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index ca0bc89..80bdbbd 100644
--- a/artifacts/iqpilot_hephaestusd_private/manifest.json
+++ b/artifacts/iqpilot_hephaestusd_private/manifest.json
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/archive_codec.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/archive_codec.cpython-312-aarch64-linux-gnu.so
index b555f05..86354b6 100755
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diff --git a/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py b/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
index ba5c3ab..8aec2a5 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/carcontroller.py
@@ -245,6 +245,9 @@ class CarController(CarControllerBase):
     self.leadDistanceBars = 0
     self.lead_distance_bars_last = None
     self.distance_bar_frame = 0
+    self.mlb_hud_text = 0
+    self.mlb_hud_text_frame = 0
+    self.mlb_set_speed_last = 0
     self.speed_limit_last = 0
     self.speed_limit_changed_timer = 0
     self.blinkerActive = None
@@ -280,6 +283,19 @@ class CarController(CarControllerBase):
       return float(np.interp(v_ego, [0.4, 3.5, 4.0], [0.8, 0.95, 1.0]))
     return 1.0
 
+  def _mlb_acc_hud_text(self, hud_control, set_speed: float) -> int:
+    # ACC_02 primary display text, briefly surfaced on a follow distance or set speed change
+    if hud_control.leadDistanceBars != self.lead_distance_bars_last:
+      self.mlb_hud_text_frame = self.frame
+      self.mlb_hud_text = self.CCP.ACC_HUD_TEXT_DISTANCE.get(hud_control.leadDistanceBars, self.CCP.ACC_HUD_TEXTS["none"])
+    elif set_speed != self.mlb_set_speed_last and hud_control.speedVisible:
+      self.mlb_hud_text_frame = self.frame
+      self.mlb_hud_text = self.CCP.ACC_HUD_TEXTS["setSpeed"]
+    elif self.frame - self.mlb_hud_text_frame >= self.CCP.ACC_HUD_TEXT_STEP:
+      self.mlb_hud_text = self.CCP.ACC_HUD_TEXTS["none"]
+    self.mlb_set_speed_last = set_speed
+    return self.mlb_hud_text
+
   def _should_spam_mqb_a0_resume(self, CS, enabled: bool) -> bool:
     return bool(
       enabled and
@@ -429,8 +445,9 @@ class CarController(CarControllerBase):
         can_sends.append(self.CCS.create_blinker_control(self.packer_pt, self.CAN.pt, CS.ea_hud_stock_values, CS.ea_control_stock_values,
                                                          left_blinker, right_blinker, self.hide_ea_error))
 
-    if self.CP.openpilotLongitudinalControl and self.CCS == mqbcan and not self.acc_counter_seeded and CS.acc_stock_counters:
-      for name in ("ACC_02", "ACC_06", "ACC_07", "ACC_10"):
+    if self.CP.openpilotLongitudinalControl and self.CCS in (mqbcan, mlbcan) and not self.acc_counter_seeded and CS.acc_stock_counters:
+      seed_msgs = ("ACC_01", "ACC_02") if self.CCS is mlbcan else ("ACC_02", "ACC_06", "ACC_07", "ACC_10")
+      for name in seed_msgs:
         addr = self.packer_pt.dbc.name_to_msg[name].address
         self.packer_pt.counters[addr] = (CS.acc_stock_counters[name] + 1) % 16
       self.acc_counter_seeded = True
@@ -499,6 +516,8 @@ class CarController(CarControllerBase):
             self.long_deviation, self.long_jerklimit, eBrakeActive,
             esp_starting_override=esp_starting_override, esp_stopping_override=esp_stopping_override,
           ))
+        elif self.CCS == mlbcan:
+          can_sends.extend(self.CCS.create_acc_accel_control(self.packer_pt, self.CAN.pt, accel, acc_control, stopping))
         else:
           accel = apply_pq_stopping_accel(self.CP.carFingerprint, accel, stopping)
 
@@ -577,7 +596,10 @@ class CarController(CarControllerBase):
         acc_hud_status = self.CCS.acc_hud_status_value(CS.out.cruiseState.available, CS.out.accFaulted, CC.longActive, CC.cruiseControl.override)
         set_speed = hud_control.setSpeed * CV.MS_TO_KPH
         decel = dVisual(self.CCS, CS)
-        can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, leadDistance, self.leadDistanceBars, fcw_alert, hud_control.leadVisible, self.unavailable, decel, d_unresponsive))
+        hud_kwargs = {"hud_text": self._mlb_acc_hud_text(hud_control, set_speed)} if self.CCS is mlbcan else {}
+        can_sends.append(self.CCS.create_acc_hud_control(self.packer_pt, self.CAN.pt, acc_hud_status, set_speed, leadDistance,
+                                                         self.leadDistanceBars, fcw_alert, hud_control.leadVisible, self.unavailable,
+                                                         decel, d_unresponsive, **hud_kwargs))
 
     if self.CP.flags & VolkswagenFlags.PQ:
       iq_lvbs_commander.update_turn_signals(self, CC, CS, can_sends)
diff --git a/iqdbc_repo/iqdbc/car/volkswagen/carstate.py b/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
index bb35a8c..d4a44e9 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
@@ -675,9 +675,12 @@ class CarState(CarStateBase):
     else:
       ret.gearShifter = GearShifter.drive
 
-    # ACC okay but disabled (1), ACC ready (2), a radar visibility or other fault/disruption (6 or 7)
-    # currently regulating speed (3), driver accel override (4), brake only (5)
-    if self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
+    cruise_main_switch = bool(pt_cp.vl["LS_01"]["LS_Hauptschalter"])
+    if not self.CP.pcmCruise:
+      ret.cruiseState.available = cruise_main_switch
+      ret.cruiseState.enabled = False
+      ret.accFaulted = False
+    elif self.CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
       ret.cruiseState.available = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (2, 3, 4, 5)
       ret.cruiseState.enabled = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (3, 4, 5)
       ret.accFaulted = ext_cp.vl["ACC_05"]["ACC_Status_ACC"] in (6, 7)
@@ -687,6 +690,12 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = ext_cp.vl["ACC_02"]["ACC_Wunschgeschw_02"] * CV.KPH_TO_MS
       ret.accFaulted = pt_cp.vl["TSK_02"]["TSK_Status"] in (3,)
 
+    ret.cruiseState.nonAdaptive = bool(pt_cp.vl["LS_01"]["LS_Limiter"])
+    if not self.CP.pcmCruise:
+      self.acc_stock_counters["ACC_01"] = int(ext_cp.vl["ACC_01"]["COUNTER"])
+      self.acc_stock_counters["ACC_02"] = int(ext_cp.vl["ACC_02"]["COUNTER"])
+      self.esp_hold_confirmation = bool(pt_cp.vl["ESP_02"]["ESP_Stillstandsflag"])
+
     self.parse_mlb_mqb_steering_state(ret, pt_cp)
     self._update_mlb_iq_alc_state(pt_cp)
 
@@ -728,9 +737,10 @@ class CarState(CarStateBase):
 
     ret.cruiseState.standstill = self.CP.pcmCruise and self.esp_hold_confirmation
     ret.standstill = ret.vEgoRaw == 0
-    ret.cruiseFaultLateralMode = False
-    ret.lateralAvailable = ret.cruiseState.available
-    ret.blockPcmEnable = False
+    allow_lat_only = self._params.get_bool("AllowLateralWhenLongUnavailable") and self._params.get_bool("AolEnabled")
+    ret.cruiseFaultLateralMode = allow_lat_only and ret.accFaulted and cruise_main_switch
+    ret.lateralAvailable = ret.cruiseState.available or ret.cruiseFaultLateralMode
+    ret.blockPcmEnable = ret.cruiseFaultLateralMode
 
     self.cruise_faulted = ret.accFaulted
     self.frame += 1
diff --git a/iqdbc_repo/iqdbc/car/volkswagen/interface.py b/iqdbc_repo/iqdbc/car/volkswagen/interface.py
index 85a4a9b..e86118c 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/interface.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/interface.py
@@ -91,6 +91,7 @@ class CarInterface(CarInterfaceBase):
       safety_configs = [get_safety_config(structs.CarParams.SafetyModel.volkswagenMlb)]
       ret.enableBsm = 0x30F in fingerprint[0]  # SWA_01
       ret.networkLocation = NetworkLocation.gateway
+      ret.transmissionType = TransmissionType.automatic
       ret.dashcamOnly = False
 
     elif ret.flags & (VolkswagenFlags.MEB | VolkswagenFlags.MQB_EVO):
diff --git a/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py b/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py
index aee56e2..6f57105 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/mlbcan.py
@@ -1,4 +1,11 @@
-from iqdbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum, create_lka_hud_control as mqb_create_lka_hud_control)
+from iqdbc.car.volkswagen.mqbcan import (volkswagen_mqb_meb_checksum, xor_checksum,
+                                         acc_control_value as mqb_acc_control_value,
+                                         acc_hud_status_value as mqb_acc_hud_status_value,
+                                         create_lka_hud_control as mqb_create_lka_hud_control)
+
+# ACC_01.ACC_Sollbeschleunigung one increment above range max, "no acceleration request"
+ACC_INACTIVE_ACCEL = 3.01
+
 
 def create_hca_steering_control(packer, bus, apply_steer, HCA_Status):
   values = {
@@ -11,8 +18,10 @@ def create_hca_steering_control(packer, bus, apply_steer, HCA_Status):
   return packer.make_can_msg("HCA_01", bus, values)
 
 
-def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, entering=False, special_mode=False, special_active=False):
-  return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control, entering, special_mode, special_active)
+def create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control,
+                           entering=False, special_mode=False, special_active=False):
+  return mqb_create_lka_hud_control(packer, bus, ldw_stock_values, enabled, steering_pressed, hud_alert, hud_control,
+                                    entering, special_mode, special_active)
 
 
 def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resume=False, set_button=False):
@@ -32,23 +41,57 @@ def create_acc_buttons_control(packer, bus, gra_stock_values, cancel=False, resu
   return packer.make_can_msg("LS_01", bus, values)
 
 
-def acc_control_value(main_switch_on, long_active, cruiseOverride):
-  return 0
+def acc_control_value(main_switch_on, long_active, cruiseOverride, accFaulted):
+  # ACC_01.ACC_Status_ACC uses the same enum as MQB ACC_06: 0 off, 2 standby, 3 active, 4 driver override, 6 fault
+  return mqb_acc_control_value(main_switch_on, long_active, cruiseOverride, accFaulted)
 
 
 def acc_hud_status_value(main_switch_on, acc_faulted, longActive, longOverride):
-  return 0
+  return mqb_acc_hud_status_value(main_switch_on, acc_faulted, longActive, longOverride)
 
 
-def create_acc_accel_control(packer, bus, acc_type, accel, acc_control, stopping, starting, esp_hold, comfortBand, jerkLimit):
-  values = {}
-  return [packer.make_can_msg("ACC_05", bus, values)]
+def create_acc_accel_control(packer, bus, accel, acc_control, stopping):
+  acc_enabled = acc_control in (3, 4)
+
+  acc_01_values = {
+    "ACC_Status_ACC": acc_control,
+    "ACC_Sollbeschleunigung": accel if acc_enabled else ACC_INACTIVE_ACCEL,
+    "ACC_zul_Regelabw_unten": 0.2,
+    "ACC_zul_Regelabw_oben": 0.2,
+    "ACC_neg_Sollbeschl_Grad": 4.0 if acc_enabled else 0,
+    "ACC_pos_Sollbeschl_Grad": 4.0 if acc_enabled else 0,
+    "ACC_Dynamik": 3,
+    "ACC_Anhalten": stopping if acc_enabled else False,
+    "ACC_Minimale_Bremsung": 0,
+  }
+
+  return [packer.make_can_msg("ACC_01", bus, acc_01_values)]
 
 
-def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible, unavailable, decel, d_unresponsive):
-  values = {}
+def create_acc_hud_control(packer, bus, acc_hud_status, set_speed, leadDistance, distanceBars, fcw_alert, leadVisible,
+                           unavailable, decel, d_unresponsive, hud_text=0):
+  engaged = acc_hud_status in (3, 4)
+  priodisp = 0 if fcw_alert else 1 if (acc_hud_status == 4 or decel or leadVisible) else 2 if (acc_hud_status in (3, 2)) else 0
+  leadDistanceBars = distanceBars + 1 if distanceBars in (1, 2, 3) else 2
+
+  values = {
+    "ACC_Status_Anzeige": acc_hud_status,
+    "ACC_Wunschgeschw_02": set_speed if set_speed < 250 else 327.36,
+    "ACC_Gesetzte_Zeitluecke": leadDistanceBars,
+    "ACC_Anzeige_Zeitluecke": 1 if engaged else 0,
+    "ACC_Tachokranz": 1 if engaged else 0,
+    "ACC_Display_Prio": priodisp,
+    "ACC_Abstandsindex": leadDistance if leadVisible else 0,
+    "ACC_Relevantes_Objekt": 2 if fcw_alert else (1 if leadVisible else 0),  # lead car: 1 green, 2 red, 0 off
+    "ACC_Status_Prim_Anz": 2 if fcw_alert else (1 if engaged else 0),        # ACC symbol: 1 green, 2 red, 0 off
+    "ACC_Optischer_Fahrerhinweis": 1 if fcw_alert else 0,
+    "ACC_Akustik": 1 if (fcw_alert or d_unresponsive) else 0,
+    "ACC_Texte_Primaeranz": hud_text,
+  }
+
   return packer.make_can_msg("ACC_02", bus, values)
 
+
 def volkswagen_mlb_checksum(address: int, sig, d: bytearray) -> int:
   xor_starting_value = {
     0x109: 0x08, # ACC_01
diff --git a/iqdbc_repo/iqdbc/car/volkswagen/values.py b/iqdbc_repo/iqdbc/car/volkswagen/values.py
index d6aa955..cff8bce 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/values.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/values.py
@@ -2,7 +2,7 @@ from collections import defaultdict, namedtuple
 from dataclasses import dataclass, field
 from enum import Enum, IntFlag, StrEnum
 
-from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CanBusBase, CarSpecs, DbcDict, PlatformConfig, Platforms, structs, uds
+from iqdbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CanBusBase, CarSpecs, DbcDict, DT_CTRL, PlatformConfig, Platforms, structs, uds
 from iqdbc.car.lateral import CurvatureSteeringLimits
 from iqdbc.can import CANDefine
 from iqdbc.car.common.conversions import Conversions as CV
@@ -204,6 +204,7 @@ class CarControllerParams:
         self.STEER_DRIVER_ALLOWANCE = 60  # Driver intervention threshold 0.6 Nm
         self.STEER_DELTA_UP = 9  # Max HCA reached in 0.66s (STEER_MAX / (50Hz * 0.66))
         self.STEER_DELTA_DOWN = 10  # Min HCA reached in 0.60s (STEER_MAX / (50Hz * 0.60))
+        self.ACC_HUD_TEXT_STEP = int(2.0 / DT_CTRL)  # ACC_02 primary display text dwell time
 
         if CP.carFingerprint == CAR.PORSCHE_MACAN_MK1:
           self.shifter_values = can_define.dv["Getriebe_03"]["GE_Waehlhebel"]
@@ -219,6 +220,13 @@ class CarControllerParams:
           Button(structs.CarState.ButtonEvent.Type.gapAdjustCruise, "LS_01", "LS_Verstellung_Zeitluecke", [1, 2, 3]),
         ]
 
+        # ACC_02.ACC_Texte_Primaeranz, primary ACC display text at the bottom of the cluster
+        self.ACC_HUD_TEXTS = {
+          "none": 0,
+          "setSpeed": 21,
+        }
+        self.ACC_HUD_TEXT_DISTANCE = {1: 2, 2: 3, 3: 4, 4: 5}  # follow distance bars to display text
+
       else:
         self.STEER_DRIVER_ALLOWANCE = 80    # Driver intervention threshold 0.8 Nm
         self.STEER_DELTA_UP = 4             # Max HCA reached in 1.50s (STEER_MAX / (50Hz * 1.50))
diff --git a/iqdbc_repo/iqdbc/dbc/vw_mlb.dbc b/iqdbc_repo/iqdbc/dbc/vw_mlb.dbc
index 2f5f4b7..052bc1e 100644
--- a/iqdbc_repo/iqdbc/dbc/vw_mlb.dbc
+++ b/iqdbc_repo/iqdbc/dbc/vw_mlb.dbc
@@ -35,7 +35,7 @@ BS_:
 BU_: Airbag_D4 EPB_D4 ESP_D4 Gateway_D4C7 Getriebe_AL551_951_D4_C7 Getriebe_DL501_C7 Getriebe_VL381_C7 LWS_D4 Motor_EDC17_D4 Motor_ME17_BY Motor_MED17_SIMOS8_D4 Motor_Slave_D4 QSP_D4 SAK_C7 SCR_C7 SCU_D4
 
 BO_ 265 ACC_01: 8 Gateway_B8
- SG_ ACC_01_CHK : 0|8@1+ (1,0) [0|255] ""  Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
  SG_ ACC_zul_Regelabw_unten : 16|6@1+ (0.024,0) [0|1.512] "Unit_MeterPerSeconSquar"  Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
  SG_ ACC_Sollbeschleunigung : 24|11@1+ (0.005,-7.22) [-7.22|3.01] "Unit_MeterPerSeconSquar"  Magnetic_Ride_LB,Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
@@ -48,7 +48,7 @@ BO_ 265 ACC_01: 8 Gateway_B8
  SG_ ACC_Minimale_Bremsung : 63|1@1+ (1,0) [0|1] ""  Motor_MLB_AU48_AU416_Diesel,Motor_MLB_B8_Q5_Otto,Motor_MLB_Q5_Hybrid
 
 BO_ 780 ACC_02: 8 Gateway_D4C7
- SG_ ACC_02_CHK : 0|8@1+ (1,0) [0|255] ""  HUD_C7,Kombi_D4
+ SG_ CHECKSUM : 0|8@1+ (1,0) [0|255] ""  HUD_C7,Kombi_D4
  SG_ COUNTER : 8|4@1+ (1,0) [0|15] ""  HUD_C7,Kombi_D4
  SG_ ACC_Wunschgeschw_02 : 12|10@1+ (0.32,0) [0.00|326.72] "Unit_KiloMeterPerHour"  HUD_C7,Kombi_D4
  SG_ ACC_Status_Prim_Anz : 22|2@1+ (1.0,0.0) [0.0|3] ""  HUD_C7,Kombi_D4
diff --git a/iqdbc_repo/iqdbc/safety/modes/volkswagen_common.h b/iqdbc_repo/iqdbc/safety/modes/volkswagen_common.h
index f2a5ac7..a8223b5 100644
--- a/iqdbc_repo/iqdbc/safety/modes/volkswagen_common.h
+++ b/iqdbc_repo/iqdbc/safety/modes/volkswagen_common.h
@@ -100,7 +100,7 @@ void can_set_checksum(CANPacket_t *packet);
 #define MSG_MOTOR_03    0x105U   // RX from ECU, for driver throttle input and brake switch status
 #define MSG_TSK_02      0x10CU   // RX from ECU, for ACC status from drivetrain coordinator
 #define MSG_ACC_05      0x10DU   // RX from radar, for ACC status
-#define MSG_ACC_01      0x109U   // RX from radar, for ACC status (Audi B8)
+#define MSG_ACC_01      0x109U   // TX by OP, ACC control instructions to the drivetrain coordinator
 
 static void volkswagen_common_init(void) {
   volkswagen_set_button_prev = false;
diff --git a/iqdbc_repo/iqdbc/safety/modes/volkswagen_mlb.h b/iqdbc_repo/iqdbc/safety/modes/volkswagen_mlb.h
index 3460f03..958d3ed 100644
--- a/iqdbc_repo/iqdbc/safety/modes/volkswagen_mlb.h
+++ b/iqdbc_repo/iqdbc/safety/modes/volkswagen_mlb.h
@@ -9,6 +9,9 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
   static const CanMsg VOLKSWAGEN_MLB_STOCK_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
                                                         {MSG_LS_01, 0, 4, .check_relay = false}, {MSG_LS_01, 2, 4, .check_relay = false}};
 
+  static const CanMsg VOLKSWAGEN_MLB_LONG_TX_MSGS[] = {{MSG_HCA_01, 0, 8, .check_relay = true}, {MSG_LDW_02, 0, 8, .check_relay = true},
+                                                       {MSG_ACC_01, 0, 8, .check_relay = true}, {MSG_ACC_02, 0, 8, .check_relay = true}};
+
   static RxCheck volkswagen_mlb_rx_checks[] = {
     // TODO: implement checksum validation
     {.msg = {{MSG_ESP_03, 0, 8, 50U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
@@ -19,10 +22,17 @@ static safety_config volkswagen_mlb_init(uint16_t param) {
     {.msg = {{MSG_LS_01, 0, 4, 10U, .ignore_checksum = true, .max_counter = 15U, .ignore_quality_flag = true}, { 0 }, { 0 }}},
   };
 
-  SAFETY_UNUSED(param);
   volkswagen_common_init();
 
-  return BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
+#ifdef ALLOW_DEBUG
+  volkswagen_longitudinal = GET_FLAG(param, FLAG_VOLKSWAGEN_LONG_CONTROL);
+  volkswagen_allow_long_accel_with_gas_pressed = GET_FLAG(param, FLAG_VOLKSWAGEN_ALLOW_LONG_ACCEL_WITH_GAS_PRESSED);
+#else
+  SAFETY_UNUSED(param);
+#endif
+
+  return volkswagen_longitudinal ? BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_LONG_TX_MSGS) : \
+                                   BUILD_SAFETY_CFG(volkswagen_mlb_rx_checks, VOLKSWAGEN_MLB_STOCK_TX_MSGS);
 }
 
 static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
@@ -44,6 +54,27 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
     }
 
     if (msg->addr == MSG_LS_01) {
+      // If using openpilot longitudinal, the stock ACC coordinator is relayed out, so the stalk main
+      // switch is the only remaining source of truth. Enter controls on falling edge of Set or Resume.
+      // Signal: LS_01.LS_Hauptschalter
+      // Signal: LS_01.LS_Tip_Setzen
+      // Signal: LS_01.LS_Tip_Wiederaufnahme
+      if (volkswagen_longitudinal) {
+        acc_main_on = GET_BIT(msg, 12U);
+
+        bool set_button = GET_BIT(msg, 16U);
+        bool resume_button = GET_BIT(msg, 19U);
+        if ((volkswagen_set_button_prev && !set_button) || (volkswagen_resume_button_prev && !resume_button)) {
+          controls_allowed = acc_main_on;
+        }
+        volkswagen_set_button_prev = set_button;
+        volkswagen_resume_button_prev = resume_button;
+
+        if (!acc_main_on) {
+          controls_allowed = false;
+        }
+      }
+
       // Always exit controls on rising edge of Cancel
       // Signal: LS_01.LS_Abbrechen
       if (GET_BIT(msg, 13U)) {
@@ -64,7 +95,7 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
 
     brake_pressed = volkswagen_brake_pedal_switch || volkswagen_brake_pressure_detected;
 
-    if (msg->addr == MSG_TSK_02) {
+    if ((msg->addr == MSG_TSK_02) && !volkswagen_longitudinal) {
       // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
       // Always exit controls on main switch off
       // Signal: TSK_02.TSK_Status
@@ -80,7 +111,7 @@ static void volkswagen_mlb_rx_hook(const CANPacket_t *msg) {
 
   if (msg->bus == 2U) {
     // TODO: See if there's a bus-agnostic TSK message we can use instead
-    if (msg->addr == MSG_ACC_05) {
+    if ((msg->addr == MSG_ACC_05) && !volkswagen_longitudinal) {
       // When using stock ACC, enter controls on rising edge of stock ACC engage, exit on disengage
       // Always exit controls on main switch off
       // Signal: ACC_05.ACC_Status_ACC
@@ -123,6 +154,17 @@ static bool volkswagen_mlb_tx_hook(const CANPacket_t *msg) {
     }
   }
 
+  // Safety check for ACC_01 acceleration request
+  // Signal: ACC_01.ACC_Sollbeschleunigung (acceleration in m/s^2, scale 0.005, offset -7.22)
+  // To avoid floating point math, scale upward and compare to pre-scaled safety m/s^2 boundaries
+  if (msg->addr == MSG_ACC_01) {
+    int desired_accel = ((((msg->data[4] & 0x07U) << 8) | msg->data[3]) * 5U) - 7220U;
+
+    if (volkswagen_iq_long_accel_check(desired_accel)) {
+      tx = false;
+    }
+  }
+
   // FORCE CANCEL: ensuring that only the cancel button press is sent when controls are off.
   // This avoids unintended engagements while still allowing resume spam
   if ((msg->addr == MSG_LS_01) && !controls_allowed) {
diff --git a/iqdbc_repo/iqdbc/safety/tests/common.py b/iqdbc_repo/iqdbc/safety/tests/common.py
index fdae10d..935fcb7 100644
--- a/iqdbc_repo/iqdbc/safety/tests/common.py
+++ b/iqdbc_repo/iqdbc/safety/tests/common.py
@@ -926,12 +926,12 @@ class SafetyTest(SafetyTestBase):
             if attr.startswith('TestSubaru') and current_test == 'TestVolkswagenMqbLongSafety':
               tx = list(filter(lambda m: m[0] not in [0x122, ], tx))
 
-            # Volkswagen MQB and Honda Nidec ACC HUD messages overlap
-            if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaNidec'):
+            # Volkswagen MQB/MLB and Honda Nidec ACC HUD messages overlap
+            if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaNidec'):
               tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
 
-            # Volkswagen MQB and Honda Bosch Radarless ACC HUD messages overlap
-            if attr == 'TestVolkswagenMqbLongSafety' and current_test.startswith('TestHondaBoschRadarless'):
+            # Volkswagen MQB/MLB and Honda Bosch Radarless ACC HUD messages overlap
+            if attr in ('TestVolkswagenMqbLongSafety', 'TestVolkswagenMlbLongSafety') and current_test.startswith('TestHondaBoschRadarless'):
               tx = list(filter(lambda m: m[0] not in [0x30c, ], tx))
 
             # TODO: Temporary, should be fixed in panda firmware, safety_honda.h
diff --git a/iqdbc_repo/iqdbc/safety/tests/test_volkswagen_mlb.py b/iqdbc_repo/iqdbc/safety/tests/test_volkswagen_mlb.py
index de7baaa..a1fce49 100755
--- a/iqdbc_repo/iqdbc/safety/tests/test_volkswagen_mlb.py
+++ b/iqdbc_repo/iqdbc/safety/tests/test_volkswagen_mlb.py
@@ -1,17 +1,24 @@
 #!/usr/bin/env python3
 import unittest
+import numpy as np
 from iqdbc.car.structs import CarParams
 from iqdbc.safety.tests.libsafety import libsafety_py
 import iqdbc.safety.tests.common as common
 from iqdbc.safety.tests.common import CANPackerSafety
+from iqdbc.car.volkswagen.values import VolkswagenSafetyFlags
+
+MAX_ACCEL = 2.0
+MIN_ACCEL = -3.5
 
 MSG_LH_EPS_03 = 0x9F    # RX from EPS, for driver steering torque
+MSG_ACC_01 = 0x109      # TX by OP, ACC acceleration request to the drivetrain coordinator
 MSG_ESP_03 = 0x103      # RX from ABS, for wheel speeds
 MSG_MOTOR_03 = 0x105    # RX from ECU, for driver throttle input and driver brake input
 MSG_ESP_05 = 0x106      # RX from ABS, for brake light state
 MSG_LS_01 = 0x10B       # TX by OP, ACC control buttons for cancel/resume
 MSG_TSK_02 = 0x10C      # RX from ECU, for ACC status from drivetrain coordinator
 MSG_HCA_01 = 0x126      # TX by OP, Heading Control Assist steering torque
+MSG_ACC_02 = 0x30C      # TX by OP, ACC HUD data to the instrument cluster
 MSG_LDW_02 = 0x397      # TX by OP, Lane line recognition and text alerts
 
 
@@ -72,10 +79,16 @@ class TestVolkswagenMlbSafetyBase(common.CarSafetyTest, common.DriverTorqueSteer
     return self.packer.make_can_msg_safety("HCA_01", 0, values)
 
   # Cruise control buttons
-  def _ls_01_msg(self, cancel=0, resume=0, _set=0, bus=2):
-    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume}
+  def _ls_01_msg(self, cancel=0, resume=0, _set=0, main_switch=1, bus=2):
+    values = {"LS_Abbrechen": cancel, "LS_Tip_Setzen": _set, "LS_Tip_Wiederaufnahme": resume,
+              "LS_Hauptschalter": main_switch}
     return self.packer.make_can_msg_safety("LS_01", bus, values)
 
+  # Acceleration request to drivetrain coordinator
+  def _acc_01_msg(self, accel):
+    values = {"ACC_Sollbeschleunigung": accel}
+    return self.packer.make_can_msg_safety("ACC_01", 0, values)
+
   # Verify brake_pressed is true if either the switch or pressure threshold signals are true
   def test_redundant_brake_signals(self):
     test_combinations = [(True, True, True), (True, True, False), (True, False, True), (False, False, False)]
@@ -137,5 +150,63 @@ class TestVolkswagenMlbStockSafety(TestVolkswagenMlbSafetyBase):
     self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after cancel")
 
 
+class TestVolkswagenMlbLongSafety(TestVolkswagenMlbSafetyBase):
+  TX_MSGS = [[MSG_HCA_01, 0], [MSG_LDW_02, 0], [MSG_ACC_01, 0], [MSG_ACC_02, 0]]
+  FWD_BLACKLISTED_ADDRS = {2: [MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02]}
+  FWD_BUS_LOOKUP = {0: 2, 2: 0}
+  RELAY_MALFUNCTION_ADDRS = {0: (MSG_HCA_01, MSG_LDW_02, MSG_ACC_01, MSG_ACC_02)}
+  INACTIVE_ACCEL = 3.01
+
+  def setUp(self):
+    self.packer = CANPackerSafety("vw_mlb")
+    self.safety = libsafety_py.libsafety
+    safety_param = VolkswagenSafetyFlags.LONG_CONTROL | VolkswagenSafetyFlags.ALLOW_LONG_ACCEL_WITH_GAS_PRESSED
+    self.safety.set_safety_hooks(CarParams.SafetyModel.volkswagenMlb, safety_param)
+    self.safety.init_tests()
+
+  # stock cruise controls are entirely bypassed under openpilot longitudinal control
+  def test_disable_control_allowed_from_cruise(self):
+    pass
+
+  def test_enable_control_allowed_from_cruise(self):
+    pass
+
+  def test_cruise_engaged_prev(self):
+    pass
+
+  def test_set_and_resume_buttons(self):
+    for button in ["set", "resume"]:
+      # ACC main switch must be on, engage on falling edge
+      self.safety.set_controls_allowed(0)
+      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), main_switch=0, bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} with main switch off")
+      self._rx(self._ls_01_msg(main_switch=0, bus=0))
+      self._rx(self._ls_01_msg(_set=(button == "set"), resume=(button == "resume"), bus=0))
+      self.assertFalse(self.safety.get_controls_allowed(), f"controls allowed on {button} rising edge")
+      self._rx(self._ls_01_msg(bus=0))
+      self.assertTrue(self.safety.get_controls_allowed(), f"controls not allowed on {button} falling edge")
+
+  def test_main_switch(self):
+    # Disable as soon as the ACC main switch turns off
+    self._rx(self._ls_01_msg(bus=0))
+    self.safety.set_controls_allowed(1)
+    self._rx(self._ls_01_msg(main_switch=0, bus=0))
+    self.assertFalse(self.safety.get_controls_allowed(), "controls allowed after ACC main switch off")
+
+  def test_accel_safety_check(self):
+    for controls_allowed in [True, False]:
+      for accel in np.concatenate((np.arange(MIN_ACCEL - 2, MAX_ACCEL + 2, 0.03), [0, self.INACTIVE_ACCEL])):
+        accel = round(accel, 2)
+        is_inactive_accel = accel == self.INACTIVE_ACCEL
+        send = (controls_allowed and MIN_ACCEL <= accel <= MAX_ACCEL) or is_inactive_accel
+        self.safety.set_controls_allowed(controls_allowed)
+        self.assertEqual(send, self._tx(self._acc_01_msg(accel)), (controls_allowed, accel))
+
+  def test_accel_allowed_with_gas_pressed(self):
+    self._rx(self._user_gas_msg(1))
+    self.safety.set_controls_allowed(True)
+    self.assertTrue(self._tx(self._acc_01_msg(0.5)))
+
+
 if __name__ == "__main__":
   unittest.main()
diff --git a/iqpilot/iq_maps/orchestrator.py b/iqpilot/iq_maps/orchestrator.py
index fbe60d0..b8af353 100755
--- a/iqpilot/iq_maps/orchestrator.py
+++ b/iqpilot/iq_maps/orchestrator.py
@@ -121,19 +121,13 @@ def _install_signal_handlers() -> None:
   signal.signal(signal.SIGTERM, _handle_shutdown_signal)
 
 
-class _QuietSpinner:
-  def update(self, *args, **kwargs) -> None:
-    pass
-
-  def close(self, *args, **kwargs) -> None:
-    pass
-
-
 def ensure_vendor_runtime() -> None:
+  # verify-only: a hash-mismatched binary is quarantined, never replaced from
+  # the network — the updater restores the checked-in one
   try:
-    VendorMapdInstaller(_QuietSpinner()).check_and_download()
+    VendorMapdInstaller().verify()
   except Exception:
-    cloudlog.exception("iq_maps: vendor runtime install/download failed")
+    cloudlog.exception("iq_maps: vendor runtime verification failed")
 
 params = Params()
 mem_params = Params("/dev/shm/params") if platform.system() != "Darwin" else params
diff --git a/iqpilot/iq_maps/update_vendor_version.py b/iqpilot/iq_maps/update_vendor_version.py
index 7573559..13391ec 100755
--- a/iqpilot/iq_maps/update_vendor_version.py
+++ b/iqpilot/iq_maps/update_vendor_version.py
@@ -2,8 +2,10 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 
-Maintainer utility: pin a new pfeiferj/mapd release tag and refresh the checked-in
-binary hash. Not used at runtime.
+Maintainer utility: pin a new mapd release tag and refresh the checked-in binary
+hash. Not used at runtime. Binaries come from the gitlvb teal/mapd CI (built
+against teal/gomsgq) — drop the artifact at third_party/mapd_pfeiferj/mapd, then
+run this so the hash pin moves in the same commit.
 """
 import argparse
 import os
diff --git a/iqpilot/iq_maps/vendor_mapd_installer.py b/iqpilot/iq_maps/vendor_mapd_installer.py
index 96090d4..3c41800 100755
--- a/iqpilot/iq_maps/vendor_mapd_installer.py
+++ b/iqpilot/iq_maps/vendor_mapd_installer.py
@@ -2,36 +2,30 @@
 """
 Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
 
-Provisions the `mapd` routing binary authored by Jacob Pfeifer (github.com/pfeiferj/mapd).
-The binary itself is his work; this module only fetches, verifies and stages it on-device.
+Verifies the vendored `mapd` routing binary authored by Jacob Pfeifer
+(github.com/pfeiferj/mapd), built from the gitlvb teal/mapd fork against
+teal/gomsgq. The only accepted binary is the checked-in one matching the pinned
+hash; nothing is ever downloaded at runtime. Jacob's stock release build embeds
+a 15-reader msgq header layout — on this fork (NUM_READERS=32) its registration
+writes land inside other processes' reader slots, so a wrong binary is
+quarantined rather than left where manager could start it.
 """
 import hashlib
-import logging
 import os
-import stat
-import time
-from pathlib import Path
+import sys
 
-import requests
-
-from cereal import messaging
 from openpilot.common.basedir import BASEDIR
 from openpilot.common.params import Params
 from openpilot.common.spinner import Spinner
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import is_prebuilt
-from openpilot.iqpilot.iq_maps import VENDOR_MAPD_BIN_DIR, VENDOR_MAPD_PATH
+from openpilot.common.swaglog import cloudlog
+from openpilot.iqpilot.iq_maps import VENDOR_MAPD_PATH
 import openpilot.system.sentry as sentry
 
-VENDOR_RELEASE_TAG = "v2.0.6"
-VENDOR_RELEASE_URL = f"https://github.com/pfeiferj/mapd/releases/download/{VENDOR_RELEASE_TAG}/mapd"
+VENDOR_RELEASE_TAG = "v2.0.6-iq1"
 
 _VERSION_PARAM = "MapdVersion"
 _HASH_FILE = os.path.join(BASEDIR, "iqpilot", "iq_maps", "tests", "mapd_hash")
-_HTTP_TIMEOUT_S = 60
-_FETCH_ATTEMPTS = 5
-_NET_PROBE_ATTEMPTS = 10
-_NET_PROBE_INTERVAL_S = 2
+QUARANTINE_PATH = VENDOR_MAPD_PATH + ".quarantined"
 
 
 def sha256_of_file(path: str) -> str:
@@ -48,45 +42,58 @@ def stamp_vendor_version(version: str, params: Params | None = None) -> None:
 
 
 class VendorMapdInstaller:
-  def __init__(self, spinner_ref: Spinner):
+  def __init__(self, spinner_ref: Spinner | None = None, params: Params | None = None):
     self._spinner = spinner_ref
-    self._params = Params()
+    self._params = params if params is not None else Params()
 
-  # --- externally consumed surface -----------------------------------------
   def get_installed_version(self) -> str:
     return str(self._params.get(_VERSION_PARAM) or "")
 
-  @staticmethod
-  def ensure_directories_exist() -> None:
-    for directory in (Paths.mapd_root(), VENDOR_MAPD_BIN_DIR):
-      os.makedirs(directory, exist_ok=True)
+  def verify(self) -> bool:
+    """True iff the on-disk binary matches the pinned hash; quarantines a wrong one."""
+    expected = self._expected_hash()
+    if not expected:
+      cloudlog.error("iq_maps: pinned mapd hash missing, vendor binary cannot be verified")
+      return False
 
-  def check_and_download(self) -> None:
-    if not self._binary_up_to_date():
-      self._provision()
-
-  def non_prebuilt_install(self) -> None:
-    if self._on_metered_link():
-      self._say("Metered connection detected — offline maps engine will not download here.")
-      time.sleep(5)
-      return
+    if not os.path.isfile(VENDOR_MAPD_PATH):
+      # the binary is a tracked file: the updater/bundle restores it
+      self._say("Offline maps engine missing; it will be restored by the next update.")
+      self._params.remove(_VERSION_PARAM)
+      return False
 
     try:
-      self.ensure_directories_exist()
-      if self._binary_up_to_date():
-        self._say("Offline maps engine already present and current.")
-        time.sleep(0.1)
-        return
+      current = sha256_of_file(VENDOR_MAPD_PATH)
+    except OSError:
+      cloudlog.exception("iq_maps: vendor mapd unreadable")
+      return False
 
-      if self._block_until_online():
-        self._say(f"Retrieving offline maps engine [{self.get_installed_version() or 'none'}] -> [{VENDOR_RELEASE_TAG}]")
-        time.sleep(0.1)
-        self._provision()
-      self._spinner.close()
-    except Exception as exc:  # noqa: BLE001
-      self._announce_failure(exc)
+    if current == expected:
+      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
+      try:
+        os.remove(QUARANTINE_PATH)
+      except OSError:
+        pass
+      self._say(f"Offline maps engine verified [{VENDOR_RELEASE_TAG}]")
+      return True
+
+    # a foreign binary — e.g. a stock release download from the retired fetch
+    # path — must never run: quarantine it where manager can't start it
+    cloudlog.error(f"iq_maps: vendor mapd hash {current[:12]} != pinned {expected[:12]}, quarantining")
+    self._say("Offline maps engine failed verification; quarantined until the next update.")
+    try:
+      os.replace(VENDOR_MAPD_PATH, QUARANTINE_PATH)
+    except OSError:
+      cloudlog.exception("iq_maps: vendor mapd quarantine failed")
+      return False
+    self._params.remove(_VERSION_PARAM)
+    try:
+      raise RuntimeError(f"vendor mapd hash mismatch quarantined: {current}")
+    except RuntimeError as exc:
+      sentry.init(sentry.SentryProject.SELFDRIVE)
+      sentry.capture_exception(exc)
+    return False
 
-  # --- internal ------------------------------------------------------------
   def _expected_hash(self) -> str:
     try:
       with open(_HASH_FILE) as f:
@@ -94,88 +101,13 @@ class VendorMapdInstaller:
     except OSError:
       return ""
 
-  def _binary_up_to_date(self) -> bool:
-    if not os.path.exists(VENDOR_MAPD_PATH):
-      return False
-    if self.get_installed_version() != VENDOR_RELEASE_TAG:
-      return False
-    reference = self._expected_hash()
-    if not reference:
-      return True
-    try:
-      return sha256_of_file(VENDOR_MAPD_PATH) == reference
-    except OSError:
-      return False
-
-  def _provision(self) -> None:
-    self.ensure_directories_exist()
-    if self._retrieve_binary():
-      stamp_vendor_version(VENDOR_RELEASE_TAG, self._params)
-
-  def _retrieve_binary(self) -> bool:
-    staging = Path(f"{VENDOR_MAPD_PATH}.part")
-    last_error: Exception | None = None
-    for attempt in range(1, _FETCH_ATTEMPTS + 1):
-      try:
-        with requests.get(VENDOR_RELEASE_URL, stream=True, timeout=_HTTP_TIMEOUT_S) as resp:
-          resp.raise_for_status()
-          with open(staging, "wb") as out:
-            for chunk in resp.iter_content(chunk_size=1 << 16):
-              out.write(chunk)
-            out.flush()
-            os.fsync(out.fileno())
-        os.chmod(staging, os.lstat(staging).st_mode | stat.S_IXUSR | stat.S_IXGRP | stat.S_IXOTH)
-        staging.replace(VENDOR_MAPD_PATH)
-        return True
-      except requests.exceptions.RequestException as exc:
-        last_error = exc
-        self._say(f"offline maps fetch attempt {attempt}/{_FETCH_ATTEMPTS} did not complete ({exc})")
-        time.sleep(0.5)
-    staging.unlink(missing_ok=True)
-    logging.error("offline maps engine could not be fetched after %d attempts: %s", _FETCH_ATTEMPTS, last_error)
-    return False
-
-  def _on_metered_link(self) -> bool:
-    sm = messaging.SubMaster(["deviceState"])
-    return bool(sm["deviceState"].networkMetered)
-
-  def _block_until_online(self) -> bool:
-    for i in range(1, _NET_PROBE_ATTEMPTS + 1):
-      self._say(f"Waiting for a usable network connection... [{i}/{_NET_PROBE_ATTEMPTS}]")
-      if self._link_reachable():
-        return True
-      time.sleep(_NET_PROBE_INTERVAL_S)
-    return False
-
-  @staticmethod
-  def _link_reachable() -> bool:
-    try:
-      requests.head(VENDOR_RELEASE_URL, timeout=10, allow_redirects=True)
-      return True
-    except requests.exceptions.RequestException as exc:
-      logging.debug("network probe failed: %s", exc)
-      return False
-
-  def _announce_failure(self, exc: Exception) -> None:
-    for remaining in range(5, 0, -1):
-      self._say(f"Offline maps engine unavailable; navigation stays online-only. Boot continues in {remaining}s...")
-      time.sleep(1)
-    logging.exception("vendor mapd install failed")
-    sentry.init(sentry.SentryProject.SELFDRIVE)
-    sentry.capture_exception(exc)
-
   def _say(self, text: str) -> None:
-    self._spinner.update(text)
+    if self._spinner is not None:
+      self._spinner.update(text)
 
 
 if __name__ == "__main__":
   spinner = Spinner()
-  installer = VendorMapdInstaller(spinner)
-  installer.ensure_directories_exist()
-  if is_prebuilt():
-    spinner.update(f"[DEBUG] Prebuilt build; vendor mapd install skipped. "
-                   f"target [{VENDOR_RELEASE_TAG}], param [{installer.get_installed_version()}]")
-    stamp_vendor_version(VENDOR_RELEASE_TAG)
-  else:
-    spinner.update(f"Verifying vendor mapd install. prebuilt [{is_prebuilt()}]")
-    installer.non_prebuilt_install()
+  ok = VendorMapdInstaller(spinner).verify()
+  spinner.close()
+  sys.exit(0 if ok else 1)
diff --git a/selfdrive/modeld/models/prebuilt_check.json b/selfdrive/modeld/models/prebuilt_check.json
index 6d0839d..29388de 100644
--- a/selfdrive/modeld/models/prebuilt_check.json
+++ b/selfdrive/modeld/models/prebuilt_check.json
@@ -4,6 +4,6 @@
       "dmonitoring_model_metadata.pkl": "31a86ab7a92dc0af088b15787a440dd3b210aa662e445a15145900e559a1b5c3",
       "dmonitoring_model_tinygrad.pkl": "806c0ea75df6bf6dfeb81b832314c68e31df5865a52d0359e6eeb76d93ad2b52"
     },
-    "signature": "e1eeb5ce45774a816c8da2394e6ee35ebf700b71dff345e0141dbab8ff592349"
+    "signature": "64740782bfd5b1720978aab24a2b1b37c99542f97db3c8637227c7412bb30bbf"
   }
 }
diff --git a/selfdrive/modeld/prebuilt_models.py b/selfdrive/modeld/prebuilt_models.py
index 73a16de..00ab888 100644
--- a/selfdrive/modeld/prebuilt_models.py
+++ b/selfdrive/modeld/prebuilt_models.py
@@ -29,10 +29,12 @@ def _file_sha256(path: Path) -> str:
 @functools.lru_cache(maxsize=1)
 def _tinygrad_digest() -> str:
   h = hashlib.sha256()
-  # mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache
+  # mirror the SConscript glob: no hidden files/dirs (also excludes .git, which differs per clone), no pycache.
+  # 'weights' holds untracked/gitignored model weights (e.g. iqvd yolov8n .safetensors) present on dev machines
+  # but absent from a clean CI/device clone — hashing them makes the signature unreproducible (false STALE).
   def _included(p: Path) -> bool:
     rel = p.relative_to(TINYGRAD_DIR).parts
-    return p.is_file() and '__pycache__' not in rel and not any(part.startswith('.') for part in rel)
+    return p.is_file() and '__pycache__' not in rel and 'weights' not in rel and not any(part.startswith('.') for part in rel)
   files = sorted(p for p in TINYGRAD_DIR.rglob('*') if _included(p))
   for p in files:
     h.update(str(p.relative_to(BASEDIR)).encode())
diff --git a/system/hardware/fan_controller.py b/system/hardware/fan_controller.py
index 73ee05f..e4560bf 100755
--- a/system/hardware/fan_controller.py
+++ b/system/hardware/fan_controller.py
@@ -6,7 +6,11 @@ class FanController:
   def __init__(self) -> None:
     self.last_ignition = False
 
-  def update(self, cur_temp: float, ignition: bool) -> int:
+  def update(self, cur_temp: float, ignition: bool, max_cool: bool = False) -> int:
+    if max_cool:
+      self.last_ignition = ignition
+      return 100
+
     if cur_temp < 70.0:
       fan_pwr_out = 0
     elif cur_temp > 85.0:
diff --git a/system/hardware/hardwared.py b/system/hardware/hardwared.py
index 8a9a7e0..e63186b 100755
--- a/system/hardware/hardwared.py
+++ b/system/hardware/hardwared.py
@@ -432,8 +432,6 @@ def hardware_thread(end_event, hw_queue) -> None:
     all_comp_temp = all_temp_filter.update(max(temp_sources))
     msg.deviceState.maxTempC = all_comp_temp
 
-    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"])
-
     is_offroad_for_5_min = (started_ts is None) and ((not started_seen) or (off_ts is None) or (time.monotonic() - off_ts > 60 * 5))
     if is_offroad_for_5_min and offroad_comp_temp > OFFROAD_DANGER_TEMP:
       # if device is offroad and already hot without the extra onroad load,
@@ -447,6 +445,10 @@ def hardware_thread(end_event, hw_queue) -> None:
       elif current_band.max_temp is not None and all_comp_temp > current_band.max_temp:
         thermal_status = list(THERMAL_BANDS.keys())[band_idx + 1]
 
+    # the car is running but temperature is blocking the start, so cool as fast as we can
+    max_cool = (started_ts is None) and onroad_conditions["ignition"] and thermal_status >= ThermalStatus.red
+    msg.deviceState.fanSpeedPercentDesired = fan_controller.update(all_comp_temp, onroad_conditions["ignition"], max_cool)
+
     # **** starting logic ****
 
     startup_conditions["up_to_date"] = True
diff --git a/system/hardware/tests/test_fan_controller.py b/system/hardware/tests/test_fan_controller.py
index 854564b..5b4fa9b 100644
--- a/system/hardware/tests/test_fan_controller.py
+++ b/system/hardware/tests/test_fan_controller.py
@@ -41,6 +41,13 @@ class TestFanController:
     self.wind_up(controller, True)
     assert controller.update(100, True) == 100
 
+  @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
+  def test_max_cool(self, mocker, controller_class):
+    controller = patched_controller(mocker, controller_class)
+    self.wind_down(controller)
+    assert controller.update(80, True, True) == 100
+    assert controller.update(80, False, True) == 100
+
   @pytest.mark.parametrize("controller_class", ALL_CONTROLLERS)
   def test_windup_speed(self, mocker, controller_class):
     controller = patched_controller(mocker, controller_class)
diff --git a/system/hardware/tici/hardware.py b/system/hardware/tici/hardware.py
index e1b17c8..cf40ba3 100644
--- a/system/hardware/tici/hardware.py
+++ b/system/hardware/tici/hardware.py
@@ -85,8 +85,13 @@ def affine_irq(val, action):
 @lru_cache
 def get_device_type():
   # lru_cache and cache can cause memory leaks when used in classes
-  with open("/sys/firmware/devicetree/base/model") as f:
-    model = f.read().strip('\x00')
+  try:
+    with open("/sys/firmware/devicetree/base/model") as f:
+      model = f.read().strip('\x00')
+  except FileNotFoundError:
+    # off-device (e.g. the prebuilt build container fakes /TICI but has no
+    # devicetree); import must not crash. Not a real device type.
+    return "unknown"
   return model.split('comma ')[-1]
 
 class Tici(HardwareBase):
diff --git a/third_party/mapd_pfeiferj/mapd b/third_party/mapd_pfeiferj/mapd
index cae2b40..815891c 100755
Binary files a/third_party/mapd_pfeiferj/mapd and b/third_party/mapd_pfeiferj/mapd differ