diff --git a/README.md b/README.md
index 042e3ba..4901a38 100644
--- a/README.md
+++ b/README.md
@@ -12,7 +12,7 @@
 ## Installation
 #### Installing Via Installer URL:
 #### Enter the following into your device custom URL box to install IQ.Pilot:
-`IQLvbs/release`
+`iqinc/release`
 #### Having Trouble? If your device is currently running AGNOS 13.1 or older, you should install latest stock openpilot, then install IQ.Pilot, or try one of the alternative methods listed below!
 
 
@@ -27,11 +27,11 @@
 
 #### Installing Via SSH:
 #### Once you are connected to your device via SSH, you can paste the following command below to install IQ.Pilot:
-`cd .. && rm -rf openpilot && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
+`cd .. && rm -rf openpilot && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
 #### If you'd like to backup your previous installation as well, paste the following command below to install IQ.Pilot:
-`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/IQLvbs/openpilot.git -b release && cd openpilot && sudo reboot`
+`cd .. && mv openpilot openpilot_backup_X && git clone https://github.com/iqinc/openpilot.git -b release && cd openpilot && sudo reboot`
 #### Alternatively, you can use your existing fork's built in tools to switch your branch as well:
-`git remote add iqpilot https://github.com/IQLvbs/openpilot.git && op switch iqpilot release`
+`git remote add iqpilot https://github.com/iqinc/openpilot.git && op switch iqpilot release`
 
 ---
 
diff --git a/artifacts/iqpilot_alc_private/manifest.json b/artifacts/iqpilot_alc_private/manifest.json
index 9398c6a..7130c64 100644
--- a/artifacts/iqpilot_alc_private/manifest.json
+++ b/artifacts/iqpilot_alc_private/manifest.json
@@ -16,18 +16,28 @@
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+  "python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so": {
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+    "sha256": "ca91f99d94c8bb7842332a69896d4b3a31c109c027426d1d7386876f11710d80",
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+  },
   "runtime": {
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         "path": "python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so",
         "type": "python-module"
+      },
+      "iqpilot_private.konn3kt.iqlvbs.vehicle_state": {
+        "path": "python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so",
+        "type": "python-module"
       }
     }
   },
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+    "python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so": "4KY001fMJhdkiQNoUXbvtOKQ2nWocmg9ZL0umWnDjAztueIstXBoc1iqW83plm2Xq0jR9NLk1Jd4yl3AydWFBA==",
+    "python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so": "JqSaxsDJT9q0UYgVJUo9Pqm0J0Aqwy5gIa2C8n9/ioOg/fV6PLn2KiVGn6470U4F5oNaaOgAmm+AM9jwYrZXAA=="
   }
 }
diff --git a/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so
index 74f8faa..e27935a 100755
Binary files a/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so and b/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/alc.cpython-312-aarch64-linux-gnu.so differ
diff --git a/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so
new file mode 100755
index 0000000..f0abb2a
Binary files /dev/null and b/artifacts/iqpilot_alc_private/python/iqpilot_private/konn3kt/iqlvbs/vehicle_state.cpython-312-aarch64-linux-gnu.so differ
diff --git a/artifacts/iqpilot_hephaestusd_private/manifest.json b/artifacts/iqpilot_hephaestusd_private/manifest.json
index 1a6aa65..51dccf0 100644
--- a/artifacts/iqpilot_hephaestusd_private/manifest.json
+++ b/artifacts/iqpilot_hephaestusd_private/manifest.json
@@ -16,27 +16,27 @@
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@@ -46,67 +46,67 @@
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+    "python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so": "ExuQziX7rIwMiZGQjFTnr7Rw+LA4iluxeRPZ7zxnvdKo6qagECqmv5VdqxsevAYmH6KiwYDBH/Bjn4G4sLnQDg==",
+    "python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so": "T1QHRSyUFUhXl0Mw0CSrG3oIbcCuInWNdX1mMuYHKNf3O+iaAVDB7fgYB6jl9C3jzeiD2LH6jgpgvWEUqF9WAA==",
+    "python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so": "YlDNaD3dT6JuYRT7P3UEnha+/W13//OtYrkoGa8KwpDFhZy7FAyQkZiENHjIQi+K3K+I7qd2phlwrWcPXvaWAg==",
+    "python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so": "PxuLDE5We4EsluPRWPZBt2E9nBJTsEX0You50iDdWgjQp8+gJT5ZWfX3wG8cHF8JzOL4xZdg11SjdXpOKsoODg==",
+    "python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so": "Lsz5pL5pkh5n3aqJ+SQi4vixS2CTIG1Nou3+z8/OgnPq/8nF47NWuOgL2pT2ogeElgOqSHZgEVO4v4V/FQKHBg==",
+    "python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so": "hbCMagRzeN+JMb4Z/ZkiYo8WvA8ptT8r0NzwBlLRfY1LqkC1ZePGROG3Fq5RC9ylb1UotOmBcIVcOfiG3zDMCw==",
+    "python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so": "zxtsmguucERIWEZXJiNU16fWzGDcbOWgsDa4oB90G1kAP73CTY9cMjchHsIkNZ+bkQNBFNSMmBsTavo6NeOTCQ==",
+    "python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so": "mInwiS+voFDcEVMHBmHY4W69OQ+Vhl0N6cdmsetpX2YMS8zKfkDJIWvP7AwwX2ZFGkKJ/V8Wc2NTObJAIUqDBA=="
   }
 }
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
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_keys.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_keys.cpython-312-aarch64-linux-gnu.so
index 6838c4d..5975b7d 100755
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_orchestrator.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/backup_orchestrator.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/cbc_vault.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/cbc_vault.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/backups/imahelper.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/_vendor/localapi_runtime.zip b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/_vendor/localapi_runtime.zip
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_auth.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_gatt.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_rpc_dispatch.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/ble_transportd.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/bt_gamepad.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/cloud_routes.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/hephaestusd.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/kwp2000.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/manage_hephaestusd.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/motd.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/tp20.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/hephaestus/vw_pq_flasher.cpython-312-aarch64-linux-gnu.so
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diff --git a/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so b/artifacts/iqpilot_hephaestusd_private/python/iqpilot_private/konn3kt/uploaderd/iquploaderd.cpython-312-aarch64-linux-gnu.so
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diff --git a/common/params.py b/common/params.py
index 9bcde11..2b7165a 100644
--- a/common/params.py
+++ b/common/params.py
@@ -9,12 +9,14 @@ except ImportError:
     pass
 
   class ParamKeyFlag(IntFlag):
-    PERSISTENT = 1
-    CLEAR_ON_MANAGER_START = 2
-    CLEAR_ON_ONROAD_TRANSITION = 4
-    CLEAR_ON_OFFROAD_TRANSITION = 8
-    DONT_LOG = 16
-    DEVELOPMENT_ONLY = 32
+    # must stay in lockstep with enum ParamKeyFlag in common/params.h
+    PERSISTENT = 0x02
+    CLEAR_ON_MANAGER_START = 0x04
+    CLEAR_ON_ONROAD_TRANSITION = 0x08
+    CLEAR_ON_OFFROAD_TRANSITION = 0x10
+    DONT_LOG = 0x20
+    DEVELOPMENT_ONLY = 0x40
+    CLEAR_ON_IGNITION_ON = 0x80
     ALL = 0xFFFFFFFF
 
   class ParamKeyType(IntEnum):
diff --git a/common/params_keys.h b/common/params_keys.h
index e311527..d9b0544 100644
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -165,6 +165,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IQCarParamsPersistent", {PERSISTENT, BYTES}},
     {"IQCarParamsPersistentV2", {PERSISTENT, BYTES}},
     {"CarPlatformBundle", {PERSISTENT, JSON}},
+    {"Konn3ktVwOdometers", {PERSISTENT, JSON}},
+    {"Konn3ktVehicleOdometers", {PERSISTENT, JSON}},
     {"ChevronInfo", {PERSISTENT, INT, "4"}},
     {"DeviceBootMode", {PERSISTENT, INT, "0"}},
     {"IQDevUIInfo", {PERSISTENT, INT, "0"}},
diff --git a/iqdbc_repo/iqdbc/car/car.capnp b/iqdbc_repo/iqdbc/car/car.capnp
index 9879f1b..c427998 100644
--- a/iqdbc_repo/iqdbc/car/car.capnp
+++ b/iqdbc_repo/iqdbc/car/car.capnp
@@ -209,6 +209,8 @@ struct CarState {
   lateralAvailable @61 :Bool;        # lateral control is available even if cruise is faulted
   cruiseFaultLateralMode @62 :Bool;  # cruise is faulted but lateral control is still active
   radarDisableFailed @66 :Bool;
+  # Physical vehicle odometer in kilometers. Zero means unavailable on this platform.
+  odometer @67 :Float64;
 
   # cruise state
   cruiseState @10 :CruiseState;
diff --git a/iqdbc_repo/iqdbc/car/tesla/carstate.py b/iqdbc_repo/iqdbc/car/tesla/carstate.py
index a75c3cc..13835f0 100644
--- a/iqdbc_repo/iqdbc/car/tesla/carstate.py
+++ b/iqdbc_repo/iqdbc/car/tesla/carstate.py
@@ -8,6 +8,10 @@ from iqdbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_THRESHOLD, Tesla
 
 from iqdbc.iqpilot.car.tesla.carstate_ext import CarStateExt
 from iqdbc.iqpilot.car.tesla.values import TeslaFlagsIQ
+from openpilot.common.params import Params
+from openpilot.system.proprietary_runtime._verified_import import import_verified_module
+
+vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
 
 ButtonType = structs.CarState.ButtonEvent.Type
 
@@ -27,6 +31,7 @@ class CarState(CarStateBase, CarStateExt):
     self.acc_state_last = 0
     self.das_control = None
     self.das_body_controls_dat = b""
+    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, Params())
     self.cruise_override = False
 
   def update_summon_state(self, summon_state: str, cruise_enabled: bool):
@@ -155,6 +160,8 @@ class CarState(CarStateBase, CarStateExt):
       self.das_body_controls_dat = bytes(can_parsers[Bus.cam].dat.get(0x3E9, b""))
 
     CarStateExt.update(self, ret, ret_iq, can_parsers)
+    if ret.odometer > 0.0:
+      ret.odometer = self._odometer_store.record(ret.odometer) or 0.0
 
     return ret, ret_iq
 
diff --git a/iqdbc_repo/iqdbc/car/tesla/interface.py b/iqdbc_repo/iqdbc/car/tesla/interface.py
index e2c2a08..9b0eee0 100644
--- a/iqdbc_repo/iqdbc/car/tesla/interface.py
+++ b/iqdbc_repo/iqdbc/car/tesla/interface.py
@@ -59,7 +59,10 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.TESLA_MODEL_X:
       stock_cp.dashcamOnly = False
 
-    if 0x3DF in fingerprint[1]:
+    # Vehicle-bus messages can be slow enough to miss the initial capture window.
+    # Accept either the established 0x3DF marker or the absolute odometer frame.
+    vehicle_bus_seen = any(0x3DF in bus or 0x3B6 in bus for bus in fingerprint.values())
+    if vehicle_bus_seen:
       ret.flags |= TeslaFlagsIQ.HAS_VEHICLE_BUS.value
       ret.iqSafetyFlags |= TeslaSafetyFlagsIQ.HAS_VEHICLE_BUS
 
diff --git a/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py b/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py
index b36db0d..c9bb75f 100644
--- a/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py
+++ b/iqdbc_repo/iqdbc/car/tesla/tests/test_tesla.py
@@ -4,6 +4,7 @@ from iqdbc.car.tesla.teslacan import TeslaCAN
 from iqdbc.car.tesla.radar_interface import RADAR_START_ADDR
 from iqdbc.car.tesla.carcontroller import CarController
 from iqdbc.car.tesla.values import CAR
+from iqdbc.can import CANPacker, CANParser
 
 
 class TestTeslaFingerprint:
@@ -31,6 +32,19 @@ class TestTeslaCan:
     def make_can_msg(self, name, bus, values):
       return name, bus, values
 
+  def test_vehicle_bus_odometer_decodes_kilometers(self):
+    packer = CANPacker("tesla_model3_vehicle")
+    parser = CANParser("tesla_model3_vehicle", [("ID3B6UI_odometer", 1)], 1)
+
+    message = packer.make_can_msg("ID3B6UI_odometer", 1, {
+      "UI_odometer": 29150.377,
+      "UI_odometerCounter": 1,
+      "UI_odometerChecksum": 0,
+    })
+    parser.update([1_000_000_000, [message]])
+
+    assert parser.vl["ID3B6UI_odometer"]["UI_odometer"] == 29150.377
+
   def test_longitudinal_command_does_not_reference_missing_jerk_attr(self):
     CP = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_3)
     tesla_can = TeslaCAN(CP, self.DummyPacker())
diff --git a/iqdbc_repo/iqdbc/car/volkswagen/carstate.py b/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
index f702af7..a6aedf7 100644
--- a/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
+++ b/iqdbc_repo/iqdbc/car/volkswagen/carstate.py
@@ -15,6 +15,7 @@ from iqdbc.car.volkswagen.speed_limit_manager import SpeedLimitManager
 from openpilot.system.proprietary_runtime._verified_import import import_verified_module
 
 iq_lvbs_alc = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.alc")
+vehicle_state = import_verified_module("iqpilot_alc_private", "iqpilot_private.konn3kt.iqlvbs.vehicle_state")
 
 iqpilot_path = os.path.join(os.path.dirname(__file__), '..', '..', '..')
 sys.path.insert(0, iqpilot_path)
@@ -100,8 +101,15 @@ class CarState(CarStateBase):
     self.cruise_main_switch = False
     self.motor3_stock = {}
     self.motor1_stock = {}
-    self.motor1_frame = 0
     self.motor3_frame = 0
+    self.motor1_frame = 0
+    self._odometer_store = vehicle_state.VehicleOdometerStore(CP, self._params)
+
+  def _update_odometer(self, ret: structs.CarState, raw_km: float) -> None:
+    """Publish the cluster value while proprietary Konn3kt code owns persistence."""
+    odometer_km = self._odometer_store.record(raw_km)
+    if odometer_km is not None:
+      ret.odometer = odometer_km
 
   def _apply_iq_private_flags(self, ret_iq: structs.IQCarState) -> None:
     ret_iq.alcOverrideAlert = bool(self.alcOverrideAlert)
@@ -285,6 +293,7 @@ class CarState(CarStateBase):
 
     ret.fuelGauge = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
     ret.fuelTankLevelL = pt_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"]  # raw liters for konn3kt
+    self._update_odometer(ret, aux_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
 
     self.cruise_faulted = ret.accFaulted
     self._apply_iq_private_flags(ret_iq)
@@ -400,6 +409,7 @@ class CarState(CarStateBase):
     psd_06_values = main_cp.vl["PSD_06"] if self.CP.flags & VolkswagenFlags.STOCK_PSD_PRESENT else {}
     psd_06_values = pt_cp.vl["PSD_06"] if not psd_06_values and self.CP.flags & VolkswagenFlags.STOCK_PSD_06_PRESENT else psd_06_values
     diagnose_01_values = pt_cp.vl["Diagnose_01"] if self.CP.flags & VolkswagenFlags.STOCK_DIAGNOSE_01_PRESENT else {}
+    self._update_odometer(ret, pt_cp.vl["Diagnose_01"]["KBI_Kilometerstand"])
 
     if self.enable_speed_limit_predicative and not self.enable_predicative_speed_limit:
       self.enable_predicative_speed_limit = True
@@ -631,6 +641,8 @@ class CarState(CarStateBase):
 
     ret.fuelGauge = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"] / 55.0
     ret.fuelTankLevelL = 0 # pt_cp.vl["Kombi_1"]["Tankinhalt"]  # raw liters for konn3kt
+    if aux_cp is not None:
+      self._update_odometer(ret, aux_cp.vl["Kombi_3"]["Kilometerstand"])
 
     if self.CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
       ret.cruiseState.standstill = self.CP.pcmCruise and bool(pt_cp.vl["Bremse_5"]["BR5_Stillstand"]) and ret.cruiseState.enabled
@@ -706,6 +718,7 @@ class CarState(CarStateBase):
 
     ret.fuelGauge = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"] / 55.0
     ret.fuelTankLevelL = br_cp.vl["Kombi_02"]["KBI_Inhalt_Tank"]  # raw liters for konn3kt
+    self._update_odometer(ret, br_cp.vl["Kombi_02"]["KBI_Kilometerstand"])
 
     ret.buttonEvents = self.create_button_events(pt_cp, self.CCP.BUTTONS)
 
@@ -794,8 +807,11 @@ class CarState(CarStateBase):
       ]
     if CP.flags & VolkswagenFlags.MLB:
       pt_messages += [
-        ("Blinkmodi_01", math.nan)  # From J519 BCM (is inactive when no lights active, 50Hz when active)
+        ("Blinkmodi_01", math.nan),  # From J519 BCM (is inactive when no lights active, 50Hz when active)
+        ("Kombi_02", math.nan),  # Auxiliary-bus cluster odometer
       ]
+    else:
+      pt_messages += [("Kombi_02", math.nan)]  # Auxiliary-bus cluster odometer
     if CP.flags & VolkswagenFlags.STOCK_HCA_PRESENT:
       cam_messages += [
         ("HCA_01", 1),  # From R242 Driver assistance camera, 50Hz if steering/1Hz if not
@@ -809,7 +825,7 @@ class CarState(CarStateBase):
 
   @staticmethod
   def get_can_parsers_pq(CP):
-    aux_messages = []
+    aux_messages = [("Kombi_3", math.nan)]  # Bus 1 cluster odometer
     if CP.flags & VolkswagenFlagsIQ.IQ_PQ_ACC_FTS_EPB:
       aux_messages.append(("Motor_3", 0))
     return {
@@ -826,6 +842,7 @@ class CarState(CarStateBase):
       # TA_01 lives on bus 0 (car ECU / OP-generated when long is active).
       # math.nan → ignore_alive=True so it never contributes to can_valid.
       ("TA_01", math.nan),
+      ("Diagnose_01", math.nan),  # Bus 0 cluster odometer
     ]
     if CP.networkLocation == NetworkLocation.fwdCamera:
       pt_messages.append(("AWV_03", 1))
diff --git a/iqdbc_repo/iqdbc/dbc/tesla_model3_vehicle.dbc b/iqdbc_repo/iqdbc/dbc/tesla_model3_vehicle.dbc
index fa4624e..a8faeca 100644
--- a/iqdbc_repo/iqdbc/dbc/tesla_model3_vehicle.dbc
+++ b/iqdbc_repo/iqdbc/dbc/tesla_model3_vehicle.dbc
@@ -397,5 +397,10 @@ BO_ 826 ID33AUI_rangeSOC: 8 VehicleBus
 BO_ 306 ID132HVBattAmpVolt: 8 VehicleBus
  SG_ BattVoltage132 : 0|16@1+ (0.01,0) [0|655.35] "V" Receiver
 
+BO_ 950 ID3B6UI_odometer: 8 VehicleBus
+ SG_ UI_odometer : 0|32@1+ (0.001,0) [0|4294967.295] "km" Receiver
+ SG_ UI_odometerCounter : 52|4@1+ (1,0) [0|15] "" Receiver
+ SG_ UI_odometerChecksum : 56|8@1+ (1,0) [0|255] "" Receiver
+
 BO_ 658 ID292BMS_SOC: 8 VehicleBus
  SG_ SOCUI292 : 10|10@1+ (0.1,0) [0|102.3] "%" Receiver
diff --git a/iqdbc_repo/iqdbc/iqpilot/car/tesla/carstate_ext.py b/iqdbc_repo/iqdbc/iqpilot/car/tesla/carstate_ext.py
index 019ac7b..3690534 100644
--- a/iqdbc_repo/iqdbc/iqpilot/car/tesla/carstate_ext.py
+++ b/iqdbc_repo/iqdbc/iqpilot/car/tesla/carstate_ext.py
@@ -18,9 +18,18 @@ class CarStateExt:
     self.CP_IQ = CP_IQ
 
     self.infotainment_3_finger_press = 0
+    self.vehicle_bus_available = bool(CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS)
 
   def update(self, ret: structs.CarState, ret_iq: structs.IQCarState, can_parsers: dict[StrEnum, CANParser]) -> None:
-    if self.CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS:
+    if Bus.adas in can_parsers:
+      cp_adas = can_parsers[Bus.adas]
+
+      odometer_km = float(cp_adas.vl["ID3B6UI_odometer"].get("UI_odometer", 0.0))
+      if 0.0 < odometer_km < 4294967.296:
+        self.vehicle_bus_available = True
+        ret.odometer = odometer_km
+
+    if self.vehicle_bus_available and Bus.adas in can_parsers:
       cp_adas = can_parsers[Bus.adas]
 
       prev_infotainment_3_finger_press = self.infotainment_3_finger_press
@@ -66,7 +75,9 @@ class CarStateExt:
   def get_parser(CP: structs.CarParams, CP_IQ: structs.IQCarParams) -> dict[StrEnum, CANParser]:
     messages = {}
 
-    if CP_IQ.flags & TeslaFlagsIQ.HAS_VEHICLE_BUS:
+    if Bus.adas in DBC[CP.carFingerprint]:
+      # Parse the absolute odometer even if the initial fingerprint missed a
+      # slow vehicle-bus marker. Runtime data latches support safely.
       messages[Bus.adas] = CANParser(DBC[CP.carFingerprint][Bus.adas], [], CANBUS.vehicle)
 
     return messages
diff --git a/selfdrive/controls/lib/longitudinal_planner.py b/selfdrive/controls/lib/longitudinal_planner.py
index 298ae0d..3805f4c 100755
--- a/selfdrive/controls/lib/longitudinal_planner.py
+++ b/selfdrive/controls/lib/longitudinal_planner.py
@@ -31,6 +31,12 @@ LAUNCH_COMMIT_T = 3.5
 LAUNCH_MOVING_SPEED = 1.2
 LAUNCH_MAX_ACCEL = 1.5
 
+E2E_CRUISE_CONVERGENCE_TAU = 15.0
+E2E_CRUISE_ACCEL_MAX = 0.5
+E2E_MODEL_SPEED_HORIZON = 5.0
+E2E_ACCEL_INTENT_BP = [-0.05, 0.05]
+E2E_MODEL_SPEED_INTENT_BP = [-0.5, 0.0]
+
 # Lookup table for turns
 _A_TOTAL_MAX_V = [1.7, 3.2]
 _A_TOTAL_MAX_BP = [20., 40.]
@@ -69,6 +75,23 @@ def get_cruise_accel(e2e, v_cruise, v_ego, a_cruise_prev, angle_steers, CP, dt,
   return target_accel, cruise_should_stop
 
 
+def get_e2e_accel(v_ego, v_cruise, model_v, a_target, should_stop):
+  if should_stop or v_cruise <= v_ego or len(model_v) != len(T_IDXS_MPC):
+    return a_target
+
+  convergence_accel = min((v_cruise - v_ego) / E2E_CRUISE_CONVERGENCE_TAU, E2E_CRUISE_ACCEL_MAX)
+  if convergence_accel <= a_target:
+    return a_target
+
+  # Only help the model converge to cruise when both its immediate action and
+  # velocity trajectory show no active deceleration intent. The lead MPC and
+  # cruise candidates remain hard upper bounds on the final acceleration.
+  accel_intent = np.interp(a_target, E2E_ACCEL_INTENT_BP, [0.0, 1.0])
+  model_speed = np.interp(E2E_MODEL_SPEED_HORIZON, T_IDXS_MPC, model_v)
+  speed_intent = np.interp(model_speed - v_ego, E2E_MODEL_SPEED_INTENT_BP, [0.0, 1.0])
+  return float(np.interp(min(accel_intent, speed_intent), [0.0, 1.0], [a_target, convergence_accel]))
+
+
 class LongitudinalPlanner(LongitudinalPlannerIQ):
   def __init__(self, CP, CP_IQ, init_v=0.0, init_a=0.0, dt=DT_MDL):
     self.CP = CP
@@ -173,6 +196,8 @@ class LongitudinalPlanner(LongitudinalPlannerIQ):
     output_a_target_e2e = sm['modelV2'].action.desiredAcceleration
     output_should_stop_e2e = sm['modelV2'].action.shouldStop
     output_a_target_e2e, output_should_stop_e2e = self.apply_e2e_stop_distance(sm, v_ego, output_a_target_e2e, output_should_stop_e2e)
+    if self.is_e2e(sm):
+      output_a_target_e2e = get_e2e_accel(v_ego, v_cruise, model_v, output_a_target_e2e, output_should_stop_e2e)
 
     if sm['carState'].standstill:
       self.launch_armed = True
diff --git a/selfdrive/controls/tests/test_longitudinal_planner.py b/selfdrive/controls/tests/test_longitudinal_planner.py
new file mode 100644
index 0000000..af6d704
--- /dev/null
+++ b/selfdrive/controls/tests/test_longitudinal_planner.py
@@ -0,0 +1,31 @@
+import numpy as np
+import pytest
+
+from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import T_IDXS
+from openpilot.selfdrive.controls.lib.longitudinal_planner import get_e2e_accel
+
+
+def model_velocity(v_ego, v_future):
+  return np.interp(T_IDXS, [T_IDXS[0], T_IDXS[-1]], [v_ego, v_future])
+
+
+class TestE2eCruiseConvergence:
+  def test_converges_when_model_wants_to_accelerate(self):
+    assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 25.0), 0.1, False) == pytest.approx(0.5)
+
+  def test_scales_down_near_cruise_speed(self):
+    assert get_e2e_accel(28.5, 30.0, model_velocity(28.5, 30.0), 0.0, False) == pytest.approx(0.05)
+
+  def test_preserves_active_model_deceleration(self):
+    assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 25.0), -0.05, False) == pytest.approx(-0.05)
+
+  def test_preserves_future_model_slowdown(self):
+    assert get_e2e_accel(20.0, 30.0, model_velocity(20.0, 18.0), 0.1, False) == pytest.approx(0.1)
+
+  @pytest.mark.parametrize("v_ego, v_cruise, should_stop", [
+    (30.0, 30.0, False),
+    (31.0, 30.0, False),
+    (20.0, 30.0, True),
+  ])
+  def test_never_overrides_cruise_or_stop(self, v_ego, v_cruise, should_stop):
+    assert get_e2e_accel(v_ego, v_cruise, model_velocity(v_ego, v_ego + 5.0), -0.2, should_stop) == pytest.approx(-0.2)
diff --git a/selfdrive/modeld/SConscript b/selfdrive/modeld/SConscript
index caf1fcb..40e7401 100644
--- a/selfdrive/modeld/SConscript
+++ b/selfdrive/modeld/SConscript
@@ -72,7 +72,10 @@ for model_name in ['dmonitoring_model']:
   # inputs (onnx + tinygrad_repo + flags + metadata script) and output hashes; if it matches, skip
   # declaring the targets entirely. Any mismatch falls back to a normal on-device compile.
   if arch == "larch64":
-    from openpilot.selfdrive.modeld.prebuilt_models import verify_prebuilt, outputs_match
+    from openpilot.selfdrive.modeld.prebuilt_models import packaged_prebuilt_matches, verify_prebuilt, outputs_match
+    if packaged_prebuilt_matches(model_name):
+      print(lenv.PrettyNote('SKIP', f"{model_name} — packaged prebuilt pkl"))
+      continue
     if verify_prebuilt(model_name, flags):
       print(lenv.PrettyNote('SKIP', f"{model_name} — prebuilt pkl"))
       continue
diff --git a/selfdrive/modeld/prebuilt_models.py b/selfdrive/modeld/prebuilt_models.py
index 0f62ff3..73a16de 100644
--- a/selfdrive/modeld/prebuilt_models.py
+++ b/selfdrive/modeld/prebuilt_models.py
@@ -77,7 +77,13 @@ def outputs_match(model_name: str) -> bool:
   return True
 
 
+def packaged_prebuilt_matches(model_name: str) -> bool:
+  return not (MODELS_DIR / f'{model_name}.onnx').is_file() and outputs_match(model_name)
+
+
 def verify_prebuilt(model_name: str, flags: str) -> bool:
+  if not (MODELS_DIR / f'{model_name}.onnx').is_file():
+    return False
   data = _load_checks().get(model_name, {})
   if data.get('signature') != compute_signature(model_name, flags):
     return False
diff --git a/selfdrive/modeld/test_prebuilt_models.py b/selfdrive/modeld/test_prebuilt_models.py
new file mode 100644
index 0000000..a994982
--- /dev/null
+++ b/selfdrive/modeld/test_prebuilt_models.py
@@ -0,0 +1,51 @@
+import hashlib
+import json
+
+from openpilot.selfdrive.modeld import prebuilt_models
+
+
+def write_outputs(models_dir, check_path):
+  outputs = {}
+  for name, contents in {
+    'dmonitoring_model_tinygrad.pkl': b'tinygrad',
+    'dmonitoring_model_metadata.pkl': b'metadata',
+  }.items():
+    (models_dir / name).write_bytes(contents)
+    outputs[name] = hashlib.sha256(contents).hexdigest()
+  check_path.write_text(json.dumps({'dmonitoring_model': {'outputs': outputs}}))
+
+
+def test_packaged_prebuilt_without_onnx(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+  assert not prebuilt_models.verify_prebuilt('dmonitoring_model', 'flags')
+
+
+def test_packaged_prebuilt_rejects_corrupt_output(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model_tinygrad.pkl').write_bytes(b'corrupt')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
+
+
+def test_source_checkout_is_not_packaged_prebuilt(tmp_path, monkeypatch):
+  models_dir = tmp_path / 'models'
+  models_dir.mkdir()
+  check_path = models_dir / 'prebuilt_check.json'
+  write_outputs(models_dir, check_path)
+  (models_dir / 'dmonitoring_model.onnx').write_bytes(b'onnx')
+  monkeypatch.setattr(prebuilt_models, 'MODELS_DIR', models_dir)
+  monkeypatch.setattr(prebuilt_models, 'CHECK_PATH', check_path)
+
+  assert not prebuilt_models.packaged_prebuilt_matches('dmonitoring_model')
diff --git a/system/loggerd/loggerd.h b/system/loggerd/loggerd.h
index 63f68b5..f4cf803 100644
--- a/system/loggerd/loggerd.h
+++ b/system/loggerd/loggerd.h
@@ -43,10 +43,7 @@ struct EncoderSettings {
   }
 
   static EncoderSettings QcamEncoderSettings() {
-    // qcamera.ts is the small "dashcam" copy uploaded to konn3kt. Stock 256kbps @ 526x330 is potato;
-    // bump the bitrate to match the higher resolution below. Still H264/.ts (web/HLS compatible) and
-    // ~1/4 the bitrate of fcamera.hevc, so the file stays small. Override with QCAM_BITRATE if needed.
-    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 1'600'000;
+    int _qcam_bitrate = getenv("QCAM_BITRATE") ? atoi(getenv("QCAM_BITRATE")) : 3'200'000;
     return EncoderSettings{.encode_type = cereal::EncodeIndex::Type::QCAMERA_H264, .bitrate = _qcam_bitrate, .gop_size = 15};
   }
 
@@ -140,8 +137,8 @@ const EncoderInfo qcam_encoder_info = {
   .filename = "qcamera.ts",
   .cbr = true,           // enforce the bitrate so upload size stays predictable (no VBR overshoot)
   .get_settings = [](int){return EncoderSettings::QcamEncoderSettings();},
-  .frame_width = 1052,   // 2x the stock 526x330, same road-cam aspect ratio
-  .frame_height = 660,
+  .frame_width = 1578,   // 3x the stock 526x330, same road-cam aspect ratio
+  .frame_height = 990,
   .include_audio = Params().getBool("RecordAudio"),
   INIT_ENCODE_FUNCTIONS(QRoadEncode),
 };