version="1.1"
+   id="svg817"
+   sodipodi:docname="icon-star-full.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
+  <metadata
+     id="metadata823">
+    <rdf:RDF>
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+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs821" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
+     objecttolerance="10"
+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="1898"
+     id="namedview819"
+     showgrid="false"
+     inkscape:zoom="20.005229"
+     inkscape:cx="8.4325646"
+     inkscape:cy="3.9969093"
+     inkscape:window-x="0"
+     inkscape:window-y="0"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg817" />
+  <path
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+     id="path815"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543;stroke:#f0a43b" />
 </svg>
diff --git a/docs/assets/icon-star-half.svg b/docs/assets/icon-star-half.svg
index 7f64bc87e5..ab905fddcb 100644
--- a/docs/assets/icon-star-half.svg
+++ b/docs/assets/icon-star-half.svg
@@ -1,5 +1,66 @@
-<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<path d="M12 2V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2Z" fill="#F5C543"/>
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-<path d="M7.33226 18.9192L11 16.7055L12 16.1V17.27L5.82 21L7.46 13.97L2 9.24L9.19 8.63L12 2V4.6L11 6.92203L9.8754 9.57544L4.44617 10.0361L8.57098 13.6094L7.33226 18.9192Z" fill="#F0A43B"/>
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="19.999983"
+   height="19.000008"
+   viewBox="0 0 19.999983 19.000008"
+   version="1.1"
+   id="svg831"
+   sodipodi:docname="icon-star-half.svg"
+   style="fill:none"
+   inkscape:version="0.92.5 (2060ec1f9f, 2020-04-08)">
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+     id="metadata837">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <defs
+     id="defs835" />
+  <sodipodi:namedview
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1"
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+     gridtolerance="10"
+     guidetolerance="10"
+     inkscape:pageopacity="0"
+     inkscape:pageshadow="2"
+     inkscape:window-width="1198"
+     inkscape:window-height="948"
+     id="namedview833"
+     showgrid="false"
+     inkscape:zoom="9.8333333"
+     inkscape:cx="-8.3559301"
+     inkscape:cy="9"
+     inkscape:window-x="0"
+     inkscape:window-y="950"
+     inkscape:window-maximized="0"
+     inkscape:current-layer="svg831" />
+  <path
+     d="M 10.000002,8.1671631e-6 V 15.270008 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 Z"
+     id="path825"
+     inkscape:connector-curvature="0"
+     style="fill:#f5c543" />
+  <path
+     d="m 10.258402,14.841908 -0.2584,-0.1559 -0.2583999,0.1559 -5.16547,3.1177 1.3708,-5.876 0.06856,-0.2939 -0.2281,-0.1976 -4.56431,-3.9540698 6.00919,-0.50982 0.30043,-0.02549 0.11766,-0.27761 2.3496399,-5.54381 2.3496,5.54381 0.1177,0.27761 0.3004,0.02549 6.0092,0.50982 -4.5643,3.9540698 -0.2281,0.1976 0.0686,0.2939 1.3708,5.876 z"
+     id="path827"
+     inkscape:connector-curvature="0"
+     style="stroke:#b7b7b7" />
+  <path
+     d="m 5.3322621,16.919208 3.66774,-2.2137 0.9999999,-0.6055 v 1.17 l -6.1799999,3.73 1.64,-7.03 L 2.0565151e-6,7.2400082 7.1900021,6.6300082 10.000002,8.1671631e-6 V 2.6000082 l -0.9999999,2.32203 -1.1246,2.65341 -5.42923,0.46066 4.12481,3.5732998 z"
+     id="path829"
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diff --git a/docs/c_docs.rst b/docs/c_docs.rst
index 4e1e8a247a..94d0adb560 100644
--- a/docs/c_docs.rst
+++ b/docs/c_docs.rst
@@ -29,8 +29,6 @@ camerad
 ^^^^^^^
 .. autodoxygenindex::
    :project: system_camerad_cameras
-.. autodoxygenindex::
-   :project: system_camerad_transforms
 .. autodoxygenindex::
    :project: system_camerad_imgproc
 
@@ -54,7 +52,7 @@ soundd
 replay
 """"""
 .. autodoxygenindex::
-   :project: selfdrive_ui_replay
+   :project: tools_replay
 
 qt
 ""
diff --git a/laika_repo b/laika_repo
index 27a0d8a776..c8bc1fa01b 160000
--- a/laika_repo
+++ b/laika_repo
@@ -1 +1 @@
-Subproject commit 27a0d8a776fc8c1eaf8608d17ce81a00136f8bd0
+Subproject commit c8bc1fa01be9f22592efb991ee52d3d965d21968
diff --git a/launch_env.sh b/launch_env.sh
index 769613bc79..ac84d6dcbd 100755
--- a/launch_env.sh
+++ b/launch_env.sh
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5.1"
+  export AGNOS_VERSION="5.2"
 fi
 
 if [ -z "$PASSIVE" ]; then
diff --git a/opendbc b/opendbc
index 82be71072c..24acbb7c2b 160000
--- a/opendbc
+++ b/opendbc
@@ -1 +1 @@
-Subproject commit 82be71072c52fc78cf0e1eabc396af26c18ddc11
+Subproject commit 24acbb7c2b35de01ed89679e78f7c470f5f777ba
diff --git a/panda b/panda
index ff0938958f..a1c2bd78a5 160000
--- a/panda
+++ b/panda
@@ -1 +1 @@
-Subproject commit ff0938958f2a16cc15b3648c00aed1a19146f425
+Subproject commit a1c2bd78a50be3499568a6813e47d68160a50b42
diff --git a/rednose_repo b/rednose_repo
index 7663289f1e..3b6bd703b7 160000
--- a/rednose_repo
+++ b/rednose_repo
@@ -1 +1 @@
-Subproject commit 7663289f1e68860f53dc34337ef080dde69a2586
+Subproject commit 3b6bd703b7a7667e4f82d0b81ef9a454819b94bd
diff --git a/release/check-dirty.sh b/release/check-dirty.sh
new file mode 100755
index 0000000000..9c6389f380
--- /dev/null
+++ b/release/check-dirty.sh
@@ -0,0 +1,11 @@
+#!/usr/bin/bash
+set -e
+
+DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" >/dev/null && pwd)"
+cd $DIR
+
+if [ ! -z "$(git status --porcelain)" ]; then
+  echo "Dirty working tree after build:"
+  git status --porcelain
+  exit 1
+fi
diff --git a/release/files_common b/release/files_common
index 0ace73623f..0980f7929d 100644
--- a/release/files_common
+++ b/release/files_common
@@ -35,7 +35,6 @@ common/filter_simple.py
 common/stat_live.py
 common/spinner.py
 common/text_window.py
-common/SConscript
 
 common/kalman/.gitignore
 common/kalman/*
@@ -58,8 +57,11 @@ common/api/__init__.py
 
 release/*
 
+tools/__init__.py
 tools/lib/*
 tools/joystick/*
+tools/replay/*.cc
+tools/replay/*.h
 
 selfdrive/__init__.py
 selfdrive/sentry.py
@@ -127,7 +129,15 @@ system/clocksd/.gitignore
 system/clocksd/SConscript
 system/clocksd/clocksd.cc
 
-selfdrive/debug/*.py
+selfdrive/debug/can_printer.py
+selfdrive/debug/check_freq.py
+selfdrive/debug/dump.py
+selfdrive/debug/filter_log_message.py
+selfdrive/debug/get_fingerprint.py
+selfdrive/debug/uiview.py
+
+selfdrive/debug/hyundai_enable_radar_points.py
+selfdrive/debug/vw_mqb_config.py
 
 common/SConscript
 common/version.h
@@ -186,6 +196,9 @@ selfdrive/controls/lib/lateral_mpc_lib/*
 selfdrive/controls/lib/longitudinal_mpc_lib/*
 
 selfdrive/hardware
+
+system/__init__.py
+
 system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
@@ -195,6 +208,7 @@ system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
 system/hardware/tici/pins.py
 system/hardware/tici/agnos.py
+system/hardware/tici/casync.py
 system/hardware/tici/agnos.json
 system/hardware/tici/amplifier.py
 system/hardware/tici/updater
@@ -215,10 +229,10 @@ selfdrive/locationd/generated/gps.h
 
 selfdrive/locationd/laikad.py
 selfdrive/locationd/laikad_helpers.py
-selfdrive/locationd/locationd.cc
 selfdrive/locationd/locationd.h
 selfdrive/locationd/locationd.cc
 selfdrive/locationd/paramsd.py
+selfdrive/locationd/models/__init__.py
 selfdrive/locationd/models/.gitignore
 selfdrive/locationd/models/car_kf.py
 selfdrive/locationd/models/gnss_kf.py
@@ -230,6 +244,7 @@ selfdrive/locationd/models/gnss_helpers.py
 
 selfdrive/locationd/calibrationd.py
 
+system/logcatd/.gitignore
 system/logcatd/SConscript
 system/logcatd/logcatd_systemd.cc
 
@@ -238,6 +253,7 @@ system/proclogd/main.cc
 system/proclogd/proclog.cc
 system/proclogd/proclog.h
 
+selfdrive/loggerd/.gitignore
 selfdrive/loggerd/SConscript
 selfdrive/loggerd/encoder/encoder.cc
 selfdrive/loggerd/encoder/encoder.h
@@ -287,6 +303,8 @@ selfdrive/ui/soundd/*.cc
 selfdrive/ui/soundd/*.h
 selfdrive/ui/soundd/soundd
 selfdrive/ui/soundd/.gitignore
+selfdrive/ui/translations/*.ts
+selfdrive/ui/translations/languages.json
 
 selfdrive/ui/qt/*.cc
 selfdrive/ui/qt/*.h
@@ -295,10 +313,6 @@ selfdrive/ui/qt/offroad/*.h
 selfdrive/ui/qt/offroad/*.qml
 selfdrive/ui/qt/widgets/*.cc
 selfdrive/ui/qt/widgets/*.h
-
-selfdrive/ui/replay/*.cc
-selfdrive/ui/replay/*.h
-
 selfdrive/ui/qt/maps/*.cc
 selfdrive/ui/qt/maps/*.h
 
@@ -311,11 +325,6 @@ system/camerad/cameras/camera_common.h
 system/camerad/cameras/camera_common.cc
 system/camerad/cameras/sensor2_i2c.h
 
-system/camerad/transforms/rgb_to_yuv.cc
-system/camerad/transforms/rgb_to_yuv.h
-system/camerad/transforms/rgb_to_yuv.cl
-system/camerad/transforms/rgb_to_yuv_test.cc
-
 system/camerad/imgproc/conv.cl
 system/camerad/imgproc/pool.cl
 system/camerad/imgproc/utils.cc
@@ -330,6 +339,7 @@ selfdrive/manager/process.py
 selfdrive/manager/test/__init__.py
 selfdrive/manager/test/test_manager.py
 
+selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.cc
 selfdrive/modeld/dmonitoringmodeld.cc
@@ -371,7 +381,9 @@ selfdrive/modeld/runners/run.h
 selfdrive/monitoring/dmonitoringd.py
 selfdrive/monitoring/driver_monitor.py
 
-selfdrive/navd/*.py
+selfdrive/navd/__init__.py
+selfdrive/navd/navd.py
+selfdrive/navd/helpers.py
 
 selfdrive/assets/.gitignore
 selfdrive/assets/assets.qrc
@@ -410,12 +422,15 @@ third_party/acados/x86_64/**
 third_party/acados/larch64/**
 third_party/acados/include/**
 
+third_party/qt5/larch64/bin/**
+
 scripts/update_now.sh
 scripts/stop_updater.sh
 
 pyextra/.gitignore
 pyextra/acados_template/**
 
+rednose/.gitignore
 rednose/**
 laika/**
 
@@ -476,7 +491,8 @@ opendbc/can/parser_pyx.pyx
 
 opendbc/comma_body.dbc
 
-opendbc/chrysler_pacifica_2017_hybrid.dbc
+opendbc/chrysler_ram_dt_generated.dbc
+opendbc/chrysler_pacifica_2017_hybrid_generated.dbc
 opendbc/chrysler_pacifica_2017_hybrid_private_fusion.dbc
 
 opendbc/gm_global_a_powertrain_generated.dbc
diff --git a/release/verify.sh b/release/verify.sh
index 2ebd50a29d..56f21183f1 100755
--- a/release/verify.sh
+++ b/release/verify.sh
@@ -6,7 +6,7 @@ RED="\033[0;31m"
 GREEN="\033[0;32m"
 CLEAR="\033[0m"
 
-BRANCHES="devel dashcam dashcam3 release2 release3"
+BRANCHES="devel dashcam3 release3"
 for b in $BRANCHES; do
   if git diff --quiet origin/$b origin/$b-staging && [ "$(git rev-parse origin/$b)" = "$(git rev-parse origin/$b-staging)" ]; then
     printf "%-10s $GREEN ok $CLEAR\n" "$b"
diff --git a/selfdrive/assets/navigation/direction_turn_left_inactive.png b/selfdrive/assets/navigation/direction_turn_left_inactive.png
new file mode 100644
index 0000000000..2946984acd
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_left_inactive.png differ
diff --git a/selfdrive/assets/navigation/direction_turn_right_inactive.png b/selfdrive/assets/navigation/direction_turn_right_inactive.png
new file mode 100644
index 0000000000..7d327766af
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_right_inactive.png differ
diff --git a/selfdrive/assets/navigation/direction_turn_straight_inactive.png b/selfdrive/assets/navigation/direction_turn_straight_inactive.png
new file mode 100644
index 0000000000..4c567966ee
Binary files /dev/null and b/selfdrive/assets/navigation/direction_turn_straight_inactive.png differ
diff --git a/selfdrive/assets/offroad/icon_openpilot_mirrored.png b/selfdrive/assets/offroad/icon_openpilot_mirrored.png
deleted file mode 100644
index 23a7d5a552..0000000000
Binary files a/selfdrive/assets/offroad/icon_openpilot_mirrored.png and /dev/null differ
diff --git a/selfdrive/assets/sounds/prompt.wav b/selfdrive/assets/sounds/prompt.wav
index 420e9fabee..1ae77051eb 100644
Binary files a/selfdrive/assets/sounds/prompt.wav and b/selfdrive/assets/sounds/prompt.wav differ
diff --git a/selfdrive/athena/athenad.py b/selfdrive/athena/athenad.py
index b0e138c495..6ccd6c3de1 100755
--- a/selfdrive/athena/athenad.py
+++ b/selfdrive/athena/athenad.py
@@ -364,6 +364,11 @@ def uploadFilesToUrls(files_data):
       failed.append(fn)
       continue
 
+    # Skip item if already in queue
+    url = file['url'].split('?')[0]
+    if any(url == item['url'].split('?')[0] for item in listUploadQueue()):
+      continue
+
     item = UploadItem(
       path=path,
       url=file['url'],
diff --git a/selfdrive/athena/tests/test_athenad.py b/selfdrive/athena/tests/test_athenad.py
index 382b549c1b..7f511eecf6 100755
--- a/selfdrive/athena/tests/test_athenad.py
+++ b/selfdrive/athena/tests/test_athenad.py
@@ -124,7 +124,7 @@ class TestAthenadMethods(unittest.TestCase):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
     if fn.endswith('.bz2'):
-      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4]) 
+      self.assertEqual(athenad.strip_bz2_extension(fn), fn[:-4])
 
 
   @with_http_server
@@ -142,9 +142,6 @@ class TestAthenadMethods(unittest.TestCase):
 
   @with_http_server
   def test_uploadFileToUrl(self, host):
-    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
-    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
-
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
     Path(fn).touch()
 
@@ -155,6 +152,24 @@ class TestAthenadMethods(unittest.TestCase):
     self.assertIsNotNone(resp['items'][0].get('id'))
     self.assertEqual(athenad.upload_queue.qsize(), 1)
 
+  @with_http_server
+  def test_uploadFileToUrl_duplicate(self, host):
+    fn = os.path.join(athenad.ROOT, 'qlog.bz2')
+    Path(fn).touch()
+
+    url1 = f"{host}/qlog.bz2?sig=sig1"
+    dispatcher["uploadFileToUrl"]("qlog.bz2", url1, {})
+
+    # Upload same file again, but with different signature
+    url2 = f"{host}/qlog.bz2?sig=sig2"
+    resp = dispatcher["uploadFileToUrl"]("qlog.bz2", url2, {})
+    self.assertEqual(resp, {'enqueued': 0, 'items': []})
+
+  @with_http_server
+  def test_uploadFileToUrl_does_not_exist(self, host):
+    not_exists_resp = dispatcher["uploadFileToUrl"]("does_not_exist.bz2", "http://localhost:1238", {})
+    self.assertEqual(not_exists_resp, {'enqueued': 0, 'items': [], 'failed': ['does_not_exist.bz2']})
+
   @with_http_server
   def test_upload_handler(self, host):
     fn = os.path.join(athenad.ROOT, 'qlog.bz2')
diff --git a/selfdrive/boardd/boardd.cc b/selfdrive/boardd/boardd.cc
index f47b5936be..240935175b 100644
--- a/selfdrive/boardd/boardd.cc
+++ b/selfdrive/boardd/boardd.cc
@@ -193,9 +193,11 @@ Panda *usb_connect(std::string serial="", uint32_t index=0) {
     return nullptr;
   }
 
+  // common panda config
   if (getenv("BOARDD_LOOPBACK")) {
     panda->set_loopback(true);
   }
+  panda->enable_deepsleep();
 
   // power on charging, only the first time. Panda can also change mode and it causes a brief disconneciton
 #ifndef __x86_64__
diff --git a/selfdrive/car/CARS_template.md b/selfdrive/car/CARS_template.md
index 891445a558..e448c19d35 100644
--- a/selfdrive/car/CARS_template.md
+++ b/selfdrive/car/CARS_template.md
@@ -1,20 +1,15 @@
 {% set footnote_tag = '[<sup>{}</sup>](#footnotes)' -%}
-{% set star_icon = '<a href="##"><img valign="top" src="assets/icon-star-{}.svg" width="22" /></a>' -%}
+{% set star_icon = '[![star](assets/icon-star-{}.svg)](##)' -%}
+
+<!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
 # Supported Cars
 
 A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
 
-Cars are organized into three tiers:
-
-{% for tier in tiers %}
-- {{tier.name.title()}} - {{tier.value}}
-{% endfor %}
-
-How We Rate The Cars
----
+## How We Rate The Cars
 
-{% for star_row in star_descriptions.values() %}
+{% for star_row in STAR_DESCRIPTIONS.values() %}
 {% for name, stars in star_row.items() %}
 ### {{name}}
 {% for star, description in stars %}
@@ -23,20 +18,16 @@ How We Rate The Cars
 
 {% endfor %}
 {% endfor %}
-**All supported cars can move between the tiers as support changes.**
 
-{% for tier, cars in tiers.items() %}
-# {{tier.name.title()}} - {{cars | length}} cars
+# {{all_car_info | length}} Supported Cars
 
 |{{Column | map(attribute='value') | join('|')}}|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-{% for car_info in cars %}
+|---|---|---|:---:|:---:|:---:|:---:|
+{% for car_info in all_car_info %}
 |{% for column in Column %}{{car_info.get_column(column, star_icon, footnote_tag)}}|{% endfor %}
 
 {% endfor %}
 
-{% endfor %}
-
 <a id="footnotes"></a>
 {% for footnote in footnotes %}
 <sup>{{loop.index}}</sup>{{footnote}} <br />
@@ -44,3 +35,42 @@ How We Rate The Cars
 
 ## 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/).
+
+# Don't see your car here?
+
+**openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+
+### Which cars are able to be supported?
+
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+
+If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+
+| Make | Required Package/Features |
+| ---- | ------------------------- |
+| Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
+| Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
+| Nissan | Any car with ProPILOT will likely work. |
+| Toyota & Lexus | Any car that has Toyota/Lexus Safety Sense with "Lane Departure Alert with Steering Assist (LDA w/SA)" and/or "Lane Tracing Assist (LTA)" will work. Note that LDA without Steering Assist will not work. These features come standard on most newer models. |
+| Hyundai, Kia, & Genesis | Any car with Smart Cruise Control (SCC) and Lane Following Assist (LFA) or Lane Keeping Assist (LKAS) will work. LKAS/LFA comes standard on most newer models. Any form of SCC will work, such as NSCC. |
+| Chrysler, Jeep, & Ram | Any car with LaneSense and Adaptive Cruise Control will likely work. These come standard on many newer models. |
+
+### FlexRay
+
+All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a CAN bus isn't the only way that the cars in your computer can communicate. Most, if not all, vehicles from the following manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars may one day be supported, but we have no immediate plans to support FlexRay.
+
+### Toyota Security
+
+Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
+So far, this list includes:
+* Toyota RAV4 Prime 2021+
+* Toyota Sienna 2021+
+* Toyota Venza 2021+
+* Toyota Sequoia 2023+
+* Toyota Tundra 2022+
+* Toyota Corolla Cross 2022+ (only US model)
+* Lexus NX 2022+
+* Toyota bZ4x 2023+
+* Subaru Solterra 2023+
diff --git a/selfdrive/car/body/bodycan.py b/selfdrive/car/body/bodycan.py
index cc448d53d1..580e5025ad 100644
--- a/selfdrive/car/body/bodycan.py
+++ b/selfdrive/car/body/bodycan.py
@@ -1,9 +1,7 @@
-def create_control(packer, torque_l, torque_r, idx):
-  can_bus = 0
-
+def create_control(packer, torque_l, torque_r):
   values = {
     "TORQUE_L": torque_l,
     "TORQUE_R": torque_r,
   }
 
-  return packer.make_can_msg("TORQUE_CMD", can_bus, values, idx)
+  return packer.make_can_msg("TORQUE_CMD", 0, values)
diff --git a/selfdrive/car/body/carcontroller.py b/selfdrive/car/body/carcontroller.py
index 5714445f67..0d5d780bd3 100644
--- a/selfdrive/car/body/carcontroller.py
+++ b/selfdrive/car/body/carcontroller.py
@@ -1,8 +1,8 @@
 import numpy as np
 
 from common.realtime import DT_CTRL
-from selfdrive.car.body import bodycan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.body import bodycan
 from selfdrive.car.body.values import SPEED_FROM_RPM
 from selfdrive.controls.lib.pid import PIDController
 
@@ -14,7 +14,7 @@ MAX_POS_INTEGRATOR = 0.2   # meters
 MAX_TURN_INTEGRATOR = 0.1  # meters
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.frame = 0
     self.packer = CANPacker(dbc_name)
@@ -61,8 +61,8 @@ class CarController():
 
       speed_diff_measured = SPEED_FROM_RPM * (CS.out.wheelSpeeds.fl - CS.out.wheelSpeeds.fr)
       turn_error = speed_diff_measured - speed_diff_desired
-      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_POS_INTEGRATOR) or
-                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_POS_INTEGRATOR))
+      freeze_integrator = ((turn_error < 0 and self.turn_pid.error_integral <= -MAX_TURN_INTEGRATOR) or
+                           (turn_error > 0 and self.turn_pid.error_integral >= MAX_TURN_INTEGRATOR))
       torque_diff = self.turn_pid.update(turn_error, freeze_integrator=freeze_integrator)
 
       # Combine 2 PIDs outputs
@@ -80,7 +80,7 @@ class CarController():
       torque_l = int(np.clip(self.torque_l_filtered, -MAX_TORQUE, MAX_TORQUE))
 
     can_sends = []
-    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r, self.frame // 2))
+    can_sends.append(bodycan.create_control(self.packer, torque_l, torque_r))
 
     new_actuators = CC.actuators.copy()
     new_actuators.accel = torque_l
diff --git a/selfdrive/car/car_helpers.py b/selfdrive/car/car_helpers.py
index 8c0fd7c90d..aa4b37d572 100644
--- a/selfdrive/car/car_helpers.py
+++ b/selfdrive/car/car_helpers.py
@@ -7,8 +7,8 @@ from common.basedir import BASEDIR
 from system.version import is_comma_remote, is_tested_branch
 from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
-from selfdrive.car.vin import get_vin, VIN_UNKNOWN
-from selfdrive.car.fw_versions import get_fw_versions, match_fw_to_car, get_present_ecus
+from selfdrive.car.vin import get_vin, is_valid_vin, VIN_UNKNOWN
+from selfdrive.car.fw_versions import get_fw_versions_ordered, match_fw_to_car, get_present_ecus
 from system.swaglog import cloudlog
 import cereal.messaging as messaging
 from selfdrive.car import gen_empty_fingerprint
@@ -79,7 +79,7 @@ interfaces = load_interfaces(interface_names)
 def fingerprint(logcan, sendcan):
   fixed_fingerprint = os.environ.get('FINGERPRINT', "")
   skip_fw_query = os.environ.get('SKIP_FW_QUERY', False)
-  ecu_responses = set()
+  ecu_rx_addrs = set()
 
   if not fixed_fingerprint and not skip_fw_query:
     # Vin query only reliably works thorugh OBDII
@@ -93,20 +93,20 @@ def fingerprint(logcan, sendcan):
 
     if cached_params is not None and len(cached_params.carFw) > 0 and cached_params.carVin is not VIN_UNKNOWN:
       cloudlog.warning("Using cached CarParams")
-      vin = cached_params.carVin
+      vin, vin_rx_addr = cached_params.carVin, 0
       car_fw = list(cached_params.carFw)
     else:
       cloudlog.warning("Getting VIN & FW versions")
-      _, vin = get_vin(logcan, sendcan, bus)
-      ecu_responses = get_present_ecus(logcan, sendcan)
-      car_fw = get_fw_versions(logcan, sendcan)
+      _, vin_rx_addr, vin = get_vin(logcan, sendcan, bus)
+      ecu_rx_addrs = get_present_ecus(logcan, sendcan)
+      car_fw = get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs)
 
     exact_fw_match, fw_candidates = match_fw_to_car(car_fw)
   else:
-    vin = VIN_UNKNOWN
+    vin, vin_rx_addr = VIN_UNKNOWN, 0
     exact_fw_match, fw_candidates, car_fw = True, set(), []
 
-  if len(vin) != 17:
+  if not is_valid_vin(vin):
     cloudlog.event("Malformed VIN", vin=vin, error=True)
     vin = VIN_UNKNOWN
   cloudlog.warning("VIN %s", vin)
@@ -115,7 +115,7 @@ def fingerprint(logcan, sendcan):
   finger = gen_empty_fingerprint()
   candidate_cars = {i: all_legacy_fingerprint_cars() for i in [0, 1]}  # attempt fingerprint on both bus 0 and 1
   frame = 0
-  frame_fingerprint = 25  # 0.25s
+  frame_fingerprint = 100  # 1s
   car_fingerprint = None
   done = False
 
@@ -166,7 +166,7 @@ def fingerprint(logcan, sendcan):
     source = car.CarParams.FingerprintSource.fixed
 
   cloudlog.event("fingerprinted", car_fingerprint=car_fingerprint, source=source, fuzzy=not exact_match,
-                 fw_count=len(car_fw), ecu_responses=ecu_responses, error=True)
+                 fw_count=len(car_fw), ecu_responses=list(ecu_rx_addrs), vin_rx_addr=vin_rx_addr, error=True)
   return car_fingerprint, finger, vin, car_fw, source, exact_match
 
 
diff --git a/selfdrive/car/chrysler/carcontroller.py b/selfdrive/car/chrysler/carcontroller.py
index 3d6295d77d..22abf1b677 100644
--- a/selfdrive/car/chrysler/carcontroller.py
+++ b/selfdrive/car/chrysler/carcontroller.py
@@ -1,8 +1,8 @@
-from cereal import car
 from opendbc.can.packer import CANPacker
+from common.realtime import DT_CTRL
 from selfdrive.car import apply_toyota_steer_torque_limits
-from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_wheel_buttons
-from selfdrive.car.chrysler.values import CAR, CarControllerParams
+from selfdrive.car.chrysler.chryslercan import create_lkas_hud, create_lkas_command, create_cruise_buttons
+from selfdrive.car.chrysler.values import CAR, RAM_CARS, CarControllerParams
 
 
 class CarController:
@@ -10,61 +10,72 @@ class CarController:
     self.CP = CP
     self.apply_steer_last = 0
     self.frame = 0
-    self.prev_lkas_frame = -1
+
     self.hud_count = 0
-    self.car_fingerprint = CP.carFingerprint
-    self.gone_fast_yet = False
-    self.steer_rate_limited = False
+    self.last_lkas_falling_edge = 0
+    self.lkas_control_bit_prev = False
+    self.last_button_frame = 0
 
     self.packer = CANPacker(dbc_name)
+    self.params = CarControllerParams(CP)
 
   def update(self, CC, CS):
-    # this seems needed to avoid steering faults and to force the sync with the EPS counter
-    if self.prev_lkas_frame == CS.lkas_counter:
-      return car.CarControl.Actuators.new_message(), []
-
-    actuators = CC.actuators
-
-    # steer torque
-    new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
-    apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last,
-                                                   CS.out.steeringTorqueEps, CarControllerParams)
-    self.steer_rate_limited = new_steer != apply_steer
-
-    moving_fast = CS.out.vEgo > self.CP.minSteerSpeed  # for status message
-    if CS.out.vEgo > (self.CP.minSteerSpeed - 0.5):  # for command high bit
-      self.gone_fast_yet = True
-    elif self.car_fingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
+    can_sends = []
+
+    # TODO: can we make this more sane? why is it different for all the cars?
+    lkas_control_bit = self.lkas_control_bit_prev
+    if CS.out.vEgo > self.CP.minSteerSpeed:
+      lkas_control_bit = True
+    elif self.CP.carFingerprint in (CAR.PACIFICA_2019_HYBRID, CAR.PACIFICA_2020, CAR.JEEP_CHEROKEE_2019):
       if CS.out.vEgo < (self.CP.minSteerSpeed - 3.0):
-        self.gone_fast_yet = False  # < 14.5m/s stock turns off this bit, but fine down to 13.5
-    lkas_active = moving_fast and CC.enabled
+        lkas_control_bit = False
+    elif self.CP.carFingerprint in RAM_CARS:
+      if CS.out.vEgo < (self.CP.minSteerSpeed - 0.5):
+        lkas_control_bit = False
 
-    if not lkas_active:
-      apply_steer = 0
+    # EPS faults if LKAS re-enables too quickly
+    lkas_control_bit = lkas_control_bit and (self.frame - self.last_lkas_falling_edge > 200)
+    lkas_active = CC.latActive and self.lkas_control_bit_prev
 
-    self.apply_steer_last = apply_steer
+    # *** control msgs ***
 
-    can_sends = []
+    # cruise buttons
+    if (self.frame - self.last_button_frame)*DT_CTRL > 0.05:
+      das_bus = 2 if self.CP.carFingerprint in RAM_CARS else 0
 
-    # *** control msgs ***
+      # ACC cancellation
+      if CC.cruiseControl.cancel:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, cancel=True))
 
-    if CC.cruiseControl.cancel:
-      can_sends.append(create_wheel_buttons(self.packer, CS.button_counter + 1, cancel=True))
+      # ACC resume from standstill
+      elif CC.cruiseControl.resume:
+        self.last_button_frame = self.frame
+        can_sends.append(create_cruise_buttons(self.packer, CS.button_counter + 1, das_bus, resume=True))
 
-    # LKAS_HEARTBIT is forwarded by Panda so no need to send it here.
-    # frame is 100Hz (0.01s period)
-    if self.frame % 25 == 0:  # 0.25s period
+    # HUD alerts
+    if self.frame % 25 == 0:
       if CS.lkas_car_model != -1:
-        can_sends.append(create_lkas_hud(self.packer, CS.out.gearShifter, lkas_active,
-                                         CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model))
+        can_sends.append(create_lkas_hud(self.packer, self.CP, lkas_active, CC.hudControl.visualAlert, self.hud_count, CS.lkas_car_model, CS.auto_high_beam))
         self.hud_count += 1
 
-    can_sends.append(create_lkas_command(self.packer, int(apply_steer), self.gone_fast_yet, CS.lkas_counter))
+    # steering
+    if self.frame % 2 == 0:
+      # steer torque
+      new_steer = int(round(CC.actuators.steer * self.params.STEER_MAX))
+      apply_steer = apply_toyota_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorqueEps, self.params)
+      if not lkas_active:
+        apply_steer = 0
+      self.apply_steer_last = apply_steer
+
+      can_sends.append(create_lkas_command(self.packer, self.CP, int(apply_steer), lkas_control_bit))
 
     self.frame += 1
-    self.prev_lkas_frame = CS.lkas_counter
+    if not lkas_control_bit and self.lkas_control_bit_prev:
+      self.last_lkas_falling_edge = self.frame
+    self.lkas_control_bit_prev = lkas_control_bit
 
-    new_actuators = actuators.copy()
-    new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
+    new_actuators = CC.actuators.copy()
+    new_actuators.steer = self.apply_steer_last / self.params.STEER_MAX
 
     return new_actuators, can_sends
diff --git a/selfdrive/car/chrysler/carstate.py b/selfdrive/car/chrysler/carstate.py
index f71a300263..fefd351a23 100644
--- a/selfdrive/car/chrysler/carstate.py
+++ b/selfdrive/car/chrysler/carstate.py
@@ -3,26 +3,34 @@ from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
 from selfdrive.car.interfaces import CarStateBase
-from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD
+from selfdrive.car.chrysler.values import DBC, STEER_THRESHOLD, RAM_CARS
 
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.CP = CP
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
-    self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
+
+    self.auto_high_beam = 0
+    self.button_counter = 0
+    self.lkas_car_model = -1
+
+    if CP.carFingerprint in RAM_CARS:
+      self.shifter_values = can_define.dv["Transmission_Status"]["Gear_State"]
+    else:
+      self.shifter_values = can_define.dv["GEAR"]["PRNDL"]
 
   def update(self, cp, cp_cam):
 
     ret = car.CarState.new_message()
 
-    self.frame = int(cp.vl["EPS_STATUS"]["COUNTER"])
-
+    # lock info
     ret.doorOpen = any([cp.vl["BCM_1"]["DOOR_OPEN_FL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_FR"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RL"],
                         cp.vl["BCM_1"]["DOOR_OPEN_RR"]])
-    ret.seatbeltUnlatched = cp.vl["SEATBELT_STATUS"]["SEATBELT_DRIVER_UNLATCHED"] == 1
+    ret.seatbeltUnlatched = cp.vl["ORC_1"]["SEATBELT_DRIVER_UNLATCHED"] == 1
 
     # brake pedal
     ret.brake = 0
@@ -32,125 +40,166 @@ class CarState(CarStateBase):
     ret.gas = cp.vl["ECM_5"]["Accelerator_Position"]
     ret.gasPressed = ret.gas > 1e-5
 
-    ret.espDisabled = (cp.vl["TRACTION_BUTTON"]["TRACTION_OFF"] == 1)
-
+    # car speed
+    if self.CP.carFingerprint in RAM_CARS:
+      ret.vEgoRaw = cp.vl["ESP_8"]["Vehicle_Speed"] * CV.KPH_TO_MS
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["Transmission_Status"]["Gear_State"], None))
+    else:
+      ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
+      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = not ret.vEgoRaw > 0.001
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_FR"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RL"],
-      cp.vl["WHEEL_SPEEDS"]["WHEEL_SPEED_RR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_FR"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RL"],
+      cp.vl["ESP_6"]["WHEEL_SPEED_RR"],
       unit=1,
     )
-    ret.vEgoRaw = (cp.vl["SPEED_1"]["SPEED_LEFT"] + cp.vl["SPEED_1"]["SPEED_RIGHT"]) / 2.
-    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
-    ret.standstill = not ret.vEgoRaw > 0.001
 
+    # button presses
     ret.leftBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 1
     ret.rightBlinker = cp.vl["STEERING_LEVERS"]["TURN_SIGNALS"] == 2
-    ret.steeringAngleDeg = cp.vl["STEERING"]["STEER_ANGLE"]
+    ret.genericToggle = cp.vl["STEERING_LEVERS"]["HIGH_BEAM_PRESSED"] == 1
+
+    # steering wheel
+    ret.steeringAngleDeg = cp.vl["STEERING"]["STEERING_ANGLE"] + cp.vl["STEERING"]["STEERING_ANGLE_HP"]
     ret.steeringRateDeg = cp.vl["STEERING"]["STEERING_RATE"]
-    ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(cp.vl["GEAR"]["PRNDL"], None))
+    ret.steeringTorque = cp.vl["EPS_2"]["COLUMN_TORQUE"]
+    ret.steeringTorqueEps = cp.vl["EPS_2"]["EPS_TORQUE_MOTOR"]
+    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
 
-    ret.cruiseState.available = cp.vl["DAS_3"]["ACC_AVAILABLE"] == 1  # ACC is white
-    ret.cruiseState.enabled = cp.vl["DAS_3"]["ACC_ACTIVE"] == 1  # ACC is green
-    ret.cruiseState.speed = cp.vl["DASHBOARD"]["ACC_SPEED_CONFIG_KPH"] * CV.KPH_TO_MS
-    # CRUISE_STATE is a three bit msg, 0 is off, 1 and 2 are Non-ACC mode, 3 and 4 are ACC mode, find if there are other states too
-    ret.cruiseState.nonAdaptive = cp.vl["DASHBOARD"]["CRUISE_STATE"] in (1, 2)
-    ret.accFaulted = cp.vl["DAS_3"]["ACC_FAULTED"] != 0
+    # cruise state
+    cp_cruise = cp_cam if self.CP.carFingerprint in RAM_CARS else cp
 
-    ret.steeringTorque = cp.vl["EPS_STATUS"]["TORQUE_DRIVER"]
-    ret.steeringTorqueEps = cp.vl["EPS_STATUS"]["TORQUE_MOTOR"]
-    ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD
-    steer_state = cp.vl["EPS_STATUS"]["LKAS_STATE"]
-    ret.steerFaultPermanent = steer_state == 4 or (steer_state == 0 and ret.vEgo > self.CP.minSteerSpeed)
+    ret.cruiseState.available = cp_cruise.vl["DAS_3"]["ACC_AVAILABLE"] == 1
+    ret.cruiseState.enabled = cp_cruise.vl["DAS_3"]["ACC_ACTIVE"] == 1
+    ret.cruiseState.speed = cp_cruise.vl["DAS_4"]["ACC_SET_SPEED_KPH"] * CV.KPH_TO_MS
+    ret.cruiseState.nonAdaptive = cp_cruise.vl["DAS_4"]["ACC_STATE"] in (1, 2)  # 1 NormalCCOn and 2 NormalCCSet
+    ret.cruiseState.standstill = cp_cruise.vl["DAS_3"]["ACC_STANDSTILL"] == 1
+    ret.accFaulted = cp_cruise.vl["DAS_3"]["ACC_FAULTED"] != 0
 
-    ret.genericToggle = bool(cp.vl["STEERING_LEVERS"]["HIGH_BEAM_FLASH"])
+    if self.CP.carFingerprint in RAM_CARS:
+      self.auto_high_beam = cp_cam.vl["DAS_6"]['AUTO_HIGH_BEAM_ON']  # Auto High Beam isn't Located in this message on chrysler or jeep currently located in 729 message
+      ret.steerFaultTemporary  = cp.vl["EPS_3"]["DASM_FAULT"] == 1
+    else:
+      ret.steerFaultPermanent = cp.vl["EPS_2"]["LKAS_STATE"] == 4
 
+    # blindspot sensors
     if self.CP.enableBsm:
-      ret.leftBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_LEFT"] == 1
-      ret.rightBlindspot = cp.vl["BLIND_SPOT_WARNINGS"]["BLIND_SPOT_RIGHT"] == 1
+      ret.leftBlindspot = cp.vl["BSM_1"]["LEFT_STATUS"] == 1
+      ret.rightBlindspot = cp.vl["BSM_1"]["RIGHT_STATUS"] == 1
 
-    self.lkas_counter = cp_cam.vl["LKAS_COMMAND"]["COUNTER"]
-    self.lkas_car_model = cp_cam.vl["LKAS_HUD"]["CAR_MODEL"]
-    self.lkas_status_ok = cp_cam.vl["LKAS_HEARTBIT"]["LKAS_STATUS_OK"]
-    self.button_counter = cp.vl["WHEEL_BUTTONS"]["COUNTER"]
+    self.lkas_car_model = cp_cam.vl["DAS_6"]["CAR_MODEL"]
+    self.button_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
 
     return ret
 
+  @staticmethod
+  def get_cruise_signals():
+    signals = [
+      ("ACC_AVAILABLE", "DAS_3"),
+      ("ACC_ACTIVE", "DAS_3"),
+      ("ACC_FAULTED", "DAS_3"),
+      ("ACC_STANDSTILL", "DAS_3"),
+      ("COUNTER", "DAS_3"),
+      ("ACC_SET_SPEED_KPH", "DAS_4"),
+      ("ACC_STATE", "DAS_4"),
+    ]
+    checks = [
+      ("DAS_3", 50),
+      ("DAS_4", 50),
+    ]
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
-      ("PRNDL", "GEAR"),
       ("DOOR_OPEN_FL", "BCM_1"),
       ("DOOR_OPEN_FR", "BCM_1"),
       ("DOOR_OPEN_RL", "BCM_1"),
       ("DOOR_OPEN_RR", "BCM_1"),
       ("Brake_Pedal_State", "ESP_1"),
       ("Accelerator_Position", "ECM_5"),
-      ("SPEED_LEFT", "SPEED_1"),
-      ("SPEED_RIGHT", "SPEED_1"),
-      ("WHEEL_SPEED_FL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RR", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_RL", "WHEEL_SPEEDS"),
-      ("WHEEL_SPEED_FR", "WHEEL_SPEEDS"),
-      ("STEER_ANGLE", "STEERING"),
+      ("WHEEL_SPEED_FL", "ESP_6"),
+      ("WHEEL_SPEED_RR", "ESP_6"),
+      ("WHEEL_SPEED_RL", "ESP_6"),
+      ("WHEEL_SPEED_FR", "ESP_6"),
+      ("STEERING_ANGLE", "STEERING"),
+      ("STEERING_ANGLE_HP", "STEERING"),
       ("STEERING_RATE", "STEERING"),
       ("TURN_SIGNALS", "STEERING_LEVERS"),
-      ("ACC_AVAILABLE", "DAS_3"),
-      ("ACC_ACTIVE", "DAS_3"),
-      ("ACC_FAULTED", "DAS_3"),
-      ("HIGH_BEAM_FLASH", "STEERING_LEVERS"),
-      ("ACC_SPEED_CONFIG_KPH", "DASHBOARD"),
-      ("CRUISE_STATE", "DASHBOARD"),
-      ("TORQUE_DRIVER", "EPS_STATUS"),
-      ("TORQUE_MOTOR", "EPS_STATUS"),
-      ("LKAS_STATE", "EPS_STATUS"),
-      ("COUNTER", "EPS_STATUS",),
-      ("TRACTION_OFF", "TRACTION_BUTTON"),
-      ("SEATBELT_DRIVER_UNLATCHED", "SEATBELT_STATUS"),
-      ("COUNTER", "WHEEL_BUTTONS"),
+      ("HIGH_BEAM_PRESSED", "STEERING_LEVERS"),
+      ("SEATBELT_DRIVER_UNLATCHED", "ORC_1"),
+      ("COUNTER", "EPS_2",),
+      ("COLUMN_TORQUE", "EPS_2"),
+      ("EPS_TORQUE_MOTOR", "EPS_2"),
+      ("LKAS_STATE", "EPS_2"),
+      ("COUNTER", "CRUISE_BUTTONS"),
     ]
 
     checks = [
       # sig_address, frequency
       ("ESP_1", 50),
-      ("EPS_STATUS", 100),
-      ("SPEED_1", 100),
-      ("WHEEL_SPEEDS", 50),
+      ("EPS_2", 100),
+      ("ESP_6", 50),
       ("STEERING", 100),
-      ("DAS_3", 50),
-      ("GEAR", 50),
       ("ECM_5", 50),
-      ("WHEEL_BUTTONS", 50),
-      ("DASHBOARD", 15),
+      ("CRUISE_BUTTONS", 50),
       ("STEERING_LEVERS", 10),
-      ("SEATBELT_STATUS", 2),
+      ("ORC_1", 2),
       ("BCM_1", 1),
-      ("TRACTION_BUTTON", 1),
     ]
 
     if CP.enableBsm:
       signals += [
-        ("BLIND_SPOT_RIGHT", "BLIND_SPOT_WARNINGS"),
-        ("BLIND_SPOT_LEFT", "BLIND_SPOT_WARNINGS"),
+        ("RIGHT_STATUS", "BSM_1"),
+        ("LEFT_STATUS", "BSM_1"),
+      ]
+      checks.append(("BSM_1", 2))
+
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("DASM_FAULT", "EPS_3"),
+        ("Vehicle_Speed", "ESP_8"),
+        ("Gear_State", "Transmission_Status"),
+      ]
+      checks += [
+        ("ESP_8", 50),
+        ("EPS_3", 50),
+        ("Transmission_Status", 50),
+      ]
+    else:
+      signals += [
+        ("PRNDL", "GEAR"),
+        ("SPEED_LEFT", "SPEED_1"),
+        ("SPEED_RIGHT", "SPEED_1"),
+      ]
+      checks += [
+        ("GEAR", 50),
+        ("SPEED_1", 100),
       ]
-      checks.append(("BLIND_SPOT_WARNINGS", 2))
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
   def get_cam_can_parser(CP):
     signals = [
-      # sig_name, sig_address
-      ("COUNTER", "LKAS_COMMAND"),
-      ("CAR_MODEL", "LKAS_HUD"),
-      ("LKAS_STATUS_OK", "LKAS_HEARTBIT")
+      # sig_name, sig_address, default
+      ("CAR_MODEL", "DAS_6"),
     ]
     checks = [
-      ("LKAS_COMMAND", 100),
-      ("LKAS_HEARTBIT", 10),
-      ("LKAS_HUD", 4),
+      ("DAS_6", 4),
     ]
 
+    if CP.carFingerprint in RAM_CARS:
+      signals += [
+        ("AUTO_HIGH_BEAM_ON", "DAS_6"),
+      ]
+      signals += CarState.get_cruise_signals()[0]
+      checks += CarState.get_cruise_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
diff --git a/selfdrive/car/chrysler/chryslercan.py b/selfdrive/car/chrysler/chryslercan.py
index 896a6b15da..10ed73e9f2 100644
--- a/selfdrive/car/chrysler/chryslercan.py
+++ b/selfdrive/car/chrysler/chryslercan.py
@@ -1,57 +1,71 @@
 from cereal import car
-from selfdrive.car import make_can_msg
-
+from selfdrive.car.chrysler.values import RAM_CARS
 
 GearShifter = car.CarState.GearShifter
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_lkas_hud(packer, gear, lkas_active, hud_alert, hud_count, lkas_car_model):
-  # LKAS_HUD 0x2a6 (678) Controls what lane-keeping icon is displayed.
+def create_lkas_hud(packer, CP, lkas_active, hud_alert, hud_count, car_model, auto_high_beam):
+  # LKAS_HUD - Controls what lane-keeping icon is displayed
+
+  # == Color ==
+  # 0 hidden?
+  # 1 white
+  # 2 green
+  # 3 ldw
 
-  if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
-    msg = b'\x00\x00\x00\x03\x00\x00\x00\x00'
-    return make_can_msg(0x2a6, msg, 0)
+  # == Lines ==
+  # 03 white Lines
+  # 04 grey lines
+  # 09 left lane close
+  # 0A right lane close
+  # 0B left Lane very close
+  # 0C right Lane very close
+  # 0D left cross cross
+  # 0E right lane cross
 
-  color = 1  # default values are for park or neutral in 2017 are 0 0, but trying 1 1 for 2019
-  lines = 1
-  alerts = 0
+  # == Alerts ==
+  # 7 Normal
+  # 6 lane departure place hands on wheel
+
+  color = 2 if lkas_active else 1
+  lines = 3 if lkas_active else 0
+  alerts = 7 if lkas_active else 0
 
   if hud_count < (1 * 4):  # first 3 seconds, 4Hz
     alerts = 1
-  # CAR.PACIFICA_2018_HYBRID and CAR.PACIFICA_2019_HYBRID
-  # had color = 1 and lines = 1 but trying 2017 hybrid style for now.
-  if gear in (GearShifter.drive, GearShifter.reverse, GearShifter.low):
-    if lkas_active:
-      color = 2  # control active, display green.
-      lines = 6
-    else:
-      color = 1  # control off, display white.
-      lines = 1
+
+  if hud_alert in (VisualAlert.ldw, VisualAlert.steerRequired):
+    color = 4
+    lines = 0
+    alerts = 6
 
   values = {
-    "LKAS_ICON_COLOR": color,  # byte 0, last 2 bits
-    "CAR_MODEL": lkas_car_model,  # byte 1
-    "LKAS_LANE_LINES": lines,  # byte 2, last 4 bits
-    "LKAS_ALERTS": alerts,  # byte 3, last 4 bits
-    }
+    "LKAS_ICON_COLOR": color,
+    "CAR_MODEL": car_model,
+    "LKAS_LANE_LINES": lines,
+    "LKAS_ALERTS": alerts,
+  }
+
+  if CP.carFingerprint in RAM_CARS:
+    values['AUTO_HIGH_BEAM_ON'] = auto_high_beam
 
-  return packer.make_can_msg("LKAS_HUD", 0, values)  # 0x2a6
+  return packer.make_can_msg("DAS_6", 0, values)
 
 
-def create_lkas_command(packer, apply_steer, moving_fast, frame):
-  # LKAS_COMMAND 0x292 (658) Lane-keeping signal to turn the wheel.
+def create_lkas_command(packer, CP, apply_steer, lkas_control_bit):
+  # LKAS_COMMAND Lane-keeping signal to turn the wheel
+  enabled_val = 2 if CP.carFingerprint in RAM_CARS else 1
   values = {
-    "LKAS_STEERING_TORQUE": apply_steer,
-    "LKAS_HIGH_TORQUE": int(moving_fast),
-    "COUNTER": frame % 0x10,
+    "STEERING_TORQUE": apply_steer,
+    "LKAS_CONTROL_BIT": enabled_val if lkas_control_bit else 0,
   }
   return packer.make_can_msg("LKAS_COMMAND", 0, values)
 
 
-def create_wheel_buttons(packer, frame, cancel=False):
-  # WHEEL_BUTTONS (571) Message sent to cancel ACC.
+def create_cruise_buttons(packer, frame, bus, cancel=False, resume=False):
   values = {
-    "ACC_CANCEL": cancel,
-    "COUNTER": frame % 0x10
+    "ACC_Cancel": cancel,
+    "ACC_Resume": resume,
+    "COUNTER": frame % 0x10,
   }
-  return packer.make_can_msg("WHEEL_BUTTONS", 0, values)
+  return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
diff --git a/selfdrive/car/chrysler/interface.py b/selfdrive/car/chrysler/interface.py
index 8ebcb6b126..3c2bc3131a 100755
--- a/selfdrive/car/chrysler/interface.py
+++ b/selfdrive/car/chrysler/interface.py
@@ -1,7 +1,8 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.chrysler.values import CAR
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
+from selfdrive.car.chrysler.values import CAR, DBC, RAM_CARS
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -10,7 +11,11 @@ class CarInterface(CarInterfaceBase):
   def get_params(candidate, fingerprint=gen_empty_fingerprint(), car_fw=None, disable_radar=False):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "chrysler"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler)]
+
+    ret.radarOffCan = DBC[candidate]['radar'] is None
+
+    param = Panda.FLAG_CHRYSLER_RAM_DT if candidate in RAM_CARS else None
+    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.chrysler, param)]
 
     ret.steerActuatorDelay = 0.1
     ret.steerLimitTimer = 0.4
@@ -39,6 +44,21 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.15, 0.30], [0.03, 0.05]]
       ret.lateralTuning.pid.kf = 0.00006
 
+    # Ram
+    elif candidate == CAR.RAM_1500:
+      ret.steerActuatorDelay = 0.2
+
+      ret.wheelbase = 3.88
+      ret.steerRatio = 16.3
+      ret.mass = 2493. + STD_CARGO_KG
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+      ret.minSteerSpeed = 14.5
+      if car_fw is not None:
+        for fw in car_fw:
+          if fw.ecu == 'eps' and fw.fwVersion in (b"68312176AE", b"68312176AG", b"68273275AG"):
+            ret.minSteerSpeed = 0.
+
     else:
       raise ValueError(f"Unsupported car: {candidate}")
 
@@ -58,15 +78,13 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     # events
     events = self.create_common_events(ret, extra_gears=[car.CarState.GearShifter.low])
 
     # Low speed steer alert hysteresis logic
-    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 1.):
+    if self.CP.minSteerSpeed > 0. and ret.vEgo < (self.CP.minSteerSpeed + 0.5):
       self.low_speed_alert = True
-    elif ret.vEgo > (self.CP.minSteerSpeed + 2.):
+    elif ret.vEgo > (self.CP.minSteerSpeed + 1.):
       self.low_speed_alert = False
     if self.low_speed_alert:
       events.add(car.CarEvent.EventName.belowSteerSpeed)
diff --git a/selfdrive/car/chrysler/radar_interface.py b/selfdrive/car/chrysler/radar_interface.py
index 8882dc2d91..348e3c3632 100755
--- a/selfdrive/car/chrysler/radar_interface.py
+++ b/selfdrive/car/chrysler/radar_interface.py
@@ -10,6 +10,10 @@ LAST_MSG = max(RADAR_MSGS_C + RADAR_MSGS_D)
 NUMBER_MSGS = len(RADAR_MSGS_C) + len(RADAR_MSGS_D)
 
 def _create_radar_can_parser(car_fingerprint):
+  dbc = DBC[car_fingerprint]['radar']
+  if dbc is None:
+    return None
+
   msg_n = len(RADAR_MSGS_C)
   # list of [(signal name, message name or number), (...)]
   # [('RADAR_STATE', 1024),
@@ -46,6 +50,9 @@ class RadarInterface(RadarInterfaceBase):
     self.trigger_msg = LAST_MSG
 
   def update(self, can_strings):
+    if self.rcp is None:
+      return super().update(None)
+
     vls = self.rcp.update_strings(can_strings)
     self.updated_messages.update(vls)
 
@@ -81,4 +88,4 @@ class RadarInterface(RadarInterfaceBase):
     ret.points = [x for x in self.pts.values() if x.dRel != 0]
 
     self.updated_messages.clear()
-    return ret
+    return ret
\ No newline at end of file
diff --git a/selfdrive/car/chrysler/values.py b/selfdrive/car/chrysler/values.py
index bdd80757f4..66c76bbcf3 100644
--- a/selfdrive/car/chrysler/values.py
+++ b/selfdrive/car/chrysler/values.py
@@ -2,46 +2,61 @@ from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Optional, Union
 
+from cereal import car
 from selfdrive.car import dbc_dict
 from selfdrive.car.docs_definitions import CarInfo, Harness
-from cereal import car
 Ecu = car.CarParams.Ecu
 
 
-class CarControllerParams:
-  STEER_MAX = 261         # 262 faults
-  STEER_DELTA_UP = 3      # 3 is stock. 100 is fine. 200 is too much it seems
-  STEER_DELTA_DOWN = 3    # no faults on the way down it seems
-  STEER_ERROR_MAX = 80
-
-
 class CAR:
   # Chrysler
   PACIFICA_2017_HYBRID = "CHRYSLER PACIFICA HYBRID 2017"
   PACIFICA_2018_HYBRID = "CHRYSLER PACIFICA HYBRID 2018"
   PACIFICA_2019_HYBRID = "CHRYSLER PACIFICA HYBRID 2019"
-  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"  # includes 2017 Pacifica
+  PACIFICA_2018 = "CHRYSLER PACIFICA 2018"
   PACIFICA_2020 = "CHRYSLER PACIFICA 2020"
 
   # Jeep
-  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"  # includes 2017 Trailhawk
-  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019"  # includes 2020 Trailhawk
+  JEEP_CHEROKEE = "JEEP GRAND CHEROKEE V6 2018"   # includes 2017 Trailhawk
+  JEEP_CHEROKEE_2019 = "JEEP GRAND CHEROKEE 2019" # includes 2020 Trailhawk
+
+  # Ram
+  RAM_1500 = "RAM 1500 5TH GEN"
+
+
+class CarControllerParams:
+  def __init__(self, CP):
+    self.STEER_MAX = 261  # higher than this faults the EPS on Chrysler/Jeep. Ram DT allows more
+    self.STEER_ERROR_MAX = 80
 
+    if CP.carFingerprint in RAM_CARS:
+      self.STEER_DELTA_UP = 6
+      self.STEER_DELTA_DOWN = 6
+    else:
+      self.STEER_DELTA_UP = 3
+      self.STEER_DELTA_DOWN = 3
+
+STEER_THRESHOLD = 120
+
+RAM_CARS = {CAR.RAM_1500, }
 
 @dataclass
 class ChryslerCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
+  package: str = "Adaptive Cruise Control"
   harness: Enum = Harness.fca
 
-
 CAR_INFO: Dict[str, Optional[Union[ChryslerCarInfo, List[ChryslerCarInfo]]]] = {
   CAR.PACIFICA_2017_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2017-18"),
   CAR.PACIFICA_2018_HYBRID: None,  # same platforms
   CAR.PACIFICA_2019_HYBRID: ChryslerCarInfo("Chrysler Pacifica Hybrid 2019-22"),
   CAR.PACIFICA_2018: ChryslerCarInfo("Chrysler Pacifica 2017-18"),
-  CAR.PACIFICA_2020: ChryslerCarInfo("Chrysler Pacifica 2020"),
+  CAR.PACIFICA_2020: [
+    ChryslerCarInfo("Chrysler Pacifica 2019-20"),
+    ChryslerCarInfo("Chrysler Pacifica 2021", package="All"),
+  ],
   CAR.JEEP_CHEROKEE: ChryslerCarInfo("Jeep Grand Cherokee 2016-18", video_link="https://www.youtube.com/watch?v=eLR9o2JkuRk"),
-  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-20", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.JEEP_CHEROKEE_2019: ChryslerCarInfo("Jeep Grand Cherokee 2019-21", video_link="https://www.youtube.com/watch?v=jBe4lWnRSu4"),
+  CAR.RAM_1500: ChryslerCarInfo("Ram 1500 2019-22", harness=Harness.none),
 }
 
 # Unique CAN messages:
@@ -88,7 +103,7 @@ FINGERPRINTS = {
   },
     # Based on "8190c7275a24557b|2020-02-24--09-57-23"
   {
-    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
+    168: 8, 257: 5, 258: 8, 264: 8, 268: 8, 270: 8, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 291: 8, 292: 8, 294: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 368: 8, 376: 3, 384: 8, 388: 4, 448: 6, 456: 4, 464: 8, 469: 8, 480: 8, 500: 8, 501: 8, 512: 8, 514: 8, 515: 7, 516: 7, 517: 7, 518: 7, 520: 8, 524: 8, 526: 6, 528: 8, 532: 8, 542: 8, 544: 8, 557: 8, 559: 8, 560: 8, 564: 8, 571: 3, 579: 8, 584: 8, 608: 8, 624: 8, 625: 8, 632: 8, 639: 8, 640: 1, 650: 8, 653: 8, 654: 8, 655: 8, 656: 4, 658: 6, 660: 8, 669: 3, 671: 8, 672: 8, 678: 8, 680: 8, 683: 8, 701: 8, 703: 8, 704: 8, 705: 8, 706: 8, 709: 8, 710: 8, 711: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 764: 8, 766: 8, 770: 8, 773: 8, 779: 8, 782: 8, 784: 8, 792: 8, 793: 8, 794: 8, 795: 8, 796: 8, 797: 8, 798: 8, 799: 8, 800: 8, 801: 8, 802: 8, 803: 8, 804: 8, 805: 8, 807: 8, 808: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 832: 8, 838: 2, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 878: 8, 882: 8, 886: 8, 897: 8, 906: 8, 908: 8, 924: 8, 926: 3, 929: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 958: 8, 959: 8, 962: 8, 969: 4, 973: 8, 974: 5, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1082: 8, 1083: 8, 1098: 8, 1100: 8, 1216: 8, 1218: 8, 1220: 8, 1225: 8, 1235: 8, 1242: 8, 1246: 8, 1250: 8, 1251: 8, 1252: 8, 1258: 8, 1259: 8, 1260: 8, 1262: 8, 1284: 8, 1536: 8, 1568: 8, 1570: 8, 1856: 8, 1858: 8, 1860: 8, 1863: 8, 1865: 8, 1875: 8, 1882: 8, 1886: 8, 1890: 8, 1891: 8, 1892: 8, 1898: 8, 1899: 8, 1900: 8, 1902: 8, 2015: 8, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2023: 8, 2024: 8, 2026: 8, 2027: 8, 2028: 8, 2031: 8
   }],
   CAR.JEEP_CHEROKEE: [{
     55: 8, 168: 8, 181: 8, 256: 4, 257: 5, 258: 8, 264: 8, 268: 8, 272: 6, 273: 6, 274: 2, 280: 8, 284: 8, 288: 7, 290: 6, 292: 8, 300: 8, 308: 8, 320: 8, 324: 8, 331: 8, 332: 8, 344: 8, 352: 8, 362: 8, 368: 8, 376: 3, 384: 8, 388: 4, 416: 7, 448: 6, 456: 4, 464: 8, 500: 8, 501: 8, 512: 8, 514: 8, 520: 8, 532: 8, 544: 8, 557: 8, 559: 8, 560: 4, 564: 4, 571: 3, 579: 8, 584: 8, 608: 8, 618: 8, 624: 8, 625: 8, 632: 8, 639: 8, 656: 4, 658: 6, 660: 8, 671: 8, 672: 8, 676: 8, 678: 8, 680: 8, 683: 8, 684: 8, 703: 8, 705: 8, 706: 8, 709: 8, 710: 8, 719: 8, 720: 6, 729: 5, 736: 8, 737: 8, 738: 8, 746: 5, 752: 2, 754: 8, 760: 8, 761: 8, 764: 8, 766: 8, 773: 8, 776: 8, 779: 8, 782: 8, 783: 8, 784: 8, 785: 8, 788: 3, 792: 8, 799: 8, 800: 8, 804: 8, 806: 2, 808: 8, 810: 8, 816: 8, 817: 8, 820: 8, 825: 2, 826: 8, 831: 6, 832: 8, 838: 2, 840: 8, 844: 5, 847: 1, 848: 8, 853: 8, 856: 4, 860: 6, 863: 8, 874: 2, 882: 8, 897: 8, 906: 8, 924: 8, 937: 8, 938: 8, 939: 8, 940: 8, 941: 8, 942: 8, 943: 8, 947: 8, 948: 8, 956: 8, 968: 8, 969: 4, 970: 8, 973: 8, 974: 5, 975: 8, 976: 8, 977: 4, 979: 8, 980: 8, 981: 8, 982: 8, 983: 8, 984: 8, 992: 8, 993: 7, 995: 8, 996: 8, 1000: 8, 1001: 8, 1002: 8, 1003: 8, 1008: 8, 1009: 8, 1010: 8, 1011: 8, 1012: 8, 1013: 8, 1014: 8, 1015: 8, 1024: 8, 1025: 8, 1026: 8, 1031: 8, 1033: 8, 1050: 8, 1059: 8, 1062: 8, 1098: 8, 1100: 8, 1543: 8, 1562: 8, 2015: 8, 2016: 8, 2017: 8, 2024: 8, 2025: 8
@@ -99,15 +114,74 @@ FINGERPRINTS = {
   }],
 }
 
+FW_VERSIONS = {
+  CAR.RAM_1500: {
+    (Ecu.combinationMeter, 0x742, None): [
+      b'68294063AH',
+      b'68294063AG',
+      b'68434860AC',
+      b'68527375AD',
+      b'68453503AC',
+    ],
+    (Ecu.srs, 0x744, None): [
+      b'68441329AB',
+      b'68490898AA',
+      b'68428609AB',
+      b'68500728AA',
+    ],
+    (Ecu.esp, 0x747, None): [
+      b'68432418AD',
+      b'68432418AB',
+      b'68436004AE',
+      b'68438454AD',
+      b'68436004AD',
+      b'68535469AB',
+      b'68438454AC',
+    ],
+    (Ecu.fwdCamera, 0x753, None): [
+      b'68320950AL',
+      b'68320950AJ',
+      b'68454268AB',
+      b'68475160AG',
+      b'04672892AB',
+      b'68475160AE',
+    ],
+    (Ecu.eps, 0x75A, None): [
+      b'68273275AG',
+      b'68469901AA',
+      b'68552788AA',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'68448163AJ',
+      b'68500630AD',
+      b'68539650AD',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'68360078AL',
+      b'68384328AD',
+      b'68360085AL',
+      b'68360081AM',
+      b'68502994AD',
+      b'68445533AB',
+      b'68540431AB',
+      b'68484467AC',
+    ],
+    (Ecu.gateway, 0x18DACBF1, None): [
+      b'68402660AB',
+      b'68445283AB',
+      b'68533631AB',
+      b'68500483AB',
+    ],
+  },
+}
 
 DBC = {
-  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
-  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2017_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2020: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2018_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.PACIFICA_2019_HYBRID: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.JEEP_CHEROKEE_2019: dbc_dict('chrysler_pacifica_2017_hybrid_generated', 'chrysler_pacifica_2017_hybrid_private_fusion'),
+  CAR.RAM_1500: dbc_dict('chrysler_ram_dt_generated', None),
 }
-
-STEER_THRESHOLD = 120
diff --git a/selfdrive/car/disable_ecu.py b/selfdrive/car/disable_ecu.py
old mode 100644
new mode 100755
index ac5c6c9f8f..cd3e93fa80
--- a/selfdrive/car/disable_ecu.py
+++ b/selfdrive/car/disable_ecu.py
@@ -6,6 +6,7 @@ EXT_DIAG_RESPONSE = b'\x50\x03'
 
 COM_CONT_RESPONSE = b''
 
+
 def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, debug=False):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
@@ -26,9 +27,22 @@ def disable_ecu(logcan, sendcan, bus=0, addr=0x7d0, com_cont_req=b'\x28\x83\x01'
 
         cloudlog.warning("ecu disabled")
         return True
+
     except Exception:
       cloudlog.exception("ecu disable exception")
 
     print(f"ecu disable retry ({i+1}) ...")
   cloudlog.warning("ecu disable failed")
   return False
+
+
+if __name__ == "__main__":
+  import time
+  import cereal.messaging as messaging
+  sendcan = messaging.pub_sock('sendcan')
+  logcan = messaging.sub_sock('can')
+  time.sleep(1)
+
+  # honda bosch radar disable
+  disabled = disable_ecu(logcan, sendcan, bus=1, addr=0x18DAB0F1, com_cont_req=b'\x28\x83\x03', timeout=0.5, debug=False)
+  print(f"disabled: {disabled}")
diff --git a/selfdrive/car/docs.py b/selfdrive/car/docs.py
index 860503dbdd..5793596a43 100755
--- a/selfdrive/car/docs.py
+++ b/selfdrive/car/docs.py
@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 import argparse
+from collections import defaultdict
 import jinja2
 import os
 from enum import Enum
@@ -7,26 +8,26 @@ from natsort import natsorted
 from typing import Dict, List
 
 from common.basedir import BASEDIR
-from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, CarInfo, Column, Star, Tier
+from selfdrive.car.docs_definitions import STAR_DESCRIPTIONS, StarColumns, TierColumns, CarInfo, Column, Star
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR as HKG_RADAR_START_ADDR
-from selfdrive.car.tests.routes import non_tested_cars
 
 
-def get_all_footnotes() -> Dict[Enum, int]:
+def get_all_footnotes(only_tier_cols: bool = False) -> Dict[Enum, int]:
   all_footnotes = []
+  hide_cols = set(StarColumns) - set(TierColumns) if only_tier_cols else []
   for footnotes in get_interface_attr("Footnote", ignore_none=True).values():
-    all_footnotes += footnotes
+    all_footnotes.extend([fn for fn in footnotes if fn.value.column not in hide_cols])
   return {fn: idx + 1 for idx, fn in enumerate(all_footnotes)}
 
 
-ALL_FOOTNOTES: Dict[Enum, int] = get_all_footnotes()
 CARS_MD_OUT = os.path.join(BASEDIR, "docs", "CARS.md")
 CARS_MD_TEMPLATE = os.path.join(BASEDIR, "selfdrive", "car", "CARS_template.md")
 
 
-def get_all_car_info() -> List[CarInfo]:
+def get_all_car_info(only_tier_cols: bool = False) -> List[CarInfo]:
   all_car_info: List[CarInfo] = []
+  footnotes = get_all_footnotes(only_tier_cols)
   for model, car_info in get_interface_attr("CAR_INFO", combine_brands=True).items():
     # Hyundai exception: those with radar have openpilot longitudinal
     fingerprint = {0: {}, 1: {HKG_RADAR_START_ADDR: 8}, 2: {}, 3: {}}
@@ -40,32 +41,37 @@ def get_all_car_info() -> List[CarInfo]:
       car_info = (car_info,)
 
     for _car_info in car_info:
-      all_car_info.append(_car_info.init(CP, non_tested_cars, ALL_FOOTNOTES))
+      if not hasattr(_car_info, "row"):
+        _car_info.init(CP, footnotes)
+      all_car_info.append(_car_info)
 
   # Sort cars by make and model + year
-  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: (car.make + car.model).lower())
+  sorted_cars: List[CarInfo] = natsorted(all_car_info, key=lambda car: car.name.lower())
   return sorted_cars
 
 
-def sort_by_tier(all_car_info: List[CarInfo]) -> Dict[Tier, List[CarInfo]]:
-  tier_car_info: Dict[Tier, List[CarInfo]] = {tier: [] for tier in Tier}
+def group_by_make(all_car_info: List[CarInfo]) -> Dict[str, List[CarInfo]]:
+  sorted_car_info = defaultdict(list)
   for car_info in all_car_info:
-    tier_car_info[car_info.tier].append(car_info)
-
-  # Sort cars by make and model + year
-  for tier, cars in tier_car_info.items():
-    tier_car_info[tier] = natsorted(cars, key=lambda car: (car.make + car.model).lower())
-
-  return tier_car_info
+    sorted_car_info[car_info.make].append(car_info)
+  return dict(sorted_car_info)
 
 
-def generate_cars_md(all_car_info: List[CarInfo], template_fn: str) -> str:
+def generate_cars_md(all_car_info: List[CarInfo], template_fn: str, only_tier_cols: bool) -> str:
   with open(template_fn, "r") as f:
     template = jinja2.Template(f.read(), trim_blocks=True, lstrip_blocks=True)
 
-  footnotes = [fn.value.text for fn in ALL_FOOTNOTES]
-  cars_md: str = template.render(tiers=sort_by_tier(all_car_info), all_car_info=all_car_info,
-                                 footnotes=footnotes, Star=Star, Column=Column, star_descriptions=STAR_DESCRIPTIONS)
+  cols = list(Column)
+  if only_tier_cols:
+    hide_cols = set(StarColumns) - set(TierColumns)
+    cols = [c for c in cols if c not in hide_cols]
+    for car in all_car_info:
+      for c in hide_cols:
+        del car.row[c]
+
+  footnotes = [fn.value.text for fn in get_all_footnotes(only_tier_cols)]
+  cars_md: str = template.render(all_car_info=all_car_info, group_by_make=group_by_make,
+                                 footnotes=footnotes, Star=Star, Column=cols, STAR_DESCRIPTIONS=STAR_DESCRIPTIONS)
   return cars_md
 
 
@@ -73,10 +79,11 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Auto generates supported cars documentation",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
 
+  parser.add_argument("--tier-columns", action="store_true", help="Include only columns that count in the tier")
   parser.add_argument("--template", default=CARS_MD_TEMPLATE, help="Override default template filename")
   parser.add_argument("--out", default=CARS_MD_OUT, help="Override default generated filename")
   args = parser.parse_args()
 
   with open(args.out, 'w') as f:
-    f.write(generate_cars_md(get_all_car_info(), args.template))
+    f.write(generate_cars_md(get_all_car_info(args.tier_columns), args.template, args.tier_columns))
   print(f"Generated and written to {args.out}")
diff --git a/selfdrive/car/docs_definitions.py b/selfdrive/car/docs_definitions.py
index 5b6eb1664d..0215b8085c 100644
--- a/selfdrive/car/docs_definitions.py
+++ b/selfdrive/car/docs_definitions.py
@@ -1,20 +1,20 @@
-import math
-
-from cereal import car
+import re
 from collections import namedtuple
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
-from typing import Dict, List, Optional, Union, no_type_check
+from typing import Dict, List, Optional, Tuple, Union, no_type_check
+
+from cereal import car
+from common.conversions import Conversions as CV
 
-TACO_TORQUE_THRESHOLD = 2.5  # m/s^2
-GREAT_TORQUE_THRESHOLD = 1.4  # m/s^2
 GOOD_TORQUE_THRESHOLD = 1.0  # m/s^2
+MODEL_YEARS_RE = r"(?<= )((\d{4}-\d{2})|(\d{4}))(,|$)"
 
 
 class Tier(Enum):
-  GOLD = "The best openpilot experience. Great highway driving and beyond."
-  SILVER = "A solid highway driving experience, but is limited by stock longitudinal. May be upgraded in the future."
-  BRONZE = "A good highway experience, but may have limited performance in traffic and on sharp turns."
+  GOLD = 0
+  SILVER = 1
+  BRONZE = 2
 
 
 class Column(Enum):
@@ -25,7 +25,6 @@ class Column(Enum):
   FSR_LONGITUDINAL = "Stop and Go"
   FSR_STEERING = "Steer to 0"
   STEERING_TORQUE = "Steering Torque"
-  MAINTAINED = "Actively Maintained"
 
 
 class Star(Enum):
@@ -35,16 +34,41 @@ class Star(Enum):
 
 
 StarColumns = list(Column)[3:]
+TierColumns = (Column.FSR_LONGITUDINAL, Column.FSR_STEERING, Column.STEERING_TORQUE)
 CarFootnote = namedtuple("CarFootnote", ["text", "column", "star"], defaults=[None])
 
 
-def get_footnote(footnotes: Optional[List[Enum]], column: Column) -> Optional[Enum]:
-  # Returns applicable footnote given current column
-  if footnotes is not None:
-    for fn in footnotes:
-      if fn.value.column == column:
-        return fn
-  return None
+def get_footnotes(footnotes: List[Enum], column: Column) -> List[Enum]:
+  # Returns applicable footnotes given current column
+  return [fn for fn in footnotes if fn.value.column == column]
+
+
+# TODO: store years as a list
+def get_year_list(years):
+  years_list = []
+  if len(years) == 0:
+    return years_list
+
+  for year in years.split(','):
+    year = year.strip()
+    if len(year) == 4:
+      years_list.append(str(year))
+    elif "-" in year and len(year) == 7:
+      start, end = year.split("-")
+      years_list.extend(map(str, range(int(start), int(f"20{end}") + 1)))
+    else:
+      raise Exception(f"Malformed year string: {years}")
+  return years_list
+
+
+def split_name(name: str) -> Tuple[str, str, str]:
+  make, model = name.split(" ", 1)
+  years = ""
+  match = re.search(MODEL_YEARS_RE, model)
+  if match is not None:
+    years = model[match.start():]
+    model = model[:match.start() - 1]
+  return make, model, years
 
 
 @dataclass
@@ -52,47 +76,42 @@ class CarInfo:
   name: str
   package: str
   video_link: Optional[str] = None
-  footnotes: Optional[List[Enum]] = None
+  footnotes: List[Enum] = field(default_factory=list)
   min_steer_speed: Optional[float] = None
   min_enable_speed: Optional[float] = None
-  good_torque: bool = False
   harness: Optional[Enum] = None
 
-  def init(self, CP: car.CarParams, non_tested_cars: List[str], all_footnotes: Dict[Enum, int]):
+  def init(self, CP: car.CarParams, all_footnotes: Dict[Enum, int]):
     # TODO: set all the min steer speeds in carParams and remove this
-    min_steer_speed = CP.minSteerSpeed
     if self.min_steer_speed is not None:
-      min_steer_speed = self.min_steer_speed
       assert CP.minSteerSpeed == 0, f"{CP.carFingerprint}: Minimum steer speed set in both CarInfo and CarParams"
+    else:
+      self.min_steer_speed = CP.minSteerSpeed
 
     assert self.harness is not None, f"{CP.carFingerprint}: Need to specify car harness"
 
     # TODO: set all the min enable speeds in carParams correctly and remove this
-    min_enable_speed = CP.minEnableSpeed
-    if self.min_enable_speed is not None:
-      min_enable_speed = self.min_enable_speed
+    if self.min_enable_speed is None:
+      self.min_enable_speed = CP.minEnableSpeed
 
     self.car_name = CP.carName
-    self.make, self.model = self.name.split(' ', 1)
+    self.car_fingerprint = CP.carFingerprint
+    self.make, self.model, self.years = split_name(self.name)
     self.row = {
       Column.MAKE: self.make,
       Column.MODEL: self.model,
       Column.PACKAGE: self.package,
       # StarColumns
       Column.LONGITUDINAL: Star.FULL if CP.openpilotLongitudinalControl and not CP.radarOffCan else Star.EMPTY,
-      Column.FSR_LONGITUDINAL: Star.FULL if min_enable_speed <= 0. else Star.EMPTY,
-      Column.FSR_STEERING: Star.FULL if min_steer_speed <= 0. else Star.EMPTY,
-      Column.STEERING_TORQUE: Star.FULL if self.good_torque else Star.EMPTY,  # TODO: remove hardcoding and use maxLateralAccel
-      Column.MAINTAINED: Star.FULL if CP.carFingerprint not in non_tested_cars and self.harness is not Harness.none else Star.EMPTY,
+      Column.FSR_LONGITUDINAL: Star.FULL if self.min_enable_speed <= 0. else Star.EMPTY,
+      Column.FSR_STEERING: Star.FULL if self.min_steer_speed <= 0. else Star.EMPTY,
+      Column.STEERING_TORQUE: Star.EMPTY,
     }
 
-    if not math.isnan(CP.maxLateralAccel):
-      if CP.maxLateralAccel >= GREAT_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.FULL
-      elif CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
-        self.row[Column.STEERING_TORQUE] = Star.HALF
-      else:
-        self.row[Column.STEERING_TORQUE] = Star.EMPTY
+    # Set steering torque star from max lateral acceleration
+    assert CP.maxLateralAccel > 0.1
+    if CP.maxLateralAccel >= GOOD_TORQUE_THRESHOLD:
+      self.row[Column.STEERING_TORQUE] = Star.FULL
 
     if CP.notCar:
       for col in StarColumns:
@@ -101,22 +120,63 @@ class CarInfo:
     self.all_footnotes = all_footnotes
     for column in StarColumns:
       # Demote if footnote specifies a star
-      footnote = get_footnote(self.footnotes, column)
-      if footnote is not None and footnote.value.star is not None:
-        self.row[column] = footnote.value.star
+      for fn in get_footnotes(self.footnotes, column):
+        if fn.value.star is not None:
+          self.row[column] = fn.value.star
+
+    # openpilot ACC star doesn't count for tiers
+    full_stars = [s for col, s in self.row.items() if col in TierColumns].count(Star.FULL)
+    if full_stars == len(TierColumns):
+      self.tier = Tier.GOLD
+    elif full_stars == len(TierColumns) - 1:
+      self.tier = Tier.SILVER
+    else:
+      self.tier = Tier.BRONZE
+
+    self.year_list = get_year_list(self.years)
+    self.detail_sentence = self.get_detail_sentence(CP)
 
-    self.tier = {5: Tier.GOLD, 4: Tier.SILVER}.get(list(self.row.values()).count(Star.FULL), Tier.BRONZE)
     return self
 
+  def get_detail_sentence(self, CP):
+    if not CP.notCar:
+      sentence_builder = "openpilot upgrades your <strong>{car_model}</strong> with automated lane centering{alc} and adaptive cruise control{acc}."
+
+      if self.min_steer_speed > self.min_enable_speed:
+        alc = f" <strong>above {self.min_steer_speed * CV.MS_TO_MPH:.0f} mph</strong>," if self.min_steer_speed > 0 else " <strong>at all speeds</strong>,"
+      else:
+        alc = ""
+
+      # Exception for Nissan, Subaru, and stock long Toyota which do not auto-resume yet
+      acc = ""
+      if self.min_enable_speed > 0:
+        acc = f" <strong>while driving above {self.min_enable_speed * CV.MS_TO_MPH:.0f} mph</strong>"
+      elif CP.carName not in ("nissan", "subaru", "toyota") or (CP.carName == "toyota" and CP.openpilotLongitudinalControl):
+        acc = " <strong>that automatically resumes from a stop</strong>"
+
+      if self.row[Column.STEERING_TORQUE] != Star.FULL:
+        sentence_builder += " This car may not be able to take tight turns on its own."
+
+      return sentence_builder.format(car_model=f"{self.make} {self.model}", alc=alc, acc=acc)
+
+    else:
+      if CP.carFingerprint == "COMMA BODY":
+        return "The body is a robotics dev kit that can run openpilot. <a href='https://www.commabody.com'>Learn more.</a>"
+      else:
+        raise Exception(f"This notCar does not have a detail sentence: {CP.carFingerprint}")
+
   @no_type_check
   def get_column(self, column: Column, star_icon: str, footnote_tag: str) -> str:
     item: Union[str, Star] = self.row[column]
     if column in StarColumns:
       item = star_icon.format(item.value)
+    elif column == Column.MODEL and len(self.years):
+      item += f" {self.years}"
 
-    footnote = get_footnote(self.footnotes, column)
-    if footnote is not None:
-      item += footnote_tag.format(self.all_footnotes[footnote])
+    footnotes = get_footnotes(self.footnotes, column)
+    if len(footnotes):
+      sups = sorted([self.all_footnotes[fn] for fn in footnotes])
+      item += footnote_tag.format(f'{",".join(map(str, sups))}')
 
     return item
 
@@ -164,31 +224,19 @@ class Harness(Enum):
 
 STAR_DESCRIPTIONS = {
   "Gas & Brakes": {  # icon and row name
-    "openpilot Adaptive Cruise Control (ACC)": [  # star column
-      [Star.FULL.value, "openpilot is able to control the gas and brakes."],
-      [Star.HALF.value, "openpilot is able to control the gas and brakes with some restrictions."],
-      [Star.EMPTY.value, "The gas and brakes are controlled by the car's stock Adaptive Cruise Control (ACC) system."],
-    ],
     Column.FSR_LONGITUDINAL.value: [
-      [Star.FULL.value, "Adaptive Cruise Control (ACC) operates down to 0 mph."],
-      [Star.EMPTY.value, "Adaptive Cruise Control (ACC) available only above certain speeds. See your car's manual for the minimum speed."],
+      [Star.FULL.value, "openpilot operates down to 0 mph."],
+      [Star.EMPTY.value, "openpilot operates only above a minimum speed. See your car's manual for the minimum speed."],
     ],
   },
   "Steering": {
     Column.FSR_STEERING.value: [
       [Star.FULL.value, "openpilot can control the steering wheel down to 0 mph."],
-      [Star.EMPTY.value, "No steering control below certain speeds."],
+      [Star.EMPTY.value, "No steering control below certain speeds. See your car's manual for the minimum speed."],
     ],
     Column.STEERING_TORQUE.value: [
-      [Star.FULL.value, "Car has enough steering torque to take tighter turns."],
-      [Star.HALF.value, "Car has enough steering torque for comfortable highway driving."],
-      [Star.EMPTY.value, "Limited ability to make turns."],
-    ],
-  },
-  "Support": {
-    Column.MAINTAINED.value: [
-      [Star.FULL.value, "Mainline software support, harness hardware sold by comma, lots of users, primary development target."],
-      [Star.EMPTY.value, "Low user count, community maintained, harness hardware not sold by comma."],
+      [Star.FULL.value, "Car has enough steering torque to comfortably take most highway turns."],
+      [Star.EMPTY.value, "Limited ability to make tighter turns."],
     ],
   },
 }
diff --git a/selfdrive/car/ford/carcontroller.py b/selfdrive/car/ford/carcontroller.py
index c2f87a4806..11d9bb3c79 100644
--- a/selfdrive/car/ford/carcontroller.py
+++ b/selfdrive/car/ford/carcontroller.py
@@ -1,8 +1,8 @@
 from cereal import car
 from common.numpy_fast import clip, interp
+from opendbc.can.packer import CANPacker
 from selfdrive.car.ford import fordcan
 from selfdrive.car.ford.values import CarControllerParams
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
@@ -17,19 +17,19 @@ def apply_ford_steer_angle_limits(apply_steer, apply_steer_last, vEgo):
   return apply_steer
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.VM = VM
     self.packer = CANPacker(dbc_name)
+    self.frame = 0
 
     self.apply_steer_last = 0
-    self.steer_rate_limited = False
     self.main_on_last = False
     self.lkas_enabled_last = False
     self.steer_alert_last = False
 
-  def update(self, CC, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     actuators = CC.actuators
@@ -45,10 +45,9 @@ class CarController():
     # apply rate limits
     new_steer = actuators.steeringAngleDeg
     apply_steer = apply_ford_steer_angle_limits(new_steer, self.apply_steer_last, CS.out.vEgo)
-    self.steer_rate_limited = new_steer != apply_steer
 
     # send steering commands at 20Hz
-    if (frame % CarControllerParams.LKAS_STEER_STEP) == 0:
+    if (self.frame % CarControllerParams.LKAS_STEER_STEP) == 0:
       lca_rq = 1 if CC.latActive else 0
 
       # use LatCtlPath_An_Actl to actuate steering for now until curvature control is implemented
@@ -69,15 +68,14 @@ class CarController():
       can_sends.append(fordcan.create_tja_command(self.packer, lca_rq, ramp_type, precision,
                                                   path_offset, path_angle, curvature_rate, curvature))
 
-
     send_ui = (self.main_on_last != main_on) or (self.lkas_enabled_last != CC.latActive) or (self.steer_alert_last != steer_alert)
 
     # send lkas ui command at 1Hz or if ui state changes
-    if (frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.LKAS_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_lkas_ui_command(self.packer, main_on, CC.latActive, steer_alert, CS.lkas_status_stock_values))
 
     # send acc ui command at 20Hz or if ui state changes
-    if (frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
+    if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       can_sends.append(fordcan.create_acc_ui_command(self.packer, main_on, CC.latActive, CS.acc_tja_status_stock_values))
 
     self.main_on_last = main_on
@@ -87,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_steer
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/ford/carstate.py b/selfdrive/car/ford/carstate.py
index 67a72fd67c..aaa3af612f 100644
--- a/selfdrive/car/ford/carstate.py
+++ b/selfdrive/car/ford/carstate.py
@@ -1,5 +1,3 @@
-from typing import Dict
-
 from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.can_define import CANDefine
@@ -51,8 +49,8 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = int(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"])
-      ret.gearShifter = self.parse_gear_shifter(self.shifter_values.get(gear, None))
+      gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnGear_D_RqDrv"], None)
+      ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       ret.clutchPressed = cp.vl["Engine_Clutch_Data"]["CluPdlPos_Pc_Meas"] > 0
       if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
@@ -85,14 +83,6 @@ class CarState(CarStateBase):
 
     return ret
 
-  @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
-    d: Dict[str, car.CarState.GearShifter] = {
-        'Park': GearShifter.park, 'Reverse': GearShifter.reverse, 'Neutral': GearShifter.neutral,
-        'Manual': GearShifter.manumatic, 'Drive': GearShifter.drive,
-    }
-    return d.get(gear, GearShifter.unknown)
-
   @staticmethod
   def get_can_parser(CP):
     signals = [
diff --git a/selfdrive/car/ford/interface.py b/selfdrive/car/ford/interface.py
index c608cc08d9..405579fa60 100644
--- a/selfdrive/car/ford/interface.py
+++ b/selfdrive/car/ford/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint
-from selfdrive.car.ford.values import TransmissionType, CAR
+from selfdrive.car.ford.values import CAR, TransmissionType, GearShifter
 from selfdrive.car.interfaces import CarInterfaceBase
 
 
@@ -70,14 +70,10 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
-    events = self.create_common_events(ret)
+    events = self.create_common_events(ret, extra_gears=[GearShifter.manumatic])
     ret.events = events.to_msg()
 
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/ford/values.py b/selfdrive/car/ford/values.py
index aae011ad3d..6b8396cf07 100644
--- a/selfdrive/car/ford/values.py
+++ b/selfdrive/car/ford/values.py
@@ -7,6 +7,7 @@ from selfdrive.car.docs_definitions import CarInfo
 
 Ecu = car.CarParams.Ecu
 TransmissionType = car.CarParams.TransmissionType
+GearShifter = car.CarState.GearShifter
 
 AngleRateLimit = namedtuple('AngleRateLimit', ['speed_points', 'max_angle_diff_points'])
 
diff --git a/selfdrive/car/fw_versions.py b/selfdrive/car/fw_versions.py
index 758485c393..0ed8cc5425 100755
--- a/selfdrive/car/fw_versions.py
+++ b/selfdrive/car/fw_versions.py
@@ -92,6 +92,18 @@ SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
   p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 
+CHRYSLER_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(0xf132)
+CHRYSLER_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(0xf132)
+
+CHRYSLER_RX_OFFSET = -0x280
+
+FORD_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+FORD_VERSION_RESPONSE =  bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
+  p16(uds.DATA_IDENTIFIER_TYPE.VEHICLE_MANUFACTURER_ECU_SOFTWARE_NUMBER)
+
 
 @dataclass
 class Request:
@@ -132,28 +144,33 @@ REQUESTS: List[Request] = [
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, TOYOTA_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, TOYOTA_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [SHORT_TESTER_PRESENT_REQUEST, OBD_VERSION_REQUEST],
     [SHORT_TESTER_PRESENT_RESPONSE, OBD_VERSION_RESPONSE],
+    bus=0,
   ),
   Request(
     "toyota",
     [TESTER_PRESENT_REQUEST, DEFAULT_DIAGNOSTIC_REQUEST, EXTENDED_DIAGNOSTIC_REQUEST, UDS_VERSION_REQUEST],
     [TESTER_PRESENT_RESPONSE, DEFAULT_DIAGNOSTIC_RESPONSE, EXTENDED_DIAGNOSTIC_RESPONSE, UDS_VERSION_RESPONSE],
+    bus=0,
   ),
   # Volkswagen
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.srs, Ecu.eps, Ecu.fwdRadar],
     rx_offset=VOLKSWAGEN_RX_OFFSET,
   ),
   Request(
     "volkswagen",
     [VOLKSWAGEN_VERSION_REQUEST_MULTI],
     [VOLKSWAGEN_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine, Ecu.transmission],
   ),
   # Mazda
   Request(
@@ -186,6 +203,32 @@ REQUESTS: List[Request] = [
     [TESTER_PRESENT_RESPONSE, UDS_VERSION_RESPONSE],
     bus=0,
   ),
+  # Chrysler / FCA / Stellantis
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+    rx_offset=CHRYSLER_RX_OFFSET,
+  ),
+  Request(
+    "chrysler",
+    [CHRYSLER_VERSION_REQUEST],
+    [CHRYSLER_VERSION_RESPONSE],
+  ),
+  # Ford
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    whitelist_ecus=[Ecu.engine],
+  ),
+  Request(
+    "ford",
+    [TESTER_PRESENT_REQUEST, FORD_VERSION_REQUEST],
+    [TESTER_PRESENT_RESPONSE, FORD_VERSION_RESPONSE],
+    bus=0,
+    whitelist_ecus=[Ecu.eps, Ecu.esp, Ecu.fwdRadar, Ecu.fwdCamera],
+  ),
 ]
 
 
@@ -194,13 +237,23 @@ def chunks(l, n=128):
     yield l[i:i + n]
 
 
-def build_fw_dict(fw_versions):
-  fw_versions_dict = {}
+def build_fw_dict(fw_versions, filter_brand=None):
+  fw_versions_dict = defaultdict(set)
   for fw in fw_versions:
-    addr = fw.address
-    sub_addr = fw.subAddress if fw.subAddress != 0 else None
-    fw_versions_dict[(addr, sub_addr)] = fw.fwVersion
-  return fw_versions_dict
+    if filter_brand is None or fw.brand == filter_brand:
+      addr = fw.address
+      sub_addr = fw.subAddress if fw.subAddress != 0 else None
+      fw_versions_dict[(addr, sub_addr)].add(fw.fwVersion)
+  return dict(fw_versions_dict)
+
+
+def get_brand_addrs():
+  versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  brand_addrs = defaultdict(set)
+  for brand, cars in versions.items():
+    for fw in cars.values():
+      brand_addrs[brand] |= {(addr, sub_addr) for _, addr, sub_addr in fw.keys()}
+  return brand_addrs
 
 
 def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
@@ -214,7 +267,7 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
   # time and only one is in our database.
   exclude_types = [Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps, Ecu.debug]
 
-  # Build lookup table from (addr, subaddr, fw) to list of candidate cars
+  # Build lookup table from (addr, sub_addr, fw) to list of candidate cars
   all_fw_versions = defaultdict(list)
   for candidate, fw_by_addr in FW_VERSIONS.items():
     if candidate == exclude:
@@ -228,17 +281,18 @@ def match_fw_to_car_fuzzy(fw_versions_dict, log=True, exclude=None):
 
   match_count = 0
   candidate = None
-  for addr, version in fw_versions_dict.items():
-    # All cars that have this FW response on the specified address
-    candidates = all_fw_versions[(addr[0], addr[1], version)]
-
-    if len(candidates) == 1:
-      match_count += 1
-      if candidate is None:
-        candidate = candidates[0]
-      # We uniquely matched two different cars. No fuzzy match possible
-      elif candidate != candidates[0]:
-        return set()
+  for addr, versions in fw_versions_dict.items():
+    for version in versions:
+      # All cars that have this FW response on the specified address
+      candidates = all_fw_versions[(addr[0], addr[1], version)]
+
+      if len(candidates) == 1:
+        match_count += 1
+        if candidate is None:
+          candidate = candidates[0]
+        # We uniquely matched two different cars. No fuzzy match possible
+        elif candidate != candidates[0]:
+          return set()
 
   if match_count >= 2:
     if log:
@@ -260,23 +314,23 @@ def match_fw_to_car_exact(fw_versions_dict):
     for ecu, expected_versions in fws.items():
       ecu_type = ecu[0]
       addr = ecu[1:]
-      found_version = fw_versions_dict.get(addr, None)
-      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and found_version is None:
+      found_versions = fw_versions_dict.get(addr, set())
+      if ecu_type == Ecu.esp and candidate in (TOYOTA.RAV4, TOYOTA.COROLLA, TOYOTA.HIGHLANDER, TOYOTA.SIENNA, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # On some Toyota models, the engine can show on two different addresses
-      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and found_version is None:
+      if ecu_type == Ecu.engine and candidate in (TOYOTA.CAMRY, TOYOTA.COROLLA_TSS2, TOYOTA.CHR, TOYOTA.LEXUS_IS) and not len(found_versions):
         continue
 
       # Ignore non essential ecus
-      if ecu_type not in ESSENTIAL_ECUS and found_version is None:
+      if ecu_type not in ESSENTIAL_ECUS and not len(found_versions):
         continue
 
       # Virtual debug ecu doesn't need to match the database
       if ecu_type == Ecu.debug:
         continue
 
-      if found_version not in expected_versions:
+      if not any([found_version in expected_versions for found_version in found_versions]):
         invalid.append(candidate)
         break
 
@@ -284,18 +338,21 @@ def match_fw_to_car_exact(fw_versions_dict):
 
 
 def match_fw_to_car(fw_versions, allow_fuzzy=True):
-  fw_versions_dict = build_fw_dict(fw_versions)
-  matches = match_fw_to_car_exact(fw_versions_dict)
+  # Try exact matching first
+  exact_matches = [(True, match_fw_to_car_exact)]
+  if allow_fuzzy:
+    exact_matches.append((False, match_fw_to_car_fuzzy))
 
-  exact_match = True
-  if allow_fuzzy and len(matches) == 0:
-    matches = match_fw_to_car_fuzzy(fw_versions_dict)
+  for exact_match, match_func in exact_matches:
+    # TODO: For each brand, attempt to fingerprint using only FW returned from its queries
+    matches = set()
+    fw_versions_dict = build_fw_dict(fw_versions, filter_brand=None)
+    matches |= match_func(fw_versions_dict)
 
-    # Fuzzy match found
-    if len(matches) == 1:
-      exact_match = False
+    if len(matches):
+      return exact_match, matches
 
-  return exact_match, matches
+  return True, set()
 
 
 def get_present_ecus(logcan, sendcan):
@@ -333,24 +390,61 @@ def get_present_ecus(logcan, sendcan):
   return ecu_responses
 
 
-def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progress=False):
-  ecu_types = {}
+def get_brand_ecu_matches(ecu_rx_addrs):
+  """Returns dictionary of brands and matches with ECUs in their FW versions"""
 
-  # Extract ECU addresses to query from fingerprints
-  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
-  addrs = []
-  parallel_addrs = []
+  brand_addrs = get_brand_addrs()
+  brand_matches = {r.brand: set() for r in REQUESTS}
+
+  brand_rx_offsets = set((r.brand, r.rx_offset) for r in REQUESTS)
+  for addr, sub_addr, _ in ecu_rx_addrs:
+    # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
+    for brand, rx_offset in brand_rx_offsets:
+      a = (uds.get_rx_addr_for_tx_addr(addr, -rx_offset), sub_addr)
+      if a in brand_addrs[brand]:
+        brand_matches[brand].add(a)
+
+  return brand_matches
+
+
+def get_fw_versions_ordered(logcan, sendcan, ecu_rx_addrs, timeout=0.1, debug=False, progress=False):
+  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""
+
+  all_car_fw = []
+  brand_matches = get_brand_ecu_matches(ecu_rx_addrs)
+
+  for brand in sorted(brand_matches, key=lambda b: len(brand_matches[b]), reverse=True):
+    car_fw = get_fw_versions(logcan, sendcan, query_brand=brand, timeout=timeout, debug=debug, progress=progress)
+    all_car_fw.extend(car_fw)
 
+    # TODO: Until erroneous FW versions are removed, try to fingerprint on all possible combinations so far
+    _, matches = match_fw_to_car(all_car_fw, allow_fuzzy=False)
+    if len(matches) == 1:
+      break
+
+  return all_car_fw
+
+
+def get_fw_versions(logcan, sendcan, query_brand=None, extra=None, timeout=0.1, debug=False, progress=False):
   versions = get_interface_attr('FW_VERSIONS', ignore_none=True)
+  if query_brand is not None:
+    versions = {query_brand: versions[query_brand]}
+
   if extra is not None:
     versions.update(extra)
 
+  # Extract ECU addresses to query from fingerprints
+  # ECUs using a subaddress need be queried one by one, the rest can be done in parallel
+  addrs = []
+  parallel_addrs = []
+  ecu_types = {}
+
   for brand, brand_versions in versions.items():
     for c in brand_versions.values():
       for ecu_type, addr, sub_addr in c.keys():
         a = (brand, addr, sub_addr)
         if a not in ecu_types:
-          ecu_types[(addr, sub_addr)] = ecu_type
+          ecu_types[a] = ecu_type
 
         if sub_addr is None:
           if a not in parallel_addrs:
@@ -361,36 +455,35 @@ def get_fw_versions(logcan, sendcan, extra=None, timeout=0.1, debug=False, progr
 
   addrs.insert(0, parallel_addrs)
 
-  fw_versions = {}
-  for i, addr in enumerate(tqdm(addrs, disable=not progress)):
+  # Get versions and build capnp list to put into CarParams
+  car_fw = []
+  requests = [r for r in REQUESTS if query_brand is None or r.brand == query_brand]
+  for addr in tqdm(addrs, disable=not progress):
     for addr_chunk in chunks(addr):
-      for r in REQUESTS:
+      for r in requests:
         try:
           addrs = [(a, s) for (b, a, s) in addr_chunk if b in (r.brand, 'any') and
-                   (len(r.whitelist_ecus) == 0 or ecu_types[(a, s)] in r.whitelist_ecus)]
+                   (len(r.whitelist_ecus) == 0 or ecu_types[(b, a, s)] in r.whitelist_ecus)]
 
           if addrs:
             query = IsoTpParallelQuery(sendcan, logcan, r.bus, addrs, r.request, r.response, r.rx_offset, debug=debug)
-            t = 2 * timeout if i == 0 else timeout
-            fw_versions.update({addr: (version, r.request, r.rx_offset) for addr, version in query.get_data(t).items()})
-        except Exception:
-          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
-
-  # Build capnp list to put into CarParams
-  car_fw = []
-  for addr, (version, request, rx_offset) in fw_versions.items():
-    f = car.CarParams.CarFw.new_message()
+            for (addr, rx_addr), version in query.get_data(timeout).items():
+              f = car.CarParams.CarFw.new_message()
 
-    f.ecu = ecu_types[addr]
-    f.fwVersion = version
-    f.address = addr[0]
-    f.responseAddress = uds.get_rx_addr_for_tx_addr(addr[0], rx_offset)
-    f.request = request
+              f.ecu = ecu_types.get((r.brand, addr[0], addr[1]), Ecu.unknown)
+              f.fwVersion = version
+              f.address = addr[0]
+              f.responseAddress = rx_addr
+              f.request = r.request
+              f.brand = r.brand
+              f.bus = r.bus
 
-    if addr[1] is not None:
-      f.subAddress = addr[1]
+              if addr[1] is not None:
+                f.subAddress = addr[1]
 
-    car_fw.append(f)
+              car_fw.append(f)
+        except Exception:
+          cloudlog.warning(f"FW query exception: {traceback.format_exc()}")
 
   return car_fw
 
@@ -404,6 +497,7 @@ if __name__ == "__main__":
   parser = argparse.ArgumentParser(description='Get firmware version of ECUs')
   parser.add_argument('--scan', action='store_true')
   parser.add_argument('--debug', action='store_true')
+  parser.add_argument('--brand', help='Only query addresses/with requests for this brand')
   args = parser.parse_args()
 
   logcan = messaging.sub_sock('can')
@@ -423,21 +517,22 @@ if __name__ == "__main__":
 
   t = time.time()
   print("Getting vin...")
-  addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
-  print(f"VIN: {vin}")
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, retry=10, debug=args.debug)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
   print(f"Getting VIN took {time.time() - t:.3f} s")
   print()
 
   t = time.time()
-  fw_vers = get_fw_versions(logcan, sendcan, extra=extra, debug=args.debug, progress=True)
+  fw_vers = get_fw_versions(logcan, sendcan, query_brand=args.brand, extra=extra, debug=args.debug, progress=True)
   _, candidates = match_fw_to_car(fw_vers)
 
   print()
   print("Found FW versions")
   print("{")
+  padding = max([len(fw.brand) for fw in fw_vers] or [0])
   for version in fw_vers:
     subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-    print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
+    print(f"  Brand: {version.brand:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}]")
   print("}")
 
   print()
diff --git a/selfdrive/car/gm/carcontroller.py b/selfdrive/car/gm/carcontroller.py
index 0952d22364..3657a3e056 100644
--- a/selfdrive/car/gm/carcontroller.py
+++ b/selfdrive/car/gm/carcontroller.py
@@ -1,20 +1,19 @@
 from cereal import car
 from common.conversions import Conversions as CV
-from common.realtime import DT_CTRL
 from common.numpy_fast import interp
+from common.realtime import DT_CTRL
 from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.gm import gmcan
 from selfdrive.car.gm.values import DBC, CanBus, CarControllerParams
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
-GearShifter = car.CarState.GearShifter
-TransmissionType = car.CarParams.TransmissionType
 NetworkLocation = car.CarParams.NetworkLocation
 
 
 class CarController:
   def __init__(self, dbc_name, CP, VM):
+    self.CP = CP
     self.start_time = 0.
     self.apply_steer_last = 0
     self.apply_gas = 0
@@ -23,16 +22,15 @@ class CarController:
 
     self.lka_last_rc_val = -1
     self.lka_same_rc_cnt = 0
-    
+
     self.lka_steering_cmd_counter_last = -1
     self.lka_icon_status_last = (False, False)
-    self.steer_rate_limited = False
 
     self.params = CarControllerParams()
 
-    self.packer_pt = CANPacker(DBC[CP.carFingerprint]['pt'])
-    self.packer_obj = CANPacker(DBC[CP.carFingerprint]['radar'])
-    self.packer_ch = CANPacker(DBC[CP.carFingerprint]['chassis'])
+    self.packer_pt = CANPacker(DBC[self.CP.carFingerprint]['pt'])
+    self.packer_obj = CANPacker(DBC[self.CP.carFingerprint]['radar'])
+    self.packer_ch = CANPacker(DBC[self.CP.carFingerprint]['chassis'])
 
   def update(self, CC, CS):
     actuators = CC.actuators
@@ -56,67 +54,66 @@ class CarController:
       idx = (CS.lka_steering_cmd_counter + 1) % 4
       # Start counting number of resubmits - this should only happen when the panda drops an LKA frame
       # If we reach 3 attempts to send the same frame, it's time to switch to inactive
-      # 
+      #
       if idx == self.lka_last_rc_val:
         self.lka_same_rc_cnt += 1
       else:
         self.lka_same_rc_cnt = 0
       self.lka_last_rc_val = idx
-      
+
       lkas_enabled = CC.latActive and CS.out.vEgo > self.params.MIN_STEER_SPEED and self.lka_same_rc_cnt < 3
       if lkas_enabled:
         new_steer = int(round(actuators.steer * self.params.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-        self.steer_rate_limited = new_steer != apply_steer
       else:
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
       can_sends.append(gmcan.create_steering_control(self.packer_pt, CanBus.POWERTRAIN, apply_steer, idx, lkas_enabled))
 
-    # Gas/regen and brakes - all at 25Hz
-    if CS.CP.openpilotLongitudinalControl and (self.frame % 4) == 0:
-      if not CC.longActive:
-        # Stock ECU sends max regen when not enabled
-        self.apply_gas = self.params.MAX_ACC_REGEN
-        self.apply_brake = 0
-      else:
-        self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
-        self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
-
-      idx = (self.frame // 4) % 4
-
-      at_full_stop = CC.longActive and CS.out.standstill
-      near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
-      # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
-      can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
-      # Vehicles with factory camera-based ACC expect friction brake on PT
-      can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
-
-    # Send dashboard UI commands (ACC status), 25hz
-    if CS.CP.openpilotLongitudinalControl and (self.frame % 4) == 0:
-      send_fcw = hud_alert == VisualAlert.fcw
-      can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                          hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
-
-    # Radar needs to know current speed and yaw rate (50hz),
-    # and that ADAS is alive (10hz)
-    time_and_headlights_step = 10
-    tt = self.frame * DT_CTRL
-
-    if CS.CP.openpilotLongitudinalControl and (not CS.CP.radarOffCan) and (self.frame % time_and_headlights_step) == 0:
-      idx = (self.frame // time_and_headlights_step) % 4
-      can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
-      can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
-
-    speed_and_accelerometer_step = 2
-    if CS.CP.openpilotLongitudinalControl and (not CS.CP.radarOffCan) and self.frame % speed_and_accelerometer_step == 0:
-      idx = (self.frame // speed_and_accelerometer_step) % 4
-      can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
-      can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
-
-    if CS.CP.openpilotLongitudinalControl and CS.CP.networkLocation == NetworkLocation.gateway and (self.frame % self.params.ADAS_KEEPALIVE_STEP) == 0:
-      can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
+    if self.CP.openpilotLongitudinalControl:
+      # Gas/regen, brakes, and UI commands - all at 25Hz
+      if self.frame % 4 == 0:
+        if not CC.longActive:
+          # Stock ECU sends max regen when not enabled
+          self.apply_gas = self.params.MAX_ACC_REGEN
+          self.apply_brake = 0
+        else:
+          self.apply_gas = int(round(interp(actuators.accel, self.params.GAS_LOOKUP_BP, self.params.GAS_LOOKUP_V)))
+          self.apply_brake = int(round(interp(actuators.accel, self.params.BRAKE_LOOKUP_BP, self.params.BRAKE_LOOKUP_V)))
+
+        idx = (self.frame // 4) % 4
+
+        at_full_stop = CC.longActive and CS.out.standstill
+        near_stop = CC.longActive and (CS.out.vEgo < self.params.NEAR_STOP_BRAKE_PHASE)
+        # GasRegenCmdActive needs to be 1 to avoid cruise faults. It describes the ACC state, not actuation
+        can_sends.append(gmcan.create_gas_regen_command(self.packer_pt, CanBus.POWERTRAIN, self.apply_gas, idx, CC.enabled, at_full_stop))
+        # Vehicles with factory camera-based ACC expect friction brake on PT
+        can_sends.append(gmcan.create_friction_brake_command(self.packer_ch, CanBus.CHASSIS, self.apply_brake, idx, near_stop, at_full_stop))
+
+        # Send dashboard UI commands (ACC status)
+        send_fcw = hud_alert == VisualAlert.fcw
+        can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
+                                                            hud_v_cruise * CV.MS_TO_KPH, hud_control.leadVisible, send_fcw))
+
+      # Radar needs to know current speed and yaw rate (50hz),
+      # and that ADAS is alive (10hz)
+      if not self.CP.radarOffCan:
+        tt = self.frame * DT_CTRL
+        time_and_headlights_step = 10
+        if self.frame % time_and_headlights_step == 0:
+          idx = (self.frame // time_and_headlights_step) % 4
+          can_sends.append(gmcan.create_adas_time_status(CanBus.OBSTACLE, int((tt - self.start_time) * 60), idx))
+          can_sends.append(gmcan.create_adas_headlights_status(self.packer_obj, CanBus.OBSTACLE))
+
+        speed_and_accelerometer_step = 2
+        if self.frame % speed_and_accelerometer_step == 0:
+          idx = (self.frame // speed_and_accelerometer_step) % 4
+          can_sends.append(gmcan.create_adas_steering_status(CanBus.OBSTACLE, idx))
+          can_sends.append(gmcan.create_adas_accelerometer_speed_status(CanBus.OBSTACLE, CS.out.vEgo, idx))
+
+      if self.CP.networkLocation == NetworkLocation.gateway and self.frame % self.params.ADAS_KEEPALIVE_STEP == 0:
+        can_sends += gmcan.create_adas_keepalive(CanBus.POWERTRAIN)
 
     # Show green icon when LKA torque is applied, and
     # alarming orange icon when approaching torque limit.
@@ -125,8 +122,9 @@ class CarController:
     lka_active = CS.lkas_status == 1
     lka_critical = lka_active and abs(actuators.steer) > 0.9
     lka_icon_status = (lka_active, lka_critical)
+
     # SW_GMLAN not yet on cam harness
-    if CS.CP.networkLocation != NetworkLocation.fwdCamera and self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last:
+    if self.CP.networkLocation != NetworkLocation.fwdCamera and (self.frame % self.params.CAMERA_KEEPALIVE_STEP == 0 or lka_icon_status != self.lka_icon_status_last):
       steer_alert = hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw)
       can_sends.append(gmcan.create_lka_icon_command(CanBus.SW_GMLAN, lka_active, lka_critical, steer_alert))
       self.lka_icon_status_last = lka_icon_status
diff --git a/selfdrive/car/gm/carstate.py b/selfdrive/car/gm/carstate.py
index c9794ee8a7..d9b4d876e9 100644
--- a/selfdrive/car/gm/carstate.py
+++ b/selfdrive/car/gm/carstate.py
@@ -30,6 +30,7 @@ class CarState(CarStateBase):
     ret.vEgoRaw = mean([ret.wheelSpeeds.fl, ret.wheelSpeeds.fr, ret.wheelSpeeds.rl, ret.wheelSpeeds.rr])
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
     ret.standstill = ret.vEgoRaw < 0.01
+
     if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
       ret.gearShifter = self.parse_gear_shifter("T")
     else:
@@ -139,7 +140,10 @@ class CarState(CarStateBase):
     ]
 
     checks = [
-      ("ASCMLKASteeringCmd", 0), # Prevent startup CAN Errors and dropped packet errors
+      # TODO: does this still need to be 0?
+      ("ASCMLKASteeringCmd", 10), # 10 Hz is the stock inactive rate (every 100ms).
+      #                             While active 50 Hz (every 20 ms) is normal
+      #                             EPS will tolerate around 200ms when active before faulting
     ]
 
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, CanBus.LOOPBACK)
diff --git a/selfdrive/car/gm/interface.py b/selfdrive/car/gm/interface.py
index cf85d78bc6..a81656e94c 100755
--- a/selfdrive/car/gm/interface.py
+++ b/selfdrive/car/gm/interface.py
@@ -68,9 +68,10 @@ class CarInterface(CarInterfaceBase):
     ret = CarInterfaceBase.get_std_params(candidate, fingerprint)
     ret.carName = "gm"
     ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.gm)]
-    ret.pcmCruise = False  # For ASCM, stock cruise control is kept off (but not ACC)
-    ret.radarOffCan = False  # For ASCM, radar is expected
-    ret.transmissionType = TransmissionType.automatic # or direct for EV
+    ret.pcmCruise = False  # For ASCM, stock non-adaptive cruise control is kept off
+    ret.radarOffCan = False  # For ASCM, radar is present
+    ret.transmissionType = TransmissionType.automatic  # EV is direct
+    # NetworkLocation.gateway: OBD-II harness (typically ASCM), NetworkLocation.fwdCamera: non-ASCM
     ret.networkLocation = NetworkLocation.gateway # or fwdCamera
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
@@ -105,18 +106,18 @@ class CarInterface(CarInterfaceBase):
     #       Newer cars (that are still ASCM-based) use -1 for minEnableSpeed with the comment "engage speed is decided by pcm"
 
     if candidate == CAR.VOLT:
-      ret.transmissionType = TransmissionType.direct # EV (or hybrid)
+      ret.transmissionType = TransmissionType.direct
       ret.mass = 1607. + STD_CARGO_KG
       ret.wheelbase = 2.69
       ret.steerRatio = 17.7  # Stock 15.7, LiveParameters
-      tire_stiffness_factor = 0.469 # Stock Michelin Energy Saver A/S, LiveParameters
-      ret.centerToFront = ret.wheelbase * 0.45 # Volt Gen 1, TODO corner weigh
+      tire_stiffness_factor = 0.469  # Stock Michelin Energy Saver A/S, LiveParameters
+      ret.centerToFront = ret.wheelbase * 0.45  # Volt Gen 1, TODO corner weigh
 
       ret.lateralTuning.pid.kpBP = [0., 40.]
       ret.lateralTuning.pid.kpV = [0., 0.17]
       ret.lateralTuning.pid.kiBP = [0.]
       ret.lateralTuning.pid.kiV = [0.]
-      ret.lateralTuning.pid.kf = 1. # get_steer_feedforward_volt()
+      ret.lateralTuning.pid.kf = 1.  # get_steer_feedforward_volt()
       ret.steerActuatorDelay = 0.2
 
     elif candidate == CAR.MALIBU:
@@ -223,8 +224,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_loopback)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     if self.CS.cruise_buttons != self.CS.prev_cruise_buttons and self.CS.prev_cruise_buttons != CruiseButtons.INIT:
       be = create_button_event(self.CS.cruise_buttons, self.CS.prev_cruise_buttons, BUTTONS_DICT, CruiseButtons.UNPRESS)
 
@@ -234,9 +233,8 @@ class CarInterface(CarInterfaceBase):
 
       ret.buttonEvents = [be]
 
-    # TODO: Depends on OP PR #24764 (Switch to ECMPRDNL2)
-    events = self.create_common_events(ret, extra_gears = [GearShifter.sport, GearShifter.low,
-                                                           GearShifter.eco, GearShifter.manumatic],
+    events = self.create_common_events(ret, extra_gears=[GearShifter.sport, GearShifter.low,
+                                                         GearShifter.eco, GearShifter.manumatic],
                                        pcm_enable=self.CP.pcmCruise)
 
     if ret.vEgo < self.CP.minEnableSpeed:
@@ -254,5 +252,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/gm/values.py b/selfdrive/car/gm/values.py
index caf6105c4c..2667141aa3 100644
--- a/selfdrive/car/gm/values.py
+++ b/selfdrive/car/gm/values.py
@@ -1,4 +1,5 @@
-from dataclasses import dataclass
+from collections import defaultdict
+from dataclasses import dataclass, field
 from enum import Enum
 from typing import Dict, List, Union
 
@@ -14,9 +15,9 @@ class CarControllerParams:
   # TODO: Min steer speed seems to be about 3 MPH; may differ per car
   # TODO: Unsure of driver values
   # TODO: MAX_GAS, ZERO_GAS and MAX_BRAKE, MAX_ACC_REGEN are based on a specific volt year...
-  STEER_MAX = 300  # GM LKAS max (input) torque is 3 Nm
-  STEER_STEP = 2  # control frames per command (50 Hz or every 20ms)
-  STEER_DELTA_UP = 7
+  STEER_MAX = 300  # GM limit is 3Nm. Used by carcontroller to generate LKA output
+  STEER_STEP = 2  # Control frames per command (50hz)
+  STEER_DELTA_UP = 7  # Delta rates require review due to observed EPS weakness
   STEER_DELTA_DOWN = 17
   MIN_STEER_SPEED = 3.  # m/s
   STEER_DRIVER_ALLOWANCE = 50
@@ -29,19 +30,20 @@ class CarControllerParams:
   CAMERA_KEEPALIVE_STEP = 100
 
   # Volt gasbrake lookups
-  MAX_GAS = 3072 # Safety limit, not ACC max. Stock ACC >4096 from standstill.
-  ZERO_GAS = 2048 # Coasting
-  MAX_BRAKE = 350 # ~ -3.5 m/s^2 with regen
+  # TODO: These values should be confirmed on non-Volt vehicles
+  MAX_GAS = 3072  # Safety limit, not ACC max. Stock ACC >4096 from standstill.
+  ZERO_GAS = 2048  # Coasting
+  MAX_BRAKE = 350  # ~ -3.5 m/s^2 with regen
+  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
 
   # Allow small margin below -3.5 m/s^2 from ISO 15622:2018 since we
   # perform the closed loop control, and might need some
   # to apply some more braking if we're on a downhill slope.
   # Our controller should still keep the 2 second average above
   # -3.5 m/s^2 as per planner limits
-  ACCEL_MAX = 2. # m/s^2
-  ACCEL_MIN = -4. # m/s^2
+  ACCEL_MAX = 2.  # m/s^2
+  ACCEL_MIN = -4.  # m/s^2
 
-  MAX_ACC_REGEN = 1404  # Max ACC regen is slightly less than max paddle regen
   GAS_LOOKUP_BP = [-1., 0., ACCEL_MAX]
   GAS_LOOKUP_V = [MAX_ACC_REGEN, ZERO_GAS, MAX_GAS]
   BRAKE_LOOKUP_BP = [ACCEL_MIN, -1.]
@@ -78,18 +80,19 @@ class Footnote(Enum):
 
 @dataclass
 class GMCarInfo(CarInfo):
-  package: str = "Adaptive Cruise"
+  package: str = "Adaptive Cruise Control"
   harness: Enum = Harness.none
+  footnotes: List[Enum] = field(default_factory=lambda: [Footnote.OBD_II])
 
 
 CAR_INFO: Dict[str, Union[GMCarInfo, List[GMCarInfo]]] = {
-  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017",footnotes=[Footnote.OBD_II], harness=Harness.obd_ii),
-  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", footnotes=[Footnote.OBD_II], min_enable_speed=0, harness=Harness.obd_ii),
-  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018", footnotes=[Footnote.OBD_II], harness=Harness.obd_ii), 
-  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", footnotes=[Footnote.OBD_II], harness=Harness.obd_ii),
-  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo", footnotes=[Footnote.OBD_II], harness=Harness.obd_ii),
-  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018",footnotes=[Footnote.OBD_II], harness=Harness.obd_ii),
-  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "ACC + LKAS", footnotes=[Footnote.OBD_II], harness=Harness.obd_ii),
+  CAR.HOLDEN_ASTRA: GMCarInfo("Holden Astra 2017", harness=Harness.custom),
+  CAR.VOLT: GMCarInfo("Chevrolet Volt 2017-18", min_enable_speed=0, harness=Harness.custom),
+  CAR.CADILLAC_ATS: GMCarInfo("Cadillac ATS Premium Performance 2018"),
+  CAR.MALIBU: GMCarInfo("Chevrolet Malibu Premier 2017", harness=Harness.custom),
+  CAR.ACADIA: GMCarInfo("GMC Acadia 2018", video_link="https://www.youtube.com/watch?v=0ZN6DdsBUZo"),
+  CAR.BUICK_REGAL: GMCarInfo("Buick Regal Essence 2018"),
+  CAR.ESCALADE_ESV: GMCarInfo("Cadillac Escalade ESV 2016", "Adaptive Cruise Control (ACC) & LKAS"),  # TODO: can probably just be ACC?
   CAR.SILVERADO: GMCarInfo("Chevrolet Silverado 1500 2020", "Driver Alert Package II", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
   CAR.BOLT_EUV: GMCarInfo("Chevrolet Bolt EUV Premier 2022", "Chevy Safety Assist", footnotes=[Footnote.CAM_HARNESS], harness=Harness.gm_cam),
 }
@@ -115,10 +118,12 @@ class CanBus:
   CHASSIS = 2
   SW_GMLAN = 3
   LOOPBACK = 128
+  DROPPED = 192
 
 FINGERPRINTS = {
+  CAR.HOLDEN_ASTRA: [
   # Astra BK MY17, ASCM unplugged
-  CAR.HOLDEN_ASTRA: [{
+  {
     190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 8, 398: 8, 401: 8, 413: 8, 417: 8, 419: 8, 422: 1, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 458: 5, 479: 8, 481: 7, 485: 8, 489: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 647: 5, 707: 8, 715: 8, 723: 8, 753: 5, 761: 7, 806: 1, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 961: 8, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1009: 8, 1011: 6, 1017: 8, 1019: 3, 1020: 8, 1105: 6, 1217: 8, 1221: 5, 1225: 8, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 8, 1280: 4, 1300: 8, 1328: 4, 1417: 8, 1906: 7, 1907: 7, 1908: 7, 1912: 7, 1919: 7,
   }],
   CAR.VOLT: [
@@ -175,14 +180,4 @@ FINGERPRINTS = {
   }],
 }
 
-DBC = {
-  CAR.HOLDEN_ASTRA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.VOLT: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.MALIBU: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ACADIA: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.CADILLAC_ATS: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.BUICK_REGAL: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.ESCALADE_ESV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.SILVERADO: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-  CAR.BOLT_EUV: dbc_dict('gm_global_a_powertrain_generated', 'gm_global_a_object', chassis_dbc='gm_global_a_chassis'),
-}
+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'))
diff --git a/selfdrive/car/honda/carcontroller.py b/selfdrive/car/honda/carcontroller.py
index 4d04927b2f..a5f25e3a2e 100644
--- a/selfdrive/car/honda/carcontroller.py
+++ b/selfdrive/car/honda/carcontroller.py
@@ -155,9 +155,8 @@ class CarController:
         can_sends.append((0x18DAB0F1, 0, b"\x02\x3E\x80\x00\x00\x00\x00\x00", 1))
 
     # Send steering command.
-    idx = self.frame % 4
     can_sends.append(hondacan.create_steering_control(self.packer, apply_steer, CC.latActive, self.CP.carFingerprint,
-                                                      idx, CS.CP.openpilotLongitudinalControl))
+                                                      CS.CP.openpilotLongitudinalControl))
 
     # wind brake from air resistance decel at high speed
     wind_brake = interp(CS.out.vEgo, [0.0, 2.3, 35.0], [0.001, 0.002, 0.15])
@@ -190,18 +189,16 @@ class CarController:
 
     if not self.CP.openpilotLongitudinalControl:
       if self.frame % 2 == 0 and self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:  # radarless cars don't have supplemental message
-        idx = self.frame // 2
-        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint, idx))
+        can_sends.append(hondacan.create_bosch_supplemental_1(self.packer, self.CP.carFingerprint))
       # If using stock ACC, spam cancel command to kill gas when OP disengages.
       if pcm_cancel_cmd:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, idx, self.CP.carFingerprint))
-      elif CS.out.cruiseState.standstill:
-        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, idx, self.CP.carFingerprint))
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.CANCEL, self.CP.carFingerprint))
+      elif CC.cruiseControl.resume:
+        can_sends.append(hondacan.spam_buttons_command(self.packer, CruiseButtons.RES_ACCEL, self.CP.carFingerprint))
 
     else:
       # Send gas and brake commands.
       if self.frame % 2 == 0:
-        idx = self.frame // 2
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
@@ -210,7 +207,7 @@ class CarController:
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           can_sends.extend(hondacan.create_acc_commands(self.packer, CC.enabled, CC.longActive, self.accel, self.gas,
-                                                        idx, stopping, self.CP.carFingerprint))
+                                                        stopping, self.CP.carFingerprint))
         else:
           apply_brake = clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -218,7 +215,7 @@ class CarController:
 
           pcm_override = True
           can_sends.append(hondacan.create_brake_command(self.packer, apply_brake, pump_on,
-                                                         pcm_override, pcm_cancel_cmd, fcw_display, idx,
+                                                         pcm_override, pcm_cancel_cmd, fcw_display,
                                                          self.CP.carFingerprint, CS.stock_brake))
           self.apply_brake_last = apply_brake
           self.brake = apply_brake / self.params.NIDEC_BRAKE_MAX
@@ -234,14 +231,13 @@ class CarController:
               self.gas = clip(gas_mult * (gas - brake + wind_brake * 3 / 4), 0., 1.)
             else:
               self.gas = 0.0
-            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, idx))
+            can_sends.append(create_gas_interceptor_command(self.packer, self.gas, self.frame // 2))
 
     # Send dashboard UI commands.
     if self.frame % 10 == 0:
-      idx = (self.frame // 10) % 4
       hud = HUDData(int(pcm_accel), int(round(hud_v_cruise)), hud_control.leadVisible,
                     hud_control.lanesVisible, fcw_display, acc_alert, steer_required)
-      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, idx, CS.stock_hud, self.frame))
+      can_sends.extend(hondacan.create_ui_commands(self.packer, self.CP, CC.enabled, pcm_speed, hud, CS.is_metric, CS.stock_hud))
 
       if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint not in HONDA_BOSCH:
         self.speed = pcm_speed
diff --git a/selfdrive/car/honda/hondacan.py b/selfdrive/car/honda/hondacan.py
index 5de29b4f37..1f5f75426b 100644
--- a/selfdrive/car/honda/hondacan.py
+++ b/selfdrive/car/honda/hondacan.py
@@ -20,7 +20,7 @@ def get_lkas_cmd_bus(car_fingerprint, radar_disabled=False):
   return 0
 
 
-def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, idx, car_fingerprint, stock_brake):
+def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_cmd, fcw, car_fingerprint, stock_brake):
   # TODO: do we loose pressure if we keep pump off for long?
   brakelights = apply_brake > 0
   brake_rq = apply_brake > 0
@@ -42,10 +42,10 @@ def create_brake_command(packer, apply_brake, pump_on, pcm_override, pcm_cancel_
     "AEB_STATUS": 0,
   }
   bus = get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("BRAKE_COMMAND", bus, values, idx)
+  return packer.make_can_msg("BRAKE_COMMAND", bus, values)
 
 
-def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_fingerprint):
+def create_acc_commands(packer, enabled, active, accel, gas, stopping, car_fingerprint):
   commands = []
   bus = get_pt_bus(car_fingerprint)
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
@@ -67,7 +67,7 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "STANDSTILL": standstill,
     "STANDSTILL_RELEASE": standstill_release,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL", bus, acc_control_values))
 
   acc_control_on_values = {
     "SET_TO_3": 0x03,
@@ -76,21 +76,21 @@ def create_acc_commands(packer, enabled, active, accel, gas, idx, stopping, car_
     "SET_TO_75": 0x75,
     "SET_TO_30": 0x30,
   }
-  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values, idx))
+  commands.append(packer.make_can_msg("ACC_CONTROL_ON", bus, acc_control_on_values))
 
   return commands
 
 
-def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, idx, radar_disabled):
+def create_steering_control(packer, apply_steer, lkas_active, car_fingerprint, radar_disabled):
   values = {
     "STEER_TORQUE": apply_steer if lkas_active else 0,
     "STEER_TORQUE_REQUEST": lkas_active,
   }
   bus = get_lkas_cmd_bus(car_fingerprint, radar_disabled)
-  return packer.make_can_msg("STEERING_CONTROL", bus, values, idx)
+  return packer.make_can_msg("STEERING_CONTROL", bus, values)
 
 
-def create_bosch_supplemental_1(packer, car_fingerprint, idx):
+def create_bosch_supplemental_1(packer, car_fingerprint):
   # non-active params
   values = {
     "SET_ME_X04": 0x04,
@@ -98,10 +98,10 @@ def create_bosch_supplemental_1(packer, car_fingerprint, idx):
     "SET_ME_X10": 0x10,
   }
   bus = get_lkas_cmd_bus(car_fingerprint)
-  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values, idx)
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_1", bus, values)
 
 
-def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stock_hud, frame):
+def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, stock_hud):
   commands = []
   bus_pt = get_pt_bus(CP.carFingerprint)
   radar_disabled = CP.carFingerprint in HONDA_BOSCH and CP.openpilotLongitudinalControl
@@ -129,7 +129,7 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
       acc_hud_values['FCM_OFF_2'] = stock_hud['FCM_OFF_2']
       acc_hud_values['FCM_PROBLEM'] = stock_hud['FCM_PROBLEM']
       acc_hud_values['ICONS'] = stock_hud['ICONS']
-    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values, idx))
+    commands.append(packer.make_can_msg("ACC_HUD", bus_pt, acc_hud_values))
 
   lkas_hud_values = {
     'SET_ME_X41': 0x41,
@@ -141,36 +141,34 @@ def create_ui_commands(packer, CP, enabled, pcm_speed, hud, is_metric, idx, stoc
   if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     lkas_hud_values['LANE_LINES'] = 3
     lkas_hud_values['DASHED_LANES'] = hud.lanes_visible
-    # TODO: understand this better, does car need to see it fall after start up?
-    lkas_hud_values['LKAS_PROBLEM'] = 0 if frame > 200 else 1
 
   if not (CP.flags & HondaFlags.BOSCH_EXT_HUD):
     lkas_hud_values['SET_ME_X48'] = 0x48
 
   if CP.flags & HondaFlags.BOSCH_EXT_HUD and not CP.openpilotLongitudinalControl:
-    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values, idx))
-    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD_A', bus_lkas, lkas_hud_values))
+    commands.append(packer.make_can_msg('LKAS_HUD_B', bus_lkas, lkas_hud_values))
   else:
-    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values, idx))
+    commands.append(packer.make_can_msg('LKAS_HUD', bus_lkas, lkas_hud_values))
 
   if radar_disabled and CP.carFingerprint in HONDA_BOSCH:
     radar_hud_values = {
       'CMBS_OFF': 0x01,
       'SET_TO_1': 0x01,
     }
-    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values, idx))
+    commands.append(packer.make_can_msg('RADAR_HUD', bus_pt, radar_hud_values))
 
     if CP.carFingerprint == CAR.CIVIC_BOSCH:
-      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}, idx))
+      commands.append(packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus_pt, {}))
 
   return commands
 
 
-def spam_buttons_command(packer, button_val, idx, car_fingerprint):
+def spam_buttons_command(packer, button_val, car_fingerprint):
   values = {
     'CRUISE_BUTTONS': button_val,
     'CRUISE_SETTING': 0,
   }
   # send buttons to camera on radarless cars
   bus = 2 if car_fingerprint in HONDA_BOSCH_RADARLESS else get_pt_bus(car_fingerprint)
-  return packer.make_can_msg("SCM_BUTTONS", bus, values, idx)
+  return packer.make_can_msg("SCM_BUTTONS", bus, values)
diff --git a/selfdrive/car/honda/values.py b/selfdrive/car/honda/values.py
index c6e20f2d83..88e118cc3d 100644
--- a/selfdrive/car/honda/values.py
+++ b/selfdrive/car/honda/values.py
@@ -109,13 +109,13 @@ class HondaCarInfo(CarInfo):
 
 CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
   CAR.ACCORD: [
-    HondaCarInfo("Honda Accord 2018-21", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Accord 2018-22", "All", video_link="https://www.youtube.com/watch?v=mrUwlj3Mi58", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Inspire 2018", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   ],
-  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.ACCORDH: HondaCarInfo("Honda Accord Hybrid 2018-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.CIVIC: HondaCarInfo("Honda Civic 2016-18", harness=Harness.nidec),
   CAR.CIVIC_BOSCH: [
-    HondaCarInfo("Honda Civic 2019-20", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+    HondaCarInfo("Honda Civic 2019-21", "All", video_link="https://www.youtube.com/watch?v=4Iz1Mz5LGF8", footnotes=[Footnote.CIVIC_DIESEL], min_steer_speed=2. * CV.MPH_TO_MS, harness=Harness.bosch_a),
     HondaCarInfo("Honda Civic Hatchback 2017-21", harness=Harness.bosch_a),
   ],
   CAR.CIVIC_BOSCH_DIESEL: None,  # same platform
@@ -124,21 +124,21 @@ CAR_INFO: Dict[str, Optional[Union[HondaCarInfo, List[HondaCarInfo]]]] = {
     HondaCarInfo("Honda Civic Hatchback 2022", "All", min_steer_speed=0., harness=Harness.bosch_b),
   ],
   CAR.ACURA_ILX: HondaCarInfo("Acura ILX 2016-19", "AcuraWatch Plus", min_steer_speed=25. * CV.MPH_TO_MS, harness=Harness.nidec),
-  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring", harness=Harness.nidec),
-  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-21", harness=Harness.bosch_a),
+  CAR.CRV: HondaCarInfo("Honda CR-V 2015-16", "Touring Trim", harness=Harness.nidec),
+  CAR.CRV_5G: HondaCarInfo("Honda CR-V 2017-22", harness=Harness.bosch_a),
   CAR.CRV_EU: None,  # HondaCarInfo("Honda CR-V EU", "Touring"),  # Euro version of CRV Touring
   CAR.CRV_HYBRID: HondaCarInfo("Honda CR-V Hybrid 2017-19", harness=Harness.bosch_a),
-  CAR.FIT: HondaCarInfo("Honda Fit 2018-19", harness=Harness.nidec),
+  CAR.FIT: HondaCarInfo("Honda Fit 2018-20", harness=Harness.nidec),
   CAR.FREED: HondaCarInfo("Honda Freed 2020", harness=Harness.nidec),
-  CAR.HRV: HondaCarInfo("Honda HR-V 2019-20", harness=Harness.nidec),
-  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-20", min_steer_speed=0., harness=Harness.nidec),
+  CAR.HRV: HondaCarInfo("Honda HR-V 2019-22", harness=Harness.nidec),
+  CAR.ODYSSEY: HondaCarInfo("Honda Odyssey 2018-22", min_steer_speed=0., harness=Harness.nidec),
   CAR.ODYSSEY_CHN: None,  # Chinese version of Odyssey
   CAR.ACURA_RDX: HondaCarInfo("Acura RDX 2016-18", "AcuraWatch Plus", harness=Harness.nidec),
-  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
-  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-21", harness=Harness.nidec),
+  CAR.ACURA_RDX_3G: HondaCarInfo("Acura RDX 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.PILOT: HondaCarInfo("Honda Pilot 2016-22", harness=Harness.nidec),
   CAR.PASSPORT: HondaCarInfo("Honda Passport 2019-21", "All", harness=Harness.nidec),
   CAR.RIDGELINE: HondaCarInfo("Honda Ridgeline 2017-22", harness=Harness.nidec),
-  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
+  CAR.INSIGHT: HondaCarInfo("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
   CAR.HONDA_E: HondaCarInfo("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS, harness=Harness.bosch_a),
 }
 
@@ -1303,6 +1303,7 @@ FW_VERSIONS = {
     ],
     (Ecu.fwdRadar, 0x18dab0f1, None): [
       b'36802-TXM-A070\x00\x00',
+      b'36802-TXM-A080\x00\x00',
     ],
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'36161-TXM-A050\x00\x00',
@@ -1341,6 +1342,7 @@ FW_VERSIONS = {
       b'36161-T7A-A140\x00\x00',
       b'36161-T7A-A240\x00\x00',
       b'36161-T7A-C440\x00\x00',
+      b'36161-T7A-A040\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [
       b'77959-T7A-A230\x00\x00',
@@ -1351,6 +1353,7 @@ FW_VERSIONS = {
       b'78109-THX-A210\x00\x00',
       b'78109-THX-A220\x00\x00',
       b'78109-THX-C220\x00\x00',
+      b'78109-THW-A110\x00\x00',
     ],
   },
   CAR.ACURA_ILX: {
@@ -1406,15 +1409,20 @@ FW_VERSIONS = {
       b'38897-T20-A020\x00\x00',
       b'38897-T20-A510\x00\x00',
       b'38897-T21-A010\x00\x00',
+      b'38897-T20-A210\x00\x00',
+      b'38897-T20-A310\x00\x00',
     ],
     (Ecu.srs, 0x18DA53F1, None): [
       b'77959-T20-A970\x00\x00',
       b'77959-T47-A940\x00\x00',
+      b'77959-T47-A950\x00\x00',
     ],
     (Ecu.combinationMeter, 0x18DA60F1, None): [
       b'78108-T21-A220\x00\x00',
       b'78108-T21-A620\x00\x00',
       b'78108-T23-A110\x00\x00',
+      b'78108-T21-A230\x00\x00',
+      b'78108-T22-A020\x00\x00',
     ],
     (Ecu.vsa, 0x18DA28F1, None): [
       b'57114-T20-AB40\x00\x00',
@@ -1424,11 +1432,14 @@ FW_VERSIONS = {
       b'28101-65D-A020\x00\x00',
       b'28101-65D-A120\x00\x00',
       b'28101-65H-A020\x00\x00',
+      b'28101-65H-A120\x00\x00',
     ],
     (Ecu.programmedFuelInjection, 0x18da10f1, None): [
       b'37805-64L-A540\x00\x00',
       b'37805-64S-A540\x00\x00',
       b'37805-64S-A720\x00\x00',
+      b'37805-64A-A540\x00\x00',
+      b'37805-64A-A620\x00\x00',
     ],
   },
 }
diff --git a/selfdrive/car/hyundai/carcontroller.py b/selfdrive/car/hyundai/carcontroller.py
index fb3579464a..4d181e3821 100644
--- a/selfdrive/car/hyundai/carcontroller.py
+++ b/selfdrive/car/hyundai/carcontroller.py
@@ -1,11 +1,11 @@
 from cereal import car
-from common.realtime import DT_CTRL
-from common.numpy_fast import clip, interp
 from common.conversions import Conversions as CV
+from common.numpy_fast import clip, interp
+from common.realtime import DT_CTRL
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.hyundai import hda2can, hyundaican
 from selfdrive.car.hyundai.values import Buttons, CarControllerParams, HDA2_CAR, CAR
-from opendbc.can.packer import CANPacker
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 LongCtrlState = car.CarControl.Actuators.LongControlState
@@ -43,7 +43,6 @@ class CarController:
 
     self.apply_steer_last = 0
     self.car_fingerprint = CP.carFingerprint
-    self.steer_rate_limited = False
     self.last_button_frame = 0
     self.accel = 0
 
@@ -52,9 +51,13 @@ class CarController:
     hud_control = CC.hudControl
 
     # Steering Torque
-    new_steer = int(round(actuators.steer * self.params.STEER_MAX))
+
+    # These cars have significantly more torque than most HKG.  Limit to 70% of max.
+    steer = actuators.steer
+    if self.CP.carFingerprint in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
+      steer = clip(steer, -0.7, 0.7)
+    new_steer = int(round(steer * self.params.STEER_MAX))
     apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.params)
-    self.steer_rate_limited = new_steer != apply_steer
 
     if not CC.latActive:
       apply_steer = 0
@@ -68,18 +71,21 @@ class CarController:
 
     if self.CP.carFingerprint in HDA2_CAR:
       # steering control
-      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, self.frame, CC.latActive, apply_steer))
+      can_sends.append(hda2can.create_lkas(self.packer, CC.enabled, CC.latActive, apply_steer))
+
+      if self.frame % 5 == 0:
+        can_sends.append(hda2can.create_cam_0x2a4(self.packer, CS.cam_0x2a4))
 
       # cruise cancel
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         if CC.cruiseControl.cancel:
           for _ in range(20):
-            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, True, False))
+            can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.CANCEL))
           self.last_button_frame = self.frame
 
         # cruise standstill resume
-        elif CC.enabled and CS.out.cruiseState.standstill:
-          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, False, True))
+        elif CC.cruiseControl.resume:
+          can_sends.append(hda2can.create_buttons(self.packer, CS.buttons_counter+1, Buttons.RES_ACCEL))
           self.last_button_frame = self.frame
     else:
 
@@ -95,12 +101,12 @@ class CarController:
 
       if not self.CP.openpilotLongitudinalControl:
         if CC.cruiseControl.cancel:
-          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL))
-        elif CS.out.cruiseState.standstill:
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP.carFingerprint))
+        elif CC.cruiseControl.resume:
           # send resume at a max freq of 10Hz
           if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
             # send 25 messages at a time to increases the likelihood of resume being accepted
-            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL)] * 25)
+            can_sends.extend([hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.RES_ACCEL, self.CP.carFingerprint)] * 25)
             self.last_button_frame = self.frame
 
       if self.frame % 2 == 0 and self.CP.openpilotLongitudinalControl:
@@ -122,7 +128,7 @@ class CarController:
 
       # 20 Hz LFA MFA message
       if self.frame % 5 == 0 and self.car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.IONIQ, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021,
-                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV,
+                                                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_CEED, CAR.KIA_SELTOS, CAR.KONA_EV, CAR.KONA_EV_2022,
                                                           CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.SANTA_FE_2022,
                                                           CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.GENESIS_G70_2020, CAR.SANTA_FE_PHEV_2022):
         can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled))
diff --git a/selfdrive/car/hyundai/carstate.py b/selfdrive/car/hyundai/carstate.py
index 6c82c33856..f1428555a8 100644
--- a/selfdrive/car/hyundai/carstate.py
+++ b/selfdrive/car/hyundai/carstate.py
@@ -5,10 +5,10 @@ from cereal import car
 from common.conversions import Conversions as CV
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.hyundai.values import DBC, FEATURES, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import DBC, FEATURES, CAMERA_SCC_CAR, HDA2_CAR, EV_CAR, HYBRID_CAR, Buttons, CarControllerParams
 from selfdrive.car.interfaces import CarStateBase
 
-PREV_BUTTON_SAMPLES = 4
+PREV_BUTTON_SAMPLES = 8
 
 
 class CarState(CarStateBase):
@@ -40,6 +40,8 @@ class CarState(CarStateBase):
 
     ret = car.CarState.new_message()
 
+    cp_cruise = cp_cam if self.CP.carFingerprint in CAMERA_SCC_CAR else cp
+
     ret.doorOpen = any([cp.vl["CGW1"]["CF_Gway_DrvDrSw"], cp.vl["CGW1"]["CF_Gway_AstDrSw"],
                         cp.vl["CGW2"]["CF_Gway_RLDrSw"], cp.vl["CGW2"]["CF_Gway_RRDrSw"]])
 
@@ -73,11 +75,11 @@ class CarState(CarStateBase):
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
     else:
-      ret.cruiseState.available = cp.vl["SCC11"]["MainMode_ACC"] == 1
-      ret.cruiseState.enabled = cp.vl["SCC12"]["ACCMode"] != 0
-      ret.cruiseState.standstill = cp.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
+      ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
+      ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
       speed_conv = CV.MPH_TO_MS if cp.vl["CLU11"]["CF_Clu_SPEED_UNIT"] else CV.KPH_TO_MS
-      ret.cruiseState.speed = cp.vl["SCC11"]["VSetDis"] * speed_conv
+      ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -110,11 +112,11 @@ class CarState(CarStateBase):
 
     if not self.CP.openpilotLongitudinalControl:
       if self.CP.carFingerprint in FEATURES["use_fca"]:
-        ret.stockAeb = cp.vl["FCA11"]["FCA_CmdAct"] != 0
-        ret.stockFcw = cp.vl["FCA11"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["FCA11"]["FCA_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["FCA11"]["CF_VSM_Warn"] == 2
       else:
-        ret.stockAeb = cp.vl["SCC12"]["AEB_CmdAct"] != 0
-        ret.stockFcw = cp.vl["SCC12"]["CF_VSM_Warn"] == 2
+        ret.stockAeb = cp_cruise.vl["SCC12"]["AEB_CmdAct"] != 0
+        ret.stockFcw = cp_cruise.vl["SCC12"]["CF_VSM_Warn"] == 2
 
     if self.CP.enableBsm:
       ret.leftBlindspot = cp.vl["LCA11"]["CF_Lca_IndLeft"] != 0
@@ -171,7 +173,11 @@ class CarState(CarStateBase):
     speed_factor = CV.MPH_TO_MS if cp.vl["CLUSTER_INFO"]["DISTANCE_UNIT"] == 1 else CV.KPH_TO_MS
     ret.cruiseState.speed = cp.vl["CRUISE_INFO"]["SET_SPEED"] * speed_factor
 
-    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["_COUNTER"]
+    self.cruise_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["CRUISE_BUTTONS"])
+    self.main_buttons.extend(cp.vl_all["CRUISE_BUTTONS"]["ADAPTIVE_CRUISE_MAIN_BTN"])
+    self.buttons_counter = cp.vl["CRUISE_BUTTONS"]["COUNTER"]
+
+    self.cam_0x2a4 = copy.copy(cp_cam.vl["CAM_0x2a4"])
 
     return ret
 
@@ -247,7 +253,7 @@ class CarState(CarStateBase):
       ("SAS11", 100),
     ]
 
-    if not CP.openpilotLongitudinalControl:
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint not in CAMERA_SCC_CAR:
       signals += [
         ("MainMode_ACC", "SCC11"),
         ("VSetDis", "SCC11"),
@@ -313,7 +319,9 @@ class CarState(CarStateBase):
   @staticmethod
   def get_cam_can_parser(CP):
     if CP.carFingerprint in HDA2_CAR:
-      return None
+      signals = [(f"BYTE{i}", "CAM_0x2a4") for i in range(3, 24)]
+      checks = [("CAM_0x2a4", 20)]
+      return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 6)
 
     signals = [
       # signal_name, signal_address
@@ -337,6 +345,31 @@ class CarState(CarStateBase):
       ("LKAS11", 100)
     ]
 
+    if not CP.openpilotLongitudinalControl and CP.carFingerprint in CAMERA_SCC_CAR:
+      signals += [
+        ("MainMode_ACC", "SCC11"),
+        ("VSetDis", "SCC11"),
+        ("SCCInfoDisplay", "SCC11"),
+        ("ACC_ObjDist", "SCC11"),
+        ("ACCMode", "SCC12"),
+      ]
+      checks += [
+        ("SCC11", 50),
+        ("SCC12", 50),
+      ]
+
+      if CP.carFingerprint in FEATURES["use_fca"]:
+        signals += [
+          ("FCA_CmdAct", "FCA11"),
+          ("CF_VSM_Warn", "FCA11"),
+        ]
+        checks.append(("FCA11", 50))
+      else:
+        signals += [
+          ("AEB_CmdAct", "SCC12"),
+          ("CF_VSM_Warn", "SCC12"),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
 
   @staticmethod
@@ -359,7 +392,9 @@ class CarState(CarStateBase):
       ("CRUISE_ACTIVE", "SCC1"),
       ("SET_SPEED", "CRUISE_INFO"),
       ("CRUISE_STANDSTILL", "CRUISE_INFO"),
-      ("_COUNTER", "CRUISE_BUTTONS"),
+      ("COUNTER", "CRUISE_BUTTONS"),
+      ("CRUISE_BUTTONS", "CRUISE_BUTTONS"),
+      ("ADAPTIVE_CRUISE_MAIN_BTN", "CRUISE_BUTTONS"),
 
       ("DISTANCE_UNIT", "CLUSTER_INFO"),
 
diff --git a/selfdrive/car/hyundai/hda2can.py b/selfdrive/car/hyundai/hda2can.py
index e4c658c1a9..36207aa113 100644
--- a/selfdrive/car/hyundai/hda2can.py
+++ b/selfdrive/car/hyundai/hda2can.py
@@ -1,4 +1,4 @@
-def create_lkas(packer, enabled, frame, lat_active, apply_steer):
+def create_lkas(packer, enabled, lat_active, apply_steer):
   values = {
     "LKA_MODE": 2,
     "LKA_ICON": 2 if enabled else 1,
@@ -10,14 +10,18 @@ def create_lkas(packer, enabled, frame, lat_active, apply_steer):
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_2": 0,
   }
-  return packer.make_can_msg("LKAS", 4, values, frame % 255)
+  return packer.make_can_msg("LKAS", 4, values)
 
+def create_cam_0x2a4(packer, camera_values):
+  camera_values.update({
+    "BYTE7": 0,
+  })
+  return packer.make_can_msg("CAM_0x2a4", 4, camera_values)
 
-def create_buttons(packer, cnt, cancel, resume):
+def create_buttons(packer, cnt, btn):
   values = {
-    "_COUNTER": cnt % 0xf,
+    "COUNTER": cnt,
     "SET_ME_1": 1,
-    "DISTANCE_BTN": 1 if resume else 0,
-    "PAUSE_RESUME_BTN": 1 if cancel else 0,
+    "CRUISE_BUTTONS": btn,
   }
   return packer.make_can_msg("CRUISE_BUTTONS", 5, values)
diff --git a/selfdrive/car/hyundai/hyundaican.py b/selfdrive/car/hyundai/hyundaican.py
index 53499053e0..8a5e33f111 100644
--- a/selfdrive/car/hyundai/hyundaican.py
+++ b/selfdrive/car/hyundai/hyundaican.py
@@ -1,5 +1,5 @@
 import crcmod
-from selfdrive.car.hyundai.values import CAR, CHECKSUM
+from selfdrive.car.hyundai.values import CAR, CHECKSUM, CAMERA_SCC_CAR
 
 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 
@@ -18,8 +18,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
 
   if car_fingerprint in (CAR.SONATA, CAR.PALISADE, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV_2021, CAR.SANTA_FE,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
-                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.SANTA_FE_2022,
-                         CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+                         CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
+                         CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 
@@ -62,11 +62,13 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
   return packer.make_can_msg("LKAS11", 0, values)
 
 
-def create_clu11(packer, frame, clu11, button):
+def create_clu11(packer, frame, clu11, button, car_fingerprint):
   values = clu11
   values["CF_Clu_CruiseSwState"] = button
   values["CF_Clu_AliveCnt1"] = frame % 0x10
-  return packer.make_can_msg("CLU11", 0, values)
+  # send buttons to camera on camera-scc based cars
+  bus = 2 if car_fingerprint in CAMERA_SCC_CAR else 0
+  return packer.make_can_msg("CLU11", bus, values)
 
 
 def create_lfahda_mfc(packer, enabled, hda_set_speed=0):
diff --git a/selfdrive/car/hyundai/interface.py b/selfdrive/car/hyundai/interface.py
index 58a67f58ce..892f62c427 100644
--- a/selfdrive/car/hyundai/interface.py
+++ b/selfdrive/car/hyundai/interface.py
@@ -2,7 +2,7 @@
 from cereal import car
 from panda import Panda
 from common.conversions import Conversions as CV
-from selfdrive.car.hyundai.values import CAR, DBC, HDA2_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
+from selfdrive.car.hyundai.values import CAR, DBC, CAMERA_SCC_CAR, EV_CAR, HYBRID_CAR, LEGACY_SAFETY_MODE_CAR, Buttons, CarControllerParams
 from selfdrive.car.hyundai.radar_interface import RADAR_START_ADDR
 from selfdrive.car import STD_CARGO_KG, create_button_enable_events, create_button_event, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
@@ -29,14 +29,14 @@ class CarInterface(CarInterfaceBase):
     ret.radarOffCan = RADAR_START_ADDR not in fingerprint[1] or DBC[ret.carFingerprint]["radar"] is None
 
     # WARNING: disabling radar also disables AEB (and we show the same warning on the instrument cluster as if you manually disabled AEB)
-    ret.openpilotLongitudinalControl = disable_radar and (candidate not in LEGACY_SAFETY_MODE_CAR)
+    ret.openpilotLongitudinalControl = disable_radar and (candidate not in (LEGACY_SAFETY_MODE_CAR | CAMERA_SCC_CAR))
 
     ret.pcmCruise = not ret.openpilotLongitudinalControl
 
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30} or candidate in HDA2_CAR
+    ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, CAR.ELANTRA_GT_I30}
 
     ret.steerActuatorDelay = 0.1  # Default delay
     ret.steerLimitTimer = 0.4
@@ -78,8 +78,7 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 2.90
       ret.steerRatio = 15.6 * 1.15
       tire_stiffness_factor = 0.63
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.3], [0.05]]
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
     elif candidate in (CAR.ELANTRA, CAR.ELANTRA_GT_I30):
       ret.lateralTuning.pid.kf = 0.00006
       ret.mass = 1275. + STD_CARGO_KG
@@ -116,9 +115,9 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.indi.actuatorEffectivenessBP = [0.]
       ret.lateralTuning.indi.actuatorEffectivenessV = [2.3]
       ret.minSteerSpeed = 60 * CV.KPH_TO_MS
-    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV):
+    elif candidate in (CAR.KONA, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022):
       ret.lateralTuning.pid.kf = 0.00005
-      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425.}.get(candidate, 1275.) + STD_CARGO_KG
+      ret.mass = {CAR.KONA_EV: 1685., CAR.KONA_HEV: 1425., CAR.KONA_EV_2022: 1743.}.get(candidate, 1275.) + STD_CARGO_KG
       ret.wheelbase = 2.6
       ret.steerRatio = 13.42  # Spec
       tire_stiffness_factor = 0.385
@@ -306,6 +305,9 @@ class CarInterface(CarInterfaceBase):
     if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_LONG
 
+    if candidate in CAMERA_SCC_CAR:
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_HYUNDAI_CAMERA_SCC
+
     return ret
 
   @staticmethod
@@ -315,14 +317,12 @@ class CarInterface(CarInterfaceBase):
 
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
 
     # On some newer model years, the CANCEL button acts as a pause/resume button based on the PCM state
     # To avoid re-engaging when openpilot cancels, check user engagement intention via buttons
     # Main button also can trigger an engagement on these cars
     allow_enable = any(btn in ENABLE_BUTTONS for btn in self.CS.cruise_buttons) or any(self.CS.main_buttons)
-    allow_enable = allow_enable or self.CP.carFingerprint in HDA2_CAR
-    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable or True)
+    events = self.create_common_events(ret, pcm_enable=self.CS.CP.pcmCruise, allow_enable=allow_enable)
 
     if self.CS.brake_error:
       events.add(EventName.brakeUnavailable)
@@ -349,5 +349,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/hyundai/values.py b/selfdrive/car/hyundai/values.py
index 645d2f523b..88eaeaf76f 100644
--- a/selfdrive/car/hyundai/values.py
+++ b/selfdrive/car/hyundai/values.py
@@ -1,10 +1,11 @@
+from enum import Enum
 from dataclasses import dataclass
 from typing import Dict, List, Optional, Union
 
 from cereal import car
 from common.conversions import Conversions as CV
 from selfdrive.car import dbc_dict
-from selfdrive.car.docs_definitions import CarInfo, Harness
+from selfdrive.car.docs_definitions import CarFootnote, CarInfo, Column, Harness
 Ecu = car.CarParams.Ecu
 
 
@@ -32,6 +33,8 @@ class CarControllerParams:
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_HEV,
                                CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO, CAR.KIA_STINGER):
       self.STEER_MAX = 255
+
+    # Default for most HKG
     else:
       self.STEER_MAX = 384
 
@@ -51,6 +54,7 @@ class CAR:
   IONIQ_PHEV = "HYUNDAI IONIQ PHEV 2020"
   KONA = "HYUNDAI KONA 2020"
   KONA_EV = "HYUNDAI KONA ELECTRIC 2019"
+  KONA_EV_2022 = "HYUNDAI KONA ELECTRIC 2022"
   KONA_HEV = "HYUNDAI KONA HYBRID 2020"
   SANTA_FE = "HYUNDAI SANTA FE 2019"
   SANTA_FE_2022 = "HYUNDAI SANTA FE 2022"
@@ -84,29 +88,35 @@ class CAR:
   GENESIS_G90 = "GENESIS G90 2017"
 
 
+class Footnote(Enum):
+  CANFD = CarFootnote(
+    "Requires a <a href='https://comma.ai/shop/products/panda'>red panda</a> and additional <a href='https://comma.ai/shop/products/harness-box'>harness box.</a>",
+    Column.MODEL)
+
+
 @dataclass
 class HyundaiCarInfo(CarInfo):
   # TODO: we can probably remove LKAS. LKAS is standard on many
   # HKG and for others, it's likely packaged together with SCC
-  package: str = "SCC + LKAS"
-  good_torque: bool = True
+  package: str = "Smart Cruise Control (SCC) & LKAS"
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.ELANTRA: HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_b),
   CAR.ELANTRA_2021: HyundaiCarInfo("Hyundai Elantra 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
-  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
+  CAR.ELANTRA_HEV_2021: HyundaiCarInfo("Hyundai Elantra Hybrid 2021-22", "Smart Cruise Control (SCC)", video_link="https://youtu.be/_EdYQtV52-c", harness=Harness.hyundai_k),
   CAR.ELANTRA_GT_I30: None,  # dashcamOnly and same platform as CAR.ELANTRA
   CAR.HYUNDAI_GENESIS: HyundaiCarInfo("Hyundai Genesis 2015-16", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_j),
   CAR.IONIQ: HyundaiCarInfo("Hyundai Ioniq Hybrid 2017-19", harness=Harness.hyundai_c),
-  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "SCC + LFA", harness=Harness.hyundai_h),
+  CAR.IONIQ_HEV_2022: HyundaiCarInfo("Hyundai Ioniq Hybrid 2020-22", "Smart Cruise Control (SCC) & LFA", harness=Harness.hyundai_h),
   CAR.IONIQ_EV_LTD: HyundaiCarInfo("Hyundai Ioniq Electric 2019", harness=Harness.hyundai_c),
   CAR.IONIQ_EV_2020: HyundaiCarInfo("Hyundai Ioniq Electric 2020", harness=Harness.hyundai_h),
   CAR.IONIQ_PHEV_2019: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2019", harness=Harness.hyundai_c),
-  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", harness=Harness.hyundai_h),
-  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", harness=Harness.hyundai_b),
+  CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-21", "Smart Cruise Control (SCC)", harness=Harness.hyundai_h),
+  CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", "Smart Cruise Control (SCC)", harness=Harness.hyundai_b),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", harness=Harness.hyundai_g),
-  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", harness=Harness.hyundai_i),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", "Smart Cruise Control (SCC)", harness=Harness.hyundai_o),
+  CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo", harness=Harness.hyundai_i),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", harness=Harness.hyundai_d),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-22", "All", harness=Harness.hyundai_l),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022", "All", harness=Harness.hyundai_l),
@@ -114,28 +124,28 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-22", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw", harness=Harness.hyundai_a),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", harness=Harness.hyundai_e),
   CAR.TUCSON: [
-    HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
-    HyundaiCarInfo("Hyundai Tucson Diesel 2019", harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson 2021", "Smart Cruise Control (SCC)", min_enable_speed=19 * CV.MPH_TO_MS, harness=Harness.hyundai_l),
+    HyundaiCarInfo("Hyundai Tucson Diesel 2019", "Smart Cruise Control (SCC)", harness=Harness.hyundai_l),
   ],
   CAR.PALISADE: [
-    HyundaiCarInfo("Hyundai Palisade 2020-21", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
-    HyundaiCarInfo("Kia Telluride 2020", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Hyundai Palisade 2020-22", "All", video_link="https://youtu.be/TAnDqjF4fDY?t=456", harness=Harness.hyundai_h),
+    HyundaiCarInfo("Kia Telluride 2020", "All", harness=Harness.hyundai_h),
   ],
-  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
+  CAR.VELOSTER: HyundaiCarInfo("Hyundai Veloster 2019-20", "Smart Cruise Control (SCC)", min_enable_speed=5. * CV.MPH_TO_MS, harness=Harness.hyundai_e),
   CAR.SONATA_HYBRID: HyundaiCarInfo("Hyundai Sonata Hybrid 2020-22", "All", harness=Harness.hyundai_a),
 
   # Kia
   CAR.KIA_FORTE: [
     HyundaiCarInfo("Kia Forte 2018", harness=Harness.hyundai_b),
-    HyundaiCarInfo("Kia Forte 2019-21", harness=Harness.hyundai_g),
+    HyundaiCarInfo("Kia Forte 2019-21", "All", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "SCC", harness=Harness.hyundai_a),
+  CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro Electric 2019-20", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_f),
     HyundaiCarInfo("Kia Niro Electric 2021", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Niro Electric 2022", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", harness=Harness.hyundai_h),
   ],
-  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2019", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
+  CAR.KIA_NIRO_HEV: HyundaiCarInfo("Kia Niro Plug-in Hybrid 2018-19", min_enable_speed=10. * CV.MPH_TO_MS, harness=Harness.hyundai_c),
   CAR.KIA_NIRO_HEV_2021: [
     HyundaiCarInfo("Kia Niro Hybrid 2021", harness=Harness.hyundai_f),  # TODO: could be hyundai_d, verify
     HyundaiCarInfo("Kia Niro Hybrid 2022", harness=Harness.hyundai_h),
@@ -144,21 +154,21 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Optima 2017", min_steer_speed=32. * CV.MPH_TO_MS, harness=Harness.hyundai_b),
     HyundaiCarInfo("Kia Optima 2019", harness=Harness.hyundai_g),
   ],
-  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima 2017, 2019"),  # TODO: info may be incorrect
-  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", harness=Harness.hyundai_a),
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017, 2019"),  # TODO: info may be incorrect
+  CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", "Smart Cruise Control (SCC)", harness=Harness.hyundai_a),
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_c),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", harness=Harness.hyundai_e),
   ],
-  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
+  CAR.KIA_STINGER: HyundaiCarInfo("Kia Stinger 2018-20", video_link="https://www.youtube.com/watch?v=MJ94qoofYw0", harness=Harness.hyundai_c),
   CAR.KIA_CEED: HyundaiCarInfo("Kia Ceed 2019", harness=Harness.hyundai_e),
-  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p),
+  CAR.KIA_EV6: HyundaiCarInfo("Kia EV6 2022", "All", harness=Harness.hyundai_p, footnotes=[Footnote.CANFD,]),
 
   # Genesis
-  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018", "All", harness=Harness.hyundai_f),
+  CAR.GENESIS_G70: HyundaiCarInfo("Genesis G70 2018-19", "All", harness=Harness.hyundai_f),
   CAR.GENESIS_G70_2020: HyundaiCarInfo("Genesis G70 2020", "All", harness=Harness.hyundai_f),
-  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2018", "All", harness=Harness.hyundai_h),
-  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2018", "All", harness=Harness.hyundai_c),
+  CAR.GENESIS_G80: HyundaiCarInfo("Genesis G80 2017-19", "All", harness=Harness.hyundai_h),
+  CAR.GENESIS_G90: HyundaiCarInfo("Genesis G90 2017-18", "All", harness=Harness.hyundai_c),
 }
 
 class Buttons:
@@ -166,7 +176,7 @@ class Buttons:
   RES_ACCEL = 1
   SET_DECEL = 2
   GAP_DIST = 3
-  CANCEL = 4
+  CANCEL = 4  # on newer models, this is a pause/resume button
 
 FINGERPRINTS = {
   CAR.ELANTRA: [{
@@ -241,6 +251,9 @@ FINGERPRINTS = {
   CAR.KONA_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 549: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1225: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1307: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1378: 4, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 1157: 4, 1193: 8, 1379: 8, 1988: 8, 1996: 8
   }],
+  CAR.KONA_EV_2022: [{
+    127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 913: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1069: 8, 1078: 4, 1136: 8, 1145: 8, 1151: 8, 1155: 8, 1156: 8, 1157: 4, 1162: 8, 1164: 8, 1168: 8, 1173: 8, 1183: 8, 1188: 8, 1191: 2, 1193: 8, 1225: 8, 1227: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1339: 8, 1342: 8, 1343: 8, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1379: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1446: 8, 1456: 4, 1470: 8, 1473: 8, 1485: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8
+  }],
   CAR.KIA_NIRO_EV: [{
     127: 8, 304: 8, 320: 8, 339: 8, 352: 8, 356: 4, 516: 8, 544: 8, 593: 8, 688: 5, 832: 8, 881: 8, 882: 8, 897: 8, 902: 8, 903: 8, 905: 8, 909: 8, 916: 8, 1040: 8, 1042: 8, 1056: 8, 1057: 8, 1078: 4, 1136: 8, 1151: 6, 1156: 8, 1157: 4, 1168: 7, 1173: 8, 1183: 8, 1186: 2, 1191: 2, 1193: 8, 1225: 8, 1260: 8, 1265: 4, 1280: 1, 1287: 4, 1290: 8, 1291: 8, 1292: 8, 1294: 8, 1312: 8, 1322: 8, 1342: 6, 1345: 8, 1348: 8, 1355: 8, 1363: 8, 1369: 8, 1407: 8, 1419: 8, 1426: 8, 1427: 6, 1429: 8, 1430: 8, 1456: 4, 1470: 8, 1473: 8, 1507: 8, 1535: 8, 1990: 8, 1998: 8, 1996: 8, 2000: 8, 2004: 8, 2008: 8, 2012: 8, 2015: 8
   }],
@@ -382,7 +395,7 @@ FW_VERSIONS = {
       b'\xf1\x8799110L0000\xf1\x00DN8_ SCC FHCUP      1.00 1.00 99110-L0000         ',
     ],
     (Ecu.esp, 0x7d1, None): [
-      b'\xf1\x00DN ESC \a 106 \a\x01 58910-L0100',
+      b'\xf1\x00DN ESC \x07 106 \x07\x01 58910-L0100',
       b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
       b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
       b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
@@ -412,8 +425,8 @@ FW_VERSIONS = {
       b'\xf1\x8739110-2S278\xf1\x82DNDVD5GMCCXXXL5B',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
-      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101', # modified firmware
+      b'\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
+      b'\xf1\x8756310L0010\x00\xf1\x00DN8 MDPS C 1,00 1,01 56310L0010\x00 4DNAC101',  # modified firmware
       b'\xf1\x00DN8 MDPS C 1.00 1.01 \x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310-L0010 4DNAC101',
       b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0010\x00 4DNAC101',
@@ -492,6 +505,9 @@ FW_VERSIONS = {
       b'\xf1\x87SAMFBA9283024GJ2wwwwEUuWwwgwwwwwwwww\x87/\xfb\xff\x98w\x8f\xff<\xd3\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SAMFBA9708354GJ2wwwwVf\x86h\x88wx\x87xww\x87\x88\x88\x88\x88w/\xfa\xff\x97w\x8f\xff\x86\xa0\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
       b'\xf1\x87SANDB45316691GC6\x99\x99\x99\x99\x88\x88\xa8\x8avfwfwwww\x87wxwT\x9f\xfd\xff\x88wo\xff\x1c\xfa\xf1\x89HT6WAD10A1\xf1\x82SDN8G25NB3\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x87SALFBA7460044GJ2gx\x87\x88Vf\x86hx\x88\x87\x88wwwwgw\x86wd?\xfa\xff\x86U_\xff\xaf\x1f\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SAMFBA8105254GJ2wx\x87\x88Vf\x86hx\x88\x87\x88wwwwwwww\x86O\xfa\xff\x99\x88\x7f\xffZG\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
+      b'\xf1\x87SANFB45889451GC7wx\x87\x88gw\x87x\x88\x88x\x88\x87wxw\x87wxw\x87\x8f\xfc\xffeU\x8f\xff+Q\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00SDN8T16NB2\n\xdd^\xbc',
     ],
   },
   CAR.SONATA_LF: {
@@ -616,6 +632,7 @@ FW_VERSIONS = {
       b'\xf1\x82TACVN5GSI3XXXH0A',
       b'\xf1\x82TMCFD5MMCXXXXG0A',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82TMDWN5TMD3TXXJ1A',
+      b'\xf1\x81HM6M2_0a0_G00',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
@@ -634,6 +651,7 @@ FW_VERSIONS = {
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6\x06\x88\xf7',
       b'\xf1\x87KMMYBU034207SB72x\x89\x88\x98h\x88\x98\x89\x87fhvvfWf33_\xff\x87\xff\x8f\xfa\x81\xe5\xf1\x89HT6TAF00A1\xf1\x82STM0M25GS1\x00\x00\x00\x00\x00\x00',
       b'\xf1\x87954A02N250\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  VTMPT25XXX730NS2\xa6',
+      b'\xf1\x00HT6TA290BLHT6TAF00A1STM0M25GS1\x00\x00\x00\x00\x00\x006\xd8\x97\x15',
     ],
   },
   CAR.SANTA_FE_HEV_2022: {
@@ -706,7 +724,7 @@ FW_VERSIONS = {
   },
   CAR.PALISADE: {
     (Ecu.fwdRadar, 0x7d0, None): [
-      b'\xf1\000LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
+      b'\xf1\x00LX2_ SCC F-CUP      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2 SCC FHCUP      1.00 1.04 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCU-      1.00 1.05 99110-S8100         ',
       b'\xf1\x00LX2_ SCC FHCUP      1.00 1.00 99110-S8110         ',
@@ -716,7 +734,7 @@ FW_VERSIONS = {
     ],
     (Ecu.esp, 0x7d1, None): [
       b'\xf1\x00LX ESC \x01 103\x19\t\x10 58910-S8360',
-      b'\xf1\x00LX ESC \x01 103\x31\t\020 58910-S8360',
+      b'\xf1\x00LX ESC \x01 1031\t\x10 58910-S8360',
       b'\xf1\x00LX ESC \x0b 101\x19\x03\x17 58910-S8330',
       b'\xf1\x00LX ESC \x0b 102\x19\x05\x07 58910-S8330',
       b'\xf1\x00LX ESC \x0b 103\x19\t\x07 58910-S8330',
@@ -731,7 +749,7 @@ FW_VERSIONS = {
       b'\xf1\x81640S1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7d4, None): [
-      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103', # modified firmware
+      b'\xf1\x00LX2 MDPS C 1,00 1,03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.03 56310-S8020 4LXDC103',
       b'\xf1\x00LX2 MDPS C 1.00 1.04 56310-S8020 4LXDC104',
       b'\xf1\x00ON  MDPS C 1.00 1.00 56340-S9000 8B13',
@@ -744,6 +762,7 @@ FW_VERSIONS = {
       b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.08 99211-S8100 200903',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.01 99211-S9100 181105',
       b'\xf1\x00ON  MFC  AT USA LHD 1.00 1.03 99211-S9100 200720',
+      b'\xf1\x00LX2 MFC  AT USA LHD 1.00 1.00 99211-S8110 210226',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
@@ -751,7 +770,7 @@ FW_VERSIONS = {
       b'\xf1\x87LBLUFN591307KF25vgvw\x97wwwy\x99\xa7\x99\x99\xaa\xa9\x9af\x88\x96h\x95o\xf7\xff\x99f/\xff\xe4c\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB2\xd7\xc1/\xd1',
       b'\xf1\x87LBLUFN650868KF36\xa9\x98\x89\x88\xa8\x88\x88\x88h\x99\xa6\x89fw\x86gw\x88\x97x\xaa\x7f\xf6\xff\xbb\xbb\x8f\xff+\x82\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LBLUFN655162KF36\x98\x88\x88\x88\x98\x88\x88\x88x\x99\xa7\x89x\x99\xa7\x89x\x99\x97\x89g\x7f\xf7\xffwU_\xff\xe9!\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
-      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\177\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\000bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
+      b'\xf1\x87LBLUFN731381KF36\xb9\x99\x89\x98\x98\x88\x88\x88\x89\x99\xa8\x99\x88\x99\xa8\x89\x88\x88\x98\x88V\x7f\xf6\xff\x99w\x8f\xff\xad\xd8\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8',
       b'\xf1\x87LDKVAA0028604HH1\xa8\x88x\x87vgvw\x88\x99\xa8\x89gw\x86ww\x88\x97x\x97o\xf9\xff\x97w\x7f\xffo\x02\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVAA3068374HH1wwww\x87xw\x87y\x99\xa7\x99w\x88\x87xw\x88\x97x\x85\xaf\xfa\xffvU/\xffU\xdc\xf1\x81U872\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U872\x00\x00\x00\x00\x00\x00TON4G38NB1\x96z28',
       b'\xf1\x87LDKVBN382172KF26\x98\x88\x88\x88\xa8\x88\x88\x88x\x99\xa7\x89\x87\x88\x98x\x98\x99\xa9\x89\xa5_\xf6\xffDDO\xff\xcd\x16\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX4G38NB2\xafL]\xe7',
@@ -792,6 +811,7 @@ FW_VERSIONS = {
       b'\xf1\x87LDMVBN895969KF37vefV\x87vgfx\x99\xa7\x89\x99\x99\xb9\x99f\x88\x96he_\xf7\xffxwo\xff\x14\xf9\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b'\xf1\x87LDMVBN899222KF37\xa8\x88x\x87\x97www\x98\x99\x99\x89\x88\x99\x98\x89f\x88\x96hdo\xf7\xff\xbb\xaa\x9f\xff\xe2U\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
       b"\xf1\x87LBLUFN622950KF36\xa8\x88\x88\x88\x87w\x87xh\x99\x96\x89\x88\x99\x98\x89\x88\x99\x98\x89\x87o\xf6\xff\x98\x88o\xffx'\xf1\x81U891\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U891\x00\x00\x00\x00\x00\x00SLX2G38NB3\xd1\xc3\xf8\xa8",
+      b'\xf1\x87LDMVBN950669KF37\x97www\x96fffy\x99\xa7\x99\xa9\x99\xaa\x99g\x88\x96x\xb8\x8f\xf9\xffTD/\xff\xa7\xcb\xf1\x81U922\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U922\x00\x00\x00\x00\x00\x00SLX4G38NB5\xb9\x94\xe8\x89',
     ],
   },
   CAR.VELOSTER: {
@@ -852,6 +872,12 @@ FW_VERSIONS = {
       b'\xf1\x81640H0051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.GENESIS_G90: {
+    (Ecu.transmission, 0x7e1, None): [b'\xf1\x87VDGMD15866192DD3x\x88x\x89wuFvvfUf\x88vWwgwwwvfVgx\x87o\xff\xbc^\xf1\x81E14\x00\x00\x00\x00\x00\x00\x00\xf1\x00bcshcm49  E14\x00\x00\x00\x00\x00\x00\x00SHI0G50NB1tc5\xb7'],
+    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00HI__ SCC F-CUP      1.00 1.01 96400-D2100         '],
+    (Ecu.fwdCamera, 0x7c4, None): [b'\xf1\x00HI  LKAS AT USA LHD 1.00 1.00 95895-D2020 160302'],
+    (Ecu.engine, 0x7e0, None): [b'\xf1\x810000000000\x00'],
+  },
   CAR.KONA: {
     (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00OS__ SCC F-CUP      1.00 1.00 95655-J9200         ', ],
     (Ecu.esp, 0x7d1, None): [b'\xf1\x816V5RAK00018.ELF\xf1\x00\x00\x00\x00\x00\x00\x00', ],
@@ -957,9 +983,33 @@ FW_VERSIONS = {
       b'\xf1\x00OSev SCC FNCUP      1.00 1.01 99110-K4000         ',
     ],
   },
+  CAR.KONA_EV_2022: {
+    (Ecu.esp, 0x7D1, None): [
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x02 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
+      b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
+      # TODO: these return from the MULTI request, above return from LONG
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
+      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+    ],
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.02 99211-J9110 802',
+      b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
+    ],
+    (Ecu.eps, 0x7D4, None): [
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
+    ],
+    (Ecu.fwdRadar, 0x7D0, None): [
+      b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
+    ],
+  },
   CAR.KIA_NIRO_EV: {
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
+      b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4000         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.02 96400-Q4100         ',
       b'\xf1\x00DEev SCC F-CUP      1.00 1.03 96400-Q4100         ',
       b'\xf1\x8799110Q4000\xf1\x00DEev SCC F-CUP      1.00 1.00 99110-Q4000         ',
@@ -972,6 +1022,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4000\x00 4DEEC105',
       b'\xf1\x00DE  MDPS C 1.00 1.05 56310Q4100\x00 4DEEC105',
+      b'\xf1\x00DE  MDPS C 1.00 1.04 56310Q4100\x00 4DEEC104',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.00 99211-Q4100 200706',
@@ -979,24 +1030,29 @@ FW_VERSIONS = {
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.00 99211-Q4000 191211',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.03 95740-Q4000 180821',
       b'\xf1\x00DEE MFC  AT USA LHD 1.00 1.01 99211-Q4500 210428',
+      b'\xf1\x00DEE MFC  AT EUR LHD 1.00 1.03 95740-Q4000 180821',
     ],
   },
   CAR.KIA_NIRO_HEV: {
     (Ecu.engine, 0x7e0, None): [
-      b'\xf1\x816H6F4051\000\000\000\000\000\000\000\000',
+      b'\xf1\x816H6F4051\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
-      b"\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\xf4\'\\\x91",
-      b'\xf1\x816U3J2051\000\000\xf1\0006U3H0_C2\000\0006U3J2051\000\000PDE0G16NS2\000\000\000\000',
+      b"\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\xf4'\\\x91",
+      b'\xf1\x816U3J2051\x00\x00\xf1\x006U3H0_C2\x00\x006U3J2051\x00\x00PDE0G16NS2\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x00\x00\x00\x00',
+      b'\xf1\x816U3H3051\x00\x00\xf1\x006U3H0_C2\x00\x006U3H3051\x00\x00PDE0G16NS1\x13\xcd\x88\x92',
     ],
     (Ecu.eps, 0x7D4, None): [
-      b'\xf1\000DE  MDPS C 1.00 1.09 56310G5301\000 4DEHC109',
+      b'\xf1\x00DE  MDPS C 1.00 1.09 56310G5301\x00 4DEHC109',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
-      b'\xf1\000DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.01 95740-G5010 170424',
+      b'\xf1\x00DEP MFC  AT USA LHD 1.00 1.00 95740-G5010 170117',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
-      b'\xf1\000DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
+      b'\xf1\x00DEhe SCC H-CUP      1.01 1.02 96400-G5100         ',
     ],
   },
   CAR.KIA_NIRO_HEV_2021: {
@@ -1045,18 +1101,27 @@ FW_VERSIONS = {
     ],
   },
   CAR.KIA_OPTIMA: {
-    (Ecu.fwdRadar, 0x7d0, None): [b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         '],
-    (Ecu.esp, 0x7d1, None): [b'\xf1\x00JF ESC \v 11 \x18\x030 58920-D5180',],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JF__ SCC F-CUP      1.00 1.00 96400-D4110         ',
+    ],
+    (Ecu.esp, 0x7d1, None): [
+      b'\xf1\x00JF ESC \x0b 11 \x18\x030 58920-D5180',
+    ],
     (Ecu.engine, 0x7e0, None): [
-      b'\x01TJFAJNU06F201H03',
       b'\xf1\x89F1JF600AISEIU702\xf1\x82F1JF600AISEIU702',
     ],
-    (Ecu.eps, 0x7d4, None): [b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409'],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00TM  MDPS C 1.00 1.00 56340-S2000 8409',
+    ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.00 95895-D5001 h32',
       b'\xf1\x00JFA LKAS AT USA LHD 1.00 1.02 95895-D5000 h31',
     ],
-    (Ecu.transmission, 0x7e1, None): [b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW'],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x816U2V8051\x00\x00\xf1\x006U2V0_C2\x00\x006U2V8051\x00\x00DJF0T16NL0\t\xd2GW',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\xca3\xeb.',
+      b'\xf1\x816U2VA051\x00\x00\xf1\x006U2V0_C2\x00\x006U2VA051\x00\x00DJF0T16NL1\x00\x00\x00\x00',
+    ],
   },
   CAR.ELANTRA_2021: {
     (Ecu.fwdRadar, 0x7d0, None): [
@@ -1213,16 +1278,19 @@ FEATURES = {
   # which message has the gear
   "use_cluster_gears": {CAR.ELANTRA, CAR.ELANTRA_GT_I30, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019},
+  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.KONA_EV_2022},
 
   # these cars use the FCA11 message for the AEB and FCW signals, all others use SCC12
-  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON},
+  "use_fca": {CAR.SONATA, CAR.SONATA_HYBRID, CAR.ELANTRA, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021, CAR.ELANTRA_GT_I30, CAR.KIA_STINGER, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KONA_EV, CAR.KIA_FORTE, CAR.KIA_NIRO_EV, CAR.PALISADE, CAR.GENESIS_G70, CAR.GENESIS_G70_2020, CAR.KONA, CAR.SANTA_FE, CAR.KIA_SELTOS, CAR.KONA_HEV, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.TUCSON, CAR.KONA_EV_2022},
 }
 
 HDA2_CAR = {CAR.KIA_EV6, }
 
+# The camera does SCC on these cars, rather than the radar
+CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
+
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_HEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019}  # these cars use a different gas signal
-EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV}
+EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KONA_EV_2022}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
 LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA, CAR.VELOSTER, CAR.KIA_STINGER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022}
@@ -1257,6 +1325,7 @@ DBC = {
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_EV: dbc_dict('hyundai_kia_generic', None),
+  CAR.KONA_EV_2022: dbc_dict('hyundai_kia_generic', None),
   CAR.KONA_HEV: dbc_dict('hyundai_kia_generic', None),
   CAR.SANTA_FE: dbc_dict('hyundai_kia_generic', 'hyundai_kia_mando_front_radar'),
   CAR.SANTA_FE_2022: dbc_dict('hyundai_kia_generic', None),
diff --git a/selfdrive/car/interfaces.py b/selfdrive/car/interfaces.py
index 136337c5a4..38a613b0e7 100644
--- a/selfdrive/car/interfaces.py
+++ b/selfdrive/car/interfaces.py
@@ -2,7 +2,7 @@ import yaml
 import os
 import time
 from abc import abstractmethod, ABC
-from typing import Any, Dict, Tuple, List
+from typing import Any, Dict, Optional, Tuple, List
 
 from cereal import car
 from common.basedir import BASEDIR
@@ -135,11 +135,11 @@ class CarInterfaceBase(ABC):
     return ret
 
   @staticmethod
-  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0):
+  def configure_torque_tune(candidate, tune, steering_angle_deadzone_deg=0.0, use_steering_angle=True):
     params = get_torque_params(candidate)
 
     tune.init('torque')
-    tune.torque.useSteeringAngle = True
+    tune.torque.useSteeringAngle = use_steering_angle
     tune.torque.kp = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.kf = 1.0 / params['LAT_ACCEL_FACTOR']
     tune.torque.ki = 0.1 / params['LAT_ACCEL_FACTOR']
@@ -162,6 +162,12 @@ class CarInterfaceBase(ABC):
     ret.canValid = all(cp.can_valid for cp in self.can_parsers if cp is not None)
     ret.canTimeout = any(cp.bus_timeout for cp in self.can_parsers if cp is not None)
 
+    if ret.vEgoCluster == 0.0:
+      ret.vEgoCluster = ret.vEgo
+
+    if ret.cruiseState.speedCluster == 0:
+      ret.cruiseState.speedCluster = ret.cruiseState.speed
+
     # copy back for next iteration
     reader = ret.as_reader()
     if self.CS is not None:
@@ -312,13 +318,22 @@ class CarStateBase(ABC):
     return bool(left_blinker_stalk or self.left_blinker_cnt > 0), bool(right_blinker_stalk or self.right_blinker_cnt > 0)
 
   @staticmethod
-  def parse_gear_shifter(gear: str) -> car.CarState.GearShifter:
+  def parse_gear_shifter(gear: Optional[str]) -> car.CarState.GearShifter:
+    if gear is None:
+      return GearShifter.unknown
+    
     d: Dict[str, car.CarState.GearShifter] = {
-        'P': GearShifter.park, 'R': GearShifter.reverse, 'N': GearShifter.neutral,
-        'E': GearShifter.eco, 'T': GearShifter.manumatic, 'D': GearShifter.drive,
-        'S': GearShifter.sport, 'L': GearShifter.low, 'B': GearShifter.brake
+        'P': GearShifter.park, 'PARK': GearShifter.park,
+        'R': GearShifter.reverse, 'REVERSE': GearShifter.reverse,
+        'N': GearShifter.neutral, 'NEUTRAL': GearShifter.neutral,
+        'E': GearShifter.eco, 'ECO': GearShifter.eco,
+        'T': GearShifter.manumatic, 'MANUAL': GearShifter.manumatic,
+        'D': GearShifter.drive, 'DRIVE': GearShifter.drive,
+        'S': GearShifter.sport, 'SPORT': GearShifter.sport,
+        'L': GearShifter.low, 'LOW': GearShifter.low,
+        'B': GearShifter.brake, 'BRAKE': GearShifter.brake,
     }
-    return d.get(gear, GearShifter.unknown)
+    return d.get(gear.upper(), GearShifter.unknown)
 
   @staticmethod
   def get_cam_can_parser(CP):
diff --git a/selfdrive/car/isotp_parallel_query.py b/selfdrive/car/isotp_parallel_query.py
index 0e807512cf..bb96572c33 100644
--- a/selfdrive/car/isotp_parallel_query.py
+++ b/selfdrive/car/isotp_parallel_query.py
@@ -126,7 +126,7 @@ class IsoTpParallelQuery:
             msg.send(self.request[counter + 1])
             request_counter[tx_addr] += 1
           else:
-            results[tx_addr] = dat[len(expected_response):]
+            results[(tx_addr, msg._can_client.rx_addr)] = dat[len(expected_response):]
             request_done[tx_addr] = True
         else:
           error_code = dat[2] if len(dat) > 2 else -1
diff --git a/selfdrive/car/mazda/carcontroller.py b/selfdrive/car/mazda/carcontroller.py
index d003079d63..2add59ccb0 100644
--- a/selfdrive/car/mazda/carcontroller.py
+++ b/selfdrive/car/mazda/carcontroller.py
@@ -1,67 +1,64 @@
 from cereal import car
 from opendbc.can.packer import CANPacker
+from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.mazda import mazdacan
 from selfdrive.car.mazda.values import CarControllerParams, Buttons
-from selfdrive.car import apply_std_steer_torque_limits
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
     self.packer = CANPacker(dbc_name)
-    self.steer_rate_limited = False
     self.brake_counter = 0
+    self.frame = 0
 
-  def update(self, c, CS, frame):
+  def update(self, CC, CS):
     can_sends = []
 
     apply_steer = 0
-    self.steer_rate_limited = False
 
-    if c.latActive:
+    if CC.latActive:
       # calculate steer and also set limits due to driver torque
-      new_steer = int(round(c.actuators.steer * CarControllerParams.STEER_MAX))
+      new_steer = int(round(CC.actuators.steer * CarControllerParams.STEER_MAX))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last,
                                                   CS.out.steeringTorque, CarControllerParams)
-      self.steer_rate_limited = new_steer != apply_steer
-
-    if c.enabled:
-      if CS.out.standstill and frame % 5 == 0:
-        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
-        # Send Resume button at 20hz if we're engaged at standstill to support full stop and go!
-        # TODO: improve the resume trigger logic by looking at actual radar data
-        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
-    if c.cruiseControl.cancel:
+    if CC.cruiseControl.cancel:
       # If brake is pressed, let us wait >70ms before trying to disable crz to avoid
       # a race condition with the stock system, where the second cancel from openpilot
       # will disable the crz 'main on'. crz ctrl msg runs at 50hz. 70ms allows us to
       # read 3 messages and most likely sync state before we attempt cancel.
       self.brake_counter = self.brake_counter + 1
-      if frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
+      if self.frame % 10 == 0 and not (CS.out.brakePressed and self.brake_counter < 7):
         # Cancel Stock ACC if it's enabled while OP is disengaged
         # Send at a rate of 10hz until we sync with stock ACC state
         can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.CANCEL))
     else:
       self.brake_counter = 0
+      if CC.cruiseControl.resume and self.frame % 5 == 0:
+        # Mazda Stop and Go requires a RES button (or gas) press if the car stops more than 3 seconds
+        # Send Resume button when planner wants car to move
+        can_sends.append(mazdacan.create_button_cmd(self.packer, self.CP.carFingerprint, CS.crz_btns_counter, Buttons.RESUME))
 
     self.apply_steer_last = apply_steer
 
     # send HUD alerts
-    if frame % 50 == 0:
-      ldw = c.hudControl.visualAlert == VisualAlert.ldw
-      steer_required = c.hudControl.visualAlert == VisualAlert.steerRequired
+    if self.frame % 50 == 0:
+      ldw = CC.hudControl.visualAlert == VisualAlert.ldw
+      steer_required = CC.hudControl.visualAlert == VisualAlert.steerRequired
       # TODO: find a way to silence audible warnings so we can add more hud alerts
       steer_required = steer_required and CS.lkas_allowed_speed
       can_sends.append(mazdacan.create_alert_command(self.packer, CS.cam_laneinfo, ldw, steer_required))
 
     # send steering command
     can_sends.append(mazdacan.create_steering_control(self.packer, self.CP.carFingerprint,
-                                                      frame, apply_steer, CS.cam_lkas))
+                                                      self.frame, apply_steer, CS.cam_lkas))
 
-    new_actuators = c.actuators.copy()
+    new_actuators = CC.actuators.copy()
     new_actuators.steer = apply_steer / CarControllerParams.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/mazda/interface.py b/selfdrive/car/mazda/interface.py
index cbeb910de2..8640903444 100755
--- a/selfdrive/car/mazda/interface.py
+++ b/selfdrive/car/mazda/interface.py
@@ -28,34 +28,24 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.8
     tire_stiffness_factor = 0.70   # not optimized yet
 
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
     if candidate in (CAR.CX5, CAR.CX5_2022):
       ret.mass = 3655 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate in (CAR.CX9, CAR.CX9_2021):
       ret.mass = 4217 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 3.1
       ret.steerRatio = 17.6
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA3:
       ret.mass = 2875 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.7
       ret.steerRatio = 14.0
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
     elif candidate == CAR.MAZDA6:
       ret.mass = 3443 * CV.LB_TO_KG + STD_CARGO_KG
       ret.wheelbase = 2.83
       ret.steerRatio = 15.5
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0.], [0.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.19], [0.019]]
-      ret.lateralTuning.pid.kf = 0.00006
 
     if candidate not in (CAR.CX5_2022, ):
       ret.minSteerSpeed = LKAS_LIMITS.DISABLE_SPEED * CV.KPH_TO_MS
@@ -90,6 +80,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS, self.frame)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/mazda/values.py b/selfdrive/car/mazda/values.py
index 5c80303dbc..7db401e161 100644
--- a/selfdrive/car/mazda/values.py
+++ b/selfdrive/car/mazda/values.py
@@ -36,12 +36,12 @@ class MazdaCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Union[MazdaCarInfo, List[MazdaCarInfo]]] = {
-  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017, 2019"),  # TODO: verify years and torque for first 4
-  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-17"),
-  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017"),
-  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017"),
-  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021", good_torque=True),
-  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022", good_torque=True),
+  CAR.CX5: MazdaCarInfo("Mazda CX-5 2017-21"),
+  CAR.CX9: MazdaCarInfo("Mazda CX-9 2016-20"),
+  CAR.MAZDA3: MazdaCarInfo("Mazda 3 2017-18"),
+  CAR.MAZDA6: MazdaCarInfo("Mazda 6 2017-20"),
+  CAR.CX9_2021: MazdaCarInfo("Mazda CX-9 2021-22"),
+  CAR.CX5_2022: MazdaCarInfo("Mazda CX-5 2022"),
 }
 
 
@@ -65,6 +65,8 @@ FW_VERSIONS = {
     ],
     (Ecu.engine, 0x7e0, None): [
       b'PX2G-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PX2H-188K2-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH54-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-F\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -77,6 +79,7 @@ FW_VERSIONS = {
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PYB2-21PS1-H\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'SH51-21PS1-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.CX5: {
@@ -264,6 +267,7 @@ FW_VERSIONS = {
     (Ecu.engine, 0x7e0, None): [
       b'PXM4-188K2-C\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PXM4-188K2-D\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-188K2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'K131-67XK2-E\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -276,9 +280,11 @@ FW_VERSIONS = {
       b'GSH7-67XK2-M\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-N\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'GSH7-67XK2-P\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'GSH7-67XK2-S\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'PXM4-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PXM6-21PS1-B\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   }
 }
diff --git a/selfdrive/car/nissan/carcontroller.py b/selfdrive/car/nissan/carcontroller.py
index 4ceb142d45..dbc2b33c6b 100644
--- a/selfdrive/car/nissan/carcontroller.py
+++ b/selfdrive/car/nissan/carcontroller.py
@@ -1,25 +1,27 @@
 from cereal import car
 from common.numpy_fast import clip, interp
-from selfdrive.car.nissan import nissancan
 from opendbc.can.packer import CANPacker
+from selfdrive.car.nissan import nissancan
 from selfdrive.car.nissan.values import CAR, CarControllerParams
 
-
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.car_fingerprint = CP.carFingerprint
+    self.frame = 0
 
     self.lkas_max_torque = 0
     self.last_angle = 0
 
     self.packer = CANPacker(dbc_name)
 
-  def update(self, c, CS, frame, actuators, cruise_cancel, hud_alert,
-             left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
@@ -28,10 +30,10 @@ class CarController():
     lkas_hud_info_msg = CS.lkas_hud_info_msg
     apply_angle = actuators.steeringAngleDeg
 
-    steer_hud_alert = 1 if hud_alert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
+    steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
-    if c.latActive:
-      # # windup slower
+    if CC.latActive:
+      # windup slower
       if self.last_angle * apply_angle > 0. and abs(apply_angle) > abs(self.last_angle):
         angle_rate_lim = interp(CS.out.vEgo, CarControllerParams.ANGLE_DELTA_BP, CarControllerParams.ANGLE_DELTA_V)
       else:
@@ -57,25 +59,25 @@ class CarController():
 
     self.last_angle = apply_angle
 
-    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and cruise_cancel:
-      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg, frame))
+    if self.CP.carFingerprint in (CAR.ROGUE, CAR.XTRAIL, CAR.ALTIMA) and pcm_cancel_cmd:
+      can_sends.append(nissancan.create_acc_cancel_cmd(self.packer, self.car_fingerprint, CS.cruise_throttle_msg))
 
     # TODO: Find better way to cancel!
     # For some reason spamming the cancel button is unreliable on the Leaf
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
-    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, cruise_cancel))
+    if self.CP.carFingerprint in (CAR.LEAF, CAR.LEAF_IC) and self.frame % 2 == 0:
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
 
     can_sends.append(nissancan.create_steering_control(
-        self.packer, apply_angle, frame, c.enabled, self.lkas_max_torque))
+      self.packer, apply_angle, self.frame, CC.enabled, self.lkas_max_torque))
 
     if lkas_hud_msg and lkas_hud_info_msg:
-      if frame % 2 == 0:
+      if self.frame % 2 == 0:
         can_sends.append(nissancan.create_lkas_hud_msg(
-          self.packer, lkas_hud_msg, c.enabled, left_line, right_line, left_lane_depart, right_lane_depart))
+          self.packer, lkas_hud_msg, CC.enabled, hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
-      if frame % 50 == 0:
+      if self.frame % 50 == 0:
         can_sends.append(nissancan.create_lkas_hud_info_msg(
           self.packer, lkas_hud_info_msg, steer_hud_alert
         ))
@@ -83,4 +85,5 @@ class CarController():
     new_actuators = actuators.copy()
     new_actuators.steeringAngleDeg = apply_angle
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/nissan/carstate.py b/selfdrive/car/nissan/carstate.py
index 3c5d7dc24b..a5ca237110 100644
--- a/selfdrive/car/nissan/carstate.py
+++ b/selfdrive/car/nissan/carstate.py
@@ -74,8 +74,8 @@ class CarState(CarStateBase):
         conversion = CV.MPH_TO_MS if cp.vl["HUD_SETTINGS"]["SPEED_MPH"] else CV.KPH_TO_MS
       else:
         conversion = CV.MPH_TO_MS if cp.vl["HUD"]["SPEED_MPH"] else CV.KPH_TO_MS
-      speed -= 1  # Speed on HUD is always 1 lower than actually sent on can bus
       ret.cruiseState.speed = speed * conversion
+      ret.cruiseState.speedCluster = (speed - 1) * conversion  # Speed on HUD is always 1 lower than actually sent on can bus
 
     if self.CP.carFingerprint == CAR.ALTIMA:
       ret.steeringTorque = cp_cam.vl["STEER_TORQUE_SENSOR"]["STEER_TORQUE_DRIVER"]
diff --git a/selfdrive/car/nissan/interface.py b/selfdrive/car/nissan/interface.py
index 436cef68bf..9c04d975f9 100644
--- a/selfdrive/car/nissan/interface.py
+++ b/selfdrive/car/nissan/interface.py
@@ -1,8 +1,9 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.nissan.values import CAR
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.nissan.values import CAR
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -67,10 +68,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/nissan/nissancan.py b/selfdrive/car/nissan/nissancan.py
index ceace5088a..f59714b8d4 100644
--- a/selfdrive/car/nissan/nissancan.py
+++ b/selfdrive/car/nissan/nissancan.py
@@ -2,17 +2,17 @@ import copy
 import crcmod
 from selfdrive.car.nissan.values import CAR
 
+# TODO: add this checksum to the CANPacker
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
 
 def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torque):
-  idx = (frame % 16)
   values = {
+    "COUNTER": frame % 0x10,
     "DESIRED_ANGLE": apply_steer,
     "SET_0x80_2": 0x80,
     "SET_0x80": 0x80,
     "MAX_TORQUE": lkas_max_torque if steer_on else 0,
-    "COUNTER": idx,
     "LKA_ACTIVE": steer_on,
   }
 
@@ -22,7 +22,7 @@ def create_steering_control(packer, apply_steer, frame, steer_on, lkas_max_torqu
   return packer.make_can_msg("LKAS", 0, values)
 
 
-def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
+def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg):
   values = copy.copy(cruise_throttle_msg)
   can_bus = 2
 
@@ -35,7 +35,6 @@ def create_acc_cancel_cmd(packer, car_fingerprint, cruise_throttle_msg, frame):
   values["SET_BUTTON"] = 0
   values["RES_BUTTON"] = 0
   values["FOLLOW_DISTANCE_BUTTON"] = 0
-  values["COUNTER"] = (frame % 4)
 
   return packer.make_can_msg("CRUISE_THROTTLE", can_bus, values)
 
diff --git a/selfdrive/car/nissan/values.py b/selfdrive/car/nissan/values.py
index 5ffef691d1..2126e550ef 100644
--- a/selfdrive/car/nissan/values.py
+++ b/selfdrive/car/nissan/values.py
@@ -28,7 +28,7 @@ class CAR:
 
 @dataclass
 class NissanCarInfo(CarInfo):
-  package: str = "ProPILOT"
+  package: str = "ProPILOT Assist"
   harness: Enum = Harness.nissan_a
 
 
diff --git a/selfdrive/car/subaru/carcontroller.py b/selfdrive/car/subaru/carcontroller.py
index d37b82eed7..b5429daef2 100644
--- a/selfdrive/car/subaru/carcontroller.py
+++ b/selfdrive/car/subaru/carcontroller.py
@@ -1,27 +1,33 @@
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.subaru import subarucan
-from selfdrive.car.subaru.values import DBC, PREGLOBAL_CARS, CarControllerParams
-from opendbc.can.packer import CANPacker
+from selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, CarControllerParams
 
 
-class CarController():
+class CarController:
   def __init__(self, dbc_name, CP, VM):
     self.CP = CP
     self.apply_steer_last = 0
-    self.es_distance_cnt = -1
+    self.frame = 0
+
     self.es_lkas_cnt = -1
+    self.es_distance_cnt = -1
+    self.es_dashstatus_cnt = -1
     self.cruise_button_prev = 0
-    self.steer_rate_limited = False
+    self.last_cancel_frame = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
 
-  def update(self, c, CS, frame, actuators, pcm_cancel_cmd, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
+  def update(self, CC, CS):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
+    pcm_cancel_cmd = CC.cruiseControl.cancel
 
     can_sends = []
 
     # *** steering ***
-    if (frame % self.p.STEER_STEP) == 0:
+    if (self.frame % self.p.STEER_STEP) == 0:
 
       apply_steer = int(round(actuators.steer * self.p.STEER_MAX))
 
@@ -29,15 +35,14 @@ class CarController():
 
       new_steer = int(round(apply_steer))
       apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, self.p)
-      self.steer_rate_limited = new_steer != apply_steer
 
-      if not c.latActive:
+      if not CC.latActive:
         apply_steer = 0
 
       if self.CP.carFingerprint in PREGLOBAL_CARS:
-        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_preglobal_steering_control(self.packer, apply_steer))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, frame, self.p.STEER_STEP))
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer))
 
       self.apply_steer_last = apply_steer
 
@@ -45,7 +50,7 @@ class CarController():
     # *** alerts and pcm cancel ***
 
     if self.CP.carFingerprint in PREGLOBAL_CARS:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
+      if self.es_distance_cnt != CS.es_distance_msg["COUNTER"]:
         # 1 = main, 2 = set shallow, 3 = set deep, 4 = resume shallow, 5 = resume deep
         # disengage ACC when OP is disengaged
         if pcm_cancel_cmd:
@@ -62,18 +67,26 @@ class CarController():
         self.cruise_button_prev = cruise_button
 
         can_sends.append(subarucan.create_preglobal_es_distance(self.packer, cruise_button, CS.es_distance_msg))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+        self.es_distance_cnt = CS.es_distance_msg["COUNTER"]
 
     else:
-      if self.es_distance_cnt != CS.es_distance_msg["Counter"]:
-        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, pcm_cancel_cmd))
-        self.es_distance_cnt = CS.es_distance_msg["Counter"]
+      if pcm_cancel_cmd and (self.frame - self.last_cancel_frame) > 0.2:
+        bus = 1 if self.CP.carFingerprint in GLOBAL_GEN2 else 0
+        can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+        self.last_cancel_frame = self.frame
+
+      if self.es_dashstatus_cnt != CS.es_dashstatus_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg))
+        self.es_dashstatus_cnt = CS.es_dashstatus_msg["COUNTER"]
 
-      if self.es_lkas_cnt != CS.es_lkas_msg["Counter"]:
-        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, c.enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart))
-        self.es_lkas_cnt = CS.es_lkas_msg["Counter"]
+      if self.es_lkas_cnt != CS.es_lkas_msg["COUNTER"]:
+        can_sends.append(subarucan.create_es_lkas(self.packer, CS.es_lkas_msg, CC.enabled, hud_control.visualAlert,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  hud_control.leftLaneDepart, hud_control.rightLaneDepart))
+        self.es_lkas_cnt = CS.es_lkas_msg["COUNTER"]
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/subaru/carstate.py b/selfdrive/car/subaru/carstate.py
index 45ea66fb27..de5e62cb7e 100644
--- a/selfdrive/car/subaru/carstate.py
+++ b/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, STEER_THRESHOLD, CAR, PREGLOBAL_CARS
+from selfdrive.car.subaru.values import DBC, STEER_THRESHOLD, CAR, GLOBAL_GEN2, PREGLOBAL_CARS
 
 
 class CarState(CarStateBase):
@@ -13,7 +13,7 @@ class CarState(CarStateBase):
     can_define = CANDefine(DBC[CP.carFingerprint]["pt"])
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
-  def update(self, cp, cp_cam):
+  def update(self, cp, cp_cam, cp_body):
     ret = car.CarState.new_message()
 
     ret.gas = cp.vl["Throttle"]["Throttle_Pedal"] / 255.
@@ -21,13 +21,15 @@ class CarState(CarStateBase):
     if self.car_fingerprint in PREGLOBAL_CARS:
       ret.brakePressed = cp.vl["Brake_Pedal"]["Brake_Pedal"] > 2
     else:
-      ret.brakePressed = cp.vl["Brake_Status"]["Brake"] == 1
+      cp_brakes = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+      ret.brakePressed = cp_brakes.vl["Brake_Status"]["Brake"] == 1
 
+    cp_wheels = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
     ret.wheelSpeeds = self.get_wheel_speeds(
-      cp.vl["Wheel_Speeds"]["FL"],
-      cp.vl["Wheel_Speeds"]["FR"],
-      cp.vl["Wheel_Speeds"]["RL"],
-      cp.vl["Wheel_Speeds"]["RR"],
+      cp_wheels.vl["Wheel_Speeds"]["FL"],
+      cp_wheels.vl["Wheel_Speeds"]["FR"],
+      cp_wheels.vl["Wheel_Speeds"]["RL"],
+      cp_wheels.vl["Wheel_Speeds"]["RR"],
     )
     ret.vEgoRaw = (ret.wheelSpeeds.fl + ret.wheelSpeeds.fr + ret.wheelSpeeds.rl + ret.wheelSpeeds.rr) / 4.
     # Kalman filter, even though Subaru raw wheel speed is heaviliy filtered by default
@@ -35,8 +37,8 @@ class CarState(CarStateBase):
     ret.standstill = ret.vEgoRaw < 0.01
 
     # continuous blinker signals for assisted lane change
-    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(
-      50, cp.vl["Dashlights"]["LEFT_BLINKER"], cp.vl["Dashlights"]["RIGHT_BLINKER"])
+    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["Dashlights"]["LEFT_BLINKER"],
+                                                                          cp.vl["Dashlights"]["RIGHT_BLINKER"])
 
     if self.CP.enableBsm:
       ret.leftBlindspot = (cp.vl["BSD_RCTA"]["L_ADJACENT"] == 1) or (cp.vl["BSD_RCTA"]["L_APPROACHING"] == 1)
@@ -47,12 +49,17 @@ class CarState(CarStateBase):
 
     ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
     ret.steeringTorque = cp.vl["Steering_Torque"]["Steer_Torque_Sensor"]
+    ret.steeringTorqueEps = cp.vl["Steering_Torque"]["Steer_Torque_Output"]
     ret.steeringPressed = abs(ret.steeringTorque) > STEER_THRESHOLD[self.car_fingerprint]
 
-    ret.cruiseState.enabled = cp.vl["CruiseControl"]["Cruise_Activated"] != 0
-    ret.cruiseState.available = cp.vl["CruiseControl"]["Cruise_On"] != 0
+    cp_cruise = cp_body if self.car_fingerprint in GLOBAL_GEN2 else cp
+    ret.cruiseState.enabled = cp_cruise.vl["CruiseControl"]["Cruise_Activated"] != 0
+    ret.cruiseState.available = cp_cruise.vl["CruiseControl"]["Cruise_On"] != 0
     ret.cruiseState.speed = cp_cam.vl["ES_DashStatus"]["Cruise_Set_Speed"] * CV.KPH_TO_MS
 
+    if self.car_fingerprint not in PREGLOBAL_CARS:
+      ret.cruiseState.standstill = cp_cam.vl["ES_DashStatus"]["Cruise_State"] == 3
+
     if (self.car_fingerprint in PREGLOBAL_CARS and cp.vl["Dash_State2"]["UNITS"] == 1) or \
        (self.car_fingerprint not in PREGLOBAL_CARS and cp.vl["Dashlights"]["UNITS"] == 1):
       ret.cruiseState.speed *= CV.MPH_TO_KPH
@@ -71,28 +78,74 @@ class CarState(CarStateBase):
       ret.steerFaultTemporary = cp.vl["Steering_Torque"]["Steer_Warning"] == 1
       ret.cruiseState.nonAdaptive = cp_cam.vl["ES_DashStatus"]["Conventional_Cruise"] == 1
       self.es_lkas_msg = copy.copy(cp_cam.vl["ES_LKAS_State"])
-    self.es_distance_msg = copy.copy(cp_cam.vl["ES_Distance"])
+
+    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"])
 
     return ret
 
+  @staticmethod
+  def get_common_global_signals():
+    signals = [
+      ("Cruise_On", "CruiseControl"),
+      ("Cruise_Activated", "CruiseControl"),
+      ("FL", "Wheel_Speeds"),
+      ("FR", "Wheel_Speeds"),
+      ("RL", "Wheel_Speeds"),
+      ("RR", "Wheel_Speeds"),
+      ("Brake", "Brake_Status"),
+    ]
+    checks = [
+      ("CruiseControl", 20),
+      ("Wheel_Speeds", 50),
+      ("Brake_Status", 50),
+    ]
+
+    return signals, checks
+
+  @staticmethod
+  def get_global_es_distance_signals():
+    signals = [
+      ("COUNTER", "ES_Distance"),
+      ("Signal1", "ES_Distance"),
+      ("Cruise_Fault", "ES_Distance"),
+      ("Cruise_Throttle", "ES_Distance"),
+      ("Signal2", "ES_Distance"),
+      ("Car_Follow", "ES_Distance"),
+      ("Signal3", "ES_Distance"),
+      ("Cruise_Soft_Disable", "ES_Distance"),
+      ("Signal7", "ES_Distance"),
+      ("Cruise_Brake_Active", "ES_Distance"),
+      ("Distance_Swap", "ES_Distance"),
+      ("Cruise_EPB", "ES_Distance"),
+      ("Signal4", "ES_Distance"),
+      ("Close_Distance", "ES_Distance"),
+      ("Signal5", "ES_Distance"),
+      ("Cruise_Cancel", "ES_Distance"),
+      ("Cruise_Set", "ES_Distance"),
+      ("Cruise_Resume", "ES_Distance"),
+      ("Signal6", "ES_Distance"),
+    ]
+    checks = [
+      ("ES_Distance", 20),
+    ]
+
+    return signals, checks
+
   @staticmethod
   def get_can_parser(CP):
     signals = [
       # sig_name, sig_address
       ("Steer_Torque_Sensor", "Steering_Torque"),
+      ("Steer_Torque_Output", "Steering_Torque"),
       ("Steering_Angle", "Steering_Torque"),
       ("Steer_Error_1", "Steering_Torque"),
-      ("Cruise_On", "CruiseControl"),
-      ("Cruise_Activated", "CruiseControl"),
       ("Brake_Pedal", "Brake_Pedal"),
       ("Throttle_Pedal", "Throttle"),
       ("LEFT_BLINKER", "Dashlights"),
       ("RIGHT_BLINKER", "Dashlights"),
       ("SEATBELT_FL", "Dashlights"),
-      ("FL", "Wheel_Speeds"),
-      ("FR", "Wheel_Speeds"),
-      ("RL", "Wheel_Speeds"),
-      ("RR", "Wheel_Speeds"),
       ("DOOR_OPEN_FR", "BodyInfo"),
       ("DOOR_OPEN_FL", "BodyInfo"),
       ("DOOR_OPEN_RR", "BodyInfo"),
@@ -105,7 +158,6 @@ class CarState(CarStateBase):
       ("Throttle", 100),
       ("Dashlights", 10),
       ("Brake_Pedal", 50),
-      ("Wheel_Speeds", 50),
       ("Transmission", 100),
       ("Steering_Torque", 50),
       ("BodyInfo", 1),
@@ -121,36 +173,47 @@ class CarState(CarStateBase):
       checks.append(("BSD_RCTA", 17))
 
     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 += [
         ("Steer_Warning", "Steering_Torque"),
-        ("Brake", "Brake_Status"),
         ("UNITS", "Dashlights"),
       ]
 
       checks += [
         ("Dashlights", 10),
         ("BodyInfo", 10),
-        ("Brake_Status", 50),
-        ("CruiseControl", 20),
       ]
     else:
-      signals.append(("UNITS", "Dash_State2"))
-
-      checks.append(("Dash_State2", 1))
-
-    if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
-      checks += [
-        ("Dashlights", 20),
-        ("BodyInfo", 1),
-        ("CruiseControl", 50),
+      signals += [
+        ("FL", "Wheel_Speeds"),
+        ("FR", "Wheel_Speeds"),
+        ("RL", "Wheel_Speeds"),
+        ("RR", "Wheel_Speeds"),
+        ("UNITS", "Dash_State2"),
+        ("Cruise_On", "CruiseControl"),
+        ("Cruise_Activated", "CruiseControl"),
       ]
-
-    if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       checks += [
-        ("Dashlights", 10),
-        ("CruiseControl", 50),
+        ("Wheel_Speeds", 50),
+        ("Dash_State2", 1),
       ]
 
+      if CP.carFingerprint == CAR.FORESTER_PREGLOBAL:
+        checks += [
+          ("Dashlights", 20),
+          ("BodyInfo", 1),
+          ("CruiseControl", 50),
+        ]
+
+      if CP.carFingerprint in (CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+        checks += [
+          ("Dashlights", 10),
+          ("CruiseControl", 50),
+        ]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 0)
 
   @staticmethod
@@ -173,7 +236,7 @@ class CarState(CarStateBase):
         ("Standstill_2", "ES_Distance"),
         ("Cruise_Fault", "ES_Distance"),
         ("Signal5", "ES_Distance"),
-        ("Counter", "ES_Distance"),
+        ("COUNTER", "ES_Distance"),
         ("Signal6", "ES_Distance"),
         ("Cruise_Button", "ES_Distance"),
         ("Signal7", "ES_Distance"),
@@ -185,28 +248,34 @@ class CarState(CarStateBase):
       ]
     else:
       signals = [
-        ("Cruise_Set_Speed", "ES_DashStatus"),
+        ("Counter", "ES_DashStatus"),
+        ("PCB_Off", "ES_DashStatus"),
+        ("LDW_Off", "ES_DashStatus"),
+        ("Signal1", "ES_DashStatus"),
+        ("Cruise_State_Msg", "ES_DashStatus"),
+        ("LKAS_State_Msg", "ES_DashStatus"),
+        ("Signal2", "ES_DashStatus"),
+        ("Cruise_Soft_Disable", "ES_DashStatus"),
+        ("EyeSight_Status_Msg", "ES_DashStatus"),
+        ("Signal3", "ES_DashStatus"),
+        ("Cruise_Distance", "ES_DashStatus"),
+        ("Signal4", "ES_DashStatus"),
         ("Conventional_Cruise", "ES_DashStatus"),
+        ("Signal5", "ES_DashStatus"),
+        ("Cruise_Disengaged", "ES_DashStatus"),
+        ("Cruise_Activated", "ES_DashStatus"),
+        ("Signal6", "ES_DashStatus"),
+        ("Cruise_Set_Speed", "ES_DashStatus"),
+        ("Cruise_Fault", "ES_DashStatus"),
+        ("Cruise_On", "ES_DashStatus"),
+        ("Display_Own_Car", "ES_DashStatus"),
+        ("Brake_Lights", "ES_DashStatus"),
+        ("Car_Follow", "ES_DashStatus"),
+        ("Signal7", "ES_DashStatus"),
+        ("Far_Distance", "ES_DashStatus"),
+        ("Cruise_State", "ES_DashStatus"),
 
-        ("Counter", "ES_Distance"),
-        ("Signal1", "ES_Distance"),
-        ("Cruise_Fault", "ES_Distance"),
-        ("Cruise_Throttle", "ES_Distance"),
-        ("Signal2", "ES_Distance"),
-        ("Car_Follow", "ES_Distance"),
-        ("Signal3", "ES_Distance"),
-        ("Cruise_Brake_Active", "ES_Distance"),
-        ("Distance_Swap", "ES_Distance"),
-        ("Cruise_EPB", "ES_Distance"),
-        ("Signal4", "ES_Distance"),
-        ("Close_Distance", "ES_Distance"),
-        ("Signal5", "ES_Distance"),
-        ("Cruise_Cancel", "ES_Distance"),
-        ("Cruise_Set", "ES_Distance"),
-        ("Cruise_Resume", "ES_Distance"),
-        ("Signal6", "ES_Distance"),
-
-        ("Counter", "ES_LKAS_State"),
+        ("COUNTER", "ES_LKAS_State"),
         ("LKAS_Alert_Msg", "ES_LKAS_State"),
         ("Signal1", "ES_LKAS_State"),
         ("LKAS_ACTIVE", "ES_LKAS_State"),
@@ -225,8 +294,21 @@ class CarState(CarStateBase):
 
       checks = [
         ("ES_DashStatus", 10),
-        ("ES_Distance", 20),
         ("ES_LKAS_State", 10),
       ]
 
+      if CP.carFingerprint not in GLOBAL_GEN2:
+        signals += CarState.get_global_es_distance_signals()[0]
+        checks += CarState.get_global_es_distance_signals()[1]
+
     return CANParser(DBC[CP.carFingerprint]["pt"], signals, checks, 2)
+
+  @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)
+
+    return None
\ No newline at end of file
diff --git a/selfdrive/car/subaru/interface.py b/selfdrive/car/subaru/interface.py
index 8c5cab86e8..049da10a16 100644
--- a/selfdrive/car/subaru/interface.py
+++ b/selfdrive/car/subaru/interface.py
@@ -1,8 +1,10 @@
 #!/usr/bin/env python3
 from cereal import car
-from selfdrive.car.subaru.values import CAR, PREGLOBAL_CARS
+from panda import Panda
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
+from selfdrive.car.subaru.values import CAR, GLOBAL_GEN2, PREGLOBAL_CARS
+
 
 class CarInterface(CarInterfaceBase):
 
@@ -12,17 +14,20 @@ class CarInterface(CarInterfaceBase):
 
     ret.carName = "subaru"
     ret.radarOffCan = True
+    ret.dashcamOnly = candidate in PREGLOBAL_CARS
 
     if candidate in PREGLOBAL_CARS:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
       ret.enableBsm = 0x25c in fingerprint[0]
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaruLegacy)]
     else:
-      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
       ret.enableBsm = 0x228 in fingerprint[0]
-
-    ret.dashcamOnly = candidate in PREGLOBAL_CARS
+      ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.subaru)]
+      if candidate in GLOBAL_GEN2:
+        ret.safetyConfigs[0].safetyParam |= Panda.FLAG_SUBARU_GEN2
 
     ret.steerLimitTimer = 0.4
+    ret.steerActuatorDelay = 0.1
+    CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     if candidate == CAR.ASCENT:
       ret.mass = 2031. + STD_CARGO_KG
@@ -30,70 +35,72 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 13.5
       ret.steerActuatorDelay = 0.3   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00003
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.0025, 0.1], [0.00025, 0.01]]
 
-    if candidate == CAR.IMPREZA:
+    elif candidate == CAR.IMPREZA:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 15
       ret.steerActuatorDelay = 0.4   # end-to-end angle controller
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.2, 0.3], [0.02, 0.03]]
 
-    if candidate == CAR.IMPREZA_2020:
+    elif candidate == CAR.IMPREZA_2020:
       ret.mass = 1480. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.00005
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.045, 0.042, 0.20], [0.04, 0.035, 0.045]]
 
-    if candidate == CAR.FORESTER:
+    elif candidate == CAR.FORESTER:
       ret.mass = 1568. + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 17           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
+      ret.lateralTuning.init('pid')
       ret.lateralTuning.pid.kf = 0.000038
       ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 14., 23.], [0., 14., 23.]]
       ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.065, 0.2], [0.001, 0.015, 0.025]]
 
-    if candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
+    elif candidate == CAR.OUTBACK:
+      ret.mass = 1568. + STD_CARGO_KG
+      ret.wheelbase = 2.67
+      ret.centerToFront = ret.wheelbase * 0.5
+      ret.steerRatio = 17
+      ret.steerActuatorDelay = 0.1
+      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+
+    elif candidate in (CAR.FORESTER_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018):
       ret.safetyConfigs[0].safetyParam = 1  # Outback 2018-2019 and Forester have reversed driver torque signal
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
 
-    if candidate == CAR.LEGACY_PREGLOBAL:
+    elif candidate == CAR.LEGACY_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 12.5   # 14.5 stock
       ret.steerActuatorDelay = 0.15
-      ret.lateralTuning.pid.kf = 0.00005
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 20.], [0., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.1, 0.2], [0.01, 0.02]]
 
-    if candidate == CAR.OUTBACK_PREGLOBAL:
+    elif candidate == CAR.OUTBACK_PREGLOBAL:
       ret.mass = 1568 + STD_CARGO_KG
       ret.wheelbase = 2.67
       ret.centerToFront = ret.wheelbase * 0.5
       ret.steerRatio = 20           # learned, 14 stock
-      ret.steerActuatorDelay = 0.1
-      ret.lateralTuning.pid.kf = 0.000039
-      ret.lateralTuning.pid.kiBP, ret.lateralTuning.pid.kpBP = [[0., 10., 20.], [0., 10., 20.]]
-      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.01, 0.05, 0.2], [0.003, 0.018, 0.025]]
+
+    else:
+      raise ValueError(f"unknown car: {candidate}")
 
     # TODO: get actual value, for now starting with reasonable value for
     # civic and scaling by mass and wheelbase
@@ -108,18 +115,11 @@ class CarInterface(CarInterfaceBase):
   # returns a car.CarState
   def _update(self, c):
 
-    ret = self.CS.update(self.cp, self.cp_cam)
-
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
+    ret = self.CS.update(self.cp, self.cp_cam, self.cp_body)
 
     ret.events = self.create_common_events(ret).to_msg()
 
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, c.actuators,
-                         c.cruiseControl.cancel, hud_control.visualAlert,
-                         hud_control.leftLaneVisible, hud_control.rightLaneVisible, hud_control.leftLaneDepart, hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/subaru/subarucan.py b/selfdrive/car/subaru/subarucan.py
index 63511d183e..d83b639a41 100644
--- a/selfdrive/car/subaru/subarucan.py
+++ b/selfdrive/car/subaru/subarucan.py
@@ -3,29 +3,23 @@ from cereal import car
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-def create_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 16
-
+def create_steering_control(packer, apply_steer):
   values = {
-    "Counter": idx,
     "LKAS_Output": apply_steer,
     "LKAS_Request": 1 if apply_steer != 0 else 0,
     "SET_1": 1
   }
-
   return packer.make_can_msg("ES_LKAS", 0, values)
 
-def create_steering_status(packer, apply_steer, frame, steer_step):
+def create_steering_status(packer):
   return packer.make_can_msg("ES_LKAS_State", 0, {})
 
-def create_es_distance(packer, es_distance_msg, pcm_cancel_cmd):
-
+def create_es_distance(packer, es_distance_msg, bus, pcm_cancel_cmd):
   values = copy.copy(es_distance_msg)
+  values["COUNTER"] = (values["COUNTER"] + 1) % 0x10
   if pcm_cancel_cmd:
     values["Cruise_Cancel"] = 1
-
-  return packer.make_can_msg("ES_Distance", 0, values)
+  return packer.make_can_msg("ES_Distance", bus, values)
 
 def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart):
 
@@ -39,6 +33,18 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
   if values["LKAS_Alert"] == 27:
     values["LKAS_Alert"] = 0
 
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 28 and values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending an audible alert when "Keep hands on wheel OFF" alert is active (2020+ models)
+  if values["LKAS_Alert"] == 30:
+    values["LKAS_Alert"] = 0
+
+  # Filter the stock LKAS sending "Keep hands on wheel OFF" alert (2020+ models)
+  if values["LKAS_Alert_Msg"] == 7:
+    values["LKAS_Alert_Msg"] = 0
+
   # Show Keep hands on wheel alert for openpilot steerRequired alert
   if visual_alert == VisualAlert.steerRequired:
     values["LKAS_Alert_Msg"] = 1
@@ -61,18 +67,23 @@ def create_es_lkas(packer, es_lkas_msg, enabled, visual_alert, left_line, right_
 
   return packer.make_can_msg("ES_LKAS_State", 0, values)
 
+def create_es_dashstatus(packer, dashstatus_msg):
+  values = copy.copy(dashstatus_msg)
+
+  # Filter stock LKAS disabled and Keep hands on steering wheel OFF alerts
+  if values["LKAS_State_Msg"] in [2, 3]:
+    values["LKAS_State_Msg"] = 0
+
+  return packer.make_can_msg("ES_DashStatus", 0, values)
+
 # *** Subaru Pre-global ***
 
 def subaru_preglobal_checksum(packer, values, addr):
   dat = packer.make_can_msg(addr, 0, values)[2]
   return (sum(dat[:7])) % 256
 
-def create_preglobal_steering_control(packer, apply_steer, frame, steer_step):
-
-  idx = (frame / steer_step) % 8
-
+def create_preglobal_steering_control(packer, apply_steer):
   values = {
-    "Counter": idx,
     "LKAS_Command": apply_steer,
     "LKAS_Active": 1 if apply_steer != 0 else 0
   }
diff --git a/selfdrive/car/subaru/values.py b/selfdrive/car/subaru/values.py
index 9badc3ca50..9465f75edf 100644
--- a/selfdrive/car/subaru/values.py
+++ b/selfdrive/car/subaru/values.py
@@ -11,23 +11,32 @@ Ecu = car.CarParams.Ecu
 
 class CarControllerParams:
   def __init__(self, CP):
-    if CP.carFingerprint == CAR.IMPREZA_2020:
-      self.STEER_MAX = 1439
-    else:
-      self.STEER_MAX = 2047
     self.STEER_STEP = 2                # how often we update the steer cmd
     self.STEER_DELTA_UP = 50           # torque increase per refresh, 0.8s to max
     self.STEER_DELTA_DOWN = 70         # torque decrease per refresh
     self.STEER_DRIVER_ALLOWANCE = 60   # allowed driver torque before start limiting
-    self.STEER_DRIVER_MULTIPLIER = 10  # weight driver torque heavily
+    self.STEER_DRIVER_MULTIPLIER = 50  # weight driver torque heavily
     self.STEER_DRIVER_FACTOR = 1       # from dbc
 
+    if CP.carFingerprint in GLOBAL_GEN2:
+      self.STEER_MAX = 1000
+      self.STEER_DELTA_UP = 40
+      self.STEER_DELTA_DOWN = 40
+    elif CP.carFingerprint == CAR.IMPREZA_2020:
+      self.STEER_MAX = 1439
+    else:
+      self.STEER_MAX = 2047
+
 
 class CAR:
+  # Global platform
   ASCENT = "SUBARU ASCENT LIMITED 2019"
   IMPREZA = "SUBARU IMPREZA LIMITED 2019"
   IMPREZA_2020 = "SUBARU IMPREZA SPORT 2020"
   FORESTER = "SUBARU FORESTER 2019"
+  OUTBACK = "SUBARU OUTBACK 6TH GEN"
+
+  # Pre-global
   FORESTER_PREGLOBAL = "SUBARU FORESTER 2017 - 2018"
   LEGACY_PREGLOBAL = "SUBARU LEGACY 2015 - 2018"
   OUTBACK_PREGLOBAL = "SUBARU OUTBACK 2015 - 2017"
@@ -36,19 +45,22 @@ class CAR:
 
 @dataclass
 class SubaruCarInfo(CarInfo):
-  package: str = "EyeSight"
+  package: str = "EyeSight Driver Assistance"
   harness: Enum = Harness.subaru
 
 
 CAR_INFO: Dict[str, Union[SubaruCarInfo, List[SubaruCarInfo]]] = {
-  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-20", "All", good_torque=True),
+  CAR.ASCENT: SubaruCarInfo("Subaru Ascent 2019-21", "All"),
+  CAR.OUTBACK: SubaruCarInfo("Subaru Outback 2020-22", "All", harness=Harness.none),
   CAR.IMPREZA: [
     SubaruCarInfo("Subaru Impreza 2017-19"),
     SubaruCarInfo("Subaru Crosstrek 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
+    SubaruCarInfo("Subaru XV 2018-19", video_link="https://youtu.be/Agww7oE1k-s?t=26"),
   ],
   CAR.IMPREZA_2020: [
-    SubaruCarInfo("Subaru Impreza 2020-21"),
+    SubaruCarInfo("Subaru Impreza 2020-22"),
     SubaruCarInfo("Subaru Crosstrek 2020-21"),
+    SubaruCarInfo("Subaru XV 2020-21"),
   ],
   CAR.FORESTER: SubaruCarInfo("Subaru Forester 2019-21", "All"),
   CAR.FORESTER_PREGLOBAL: SubaruCarInfo("Subaru Forester 2017-18"),
@@ -112,6 +124,7 @@ FW_VERSIONS = {
       b'z\xc0\x04\x00',
       b'z\xc0\x00\x00',
       b'\x8a\xc0\x10\x00',
+      b'z\xc0\n\x00',
     ],
     (Ecu.fwdCamera, 0x787, None): [
       b'\x00\x00\x64\xb5\x1f\x40\x20\x0e',
@@ -227,6 +240,7 @@ FW_VERSIONS = {
       b'\xcb\"`@\a',
       b'\xcb\"`p\a',
       b'\xf1\x00\xa2\x10\n',
+      b'\xcf"`p\x07',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\032\xf6B0\000',
@@ -393,6 +407,47 @@ FW_VERSIONS = {
       b'\xbb\xfb\xe0`\000',
     ],
   },
+  CAR.OUTBACK: {
+    (Ecu.esp, 0x7b0, None): [
+      b'\xa1  \x06\x01',
+      b'\xa1  \a\x00',
+      b'\xa1  \b\001',
+      b'\xa1  \x06\x00',
+      b'\xa1 "\t\x01',
+      b'\xa1  \x08\x02',
+      b'\xa1 \x06\x02',
+      b'\xa1  \x08\x00',
+    ],
+    (Ecu.eps, 0x746, None): [
+      b'\x9b\xc0\x10\x00',
+      b'\x9b\xc0\x20\x00',
+      b'\x1b\xc0\x10\x00',
+    ],
+    (Ecu.fwdCamera, 0x787, None): [
+      b'\x00\x00eJ\x00\x1f@ \x19\x00',
+      b'\000\000e\x80\000\037@ \031\000',
+      b'\x00\x00e\x9a\x00\x1f@ 1\x00',
+      b'\x00\x00eJ\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xbc,\xa0q\x07',
+      b'\xbc\"`@\a',
+      b'\xde"`0\a',
+      b'\xf1\x82\xbc,\xa0q\a',
+      b'\xf1\x82\xe3,\xa0@\x07',
+      b'\xe2"`p\x07',
+      b'\xf1\x82\xe2,\xa0@\x07',
+      b'\xbc"`q\x07',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xa5\xfe\xf7@\x00',
+      b'\xa5\xf6D@\x00',
+      b'\xa5\xfe\xf6@\x00',
+      b'\xa7\x8e\xf40\x00',
+      b'\xf1\x82\xa7\xf6D@\x00',
+      b'\xa7\xfe\xf4@\x00',
+    ],
+  },
 }
 
 STEER_THRESHOLD = {
@@ -400,6 +455,7 @@ STEER_THRESHOLD = {
   CAR.IMPREZA: 80,
   CAR.IMPREZA_2020: 80,
   CAR.FORESTER: 80,
+  CAR.OUTBACK: 80,
   CAR.FORESTER_PREGLOBAL: 75,
   CAR.LEGACY_PREGLOBAL: 75,
   CAR.OUTBACK_PREGLOBAL: 75,
@@ -411,10 +467,12 @@ DBC = {
   CAR.IMPREZA: dbc_dict('subaru_global_2017_generated', None),
   CAR.IMPREZA_2020: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER: dbc_dict('subaru_global_2017_generated', None),
+  CAR.OUTBACK: dbc_dict('subaru_global_2017_generated', None),
   CAR.FORESTER_PREGLOBAL: dbc_dict('subaru_forester_2017_generated', None),
   CAR.LEGACY_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL: dbc_dict('subaru_outback_2015_generated', None),
   CAR.OUTBACK_PREGLOBAL_2018: dbc_dict('subaru_outback_2019_generated', None),
 }
 
-PREGLOBAL_CARS = [CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018]
+GLOBAL_GEN2 = (CAR.OUTBACK, )
+PREGLOBAL_CARS = (CAR.FORESTER_PREGLOBAL, CAR.LEGACY_PREGLOBAL, CAR.OUTBACK_PREGLOBAL, CAR.OUTBACK_PREGLOBAL_2018)
\ No newline at end of file
diff --git a/selfdrive/car/tesla/interface.py b/selfdrive/car/tesla/interface.py
index d4eda38e64..5e78c72b60 100755
--- a/selfdrive/car/tesla/interface.py
+++ b/selfdrive/car/tesla/interface.py
@@ -64,5 +64,4 @@ class CarInterface(CarInterfaceBase):
     return ret
 
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/tests/routes.py b/selfdrive/car/tests/routes.py
index 19b1a05c23..7b6355d73f 100644
--- a/selfdrive/car/tests/routes.py
+++ b/selfdrive/car/tests/routes.py
@@ -38,6 +38,7 @@ routes = [
   TestRoute("378472f830ee7395|2021-05-28--07-38-43", CHRYSLER.PACIFICA_2018_HYBRID),
   TestRoute("8190c7275a24557b|2020-01-29--08-33-58", CHRYSLER.PACIFICA_2019_HYBRID),
   TestRoute("3d84727705fecd04|2021-05-25--08-38-56", CHRYSLER.PACIFICA_2020),
+  TestRoute("221c253375af4ee9|2022-06-15--18-38-24", CHRYSLER.RAM_1500),
 
   #TestRoute("f1b4c567731f4a1b|2018-04-30--10-15-35", FORD.FUSION),
 
@@ -96,6 +97,7 @@ routes = [
   TestRoute("ab59fe909f626921|2021-10-18--18-34-28", HYUNDAI.IONIQ_HEV_2022),
   TestRoute("22d955b2cd499c22|2020-08-10--19-58-21", HYUNDAI.KONA),
   TestRoute("efc48acf44b1e64d|2021-05-28--21-05-04", HYUNDAI.KONA_EV),
+  TestRoute("ff973b941a69366f|2022-07-28--22-01-19", HYUNDAI.KONA_EV_2022, segment=11),
   TestRoute("49f3c13141b6bc87|2021-07-28--08-05-13", HYUNDAI.KONA_HEV),
   TestRoute("5dddcbca6eb66c62|2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
   TestRoute("d624b3d19adce635|2020-08-01--14-59-12", HYUNDAI.VELOSTER),
@@ -186,13 +188,11 @@ routes = [
   TestRoute("c321c6b697c5a5ff|2020-06-23--11-04-33", SUBARU.FORESTER),
   TestRoute("791340bc01ed993d|2019-03-10--16-28-08", SUBARU.IMPREZA),
   TestRoute("8bf7e79a3ce64055|2021-05-24--09-36-27", SUBARU.IMPREZA_2020),
-  # Dashcam
+  TestRoute("1bbe6bf2d62f58a8|2022-07-14--17-11-43", SUBARU.OUTBACK, segment=3),
+  # Pre-global, dashcam
   TestRoute("95441c38ae8c130e|2020-06-08--12-10-17", SUBARU.FORESTER_PREGLOBAL),
-  # Dashcam
   TestRoute("df5ca7660000fba8|2020-06-16--17-37-19", SUBARU.LEGACY_PREGLOBAL),
-  # Dashcam
   TestRoute("5ab784f361e19b78|2020-06-08--16-30-41", SUBARU.OUTBACK_PREGLOBAL),
-  # Dashcam
   TestRoute("e19eb5d5353b1ac1|2020-08-09--14-37-56", SUBARU.OUTBACK_PREGLOBAL_2018),
 
   TestRoute("fbbfa6af821552b9|2020-03-03--08-09-43", NISSAN.XTRAIL),
diff --git a/selfdrive/car/tests/test_docs.py b/selfdrive/car/tests/test_docs.py
index 98c909a9be..e31ad0d5c1 100755
--- a/selfdrive/car/tests/test_docs.py
+++ b/selfdrive/car/tests/test_docs.py
@@ -1,9 +1,11 @@
 #!/usr/bin/env python3
+import re
 import unittest
 
 from selfdrive.car.car_helpers import interfaces, get_interface_attr
 from selfdrive.car.docs import CARS_MD_OUT, CARS_MD_TEMPLATE, generate_cars_md, get_all_car_info
 from selfdrive.car.docs_definitions import Column, Star
+from selfdrive.car.honda.values import CAR as HONDA
 
 
 class TestCarDocs(unittest.TestCase):
@@ -11,7 +13,7 @@ class TestCarDocs(unittest.TestCase):
     self.all_cars = get_all_car_info()
 
   def test_generator(self):
-    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE)
+    generated_cars_md = generate_cars_md(self.all_cars, CARS_MD_TEMPLATE, False)
     with open(CARS_MD_OUT, "r") as f:
       current_cars_md = f.read()
 
@@ -43,11 +45,17 @@ class TestCarDocs(unittest.TestCase):
     # Asserts brand-specific assumptions around steering torque star
     for car in self.all_cars:
       with self.subTest(car=car):
-        if car.car_name == "honda":
-          self.assertIn(car.row[Column.STEERING_TORQUE], (Star.EMPTY, Star.HALF), f"{car.name} has full torque star")
+        # honda sanity check, it's the definition of a no torque star
+        if car.car_fingerprint in (HONDA.ACCORD, HONDA.CIVIC, HONDA.CRV, HONDA.ODYSSEY, HONDA.PILOT):
+          self.assertEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has full torque star")
         elif car.car_name in ("toyota", "hyundai"):
           self.assertNotEqual(car.row[Column.STEERING_TORQUE], Star.EMPTY, f"{car.name} has no torque star")
 
+  def test_year_format(self):
+    for car in self.all_cars:
+      with self.subTest(car=car):
+        self.assertIsNone(re.search(r"\d{4}-\d{4}", car.name), f"Format years correctly: {car.name}")
+
 
 if __name__ == "__main__":
   unittest.main()
diff --git a/selfdrive/car/tests/test_fw_fingerprint.py b/selfdrive/car/tests/test_fw_fingerprint.py
index ed7e420e1a..cda241c73f 100755
--- a/selfdrive/car/tests/test_fw_fingerprint.py
+++ b/selfdrive/car/tests/test_fw_fingerprint.py
@@ -12,6 +12,7 @@ CarFw = car.CarParams.CarFw
 Ecu = car.CarParams.Ecu
 
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
+VERSIONS = get_interface_attr("FW_VERSIONS", ignore_none=True)
 
 
 class TestFwFingerprint(unittest.TestCase):
@@ -20,14 +21,16 @@ class TestFwFingerprint(unittest.TestCase):
     self.assertEqual(len(candidates), 1, f"got more than one candidate: {candidates}")
     self.assertEqual(candidates[0], expected)
 
-  @parameterized.expand([(k, v) for k, v in FW_VERSIONS.items()])
-  def test_fw_fingerprint(self, car_model, ecus):
+  @parameterized.expand([(b, c, e[c]) for b, e in VERSIONS.items() for c in e])
+  def test_fw_fingerprint(self, brand, car_model, ecus):
     CP = car.CarParams.new_message()
     for _ in range(200):
       fw = []
       for ecu, fw_versions in ecus.items():
+        if not len(fw_versions):
+          raise unittest.SkipTest("Car model has no FW versions")
         ecu_name, addr, sub_addr = ecu
-        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions),
+        fw.append({"ecu": ecu_name, "fwVersion": random.choice(fw_versions), 'brand': brand,
                    "address": addr, "subAddress": 0 if sub_addr is None else sub_addr})
       CP.carFw = fw
       _, matches = match_fw_to_car(CP.carFw)
@@ -60,10 +63,9 @@ class TestFwFingerprint(unittest.TestCase):
   def test_fw_request_ecu_whitelist(self):
     passed = True
     brands = set(r.brand for r in REQUESTS)
-    versions = get_interface_attr('FW_VERSIONS')
     for brand in brands:
       whitelisted_ecus = [ecu for r in REQUESTS for ecu in r.whitelist_ecus if r.brand == brand]
-      brand_ecus = set([fw[0] for car_fw in versions[brand].values() for fw in car_fw])
+      brand_ecus = set([fw[0] for car_fw in VERSIONS[brand].values() for fw in car_fw])
 
       # each ecu in brand's fw versions needs to be whitelisted at least once
       ecus_not_whitelisted = set(brand_ecus) - set(whitelisted_ecus)
diff --git a/selfdrive/car/tests/test_models.py b/selfdrive/car/tests/test_models.py
index cb4b868582..929c539842 100755
--- a/selfdrive/car/tests/test_models.py
+++ b/selfdrive/car/tests/test_models.py
@@ -57,6 +57,11 @@ class TestCarModelBase(unittest.TestCase):
     if cls.__name__ == 'TestCarModel' or cls.__name__.endswith('Base'):
       raise unittest.SkipTest
 
+    if 'FILTER' in os.environ:
+      print(tuple(os.environ.get('FILTER').split(', ')))
+      if not cls.car_model.startswith(tuple(os.environ.get('FILTER').split(','))):
+        raise unittest.SkipTest
+
     if cls.test_route is None:
       if cls.car_model in non_tested_cars:
         print(f"Skipping tests for {cls.car_model}: missing route")
diff --git a/selfdrive/car/torque_data/override.yaml b/selfdrive/car/torque_data/override.yaml
index 362313220a..03ad4289eb 100644
--- a/selfdrive/car/torque_data/override.yaml
+++ b/selfdrive/car/torque_data/override.yaml
@@ -19,8 +19,10 @@ FORD FOCUS 4TH GEN: [.nan, 1.5, .nan]
 # No steering wheel
 COMMA BODY: [.nan, 1000, .nan]
 
-# Totally new car
-KIA EV6 2022: [3.0, 2.5, 0.0]
+# Totally new cars
+KIA EV6 2022: [3.5, 2.5, 0.0]
+RAM 1500 5TH GEN: [2.0, 2.0, 0.0]
+SUBARU OUTBACK 6TH GEN: [2.3, 2.3, 0.11]
 
 # Dashcam or fallback configured as ideal car
 mock: [10.0, 10, 0.0]
diff --git a/selfdrive/car/torque_data/substitute.yaml b/selfdrive/car/torque_data/substitute.yaml
index d368b2c672..f7288ec731 100644
--- a/selfdrive/car/torque_data/substitute.yaml
+++ b/selfdrive/car/torque_data/substitute.yaml
@@ -28,6 +28,7 @@ HYUNDAI VELOSTER 2019: HYUNDAI SONATA 2019
 HYUNDAI I30 N LINE 2019 & GT 2018 DCT: HYUNDAI SONATA 2019
 HYUNDAI KONA 2020: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI KONA HYBRID 2020: HYUNDAI KONA ELECTRIC 2019
+HYUNDAI KONA ELECTRIC 2022: HYUNDAI KONA ELECTRIC 2019
 HYUNDAI IONIQ HYBRID 2017-2019: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ HYBRID 2020-2022: HYUNDAI IONIQ PLUG-IN HYBRID 2019
 HYUNDAI IONIQ ELECTRIC 2020: HYUNDAI IONIQ PLUG-IN HYBRID 2019
diff --git a/selfdrive/car/toyota/carcontroller.py b/selfdrive/car/toyota/carcontroller.py
index 33e3fe118e..858a3815b4 100644
--- a/selfdrive/car/toyota/carcontroller.py
+++ b/selfdrive/car/toyota/carcontroller.py
@@ -20,7 +20,6 @@ class CarController:
     self.alert_active = False
     self.last_standstill = False
     self.standstill_req = False
-    self.steer_rate_limited = False
 
     self.packer = CANPacker(dbc_name)
     self.gas = 0
@@ -52,7 +51,6 @@ class CarController:
     # steer torque
     new_steer = int(round(actuators.steer * CarControllerParams.STEER_MAX))
     apply_steer = apply_toyota_steer_torque_limits(new_steer, self.last_steer, CS.out.steeringTorqueEps, self.torque_rate_limits)
-    self.steer_rate_limited = new_steer != apply_steer
 
     if not CC.latActive:
       apply_steer = 0
@@ -83,7 +81,7 @@ class CarController:
     # toyota can trace shows this message at 42Hz, with counter adding alternatively 1 and 2;
     # sending it at 100Hz seem to allow a higher rate limit, as the rate limit seems imposed
     # on consecutive messages
-    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req, self.frame))
+    can_sends.append(create_steer_command(self.packer, apply_steer, apply_steer_req))
     if self.frame % 2 == 0 and self.CP.carFingerprint in TSS2_CAR:
       can_sends.append(create_lta_steer_command(self.packer, 0, 0, self.frame // 2))
 
@@ -126,7 +124,7 @@ class CarController:
       # forcing the pcm to disengage causes a bad fault sound so play a good sound instead
       send_ui = True
 
-    if self.frame % 100 == 0 or send_ui:
+    if (self.frame % 100 == 0 or send_ui) and (self.CP.carFingerprint != CAR.PRIUS_V):
       can_sends.append(create_ui_command(self.packer, steer_alert, pcm_cancel_cmd, hud_control.leftLaneVisible,
                                          hud_control.rightLaneVisible, hud_control.leftLaneDepart,
                                          hud_control.rightLaneDepart, CC.enabled))
diff --git a/selfdrive/car/toyota/interface.py b/selfdrive/car/toyota/interface.py
index fdb923f693..642c39952e 100644
--- a/selfdrive/car/toyota/interface.py
+++ b/selfdrive/car/toyota/interface.py
@@ -93,20 +93,12 @@ class CarInterface(CarInterfaceBase):
       if candidate not in (CAR.CAMRY_TSS2, CAR.CAMRYH_TSS2):
         set_lat_tune(ret.lateralTuning, LatTunes.PID_C)
 
-    elif candidate in (CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
+    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH, CAR.HIGHLANDER_TSS2, CAR.HIGHLANDERH_TSS2):
       stop_and_go = True
-      ret.wheelbase = 2.84988  # 112.2 in = 2.84988 m
+      ret.wheelbase = 2.8194  # average of 109.8 and 112.2 in
       ret.steerRatio = 16.0
       tire_stiffness_factor = 0.8
-      ret.mass = 4700. * CV.LB_TO_KG + STD_CARGO_KG  # 4260 + 4-5 people
-      set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
-
-    elif candidate in (CAR.HIGHLANDER, CAR.HIGHLANDERH):
-      stop_and_go = True
-      ret.wheelbase = 2.78
-      ret.steerRatio = 16.0
-      tire_stiffness_factor = 0.8
-      ret.mass = 4607. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid limited
+      ret.mass = 4516. * CV.LB_TO_KG + STD_CARGO_KG  # mean between normal and hybrid
       set_lat_tune(ret.lateralTuning, LatTunes.PID_G)
 
     elif candidate in (CAR.AVALON, CAR.AVALON_2019, CAR.AVALONH_2019, CAR.AVALON_TSS2, CAR.AVALONH_TSS2):
@@ -251,8 +243,6 @@ class CarInterface(CarInterfaceBase):
   def _update(self, c):
     ret = self.CS.update(self.cp, self.cp_cam)
 
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
     # events
     events = self.create_common_events(ret)
 
@@ -274,5 +264,4 @@ class CarInterface(CarInterfaceBase):
   # pass in a car.CarControl
   # to be called @ 100hz
   def apply(self, c):
-    ret = self.CC.update(c, self.CS)
-    return ret
+    return self.CC.update(c, self.CS)
diff --git a/selfdrive/car/toyota/toyotacan.py b/selfdrive/car/toyota/toyotacan.py
index d57131dcb9..7ab3ab3e78 100644
--- a/selfdrive/car/toyota/toyotacan.py
+++ b/selfdrive/car/toyota/toyotacan.py
@@ -1,10 +1,9 @@
-def create_steer_command(packer, steer, steer_req, raw_cnt):
+def create_steer_command(packer, steer, steer_req):
   """Creates a CAN message for the Toyota Steer Command."""
 
   values = {
     "STEER_REQUEST": steer_req,
     "STEER_TORQUE_CMD": steer,
-    "COUNTER": raw_cnt,
     "SET_ME_1": 1,
   }
   return packer.make_can_msg("STEERING_LKA", 0, values)
diff --git a/selfdrive/car/toyota/values.py b/selfdrive/car/toyota/values.py
index 32f66b6fa0..7757c1b3cf 100644
--- a/selfdrive/car/toyota/values.py
+++ b/selfdrive/car/toyota/values.py
@@ -87,11 +87,11 @@ class CAR:
 
 class Footnote(Enum):
   DSU = CarFootnote(
-    "When disconnecting the Driver Support Unit (DSU), openpilot Adaptive Cruise Control (ACC) will replace stock " +
-    "Adaptive Cruise Control (ACC). <b><i> NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
+    "When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace " +
+    "stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b>",
     Column.LONGITUDINAL, star=Star.HALF)
   CAMRY = CarFootnote(
-    "28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
+    "openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control.",
     Column.FSR_LONGITUDINAL)
 
 
@@ -99,16 +99,18 @@ class Footnote(Enum):
 class ToyotaCarInfo(CarInfo):
   package: str = "All"
   harness: Enum = Harness.toyota
-  good_torque: bool = True
 
 
 CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   # Toyota
   CAR.ALPHARD_TSS2: ToyotaCarInfo("Toyota Alphard 2019-20"),
   CAR.ALPHARDH_TSS2: ToyotaCarInfo("Toyota Alphard Hybrid 2021"),
-  CAR.AVALON: ToyotaCarInfo("Toyota Avalon 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", "TSS-P", footnotes=[Footnote.DSU]),
+  CAR.AVALON: [
+    ToyotaCarInfo("Toyota Avalon 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Avalon 2017-18", footnotes=[Footnote.DSU]),
+  ],
+  CAR.AVALON_2019: ToyotaCarInfo("Toyota Avalon 2019-21", footnotes=[Footnote.DSU]),
+  CAR.AVALONH_2019: ToyotaCarInfo("Toyota Avalon Hybrid 2019-21", footnotes=[Footnote.DSU]),
   CAR.AVALON_TSS2: ToyotaCarInfo("Toyota Avalon 2022"),
   CAR.AVALONH_TSS2: ToyotaCarInfo("Toyota Avalon Hybrid 2022"),
   CAR.CAMRY: ToyotaCarInfo("Toyota Camry 2018-20", video_link="https://www.youtube.com/watch?v=fkcjviZY9CM", footnotes=[Footnote.CAMRY]),
@@ -120,28 +122,36 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.COROLLA: ToyotaCarInfo("Toyota Corolla 2017-19", footnotes=[Footnote.DSU]),
   CAR.COROLLA_TSS2: [
     ToyotaCarInfo("Toyota Corolla 2020-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
-    ToyotaCarInfo("Toyota Corolla Cross 2020-21 (Non-US only)"),
+    ToyotaCarInfo("Toyota Corolla Cross (Non-US only) 2020-21", min_enable_speed=7.5),
     ToyotaCarInfo("Toyota Corolla Hatchback 2019-22", video_link="https://www.youtube.com/watch?v=_66pXk0CBYA"),
   ],
   CAR.COROLLAH_TSS2: [
     ToyotaCarInfo("Toyota Corolla Hybrid 2020-22"),
-    ToyotaCarInfo("Lexus UX Hybrid 2019-21"),
+    ToyotaCarInfo("Toyota Corolla Cross Hybrid (Non-US only) 2020-22", min_enable_speed=7.5),
+    ToyotaCarInfo("Lexus UX Hybrid 2019-22"),
   ],
   CAR.HIGHLANDER: ToyotaCarInfo("Toyota Highlander 2017-19", video_link="https://www.youtube.com/watch?v=0wS0wXSLzoo", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDER_TSS2: ToyotaCarInfo("Toyota Highlander 2020-22"),
   CAR.HIGHLANDERH: ToyotaCarInfo("Toyota Highlander Hybrid 2017-19", footnotes=[Footnote.DSU]),
   CAR.HIGHLANDERH_TSS2: ToyotaCarInfo("Toyota Highlander Hybrid 2020-22"),
   CAR.PRIUS: [
-    ToyotaCarInfo("Toyota Prius 2016-20", "TSS-P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius 2016", "Toyota Safety Sense P", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota Prius 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
     ToyotaCarInfo("Toyota Prius Prime 2017-20", video_link="https://www.youtube.com/watch?v=8zopPJI8XQ0", footnotes=[Footnote.DSU]),
   ],
-  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "TSS-P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
+  CAR.PRIUS_V: ToyotaCarInfo("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED, footnotes=[Footnote.DSU]),
   CAR.PRIUS_TSS2: [
     ToyotaCarInfo("Toyota Prius 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
     ToyotaCarInfo("Toyota Prius Prime 2021-22", video_link="https://www.youtube.com/watch?v=J58TvCpUd4U"),
   ],
-  CAR.RAV4: ToyotaCarInfo("Toyota RAV4 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
-  CAR.RAV4H: ToyotaCarInfo("Toyota RAV4 Hybrid 2016-18", "TSS-P", footnotes=[Footnote.DSU]),
+  CAR.RAV4: [
+    ToyotaCarInfo("Toyota RAV4 2016", "Toyota Safety Sense P", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 2017-18", footnotes=[Footnote.DSU])
+  ],
+  CAR.RAV4H: [
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2016", "Toyota Safety Sense P", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU]),
+    ToyotaCarInfo("Toyota RAV4 Hybrid 2017-18", video_link="https://youtu.be/LhT5VzJVfNI?t=26", footnotes=[Footnote.DSU])
+  ],
   CAR.RAV4_TSS2: ToyotaCarInfo("Toyota RAV4 2019-21", video_link="https://www.youtube.com/watch?v=wJxjDd42gGA"),
   CAR.RAV4_TSS2_2022: ToyotaCarInfo("Toyota RAV4 2022"),
   CAR.RAV4H_TSS2: ToyotaCarInfo("Toyota RAV4 Hybrid 2019-21"),
@@ -150,16 +160,16 @@ CAR_INFO: Dict[str, Union[ToyotaCarInfo, List[ToyotaCarInfo]]] = {
   CAR.SIENNA: ToyotaCarInfo("Toyota Sienna 2018-20", video_link="https://www.youtube.com/watch?v=q1UPOo4Sh68", footnotes=[Footnote.DSU]),
 
   # Lexus
-  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "LSS", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-21"),
-  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22"),
+  CAR.LEXUS_CTH: ToyotaCarInfo("Lexus CT Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_ESH: ToyotaCarInfo("Lexus ES Hybrid 2017-18", "Lexus Safety System+", footnotes=[Footnote.DSU]),
+  CAR.LEXUS_ES_TSS2: ToyotaCarInfo("Lexus ES 2019-22"),
+  CAR.LEXUS_ESH_TSS2: ToyotaCarInfo("Lexus ES Hybrid 2019-22", video_link="https://youtu.be/BZ29osRVJeg?t=12"),
   CAR.LEXUS_IS: ToyotaCarInfo("Lexus IS 2017-19"),
   CAR.LEXUS_NX: ToyotaCarInfo("Lexus NX 2018-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_NXH: ToyotaCarInfo("Lexus NX Hybrid 2018-19", footnotes=[Footnote.DSU]),
-  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020"),
-  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020"),
-  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2020"),
+  CAR.LEXUS_NX_TSS2: ToyotaCarInfo("Lexus NX 2020-21"),
+  CAR.LEXUS_NXH_TSS2: ToyotaCarInfo("Lexus NX Hybrid 2020-21"),
+  CAR.LEXUS_RC: ToyotaCarInfo("Lexus RC 2017-20"),
   CAR.LEXUS_RX: ToyotaCarInfo("Lexus RX 2016-18", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RXH: ToyotaCarInfo("Lexus RX Hybrid 2016-19", footnotes=[Footnote.DSU]),
   CAR.LEXUS_RX_TSS2: ToyotaCarInfo("Lexus RX 2020-22"),
@@ -789,6 +799,7 @@ FW_VERSIONS = {
     (Ecu.eps, 0x7a1, None): [
       b'8965B12361\x00\x00\x00\x00\x00\x00',
       b'8965B12451\x00\x00\x00\x00\x00\x00',
+      b'8965B16011\x00\x00\x00\x00\x00\x00',
       b'8965B76012\x00\x00\x00\x00\x00\x00',
       b'8965B76050\x00\x00\x00\x00\x00\x00',
       b'\x018965B12350\x00\x00\x00\x00\x00\x00',
@@ -809,14 +820,16 @@ FW_VERSIONS = {
       b'F152612800\x00\x00\x00\x00\x00\x00',
       b'F152612820\x00\x00\x00\x00\x00\x00',
       b'F152612840\x00\x00\x00\x00\x00\x00',
+      b'F152612842\x00\x00\x00\x00\x00\x00',
       b'F152612890\x00\x00\x00\x00\x00\x00',
       b'F152612A00\x00\x00\x00\x00\x00\x00',
       b'F152612A10\x00\x00\x00\x00\x00\x00',
+      b'F152612D00\x00\x00\x00\x00\x00\x00',
+      b'F152616011\x00\x00\x00\x00\x00\x00',
       b'F152642540\x00\x00\x00\x00\x00\x00',
       b'F152676293\x00\x00\x00\x00\x00\x00',
       b'F152676303\x00\x00\x00\x00\x00\x00',
       b'F152676304\x00\x00\x00\x00\x00\x00',
-      b'F152612D00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
@@ -832,6 +845,7 @@ FW_VERSIONS = {
       b'\x028646F1202000\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F1202100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F1202200\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F1601100\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b"\x028646F1601300\x00\x00\x00\x008646G2601400\x00\x00\x00\x00",
       b'\x028646F4203400\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F76020C0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
@@ -954,11 +968,13 @@ FW_VERSIONS = {
       b'\x01F15264873500\x00\x00\x00\x00',
       b'\x01F152648C6300\x00\x00\x00\x00',
       b'\x01F152648J4000\x00\x00\x00\x00',
+      b'\x01F152648J6000\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896630EE4000\x00\x00\x00\x00',
+      b'\x01896630EE6000\x00\x00\x00\x00',
       b'\x01896630E67000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00',
-      b'\x01896630EE4000\x00\x00\x00\x00',
       b'\x01896630EA1000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630E66000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
       b'\x02896630EB3000\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@@ -1262,6 +1278,7 @@ FW_VERSIONS = {
       b'\x01F152642711\x00\x00\x00\x00\x00\x00',
       b'\x01F152642750\x00\x00\x00\x00\x00\x00',
       b'\x01F152642751\x00\x00\x00\x00\x00\x00',
+      b'\x01F15260R292\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B42170\x00\x00\x00\x00\x00\x00',
@@ -1296,8 +1313,10 @@ FW_VERSIONS = {
       b'\x028965B0R01500\x00\x00\x00\x008965B0R02500\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
+      b'\x01896634AA0000\x00\x00\x00\x00',
       b'\x01896634AA1000\x00\x00\x00\x00',
       b'\x01896634A88000\x00\x00\x00\x00',
+      b'\x01896634A89000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',
@@ -1315,6 +1334,7 @@ FW_VERSIONS = {
       b'\x018966342X6000\x00\x00\x00\x00',
       b'\x01896634A25000\x00\x00\x00\x00',
       b'\x018966342W5000\x00\x00\x00\x00',
+      b'\x018966342W7000\x00\x00\x00\x00',
       b'\x028966342W4001\x00\x00\x00\x00897CF1203001\x00\x00\x00\x00',
       b'\x02896634A13000\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'\x02896634A13001\x00\x00\x00\x00897CF4801001\x00\x00\x00\x00',
@@ -1376,11 +1396,13 @@ FW_VERSIONS = {
       b'8965B42172\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.engine, 0x700, None): [
-      b'\x01896634A62000\x00\x00\x00\x00',
-      b'\x01896634A08000\x00\x00\x00\x00',
-      b'\x01896634A61000\x00\x00\x00\x00',
       b'\x01896634A02001\x00\x00\x00\x00',
       b'\x01896634A03000\x00\x00\x00\x00',
+      b'\x01896634A08000\x00\x00\x00\x00',
+      b'\x01896634A61000\x00\x00\x00\x00',
+      b'\x01896634A62000\x00\x00\x00\x00',
+      b'\x01896634A62100\x00\x00\x00\x00',
+      b'\x01896634A63000\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F0R01100\x00\x00\x00\x00',
@@ -1444,6 +1466,7 @@ FW_VERSIONS = {
   },
   CAR.LEXUS_ES_TSS2: {
     (Ecu.engine, 0x700, None): [
+      b'\x018966306U6000\x00\x00\x00\x00',
       b'\x01896630EC9100\x00\x00\x00\x00',
       b'\x018966333T5000\x00\x00\x00\x00',
       b'\x018966333T5100\x00\x00\x00\x00',
@@ -1460,18 +1483,21 @@ FW_VERSIONS = {
       b'8965B33252\x00\x00\x00\x00\x00\x00',
       b'8965B33590\x00\x00\x00\x00\x00\x00',
       b'8965B33690\x00\x00\x00\x00\x00\x00',
+      b'8965B33721\x00\x00\x00\x00\x00\x00',
       b'8965B48271\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'\x018821F3301100\x00\x00\x00\x00',
       b'\x018821F3301200\x00\x00\x00\x00',
       b'\x018821F3301400\x00\x00\x00\x00',
+      b'\x018821F6201300\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F33030D0\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3303200\x00\x00\x00\x008646G26011A0\x00\x00\x00\x00',
       b'\x028646F3304100\x00\x00\x00\x008646G2601200\x00\x00\x00\x00',
       b'\x028646F3304300\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F4810200\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
     ],
   },
@@ -1760,13 +1786,14 @@ FW_VERSIONS = {
       b'\x01896630EB0000\x00\x00\x00\x00',
       b'\x01896630EC9000\x00\x00\x00\x00',
       b'\x01896630ED0000\x00\x00\x00\x00',
+      b'\x01896630ED0100\x00\x00\x00\x00',
       b'\x01896630ED6000\x00\x00\x00\x00',
       b'\x018966348W5100\x00\x00\x00\x00',
       b'\x018966348W9000\x00\x00\x00\x00',
       b'\x01896634D12000\x00\x00\x00\x00',
       b'\x01896634D12100\x00\x00\x00\x00',
       b'\x01896634D43000\x00\x00\x00\x00',
-      b'\x01896630ED0100\x00\x00\x00\x00',
+      b'\x01896634D44000\x00\x00\x00\x00',
     ],
     (Ecu.esp, 0x7b0, None): [
       b'\x01F15260E031\x00\x00\x00\x00\x00\x00',
@@ -1841,6 +1868,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'\x028646F4707000\x00\x00\x00\x008646G2601400\x00\x00\x00\x00',
       b'\x028646F4710000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
+      b'\x028646F4712000\x00\x00\x00\x008646G2601500\x00\x00\x00\x00',
     ],
   },
   CAR.MIRAI: {
diff --git a/selfdrive/car/vin.py b/selfdrive/car/vin.py
index 7413c3f235..5ace68649b 100755
--- a/selfdrive/car/vin.py
+++ b/selfdrive/car/vin.py
@@ -1,4 +1,5 @@
 #!/usr/bin/env python3
+import re
 import struct
 import traceback
 
@@ -15,25 +16,30 @@ UDS_VIN_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + struct.pac
 UDS_VIN_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + struct.pack("!H", uds.DATA_IDENTIFIER_TYPE.VIN)
 
 VIN_UNKNOWN = "0" * 17
+VIN_RE = "[A-HJ-NPR-Z0-9]{17}"
+
+
+def is_valid_vin(vin: str):
+  return re.fullmatch(VIN_RE, vin) is not None
 
 
 def get_vin(logcan, sendcan, bus, timeout=0.1, retry=5, debug=False):
-  for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
-    for i in range(retry):
+  for i in range(retry):
+    for request, response in ((UDS_VIN_REQUEST, UDS_VIN_RESPONSE), (OBD_VIN_REQUEST, OBD_VIN_RESPONSE)):
       try:
         query = IsoTpParallelQuery(sendcan, logcan, bus, FUNCTIONAL_ADDRS, [request, ], [response, ], functional_addr=True, debug=debug)
-        for addr, vin in query.get_data(timeout).items():
+        for (addr, rx_addr), vin in query.get_data(timeout).items():
 
           # Honda Bosch response starts with a length, trim to correct length
           if vin.startswith(b'\x11'):
             vin = vin[1:18]
 
-          return addr[0], vin.decode()
+          return addr[0], rx_addr, vin.decode()
         print(f"vin query retry ({i+1}) ...")
       except Exception:
         cloudlog.warning(f"VIN query exception: {traceback.format_exc()}")
 
-  return 0, VIN_UNKNOWN
+  return 0, 0, VIN_UNKNOWN
 
 
 if __name__ == "__main__":
@@ -41,5 +47,5 @@ if __name__ == "__main__":
   sendcan = messaging.pub_sock('sendcan')
   logcan = messaging.sub_sock('can')
   time.sleep(1)
-  addr, vin = get_vin(logcan, sendcan, 1, debug=False)
-  print(hex(addr), vin)
+  addr, vin_rx_addr, vin = get_vin(logcan, sendcan, 1, debug=False)
+  print(f'TX: {hex(addr)}, RX: {hex(vin_rx_addr)}, VIN: {vin}')
diff --git a/selfdrive/car/volkswagen/carcontroller.py b/selfdrive/car/volkswagen/carcontroller.py
index 842eb6d139..99a3ce55f4 100644
--- a/selfdrive/car/volkswagen/carcontroller.py
+++ b/selfdrive/car/volkswagen/carcontroller.py
@@ -1,35 +1,32 @@
 from cereal import car
+from opendbc.can.packer import CANPacker
 from selfdrive.car import apply_std_steer_torque_limits
 from selfdrive.car.volkswagen import volkswagencan
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, BUTTON_STATES, CarControllerParams as P
-from opendbc.can.packer import CANPacker
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, MQB_LDW_MESSAGES, CarControllerParams as P
 
 VisualAlert = car.CarControl.HUDControl.VisualAlert
 
-class CarController():
+
+class CarController:
   def __init__(self, dbc_name, CP, VM):
-    self.apply_steer_last = 0
     self.CP = CP
+    self.apply_steer_last = 0
+    self.frame = 0
 
     self.packer_pt = CANPacker(DBC_FILES.mqb)
 
     self.hcaSameTorqueCount = 0
     self.hcaEnabledFrameCount = 0
-    self.graButtonStatesToSend = None
-    self.graMsgSentCount = 0
-    self.graMsgStartFramePrev = 0
-    self.graMsgBusCounterPrev = 0
-
-    self.steer_rate_limited = False
 
-  def update(self, c, CS, frame, ext_bus, actuators, visual_alert, left_lane_visible, right_lane_visible, left_lane_depart, right_lane_depart):
-    """ Controls thread """
+  def update(self, CC, CS, ext_bus):
+    actuators = CC.actuators
+    hud_control = CC.hudControl
 
     can_sends = []
 
     # **** Steering Controls ************************************************ #
 
-    if frame % P.HCA_STEP == 0:
+    if self.frame % P.HCA_STEP == 0:
       # Logic to avoid HCA state 4 "refused":
       #   * Don't steer unless HCA is in state 3 "ready" or 5 "active"
       #   * Don't steer at standstill
@@ -40,10 +37,9 @@ class CarController():
       # torque value. Do that anytime we happen to have 0 torque, or failing that,
       # when exceeding ~1/3 the 360 second timer.
 
-      if c.latActive:
+      if CC.latActive:
         new_steer = int(round(actuators.steer * P.STEER_MAX))
         apply_steer = apply_std_steer_torque_limits(new_steer, self.apply_steer_last, CS.out.steeringTorque, P)
-        self.steer_rate_limited = new_steer != apply_steer
         if apply_steer == 0:
           hcaEnabled = False
           self.hcaEnabledFrameCount = 0
@@ -66,52 +62,32 @@ class CarController():
         apply_steer = 0
 
       self.apply_steer_last = apply_steer
-      idx = (frame / P.HCA_STEP) % 16
-      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer,
-                                                                 idx, hcaEnabled))
+      can_sends.append(volkswagencan.create_mqb_steering_control(self.packer_pt, CANBUS.pt, apply_steer, hcaEnabled))
 
     # **** HUD Controls ***************************************************** #
 
-    if frame % P.LDW_STEP == 0:
-      if visual_alert in (VisualAlert.steerRequired, VisualAlert.ldw):
+    if self.frame % P.LDW_STEP == 0:
+      if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw):
         hud_alert = MQB_LDW_MESSAGES["laneAssistTakeOverSilent"]
       else:
         hud_alert = MQB_LDW_MESSAGES["none"]
 
-      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, c.enabled,
-                                                            CS.out.steeringPressed, hud_alert, left_lane_visible,
-                                                            right_lane_visible, CS.ldw_stock_values,
-                                                            left_lane_depart, right_lane_depart))
+      can_sends.append(volkswagencan.create_mqb_hud_control(self.packer_pt, CANBUS.pt, CC.enabled,
+                                                            CS.out.steeringPressed, hud_alert, hud_control.leftLaneVisible,
+                                                            hud_control.rightLaneVisible, CS.ldw_stock_values,
+                                                            hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
     # **** ACC Button Controls ********************************************** #
 
-    # FIXME: this entire section is in desperate need of refactoring
-
-    if self.CP.pcmCruise:
-      if frame > self.graMsgStartFramePrev + P.GRA_VBP_STEP:
-        if c.cruiseControl.cancel:
-          # Cancel ACC if it's engaged with OP disengaged.
-          self.graButtonStatesToSend = BUTTON_STATES.copy()
-          self.graButtonStatesToSend["cancel"] = True
-        elif c.enabled and CS.out.cruiseState.standstill:
-          # Blip the Resume button if we're engaged at standstill.
-          # FIXME: This is a naive implementation, improve with visiond or radar input.
-          self.graButtonStatesToSend = BUTTON_STATES.copy()
-          self.graButtonStatesToSend["resumeCruise"] = True
-
-      if CS.graMsgBusCounter != self.graMsgBusCounterPrev:
-        self.graMsgBusCounterPrev = CS.graMsgBusCounter
-        if self.graButtonStatesToSend is not None:
-          if self.graMsgSentCount == 0:
-            self.graMsgStartFramePrev = frame
-          idx = (CS.graMsgBusCounter + 1) % 16
-          can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, self.graButtonStatesToSend, CS, idx))
-          self.graMsgSentCount += 1
-          if self.graMsgSentCount >= P.GRA_VBP_COUNT:
-            self.graButtonStatesToSend = None
-            self.graMsgSentCount = 0
+    if self.CP.pcmCruise and self.frame % P.GRA_ACC_STEP == 0:
+      idx = (CS.gra_stock_values["COUNTER"] + 1) % 16
+      if CC.cruiseControl.cancel:
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, cancel=True))
+      elif CC.cruiseControl.resume:
+        can_sends.append(volkswagencan.create_mqb_acc_buttons_control(self.packer_pt, ext_bus, CS.gra_stock_values, idx, resume=True))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / P.STEER_MAX
 
+    self.frame += 1
     return new_actuators, can_sends
diff --git a/selfdrive/car/volkswagen/carstate.py b/selfdrive/car/volkswagen/carstate.py
index 9c4a111e4e..052a1262e4 100644
--- a/selfdrive/car/volkswagen/carstate.py
+++ b/selfdrive/car/volkswagen/carstate.py
@@ -4,18 +4,19 @@ from common.conversions import Conversions as CV
 from selfdrive.car.interfaces import CarStateBase
 from opendbc.can.parser import CANParser
 from opendbc.can.can_define import CANDefine
-from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, BUTTON_STATES, CarControllerParams
+from selfdrive.car.volkswagen.values import DBC_FILES, CANBUS, NetworkLocation, TransmissionType, GearShifter, \
+                                            CarControllerParams, MQB_BUTTONS
 
 class CarState(CarStateBase):
   def __init__(self, CP):
     super().__init__(CP)
+    self.button_states = {button.event_type: False for button in MQB_BUTTONS}
     can_define = CANDefine(DBC_FILES.mqb)
     if CP.transmissionType == TransmissionType.automatic:
       self.shifter_values = can_define.dv["Getriebe_11"]["GE_Fahrstufe"]
     elif CP.transmissionType == TransmissionType.direct:
       self.shifter_values = can_define.dv["EV_Gearshift"]["GearPosition"]
     self.hca_status_values = can_define.dv["LH_EPS_03"]["EPS_HCA_Status"]
-    self.buttonStates = BUTTON_STATES.copy()
 
   def update(self, pt_cp, cam_cp, ext_cp, trans_type):
     ret = car.CarState.new_message()
@@ -114,26 +115,20 @@ class CarState(CarStateBase):
       if ret.cruiseState.speed > 90:
         ret.cruiseState.speed = 0
 
-    # Update control button states for turn signals and ACC controls.
-    self.buttonStates["accelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Hoch"])
-    self.buttonStates["decelCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Runter"])
-    self.buttonStates["cancel"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Abbrechen"])
-    self.buttonStates["setCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Setzen"])
-    self.buttonStates["resumeCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Wiederaufnahme"])
-    self.buttonStates["gapAdjustCruise"] = bool(pt_cp.vl["GRA_ACC_01"]["GRA_Verstellung_Zeitluecke"])
+    # Update button states for turn signals and ACC controls, capture all ACC button state/config for passthrough
     ret.leftBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Left"])
     ret.rightBlinker = bool(pt_cp.vl["Blinkmodi_02"]["Comfort_Signal_Right"])
-
-    # Read ACC hardware button type configuration info that has to pass thru
-    # to the radar. Ends up being different for steering wheel buttons vs
-    # third stalk type controls.
-    self.graHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Hauptschalter"]
-    self.graTypHauptschalter = pt_cp.vl["GRA_ACC_01"]["GRA_Typ_Hauptschalter"]
-    self.graButtonTypeInfo = pt_cp.vl["GRA_ACC_01"]["GRA_ButtonTypeInfo"]
-    self.graTipStufe2 = pt_cp.vl["GRA_ACC_01"]["GRA_Tip_Stufe_2"]
-    # Pick up the GRA_ACC_01 CAN message counter so we can sync to it for
-    # later cruise-control button spamming.
-    self.graMsgBusCounter = pt_cp.vl["GRA_ACC_01"]["COUNTER"]
+    self.gra_stock_values = pt_cp.vl["GRA_ACC_01"]
+    buttonEvents = []
+    for button in MQB_BUTTONS:
+      state = pt_cp.vl[button.can_addr][button.can_msg] in button.values
+      if self.button_states[button.event_type] != state:
+        event = car.CarState.ButtonEvent.new_message()
+        event.type = button.event_type
+        event.pressed = state
+        buttonEvents.append(event)
+      self.button_states[button.event_type] = state
+    ret.buttonEvents = buttonEvents
 
     # Additional safety checks performed in CarInterface.
     ret.espDisabled = pt_cp.vl["ESP_21"]["ESP_Tastung_passiv"] != 0
@@ -181,6 +176,7 @@ class CarState(CarStateBase):
       ("GRA_Tip_Wiederaufnahme", "GRA_ACC_01"),  # ACC button, resume
       ("GRA_Verstellung_Zeitluecke", "GRA_ACC_01"),  # ACC button, time gap adj
       ("GRA_Typ_Hauptschalter", "GRA_ACC_01"),   # ACC main button type
+      ("GRA_Codierung", "GRA_ACC_01"),           # ACC button configuration/coding
       ("GRA_Tip_Stufe_2", "GRA_ACC_01"),         # unknown related to stalk type
       ("GRA_ButtonTypeInfo", "GRA_ACC_01"),      # unknown related to stalk type
       ("COUNTER", "GRA_ACC_01"),                 # GRA_ACC_01 CAN message counter
diff --git a/selfdrive/car/volkswagen/interface.py b/selfdrive/car/volkswagen/interface.py
index 6782105c16..8bab93d4a3 100644
--- a/selfdrive/car/volkswagen/interface.py
+++ b/selfdrive/car/volkswagen/interface.py
@@ -1,5 +1,5 @@
 from cereal import car
-from selfdrive.car.volkswagen.values import CAR, BUTTON_STATES, CANBUS, NetworkLocation, TransmissionType, GearShifter
+from selfdrive.car.volkswagen.values import CAR, CANBUS, NetworkLocation, TransmissionType, GearShifter
 from selfdrive.car import STD_CARGO_KG, scale_rot_inertia, scale_tire_stiffness, gen_empty_fingerprint, get_safety_config
 from selfdrive.car.interfaces import CarInterfaceBase
 
@@ -10,8 +10,6 @@ class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    self.buttonStatesPrev = BUTTON_STATES.copy()
-
     if CP.networkLocation == NetworkLocation.fwdCamera:
       self.ext_bus = CANBUS.pt
       self.cp_ext = self.cp
@@ -160,19 +158,7 @@ class CarInterface(CarInterfaceBase):
 
   # returns a car.CarState
   def _update(self, c):
-    buttonEvents = []
-
     ret = self.CS.update(self.cp, self.cp_cam, self.cp_ext, self.CP.transmissionType)
-    ret.steeringRateLimited = self.CC.steer_rate_limited if self.CC is not None else False
-
-    # Check for and process state-change events (button press or release) from
-    # the turn stalk switch or ACC steering wheel/control stalk buttons.
-    for button in self.CS.buttonStates:
-      if self.CS.buttonStates[button] != self.buttonStatesPrev[button]:
-        be = car.CarState.ButtonEvent.new_message()
-        be.type = button
-        be.pressed = self.CS.buttonStates[button]
-        buttonEvents.append(be)
 
     events = self.create_common_events(ret, extra_gears=[GearShifter.eco, GearShifter.sport, GearShifter.manumatic])
 
@@ -185,20 +171,8 @@ class CarInterface(CarInterfaceBase):
       events.add(EventName.belowSteerSpeed)
 
     ret.events = events.to_msg()
-    ret.buttonEvents = buttonEvents
-
-    # update previous car states
-    self.buttonStatesPrev = self.CS.buttonStates.copy()
 
     return ret
 
   def apply(self, c):
-    hud_control = c.hudControl
-    ret = self.CC.update(c, self.CS, self.frame, self.ext_bus, c.actuators,
-                         hud_control.visualAlert,
-                         hud_control.leftLaneVisible,
-                         hud_control.rightLaneVisible,
-                         hud_control.leftLaneDepart,
-                         hud_control.rightLaneDepart)
-    self.frame += 1
-    return ret
+    return self.CC.update(c, self.CS, self.ext_bus)
diff --git a/selfdrive/car/volkswagen/values.py b/selfdrive/car/volkswagen/values.py
index 0148a138a2..9f58d68f81 100755
--- a/selfdrive/car/volkswagen/values.py
+++ b/selfdrive/car/volkswagen/values.py
@@ -1,4 +1,4 @@
-from collections import defaultdict
+from collections import defaultdict, namedtuple
 from dataclasses import dataclass
 from enum import Enum
 from typing import Dict, List, Union
@@ -11,6 +11,7 @@ Ecu = car.CarParams.Ecu
 NetworkLocation = car.CarParams.NetworkLocation
 TransmissionType = car.CarParams.TransmissionType
 GearShifter = car.CarState.GearShifter
+Button = namedtuple('Button', ['event_type', 'can_addr', 'can_msg', 'values'])
 
 
 class CarControllerParams:
@@ -18,9 +19,6 @@ class CarControllerParams:
   LDW_STEP = 10                  # LDW_02 message frequency 10Hz
   GRA_ACC_STEP = 3               # GRA_ACC_01 message frequency 33Hz
 
-  GRA_VBP_STEP = 100             # Send ACC virtual button presses once a second
-  GRA_VBP_COUNT = 16             # Send VBP messages for ~0.5s (GRA_ACC_STEP * 16)
-
   # Observed documented MQB limits: 3.00 Nm max, rate of change 5.00 Nm/sec.
   # Limiting rate-of-change based on real-world testing and Comma's safety
   # requirements for minimum time to lane departure.
@@ -43,14 +41,16 @@ class DBC_FILES:
 
 DBC: Dict[str, Dict[str, str]] = defaultdict(lambda: dbc_dict(DBC_FILES.mqb, None))
 
-BUTTON_STATES = {
-  "accelCruise": False,
-  "decelCruise": False,
-  "cancel": False,
-  "setCruise": False,
-  "resumeCruise": False,
-  "gapAdjustCruise": False
-}
+
+MQB_BUTTONS = [
+  Button(car.CarState.ButtonEvent.Type.setCruise, "GRA_ACC_01", "GRA_Tip_Setzen", [1]),
+  Button(car.CarState.ButtonEvent.Type.resumeCruise, "GRA_ACC_01", "GRA_Tip_Wiederaufnahme", [1]),
+  Button(car.CarState.ButtonEvent.Type.accelCruise, "GRA_ACC_01", "GRA_Tip_Hoch", [1]),
+  Button(car.CarState.ButtonEvent.Type.decelCruise, "GRA_ACC_01", "GRA_Tip_Runter", [1]),
+  Button(car.CarState.ButtonEvent.Type.cancel, "GRA_ACC_01", "GRA_Abbrechen", [1]),
+  Button(car.CarState.ButtonEvent.Type.gapAdjustCruise, "GRA_ACC_01", "GRA_Verstellung_Zeitluecke", [1]),
+]
+
 
 MQB_LDW_MESSAGES = {
   "none": 0,                            # Nothing to display
@@ -109,34 +109,54 @@ class Footnote(Enum):
     "(older design) or light brown (newer design). For the newer design, in the interim, choose \"VW J533 Development\" " +
     "from the vehicle drop-down for a harness that integrates at the CAN gateway inside the dashboard.",
     Column.MODEL)
+  VW_VARIANT = CarFootnote(
+    "Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.)",
+    Column.MODEL)
 
 
 @dataclass
 class VWCarInfo(CarInfo):
   package: str = "Driver Assistance"
-  good_torque: bool = True
   harness: Enum = Harness.vw
 
 
 CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
-  CAR.ARTEON_MK1: VWCarInfo("Volkswagen Arteon 2018, 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
-  CAR.ATLAS_MK1: VWCarInfo("Volkswagen Atlas 2018-19, 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  CAR.ARTEON_MK1: [
+    VWCarInfo("Volkswagen Arteon 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon R 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen Arteon eHybrid 2020-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+    VWCarInfo("Volkswagen CC 2018-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533, video_link="https://youtu.be/FAomFKPFlDA"),
+  ],
+  CAR.ATLAS_MK1: [
+    VWCarInfo("Volkswagen Atlas 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Atlas Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont Cross Sport 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Teramont X 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
   CAR.GOLF_MK7: [
-    VWCarInfo("Volkswagen e-Golf 2014, 2018-20"),
-    VWCarInfo("Volkswagen Golf 2015-20"),
-    VWCarInfo("Volkswagen Golf Alltrack 2017-18"),
-    VWCarInfo("Volkswagen Golf GTE 2016"),
-    VWCarInfo("Volkswagen Golf GTI 2018-21"),
-    VWCarInfo("Volkswagen Golf R 2016-19"),
-    VWCarInfo("Volkswagen Golf SportsVan 2016"),
-    VWCarInfo("Volkswagen Golf SportWagen 2015"),
+    VWCarInfo("Volkswagen e-Golf 2014-20"),
+    VWCarInfo("Volkswagen Golf 2015-20", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf Alltrack 2015-19"),
+    VWCarInfo("Volkswagen Golf GTD 2015-20"),
+    VWCarInfo("Volkswagen Golf GTE 2015-20"),
+    VWCarInfo("Volkswagen Golf GTI 2015-21"),
+    VWCarInfo("Volkswagen Golf R 2015-19", footnotes=[Footnote.VW_VARIANT]),
+    VWCarInfo("Volkswagen Golf SportsVan 2015-20"),
   ],
   CAR.JETTA_MK7: [
-    VWCarInfo("Volkswagen Jetta 2018-21"),
-    VWCarInfo("Volkswagen Jetta GLI 2021"),
+    VWCarInfo("Volkswagen Jetta 2018-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Jetta GLI 2021-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+  ],
+  CAR.PASSAT_MK8: [
+    VWCarInfo("Volkswagen Passat 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.PASSAT, Footnote.VW_VARIANT], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat Alltrack 2015-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Passat GTE 2015-22", footnotes=[Footnote.VW_HARNESS, Footnote.VW_VARIANT], harness=Harness.j533),
+  ],
+  CAR.POLO_MK6: [
+    VWCarInfo("Volkswagen Polo 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
+    VWCarInfo("Volkswagen Polo GTI 2020-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   ],
-  CAR.PASSAT_MK8: VWCarInfo("Volkswagen Passat 2015-19", footnotes=[Footnote.PASSAT]),
-  CAR.POLO_MK6: VWCarInfo("Volkswagen Polo 2020"),
   CAR.TAOS_MK1: VWCarInfo("Volkswagen Taos 2022", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TCROSS_MK1: VWCarInfo("Volkswagen T-Cross 2021", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
   CAR.TIGUAN_MK2: VWCarInfo("Volkswagen Tiguan 2019-22", footnotes=[Footnote.VW_HARNESS], harness=Harness.j533),
@@ -157,7 +177,7 @@ CAR_INFO: Dict[str, Union[VWCarInfo, List[VWCarInfo]]] = {
   CAR.SEAT_ATECA_MK1: VWCarInfo("SEAT Ateca 2018"),
   CAR.SEAT_LEON_MK3: VWCarInfo("SEAT Leon 2014-20"),
   CAR.SKODA_KAMIQ_MK1: VWCarInfo("Škoda Kamiq 2021", footnotes=[Footnote.KAMIQ]),
-  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019"),
+  CAR.SKODA_KAROQ_MK1: VWCarInfo("Škoda Karoq 2019-21"),
   CAR.SKODA_KODIAQ_MK1: VWCarInfo("Škoda Kodiaq 2018-19"),
   CAR.SKODA_SCALA_MK1: VWCarInfo("Škoda Scala 2020"),
   CAR.SKODA_SUPERB_MK3: VWCarInfo("Škoda Superb 2015-18"),
@@ -206,6 +226,7 @@ FW_VERSIONS = {
   CAR.ATLAS_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8703H906026AA\xf1\x899970',
+      b'\xf1\x8703H906026AJ\xf1\x890638',
       b'\xf1\x8703H906026AT\xf1\x891922',
       b'\xf1\x8703H906026F \xf1\x896696',
       b'\xf1\x8703H906026F \xf1\x899970',
@@ -217,6 +238,7 @@ FW_VERSIONS = {
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927158A \xf1\x893387',
       b'\xf1\x8709G927158DR\xf1\x893536',
+      b'\xf1\x8709G927158DR\xf1\x893742',
       b'\xf1\x8709G927158FT\xf1\x893835',
     ],
     (Ecu.srs, 0x715, None): [
@@ -231,6 +253,7 @@ FW_VERSIONS = {
       b'\xf1\x875Q0909143P \xf1\x892051\xf1\x820528B6090105',
     ],
     (Ecu.fwdRadar, 0x757, None): [
+      b'\xf1\x872Q0907572R \xf1\x890372',
       b'\xf1\x872Q0907572T \xf1\x890383',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
@@ -246,6 +269,7 @@ FW_VERSIONS = {
       b'\xf1\x8704E906023BN\xf1\x894518',
       b'\xf1\x8704E906024K \xf1\x896811',
       b'\xf1\x8704E906027GR\xf1\x892394',
+      b'\xf1\x8704E906027HD\xf1\x892603',
       b'\xf1\x8704E906027HD\xf1\x893742',
       b'\xf1\x8704E906027MA\xf1\x894958',
       b'\xf1\x8704L906021DT\xf1\x895520',
@@ -279,10 +303,12 @@ FW_VERSIONS = {
       b'\xf1\x878V0906264L \xf1\x890002',
       b'\xf1\x878V0906264M \xf1\x890001',
       b'\xf1\x878V09C0BB01 \xf1\x890001',
+      b'\xf1\x8704E906024K \xf1\x899970',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8709G927749AP\xf1\x892943',
       b'\xf1\x8709S927158A \xf1\x893585',
+      b'\xf1\x870CW300040H \xf1\x890606',
       b'\xf1\x870CW300041H \xf1\x891010',
       b'\xf1\x870CW300042F \xf1\x891604',
       b'\xf1\x870CW300043B \xf1\x891601',
@@ -313,75 +339,76 @@ FW_VERSIONS = {
       b'\xf1\x870GC300043T \xf1\x899999',
     ],
     (Ecu.srs, 0x715, None): [
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\0211413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114317121C111C9113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120043114417121411149113',
-      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\0211413001113120053114317121C111C9113',
-      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\02314160011123300314211012230229333463100',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890386\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114317121C111C9113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120043114417121411149113',
+      b'\xf1\x875Q0959655AA\xf1\x890388\xf1\x82\x111413001113120053114317121C111C9113',
+      b'\xf1\x875Q0959655BH\xf1\x890336\xf1\x82\x1314160011123300314211012230229333463100',
       b'\xf1\x875Q0959655BS\xf1\x890403\xf1\x82\x1314160011123300314240012250229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142404A2252229333463100',
-      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\023141600111233003142405A2252229333463100',
-      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\0211413001112120004110415121610169112',
-      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\0211413001113120006110417121A101A9113',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271112111312--071104171825102591131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023271212111312--071104171838103891131211',
-      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023341512112212--071104172328102891131211',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142404A2252229333463100',
+      b'\xf1\x875Q0959655BT\xf1\x890403\xf1\x82\x13141600111233003142405A2252229333463100',
+      b'\xf1\x875Q0959655C \xf1\x890361\xf1\x82\x111413001112120004110415121610169112',
+      b'\xf1\x875Q0959655D \xf1\x890388\xf1\x82\x111413001113120006110417121A101A9113',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271112111312--071104171825102591131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13271212111312--071104171838103891131211',
+      b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13341512112212--071104172328102891131211',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\x13272512111312--07110417182C102C91131211',
-      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\0211413001112120041114115121611169112',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02315120011211200621143171717111791132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200061104171724102491132111',
-      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\02324230011211200621143171724112491132111',
+      b'\xf1\x875Q0959655M \xf1\x890361\xf1\x82\x111413001112120041114115121611169112',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200621143171717111791132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200061104171724102491132111',
+      b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200621143171724112491132111',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1315120011211200061104171717101791132111',
       b'\xf1\x875Q0959655S \xf1\x890870\xf1\x82\x1324230011211200631143171724122491132111',
-      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\023271200111312--071104171837103791132111',
+      b'\xf1\x875Q0959655T \xf1\x890825\xf1\x82\x13271200111312--071104171837103791132111',
       b'\xf1\x875Q0959655T \xf1\x890830\xf1\x82\x13271100111312--071104171826102691131211',
       b'\xf1\x875QD959655  \xf1\x890388\xf1\x82\x111413001113120006110417121D101D9112',
     ],
     (Ecu.eps, 0x712, None): [
-      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\00561A01612A0',
-      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\00566A0J612A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A00514A1',
-      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\00566A0J712A1',
-      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\00571A0J714A1',
+      b'\xf1\x873Q0909144F \xf1\x895043\xf1\x82\x0561A01612A0',
+      b'\xf1\x873Q0909144H \xf1\x895061\xf1\x82\x0566A0J612A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A00514A1',
+      b'\xf1\x873Q0909144J \xf1\x895063\xf1\x82\x0566A0J712A1',
+      b'\xf1\x873Q0909144K \xf1\x895072\xf1\x82\x0571A0J714A1',
       b'\xf1\x873Q0909144L \xf1\x895081\xf1\x82\x0571A0JA15A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A01A18A1',
-      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\00571A0JA16A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A01A18A1',
+      b'\xf1\x873Q0909144M \xf1\x895082\xf1\x82\x0571A0JA16A1',
       b'\xf1\x875Q0909143K \xf1\x892033\xf1\x820519A9040203',
-      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\00521A00441A1',
+      b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00441A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00608A1',
       b'\xf1\x875Q0909144AA\xf1\x891081\xf1\x82\x0521A00641A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00442A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A00642A1',
-      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\00521A07B05A1',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00521A00602A0',
-      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\00522A00402A0',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00442A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A00642A1',
+      b'\xf1\x875Q0909144AB\xf1\x891082\xf1\x82\x0521A07B05A1',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00602A0',
+      b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0522A00402A0',
       b'\xf1\x875Q0909144L \xf1\x891021\xf1\x82\x0521A00502A0',
-      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\00511A00403A0',
-      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\00516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A00604A1',
-      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\00516A07A02A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A00507A1',
+      b'\xf1\x875Q0909144P \xf1\x891043\xf1\x82\x0511A00403A0',
+      b'\xf1\x875Q0909144R \xf1\x891061\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00404A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A00604A1',
+      b'\xf1\x875Q0909144S \xf1\x891063\xf1\x82\x0516A07A02A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A07B04A1',
-      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\00521A20B03A1',
+      b'\xf1\x875Q0909144T \xf1\x891072\xf1\x82\x0521A20B03A1',
       b'\xf1\x875QD909144B \xf1\x891072\xf1\x82\x0521A00507A1',
       b'\xf1\x875QM909144A \xf1\x891072\xf1\x82\x0521A20B03A1',
-      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\00521A00442A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A16A1',
-      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\00571A01A18A1',
+      b'\xf1\x875QM909144B \xf1\x891081\xf1\x82\x0521A00442A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A16A1',
+      b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A18A1',
       b'\xf1\x875QN909144A \xf1\x895081\xf1\x82\x0571A01A17A1',
-      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\00571A01A18A1',
+      b'\xf1\x875QN909144B \xf1\x895082\xf1\x82\x0571A01A18A1',
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567A2000400',
     ],
     (Ecu.fwdRadar, 0x757, None): [
-      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\00101',
+      b'\xf1\x875Q0907567G \xf1\x890390\xf1\x82\x0101',
       b'\xf1\x875Q0907567J \xf1\x890396\xf1\x82\x0101',
-      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\00101',
-      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\00101',
-      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\00101',
-      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\00101',
-      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\00101',
-      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\00101',
+      b'\xf1\x875Q0907572A \xf1\x890141\xf1\x82\x0101',
+      b'\xf1\x875Q0907572B \xf1\x890200\xf1\x82\x0101',
+      b'\xf1\x875Q0907572C \xf1\x890210\xf1\x82\x0101',
+      b'\xf1\x875Q0907572D \xf1\x890304\xf1\x82\x0101',
+      b'\xf1\x875Q0907572E \xf1\x89X310\xf1\x82\x0101',
+      b'\xf1\x875Q0907572F \xf1\x890400\xf1\x82\x0101',
       b'\xf1\x875Q0907572G \xf1\x890571',
       b'\xf1\x875Q0907572H \xf1\x890620',
       b'\xf1\x875Q0907572J \xf1\x890654',
@@ -658,6 +685,7 @@ FW_VERSIONS = {
       b'\xf1\x870D9300013B \xf1\x894931',
       b'\xf1\x870D9300041N \xf1\x894512',
       b'\xf1\x870D9300043T \xf1\x899699',
+      b'\xf1\x870DD300046  \xf1\x891604',
       b'\xf1\x870DD300046A \xf1\x891602',
       b'\xf1\x870DD300046F \xf1\x891602',
       b'\xf1\x870DD300046G \xf1\x891601',
@@ -668,6 +696,7 @@ FW_VERSIONS = {
     (Ecu.srs, 0x715, None): [
       b'\xf1\x875Q0959655AB\xf1\x890388\xf1\x82\0211111001111111206110412111321139114',
       b'\xf1\x875Q0959655AM\xf1\x890315\xf1\x82\x1311111111111111311411011231129321212100',
+      b'\xf1\x875Q0959655AM\xf1\x890318\xf1\x82\x1311111111111112311411011531159321212100',
       b'\xf1\x875Q0959655BJ\xf1\x890339\xf1\x82\x1311110011131100311111011731179321342100',
       b'\xf1\x875Q0959655J \xf1\x890825\xf1\x82\023111112111111--171115141112221291163221',
       b'\xf1\x875Q0959655J \xf1\x890830\xf1\x82\023121111111211--261117141112231291163221',
@@ -797,18 +826,23 @@ FW_VERSIONS = {
   CAR.SKODA_KAROQ_MK1: {
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x8705E906018P \xf1\x896020',
+      b'\xf1\x8705L906022BS\xf1\x890913',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x870CW300041S \xf1\x891615',
+      b'\xf1\x870GC300014L \xf1\x892802',
     ],
     (Ecu.srs, 0x715, None): [
       b'\xf1\x873Q0959655BH\xf1\x890712\xf1\x82\0161213001211001101131122012100',
+      b'\xf1\x873Q0959655DE\xf1\x890731\xf1\x82\x0e1213001211001101131121012J00',
     ],
     (Ecu.eps, 0x712, None): [
       b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\00567T6100500',
+      b'\xf1\x875Q0910143C \xf1\x892211\xf1\x82\x0567T6100700',
     ],
     (Ecu.fwdRadar, 0x757, None): [
       b'\xf1\x872Q0907572M \xf1\x890233',
+      b'\xf1\x872Q0907572T \xf1\x890383',
     ],
   },
   CAR.SKODA_KODIAQ_MK1: {
diff --git a/selfdrive/car/volkswagen/volkswagencan.py b/selfdrive/car/volkswagen/volkswagencan.py
index 10e0054c79..f4c21eeed4 100644
--- a/selfdrive/car/volkswagen/volkswagencan.py
+++ b/selfdrive/car/volkswagen/volkswagencan.py
@@ -1,7 +1,7 @@
-# CAN controls for MQB platform Volkswagen, Audi, Skoda and SEAT.
+# CAN controls for MQB platform Volkswagen, Audi, Skoda, and SEAT.
 # PQ35/PQ46/NMS, and any future MLB, to come later.
 
-def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
+def create_mqb_steering_control(packer, bus, apply_steer, lkas_enabled):
   values = {
     "SET_ME_0X3": 0x3,
     "Assist_Torque": abs(apply_steer),
@@ -13,7 +13,7 @@ def create_mqb_steering_control(packer, bus, apply_steer, idx, lkas_enabled):
     "SET_ME_0XFE": 0xFE,
     "SET_ME_0X07": 0x07,
   }
-  return packer.make_can_msg("HCA_01", bus, values, idx)
+  return packer.make_can_msg("HCA_01", bus, values)
 
 def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, left_lane_visible, right_lane_visible,
                            ldw_stock_values, left_lane_depart, right_lane_depart):
@@ -32,18 +32,11 @@ def create_mqb_hud_control(packer, bus, enabled, steering_pressed, hud_alert, le
   })
   return packer.make_can_msg("LDW_02", bus, values)
 
-def create_mqb_acc_buttons_control(packer, bus, buttonStatesToSend, CS, idx):
-  values = {
-    "GRA_Hauptschalter": CS.graHauptschalter,
-    "GRA_Abbrechen": buttonStatesToSend["cancel"],
-    "GRA_Tip_Setzen": buttonStatesToSend["setCruise"],
-    "GRA_Tip_Hoch": buttonStatesToSend["accelCruise"],
-    "GRA_Tip_Runter": buttonStatesToSend["decelCruise"],
-    "GRA_Tip_Wiederaufnahme": buttonStatesToSend["resumeCruise"],
-    "GRA_Verstellung_Zeitluecke": 3 if buttonStatesToSend["gapAdjustCruise"] else 0,
-    "GRA_Typ_Hauptschalter": CS.graTypHauptschalter,
-    "GRA_Codierung": 2,
-    "GRA_Tip_Stufe_2": CS.graTipStufe2,
-    "GRA_ButtonTypeInfo": CS.graButtonTypeInfo
-  }
-  return packer.make_can_msg("GRA_ACC_01", bus, values, idx)
+def create_mqb_acc_buttons_control(packer, bus, gra_stock_values, idx, cancel=False, resume=False):
+  values = gra_stock_values.copy()
+
+  values["COUNTER"] = idx
+  values["GRA_Abbrechen"] = cancel
+  values["GRA_Tip_Wiederaufnahme"] = resume
+
+  return packer.make_can_msg("GRA_ACC_01", bus, values)
diff --git a/selfdrive/common/tests/.gitignore b/selfdrive/common/tests/.gitignore
deleted file mode 100644
index 1350b3b825..0000000000
--- a/selfdrive/common/tests/.gitignore
+++ /dev/null
@@ -1,2 +0,0 @@
-test_util
-test_swaglog
diff --git a/selfdrive/controls/controlsd.py b/selfdrive/controls/controlsd.py
index 67eaf1588b..2f7c85aa7d 100755
--- a/selfdrive/controls/controlsd.py
+++ b/selfdrive/controls/controlsd.py
@@ -12,6 +12,7 @@ import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from panda import ALTERNATIVE_EXPERIENCE
 from system.swaglog import cloudlog
+from system.version import get_short_branch
 from selfdrive.boardd.boardd import can_list_to_can_capnp
 from selfdrive.car.car_helpers import get_car, get_startup_event, get_one_can
 from selfdrive.controls.lib.lane_planner import CAMERA_OFFSET
@@ -38,7 +39,7 @@ REPLAY = "REPLAY" in os.environ
 SIMULATION = "SIMULATION" in os.environ
 NOSENSOR = "NOSENSOR" in os.environ
 IGNORE_PROCESSES = {"uploader", "deleter", "loggerd", "logmessaged", "tombstoned", "statsd",
-                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad"} | \
+                    "logcatd", "proclogd", "clocksd", "updated", "timezoned", "manage_athenad", "laikad"} | \
                    {k for k, v in managed_processes.items() if not v.enabled}
 
 ThermalStatus = log.DeviceState.ThermalStatus
@@ -62,6 +63,9 @@ class Controls:
   def __init__(self, sm=None, pm=None, can_sock=None, CI=None):
     config_realtime_process(4, Priority.CTRL_HIGH)
 
+    # Ensure the current branch is cached, otherwise the first iteration of controlsd lags
+    self.branch = get_short_branch("")
+
     # Setup sockets
     self.pm = pm
     if self.pm is None:
@@ -92,7 +96,11 @@ class Controls:
 
     self.sm = sm
     if self.sm is None:
-      ignore = ['driverCameraState', 'managerState'] if SIMULATION else None
+      ignore = []
+      if SIMULATION:
+        ignore += ['driverCameraState', 'managerState']
+      if params.get_bool('WideCameraOnly'):
+        ignore += ['roadCameraState']
       self.sm = messaging.SubMaster(['deviceState', 'pandaStates', 'peripheralState', 'modelV2', 'liveCalibration',
                                      'driverMonitoringState', 'longitudinalPlan', 'lateralPlan', 'liveLocationKalman',
                                      'managerState', 'liveParameters', 'radarState'] + self.camera_packets + joystick_packet,
@@ -155,6 +163,7 @@ class Controls:
     self.can_rcv_error = False
     self.soft_disable_timer = 0
     self.v_cruise_kph = 255
+    self.v_cruise_cluster_kph = 255
     self.v_cruise_kph_last = 0
     self.mismatch_counter = 0
     self.cruise_mismatch_counter = 0
@@ -167,6 +176,7 @@ class Controls:
     self.logged_comm_issue = None
     self.button_timers = {ButtonEvent.Type.decelCruise: 0, ButtonEvent.Type.accelCruise: 0}
     self.last_actuators = car.CarControl.Actuators.new_message()
+    self.steer_limited = False
     self.desired_curvature = 0.0
     self.desired_curvature_rate = 0.0
 
@@ -220,12 +230,8 @@ class Controls:
     if not self.CP.notCar:
       self.events.add_from_msg(self.sm['driverMonitoringState'].events)
 
-    # Handle car events. Ignore when CAN is invalid
-    if CS.canTimeout:
-      self.events.add(EventName.canBusMissing)
-    elif not CS.canValid:
-      self.events.add(EventName.canError)
-    else:
+    # Add car events, ignore if CAN isn't valid
+    if CS.canValid:
       self.events.add_from_msg(CS.events)
 
     # Create events for temperature, disk space, and memory
@@ -305,19 +311,24 @@ class Controls:
           self.events.add(EventName.cameraFrameRate)
     if self.rk.lagging:
       self.events.add(EventName.controlsdLagging)
-    if len(self.sm['radarState'].radarErrors):
+    if len(self.sm['radarState'].radarErrors) or not self.sm.all_checks(['radarState']):
       self.events.add(EventName.radarFault)
     if not self.sm.valid['pandaStates']:
       self.events.add(EventName.usbError)
+    if CS.canTimeout:
+      self.events.add(EventName.canBusMissing)
+    elif not CS.canValid:
+      self.events.add(EventName.canError)
 
     # generic catch-all. ideally, a more specific event should be added above instead
-    no_system_errors = len(self.events) != num_events
-    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors and CS.canValid and not CS.canTimeout:
+    has_disable_events = self.events.any(ET.NO_ENTRY) and (self.events.any(ET.SOFT_DISABLE) or self.events.any(ET.IMMEDIATE_DISABLE))
+    no_system_errors = (not has_disable_events) or (len(self.events) == num_events)
+    if (not self.sm.all_checks() or self.can_rcv_error) and no_system_errors:
       if not self.sm.all_alive():
         self.events.add(EventName.commIssue)
       elif not self.sm.all_freq_ok():
         self.events.add(EventName.commIssueAvgFreq)
-      else: # invalid or can_rcv_error.
+      else:  # invalid or can_rcv_error.
         self.events.add(EventName.commIssue)
 
       logs = {
@@ -336,7 +347,7 @@ class Controls:
       self.events.add(EventName.vehicleModelInvalid)
     if not self.sm['lateralPlan'].mpcSolutionValid:
       self.events.add(EventName.plannerError)
-    if not self.sm['liveLocationKalman'].sensorsOK and not NOSENSOR:
+    if not (self.sm['liveParameters'].sensorValid or self.sm['liveLocationKalman'].sensorsOK) and not NOSENSOR:
       if self.sm.frame > 5 / DT_CTRL:  # Give locationd some time to receive all the inputs
         self.events.add(EventName.sensorDataInvalid)
     if not self.sm['liveLocationKalman'].posenetOK:
@@ -402,7 +413,8 @@ class Controls:
 
     if not self.initialized:
       all_valid = CS.canValid and self.sm.all_checks()
-      if all_valid or self.sm.frame * DT_CTRL > 3.5 or SIMULATION:
+      timed_out = self.sm.frame * DT_CTRL > (6. if REPLAY else 3.5)
+      if all_valid or timed_out or SIMULATION:
         if not self.read_only:
           self.CI.init(self.CP, self.can_sock, self.pm.sock['sendcan'])
         self.initialized = True
@@ -444,11 +456,14 @@ class Controls:
     if not self.CP.pcmCruise:
       self.v_cruise_kph = update_v_cruise(self.v_cruise_kph, CS.vEgo, CS.gasPressed, CS.buttonEvents,
                                           self.button_timers, self.enabled, self.is_metric)
+      self.v_cruise_cluster_kph = self.v_cruise_kph
     else:
       if CS.cruiseState.available:
         self.v_cruise_kph = CS.cruiseState.speed * CV.MS_TO_KPH
+        self.v_cruise_cluster_kph = CS.cruiseState.speedCluster * CV.MS_TO_KPH
       else:
         self.v_cruise_kph = 0
+        self.v_cruise_cluster_kph = 0
 
     # decrement the soft disable timer at every step, as it's reset on
     # entrance in SOFT_DISABLING state
@@ -528,6 +543,7 @@ class Controls:
           self.current_alert_types.append(ET.ENABLE)
           if not self.CP.pcmCruise:
             self.v_cruise_kph = initialize_v_cruise(CS.vEgo, CS.buttonEvents, self.v_cruise_kph_last)
+            self.v_cruise_cluster_kph = self.v_cruise_kph
 
     # Check if openpilot is engaged and actuators are enabled
     self.enabled = self.state in ENABLED_STATES
@@ -579,7 +595,7 @@ class Controls:
                                                                                        lat_plan.curvatures,
                                                                                        lat_plan.curvatureRates)
       actuators.steer, actuators.steeringAngleDeg, lac_log = self.LaC.update(CC.latActive, CS, self.VM, params,
-                                                                             self.last_actuators, self.desired_curvature,
+                                                                             self.last_actuators, self.steer_limited, self.desired_curvature,
                                                                              self.desired_curvature_rate, self.sm['liveLocationKalman'])
     else:
       lac_log = log.ControlsState.LateralDebugState.new_message()
@@ -598,7 +614,14 @@ class Controls:
         lac_log.saturated = abs(actuators.steer) >= 0.9
 
     # Send a "steering required alert" if saturation count has reached the limit
-    if lac_log.active and lac_log.saturated and not CS.steeringPressed:
+    if lac_log.active and not CS.steeringPressed and self.CP.lateralTuning.which() == 'torque' and not self.joystick_mode:
+      undershooting = abs(lac_log.desiredLateralAccel) / abs(1e-3 + lac_log.actualLateralAccel) > 1.2
+      turning = abs(lac_log.desiredLateralAccel) > 1.0
+      good_speed = CS.vEgo > 5
+      max_torque = abs(self.last_actuators.steer) > 0.99
+      if undershooting and turning and good_speed and max_torque:
+        self.events.add(EventName.steerSaturated)
+    elif lac_log.active and not CS.steeringPressed and lac_log.saturated:
       dpath_points = lat_plan.dPathPoints
       if len(dpath_points):
         # Check if we deviated from the path
@@ -647,8 +670,12 @@ class Controls:
     if self.joystick_mode and self.sm.rcv_frame['testJoystick'] > 0 and self.sm['testJoystick'].buttons[0]:
       CC.cruiseControl.cancel = True
 
+    speeds = self.sm['longitudinalPlan'].speeds
+    if len(speeds):
+      CC.cruiseControl.resume = self.enabled and CS.cruiseState.standstill and speeds[-1] > 0.1
+
     hudControl = CC.hudControl
-    hudControl.setSpeed = float(self.v_cruise_kph * CV.KPH_TO_MS)
+    hudControl.setSpeed = float(self.v_cruise_cluster_kph * CV.KPH_TO_MS)
     hudControl.speedVisible = self.enabled
     hudControl.lanesVisible = self.enabled
     hudControl.leadVisible = self.sm['longitudinalPlan'].hasLead
@@ -695,6 +722,7 @@ class Controls:
       self.last_actuators, can_sends = self.CI.apply(CC)
       self.pm.send('sendcan', can_list_to_can_capnp(can_sends, msgtype='sendcan', valid=CS.canValid))
       CC.actuatorsOutput = self.last_actuators
+      self.steer_limited = abs(CC.actuators.steer - CC.actuatorsOutput.steer) > 1e-2
 
     force_decel = (self.sm['driverMonitoringState'].awarenessStatus < 0.) or \
                   (self.state == State.softDisabling)
@@ -731,6 +759,7 @@ class Controls:
     controlsState.longControlState = self.LoC.long_control_state
     controlsState.vPid = float(self.LoC.v_pid)
     controlsState.vCruise = float(self.v_cruise_kph)
+    controlsState.vCruiseCluster = float(self.v_cruise_cluster_kph)
     controlsState.upAccelCmd = float(self.LoC.pid.p)
     controlsState.uiAccelCmd = float(self.LoC.pid.i)
     controlsState.ufAccelCmd = float(self.LoC.pid.f)
diff --git a/selfdrive/controls/lib/events.py b/selfdrive/controls/lib/events.py
index cc63d4995d..de666fd507 100644
--- a/selfdrive/controls/lib/events.py
+++ b/selfdrive/controls/lib/events.py
@@ -222,7 +222,7 @@ def user_soft_disable_alert(alert_text_2: str) -> AlertCallbackType:
   return func
 
 def startup_master_alert(CP: car.CarParams, CS: car.CarState, sm: messaging.SubMaster, metric: bool, soft_disable_time: int) -> Alert:
-  branch = get_short_branch("")
+  branch = get_short_branch("")  # Ensure get_short_branch is cached to avoid lags on startup
   if "REPLAY" in os.environ:
     branch = "replay"
 
@@ -439,7 +439,7 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
       "Steering Temporarily Unavailable",
       "",
       AlertStatus.userPrompt, AlertSize.small,
-      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.),
+      Priority.LOW, VisualAlert.steerRequired, AudibleAlert.prompt, 1.8),
   },
 
   EventName.preDriverDistracted: {
@@ -656,11 +656,12 @@ EVENTS: Dict[int, Dict[str, Union[Alert, AlertCallbackType]]] = {
 
   EventName.sensorDataInvalid: {
     ET.PERMANENT: Alert(
-      "No Data from Device Sensors",
-      "Reboot your Device",
+      "Sensor Data Invalid",
+      "Ensure device is mounted securely",
       AlertStatus.normal, AlertSize.mid,
       Priority.LOWER, VisualAlert.none, AudibleAlert.none, .2, creation_delay=1.),
-    ET.NO_ENTRY: NoEntryAlert("No Data from Device Sensors"),
+    ET.NO_ENTRY: NoEntryAlert("Sensor Data Invalid"),
+    ET.SOFT_DISABLE: soft_disable_alert("Sensor Data Invalid"),
   },
 
   EventName.noGps: {
diff --git a/selfdrive/controls/lib/latcontrol.py b/selfdrive/controls/lib/latcontrol.py
index 785c8faa8c..78b59fda59 100644
--- a/selfdrive/controls/lib/latcontrol.py
+++ b/selfdrive/controls/lib/latcontrol.py
@@ -16,14 +16,14 @@ class LatControl(ABC):
     self.steer_max = 1.0
 
   @abstractmethod
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pass
 
   def reset(self):
     self.sat_count = 0.
 
-  def _check_saturation(self, saturated, CS):
-    if saturated and CS.vEgo > 10. and not CS.steeringRateLimited and not CS.steeringPressed:
+  def _check_saturation(self, saturated, CS, steer_limited):
+    if saturated and CS.vEgo > 10. and not steer_limited and not CS.steeringPressed:
       self.sat_count += self.sat_count_rate
     else:
       self.sat_count -= self.sat_count_rate
diff --git a/selfdrive/controls/lib/latcontrol_angle.py b/selfdrive/controls/lib/latcontrol_angle.py
index 2eee71c703..0e5be4a977 100644
--- a/selfdrive/controls/lib/latcontrol_angle.py
+++ b/selfdrive/controls/lib/latcontrol_angle.py
@@ -7,7 +7,7 @@ STEER_ANGLE_SATURATION_THRESHOLD = 2.5  # Degrees
 
 
 class LatControlAngle(LatControl):
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     angle_log = log.ControlsState.LateralAngleState.new_message()
 
     if CS.vEgo < MIN_STEER_SPEED or not active:
@@ -19,7 +19,7 @@ class LatControlAngle(LatControl):
       angle_steers_des += params.angleOffsetDeg
 
     angle_control_saturated = abs(angle_steers_des - CS.steeringAngleDeg) > STEER_ANGLE_SATURATION_THRESHOLD
-    angle_log.saturated = self._check_saturation(angle_control_saturated, CS)
+    angle_log.saturated = self._check_saturation(angle_control_saturated, CS, steer_limited)
     angle_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     angle_log.steeringAngleDesiredDeg = angle_steers_des
     return 0, float(angle_steers_des), angle_log
diff --git a/selfdrive/controls/lib/latcontrol_indi.py b/selfdrive/controls/lib/latcontrol_indi.py
index 79c881d11b..2bc3cef76b 100644
--- a/selfdrive/controls/lib/latcontrol_indi.py
+++ b/selfdrive/controls/lib/latcontrol_indi.py
@@ -63,7 +63,7 @@ class LatControlINDI(LatControl):
     self.steer_filter.x = 0.
     self.speed = 0.
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     self.speed = CS.vEgo
     # Update Kalman filter
     y = np.array([[math.radians(CS.steeringAngleDeg)], [math.radians(CS.steeringRateDeg)]])
@@ -115,6 +115,6 @@ class LatControlINDI(LatControl):
       indi_log.delayedOutput = float(self.steer_filter.x)
       indi_log.delta = float(delta_u)
       indi_log.output = float(output_steer)
-      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
+      indi_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
 
     return float(output_steer), float(steers_des), indi_log
diff --git a/selfdrive/controls/lib/latcontrol_pid.py b/selfdrive/controls/lib/latcontrol_pid.py
index 5dd1b20ae0..6bd678073e 100644
--- a/selfdrive/controls/lib/latcontrol_pid.py
+++ b/selfdrive/controls/lib/latcontrol_pid.py
@@ -17,7 +17,7 @@ class LatControlPID(LatControl):
     super().reset()
     self.pid.reset()
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralPIDState.new_message()
     pid_log.steeringAngleDeg = float(CS.steeringAngleDeg)
     pid_log.steeringRateDeg = float(CS.steeringRateDeg)
@@ -43,6 +43,6 @@ class LatControlPID(LatControl):
       pid_log.i = self.pid.i
       pid_log.f = self.pid.f
       pid_log.output = output_steer
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS)
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_steer) < 1e-3, CS, steer_limited)
 
     return output_steer, angle_steers_des, pid_log
diff --git a/selfdrive/controls/lib/latcontrol_torque.py b/selfdrive/controls/lib/latcontrol_torque.py
index 014c3480b8..c4604d90e1 100644
--- a/selfdrive/controls/lib/latcontrol_torque.py
+++ b/selfdrive/controls/lib/latcontrol_torque.py
@@ -33,7 +33,7 @@ class LatControlTorque(LatControl):
     self.kf = CP.lateralTuning.torque.kf
     self.steering_angle_deadzone_deg = CP.lateralTuning.torque.steeringAngleDeadzoneDeg
 
-  def update(self, active, CS, VM, params, last_actuators, desired_curvature, desired_curvature_rate, llk):
+  def update(self, active, CS, VM, params, last_actuators, steer_limited, desired_curvature, desired_curvature_rate, llk):
     pid_log = log.ControlsState.LateralTorqueState.new_message()
 
     if CS.vEgo < MIN_STEER_SPEED or not active:
@@ -56,17 +56,17 @@ class LatControlTorque(LatControl):
       lateral_accel_deadzone = curvature_deadzone * CS.vEgo ** 2
 
 
-      low_speed_factor = interp(CS.vEgo, [0, 15], [500, 0])
+      low_speed_factor = interp(CS.vEgo, [0, 10, 20], [500, 500, 200])
       setpoint = desired_lateral_accel + low_speed_factor * desired_curvature
       measurement = actual_lateral_accel + low_speed_factor * actual_curvature
-      error = apply_deadzone(setpoint - measurement, lateral_accel_deadzone)
+      error = setpoint - measurement
       pid_log.error = error
 
       ff = desired_lateral_accel - params.roll * ACCELERATION_DUE_TO_GRAVITY
       # convert friction into lateral accel units for feedforward
-      friction_compensation = interp(error, [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
+      friction_compensation = interp(apply_deadzone(error, lateral_accel_deadzone), [-FRICTION_THRESHOLD, FRICTION_THRESHOLD], [-self.friction, self.friction])
       ff += friction_compensation / self.kf
-      freeze_integrator = CS.steeringRateLimited or CS.steeringPressed or CS.vEgo < 5
+      freeze_integrator = steer_limited or CS.steeringPressed or CS.vEgo < 5
       output_torque = self.pid.update(error,
                                       feedforward=ff,
                                       speed=CS.vEgo,
@@ -78,7 +78,7 @@ class LatControlTorque(LatControl):
       pid_log.d = self.pid.d
       pid_log.f = self.pid.f
       pid_log.output = -output_torque
-      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS)
+      pid_log.saturated = self._check_saturation(self.steer_max - abs(output_torque) < 1e-3, CS, steer_limited)
       pid_log.actualLateralAccel = actual_lateral_accel
       pid_log.desiredLateralAccel = desired_lateral_accel
 
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index d4a6aaef8f..cf51136770 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -66,11 +66,11 @@ class Planner:
     v_cruise_kph = min(v_cruise_kph, V_CRUISE_MAX)
     v_cruise = v_cruise_kph * CV.KPH_TO_MS
 
-    long_control_state = sm['controlsState'].longControlState
+    long_control_off = sm['controlsState'].longControlState == LongCtrlState.off
     force_slow_decel = sm['controlsState'].forceDecel
 
     # Reset current state when not engaged, or user is controlling the speed
-    reset_state = long_control_state == LongCtrlState.off
+    reset_state = long_control_off if self.CP.openpilotLongitudinalControl else not sm['controlsState'].enabled
 
     # No change cost when user is controlling the speed, or when standstill
     prev_accel_constraint = not (reset_state or sm['carState'].standstill)
diff --git a/selfdrive/controls/lib/tests/test_latcontrol.py b/selfdrive/controls/lib/tests/test_latcontrol.py
index 503eaaa6a4..f15ab2fa56 100755
--- a/selfdrive/controls/lib/tests/test_latcontrol.py
+++ b/selfdrive/controls/lib/tests/test_latcontrol.py
@@ -26,7 +26,6 @@ class TestLatControl(unittest.TestCase):
 
     controller = controller(CP, CI)
 
-
     CS = car.CarState.new_message()
     CS.vEgo = 30
 
@@ -35,7 +34,7 @@ class TestLatControl(unittest.TestCase):
     params = log.LiveParametersData.new_message()
 
     for _ in range(1000):
-      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, 1, 0)
+      _, _, lac_log = controller.update(True, CS, CP, VM, params, last_actuators, True, 1, 0)
 
     self.assertTrue(lac_log.saturated)
 
diff --git a/selfdrive/controls/radard.py b/selfdrive/controls/radard.py
index b2c9914457..3d958139d6 100755
--- a/selfdrive/controls/radard.py
+++ b/selfdrive/controls/radard.py
@@ -102,7 +102,7 @@ class RadarD():
 
     self.ready = False
 
-  def update(self, sm, rr, enable_lead):
+  def update(self, sm, rr):
     self.current_time = 1e-9*max(sm.logMonoTime.values())
 
     if sm.updated['carState']:
@@ -169,11 +169,10 @@ class RadarD():
     radarState.radarErrors = list(rr.errors)
     radarState.carStateMonoTime = sm.logMonoTime['carState']
 
-    if enable_lead:
-      leads_v3 = sm['modelV2'].leadsV3
-      if len(leads_v3) > 1:
-        radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
-        radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
+    leads_v3 = sm['modelV2'].leadsV3
+    if len(leads_v3) > 1:
+      radarState.leadOne = get_lead(self.v_ego, self.ready, clusters, leads_v3[0], low_speed_override=True)
+      radarState.leadTwo = get_lead(self.v_ego, self.ready, clusters, leads_v3[1], low_speed_override=False)
     return dat
 
 
@@ -203,9 +202,6 @@ def radard_thread(sm=None, pm=None, can_sock=None):
   rk = Ratekeeper(1.0 / CP.radarTimeStep, print_delay_threshold=None)
   RD = RadarD(CP.radarTimeStep, RI.delay)
 
-  # TODO: always log leads once we can hide them conditionally
-  enable_lead = CP.openpilotLongitudinalControl or not CP.radarOffCan
-
   while 1:
     can_strings = messaging.drain_sock_raw(can_sock, wait_for_one=True)
     rr = RI.update(can_strings)
@@ -215,7 +211,7 @@ def radard_thread(sm=None, pm=None, can_sock=None):
 
     sm.update(0)
 
-    dat = RD.update(sm, rr, enable_lead)
+    dat = RD.update(sm, rr)
     dat.radarState.cumLagMs = -rk.remaining*1000.
 
     pm.send('radarState', dat)
diff --git a/selfdrive/controls/tests/test_startup.py b/selfdrive/controls/tests/test_startup.py
index 9d13453045..a94311c8c7 100755
--- a/selfdrive/controls/tests/test_startup.py
+++ b/selfdrive/controls/tests/test_startup.py
@@ -42,27 +42,27 @@ class TestStartup(unittest.TestCase):
     # TODO: test EventName.startup for release branches
 
     # officially supported car
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS, "toyota"),
 
     # dashcamOnly car
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
-    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
+    (EventName.startupNoControl, MAZDA.CX5, CX5_FW_VERSIONS, "mazda"),
 
     # unrecognized car with no fw
-    (EventName.startupNoFw, None, None),
-    (EventName.startupNoFw, None, None),
+    (EventName.startupNoFw, None, None, ""),
+    (EventName.startupNoFw, None, None, ""),
 
     # unrecognized car
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
-    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1]),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
+    (EventName.startupNoCar, None, COROLLA_FW_VERSIONS[:1], "toyota"),
 
     # fuzzy match
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
-    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
+    (EventName.startupMaster, TOYOTA.COROLLA, COROLLA_FW_VERSIONS_FUZZY, "toyota"),
   ])
   @with_processes(['controlsd'])
-  def test_startup_alert(self, expected_event, car_model, fw_versions):
+  def test_startup_alert(self, expected_event, car_model, fw_versions, brand):
 
     # TODO: this should be done without any real sockets
     controls_sock = messaging.sub_sock("controlsState")
@@ -82,6 +82,7 @@ class TestStartup(unittest.TestCase):
         f.ecu = ecu
         f.address = addr
         f.fwVersion = version
+        f.brand = brand
 
         if subaddress is not None:
           f.subAddress = subaddress
diff --git a/selfdrive/debug/can_table.py b/selfdrive/debug/can_table.py
index e8cd084a32..11d070e708 100755
--- a/selfdrive/debug/can_table.py
+++ b/selfdrive/debug/can_table.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import argparse
-import pandas as pd  # pylint: disable=import-error
+import pandas as pd
 
 import cereal.messaging as messaging
 
diff --git a/selfdrive/debug/check_freq.py b/selfdrive/debug/check_freq.py
index 424ad67b6d..b6f3c91bd0 100755
--- a/selfdrive/debug/check_freq.py
+++ b/selfdrive/debug/check_freq.py
@@ -1,9 +1,9 @@
 #!/usr/bin/env python3
-# type: ignore
-
 import argparse
 import numpy as np
 from collections import defaultdict, deque
+from typing import DefaultDict, Deque
+
 from common.realtime import sec_since_boot
 import cereal.messaging as messaging
 
@@ -19,8 +19,8 @@ if __name__ == "__main__":
   socket_names = args.socket
   sockets = {}
 
-  rcv_times = defaultdict(lambda: deque(maxlen=100))
-  valids = defaultdict(lambda: deque(maxlen=100))
+  rcv_times: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
+  valids: DefaultDict[str, Deque[bool]] = defaultdict(lambda: deque(maxlen=100))
 
   t = sec_since_boot()
   for name in socket_names:
@@ -31,6 +31,9 @@ if __name__ == "__main__":
   while True:
     for socket in poller.poll(100):
       msg = messaging.recv_one(socket)
+      if msg is None:
+        continue
+
       name = msg.which()
 
       t = sec_since_boot()
diff --git a/selfdrive/debug/check_lag.py b/selfdrive/debug/check_lag.py
index c922642982..141156db91 100755
--- a/selfdrive/debug/check_lag.py
+++ b/selfdrive/debug/check_lag.py
@@ -1,5 +1,5 @@
 #!/usr/bin/env python3
-# type: ignore
+from typing import Dict
 
 import cereal.messaging as messaging
 from cereal.services import service_list
@@ -10,7 +10,7 @@ TO_CHECK = ['carState']
 if __name__ == "__main__":
   sm = messaging.SubMaster(TO_CHECK)
 
-  prev_t = {}
+  prev_t: Dict[str, float] = {}
 
   while True:
     sm.update()
diff --git a/selfdrive/debug/check_timings.py b/selfdrive/debug/check_timings.py
index 03e39fd70d..69304f97b5 100755
--- a/selfdrive/debug/check_timings.py
+++ b/selfdrive/debug/check_timings.py
@@ -1,14 +1,15 @@
 #!/usr/bin/env python3
-# type: ignore
+
 import sys
 import time
 import numpy as np
+from typing import DefaultDict, Deque
 from collections import defaultdict, deque
 
 import cereal.messaging as messaging
 
 socks = {s: messaging.sub_sock(s, conflate=False) for s in sys.argv[1:]}
-ts = defaultdict(lambda: deque(maxlen=100))
+ts: DefaultDict[str, Deque[float]] = defaultdict(lambda: deque(maxlen=100))
 
 if __name__ == "__main__":
   while True:
diff --git a/selfdrive/debug/disable_ecu.py b/selfdrive/debug/disable_ecu.py
deleted file mode 100644
index af007207eb..0000000000
--- a/selfdrive/debug/disable_ecu.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python3
-import traceback
-
-import cereal.messaging as messaging
-from selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
-from system.swaglog import cloudlog
-
-EXT_DIAG_REQUEST = b'\x10\x03'
-EXT_DIAG_RESPONSE = b'\x50\x03'
-COM_CONT_REQUEST = b'\x28\x83\x03'
-COM_CONT_RESPONSE = b''
-
-def disable_ecu(ecu_addr, logcan, sendcan, bus, timeout=0.5, retry=5, debug=False):
-  print(f"ecu disable {hex(ecu_addr)} ...")
-  for i in range(retry):
-    try:
-      # enter extended diagnostic session
-      query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE], debug=debug)
-      for addr, dat in query.get_data(timeout).items(): # pylint: disable=unused-variable
-        print("ecu communication control disable tx/rx ...")
-        # communication control disable tx and rx
-        query = IsoTpParallelQuery(sendcan, logcan, bus, [ecu_addr], [COM_CONT_REQUEST], [COM_CONT_RESPONSE], debug=debug)
-        query.get_data(0)
-        return True
-      print(f"ecu disable retry ({i+1}) ...")
-    except Exception:
-      cloudlog.warning(f"ecu disable exception: {traceback.format_exc()}")
-
-  return False
-
-
-if __name__ == "__main__":
-  import time
-  sendcan = messaging.pub_sock('sendcan')
-  logcan = messaging.sub_sock('can')
-  time.sleep(1)
-
-  # honda bosch radar disable
-  disabled = disable_ecu(0x18DAB0F1, logcan, sendcan, 1, debug=False)
-  print(f"disabled: {disabled}")
diff --git a/selfdrive/debug/dump_car_info.py b/selfdrive/debug/dump_car_info.py
new file mode 100755
index 0000000000..c9a21c2848
--- /dev/null
+++ b/selfdrive/debug/dump_car_info.py
@@ -0,0 +1,18 @@
+#!/usr/bin/env python3
+import argparse
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+
+
+def dump_car_info(path):
+  with open(path, 'wb') as f:
+    pickle.dump(get_all_car_info(), f)
+  print(f'Dumping car info to {path}')
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  dump_car_info(args.path)
diff --git a/selfdrive/debug/print_docs_diff.py b/selfdrive/debug/print_docs_diff.py
new file mode 100755
index 0000000000..b7721ca3a5
--- /dev/null
+++ b/selfdrive/debug/print_docs_diff.py
@@ -0,0 +1,120 @@
+#!/usr/bin/env python3
+import argparse
+from collections import defaultdict
+import difflib
+import pickle
+
+from selfdrive.car.docs import get_all_car_info
+from selfdrive.car.docs_definitions import Column
+
+FOOTNOTE_TAG = "<sup>{}</sup>"
+STAR_ICON = '<a href="##"><img valign="top" src="https://raw.githubusercontent.com/commaai/openpilot/master/docs/assets/icon-star-{}.svg" width="22" /></a>'
+COLUMNS = "|" + "|".join([column.value for column in Column]) + "|"
+COLUMN_HEADER = "|---|---|---|:---:|:---:|:---:|:---:|"
+ARROW_SYMBOL = "➡️"
+
+
+def load_base_car_info(path):
+  with open(path, "rb") as f:
+    return pickle.load(f)
+
+
+def match_cars(base_cars, new_cars):
+  changes = []
+  additions = []
+  for new in new_cars:
+    # Addition if no close matches or close match already used
+    # Change if close match and not already used
+    matches = difflib.get_close_matches(new.name, [b.name for b in base_cars], cutoff=0.)
+    if not len(matches) or matches[0] in [c[1].name for c in changes]:
+      additions.append(new)
+    else:
+      changes.append((new, next(car for car in base_cars if car.name == matches[0])))
+
+  # Removal if base car not in changes
+  removals = [b for b in base_cars if b.name not in [c[1].name for c in changes]]
+  return changes, additions, removals
+
+
+def build_column_diff(base_car, new_car):
+  row_builder = []
+  for column in Column:
+    base_column = base_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
+    new_column = new_car.get_column(column, STAR_ICON, FOOTNOTE_TAG)
+
+    if base_column != new_column:
+      row_builder.append(f"{base_column} {ARROW_SYMBOL} {new_column}")
+    else:
+      row_builder.append(new_column)
+
+  return format_row(row_builder)
+
+
+def format_row(builder):
+  return "|" + "|".join(builder) + "|"
+
+
+def print_car_info_diff(path):
+  base_car_info = defaultdict(list)
+  new_car_info = defaultdict(list)
+
+  for car in load_base_car_info(path):
+    base_car_info[car.car_fingerprint].append(car)
+  for car in get_all_car_info():
+    new_car_info[car.car_fingerprint].append(car)
+
+  # Add new platforms to base cars so we can detect additions and removals in one pass
+  base_car_info.update({car: [] for car in new_car_info if car not in base_car_info})
+
+  changes = defaultdict(list)
+  for base_car_model, base_cars in base_car_info.items():
+    # Match car info changes, and get additions and removals
+    new_cars = new_car_info[base_car_model]
+    car_changes, car_additions, car_removals = match_cars(base_cars, new_cars)
+
+    # Removals
+    for car_info in car_removals:
+      changes["removals"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+
+    # Additions
+    for car_info in car_additions:
+      changes["additions"].append(format_row([car_info.get_column(column, STAR_ICON, FOOTNOTE_TAG) for column in Column]))
+
+    for new_car, base_car in car_changes:
+      # Tier changes
+      if base_car.tier != new_car.tier:
+        changes["tier"].append(f"- Tier for {base_car.name} changed! ({base_car.tier.name.title()} {ARROW_SYMBOL} {new_car.tier.name.title()})")
+
+      # Column changes
+      row_diff = build_column_diff(base_car, new_car)
+      if ARROW_SYMBOL in row_diff:
+        changes["column"].append(row_diff)
+
+      # Detail sentence changes
+      if base_car.detail_sentence != new_car.detail_sentence:
+        changes["detail"].append(f"- Sentence for {base_car.name} changed!\n" +
+                                 "  ```diff\n" +
+                                 f"  - {base_car.detail_sentence}\n" +
+                                 f"  + {new_car.detail_sentence}\n" +
+                                 "  ```")
+
+  # Print diff
+  if any(len(c) for c in changes.values()):
+    markdown_builder = ["### ⚠️ This PR makes changes to [CARS.md](../blob/master/docs/CARS.md) ⚠️"]
+
+    for title, category in (("## 🏅 Tier Changes", "tier"), ("## 🔀 Column Changes", "column"), ("## ❌ Removed", "removals"), ("## ➕ Added", "additions"), ("## 📖 Detail Sentence Changes", "detail")):
+      if len(changes[category]):
+        markdown_builder.append(title)
+        if category not in ("tier", "detail"):
+          markdown_builder.append(COLUMNS)
+          markdown_builder.append(COLUMN_HEADER)
+        markdown_builder.extend(changes[category])
+
+    print("\n".join(markdown_builder))
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--path", required=True)
+  args = parser.parse_args()
+  print_car_info_diff(args.path)
diff --git a/selfdrive/debug/test_fw_query_on_routes.py b/selfdrive/debug/test_fw_query_on_routes.py
index 011dd6c9a3..0cc674cfc8 100755
--- a/selfdrive/debug/test_fw_query_on_routes.py
+++ b/selfdrive/debug/test_fw_query_on_routes.py
@@ -8,24 +8,16 @@ import traceback
 from tqdm import tqdm
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route
+from selfdrive.car.interfaces import get_interface_attr
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.car.fw_versions import match_fw_to_car_exact, match_fw_to_car_fuzzy, build_fw_dict
-from selfdrive.car.toyota.values import FW_VERSIONS as TOYOTA_FW_VERSIONS
-from selfdrive.car.honda.values import FW_VERSIONS as HONDA_FW_VERSIONS
-from selfdrive.car.hyundai.values import FW_VERSIONS as HYUNDAI_FW_VERSIONS
-from selfdrive.car.volkswagen.values import FW_VERSIONS as VW_FW_VERSIONS
-from selfdrive.car.mazda.values import FW_VERSIONS as MAZDA_FW_VERSIONS
-from selfdrive.car.subaru.values import FW_VERSIONS as SUBARU_FW_VERSIONS
 
 
 NO_API = "NO_API" in os.environ
-SUPPORTED_CARS = set(interface_names['toyota'])
-SUPPORTED_CARS |= set(interface_names['honda'])
-SUPPORTED_CARS |= set(interface_names['hyundai'])
-SUPPORTED_CARS |= set(interface_names['volkswagen'])
-SUPPORTED_CARS |= set(interface_names['mazda'])
-SUPPORTED_CARS |= set(interface_names['subaru'])
-SUPPORTED_CARS |= set(interface_names['nissan'])
+VERSIONS = get_interface_attr('FW_VERSIONS', ignore_none=True)
+SUPPORTED_BRANDS = VERSIONS.keys()
+SUPPORTED_CARS = [brand for brand in SUPPORTED_BRANDS for brand in interface_names[brand]]
+UNKNOWN_BRAND = "unknown"
 
 try:
   from xx.pipeline.c.CarState import migration
@@ -120,18 +112,22 @@ if __name__ == "__main__":
           print("New style (exact):", exact_matches)
           print("New style (fuzzy):", fuzzy_matches)
 
-          for version in car_fw:
+          padding = max([len(fw.brand or UNKNOWN_BRAND) for fw in car_fw])
+          for version in sorted(car_fw, key=lambda fw: fw.brand):
             subaddr = None if version.subAddress == 0 else hex(version.subAddress)
-            print(f"  (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
+            print(f"  Brand: {version.brand or UNKNOWN_BRAND:{padding}}, bus: {version.bus} - (Ecu.{version.ecu}, {hex(version.address)}, {subaddr}): [{version.fwVersion}],")
 
           print("Mismatches")
           found = False
-          for car_fws in [TOYOTA_FW_VERSIONS, HONDA_FW_VERSIONS, HYUNDAI_FW_VERSIONS, VW_FW_VERSIONS, MAZDA_FW_VERSIONS, SUBARU_FW_VERSIONS]:
+          for brand in SUPPORTED_BRANDS:
+            car_fws = VERSIONS[brand]
             if live_fingerprint in car_fws:
               found = True
               expected = car_fws[live_fingerprint]
               for (_, expected_addr, expected_sub_addr), v in expected.items():
                 for version in car_fw:
+                  if version.brand != brand and len(version.brand):
+                    continue
                   sub_addr = None if version.subAddress == 0 else version.subAddress
                   addr = version.address
 
diff --git a/selfdrive/locationd/calibrationd.py b/selfdrive/locationd/calibrationd.py
index e092c939ae..9e6536f9b5 100755
--- a/selfdrive/locationd/calibrationd.py
+++ b/selfdrive/locationd/calibrationd.py
@@ -12,13 +12,11 @@ import capnp
 import numpy as np
 from typing import List, NoReturn, Optional
 
-from cereal import car, log
+from cereal import log
 import cereal.messaging as messaging
 from common.conversions import Conversions as CV
 from common.params import Params, put_nonblocking
 from common.realtime import set_realtime_priority
-from common.transformations.model import model_height
-from common.transformations.camera import get_view_frame_from_road_frame
 from common.transformations.orientation import rot_from_euler, euler_from_rot
 from system.swaglog import cloudlog
 
@@ -62,7 +60,7 @@ class Calibrator:
   def __init__(self, param_put: bool = False):
     self.param_put = param_put
 
-    self.CP = car.CarParams.from_bytes(Params().get("CarParams", block=True))
+    self.not_car = False
 
     # Read saved calibration
     params = Params()
@@ -180,7 +178,6 @@ class Calibrator:
 
   def get_msg(self) -> capnp.lib.capnp._DynamicStructBuilder:
     smooth_rpy = self.get_smooth_rpy()
-    extrinsic_matrix = get_view_frame_from_road_frame(0, smooth_rpy[1], smooth_rpy[2], model_height)
 
     msg = messaging.new_message('liveCalibration')
     liveCalibration = msg.liveCalibration
@@ -188,16 +185,13 @@ class Calibrator:
     liveCalibration.validBlocks = self.valid_blocks
     liveCalibration.calStatus = self.cal_status
     liveCalibration.calPerc = min(100 * (self.valid_blocks * BLOCK_SIZE + self.idx) // (INPUTS_NEEDED * BLOCK_SIZE), 100)
-    liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
     liveCalibration.rpyCalib = smooth_rpy.tolist()
     liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
-    if self.CP.notCar:
-      extrinsic_matrix = get_view_frame_from_road_frame(0, 0, 0, model_height)
+    if self.not_car:
       liveCalibration.validBlocks = INPUTS_NEEDED
       liveCalibration.calStatus = Calibration.CALIBRATED
       liveCalibration.calPerc = 100.
-      liveCalibration.extrinsicMatrix = extrinsic_matrix.flatten().tolist()
       liveCalibration.rpyCalib = [0, 0, 0]
       liveCalibration.rpyCalibSpread = self.calib_spread.tolist()
 
@@ -212,7 +206,7 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
   set_realtime_priority(1)
 
   if sm is None:
-    sm = messaging.SubMaster(['cameraOdometry', 'carState'], poll=['cameraOdometry'])
+    sm = messaging.SubMaster(['cameraOdometry', 'carState', 'carParams'], poll=['cameraOdometry'])
 
   if pm is None:
     pm = messaging.PubMaster(['liveCalibration'])
@@ -223,6 +217,8 @@ def calibrationd_thread(sm: Optional[messaging.SubMaster] = None, pm: Optional[m
     timeout = 0 if sm.frame == -1 else 100
     sm.update(timeout)
 
+    calibrator.not_car = sm['carParams'].notCar
+
     if sm.updated['cameraOdometry']:
       calibrator.handle_v_ego(sm['carState'].vEgo)
       new_rpy = calibrator.handle_cam_odom(sm['cameraOdometry'].trans,
diff --git a/selfdrive/locationd/laikad.py b/selfdrive/locationd/laikad.py
index ba665b7530..830eb33207 100755
--- a/selfdrive/locationd/laikad.py
+++ b/selfdrive/locationd/laikad.py
@@ -1,8 +1,11 @@
 #!/usr/bin/env python3
 import json
+import math
+import os
 import time
 from collections import defaultdict
 from concurrent.futures import Future, ProcessPoolExecutor
+from datetime import datetime
 from enum import IntEnum
 from typing import List, Optional
 
@@ -12,10 +15,11 @@ from cereal import log, messaging
 from common.params import Params, put_nonblocking
 from laika import AstroDog
 from laika.constants import SECS_IN_HR, SECS_IN_MIN
+from laika.downloader import DownloadFailed
 from laika.ephemeris import Ephemeris, EphemerisType, convert_ublox_ephem
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId
-from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox
+from laika.raw_gnss import GNSSMeasurement, correct_measurements, process_measurements, read_raw_ublox, read_raw_qcom
 from selfdrive.locationd.laikad_helpers import calc_pos_fix_gauss_newton, get_posfix_sympy_fun
 from selfdrive.locationd.models.constants import GENERATED_DIR, ObservationKind
 from selfdrive.locationd.models.gnss_kf import GNSSKalman
@@ -24,29 +28,49 @@ from system.swaglog import cloudlog
 
 MAX_TIME_GAP = 10
 EPHEMERIS_CACHE = 'LaikadEphemeris'
+DOWNLOADS_CACHE_FOLDER = "/tmp/comma_download_cache"
 CACHE_VERSION = 0.1
+POS_FIX_RESIDUAL_THRESHOLD = 100.0
 
 
 class Laikad:
-  def __init__(self, valid_const=("GPS", "GLONASS"), auto_update=False, valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
-               save_ephemeris=False, last_known_position=None):
-    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True)
-    self.gnss_kf = GNSSKalman(GENERATED_DIR)
-    self.orbit_fetch_executor = ProcessPoolExecutor()
+  def __init__(self, valid_const=("GPS", "GLONASS"), auto_fetch_orbits=True, auto_update=False,
+               valid_ephem_types=(EphemerisType.ULTRA_RAPID_ORBIT, EphemerisType.NAV),
+               save_ephemeris=False, use_qcom=False):
+    """
+    valid_const: GNSS constellation which can be used
+    auto_fetch_orbits: If true fetch orbits from internet when needed
+    auto_update: If true download AstroDog will download all files needed. This can be ephemeris or correction data like ionosphere.
+    valid_ephem_types: Valid ephemeris types to be used by AstroDog
+    save_ephemeris: If true saves and loads nav and orbit ephemeris to cache.
+    """
+    self.astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, clear_old_ephemeris=True, cache_dir=DOWNLOADS_CACHE_FOLDER)
+    self.gnss_kf = GNSSKalman(GENERATED_DIR, cython=True, erratic_clock=use_qcom)
+
+    self.auto_fetch_orbits = auto_fetch_orbits
+    self.orbit_fetch_executor: Optional[ProcessPoolExecutor] = None
     self.orbit_fetch_future: Optional[Future] = None
+
     self.last_fetch_orbits_t = None
+    self.got_first_gnss_msg = False
     self.last_cached_t = None
     self.save_ephemeris = save_ephemeris
     self.load_cache()
+
     self.posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
-    self.last_pos_fix = last_known_position if last_known_position is not None else []
+    self.last_pos_fix = []
     self.last_pos_residual = []
     self.last_pos_fix_t = None
+    self.use_qcom = use_qcom
 
   def load_cache(self):
+    if not self.save_ephemeris:
+      return
+
     cache = Params().get(EPHEMERIS_CACHE)
     if not cache:
       return
+
     try:
       cache = json.loads(cache, object_hook=deserialize_hook)
       self.astro_dog.add_orbits(cache['orbits'])
@@ -54,73 +78,114 @@ class Laikad:
       self.last_fetch_orbits_t = cache['last_fetch_orbits_t']
     except json.decoder.JSONDecodeError:
       cloudlog.exception("Error parsing cache")
+    timestamp = self.last_fetch_orbits_t.as_datetime() if self.last_fetch_orbits_t is not None else 'Nan'
+    cloudlog.debug(
+      f"Loaded nav ({sum([len(v) for v in cache['nav']])}) and orbits ({sum([len(v) for v in cache['orbits']])}) cache with timestamp: {timestamp}. Unique orbit and nav sats: {list(cache['orbits'].keys())} {list(cache['nav'].keys())} " +
+      f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in self.astro_dog.orbit_fetched_times._ranges]}")
 
   def cache_ephemeris(self, t: GPSTime):
     if self.save_ephemeris and (self.last_cached_t is None or t - self.last_cached_t > SECS_IN_MIN):
       put_nonblocking(EPHEMERIS_CACHE, json.dumps(
         {'version': CACHE_VERSION, 'last_fetch_orbits_t': self.last_fetch_orbits_t, 'orbits': self.astro_dog.orbits, 'nav': self.astro_dog.nav},
         cls=CacheSerializer))
+      cloudlog.debug("Cache saved")
       self.last_cached_t = t
 
   def get_est_pos(self, t, processed_measurements):
     if self.last_pos_fix_t is None or abs(self.last_pos_fix_t - t) >= 2:
-      min_measurements = 5 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 4
+      min_measurements = 6 if any(p.constellation_id == ConstellationId.GLONASS for p in processed_measurements) else 5
       pos_fix, pos_fix_residual = calc_pos_fix_gauss_newton(processed_measurements, self.posfix_functions, min_measurements=min_measurements)
       if len(pos_fix) > 0:
-        self.last_pos_fix = pos_fix[:3]
-        self.last_pos_residual = pos_fix_residual
         self.last_pos_fix_t = t
+        residual_median = np.median(np.abs(pos_fix_residual))
+        if np.median(np.abs(pos_fix_residual)) < POS_FIX_RESIDUAL_THRESHOLD:
+          cloudlog.debug(f"Pos fix is within threshold with median: {residual_median.round()}")
+          self.last_pos_fix = pos_fix[:3]
+          self.last_pos_residual = pos_fix_residual
+        else:
+          cloudlog.debug(f"Pos fix failed with median: {residual_median.round()}. All residuals: {np.round(pos_fix_residual)}")
     return self.last_pos_fix
-  
-  def process_ublox_msg(self, ublox_msg, ublox_mono_time: int, block=False):
-    if ublox_msg.which == 'measurementReport':
-      t = ublox_mono_time * 1e-9
-      report = ublox_msg.measurementReport
-      if report.gpsWeek > 0:
-        latest_msg_t = GPSTime(report.gpsWeek, report.rcvTow)
-        self.fetch_orbits(latest_msg_t + SECS_IN_MIN, block)
 
+  def is_good_report(self, gnss_msg):
+    if gnss_msg.which == 'drMeasurementReport' and self.use_qcom:
+      constellation_id = ConstellationId.from_qcom_source(gnss_msg.drMeasurementReport.source)
+      # TODO support GLONASS
+      return constellation_id in [ConstellationId.GPS, ConstellationId.SBAS]
+    elif gnss_msg.which == 'measurementReport' and not self.use_qcom:
+      return True
+    else:
+      return False
+
+  def read_report(self, gnss_msg):
+    if self.use_qcom:
+      report = gnss_msg.drMeasurementReport
+      week = report.gpsWeek
+      tow = report.gpsMilliseconds / 1000.0
+      new_meas = read_raw_qcom(report)
+    else:
+      report = gnss_msg.measurementReport
+      week = report.gpsWeek
+      tow = report.rcvTow
       new_meas = read_raw_ublox(report)
-      processed_measurements = process_measurements(new_meas, self.astro_dog)
+    return week, tow, new_meas
+
+  def process_gnss_msg(self, gnss_msg, gnss_mono_time: int, block=False):
+    if self.is_good_report(gnss_msg):
+      week, tow, new_meas = self.read_report(gnss_msg)
 
+      t = gnss_mono_time * 1e-9
+      if week > 0:
+        self.got_first_gnss_msg = True
+        latest_msg_t = GPSTime(week, tow)
+        if self.auto_fetch_orbits:
+          self.fetch_orbits(latest_msg_t, block)
+
+      # Filter measurements with unexpected pseudoranges for GPS and GLONASS satellites
+      new_meas = [m for m in new_meas if 1e7 < m.observables['C1C'] < 3e7]
+
+      processed_measurements = process_measurements(new_meas, self.astro_dog)
       est_pos = self.get_est_pos(t, processed_measurements)
 
       corrected_measurements = correct_measurements(processed_measurements, est_pos, self.astro_dog) if len(est_pos) > 0 else []
+      if gnss_mono_time % 10 == 0:
+        cloudlog.debug(f"Measurements Incoming/Processed/Corrected: {len(new_meas), len(processed_measurements), len(corrected_measurements)}")
 
       self.update_localizer(est_pos, t, corrected_measurements)
       kf_valid = all(self.kf_valid(t))
-      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS].tolist()
-      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY].tolist()
+      ecef_pos = self.gnss_kf.x[GStates.ECEF_POS]
+      ecef_vel = self.gnss_kf.x[GStates.ECEF_VELOCITY]
 
-      pos_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_POS].diagonal())).tolist()
-      vel_std = np.sqrt(abs(self.gnss_kf.P[GStates.ECEF_VELOCITY].diagonal())).tolist()
+      p = self.gnss_kf.P.diagonal()
+      pos_std = np.sqrt(p[GStates.ECEF_POS])
+      vel_std = np.sqrt(p[GStates.ECEF_VELOCITY])
 
       meas_msgs = [create_measurement_msg(m) for m in corrected_measurements]
       dat = messaging.new_message("gnssMeasurements")
       measurement_msg = log.LiveLocationKalman.Measurement.new_message
       dat.gnssMeasurements = {
-        "gpsWeek": report.gpsWeek,
-        "gpsTimeOfWeek": report.rcvTow,
-        "positionECEF": measurement_msg(value=ecef_pos, std=pos_std, valid=kf_valid),
-        "velocityECEF": measurement_msg(value=ecef_vel, std=vel_std, valid=kf_valid),
+        "gpsWeek": week,
+        "gpsTimeOfWeek": tow,
+        "positionECEF": measurement_msg(value=ecef_pos.tolist(), std=pos_std.tolist(), valid=kf_valid),
+        "velocityECEF": measurement_msg(value=ecef_vel.tolist(), std=vel_std.tolist(), valid=kf_valid),
         "positionFixECEF": measurement_msg(value=self.last_pos_fix, std=self.last_pos_residual, valid=self.last_pos_fix_t == t),
-        "ubloxMonoTime": ublox_mono_time,
+        "ubloxMonoTime": gnss_mono_time,
         "correctedMeasurements": meas_msgs
       }
       return dat
-    elif ublox_msg.which == 'ephemeris':
-      ephem = convert_ublox_ephem(ublox_msg.ephemeris)
+    # TODO this only works on GLONASS, qcom needs live ephemeris parsing too
+    elif gnss_msg.which == 'ephemeris':
+      ephem = convert_ublox_ephem(gnss_msg.ephemeris)
       self.astro_dog.add_navs({ephem.prn: [ephem]})
       self.cache_ephemeris(t=ephem.epoch)
-    # elif ublox_msg.which == 'ionoData':
+    #elif gnss_msg.which == 'ionoData':
     # todo add this. Needed to better correct messages offline. First fix ublox_msg.cc to sent them.
 
   def update_localizer(self, est_pos, t: float, measurements: List[GNSSMeasurement]):
     # Check time and outputs are valid
     valid = self.kf_valid(t)
     if not all(valid):
-      if not valid[0]:
-        cloudlog.info("Kalman filter uninitialized")
+      if not valid[0]:  # Filter not initialized
+        pass
       elif not valid[1]:
         cloudlog.error("Time gap of over 10s detected, gnss kalman reset")
       elif not valid[2]:
@@ -129,7 +194,6 @@ class Laikad:
         cloudlog.info(f"Reset kalman filter with {est_pos}")
         self.init_gnss_localizer(est_pos)
       else:
-        cloudlog.info("Could not reset kalman filter")
         return
     if len(measurements) > 0:
       kf_add_observations(self.gnss_kf, t, measurements)
@@ -138,9 +202,9 @@ class Laikad:
       self.gnss_kf.predict(t)
 
   def kf_valid(self, t: float) -> List[bool]:
-    filter_time = self.gnss_kf.filter.filter_time
-    return [filter_time is not None,
-            filter_time is not None and abs(t - filter_time) < MAX_TIME_GAP,
+    filter_time = self.gnss_kf.filter.get_filter_time()
+    return [not math.isnan(filter_time),
+            abs(t - filter_time) < MAX_TIME_GAP,
             all(np.isfinite(self.gnss_kf.x[GStates.ECEF_POS]))]
 
   def init_gnss_localizer(self, est_pos):
@@ -150,33 +214,41 @@ class Laikad:
     self.gnss_kf.init_state(x_initial, covs_diag=p_initial_diag)
 
   def fetch_orbits(self, t: GPSTime, block):
-    if t not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or t - self.last_fetch_orbits_t > SECS_IN_HR):
-      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types
-      if self.orbit_fetch_future is None:
+    # Download new orbits if 1 hour of orbits data left
+    if t + SECS_IN_HR not in self.astro_dog.orbit_fetched_times and (self.last_fetch_orbits_t is None or abs(t - self.last_fetch_orbits_t) > SECS_IN_MIN):
+      astro_dog_vars = self.astro_dog.valid_const, self.astro_dog.auto_update, self.astro_dog.valid_ephem_types, self.astro_dog.cache_dir
+      ret = None
+
+      if block:  # Used for testing purposes
+        ret = get_orbit_data(t, *astro_dog_vars)
+      elif self.orbit_fetch_future is None:
+        self.orbit_fetch_executor = ProcessPoolExecutor(max_workers=1)
         self.orbit_fetch_future = self.orbit_fetch_executor.submit(get_orbit_data, t, *astro_dog_vars)
-        if block:
-          self.orbit_fetch_future.result()
-      if self.orbit_fetch_future.done():
+      elif self.orbit_fetch_future.done():
         ret = self.orbit_fetch_future.result()
-        self.last_fetch_orbits_t = t
-        if ret:
-          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times = ret
+        self.orbit_fetch_executor = self.orbit_fetch_future = None
+
+      if ret is not None:
+        if ret[0] is None:
+          self.last_fetch_orbits_t = ret[2]
+        else:
+          self.astro_dog.orbits, self.astro_dog.orbit_fetched_times, self.last_fetch_orbits_t = ret
           self.cache_ephemeris(t=t)
-        self.orbit_fetch_future = None
 
 
-def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types):
-  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types)
+def get_orbit_data(t: GPSTime, valid_const, auto_update, valid_ephem_types, cache_dir):
+  astro_dog = AstroDog(valid_const=valid_const, auto_update=auto_update, valid_ephem_types=valid_ephem_types, cache_dir=cache_dir)
   cloudlog.info(f"Start to download/parse orbits for time {t.as_datetime()}")
   start_time = time.monotonic()
-  data = None
   try:
     astro_dog.get_orbit_data(t, only_predictions=True)
-    data = (astro_dog.orbits, astro_dog.orbit_fetched_times)
-  except RuntimeError as e:
-    cloudlog.info(f"No orbit data found. {e}")
-  cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
-  return data
+    cloudlog.info(f"Done parsing orbits. Took {time.monotonic() - start_time:.1f}s")
+    cloudlog.debug(f"Downloaded orbits ({sum([len(v) for v in astro_dog.orbits])}): {list(astro_dog.orbits.keys())}" +
+                   f"With time range: {[f'{start.as_datetime()}, {end.as_datetime()}' for (start,end) in astro_dog.orbit_fetched_times._ranges]}")
+    return astro_dog.orbits, astro_dog.orbit_fetched_times, t
+  except (DownloadFailed, RuntimeError, ValueError, IOError) as e:
+    cloudlog.warning(f"No orbit data found or parsing failure: {e}")
+  return None, None, t
 
 
 def create_measurement_msg(meas: GNSSMeasurement):
@@ -225,7 +297,7 @@ def kf_add_observations(gnss_kf: GNSSKalman, t: float, measurements: List[GNSSMe
   ekf_data[ObservationKind.PSEUDORANGE_RATE_GPS] = ekf_data[ObservationKind.PSEUDORANGE_GPS]
   ekf_data[ObservationKind.PSEUDORANGE_RATE_GLONASS] = ekf_data[ObservationKind.PSEUDORANGE_GLONASS]
   for kind, data in ekf_data.items():
-    if len(data) >0:
+    if len(data) > 0:
       gnss_kf.predict_and_observe(t, kind, data)
 
 
@@ -255,19 +327,35 @@ class EphemerisSourceType(IntEnum):
   glonassIacUltraRapid = 2
 
 
-def main():
-  sm = messaging.SubMaster(['ubloxGnss'])
-  pm = messaging.PubMaster(['gnssMeasurements'])
-  # todo get last_known_position
-  laikad = Laikad(save_ephemeris=True)
+def main(sm=None, pm=None):
+  use_qcom = os.path.isfile("/persist/comma/use-quectel-rawgps")
+  if use_qcom:
+    raw_gnss_socket = "qcomGnss"
+  else:
+    raw_gnss_socket = "ubloxGnss"
+
+  if sm is None:
+    sm = messaging.SubMaster([raw_gnss_socket, 'clocks'])
+  if pm is None:
+    pm = messaging.PubMaster(['gnssMeasurements'])
+
+  replay = "REPLAY" in os.environ
+  use_internet = "LAIKAD_NO_INTERNET" not in os.environ
+  laikad = Laikad(save_ephemeris=not replay, auto_fetch_orbits=use_internet, use_qcom=use_qcom)
+
   while True:
     sm.update()
 
-    if sm.updated['ubloxGnss']:
-      ublox_msg = sm['ubloxGnss']
-      msg = laikad.process_ublox_msg(ublox_msg, sm.logMonoTime['ubloxGnss'])
+    if sm.updated[raw_gnss_socket]:
+      gnss_msg = sm[raw_gnss_socket]
+      msg = laikad.process_gnss_msg(gnss_msg, sm.logMonoTime[raw_gnss_socket], block=replay)
       if msg is not None:
         pm.send('gnssMeasurements', msg)
+    if not laikad.got_first_gnss_msg and sm.updated['clocks']:
+      clocks_msg = sm['clocks']
+      t = GPSTime.from_datetime(datetime.utcfromtimestamp(clocks_msg.wallTimeNanos * 1E-9))
+      if laikad.auto_fetch_orbits:
+        laikad.fetch_orbits(t, block=replay)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/laikad_helpers.py b/selfdrive/locationd/laikad_helpers.py
index 81f5ac3dd6..f13e8e73bb 100644
--- a/selfdrive/locationd/laikad_helpers.py
+++ b/selfdrive/locationd/laikad_helpers.py
@@ -86,4 +86,4 @@ def get_posfix_sympy_fun(constellation):
 
   res = [res] + [sympy.diff(res, v) for v in var]
 
-  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res)
+  return sympy.lambdify([x, y, z, bc, bg, pr, sat_x, sat_y, sat_z, weight], res, modules=["numpy"])
diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index c33ff6a497..7714931b94 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -284,7 +284,7 @@ void Localizer::handle_gps(double current_time, const cereal::GpsLocationData::R
   MatrixXdr ecef_pos_R = Vector3d::Constant(std::pow(10.0 * log.getAccuracy(),2) + std::pow(10.0 * log.getVerticalAccuracy(),2)).asDiagonal();
   MatrixXdr ecef_vel_R = Vector3d::Constant(std::pow(log.getSpeedAccuracy() * 10.0, 2)).asDiagonal();
 
-  this->unix_timestamp_millis = log.getTimestamp();
+  this->unix_timestamp_millis = log.getUnixTimestampMillis();
   double gps_est_error = (this->kf->get_x().segment<STATE_ECEF_POS_LEN>(STATE_ECEF_POS_START) - ecef_pos).norm();
 
   VectorXd orientation_ecef = quat2euler(vector2quat(this->kf->get_x().segment<STATE_ECEF_ORIENTATION_LEN>(STATE_ECEF_ORIENTATION_START)));
@@ -443,6 +443,8 @@ void Localizer::handle_msg(const cereal::Event::Reader& log) {
   this->time_check(t);
   if (log.isSensorEvents()) {
     this->handle_sensors(t, log.getSensorEvents());
+  } else if (log.isGpsLocation()) {
+    this->handle_gps(t, log.getGpsLocation());
   } else if (log.isGpsLocationExternal()) {
     this->handle_gps(t, log.getGpsLocationExternal());
   } else if (log.isCarState()) {
@@ -490,11 +492,17 @@ void Localizer::determine_gps_mode(double current_time) {
 }
 
 int Localizer::locationd_thread() {
-  const std::initializer_list<const char *> service_list = {"gpsLocationExternal", "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
+  const char* gps_location_socket;
+  if (util::file_exists("/persist/comma/use-quectel-rawgps")) {
+    gps_location_socket = "gpsLocation";
+  } else {
+    gps_location_socket = "gpsLocationExternal";
+  }
+  const std::initializer_list<const char *> service_list = {gps_location_socket, "sensorEvents", "cameraOdometry", "liveCalibration", "carState", "carParams"};
   PubMaster pm({"liveLocationKalman"});
 
   // TODO: remove carParams once we're always sending at 100Hz
-  SubMaster sm(service_list, {}, nullptr, {"gpsLocationExternal", "carParams"});
+  SubMaster sm(service_list, {}, nullptr, {gps_location_socket, "carParams"});
 
   uint64_t cnt = 0;
   bool filterInitialized = false;
diff --git a/selfdrive/locationd/models/car_kf.py b/selfdrive/locationd/models/car_kf.py
index fe7d2e650b..3faf4f8d4e 100755
--- a/selfdrive/locationd/models/car_kf.py
+++ b/selfdrive/locationd/models/car_kf.py
@@ -15,7 +15,7 @@ if __name__ == '__main__':  # Generating sympy
   import sympy as sp
   from rednose.helpers.ekf_sym import gen_code
 else:
-  from rednose.helpers.ekf_sym_pyx import EKF_sym  # pylint: disable=no-name-in-module, import-error
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module, import-error
 
 
 i = 0
@@ -171,7 +171,7 @@ class CarKalman(KalmanFilter):
     if P_initial is not None:
       self.P_initial = P_initial
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
+    self.filter = EKF_sym_pyx(generated_dir, self.name, self.Q, self.initial_x, self.P_initial, dim_state, dim_state_err, global_vars=self.global_vars, logger=cloudlog)
 
 
 if __name__ == "__main__":
diff --git a/selfdrive/locationd/models/gnss_kf.py b/selfdrive/locationd/models/gnss_kf.py
index ce0ff84dc2..0d661dc321 100755
--- a/selfdrive/locationd/models/gnss_kf.py
+++ b/selfdrive/locationd/models/gnss_kf.py
@@ -3,12 +3,17 @@ import sys
 from typing import List
 
 import numpy as np
-import sympy as sp
 
-from rednose.helpers.ekf_sym import EKF_sym, gen_code
 from selfdrive.locationd.models.constants import ObservationKind
 from selfdrive.locationd.models.gnss_helpers import parse_pr, parse_prr
 
+if __name__ == '__main__':  # Generating sympy
+  import sympy as sp
+  from rednose.helpers.ekf_sym import gen_code
+else:
+  from rednose.helpers.ekf_sym_pyx import EKF_sym_pyx  # pylint: disable=no-name-in-module,import-error
+  from rednose.helpers.ekf_sym import EKF_sym  # pylint: disable=no-name-in-module,import-error
+
 
 class States():
   ECEF_POS = slice(0, 3)  # x, y and z in ECEF in meters
@@ -34,12 +39,6 @@ class GNSSKalman():
                        1e14, (100)**2, (0.2)**2,
                        (10)**2, (1)**2])
 
-  # process noise
-  Q = np.diag([0.03**2, 0.03**2, 0.03**2,
-               3**2, 3**2, 3**2,
-               (.1)**2, (0)**2, (0.005)**2,
-               .1**2, (.01)**2])
-
   maha_test_kinds: List[int] = []  # ObservationKind.PSEUDORANGE_RATE, ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_GLONASS]
 
   @staticmethod
@@ -115,12 +114,20 @@ class GNSSKalman():
 
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state, maha_test_kinds=maha_test_kinds)
 
-  def __init__(self, generated_dir):
+  def __init__(self, generated_dir, cython=False, erratic_clock=False):
+    # process noise
+    clock_error_drift = 100.0 if erratic_clock else 0.1
+    self.Q = np.diag([0.03**2, 0.03**2, 0.03**2,
+                      3**2, 3**2, 3**2,
+                      (clock_error_drift)**2, (0)**2, (0.005)**2,
+                      .1**2, (.01)**2])
+
     self.dim_state = self.x_initial.shape[0]
 
     # init filter
-    self.filter = EKF_sym(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
-                          self.dim_state, maha_test_kinds=self.maha_test_kinds)
+    filter_cls = EKF_sym_pyx if cython else EKF_sym
+    self.filter = filter_cls(generated_dir, self.name, self.Q, self.x_initial, self.P_initial, self.dim_state,
+                             self.dim_state, maha_test_kinds=self.maha_test_kinds)
     self.init_state(GNSSKalman.x_initial, covs=GNSSKalman.P_initial)
 
   @property
diff --git a/selfdrive/locationd/models/loc_kf.py b/selfdrive/locationd/models/loc_kf.py
index 6b08828695..25bf36d2cb 100755
--- a/selfdrive/locationd/models/loc_kf.py
+++ b/selfdrive/locationd/models/loc_kf.py
@@ -25,15 +25,15 @@ class States():
   ODO_SCALE_UNUSED = slice(18, 19)  # odometer scale
   ACCELERATION = slice(19, 22)  # Acceleration in device frame in m/s**2
   FOCAL_SCALE_UNUSED = slice(22, 23)  # focal length scale
-  IMU_OFFSET = slice(23, 26)  # imu offset angles in radians
+  IMU_FROM_DEVICE_EULER = slice(23, 26)  # imu offset angles in radians
   GLONASS_BIAS = slice(26, 27)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   GLONASS_FREQ_SLOPE = slice(27, 28)  # GLONASS bias in m expressed as bias + freq_num*freq_slope
   CLOCK_ACCELERATION = slice(28, 29)  # clock acceleration in light-meters/s**2,
   ACCELEROMETER_SCALE_UNUSED = slice(29, 30)  # scale of mems accelerometer
   ACCELEROMETER_BIAS = slice(30, 33)  # bias of mems accelerometer
   # TODO the offset is likely a translation of the sensor, not a rotation of the camera
-  WIDE_CAM_OFFSET = slice(33, 36)  # wide camera offset angles in radians (tici only)
-  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_OFFSET).
+  WIDE_FROM_DEVICE_EULER = slice(33, 36)  # wide camera offset angles in radians (tici only)
+  # We curently do not use ACCELEROMETER_SCALE to avoid instability due to too many free variables (ACCELEROMETER_SCALE, ACCELEROMETER_BIAS, IMU_FROM_DEVICE_EULER).
   # From experiments we see that ACCELEROMETER_BIAS is more correct than ACCELEROMETER_SCALE
 
   # Error-state has different slices because it is an ESKF
@@ -47,13 +47,13 @@ class States():
   ODO_SCALE_ERR_UNUSED = slice(17, 18)
   ACCELERATION_ERR = slice(18, 21)
   FOCAL_SCALE_ERR_UNUSED = slice(21, 22)
-  IMU_OFFSET_ERR = slice(22, 25)
+  IMU_FROM_DEVICE_EULER_ERR = slice(22, 25)
   GLONASS_BIAS_ERR = slice(25, 26)
   GLONASS_FREQ_SLOPE_ERR = slice(26, 27)
   CLOCK_ACCELERATION_ERR = slice(27, 28)
   ACCELEROMETER_SCALE_ERR_UNUSED = slice(28, 29)
   ACCELEROMETER_BIAS_ERR = slice(29, 32)
-  WIDE_CAM_OFFSET_ERR = slice(32, 35)
+  WIDE_FROM_DEVICE_EULER_ERR = slice(32, 35)
 
 
 class LocKalman():
@@ -91,22 +91,6 @@ class LocKalman():
                        0.05**2, 0.05**2, 0.05**2,
                        0.01**2, 0.01**2, 0.01**2])
 
-  # process noise
-  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,
-               (.1)**2, (0.0)**2,
-               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-               (0.02 / 100)**2,
-               3**2, 3**2, 3**2,
-               0.001**2,
-               (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
-               (.1)**2, (.01)**2,
-               0.005**2,
-               (0.02 / 100)**2,
-               (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
-               (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
 
   # measurements that need to pass mahalanobis distance outlier rejector
   maha_test_kinds = [ObservationKind.ORB_FEATURES, ObservationKind.ORB_FEATURES_WIDE]  # , ObservationKind.PSEUDORANGE, ObservationKind.PSEUDORANGE_RATE]
@@ -140,15 +124,15 @@ class LocKalman():
     cd = state[States.CLOCK_DRIFT, :]
     roll_bias, pitch_bias, yaw_bias = state[States.GYRO_BIAS, :]
     acceleration = state[States.ACCELERATION, :]
-    imu_angles = state[States.IMU_OFFSET, :]
-    imu_angles[0, 0] = 0  # not observable enough
-    imu_angles[2, 0] = 0  # not observable enough
+    imu_from_device_euler = state[States.IMU_FROM_DEVICE_EULER, :]
+    imu_from_device_euler[0, 0] = 0  # not observable enough
+    imu_from_device_euler[2, 0] = 0  # not observable enough
     glonass_bias = state[States.GLONASS_BIAS, :]
     glonass_freq_slope = state[States.GLONASS_FREQ_SLOPE, :]
     ca = state[States.CLOCK_ACCELERATION, :]
     accel_bias = state[States.ACCELEROMETER_BIAS, :]
-    wide_cam_angles = state[States.WIDE_CAM_OFFSET, :]
-    wide_cam_angles[0, 0] = 0  # not observable enough
+    wide_from_device_euler = state[States.WIDE_FROM_DEVICE_EULER, :]
+    wide_from_device_euler[0, 0] = 0  # not observable enough
 
     dt = sp.Symbol('dt')
 
@@ -273,15 +257,15 @@ class LocKalman():
                                         los_vector[2] * (sat_vz - vz) +
                                         cd[0]])
 
-    imu_rot = euler_rotate(*imu_angles)
-    h_gyro_sym = imu_rot * sp.Matrix([vroll + roll_bias,
+    imu_from_device = euler_rotate(*imu_from_device_euler)
+    h_gyro_sym = imu_from_device * sp.Matrix([vroll + roll_bias,
                                       vpitch + pitch_bias,
                                       vyaw + yaw_bias])
 
     pos = sp.Matrix([x, y, z])
     # add 1 for stability, prevent division by 0
     gravity = quat_rot.T * ((EARTH_GM / ((x**2 + y**2 + z**2 + 1)**(3.0 / 2.0))) * pos)
-    h_acc_sym = imu_rot * (gravity + acceleration + accel_bias)
+    h_acc_sym = imu_from_device * (gravity + acceleration + accel_bias)
     h_acc_stationary_sym = acceleration
     h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
     h_relative_motion = sp.Matrix(quat_rot.T * v)
@@ -297,7 +281,7 @@ class LocKalman():
                [h_phone_rot_sym, ObservationKind.CAMERA_ODO_ROTATION, None],
                [h_acc_stationary_sym, ObservationKind.NO_ACCEL, None]]
 
-    wide_cam_rot = euler_rotate(*wide_cam_angles)
+    wide_from_device = euler_rotate(*wide_from_device_euler)
     # MSCKF configuration
     if N > 0:
       # experimentally found this is correct value for imx298 with 910 focal length
@@ -312,7 +296,7 @@ class LocKalman():
 
       track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
       track_pos_rot_sym = quat_rot.T * track_pos_sym
-      track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+      track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
       h_track_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                        focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
       h_track_wide_cam_sym[-2:, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
@@ -329,7 +313,7 @@ class LocKalman():
         quat_rot = quat_rotate(*q)
         track_pos_sym = sp.Matrix([track_x - x, track_y - y, track_z - z])
         track_pos_rot_sym = quat_rot.T * track_pos_sym
-        track_pos_rot_wide_cam_sym = wide_cam_rot * track_pos_rot_sym
+        track_pos_rot_wide_cam_sym = wide_from_device * track_pos_rot_sym
         h_track_sym[n * 2:n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_sym[1] / track_pos_rot_sym[0]),
                                                      focal_scale * (track_pos_rot_sym[2] / track_pos_rot_sym[0])])
         h_track_wide_cam_sym[n * 2: n * 2 + 2, :] = sp.Matrix([focal_scale * (track_pos_rot_wide_cam_sym[1] / track_pos_rot_wide_cam_sym[0]),
@@ -345,9 +329,29 @@ class LocKalman():
       msckf_params = None
     gen_code(generated_dir, name, f_sym, dt, state_sym, obs_eqs, dim_state, dim_state_err, eskf_params, msckf_params, maha_test_kinds)
 
-  def __init__(self, generated_dir, N=4):
+  def __init__(self, generated_dir, N=4, erratic_clock=False):
     name = f"{self.name}_{N}"
 
+
+    # process noise
+    clock_error_drift = 100.0 if erratic_clock else 0.1
+    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,
+                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                      (0.02 / 100)**2,
+                      3**2, 3**2, 3**2,
+                      0.001**2,
+                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2,
+                      (.1)**2, (.01)**2,
+                      0.005**2,
+                      (0.02 / 100)**2,
+                      (0.005 / 100)**2, (0.005 / 100)**2, (0.005 / 100)**2,
+                      (0.05 / 60)**2, (0.05 / 60)**2, (0.05 / 60)**2])
+
+
     self.obs_noise = {ObservationKind.ODOMETRIC_SPEED: np.atleast_2d(0.2**2),
                       ObservationKind.PHONE_GYRO: np.diag([0.025**2, 0.025**2, 0.025**2]),
                       ObservationKind.PHONE_ACCEL: np.diag([.5**2, .5**2, .5**2]),
diff --git a/selfdrive/locationd/paramsd.py b/selfdrive/locationd/paramsd.py
index ae67dc28ab..86672b0460 100755
--- a/selfdrive/locationd/paramsd.py
+++ b/selfdrive/locationd/paramsd.py
@@ -16,6 +16,8 @@ from system.swaglog import cloudlog
 MAX_ANGLE_OFFSET_DELTA = 20 * DT_MDL  # Max 20 deg/s
 ROLL_MAX_DELTA = np.radians(20.0) * DT_MDL  # 20deg in 1 second is well within curvature limits
 ROLL_MIN, ROLL_MAX = math.radians(-10), math.radians(10)
+LATERAL_ACC_SENSOR_THRESHOLD = 4.0
+
 
 class ParamsLearner:
   def __init__(self, CP, steer_ratio, stiffness_factor, angle_offset, P_initial=None):
@@ -31,6 +33,8 @@ class ParamsLearner:
     self.active = False
 
     self.speed = 0.0
+    self.yaw_rate = 0.0
+    self.yaw_rate_std = 0.0
     self.roll = 0.0
     self.steering_pressed = False
     self.steering_angle = 0.0
@@ -39,8 +43,8 @@ class ParamsLearner:
 
   def handle_log(self, t, which, msg):
     if which == 'liveLocationKalman':
-      yaw_rate = msg.angularVelocityCalibrated.value[2]
-      yaw_rate_std = msg.angularVelocityCalibrated.std[2]
+      self.yaw_rate = msg.angularVelocityCalibrated.value[2]
+      self.yaw_rate_std = msg.angularVelocityCalibrated.std[2]
 
       localizer_roll = msg.orientationNED.value[0]
       localizer_roll_std = np.radians(1) if np.isnan(msg.orientationNED.std[0]) else msg.orientationNED.std[0]
@@ -56,8 +60,8 @@ class ParamsLearner:
       self.roll = clip(roll, self.roll - ROLL_MAX_DELTA, self.roll + ROLL_MAX_DELTA)
 
       yaw_rate_valid = msg.angularVelocityCalibrated.valid
-      yaw_rate_valid = yaw_rate_valid and 0 < yaw_rate_std < 10  # rad/s
-      yaw_rate_valid = yaw_rate_valid and abs(yaw_rate) < 1  # rad/s
+      yaw_rate_valid = yaw_rate_valid and 0 < self.yaw_rate_std < 10  # rad/s
+      yaw_rate_valid = yaw_rate_valid and abs(self.yaw_rate) < 1  # rad/s
 
       if self.active:
         if msg.posenetOK:
@@ -65,8 +69,8 @@ class ParamsLearner:
           if yaw_rate_valid:
             self.kf.predict_and_observe(t,
                                         ObservationKind.ROAD_FRAME_YAW_RATE,
-                                        np.array([[-yaw_rate]]),
-                                        np.array([np.atleast_2d(yaw_rate_std**2)]))
+                                        np.array([[-self.yaw_rate]]),
+                                        np.array([np.atleast_2d(self.yaw_rate_std**2)]))
 
           self.kf.predict_and_observe(t,
                                       ObservationKind.ROAD_ROLL,
@@ -173,12 +177,14 @@ def main(sm=None, pm=None):
 
       angle_offset_average = clip(math.degrees(x[States.ANGLE_OFFSET]), angle_offset_average - MAX_ANGLE_OFFSET_DELTA, angle_offset_average + MAX_ANGLE_OFFSET_DELTA)
       angle_offset = clip(math.degrees(x[States.ANGLE_OFFSET] + x[States.ANGLE_OFFSET_FAST]), angle_offset - MAX_ANGLE_OFFSET_DELTA, angle_offset + MAX_ANGLE_OFFSET_DELTA)
+      # 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)
 
       msg = messaging.new_message('liveParameters')
 
       liveParameters = msg.liveParameters
       liveParameters.posenetValid = True
-      liveParameters.sensorValid = True
+      liveParameters.sensorValid = sensors_valid
       liveParameters.steerRatio = float(x[States.STEER_RATIO])
       liveParameters.stiffnessFactor = float(x[States.STIFFNESS])
       liveParameters.roll = float(x[States.ROAD_ROLL])
diff --git a/selfdrive/locationd/test/_test_locationd_lib.py b/selfdrive/locationd/test/_test_locationd_lib.py
new file mode 100755
index 0000000000..8a0ed3ef05
--- /dev/null
+++ b/selfdrive/locationd/test/_test_locationd_lib.py
@@ -0,0 +1,106 @@
+#!/usr/bin/env python3
+"""This test can't be run together with other locationd tests.
+cffi.dlopen breaks the list of registered filters."""
+import os
+import random
+import unittest
+
+from cffi import FFI
+
+import cereal.messaging as messaging
+from cereal import log
+
+SENSOR_DECIMATION = 1
+VISION_DECIMATION = 1
+
+LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
+
+
+class TestLocationdLib(unittest.TestCase):
+  def setUp(self):
+    header = '''typedef ...* Localizer_t;
+Localizer_t localizer_init();
+void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
+void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
+
+    self.ffi = FFI()
+    self.ffi.cdef(header)
+    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
+
+    self.localizer = self.lib.localizer_init()
+
+    self.buff_size = 2048
+    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
+
+  def localizer_handle_msg(self, msg_builder):
+    bytstr = msg_builder.to_bytes()
+    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
+
+  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
+    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
+    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
+
+  def test_liblocalizer(self):
+    msg = messaging.new_message('liveCalibration')
+    msg.liveCalibration.validBlocks = random.randint(1, 10)
+    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
+
+    self.localizer_handle_msg(msg)
+    liveloc = self.localizer_get_msg()
+    self.assertTrue(liveloc is not None)
+
+  @unittest.skip("temporarily disabled due to false positives")
+  def test_device_fell(self):
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.deviceStable)
+
+    msg = messaging.new_message('sensorEvents', 1)
+    msg.sensorEvents[0].sensor = 1
+    msg.sensorEvents[0].timestamp = msg.logMonoTime
+    msg.sensorEvents[0].type = 1
+    msg.sensorEvents[0].init('acceleration')
+    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
+    self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.deviceStable)
+
+  def test_posenet_spike(self):
+    for _ in range(SENSOR_DECIMATION):
+      msg = messaging.new_message('carState')
+      msg.carState.vEgo = 6.0  # more than 5 m/s
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertTrue(ret.liveLocationKalman.posenetOK)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
+      self.localizer_handle_msg(msg)
+
+    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
+      msg = messaging.new_message('cameraOdometry')
+      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
+      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
+      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
+      self.localizer_handle_msg(msg)
+
+    ret = self.localizer_get_msg()
+    self.assertFalse(ret.liveLocationKalman.posenetOK)
+
+if __name__ == "__main__":
+  unittest.main()
+
diff --git a/selfdrive/locationd/test/test_laikad.py b/selfdrive/locationd/test/test_laikad.py
index 3a72303b0c..418625f9bc 100755
--- a/selfdrive/locationd/test/test_laikad.py
+++ b/selfdrive/locationd/test/test_laikad.py
@@ -7,6 +7,8 @@ from unittest import mock
 from unittest.mock import Mock, patch
 
 from common.params import Params
+from laika.constants import SECS_IN_DAY
+from laika.downloader import DownloadFailed
 from laika.ephemeris import EphemerisType, GPSEphemeris
 from laika.gps_time import GPSTime
 from laika.helpers import ConstellationId, TimeRangeHolder
@@ -26,7 +28,7 @@ def get_log(segs=range(0)):
 def verify_messages(lr, laikad, return_one_success=False):
   good_msgs = []
   for m in lr:
-    msg = laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=True)
+    msg = laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
     if msg is not None and len(msg.gnssMeasurements.correctedMeasurements) > 0:
       good_msgs.append(msg)
       if return_one_success:
@@ -50,6 +52,9 @@ def get_measurement_mock(gpstime, sat_ephemeris):
   return meas
 
 
+GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC = GPSTime.from_datetime(datetime(2022, month=1, day=29, hour=12))
+
+
 class TestLaikad(unittest.TestCase):
 
   @classmethod
@@ -62,11 +67,53 @@ class TestLaikad(unittest.TestCase):
   def setUp(self):
     Params().delete(EPHEMERIS_CACHE)
 
+  def test_fetch_orbits_non_blocking(self):
+    gpstime = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    laikad = Laikad()
+    laikad.fetch_orbits(gpstime, block=False)
+    laikad.orbit_fetch_future.result(30)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime, block=False)
+
+    ephem = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+
+    laikad.fetch_orbits(gpstime+2*SECS_IN_DAY, block=False)
+    laikad.orbit_fetch_future.result(30)
+    # Get results and save orbits to laikad:
+    laikad.fetch_orbits(gpstime + 2 * SECS_IN_DAY, block=False)
+
+    ephem2 = laikad.astro_dog.orbits['G01'][0]
+    self.assertIsNotNone(ephem)
+    self.assertNotEqual(ephem, ephem2)
+
+  def test_fetch_orbits_with_wrong_clocks(self):
+    laikad = Laikad()
+
+    def check_has_orbits():
+      self.assertGreater(len(laikad.astro_dog.orbits), 0)
+      ephem = laikad.astro_dog.orbits['G01'][0]
+      self.assertIsNotNone(ephem)
+    real_current_time = GPSTime.from_datetime(datetime(2021, month=3, day=1))
+    wrong_future_clock_time = real_current_time + SECS_IN_DAY
+
+    laikad.fetch_orbits(wrong_future_clock_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, wrong_future_clock_time)
+
+    # Test fetching orbits with earlier time
+    assert real_current_time < laikad.last_fetch_orbits_t
+
+    laikad.astro_dog.orbits = {}
+    laikad.fetch_orbits(real_current_time, block=True)
+    check_has_orbits()
+    self.assertEqual(laikad.last_fetch_orbits_t, real_current_time)
+
   def test_ephemeris_source_in_msg(self):
     data_mock = defaultdict(str)
     data_mock['sv_id'] = 1
 
-    gpstime = GPSTime.from_datetime(datetime(2022, month=3, day=1))
+    gpstime = GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC
     laikad = Laikad()
     laikad.fetch_orbits(gpstime, block=True)
     meas = get_measurement_mock(gpstime, laikad.astro_dog.orbits['R01'][0])
@@ -95,26 +142,44 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
     correct_msgs = verify_messages(self.logs, laikad)
 
-    correct_msgs_expected = 560
+    correct_msgs_expected = 555
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
+  def test_kf_becomes_valid(self):
+    laikad = Laikad(auto_update=False)
+    m = self.logs[0]
+    self.assertFalse(all(laikad.kf_valid(m.logMonoTime * 1e-9)))
+    kf_valid = False
+    for m in self.logs:
+      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=True)
+      kf_valid = all(laikad.kf_valid(m.logMonoTime * 1e-9))
+      if kf_valid:
+        break
+    self.assertTrue(kf_valid)
+
   def test_laika_online_nav_only(self):
     laikad = Laikad(auto_update=True, valid_ephem_types=EphemerisType.NAV)
     # Disable fetch_orbits to test NAV only
     laikad.fetch_orbits = Mock()
     correct_msgs = verify_messages(self.logs, laikad)
-    correct_msgs_expected = 560
+    correct_msgs_expected = 559
     self.assertEqual(correct_msgs_expected, len(correct_msgs))
     self.assertEqual(correct_msgs_expected, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   @mock.patch('laika.downloader.download_and_cache_file')
   def test_laika_offline(self, downloader_mock):
-    downloader_mock.side_effect = IOError
+    downloader_mock.side_effect = DownloadFailed("Mock download failed")
+    laikad = Laikad(auto_update=False)
+    laikad.fetch_orbits(GPS_TIME_PREDICTION_ORBITS_RUSSIAN_SRC, block=True)
+
+  @mock.patch('laika.downloader.download_and_cache_file')
+  def test_download_failed_russian_source(self, downloader_mock):
+    downloader_mock.side_effect = DownloadFailed
     laikad = Laikad(auto_update=False)
     correct_msgs = verify_messages(self.logs, laikad)
-    self.assertEqual(256, len(correct_msgs))
-    self.assertEqual(256, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
+    self.assertEqual(16, len(correct_msgs))
+    self.assertEqual(16, len([m for m in correct_msgs if m.gnssMeasurements.positionECEF.valid]))
 
   def test_laika_get_orbits(self):
     laikad = Laikad(auto_update=False)
@@ -136,7 +201,7 @@ class TestLaikad(unittest.TestCase):
     laikad = Laikad(auto_update=False)
     has_orbits = False
     for m in self.logs:
-      laikad.process_ublox_msg(m.ubloxGnss, m.logMonoTime, block=False)
+      laikad.process_gnss_msg(m.ubloxGnss, m.logMonoTime, block=False)
       if laikad.orbit_fetch_future is not None:
         laikad.orbit_fetch_future.result()
       vals = laikad.astro_dog.orbits.values()
@@ -155,7 +220,7 @@ class TestLaikad(unittest.TestCase):
       while Params().get(EPHEMERIS_CACHE) is None:
         time.sleep(0.1)
         max_time -= 0.1
-        if max_time == 0:
+        if max_time < 0:
           self.fail("Cache has not been written after 2 seconds")
 
     # Test cache with no ephemeris
@@ -170,7 +235,7 @@ class TestLaikad(unittest.TestCase):
     wait_for_cache()
 
     # Check both nav and orbits separate
-    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV)
+    laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.NAV, save_ephemeris=True)
     # Verify orbits and nav are loaded from cache
     self.dict_has_values(laikad.astro_dog.orbits)
     self.dict_has_values(laikad.astro_dog.nav)
@@ -185,7 +250,7 @@ class TestLaikad(unittest.TestCase):
       mock_method.assert_not_called()
 
       # Verify cache is working for only orbits by running a segment
-      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT)
+      laikad = Laikad(auto_update=False, valid_ephem_types=EphemerisType.ULTRA_RAPID_ORBIT, save_ephemeris=True)
       msg = verify_messages(self.logs, laikad, return_one_success=True)
       self.assertIsNotNone(msg)
       # Verify orbit data is not downloaded
diff --git a/selfdrive/locationd/test/test_locationd.py b/selfdrive/locationd/test/test_locationd.py
index 7f5d752100..29036b8387 100755
--- a/selfdrive/locationd/test/test_locationd.py
+++ b/selfdrive/locationd/test/test_locationd.py
@@ -1,110 +1,16 @@
 #!/usr/bin/env python3
-import os
 import json
 import random
 import unittest
 import time
 import capnp
-from cffi import FFI
 
-from cereal import log
 import cereal.messaging as messaging
 from cereal.services import service_list
 from common.params import Params
 
 from selfdrive.manager.process_config import managed_processes
 
-SENSOR_DECIMATION = 1
-VISION_DECIMATION = 1
-
-LIBLOCATIOND_PATH = os.path.abspath(os.path.join(os.path.dirname(__file__), '../liblocationd.so'))
-
-
-class TestLocationdLib(unittest.TestCase):
-  def setUp(self):
-    header = '''typedef ...* Localizer_t;
-Localizer_t localizer_init();
-void localizer_get_message_bytes(Localizer_t localizer, bool inputsOK, bool sensorsOK, bool gpsOK, bool msgValid, char *buff, size_t buff_size);
-void localizer_handle_msg_bytes(Localizer_t localizer, const char *data, size_t size);'''
-
-    self.ffi = FFI()
-    self.ffi.cdef(header)
-    self.lib = self.ffi.dlopen(LIBLOCATIOND_PATH)
-
-    self.localizer = self.lib.localizer_init()
-
-    self.buff_size = 2048
-    self.msg_buff = self.ffi.new(f'char[{self.buff_size}]')
-
-  def localizer_handle_msg(self, msg_builder):
-    bytstr = msg_builder.to_bytes()
-    self.lib.localizer_handle_msg_bytes(self.localizer, self.ffi.from_buffer(bytstr), len(bytstr))
-
-  def localizer_get_msg(self, t=0, inputsOK=True, sensorsOK=True, gpsOK=True, msgValid=True):
-    self.lib.localizer_get_message_bytes(self.localizer, inputsOK, sensorsOK, gpsOK, msgValid, self.ffi.addressof(self.msg_buff, 0), self.buff_size)
-    return log.Event.from_bytes(self.ffi.buffer(self.msg_buff), nesting_limit=self.buff_size // 8)
-
-  def test_liblocalizer(self):
-    msg = messaging.new_message('liveCalibration')
-    msg.liveCalibration.validBlocks = random.randint(1, 10)
-    msg.liveCalibration.rpyCalib = [random.random() / 10 for _ in range(3)]
-
-    self.localizer_handle_msg(msg)
-    liveloc = self.localizer_get_msg()
-    self.assertTrue(liveloc is not None)
-
-  @unittest.skip("temporarily disabled due to false positives")
-  def test_device_fell(self):
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [10.0, 0.0, 0.0]  # zero with gravity
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.deviceStable)
-
-    msg = messaging.new_message('sensorEvents', 1)
-    msg.sensorEvents[0].sensor = 1
-    msg.sensorEvents[0].timestamp = msg.logMonoTime
-    msg.sensorEvents[0].type = 1
-    msg.sensorEvents[0].init('acceleration')
-    msg.sensorEvents[0].acceleration.v = [50.1, 0.0, 0.0]  # more than 40 m/s**2
-    self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.deviceStable)
-
-  def test_posenet_spike(self):
-    for _ in range(SENSOR_DECIMATION):
-      msg = messaging.new_message('carState')
-      msg.carState.vEgo = 6.0  # more than 5 m/s
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertTrue(ret.liveLocationKalman.posenetOK)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_old
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [0.1, 0.1, 0.1]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [2.0, 0.1, 0.1]
-      self.localizer_handle_msg(msg)
-
-    for _ in range(20 * VISION_DECIMATION):  # size of hist_new
-      msg = messaging.new_message('cameraOdometry')
-      msg.cameraOdometry.rot = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.rotStd = [1.0, 1.0, 1.0]
-      msg.cameraOdometry.trans = [0.0, 0.0, 0.0]
-      msg.cameraOdometry.transStd = [10.1, 0.1, 0.1]  # more than 4 times larger
-      self.localizer_handle_msg(msg)
-
-    ret = self.localizer_get_msg()
-    self.assertFalse(ret.liveLocationKalman.posenetOK)
-
 
 class TestLocationdProc(unittest.TestCase):
   MAX_WAITS = 1000
diff --git a/selfdrive/locationd/ublox_msg.cc b/selfdrive/locationd/ublox_msg.cc
index c9833410e7..c9f732e9ab 100644
--- a/selfdrive/locationd/ublox_msg.cc
+++ b/selfdrive/locationd/ublox_msg.cc
@@ -144,7 +144,7 @@ kj::Array<capnp::word> UbloxMsgParser::gen_nav_pvt(ubx_t::nav_pvt_t *msg) {
   timeinfo.tm_sec = msg->sec();
 
   std::time_t utc_tt = timegm(&timeinfo);
-  gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano() * 1e-06);
+  gpsLoc.setUnixTimestampMillis(utc_tt * 1e+03 + msg->nano() * 1e-06);
   float f[] = { msg->vel_n() * 1e-03f, msg->vel_e() * 1e-03f, msg->vel_d() * 1e-03f };
   gpsLoc.setVNED(f);
   gpsLoc.setVerticalAccuracy(msg->v_acc() * 1e-03);
diff --git a/selfdrive/loggerd/.gitignore b/selfdrive/loggerd/.gitignore
index 6437be5e38..53dc24e6f2 100644
--- a/selfdrive/loggerd/.gitignore
+++ b/selfdrive/loggerd/.gitignore
@@ -1,3 +1,4 @@
 loggerd
 encoderd
+bootlog
 tests/test_logger
diff --git a/selfdrive/loggerd/encoderd.cc b/selfdrive/loggerd/encoderd.cc
index 87cf4a492f..9bd8e2f1d4 100644
--- a/selfdrive/loggerd/encoderd.cc
+++ b/selfdrive/loggerd/encoderd.cc
@@ -124,10 +124,8 @@ void encoderd_thread() {
 
   std::vector<std::thread> encoder_threads;
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
-      s.max_waiting++;
-    }
+    encoder_threads.push_back(std::thread(encoder_thread, &s, cam));
+    s.max_waiting++;
   }
   for (auto &t : encoder_threads) t.join();
 }
diff --git a/selfdrive/loggerd/loggerd.cc b/selfdrive/loggerd/loggerd.cc
index a75ab2c92b..e0892e68b4 100644
--- a/selfdrive/loggerd/loggerd.cc
+++ b/selfdrive/loggerd/loggerd.cc
@@ -204,10 +204,8 @@ void loggerd_thread() {
   // init encoders
   s.last_camera_seen_tms = millis_since_boot();
   for (const auto &cam : cameras_logged) {
-    if (cam.enable) {
-      s.max_waiting++;
-      if (cam.has_qcamera) { s.max_waiting++; }
-    }
+    s.max_waiting++;
+    if (cam.has_qcamera) { s.max_waiting++; }
   }
 
   uint64_t msg_count = 0, bytes_count = 0;
diff --git a/selfdrive/loggerd/loggerd.h b/selfdrive/loggerd/loggerd.h
index 2c4990086a..6eafbe08d0 100644
--- a/selfdrive/loggerd/loggerd.h
+++ b/selfdrive/loggerd/loggerd.h
@@ -50,7 +50,6 @@ struct LogCameraInfo {
   int bitrate;
   bool is_h265;
   bool has_qcamera;
-  bool enable;
   bool record;
 };
 
@@ -63,7 +62,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = true,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -76,7 +74,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = DCAM_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = Params().getBool("RecordFront"),
     .frame_width = 1928,
     .frame_height = 1208,
@@ -89,7 +86,6 @@ const LogCameraInfo cameras_logged[] = {
     .bitrate = MAIN_BITRATE,
     .is_h265 = true,
     .has_qcamera = false,
-    .enable = true,
     .record = true,
     .frame_width = 1928,
     .frame_height = 1208,
@@ -100,7 +96,6 @@ const LogCameraInfo qcam_info = {
   .fps = MAIN_FPS,
   .bitrate = 256000,
   .is_h265 = false,
-  .enable = true,
   .record = true,
   .frame_width = 526,
   .frame_height = 330,
diff --git a/selfdrive/loggerd/tests/test_logger.cc b/selfdrive/loggerd/tests/test_logger.cc
index 11a50fa2e7..c8f6620924 100644
--- a/selfdrive/loggerd/tests/test_logger.cc
+++ b/selfdrive/loggerd/tests/test_logger.cc
@@ -9,7 +9,7 @@
 #include "cereal/messaging/messaging.h"
 #include "common/util.h"
 #include "selfdrive/loggerd/logger.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 typedef cereal::Sentinel::SentinelType SentinelType;
 
diff --git a/selfdrive/manager/build.py b/selfdrive/manager/build.py
index 10b4c0a4b8..12f894061a 100755
--- a/selfdrive/manager/build.py
+++ b/selfdrive/manager/build.py
@@ -1,8 +1,6 @@
 #!/usr/bin/env python3
 import os
 import subprocess
-import sys
-import time
 import textwrap
 from pathlib import Path
 
@@ -28,62 +26,49 @@ def build(spinner: Spinner, dirty: bool = False) -> None:
   nproc = os.cpu_count()
   j_flag = "" if nproc is None else f"-j{nproc - 1}"
 
-  for retry in [True, False]:
-    scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
-    assert scons.stderr is not None
-
-    compile_output = []
-
-    # Read progress from stderr and update spinner
-    while scons.poll() is None:
-      try:
-        line = scons.stderr.readline()
-        if line is None:
-          continue
-        line = line.rstrip()
-
-        prefix = b'progress: '
-        if line.startswith(prefix):
-          i = int(line[len(prefix):])
-          spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
-        elif len(line):
-          compile_output.append(line)
-          print(line.decode('utf8', 'replace'))
-      except Exception:
-        pass
-
-    if scons.returncode != 0:
-      # Read remaining output
-      r = scons.stderr.read().split(b'\n')
-      compile_output += r
-
-      if retry and (not dirty):
-        if not os.getenv("CI"):
-          print("scons build failed, cleaning in")
-          for i in range(3, -1, -1):
-            print("....%d" % i)
-            time.sleep(1)
-          subprocess.check_call(["scons", "-c"], cwd=BASEDIR, env=env)
-        else:
-          print("scons build failed after retry")
-          sys.exit(1)
-      else:
-        # Build failed log errors
-        errors = [line.decode('utf8', 'replace') for line in compile_output
-                  if any(err in line for err in [b'error: ', b'not found, needed by target'])]
-        error_s = "\n".join(errors)
-        add_file_handler(cloudlog)
-        cloudlog.error("scons build failed\n" + error_s)
-
-        # Show TextWindow
-        spinner.close()
-        if not os.getenv("CI"):
-          error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
-          with TextWindow("openpilot failed to build\n \n" + error_s) as t:
-            t.wait_for_exit()
-        exit(1)
-    else:
-      break
+  scons: subprocess.Popen = subprocess.Popen(["scons", j_flag, "--cache-populate"], cwd=BASEDIR, env=env, stderr=subprocess.PIPE)
+  assert scons.stderr is not None
+
+  compile_output = []
+
+  # Read progress from stderr and update spinner
+  while scons.poll() is None:
+    try:
+      line = scons.stderr.readline()
+      if line is None:
+        continue
+      line = line.rstrip()
+
+      prefix = b'progress: '
+      if line.startswith(prefix):
+        i = int(line[len(prefix):])
+        spinner.update_progress(MAX_BUILD_PROGRESS * min(1., i / TOTAL_SCONS_NODES), 100.)
+      elif len(line):
+        compile_output.append(line)
+        print(line.decode('utf8', 'replace'))
+    except Exception:
+      pass
+
+  if scons.returncode != 0:
+    # Read remaining output
+    r = scons.stderr.read().split(b'\n')
+    compile_output += r
+
+    # Build failed log errors
+    errors = [line.decode('utf8', 'replace') for line in compile_output
+              if any(err in line for err in [b'error: ', b'not found, needed by target'])]
+    error_s = "\n".join(errors)
+    add_file_handler(cloudlog)
+    cloudlog.error("scons build failed\n" + error_s)
+
+    # Show TextWindow
+    spinner.close()
+    if not os.getenv("CI"):
+      error_s = "\n \n".join("\n".join(textwrap.wrap(e, 65)) for e in errors)
+      with TextWindow("openpilot failed to build\n \n" + error_s) as t:
+        t.wait_for_exit()
+    exit(1)
+
 
   # enforce max cache size
   cache_files = [f for f in CACHE_DIR.rglob('*') if f.is_file()]
diff --git a/selfdrive/manager/manager.py b/selfdrive/manager/manager.py
index 140c7f1d44..9c370cb3d8 100755
--- a/selfdrive/manager/manager.py
+++ b/selfdrive/manager/manager.py
@@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from system.swaglog import cloudlog, add_file_handler
 from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                              terms_version, training_version
+                              terms_version, training_version, is_tested_branch
 
 
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
@@ -78,6 +78,7 @@ def manager_init() -> None:
   params.put("GitCommit", get_commit(default=""))
   params.put("GitBranch", get_short_branch(default=""))
   params.put("GitRemote", get_origin(default=""))
+  params.put_bool("IsTestedBranch", is_tested_branch())
 
   # set dongle id
   reg_res = register(show_spinner=True)
diff --git a/selfdrive/manager/process_config.py b/selfdrive/manager/process_config.py
index 7e4029664d..dec51966a4 100644
--- a/selfdrive/manager/process_config.py
+++ b/selfdrive/manager/process_config.py
@@ -41,6 +41,7 @@ procs = [
   PythonProcess("controlsd", "selfdrive.controls.controlsd"),
   PythonProcess("deleter", "selfdrive.loggerd.deleter", offroad=True),
   PythonProcess("dmonitoringd", "selfdrive.monitoring.dmonitoringd", enabled=(not PC or WEBCAM), callback=driverview),
+  PythonProcess("laikad", "selfdrive.locationd.laikad"),
   PythonProcess("navd", "selfdrive.navd.navd"),
   PythonProcess("pandad", "selfdrive.boardd.pandad", offroad=True),
   PythonProcess("paramsd", "selfdrive.locationd.paramsd"),
@@ -57,7 +58,6 @@ procs = [
 
   # Experimental
   PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
-  PythonProcess("laikad", "selfdrive.locationd.laikad", enabled=os.path.isfile("/persist/comma/use-laikad")),
 ]
 
 managed_processes = {p.name: p for p in procs}
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index 3e9738d864..a108e2c9d5 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -1,6 +1,6 @@
 import os
 
-Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc')
+Import('env', 'arch', 'cereal', 'messaging', 'common', 'gpucommon', 'visionipc', 'transformations')
 lenv = env.Clone()
 
 libs = [cereal, messaging, common, visionipc, gpucommon,
@@ -82,4 +82,4 @@ lenv.Program('_dmonitoringmodeld', [
 lenv.Program('_modeld', [
     "modeld.cc",
     "models/driving.cc",
-  ]+common_model, LIBS=libs)
+  ]+common_model, LIBS=libs + transformations)
diff --git a/selfdrive/modeld/modeld.cc b/selfdrive/modeld/modeld.cc
index 0aac9b3c4a..653661a3a8 100644
--- a/selfdrive/modeld/modeld.cc
+++ b/selfdrive/modeld/modeld.cc
@@ -6,6 +6,8 @@
 #include <eigen3/Eigen/Dense>
 
 #include "cereal/messaging/messaging.h"
+#include "common/transformations/orientation.hpp"
+
 #include "cereal/visionipc/visionipc_client.h"
 #include "common/clutil.h"
 #include "common/params.h"
@@ -14,40 +16,43 @@
 #include "system/hardware/hw.h"
 #include "selfdrive/modeld/models/driving.h"
 
+
 ExitHandler do_exit;
 
-mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera, bool bigmodel_frame) {
+mat3 update_calibration(Eigen::Vector3d device_from_calib_euler, bool wide_camera, bool bigmodel_frame) {
   /*
      import numpy as np
-     from common.transformations.model import medmodel_frame_from_road_frame
-     medmodel_frame_from_ground = medmodel_frame_from_road_frame[:, (0, 1, 3)]
-     ground_from_medmodel_frame = np.linalg.inv(medmodel_frame_from_ground)
+     from common.transformations.model import medmodel_frame_from_calib_frame
+     medmodel_frame_from_calib_frame = medmodel_frame_from_calib_frame[:, :3]
+     calib_from_smedmodel_frame = np.linalg.inv(medmodel_frame_from_calib_frame)
   */
-  static const auto ground_from_medmodel_frame = (Eigen::Matrix<float, 3, 3>() <<
+  static const auto calib_from_medmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00, 0.00000000e+00, 1.00000000e+00,
-    -1.09890110e-03, 0.00000000e+00, 2.81318681e-01,
-    -1.84808520e-20, 9.00738606e-04, -4.28751576e-02).finished();
+     1.09890110e-03, 0.00000000e+00, -2.81318681e-01,
+    -2.25466395e-20, 1.09890110e-03,-5.23076923e-02).finished();
 
-  static const auto ground_from_sbigmodel_frame = (Eigen::Matrix<float, 3, 3>() <<
+  static const auto calib_from_sbigmodel = (Eigen::Matrix<float, 3, 3>() <<
      0.00000000e+00,  7.31372216e-19,  1.00000000e+00,
-    -2.19780220e-03,  4.11497335e-19,  5.62637363e-01,
-    -5.46146580e-20,  1.80147721e-03, -2.73464241e-01).finished();
+     2.19780220e-03,  4.11497335e-19, -5.62637363e-01,
+    -6.66298828e-20,  2.19780220e-03, -3.33626374e-01).finished();
+  
+  static const auto view_from_device = (Eigen::Matrix<float, 3, 3>() <<
+     0.0,  1.0,  0.0,
+     0.0,  0.0,  1.0,
+     1.0,  0.0,  0.0).finished();
 
-  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
-  static const mat3 yuv_transform = get_model_yuv_transform();
 
-  auto ground_from_model_frame = bigmodel_frame ? ground_from_sbigmodel_frame : ground_from_medmodel_frame;
-  auto camera_frame_from_road_frame = cam_intrinsics * extrinsics;
-  Eigen::Matrix<float, 3, 3> camera_frame_from_ground;
-  camera_frame_from_ground.col(0) = camera_frame_from_road_frame.col(0);
-  camera_frame_from_ground.col(1) = camera_frame_from_road_frame.col(1);
-  camera_frame_from_ground.col(2) = camera_frame_from_road_frame.col(3);
+  const auto cam_intrinsics = Eigen::Matrix<float, 3, 3, Eigen::RowMajor>(wide_camera ? ecam_intrinsic_matrix.v : fcam_intrinsic_matrix.v);
+  Eigen::Matrix<float, 3, 3, Eigen::RowMajor>  device_from_calib = euler2rot(device_from_calib_euler).cast <float> ();
+  auto calib_from_model = bigmodel_frame ? calib_from_sbigmodel : calib_from_medmodel;
+  auto camera_from_calib = cam_intrinsics * view_from_device * device_from_calib;
+  auto warp_matrix = camera_from_calib * calib_from_model;
 
-  auto warp_matrix = camera_frame_from_ground * ground_from_model_frame;
   mat3 transform = {};
   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);
 }
 
@@ -55,7 +60,7 @@ mat3 update_calibration(Eigen::Matrix<float, 3, 4> &extrinsics, bool wide_camera
 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"});
+  SubMaster sm({"lateralPlan", "roadCameraState", "liveCalibration", "driverMonitoringState"});
 
   // setup filter to track dropped frames
   FirstOrderFilter frame_dropped_filter(0., 10., 1. / MODEL_FREQ);
@@ -111,16 +116,16 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     // TODO: path planner timeout?
     sm.update(0);
     int desire = ((int)sm["lateralPlan"].getLateralPlan().getDesire());
+    bool is_rhd = ((bool)sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
     frame_id = sm["roadCameraState"].getRoadCameraState().getFrameId();
     if (sm.updated("liveCalibration")) {
-      auto extrinsic_matrix = sm["liveCalibration"].getLiveCalibration().getExtrinsicMatrix();
-      Eigen::Matrix<float, 3, 4> extrinsic_matrix_eigen;
-      for (int i = 0; i < 4*3; i++) {
-        extrinsic_matrix_eigen(i / 4, i % 4) = extrinsic_matrix[i];
+      auto rpy_calib = sm["liveCalibration"].getLiveCalibration().getRpyCalib();
+      Eigen::Vector3d device_from_calib_euler;
+      for (int i=0; i<3; i++) {
+        device_from_calib_euler(i) = rpy_calib[i];
       }
-
-      model_transform_main = update_calibration(extrinsic_matrix_eigen, main_wide_camera, false);
-      model_transform_extra = update_calibration(extrinsic_matrix_eigen, true, true);
+      model_transform_main = update_calibration(device_from_calib_euler, main_wide_camera, false);
+      model_transform_extra = update_calibration(device_from_calib_euler, true, true);
       live_calib_seen = true;
     }
 
@@ -146,7 +151,7 @@ void run_model(ModelState &model, VisionIpcClient &vipc_client_main, VisionIpcCl
     }
 
     double mt1 = millis_since_boot();
-    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, prepare_only);
+    ModelOutput *model_output = model_eval_frame(&model, buf_main, buf_extra, model_transform_main, model_transform_extra, vec_desire, is_rhd, prepare_only);
     double mt2 = millis_since_boot();
     float model_execution_time = (mt2 - mt1) / 1000.0;
 
diff --git a/selfdrive/modeld/models/driving.cc b/selfdrive/modeld/models/driving.cc
index 59c0b249d9..9bf7e62184 100644
--- a/selfdrive/modeld/models/driving.cc
+++ b/selfdrive/modeld/models/driving.cc
@@ -49,14 +49,12 @@ void model_init(ModelState* s, cl_device_id device_id, cl_context context) {
 #endif
 
 #ifdef TRAFFIC_CONVENTION
-  const int idx = Params().getBool("IsRHD") ? 1 : 0;
-  s->traffic_convention[idx] = 1.0;
   s->m->addTrafficConvention(s->traffic_convention, TRAFFIC_CONVENTION_LEN);
 #endif
 }
 
 ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
-                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool prepare_only) {
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, bool prepare_only) {
 #ifdef DESIRE
   if (desire_in != NULL) {
     for (int i = 1; i < DESIRE_LEN; i++) {
@@ -72,6 +70,10 @@ ModelOutput* model_eval_frame(ModelState* s, VisionBuf* buf, VisionBuf* wbuf,
   }
 #endif
 
+  int rhd_idx = is_rhd;
+  s->traffic_convention[rhd_idx] = 1.0;
+  s->traffic_convention[1-rhd_idx] = 0.0;
+
   // if getInputBuf is not NULL, net_input_buf will be
   auto net_input_buf = s->frame->prepare(buf->buf_cl, buf->width, buf->height, buf->stride, buf->uv_offset, transform, static_cast<cl_mem*>(s->m->getInputBuf()));
   s->m->addImage(net_input_buf, s->frame->buf_size);
diff --git a/selfdrive/modeld/models/driving.h b/selfdrive/modeld/models/driving.h
index 97e65fbc0e..d551bdf488 100644
--- a/selfdrive/modeld/models/driving.h
+++ b/selfdrive/modeld/models/driving.h
@@ -268,7 +268,7 @@ struct ModelState {
 
 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 prepare_only);
+                              const mat3 &transform, const mat3 &transform_wide, float *desire_in, bool is_rhd, 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,
                    const ModelOutput &net_outputs, uint64_t timestamp_eof,
diff --git a/selfdrive/monitoring/dmonitoringd.py b/selfdrive/monitoring/dmonitoringd.py
index c31e9da43b..35eee5b035 100755
--- a/selfdrive/monitoring/dmonitoringd.py
+++ b/selfdrive/monitoring/dmonitoringd.py
@@ -3,7 +3,7 @@ import gc
 
 import cereal.messaging as messaging
 from cereal import car
-from common.params import Params
+from common.params import Params, put_bool_nonblocking
 from common.realtime import set_realtime_priority
 from selfdrive.controls.lib.events import Events
 from selfdrive.locationd.calibrationd import Calibration
@@ -20,7 +20,7 @@ def dmonitoringd_thread(sm=None, pm=None):
   if sm is None:
     sm = messaging.SubMaster(['driverStateV2', 'liveCalibration', 'carState', 'controlsState', 'modelV2'], poll=['driverStateV2'])
 
-  driver_status = DriverStatus(rhd=Params().get_bool("IsRHD"))
+  driver_status = DriverStatus(rhd_saved=Params().get_bool("IsRhdDetected"))
 
   sm['liveCalibration'].calStatus = Calibration.INVALID
   sm['liveCalibration'].rpyCalib = [0, 0, 0]
@@ -83,6 +83,11 @@ def dmonitoringd_thread(sm=None, pm=None):
     }
     pm.send('driverMonitoringState', dat)
 
+    # save rhd virtual toggle every 5 mins
+    if (sm['driverStateV2'].frameId % 6000 == 0 and
+     driver_status.wheelpos_learner.filtered_stat.n > driver_status.settings._WHEELPOS_FILTER_MIN_COUNT and
+     driver_status.wheel_on_right == (driver_status.wheelpos_learner.filtered_stat.M > driver_status.settings._WHEELPOS_THRESHOLD)):
+      put_bool_nonblocking("IsRhdDetected", driver_status.wheel_on_right)
 
 def main(sm=None, pm=None):
   dmonitoringd_thread(sm, pm)
diff --git a/selfdrive/monitoring/driver_monitor.py b/selfdrive/monitoring/driver_monitor.py
index 48d4303aa5..9ff3125c15 100644
--- a/selfdrive/monitoring/driver_monitor.py
+++ b/selfdrive/monitoring/driver_monitor.py
@@ -57,8 +57,9 @@ class DRIVER_MONITOR_SETTINGS():
     self._POSE_OFFSET_MIN_COUNT = int(60 / self._DT_DMON)  # valid data counts before calibration completes, 1min cumulative
     self._POSE_OFFSET_MAX_COUNT = int(360 / self._DT_DMON)  # stop deweighting new data after 6 min, aka "short term memory"
 
+    self._WHEELPOS_CALIB_MIN_SPEED = 11
     self._WHEELPOS_THRESHOLD = 0.5
-    self._WHEELPOS_FILTER_MIN_COUNT = int(5 / self._DT_DMON)
+    self._WHEELPOS_FILTER_MIN_COUNT = int(15 / self._DT_DMON) # allow 15 seconds to converge wheel side
 
     self._RECOVERY_FACTOR_MAX = 5.  # relative to minus step change
     self._RECOVERY_FACTOR_MIN = 1.25  # relative to minus step change
@@ -115,7 +116,7 @@ class DriverBlink():
     self.right_blink = 0.
 
 class DriverStatus():
-  def __init__(self, rhd=False, settings=DRIVER_MONITOR_SETTINGS()):
+  def __init__(self, rhd_saved=False, settings=DRIVER_MONITOR_SETTINGS()):
     # init policy settings
     self.settings = settings
 
@@ -138,7 +139,8 @@ class DriverStatus():
     self.driver_distracted = False
     self.driver_distraction_filter = FirstOrderFilter(0., self.settings._DISTRACTED_FILTER_TS, self.settings._DT_DMON)
     self.wheel_on_right = False
-    self.rhd_toggled = rhd
+    self.wheel_on_right_last = None
+    self.wheel_on_right_default = rhd_saved
     self.face_detected = False
     self.terminal_alert_cnt = 0
     self.terminal_time = 0
@@ -227,13 +229,18 @@ class DriverStatus():
 
   def update_states(self, driver_state, cal_rpy, car_speed, op_engaged):
     rhd_pred = driver_state.wheelOnRightProb
-    if car_speed > 0.01:
+    # calibrates only when there's movement and either face detected
+    if car_speed > self.settings._WHEELPOS_CALIB_MIN_SPEED and (driver_state.leftDriverData.faceProb > self.settings._FACE_THRESHOLD or
+                                          driver_state.rightDriverData.faceProb > self.settings._FACE_THRESHOLD):
       self.wheelpos_learner.push_and_update(rhd_pred)
     if self.wheelpos_learner.filtered_stat.n > self.settings._WHEELPOS_FILTER_MIN_COUNT:
       self.wheel_on_right = self.wheelpos_learner.filtered_stat.M > self.settings._WHEELPOS_THRESHOLD
     else:
-      self.wheel_on_right = rhd_pred > self.settings._WHEELPOS_THRESHOLD
-    driver_data = driver_state.rightDriverData if self.rhd_toggled else driver_state.leftDriverData
+      self.wheel_on_right = self.wheel_on_right_default # use default/saved if calibration is unfinished
+    # make sure no switching when engaged
+    if op_engaged and self.wheel_on_right_last is not None and self.wheel_on_right_last != self.wheel_on_right:
+      self.wheel_on_right = self.wheel_on_right_last
+    driver_data = driver_state.rightDriverData if self.wheel_on_right else driver_state.leftDriverData
     if not all(len(x) > 0 for x in (driver_data.faceOrientation, driver_data.facePosition,
                                     driver_data.faceOrientationStd, driver_data.facePositionStd,
                                     driver_data.readyProb, driver_data.notReadyProb)):
@@ -243,6 +250,7 @@ class DriverStatus():
     self.pose.roll, self.pose.pitch, self.pose.yaw = face_orientation_from_net(driver_data.faceOrientation, driver_data.facePosition, cal_rpy)
     if self.wheel_on_right:
       self.pose.yaw *= -1
+    self.wheel_on_right_last = self.wheel_on_right
     self.pose.pitch_std = driver_data.faceOrientationStd[0]
     self.pose.yaw_std = driver_data.faceOrientationStd[1]
     model_std_max = max(self.pose.pitch_std, self.pose.yaw_std)
diff --git a/selfdrive/navd/.gitignore b/selfdrive/navd/.gitignore
new file mode 100644
index 0000000000..a070fe32bb
--- /dev/null
+++ b/selfdrive/navd/.gitignore
@@ -0,0 +1,5 @@
+moc_*
+*.moc
+
+map_renderer
+libmap_renderer.so
diff --git a/selfdrive/navd/SConscript b/selfdrive/navd/SConscript
new file mode 100644
index 0000000000..4fbe41e80b
--- /dev/null
+++ b/selfdrive/navd/SConscript
@@ -0,0 +1,20 @@
+Import('qt_env', 'arch', 'common', 'messaging', 'visionipc', 'cereal', 'transformations')
+
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'OpenCL', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == 'larch64':
+  base_libs.append('EGL')
+
+if arch in ['larch64', 'x86_64']:
+  if arch == 'x86_64':
+    rpath = [Dir(f"#third_party/mapbox-gl-native-qt/{arch}").srcnode().abspath]
+    qt_env["RPATH"] += rpath
+
+  qt_libs = ["qt_widgets", "qt_util", "qmapboxgl"] + base_libs
+
+  nav_src = ["main.cc", "map_renderer.cc"]
+  qt_env.Program("map_renderer", nav_src, LIBS=qt_libs + ['common', 'json11'])
+
+  if GetOption('extras'):
+    qt_env.SharedLibrary("map_renderer", ["map_renderer.cc"], LIBS=qt_libs + ['common', 'messaging'])
diff --git a/selfdrive/navd/main.cc b/selfdrive/navd/main.cc
new file mode 100644
index 0000000000..b6eec10328
--- /dev/null
+++ b/selfdrive/navd/main.cc
@@ -0,0 +1,31 @@
+#include <QApplication>
+#include <QDebug>
+#include <csignal>
+
+#include "selfdrive/ui/qt/util.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+#include "selfdrive/navd/map_renderer.h"
+#include "system/hardware/hw.h"
+
+
+
+void sigHandler(int s) {
+  qInfo() << "Shutting down";
+  std::signal(s, SIG_DFL);
+
+  qApp->quit();
+}
+
+
+int main(int argc, char *argv[]) {
+  qInstallMessageHandler(swagLogMessageHandler);
+
+  QApplication app(argc, argv);
+  std::signal(SIGINT, sigHandler);
+  std::signal(SIGTERM, sigHandler);
+
+  MapRenderer * m = new MapRenderer(get_mapbox_settings());
+  assert(m);
+
+  return app.exec();
+}
diff --git a/selfdrive/navd/map_renderer.cc b/selfdrive/navd/map_renderer.cc
new file mode 100644
index 0000000000..d0770cfb48
--- /dev/null
+++ b/selfdrive/navd/map_renderer.cc
@@ -0,0 +1,241 @@
+#include "selfdrive/navd/map_renderer.h"
+
+#include <QApplication>
+#include <QBuffer>
+#include <QDebug>
+
+#include "common/timing.h"
+#include "selfdrive/ui/qt/maps/map_helpers.h"
+
+const float ZOOM = 13.5; // Don't go below 13 or features will start to disappear
+const int WIDTH = 256;
+const int HEIGHT = WIDTH;
+
+const int NUM_VIPC_BUFFERS = 4;
+
+MapRenderer::MapRenderer(const QMapboxGLSettings &settings, bool online) : m_settings(settings) {
+  QSurfaceFormat fmt;
+  fmt.setRenderableType(QSurfaceFormat::OpenGLES);
+
+  ctx = std::make_unique<QOpenGLContext>();
+  ctx->setFormat(fmt);
+  ctx->create();
+  assert(ctx->isValid());
+
+  surface = std::make_unique<QOffscreenSurface>();
+  surface->setFormat(ctx->format());
+  surface->create();
+
+  ctx->makeCurrent(surface.get());
+  assert(QOpenGLContext::currentContext() == ctx.get());
+
+  gl_functions.reset(ctx->functions());
+  gl_functions->initializeOpenGLFunctions();
+
+  QOpenGLFramebufferObjectFormat fbo_format;
+  fbo.reset(new QOpenGLFramebufferObject(WIDTH, HEIGHT, fbo_format));
+
+  m_map.reset(new QMapboxGL(nullptr, m_settings, fbo->size(), 1));
+  m_map->setCoordinateZoom(QMapbox::Coordinate(0, 0), ZOOM);
+  m_map->setStyleUrl("mapbox://styles/commaai/ckvmksrpd4n0a14pfdo5heqzr");
+  m_map->createRenderer();
+
+  m_map->resize(fbo->size());
+  m_map->setFramebufferObject(fbo->handle(), fbo->size());
+  gl_functions->glViewport(0, 0, WIDTH, HEIGHT);
+
+  if (online) {
+    vipc_server.reset(new VisionIpcServer("navd"));
+    vipc_server->create_buffers(VisionStreamType::VISION_STREAM_MAP, NUM_VIPC_BUFFERS, false, WIDTH, HEIGHT);
+    vipc_server->start_listener();
+
+    pm.reset(new PubMaster({"navThumbnail"}));
+    sm.reset(new SubMaster({"liveLocationKalman", "navRoute"}));
+
+    timer = new QTimer(this);
+    QObject::connect(timer, SIGNAL(timeout()), this, SLOT(msgUpdate()));
+    timer->start(50);
+  }
+}
+
+void MapRenderer::msgUpdate() {
+  sm->update(0);
+
+  if (sm->updated("liveLocationKalman")) {
+    auto location = (*sm)["liveLocationKalman"].getLiveLocationKalman();
+    auto pos = location.getPositionGeodetic();
+    auto orientation = location.getCalibratedOrientationNED();
+
+    bool localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) && pos.getValid();
+    if (localizer_valid) {
+      updatePosition(QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]), RAD2DEG(orientation.getValue()[2]));
+    }
+  }
+
+  if (sm->updated("navRoute")) {
+    QList<QGeoCoordinate> route;
+    auto coords = (*sm)["navRoute"].getNavRoute().getCoordinates();
+    for (auto const &c : coords) {
+      route.push_back(QGeoCoordinate(c.getLatitude(), c.getLongitude()));
+    }
+    updateRoute(route);
+  }
+}
+
+void MapRenderer::updatePosition(QMapbox::Coordinate position, float bearing) {
+  if (m_map.isNull()) {
+    return;
+  }
+
+  m_map->setCoordinate(position);
+  m_map->setBearing(bearing);
+  update();
+}
+
+bool MapRenderer::loaded() {
+  return m_map->isFullyLoaded();
+}
+
+void MapRenderer::update() {
+  gl_functions->glClear(GL_COLOR_BUFFER_BIT);
+  m_map->render();
+  gl_functions->glFlush();
+
+  sendVipc();
+}
+
+void MapRenderer::sendVipc() {
+  if (!vipc_server || !loaded()) {
+    return;
+  }
+
+  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);
+  VisionIpcBufExtra extra = {
+    .frame_id = frame_id,
+    .timestamp_sof = ts,
+    .timestamp_eof = ts,
+  };
+
+  assert(cap.sizeInBytes() >= buf->len);
+  uint8_t* dst = (uint8_t*)buf->addr;
+  uint8_t* src = cap.bits();
+
+  // RGB to greyscale
+  memset(dst, 128, buf->len);
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }
+
+  vipc_server->send(buf, &extra);
+
+  if (frame_id % 100 == 0) {
+    // Write jpeg into buffer
+    QByteArray buffer_bytes;
+    QBuffer buffer(&buffer_bytes);
+    buffer.open(QIODevice::WriteOnly);
+    cap.save(&buffer, "JPG", 50);
+
+    kj::Array<capnp::byte> buffer_kj = kj::heapArray<capnp::byte>((const capnp::byte*)buffer_bytes.constData(), buffer_bytes.size());
+
+    // Send thumbnail
+    MessageBuilder msg;
+    auto thumbnaild = msg.initEvent().initNavThumbnail();
+    thumbnaild.setFrameId(frame_id);
+    thumbnaild.setTimestampEof(ts);
+    thumbnaild.setThumbnail(buffer_kj);
+    pm->send("navThumbnail", msg);
+  }
+
+  frame_id++;
+}
+
+uint8_t* MapRenderer::getImage() {
+  QImage cap = fbo->toImage().convertToFormat(QImage::Format_RGB888, Qt::AutoColor);
+
+  uint8_t* src = cap.bits();
+  uint8_t* dst = new uint8_t[WIDTH * HEIGHT];
+
+  for (int i = 0; i < WIDTH * HEIGHT; i++) {
+    dst[i] = src[i * 3];
+  }
+
+  return dst;
+}
+
+void MapRenderer::updateRoute(QList<QGeoCoordinate> coordinates) {
+  if (m_map.isNull()) return;
+  initLayers();
+
+  auto route_points = coordinate_list_to_collection(coordinates);
+  QMapbox::Feature feature(QMapbox::Feature::LineStringType, route_points, {}, {});
+  QVariantMap navSource;
+  navSource["type"] = "geojson";
+  navSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature);
+  m_map->updateSource("navSource", navSource);
+  m_map->setLayoutProperty("navLayer", "visibility", "visible");
+}
+
+void MapRenderer::initLayers() {
+  if (!m_map->layerExists("navLayer")) {
+    QVariantMap nav;
+    nav["id"] = "navLayer";
+    nav["type"] = "line";
+    nav["source"] = "navSource";
+    m_map->addLayer(nav, "road-intersection");
+    m_map->setPaintProperty("navLayer", "line-color", QColor("grey"));
+    m_map->setPaintProperty("navLayer", "line-width", 3);
+    m_map->setLayoutProperty("navLayer", "line-cap", "round");
+  }
+}
+
+MapRenderer::~MapRenderer() {
+}
+
+extern "C" {
+  MapRenderer* map_renderer_init(char *maps_host = nullptr, char *token = nullptr) {
+    char *argv[] = {
+      (char*)"navd",
+      nullptr
+    };
+    int argc = 0;
+    QApplication *app = new QApplication(argc, argv);
+    assert(app);
+
+    QMapboxGLSettings settings;
+    settings.setApiBaseUrl(maps_host == nullptr ? MAPS_HOST : maps_host);
+    settings.setAccessToken(token == nullptr ? get_mapbox_token() : token);
+
+    return new MapRenderer(settings, false);
+  }
+
+  void map_renderer_update_position(MapRenderer *inst, float lat, float lon, float bearing) {
+    inst->updatePosition({lat, lon}, bearing);
+    QApplication::processEvents();
+  }
+
+  void map_renderer_update_route(MapRenderer *inst, char* polyline) {
+    inst->updateRoute(polyline_to_coordinate_list(QString::fromUtf8(polyline)));
+  }
+
+  void map_renderer_update(MapRenderer *inst) {
+    inst->update();
+  }
+
+  void map_renderer_process(MapRenderer *inst) {
+    QApplication::processEvents();
+  }
+
+  bool map_renderer_loaded(MapRenderer *inst) {
+    return inst->loaded();
+  }
+
+  uint8_t * map_renderer_get_image(MapRenderer *inst) {
+    return inst->getImage();
+  }
+
+  void map_renderer_free_image(MapRenderer *inst, uint8_t * buf) {
+    delete[] buf;
+  }
+}
diff --git a/selfdrive/navd/map_renderer.h b/selfdrive/navd/map_renderer.h
new file mode 100644
index 0000000000..855dc91894
--- /dev/null
+++ b/selfdrive/navd/map_renderer.h
@@ -0,0 +1,53 @@
+#pragma once
+
+#include <memory>
+
+#include <QOpenGLContext>
+#include <QMapboxGL>
+#include <QTimer>
+#include <QGeoCoordinate>
+#include <QOpenGLBuffer>
+#include <QOffscreenSurface>
+#include <QOpenGLFunctions>
+#include <QOpenGLFramebufferObject>
+
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/messaging/messaging.h"
+
+
+class MapRenderer : public QObject {
+  Q_OBJECT
+
+public:
+  MapRenderer(const QMapboxGLSettings &, bool online=true);
+  uint8_t* getImage();
+  void update();
+  bool loaded();
+  ~MapRenderer();
+
+
+private:
+  std::unique_ptr<QOpenGLContext> ctx;
+  std::unique_ptr<QOffscreenSurface> surface;
+  std::unique_ptr<QOpenGLFunctions> gl_functions;
+  std::unique_ptr<QOpenGLFramebufferObject> fbo;
+
+  std::unique_ptr<VisionIpcServer> vipc_server;
+  std::unique_ptr<PubMaster> pm;
+  std::unique_ptr<SubMaster> sm;
+  void sendVipc();
+
+  QMapboxGLSettings m_settings;
+  QScopedPointer<QMapboxGL> m_map;
+
+  void initLayers();
+
+  uint32_t frame_id = 0;
+
+  QTimer* timer;
+
+public slots:
+  void updatePosition(QMapbox::Coordinate position, float bearing);
+  void updateRoute(QList<QGeoCoordinate> coordinates);
+  void msgUpdate();
+};
diff --git a/selfdrive/navd/map_renderer.py b/selfdrive/navd/map_renderer.py
new file mode 100755
index 0000000000..9000622928
--- /dev/null
+++ b/selfdrive/navd/map_renderer.py
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+# You might need to uninstall the PyQt5 pip package to avoid conflicts
+
+import os
+import time
+import numpy as np
+from cffi import FFI
+
+from common.ffi_wrapper import suffix
+from common.basedir import BASEDIR
+
+HEIGHT = WIDTH = 256
+
+
+def get_ffi():
+  lib = os.path.join(BASEDIR, "selfdrive", "navd", "libmap_renderer" + suffix())
+
+  ffi = FFI()
+  ffi.cdef("""
+void* map_renderer_init(char *maps_host, char *token);
+void map_renderer_update_position(void *inst, float lat, float lon, float bearing);
+void map_renderer_update_route(void *inst, char *polyline);
+void map_renderer_update(void *inst);
+void map_renderer_process(void *inst);
+bool map_renderer_loaded(void *inst);
+uint8_t* map_renderer_get_image(void *inst);
+void map_renderer_free_image(void *inst, uint8_t *buf);
+""")
+  return ffi, ffi.dlopen(lib)
+
+
+def wait_ready(lib, renderer):
+  while not lib.map_renderer_loaded(renderer):
+    lib.map_renderer_update(renderer)
+
+    # The main qt app is not execed, so we need to periodically process events for e.g. network requests
+    lib.map_renderer_process(renderer)
+
+    time.sleep(0.01)
+
+
+def get_image(lib, renderer):
+  buf = lib.map_renderer_get_image(renderer)
+  r = list(buf[0:WIDTH * HEIGHT])
+  lib.map_renderer_free_image(renderer, buf)
+
+  # Convert to numpy
+  r = np.asarray(r)
+  return r.reshape((WIDTH, HEIGHT))
+
+
+if __name__ == "__main__":
+  import matplotlib.pyplot as plt
+
+  ffi, lib = get_ffi()
+  renderer = lib.map_renderer_init(ffi.NULL, ffi.NULL)
+  wait_ready(lib, renderer)
+
+  geometry = r"{yxk}@|obn~Eg@@eCFqc@J{RFw@?kA@gA?q|@Riu@NuJBgi@ZqVNcRBaPBkG@iSD{I@_H@cH?gG@mG@gG?aD@{LDgDDkVVyQLiGDgX@q_@@qI@qKhS{R~[}NtYaDbGoIvLwNfP_b@|f@oFnF_JxHel@bf@{JlIuxAlpAkNnLmZrWqFhFoh@jd@kX|TkJxH_RnPy^|[uKtHoZ~Um`DlkCorC``CuShQogCtwB_ThQcr@fk@sVrWgRhVmSb\\oj@jxA{Qvg@u]tbAyHzSos@xjBeKbWszAbgEc~@~jCuTrl@cYfo@mRn\\_m@v}@ij@jp@om@lk@y|A`pAiXbVmWzUod@xj@wNlTw}@|uAwSn\\kRfYqOdS_IdJuK`KmKvJoOhLuLbHaMzGwO~GoOzFiSrEsOhD}PhCqw@vJmnAxSczA`Vyb@bHk[fFgl@pJeoDdl@}}@zIyr@hG}X`BmUdBcM^aRR}Oe@iZc@mR_@{FScHxAn_@vz@zCzH~GjPxAhDlB~DhEdJlIbMhFfG|F~GlHrGjNjItLnGvQ~EhLnBfOn@p`@AzAAvn@CfC?fc@`@lUrArStCfSxEtSzGxM|ElFlBrOzJlEbDnC~BfDtCnHjHlLvMdTnZzHpObOf^pKla@~G|a@dErg@rCbj@zArYlj@ttJ~AfZh@r]LzYg@`TkDbj@gIdv@oE|i@kKzhA{CdNsEfOiGlPsEvMiDpLgBpHyB`MkB|MmArPg@|N?|P^rUvFz~AWpOCdAkB|PuB`KeFfHkCfGy@tAqC~AsBPkDs@uAiAcJwMe@s@eKkPMoXQux@EuuCoH?eI?Kas@}Dy@wAUkMOgDL"
+  lib.map_renderer_update_route(renderer, geometry.encode())
+
+  POSITIONS = [
+    (32.71569271952601, -117.16384270868463, 0), (32.71569271952601, -117.16384270868463, 45),  # San Diego
+    (52.378641991483136, 4.902623379456488, 0), (52.378641991483136, 4.902623379456488, 45),  # Amsterdam
+  ]
+  plt.figure()
+
+  for i, pos in enumerate(POSITIONS):
+    t = time.time()
+    lib.map_renderer_update_position(renderer, *pos)
+    wait_ready(lib, renderer)
+
+    print(f"{pos} took {time.time() - t:.2f} s")
+
+    plt.subplot(2, 2, i + 1)
+    plt.imshow(get_image(lib, renderer), cmap='gray')
+
+  plt.show()
diff --git a/selfdrive/navd/navd.py b/selfdrive/navd/navd.py
index f02de43c7b..89a1c9bdfb 100755
--- a/selfdrive/navd/navd.py
+++ b/selfdrive/navd/navd.py
@@ -4,12 +4,14 @@ import os
 import threading
 
 import requests
+import numpy as np
 
 import cereal.messaging as messaging
 from cereal import log
 from common.api import Api
 from common.params import Params
 from common.realtime import Ratekeeper
+from common.transformations.coordinates import ecef2geodetic
 from selfdrive.navd.helpers import (Coordinate, coordinate_from_param,
                                     distance_along_geometry, maxspeed_to_ms,
                                     minimum_distance,
@@ -18,6 +20,7 @@ from system.swaglog import cloudlog
 
 REROUTE_DISTANCE = 25
 MANEUVER_TRANSITION_THRESHOLD = 10
+VALID_POS_STD = 50.0
 
 
 class RouteEngine:
@@ -72,13 +75,21 @@ class RouteEngine:
 
   def update_location(self):
     location = self.sm['liveLocationKalman']
-    self.gps_ok = location.gpsOK
+    laikad = self.sm['gnssMeasurements']
 
-    self.localizer_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    locationd_valid = (location.status == log.LiveLocationKalman.Status.valid) and location.positionGeodetic.valid
+    laikad_valid = laikad.positionECEF.valid and np.linalg.norm(laikad.positionECEF.std) < VALID_POS_STD
 
-    if self.localizer_valid:
+    self.localizer_valid = locationd_valid or laikad_valid
+    self.gps_ok = location.gpsOK or laikad_valid
+
+    if locationd_valid:
       self.last_bearing = math.degrees(location.calibratedOrientationNED.value[2])
       self.last_position = Coordinate(location.positionGeodetic.value[0], location.positionGeodetic.value[1])
+    elif laikad_valid:
+      geodetic = ecef2geodetic(laikad.positionECEF.value)
+      self.last_position = Coordinate(geodetic[0], geodetic[1])
+      self.last_bearing = None
 
   def recompute_route(self):
     if self.last_position is None:
@@ -276,7 +287,7 @@ class RouteEngine:
 
 def main(sm=None, pm=None):
   if sm is None:
-    sm = messaging.SubMaster(['liveLocationKalman', 'managerState'])
+    sm = messaging.SubMaster(['liveLocationKalman', 'gnssMeasurements', 'managerState'])
   if pm is None:
     pm = messaging.PubMaster(['navInstruction', 'navRoute'])
 
diff --git a/selfdrive/sensord/rawgps/rawgpsd.py b/selfdrive/sensord/rawgps/rawgpsd.py
index 3aa6d4b072..7c4582902b 100755
--- a/selfdrive/sensord/rawgps/rawgpsd.py
+++ b/selfdrive/sensord/rawgps/rawgpsd.py
@@ -7,10 +7,10 @@ import math
 import time
 from typing import NoReturn
 from struct import unpack_from, calcsize, pack
-
 import cereal.messaging as messaging
 from cereal import log
 from system.swaglog import cloudlog
+from laika.gps_time import GPSTime
 
 from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs, send_recv
 from selfdrive.sensord.rawgps.structs import dict_unpacker
@@ -81,10 +81,9 @@ def main() -> NoReturn:
     LOG_GNSS_OEMDRE_MEASUREMENT_REPORT,
   ]
   pub_types = ['qcomGnss']
-  if int(os.getenv("PUBLISH_EXTERNAL", "0")) == 1:
-    unpack_position, _ = dict_unpacker(position_report)
-    log_types.append(LOG_GNSS_POSITION_REPORT)
-    pub_types.append("gpsLocationExternal")
+  unpack_position, _ = dict_unpacker(position_report)
+  log_types.append(LOG_GNSS_POSITION_REPORT)
+  pub_types.append("gpsLocation")
 
   # connect to modem
   diag = ModemDiag()
@@ -204,23 +203,23 @@ def main() -> NoReturn:
       vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
       vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
 
-      msg = messaging.new_message('gpsLocationExternal')
-      gps = msg.gpsLocationExternal
+      msg = messaging.new_message('gpsLocation')
+      gps = msg.gpsLocation
       gps.flags = 1
       gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
       gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
       gps.altitude = report["q_FltFinalPosAlt"]
       gps.speed = math.sqrt(sum([x**2 for x in vNED]))
       gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
-      # TODO: this probably isn't right, use laika for this
-      gps.timestamp = report['w_GpsWeekNumber']*604800*1000 + report['q_GpsFixTimeMs']
+      gps.unixTimestampMillis = GPSTime(report['w_GpsWeekNumber'],
+                                        1e-3*report['q_GpsFixTimeMs']).as_unix_timestamp()*1e3
       gps.source = log.GpsLocationData.SensorSource.qcomdiag
       gps.vNED = vNED
       gps.verticalAccuracy = report["q_FltVdop"]
       gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
       gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
 
-      pm.send('gpsLocationExternal', msg)
+      pm.send('gpsLocation', msg)
 
     if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
       msg = messaging.new_message('qcomGnss')
diff --git a/selfdrive/test/longitudinal_maneuvers/maneuver.py b/selfdrive/test/longitudinal_maneuvers/maneuver.py
index 9b4d016430..0d605a5fc7 100644
--- a/selfdrive/test/longitudinal_maneuvers/maneuver.py
+++ b/selfdrive/test/longitudinal_maneuvers/maneuver.py
@@ -16,6 +16,7 @@ class Maneuver():
 
     self.only_lead2 = kwargs.get("only_lead2", False)
     self.only_radar = kwargs.get("only_radar", False)
+    self.ensure_start = kwargs.get("ensure_start", False)
 
     self.duration = duration
     self.title = title
@@ -52,5 +53,9 @@ class Maneuver():
         print("Crashed!!!!")
         valid = False
 
+      if self.ensure_start and log['v_rel'] > 0 and log['speeds'][-1] <= 0.1:
+        print('Planner not starting!')
+        valid = False
+
     print("maneuver end", valid)
     return valid, np.array(logs)
diff --git a/selfdrive/test/longitudinal_maneuvers/plant.py b/selfdrive/test/longitudinal_maneuvers/plant.py
index 13025a9f03..3bd50ebcfa 100755
--- a/selfdrive/test/longitudinal_maneuvers/plant.py
+++ b/selfdrive/test/longitudinal_maneuvers/plant.py
@@ -28,6 +28,7 @@ class Plant():
     self.distance = 0.
     self.speed = speed
     self.acceleration = 0.0
+    self.speeds = []
 
     # lead car
     self.distance_lead = distance_lead
@@ -98,6 +99,7 @@ class Plant():
     self.planner.update(sm)
     self.speed = self.planner.v_desired_filter.x
     self.acceleration = self.planner.a_desired
+    self.speeds = self.planner.v_desired_trajectory.tolist()
     fcw = self.planner.fcw
     self.distance_lead = self.distance_lead + v_lead * self.ts
 
@@ -129,6 +131,7 @@ class Plant():
       "distance": self.distance,
       "speed": self.speed,
       "acceleration": self.acceleration,
+      "speeds": self.speeds,
       "distance_lead": self.distance_lead,
       "fcw": fcw,
     }
diff --git a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
index 698877dd3a..ec698d88fa 100755
--- a/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
+++ b/selfdrive/test/longitudinal_maneuvers/test_longitudinal.py
@@ -3,6 +3,7 @@ import os
 import unittest
 
 from common.params import Params
+from selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import STOP_DISTANCE
 from selfdrive.test.longitudinal_maneuvers.maneuver import Maneuver
 
 
@@ -106,6 +107,17 @@ maneuvers = [
     breakpoints=[1., 1.01, 11.],
     cruise_values=[float("nan"), 15., 15.],
   ),
+  # controls relies on planner commanding to move for stock-ACC resume spamming
+  Maneuver(
+    "resume from a stop",
+    duration=20.,
+    initial_speed=0.,
+    lead_relevancy=True,
+    initial_distance_lead=STOP_DISTANCE,
+    speed_lead_values=[0., 0., 2.],
+    breakpoints=[1., 10., 15.],
+    ensure_start=True,
+  ),
 ]
 
 
diff --git a/selfdrive/test/process_replay/README.md b/selfdrive/test/process_replay/README.md
index 9fa4ca644a..531ddb3a02 100644
--- a/selfdrive/test/process_replay/README.md
+++ b/selfdrive/test/process_replay/README.md
@@ -5,7 +5,7 @@ Process replay is a regression test designed to identify any changes in the outp
 If the test fails, make sure that you didn't unintentionally change anything. If there are intentional changes, the reference logs will be updated.
 
 Use `test_processes.py` to run the test locally.
-Use `FILEREADER_CACHE='1' test_processes.py` to cache log files. 
+Use `FILEREADER_CACHE='1' test_processes.py` to cache log files.
 
 Currently the following processes are tested:
 
@@ -15,6 +15,7 @@ Currently the following processes are tested:
 * calibrationd
 * dmonitoringd
 * locationd
+* laikad
 * paramsd
 * ubloxd
 
diff --git a/selfdrive/test/process_replay/compare_logs.py b/selfdrive/test/process_replay/compare_logs.py
index 057e46cd9c..bf6daf5fed 100755
--- a/selfdrive/test/process_replay/compare_logs.py
+++ b/selfdrive/test/process_replay/compare_logs.py
@@ -46,11 +46,25 @@ def remove_ignored_fields(msg, ignore):
   return msg.as_reader()
 
 
-def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None):
+def get_field_tolerance(diff_field, field_tolerances):
+  diff_field_str = diff_field[0]
+  for s in diff_field[1:]:
+    # loop until number in field
+    if not isinstance(s, str):
+      break
+    diff_field_str += '.'+s
+  if diff_field_str in field_tolerances:
+    return field_tolerances[diff_field_str]
+
+
+def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=None, field_tolerances=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
     ignore_msgs = []
+  if field_tolerances is None:
+    field_tolerances = {}
+  default_tolerance = EPSILON if tolerance is None else tolerance
 
   log1, log2 = (list(filter(lambda m: m.which() not in ignore_msgs, log)) for log in (log1, log2))
 
@@ -72,7 +86,6 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       msg1_dict = msg1.to_dict(verbose=True)
       msg2_dict = msg2.to_dict(verbose=True)
 
-      tolerance = EPSILON if tolerance is None else tolerance
       dd = dictdiffer.diff(msg1_dict, msg2_dict, ignore=ignore_fields)
 
       # Dictdiffer only supports relative tolerance, we also want to check for absolute
@@ -80,10 +93,13 @@ def compare_logs(log1, log2, ignore_fields=None, ignore_msgs=None, tolerance=Non
       def outside_tolerance(diff):
         try:
           if diff[0] == "change":
+            field_tolerance = default_tolerance
+            if (tol := get_field_tolerance(diff[1], field_tolerances)) is not None:
+              field_tolerance = tol
             a, b = diff[2]
             finite = math.isfinite(a) and math.isfinite(b)
             if finite and isinstance(a, numbers.Number) and isinstance(b, numbers.Number):
-              return abs(a - b) > max(tolerance, tolerance * max(abs(a), abs(b)))
+              return abs(a - b) > max(field_tolerance, field_tolerance * max(abs(a), abs(b)))
         except TypeError:
           pass
         return True
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index bccad5d92c..8b41d6df1b 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,7 +10,7 @@ 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 get_view_frame_from_road_frame, tici_f_frame_size, tici_d_frame_size
+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
@@ -35,7 +35,7 @@ def get_log_fn(ref_commit, test_route):
 def replace_calib(msg, calib):
   msg = msg.as_builder()
   if calib is not None:
-    msg.liveCalibration.extrinsicMatrix = get_view_frame_from_road_frame(*calib, 1.22).flatten().tolist()
+    msg.liveCalibration.rpyCalib = calib.tolist()
   return msg
 
 
@@ -176,8 +176,9 @@ if __name__ == "__main__":
       # TODO this tolerence is absurdly large
       tolerance = 5e-1 if PC else None
       results: Any = {TEST_ROUTE: {}}
+      log_paths: Any = {TEST_ROUTE: {'ref': BASE_URL + log_fn, 'new': log_fn}}
       results[TEST_ROUTE]["models"] = compare_logs(cmp_log, log_msgs, tolerance=tolerance, ignore_fields=ignore)
-      diff1, diff2, failed = format_diff(results, ref_commit)
+      diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
 
       print(diff2)
       print('-------------\n'*5)
diff --git a/selfdrive/test/process_replay/process_replay.py b/selfdrive/test/process_replay/process_replay.py
index 62c5eb4826..0c642cde17 100755
--- a/selfdrive/test/process_replay/process_replay.py
+++ b/selfdrive/test/process_replay/process_replay.py
@@ -14,6 +14,7 @@ from cereal import car, log
 from cereal.services import service_list
 from common.params import Params
 from common.timeout import Timeout
+from common.realtime import DT_CTRL
 from panda.python import ALTERNATIVE_EXPERIENCE
 from selfdrive.car.car_helpers import get_car, interfaces
 from selfdrive.test.process_replay.helpers import OpenpilotPrefix
@@ -27,14 +28,14 @@ TIMEOUT = 15
 PROC_REPLAY_DIR = os.path.dirname(os.path.abspath(__file__))
 FAKEDATA = os.path.join(PROC_REPLAY_DIR, "fakedata/")
 
-ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config'], defaults=({},))
+ProcessConfig = namedtuple('ProcessConfig', ['proc_name', 'pub_sub', 'ignore', 'init_callback', 'should_recv_callback', 'tolerance', 'fake_pubsubmaster', 'submaster_config', 'environ', 'subtest_name', "field_tolerances"], defaults=({}, {}, "", {}))
 
 
 def wait_for_event(evt):
   if not evt.wait(TIMEOUT):
     if threading.currentThread().getName() == "MainThread":
       # tested process likely died. don't let test just hang
-      raise Exception("Timeout reached. Tested process likely crashed.")
+      raise Exception(f"Timeout reached. Tested process {os.environ['PROC_NAME']} likely crashed.")
     else:
       # done testing this process, let it die
       sys.exit(0)
@@ -190,6 +191,7 @@ def get_car_params(msgs, fsm, can_sock, fingerprint):
     _, CP = get_car(can, sendcan)
   Params().put("CarParams", CP.to_bytes())
 
+
 def controlsd_rcv_callback(msg, CP, cfg, fsm):
   # no sendcan until controlsd is initialized
   socks = [s for s in cfg.pub_sub[msg.which()] if
@@ -198,6 +200,7 @@ def controlsd_rcv_callback(msg, CP, cfg, fsm):
     socks.remove("sendcan")
   return socks, len(socks) > 0
 
+
 def radar_rcv_callback(msg, CP, cfg, fsm):
   if msg.which() != "can":
     return [], False
@@ -236,6 +239,13 @@ def ublox_rcv_callback(msg):
     return []
 
 
+def laika_rcv_callback(msg, CP, cfg, fsm):
+  if msg.which() == 'ubloxGnss' and msg.ubloxGnss.which() == "measurementReport":
+    return ["gnssMeasurements"], True
+  else:
+    return [], True
+
+
 CONFIGS = [
   ProcessConfig(
     proc_name="controlsd",
@@ -282,7 +292,8 @@ CONFIGS = [
     proc_name="calibrationd",
     pub_sub={
       "carState": ["liveCalibration"],
-      "cameraOdometry": []
+      "cameraOdometry": [],
+      "carParams": [],
     },
     ignore=["logMonoTime", "valid"],
     init_callback=get_car_params,
@@ -337,6 +348,32 @@ CONFIGS = [
     tolerance=None,
     fake_pubsubmaster=False,
   ),
+  ProcessConfig(
+    proc_name="laikad",
+    subtest_name="Offline",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+    environ={"LAIKAD_NO_INTERNET": "1"},
+  ),
+  ProcessConfig(
+    proc_name="laikad",
+    pub_sub={
+      "ubloxGnss": ["gnssMeasurements"],
+      "clocks": []
+    },
+    ignore=["logMonoTime"],
+    init_callback=get_car_params,
+    should_recv_callback=laika_rcv_callback,
+    tolerance=NUMPY_TOLERANCE,
+    fake_pubsubmaster=True,
+  ),
 ]
 
 
@@ -347,7 +384,8 @@ def replay_process(cfg, lr, fingerprint=None):
     else:
       return cpp_replay_process(cfg, lr, fingerprint)
 
-def setup_env(simulation=False, CP=None):
+
+def setup_env(simulation=False, CP=None, cfg=None):
   params = Params()
   params.clear_all()
   params.put_bool("OpenpilotEnabledToggle", True)
@@ -361,6 +399,16 @@ def setup_env(simulation=False, CP=None):
   os.environ['SKIP_FW_QUERY'] = ""
   os.environ['FINGERPRINT'] = ""
 
+  if cfg is not None:
+    # Clear all custom processConfig environment variables
+    for config in CONFIGS:
+      for k, _ in config.environ.items():
+        if k in os.environ:
+          del os.environ[k]
+
+    os.environ.update(cfg.environ)
+    os.environ['PROC_NAME'] = cfg.proc_name
+
   if simulation:
     os.environ["SIMULATION"] = "1"
   elif "SIMULATION" in os.environ:
@@ -377,6 +425,7 @@ def setup_env(simulation=False, CP=None):
       os.environ['SKIP_FW_QUERY'] = "1"
       os.environ['FINGERPRINT'] = CP.carFingerprint
 
+
 def python_replay_process(cfg, lr, fingerprint=None):
   sub_sockets = [s for _, sub in cfg.pub_sub.items() for s in sub]
   pub_sockets = [s for s in cfg.pub_sub.keys() if s != 'can']
@@ -394,10 +443,10 @@ def python_replay_process(cfg, lr, fingerprint=None):
   if fingerprint is not None:
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = fingerprint
-    setup_env()
+    setup_env(cfg=cfg)
   else:
     CP = [m for m in lr if m.which() == 'carParams'][0].carParams
-    setup_env(CP=CP)
+    setup_env(CP=CP, cfg=cfg)
 
   assert(type(managed_processes[cfg.proc_name]) is PythonProcess)
   managed_processes[cfg.proc_name].prepare()
@@ -458,7 +507,7 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
   log_msgs = []
 
   # We need to fake SubMaster alive since we can't inject a fake clock
-  setup_env(simulation=True)
+  setup_env(simulation=True, cfg=cfg)
 
   managed_processes[cfg.proc_name].prepare()
   managed_processes[cfg.proc_name].start()
@@ -500,11 +549,17 @@ def cpp_replay_process(cfg, lr, fingerprint=None):
 
 
 def check_enabled(msgs):
+  cur_enabled_count = 0
+  max_enabled_count = 0
   for msg in msgs:
     if msg.which() == "carParams":
       if msg.carParams.notCar:
         return True
     elif msg.which() == "controlsState":
       if msg.controlsState.active:
-        return True
-  return False
+        cur_enabled_count += 1
+      else:
+        cur_enabled_count = 0
+      max_enabled_count = max(max_enabled_count, cur_enabled_count)
+
+  return max_enabled_count > int(10. / DT_CTRL)
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 662f8cc5b8..0cf6711727 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-41161c8d151b0c2017214cad0aad3156533ab868
+82d3f0a3bfe07a76983e7e4603a0553d077ba15b
\ No newline at end of file
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index d2f239c249..39f75ce428 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -15,6 +15,8 @@ from cereal.visionipc import VisionIpcServer, VisionStreamType
 from common.params import Params
 from common.realtime import Ratekeeper, DT_MDL, DT_DMON, sec_since_boot
 from common.transformations.camera import eon_f_frame_size, eon_d_frame_size, tici_f_frame_size, tici_d_frame_size
+from panda.python import Panda
+from selfdrive.car.toyota.values import EPS_SCALE
 from selfdrive.manager.process import ensure_running
 from selfdrive.manager.process_config import managed_processes
 from selfdrive.test.process_replay.process_replay import FAKEDATA, setup_env, check_enabled
@@ -30,8 +32,8 @@ def replay_panda_states(s, msgs):
 
   # TODO: new safety params from flags, remove after getting new routes for Toyota
   safety_param_migration = {
-    "TOYOTA PRIUS 2017": 578,
-    "TOYOTA RAV4 2017": 329
+    "TOYOTA PRIUS 2017": EPS_SCALE["TOYOTA PRIUS 2017"] | Panda.FLAG_TOYOTA_STOCK_LONGITUDINAL,
+    "TOYOTA RAV4 2017": EPS_SCALE["TOYOTA RAV4 2017"] | Panda.FLAG_TOYOTA_ALT_BRAKE,
   }
 
   # Migrate safety param base on carState
@@ -177,8 +179,22 @@ def replay_cameras(lr, frs, disable_tqdm=False):
   return vs, p
 
 
+def migrate_carparams(lr):
+  all_msgs = []
+  for msg in lr:
+    if msg.which() == 'carParams':
+      CP = messaging.new_message('carParams')
+      CP.carParams = msg.carParams.as_builder()
+      for car_fw in CP.carParams.carFw:
+        car_fw.brand = CP.carParams.carName
+      msg = CP.as_reader()
+    all_msgs.append(msg)
+
+  return all_msgs
+
+
 def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
-  lr = list(lr)
+  lr = migrate_carparams(list(lr))
   if frs is None:
     frs = dict()
 
@@ -247,7 +263,7 @@ def regen_segment(lr, frs=None, outdir=FAKEDATA, disable_tqdm=False):
   seg_path = os.path.join(outdir, segment)
   # check to make sure openpilot is engaged in the route
   if not check_enabled(LogReader(os.path.join(seg_path, "rlog"))):
-    raise Exception(f"Route never enabled: {segment}")
+    raise Exception(f"Route did not engage for long enough: {segment}")
 
   return seg_path
 
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index 25fbd210cc..9e6fee0de0 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -5,7 +5,7 @@ import os
 import sys
 from collections import defaultdict
 from tqdm import tqdm
-from typing import Any, Dict
+from typing import Any, DefaultDict, Dict
 
 from selfdrive.car.car_helpers import interface_names
 from selfdrive.test.openpilotci import get_url, upload_file
@@ -18,12 +18,14 @@ from tools.lib.logreader import LogReader
 original_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.BODY
   ("HYUNDAI", "02c45f73a2e5c6e9|2021-01-01--19-08-22--1"),     # HYUNDAI.SONATA
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),     # HYUNDAI.KIA_EV6
   ("TOYOTA", "0982d79ebb0de295|2021-01-04--17-13-21--13"),     # TOYOTA.PRIUS (INDI)
   ("TOYOTA2", "0982d79ebb0de295|2021-01-03--20-03-36--6"),     # TOYOTA.RAV4  (LQR)
   ("TOYOTA3", "f7d7e3538cda1a2a|2021-08-16--08-55-34--6"),     # TOYOTA.COROLLA_TSS2
   ("HONDA", "eb140f119469d9ab|2021-06-12--10-46-24--27"),      # HONDA.CIVIC (NIDEC)
   ("HONDA2", "7d2244f34d1bbcda|2021-06-25--12-25-37--26"),     # HONDA.ACCORD (BOSCH)
   ("CHRYSLER", "4deb27de11bee626|2021-02-20--11-28-55--8"),    # CHRYSLER.PACIFICA
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),         # CHRYSLER.RAM_1500
   ("SUBARU", "4d70bc5e608678be|2021-01-15--17-02-04--5"),      # SUBARU.IMPREZA
   ("GM", "0c58b6a25109da2b|2021-02-23--16-35-50--11"),         # GM.VOLT
   ("NISSAN", "35336926920f3571|2021-02-12--18-38-48--46"),     # NISSAN.XTRAIL
@@ -35,19 +37,21 @@ original_segments = [
 ]
 
 segments = [
-  ("BODY", "bd6a637565e91581|2022-04-04--22-05-08--0"),
-  ("HYUNDAI", "fakedata|2022-01-20--17-49-04--0"),
-  ("TOYOTA", "fakedata|2022-04-29--15-57-12--0"),
-  ("TOYOTA2", "fakedata|2022-04-29--16-08-01--0"),
-  ("TOYOTA3", "fakedata|2022-04-29--16-17-39--0"),
-  ("HONDA", "fakedata|2022-01-20--17-56-40--0"),
-  ("HONDA2", "fakedata|2022-04-29--16-31-55--0"),
-  ("CHRYSLER", "fakedata|2022-01-20--18-00-11--0"),
-  ("SUBARU", "fakedata|2022-01-20--18-01-57--0"),
-  ("GM", "fakedata|2022-01-20--18-03-41--0"),
-  ("NISSAN", "fakedata|2022-01-20--18-05-29--0"),
-  ("VOLKSWAGEN", "fakedata|2022-01-20--18-07-15--0"),
-  ("MAZDA", "fakedata|2022-01-20--18-09-32--0"),
+  ("BODY", "regen660D86654BA|2022-07-06--14-27-15--0"),
+  ("HYUNDAI", "regen114E5FF24D8|2022-07-14--17-08-47--0"),
+  ("HYUNDAI", "d824e27e8c60172c|2022-07-08--21-21-15--0"),
+  ("TOYOTA", "regenBA97410FBEC|2022-07-06--14-26-49--0"),
+  ("TOYOTA2", "regenDEDB1D9C991|2022-07-06--14-54-08--0"),
+  ("TOYOTA3", "regenDDC1FE60734|2022-07-06--14-32-06--0"),
+  ("HONDA", "regenE62960EEC38|2022-07-14--19-33-24--0"),
+  ("HONDA2", "regenC3EBD92F029|2022-07-14--19-29-47--0"),
+  ("CHRYSLER", "regen38346FB33D0|2022-07-14--18-05-26--0"),
+  ("RAM", "2f4452b03ccb98f0|2022-07-07--08-01-56--3"),
+  ("SUBARU", "regen54A1E2BE5AA|2022-07-14--18-07-50--0"),
+  ("GM", "regen01D09D915B5|2022-07-06--14-36-20--0"),
+  ("NISSAN", "regenCA0B0DC946E|2022-07-14--18-10-17--0"),
+  ("VOLKSWAGEN", "regen007098CA0EF|2022-07-06--15-01-26--0"),
+  ("MAZDA", "regen61BA413D53B|2022-07-06--14-39-42--0"),
 ]
 
 # dashcamOnly makes don't need to be tested until a full port is done
@@ -62,7 +66,7 @@ def run_test_process(data):
   res = None
   if not args.upload_only:
     lr = LogReader.from_bytes(lr_dat)
-    res, log_msgs = test_process(cfg, lr, ref_log_path, args.ignore_fields, args.ignore_msgs)
+    res, log_msgs = test_process(cfg, lr, ref_log_path, cur_log_fn, args.ignore_fields, args.ignore_msgs)
     # save logs so we can upload when updating refs
     save_log(cur_log_fn, log_msgs)
 
@@ -71,7 +75,7 @@ def run_test_process(data):
     assert os.path.exists(cur_log_fn), f"Cannot find log to upload: {cur_log_fn}"
     upload_file(cur_log_fn, os.path.basename(cur_log_fn))
     os.remove(cur_log_fn)
-  return (segment, cfg.proc_name, res)
+  return (segment, cfg.proc_name, cfg.subtest_name, res)
 
 
 def get_log_data(segment):
@@ -80,7 +84,7 @@ def get_log_data(segment):
     return (segment, f.read())
 
 
-def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
+def test_process(cfg, lr, ref_log_path, new_log_path, ignore_fields=None, ignore_msgs=None):
   if ignore_fields is None:
     ignore_fields = []
   if ignore_msgs is None:
@@ -93,15 +97,15 @@ def test_process(cfg, lr, ref_log_path, ignore_fields=None, ignore_msgs=None):
   # check to make sure openpilot is engaged in the route
   if cfg.proc_name == "controlsd":
     if not check_enabled(log_msgs):
-      raise Exception(f"Route never enabled: {ref_log_path}")
+      return f"Route did not enable at all or for long enough: {new_log_path}", log_msgs
 
   try:
-    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance), log_msgs
+    return compare_logs(ref_log_msgs, log_msgs, ignore_fields + cfg.ignore, ignore_msgs, cfg.tolerance, cfg.field_tolerances), log_msgs
   except Exception as e:
     return str(e), log_msgs
 
 
-def format_diff(results, ref_commit):
+def format_diff(results, log_paths, ref_commit):
   diff1, diff2 = "", ""
   diff2 += f"***** tested against commit {ref_commit} *****\n"
 
@@ -111,13 +115,22 @@ def format_diff(results, ref_commit):
     diff2 += f"***** differences for segment {segment} *****\n"
 
     for proc, diff in list(result.items()):
-      diff1 += f"\t{proc}\n"
+      # long diff
       diff2 += f"*** process: {proc} ***\n"
+      diff2 += f"\tref: {log_paths[segment]['ref']}\n\n"
+      diff2 += f"\tnew: {log_paths[segment]['new']}\n\n"
 
+      # short diff
+      diff1 += f"    {proc}\n"
       if isinstance(diff, str):
-        diff1 += f"\t\t{diff}\n"
+        diff1 += f"        ref: {log_paths[segment]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment]['new']}\n\n"
+        diff1 += f"        {diff}\n"
         failed = True
       elif len(diff):
+        diff1 += f"        ref: {log_paths[segment]['ref']}\n"
+        diff1 += f"        new: {log_paths[segment]['new']}\n\n"
+
         cnt: Dict[str, int] = {}
         for d in diff:
           diff2 += f"\t{str(d)}\n"
@@ -126,7 +139,7 @@ def format_diff(results, ref_commit):
           cnt[k] = 1 if k not in cnt else cnt[k] + 1
 
         for k, v in sorted(cnt.items()):
-          diff1 += f"\t\t{k}: {v}\n"
+          diff1 += f"        {k}: {v}\n"
         failed = True
   return diff1, diff2, failed
 
@@ -183,6 +196,8 @@ if __name__ == "__main__":
     untested = (set(interface_names) - set(excluded_interfaces)) - {c.lower() for c in tested_cars}
     assert len(untested) == 0, f"Cars missing routes: {str(untested)}"
 
+
+  log_paths: DefaultDict[str, Dict[str, str]] = defaultdict(dict)
   with concurrent.futures.ProcessPoolExecutor(max_workers=args.jobs) as pool:
     if not args.upload_only:
       download_segments = [seg for car, seg in segments if car in tested_cars]
@@ -200,23 +215,26 @@ if __name__ == "__main__":
         if cfg.proc_name not in tested_procs:
           continue
 
-        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{cur_commit}.bz2")
+        cur_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{cur_commit}.bz2")
         if args.update_refs:  # reference logs will not exist if routes were just regenerated
           ref_log_path = get_url(*segment.rsplit("--", 1))
         else:
-          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}_{ref_commit}.bz2")
+          ref_log_fn = os.path.join(FAKEDATA, f"{segment}_{cfg.proc_name}{cfg.subtest_name}_{ref_commit}.bz2")
           ref_log_path = ref_log_fn if os.path.exists(ref_log_fn) else BASE_URL + os.path.basename(ref_log_fn)
 
         dat = None if args.upload_only else log_data[segment]
         pool_args.append((segment, cfg, args, cur_log_fn, ref_log_path, dat))
 
+        log_paths[segment]['ref'] = ref_log_path
+        log_paths[segment]['new'] = cur_log_fn
+
     results: Any = defaultdict(dict)
     p2 = pool.map(run_test_process, pool_args)
-    for (segment, proc, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
-      if isinstance(result, list):
-        results[segment][proc] = result
+    for (segment, proc, subtest_name, result) in tqdm(p2, desc="Running Tests", total=len(pool_args)):
+      if not args.upload_only:
+        results[segment][proc + subtest_name] = result
 
-  diff1, diff2, failed = format_diff(results, ref_commit)
+  diff1, diff2, failed = format_diff(results, log_paths, ref_commit)
   if not upload:
     with open(os.path.join(PROC_REPLAY_DIR, "diff.txt"), "w") as f:
       f.write(diff2)
diff --git a/selfdrive/test/profiling/profiler.py b/selfdrive/test/profiling/profiler.py
index 5f73176fab..91226fc577 100755
--- a/selfdrive/test/profiling/profiler.py
+++ b/selfdrive/test/profiling/profiler.py
@@ -53,6 +53,7 @@ def profile(proc, func, car='toyota'):
   msgs = list(LogReader(rlog_url)) * int(os.getenv("LOOP", "1"))
 
   os.environ['FINGERPRINT'] = fingerprint
+  os.environ['REPLAY'] = "1"
 
   def run(sm, pm, can_sock):
     try:
@@ -81,12 +82,14 @@ if __name__ == '__main__':
   from selfdrive.controls.radard import radard_thread
   from selfdrive.locationd.paramsd import main as paramsd_thread
   from selfdrive.controls.plannerd import main as plannerd_thread
+  from selfdrive.locationd.laikad import main as laikad_thread
 
   procs = {
     'radard': radard_thread,
     'controlsd': controlsd_thread,
     'paramsd': paramsd_thread,
     'plannerd': plannerd_thread,
+    'laikad': laikad_thread,
   }
 
   proc = sys.argv[1]
diff --git a/selfdrive/test/setup_device_ci.sh b/selfdrive/test/setup_device_ci.sh
index 2e5ffeacc6..bf2f93e1c3 100755
--- a/selfdrive/test/setup_device_ci.sh
+++ b/selfdrive/test/setup_device_ci.sh
@@ -21,28 +21,26 @@ umount /data/safe_staging/merged/ || true
 sudo umount /data/safe_staging/merged/ || true
 rm -rf /data/safe_staging/* || true
 
-export KEYS_PARAM_PATH="/data/params/d/GithubSshKeys"
-export KEYS_PATH="/usr/comma/setup_keys"
-export CONTINUE_PATH="/data/continue.sh"
-
-if ! grep -F "$KEYS_PATH" /etc/ssh/sshd_config; then
-  echo "setting up keys"
-  sudo mount -o rw,remount /
-  sudo systemctl enable ssh
-  sudo sed -i "s,$KEYS_PARAM_PATH,$KEYS_PATH," /etc/ssh/sshd_config
-  sudo mount -o ro,remount /
-fi
-
+CONTINUE_PATH="/data/continue.sh"
 tee $CONTINUE_PATH << EOF
 #!/usr/bin/bash
 
 sudo abctl --set_success
 
+# patch sshd config
+sudo mount -o rw,remount /
+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 disable ssh-param-watcher.path
+sudo systemctl disable ssh-param-watcher.service
+sudo mount -o ro,remount /
+
 while true; do
   if ! sudo systemctl is-active -q ssh; then
     sudo systemctl start ssh
   fi
-  sleep 10s
+  sleep 5s
 done
 
 sleep infinity
diff --git a/selfdrive/test/test_onroad.py b/selfdrive/test/test_onroad.py
index f10c79313b..8007afb84c 100755
--- a/selfdrive/test/test_onroad.py
+++ b/selfdrive/test/test_onroad.py
@@ -24,7 +24,7 @@ PROCS = {
   "selfdrive.controls.controlsd": 35.0,
   "./loggerd": 10.0,
   "./encoderd": 12.5,
-  "./camerad": 16.5,
+  "./camerad": 14.5,
   "./locationd": 9.1,
   "selfdrive.controls.plannerd": 11.7,
   "./_ui": 19.2,
@@ -118,6 +118,7 @@ class TestOnroad(unittest.TestCase):
     os.environ['REPLAY'] = "1"
     os.environ['SKIP_FW_QUERY'] = "1"
     os.environ['FINGERPRINT'] = "TOYOTA COROLLA TSS2 2019"
+    os.environ['LOGPRINT'] = 'debug'
 
     params = Params()
     params.clear_all()
diff --git a/selfdrive/thermald/tests/test_power_monitoring.py b/selfdrive/thermald/tests/test_power_monitoring.py
index c0524add69..efe607155a 100755
--- a/selfdrive/thermald/tests/test_power_monitoring.py
+++ b/selfdrive/thermald/tests/test_power_monitoring.py
@@ -119,7 +119,8 @@ class TestPowerMonitoring(unittest.TestCase):
   @parameterized.expand(ALL_PANDA_TYPES)
   def test_max_time_offroad(self, hw_type):
     MOCKED_MAX_OFFROAD_TIME = 3600
-    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", None):
+    POWER_DRAW = 0 # To stop shutting down for other reasons
+    with pm_patch("MAX_TIME_OFFROAD_S", MOCKED_MAX_OFFROAD_TIME, constant=True), pm_patch("HARDWARE.get_current_power_draw", POWER_DRAW):
       pm = PowerMonitoring()
       pm.car_battery_capacity_uWh = CAR_BATTERY_CAPACITY_uWh
       start_time = ssb
diff --git a/selfdrive/thermald/thermald.py b/selfdrive/thermald/thermald.py
index 6cf5c428a8..c765af664f 100755
--- a/selfdrive/thermald/thermald.py
+++ b/selfdrive/thermald/thermald.py
@@ -34,7 +34,7 @@ DISCONNECT_TIMEOUT = 5.  # wait 5 seconds before going offroad after disconnect
 PANDA_STATES_TIMEOUT = int(1000 * 1.5 * DT_TRML)  # 1.5x the expected pandaState frequency
 
 ThermalBand = namedtuple("ThermalBand", ['min_temp', 'max_temp'])
-HardwareState = namedtuple("HardwareState", ['network_type', 'network_metered', 'network_strength', 'network_info', 'nvme_temps', 'modem_temps'])
+HardwareState = namedtuple("HardwareState", ['network_type', 'network_info', 'network_strength', 'network_stats', 'network_metered', 'nvme_temps', 'modem_temps'])
 
 # List of thermal bands. We will stay within this region as long as we are within the bounds.
 # When exiting the bounds, we'll jump to the lower or higher band. Bands are ordered in the dict.
@@ -96,7 +96,6 @@ def set_offroad_alert_if_changed(offroad_alert: str, show_alert: bool, extra_tex
 def hw_state_thread(end_event, hw_queue):
   """Handles non critical hardware state, and sends over queue"""
   count = 0
-  registered_count = 0
   prev_hw_state = None
 
   modem_version = None
@@ -120,11 +119,14 @@ def hw_state_thread(end_event, hw_queue):
           if (modem_version is not None) and (modem_nv is not None):
             cloudlog.event("modem version", version=modem_version, nv=modem_nv)
 
+        tx, rx = HARDWARE.get_modem_data_usage()
+
         hw_state = HardwareState(
           network_type=network_type,
-          network_metered=HARDWARE.get_network_metered(network_type),
-          network_strength=HARDWARE.get_network_strength(network_type),
           network_info=HARDWARE.get_network_info(),
+          network_strength=HARDWARE.get_network_strength(network_type),
+          network_stats={'wwanTx': tx, 'wwanRx': rx},
+          network_metered=HARDWARE.get_network_metered(network_type),
           nvme_temps=HARDWARE.get_nvme_temperatures(),
           modem_temps=modem_temps,
         )
@@ -134,16 +136,6 @@ def hw_state_thread(end_event, hw_queue):
         except queue.Full:
           pass
 
-        if AGNOS and (hw_state.network_info is not None) and (hw_state.network_info.get('state', None) == "REGISTERED"):
-          registered_count += 1
-        else:
-          registered_count = 0
-
-        if registered_count > 10:
-          cloudlog.warning(f"Modem stuck in registered state {hw_state.network_info}. nmcli conn up lte")
-          os.system("nmcli conn up lte")
-          registered_count = 0
-
         # TODO: remove this once the config is in AGNOS
         if not modem_configured and len(HARDWARE.get_sim_info().get('sim_id', '')) > 0:
           cloudlog.warning("configuring modem")
@@ -177,9 +169,10 @@ def thermald_thread(end_event, hw_queue):
 
   last_hw_state = HardwareState(
     network_type=NetworkType.none,
+    network_info=None,
     network_metered=False,
     network_strength=NetworkStrength.unknown,
-    network_info=None,
+    network_stats={'wwanTx': -1, 'wwanRx': -1},
     nvme_temps=[],
     modem_temps=[],
   )
@@ -238,6 +231,7 @@ def thermald_thread(end_event, hw_queue):
     msg.deviceState.networkType = last_hw_state.network_type
     msg.deviceState.networkMetered = last_hw_state.network_metered
     msg.deviceState.networkStrength = last_hw_state.network_strength
+    msg.deviceState.networkStats = last_hw_state.network_stats
     if last_hw_state.network_info is not None:
       msg.deviceState.networkInfo = last_hw_state.network_info
 
@@ -348,12 +342,13 @@ def thermald_thread(end_event, hw_queue):
     power_monitor.calculate(peripheralState, onroad_conditions["ignition"])
     msg.deviceState.offroadPowerUsageUwh = power_monitor.get_power_used()
     msg.deviceState.carBatteryCapacityUwh = max(0, power_monitor.get_car_battery_capacity())
-    current_power_draw = HARDWARE.get_current_power_draw()  # pylint: disable=assignment-from-none
-    if current_power_draw is not None:
-      statlog.sample("power_draw", current_power_draw)
-      msg.deviceState.powerDrawW = current_power_draw
-    else:
-      msg.deviceState.powerDrawW = 0
+    current_power_draw = HARDWARE.get_current_power_draw()
+    statlog.sample("power_draw", current_power_draw)
+    msg.deviceState.powerDrawW = current_power_draw
+
+    som_power_draw = HARDWARE.get_som_power_draw()
+    statlog.sample("som_power_draw", som_power_draw)
+    msg.deviceState.somPowerDrawW = som_power_draw
 
     # Check if we need to disable charging (handled by boardd)
     msg.deviceState.chargingDisabled = power_monitor.should_disable_charging(onroad_conditions["ignition"], in_car, off_ts)
diff --git a/selfdrive/ui/SConscript b/selfdrive/ui/SConscript
index 28fcc5f56f..9e89576a54 100644
--- a/selfdrive/ui/SConscript
+++ b/selfdrive/ui/SConscript
@@ -18,10 +18,11 @@ if arch == "Darwin":
   del base_libs[base_libs.index('OpenCL')]
   qt_env['FRAMEWORKS'] += ['OpenCL']
 
-widgets_src = ["ui.cc", "qt/util.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
+qt_util = qt_env.Library("qt_util", ["#selfdrive/ui/qt/api.cc", "#selfdrive/ui/qt/util.cc"], LIBS=base_libs)
+widgets_src = ["ui.cc", "qt/widgets/input.cc", "qt/widgets/drive_stats.cc",
                "qt/widgets/ssh_keys.cc", "qt/widgets/toggle.cc", "qt/widgets/controls.cc",
                "qt/widgets/offroad_alerts.cc", "qt/widgets/prime.cc", "qt/widgets/keyboard.cc",
-               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc", "qt/api.cc",
+               "qt/widgets/scrollview.cc", "qt/widgets/cameraview.cc", "#third_party/qrcode/QrCode.cc",
                "qt/request_repeater.cc", "qt/qt_window.cc", "qt/offroad/networking.cc", "qt/offroad/wifiManager.cc"]
 
 qt_env['CPPDEFINES'] = []
@@ -31,7 +32,7 @@ if maps:
   qt_env['CPPDEFINES'] += ["ENABLE_MAPS"]
 
 widgets = qt_env.Library("qt_widgets", widgets_src, LIBS=base_libs)
-qt_libs = [widgets] + base_libs
+qt_libs = [widgets, qt_util] + base_libs
 
 # build assets
 assets = "#selfdrive/assets/assets.cc"
@@ -57,6 +58,16 @@ qt_src = ["main.cc", "qt/sidebar.cc", "qt/onroad.cc", "qt/body.cc",
           "qt/window.cc", "qt/home.cc", "qt/offroad/settings.cc",
           "qt/offroad/onboarding.cc", "qt/offroad/driverview.cc"]
 qt_env.Program("_ui", qt_src + [asset_obj], LIBS=qt_libs)
+if GetOption('test'):
+  qt_src.remove("main.cc")  # replaced by test_runner
+  qt_env.Program('tests/test_translations', [asset_obj, 'tests/test_runner.cc', 'tests/test_translations.cc'] + qt_src, LIBS=qt_libs)
+
+
+# build translation files
+translation_sources = Glob("#selfdrive/ui/translations/*.ts", strings=True)
+translation_targets = [src.replace(".ts", ".qm") for src in translation_sources]
+lrelease = 'third_party/qt5/larch64/bin/lrelease' if arch == 'larch64' else 'lrelease'
+qt_env.Command(translation_targets, translation_sources, f"{lrelease} $SOURCES")
 
 
 # setup and factory resetter
@@ -107,17 +118,6 @@ if GetOption('extras'):
     # keep installers small
     assert f[0].get_size() < 300*1e3
 
-
-# build headless replay
+# build watch3
 if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
-  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
-
-  replay_lib_src = ["replay/replay.cc", "replay/consoleui.cc", "replay/camera.cc", "replay/filereader.cc", "replay/logreader.cc", "replay/framereader.cc", "replay/route.cc", "replay/util.cc"]
-
-  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=base_libs)
-  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
-  qt_env.Program("replay/replay", ["replay/main.cc"], LIBS=replay_libs)
   qt_env.Program("watch3", ["watch3.cc"], LIBS=qt_libs + ['common', 'json11', 'zmq', 'visionipc', 'messaging'])
-
-  if GetOption('test'):
-    qt_env.Program('replay/tests/test_replay', ['replay/tests/test_runner.cc', 'replay/tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/installer/installer.cc b/selfdrive/ui/installer/installer.cc
index 3588026ba6..ee98c4d3d9 100644
--- a/selfdrive/ui/installer/installer.cc
+++ b/selfdrive/ui/installer/installer.cc
@@ -53,7 +53,7 @@ Installer::Installer(QWidget *parent) : QWidget(parent) {
   layout->setContentsMargins(150, 290, 150, 150);
   layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Installing...");
+  QLabel *title = new QLabel(tr("Installing..."));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   layout->addWidget(title, 0, Qt::AlignTop);
 
@@ -141,9 +141,9 @@ void Installer::cachedFetch(const QString &cache) {
 void Installer::readProgress() {
   const QVector<QPair<QString, int>> stages = {
     // prefix, weight in percentage
-    {"Receiving objects: ", 91},
-    {"Resolving deltas: ", 2},
-    {"Updating files: ", 7},
+    {tr("Receiving objects: "), 91},
+    {tr("Resolving deltas: "), 2},
+    {tr("Updating files: "), 7},
   };
 
   auto line = QString(proc.readAllStandardError());
@@ -182,6 +182,7 @@ void Installer::cloneFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   std::map<std::string, std::string> params = {
     {"SshEnabled", "1"},
     {"RecordFrontLock", "1"},
+    {"DisableRadar_Allow", "1"},
     {"GithubSshKeys", SSH_KEYS},
   };
   for (const auto& [key, value] : params) {
diff --git a/selfdrive/ui/main.cc b/selfdrive/ui/main.cc
index 1eecd78b19..ed54d5aa19 100644
--- a/selfdrive/ui/main.cc
+++ b/selfdrive/ui/main.cc
@@ -1,6 +1,7 @@
 #include <sys/resource.h>
 
 #include <QApplication>
+#include <QTranslator>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/qt_window.h"
@@ -13,7 +14,15 @@ int main(int argc, char *argv[]) {
   qInstallMessageHandler(swagLogMessageHandler);
   initApp(argc, argv);
 
+  QTranslator translator;
+  QString translation_file = QString::fromStdString(Params().get("LanguageSetting"));
+  if (!translator.load(translation_file, "translations") && translation_file.length()) {
+    qCritical() << "Failed to load translation file:" << translation_file;
+  }
+
   QApplication a(argc, argv);
+  a.installTranslator(&translator);
+
   MainWindow w;
   setMainWindow(&w);
   a.installEventFilter(&w);
diff --git a/selfdrive/ui/qt/home.cc b/selfdrive/ui/qt/home.cc
index e522d6160d..0edeb252b7 100644
--- a/selfdrive/ui/qt/home.cc
+++ b/selfdrive/ui/qt/home.cc
@@ -85,6 +85,7 @@ void HomeWindow::mousePressEvent(QMouseEvent* e) {
 }
 
 void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
+  HomeWindow::mousePressEvent(e);
   const SubMaster &sm = *(uiState()->sm);
   if (sm["carParams"].getCarParams().getNotCar()) {
     if (onroad->isVisible()) {
@@ -92,6 +93,7 @@ void HomeWindow::mouseDoubleClickEvent(QMouseEvent* e) {
     } else if (body->isVisible()) {
       slayout->setCurrentWidget(onroad);
     }
+    showSidebar(false);
   }
 }
 
@@ -109,7 +111,7 @@ OffroadHome::OffroadHome(QWidget* parent) : QFrame(parent) {
   date = new QLabel();
   header_layout->addWidget(date, 1, Qt::AlignHCenter | Qt::AlignLeft);
 
-  update_notif = new QPushButton("UPDATE");
+  update_notif = new QPushButton(tr("UPDATE"));
   update_notif->setVisible(false);
   update_notif->setStyleSheet("background-color: #364DEF;");
   QObject::connect(update_notif, &QPushButton::clicked, [=]() { center_layout->setCurrentIndex(1); });
@@ -200,6 +202,6 @@ void OffroadHome::refresh() {
   update_notif->setVisible(updateAvailable);
   alert_notif->setVisible(alerts);
   if (alerts) {
-    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? " ALERTS" : " ALERT"));
+    alert_notif->setText(QString::number(alerts) + (alerts > 1 ? tr(" ALERTS") : tr(" ALERT")));
   }
 }
diff --git a/selfdrive/ui/qt/maps/map.cc b/selfdrive/ui/qt/maps/map.cc
index 4c6a0a4e65..3967416f73 100644
--- a/selfdrive/ui/qt/maps/map.cc
+++ b/selfdrive/ui/qt/maps/map.cc
@@ -1,5 +1,6 @@
 #include "selfdrive/ui/qt/maps/map.h"
 
+#include <eigen3/Eigen/Dense>
 #include <cmath>
 
 #include <QDebug>
@@ -7,6 +8,7 @@
 #include <QPainterPath>
 
 #include "common/swaglog.h"
+#include "common/transformations/coordinates.hpp"
 #include "selfdrive/ui/qt/maps/map_helpers.h"
 #include "selfdrive/ui/qt/request_repeater.h"
 #include "selfdrive/ui/qt/util.h"
@@ -22,6 +24,8 @@ const float MAX_PITCH = 50;
 const float MIN_PITCH = 0;
 const float MAP_SCALE = 2;
 
+const float VALID_POS_STD = 50.0; // m
+
 const QString ICON_SUFFIX = ".png";
 
 MapWindow::MapWindow(const QMapboxGLSettings &settings) : m_settings(settings), velocity_filter(0, 10, 0.05) {
@@ -105,18 +109,53 @@ void MapWindow::updateState(const UIState &s) {
   update();
 
   if (sm.updated("liveLocationKalman")) {
-    auto location = sm["liveLocationKalman"].getLiveLocationKalman();
-    auto pos = location.getPositionGeodetic();
-    auto orientation = location.getCalibratedOrientationNED();
-    auto velocity = location.getVelocityCalibrated();
-
-    localizer_valid = (location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
-     pos.getValid() && orientation.getValid() && velocity.getValid();
-
-    if (localizer_valid) {
-      last_position = QMapbox::Coordinate(pos.getValue()[0], pos.getValue()[1]);
-      last_bearing = RAD2DEG(orientation.getValue()[2]);
-      velocity_filter.update(velocity.getValue()[0]);
+    auto locationd_location = sm["liveLocationKalman"].getLiveLocationKalman();
+    auto locationd_pos = locationd_location.getPositionGeodetic();
+    auto locationd_orientation = locationd_location.getCalibratedOrientationNED();
+    auto locationd_velocity = locationd_location.getVelocityCalibrated();
+
+    locationd_valid = (locationd_location.getStatus() == cereal::LiveLocationKalman::Status::VALID) &&
+      locationd_pos.getValid() && locationd_orientation.getValid() && locationd_velocity.getValid();
+
+    if (locationd_valid) {
+      last_position = QMapbox::Coordinate(locationd_pos.getValue()[0], locationd_pos.getValue()[1]);
+      last_bearing = RAD2DEG(locationd_orientation.getValue()[2]);
+      velocity_filter.update(locationd_velocity.getValue()[0]);
+    }
+  }
+
+  if (sm.updated("gnssMeasurements")) {
+    auto laikad_location = sm["gnssMeasurements"].getGnssMeasurements();
+    auto laikad_pos = laikad_location.getPositionECEF();
+    auto laikad_pos_ecef = laikad_pos.getValue();
+    auto laikad_pos_std = laikad_pos.getStd();
+    auto laikad_velocity_ecef = laikad_location.getVelocityECEF().getValue();
+
+    laikad_valid = laikad_pos.getValid() && Eigen::Vector3d(laikad_pos_std[0], laikad_pos_std[1], laikad_pos_std[2]).norm() < VALID_POS_STD;
+
+    if (laikad_valid && !locationd_valid) {
+      ECEF ecef = {.x = laikad_pos_ecef[0], .y = laikad_pos_ecef[1], .z = laikad_pos_ecef[2]};
+      Geodetic laikad_pos_geodetic = ecef2geodetic(ecef);
+      last_position = QMapbox::Coordinate(laikad_pos_geodetic.lat, laikad_pos_geodetic.lon);
+
+      // Compute NED velocity
+      LocalCoord converter(ecef);
+      ECEF next_ecef = {.x = ecef.x + laikad_velocity_ecef[0], .y = ecef.y + laikad_velocity_ecef[1], .z = ecef.z + laikad_velocity_ecef[2]};
+      Eigen::VectorXd ned_vel = converter.ecef2ned(next_ecef).to_vector() - converter.ecef2ned(ecef).to_vector();
+
+      float velocity = ned_vel.norm();
+      velocity_filter.update(velocity);
+
+      // Convert NED velocity to angle
+      if (velocity > 1.0) {
+        float new_bearing = fmod(RAD2DEG(atan2(ned_vel[1], ned_vel[0])) + 360.0, 360.0);
+        if (last_bearing) {
+          float delta = 0.1 * angle_difference(*last_bearing, new_bearing); // Smooth heading
+          last_bearing = fmod(*last_bearing + delta + 360.0, 360.0);
+        } else {
+          last_bearing = new_bearing;
+        }
+      }
     }
   }
 
@@ -136,15 +175,13 @@ void MapWindow::updateState(const UIState &s) {
 
   loaded_once = loaded_once || m_map->isFullyLoaded();
   if (!loaded_once) {
-    map_instructions->showError("Map Loading");
+    map_instructions->showError(tr("Map Loading"));
     return;
   }
 
   initLayers();
 
-  if (!localizer_valid) {
-    map_instructions->showError("Waiting for GPS");
-  } else {
+  if (locationd_valid || laikad_valid) {
     map_instructions->noError();
 
     // Update current location marker
@@ -154,6 +191,8 @@ void MapWindow::updateState(const UIState &s) {
     carPosSource["type"] = "geojson";
     carPosSource["data"] = QVariant::fromValue<QMapbox::Feature>(feature1);
     m_map->updateSource("carPosSource", carPosSource);
+  } else {
+    map_instructions->showError(tr("Waiting for GPS"));
   }
 
   if (pan_counter == 0) {
@@ -174,7 +213,7 @@ void MapWindow::updateState(const UIState &s) {
       auto i = sm["navInstruction"].getNavInstruction();
       emit ETAChanged(i.getTimeRemaining(), i.getTimeRemainingTypical(), i.getDistanceRemaining());
 
-      if (localizer_valid) {
+      if (locationd_valid || laikad_valid) {
         m_map->setPitch(MAX_PITCH); // TODO: smooth pitching based on maneuver distance
         emit distanceChanged(i.getManeuverDistance()); // TODO: combine with instructionsChanged
         emit instructionsChanged(i);
@@ -379,10 +418,10 @@ void MapInstructions::updateDistance(float d) {
   if (uiState()->scene.is_metric) {
     if (d > 500) {
       distance_str.setNum(d / 1000, 'f', 1);
-      distance_str += " km";
+      distance_str += tr(" km");
     } else {
       distance_str.setNum(50 * int(d / 50));
-      distance_str += " m";
+      distance_str += tr(" m");
     }
   } else {
     float miles = d * METER_TO_MILE;
@@ -390,10 +429,10 @@ void MapInstructions::updateDistance(float d) {
 
     if (feet > 500) {
       distance_str.setNum(miles, 'f', 1);
-      distance_str += " mi";
+      distance_str += tr(" mi");
     } else {
       distance_str.setNum(50 * int(feet / 50));
-      distance_str += " ft";
+      distance_str += tr(" ft");
     }
   }
 
@@ -487,6 +526,10 @@ void MapInstructions::updateInstructions(cereal::NavInstruction::Reader instruct
       fn += "turn_straight";
     }
 
+    if (!active) {
+      fn += "_inactive";
+    }
+
     auto icon = new QLabel;
     int wh = active ? 125 : 75;
     icon->setPixmap(loadPixmap(fn + ICON_SUFFIX, {wh, wh}, Qt::IgnoreAspectRatio));
@@ -576,7 +619,7 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   auto eta_time = QDateTime::currentDateTime().addSecs(s).time();
   if (params.getBool("NavSettingTime24h")) {
     eta->setText(eta_time.toString("HH:mm"));
-    eta_unit->setText("eta");
+    eta_unit->setText(tr("eta"));
   } else {
     auto t = eta_time.toString("h:mm a").split(' ');
     eta->setText(t[0]);
@@ -586,11 +629,11 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   // Remaining time
   if (s < 3600) {
     time->setText(QString::number(int(s / 60)));
-    time_unit->setText("min");
+    time_unit->setText(tr("min"));
   } else {
     int hours = int(s) / 3600;
     time->setText(QString::number(hours) + ":" + QString::number(int((s - hours * 3600) / 60)).rightJustified(2, '0'));
-    time_unit->setText("hr");
+    time_unit->setText(tr("hr"));
   }
 
   QString color;
@@ -610,10 +653,10 @@ void MapETA::updateETA(float s, float s_typical, float d) {
   float num = 0;
   if (uiState()->scene.is_metric) {
     num = d / 1000.0;
-    distance_unit->setText("km");
+    distance_unit->setText(tr("km"));
   } else {
     num = d * METER_TO_MILE;
-    distance_unit->setText("mi");
+    distance_unit->setText(tr("mi"));
   }
 
   distance_str.setNum(num, 'f', num < 100 ? 1 : 0);
diff --git a/selfdrive/ui/qt/maps/map.h b/selfdrive/ui/qt/maps/map.h
index 7c39b24c3c..ecba867edb 100644
--- a/selfdrive/ui/qt/maps/map.h
+++ b/selfdrive/ui/qt/maps/map.h
@@ -104,7 +104,8 @@ private:
   std::optional<QMapbox::Coordinate> last_position;
   std::optional<float> last_bearing;
   FirstOrderFilter velocity_filter;
-  bool localizer_valid = false;
+  bool laikad_valid = false;
+  bool locationd_valid = false;
 
   MapInstructions* map_instructions;
   MapETA* map_eta;
diff --git a/selfdrive/ui/qt/maps/map_helpers.cc b/selfdrive/ui/qt/maps/map_helpers.cc
index 2b2c27418e..f97137a7f9 100644
--- a/selfdrive/ui/qt/maps/map_helpers.cc
+++ b/selfdrive/ui/qt/maps/map_helpers.cc
@@ -101,6 +101,48 @@ QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordina
   return collections;
 }
 
+QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString) {
+  QList<QGeoCoordinate> path;
+  if (polylineString.isEmpty())
+      return path;
+
+  QByteArray data = polylineString.toLatin1();
+
+  bool parsingLatitude = true;
+
+  int shift = 0;
+  int value = 0;
+
+  QGeoCoordinate coord(0, 0);
+
+  for (int i = 0; i < data.length(); ++i) {
+      unsigned char c = data.at(i) - 63;
+
+      value |= (c & 0x1f) << shift;
+      shift += 5;
+
+      // another chunk
+      if (c & 0x20)
+          continue;
+
+      int diff = (value & 1) ? ~(value >> 1) : (value >> 1);
+
+      if (parsingLatitude) {
+          coord.setLatitude(coord.latitude() + (double)diff/1e6);
+      } else {
+          coord.setLongitude(coord.longitude() + (double)diff/1e6);
+          path.append(coord);
+      }
+
+      parsingLatitude = !parsingLatitude;
+
+      value = 0;
+      shift = 0;
+  }
+
+  return path;
+}
+
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
   QString json_str = QString::fromStdString(Params().get(param));
   if (json_str.isEmpty()) return {};
@@ -116,3 +158,8 @@ std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param) {
     return {};
   }
 }
+
+double angle_difference(double angle1, double angle2) {
+  double diff = fmod(angle2 - angle1 + 180.0, 360.0) - 180.0;
+  return diff < -180.0 ? diff + 360.0 : diff;
+}
diff --git a/selfdrive/ui/qt/maps/map_helpers.h b/selfdrive/ui/qt/maps/map_helpers.h
index 344246bb05..2e1402ccea 100644
--- a/selfdrive/ui/qt/maps/map_helpers.h
+++ b/selfdrive/ui/qt/maps/map_helpers.h
@@ -24,5 +24,7 @@ QMapbox::CoordinatesCollections model_to_collection(
 QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
 QMapbox::CoordinatesCollections capnp_coordinate_list_to_collection(const capnp::List<cereal::NavRoute::Coordinate>::Reader &coordinate_list);
 QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
+QList<QGeoCoordinate> polyline_to_coordinate_list(const QString &polylineString);
 
 std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
+double angle_difference(double angle1, double angle2);
diff --git a/selfdrive/ui/qt/maps/map_settings.cc b/selfdrive/ui/qt/maps/map_settings.cc
index 674c7fa7cb..d143b44e70 100644
--- a/selfdrive/ui/qt/maps/map_settings.cc
+++ b/selfdrive/ui/qt/maps/map_settings.cc
@@ -59,11 +59,11 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     current_widget = new QWidget(this);
     QVBoxLayout *current_layout = new QVBoxLayout(current_widget);
 
-    QLabel *title = new QLabel("Current Destination");
+    QLabel *title = new QLabel(tr("Current Destination"));
     title->setStyleSheet("font-size: 55px");
     current_layout->addWidget(title);
 
-    current_route = new ButtonControl("", "CLEAR");
+    current_route = new ButtonControl("", tr("CLEAR"));
     current_route->setStyleSheet("padding-left: 40px;");
     current_layout->addWidget(current_route);
     QObject::connect(current_route, &ButtonControl::clicked, [=]() {
@@ -78,7 +78,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   main_layout->addWidget(current_widget);
 
   // Recents
-  QLabel *recents_title = new QLabel("Recent Destinations");
+  QLabel *recents_title = new QLabel(tr("Recent Destinations"));
   recents_title->setStyleSheet("font-size: 55px");
   main_layout->addWidget(recents_title);
   main_layout->addSpacing(20);
@@ -92,7 +92,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
   QWidget * no_prime_widget = new QWidget;
   {
     QVBoxLayout *no_prime_layout = new QVBoxLayout(no_prime_widget);
-    QLabel *signup_header = new QLabel("Try the Navigation Beta");
+    QLabel *signup_header = new QLabel(tr("Try the Navigation Beta"));
     signup_header->setStyleSheet(R"(font-size: 75px; color: white; font-weight:600;)");
     signup_header->setAlignment(Qt::AlignCenter);
 
@@ -104,7 +104,7 @@ MapPanel::MapPanel(QWidget* parent) : QWidget(parent) {
     screenshot->setPixmap(pm.scaledToWidth(1080, Qt::SmoothTransformation));
     no_prime_layout->addWidget(screenshot, 0, Qt::AlignHCenter);
 
-    QLabel *signup = new QLabel("Get turn-by-turn directions displayed and more with a comma \nprime subscription. Sign up now: https://connect.comma.ai");
+    QLabel *signup = new QLabel(tr("Get turn-by-turn directions displayed and more with a comma\nprime subscription. Sign up now: https://connect.comma.ai"));
     signup->setStyleSheet(R"(font-size: 45px; color: white; font-weight:300;)");
     signup->setAlignment(Qt::AlignCenter);
 
@@ -161,12 +161,12 @@ void MapPanel::showEvent(QShowEvent *event) {
 void MapPanel::clear() {
   home_button->setIcon(QPixmap("../assets/navigation/home_inactive.png"));
   home_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  home_address->setText("No home\nlocation set");
+  home_address->setText(tr("No home\nlocation set"));
   home_button->disconnect();
 
   work_button->setIcon(QPixmap("../assets/navigation/work_inactive.png"));
   work_address->setStyleSheet(R"(font-size: 50px; color: grey;)");
-  work_address->setText("No work\nlocation set");
+  work_address->setText(tr("No work\nlocation set"));
   work_button->disconnect();
 
   clearLayout(recent_layout);
@@ -279,7 +279,7 @@ void MapPanel::parseResponse(const QString &response, bool success) {
   }
 
   if (!has_recents) {
-    QLabel *no_recents = new QLabel("no recent destinations");
+    QLabel *no_recents = new QLabel(tr("no recent destinations"));
     no_recents->setStyleSheet(R"(font-size: 50px; color: #9c9c9c)");
     recent_layout->addWidget(no_recents);
   }
diff --git a/selfdrive/ui/qt/offroad/driverview.cc b/selfdrive/ui/qt/offroad/driverview.cc
index dc9f292df1..be8b84d45e 100644
--- a/selfdrive/ui/qt/offroad/driverview.cc
+++ b/selfdrive/ui/qt/offroad/driverview.cc
@@ -31,7 +31,6 @@ DriverViewScene::DriverViewScene(QWidget* parent) : sm({"driverStateV2"}), QWidg
 
 void DriverViewScene::showEvent(QShowEvent* event) {
   frame_updated = false;
-  is_rhd = params.getBool("IsRHD");
   params.putBool("IsDriverViewEnabled", true);
 }
 
@@ -53,14 +52,14 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
     p.setPen(Qt::white);
     p.setRenderHint(QPainter::TextAntialiasing);
     configFont(p, "Inter", 100, "Bold");
-    p.drawText(geometry(), Qt::AlignCenter, "camera starting");
+    p.drawText(geometry(), Qt::AlignCenter, tr("camera starting"));
     return;
   }
 
   cereal::DriverStateV2::Reader driver_state = sm["driverStateV2"].getDriverStateV2();
   cereal::DriverStateV2::DriverData::Reader driver_data;
 
-  // is_rhd = driver_state.getWheelOnRightProb() > 0.5;
+  is_rhd = driver_state.getWheelOnRightProb() > 0.5;
   driver_data = is_rhd ? driver_state.getRightDriverData() : driver_state.getLeftDriverData();
 
   bool face_detected = driver_data.getFaceProb() > 0.7;
@@ -85,7 +84,7 @@ void DriverViewScene::paintEvent(QPaintEvent* event) {
 
   // icon
   const int img_offset = 60;
-  const int img_x = rect().left() + img_offset;
+  const int img_x = is_rhd ? rect().right() - FACE_IMG_SIZE - img_offset : rect().left() + img_offset;
   const int img_y = rect().bottom() - FACE_IMG_SIZE - img_offset;
   p.setOpacity(face_detected ? 1.0 : 0.2);
   p.drawPixmap(img_x, img_y, face_img);
diff --git a/selfdrive/ui/qt/offroad/networking.cc b/selfdrive/ui/qt/offroad/networking.cc
index 418ccd3179..c7341d1987 100644
--- a/selfdrive/ui/qt/offroad/networking.cc
+++ b/selfdrive/ui/qt/offroad/networking.cc
@@ -27,7 +27,7 @@ Networking::Networking(QWidget* parent, bool show_advanced) : QFrame(parent) {
   QVBoxLayout* vlayout = new QVBoxLayout(wifiScreen);
   vlayout->setContentsMargins(20, 20, 20, 20);
   if (show_advanced) {
-    QPushButton* advancedSettings = new QPushButton("Advanced");
+    QPushButton* advancedSettings = new QPushButton(tr("Advanced"));
     advancedSettings->setObjectName("advanced_btn");
     advancedSettings->setStyleSheet("margin-right: 30px;");
     advancedSettings->setFixedSize(400, 100);
@@ -84,7 +84,7 @@ void Networking::connectToNetwork(const Network &n) {
   } else if (n.security_type == SecurityType::OPEN) {
     wifi->connect(n);
   } else if (n.security_type == SecurityType::WPA) {
-    QString pass = InputDialog::getText("Enter password", this, "for \"" + n.ssid + "\"", true, 8);
+    QString pass = InputDialog::getText(tr("Enter password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -94,7 +94,7 @@ void Networking::connectToNetwork(const Network &n) {
 void Networking::wrongPassword(const QString &ssid) {
   if (wifi->seenNetworks.contains(ssid)) {
     const Network &n = wifi->seenNetworks.value(ssid);
-    QString pass = InputDialog::getText("Wrong password", this, "for \"" + n.ssid +"\"", true, 8);
+    QString pass = InputDialog::getText(tr("Wrong password"), this, tr("for \"%1\"").arg(QString::fromUtf8(n.ssid)), true, 8);
     if (!pass.isEmpty()) {
       wifi->connect(n, pass);
     }
@@ -118,7 +118,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   main_layout->setSpacing(20);
 
   // Back button
-  QPushButton* back = new QPushButton("Back");
+  QPushButton* back = new QPushButton(tr("Back"));
   back->setObjectName("back_btn");
   back->setFixedSize(400, 100);
   connect(back, &QPushButton::clicked, [=]() { emit backPress(); });
@@ -126,14 +126,14 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   ListWidget *list = new ListWidget(this);
   // Enable tethering layout
-  tetheringToggle = new ToggleControl("Enable Tethering", "", "", wifi->isTetheringEnabled());
+  tetheringToggle = new ToggleControl(tr("Enable Tethering"), "", "", wifi->isTetheringEnabled());
   list->addItem(tetheringToggle);
   QObject::connect(tetheringToggle, &ToggleControl::toggleFlipped, this, &AdvancedNetworking::toggleTethering);
 
   // Change tethering password
-  ButtonControl *editPasswordButton = new ButtonControl("Tethering Password", "EDIT");
+  ButtonControl *editPasswordButton = new ButtonControl(tr("Tethering Password"), tr("EDIT"));
   connect(editPasswordButton, &ButtonControl::clicked, [=]() {
-    QString pass = InputDialog::getText("Enter new tethering password", this, "", true, 8, wifi->getTetheringPassword());
+    QString pass = InputDialog::getText(tr("Enter new tethering password"), this, "", true, 8, wifi->getTetheringPassword());
     if (!pass.isEmpty()) {
       wifi->changeTetheringPassword(pass);
     }
@@ -141,7 +141,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(editPasswordButton);
 
   // IP address
-  ipLabel = new LabelControl("IP Address", wifi->ipv4_address);
+  ipLabel = new LabelControl(tr("IP Address"), wifi->ipv4_address);
   list->addItem(ipLabel);
 
   // SSH keys
@@ -150,7 +150,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
 
   // Roaming toggle
   const bool roamingEnabled = params.getBool("GsmRoaming");
-  ToggleControl *roamingToggle = new ToggleControl("Enable Roaming", "", "", roamingEnabled);
+  ToggleControl *roamingToggle = new ToggleControl(tr("Enable Roaming"), "", "", roamingEnabled);
   QObject::connect(roamingToggle, &SshToggle::toggleFlipped, [=](bool state) {
     params.putBool("GsmRoaming", state);
     wifi->updateGsmSettings(state, QString::fromStdString(params.get("GsmApn")));
@@ -158,11 +158,11 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(roamingToggle);
 
   // APN settings
-  ButtonControl *editApnButton = new ButtonControl("APN Setting", "EDIT");
+  ButtonControl *editApnButton = new ButtonControl(tr("APN Setting"), tr("EDIT"));
   connect(editApnButton, &ButtonControl::clicked, [=]() {
     const bool roamingEnabled = params.getBool("GsmRoaming");
     const QString cur_apn = QString::fromStdString(params.get("GsmApn"));
-    QString apn = InputDialog::getText("Enter APN", this, "leave blank for automatic configuration", false, -1, cur_apn).trimmed();
+    QString apn = InputDialog::getText(tr("Enter APN"), this, tr("leave blank for automatic configuration"), false, -1, cur_apn).trimmed();
 
     if (apn.isEmpty()) {
       params.remove("GsmApn");
@@ -174,7 +174,7 @@ AdvancedNetworking::AdvancedNetworking(QWidget* parent, WifiManager* wifi): QWid
   list->addItem(editApnButton);
 
   // Set initial config
-  wifi->updateGsmSettings(roamingEnabled,  QString::fromStdString(params.get("GsmApn")));
+  wifi->updateGsmSettings(roamingEnabled, QString::fromStdString(params.get("GsmApn")));
 
   main_layout->addWidget(new ScrollView(list, this));
   main_layout->addStretch(1);
@@ -207,7 +207,7 @@ WifiUI::WifiUI(QWidget *parent, WifiManager* wifi) : QWidget(parent), wifi(wifi)
   checkmark = QPixmap(ASSET_PATH + "offroad/icon_checkmark.svg").scaledToWidth(49, Qt::SmoothTransformation);
   circled_slash = QPixmap(ASSET_PATH + "img_circled_slash.svg").scaledToWidth(49, Qt::SmoothTransformation);
 
-  QLabel *scanning = new QLabel("Scanning for networks...");
+  QLabel *scanning = new QLabel(tr("Scanning for networks..."));
   scanning->setStyleSheet("font-size: 65px;");
   main_layout->addWidget(scanning, 0, Qt::AlignCenter);
 
@@ -260,7 +260,7 @@ void WifiUI::refresh() {
   clearLayout(main_layout);
 
   if (wifi->seenNetworks.size() == 0) {
-    QLabel *scanning = new QLabel("Scanning for networks...");
+    QLabel *scanning = new QLabel(tr("Scanning for networks..."));
     scanning->setStyleSheet("font-size: 65px;");
     main_layout->addWidget(scanning, 0, Qt::AlignCenter);
     return;
@@ -286,17 +286,17 @@ void WifiUI::refresh() {
     hlayout->addWidget(ssidLabel, network.connected == ConnectedType::CONNECTING ? 0 : 1);
 
     if (network.connected == ConnectedType::CONNECTING) {
-      QPushButton *connecting = new QPushButton("CONNECTING...");
+      QPushButton *connecting = new QPushButton(tr("CONNECTING..."));
       connecting->setObjectName("connecting");
       hlayout->addWidget(connecting, 2, Qt::AlignLeft);
     }
 
     // Forget button
     if (wifi->isKnownConnection(network.ssid) && !wifi->isTetheringEnabled()) {
-      QPushButton *forgetBtn = new QPushButton("FORGET");
+      QPushButton *forgetBtn = new QPushButton(tr("FORGET"));
       forgetBtn->setObjectName("forgetBtn");
       QObject::connect(forgetBtn, &QPushButton::clicked, [=]() {
-        if (ConfirmationDialog::confirm("Forget Wi-Fi Network \"" + QString::fromUtf8(network.ssid) + "\"?", this)) {
+        if (ConfirmationDialog::confirm(tr("Forget Wi-Fi Network \"%1\"?").arg(QString::fromUtf8(network.ssid)), this)) {
           wifi->forgetConnection(network.ssid);
         }
       });
diff --git a/selfdrive/ui/qt/offroad/onboarding.cc b/selfdrive/ui/qt/offroad/onboarding.cc
index d32cc26e43..f3e50b572b 100644
--- a/selfdrive/ui/qt/offroad/onboarding.cc
+++ b/selfdrive/ui/qt/offroad/onboarding.cc
@@ -76,7 +76,7 @@ void TermsPage::showEvent(QShowEvent *event) {
   main_layout->setContentsMargins(45, 35, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Terms & Conditions");
+  QLabel *title = new QLabel(tr("Terms & Conditions"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title);
 
@@ -104,11 +104,11 @@ void TermsPage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *decline_btn = new QPushButton("Decline");
+  QPushButton *decline_btn = new QPushButton(tr("Decline"));
   buttons->addWidget(decline_btn);
   QObject::connect(decline_btn, &QPushButton::clicked, this, &TermsPage::declinedTerms);
 
-  accept_btn = new QPushButton("Scroll to accept");
+  accept_btn = new QPushButton(tr("Scroll to accept"));
   accept_btn->setEnabled(false);
   accept_btn->setStyleSheet(R"(
     QPushButton {
@@ -123,7 +123,7 @@ void TermsPage::showEvent(QShowEvent *event) {
 }
 
 void TermsPage::enableAccept() {
-  accept_btn->setText("Agree");
+  accept_btn->setText(tr("Agree"));
   accept_btn->setEnabled(true);
 }
 
@@ -137,7 +137,7 @@ void DeclinePage::showEvent(QShowEvent *event) {
   main_layout->setSpacing(40);
 
   QLabel *text = new QLabel(this);
-  text->setText("You must accept the Terms and Conditions in order to use openpilot.");
+  text->setText(tr("You must accept the Terms and Conditions in order to use openpilot."));
   text->setStyleSheet(R"(font-size: 80px; font-weight: 300; margin: 200px;)");
   text->setWordWrap(true);
   main_layout->addWidget(text, 0, Qt::AlignCenter);
@@ -146,12 +146,12 @@ void DeclinePage::showEvent(QShowEvent *event) {
   buttons->setSpacing(45);
   main_layout->addLayout(buttons);
 
-  QPushButton *back_btn = new QPushButton("Back");
+  QPushButton *back_btn = new QPushButton(tr("Back"));
   buttons->addWidget(back_btn);
 
   QObject::connect(back_btn, &QPushButton::clicked, this, &DeclinePage::getBack);
 
-  QPushButton *uninstall_btn = new QPushButton(QString("Decline, uninstall %1").arg(getBrand()));
+  QPushButton *uninstall_btn = new QPushButton(tr("Decline, uninstall %1").arg(getBrand()));
   uninstall_btn->setStyleSheet("background-color: #B73D3D");
   buttons->addWidget(uninstall_btn);
   QObject::connect(uninstall_btn, &QPushButton::clicked, [=]() {
diff --git a/selfdrive/ui/qt/offroad/settings.cc b/selfdrive/ui/qt/offroad/settings.cc
index 175e6cf5a3..e6e21bd8d3 100644
--- a/selfdrive/ui/qt/offroad/settings.cc
+++ b/selfdrive/ui/qt/offroad/settings.cc
@@ -13,6 +13,7 @@
 #endif
 
 #include "common/params.h"
+#include "common/watchdog.h"
 #include "common/util.h"
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/widgets/controls.h"
@@ -23,53 +24,54 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
   std::vector<std::tuple<QString, QString, QString, QString>> toggles{
     {
       "OpenpilotEnabledToggle",
-      "Enable openpilot",
-      "Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.",
+      tr("Enable openpilot"),
+      tr("Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off."),
       "../assets/offroad/icon_openpilot.png",
     },
     {
       "IsLdwEnabled",
-      "Enable Lane Departure Warnings",
-      "Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).",
+      tr("Enable Lane Departure Warnings"),
+      tr("Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h)."),
       "../assets/offroad/icon_warning.png",
     },
-    {
-      "IsRHD",
-      "Enable Right-Hand Drive",
-      "Allow openpilot to obey left-hand traffic conventions and perform driver monitoring on right driver seat.",
-      "../assets/offroad/icon_openpilot_mirrored.png",
-    },
     {
       "IsMetric",
-      "Use Metric System",
-      "Display speed in km/h instead of mph.",
+      tr("Use Metric System"),
+      tr("Display speed in km/h instead of mph."),
       "../assets/offroad/icon_metric.png",
     },
     {
       "RecordFront",
-      "Record and Upload Driver Camera",
-      "Upload data from the driver facing camera and help improve the driver monitoring algorithm.",
+      tr("Record and Upload Driver Camera"),
+      tr("Upload data from the driver facing camera and help improve the driver monitoring algorithm."),
       "../assets/offroad/icon_monitoring.png",
     },
     {
       "DisengageOnAccelerator",
-      "Disengage On Accelerator Pedal",
-      "When enabled, pressing the accelerator pedal will disengage openpilot.",
+      tr("Disengage On Accelerator Pedal"),
+      tr("When enabled, pressing the accelerator pedal will disengage openpilot."),
       "../assets/offroad/icon_disengage_on_accelerator.svg",
     },
 #ifdef ENABLE_MAPS
     {
       "NavSettingTime24h",
-      "Show ETA in 24h format",
-      "Use 24h format instead of am/pm",
+      tr("Show ETA in 24h format"),
+      tr("Use 24h format instead of am/pm"),
       "../assets/offroad/icon_metric.png",
     },
+    {
+      "NavSettingLeftSide",
+      tr("Show Map on Left Side of UI"),
+      tr("Show map on left side when in split screen view."),
+      "../assets/offroad/icon_road.png",
+    },
 #endif
 
   };
@@ -79,8 +81,8 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   if (params.getBool("DisableRadar_Allow")) {
     toggles.push_back({
       "DisableRadar",
-      "openpilot Longitudinal Control",
-      "openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!",
+      tr("openpilot Longitudinal Control"),
+      tr("openpilot will disable the car's radar and will take over control of gas and brakes. Warning: this disables AEB!"),
       "../assets/offroad/icon_speed_limit.png",
     });
   }
@@ -95,29 +97,29 @@ TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
 
 DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   setSpacing(50);
-  addItem(new LabelControl("Dongle ID", getDongleId().value_or("N/A")));
-  addItem(new LabelControl("Serial", params.get("HardwareSerial").c_str()));
+  addItem(new LabelControl(tr("Dongle ID"), getDongleId().value_or(tr("N/A"))));
+  addItem(new LabelControl(tr("Serial"), params.get("HardwareSerial").c_str()));
 
   // offroad-only buttons
 
-  auto dcamBtn = new ButtonControl("Driver Camera", "PREVIEW",
-                                   "Preview the driver facing camera to help optimize device mounting position for best driver monitoring experience. (vehicle must be off)");
+  auto dcamBtn = new ButtonControl(tr("Driver Camera"), tr("PREVIEW"),
+                                   tr("Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)"));
   connect(dcamBtn, &ButtonControl::clicked, [=]() { emit showDriverView(); });
   addItem(dcamBtn);
 
-  auto resetCalibBtn = new ButtonControl("Reset Calibration", "RESET", " ");
+  auto resetCalibBtn = new ButtonControl(tr("Reset Calibration"), tr("RESET"), "");
   connect(resetCalibBtn, &ButtonControl::showDescription, this, &DevicePanel::updateCalibDescription);
   connect(resetCalibBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to reset calibration?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reset calibration?"), this)) {
       params.remove("CalibrationParams");
     }
   });
   addItem(resetCalibBtn);
 
   if (!params.getBool("Passive")) {
-    auto retrainingBtn = new ButtonControl("Review Training Guide", "REVIEW", "Review the rules, features, and limitations of openpilot");
+    auto retrainingBtn = new ButtonControl(tr("Review Training Guide"), tr("REVIEW"), tr("Review the rules, features, and limitations of openpilot"));
     connect(retrainingBtn, &ButtonControl::clicked, [=]() {
-      if (ConfirmationDialog::confirm("Are you sure you want to review the training guide?", this)) {
+      if (ConfirmationDialog::confirm(tr("Are you sure you want to review the training guide?"), this)) {
         emit reviewTrainingGuide();
       }
     });
@@ -125,7 +127,7 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   }
 
   if (Hardware::TICI()) {
-    auto regulatoryBtn = new ButtonControl("Regulatory", "VIEW", "");
+    auto regulatoryBtn = new ButtonControl(tr("Regulatory"), tr("VIEW"), "");
     connect(regulatoryBtn, &ButtonControl::clicked, [=]() {
       const std::string txt = util::read_file("../assets/offroad/fcc.html");
       RichTextDialog::alert(QString::fromStdString(txt), this);
@@ -133,6 +135,20 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
     addItem(regulatoryBtn);
   }
 
+  auto translateBtn = new ButtonControl(tr("Change Language"), tr("CHANGE"), "");
+  connect(translateBtn, &ButtonControl::clicked, [=]() {
+    QMap<QString, QString> langs = getSupportedLanguages();
+    QString currentLang = QString::fromStdString(Params().get("LanguageSetting"));
+    QString selection = MultiOptionDialog::getSelection(tr("Select a language"), langs.keys(), langs.key(currentLang), this);
+    if (!selection.isEmpty()) {
+      // put language setting, exit Qt UI, and trigger fast restart
+      Params().put("LanguageSetting", langs[selection].toStdString());
+      qApp->exit(18);
+      watchdog_kick(0);
+    }
+  });
+  addItem(translateBtn);
+
   QObject::connect(uiState(), &UIState::offroadTransition, [=](bool offroad) {
     for (auto btn : findChildren<ButtonControl *>()) {
       btn->setEnabled(offroad);
@@ -143,12 +159,12 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
   QHBoxLayout *power_layout = new QHBoxLayout();
   power_layout->setSpacing(30);
 
-  QPushButton *reboot_btn = new QPushButton("Reboot");
+  QPushButton *reboot_btn = new QPushButton(tr("Reboot"));
   reboot_btn->setObjectName("reboot_btn");
   power_layout->addWidget(reboot_btn);
   QObject::connect(reboot_btn, &QPushButton::clicked, this, &DevicePanel::reboot);
 
-  QPushButton *poweroff_btn = new QPushButton("Power Off");
+  QPushButton *poweroff_btn = new QPushButton(tr("Power Off"));
   poweroff_btn->setObjectName("poweroff_btn");
   power_layout->addWidget(poweroff_btn);
   QObject::connect(poweroff_btn, &QPushButton::clicked, this, &DevicePanel::poweroff);
@@ -168,8 +184,8 @@ DevicePanel::DevicePanel(SettingsWindow *parent) : ListWidget(parent) {
 
 void DevicePanel::updateCalibDescription() {
   QString desc =
-      "openpilot requires the device to be mounted within 4° left or right and "
-      "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.";
+      tr("openpilot requires the device to be mounted within 4° left or right and "
+         "within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.");
   std::string calib_bytes = Params().get("CalibrationParams");
   if (!calib_bytes.empty()) {
     try {
@@ -179,9 +195,9 @@ void DevicePanel::updateCalibDescription() {
       if (calib.getCalStatus() != 0) {
         double pitch = calib.getRpyCalib()[1] * (180 / M_PI);
         double yaw = calib.getRpyCalib()[2] * (180 / M_PI);
-        desc += QString(" Your device is pointed %1° %2 and %3° %4.")
-                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? "down" : "up",
-                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? "left" : "right");
+        desc += tr(" Your device is pointed %1° %2 and %3° %4.")
+                    .arg(QString::number(std::abs(pitch), 'g', 1), pitch > 0 ? tr("down") : tr("up"),
+                         QString::number(std::abs(yaw), 'g', 1), yaw > 0 ? tr("left") : tr("right"));
       }
     } catch (kj::Exception) {
       qInfo() << "invalid CalibrationParams";
@@ -192,66 +208,82 @@ void DevicePanel::updateCalibDescription() {
 
 void DevicePanel::reboot() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to reboot?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to reboot?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoReboot", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Reboot", this);
+    ConfirmationDialog::alert(tr("Disengage to Reboot"), this);
   }
 }
 
 void DevicePanel::poweroff() {
   if (!uiState()->engaged()) {
-    if (ConfirmationDialog::confirm("Are you sure you want to power off?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to power off?"), this)) {
       // Check engaged again in case it changed while the dialog was open
       if (!uiState()->engaged()) {
         Params().putBool("DoShutdown", true);
       }
     }
   } else {
-    ConfirmationDialog::alert("Disengage to Power Off", this);
+    ConfirmationDialog::alert(tr("Disengage to Power Off"), this);
   }
 }
 
 SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
-  gitBranchLbl = new LabelControl("Git Branch");
-  gitCommitLbl = new LabelControl("Git Commit");
-  osVersionLbl = new LabelControl("OS Version");
-  versionLbl = new LabelControl("Version", "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
-  lastUpdateLbl = new LabelControl("Last Update Check", "", "The last time openpilot successfully checked for an update. The updater only runs while the car is off.");
-  updateBtn = new ButtonControl("Check for Update", "");
+  gitBranchLbl = new LabelControl(tr("Git Branch"));
+  gitCommitLbl = new LabelControl(tr("Git Commit"));
+  osVersionLbl = new LabelControl(tr("OS Version"));
+  versionLbl = new LabelControl(tr("Version"), "", QString::fromStdString(params.get("ReleaseNotes")).trimmed());
+  lastUpdateLbl = new LabelControl(tr("Last Update Check"), "", tr("The last time openpilot successfully checked for an update. The updater only runs while the car is off."));
+  updateBtn = new ButtonControl(tr("Check for Update"), "");
   connect(updateBtn, &ButtonControl::clicked, [=]() {
     if (params.getBool("IsOffroad")) {
       fs_watch->addPath(QString::fromStdString(params.getParamPath("LastUpdateTime")));
       fs_watch->addPath(QString::fromStdString(params.getParamPath("UpdateFailedCount")));
-      updateBtn->setText("CHECKING");
+      updateBtn->setText(tr("CHECKING"));
       updateBtn->setEnabled(false);
     }
     std::system("pkill -1 -f selfdrive.updated");
   });
+  connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled);
+
+  branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"), tr("The new branch will be pulled the next time the updater runs."));
+  connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() {
+    QString branch = InputDialog::getText(tr("Enter branch name"), this, tr("The new branch will be pulled the next time the updater runs."),
+                                          false, -1, QString::fromStdString(params.get("SwitchToBranch")));
+    if (branch.isEmpty()) {
+      params.remove("SwitchToBranch");
+    } else {
+      params.put("SwitchToBranch", branch.toStdString());
+    }
+    std::system("pkill -1 -f selfdrive.updated");
+  });
+  connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled);
 
-
-  auto uninstallBtn = new ButtonControl("Uninstall " + getBrand(), "UNINSTALL");
+  auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
-    if (ConfirmationDialog::confirm("Are you sure you want to uninstall?", this)) {
+    if (ConfirmationDialog::confirm(tr("Are you sure you want to uninstall?"), this)) {
       params.putBool("DoUninstall", true);
     }
   });
   connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
 
-  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
+  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
   for (QWidget* w : widgets) {
+    if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) {
+      continue;
+    }
     addItem(w);
   }
 
   fs_watch = new QFileSystemWatcher(this);
   QObject::connect(fs_watch, &QFileSystemWatcher::fileChanged, [=](const QString path) {
     if (path.contains("UpdateFailedCount") && std::atoi(params.get("UpdateFailedCount").c_str()) > 0) {
-      lastUpdateLbl->setText("failed to fetch update");
-      updateBtn->setText("CHECK");
+      lastUpdateLbl->setText(tr("failed to fetch update"));
+      updateBtn->setText(tr("CHECK"));
       updateBtn->setEnabled(true);
     } else if (path.contains("LastUpdateTime")) {
       updateLabels();
@@ -272,17 +304,13 @@ void SoftwarePanel::updateLabels() {
 
   versionLbl->setText(getBrandVersion());
   lastUpdateLbl->setText(lastUpdate);
-  updateBtn->setText("CHECK");
+  updateBtn->setText(tr("CHECK"));
   updateBtn->setEnabled(true);
   gitBranchLbl->setText(QString::fromStdString(params.get("GitBranch")));
   gitCommitLbl->setText(QString::fromStdString(params.get("GitCommit")).left(10));
   osVersionLbl->setText(QString::fromStdString(Hardware::get_os_version()).trimmed());
 }
 
-QWidget *network_panel(QWidget *parent) {
-  return new Networking(parent);
-}
-
 void SettingsWindow::showEvent(QShowEvent *event) {
   panel_widget->setCurrentIndex(0);
   nav_btns->buttons()[0]->setChecked(true);
@@ -301,7 +329,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   )");
 
   // close button
-  QPushButton *close_btn = new QPushButton("×");
+  QPushButton *close_btn = new QPushButton(tr("×"));
   close_btn->setStyleSheet(R"(
     QPushButton {
       font-size: 140px;
@@ -327,15 +355,15 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
   QObject::connect(device, &DevicePanel::showDriverView, this, &SettingsWindow::showDriverView);
 
   QList<QPair<QString, QWidget *>> panels = {
-    {"Device", device},
-    {"Network", network_panel(this)},
-    {"Toggles", new TogglesPanel(this)},
-    {"Software", new SoftwarePanel(this)},
+    {tr("Device"), device},
+    {tr("Network"), new Networking(this)},
+    {tr("Toggles"), new TogglesPanel(this)},
+    {tr("Software"), new SoftwarePanel(this)},
   };
 
 #ifdef ENABLE_MAPS
   auto map_panel = new MapPanel(this);
-  panels.push_back({"Navigation", map_panel});
+  panels.push_back({tr("Navigation"), map_panel});
   QObject::connect(map_panel, &MapPanel::closeSettings, this, &SettingsWindow::closeSettings);
 #endif
 
@@ -367,7 +395,7 @@ SettingsWindow::SettingsWindow(QWidget *parent) : QFrame(parent) {
     nav_btns->addButton(btn);
     sidebar_layout->addWidget(btn, 0, Qt::AlignRight);
 
-    const int lr_margin = name != "Network" ? 50 : 0;  // Network panel handles its own margins
+    const int lr_margin = name != tr("Network") ? 50 : 0;  // Network panel handles its own margins
     panel->setContentsMargins(lr_margin, 25, lr_margin, 25);
 
     ScrollView *panel_frame = new ScrollView(panel, this);
diff --git a/selfdrive/ui/qt/offroad/settings.h b/selfdrive/ui/qt/offroad/settings.h
index 160f10f99f..45efe255cf 100644
--- a/selfdrive/ui/qt/offroad/settings.h
+++ b/selfdrive/ui/qt/offroad/settings.h
@@ -71,6 +71,7 @@ private:
   LabelControl *versionLbl;
   LabelControl *lastUpdateLbl;
   ButtonControl *updateBtn;
+  ButtonControl *branchSwitcherBtn;
 
   Params params;
   QFileSystemWatcher *fs_watch;
diff --git a/selfdrive/ui/qt/offroad/wifiManager.cc b/selfdrive/ui/qt/offroad/wifiManager.cc
index 124138eea4..fbb64b972e 100644
--- a/selfdrive/ui/qt/offroad/wifiManager.cc
+++ b/selfdrive/ui/qt/offroad/wifiManager.cc
@@ -303,7 +303,7 @@ void WifiManager::initConnections() {
     const Connection settings = getConnectionSettings(path);
     if (settings.value("connection").value("type") == "802-11-wireless") {
       knownConnections[path] = settings.value("802-11-wireless").value("ssid").toString();
-    } else if (path.path() != "/") {
+    } else if (settings.value("connection").value("id") == "lte") {
       lteConnectionPath = path;
     }
   }
diff --git a/selfdrive/ui/qt/onroad.cc b/selfdrive/ui/qt/onroad.cc
index 2759416236..0ab1424023 100644
--- a/selfdrive/ui/qt/onroad.cc
+++ b/selfdrive/ui/qt/onroad.cc
@@ -52,6 +52,12 @@ void OnroadWindow::updateState(const UIState &s) {
     alerts->updateAlert(alert, bgColor);
   }
 
+  if (s.scene.map_on_left) {
+    split->setDirection(QBoxLayout::LeftToRight);
+  } else {
+    split->setDirection(QBoxLayout::RightToLeft);
+  }
+
   nvg->updateState(s);
 
   if (bg != bgColor) {
@@ -80,7 +86,7 @@ void OnroadWindow::offroadTransition(bool offroad) {
       QObject::connect(uiState(), &UIState::offroadTransition, m, &MapWindow::offroadTransition);
 
       m->setFixedWidth(topWidget(this)->width() / 2);
-      split->addWidget(m, 0, Qt::AlignRight);
+      split->insertWidget(0, m);
 
       // Make map visible after adding to split
       m->offroadTransition(offroad);
@@ -178,13 +184,17 @@ void NvgWindow::updateState(const UIState &s) {
 
   const auto cs = sm["controlsState"].getControlsState();
 
-  float set_speed = cs_alive ? cs.getVCruise() : SET_SPEED_NA;
+  // Handle older routes where vCruiseCluster is not set
+  float v_cruise =  cs.getVCruiseCluster() == 0.0 ? cs.getVCruise() : cs.getVCruiseCluster();
+  float set_speed = cs_alive ? v_cruise : SET_SPEED_NA;
   bool cruise_set = set_speed > 0 && (int)set_speed != SET_SPEED_NA;
   if (cruise_set && !s.scene.is_metric) {
     set_speed *= KM_TO_MILE;
   }
 
-  float cur_speed = cs_alive ? std::max<float>(0.0, sm["carState"].getCarState().getVEgo()) : 0.0;
+  // Handle older routes where vEgoCluster is not set
+  float v_ego = sm["carState"].getCarState().getVEgoCluster() == 0.0 ? sm["carState"].getCarState().getVEgo() : sm["carState"].getCarState().getVEgoCluster();
+  float cur_speed = cs_alive ? std::max<float>(0.0, v_ego) : 0.0;
   cur_speed  *= s.scene.is_metric ? MS_TO_KPH : MS_TO_MPH;
 
   auto speed_limit_sign = sm["navInstruction"].getNavInstruction().getSpeedLimitSign();
@@ -199,7 +209,7 @@ void NvgWindow::updateState(const UIState &s) {
   setProperty("is_metric", s.scene.is_metric);
   setProperty("speed", cur_speed);
   setProperty("setSpeed", set_speed);
-  setProperty("speedUnit", s.scene.is_metric ? "km/h" : "mph");
+  setProperty("speedUnit", s.scene.is_metric ? tr("km/h") : tr("mph"));
   setProperty("hideDM", cs.getAlertSize() != cereal::ControlsState::AlertSize::NONE);
   setProperty("status", s.status);
 
@@ -207,6 +217,13 @@ void NvgWindow::updateState(const UIState &s) {
   if (sm.frame % (UI_FREQ / 2) == 0) {
     setProperty("engageable", cs.getEngageable() || cs.getEnabled());
     setProperty("dmActive", sm["driverMonitoringState"].getDriverMonitoringState().getIsActiveMode());
+    setProperty("rightHandDM", sm["driverMonitoringState"].getDriverMonitoringState().getIsRHD());
+  }
+
+  if (s.scene.calibration_valid) {
+    CameraViewWidget::updateCalibration(s.scene.view_from_calib);
+  } else {
+    CameraViewWidget::updateCalibration(DEFAULT_CALIBRATION);
   }
 }
 
@@ -260,10 +277,10 @@ void NvgWindow::drawHud(QPainter &p) {
     p.setPen(QColor(0xa6, 0xa6, 0xa6, 0xff));
   }
   configFont(p, "Inter", 40, "SemiBold");
-  QRect max_rect = getTextRect(p, Qt::AlignCenter, "MAX");
+  QRect max_rect = getTextRect(p, Qt::AlignCenter, tr("MAX"));
   max_rect.moveCenter({set_speed_rect.center().x(), 0});
   max_rect.moveTop(set_speed_rect.top() + 27);
-  p.drawText(max_rect, Qt::AlignCenter, "MAX");
+  p.drawText(max_rect, Qt::AlignCenter, tr("MAX"));
 
   // Draw set speed
   if (is_cruise_set) {
@@ -290,7 +307,7 @@ void NvgWindow::drawHud(QPainter &p) {
   // US/Canada (MUTCD style) sign
   if (has_us_speed_limit) {
     const int border_width = 6;
-    const int sign_width = (speedLimitStr.size() >= 3) ? 199 : 148;
+    const int sign_width = rect_width - 24;
     const int sign_height = 186;
 
     // White outer square
@@ -307,16 +324,16 @@ void NvgWindow::drawHud(QPainter &p) {
 
     // "SPEED"
     configFont(p, "Inter", 28, "SemiBold");
-    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, "SPEED");
+    QRect text_speed_rect = getTextRect(p, Qt::AlignCenter, tr("SPEED"));
     text_speed_rect.moveCenter({sign_rect.center().x(), 0});
     text_speed_rect.moveTop(sign_rect_outer.top() + 22);
-    p.drawText(text_speed_rect, Qt::AlignCenter, "SPEED");
+    p.drawText(text_speed_rect, Qt::AlignCenter, tr("SPEED"));
 
     // "LIMIT"
-    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, "LIMIT");
+    QRect text_limit_rect = getTextRect(p, Qt::AlignCenter, tr("LIMIT"));
     text_limit_rect.moveCenter({sign_rect.center().x(), 0});
     text_limit_rect.moveTop(sign_rect_outer.top() + 51);
-    p.drawText(text_limit_rect, Qt::AlignCenter, "LIMIT");
+    p.drawText(text_limit_rect, Qt::AlignCenter, tr("LIMIT"));
 
     // Speed limit value
     configFont(p, "Inter", 70, "Bold");
@@ -365,7 +382,8 @@ void NvgWindow::drawHud(QPainter &p) {
 
   // dm icon
   if (!hideDM) {
-    drawIcon(p, radius / 2 + (bdr_s * 2), rect().bottom() - footer_h / 2,
+    int dm_icon_x = rightHandDM ? rect().right() -  radius / 2 - (bdr_s * 2) : radius / 2 + (bdr_s * 2);
+    drawIcon(p, dm_icon_x, rect().bottom() - footer_h / 2,
              dm_img, blackColor(70), dmActive ? 1.0 : 0.2);
   }
   p.restore();
@@ -399,23 +417,20 @@ void NvgWindow::initializeGL() {
   setBackgroundColor(bg_colors[STATUS_DISENGAGED]);
 }
 
-void NvgWindow::updateFrameMat(int w, int h) {
-  CameraViewWidget::updateFrameMat(w, h);
-
+void NvgWindow::updateFrameMat() {
+  CameraViewWidget::updateFrameMat();
   UIState *s = uiState();
+  int w = width(), h = height();
+
   s->fb_w = w;
   s->fb_h = h;
-  auto intrinsic_matrix = s->wide_camera ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-  float zoom = ZOOM / intrinsic_matrix.v[0];
-  if (s->wide_camera) {
-    zoom *= 0.5;
-  }
+
   // Apply transformation such that video pixel coordinates match video
   // 1) Put (0, 0) in the middle of the video
   // 2) Apply same scaling as video
   // 3) Put (0, 0) in top left corner of video
   s->car_space_transform.reset();
-  s->car_space_transform.translate(w / 2, h / 2 + y_offset)
+  s->car_space_transform.translate(w / 2 - x_offset, h / 2 - y_offset)
       .scale(zoom, zoom)
       .translate(-intrinsic_matrix.v[2], -intrinsic_matrix.v[5]);
 }
@@ -427,13 +442,13 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   // lanelines
   for (int i = 0; i < std::size(scene.lane_line_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 1.0, 1.0, std::clamp<float>(scene.lane_line_probs[i], 0.0, 0.7)));
-    painter.drawPolygon(scene.lane_line_vertices[i].v, scene.lane_line_vertices[i].cnt);
+    painter.drawPolygon(scene.lane_line_vertices[i]);
   }
 
   // road edges
   for (int i = 0; i < std::size(scene.road_edge_vertices); ++i) {
     painter.setBrush(QColor::fromRgbF(1.0, 0, 0, std::clamp<float>(1.0 - scene.road_edge_stds[i], 0.0, 1.0)));
-    painter.drawPolygon(scene.road_edge_vertices[i].v, scene.road_edge_vertices[i].cnt);
+    painter.drawPolygon(scene.road_edge_vertices[i]);
   }
 
   // paint path
@@ -452,7 +467,7 @@ void NvgWindow::drawLaneLines(QPainter &painter, const UIState *s) {
   bg.setColorAt(0.75 / 1.5, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.35));
   bg.setColorAt(1.0, QColor::fromHslF(curve_hue / 360., 1.0, 0.68, 0.0));
   painter.setBrush(bg);
-  painter.drawPolygon(scene.track_vertices.v, scene.track_vertices.cnt);
+  painter.drawPolygon(scene.track_vertices);
 
   painter.restore();
 }
diff --git a/selfdrive/ui/qt/onroad.h b/selfdrive/ui/qt/onroad.h
index 4cd88fc9e3..7f51a73510 100644
--- a/selfdrive/ui/qt/onroad.h
+++ b/selfdrive/ui/qt/onroad.h
@@ -39,6 +39,7 @@ class NvgWindow : public CameraViewWidget {
   Q_PROPERTY(bool engageable MEMBER engageable);
   Q_PROPERTY(bool dmActive MEMBER dmActive);
   Q_PROPERTY(bool hideDM MEMBER hideDM);
+  Q_PROPERTY(bool rightHandDM MEMBER rightHandDM);
   Q_PROPERTY(int status MEMBER status);
 
 public:
@@ -62,6 +63,7 @@ private:
   bool engageable = false;
   bool dmActive = false;
   bool hideDM = false;
+  bool rightHandDM = false;
   bool has_us_speed_limit = false;
   bool has_eu_speed_limit = false;
   int status = STATUS_DISENGAGED;
@@ -70,7 +72,7 @@ protected:
   void paintGL() override;
   void initializeGL() override;
   void showEvent(QShowEvent *event) override;
-  void updateFrameMat(int w, int h) override;
+  void updateFrameMat() override;
   void drawLaneLines(QPainter &painter, const UIState *s);
   void drawLead(QPainter &painter, const cereal::ModelDataV2::LeadDataV3::Reader &lead_data, const QPointF &vd);
   void drawHud(QPainter &p);
diff --git a/selfdrive/ui/qt/setup/reset.cc b/selfdrive/ui/qt/setup/reset.cc
index 9ffcf7f6cf..582217c1d7 100644
--- a/selfdrive/ui/qt/setup/reset.cc
+++ b/selfdrive/ui/qt/setup/reset.cc
@@ -26,16 +26,16 @@ void Reset::doReset() {
   if (rm == 0 || fmt == 0) {
     std::system("sudo reboot");
   }
-  body->setText("Reset failed. Reboot to try again.");
+  body->setText(tr("Reset failed. Reboot to try again."));
   rebootBtn->show();
 }
 
 void Reset::confirm() {
-  const QString confirm_txt = "Are you sure you want to reset your device?";
+  const QString confirm_txt = tr("Are you sure you want to reset your device?");
   if (body->text() != confirm_txt) {
     body->setText(confirm_txt);
   } else {
-    body->setText("Resetting device...");
+    body->setText(tr("Resetting device..."));
     rejectBtn->hide();
     rebootBtn->hide();
     confirmBtn->hide();
@@ -50,13 +50,13 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->setContentsMargins(45, 220, 45, 45);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("System Reset");
+  QLabel *title = new QLabel(tr("System Reset"));
   title->setStyleSheet("font-size: 90px; font-weight: 600;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(60);
 
-  body = new QLabel("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.");
+  body = new QLabel(tr("System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot."));
   body->setWordWrap(true);
   body->setStyleSheet("font-size: 80px; font-weight: light;");
   main_layout->addWidget(body, 1, Qt::AlignTop | Qt::AlignLeft);
@@ -65,11 +65,11 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  rejectBtn = new QPushButton("Cancel");
+  rejectBtn = new QPushButton(tr("Cancel"));
   blayout->addWidget(rejectBtn);
   QObject::connect(rejectBtn, &QPushButton::clicked, QCoreApplication::instance(), &QCoreApplication::quit);
 
-  rebootBtn = new QPushButton("Reboot");
+  rebootBtn = new QPushButton(tr("Reboot"));
   blayout->addWidget(rebootBtn);
 #ifdef __aarch64__
   QObject::connect(rebootBtn, &QPushButton::clicked, [=]{
@@ -77,7 +77,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   });
 #endif
 
-  confirmBtn = new QPushButton("Confirm");
+  confirmBtn = new QPushButton(tr("Confirm"));
   confirmBtn->setStyleSheet("background-color: #465BEA;");
   blayout->addWidget(confirmBtn);
   QObject::connect(confirmBtn, &QPushButton::clicked, this, &Reset::confirm);
@@ -85,7 +85,7 @@ Reset::Reset(bool recover, QWidget *parent) : QWidget(parent) {
   rejectBtn->setVisible(!recover);
   rebootBtn->setVisible(recover);
   if (recover) {
-    body->setText("Unable to mount data partition. Press confirm to reset your device.");
+    body->setText(tr("Unable to mount data partition. Press confirm to reset your device."));
   }
 
   setStyleSheet(R"(
diff --git a/selfdrive/ui/qt/setup/setup.cc b/selfdrive/ui/qt/setup/setup.cc
index 10a2d05f34..69dafcf741 100644
--- a/selfdrive/ui/qt/setup/setup.cc
+++ b/selfdrive/ui/qt/setup/setup.cc
@@ -70,13 +70,13 @@ QWidget * Setup::low_voltage() {
   inner_layout->addWidget(triangle, 0, Qt::AlignTop | Qt::AlignLeft);
   inner_layout->addSpacing(80);
 
-  QLabel *title = new QLabel("WARNING: Low Voltage");
+  QLabel *title = new QLabel(tr("WARNING: Low Voltage"));
   title->setStyleSheet("font-size: 90px; font-weight: 500; color: #FF594F;");
   inner_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   inner_layout->addSpacing(25);
 
-  QLabel *body = new QLabel("Power your device in a car with a harness or proceed at your own risk.");
+  QLabel *body = new QLabel(tr("Power your device in a car with a harness or proceed at your own risk."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300;");
@@ -89,14 +89,14 @@ QWidget * Setup::low_voltage() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *poweroff = new QPushButton("Power off");
+  QPushButton *poweroff = new QPushButton(tr("Power off"));
   poweroff->setObjectName("navBtn");
   blayout->addWidget(poweroff);
   QObject::connect(poweroff, &QPushButton::clicked, this, [=]() {
     Hardware::poweroff();
   });
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   blayout->addWidget(cont);
   QObject::connect(cont, &QPushButton::clicked, this, &Setup::nextPage);
@@ -114,12 +114,12 @@ QWidget * Setup::getting_started() {
   vlayout->setContentsMargins(165, 280, 100, 0);
   main_layout->addLayout(vlayout);
 
-  QLabel *title = new QLabel("Getting Started");
+  QLabel *title = new QLabel(tr("Getting Started"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   vlayout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   vlayout->addSpacing(90);
-  QLabel *desc = new QLabel("Before we get on the road, let’s finish installation and cover some details.");
+  QLabel *desc = new QLabel(tr("Before we get on the road, let’s finish installation and cover some details."));
   desc->setWordWrap(true);
   desc->setStyleSheet("font-size: 80px; font-weight: 300;");
   vlayout->addWidget(desc, 0, Qt::AlignTop | Qt::AlignLeft);
@@ -144,7 +144,7 @@ QWidget * Setup::network_setup() {
   main_layout->setContentsMargins(55, 50, 55, 50);
 
   // title
-  QLabel *title = new QLabel("Connect to Wi-Fi");
+  QLabel *title = new QLabel(tr("Connect to Wi-Fi"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -162,7 +162,7 @@ QWidget * Setup::network_setup() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
@@ -179,9 +179,9 @@ QWidget * Setup::network_setup() {
     cont->setEnabled(success);
     if (success) {
       const bool cell = networking->wifi->currentNetworkType() == NetworkType::CELL;
-      cont->setText(cell ? "Continue without Wi-Fi" : "Continue");
+      cont->setText(cell ? tr("Continue without Wi-Fi") : tr("Continue"));
     } else {
-      cont->setText("Waiting for internet");
+      cont->setText(tr("Waiting for internet"));
     }
     repaint();
   });
@@ -235,7 +235,7 @@ QWidget * Setup::software_selection() {
   main_layout->setSpacing(0);
 
   // title
-  QLabel *title = new QLabel("Choose Software to Install");
+  QLabel *title = new QLabel(tr("Choose Software to Install"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
 
@@ -245,12 +245,12 @@ QWidget * Setup::software_selection() {
   QButtonGroup *group = new QButtonGroup(widget);
   group->setExclusive(true);
 
-  QWidget *dashcam = radio_button("Dashcam", group);
+  QWidget *dashcam = radio_button(tr("Dashcam"), group);
   main_layout->addWidget(dashcam);
 
   main_layout->addSpacing(30);
 
-  QWidget *custom = radio_button("Custom Software", group);
+  QWidget *custom = radio_button(tr("Custom Software"), group);
   main_layout->addWidget(custom);
 
   main_layout->addStretch();
@@ -260,12 +260,12 @@ QWidget * Setup::software_selection() {
   main_layout->addLayout(blayout);
   blayout->setSpacing(50);
 
-  QPushButton *back = new QPushButton("Back");
+  QPushButton *back = new QPushButton(tr("Back"));
   back->setObjectName("navBtn");
   QObject::connect(back, &QPushButton::clicked, this, &Setup::prevPage);
   blayout->addWidget(back);
 
-  QPushButton *cont = new QPushButton("Continue");
+  QPushButton *cont = new QPushButton(tr("Continue"));
   cont->setObjectName("navBtn");
   cont->setEnabled(false);
   cont->setProperty("primary", true);
@@ -278,7 +278,7 @@ QWidget * Setup::software_selection() {
     });
     QString url = DASHCAM_URL;
     if (group->checkedButton() != dashcam) {
-      url = InputDialog::getText("Enter URL", this, "for Custom Software");
+      url = InputDialog::getText(tr("Enter URL"), this, tr("for Custom Software"));
     }
     if (!url.isEmpty()) {
       QTimer::singleShot(1000, this, [=]() {
@@ -300,7 +300,7 @@ QWidget * Setup::software_selection() {
 QWidget * Setup::downloading() {
   QWidget *widget = new QWidget();
   QVBoxLayout *main_layout = new QVBoxLayout(widget);
-  QLabel *txt = new QLabel("Downloading...");
+  QLabel *txt = new QLabel(tr("Downloading..."));
   txt->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(txt, 0, Qt::AlignCenter);
   return widget;
@@ -312,13 +312,13 @@ QWidget * Setup::download_failed() {
   main_layout->setContentsMargins(55, 225, 55, 55);
   main_layout->setSpacing(0);
 
-  QLabel *title = new QLabel("Download Failed");
+  QLabel *title = new QLabel(tr("Download Failed"));
   title->setStyleSheet("font-size: 90px; font-weight: 500;");
   main_layout->addWidget(title, 0, Qt::AlignTop | Qt::AlignLeft);
 
   main_layout->addSpacing(67);
 
-  QLabel *body = new QLabel("Ensure the entered URL is valid, and the device’s internet connection is good.");
+  QLabel *body = new QLabel(tr("Ensure the entered URL is valid, and the device’s internet connection is good."));
   body->setWordWrap(true);
   body->setAlignment(Qt::AlignTop | Qt::AlignLeft);
   body->setStyleSheet("font-size: 80px; font-weight: 300; margin-right: 100px;");
@@ -331,14 +331,14 @@ QWidget * Setup::download_failed() {
   blayout->setSpacing(50);
   main_layout->addLayout(blayout, 0);
 
-  QPushButton *reboot = new QPushButton("Reboot device");
+  QPushButton *reboot = new QPushButton(tr("Reboot device"));
   reboot->setObjectName("navBtn");
   blayout->addWidget(reboot);
   QObject::connect(reboot, &QPushButton::clicked, this, [=]() {
     Hardware::reboot();
   });
 
-  QPushButton *restart = new QPushButton("Start over");
+  QPushButton *restart = new QPushButton(tr("Start over"));
   restart->setObjectName("navBtn");
   restart->setProperty("primary", true);
   blayout->addWidget(restart);
diff --git a/selfdrive/ui/qt/setup/updater.cc b/selfdrive/ui/qt/setup/updater.cc
index 6e8189f4ba..fd7148c534 100644
--- a/selfdrive/ui/qt/setup/updater.cc
+++ b/selfdrive/ui/qt/setup/updater.cc
@@ -20,13 +20,13 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     QVBoxLayout *layout = new QVBoxLayout(prompt);
     layout->setContentsMargins(100, 250, 100, 100);
 
-    QLabel *title = new QLabel("Update Required");
+    QLabel *title = new QLabel(tr("Update Required"));
     title->setStyleSheet("font-size: 80px; font-weight: bold;");
     layout->addWidget(title);
 
     layout->addSpacing(75);
 
-    QLabel *desc = new QLabel("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.");
+    QLabel *desc = new QLabel(tr("An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB."));
     desc->setWordWrap(true);
     desc->setStyleSheet("font-size: 65px;");
     layout->addWidget(desc);
@@ -37,14 +37,14 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     hlayout->setSpacing(30);
     layout->addLayout(hlayout);
 
-    QPushButton *connect = new QPushButton("Connect to Wi-Fi");
+    QPushButton *connect = new QPushButton(tr("Connect to Wi-Fi"));
     connect->setObjectName("navBtn");
     QObject::connect(connect, &QPushButton::clicked, [=]() {
       setCurrentWidget(wifi);
     });
     hlayout->addWidget(connect);
 
-    QPushButton *install = new QPushButton("Install");
+    QPushButton *install = new QPushButton(tr("Install"));
     install->setObjectName("navBtn");
     install->setStyleSheet("background-color: #465BEA;");
     QObject::connect(install, &QPushButton::clicked, this, &Updater::installUpdate);
@@ -61,7 +61,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     networking->setStyleSheet("Networking { background-color: #292929; border-radius: 13px; }");
     layout->addWidget(networking, 1);
 
-    QPushButton *back = new QPushButton("Back");
+    QPushButton *back = new QPushButton(tr("Back"));
     back->setObjectName("navBtn");
     back->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(back, &QPushButton::clicked, [=]() {
@@ -77,7 +77,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
     layout->setContentsMargins(150, 330, 150, 150);
     layout->setSpacing(0);
 
-    text = new QLabel("Loading...");
+    text = new QLabel(tr("Loading..."));
     text->setStyleSheet("font-size: 90px; font-weight: 600;");
     layout->addWidget(text, 0, Qt::AlignTop);
 
@@ -91,7 +91,7 @@ Updater::Updater(const QString &updater_path, const QString &manifest_path, QWid
 
     layout->addStretch();
 
-    reboot = new QPushButton("Reboot");
+    reboot = new QPushButton(tr("Reboot"));
     reboot->setObjectName("navBtn");
     reboot->setStyleSheet("padding-left: 60px; padding-right: 60px;");
     QObject::connect(reboot, &QPushButton::clicked, [=]() {
@@ -161,7 +161,7 @@ void Updater::updateFinished(int exitCode, QProcess::ExitStatus exitStatus) {
   if (exitCode == 0) {
     Hardware::reboot();
   } else {
-    text->setText("Update failed");
+    text->setText(tr("Update failed"));
     reboot->show();
   }
 }
diff --git a/selfdrive/ui/qt/sidebar.cc b/selfdrive/ui/qt/sidebar.cc
index 00e72b352c..accab67bf0 100644
--- a/selfdrive/ui/qt/sidebar.cc
+++ b/selfdrive/ui/qt/sidebar.cc
@@ -64,26 +64,26 @@ void Sidebar::updateState(const UIState &s) {
   ItemStatus connectStatus;
   auto last_ping = deviceState.getLastAthenaPingTime();
   if (last_ping == 0) {
-    connectStatus = ItemStatus{{"CONNECT", "OFFLINE"}, warning_color};
+    connectStatus = ItemStatus{{tr("CONNECT"), tr("OFFLINE")}, warning_color};
   } else {
-    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{"CONNECT", "ONLINE"}, good_color} : ItemStatus{{"CONNECT", "ERROR"}, danger_color};
+    connectStatus = nanos_since_boot() - last_ping < 80e9 ? ItemStatus{{tr("CONNECT"), tr("ONLINE")}, good_color} : ItemStatus{{tr("CONNECT"), tr("ERROR")}, danger_color};
   }
   setProperty("connectStatus", QVariant::fromValue(connectStatus));
 
-  ItemStatus tempStatus = {{"TEMP", "HIGH"}, danger_color};
+  ItemStatus tempStatus = {{tr("TEMP"), tr("HIGH")}, danger_color};
   auto ts = deviceState.getThermalStatus();
   if (ts == cereal::DeviceState::ThermalStatus::GREEN) {
-    tempStatus = {{"TEMP", "GOOD"}, good_color};
+    tempStatus = {{tr("TEMP"), tr("GOOD")}, good_color};
   } else if (ts == cereal::DeviceState::ThermalStatus::YELLOW) {
-    tempStatus = {{"TEMP", "OK"}, warning_color};
+    tempStatus = {{tr("TEMP"), tr("OK")}, warning_color};
   }
   setProperty("tempStatus", QVariant::fromValue(tempStatus));
 
-  ItemStatus pandaStatus = {{"VEHICLE", "ONLINE"}, good_color};
+  ItemStatus pandaStatus = {{tr("VEHICLE"), tr("ONLINE")}, good_color};
   if (s.scene.pandaType == cereal::PandaState::PandaType::UNKNOWN) {
-    pandaStatus = {{"NO", "PANDA"}, danger_color};
+    pandaStatus = {{tr("NO"), tr("PANDA")}, danger_color};
   } else if (s.scene.started && !sm["liveLocationKalman"].getLiveLocationKalman().getGpsOK()) {
-    pandaStatus = {{"GPS", "SEARCH"}, warning_color};
+    pandaStatus = {{tr("GPS"), tr("SEARCH")}, warning_color};
   }
   setProperty("pandaStatus", QVariant::fromValue(pandaStatus));
 }
diff --git a/selfdrive/ui/qt/sidebar.h b/selfdrive/ui/qt/sidebar.h
index 98ae6564d6..4c6d8f47e5 100644
--- a/selfdrive/ui/qt/sidebar.h
+++ b/selfdrive/ui/qt/sidebar.h
@@ -34,13 +34,13 @@ protected:
 
   QPixmap home_img, settings_img;
   const QMap<cereal::DeviceState::NetworkType, QString> network_type = {
-    {cereal::DeviceState::NetworkType::NONE, "--"},
-    {cereal::DeviceState::NetworkType::WIFI, "Wi-Fi"},
-    {cereal::DeviceState::NetworkType::ETHERNET, "ETH"},
-    {cereal::DeviceState::NetworkType::CELL2_G, "2G"},
-    {cereal::DeviceState::NetworkType::CELL3_G, "3G"},
-    {cereal::DeviceState::NetworkType::CELL4_G, "LTE"},
-    {cereal::DeviceState::NetworkType::CELL5_G, "5G"}
+    {cereal::DeviceState::NetworkType::NONE, tr("--")},
+    {cereal::DeviceState::NetworkType::WIFI, tr("Wi-Fi")},
+    {cereal::DeviceState::NetworkType::ETHERNET, tr("ETH")},
+    {cereal::DeviceState::NetworkType::CELL2_G, tr("2G")},
+    {cereal::DeviceState::NetworkType::CELL3_G, tr("3G")},
+    {cereal::DeviceState::NetworkType::CELL4_G, tr("LTE")},
+    {cereal::DeviceState::NetworkType::CELL5_G, tr("5G")}
   };
 
   const QRect settings_btn = QRect(50, 35, 200, 117);
diff --git a/selfdrive/ui/qt/text.cc b/selfdrive/ui/qt/text.cc
index ac8e7bcd18..21ec5eedcf 100644
--- a/selfdrive/ui/qt/text.cc
+++ b/selfdrive/ui/qt/text.cc
@@ -33,12 +33,12 @@ int main(int argc, char *argv[]) {
 
   QPushButton *btn = new QPushButton();
 #ifdef __aarch64__
-  btn->setText("Reboot");
+  btn->setText(QObject::tr("Reboot"));
   QObject::connect(btn, &QPushButton::clicked, [=]() {
     Hardware::reboot();
   });
 #else
-  btn->setText("Exit");
+  btn->setText(QObject::tr("Exit"));
   QObject::connect(btn, &QPushButton::clicked, &a, &QApplication::quit);
 #endif
   main_layout->addWidget(btn, 0, 0, Qt::AlignRight | Qt::AlignBottom);
diff --git a/selfdrive/ui/qt/util.cc b/selfdrive/ui/qt/util.cc
index 366aa76f49..381c065901 100644
--- a/selfdrive/ui/qt/util.cc
+++ b/selfdrive/ui/qt/util.cc
@@ -1,6 +1,9 @@
 #include "selfdrive/ui/qt/util.h"
 
 #include <QApplication>
+#include <QFile>
+#include <QJsonDocument>
+#include <QJsonObject>
 #include <QLayoutItem>
 #include <QStyleOption>
 #include <QPainterPath>
@@ -15,7 +18,7 @@ QString getVersion() {
 }
 
 QString getBrand() {
-  return Params().getBool("Passive") ? "dashcam" : "openpilot";
+  return Params().getBool("Passive") ? QObject::tr("dashcam") : QObject::tr("openpilot");
 }
 
 QString getBrandVersion() {
@@ -36,6 +39,19 @@ std::optional<QString> getDongleId() {
   }
 }
 
+QMap<QString, QString> getSupportedLanguages() {
+  QFile f("translations/languages.json");
+  f.open(QIODevice::ReadOnly | QIODevice::Text);
+  QString val = f.readAll();
+
+  QJsonObject obj = QJsonDocument::fromJson(val.toUtf8()).object();
+  QMap<QString, QString> map;
+  for (auto key : obj.keys()) {
+    map[key] = obj[key].toString();
+  }
+  return map;
+}
+
 void configFont(QPainter &p, const QString &family, int size, const QString &style) {
   QFont f(family);
   f.setPixelSize(size);
@@ -63,13 +79,13 @@ QString timeAgo(const QDateTime &date) {
     s = "now";
   } else if (diff < 60 * 60) {
     int minutes = diff / 60;
-    s = QString("%1 minute%2 ago").arg(minutes).arg(minutes > 1 ? "s" : "");
+    s = QObject::tr("%n minute(s) ago", "", minutes);
   } else if (diff < 60 * 60 * 24) {
     int hours = diff / (60 * 60);
-    s = QString("%1 hour%2 ago").arg(hours).arg(hours > 1 ? "s" : "");
+    s = QObject::tr("%n hour(s) ago", "", hours);
   } else if (diff < 3600 * 24 * 7) {
     int days = diff / (60 * 60 * 24);
-    s = QString("%1 day%2 ago").arg(days).arg(days > 1 ? "s" : "");
+    s = QObject::tr("%n day(s) ago", "", days);
   } else {
     s = date.date().toString();
   }
diff --git a/selfdrive/ui/qt/util.h b/selfdrive/ui/qt/util.h
index 9491c6798e..f0e57526c8 100644
--- a/selfdrive/ui/qt/util.h
+++ b/selfdrive/ui/qt/util.h
@@ -14,6 +14,7 @@ QString getBrand();
 QString getBrandVersion();
 QString getUserAgent();
 std::optional<QString> getDongleId();
+QMap<QString, QString> getSupportedLanguages();
 void configFont(QPainter &p, const QString &family, int size, const QString &style);
 void clearLayout(QLayout* layout);
 void setQtSurfaceFormat();
diff --git a/selfdrive/ui/qt/widgets/cameraview.cc b/selfdrive/ui/qt/widgets/cameraview.cc
index 8666eb1d4e..63d15660a0 100644
--- a/selfdrive/ui/qt/widgets/cameraview.cc
+++ b/selfdrive/ui/qt/widgets/cameraview.cc
@@ -6,6 +6,8 @@
 #include <GLES3/gl3.h>
 #endif
 
+#include <cmath>
+
 #include <QOpenGLBuffer>
 #include <QOffscreenSurface>
 
@@ -59,13 +61,6 @@ const char frame_fragment_shader[] =
   "}\n";
 #endif
 
-const mat4 device_transform = {{
-  1.0,  0.0, 0.0, 0.0,
-  0.0,  1.0, 0.0, 0.0,
-  0.0,  0.0, 1.0, 0.0,
-  0.0,  0.0, 0.0, 1.0,
-}};
-
 mat4 get_driver_view_transform(int screen_width, int screen_height, int stream_width, int stream_height) {
   const float driver_view_ratio = 2.0;
   const float yscale = stream_height * driver_view_ratio / stream_width;
@@ -185,45 +180,75 @@ void CameraViewWidget::hideEvent(QHideEvent *event) {
   }
 }
 
-void CameraViewWidget::updateFrameMat(int w, int h) {
+void CameraViewWidget::updateFrameMat() {
+  int w = width(), h = height();
+
   if (zoomed_view) {
     if (stream_type == VISION_STREAM_DRIVER) {
-      frame_mat = matmul(device_transform, get_driver_view_transform(w, h, stream_width, stream_height));
+      frame_mat = get_driver_view_transform(w, h, stream_width, stream_height);
     } else {
-      auto intrinsic_matrix = stream_type == VISION_STREAM_WIDE_ROAD ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
-      float zoom = ZOOM / intrinsic_matrix.v[0];
-      if (stream_type == VISION_STREAM_WIDE_ROAD) {
-        zoom *= 0.5;
-      }
+      intrinsic_matrix = (stream_type == VISION_STREAM_WIDE_ROAD) ? ecam_intrinsic_matrix : fcam_intrinsic_matrix;
+      zoom = (stream_type == VISION_STREAM_WIDE_ROAD) ? 2.5 : 1.1;
+
+      // Project point at "infinity" to compute x and y offsets
+      // to ensure this ends up in the middle of the screen
+      // TODO: use proper perspective transform?
+      const vec3 inf = {{1000., 0., 0.}};
+      const vec3 Ep = matvecmul3(calibration, inf);
+      const vec3 Kep = matvecmul3(intrinsic_matrix, Ep);
+
+      float x_offset_ = (Kep.v[0] / Kep.v[2] - intrinsic_matrix.v[2]) * zoom;
+      float y_offset_ = (Kep.v[1] / Kep.v[2] - intrinsic_matrix.v[5]) * zoom;
+
+      float max_x_offset = intrinsic_matrix.v[2] * zoom - w / 2 - 5;
+      float max_y_offset = intrinsic_matrix.v[5] * zoom - h / 2 - 5;
+
+      x_offset = std::clamp(x_offset_, -max_x_offset, max_x_offset);
+      y_offset = std::clamp(y_offset_, -max_y_offset, max_y_offset);
+
       float zx = zoom * 2 * intrinsic_matrix.v[2] / width();
       float zy = zoom * 2 * intrinsic_matrix.v[5] / height();
-
       const mat4 frame_transform = {{
-        zx, 0.0, 0.0, 0.0,
-        0.0, zy, 0.0, -y_offset / height() * 2,
+        zx, 0.0, 0.0, -x_offset / width() * 2,
+        0.0, zy, 0.0, y_offset / height() * 2,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0,
       }};
-      frame_mat = matmul(device_transform, frame_transform);
+      frame_mat = frame_transform;
     }
   } else if (stream_width > 0 && stream_height > 0) {
     // fit frame to widget size
     float widget_aspect_ratio = (float)width() / height();
     float frame_aspect_ratio = (float)stream_width  / stream_height;
-    frame_mat = matmul(device_transform, get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio));
+    frame_mat = get_fit_view_transform(widget_aspect_ratio, frame_aspect_ratio);
   }
 }
 
+void CameraViewWidget::updateCalibration(const mat3 &calib) {
+  calibration = calib;
+  updateFrameMat();
+}
+
 void CameraViewWidget::paintGL() {
   glClearColor(bg.redF(), bg.greenF(), bg.blueF(), bg.alphaF());
   glClear(GL_STENCIL_BUFFER_BIT | GL_COLOR_BUFFER_BIT);
 
   if (frames.empty()) return;
 
-  int frame_idx;
-  for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
-    if (frames[frame_idx].first == draw_frame_id) break;
+  int frame_idx = frames.size() - 1;
+
+  // Always draw latest frame until sync logic is more stable
+  // for (frame_idx = 0; frame_idx < frames.size() - 1; frame_idx++) {
+  //   if (frames[frame_idx].first == draw_frame_id) break;
+  // }
+
+  // Log duplicate/dropped frames
+  if (frames[frame_idx].first == prev_frame_id) {
+    qDebug() << "Drawing same frame twice" << frames[frame_idx].first;
+  } else if (frames[frame_idx].first != prev_frame_id + 1) {
+    qDebug() << "Skipped frame" << frames[frame_idx].first;
   }
+  prev_frame_id = frames[frame_idx].first;
 
   glViewport(0, 0, width(), height());
   glBindVertexArray(frame_vao);
@@ -311,7 +336,7 @@ void CameraViewWidget::vipcConnected(VisionIpcClient *vipc_client) {
   assert(glGetError() == GL_NO_ERROR);
 #endif
 
-  updateFrameMat(width(), height());
+  updateFrameMat();
 }
 
 void CameraViewWidget::vipcFrameReceived(VisionBuf *buf, uint32_t frame_id) {
diff --git a/selfdrive/ui/qt/widgets/cameraview.h b/selfdrive/ui/qt/widgets/cameraview.h
index 42e9043602..016522b05c 100644
--- a/selfdrive/ui/qt/widgets/cameraview.h
+++ b/selfdrive/ui/qt/widgets/cameraview.h
@@ -42,11 +42,12 @@ signals:
 protected:
   void paintGL() override;
   void initializeGL() override;
-  void resizeGL(int w, int h) override { updateFrameMat(w, h); }
+  void resizeGL(int w, int h) override { updateFrameMat(); }
   void showEvent(QShowEvent *event) override;
   void hideEvent(QHideEvent *event) override;
   void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
-  virtual void updateFrameMat(int w, int h);
+  virtual void updateFrameMat();
+  void updateCalibration(const mat3 &calib);
   void vipcThread();
 
   bool zoomed_view;
@@ -68,8 +69,16 @@ protected:
   std::atomic<VisionStreamType> stream_type;
   QThread *vipc_thread = nullptr;
 
+  // Calibration
+  float x_offset = 0;
+  float y_offset = 0;
+  float zoom = 1.0;
+  mat3 calibration = DEFAULT_CALIBRATION;
+  mat3 intrinsic_matrix = fcam_intrinsic_matrix;
+
   std::deque<std::pair<uint32_t, VisionBuf*>> frames;
   uint32_t draw_frame_id = 0;
+  int prev_frame_id = 0;
 
 protected slots:
   void vipcConnected(VisionIpcClient *vipc_client);
diff --git a/selfdrive/ui/qt/widgets/controls.cc b/selfdrive/ui/qt/widgets/controls.cc
index 89c95843fb..3264fd3aac 100644
--- a/selfdrive/ui/qt/widgets/controls.cc
+++ b/selfdrive/ui/qt/widgets/controls.cc
@@ -45,21 +45,23 @@ AbstractControl::AbstractControl(const QString &title, const QString &desc, cons
   main_layout->addLayout(hlayout);
 
   // description
-  if (!desc.isEmpty()) {
-    description = new QLabel(desc);
-    description->setContentsMargins(40, 20, 40, 20);
-    description->setStyleSheet("font-size: 40px; color: grey");
-    description->setWordWrap(true);
-    description->setVisible(false);
-    main_layout->addWidget(description);
-
-    connect(title_label, &QPushButton::clicked, [=]() {
-      if (!description->isVisible()) {
-        emit showDescription();
-      }
+  description = new QLabel(desc);
+  description->setContentsMargins(40, 20, 40, 20);
+  description->setStyleSheet("font-size: 40px; color: grey");
+  description->setWordWrap(true);
+  description->setVisible(false);
+  main_layout->addWidget(description);
+
+  connect(title_label, &QPushButton::clicked, [=]() {
+    if (!description->isVisible()) {
+      emit showDescription();
+    }
+
+    if (!description->text().isEmpty()) {
       description->setVisible(!description->isVisible());
-    });
-  }
+    }
+  });
+
   main_layout->addStretch();
 }
 
@@ -125,7 +127,9 @@ void ElidedLabel::paintEvent(QPaintEvent *event) {
 ClickableWidget::ClickableWidget(QWidget *parent) : QWidget(parent) { }
 
 void ClickableWidget::mouseReleaseEvent(QMouseEvent *event) {
-  emit clicked();
+  if (rect().contains(event->pos())) {
+    emit clicked();
+  }
 }
 
 // Fix stylesheets
diff --git a/selfdrive/ui/qt/widgets/controls.h b/selfdrive/ui/qt/widgets/controls.h
index b6684e28b2..4245a9c04a 100644
--- a/selfdrive/ui/qt/widgets/controls.h
+++ b/selfdrive/ui/qt/widgets/controls.h
@@ -24,7 +24,11 @@ signals:
 protected:
   void paintEvent(QPaintEvent *event) override;
   void resizeEvent(QResizeEvent* event) override;
-  void mouseReleaseEvent(QMouseEvent *event) override { emit clicked(); }
+  void mouseReleaseEvent(QMouseEvent *event) override {
+    if (rect().contains(event->pos())) {
+      emit clicked();
+    }
+  }
   QString lastText_, elidedText_;
 };
 
diff --git a/selfdrive/ui/qt/widgets/drive_stats.cc b/selfdrive/ui/qt/widgets/drive_stats.cc
index 61d47db1c3..31009f03ca 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.cc
+++ b/selfdrive/ui/qt/widgets/drive_stats.cc
@@ -34,16 +34,16 @@ DriveStats::DriveStats(QWidget* parent) : QFrame(parent) {
     grid_layout->addWidget(labels.distance = newLabel("0", "number"), row, 1, Qt::AlignLeft);
     grid_layout->addWidget(labels.hours = newLabel("0", "number"), row, 2, Qt::AlignLeft);
 
-    grid_layout->addWidget(newLabel("Drives", "unit"), row + 1, 0, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel((tr("Drives")), "unit"), row + 1, 0, Qt::AlignLeft);
     grid_layout->addWidget(labels.distance_unit = newLabel(getDistanceUnit(), "unit"), row + 1, 1, Qt::AlignLeft);
-    grid_layout->addWidget(newLabel("Hours ", "unit"), row + 1, 2, Qt::AlignLeft);
+    grid_layout->addWidget(newLabel(tr("Hours"), "unit"), row + 1, 2, Qt::AlignLeft);
 
     main_layout->addLayout(grid_layout);
   };
 
-  add_stats_layouts("ALL TIME", all_);
+  add_stats_layouts(tr("ALL TIME"), all_);
   main_layout->addStretch();
-  add_stats_layouts("PAST WEEK", week_);
+  add_stats_layouts(tr("PAST WEEK"), week_);
 
   if (auto dongleId = getDongleId()) {
     QString url = CommaApi::BASE_URL + "/v1.1/devices/" + *dongleId + "/stats";
diff --git a/selfdrive/ui/qt/widgets/drive_stats.h b/selfdrive/ui/qt/widgets/drive_stats.h
index 9446294516..5e2d96b240 100644
--- a/selfdrive/ui/qt/widgets/drive_stats.h
+++ b/selfdrive/ui/qt/widgets/drive_stats.h
@@ -12,7 +12,7 @@ public:
 private:
   void showEvent(QShowEvent *event) override;
   void updateStats();
-  inline QString getDistanceUnit() const { return metric_ ? "KM" : "Miles"; }
+  inline QString getDistanceUnit() const { return metric_ ? tr("KM") : tr("Miles"); }
 
   bool metric_;
   QJsonDocument stats_;
diff --git a/selfdrive/ui/qt/widgets/input.cc b/selfdrive/ui/qt/widgets/input.cc
index 8a5d492804..d703825885 100644
--- a/selfdrive/ui/qt/widgets/input.cc
+++ b/selfdrive/ui/qt/widgets/input.cc
@@ -1,6 +1,7 @@
 #include "selfdrive/ui/qt/widgets/input.h"
 
 #include <QPushButton>
+#include <QButtonGroup>
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/util.h"
@@ -67,7 +68,7 @@ InputDialog::InputDialog(const QString &title, QWidget *parent, const QString &s
     vlayout->addWidget(sublabel, 1, Qt::AlignTop | Qt::AlignLeft);
   }
 
-  QPushButton* cancel_btn = new QPushButton("Cancel");
+  QPushButton* cancel_btn = new QPushButton(tr("Cancel"));
   cancel_btn->setFixedSize(386, 125);
   cancel_btn->setStyleSheet(R"(
     font-size: 48px;
@@ -164,7 +165,7 @@ void InputDialog::handleEnter() {
     done(QDialog::Accepted);
     emitText(line->text());
   } else {
-    setMessage("Need at least "+QString::number(minLength)+" characters!", false);
+    setMessage(tr("Need at least %n character(s)!", "", minLength), false);
   }
 }
 
@@ -217,12 +218,12 @@ ConfirmationDialog::ConfirmationDialog(const QString &prompt_text, const QString
 }
 
 bool ConfirmationDialog::alert(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), "", parent);
   return d.exec();
 }
 
 bool ConfirmationDialog::confirm(const QString &prompt_text, QWidget *parent) {
-  ConfirmationDialog d = ConfirmationDialog(prompt_text, "Ok", "Cancel", parent);
+  ConfirmationDialog d = ConfirmationDialog(prompt_text, tr("Ok"), tr("Cancel"), parent);
   return d.exec();
 }
 
@@ -254,6 +255,96 @@ RichTextDialog::RichTextDialog(const QString &prompt_text, const QString &btn_te
 }
 
 bool RichTextDialog::alert(const QString &prompt_text, QWidget *parent) {
-  auto d = RichTextDialog(prompt_text, "Ok", parent);
+  auto d = RichTextDialog(prompt_text, tr("Ok"), parent);
   return d.exec();
 }
+
+// MultiOptionDialog
+
+MultiOptionDialog::MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) : QDialogBase(parent) {
+  QFrame *container = new QFrame(this);
+  container->setStyleSheet(R"(
+    QFrame { background-color: #1B1B1B; }
+    #confirm_btn[enabled="false"] { background-color: #2B2B2B; }
+    #confirm_btn:enabled { background-color: #465BEA; }
+    #confirm_btn:enabled:pressed { background-color: #3049F4; }
+  )");
+
+  QVBoxLayout *main_layout = new QVBoxLayout(container);
+  main_layout->setContentsMargins(55, 50, 55, 50);
+
+  QLabel *title = new QLabel(prompt_text, this);
+  title->setStyleSheet("font-size: 70px; font-weight: 500;");
+  main_layout->addWidget(title, 0, Qt::AlignLeft | Qt::AlignTop);
+  main_layout->addSpacing(25);
+
+  QWidget *listWidget = new QWidget(this);
+  QVBoxLayout *listLayout = new QVBoxLayout(listWidget);
+  listLayout->setSpacing(20);
+  listWidget->setStyleSheet(R"(
+    QPushButton {
+      height: 135;
+      padding: 0px 50px;
+      text-align: left;
+      font-size: 55px;
+      font-weight: 300;
+      border-radius: 10px;
+      background-color: #4F4F4F;
+    }
+    QPushButton:checked { background-color: #465BEA; }
+  )");
+
+  QButtonGroup *group = new QButtonGroup(listWidget);
+  group->setExclusive(true);
+
+  QPushButton *confirm_btn = new QPushButton(tr("Select"));
+  confirm_btn->setObjectName("confirm_btn");
+  confirm_btn->setEnabled(false);
+
+  for (const QString &s : l) {
+    QPushButton *selectionLabel = new QPushButton(s);
+    selectionLabel->setCheckable(true);
+    selectionLabel->setChecked(s == current);
+    QObject::connect(selectionLabel, &QPushButton::toggled, [=](bool checked) {
+      if (checked) selection = s;
+      if (selection != current) {
+        confirm_btn->setEnabled(true);
+      } else {
+        confirm_btn->setEnabled(false);
+      }
+    });
+
+    group->addButton(selectionLabel);
+    listLayout->addWidget(selectionLabel);
+  }
+
+  ScrollView *scroll_view = new ScrollView(listWidget, this);
+  scroll_view->setVerticalScrollBarPolicy(Qt::ScrollBarAsNeeded);
+
+  main_layout->addWidget(scroll_view);
+  main_layout->addStretch(1);
+  main_layout->addSpacing(35);
+
+  // cancel + confirm buttons
+  QHBoxLayout *blayout = new QHBoxLayout;
+  main_layout->addLayout(blayout);
+  blayout->setSpacing(50);
+
+  QPushButton *cancel_btn = new QPushButton(tr("Cancel"));
+  QObject::connect(cancel_btn, &QPushButton::clicked, this, &ConfirmationDialog::reject);
+  QObject::connect(confirm_btn, &QPushButton::clicked, this, &ConfirmationDialog::accept);
+  blayout->addWidget(cancel_btn);
+  blayout->addWidget(confirm_btn);
+
+  QVBoxLayout *outer_layout = new QVBoxLayout(this);
+  outer_layout->setContentsMargins(50, 50, 50, 50);
+  outer_layout->addWidget(container);
+}
+
+QString MultiOptionDialog::getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent) {
+  MultiOptionDialog d = MultiOptionDialog(prompt_text, l, current, parent);
+  if (d.exec()) {
+    return d.selection;
+  }
+  return "";
+}
diff --git a/selfdrive/ui/qt/widgets/input.h b/selfdrive/ui/qt/widgets/input.h
index f81211d0ee..6c47a31d87 100644
--- a/selfdrive/ui/qt/widgets/input.h
+++ b/selfdrive/ui/qt/widgets/input.h
@@ -68,3 +68,12 @@ public:
   explicit RichTextDialog(const QString &prompt_text, const QString &btn_text, QWidget* parent);
   static bool alert(const QString &prompt_text, QWidget *parent);
 };
+
+class MultiOptionDialog : public QDialogBase {
+  Q_OBJECT
+
+public:
+  explicit MultiOptionDialog(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
+  static QString getSelection(const QString &prompt_text, const QStringList &l, const QString &current, QWidget *parent);
+  QString selection;
+};
diff --git a/selfdrive/ui/qt/widgets/offroad_alerts.cc b/selfdrive/ui/qt/widgets/offroad_alerts.cc
index 433193df5d..937ea02f86 100644
--- a/selfdrive/ui/qt/widgets/offroad_alerts.cc
+++ b/selfdrive/ui/qt/widgets/offroad_alerts.cc
@@ -22,12 +22,12 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   QHBoxLayout *footer_layout = new QHBoxLayout();
   main_layout->addLayout(footer_layout);
 
-  QPushButton *dismiss_btn = new QPushButton("Close");
+  QPushButton *dismiss_btn = new QPushButton(tr("Close"));
   dismiss_btn->setFixedSize(400, 125);
   footer_layout->addWidget(dismiss_btn, 0, Qt::AlignBottom | Qt::AlignLeft);
   QObject::connect(dismiss_btn, &QPushButton::clicked, this, &AbstractAlert::dismiss);
 
-  snooze_btn = new QPushButton("Snooze Update");
+  snooze_btn = new QPushButton(tr("Snooze Update"));
   snooze_btn->setVisible(false);
   snooze_btn->setFixedSize(550, 125);
   footer_layout->addWidget(snooze_btn, 0, Qt::AlignBottom | Qt::AlignRight);
@@ -38,7 +38,7 @@ AbstractAlert::AbstractAlert(bool hasRebootBtn, QWidget *parent) : QFrame(parent
   snooze_btn->setStyleSheet(R"(color: white; background-color: #4F4F4F;)");
 
   if (hasRebootBtn) {
-    QPushButton *rebootBtn = new QPushButton("Reboot and Update");
+    QPushButton *rebootBtn = new QPushButton(tr("Reboot and Update"));
     rebootBtn->setFixedSize(600, 125);
     footer_layout->addWidget(rebootBtn, 0, Qt::AlignBottom | Qt::AlignRight);
     QObject::connect(rebootBtn, &QPushButton::clicked, [=]() { Hardware::reboot(); });
diff --git a/selfdrive/ui/qt/widgets/prime.cc b/selfdrive/ui/qt/widgets/prime.cc
index 8a208bf3cf..5419475262 100644
--- a/selfdrive/ui/qt/widgets/prime.cc
+++ b/selfdrive/ui/qt/widgets/prime.cc
@@ -83,18 +83,21 @@ PairingPopup::PairingPopup(QWidget *parent) : QDialogBase(parent) {
 
     vlayout->addSpacing(30);
 
-    QLabel *title = new QLabel("Pair your device to your comma account", this);
+    QLabel *title = new QLabel(tr("Pair your device to your comma account"), this);
     title->setStyleSheet("font-size: 75px; color: black;");
     title->setWordWrap(true);
     vlayout->addWidget(title);
 
-    QLabel *instructions = new QLabel(R"(
+    QLabel *instructions = new QLabel(QString(R"(
       <ol type='1' style='margin-left: 15px;'>
-        <li style='margin-bottom: 50px;'>Go to https://connect.comma.ai on your phone</li>
-        <li style='margin-bottom: 50px;'>Click "add new device" and scan the QR code on the right</li>
-        <li style='margin-bottom: 50px;'>Bookmark connect.comma.ai to your home screen to use it like an app</li>
+        <li style='margin-bottom: 50px;'>%1</li>
+        <li style='margin-bottom: 50px;'>%2</li>
+        <li style='margin-bottom: 50px;'>%3</li>
       </ol>
-    )", this);
+    )").arg(tr("Go to https://connect.comma.ai on your phone"))
+    .arg(tr("Click \"add new device\" and scan the QR code on the right"))
+    .arg(tr("Bookmark connect.comma.ai to your home screen to use it like an app")), this);
+
     instructions->setStyleSheet("font-size: 47px; font-weight: bold; color: black;");
     instructions->setWordWrap(true);
     vlayout->addWidget(instructions);
@@ -120,19 +123,19 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   primeLayout->setMargin(0);
   primeWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* subscribed = new QLabel("✓ SUBSCRIBED");
+  QLabel* subscribed = new QLabel(tr("✓ SUBSCRIBED"));
   subscribed->setStyleSheet("font-size: 41px; font-weight: bold; color: #86FF4E;");
   primeLayout->addWidget(subscribed, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(60);
 
-  QLabel* commaPrime = new QLabel("comma prime");
+  QLabel* commaPrime = new QLabel(tr("comma prime"));
   commaPrime->setStyleSheet("font-size: 75px; font-weight: bold;");
   primeLayout->addWidget(commaPrime, 0, Qt::AlignTop);
 
   primeLayout->addSpacing(20);
 
-  QLabel* connectUrl = new QLabel("CONNECT.COMMA.AI");
+  QLabel* connectUrl = new QLabel(tr("CONNECT.COMMA.AI"));
   connectUrl->setStyleSheet("font-size: 41px; font-family: Inter SemiBold; color: #A0A0A0;");
   primeLayout->addWidget(connectUrl, 0, Qt::AlignTop);
 
@@ -145,7 +148,7 @@ PrimeUserWidget::PrimeUserWidget(QWidget* parent) : QWidget(parent) {
   pointsLayout->setMargin(0);
   pointsWidget->setContentsMargins(60, 50, 60, 50);
 
-  QLabel* commaPoints = new QLabel("COMMA POINTS");
+  QLabel* commaPoints = new QLabel(tr("COMMA POINTS"));
   commaPoints->setStyleSheet("font-size: 41px; font-family: Inter SemiBold;");
   pointsLayout->addWidget(commaPoints, 0, Qt::AlignTop);
 
@@ -181,24 +184,24 @@ PrimeAdWidget::PrimeAdWidget(QWidget* parent) : QFrame(parent) {
   main_layout->setContentsMargins(80, 90, 80, 60);
   main_layout->setSpacing(0);
 
-  QLabel *upgrade = new QLabel("Upgrade Now");
+  QLabel *upgrade = new QLabel(tr("Upgrade Now"));
   upgrade->setStyleSheet("font-size: 75px; font-weight: bold;");
   main_layout->addWidget(upgrade, 0, Qt::AlignTop);
   main_layout->addSpacing(50);
 
-  QLabel *description = new QLabel("Become a comma prime member at connect.comma.ai");
+  QLabel *description = new QLabel(tr("Become a comma prime member at connect.comma.ai"));
   description->setStyleSheet("font-size: 60px; font-weight: light; color: white;");
   description->setWordWrap(true);
   main_layout->addWidget(description, 0, Qt::AlignTop);
 
   main_layout->addStretch();
 
-  QLabel *features = new QLabel("PRIME FEATURES:");
+  QLabel *features = new QLabel(tr("PRIME FEATURES:"));
   features->setStyleSheet("font-size: 41px; font-weight: bold; color: #E5E5E5;");
   main_layout->addWidget(features, 0, Qt::AlignBottom);
   main_layout->addSpacing(30);
 
-  QVector<QString> bullets = {"Remote access", "1 year of storage", "Developer perks"};
+  QVector<QString> bullets = {tr("Remote access"), tr("1 year of storage"), tr("Developer perks")};
   for (auto &b: bullets) {
     const QString check = "<b><font color='#465BEA'>✓</font></b> ";
     QLabel *l = new QLabel(check + b);
@@ -227,20 +230,20 @@ SetupWidget::SetupWidget(QWidget* parent) : QFrame(parent) {
   finishRegistationLayout->setContentsMargins(30, 75, 30, 45);
   finishRegistationLayout->setSpacing(0);
 
-  QLabel* registrationTitle = new QLabel("Finish Setup");
+  QLabel* registrationTitle = new QLabel(tr("Finish Setup"));
   registrationTitle->setStyleSheet("font-size: 75px; font-weight: bold; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationTitle);
 
   finishRegistationLayout->addSpacing(30);
 
-  QLabel* registrationDescription = new QLabel("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.");
+  QLabel* registrationDescription = new QLabel(tr("Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer."));
   registrationDescription->setWordWrap(true);
   registrationDescription->setStyleSheet("font-size: 55px; font-weight: light; margin-left: 55px;");
   finishRegistationLayout->addWidget(registrationDescription);
 
   finishRegistationLayout->addStretch();
 
-  QPushButton* pair = new QPushButton("Pair device");
+  QPushButton* pair = new QPushButton(tr("Pair device"));
   pair->setFixedHeight(220);
   pair->setStyleSheet(R"(
     QPushButton {
diff --git a/selfdrive/ui/qt/widgets/scrollview.cc b/selfdrive/ui/qt/widgets/scrollview.cc
index 1aa05b4157..bd4309d8d0 100644
--- a/selfdrive/ui/qt/widgets/scrollview.cc
+++ b/selfdrive/ui/qt/widgets/scrollview.cc
@@ -37,7 +37,7 @@ ScrollView::ScrollView(QWidget *w, QWidget *parent) : QScrollArea(parent) {
 
   sp.setScrollMetric(QScrollerProperties::VerticalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
   sp.setScrollMetric(QScrollerProperties::HorizontalOvershootPolicy, QVariant::fromValue<QScrollerProperties::OvershootPolicy>(QScrollerProperties::OvershootAlwaysOff));
-
+  sp.setScrollMetric(QScrollerProperties::MousePressEventDelay, 0.01);
   scroller->grabGesture(this->viewport(), QScroller::LeftMouseButtonGesture);
   scroller->setScrollerProperties(sp);
 }
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.cc b/selfdrive/ui/qt/widgets/ssh_keys.cc
index 46ccf6aee3..f17604b3e5 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.cc
+++ b/selfdrive/ui/qt/widgets/ssh_keys.cc
@@ -4,16 +4,16 @@
 #include "selfdrive/ui/qt/api.h"
 #include "selfdrive/ui/qt/widgets/input.h"
 
-SshControl::SshControl() : ButtonControl("SSH Keys", "", "Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.") {
+SshControl::SshControl() : ButtonControl(tr("SSH Keys"), "", tr("Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.")) {
   username_label.setAlignment(Qt::AlignRight | Qt::AlignVCenter);
   username_label.setStyleSheet("color: #aaaaaa");
   hlayout->insertWidget(1, &username_label);
 
   QObject::connect(this, &ButtonControl::clicked, [=]() {
-    if (text() == "ADD") {
-      QString username = InputDialog::getText("Enter your GitHub username", this);
+    if (text() == tr("ADD")) {
+      QString username = InputDialog::getText(tr("Enter your GitHub username"), this);
       if (username.length() > 0) {
-        setText("LOADING");
+        setText(tr("LOADING"));
         setEnabled(false);
         getUserKeys(username);
       }
@@ -31,10 +31,10 @@ void SshControl::refresh() {
   QString param = QString::fromStdString(params.get("GithubSshKeys"));
   if (param.length()) {
     username_label.setText(QString::fromStdString(params.get("GithubUsername")));
-    setText("REMOVE");
+    setText(tr("REMOVE"));
   } else {
     username_label.setText("");
-    setText("ADD");
+    setText(tr("ADD"));
   }
   setEnabled(true);
 }
@@ -47,13 +47,13 @@ void SshControl::getUserKeys(const QString &username) {
         params.put("GithubUsername", username.toStdString());
         params.put("GithubSshKeys", resp.toStdString());
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' has no keys on GitHub").arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' has no keys on GitHub").arg(username), this);
       }
     } else {
       if (request->timeout()) {
-        ConfirmationDialog::alert("Request timed out", this);
+        ConfirmationDialog::alert(tr("Request timed out"), this);
       } else {
-        ConfirmationDialog::alert(QString("Username '%1' doesn't exist on GitHub").arg(username), this);
+        ConfirmationDialog::alert(tr("Username '%1' doesn't exist on GitHub").arg(username), this);
       }
     }
 
diff --git a/selfdrive/ui/qt/widgets/ssh_keys.h b/selfdrive/ui/qt/widgets/ssh_keys.h
index 596d1d83b9..01e2ab83ce 100644
--- a/selfdrive/ui/qt/widgets/ssh_keys.h
+++ b/selfdrive/ui/qt/widgets/ssh_keys.h
@@ -10,7 +10,7 @@ class SshToggle : public ToggleControl {
   Q_OBJECT
 
 public:
-  SshToggle() : ToggleControl("Enable SSH", "", "", Hardware::get_ssh_enabled()) {
+  SshToggle() : ToggleControl(tr("Enable SSH"), "", "", Hardware::get_ssh_enabled()) {
     QObject::connect(this, &SshToggle::toggleFlipped, [=](bool state) {
       Hardware::set_ssh_enabled(state);
     });
diff --git a/selfdrive/ui/tests/.gitignore b/selfdrive/ui/tests/.gitignore
index 7765bab17d..26335744f3 100644
--- a/selfdrive/ui/tests/.gitignore
+++ b/selfdrive/ui/tests/.gitignore
@@ -1,3 +1,4 @@
 test
 playsound
 test_sound
+test_translations
diff --git a/selfdrive/ui/tests/create_test_translations.sh b/selfdrive/ui/tests/create_test_translations.sh
new file mode 100755
index 0000000000..451a3cbfb0
--- /dev/null
+++ b/selfdrive/ui/tests/create_test_translations.sh
@@ -0,0 +1,18 @@
+#!/bin/bash
+
+set -e
+
+UI_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"/..
+TEST_TEXT="(WRAPPED_SOURCE_TEXT)"
+TEST_TS_FILE=$UI_DIR/translations/main_test_en.ts
+TEST_QM_FILE=$UI_DIR/translations/main_test_en.qm
+
+# translation strings
+UNFINISHED="<translation type=\"unfinished\"><\/translation>"
+TRANSLATED="<translation>$TEST_TEXT<\/translation>"
+
+mkdir -p $UI_DIR/translations
+rm -f $TEST_TS_FILE $TEST_QM_FILE
+lupdate -recursive "$UI_DIR" -ts $TEST_TS_FILE
+sed -i "s/$UNFINISHED/$TRANSLATED/" $TEST_TS_FILE
+lrelease $TEST_TS_FILE
diff --git a/selfdrive/ui/tests/test_runner.cc b/selfdrive/ui/tests/test_runner.cc
index b20ac86c64..ac63139d17 100644
--- a/selfdrive/ui/tests/test_runner.cc
+++ b/selfdrive/ui/tests/test_runner.cc
@@ -1,10 +1,25 @@
 #define CATCH_CONFIG_RUNNER
 #include "catch2/catch.hpp"
-#include <QCoreApplication>
+
+#include <QApplication>
+#include <QDebug>
+#include <QDir>
+#include <QTranslator>
 
 int main(int argc, char **argv) {
   // unit tests for Qt
-  QCoreApplication app(argc, argv);
+  QApplication app(argc, argv);
+
+  QString language_file = "main_test_en";
+  qDebug() << "Loading language:" << language_file;
+
+  QTranslator translator;
+  QString translationsPath = QDir::cleanPath(qApp->applicationDirPath() + "/../translations");
+  if (!translator.load(language_file, translationsPath)) {
+    qDebug() << "Failed to load translation file!";
+  }
+  app.installTranslator(&translator);
+
   const int res = Catch::Session().run(argc, argv);
   return (res < 0xff ? res : 0xff);
 }
diff --git a/selfdrive/ui/tests/test_translations.cc b/selfdrive/ui/tests/test_translations.cc
new file mode 100644
index 0000000000..fcefc5784f
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.cc
@@ -0,0 +1,48 @@
+#include "catch2/catch.hpp"
+
+#include "common/params.h"
+#include "selfdrive/ui/qt/window.h"
+
+const QString TEST_TEXT = "(WRAPPED_SOURCE_TEXT)";  // what each string should be translated to
+QRegExp RE_NUM("\\d*");
+
+QStringList getParentWidgets(QWidget* widget){
+  QStringList parentWidgets;
+  while (widget->parentWidget() != Q_NULLPTR) {
+    widget = widget->parentWidget();
+    parentWidgets.append(widget->metaObject()->className());
+  }
+  return parentWidgets;
+}
+
+template <typename T>
+void checkWidgetTrWrap(MainWindow &w) {
+  for (auto widget : w.findChildren<T>()) {
+  const QString text = widget->text();
+    bool isNumber = RE_NUM.exactMatch(text);
+    bool wrapped = text.contains(TEST_TEXT);
+    QString parentWidgets = getParentWidgets(widget).join("->");
+
+    if (!text.isEmpty() && !isNumber && !wrapped) {
+      FAIL(("\"" + text + "\" must be wrapped. Parent widgets: " + parentWidgets).toStdString());
+    }
+
+    // warn if source string wrapped, but UI adds text
+    // TODO: add way to ignore this
+    if (wrapped && text != TEST_TEXT) {
+      WARN(("\"" + text + "\" is dynamic and needs a custom retranslate function. Parent widgets: " + parentWidgets).toStdString());
+    }
+  }
+}
+
+// Tests all strings in the UI are wrapped with tr()
+TEST_CASE("UI: test all strings wrapped") {
+  Params().remove("LanguageSetting");
+  Params().remove("HardwareSerial");
+  Params().remove("DongleId");
+  qputenv("TICI", "1");
+
+  MainWindow w;
+  checkWidgetTrWrap<QPushButton*>(w);
+  checkWidgetTrWrap<QLabel*>(w);
+}
diff --git a/selfdrive/ui/tests/test_translations.py b/selfdrive/ui/tests/test_translations.py
new file mode 100755
index 0000000000..ae91dd6f83
--- /dev/null
+++ b/selfdrive/ui/tests/test_translations.py
@@ -0,0 +1,71 @@
+#!/usr/bin/env python3
+import json
+import os
+import shutil
+import unittest
+
+from selfdrive.ui.update_translations import TRANSLATIONS_DIR, LANGUAGES_FILE, update_translations
+
+TMP_TRANSLATIONS_DIR = os.path.join(TRANSLATIONS_DIR, "tmp")
+
+
+class TestTranslations(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    with open(LANGUAGES_FILE, "r") as f:
+      cls.translation_files = json.load(f)
+
+    # Set up temp directory
+    shutil.copytree(TRANSLATIONS_DIR, TMP_TRANSLATIONS_DIR, dirs_exist_ok=True)
+
+  @classmethod
+  def tearDownClass(cls):
+    shutil.rmtree(TMP_TRANSLATIONS_DIR, ignore_errors=True)
+
+  @staticmethod
+  def _read_translation_file(path, file):
+    tr_file = os.path.join(path, f"{file}.ts")
+    with open(tr_file, "rb") as f:
+      # fix relative path depth
+      return f.read().replace(b"filename=\"../../", b"filename=\"../")
+
+  def test_missing_translation_files(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          self.skipTest(f"{name} translation has no defined file")
+
+        self.assertTrue(os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")),
+                        f"{name} has no XML translation file, run selfdrive/ui/update_translations.py")
+
+  def test_translations_updated(self):
+    update_translations(plural_only=["main_en"], translations_dir=TMP_TRANSLATIONS_DIR)
+
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          self.skipTest(f"{name} translation has no defined file")
+
+        # caught by test_missing_translation_files
+        if not os.path.exists(os.path.join(TRANSLATIONS_DIR, f"{file}.ts")):
+          self.skipTest(f"{name} missing translation file")
+
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        new_translations = self._read_translation_file(TMP_TRANSLATIONS_DIR, file)
+        self.assertEqual(cur_translations, new_translations,
+                         f"{file} ({name}) XML translation file out of date. Run selfdrive/ui/update_translations.py to update the translation files")
+
+  @unittest.skip("Only test unfinished translations before going to release")
+  def test_unfinished_translations(self):
+    for name, file in self.translation_files.items():
+      with self.subTest(name=name, file=file):
+        if not len(file):
+          raise self.skipTest(f"{name} translation has no defined file")
+
+        cur_translations = self._read_translation_file(TRANSLATIONS_DIR, file)
+        self.assertTrue(b"<translation type=\"unfinished\">" not in cur_translations,
+                        f"{file} ({name}) translation file has unfinished translations. Finish translations or mark them as completed in Qt Linguist")
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/selfdrive/ui/translations/README.md b/selfdrive/ui/translations/README.md
new file mode 100644
index 0000000000..07f1a4825c
--- /dev/null
+++ b/selfdrive/ui/translations/README.md
@@ -0,0 +1,56 @@
+# Multilanguage
+
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_en.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_en.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHT.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHT.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_zh-CHS.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_zh-CHS.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ko.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ko.ts)
+[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/translation_badge_main_ja.svg)](https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/main_ja.ts)
+
+## Contributing
+
+Before getting started, make sure you have set up the openpilot Ubuntu development environment by reading the [tools README.md](/tools/README.md).
+
+### Adding a New Language
+
+openpilot provides a few tools to help contributors manage their translations and to ensure quality. To get started:
+
+1. Add your new language to [languages.json](/selfdrive/ui/translations/languages.json) with the appropriate [language code](https://en.wikipedia.org/wiki/List_of_ISO_639-1_codes) and the localized language name (Traditional Chinese is `中文（繁體）`).
+2. Generate the XML translation file (`*.ts`):
+   ```shell
+   selfdrive/ui/update_translations.py
+   ```
+3. Edit the translation file, marking each translation as completed:
+   ```shell
+   linguist selfdrive/ui/translations/your_language_file.ts
+   ```
+4. View your finished translations by compiling and starting the UI, then find it in the language selector:
+   ```shell
+   scons -j$(nproc) selfdrive/ui && selfdrive/ui/ui
+   ```
+
+### Improving an Existing Language
+
+Follow step 3. above, you can review existing translations and add missing ones. Once you're done, just open a pull request to openpilot.
+
+### Updating the UI
+
+Any time you edit source code in the UI, you need to update the translations to ensure the line numbers and contexts are up to date (first step above).
+
+### Testing
+
+openpilot has a few unit tests to make sure all translations are up to date and that all strings are wrapped in a translation marker. They are run in CI, but you can also run them locally.
+
+Tests translation files up to date:
+
+```shell
+selfdrive/ui/tests/test_translations.py
+```
+
+Tests all static source strings are wrapped:
+
+```shell
+selfdrive/ui/tests/create_test_translations.sh && selfdrive/ui/tests/test_translations
+```
+
+---
+![multilanguage_onroad](https://user-images.githubusercontent.com/25857203/178912800-2c798af8-78e3-498e-9e19-35906e0bafff.png)
diff --git a/selfdrive/ui/translations/create_badges.py b/selfdrive/ui/translations/create_badges.py
new file mode 100755
index 0000000000..58b587462f
--- /dev/null
+++ b/selfdrive/ui/translations/create_badges.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python3
+import json
+import os
+import requests
+
+from common.basedir import BASEDIR
+from selfdrive.ui.update_translations import LANGUAGES_FILE, TRANSLATIONS_DIR
+
+TRANSLATION_TAG = "<translation"
+UNFINISHED_TRANSLATION_TAG = "<translation type=\"unfinished\""
+TRANSLATION_BADGE = "translation_badge_{}.svg"
+TRANSLATION_LINK = "https://github.com/commaai/openpilot/blob/master/selfdrive/ui/translations/{}"
+
+if __name__ == "__main__":
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  print("Copy into selfdrive/ui/translations/README.md:\n")
+  for name, file in translation_files.items():
+    if not len(file):
+      continue
+
+    with open(os.path.join(TRANSLATIONS_DIR, f"{file}.ts"), "r") as tr_f:
+      tr_file = tr_f.read()
+
+    print(f"[![language](https://raw.githubusercontent.com/commaai/openpilot/badges/{TRANSLATION_BADGE.format(file)})]({TRANSLATION_LINK.format(file)}.ts)")
+
+    total_translations = 0
+    unfinished_translations = 0
+    for line in tr_file.splitlines():
+      if TRANSLATION_TAG in line:
+        total_translations += 1
+      if UNFINISHED_TRANSLATION_TAG in line:
+        unfinished_translations += 1
+
+    percent_finished = int(100 - (unfinished_translations / total_translations * 100.))
+    color = "green" if percent_finished == 100 else "orange" if percent_finished >= 70 else "red"
+
+    r = requests.get(f"https://img.shields.io/badge/LANGUAGE {name}-{percent_finished}%25 complete-{color}")
+    assert r.status_code == 200, "Error downloading badge"
+
+    with open(os.path.join(BASEDIR, TRANSLATION_BADGE.format(file)), "wb") as badge_f:
+      badge_f.write(r.content)
diff --git a/selfdrive/ui/translations/languages.json b/selfdrive/ui/translations/languages.json
new file mode 100644
index 0000000000..f52a28ef9a
--- /dev/null
+++ b/selfdrive/ui/translations/languages.json
@@ -0,0 +1,7 @@
+{
+  "English": "main_en",
+  "中文（繁體）": "main_zh-CHT",
+  "中文（简体）": "main_zh-CHS",
+  "한국어": "main_ko",
+  "日本語": "main_ja"
+}
diff --git a/selfdrive/ui/translations/main_en.ts b/selfdrive/ui/translations/main_en.ts
new file mode 100644
index 0000000000..3f9692e5fa
--- /dev/null
+++ b/selfdrive/ui/translations/main_en.ts
@@ -0,0 +1,38 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="en_US">
+<context>
+    <name>InputDialog</name>
+    <message numerus="yes">
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>Need at least %n character!</numerusform>
+            <numerusform>Need at least %n characters!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message numerus="yes">
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n minute ago</numerusform>
+            <numerusform>%n minutes ago</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n hour ago</numerusform>
+            <numerusform>%n hours ago</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n day ago</numerusform>
+            <numerusform>%n days ago</numerusform>
+        </translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_ja.ts b/selfdrive/ui/translations/main_ja.ts
new file mode 100644
index 0000000000..be0611f49a
--- /dev/null
+++ b/selfdrive/ui/translations/main_ja.ts
@@ -0,0 +1,1303 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ja_JP">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>閉じる</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>更新の一時停止</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>再起動してアップデート</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>ﾃｻﾞﾘﾝｸﾞを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>ﾃｻﾞﾘﾝｸﾞﾊﾟｽﾜｰﾄﾞ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編集</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>新しいテザリングパスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP アドレス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>ﾛｰﾐﾝｸﾞを有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN を入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>空白のままにして、自動設定にします</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>openpilot をご利用される前に、利用規約に同意する必要があります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒否して %1 をｱﾝｲﾝｽﾄｰﾙ</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Dongle ID</source>
+        <translation>ドングル番号 (Dongle ID)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
+        <source>Serial</source>
+        <translation>シリアル番号</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>Driver Camera</source>
+        <translation>車内カメラ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>PREVIEW</source>
+        <translation>見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>車内カメラをプレビューして、ドライバー監視システムの視界を確認ができます。(車両の電源を切る必要があります)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>Reset Calibration</source>
+        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをﾘｾｯﾄ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>RESET</source>
+        <translation>ﾘｾｯﾄ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>ｷｬﾘﾌﾞﾚｰｼｮﾝをリセットしてもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review Training Guide</source>
+        <translation>入門書を見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>REVIEW</source>
+        <translation>見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot の特徴を見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>入門書を見てもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>Regulatory</source>
+        <translation>認証情報</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>VIEW</source>
+        <translation>見る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>Change Language</source>
+        <translation>言語を変更</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>CHANGE</source>
+        <translation>変更</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
+        <source>Select a language</source>
+        <translation>言語を選択</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <source>Power Off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot は、左または右の4°以内、上の5°または下の8°以内にデバイスを取付ける必要があります。キャリブレーションを引き続きます、リセットはほとんど必要ありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> このデバイスは%2の%1°、%4の%3°に向けます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>再起動してもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
+        <source>Disengage to Reboot</source>
+        <translation>openpilot をキャンセルして再起動ができます</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>シャットダウンしてもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
+        <source>Disengage to Power Off</source>
+        <translation>openpilot をキャンセルしてシャットダウンができます</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>運転履歴</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>累計</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>先週</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>マイル</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
+        <source>camera starting</source>
+        <translation>ｶﾒﾗを起動しています</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>%n文字以上でお願いします！</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>インストールしています...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>ｵﾌﾞｼﾞｪｸﾄをﾀﾞｳﾝﾛｰﾄﾞしています： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>デルタを解決しています： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>ファイルを更新しています： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>予定到着時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>ｷﾛﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>ﾏｲﾙ</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> ｷﾛﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> ﾒｰﾄﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> ﾏｲﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ﾌｨｰﾄ</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>現在の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近の目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>β版ﾅﾋﾞｹﾞｰｼｮﾝを試す</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>より詳細な案内情報を得ることができます。
+詳しくはこちら：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>自宅の住所はまだ
+設定されていません</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>職場の住所はまだ
+設定されていません</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>最近の目的地履歴がありません</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>マップを読み込んでいます</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>GPS信号を探しています</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>選択</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>詳細</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>パスワードを入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>ﾈｯﾄﾜｰｸ名：%1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>ﾊﾟｽﾜｰﾄﾞが間違っています</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
+        <source>MAX</source>
+        <translation>最高速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
+        <source>LIMIT</source>
+        <translation>制限速度</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 警告</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>デバイスと comma アカウントを連携する</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>モバイルデバイスで「connect.comma.ai」にアクセスして</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>「新しいデバイスを追加」を押すと、右側のQRコードをスキャンしてください</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>「connect.comma.ai」をホーム画面に追加して、アプリのように使うことができます</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
+        <source>Upgrade Now</source>
+        <translation>今すぐｱｯﾌﾟｸﾞﾚｰﾄ</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai でﾌﾟﾗｲﾑ会員に登録できます</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>特典：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Remote access</source>
+        <translation>リモートアクセス</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>1 year of storage</source>
+        <translation>一年間の保存期間</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>開発者向け特典</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 入会しました</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>閉じる</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 時間前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 日前</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>初期化に失敗しました。再起動後に再試行してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>初期化してもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>デバイスが初期化されます...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>システムを初期化</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>システムの初期化をリクエストしました。「確認」ボタンを押すとデバイスが初期化されます。「キャンセル」ボタンを押すと起動を続行します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>キャンセル</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>「data」パーティションをマウントできません。「確認」ボタンを押すとデバイスが初期化されます。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>OK</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
+        <source>Device</source>
+        <translation>デバイス</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
+        <source>Network</source>
+        <translation>ﾈｯﾄﾜｰｸ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
+        <source>Toggles</source>
+        <translation>切り替え</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
+        <source>Software</source>
+        <translation>ｿﾌﾄｳｪｱ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Navigation</source>
+        <translation>ﾅﾋﾞｹﾞｰｼｮﾝ</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低電圧</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>自己責任でハーネスから電源を供給してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>電源を切る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>続ける</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>はじめに</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>その前に、インストールを完了し、いくつかの詳細を説明します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fi に接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>Wi-Fi に未接続で続行</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>インターネット接続を待機中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>インストールするソフトウェアを選びます</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>ﾄﾞﾗｲﾌﾞﾚｺｰﾀﾞｰ</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URL を入力</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>カスタムソフトウェア</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>ダウンロード中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>ダウンロード失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>入力された URL を確認し、デバイスがインターネットに接続されていることを確認してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>デバイスを再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>最初からやり直す</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>セットアップ完了</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>デバイスを comma connect (connect.comma.ai)でペアリングし comma prime 特典を申請してください。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
+        <source>Pair device</source>
+        <translation>デバイスをペアリング</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>オフライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>オンライン</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>エラー</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>高温</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>最適</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>OK</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車両</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>検索</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>ETH</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Branch</source>
+        <translation>Git ブランチ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Git Commit</source>
+        <translation>Git コミット</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>OS Version</source>
+        <translation>OS バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Version</source>
+        <translation>バージョン</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Last Update Check</source>
+        <translation>最終更新確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>openpilotが最後にアップデートの確認に成功してからの時間です。アップデート処理は、車の電源が切れているときのみ実行されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <source>Check for Update</source>
+        <translation>更新プログラムをチェック</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <source>CHECKING</source>
+        <translation>確認中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>Switch Branch</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>ENTER</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>Enter branch name</source>
+        <translation type="unfinished"></translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>UNINSTALL</source>
+        <translation>アンインストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>Uninstall %1</source>
+        <translation>%1をアンインストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>アンインストールしてもよろしいですか？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
+        <source>failed to fetch update</source>
+        <translation>更新のﾀﾞｳﾝﾛｰﾄﾞにｴﾗｰが発生しました</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
+        <source>CHECK</source>
+        <translation>確認</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 鍵</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告: これは、GitHub の設定にあるすべての公開鍵への SSH アクセスを許可するものです。自分以外の GitHub のユーザー名を入力しないでください。コンマのスタッフが GitHub のユーザー名を追加するようお願いすることはありません。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>追加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHub のユーザー名を入力してください</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>ローディング</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>ユーザー名 “%1” は GitHub に鍵がありません</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>リクエストタイムアウト</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>ユーザー名 &apos;%1&apos; は GitHub に存在しません</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH を有効化</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>利用規約</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒否</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>スクロールして同意</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>アダプティブクルーズコントロールとレーンキーピングドライバーアシスト（openpilotシステム）。この機能を使用するには、常に注意が必要です。この設定を変更すると、車の電源が切れたときに有効になります。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>車線逸脱警報機能を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>時速31マイル（50km）を超えるスピードで走行中、方向指示器を作動させずに検出された車線ライン上に車両が触れた場合、車線に戻るアラートを受信します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Use Metric System</source>
+        <translation>メートル法を有効化</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>速度は mph ではなく km/h で表示されます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>車内カメラの録画とアップロード</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>車内カメラの映像をアップロードし、ドライバー監視システムのアルゴリズムの向上に役立てます。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>ｱｸｾﾙ踏むと openpilot をｷｬﾝｾﾙ</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>有効な場合は、アクセルを踏むと openpilot をキャンセルします。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24時間表示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>AM/PM の代わりに24時間形式を使用します</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>ﾃﾞｨｽﾌﾟﾚｲの左側にﾏｯﾌﾟを表示</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>分割画面表示の場合、ディスプレイの左側にマップを表示します。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot 縦方向制御</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot は、車のレーダーを無効化し、アクセルとブレーキの制御を引き継ぎます。注意：AEB を無効化にします！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>更新が必要です</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>ｵﾍﾟﾚｰﾃｨﾝｸﾞｼｽﾃﾑのアップデートが必要です。Wi-Fi に接続することで、最速のアップデートを体験できます。ダウンロードサイズは約 1GB です。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>Wi-Fi に接続</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>インストール</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>戻る</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>読み込み中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>再起動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>ネットワークをスキャン中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>接続中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>削除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>Wi-Fiﾈｯﾄﾜｰｸ%1を削除してもよろしいですか？</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_ko.ts b/selfdrive/ui/translations/main_ko.ts
new file mode 100644
index 0000000000..626373a955
--- /dev/null
+++ b/selfdrive/ui/translations/main_ko.ts
@@ -0,0 +1,1303 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="ko_KR">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>닫기</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>업데이트 일시중지</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>업데이트 및 재부팅</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>테더링 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>테더링 비밀번호</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>편집</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>새 테더링 비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 주소</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>로밍 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>APN 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>자동설정을 하려면 공백으로 두세요</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>openpilot을 사용하려면 이용 약관에 동의해야 합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>거절, %1 제거</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
+        <source>Serial</source>
+        <translation>Serial</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>Driver Camera</source>
+        <translation>운전자 카메라</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>PREVIEW</source>
+        <translation>미리보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>운전자 모니터링이 좋은 가시성을 갖도록 운전자를 향한 카메라를 미리 봅니다. (차량연결은 해제되어있어야 합니다)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>Reset Calibration</source>
+        <translation>캘리브레이션 재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>RESET</source>
+        <translation>재설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>캘리브레이션을 재설정하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review Training Guide</source>
+        <translation>트레이닝 가이드 다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>REVIEW</source>
+        <translation>다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>openpilot의 규칙, 기능 및 제한 다시보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>트레이닝 가이드를 다시보시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>Regulatory</source>
+        <translation>규제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>VIEW</source>
+        <translation>보기</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>Change Language</source>
+        <translation>언어 변경</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>CHANGE</source>
+        <translation>변경</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
+        <source>Select a language</source>
+        <translation>언어를 선택하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <source>Power Off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot은 장치를 좌측 또는 우측은 4° 이내, 위쪽 5° 또는 아래쪽은 8° 이내로 설치해야 합니다. openpilot은 지속적으로 보정되므로 리셋이 거의 필요하지 않습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 사용자의 장치가 %1° %2 및 %3° %4를 가리키고 있습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>down</source>
+        <translation>아래로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>up</source>
+        <translation>위로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>left</source>
+        <translation>좌측으로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>right</source>
+        <translation>우측으로</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>재부팅 하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
+        <source>Disengage to Reboot</source>
+        <translation>재부팅 하려면 해제하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>전원을 종료하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
+        <source>Disengage to Power Off</source>
+        <translation>전원을 종료하려면 해제하세요</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>주행</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>전체</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>지난주</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>Km</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>Miles</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
+        <source>camera starting</source>
+        <translation>카메라 시작중</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>최소 %n 자가 필요합니다!</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>설치중...</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>수신중： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>델타병합： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>파일갱신： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>도착</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>분</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>시간</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>현재 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>삭제</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>최근 목적지</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>네비게이션(베타)를 사용해보세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>자세한 경로안내를 원하시면 comma prime을 구독하세요.
+등록：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>집
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>회사
+설정되지않음</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>최근 목적지 없음</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>지도 로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>GPS를 기다리는 중</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>선택</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>고급 설정</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>비밀번호를 입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>하기위한 &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>비밀번호가 틀렸습니다</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
+        <source>MAX</source>
+        <translation>MAX</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>업데이트</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 알림</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 알림</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>장치를 콤마 계정과 페어링합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>https://connect.comma.ai에 접속하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>&quot;새 장치 추가&quot;를 클릭하고 오른쪽 QR 코드를 검색합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>connect.comma.ai을 앱처럼 사용하려면 홈 화면에 바로가기를 만드십시오</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
+        <source>Upgrade Now</source>
+        <translation>지금 업그레이드</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>connect.comma.ai에서 comma prime에 가입합니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>PRIME 기능：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Remote access</source>
+        <translation>원격 접속</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>1 year of storage</source>
+        <translation>1년간 저장</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>개발자 혜택</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 구독함</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 분전</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 시간전</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 일전</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>초기화 실패. 재부팅후 다시 시도하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>장치를 초기화 하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>장치 초기화중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>장치 초기화</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>장치를 초기화 합니다. 확인버튼을 누르면 모든 내용과 설정이 초기화됩니다. 취소를 누르면 다시 부팅합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>취소</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>데이터 파티션을 마운트할 수 없습니다. 확인 버튼을 눌러 장치를 리셋합니다.</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
+        <source>Device</source>
+        <translation>장치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
+        <source>Network</source>
+        <translation>네트워크</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
+        <source>Toggles</source>
+        <translation>토글</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
+        <source>Software</source>
+        <translation>소프트웨어</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Navigation</source>
+        <translation>네비게이션</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>경고: 전압이 낮습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>하네스 보드에 차량의 전원을 연결하세요.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>전원 종료</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>설정 시작</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>출발하기 전에 설정을 완료하고 몇 가지 세부 사항을 살펴보겠습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>wifi 없이 계속</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>네트워크 접속을 기다립니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>설치할 소프트웨어를 선택하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>URL 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>for Custom Software</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>다운로드중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>다운로드 실패</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>입력된 URL이 유효하고 장치의 인터넷 연결이 잘 되어 있는지 확인합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>다시 시작</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>설정 완료</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>장치를 (connect.comma.ai)에서 페어링하고 comma prime 오퍼를 청구합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
+        <source>Pair device</source>
+        <translation>장치 페어링</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>오프라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>온라인</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>오류</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>온도</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>높음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>좋음</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>경고</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>차량</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>NO</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>검색중</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>이더넷</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Branch</source>
+        <translation>Git 브렌치</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Git Commit</source>
+        <translation>Git 커밋</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>OS Version</source>
+        <translation>OS 버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Version</source>
+        <translation>버전</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Last Update Check</source>
+        <translation>최신 업데이트 검사</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>최근에 openpilot이 업데이트를 성공적으로 확인했습니다. 업데이트 프로그램은 차량 연결이 해제되었을때만 작동합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <source>Check for Update</source>
+        <translation>업데이트 확인</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <source>CHECKING</source>
+        <translation>확인중</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>Switch Branch</source>
+        <translation>브랜치 변경</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>ENTER</source>
+        <translation>입력하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation>다음 업데이트 프로그램이 실행될 때 새 브랜치가 적용됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>Enter branch name</source>
+        <translation>브랜치명 입력</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>UNINSTALL</source>
+        <translation>제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>Uninstall %1</source>
+        <translation>%1 제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>제거하시겠습니까?</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
+        <source>failed to fetch update</source>
+        <translation>업데이트를 가져올수없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
+        <source>CHECK</source>
+        <translation>확인</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 키</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>경고：이렇게 하면 GitHub 설정의 모든 공용 키에 대한 SSH 액세스 권한이 부여됩니다. 자신의 사용자 이름이 아닌 GitHub 사용자 이름을 입력하지 마십시오. comma 직원은 GitHub 사용자 이름을 추가하도록 요청하지 않습니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>추가</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>GitHub 사용자 ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>로딩</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>제거</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>&apos;%1&apos;의 키가 GitHub에 없습니다</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>요청 시간 초과</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>&apos;%1&apos;은 GitHub에 없습니다</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>SSH 사용</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>약관</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>거절</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>허용하려면 아래로 스크롤하세요</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>동의</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Enable openpilot</source>
+        <translation>openpilot 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>어댑티브 크루즈 컨트롤 및 차선 유지 운전자 보조를 위해 openpilot 시스템을 사용하십시오. 이 기능을 사용하려면 항상 주의를 기울여야 합니다. 이 설정을 변경하면 차량 전원이 꺼질 때 적용됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>차선 이탈 경고 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>차량이 50km/h(31mph) 이상의 속도로 주행하는 동안 방향 지시등이 활성화되지 않은 상태에서 감지된 차선 위를 주행할 경우 차선이탈 경고를 사용합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Use Metric System</source>
+        <translation>미터법 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>mph 대신 km/h로 속도를 표시합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>운전자 카메라 녹화 및 업로드</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>운전자 카메라에서 데이터를 업로드하고 운전자 모니터링 알고리즘을 개선합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>가속페달 조작시 해제</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>활성화된 경우 가속 페달을 누르면 openpilot이 해제됩니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <source>Show ETA in 24h format</source>
+        <translation>24시간 형식으로 도착예정시간 표시</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>오전/오후 대신 24시간 형식 사용</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>UI 왼쪽에 지도 표시</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>분할 화면 보기에서 지도를 왼쪽에 표시합니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot Longitudinal Control</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot은 차량&apos;의 레이더를 무력화시키고 가속페달과 브레이크의 제어를 인계받을 것이다. 경고: AEB를 비활성화합니다!</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>업데이트 필요</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>OS 업데이트가 필요합니다. 장치를 wifi에 연결하여 가장 빠른 업데이트 경험을 제공합니다. 다운로드 크기는 약 1GB입니다.</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>wifi 연결</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>설치</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>뒤로</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>로딩중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>재부팅</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>업데이트 실패</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>네트워크 검색 중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>연결중...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>저장안함</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>wifi 네트워크 저장안함 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHS.ts b/selfdrive/ui/translations/main_zh-CHS.ts
new file mode 100644
index 0000000000..02bda87829
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh-CHS.ts
@@ -0,0 +1,1301 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_CN">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>关闭</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暂停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重启并更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>启用WiFi热点</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>WiFi热点密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>编辑</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>输入新的WiFi热点密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>启用数据漫游</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>输入APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>留空以自动配置</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必须接受条款和条件以使用openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒绝并卸载%1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Dongle ID</source>
+        <translation>设备ID（Dongle ID）</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>N/A</source>
+        <translation>N/A</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
+        <source>Serial</source>
+        <translation>序列号</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>Driver Camera</source>
+        <translation>驾驶员摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>PREVIEW</source>
+        <translation>预览</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>打开并预览驾驶员摄像头，以确保驾驶员监控具有良好视野。仅熄火时可用。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>Reset Calibration</source>
+        <translation>重置设备校准</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您确定要重置设备校准吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review Training Guide</source>
+        <translation>新手指南</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>REVIEW</source>
+        <translation>查看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>查看openpilot的使用规则，以及其功能和限制。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您确定要查看新手指南吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>Regulatory</source>
+        <translation>监管信息</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>VIEW</source>
+        <translation>查看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>Change Language</source>
+        <translation>切换语言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>CHANGE</source>
+        <translation>切换</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
+        <source>Select a language</source>
+        <translation>选择语言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <source>Power Off</source>
+        <translation>关机</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot要求设备安装的偏航角在左4°和右4°之间，俯仰角在上5°和下8°之间。一般来说，openpilot会持续更新校准，很少需要重置。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation>您的设备校准为%1° %2、%3° %4。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>down</source>
+        <translation>朝下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>up</source>
+        <translation>朝上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>left</source>
+        <translation>朝左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>right</source>
+        <translation>朝右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您确定要重新启动吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
+        <source>Disengage to Reboot</source>
+        <translation>取消openpilot以重新启动</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您确定要关机吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
+        <source>Disengage to Power Off</source>
+        <translation>取消openpilot以关机</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>旅程数</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>全部</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>过去一周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
+        <source>camera starting</source>
+        <translation>正在启动相机</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>至少需要 %n 个字符！</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>正在安装……</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>正在接收： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>正在处理： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>正在更新文件： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>埃塔</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分钟</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>小时</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>当前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>清空</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>试用导航测试版</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>订阅comma prime以获取导航。 
+立即注册：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>家：未设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>工作：未设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>无最近目的地</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地图加载中</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>选择</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>高级</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>输入密码</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>网络名称：&quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>密码错误</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
+        <source>MAX</source>
+        <translation>最高定速</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
+        <source>SPEED</source>
+        <translation>SPEED</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
+        <source>LIMIT</source>
+        <translation>LIMIT</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 警报</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 警报</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>将您的设备与comma账号配对</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>在手机上访问 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>点击“添加新设备”，扫描右侧二维码</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>将 connect.comma.ai 收藏到您的主屏幕，以便像应用程序一样使用它</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
+        <source>Upgrade Now</source>
+        <translation>现在升级</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>打开connect.comma.ai以注册comma prime会员</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>comma prime特权：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Remote access</source>
+        <translation>远程访问</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>1 year of storage</source>
+        <translation>1年数据存储</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>开发者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 已订阅</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
+        <source>comma prime</source>
+        <translation>comma prime</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA POINTS点数</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>退出</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>行车记录仪</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分钟前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 小时前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 天前</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失败。 重新启动以重试。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您确定要重置您的设备吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>正在重置设备……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>恢复出厂设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>已触发系统重置：确认以删除所有内容和设置。取消以正常启动设备。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>确认</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>无法挂载数据分区。 确认以重置您的设备。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>好的</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
+        <source>Device</source>
+        <translation>设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
+        <source>Network</source>
+        <translation>网络</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
+        <source>Toggles</source>
+        <translation>设定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
+        <source>Software</source>
+        <translation>软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Navigation</source>
+        <translation>导航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：低电压</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>请使用car harness线束为您的设备供电，或自行承担风险。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>关机</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>开始设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>开始旅程之前，让我们完成安装并介绍一些细节。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到WiFi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>不连接WiFi并继续</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>等待网络连接</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>选择要安装的软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>Dashcam（行车记录仪）</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>自定义软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>输入网址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>以下载自定义软件</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>正在下载……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下载失败</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>请确保互联网连接良好且输入的URL有效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重启设备</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重来</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>完成设置</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>将您的设备与comma connect （connect.comma.ai）配对并领取您的comma prime优惠。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
+        <source>Pair device</source>
+        <translation>配对设备</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>CONNECT</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>离线</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>在线</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>连接出错</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>设备温度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>过热</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>良好</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>一般</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>车辆连接</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>无</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>PANDA</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>搜索中</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation>Wi-Fi</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation>以太网</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation>2G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation>3G</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation>LTE</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation>5G</translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Branch</source>
+        <translation>Git Branch</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Git Commit</source>
+        <translation>Git Commit</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>OS Version</source>
+        <translation>系统版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Version</source>
+        <translation>软件版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Last Update Check</source>
+        <translation>上次检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>上一次成功检查更新的时间。更新程序仅在汽车熄火时运行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <source>Check for Update</source>
+        <translation>检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <source>CHECKING</source>
+        <translation>正在检查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>Switch Branch</source>
+        <translation>切换分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>ENTER</source>
+        <translation>输入</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation>分支将在更新服务下次启动时自动切换。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>Enter branch name</source>
+        <translation>输入分支名称</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>UNINSTALL</source>
+        <translation>卸载</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>Uninstall %1</source>
+        <translation>卸载 %1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您确定要卸载吗？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
+        <source>failed to fetch update</source>
+        <translation>获取更新失败</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
+        <source>CHECK</source>
+        <translation>查看</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：这将授予SSH访问权限给您GitHub设置中的所有公钥。切勿输入您自己以外的GitHub用户名。comma员工永远不会要求您添加他们的GitHub用户名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>添加</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>输入您的GitHub用户名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>正在加载</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>删除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>用户名“%1”在GitHub上没有密钥</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>请求超时</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub上不存在用户名“%1”</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>启用SSH</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>条款和条件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒绝</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滑动以接受</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>同意</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Enable openpilot</source>
+        <translation>启用openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用openpilot进行自适应巡航和车道保持辅助。使用此功能时您必须时刻保持注意力。该设置的更改在熄火时生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>启用车道偏离警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>车速超过31mph（50km/h）时，若检测到车辆越过车道线且未打转向灯，系统将发出警告以提醒您返回车道。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Use Metric System</source>
+        <translation>使用公制单位</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>显示车速时，以km/h代替mph。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>录制并上传驾驶员摄像头</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>上传驾驶员摄像头的数据，帮助改进驾驶员监控算法。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>踩油门时取消控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>启用后，踩下油门踏板将取消openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <source>Show ETA in 24h format</source>
+        <translation>以24小时格式显示预计到达时间</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用24小时制代替am/pm</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>在介面左侧显示地图</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>在分屏模式中，将地图置于屏幕左侧。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot纵向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot将禁用车辆的雷达并接管油门和刹车的控制。警告：AEB将被禁用！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>需要更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>操作系统需要更新。请将您的设备连接到WiFi以获取更快的更新体验。下载大小约为1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>连接到WiFi</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安装</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>返回</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>正在加载……</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重启</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失败</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>正在扫描网络……</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>正在连接……</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>忘记</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>忘记WiFi网络 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/translations/main_zh-CHT.ts b/selfdrive/ui/translations/main_zh-CHT.ts
new file mode 100644
index 0000000000..0ea8e95f52
--- /dev/null
+++ b/selfdrive/ui/translations/main_zh-CHT.ts
@@ -0,0 +1,1303 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE TS>
+<TS version="2.1" language="zh_TW">
+<context>
+    <name>AbstractAlert</name>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="25"/>
+        <source>Close</source>
+        <translation>關閉</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="30"/>
+        <source>Snooze Update</source>
+        <translation>暫停更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/offroad_alerts.cc" line="41"/>
+        <source>Reboot and Update</source>
+        <translation>重啟並更新</translation>
+    </message>
+</context>
+<context>
+    <name>AdvancedNetworking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="121"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="129"/>
+        <source>Enable Tethering</source>
+        <translation>啟用網路分享</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <source>Tethering Password</source>
+        <translation>網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="134"/>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>EDIT</source>
+        <translation>編輯</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="136"/>
+        <source>Enter new tethering password</source>
+        <translation>輸入新的網路分享密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="144"/>
+        <source>IP Address</source>
+        <translation>IP 地址</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="153"/>
+        <source>Enable Roaming</source>
+        <translation>啟用漫遊</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="161"/>
+        <source>APN Setting</source>
+        <translation>APN 設置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>Enter APN</source>
+        <translation>輸入 APN</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="165"/>
+        <source>leave blank for automatic configuration</source>
+        <translation>留空白將自動配置</translation>
+    </message>
+</context>
+<context>
+    <name>ConfirmationDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="221"/>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="226"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>DeclinePage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="140"/>
+        <source>You must accept the Terms and Conditions in order to use openpilot.</source>
+        <translation>您必須先接受條款和條件才能使用 openpilot。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="149"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="154"/>
+        <source>Decline, uninstall %1</source>
+        <translation>拒絕並卸載 %1</translation>
+    </message>
+</context>
+<context>
+    <name>DevicePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>Dongle ID</source>
+        <translation>Dongle ID</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="100"/>
+        <source>N/A</source>
+        <translation>無法使用</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="101"/>
+        <source>Serial</source>
+        <translation>序號</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>Driver Camera</source>
+        <translation>駕駛員攝像頭</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="105"/>
+        <source>PREVIEW</source>
+        <translation>預覽</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="106"/>
+        <source>Preview the driver facing camera to ensure that driver monitoring has good visibility. (vehicle must be off)</source>
+        <translation>預覽駕駛員監控鏡頭畫面，以確保其具有良好視野。（僅在熄火時可用）</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>Reset Calibration</source>
+        <translation>重置校準</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="110"/>
+        <source>RESET</source>
+        <translation>重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="113"/>
+        <source>Are you sure you want to reset calibration?</source>
+        <translation>您確定要重置校準嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review Training Guide</source>
+        <translation>觀看使用教學</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>REVIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="120"/>
+        <source>Review the rules, features, and limitations of openpilot</source>
+        <translation>觀看 openpilot 的使用規則、功能和限制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="122"/>
+        <source>Are you sure you want to review the training guide?</source>
+        <translation>您確定要觀看使用教學嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>Regulatory</source>
+        <translation>法規/監管</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="130"/>
+        <source>VIEW</source>
+        <translation>觀看</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>Change Language</source>
+        <translation>更改語言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="138"/>
+        <source>CHANGE</source>
+        <translation>更改</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="142"/>
+        <source>Select a language</source>
+        <translation>選擇語言</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="162"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="167"/>
+        <source>Power Off</source>
+        <translation>關機</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="187"/>
+        <source>openpilot requires the device to be mounted within 4° left or right and within 5° up or 8° down. openpilot is continuously calibrating, resetting is rarely required.</source>
+        <translation>openpilot 需要將裝置固定在左右偏差 4° 以內，朝上偏差 5° 以内或朝下偏差 8° 以内。鏡頭在後台會持續自動校準，很少有需要重置的情况。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="198"/>
+        <source> Your device is pointed %1° %2 and %3° %4.</source>
+        <translation> 你的設備目前朝%2 %1° 以及朝%4 %3° 。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>down</source>
+        <translation>下</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="199"/>
+        <source>up</source>
+        <translation>上</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>left</source>
+        <translation>左</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="200"/>
+        <source>right</source>
+        <translation>右</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="211"/>
+        <source>Are you sure you want to reboot?</source>
+        <translation>您確定要重新啟動嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="218"/>
+        <source>Disengage to Reboot</source>
+        <translation>請先取消控車才能重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="224"/>
+        <source>Are you sure you want to power off?</source>
+        <translation>您確定您要關機嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="231"/>
+        <source>Disengage to Power Off</source>
+        <translation>請先取消控車才能關機</translation>
+    </message>
+</context>
+<context>
+    <name>DriveStats</name>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="37"/>
+        <source>Drives</source>
+        <translation>旅程</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="39"/>
+        <source>Hours</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="44"/>
+        <source>ALL TIME</source>
+        <translation>總共</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.cc" line="46"/>
+        <source>PAST WEEK</source>
+        <translation>上周</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>KM</source>
+        <translation>公里</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/drive_stats.h" line="15"/>
+        <source>Miles</source>
+        <translation>英里</translation>
+    </message>
+</context>
+<context>
+    <name>DriverViewScene</name>
+    <message>
+        <location filename="../qt/offroad/driverview.cc" line="55"/>
+        <source>camera starting</source>
+        <translation>開啟相機中</translation>
+    </message>
+</context>
+<context>
+    <name>InputDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="71"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/widgets/input.cc" line="168"/>
+        <source>Need at least %n character(s)!</source>
+        <translation>
+            <numerusform>需要至少 %n 個字元！</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Installer</name>
+    <message>
+        <location filename="../installer/installer.cc" line="56"/>
+        <source>Installing...</source>
+        <translation>安裝中…</translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="144"/>
+        <source>Receiving objects: </source>
+        <translation>接收對象： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="145"/>
+        <source>Resolving deltas: </source>
+        <translation>分析差異： </translation>
+    </message>
+    <message>
+        <location filename="../installer/installer.cc" line="146"/>
+        <source>Updating files: </source>
+        <translation>更新檔案： </translation>
+    </message>
+</context>
+<context>
+    <name>MapETA</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="622"/>
+        <source>eta</source>
+        <translation>抵達</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="632"/>
+        <source>min</source>
+        <translation>分鐘</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="636"/>
+        <source>hr</source>
+        <translation>小時</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="656"/>
+        <source>km</source>
+        <translation>km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="659"/>
+        <source>mi</source>
+        <translation>mi</translation>
+    </message>
+</context>
+<context>
+    <name>MapInstructions</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="421"/>
+        <source> km</source>
+        <translation> km</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="424"/>
+        <source> m</source>
+        <translation> m</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="432"/>
+        <source> mi</source>
+        <translation> mi</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="435"/>
+        <source> ft</source>
+        <translation> ft</translation>
+    </message>
+</context>
+<context>
+    <name>MapPanel</name>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="62"/>
+        <source>Current Destination</source>
+        <translation>當前目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="66"/>
+        <source>CLEAR</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="81"/>
+        <source>Recent Destinations</source>
+        <translation>最近目的地</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="95"/>
+        <source>Try the Navigation Beta</source>
+        <translation>試用導航功能</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="107"/>
+        <source>Get turn-by-turn directions displayed and more with a comma
+prime subscription. Sign up now: https://connect.comma.ai</source>
+        <translation>成為 comma 高級會員來使用導航功能
+立即註冊：https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="164"/>
+        <source>No home
+location set</source>
+        <translation>未設定
+住家位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="169"/>
+        <source>No work
+location set</source>
+        <translation>未設定
+工作位置</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map_settings.cc" line="282"/>
+        <source>no recent destinations</source>
+        <translation>沒有最近的導航記錄</translation>
+    </message>
+</context>
+<context>
+    <name>MapWindow</name>
+    <message>
+        <location filename="../qt/maps/map.cc" line="178"/>
+        <source>Map Loading</source>
+        <translation>地圖加載中</translation>
+    </message>
+    <message>
+        <location filename="../qt/maps/map.cc" line="195"/>
+        <source>Waiting for GPS</source>
+        <translation>等待 GPS</translation>
+    </message>
+</context>
+<context>
+    <name>MultiOptionDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="300"/>
+        <source>Select</source>
+        <translation>選擇</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="333"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+</context>
+<context>
+    <name>Networking</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="30"/>
+        <source>Advanced</source>
+        <translation>進階</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <source>Enter password</source>
+        <translation>輸入密碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="87"/>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>for &quot;%1&quot;</source>
+        <translation>給 &quot;%1&quot;</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="97"/>
+        <source>Wrong password</source>
+        <translation>密碼錯誤</translation>
+    </message>
+</context>
+<context>
+    <name>NvgWindow</name>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>km/h</source>
+        <translation>km/h</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="212"/>
+        <source>mph</source>
+        <translation>mph</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="280"/>
+        <location filename="../qt/onroad.cc" line="283"/>
+        <source>MAX</source>
+        <translation>最高</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="327"/>
+        <location filename="../qt/onroad.cc" line="330"/>
+        <source>SPEED</source>
+        <translation>速度</translation>
+    </message>
+    <message>
+        <location filename="../qt/onroad.cc" line="333"/>
+        <location filename="../qt/onroad.cc" line="336"/>
+        <source>LIMIT</source>
+        <translation>速限</translation>
+    </message>
+</context>
+<context>
+    <name>OffroadHome</name>
+    <message>
+        <location filename="../qt/home.cc" line="114"/>
+        <source>UPDATE</source>
+        <translation>更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERTS</source>
+        <translation> 提醒</translation>
+    </message>
+    <message>
+        <location filename="../qt/home.cc" line="205"/>
+        <source> ALERT</source>
+        <translation> 提醒</translation>
+    </message>
+</context>
+<context>
+    <name>PairingPopup</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="86"/>
+        <source>Pair your device to your comma account</source>
+        <translation>將設備與您的 comma 帳號配對</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="97"/>
+        <source>Go to https://connect.comma.ai on your phone</source>
+        <translation>用手機連至 https://connect.comma.ai</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="98"/>
+        <source>Click &quot;add new device&quot; and scan the QR code on the right</source>
+        <translation>點選 &quot;add new device&quot; 後掃描右邊的二維碼</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="99"/>
+        <source>Bookmark connect.comma.ai to your home screen to use it like an app</source>
+        <translation>將 connect.comma.ai 加入您的主屏幕，以便像手機 App 一樣使用它</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeAdWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="187"/>
+        <source>Upgrade Now</source>
+        <translation>馬上升級</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="192"/>
+        <source>Become a comma prime member at connect.comma.ai</source>
+        <translation>成為 connect.comma.ai 的高級會員</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="199"/>
+        <source>PRIME FEATURES:</source>
+        <translation>高級會員特點：</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Remote access</source>
+        <translation>遠程訪問</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>1 year of storage</source>
+        <translation>一年的雲端行車記錄</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="204"/>
+        <source>Developer perks</source>
+        <translation>開發者福利</translation>
+    </message>
+</context>
+<context>
+    <name>PrimeUserWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="126"/>
+        <source>✓ SUBSCRIBED</source>
+        <translation>✓ 已訂閱</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="132"/>
+        <source>comma prime</source>
+        <translation>comma 高級會員</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="138"/>
+        <source>CONNECT.COMMA.AI</source>
+        <translation>CONNECT.COMMA.AI</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="151"/>
+        <source>COMMA POINTS</source>
+        <translation>COMMA 積分</translation>
+    </message>
+</context>
+<context>
+    <name>QObject</name>
+    <message>
+        <location filename="../qt/text.cc" line="36"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/text.cc" line="41"/>
+        <source>Exit</source>
+        <translation>離開</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/util.cc" line="21"/>
+        <source>openpilot</source>
+        <translation>openpilot</translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="82"/>
+        <source>%n minute(s) ago</source>
+        <translation>
+            <numerusform>%n 分鐘前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="85"/>
+        <source>%n hour(s) ago</source>
+        <translation>
+            <numerusform>%n 小時前</numerusform>
+        </translation>
+    </message>
+    <message numerus="yes">
+        <location filename="../qt/util.cc" line="88"/>
+        <source>%n day(s) ago</source>
+        <translation>
+            <numerusform>%n 天前</numerusform>
+        </translation>
+    </message>
+</context>
+<context>
+    <name>Reset</name>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="29"/>
+        <source>Reset failed. Reboot to try again.</source>
+        <translation>重置失敗。請重新啟動後再試。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="34"/>
+        <source>Are you sure you want to reset your device?</source>
+        <translation>您確定要重置你的設備嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="38"/>
+        <source>Resetting device...</source>
+        <translation>重置設備中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="53"/>
+        <source>System Reset</source>
+        <translation>系統重置</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="59"/>
+        <source>System reset triggered. Press confirm to erase all content and settings. Press cancel to resume boot.</source>
+        <translation>系統重置已觸發。請按確認刪除所有內容和設置。按取消恢復啟動。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="68"/>
+        <source>Cancel</source>
+        <translation>取消</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="72"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="80"/>
+        <source>Confirm</source>
+        <translation>確認</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/reset.cc" line="88"/>
+        <source>Unable to mount data partition. Press confirm to reset your device.</source>
+        <translation>無法掛載數據分區。請按確認重置您的設備。</translation>
+    </message>
+</context>
+<context>
+    <name>RichTextDialog</name>
+    <message>
+        <location filename="../qt/widgets/input.cc" line="258"/>
+        <source>Ok</source>
+        <translation>確定</translation>
+    </message>
+</context>
+<context>
+    <name>SettingsWindow</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="332"/>
+        <source>×</source>
+        <translation>×</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="358"/>
+        <source>Device</source>
+        <translation>設備</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="359"/>
+        <location filename="../qt/offroad/settings.cc" line="398"/>
+        <source>Network</source>
+        <translation>網路</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="360"/>
+        <source>Toggles</source>
+        <translation>設定</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="361"/>
+        <source>Software</source>
+        <translation>軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="366"/>
+        <source>Navigation</source>
+        <translation>導航</translation>
+    </message>
+</context>
+<context>
+    <name>Setup</name>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="73"/>
+        <source>WARNING: Low Voltage</source>
+        <translation>警告：電壓過低</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="79"/>
+        <source>Power your device in a car with a harness or proceed at your own risk.</source>
+        <translation>請使用車上 harness 提供的電源，若繼續的話您需要自擔風險。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="92"/>
+        <source>Power off</source>
+        <translation>關機</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="99"/>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <location filename="../qt/setup/setup.cc" line="268"/>
+        <source>Continue</source>
+        <translation>繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="117"/>
+        <source>Getting Started</source>
+        <translation>入門</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="122"/>
+        <source>Before we get on the road, let’s finish installation and cover some details.</source>
+        <translation>在我們上路之前，讓我們完成安裝並介紹一些細節。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="147"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="165"/>
+        <location filename="../qt/setup/setup.cc" line="263"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="182"/>
+        <source>Continue without Wi-Fi</source>
+        <translation>在沒有 Wi-Fi 的情況下繼續</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="184"/>
+        <source>Waiting for internet</source>
+        <translation>連接至網路中</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="238"/>
+        <source>Choose Software to Install</source>
+        <translation>選擇要安裝的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="248"/>
+        <source>Dashcam</source>
+        <translation>行車記錄器</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="253"/>
+        <source>Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>Enter URL</source>
+        <translation>輸入網址</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="281"/>
+        <source>for Custom Software</source>
+        <translation>定制的軟體</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="303"/>
+        <source>Downloading...</source>
+        <translation>下載中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="315"/>
+        <source>Download Failed</source>
+        <translation>下載失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="321"/>
+        <source>Ensure the entered URL is valid, and the device’s internet connection is good.</source>
+        <translation>請確定您輸入的是有效的安裝網址，並且確定設備的網路連線狀態良好。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="334"/>
+        <source>Reboot device</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/setup.cc" line="341"/>
+        <source>Start over</source>
+        <translation>重新開始</translation>
+    </message>
+</context>
+<context>
+    <name>SetupWidget</name>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="233"/>
+        <source>Finish Setup</source>
+        <translation>完成設置</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="239"/>
+        <source>Pair your device with comma connect (connect.comma.ai) and claim your comma prime offer.</source>
+        <translation>將您的設備與 comma connect (connect.comma.ai) 配對並領取您的 comma 高級會員優惠。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/prime.cc" line="246"/>
+        <source>Pair device</source>
+        <translation>配對設備</translation>
+    </message>
+</context>
+<context>
+    <name>Sidebar</name>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>CONNECT</source>
+        <translation>雲端服務</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="67"/>
+        <source>OFFLINE</source>
+        <translation>已離線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>ONLINE</source>
+        <translation>已連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="69"/>
+        <source>ERROR</source>
+        <translation>錯誤</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>TEMP</source>
+        <translation>溫度</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="73"/>
+        <source>HIGH</source>
+        <translation>偏高</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="76"/>
+        <source>GOOD</source>
+        <translation>正常</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="78"/>
+        <source>OK</source>
+        <translation>一般</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="82"/>
+        <source>VEHICLE</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>NO</source>
+        <translation>未連線</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="84"/>
+        <source>PANDA</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>GPS</source>
+        <translation>GPS</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.cc" line="86"/>
+        <source>SEARCH</source>
+        <translation>車輛通訊</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="37"/>
+        <source>--</source>
+        <translation>--</translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="38"/>
+        <source>Wi-Fi</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="39"/>
+        <source>ETH</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="40"/>
+        <source>2G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="41"/>
+        <source>3G</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="42"/>
+        <source>LTE</source>
+        <translation></translation>
+    </message>
+    <message>
+        <location filename="../qt/sidebar.h" line="43"/>
+        <source>5G</source>
+        <translation></translation>
+    </message>
+</context>
+<context>
+    <name>SoftwarePanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="236"/>
+        <source>Git Branch</source>
+        <translation>Git 分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="237"/>
+        <source>Git Commit</source>
+        <translation>Git 提交</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="238"/>
+        <source>OS Version</source>
+        <translation>系統版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="239"/>
+        <source>Version</source>
+        <translation>版本</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>Last Update Check</source>
+        <translation>上次檢查時間</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="240"/>
+        <source>The last time openpilot successfully checked for an update. The updater only runs while the car is off.</source>
+        <translation>上次成功檢查更新的時間。更新系統只會在車子熄火時執行。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="241"/>
+        <source>Check for Update</source>
+        <translation>檢查更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="246"/>
+        <source>CHECKING</source>
+        <translation>檢查中</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>Switch Branch</source>
+        <translation>切換分支</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <source>ENTER</source>
+        <translation>切換</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="253"/>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>The new branch will be pulled the next time the updater runs.</source>
+        <translation>新的分支將會在下次檢查更新時切換過去。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="255"/>
+        <source>Enter branch name</source>
+        <translation>輸入分支名稱</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>UNINSTALL</source>
+        <translation>卸載</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="266"/>
+        <source>Uninstall %1</source>
+        <translation>卸載 %1</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="268"/>
+        <source>Are you sure you want to uninstall?</source>
+        <translation>您確定您要卸載嗎？</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="285"/>
+        <source>failed to fetch update</source>
+        <translation>下載更新失敗</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="286"/>
+        <location filename="../qt/offroad/settings.cc" line="307"/>
+        <source>CHECK</source>
+        <translation>檢查</translation>
+    </message>
+</context>
+<context>
+    <name>SshControl</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>SSH Keys</source>
+        <translation>SSH 密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="7"/>
+        <source>Warning: This grants SSH access to all public keys in your GitHub settings. Never enter a GitHub username other than your own. A comma employee will NEVER ask you to add their GitHub username.</source>
+        <translation>警告：這將授權給 GitHub 帳號中所有公鑰 SSH 訪問權限。切勿輸入非您自己的 GitHub 用戶名。comma 員工「永遠不會」要求您添加他們的 GitHub 用戶名。</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="13"/>
+        <location filename="../qt/widgets/ssh_keys.cc" line="37"/>
+        <source>ADD</source>
+        <translation>新增</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="14"/>
+        <source>Enter your GitHub username</source>
+        <translation>請輸入您 GitHub 的用戶名</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="16"/>
+        <source>LOADING</source>
+        <translation>載入中</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="34"/>
+        <source>REMOVE</source>
+        <translation>移除</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="50"/>
+        <source>Username &apos;%1&apos; has no keys on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 沒有設定任何密鑰</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="54"/>
+        <source>Request timed out</source>
+        <translation>請求超時</translation>
+    </message>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.cc" line="56"/>
+        <source>Username &apos;%1&apos; doesn&apos;t exist on GitHub</source>
+        <translation>GitHub 用戶 &apos;%1&apos; 不存在</translation>
+    </message>
+</context>
+<context>
+    <name>SshToggle</name>
+    <message>
+        <location filename="../qt/widgets/ssh_keys.h" line="13"/>
+        <source>Enable SSH</source>
+        <translation>啟用 SSH 服務</translation>
+    </message>
+</context>
+<context>
+    <name>TermsPage</name>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="79"/>
+        <source>Terms &amp; Conditions</source>
+        <translation>條款和條件</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="107"/>
+        <source>Decline</source>
+        <translation>拒絕</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="111"/>
+        <source>Scroll to accept</source>
+        <translation>滑動至頁尾接受條款</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/onboarding.cc" line="126"/>
+        <source>Agree</source>
+        <translation>接受</translation>
+    </message>
+</context>
+<context>
+    <name>TogglesPanel</name>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="34"/>
+        <source>Enable openpilot</source>
+        <translation>啟用 openpilot</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="35"/>
+        <source>Use the openpilot system for adaptive cruise control and lane keep driver assistance. Your attention is required at all times to use this feature. Changing this setting takes effect when the car is powered off.</source>
+        <translation>使用 openpilot 的主動式巡航和車道保持功能，開啟後您需要持續集中注意力，設定變更在重新啟動車輛後生效。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="40"/>
+        <source>Enable Lane Departure Warnings</source>
+        <translation>啟用車道偏離警告</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="41"/>
+        <source>Receive alerts to steer back into the lane when your vehicle drifts over a detected lane line without a turn signal activated while driving over 31 mph (50 km/h).</source>
+        <translation>車速在時速 50 公里 (31 英里) 以上且未打方向燈的情況下，如果偵測到車輛駛出目前車道線時，發出車道偏離警告。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="46"/>
+        <source>Use Metric System</source>
+        <translation>使用公制單位</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="47"/>
+        <source>Display speed in km/h instead of mph.</source>
+        <translation>啟用後，速度單位顯示將從 mp/h 改為 km/h。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="52"/>
+        <source>Record and Upload Driver Camera</source>
+        <translation>記錄並上傳駕駛監控影像</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="53"/>
+        <source>Upload data from the driver facing camera and help improve the driver monitoring algorithm.</source>
+        <translation>上傳駕駛監控的錄像來協助我們提升駕駛監控的準確率。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="58"/>
+        <source>Disengage On Accelerator Pedal</source>
+        <translation>油門取消控車</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="59"/>
+        <source>When enabled, pressing the accelerator pedal will disengage openpilot.</source>
+        <translation>啟用後，踩踏油門將會取消 openpilot 控制。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="65"/>
+        <source>Show ETA in 24h format</source>
+        <translation>預計到達時間單位改用 24 小時制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="66"/>
+        <source>Use 24h format instead of am/pm</source>
+        <translation>使用 24 小時制。(預設值為 12 小時制)</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="71"/>
+        <source>Show Map on Left Side of UI</source>
+        <translation>將地圖顯示在畫面的左側</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="72"/>
+        <source>Show map on left side when in split screen view.</source>
+        <translation>進入分割畫面後，地圖將會顯示在畫面的左側。</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="84"/>
+        <source>openpilot Longitudinal Control</source>
+        <translation>openpilot 縱向控制</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/settings.cc" line="85"/>
+        <source>openpilot will disable the car&apos;s radar and will take over control of gas and brakes. Warning: this disables AEB!</source>
+        <translation>openpilot 將會關閉雷達訊號並接管油門和剎車的控制。注意：這也會關閉自動緊急煞車 (AEB) 系統！</translation>
+    </message>
+</context>
+<context>
+    <name>Updater</name>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="23"/>
+        <source>Update Required</source>
+        <translation>系統更新</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="29"/>
+        <source>An operating system update is required. Connect your device to Wi-Fi for the fastest update experience. The download size is approximately 1GB.</source>
+        <translation>設備的操作系統需要更新。請將您的設備連接到 Wi-Fi 以獲得最快的更新體驗。下載大小約為 1GB。</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="40"/>
+        <source>Connect to Wi-Fi</source>
+        <translation>連接到無線網絡</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="47"/>
+        <source>Install</source>
+        <translation>安裝</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="64"/>
+        <source>Back</source>
+        <translation>回上頁</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="80"/>
+        <source>Loading...</source>
+        <translation>載入中…</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="94"/>
+        <source>Reboot</source>
+        <translation>重新啟動</translation>
+    </message>
+    <message>
+        <location filename="../qt/setup/updater.cc" line="164"/>
+        <source>Update failed</source>
+        <translation>更新失敗</translation>
+    </message>
+</context>
+<context>
+    <name>WifiUI</name>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="210"/>
+        <location filename="../qt/offroad/networking.cc" line="263"/>
+        <source>Scanning for networks...</source>
+        <translation>掃描無線網路中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="289"/>
+        <source>CONNECTING...</source>
+        <translation>連線中...</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="296"/>
+        <source>FORGET</source>
+        <translation>清除</translation>
+    </message>
+    <message>
+        <location filename="../qt/offroad/networking.cc" line="299"/>
+        <source>Forget Wi-Fi Network &quot;%1&quot;?</source>
+        <translation>清除 Wi-Fi 網路 &quot;%1&quot;?</translation>
+    </message>
+</context>
+</TS>
diff --git a/selfdrive/ui/ui.cc b/selfdrive/ui/ui.cc
index 4d1e1ab746..317ef497a5 100644
--- a/selfdrive/ui/ui.cc
+++ b/selfdrive/ui/ui.cc
@@ -55,10 +55,13 @@ static void update_leads(UIState *s, const cereal::RadarState::Reader &radar_sta
 }
 
 static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTData::Reader &line,
-                             float y_off, float z_off, line_vertices_data *pvd, int max_idx, bool allow_invert=true) {
+                             float y_off, float z_off, QPolygonF *pvd, int max_idx, bool allow_invert=true) {
   const auto line_x = line.getX(), line_y = line.getY(), line_z = line.getZ();
 
-  std::vector<QPointF> left_points, right_points;
+  QPolygonF left_points, right_points;
+  left_points.reserve(max_idx + 1);
+  right_points.reserve(max_idx + 1);
+
   for (int i = 0; i <= max_idx; i++) {
     QPointF left, right;
     bool l = calib_frame_to_full_frame(s, line_x[i], line_y[i] - y_off, line_z[i] + z_off, &left);
@@ -69,19 +72,10 @@ static void update_line_data(const UIState *s, const cereal::ModelDataV2::XYZTDa
         continue;
       }
       left_points.push_back(left);
-      right_points.push_back(right);
+      right_points.push_front(right);
     }
   }
-
-  pvd->cnt = 2 * left_points.size();
-  assert(left_points.size() == right_points.size());
-  assert(pvd->cnt <= std::size(pvd->v));
-
-  for (int left_idx = 0; left_idx < left_points.size(); left_idx++){
-    int right_idx = 2 * left_points.size() - left_idx - 1;
-    pvd->v[left_idx] = left_points[left_idx];
-    pvd->v[right_idx] = right_points[left_idx];
-  }
+  *pvd = left_points + right_points;
 }
 
 static void update_model(UIState *s, const cereal::ModelDataV2::Reader &model) {
@@ -140,6 +134,7 @@ static void update_state(UIState *s) {
         scene.view_from_calib.v[i*3 + j] = view_from_calib(i,j);
       }
     }
+    scene.calibration_valid = sm["liveCalibration"].getLiveCalibration().getCalStatus() == 1;
   }
   if (s->worldObjectsVisible()) {
     if (sm.updated("modelV2")) {
@@ -197,7 +192,9 @@ static void update_state(UIState *s) {
 }
 
 void ui_update_params(UIState *s) {
-  s->scene.is_metric = Params().getBool("IsMetric");
+  auto params = Params();
+  s->scene.is_metric = params.getBool("IsMetric");
+  s->scene.map_on_left = params.getBool("NavSettingLeftSide");
 }
 
 void UIState::updateStatus() {
@@ -232,7 +229,7 @@ UIState::UIState(QObject *parent) : QObject(parent) {
   sm = std::make_unique<SubMaster, const std::initializer_list<const char *>>({
     "modelV2", "controlsState", "liveCalibration", "radarState", "deviceState", "roadCameraState",
     "pandaStates", "carParams", "driverMonitoringState", "sensorEvents", "carState", "liveLocationKalman",
-    "wideRoadCameraState", "managerState", "navInstruction", "navRoute",
+    "wideRoadCameraState", "managerState", "navInstruction", "navRoute", "gnssMeasurements",
   });
 
   Params params;
@@ -251,7 +248,7 @@ void UIState::update() {
   updateStatus();
 
   if (sm->frame % UI_FREQ == 0) {
-    watchdog_kick();
+    watchdog_kick(nanos_since_boot());
   }
   emit uiUpdate(*this);
 }
diff --git a/selfdrive/ui/ui.h b/selfdrive/ui/ui.h
index cbf3921e4e..16f78cdef4 100644
--- a/selfdrive/ui/ui.h
+++ b/selfdrive/ui/ui.h
@@ -8,6 +8,7 @@
 #include <QTimer>
 #include <QColor>
 #include <QFuture>
+#include <QPolygonF>
 #include <QTransform>
 
 #include "cereal/messaging/messaging.h"
@@ -22,10 +23,7 @@ const int footer_h = 280;
 const int UI_FREQ = 20;   // Hz
 typedef cereal::CarControl::HUDControl::AudibleAlert AudibleAlert;
 
-// TODO: this is also hardcoded in common/transformations/camera.py
-// TODO: choose based on frame input size
-const float y_offset = 150.0;
-const float ZOOM = 2912.8;
+const mat3 DEFAULT_CALIBRATION = {{ 0.0, 1.0, 0.0, 0.0, 0.0, 1.0, 1.0, 0.0, 0.0 }};
 
 struct Alert {
   QString text1;
@@ -87,27 +85,23 @@ const QColor bg_colors [] = {
   [STATUS_ALERT] = QColor(0xC9, 0x22, 0x31, 0xf1),
 };
 
-typedef struct {
-  QPointF v[TRAJECTORY_SIZE * 2];
-  int cnt;
-} line_vertices_data;
-
 typedef struct UIScene {
-  mat3 view_from_calib;
+  bool calibration_valid = false;
+  mat3 view_from_calib = DEFAULT_CALIBRATION;
   cereal::PandaState::PandaType pandaType;
 
   // modelV2
   float lane_line_probs[4];
   float road_edge_stds[2];
-  line_vertices_data track_vertices;
-  line_vertices_data lane_line_vertices[4];
-  line_vertices_data road_edge_vertices[2];
+  QPolygonF track_vertices;
+  QPolygonF lane_line_vertices[4];
+  QPolygonF road_edge_vertices[2];
 
   // lead
   QPointF lead_vertices[2];
 
   float light_sensor, accel_sensor, gyro_sensor;
-  bool started, ignition, is_metric, longitudinal_control;
+  bool started, ignition, is_metric, map_on_left, longitudinal_control;
   uint64_t started_frame;
 } UIScene;
 
diff --git a/selfdrive/ui/update_translations.py b/selfdrive/ui/update_translations.py
new file mode 100755
index 0000000000..78c973c86b
--- /dev/null
+++ b/selfdrive/ui/update_translations.py
@@ -0,0 +1,42 @@
+#!/usr/bin/env python3
+import argparse
+import json
+import os
+
+from common.basedir import BASEDIR
+
+UI_DIR = os.path.join(BASEDIR, "selfdrive", "ui")
+TRANSLATIONS_DIR = os.path.join(UI_DIR, "translations")
+LANGUAGES_FILE = os.path.join(TRANSLATIONS_DIR, "languages.json")
+
+
+def update_translations(vanish=False, plural_only=None, translations_dir=TRANSLATIONS_DIR):
+  if plural_only is None:
+    plural_only = []
+
+  with open(LANGUAGES_FILE, "r") as f:
+    translation_files = json.load(f)
+
+  for name, file in translation_files.items():
+    if not len(file):
+      print(f"{name} has no translation file, skipping...")
+      continue
+
+    tr_file = os.path.join(translations_dir, f"{file}.ts")
+    args = f"lupdate -recursive {UI_DIR} -ts {tr_file}"
+    if vanish:
+      args += " -no-obsolete"
+    if file in plural_only:
+      args += " -pluralonly"
+    ret = os.system(args)
+    assert ret == 0
+
+
+if __name__ == "__main__":
+  parser = argparse.ArgumentParser(description="Update translation files for UI",
+                                   formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+  parser.add_argument("--vanish", action="store_true", help="Remove translations with source text no longer found")
+  parser.add_argument("--plural-only", type=str, nargs="*", default=["main_en"], help="Translation codes to only create plural translations for (ie. the base language)")
+  args = parser.parse_args()
+
+  update_translations(args.vanish, args.plural_only)
diff --git a/selfdrive/ui/watch3.cc b/selfdrive/ui/watch3.cc
index 00d23ea976..d6b5cc67a7 100644
--- a/selfdrive/ui/watch3.cc
+++ b/selfdrive/ui/watch3.cc
@@ -19,6 +19,7 @@ int main(int argc, char *argv[]) {
   {
     QHBoxLayout *hlayout = new QHBoxLayout();
     layout->addLayout(hlayout);
+    hlayout->addWidget(new CameraViewWidget("navd", VISION_STREAM_MAP, false));
     hlayout->addWidget(new CameraViewWidget("camerad", VISION_STREAM_ROAD, false));
   }
 
diff --git a/selfdrive/updated.py b/selfdrive/updated.py
index bdec383f52..e8905962b2 100755
--- a/selfdrive/updated.py
+++ b/selfdrive/updated.py
@@ -314,18 +314,26 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
   new_version: bool = cur_hash != upstream_hash
   git_fetch_result = check_git_fetch_result(git_fetch_output)
 
+  new_branch = Params().get("SwitchToBranch", encoding='utf8')
+  if new_branch is not None:
+    new_version = True
+
   cloudlog.info(f"comparing {cur_hash} to {upstream_hash}")
   if new_version or git_fetch_result:
     cloudlog.info("Running update")
 
     if new_version:
       cloudlog.info("git reset in progress")
-      r = [
-        run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ),
-        run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True),
+      cmds = [
+        ["git", "reset", "--hard", "@{u}"],
+        ["git", "clean", "-xdf"],
+        ["git", "submodule", "init"],
+        ["git", "submodule", "update"],
       ]
+      if new_branch is not None:
+        cloudlog.info(f"switching to branch {repr(new_branch)}")
+        cmds.insert(0, ["git", "checkout", "-f", new_branch])
+      r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds]
       cloudlog.info("git reset success: %s", '\n'.join(r))
 
       if AGNOS:
diff --git a/system/camerad/SConscript b/system/camerad/SConscript
index b181fbab75..25e366210f 100644
--- a/system/camerad/SConscript
+++ b/system/camerad/SConscript
@@ -10,7 +10,6 @@ if arch == "larch64":
   env.Program('camerad', [
       'main.cc',
       'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
       'imgproc/utils.cc',
       cameras,
     ], LIBS=libs)
@@ -19,5 +18,4 @@ if GetOption("test"):
   env.Program('test/ae_gray_test', [
       'test/ae_gray_test.cc',
       'cameras/camera_common.cc',
-      'transforms/rgb_to_yuv.cc',
     ], LIBS=libs)
diff --git a/system/camerad/cameras/camera_common.cc b/system/camerad/cameras/camera_common.cc
index 34dde9389c..1d4ecd526a 100644
--- a/system/camerad/cameras/camera_common.cc
+++ b/system/camerad/cameras/camera_common.cc
@@ -32,15 +32,14 @@ public:
   Debayer(cl_device_id device_id, cl_context context, const CameraBuf *b, const CameraState *s, int buf_width, int uv_offset) {
     char args[4096];
     const CameraInfo *ci = &s->ci;
-    hdr_ = ci->hdr;
     snprintf(args, sizeof(args),
              "-cl-fast-relaxed-math -cl-denorms-are-zero "
              "-DFRAME_WIDTH=%d -DFRAME_HEIGHT=%d -DFRAME_STRIDE=%d -DFRAME_OFFSET=%d "
              "-DRGB_WIDTH=%d -DRGB_HEIGHT=%d -DRGB_STRIDE=%d -DYUV_STRIDE=%d -DUV_OFFSET=%d "
-             "-DBAYER_FLIP=%d -DHDR=%d -DCAM_NUM=%d%s",
+             "-DCAM_NUM=%d%s",
              ci->frame_width, ci->frame_height, ci->frame_stride, ci->frame_offset,
              b->rgb_width, b->rgb_height, b->rgb_stride, buf_width, uv_offset,
-             ci->bayer_flip, ci->hdr, s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
+             s->camera_num, s->camera_num==1 ? " -DVIGNETTING" : "");
     const char *cl_file = "cameras/real_debayer.cl";
     cl_program prg_debayer = cl_program_from_file(context, device_id, cl_file, args);
     krnl_ = CL_CHECK_ERR(clCreateKernel(prg_debayer, "debayer10", &err));
@@ -63,14 +62,11 @@ public:
 
 private:
   cl_kernel krnl_;
-  bool hdr_;
 };
 
-void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_rgb_type, VisionStreamType init_yuv_type, release_cb init_release_callback) {
+void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType init_yuv_type) {
   vipc_server = v;
-  this->rgb_type = init_rgb_type;
   this->yuv_type = init_yuv_type;
-  this->release_callback = init_release_callback;
 
   const CameraInfo *ci = &s->ci;
   camera_state = s;
@@ -90,11 +86,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   rgb_width = ci->frame_width;
   rgb_height = ci->frame_height;
 
-  yuv_transform = get_model_yuv_transform(ci->bayer);
-
-  vipc_server->create_buffers(rgb_type, UI_BUF_COUNT, true, rgb_width, rgb_height);
-  rgb_stride = vipc_server->get_buffer(rgb_type)->stride;
-  LOGD("created %d UI vipc buffers with size %dx%d", UI_BUF_COUNT, rgb_width, rgb_height);
+  yuv_transform = get_model_yuv_transform();
 
   int nv12_width = VENUS_Y_STRIDE(COLOR_FMT_NV12, rgb_width);
   int nv12_height = VENUS_Y_SCANLINES(COLOR_FMT_NV12, rgb_height);
@@ -105,10 +97,7 @@ void CameraBuf::init(cl_device_id device_id, cl_context context, CameraState *s,
   vipc_server->create_buffers_with_sizes(yuv_type, YUV_BUFFER_COUNT, false, rgb_width, rgb_height, nv12_size, nv12_width, nv12_uv_offset);
   LOGD("created %d YUV vipc buffers with size %dx%d", YUV_BUFFER_COUNT, nv12_width, nv12_height);
 
-  if (ci->bayer) {
-    debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
-  }
-  rgb2yuv = std::make_unique<Rgb2Yuv>(context, device_id, rgb_width, rgb_height, rgb_stride);
+  debayer = new Debayer(device_id, context, this, s, nv12_width, nv12_uv_offset);
 
 #ifdef __APPLE__
   q = CL_CHECK_ERR(clCreateCommandQueue(context, device_id, 0, &err));
@@ -127,7 +116,7 @@ CameraBuf::~CameraBuf() {
 }
 
 bool CameraBuf::acquire() {
-  if (!safe_queue.try_pop(cur_buf_idx, 1)) return false;
+  if (!safe_queue.try_pop(cur_buf_idx, 50)) return false;
 
   if (camera_bufs_metadata[cur_buf_idx].frame_id == -1) {
     LOGE("no frame data? wtf");
@@ -136,7 +125,6 @@ bool CameraBuf::acquire() {
   }
 
   cur_frame_data = camera_bufs_metadata[cur_buf_idx];
-  cur_rgb_buf = vipc_server->get_buffer(rgb_type);
   cur_yuv_buf = vipc_server->get_buffer(yuv_type);
   cl_mem camrabuf_cl = camera_bufs[cur_buf_idx].buf_cl;
   cl_event event;
@@ -145,12 +133,7 @@ bool CameraBuf::acquire() {
 
   cur_camera_buf = &camera_bufs[cur_buf_idx];
 
-  if (debayer) {
-    debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
-  } else {
-    assert(rgb_stride == camera_state->ci.frame_stride);
-    rgb2yuv->queue(q, camrabuf_cl, cur_rgb_buf->buf_cl);
-  }
+  debayer->queue(q, camrabuf_cl, cur_yuv_buf->buf_cl, rgb_width, rgb_height, &event);
 
   clWaitForEvents(1, &event);
   CL_CHECK(clReleaseEvent(event));
@@ -169,9 +152,7 @@ bool CameraBuf::acquire() {
 }
 
 void CameraBuf::release() {
-  if (release_callback) {
-    release_callback((void*)camera_state, cur_buf_idx);
-  }
+  // Empty
 }
 
 void CameraBuf::queue(size_t buf_idx) {
@@ -196,32 +177,6 @@ void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &fr
   framed.setProcessingTime(frame_data.processing_time);
 }
 
-kj::Array<uint8_t> get_frame_image(const CameraBuf *b) {
-  static const int x_min = util::getenv("XMIN", 0);
-  static const int y_min = util::getenv("YMIN", 0);
-  static const int env_xmax = util::getenv("XMAX", -1);
-  static const int env_ymax = util::getenv("YMAX", -1);
-  static const int scale = util::getenv("SCALE", 1);
-
-  assert(b->cur_rgb_buf);
-
-  const int x_max = env_xmax != -1 ? env_xmax : b->rgb_width - 1;
-  const int y_max = env_ymax != -1 ? env_ymax : b->rgb_height - 1;
-  const int new_width = (x_max - x_min + 1) / scale;
-  const int new_height = (y_max - y_min + 1) / scale;
-  const uint8_t *dat = (const uint8_t *)b->cur_rgb_buf->addr;
-
-  kj::Array<uint8_t> frame_image = kj::heapArray<uint8_t>(new_width*new_height*3);
-  uint8_t *resized_dat = frame_image.begin();
-  int goff = x_min*3 + y_min*b->rgb_stride;
-  for (int r=0;r<new_height;r++) {
-    for (int c=0;c<new_width;c++) {
-      memcpy(&resized_dat[(r*new_width+c)*3], &dat[goff+r*b->rgb_stride*scale+c*3*scale], 3*sizeof(uint8_t));
-    }
-  }
-  return kj::mv(frame_image);
-}
-
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b) {
   const uint8_t *dat = (const uint8_t *)b->cur_camera_buf->addr;
 
diff --git a/system/camerad/cameras/camera_common.h b/system/camerad/cameras/camera_common.h
index 6b483372bb..2a56052559 100644
--- a/system/camerad/cameras/camera_common.h
+++ b/system/camerad/cameras/camera_common.h
@@ -9,7 +9,6 @@
 #include "cereal/visionipc/visionbuf.h"
 #include "cereal/visionipc/visionipc.h"
 #include "cereal/visionipc/visionipc_server.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
 #include "common/mat.h"
 #include "common/queue.h"
 #include "common/swaglog.h"
@@ -27,7 +26,6 @@
 #define CAMERA_ID_IMX390 9
 #define CAMERA_ID_MAX 10
 
-const int UI_BUF_COUNT = 4;
 const int YUV_BUFFER_COUNT = 40;
 
 enum CameraType {
@@ -36,11 +34,6 @@ enum CameraType {
   WideRoadCam
 };
 
-// TODO: remove these once all the internal tools are moved to vipc
-const bool env_send_driver = getenv("SEND_DRIVER") != NULL;
-const bool env_send_road = getenv("SEND_ROAD") != NULL;
-const bool env_send_wide_road = getenv("SEND_WIDE_ROAD") != NULL;
-
 // for debugging
 const bool env_disable_road = getenv("DISABLE_ROAD") != NULL;
 const bool env_disable_wide_road = getenv("DISABLE_WIDE_ROAD") != NULL;
@@ -48,14 +41,9 @@ const bool env_disable_driver = getenv("DISABLE_DRIVER") != NULL;
 const bool env_debug_frames = getenv("DEBUG_FRAMES") != NULL;
 const bool env_log_raw_frames = getenv("LOG_RAW_FRAMES") != NULL;
 
-typedef void (*release_cb)(void *cookie, int buf_idx);
-
 typedef struct CameraInfo {
   uint32_t frame_width, frame_height;
   uint32_t frame_stride;
-  bool bayer;
-  int bayer_flip;
-  bool hdr;
   uint32_t frame_offset = 0;
   uint32_t extra_height = 0;
   int registers_offset = -1;
@@ -85,11 +73,6 @@ typedef struct FrameMetadata {
   float processing_time;
 } FrameMetadata;
 
-typedef struct CameraExpInfo {
-  int op_id;
-  float grey_frac;
-} CameraExpInfo;
-
 struct MultiCameraState;
 struct CameraState;
 class Debayer;
@@ -99,16 +82,14 @@ private:
   VisionIpcServer *vipc_server;
   CameraState *camera_state;
   Debayer *debayer = nullptr;
-  std::unique_ptr<Rgb2Yuv> rgb2yuv;
 
-  VisionStreamType rgb_type, yuv_type;
+  VisionStreamType yuv_type;
 
   int cur_buf_idx;
 
   SafeQueue<int> safe_queue;
 
   int frame_buf_count;
-  release_cb release_callback;
 
 public:
   cl_command_queue q;
@@ -124,7 +105,7 @@ public:
 
   CameraBuf() = default;
   ~CameraBuf();
-  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType rgb_type, VisionStreamType yuv_type, release_cb release_callback=nullptr);
+  void init(cl_device_id device_id, cl_context context, CameraState *s, VisionIpcServer * v, int frame_cnt, VisionStreamType yuv_type);
   bool acquire();
   void release();
   void queue(size_t buf_idx);
@@ -133,7 +114,6 @@ public:
 typedef void (*process_thread_cb)(MultiCameraState *s, CameraState *c, int cnt);
 
 void fill_frame_data(cereal::FrameData::Builder &framed, const FrameMetadata &frame_data);
-kj::Array<uint8_t> get_frame_image(const CameraBuf *b);
 kj::Array<uint8_t> get_raw_frame_image(const CameraBuf *b);
 float set_exposure_target(const CameraBuf *b, int x_start, int x_end, int x_skip, int y_start, int y_end, int y_skip);
 std::thread start_process_thread(MultiCameraState *cameras, CameraState *cs, process_thread_cb callback);
diff --git a/system/camerad/cameras/camera_qcom2.cc b/system/camerad/cameras/camera_qcom2.cc
index f001009b9a..31af284d52 100644
--- a/system/camerad/cameras/camera_qcom2.cc
+++ b/system/camerad/cameras/camera_qcom2.cc
@@ -46,19 +46,11 @@ CameraInfo cameras_supported[CAMERA_ID_MAX] = {
     .registers_offset = 0,
     .frame_offset = AR0231_REGISTERS_HEIGHT,
     .stats_offset = AR0231_REGISTERS_HEIGHT + FRAME_HEIGHT,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
   },
   [CAMERA_ID_IMX390] = {
     .frame_width = FRAME_WIDTH,
     .frame_height = FRAME_HEIGHT,
     .frame_stride = FRAME_STRIDE,
-
-    .bayer = true,
-    .bayer_flip = 1,
-    .hdr = false,
   },
 };
 
@@ -614,7 +606,7 @@ void CameraState::enqueue_req_multi(int start, int n, bool dp) {
 
 // ******************* camera *******************
 
-void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled_) {
+void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServer * v, int camera_id_, int camera_num_, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled_) {
   multi_cam_state = multi_cam_state_;
   camera_id = camera_id_;
   camera_num = camera_num_;
@@ -638,7 +630,7 @@ void CameraState::camera_init(MultiCameraState *multi_cam_state_, VisionIpcServe
   exposure_time = 5;
   cur_ev[0] = cur_ev[1] = cur_ev[2] = (dc_gain_enabled ? DC_GAIN : 1) * sensor_analog_gains[gain_idx] * exposure_time;
 
-  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, rgb_type, yuv_type);
+  buf.init(device_id, ctx, this, v, FRAME_BUF_COUNT, yuv_type);
 }
 
 void CameraState::camera_open() {
@@ -833,9 +825,9 @@ void CameraState::camera_open() {
 }
 
 void cameras_init(VisionIpcServer *v, MultiCameraState *s, cl_device_id device_id, cl_context ctx) {
-  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_RGB_DRIVER, VISION_STREAM_DRIVER, !env_disable_driver);
-  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_RGB_ROAD, VISION_STREAM_ROAD, !env_disable_road);
-  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_RGB_WIDE_ROAD, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
+  s->driver_cam.camera_init(s, v, CAMERA_ID_AR0231, 2, 20, device_id, ctx, VISION_STREAM_DRIVER, !env_disable_driver);
+  s->road_cam.camera_init(s, v, CAMERA_ID_AR0231, 1, 20, device_id, ctx, VISION_STREAM_ROAD, !env_disable_road);
+  s->wide_road_cam.camera_init(s, v, CAMERA_ID_AR0231, 0, 20, device_id, ctx, VISION_STREAM_WIDE_ROAD, !env_disable_wide_road);
 
   s->pm = new PubMaster({"roadCameraState", "driverCameraState", "wideRoadCameraState", "thumbnail"});
 }
@@ -1233,9 +1225,7 @@ static void process_driver_camera(MultiCameraState *s, CameraState *c, int cnt)
   auto framed = msg.initEvent().initDriverCameraState();
   framed.setFrameType(cereal::FrameData::FrameType::FRONT);
   fill_frame_data(framed, c->buf.cur_frame_data);
-  if (env_send_driver) {
-    framed.setImage(get_frame_image(&c->buf));
-  }
+
   if (c->camera_id == CAMERA_ID_AR0231) {
     ar0231_process_registers(s, c, framed);
   }
@@ -1248,9 +1238,7 @@ void process_road_camera(MultiCameraState *s, CameraState *c, int cnt) {
   MessageBuilder msg;
   auto framed = c == &s->road_cam ? msg.initEvent().initRoadCameraState() : msg.initEvent().initWideRoadCameraState();
   fill_frame_data(framed, b->cur_frame_data);
-  if ((c == &s->road_cam && env_send_road) || (c == &s->wide_road_cam && env_send_wide_road)) {
-    framed.setImage(get_frame_image(b));
-  } else if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
+  if (env_log_raw_frames && c == &s->road_cam && cnt % 100 == 5) {  // no overlap with qlog decimation
     framed.setImage(get_raw_frame_image(b));
   }
   LOGT(c->buf.cur_frame_data.frame_id, "%s: Image set", c == &s->road_cam ? "RoadCamera" : "WideRoadCamera");
diff --git a/system/camerad/cameras/camera_qcom2.h b/system/camerad/cameras/camera_qcom2.h
index 57fef8d49a..03d3d1a823 100644
--- a/system/camerad/cameras/camera_qcom2.h
+++ b/system/camerad/cameras/camera_qcom2.h
@@ -55,7 +55,7 @@ public:
   void sensors_start();
 
   void camera_open();
-  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType rgb_type, VisionStreamType yuv_type, bool enabled);
+  void camera_init(MultiCameraState *multi_cam_state, VisionIpcServer * v, int camera_id, int camera_num, unsigned int fps, cl_device_id device_id, cl_context ctx, VisionStreamType yuv_type, bool enabled);
   void camera_close();
 
   std::map<uint16_t, uint16_t> ar0231_parse_registers(uint8_t *data, std::initializer_list<uint16_t> addrs);
diff --git a/system/camerad/snapshot/snapshot.py b/system/camerad/snapshot/snapshot.py
index 9a81937eec..946c220a77 100755
--- a/system/camerad/snapshot/snapshot.py
+++ b/system/camerad/snapshot/snapshot.py
@@ -39,7 +39,7 @@ def yuv_to_rgb(y, u, v):
     [0.00000, -0.39465, 2.03211],
     [1.13983, -0.58060, 0.00000],
   ])
-  rgb = np.dot(yuv, m)
+  rgb = np.dot(yuv, m).clip(0, 255)
   return rgb.astype(np.uint8)
 
 
diff --git a/system/camerad/transforms/rgb_to_yuv.cc b/system/camerad/transforms/rgb_to_yuv.cc
deleted file mode 100644
index 5e51579cf9..0000000000
--- a/system/camerad/transforms/rgb_to_yuv.cc
+++ /dev/null
@@ -1,36 +0,0 @@
-#include "system/camerad/transforms/rgb_to_yuv.h"
-
-#include <cassert>
-#include <cstdio>
-
-Rgb2Yuv::Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride) {
-  assert(width % 2 == 0 && height % 2 == 0);
-  char args[1024];
-  snprintf(args, sizeof(args),
-           "-cl-fast-relaxed-math -cl-denorms-are-zero "
-#ifdef CL_DEBUG
-           "-DCL_DEBUG "
-#endif
-           "-DWIDTH=%d -DHEIGHT=%d -DUV_WIDTH=%d -DUV_HEIGHT=%d -DRGB_STRIDE=%d -DRGB_SIZE=%d",
-           width, height, width / 2, height / 2, rgb_stride, width * height);
-
-  cl_program prg = cl_program_from_file(ctx, device_id, "transforms/rgb_to_yuv.cl", args);
-  krnl = CL_CHECK_ERR(clCreateKernel(prg, "rgb_to_yuv", &err));
-  CL_CHECK(clReleaseProgram(prg));
-
-  work_size[0] = (width + (width % 4 == 0 ? 0 : (4 - width % 4))) / 4;
-  work_size[1] = (height + (height % 4 == 0 ? 0 : (4 - height % 4))) / 4;
-}
-
-Rgb2Yuv::~Rgb2Yuv() {
-  CL_CHECK(clReleaseKernel(krnl));
-}
-
-void Rgb2Yuv::queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl) {
-  CL_CHECK(clSetKernelArg(krnl, 0, sizeof(cl_mem), &rgb_cl));
-  CL_CHECK(clSetKernelArg(krnl, 1, sizeof(cl_mem), &yuv_cl));
-  cl_event event;
-  CL_CHECK(clEnqueueNDRangeKernel(q, krnl, 2, NULL, &work_size[0], NULL, 0, 0, &event));
-  CL_CHECK(clWaitForEvents(1, &event));
-  CL_CHECK(clReleaseEvent(event));
-}
diff --git a/system/camerad/transforms/rgb_to_yuv.h b/system/camerad/transforms/rgb_to_yuv.h
deleted file mode 100644
index e1de180d40..0000000000
--- a/system/camerad/transforms/rgb_to_yuv.h
+++ /dev/null
@@ -1,14 +0,0 @@
-#pragma once
-
-#include "common/clutil.h"
-
-class Rgb2Yuv {
-public:
-  Rgb2Yuv(cl_context ctx, cl_device_id device_id, int width, int height, int rgb_stride);
-  ~Rgb2Yuv();
-  void queue(cl_command_queue q, cl_mem rgb_cl, cl_mem yuv_cl);
-private:
-  size_t work_size[2];
-  cl_kernel krnl;
-};
-
diff --git a/system/camerad/transforms/rgb_to_yuv_test.cc b/system/camerad/transforms/rgb_to_yuv_test.cc
deleted file mode 100644
index 2f909e3b73..0000000000
--- a/system/camerad/transforms/rgb_to_yuv_test.cc
+++ /dev/null
@@ -1,191 +0,0 @@
-#include <fcntl.h>
-#include <getopt.h>
-#include <memory.h>
-#include <unistd.h>
-
-#include <cassert>
-#include <cmath>
-#include <csignal>
-#include <cstdint>
-#include <cstdlib>
-#include <fstream>
-#include <iomanip>
-#include <iostream>
-#include <string>
-#include <thread>
-#include <vector>
-
-#ifdef ANDROID
-
-#define MAXE 0
-#include <unistd.h>
-
-#else
-// The libyuv implementation on ARM is slightly different than on x86
-// Our implementation matches the ARM version, so accept errors of 1
-#define MAXE 1
-
-#endif
-
-#include <CL/cl.h>
-
-#include "libyuv.h"
-#include "system/camerad/transforms/rgb_to_yuv.h"
-#include "common/clutil.h"
-
-static inline double millis_since_boot() {
-  struct timespec t;
-  clock_gettime(CLOCK_BOOTTIME, &t);
-  return t.tv_sec * 1000.0 + t.tv_nsec * 1e-6;
-}
-
-void cl_init(cl_device_id &device_id, cl_context &context) {
-  device_id = cl_get_device_id(CL_DEVICE_TYPE_DEFAULT);
-  context = CL_CHECK_ERR(clCreateContext(NULL, 1, &device_id, NULL, NULL, &err));
-}
-
-
-bool compare_results(uint8_t *a, uint8_t *b, int len, int stride, int width, int height, uint8_t *rgb) {
-  int min_diff = 0., max_diff = 0., max_e = 0.;
-  int e1 = 0, e0 = 0;
-  int e0y = 0, e0u = 0, e0v = 0, e1y = 0, e1u = 0, e1v = 0;
-  int max_e_i = 0;
-  for (int i = 0;i < len;i++) {
-    int e = ((int)a[i]) - ((int)b[i]);
-    if(e < min_diff) {
-      min_diff = e;
-    }
-    if(e > max_diff) {
-      max_diff = e;
-    }
-    int e_abs = std::abs(e);
-    if(e_abs > max_e) {
-      max_e = e_abs;
-      max_e_i = i;
-    }
-    if(e_abs < 1) {
-      e0++;
-      if(i < stride * height)
-        e0y++;
-      else if(i < stride * height + stride * height / 4)
-        e0u++;
-      else
-        e0v++;
-    } else {
-      e1++;
-      if(i < stride * height)
-        e1y++;
-      else if(i < stride * height + stride * height / 4)
-        e1u++;
-      else
-        e1v++;
-    }
-  }
-  //printf("max diff : %d, min diff : %d, e < 1: %d, e >= 1: %d\n", max_diff, min_diff, e0, e1);
-  //printf("Y: e < 1: %d, e >= 1: %d, U: e < 1: %d, e >= 1: %d, V: e < 1: %d, e >= 1: %d\n", e0y, e1y, e0u, e1u, e0v, e1v);
-  if(max_e <= MAXE) {
-    return true;
-  }
-  int row = max_e_i / stride;
-  if(row < height) {
-    printf("max error is Y: %d = (libyuv: %u - cl: %u), row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], row, max_e_i % stride);
-  } else if(row >= height && row < (height + height / 4)) {
-    printf("max error is U: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height) / 2, max_e_i % stride / 2);
-  } else {
-    printf("max error is V: %d = %u - %u, row: %d, col: %d\n", max_e, a[max_e_i], b[max_e_i], (row - height - height / 4) / 2, max_e_i % stride / 2);
-  }
-  return false;
-}
-
-int main(int argc, char** argv) {
-  srand(1337);
-
-  cl_device_id device_id;
-  cl_context context;
-  cl_init(device_id, context)	;
-
-  int err;
-  const cl_queue_properties props[] = {0}; //CL_QUEUE_PRIORITY_KHR, CL_QUEUE_PRIORITY_HIGH_KHR, 0};
-  cl_command_queue q = clCreateCommandQueueWithProperties(context, device_id, props, &err);
-  if(err != 0) {
-    std::cout << "clCreateCommandQueueWithProperties error: " << err << std::endl;
-  }
-
-  int width = 1164;
-  int height = 874;
-
-  int opt = 0;
-  while ((opt = getopt(argc, argv, "f")) != -1)
-    {
-      switch (opt)
-        {
-        case 'f':
-          std::cout << "Using front camera dimensions" << std::endl;
-          int width = 1152;
-          int height = 846;
-        }
-  }
-
-  std::cout << "Width: " << width << " Height: " << height << std::endl;
-  uint8_t *rgb_frame = new uint8_t[width * height * 3];
-
-
-  RGBToYUVState rgb_to_yuv_state;
-  rgb_to_yuv_init(&rgb_to_yuv_state, context, device_id, width, height, width * 3);
-
-  int frame_yuv_buf_size = width * height * 3 / 2;
-  cl_mem yuv_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, frame_yuv_buf_size, (void*)NULL, &err));
-  uint8_t *frame_yuv_buf = new uint8_t[frame_yuv_buf_size];
-  uint8_t *frame_yuv_ptr_y = frame_yuv_buf;
-  uint8_t *frame_yuv_ptr_u = frame_yuv_buf + (width * height);
-  uint8_t *frame_yuv_ptr_v = frame_yuv_ptr_u + ((width/2) * (height/2));
-
-  cl_mem rgb_cl = CL_CHECK_ERR(clCreateBuffer(context, CL_MEM_READ_WRITE, width * height * 3, (void*)NULL, &err));
-  int mismatched = 0;
-  int counter = 0;
-  srand (time(NULL));
-
-  for (int i = 0; i < 100; i++) {
-    for (int i = 0; i < width * height * 3; i++) {
-      rgb_frame[i] = (uint8_t)rand();
-    }
-
-    double t1 = millis_since_boot();
-    libyuv::RGB24ToI420((uint8_t*)rgb_frame, width * 3,
-                        frame_yuv_ptr_y, width,
-                        frame_yuv_ptr_u, width/2,
-                        frame_yuv_ptr_v, width/2,
-                        width, height);
-    double t2 = millis_since_boot();
-    //printf("Libyuv: rgb to yuv: %.2fms\n", t2-t1);
-
-    clEnqueueWriteBuffer(q, rgb_cl, CL_TRUE, 0, width * height * 3, (void *)rgb_frame, 0, NULL, NULL);
-    t1 = millis_since_boot();
-    rgb_to_yuv_queue(&rgb_to_yuv_state, q, rgb_cl, yuv_cl);
-    t2 = millis_since_boot();
-
-    //printf("OpenCL: rgb to yuv: %.2fms\n", t2-t1);
-    uint8_t *yyy = (uint8_t *)clEnqueueMapBuffer(q, yuv_cl, CL_TRUE,
-                                                 CL_MAP_READ, 0, frame_yuv_buf_size,
-                                                 0, NULL, NULL, &err);
-    if(!compare_results(frame_yuv_ptr_y, yyy, frame_yuv_buf_size, width, width, height, (uint8_t*)rgb_frame))
-      mismatched++;
-    clEnqueueUnmapMemObject(q, yuv_cl, yyy, 0, NULL, NULL);
-
-    // std::this_thread::sleep_for(std::chrono::milliseconds(20));
-    if(counter++ % 100 == 0)
-      printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  }
-  printf("Matched: %d, Mismatched: %d\n", counter - mismatched, mismatched);
-
-  delete[] frame_yuv_buf;
-  rgb_to_yuv_destroy(&rgb_to_yuv_state);
-  clReleaseContext(context);
-  delete[] rgb_frame;
-
-  if (mismatched == 0)
-    return 0;
-  else
-    return -1;
-}
diff --git a/system/hardware/base.py b/system/hardware/base.py
index 8684386f62..c9c02f3a59 100644
--- a/system/hardware/base.py
+++ b/system/hardware/base.py
@@ -86,6 +86,10 @@ class HardwareBase(ABC):
   def get_current_power_draw(self):
     pass
 
+  @abstractmethod
+  def get_som_power_draw(self):
+    pass
+
   @abstractmethod
   def shutdown(self):
     pass
@@ -140,3 +144,6 @@ class HardwareBase(ABC):
 
   def recover_internal_panda(self):
     pass
+
+  def get_modem_data_usage(self):
+    return -1, -1
diff --git a/system/hardware/pc/hardware.py b/system/hardware/pc/hardware.py
index b2c4a4343b..60d14e4a6b 100644
--- a/system/hardware/pc/hardware.py
+++ b/system/hardware/pc/hardware.py
@@ -55,6 +55,9 @@ class Pc(HardwareBase):
 
   def get_current_power_draw(self):
     return 0
+  
+  def get_som_power_draw(self):
+    return 0
 
   def shutdown(self):
     print("SHUTDOWN!")
diff --git a/system/hardware/tici/agnos.json b/system/hardware/tici/agnos.json
index 004a0f9dfb..7ccea95ee7 100644
--- a/system/hardware/tici/agnos.json
+++ b/system/hardware/tici/agnos.json
@@ -1,9 +1,9 @@
 [
   {
     "name": "boot",
-    "url": "https://commadist.azureedge.net/agnosupdate/boot-bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f.img.xz",
-    "hash": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
-    "hash_raw": "bb71f49294150c4233b89e2a10768a5a3de003203ecd02e3f845821b35cd409f",
+    "url": "https://commadist.azureedge.net/agnosupdate/boot-243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8.img.xz",
+    "hash": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
+    "hash_raw": "243ddbb9e2256aa7af7fed0daf8cff4017a3c838c759373a634b8539f271bfb8",
     "size": 14780416,
     "sparse": false,
     "full_check": true,
@@ -41,9 +41,9 @@
   },
   {
     "name": "system",
-    "url": "https://commadist.azureedge.net/agnosupdate/system-11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca.img.xz",
-    "hash": "45b4719a9e580617cf840036b24fb0dcd32491edd9654d8d74c28d91ff362d36",
-    "hash_raw": "11fdbc9e8a9cd27f98346d7e1039bc5b3032d0e892ff95fa1258673ff1809bca",
+    "url": "https://commadist.azureedge.net/agnosupdate/system-59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13.img.xz",
+    "hash": "44da205d17b44b2be7c94854a6bb3efb2928ec9a9889fe62af8b322d2295b74f",
+    "hash_raw": "59622eddd068d49f2e9df69ef5115e3f205ad369539690a5b240c8c93796dd13",
     "size": 10737418240,
     "sparse": true,
     "full_check": false,
diff --git a/system/hardware/tici/agnos.py b/system/hardware/tici/agnos.py
index e664654c65..ca2498a00c 100755
--- a/system/hardware/tici/agnos.py
+++ b/system/hardware/tici/agnos.py
@@ -1,15 +1,19 @@
 #!/usr/bin/env python3
+import hashlib
 import json
 import lzma
-import hashlib
-import requests
+import os
 import struct
 import subprocess
 import time
-import os
-from typing import Dict, Generator, Union
+from typing import Dict, Generator, List, Tuple, Union
+
+import requests
+
+import system.hardware.tici.casync as casync
 
 SPARSE_CHUNK_FMT = struct.Struct('H2xI4x')
+CAIBX_URL = "https://commadist.azureedge.net/agnosupdate/"
 
 
 class StreamingDecompressor:
@@ -74,6 +78,7 @@ def unsparsify(f: StreamingDecompressor) -> Generator[bytes, None, None]:
     else:
       raise Exception("Unhandled sparse chunk type")
 
+
 # noop wrapper with same API as unsparsify() for non sparse images
 def noop(f: StreamingDecompressor) -> Generator[bytes, None, None]:
   while not f.eof:
@@ -99,28 +104,37 @@ def get_partition_path(target_slot_number: int, partition: dict) -> str:
   return path
 
 
-def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]]) -> bool:
-  full_check = partition['full_check']
+def get_raw_hash(path: str, partition_size: int) -> str:
+  raw_hash = hashlib.sha256()
+  pos, chunk_size = 0, 1024 * 1024
+
+  with open(path, 'rb+') as out:
+    while pos < partition_size:
+      n = min(chunk_size, partition_size - pos)
+      raw_hash.update(out.read(n))
+      pos += n
+
+  return raw_hash.hexdigest().lower()
+
+
+def verify_partition(target_slot_number: int, partition: Dict[str, Union[str, int]], force_full_check: bool = False) -> bool:
+  full_check = partition['full_check'] or force_full_check
   path = get_partition_path(target_slot_number, partition)
+
   if not isinstance(partition['size'], int):
     return False
+
   partition_size: int = partition['size']
 
   if not isinstance(partition['hash_raw'], str):
     return False
-  partition_hash: str = partition['hash_raw']
-  with open(path, 'rb+') as out:
-    if full_check:
-      raw_hash = hashlib.sha256()
 
-      pos, chunk_size = 0, 1024 * 1024
-      while pos < partition_size:
-        n = min(chunk_size, partition_size - pos)
-        raw_hash.update(out.read(n))
-        pos += n
+  partition_hash: str = partition['hash_raw']
 
-      return raw_hash.hexdigest().lower() == partition_hash.lower()
-    else:
+  if full_check:
+    return get_raw_hash(path, partition_size) == partition_hash.lower()
+  else:
+    with open(path, 'rb+') as out:
       out.seek(partition_size)
       return out.read(64) == partition_hash.lower().encode()
 
@@ -135,21 +149,10 @@ def clear_partition_hash(target_slot_number: int, partition: dict) -> None:
     os.sync()
 
 
-def flash_partition(target_slot_number: int, partition: dict, cloudlog):
-  cloudlog.info(f"Downloading and writing {partition['name']}")
-
-  if verify_partition(target_slot_number, partition):
-    cloudlog.info(f"Already flashed {partition['name']}")
-    return
-
+def extract_compressed_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
   downloader = StreamingDecompressor(partition['url'])
 
-  # Clear hash before flashing in case we get interrupted
-  full_check = partition['full_check']
-  if not full_check:
-    clear_partition_hash(target_slot_number, partition)
-
-  path = get_partition_path(target_slot_number, partition)
   with open(path, 'wb+') as out:
     # Flash partition
     last_p = 0
@@ -172,9 +175,76 @@ def flash_partition(target_slot_number: int, partition: dict, cloudlog):
     if out.tell() != partition['size']:
       raise Exception("Uncompressed size mismatch")
 
-    # Write hash after successfull flash
     os.sync()
-    if not full_check:
+
+
+def extract_casync_image(target_slot_number: int, partition: dict, cloudlog):
+  path = get_partition_path(target_slot_number, partition)
+  seed_path = path[:-1] + ('b' if path[-1] == 'a' else 'a')
+
+  target = casync.parse_caibx(partition['casync_caibx'])
+
+  sources: List[Tuple[str, casync.ChunkReader, casync.ChunkDict]] = []
+
+  # First source is the current partition.
+  try:
+    raw_hash = get_raw_hash(seed_path, partition['size'])
+    caibx_url = f"{CAIBX_URL}{partition['name']}-{raw_hash}.caibx"
+
+    try:
+      cloudlog.info(f"casync fetching {caibx_url}")
+      sources += [('seed', casync.FileChunkReader(seed_path), casync.build_chunk_dict(casync.parse_caibx(caibx_url)))]
+    except requests.RequestException:
+      cloudlog.error(f"casync failed to load {caibx_url}")
+  except Exception:
+    cloudlog.exception("casync failed to hash seed partition")
+
+  # Second source is the target partition, this allows for resuming
+  sources += [('target', casync.FileChunkReader(path), casync.build_chunk_dict(target))]
+
+  # Finally we add the remote source to download any missing chunks
+  sources += [('remote', casync.RemoteChunkReader(partition['casync_store']), casync.build_chunk_dict(target))]
+
+  last_p = 0
+
+  def progress(cur):
+    nonlocal last_p
+    p = int(cur / partition['size'] * 100)
+    if p != last_p:
+      last_p = p
+      print(f"Installing {partition['name']}: {p}", flush=True)
+
+  stats = casync.extract(target, sources, path, progress)
+  cloudlog.error(f'casync done {json.dumps(stats)}')
+
+  os.sync()
+  if not verify_partition(target_slot_number, partition, force_full_check=True):
+    raise Exception(f"Raw hash mismatch '{partition['hash_raw'].lower()}'")
+
+
+def flash_partition(target_slot_number: int, partition: dict, cloudlog, standalone=False):
+  cloudlog.info(f"Downloading and writing {partition['name']}")
+
+  if verify_partition(target_slot_number, partition):
+    cloudlog.info(f"Already flashed {partition['name']}")
+    return
+
+  # Clear hash before flashing in case we get interrupted
+  full_check = partition['full_check']
+  if not full_check:
+    clear_partition_hash(target_slot_number, partition)
+
+  path = get_partition_path(target_slot_number, partition)
+
+  if ('casync_caibx' in partition) and not standalone:
+    extract_casync_image(target_slot_number, partition, cloudlog)
+  else:
+    extract_compressed_image(target_slot_number, partition, cloudlog)
+
+  # Write hash after successfull flash
+  if not full_check:
+    with open(path, 'wb+') as out:
+      out.seek(partition['size'])
       out.write(partition['hash_raw'].lower().encode())
 
 
@@ -193,7 +263,7 @@ def swap(manifest_path: str, target_slot_number: int, cloudlog) -> None:
       cloudlog.error(f"Swap failed {out}")
 
 
-def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) -> None:
+def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog, standalone=False) -> None:
   update = json.load(open(manifest_path))
 
   cloudlog.info(f"Target slot {target_slot_number}")
@@ -206,7 +276,7 @@ def flash_agnos_update(manifest_path: str, target_slot_number: int, cloudlog) ->
 
     for retries in range(10):
       try:
-        flash_partition(target_slot_number, partition, cloudlog)
+        flash_partition(target_slot_number, partition, cloudlog, standalone)
         success = True
         break
 
@@ -228,8 +298,8 @@ def verify_agnos_update(manifest_path: str, target_slot_number: int) -> bool:
 
 
 if __name__ == "__main__":
-  import logging
   import argparse
+  import logging
 
   parser = argparse.ArgumentParser(description="Flash and verify AGNOS update",
                                    formatter_class=argparse.ArgumentDefaultsHelpFormatter)
@@ -250,9 +320,9 @@ if __name__ == "__main__":
   elif args.swap:
     while not verify_agnos_update(args.manifest, target_slot_number):
       logging.error("Verification failed. Flashing AGNOS")
-      flash_agnos_update(args.manifest, target_slot_number, logging)
+      flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
 
     logging.warning(f"Verification succeeded. Swapping to slot {target_slot_number}")
     swap(args.manifest, target_slot_number, logging)
   else:
-    flash_agnos_update(args.manifest, target_slot_number, logging)
+    flash_agnos_update(args.manifest, target_slot_number, logging, standalone=True)
diff --git a/system/hardware/tici/casync.py b/system/hardware/tici/casync.py
new file mode 100755
index 0000000000..8ae42fa714
--- /dev/null
+++ b/system/hardware/tici/casync.py
@@ -0,0 +1,207 @@
+#!/usr/bin/env python3
+import io
+import lzma
+import os
+import struct
+import sys
+import time
+from abc import ABC, abstractmethod
+from collections import defaultdict, namedtuple
+from typing import Callable, Dict, List, Optional, Tuple
+
+import requests
+from Crypto.Hash import SHA512
+
+CA_FORMAT_INDEX = 0x96824d9c7b129ff9
+CA_FORMAT_TABLE = 0xe75b9e112f17417d
+CA_FORMAT_TABLE_TAIL_MARKER = 0xe75b9e112f17417
+FLAGS = 0xb000000000000000
+
+CA_HEADER_LEN = 48
+CA_TABLE_HEADER_LEN = 16
+CA_TABLE_ENTRY_LEN = 40
+CA_TABLE_MIN_LEN = CA_TABLE_HEADER_LEN + CA_TABLE_ENTRY_LEN
+
+CHUNK_DOWNLOAD_TIMEOUT = 60
+CHUNK_DOWNLOAD_RETRIES = 3
+
+CAIBX_DOWNLOAD_TIMEOUT = 120
+
+Chunk = namedtuple('Chunk', ['sha', 'offset', 'length'])
+ChunkDict = Dict[bytes, Chunk]
+
+
+class ChunkReader(ABC):
+  @abstractmethod
+  def read(self, chunk: Chunk) -> bytes:
+    ...
+
+
+class FileChunkReader(ChunkReader):
+  """Reads chunks from a local file"""
+  def __init__(self, fn: str) -> None:
+    super().__init__()
+    self.f = open(fn, 'rb')
+
+  def __del__(self):
+    self.f.close()
+
+  def read(self, chunk: Chunk) -> bytes:
+    self.f.seek(chunk.offset)
+    return self.f.read(chunk.length)
+
+
+class RemoteChunkReader(ChunkReader):
+  """Reads lzma compressed chunks from a remote store"""
+
+  def __init__(self, url: str) -> None:
+    super().__init__()
+    self.url = url
+    self.session = requests.Session()
+
+  def read(self, chunk: Chunk) -> bytes:
+    sha_hex = chunk.sha.hex()
+    url = os.path.join(self.url, sha_hex[:4], sha_hex + ".cacnk")
+
+    if os.path.isfile(url):
+      with open(url, 'rb') as f:
+        contents = f.read()
+    else:
+      for i in range(CHUNK_DOWNLOAD_RETRIES):
+        try:
+          resp = self.session.get(url, timeout=CHUNK_DOWNLOAD_TIMEOUT)
+          break
+        except Exception:
+          if i == CHUNK_DOWNLOAD_RETRIES - 1:
+            raise
+          time.sleep(CHUNK_DOWNLOAD_TIMEOUT)
+
+      resp.raise_for_status()
+      contents = resp.content
+
+    decompressor = lzma.LZMADecompressor(format=lzma.FORMAT_AUTO)
+    return decompressor.decompress(contents)
+
+
+def parse_caibx(caibx_path: str) -> List[Chunk]:
+  """Parses the chunks from a caibx file. Can handle both local and remote files.
+  Returns a list of chunks with hash, offset and length"""
+  if os.path.isfile(caibx_path):
+    caibx = open(caibx_path, 'rb')
+  else:
+    resp = requests.get(caibx_path, timeout=CAIBX_DOWNLOAD_TIMEOUT)
+    resp.raise_for_status()
+    caibx = io.BytesIO(resp.content)
+
+  caibx.seek(0, os.SEEK_END)
+  caibx_len = caibx.tell()
+  caibx.seek(0, os.SEEK_SET)
+
+  # Parse header
+  length, magic, flags, min_size, _, max_size = struct.unpack("<QQQQQQ", caibx.read(CA_HEADER_LEN))
+  assert flags == flags
+  assert length == CA_HEADER_LEN
+  assert magic == CA_FORMAT_INDEX
+
+  # Parse table header
+  length, magic = struct.unpack("<QQ", caibx.read(CA_TABLE_HEADER_LEN))
+  assert magic == CA_FORMAT_TABLE
+
+  # Parse chunks
+  num_chunks = (caibx_len - CA_HEADER_LEN - CA_TABLE_MIN_LEN) // CA_TABLE_ENTRY_LEN
+  chunks = []
+
+  offset = 0
+  for i in range(num_chunks):
+    new_offset = struct.unpack("<Q", caibx.read(8))[0]
+
+    sha = caibx.read(32)
+    length = new_offset - offset
+
+    assert length <= max_size
+
+    # Last chunk can be smaller
+    if i < num_chunks - 1:
+      assert length >= min_size
+
+    chunks.append(Chunk(sha, offset, length))
+    offset = new_offset
+
+  caibx.close()
+  return chunks
+
+
+def build_chunk_dict(chunks: List[Chunk]) -> ChunkDict:
+  """Turn a list of chunks into a dict for faster lookups based on hash.
+  Keep first chunk since it's more likely to be already downloaded."""
+  r = {}
+  for c in chunks:
+    if c.sha not in r:
+      r[c.sha] = c
+  return r
+
+
+def extract(target: List[Chunk],
+            sources: List[Tuple[str, ChunkReader, ChunkDict]],
+            out_path: str,
+            progress: Optional[Callable[[int], None]] = None):
+  stats: Dict[str, int] = defaultdict(int)
+
+  mode = 'rb+' if os.path.exists(out_path) else 'wb'
+  with open(out_path, mode) as out:
+    for cur_chunk in target:
+
+      # Find source for desired chunk
+      for name, chunk_reader, store_chunks in sources:
+        if cur_chunk.sha in store_chunks:
+          bts = chunk_reader.read(store_chunks[cur_chunk.sha])
+
+          # Check length
+          if len(bts) != cur_chunk.length:
+            continue
+
+          # Check hash
+          if SHA512.new(bts, truncate="256").digest() != cur_chunk.sha:
+            continue
+
+          # Write to output
+          out.seek(cur_chunk.offset)
+          out.write(bts)
+
+          stats[name] += cur_chunk.length
+
+          if progress is not None:
+            progress(sum(stats.values()))
+
+          break
+      else:
+        raise RuntimeError("Desired chunk not found in provided stores")
+
+  return stats
+
+
+def print_stats(stats: Dict[str, int]):
+  total_bytes = sum(stats.values())
+  print(f"Total size: {total_bytes / 1024 / 1024:.2f} MB")
+  for name, total in stats.items():
+    print(f"  {name}: {total / 1024 / 1024:.2f} MB ({total / total_bytes * 100:.1f}%)")
+
+
+def extract_simple(caibx_path, out_path, store_path):
+  # (name, callback, chunks)
+  target = parse_caibx(caibx_path)
+  sources = [
+    # (store_path, RemoteChunkReader(store_path), build_chunk_dict(target)),
+    (store_path, FileChunkReader(store_path), build_chunk_dict(target)),
+  ]
+
+  return extract(target, sources, out_path)
+
+
+if __name__ == "__main__":
+  caibx = sys.argv[1]
+  out = sys.argv[2]
+  store = sys.argv[3]
+
+  stats = extract_simple(caibx, out, store)
+  print_stats(stats)
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index a69d3eb743..c3f8c7f82a 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -18,6 +18,7 @@ NM = 'org.freedesktop.NetworkManager'
 NM_CON_ACT = NM + '.Connection.Active'
 NM_DEV = NM + '.Device'
 NM_DEV_WL = NM + '.Device.Wireless'
+NM_DEV_STATS = NM + '.Device.Statistics'
 NM_AP = NM + '.AccessPoint'
 DBUS_PROPS = 'org.freedesktop.DBus.Properties'
 
@@ -49,6 +50,7 @@ class NMMetered(IntEnum):
   NM_METERED_GUESS_NO = 4
 
 TIMEOUT = 0.1
+REFRESH_RATE_MS = 1000
 
 NetworkType = log.DeviceState.NetworkType
 NetworkStrength = log.DeviceState.NetworkStrength
@@ -143,6 +145,10 @@ class Tici(HardwareBase):
     wlan_path = self.nm.GetDeviceByIpIface('wlan0', dbus_interface=NM, timeout=TIMEOUT)
     return self.bus.get_object(NM, wlan_path)
 
+  def get_wwan(self):
+    wwan_path = self.nm.GetDeviceByIpIface('wwan0', dbus_interface=NM, timeout=TIMEOUT)
+    return self.bus.get_object(NM, wwan_path)
+
   def get_sim_info(self):
     modem = self.get_modem()
     sim_path = modem.Get(MM_MODEM, 'Sim', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
@@ -362,6 +368,9 @@ class Tici(HardwareBase):
   def get_current_power_draw(self):
     return (self.read_param_file("/sys/class/hwmon/hwmon1/power1_input", int) / 1e6)
 
+  def get_som_power_draw(self):
+    return (self.read_param_file("/sys/class/power_supply/bms/voltage_now", int) * self.read_param_file("/sys/class/power_supply/bms/current_now", int) / 1e12)
+
   def shutdown(self):
     # Note that for this to work and have the device stay powered off, the panda needs to be in UsbPowerMode::CLIENT!
     os.system("sudo poweroff")
@@ -501,6 +510,22 @@ class Tici(HardwareBase):
 
     return r
 
+  def get_modem_data_usage(self):
+    try:
+      wwan = self.get_wwan()
+
+      # Ensure refresh rate is set so values don't go stale
+      refresh_rate = wwan.Get(NM_DEV_STATS, 'RefreshRateMs', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      if refresh_rate != REFRESH_RATE_MS:
+        u = type(refresh_rate)
+        wwan.Set(NM_DEV_STATS, 'RefreshRateMs', u(REFRESH_RATE_MS), dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+
+      tx = wwan.Get(NM_DEV_STATS, 'TxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      rx = wwan.Get(NM_DEV_STATS, 'RxBytes', dbus_interface=DBUS_PROPS, timeout=TIMEOUT)
+      return int(tx), int(rx)
+    except Exception:
+      return -1, -1
+
   def reset_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
 
@@ -508,7 +533,6 @@ class Tici(HardwareBase):
     time.sleep(2)
     gpio_set(GPIO.STM_RST_N, 0)
 
-
   def recover_internal_panda(self):
     gpio_init(GPIO.STM_RST_N, True)
     gpio_init(GPIO.STM_BOOT0, True)
diff --git a/system/hardware/tici/power_monitor.py b/system/hardware/tici/power_monitor.py
index 07362c8398..f9d1e3cc41 100755
--- a/system/hardware/tici/power_monitor.py
+++ b/system/hardware/tici/power_monitor.py
@@ -1,15 +1,17 @@
 #!/usr/bin/env python3
 import sys
 import time
+import datetime
 import numpy as np
 from typing import List
 
 from common.realtime import Ratekeeper
+from common.filter_simple import FirstOrderFilter
 
-def average(avg, sample):
-  # Weighted avg between existing value and new sample
-  return ((avg[0] * avg[1] + sample) / (avg[1] + 1), avg[1] + 1)
 
+def read_power():
+  with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
+    return int(f.read()) / 1e6
 
 def sample_power(seconds=5) -> List[float]:
   rate = 123
@@ -17,8 +19,7 @@ def sample_power(seconds=5) -> List[float]:
 
   pwrs = []
   for _ in range(rate*seconds):
-    with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/power1_input") as f:
-      pwrs.append(int(f.read()) / 1e6)
+    pwrs.append(read_power())
     rk.keep_time()
   return pwrs
 
@@ -27,47 +28,30 @@ def get_power(seconds=5):
   return np.mean(pwrs)
 
 
-if __name__ == '__main__':
-
-  sample_time = None
+if __name__ == "__main__":
+  duration = None
   if len(sys.argv) > 1:
-    sample_time = int(sys.argv[1])
-
-  start_time = time.monotonic()
-  try:
-    voltage_average = (0, 0)  # average, count
-    current_average = (0, 0)
-    power_average = (0, 0)
-    while sample_time is None or time.monotonic() - start_time < sample_time:
-      with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/in1_input") as f:
-        voltage_total = int(f.read()) / 1000.
-
-      with open("/sys/bus/i2c/devices/0-0040/hwmon/hwmon1/curr1_input") as f:
-        current_total = int(f.read())
+    duration = int(sys.argv[1])
 
-      # SOM measurements are questionable
-      #with open("/sys/class/power_supply/bms/voltage_now") as f:
-      #  voltage = int(f.read()) / 1e6   # volts
-      #with open("/sys/class/power_supply/bms/current_now") as f:
-      #  current = int(f.read()) / 1e3   # ma
-
-      power_total = voltage_total*current_total
+  rate = 23
+  rk = Ratekeeper(rate, print_delay_threshold=None)
+  fltr = FirstOrderFilter(0, 5, 1. / rate, initialized=False)
 
-      # compute averages
-      voltage_average = average(voltage_average, voltage_total)
-      current_average = average(current_average, current_total)
-      power_average = average(power_average, power_total)
+  measurements = []
+  start_time = time.monotonic()
 
-      print(f"now: {power_total:.2f} mW, avg: {power_average[0]:.2f} mW")
-      time.sleep(0.25)
+  try:
+    while duration is None or time.monotonic() - start_time < duration:
+      fltr.update(read_power())
+      if rk.frame % rate == 0:
+        measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
+      rk.keep_time()
   except KeyboardInterrupt:
     pass
-  finally:
-    stop_time = time.monotonic()
-    print("\n----------------------Average-----------------------------------")
-    voltage = voltage_average[0]
-    current = current_average[0]
-    power = power_average[0]
-    print(f"{voltage:.2f} volts {current:12.2f} ma {power:12.2f} mW {power_total:12.2f} mW")
-    print(f"  {stop_time - start_time:.2f} Seconds     {voltage_average[1]} samples")
-    print("----------------------------------------------------------------")
+
+  t = datetime.timedelta(seconds=time.monotonic() - start_time)
+  avg = sum(measurements) / len(measurements)
+  print(f"\nAverage power: {avg:.2f}W over {t}")
diff --git a/system/hardware/tici/tests/__init__.py b/system/hardware/tici/tests/__init__.py
new file mode 100644
index 0000000000..e69de29bb2
diff --git a/system/hardware/tici/tests/compare_casync_manifest.py b/system/hardware/tici/tests/compare_casync_manifest.py
new file mode 100755
index 0000000000..5e5fa24556
--- /dev/null
+++ b/system/hardware/tici/tests/compare_casync_manifest.py
@@ -0,0 +1,74 @@
+#!/usr/bin/env python3
+import argparse
+import collections
+import multiprocessing
+import os
+from typing import Dict, List
+
+import requests
+from tqdm import tqdm
+
+import system.hardware.tici.casync as casync
+
+
+def get_chunk_download_size(chunk):
+  sha = chunk.sha.hex()
+  path = os.path.join(remote_url, sha[:4], sha + ".cacnk")
+  if os.path.isfile(path):
+    return os.path.getsize(path)
+  else:
+    r = requests.head(path)
+    r.raise_for_status()
+    return int(r.headers['content-length'])
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser(description='Compute overlap between two casync manifests')
+  parser.add_argument('frm')
+  parser.add_argument('to')
+  args = parser.parse_args()
+
+  frm = casync.parse_caibx(args.frm)
+  to = casync.parse_caibx(args.to)
+  remote_url = args.to.replace('.caibx', '')
+
+  most_common = collections.Counter(t.sha for t in to).most_common(1)[0][0]
+
+  frm_dict = casync.build_chunk_dict(frm)
+
+  # Get content-length for each chunk
+  with multiprocessing.Pool() as pool:
+    szs = list(tqdm(pool.imap(get_chunk_download_size, to), total=len(to)))
+  chunk_sizes = {t.sha: sz for (t, sz) in zip(to, szs)}
+
+  sources: Dict[str, List[int]] = {
+    'seed': [],
+    'remote_uncompressed': [],
+    'remote_compressed': [],
+  }
+
+  for chunk in to:
+    # Assume most common chunk is the zero chunk
+    if chunk.sha == most_common:
+      continue
+
+    if chunk.sha in frm_dict:
+      sources['seed'].append(chunk.length)
+    else:
+      sources['remote_uncompressed'].append(chunk.length)
+      sources['remote_compressed'].append(chunk_sizes[chunk.sha])
+
+  print()
+  print("Update statistics (excluding zeros)")
+  print()
+  print("Download only with no seed:")
+  print(f"  Remote (uncompressed)\t\t{sum(sources['seed'] + sources['remote_uncompressed']) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print(f"  Remote (compressed download)\t{sum(chunk_sizes.values()) / 1000 / 1000:.2f} MB\tn = {len(to)}")
+  print()
+  print("Upgrade with seed partition:")
+  print(f"  Seed   (uncompressed)\t\t{sum(sources['seed']) / 1000 / 1000:.2f} MB\t\t\t\tn = {len(sources['seed'])}")
+  sz, n = sum(sources['remote_uncompressed']), len(sources['remote_uncompressed'])
+  print(f"  Remote (uncompressed)\t\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
+  sz, n = sum(sources['remote_compressed']), len(sources['remote_compressed'])
+  print(f"  Remote (compressed download)\t{sz / 1000 / 1000:.2f} MB\t(avg {sz / 1000 / 1000 / n:4f} MB)\tn = {n}")
diff --git a/system/hardware/tici/tests/test_casync.py b/system/hardware/tici/tests/test_casync.py
new file mode 100755
index 0000000000..8724575ad6
--- /dev/null
+++ b/system/hardware/tici/tests/test_casync.py
@@ -0,0 +1,153 @@
+#!/usr/bin/env python3
+import os
+import unittest
+import tempfile
+import subprocess
+
+import system.hardware.tici.casync as casync
+
+# dd if=/dev/zero of=/tmp/img.raw bs=1M count=2
+# sudo losetup -f /tmp/img.raw
+# losetup -a | grep img.raw
+LOOPBACK = os.environ.get('LOOPBACK', None)
+
+
+class TestCasync(unittest.TestCase):
+  @classmethod
+  def setUpClass(cls):
+    cls.tmpdir = tempfile.TemporaryDirectory()
+
+    # Build example contents
+    chunk_a = [i % 256 for i in range(1024)] * 512
+    chunk_b = [(256 - i) % 256 for i in range(1024)] * 512
+    zeroes = [0] * (1024 * 128)
+    contents = chunk_a + chunk_b + zeroes + chunk_a
+
+    cls.contents = bytes(contents)
+
+    # Write to file
+    cls.orig_fn = os.path.join(cls.tmpdir.name, 'orig.bin')
+    with open(cls.orig_fn, 'wb') as f:
+      f.write(cls.contents)
+
+    # Create casync files
+    cls.manifest_fn = os.path.join(cls.tmpdir.name, 'orig.caibx')
+    cls.store_fn = os.path.join(cls.tmpdir.name, 'store')
+    subprocess.check_output(["casync", "make", "--compression=xz", "--store", cls.store_fn, cls.manifest_fn, cls.orig_fn])
+
+    target = casync.parse_caibx(cls.manifest_fn)
+    hashes = [c.sha.hex() for c in target]
+
+    # Ensure we have chunk reuse
+    assert len(hashes) > len(set(hashes))
+
+  def setUp(self):
+    # Clear target_lo
+    if LOOPBACK is not None:
+      self.target_lo = LOOPBACK
+      with open(self.target_lo, 'wb') as f:
+        f.write(b"0" * len(self.contents))
+
+    self.target_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
+    self.seed_fn = os.path.join(self.tmpdir.name, next(tempfile._get_candidate_names()))
+
+  def tearDown(self):
+    for fn in [self.target_fn, self.seed_fn]:
+      try:
+        os.unlink(fn)
+      except FileNotFoundError:
+        pass
+
+  def test_simple_extract(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as target_f:
+      self.assertEqual(target_f.read(), self.contents)
+
+    self.assertEqual(stats['remote'], len(self.contents))
+
+  def test_seed(self):
+    target = casync.parse_caibx(self.manifest_fn)
+
+    # Populate seed with half of the target contents
+    with open(self.seed_fn, 'wb') as seed_f:
+      seed_f.write(self.contents[:len(self.contents) // 2])
+
+    sources = [('seed', casync.FileChunkReader(self.seed_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as target_f:
+      self.assertEqual(target_f.read(), self.contents)
+
+    self.assertGreater(stats['seed'], 0)
+    self.assertLess(stats['remote'], len(self.contents))
+
+  def test_already_done(self):
+    """Test that an already flashed target doesn't download any chunks"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    with open(self.target_fn, 'wb') as f:
+      f.write(self.contents)
+
+    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as f:
+      self.assertEqual(f.read(), self.contents)
+
+    self.assertEqual(stats['target'], len(self.contents))
+
+  def test_chunk_reuse(self):
+    """Test that chunks that are reused are only downloaded once"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    # Ensure target exists
+    with open(self.target_fn, 'wb'):
+      pass
+
+    sources = [('target', casync.FileChunkReader(self.target_fn), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_fn)
+
+    with open(self.target_fn, 'rb') as f:
+      self.assertEqual(f.read(), self.contents)
+
+    self.assertLess(stats['remote'], len(self.contents))
+
+  @unittest.skipUnless(LOOPBACK, "requires loopback device")
+  def test_lo_simple_extract(self):
+    target = casync.parse_caibx(self.manifest_fn)
+    sources = [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_lo)
+
+    with open(self.target_lo, 'rb') as target_f:
+      self.assertEqual(target_f.read(len(self.contents)), self.contents)
+
+    self.assertEqual(stats['remote'], len(self.contents))
+
+  @unittest.skipUnless(LOOPBACK, "requires loopback device")
+  def test_lo_chunk_reuse(self):
+    """Test that chunks that are reused are only downloaded once"""
+    target = casync.parse_caibx(self.manifest_fn)
+
+    sources = [('target', casync.FileChunkReader(self.target_lo), casync.build_chunk_dict(target))]
+    sources += [('remote', casync.RemoteChunkReader(self.store_fn), casync.build_chunk_dict(target))]
+
+    stats = casync.extract(target, sources, self.target_lo)
+
+    with open(self.target_lo, 'rb') as f:
+      self.assertEqual(f.read(len(self.contents)), self.contents)
+
+    self.assertLess(stats['remote'], len(self.contents))
+
+
+if __name__ == "__main__":
+  unittest.main()
diff --git a/third_party/qt5/larch64/bin/lrelease b/third_party/qt5/larch64/bin/lrelease
new file mode 100755
index 0000000000..5c0195d29a
Binary files /dev/null and b/third_party/qt5/larch64/bin/lrelease differ
diff --git a/third_party/qt5/larch64/bin/lupdate b/third_party/qt5/larch64/bin/lupdate
new file mode 100755
index 0000000000..67b7ea5cb5
Binary files /dev/null and b/third_party/qt5/larch64/bin/lupdate differ
diff --git a/tools/CTF.md b/tools/CTF.md
index 396e7575a4..a14a41d55d 100644
--- a/tools/CTF.md
+++ b/tools/CTF.md
@@ -12,7 +12,7 @@ Welcome to the first part of the comma CTF!
 getting started
 ```bash
 # start the route reply
-cd selfdrive/ui/replay
+cd tools/replay
 ./replay '0c7f0c7f0c7f0c7f|2021-10-13--13-00-00' --dcam --ecam
 
 # start the UI in another terminal
diff --git a/tools/camerastream/compressed_vipc.py b/tools/camerastream/compressed_vipc.py
index 290610e45f..d321d6fd2b 100755
--- a/tools/camerastream/compressed_vipc.py
+++ b/tools/camerastream/compressed_vipc.py
@@ -73,6 +73,10 @@ def decoder(addr, sock_name, vipc_server, vst, nvidia):
           continue
         assert len(frames) == 1
         img_yuv = frames[0].to_ndarray(format=av.video.format.VideoFormat('yuv420p')).flatten()
+        uv_offset = H*W
+        y = img_yuv[:uv_offset]
+        uv = img_yuv[uv_offset:].reshape(2, -1).ravel('F')
+        img_yuv = np.hstack((y, uv))
 
       vipc_server.send(vst, img_yuv.data, cnt, int(time_q[0]*1e9), int(time.monotonic()*1e9))
       cnt += 1
diff --git a/tools/lib/bootlog.py b/tools/lib/bootlog.py
index 4e71120400..3515370823 100644
--- a/tools/lib/bootlog.py
+++ b/tools/lib/bootlog.py
@@ -35,6 +35,9 @@ class Bootlog:
   def datetime(self) -> datetime.datetime:
     return timestamp_to_datetime(self._timestamp)
 
+  def __str__(self):
+    return f"{self._dongle_id}|{self._timestamp}"
+
   def __eq__(self, b) -> bool:
     if not isinstance(b, Bootlog):
       return False
diff --git a/tools/plotjuggler/README.md b/tools/plotjuggler/README.md
index e120edf2fa..25fcb5931a 100644
--- a/tools/plotjuggler/README.md
+++ b/tools/plotjuggler/README.md
@@ -12,7 +12,8 @@ Once you've cloned and are in openpilot, this command will download PlotJuggler
 
 ```
 $ ./juggle.py -h
-usage: juggle.py [-h] [--demo] [--qlog] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC] [route_or_segment_name] [segment_count]
+usage: juggle.py [-h] [--demo] [--qlog] [--ci] [--can] [--stream] [--layout [LAYOUT]] [--install] [--dbc DBC]
+                 [route_or_segment_name] [segment_count]
 
 A helper to run PlotJuggler on openpilot routes
 
@@ -25,12 +26,14 @@ optional arguments:
   -h, --help            show this help message and exit
   --demo                Use the demo route instead of providing one (default: False)
   --qlog                Use qlogs (default: False)
+  --ci                  Download data from openpilot CI bucket (default: False)
   --can                 Parse CAN data (default: False)
   --stream              Start PlotJuggler in streaming mode (default: False)
   --layout [LAYOUT]     Run PlotJuggler with a pre-defined layout (default: None)
   --install             Install or update PlotJuggler + plugins (default: False)
-  --dbc DBC             Set the DBC name to load for parsing CAN data. If not set, the DBC will be
-                        automatically inferred from the logs. (default: None)
+  --dbc DBC             Set the DBC name to load for parsing CAN data. If not set, the DBC will be automatically
+                        inferred from the logs. (default: None)
+
 ```
 
 Examples using route name:
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 96ced28349..6f1038ec0d 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,6 +12,7 @@ import argparse
 
 from common.basedir import BASEDIR
 from selfdrive.test.process_replay.compare_logs import save_log
+from selfdrive.test.openpilotci import get_url
 from tools.lib.logreader import LogReader
 from tools.lib.route import Route, SegmentName
 from urllib.parse import urlparse, parse_qs
@@ -51,7 +52,7 @@ def load_segment(segment_name):
 
   try:
     return list(LogReader(segment_name))
-  except ValueError as e:
+  except (AssertionError, ValueError) as e:
     print(f"Error parsing {segment_name}: {e}")
     return []
 
@@ -73,7 +74,7 @@ def start_juggler(fn=None, dbc=None, layout=None):
   subprocess.call(cmd, shell=True, env=env, cwd=juggle_dir)
 
 
-def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None):
+def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=None, ci=False):
   segment_start = 0
   if 'cabana' in route_or_segment_name:
     query = parse_qs(urlparse(route_or_segment_name).query)
@@ -81,6 +82,11 @@ def juggle_route(route_or_segment_name, segment_count, qlog, can, layout, dbc=No
 
   if route_or_segment_name.startswith(("http://", "https://")) or os.path.isfile(route_or_segment_name):
     logs = [route_or_segment_name]
+  elif ci:
+    route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
+    route = route_or_segment_name.route_name.canonical_name
+    segment_start = max(route_or_segment_name.segment_num, 0)
+    logs = [get_url(route, i) for i in range(100)]  # Assume there not more than 100 segments
   else:
     route_or_segment_name = SegmentName(route_or_segment_name, allow_route_name=True)
     segment_start = max(route_or_segment_name.segment_num, 0)
@@ -132,6 +138,7 @@ if __name__ == "__main__":
 
   parser.add_argument("--demo", action="store_true", help="Use the demo route instead of providing one")
   parser.add_argument("--qlog", action="store_true", help="Use qlogs")
+  parser.add_argument("--ci", action="store_true", help="Download data from openpilot CI bucket")
   parser.add_argument("--can", action="store_true", help="Parse CAN data")
   parser.add_argument("--stream", action="store_true", help="Start PlotJuggler in streaming mode")
   parser.add_argument("--layout", nargs='?', help="Run PlotJuggler with a pre-defined layout")
@@ -157,4 +164,4 @@ if __name__ == "__main__":
     start_juggler(layout=args.layout)
   else:
     route_or_segment_name = DEMO_ROUTE if args.demo else args.route_or_segment_name.strip()
-    juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc)
+    juggle_route(route_or_segment_name, args.segment_count, args.qlog, args.can, args.layout, args.dbc, args.ci)
diff --git a/tools/plotjuggler/layouts/max-torque-debug.xml b/tools/plotjuggler/layouts/max-torque-debug.xml
new file mode 100644
index 0000000000..05aa208e26
--- /dev/null
+++ b/tools/plotjuggler/layouts/max-torque-debug.xml
@@ -0,0 +1,98 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<root>
+ <tabbed_widget name="Main Window" parent="main_window">
+  <Tab containers="1" tab_name="tab1">
+   <Container>
+    <DockSplitter orientation="-" count="4" sizes="0.249724;0.250829;0.249724;0.249724">
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="6.050533" right="2483.624998" bottom="-7.599037"/>
+       <limitY/>
+       <curve color="#1ac938" name="Actual lateral accel (roll compensated)"/>
+       <curve color="#ff7f0e" name="Desired lateral accel (roll compensated)"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="5.384416" right="2483.624998" bottom="-7.503945"/>
+       <limitY/>
+       <curve color="#1ac938" name="roll compenstated lateral acceleration"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="1.050000" right="2483.624998" bottom="-1.050000"/>
+       <limitY/>
+       <curve color="#0097ff" name="/carState/steeringPressed"/>
+       <curve color="#d62728" name="/carControl/actuatorsOutput/steer"/>
+      </plot>
+     </DockArea>
+     <DockArea name="...">
+      <plot flip_y="false" style="Lines" flip_x="false" mode="TimeSeries">
+       <range left="0.000450" top="80.762969" right="2483.624998" bottom="-2.181837"/>
+       <limitY/>
+       <curve color="#f14cc1" name="/carState/vEgo">
+        <transform alias="/carState/vEgo[Scale/Offset]" name="Scale/Offset">
+         <options value_offset="0" time_offset="0" value_scale="2.23694"/>
+        </transform>
+       </curve>
+      </plot>
+     </DockArea>
+    </DockSplitter>
+   </Container>
+  </Tab>
+  <currentTabIndex index="0"/>
+ </tabbed_widget>
+ <use_relative_time_offset enabled="1"/>
+ <!-- - - - - - - - - - - - - - - -->
+ <!-- - - - - - - - - - - - - - - -->
+ <Plugins>
+  <plugin ID="DataLoad Rlog"/>
+  <plugin ID="Cereal Subscriber"/>
+ </Plugins>
+ <!-- - - - - - - - - - - - - - - -->
+ <previouslyLoaded_Datafiles>
+  <fileInfo filename="../tmp2db6nfa2.rlog" prefix="">
+   <selected_datasources value=""/>
+   <plugin ID="DataLoad Rlog"/>
+  </fileInfo>
+ </previouslyLoaded_Datafiles>
+ <!-- - - - - - - - - - - - - - - -->
+ <customMathEquations>
+  <snippet name="roll compenstated lateral acceleration">
+   <global></global>
+   <function>if (v3 == 0 and v4 == 1) then
+  return  (value * v1 ^ 2) - (v2 * 9.81)
+end
+return 0</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+    <v3>/carState/steeringPressed</v3>
+    <v4>/carControl/latActive</v4>
+   </additional_sources>
+  </snippet>
+  <snippet name="Desired lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/desiredCurvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+  <snippet name="Actual lateral accel (roll compensated)">
+   <global></global>
+   <function>return (value * v1 ^ 2) - (v2 * 9.81)</function>
+   <linked_source>/controlsState/curvature</linked_source>
+   <additional_sources>
+    <v1>/carState/vEgo</v1>
+    <v2>/liveParameters/roll</v2>
+   </additional_sources>
+  </snippet>
+ </customMathEquations>
+ <snippets/>
+ <!-- - - - - - - - - - - - - - - -->
+</root>
+
diff --git a/tools/replay/.gitignore b/tools/replay/.gitignore
new file mode 100644
index 0000000000..83f0e99a8b
--- /dev/null
+++ b/tools/replay/.gitignore
@@ -0,0 +1,5 @@
+moc_*
+*.moc
+
+replay
+tests/test_replay
diff --git a/tools/replay/README.md b/tools/replay/README.md
index 759a448d73..b705fb60db 100644
--- a/tools/replay/README.md
+++ b/tools/replay/README.md
@@ -9,12 +9,12 @@
 python lib/auth.py
 
 # Start a replay
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 
 # Example:
-# selfdrive/ui/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
+# tools/replay/replay '4cf7a6ad03080c90|2021-09-29--13-46-36'
 # or use --demo to replay the default demo route:
-# selfdrive/ui/replay/replay --demo
+# tools/replay/replay --demo
 
 # watch the replay with the normal openpilot UI
 cd selfdrive/ui && ./ui
@@ -25,8 +25,8 @@ python replay/ui.py
 
 ## usage
 ``` bash
-$ selfdrive/ui/replay/replay -h
-Usage: selfdrive/ui/replay/replay [options] route
+$ tools/replay/replay -h
+Usage: tools/replay/replay [options] route
 Mock openpilot components by publishing logged messages.
 
 Options:
@@ -51,7 +51,7 @@ simply replay a route using the `--dcam` and `--ecam` flags:
 
 ```bash
 # start a replay
-cd selfdrive/ui/replay && ./replay --demo --dcam --ecam
+cd tools/replay && ./replay --demo --dcam --ecam
 
 # then start watch3
 cd selfdrive/ui && ./watch3
@@ -70,5 +70,5 @@ In order to replay specific route:
 MOCK=1 selfdrive/boardd/tests/boardd_old.py
 
 # In another terminal:
-selfdrive/ui/replay/replay <route-name>
+tools/replay/replay <route-name>
 ```
diff --git a/tools/replay/SConscript b/tools/replay/SConscript
new file mode 100644
index 0000000000..d3967708fa
--- /dev/null
+++ b/tools/replay/SConscript
@@ -0,0 +1,25 @@
+import os
+Import('env', 'qt_env', 'arch', 'common', 'messaging', 'visionipc',
+       'cereal', 'transformations')
+
+base_frameworks = qt_env['FRAMEWORKS']
+base_libs = [common, messaging, cereal, visionipc, transformations, 'zmq',
+             'capnp', 'kj', 'm', 'ssl', 'crypto', 'pthread'] + qt_env["LIBS"]
+
+if arch == "Darwin":
+  base_frameworks.append('OpenCL')
+else:
+  base_libs.append('OpenCL')
+
+qt_libs = ['qt_util'] + base_libs
+if arch in ['x86_64', 'Darwin'] or GetOption('extras'):
+  qt_env['CXXFLAGS'] += ["-Wno-deprecated-declarations"]
+
+  replay_lib_src = ["replay.cc", "consoleui.cc", "camera.cc", "filereader.cc", "logreader.cc", "framereader.cc", "route.cc", "util.cc"]
+
+  replay_lib = qt_env.Library("qt_replay", replay_lib_src, LIBS=qt_libs, FRAMEWORKS=base_frameworks)
+  replay_libs = [replay_lib, 'avutil', 'avcodec', 'avformat', 'bz2', 'curl', 'yuv', 'ncurses'] + qt_libs
+  qt_env.Program("replay", ["main.cc"], LIBS=replay_libs, FRAMEWORKS=base_frameworks)
+
+  if GetOption('test'):
+    qt_env.Program('tests/test_replay', ['tests/test_runner.cc', 'tests/test_replay.cc'], LIBS=[replay_libs])
diff --git a/selfdrive/ui/replay/camera.cc b/tools/replay/camera.cc
similarity index 96%
rename from selfdrive/ui/replay/camera.cc
rename to tools/replay/camera.cc
index 2e8b68a415..87afe63a2a 100644
--- a/selfdrive/ui/replay/camera.cc
+++ b/tools/replay/camera.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 
diff --git a/selfdrive/ui/replay/camera.h b/tools/replay/camera.h
similarity index 92%
rename from selfdrive/ui/replay/camera.h
rename to tools/replay/camera.h
index 7f078511cf..66d33142fb 100644
--- a/selfdrive/ui/replay/camera.h
+++ b/tools/replay/camera.h
@@ -3,8 +3,8 @@
 #include <unistd.h>
 #include "cereal/visionipc/visionipc_server.h"
 #include "common/queue.h"
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
 
 class CameraServer {
 public:
diff --git a/selfdrive/ui/replay/consoleui.cc b/tools/replay/consoleui.cc
similarity index 99%
rename from selfdrive/ui/replay/consoleui.cc
rename to tools/replay/consoleui.cc
index 05eb09c9ed..e4a3146a69 100644
--- a/selfdrive/ui/replay/consoleui.cc
+++ b/tools/replay/consoleui.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/consoleui.h"
+#include "tools/replay/consoleui.h"
 
 #include <QApplication>
 #include <initializer_list>
diff --git a/selfdrive/ui/replay/consoleui.h b/tools/replay/consoleui.h
similarity index 96%
rename from selfdrive/ui/replay/consoleui.h
rename to tools/replay/consoleui.h
index bce1146d46..20e07524dd 100644
--- a/selfdrive/ui/replay/consoleui.h
+++ b/tools/replay/consoleui.h
@@ -7,7 +7,7 @@
 #include <QTimer>
 #include <QTimerEvent>
 
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 #include <ncurses.h>
 
 class ConsoleUI : public QObject {
diff --git a/selfdrive/ui/replay/filereader.cc b/tools/replay/filereader.cc
similarity index 94%
rename from selfdrive/ui/replay/filereader.cc
rename to tools/replay/filereader.cc
index 5f862bec35..88879067c9 100644
--- a/selfdrive/ui/replay/filereader.cc
+++ b/tools/replay/filereader.cc
@@ -1,9 +1,9 @@
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 #include <fstream>
 
 #include "common/util.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 std::string cacheFilePath(const std::string &url) {
   static std::string cache_path = [] {
diff --git a/selfdrive/ui/replay/filereader.h b/tools/replay/filereader.h
similarity index 100%
rename from selfdrive/ui/replay/filereader.h
rename to tools/replay/filereader.h
diff --git a/selfdrive/ui/replay/framereader.cc b/tools/replay/framereader.cc
similarity index 95%
rename from selfdrive/ui/replay/framereader.cc
rename to tools/replay/framereader.cc
index 38d98bddc5..ecde9ad5d2 100644
--- a/selfdrive/ui/replay/framereader.cc
+++ b/tools/replay/framereader.cc
@@ -1,5 +1,5 @@
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/util.h"
 
 #include <cassert>
 #include "libyuv.h"
@@ -117,8 +117,6 @@ bool FrameReader::load(const std::byte *data, size_t size, bool no_hw_decoder, s
   if (has_hw_decoder && !no_hw_decoder) {
     if (!initHardwareDecoder(HW_DEVICE_TYPE)) {
       rWarning("No device with hardware decoder found. fallback to CPU decoding.");
-    } else {
-      nv12toyuv_buffer.resize(getYUVSize());
     }
   }
 
@@ -227,17 +225,16 @@ AVFrame *FrameReader::decodeFrame(AVPacket *pkt) {
 }
 
 bool FrameReader::copyBuffers(AVFrame *f, uint8_t *yuv) {
+  assert(f != nullptr && yuv != nullptr);
+  uint8_t *y = yuv;
+  uint8_t *uv = y + width * height;
   if (hw_pix_fmt == HW_PIX_FMT) {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     for (int i = 0; i < height/2; i++) {
       memcpy(y + (i*2 + 0)*width, f->data[0] + (i*2 + 0)*f->linesize[0], width);
       memcpy(y + (i*2 + 1)*width, f->data[0] + (i*2 + 1)*f->linesize[0], width);
       memcpy(uv + i*width, f->data[1] + i*f->linesize[1], width);
     }
   } else {
-    uint8_t *y = yuv ? yuv : nv12toyuv_buffer.data();
-    uint8_t *uv = y + width * height;
     libyuv::I420ToNV12(f->data[0], f->linesize[0],
                        f->data[1], f->linesize[1],
                        f->data[2], f->linesize[2],
diff --git a/selfdrive/ui/replay/framereader.h b/tools/replay/framereader.h
similarity index 94%
rename from selfdrive/ui/replay/framereader.h
rename to tools/replay/framereader.h
index 443636e27d..e50b61d7f4 100644
--- a/selfdrive/ui/replay/framereader.h
+++ b/tools/replay/framereader.h
@@ -4,7 +4,7 @@
 #include <string>
 #include <vector>
 
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 extern "C" {
 #include <libavcodec/avcodec.h>
@@ -46,7 +46,6 @@ private:
 
   AVPixelFormat hw_pix_fmt = AV_PIX_FMT_NONE;
   AVBufferRef *hw_device_ctx = nullptr;
-  std::vector<uint8_t> nv12toyuv_buffer;
   int prev_idx = -1;
   inline static std::atomic<bool> has_hw_decoder = true;
 };
diff --git a/selfdrive/ui/replay/logreader.cc b/tools/replay/logreader.cc
similarity index 86%
rename from selfdrive/ui/replay/logreader.cc
rename to tools/replay/logreader.cc
index 579fe50644..9b7a07a83f 100644
--- a/selfdrive/ui/replay/logreader.cc
+++ b/tools/replay/logreader.cc
@@ -1,7 +1,7 @@
-#include "selfdrive/ui/replay/logreader.h"
+#include "tools/replay/logreader.h"
 
 #include <algorithm>
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 Event::Event(const kj::ArrayPtr<const capnp::word> &amsg, bool frame) : reader(amsg), frame(frame) {
   words = kj::ArrayPtr<const capnp::word>(amsg.begin(), reader.getEnd());
@@ -47,22 +47,22 @@ LogReader::~LogReader() {
 }
 
 bool LogReader::load(const std::string &url, std::atomic<bool> *abort, bool local_cache, int chunk_size, int retries) {
-  FileReader f(local_cache, chunk_size, retries);
-  std::string data = f.read(url, abort);
-  if (data.empty()) return false;
+  raw_ = FileReader(local_cache, chunk_size, retries).read(url, abort);
+  if (raw_.empty()) return false;
 
-  return load((std::byte*)data.data(), data.size(), abort);
+  if (url.find(".bz2") != std::string::npos) {
+    raw_ = decompressBZ2(raw_, abort);
+    if (raw_.empty()) return false;
+  }
+  return parse(abort);
 }
 
 bool LogReader::load(const std::byte *data, size_t size, std::atomic<bool> *abort) {
-  raw_ = decompressBZ2(data, size, abort);
-  if (raw_.empty()) {
-    if (!(abort && *abort)) {
-      rWarning("failed to decompress log");
-    }
-    return false;
-  }
+  raw_.assign((const char *)data, size);
+  return parse(abort);
+}
 
+bool LogReader::parse(std::atomic<bool> *abort) {
   try {
     kj::ArrayPtr<const capnp::word> words((const capnp::word *)raw_.data(), raw_.size() / sizeof(capnp::word));
     while (words.size() > 0 && !(abort && *abort)) {
diff --git a/selfdrive/ui/replay/logreader.h b/tools/replay/logreader.h
similarity index 96%
rename from selfdrive/ui/replay/logreader.h
rename to tools/replay/logreader.h
index b4a38a5721..bd666d0a74 100644
--- a/selfdrive/ui/replay/logreader.h
+++ b/tools/replay/logreader.h
@@ -7,7 +7,7 @@
 
 #include "cereal/gen/cpp/log.capnp.h"
 #include "system/camerad/cameras/camera_common.h"
-#include "selfdrive/ui/replay/filereader.h"
+#include "tools/replay/filereader.h"
 
 const CameraType ALL_CAMERAS[] = {RoadCam, DriverCam, WideRoadCam};
 const int MAX_CAMERAS = std::size(ALL_CAMERAS);
@@ -52,10 +52,10 @@ public:
   ~LogReader();
   bool load(const std::string &url, std::atomic<bool> *abort = nullptr, bool local_cache = false, int chunk_size = -1, int retries = 0);
   bool load(const std::byte *data, size_t size, std::atomic<bool> *abort = nullptr);
-
   std::vector<Event*> events;
 
 private:
+  bool parse(std::atomic<bool> *abort);
   std::string raw_;
 #ifdef HAS_MEMORY_RESOURCE
   std::pmr::monotonic_buffer_resource *mbr_ = nullptr;
diff --git a/selfdrive/ui/replay/main.cc b/tools/replay/main.cc
similarity index 96%
rename from selfdrive/ui/replay/main.cc
rename to tools/replay/main.cc
index e09587023c..d3d6894877 100644
--- a/selfdrive/ui/replay/main.cc
+++ b/tools/replay/main.cc
@@ -1,8 +1,8 @@
 #include <QApplication>
 #include <QCommandLineParser>
 
-#include "selfdrive/ui/replay/consoleui.h"
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/consoleui.h"
+#include "tools/replay/replay.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 
diff --git a/selfdrive/ui/replay/replay.cc b/tools/replay/replay.cc
similarity index 99%
rename from selfdrive/ui/replay/replay.cc
rename to tools/replay/replay.cc
index cf7520b361..c886a7e186 100644
--- a/selfdrive/ui/replay/replay.cc
+++ b/tools/replay/replay.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/replay.h"
+#include "tools/replay/replay.h"
 
 #include <QDebug>
 #include <QtConcurrent>
@@ -8,7 +8,7 @@
 #include "common/params.h"
 #include "common/timing.h"
 #include "system/hardware/hw.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 Replay::Replay(QString route, QStringList allow, QStringList block, SubMaster *sm_, uint32_t flags, QString data_dir, QObject *parent)
     : sm(sm_), flags_(flags), QObject(parent) {
diff --git a/selfdrive/ui/replay/replay.h b/tools/replay/replay.h
similarity index 97%
rename from selfdrive/ui/replay/replay.h
rename to tools/replay/replay.h
index c89a835f64..13269d3ec9 100644
--- a/selfdrive/ui/replay/replay.h
+++ b/tools/replay/replay.h
@@ -4,8 +4,8 @@
 
 #include <QThread>
 
-#include "selfdrive/ui/replay/camera.h"
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/camera.h"
+#include "tools/replay/route.h"
 
 // one segment uses about 100M of memory
 constexpr int FORWARD_SEGS = 5;
diff --git a/selfdrive/ui/replay/route.cc b/tools/replay/route.cc
similarity index 95%
rename from selfdrive/ui/replay/route.cc
rename to tools/replay/route.cc
index 3d595141cd..c91b27ae81 100644
--- a/selfdrive/ui/replay/route.cc
+++ b/tools/replay/route.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/route.h"
+#include "tools/replay/route.h"
 
 #include <QDir>
 #include <QEventLoop>
@@ -11,8 +11,8 @@
 
 #include "system/hardware/hw.h"
 #include "selfdrive/ui/qt/api.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 Route::Route(const QString &route, const QString &data_dir) : data_dir_(data_dir) {
   route_ = parseRoute(route);
@@ -82,9 +82,9 @@ void Route::addFileToSegment(int n, const QString &file) {
   const int pos = name.lastIndexOf("--");
   name = pos != -1 ? name.mid(pos + 2) : name;
 
-  if (name == "rlog.bz2") {
+  if (name == "rlog.bz2" || name == "rlog") {
     segments_[n].rlog = file;
-  } else if (name == "qlog.bz2") {
+  } else if (name == "qlog.bz2" || name == "qlog") {
     segments_[n].qlog = file;
   } else if (name == "fcamera.hevc") {
     segments_[n].road_cam = file;
diff --git a/selfdrive/ui/replay/route.h b/tools/replay/route.h
similarity index 92%
rename from selfdrive/ui/replay/route.h
rename to tools/replay/route.h
index ac8fba75ca..6ca9c3b883 100644
--- a/selfdrive/ui/replay/route.h
+++ b/tools/replay/route.h
@@ -2,9 +2,9 @@
 
 #include <QFutureSynchronizer>
 
-#include "selfdrive/ui/replay/framereader.h"
-#include "selfdrive/ui/replay/logreader.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/framereader.h"
+#include "tools/replay/logreader.h"
+#include "tools/replay/util.h"
 
 struct RouteIdentifier {
   QString dongle_id;
diff --git a/selfdrive/ui/replay/tests/test_replay.cc b/tools/replay/tests/test_replay.cc
similarity index 98%
rename from selfdrive/ui/replay/tests/test_replay.cc
rename to tools/replay/tests/test_replay.cc
index bf984f5f3d..d6482c3ca2 100644
--- a/selfdrive/ui/replay/tests/test_replay.cc
+++ b/tools/replay/tests/test_replay.cc
@@ -6,8 +6,8 @@
 
 #include "catch2/catch.hpp"
 #include "common/util.h"
-#include "selfdrive/ui/replay/replay.h"
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/replay.h"
+#include "tools/replay/util.h"
 
 const QString DEMO_ROUTE = "4cf7a6ad03080c90|2021-09-29--13-46-36";
 const std::string TEST_RLOG_URL = "https://commadataci.blob.core.windows.net/openpilotci/0c94aa1e1296d7c6/2021-05-05--19-48-37/0/rlog.bz2";
@@ -71,6 +71,7 @@ TEST_CASE("LogReader") {
     FileReader reader(true);
     std::string corrupt_content = reader.read(TEST_RLOG_URL);
     corrupt_content.resize(corrupt_content.length() / 2);
+    corrupt_content = decompressBZ2(corrupt_content);
     LogReader log;
     REQUIRE(log.load((std::byte *)corrupt_content.data(), corrupt_content.size()));
     REQUIRE(log.events.size() > 0);
diff --git a/selfdrive/ui/replay/tests/test_runner.cc b/tools/replay/tests/test_runner.cc
similarity index 100%
rename from selfdrive/ui/replay/tests/test_runner.cc
rename to tools/replay/tests/test_runner.cc
diff --git a/selfdrive/ui/replay/util.cc b/tools/replay/util.cc
similarity index 99%
rename from selfdrive/ui/replay/util.cc
rename to tools/replay/util.cc
index 099219ccde..a6ebbec615 100644
--- a/selfdrive/ui/replay/util.cc
+++ b/tools/replay/util.cc
@@ -1,4 +1,4 @@
-#include "selfdrive/ui/replay/util.h"
+#include "tools/replay/util.h"
 
 #include <bzlib.h>
 #include <curl/curl.h>
diff --git a/selfdrive/ui/replay/util.h b/tools/replay/util.h
similarity index 100%
rename from selfdrive/ui/replay/util.h
rename to tools/replay/util.h
diff --git a/tools/sim/bridge.py b/tools/sim/bridge.py
index 17dc2c7a62..fa4ce2b41d 100755
--- a/tools/sim/bridge.py
+++ b/tools/sim/bridge.py
@@ -304,6 +304,7 @@ class CarlaBridge:
     world_map = world.get_map()
 
     vehicle_bp = blueprint_library.filter('vehicle.tesla.*')[1]
+    vehicle_bp.set_attribute('role_name', 'hero')
     spawn_points = world_map.get_spawn_points()
     assert len(spawn_points) > self._args.num_selected_spawn_point, f'''No spawn point {self._args.num_selected_spawn_point}, try a value between 0 and
       {len(spawn_points)} for this town.'''
diff --git a/tools/sim/lib/can.py b/tools/sim/lib/can.py
index 939d081a80..af4339b2e4 100755
--- a/tools/sim/lib/can.py
+++ b/tools/sim/lib/can.py
@@ -33,48 +33,48 @@ def can_function(pm, speed, angle, idx, cruise_button, is_engaged):
   # *** powertrain bus ***
 
   speed = speed * 3.6 # convert m/s to kph
-  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}, idx))
+  msg.append(packer.make_can_msg("ENGINE_DATA", 0, {"XMISSION_SPEED": speed}))
   msg.append(packer.make_can_msg("WHEEL_SPEEDS", 0, {
     "WHEEL_SPEED_FL": speed,
     "WHEEL_SPEED_FR": speed,
     "WHEEL_SPEED_RL": speed,
     "WHEEL_SPEED_RR": speed
-  }, -1))
+  }))
 
-  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}, idx))
+  msg.append(packer.make_can_msg("SCM_BUTTONS", 0, {"CRUISE_BUTTONS": cruise_button}))
 
   values = {"COUNTER_PEDAL": idx & 0xF}
-  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF}, -1)[2][:-1])
+  checksum = crc8_pedal(packer.make_can_msg("GAS_SENSOR", 0, {"COUNTER_PEDAL": idx & 0xF})[2][:-1])
   values["CHECKSUM_PEDAL"] = checksum
-  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values, -1))
-
-  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}, idx))
-  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}, idx))
-  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}, idx))
-  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}, idx))
-  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}, idx))
-  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}, idx))
-  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}, idx))
-  msg.append(packer.make_can_msg("CRUISE", 0, {}, idx))
-  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}, idx))
-  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}, idx))
+  msg.append(packer.make_can_msg("GAS_SENSOR", 0, values))
+
+  msg.append(packer.make_can_msg("GEARBOX", 0, {"GEAR": 4, "GEAR_SHIFTER": 8}))
+  msg.append(packer.make_can_msg("GAS_PEDAL_2", 0, {}))
+  msg.append(packer.make_can_msg("SEATBELT_STATUS", 0, {"SEATBELT_DRIVER_LATCHED": 1}))
+  msg.append(packer.make_can_msg("STEER_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STEERING_SENSORS", 0, {"STEER_ANGLE": angle}))
+  msg.append(packer.make_can_msg("VSA_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("STANDSTILL", 0, {"WHEELS_MOVING": 1 if speed >= 1.0 else 0}))
+  msg.append(packer.make_can_msg("STEER_MOTOR_TORQUE", 0, {}))
+  msg.append(packer.make_can_msg("EPB_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("DOORS_STATUS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE_PARAMS", 0, {}))
+  msg.append(packer.make_can_msg("CRUISE", 0, {}))
+  msg.append(packer.make_can_msg("SCM_FEEDBACK", 0, {"MAIN_ON": 1}))
+  msg.append(packer.make_can_msg("POWERTRAIN_DATA", 0, {"ACC_STATUS": int(is_engaged)}))
   msg.append(packer.make_can_msg("HUD_SETTING", 0, {}))
-  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}, idx))
+  msg.append(packer.make_can_msg("CAR_SPEED", 0, {}))
 
   # *** cam bus ***
-  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}, idx))
-  msg.append(packer.make_can_msg("ACC_HUD", 2, {}, idx))
-  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}, idx))
+  msg.append(packer.make_can_msg("STEERING_CONTROL", 2, {}))
+  msg.append(packer.make_can_msg("ACC_HUD", 2, {}))
+  msg.append(packer.make_can_msg("BRAKE_COMMAND", 2, {}))
 
   # *** radar bus ***
   if idx % 5 == 0:
-    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}, -1))
+    msg.append(rpacker.make_can_msg("RADAR_DIAGNOSTIC", 1, {"RADAR_STATE": 0x79}))
     for i in range(16):
-      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}, -1))
+      msg.append(rpacker.make_can_msg("TRACK_%d" % i, 1, {"LONG_DIST": 255.5}))
 
   pm.send('can', can_list_to_can_capnp(msg))
 
diff --git a/tools/sim/start_carla.sh b/tools/sim/start_carla.sh
index 67ced7eb21..7ead6699f0 100755
--- a/tools/sim/start_carla.sh
+++ b/tools/sim/start_carla.sh
@@ -22,6 +22,7 @@ if [[ "$DETACH" ]]; then
   EXTRA_ARGS="-d"
 fi
 
+docker kill carla_sim || true
 docker run \
   --name carla_sim \
   --rm \
diff --git a/tools/ssh/README.md b/tools/ssh/README.md
index 66f030de52..29d3349328 100644
--- a/tools/ssh/README.md
+++ b/tools/ssh/README.md
@@ -22,3 +22,52 @@ The public keys are only fetched from your GitHub account once. In order to upda
 The `id_rsa` key in this directory only works while your device is in the setup state with no software installed. After installation, that default key will be removed.
 
 See the [community wiki](https://github.com/commaai/openpilot/wiki/SSH) for more detailed instructions and information.
+
+# Connecting to ssh.comma.ai
+SSH into your comma device from anywhere with `ssh.comma.ai`.
+
+## Setup
+
+With software version 0.6.1 or newer, enter your GitHub username on your device under Developer Settings. Your GitHub authorized public keys will become your authorized SSH keys for `ssh.comma.ai`. You can add any additional keys in `/system/comma/home/.ssh/authorized_keys.persist`.
+
+Requires [comma SIM with comma prime](https://comma.ai/shop) activated with comma connect, available on iOS and Android. comma two and EON ship with a pre-inserted comma SIM.
+
+## Recommended .ssh/config
+
+With the below ssh configuration, you can type `ssh comma-{dongleid}` to connect to your device through `ssh.comma.ai`. For example, `ssh comma-ffffffffffffffff`.
+
+```
+Host comma-*
+  Port 22
+  User comma
+  IdentityFile ~/.ssh/my_github_key
+  ProxyCommand ssh %h@ssh.comma.ai -W %h:%p
+Host ssh.comma.ai
+  Hostname ssh.comma.ai
+  Port 22
+  IdentityFile ~/.ssh/my_github_key
+```
+
+## One-off connection
+
+```
+ssh -i ~/.ssh/my_github_key -o ProxyCommand="ssh -i ~/.ssh/my_github_key -W %h:%p -p %p %h@ssh.comma.ai" comma@ffffffffffffffff
+```
+(Replace `ffffffffffffffff` with your dongle_id)
+
+## ssh.comma.ai host key fingerprint
+
+```
+Host key fingerprint is SHA256:X22GOmfjGb9J04IA2+egtdaJ7vW9Fbtmpz9/x8/W1X4
++---[RSA 4096]----+
+|                 |
+|                 |
+|        .        |
+|         +   o   |
+|        S = + +..|
+|         + @ = .=|
+|        . B @ ++=|
+|         o * B XE|
+|         .o o OB/|
++----[SHA256]-----+
+```
diff --git a/tools/tuning/measure_steering_accuracy.py b/tools/tuning/measure_steering_accuracy.py
index 5084247cb0..7abfb6358a 100755
--- a/tools/tuning/measure_steering_accuracy.py
+++ b/tools/tuning/measure_steering_accuracy.py
@@ -71,7 +71,7 @@ if __name__ == "__main__":
     active = sm['controlsState'].active
     steer = sm['carControl'].actuatorsOutput.steer
     standstill = sm['carState'].standstill
-    steer_limited = sm['carState'].steeringRateLimited
+    steer_limited = abs(sm['carControl'].actuators.steer - sm['carControl'].actuatorsOutput.steer) > 1e-2
     overriding = sm['carState'].steeringPressed
     changing_lanes = sm['lateralPlan'].laneChangeState != 0
     d_path_points = sm['lateralPlan'].dPathPoints
diff --git a/tools/ubuntu_setup.sh b/tools/ubuntu_setup.sh
index 60d41a4771..379df37adb 100755
--- a/tools/ubuntu_setup.sh
+++ b/tools/ubuntu_setup.sh
@@ -14,6 +14,7 @@ function install_ubuntu_common_requirements() {
     autoconf \
     build-essential \
     ca-certificates \
+    casync \
     clang \
     cmake \
     make \
@@ -59,6 +60,7 @@ function install_ubuntu_common_requirements() {
     qtmultimedia5-dev \
     qtlocation5-dev \
     qtpositioning5-dev \
+    qttools5-dev-tools \
     libqt5sql5-sqlite \
     libqt5svg5-dev \
     libqt5x11extras5-dev \
@@ -68,7 +70,7 @@ function install_ubuntu_common_requirements() {
 }
 
 # Install Ubuntu 22.04 LTS packages
-function install_ubuntu_latest_requirements() {
+function install_ubuntu_jammy_requirements() {
   install_ubuntu_common_requirements
 
   sudo apt-get install -y --no-install-recommends \
@@ -80,7 +82,7 @@ function install_ubuntu_latest_requirements() {
 }
 
 # Install Ubuntu 20.04 packages
-function install_ubuntu_lts_requirements() {
+function install_ubuntu_focal_requirements() {
   install_ubuntu_common_requirements
 
   sudo apt-get install -y --no-install-recommends \
@@ -92,12 +94,12 @@ function install_ubuntu_lts_requirements() {
 # Detect OS using /etc/os-release file
 if [ -f "/etc/os-release" ]; then
   source /etc/os-release
-  case "$ID $VERSION_ID" in
-    "ubuntu 22.04")
-      install_ubuntu_latest_requirements
+  case "$VERSION_CODENAME" in
+    "jammy")
+      install_ubuntu_jammy_requirements
       ;;
-    "ubuntu 20.04")
-      install_ubuntu_lts_requirements
+    "focal")
+      install_ubuntu_focal_requirements
       ;;
     *)
       echo "$ID $VERSION_ID is unsupported. This setup script is written for Ubuntu 20.04."
@@ -106,7 +108,7 @@ if [ -f "/etc/os-release" ]; then
       if [[ ! $REPLY =~ ^[Yy]$ ]]; then
         exit 1
       fi
-      install_ubuntu_lts_requirements
+      install_ubuntu_focal_requirements
   esac
 else
   echo "No /etc/os-release in the system"
diff --git a/tools/zookeeper/power_monitor.py b/tools/zookeeper/power_monitor.py
index f88741813e..fa1f442bbc 100755
--- a/tools/zookeeper/power_monitor.py
+++ b/tools/zookeeper/power_monitor.py
@@ -27,8 +27,10 @@ if __name__ == "__main__":
     while duration is None or time.monotonic() - start_time < duration:
       fltr.update(z.read_power())
       if rk.frame % rate == 0:
-        print(f"{fltr.x:.2f} W")
         measurements.append(fltr.x)
+        t = datetime.timedelta(seconds=time.monotonic() - start_time)
+        avg = sum(measurements) / len(measurements)
+        print(f"Now: {fltr.x:.2f} W, Avg: {avg:.2f} W over {t}")
       rk.keep_time()
   except KeyboardInterrupt:
     pass