Update opendbc_repo

This reverts commit b242b61f8a.

.codespellignore

@@ -1,6 +0,0 @@
-Wen
-REGIST
-PullRequest
-cancelled
-FOF
-NoO

.github/CODEOWNERS

@@ -1,11 +0,0 @@
-*       @sunnypilot/dev-internal
-/.github/ @devtekve @sunnyhaibin
-/release/ci/ @devtekve @sunnyhaibin
-/tinygrad_repo @devtekve @Discountchubbs
-/tinygrad/ @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_planner.py @devtekve @Discountchubbs
-/selfdrive/controls/lib/longitudinal_mpc_lib/long_mpc.py @devtekve @Discountchubbs
-/selfdrive/modeld/ @devtekve @Discountchubbs
-/sunnypilot/model* @devtekve @Discountchubbs
-/sunnypilot/sunnylink/ @devtekve
-/system/athena/ @devtekve

.github/labeler.yaml

@@ -1,11 +1,7 @@
-ci:
+CI / testing:
   - changed-files:
     - any-glob-to-all-files: "{.github/**,**/test_*,**/test/**,Jenkinsfile}"
 
-chore:
-  - changed-files:
-      - any-glob-to-all-files: "{.github/**}"
-
 car:
   - changed-files:
     - any-glob-to-all-files: '{selfdrive/car/**,opendbc_repo}'
@@ -28,4 +24,4 @@ multilanguage:
 
 autonomy:
   - changed-files:
-    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit,sunnypilot/modeld*/models/**}"
+    - any-glob-to-all-files: "{selfdrive/modeld/models/**,selfdrive/test/process_replay/model_replay_ref_commit}"

.github/release-drafter.yml

@@ -1,43 +0,0 @@
-exclude-labels:
-  - 'no-changelog'
-categories:
-  - title: '🚀 Features'
-    labels:
-      - 'feature'
-      - 'enhancement'
-  - title: '🐛 Bug Fixes'
-    collapse-after: 5
-    labels:
-      - 'fix'
-      - 'bugfix'
-      - 'bug'
-  - title: '🧰 Maintenance'
-    collapse-after: 5
-    label: 'chore'
-change-template: '- $TITLE @$AUTHOR (#$NUMBER)'
-change-title-escapes: '\<*_&'
-replacers:
-  - search: '/[Ss][Uu][Nn][Nn][Yy][Pp][Ii][Ll][Oo][Tt]/g'
-    replace: 'sunnypilot'
-  - search: '/\b[Ss][Pp]\b/g'
-    replace: 'SP'
-version-resolver:
-  major:
-    labels:
-      - 'major'
-  minor:
-    labels:
-      - 'minor'
-  patch:
-    labels:
-      - 'patch'
-  default: patch
-name-template: 'v$RESOLVED_VERSION 🚀'
-tag-template: 'v$RESOLVED_VERSION'
-version-template: "0.$MAJOR.$MINOR.$PATCH" # The day OP becomes v1, we need to bump this
-tag-prefix: "v0." # The day OP becomes v1, we need to bump this
-prerelease-identifier: "staging"
-template: |
-  ## Changes
-
-  $CHANGES

.github/workflows/auto_pr_review.yaml

@@ -1,7 +1,7 @@
 name: "PR review"
 on:
   pull_request_target:
-    types: [ opened, reopened, synchronize, edited ]
+    types: [opened, reopened, synchronize, edited]
 
 jobs:
   labeler:
@@ -9,7 +9,6 @@ jobs:
     permissions:
       contents: read
       pull-requests: write
-      issues: write
     runs-on: ubuntu-latest
     steps:
     - uses: actions/checkout@v4
@@ -25,67 +24,29 @@ jobs:
     # Check PR target branch
     - name: check branch
       uses: Vankka/pr-target-branch-action@def32ec9d93514138d6ac0132ee62e120a72aed5
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
       env:
         GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
       with:
         target: /^(?!master$).*/
-        exclude: /sunnypilot:.*/
+        exclude: /commaai:.*/
         change-to: ${{ github.base_ref }}
         already-exists-action: close_this
         already-exists-comment: "Your PR should be made against the `master` branch"
 
-  update-pr-labels:
-    name: Update fork's PR Labels
-    runs-on: ubuntu-latest
-    if: (github.event.pull_request.head.repo.fork && (contains(github.event_name, 'pull_request') && github.event.action == 'synchronize'))
-    env:
-      PR_LABEL: 'dev'
-      TRUST_FORK_PR_LABEL: 'trust-fork-pr'
-    steps:
-      - name: Check if PR has dev label
-        id: check-labels
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-            const { data: labels } = await github.rest.issues.listLabelsOnIssue({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber
-            });
-            
-            const hasDevC3Label = labels.some(label => label.name === process.env.PR_LABEL);
-            const hasTrustLabel = labels.some(label => label.name === process.env.TRUST_FORK_PR_LABEL);
-            
-            console.log(`PR #${prNumber} has ${process.env.PR_LABEL} label: ${hasDevC3Label}`);
-            console.log(`PR #${prNumber} has ${process.env.TRUST_FORK_PR_LABEL} label: ${hasTrustLabel}`);
-            
-            core.setOutput('has-dev', hasDevC3Label ? 'true' : 'false');
-            core.setOutput('has-trust', hasTrustLabel ? 'true' : 'false');
-
-      - name: Remove trust-fork-pr label if present
-        if: steps.check-labels.outputs.has-dev == 'true' && steps.check-labels.outputs.has-trust == 'true'
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.TRUST_FORK_PR_LABEL
-            });
-
-            console.log(`Removed '${process.env.TRUST_FORK_PR_LABEL}' label from PR #${prNumber} as it received new commits`);
-            
-            // Add a comment to the PR
-            await github.rest.issues.createComment({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              body: `The \`${process.env.TRUST_FORK_PR_LABEL}\` label has been automatically removed because new commits were pushed to this PR. This PR will need to be re-reviewed before the label can be applied again.`
-            });
+    # Welcome comment
+    - name: "First timers PR"
+      uses: actions/first-interaction@v1
+      if: github.event.pull_request.head.repo.full_name != 'commaai/openpilot'
+      with:
+        repo-token: ${{ secrets.GITHUB_TOKEN }}
+        pr-message: |
+            <!-- _(run_id **${{ github.run_id }}**)_ -->
+            Thanks for contributing to openpilot! In order for us to review your PR as quickly as possible, check the following:
+            * Convert your PR to a draft unless it's ready to review
+            * Read the [contributing docs](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md)
+            * Before marking as "ready for review", ensure:
+              * the goal is clearly stated in the description
+              * all the tests are passing
+              * the change is [something we merge](https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md#what-gets-merged)
+              * include a route or your device' dongle ID if relevant

.github/workflows/badges.yaml

@@ -5,15 +5,15 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
-  DOCKER_REGISTRY: ghcr.io/sunnypilot
+  BASE_IMAGE: openpilot-base
+  DOCKER_REGISTRY: ghcr.io/commaai
   RUN: docker run --shm-size 2G -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 $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $DOCKER_REGISTRY/$BASE_IMAGE:latest /bin/bash -c
 
 jobs:
   badges:
     name: create badges
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       contents: write
     steps:
@@ -29,7 +29,7 @@ jobs:
 
         git checkout --orphan badges
         git rm -rf --cached .
-        git config user.email "badge-researcher@sunnypilot.ai"
+        git config user.email "badge-researcher@comma.ai"
         git config user.name "Badge Researcher"
 
         git add translation_badge.svg

.github/workflows/build-all-tinygrad-models.yaml

@@ -1,303 +0,0 @@
-name: Build and push all tinygrad models
-
-on:
-  workflow_dispatch:
-    inputs:
-      set_min_version:
-        description: 'Minimum selector version required for the models (see helpers.py or readme.md)'
-        required: true
-        type: string
-
-jobs:
-  setup:
-    runs-on: ubuntu-latest
-    outputs:
-      json_version: ${{ steps.get-json.outputs.json_version }}
-      recompiled_dir: ${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-      json_file: ${{ steps.get-json.outputs.json_file }}
-      model_matrix: ${{ steps.set-matrix.outputs.model_matrix }}
-      tinygrad_ref: ${{ steps.get-tinygrad-ref.outputs.tinygrad_ref }}
-    steps:
-      - name: Checkout sunnypilot repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          path: sunnypilot
-          submodules: recursive
-
-      - name: Get tinygrad_repo ref
-        id: get-tinygrad-ref
-        run: |
-          cd sunnypilot
-          export PYTHONPATH=$(pwd)
-          ref=$(python3 sunnypilot/models/tinygrad_ref.py)
-          echo "tinygrad_ref=$ref" >> $GITHUB_OUTPUT
-          echo "tinygrad_ref is $ref"
-
-      - name: Checkout docs repo (sunnypilot-docs, gh-pages)
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Get next JSON version to use (from GitHub docs repo)
-        id: get-json
-        run: |
-          cd docs/docs
-          latest=$(ls driving_models_v*.json | sed -E 's/.*_v([0-9]+)\.json/\1/' | sort -n | tail -1)
-          next=$((latest+1))
-          json_file="driving_models_v${next}.json"
-          cp "driving_models_v${latest}.json" "$json_file"
-          echo "json_file=docs/docs/$json_file" >> $GITHUB_OUTPUT
-          echo "json_version=$((next+0))" >> $GITHUB_OUTPUT
-          echo "SRC_JSON_FILE=docs/docs/driving_models_v${latest}.json" >> $GITHUB_ENV
-
-      - name: Extract tinygrad models
-        id: set-matrix
-        working-directory: docs/docs
-        run: |
-          jq -c '[.bundles[] | select(.runner=="tinygrad") | {ref, display_name: (.display_name | gsub(" \\([^)]*\\)"; "")), is_20hz}]' "$(basename "${SRC_JSON_FILE}")" > matrix.json
-          echo "model_matrix=$(cat matrix.json)" >> $GITHUB_OUTPUT
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-      - run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo and create new recompiled dir
-        id: create-recompiled-dir
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          git checkout main
-          git sparse-checkout set --no-cone models/
-          cd models
-          latest_dir=$(ls -d recompiled* 2>/dev/null | sed -E 's/recompiled([0-9]+)/\1/' | sort -n | tail -1)
-          if [[ -z "$latest_dir" ]]; then
-            next_dir=1
-          else
-            next_dir=$((latest_dir+1))
-          fi
-          recompiled_dir="${next_dir}"
-          mkdir -p "recompiled${recompiled_dir}"
-          touch "recompiled${recompiled_dir}/.gitkeep"
-          cd ../..
-          echo "recompiled_dir=$recompiled_dir" >> $GITHUB_OUTPUT
-
-      - name: Push empty recompiled dir to GitLab
-        run: |
-          cd gitlab_docs
-          git add models/recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }}
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add recompiled${{ steps.create-recompiled-dir.outputs.recompiled_dir }} for build-all" || echo "No changes to commit"
-          git push origin main
-
-      - name: Push new JSON to GitHub docs repo
-        run: |
-          cd docs
-          git pull origin gh-pages
-          git add docs/"$(basename ${{ steps.get-json.outputs.json_file }})"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Add new ${{ steps.get-json.outputs.json_file }} for build-all" || echo "No changes to commit"
-          git push origin gh-pages
-
-  get_and_build:
-    needs: [setup]
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-    secrets: inherit
-
-  retry_failed_models:
-    needs: [setup, get_and_build]
-    runs-on: ubuntu-latest
-    if: ${{ needs.setup.result != 'failure' && !cancelled() }}
-    outputs:
-      retry_matrix: ${{ steps.set-retry-matrix.outputs.retry_matrix }}
-    steps:
-      - uses: actions/download-artifact@v4
-        with:
-          pattern: model-*
-          path: output
-
-      - id: set-retry-matrix
-        run: |
-          echo '${{ needs.setup.outputs.model_matrix }}' > matrix.json
-          built=(); while IFS= read -r line; do built+=("$line"); done < <(
-            ls output | sed -E 's/^model-//' | sed -E 's/-[0-9]+$//' | sed -E 's/ \([^)]*\)//' | awk '{gsub(/^ +| +$/, ""); print}'
-          )
-          jq -c --argjson built "$(printf '%s\n' "${built[@]}" | jq -R . | jq -s .)" \
-            'map(select(.display_name as $n | ($built | index($n | gsub("^ +| +$"; "")) | not)))' matrix.json > retry_matrix.json
-          echo "retry_matrix=$(cat retry_matrix.json)" >> $GITHUB_OUTPUT
-
-  retry_get_and_build:
-    needs: [setup, get_and_build, retry_failed_models]
-    if: ${{ needs.get_and_build.result == 'failure' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '') }}
-    strategy:
-      matrix:
-        model: ${{ fromJson(needs.retry_failed_models.outputs.retry_matrix) }}
-      fail-fast: false
-    uses: ./.github/workflows/build-single-tinygrad-model.yaml
-    with:
-      upstream_branch: ${{ matrix.model.ref }}
-      custom_name: ${{ matrix.model.display_name }}
-      recompiled_dir: ${{ needs.setup.outputs.recompiled_dir }}
-      json_version: ${{ needs.setup.outputs.json_version }}
-      artifact_suffix: -retry
-    secrets: inherit
-
-  publish_models:
-    name: Publish models sequentially
-    needs: [setup, get_and_build, retry_failed_models, retry_get_and_build]
-    if: ${{ !cancelled() && (needs.get_and_build.result != 'failure' || needs.retry_get_and_build.result == 'success' || (needs.retry_failed_models.outputs.retry_matrix != '[]' && needs.retry_failed_models.outputs.retry_matrix != '')) }}
-    runs-on: ubuntu-latest
-    strategy:
-      max-parallel: 1
-      matrix:
-        model: ${{ fromJson(needs.setup.outputs.model_matrix) }}
-    env:
-      RECOMPILED_DIR: recompiled${{ needs.setup.outputs.recompiled_dir }}
-      JSON_FILE: ${{ needs.setup.outputs.json_file }}
-      ARTIFACT_NAME_INPUT: ${{ matrix.model.display_name }}
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ env.ARTIFACT_NAME_INPUT }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove onnx files bc not needed for recompiled dir since they already exist from single build
-        run: |
-          find output -type f -name '*.onnx' -delete
-          find output -type f -name 'big_*.pkl' -delete
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-
-      - name: Copy model artifacts to gitlab
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Update $RECOMPILED_DIR with model from build-all-tinygrad-models" || echo "No changes to commit"
-          git push origin main
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: update json
-        run: |
-          ARGS=""
-          [ -n "${{ inputs.set_min_version }}" ] && ARGS="$ARGS --set-min-version \"${{ inputs.set_min_version }}\""
-          ARGS="$ARGS --sort-by-date"
-          ARGS="$ARGS --tinygrad-ref \"${{ needs.setup.outputs.tinygrad_ref }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            $ARGS
-
-      - name: Push updated json to GitHub
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/build-single-tinygrad-model.yaml

@@ -1,228 +0,0 @@
-name: Build Single Tinygrad Model and Push
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-      bypass_push:
-        description: 'Bypass pushing to GitLab for build-all'
-        required: false
-        default: true
-        type: boolean
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream commit to build from'
-        required: true
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      recompiled_dir:
-        description: 'Existing recompiled directory number (e.g. 3 for recompiled3)'
-        required: true
-        type: string
-      json_version:
-        description: 'driving_models version number to update (e.g. 5 for driving_models_v5.json)'
-        required: true
-        type: string
-      model_folder:
-        description: 'Model folder'
-        type: choice
-        default: 'None'
-        options:
-          - None
-          - Simple Plan Models
-          - Space Lab Models
-          - TR Models
-          - DTR Models
-          - Custom Merge Models
-          - FOF series models
-          - Other
-      custom_model_folder:
-        description: 'Custom model folder name (if "Other" selected)'
-        required: false
-        type: string
-      generation:
-        description: 'Model generation'
-        required: false
-        type: string
-      version:
-        description: 'Minimum selector version'
-        required: false
-        type: string
-env:
-  RECOMPILED_DIR: recompiled${{ inputs.recompiled_dir }}
-  JSON_FILE: docs/docs/driving_models_v${{ inputs.json_version }}.json
-
-jobs:
-  build_model:
-    uses: ./.github/workflows/sunnypilot-build-model.yaml
-    with:
-      upstream_branch: ${{ inputs.upstream_branch }}
-      custom_name: ${{ inputs.custom_name || inputs.upstream_branch }}
-      is_20hz: true
-      artifact_suffix: ${{ inputs.artifact_suffix }}
-    secrets: inherit
-
-  publish_model:
-    if: ${{ !inputs.bypass_push && !cancelled() }}
-    concurrency:
-      group: gitlab-push-${{ inputs.recompiled_dir }}
-      cancel-in-progress: false
-    needs: build_model
-    runs-on: ubuntu-latest
-    steps:
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab.com SSH key to known_hosts
-        run: |
-          mkdir -p ~/.ssh
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Clone GitLab docs repo
-        env:
-          GIT_SSH_COMMAND: 'ssh -o UserKnownHostsFile=~/.ssh/known_hosts'
-        run: |
-          echo "Cloning GitLab"
-          git clone --depth 1 --filter=tree:0 --sparse git@gitlab.com:sunnypilot/public/${{ vars.MODELS_GITLAB }} gitlab_docs
-          cd gitlab_docs
-          echo "checkout models/${RECOMPILED_DIR}"
-          git sparse-checkout set --no-cone models/${RECOMPILED_DIR}
-          git checkout main
-          cd ..
-
-      - name: Checkout docs repo
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot-docs
-          ref: gh-pages
-          path: docs
-          ssh-key: ${{ secrets.CI_SUNNYPILOT_DOCS_PRIVATE_KEY }}
-
-      - name: Validate recompiled dir and JSON version
-        run: |
-          if [ ! -d "gitlab_docs/models/$RECOMPILED_DIR" ]; then
-            echo "Recompiled dir $RECOMPILED_DIR does not exist in GitLab repo"
-            exit 1
-          fi
-          if [ ! -f "$JSON_FILE" ]; then
-            echo "JSON file $JSON_FILE does not exist!"
-            exit 1
-          fi
-
-      - name: Download artifact name file
-        uses: actions/download-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: artifact_name
-
-      - name: Read artifact name
-        id: read-artifact-name
-        run: |
-          ARTIFACT_NAME=$(cat artifact_name/artifact_name.txt)
-          echo "artifact_name=$ARTIFACT_NAME" >> $GITHUB_OUTPUT
-
-      - name: Download and extract model artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: ${{ steps.read-artifact-name.outputs.artifact_name }}
-          path: output
-
-      - name: Remove unwanted files
-        run: |
-          find output -type f -name 'dmonitoring_model_tinygrad.pkl' -delete
-          find output -type f -name 'dmonitoring_model.onnx' -delete
-
-      - name: Copy model artifact(s) to GitLab recompiled dir
-        env:
-          ARTIFACT_NAME: ${{ steps.read-artifact-name.outputs.artifact_name }}
-        run: |
-          ARTIFACT_DIR="gitlab_docs/models/${RECOMPILED_DIR}/${ARTIFACT_NAME}"
-          mkdir -p "$ARTIFACT_DIR"
-          for path in output/*; do
-            if [ "$(basename "$path")" = "artifact_name.txt" ]; then
-              continue
-            fi
-            name="$(basename "$path")"
-            if [ -d "$path" ]; then
-              mkdir -p "$ARTIFACT_DIR/$name"
-              cp -r "$path"/* "$ARTIFACT_DIR/$name/"
-              echo "Copied dir $name -> $ARTIFACT_DIR/$name"
-            else
-              cp "$path" "$ARTIFACT_DIR/"
-              echo "Copied file $name -> $ARTIFACT_DIR/"
-            fi
-          done
-
-      - name: Push recompiled dir to GitLab
-        env:
-          GITLAB_SSH_PRIVATE_KEY: ${{ secrets.GITLAB_SSH_PRIVATE_KEY }}
-        run: |
-          cd gitlab_docs
-          git checkout main
-          git pull origin main
-          for d in models/"$RECOMPILED_DIR"/*/; do
-            git sparse-checkout add "$d"
-          done
-          git add models/"$RECOMPILED_DIR"
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git commit -m "Create/Update $RECOMPILED_DIR with new/updated model from build-single-tinygrad-model" || echo "No changes to commit"
-          git push origin main
-
-      - run: |
-          cd docs
-          git pull origin gh-pages
-
-      - name: Run json_parser.py to update JSON
-        run: |
-          FOLDER="${{ inputs.model_folder }}"
-          if [ "$FOLDER" = "Other" ]; then
-            FOLDER="${{ inputs.custom_model_folder }}"
-          fi
-          ARGS=""
-          if [ "$FOLDER" != "None" ] && [ -n "$FOLDER" ]; then
-            ARGS="$ARGS --model-folder \"$FOLDER\""
-          fi
-          [ -n "${{ inputs.generation }}" ] && ARGS="$ARGS --generation \"${{ inputs.generation }}\""
-          [ -n "${{ inputs.version }}" ] && ARGS="$ARGS --version \"${{ inputs.version }}\""
-          eval python3 docs/json_parser.py \
-            --json-path "$JSON_FILE" \
-            --recompiled-dir "gitlab_docs/models/$RECOMPILED_DIR" \
-            --sort-by-date \
-            $ARGS
-
-      - name: Push updated JSON to GitHub docs repo
-        run: |
-          cd docs
-          git config --global user.name "GitHub Action"
-          git config --global user.email "action@github.com"
-          git checkout gh-pages
-          git add docs/"$(basename $JSON_FILE)"
-          git commit -m "Update $(basename $JSON_FILE) after recompiling model" || echo "No changes to commit"
-          git push origin gh-pages

.github/workflows/cereal_validation.yaml

@@ -1,76 +0,0 @@
-name: cereal validation
-
-on:
-  push:
-    branches:
-      - master
-  pull_request:
-    paths:
-      - 'cereal/**'
-  workflow_dispatch:
-  workflow_call:
-    inputs:
-      run_number:
-        default: '1'
-        required: true
-        type: string
-
-concurrency:
-  group: cereal-validation-ci-run-${{ inputs.run_number }}-${{ github.event_name == 'push' && github.ref == 'refs/heads/master' && github.run_id || github.head_ref || github.ref }}-${{ github.workflow }}-${{ github.event_name }}
-  cancel-in-progress: true
-
-env:
-  PYTHONWARNINGS: error
-  BASE_IMAGE: openpilot-base
-  BUILD: selfdrive/test/docker_build.sh base
-  RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -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 $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
-
-jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: true
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Generate the log file
-        run: |
-          ${{ env.RUN }} "cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema_instances.bin" && \
-          ls -la
-          ls -la cereal/messaging/tests
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema_instances.bin "cereal/messaging/tests/cereal_validations/schema_instances.bin"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
-  validate_cereal_with_upstream:
-    name: Validate cereal with Upstream
-    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          submodules: true
-          ref: "refs/heads/master"
-      - uses: ./.github/workflows/setup-with-retry
-      - name: Build openpilot
-        run: ${{ env.RUN }} "scons -j$(nproc) cereal"
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-      - name: 'Run the validation'
-        run: |
-          chmod +x cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          ${{ env.RUN }} "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f cereal/messaging/tests/cereal_validations/schema_instances.bin"

.github/workflows/ci_weekly_report.yaml

@@ -15,7 +15,7 @@ env:
 
 jobs:
   setup:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     runs-on: ubuntu-latest
     outputs:
       ci_runs: ${{ steps.ci_runs_setup.outputs.matrix }}
@@ -31,7 +31,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix: ${{fromJSON(needs.setup.outputs.ci_runs)}}
-    uses: sunnypilot/sunnypilot/.github/workflows/ci_weekly_run.yaml@master
+    uses: commaai/openpilot/.github/workflows/ci_weekly_run.yaml@master
     with:
       run_number: ${{ matrix.run_number }}
 

.github/workflows/ci_weekly_run.yaml

@@ -12,6 +12,6 @@ concurrency:
 
 jobs:
   tests:
-    uses: sunnypilot/sunnypilot/.github/workflows/tests.yaml@master
+    uses: commaai/openpilot/.github/workflows/tests.yaml@master
     with:
       run_number: ${{ inputs.run_number }}

.github/workflows/docs.yaml

@@ -35,13 +35,13 @@ jobs:
 
     # Push to docs.comma.ai
     - uses: actions/checkout@v4
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       with:
         path: openpilot-docs
         ssh-key: ${{ secrets.OPENPILOT_DOCS_KEY }}
-        repository: sunnypilot/sunnypilot-docs
+        repository: commaai/openpilot-docs
     - name: Push
-      if: github.ref == 'refs/heads/master' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       run: |
         set -x
 

.github/workflows/lfs-maintenance.yaml

@@ -1,72 +0,0 @@
-name: Sync comma's LFS
-
-env:
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  schedule:
-    - cron: '0 0 * * *'  # Runs at 00:00 UTC every day
-  push:
-    branches:
-      - 'master'
-  pull_request:
-    branches:
-      - 'master'
-  workflow_dispatch: # enables manual triggering
-    inputs:
-      upstream_branch:
-        default: 'master'
-        type: string
-
-jobs:
-  sync:
-    runs-on: ubuntu-latest
-    # Skip if PR is in draft mode
-    if: (github.event_name != 'pull_request' || (github.event_name == 'pull_request' && github.event.pull_request.draft == false)) && !github.event.pull_request.head.repo.fork
-    steps:
-      - name: Checkout Repository
-        uses: actions/checkout@v4
-        with:
-          repository: 'commaai/openpilot'
-          ref: ${{ inputs.upstream_branch }}
-
-      - name: LFS Fetch
-        run: |
-          git lfs fetch
-
-      - name: Set up Git
-        run: |
-          git config --global user.name 'GitHub Action'
-          git config --global user.email 'action@github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Ensure branch
-        run: |
-          if git symbolic-ref -q HEAD >/dev/null; then
-              echo "Already on a branch, proceeding with push"
-            else
-              echo "Detached HEAD state detected, creating temporary branch"
-            git checkout -b temp_branch
-          fi
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push LFS
-        id: sync-and-commit
-        run: |
-          git lfs ls-files -l
-          git lfs push --all origin

.github/workflows/post-to-discourse/action.yml

@@ -1,105 +0,0 @@
-name: 'Post to Discourse'
-description: 'Posts a message to a Discourse topic (existing or new)'
-
-inputs:
-  discourse-url:
-    description: 'Discourse instance URL (e.g., https://discourse.example.com)'
-    required: true
-  api-key:
-    description: 'Discourse API key'
-    required: true
-  api-username:
-    description: 'Discourse API username'
-    required: true
-  topic-id:
-    description: 'Discourse topic ID to post to (use this OR category-id + title)'
-    required: false
-  category-id:
-    description: 'Category ID for new topic (required if topic-id not provided)'
-    required: false
-  title:
-    description: 'Title for new topic (required if topic-id not provided)'
-    required: false
-  message:
-    description: 'Message content (markdown supported)'
-    required: true
-
-outputs:
-  post-number:
-    description: 'The post number in the topic'
-    value: ${{ steps.post.outputs.post_number }}
-  post-url:
-    description: 'Direct URL to the post'
-    value: ${{ steps.post.outputs.post_url }}
-  topic-id:
-    description: 'The topic ID (useful when creating a new topic)'
-    value: ${{ steps.post.outputs.topic_id }}
-
-runs:
-  using: "composite"
-  steps:
-    - name: Post to Discourse
-      id: post
-      shell: bash
-      run: |
-        # Validate inputs
-        if [ -z "${{ inputs.topic-id }}" ] && ([ -z "${{ inputs.category-id }}" ] || [ -z "${{ inputs.title }}" ]); then
-          echo "❌ Error: Must provide either topic-id OR both category-id and title"
-          exit 1
-        fi
-        
-        if [ -n "${{ inputs.topic-id }}" ] && ([ -n "${{ inputs.category-id }}" ] || [ -n "${{ inputs.title }}" ]); then
-          echo "⚠️  Warning: Both topic-id and category-id/title provided. Will post to existing topic."
-        fi
-        
-        # Determine if creating new topic or posting to existing
-        if [ -n "${{ inputs.topic-id }}" ]; then
-          echo "📝 Posting to existing topic ID: ${{ inputs.topic-id }}"
-        
-          # Create JSON payload for posting to existing topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg topic_id "${{ inputs.topic-id }}" \
-            '{topic_id: $topic_id, raw: $content}')
-        else
-          echo "✨ Creating new topic: ${{ inputs.title }}"
-        
-          # Create JSON payload for new topic
-          PAYLOAD=$(jq -n \
-            --arg content '${{ inputs.message }}' \
-            --arg title "${{ inputs.title }}" \
-            --arg category "${{ inputs.category-id }}" \
-            '{title: $title, category: ($category | tonumber), raw: $content}')
-        fi
-        
-        # Post to Discourse
-        RESPONSE=$(curl -s -w "\n%{http_code}" \
-          -X POST "${{ inputs.discourse-url }}/posts.json" \
-          -H "Content-Type: application/json" \
-          -H "Api-Key: ${{ inputs.api-key }}" \
-          -H "Api-Username: ${{ inputs.api-username }}" \
-          -d "$PAYLOAD")
-        
-        HTTP_CODE=$(echo "$RESPONSE" | tail -n1)
-        BODY=$(echo "$RESPONSE" | sed '$d')
-        
-        if [ "$HTTP_CODE" -ge 200 ] && [ "$HTTP_CODE" -lt 300 ]; then
-          echo "✅ Successfully posted to Discourse!"
-        
-          POST_NUMBER=$(echo "$BODY" | jq -r '.post_number // "unknown"')
-          TOPIC_ID=$(echo "$BODY" | jq -r '.topic_id // "${{ inputs.topic-id }}"')
-          POST_URL="${{ inputs.discourse-url }}/t/${TOPIC_ID}/${POST_NUMBER}"
-        
-          echo "post_number=${POST_NUMBER}" >> $GITHUB_OUTPUT
-          echo "post_url=${POST_URL}" >> $GITHUB_OUTPUT
-          echo "topic_id=${TOPIC_ID}" >> $GITHUB_OUTPUT
-        
-          echo "Topic ID: ${TOPIC_ID}"
-          echo "Post number: ${POST_NUMBER}"
-          echo "URL: ${POST_URL}"
-        else
-          echo "❌ Failed to post to Discourse"
-          echo "HTTP Code: ${HTTP_CODE}"
-          echo "Response: ${BODY}"
-          exit 1
-        fi

.github/workflows/prebuilt.yaml

@@ -6,13 +6,13 @@ on:
 
 env:
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh prebuilt
+  BUILD: selfdrive/test/docker_build.sh prebuilt
 
 jobs:
   build_prebuilt:
     name: build prebuilt
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     env:
       PUSH_IMAGE: true
     permissions:

.github/workflows/raylib_ui_preview.yaml

@@ -21,7 +21,7 @@ env:
 
 jobs:
   preview:
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     name: preview
     runs-on: ubuntu-latest
     timeout-minutes: 20
@@ -60,7 +60,7 @@ jobs:
       - name: Getting master ui
         uses: actions/checkout@v4
         with:
-          repository: sunnypilot/ci-artifacts
+          repository: commaai/ci-artifacts
           ssh-key: ${{ secrets.CI_ARTIFACTS_DEPLOY_KEY }}
           path: ${{ github.workspace }}/master_ui_raylib
           ref: openpilot_master_ui_raylib
@@ -103,7 +103,7 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -120,13 +120,13 @@ jobs:
               DIFF="${DIFF}<table>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
-              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+              DIFF="${DIFF}  <td> master <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_master_ref.png\"> </td>"
+              DIFF="${DIFF}  <td> proposed <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}<tr>"
-              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
-              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
+              DIFF="${DIFF}  <td> diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.png\"> </td>"
+              DIFF="${DIFF}  <td> composite diff <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}_diff.gif\"> </td>"
               DIFF="${DIFF}</tr>"
 
               DIFF="${DIFF}</table>"
@@ -139,7 +139,7 @@ jobs:
             if [[ $INDEX -eq 0 ]]; then
               TABLE="${TABLE}<tr>"
             fi
-            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/sunnypilot/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
+            TABLE="${TABLE}  <td> <img src=\"https://raw.githubusercontent.com/commaai/ci-artifacts/${{ env.BRANCH_NAME }}/${A[$i]}.png\"> </td>"
             if [[ $INDEX -eq 1 || $(($i + 1)) -eq ${#A[*]} ]]; then
               TABLE="${TABLE}</tr>"
             fi

.github/workflows/release-drafter.yml

@@ -1,28 +0,0 @@
-name: Release Drafter
-
-on:
-  push:
-    branches:
-      - master
-    tags:
-      - 'v*'
-  pull_request_target:
-    types: [opened, reopened, synchronize]
-  workflow_dispatch:
-
-permissions:
-  contents: read
-
-jobs:
-  update_release_draft:
-    permissions:
-      contents: write
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - uses: release-drafter/release-drafter@v6
-        with:
-          config-name: release-drafter.yml
-          prerelease: ${{ !startsWith(github.ref, 'refs/tags/v') }}
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/release.yaml

@@ -5,14 +5,14 @@ on:
   workflow_dispatch:
 
 jobs:
-  build___nightly:
-    name: build __nightly
+  build_masterci:
+    name: build master-ci
     env:
       ImageOS: ubuntu24
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
+      image: ghcr.io/commaai/openpilot-base:latest
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     permissions:
       checks: read
       contents: write
@@ -27,7 +27,7 @@ jobs:
       with:
         ref: master
         wait-interval: 30
-        running-workflow-name: 'build __nightly'
+        running-workflow-name: 'build master-ci'
         repo-token: ${{ secrets.GITHUB_TOKEN }}
         check-regexp: ^((?!.*(build prebuilt).*).)*$
     - uses: actions/checkout@v4
@@ -38,5 +38,5 @@ jobs:
       run: |
         git config --global --add safe.directory '*'
         git lfs pull
-    - name: Push __nightly
+    - name: Push master-ci
       run: BRANCH=__nightly release/build_stripped.sh

.github/workflows/repo-maintenance.yaml

@@ -6,14 +6,14 @@ on:
   workflow_dispatch:
 
 env:
-  BASE_IMAGE: sunnypilot-base
-  BUILD: release/ci/docker_build_sp.sh base
+  BASE_IMAGE: openpilot-base
+  BUILD: selfdrive/test/docker_build.sh base
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -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 $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
 jobs:
   update_translations:
     runs-on: ubuntu-latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+    if: github.repository == 'commaai/openpilot'
     steps:
       - uses: actions/checkout@v4
       - uses: ./.github/workflows/setup-with-retry
@@ -23,7 +23,7 @@ jobs:
       - name: Create Pull Request
         uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
         with:
-          author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
+          author: Vehicle Researcher <user@comma.ai>
           commit-message: "Update translations"
           title: "[bot] Update translations"
           body: "Automatic PR from repo-maintenance -> update_translations"
@@ -36,14 +36,13 @@ jobs:
     name: package_updates
     runs-on: ubuntu-latest
     container:
-      image: ghcr.io/sunnypilot/sunnypilot-base:latest
-    if: github.repository == 'sunnypilot/sunnypilot'
+      image: ghcr.io/commaai/openpilot-base:latest
+    if: github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v4
       with:
         submodules: true
     - name: uv lock
-      if: github.repository == 'commaai/openpilot'
       run: |
         python3 -m ensurepip --upgrade
         pip3 install uv
@@ -51,7 +50,6 @@ jobs:
     - name: bump submodules
       run: |
         git config --global --add safe.directory '*'
-        git config submodule.tinygrad.update none
         git submodule update --remote
         git add .
     - name: update car docs
@@ -63,8 +61,8 @@ jobs:
     - name: Create Pull Request
       uses: peter-evans/create-pull-request@9153d834b60caba6d51c9b9510b087acf9f33f83
       with:
-        author: github-actions[bot] <github-actions[bot]@users.noreply.github.com>
-        token: ${{ github.repository == 'commaai/openpilot' && secrets.ACTIONS_CREATE_PR_PAT || secrets.GITHUB_TOKEN }}
+        author: Vehicle Researcher <user@comma.ai>
+        token: ${{ secrets.ACTIONS_CREATE_PR_PAT }}
         commit-message: Update Python packages
         title: '[bot] Update Python packages'
         branch: auto-package-updates

.github/workflows/setup/action.yaml

@@ -19,7 +19,7 @@ runs:
     - shell: bash
       name: No retries!
       run: |
-        if [ "${{ github.run_attempt }}" -gt ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.author_association == 'NONE' && 2 || 1}} ]; then
+        if [ "${{ github.run_attempt }}" -gt 1 ]; then
           echo -e "\033[0;31m##################################################"
           echo -e "\033[0;31m    Retries not allowed! Fix the flaky test!      "
           echo -e "\033[0;31m##################################################\033[0m"

.github/workflows/stale.yaml

@@ -21,7 +21,7 @@ jobs:
           stale-pr-message: 'This PR has had no activity for ${{ env.DAYS_BEFORE_PR_STALE }} days. It will be automatically closed in ${{ env.DAYS_BEFORE_PR_CLOSE }} days if there is no activity.'
           close-pr-message: 'This PR has been automatically closed due to inactivity. Feel free to re-open once activity resumes.'
           stale-pr-label: stale
-          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'sunnypilot/sunnypilot' }} # only delete branches on the main repo
+          delete-branch: ${{ github.event.pull_request.head.repo.full_name == 'commaai/openpilot' }} # only delete branches on the main repo
           exempt-pr-labels: "ignore stale,needs testing" # if wip or it needs testing from the community, don't mark as stale
           days-before-pr-stale: ${{ env.DAYS_BEFORE_PR_STALE }}
           days-before-pr-close: ${{ env.DAYS_BEFORE_PR_CLOSE }}

.github/workflows/sunnypilot-build-model.yaml

@@ -1,221 +0,0 @@
-name: Build Model from Upstream
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  UPSTREAM_REPO: "commaai/openpilot"
-  TINYGRAD_PATH: ${{ github.workspace }}/tinygrad_repo
-  MODELS_DIR: ${{ github.workspace }}/selfdrive/modeld/models
-
-on:
-  workflow_call:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-      artifact_suffix:
-        description: 'Suffix for artifact name'
-        required: false
-        type: string
-        default: ''
-  workflow_dispatch:
-    inputs:
-      upstream_branch:
-        description: 'Upstream branch to build from'
-        required: true
-        default: 'master'
-        type: string
-      custom_name:
-        description: 'Custom name for the model (no date, only name)'
-        required: false
-        type: string
-      is_20hz:
-        description: 'Is this a 20Hz model'
-        required: false
-        type: boolean
-        default: true
-
-
-run-name: Build model [${{ inputs.custom_name || inputs.upstream_branch }}] from ref [${{ inputs.upstream_branch }}]
-
-jobs:
-  get_model:
-    runs-on: ubuntu-latest
-    env:
-      REF: ${{ inputs.upstream_branch }}
-    outputs:
-      model_date: ${{ steps.commit-date.outputs.model_date }}
-    steps:
-      # Note: To allow dynamic models from both openpilot and sunnypilot (merges/mashups), we try commaai as default,
-      # and fallback to sunnypilot if the ref checkout fails.
-      - name: Checkout commaai/openpilot
-        id: checkout_upstream
-        continue-on-error: true
-        uses: actions/checkout@v4
-        with:
-          repository: commaai/openpilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-
-      - name: Fallback to sunnypilot/sunnypilot
-        if: steps.checkout_upstream.outcome == 'failure'
-        uses: actions/checkout@v4
-        with:
-          repository: sunnypilot/sunnypilot
-          ref: ${{ inputs.upstream_branch }}
-          submodules: recursive
-          path: openpilot
-      - name: Get commit date
-        id: commit-date
-        run: |
-          cd ${{ github.workspace }}/openpilot
-          commit_date=$(git log -1 --format=%cd --date=format:'%B %d, %Y')
-          echo "model_date=${commit_date}" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-      - run: |
-          cd ${{ github.workspace }}/openpilot
-          git lfs pull
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix  }}
-          path: ${{ github.workspace }}/openpilot/selfdrive/modeld/models/*.onnx
-
-  build_model:
-    runs-on: [self-hosted, tici]
-    needs: get_model
-    env:
-      MODEL_NAME: ${{ inputs.custom_name || inputs.upstream_branch }} (${{ needs.get_model.outputs.model_date }})
-      REF: ${{ inputs.upstream_branch }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-
-      - run: git lfs pull
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ github.head_ref || github.ref_name }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}-model
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_NEW_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.MASTER_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-          rm -rf ${{ env.MODELS_DIR }}/*.onnx
-
-      - name: Download model artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: models-${{ env.REF }}${{ inputs.artifact_suffix }}
-          path: ${{ github.workspace }}/selfdrive/modeld/models
-      - run: |
-          rm -f ${{ github.workspace }}/selfdrive/modeld/models/{dmonitoring_model,big_driving_policy,big_driving_vision}.onnx
-
-      - name: Build Model
-        run: |
-          source /etc/profile
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          export PYTHONPATH="${PYTHONPATH}:${{ env.TINYGRAD_PATH }}"
-
-          # Loop through all .onnx files
-          find "${{ env.MODELS_DIR }}" -maxdepth 1 -name '*.onnx' | while IFS= read -r onnx_file; do
-            base_name=$(basename "$onnx_file" .onnx)
-            output_file="${{ env.MODELS_DIR }}/${base_name}_tinygrad.pkl"
-
-            echo "Compiling: $onnx_file -> $output_file"
-            QCOM=1 python3 "${{ env.TINYGRAD_PATH }}/examples/openpilot/compile3.py" "$onnx_file" "$output_file"
-            QCOM=1 python3 "${{ env.MODELS_DIR }}/../get_model_metadata.py" "$onnx_file" || true
-          done
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${{ env.OUTPUT_DIR }}
-          mkdir -p ${{ env.OUTPUT_DIR }}
-
-          # Copy the model files
-          rsync -avm \
-            --include='*.dlc' \
-            --include='*.thneed' \
-            --include='*.pkl' \
-            --include='*.onnx' \
-            --exclude='*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${{ env.MODELS_DIR }}/ ${{ env.OUTPUT_DIR }}/
-
-          python3 "${{ github.workspace }}/release/ci/model_generator.py" \
-            --model-dir "${{ env.MODELS_DIR }}" \
-            --output-dir "${{ env.OUTPUT_DIR }}" \
-            --custom-name "${{ env.MODEL_NAME }}" \
-            --upstream-branch "${{ inputs.upstream_branch }}" \
-            ${{ inputs.is_20hz && '--is-20hz' || '' }}
-
-      - name: Write artifact name to file
-        run: echo "model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}" > ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Upload Build Artifacts
-        id: upload-artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: model-${{ env.MODEL_NAME }}${{ inputs.artifact_suffix }}-${{ github.run_number }}
-          path: ${{ env.OUTPUT_DIR }}
-
-      - name: Upload artifact name file
-        uses: actions/upload-artifact@v4
-        with:
-          name: artifact-name-${{ inputs.custom_name || inputs.upstream_branch }}
-          path: ${{ env.OUTPUT_DIR }}/artifact_name.txt
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable

.github/workflows/sunnypilot-build-prebuilt.yaml

@@ -1,372 +0,0 @@
-name: sunnypilot prebuilt action
-
-env:
-  BUILD_DIR: "/data/openpilot"
-  OUTPUT_DIR: ${{ github.workspace }}/output
-  CI_DIR: ${{ github.workspace }}/release/ci
-  SCONS_CACHE_DIR: ${{ github.workspace }}/release/ci/scons_cache
-  PUBLIC_REPO_URL: "https://github.com/sunnypilot/sunnypilot"
-
-  # Branch configurations
-  STAGING_SOURCE_BRANCH: 'master'
-
-  # Runtime configuration
-  SOURCE_BRANCH: "${{ github.head_ref || github.ref_name }}"
-
-on:
-  push:
-    branches: [ master, master-dev ]
-    tags: [ 'release/*' ]
-  pull_request_target:
-    types: [ labeled ]
-  workflow_dispatch:
-    inputs:
-      wait_for_tests:
-        description: 'Wait for tests to finish'
-        required: false
-        type: boolean
-        default: false
-
-jobs:
-  prepare_strategy:
-    runs-on: ubuntu-24.04
-    if: (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    outputs:
-      environment: ${{ steps.strategy.outputs.environment }}
-      new_branch: ${{ steps.strategy.outputs.new_branch }}
-      extra_version_identifier: ${{ steps.strategy.outputs.extra_version_identifier }}
-      version: ${{ steps.strategy.outputs.version }}
-      cancel_publish_in_progress: ${{ steps.strategy.outputs.cancel_publish_in_progress }}
-      publish_concurrency_group: ${{ steps.strategy.outputs.publish_concurrency_group }}
-      is_stable_branch: ${{ steps.strategy.outputs.is_stable_branch }}
-      build: ${{ steps.strategy.outputs.build }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Extract deploy strategy
-        id: strategy
-        run: |
-          echo '::group::Strategy Extraction'
-          BRANCH="${{ github.head_ref || github.ref_name }}"
-          echo "Current branch: $BRANCH"
-
-          STRATEGY_JSON='${{ vars.DEPLOY_STRATEGY }}'
-          CONFIG=$(echo "$STRATEGY_JSON" | jq -r --arg branch "$BRANCH" '
-            .configs[] | select(.branch == $branch)
-          ')
-
-          BUILD="$(date '+%Y.%m.%d')-${{ github.run_number }}"
-          if [[ -z "$CONFIG" || "$CONFIG" == "null" ]]; then
-            echo "No exact strategy match found. Falling back to feature/fork logic."
-            IS_FORK="${{ github.event.pull_request.head.repo.fork && 'true' || 'false' }}"
-            FORK_SUFFIX=$( [[ "$IS_FORK" == "true" ]] && echo "-fork" || echo "" )
-            NEW_BRANCH="${BRANCH}${FORK_SUFFIX}-prebuilt"
-
-            echo "new_branch=$NEW_BRANCH" >> $GITHUB_OUTPUT
-            echo "version=$BUILD" >> $GITHUB_OUTPUT
-            echo "cancel_publish_in_progress=true" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}" >> $GITHUB_OUTPUT
-            echo "environment=feature-branch" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=feature-branch" >> $GITHUB_OUTPUT
-          else
-          echo "Matched config: $CONFIG"
-            environment=$(echo "$CONFIG" | jq -r '.environment')
-            echo "environment=$environment" >> $GITHUB_OUTPUT
-            echo "new_branch=$(echo "$CONFIG" | jq -r '.target_branch')" >> $GITHUB_OUTPUT
-            cancel="$(echo "$CONFIG" | jq -r '.cancel_publish_in_progress')";
-            echo "cancel_publish_in_progress=$( [ "$cancel" = "null" ] && echo "true" || echo $cancel)" >> $GITHUB_OUTPUT
-            echo "publish_concurrency_group=publish-${BRANCH}$( [ "$cancel" = "null" ] || [ "$cancel" = "true" ] || echo "${{ github.sha }}" )" >> $GITHUB_OUTPUT
-
-            is_stable_branch="$(echo "$CONFIG" | jq -r '.stable_branch // false')";
-            echo "is_stable_branch=$is_stable_branch" >> $GITHUB_OUTPUT
-
-            stable_version=$(cat sunnypilot/common/version.h | grep SUNNYPILOT_VERSION | sed -e 's/[^0-9|.]//g');
-            echo "version=$([ "$is_stable_branch" = "true" ] && echo "$stable_version" || echo "$BUILD")" >> $GITHUB_OUTPUT
-            echo "extra_version_identifier=${environment}" >> $GITHUB_OUTPUT
-          fi
-          echo "build=$BUILD" >> $GITHUB_OUTPUT
-          cat $GITHUB_OUTPUT
-
-  validate_tests:
-    runs-on: ubuntu-24.04
-    needs: [ prepare_strategy ]
-    if: ${{
-      ((github.event_name == 'workflow_dispatch' && inputs.wait_for_tests) ||
-      (github.event_name == 'push' && needs.prepare_strategy.outputs.is_stable_branch == 'true') ||
-      contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          should-wait-for-start: ${{ github.event_name == 'push' && 'true' || 'false' }}
-
-  build:
-    needs: [ validate_tests, prepare_strategy ]
-    concurrency:
-      group: build-${{ github.head_ref || github.ref_name }}
-      cancel-in-progress: false
-    runs-on: [self-hosted, tici]
-    outputs:
-      new_branch: ${{ needs.prepare_strategy.outputs.new_branch }}
-      version: ${{ needs.prepare_strategy.outputs.version }}
-      extra_version_identifier: ${{ needs.prepare_strategy.outputs.extra_version_identifier }}
-      commit_sha: ${{ github.sha }}
-    if: ${{
-      (always() && !cancelled() && !failure()) &&
-      needs.prepare_strategy.result == 'success' &&
-      (needs.validate_tests.result == 'success' || needs.validate_tests.result == 'skipped') &&
-      (!contains(github.event_name, 'pull_request') ||
-      (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          submodules: recursive
-          ref: ${{ env.SOURCE_BRANCH }}
-          repository: ${{ github.event.pull_request.head.repo.fork && github.event.pull_request.head.repo.full_name || github.repository }}
-      - run: git lfs pull
-
-      - name: Cache SCons
-        uses: actions/cache@v4
-        with:
-          path: ${{env.SCONS_CACHE_DIR}}
-          key: scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}-${{ github.sha }}
-          # Note: GitHub Actions enforces cache isolation between different build sources (PR builds, workflow dispatches, etc.)
-          #   for security. Only caches from the default branch are shared across all builds. This is by design and cannot be overridden.
-          restore-keys: |
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}-${{ env.STAGING_SOURCE_BRANCH }}
-            scons-${{ runner.os }}-${{ runner.arch }}
-
-      - name: Set environment variables
-        id: set-env
-        run: |
-          echo "new_branch=${{ needs.prepare_strategy.outputs.new_branch }}" >> $GITHUB_OUTPUT
-          echo "version=${{ needs.prepare_strategy.outputs.version }}" >> $GITHUB_OUTPUT
-          echo "extra_version_identifier=${{ needs.prepare_strategy.outputs.extra_version_identifier }}" >> $GITHUB_OUTPUT
-          echo "commit_sha=${{ github.sha }}" >> $GITHUB_OUTPUT
-
-          # Set up common environment
-          source /etc/profile;
-          export UV_PROJECT_ENVIRONMENT=${HOME}/venv
-          export VIRTUAL_ENV=$UV_PROJECT_ENVIRONMENT
-          printenv >> $GITHUB_ENV
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            cat $GITHUB_OUTPUT
-          fi
-
-      - name: Setup build environment
-        run: |
-          mkdir -p "${BUILD_DIR}/"
-          sudo find $BUILD_DIR/ -mindepth 1 -delete
-          echo "Starting build stage..."
-          echo "BUILD_DIR: ${BUILD_DIR}"
-          echo "CI_DIR: ${CI_DIR}"
-          echo "VERSION: ${{ steps.set-env.outputs.version }}"
-          echo "UV_PROJECT_ENVIRONMENT: ${UV_PROJECT_ENVIRONMENT}"
-          echo "VIRTUAL_ENV: ${VIRTUAL_ENV}"
-          echo "-------"
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            printenv
-          fi
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --disable
-
-      - name: Build Main Project
-        run: |
-          export PYTHONPATH="$BUILD_DIR"
-          ./release/release_files.py | sort | uniq | rsync -rRl${RUNNER_DEBUG:+v} --files-from=- . $BUILD_DIR/
-          cd $BUILD_DIR
-          sed -i '/from .board.jungle import PandaJungle, PandaJungleDFU/s/^/#/' panda/__init__.py
-          echo "Building sunnypilot's modeld..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld
-          echo "Building sunnypilot's modeld_v2..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/modeld_v2
-          echo "Building sunnypilot's locationd..."
-          scons -j2 cache_dir=${{env.SCONS_CACHE_DIR}} --minimal sunnypilot/selfdrive/locationd
-          echo "Building openpilot's locationd..."
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal selfdrive/locationd
-          echo "Building rest of sunnypilot"
-          scons -j$(nproc) cache_dir=${{env.SCONS_CACHE_DIR}} --minimal
-          touch ${BUILD_DIR}/prebuilt
-          if [[ "${{ runner.debug }}" == "1" ]]; then
-            ls -la ${BUILD_DIR}
-          fi
-
-      - name: Prepare Output
-        run: |
-          sudo rm -rf ${OUTPUT_DIR}
-          mkdir -p ${OUTPUT_DIR}
-          rsync -am${RUNNER_DEBUG:+v} \
-            --exclude='.sconsign.dblite' \
-            --exclude='*.a' \
-            --exclude='*.o' \
-            --exclude='*.os' \
-            --exclude='*.pyc' \
-            --exclude='moc_*' \
-            --exclude='__pycache__' \
-            --exclude='Jenkinsfile' \
-            --exclude='**/release/' \
-            --exclude='**/.github/' \
-            --exclude='**/selfdrive/ui/replay/' \
-            --exclude='**/__pycache__/' \
-            --exclude='${{env.SCONS_CACHE_DIR}}' \
-            --exclude='**/.git/' \
-            --exclude='**/SConstruct' \
-            --exclude='**/SConscript' \
-            --exclude='**/.venv/' \
-            --exclude='selfdrive/modeld/models/driving_vision.onnx' \
-            --exclude='selfdrive/modeld/models/driving_policy.onnx' \
-            --exclude='sunnypilot/modeld*/models/supercombo.onnx' \
-            --exclude='third_party/*x86*' \
-            --exclude='third_party/*Darwin*' \
-            --delete-excluded \
-            --chown=comma:comma \
-            ${BUILD_DIR}/ ${OUTPUT_DIR}/
-
-      - name: 'Tar.gz files'
-        run: |
-          tar czf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }} .
-          ls -la prebuilt.tar.gz
-
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: prebuilt
-          path: prebuilt.tar.gz
-
-      - name: Re-enable powersave
-        if: always()
-        run: |
-          PYTHONPATH=$PYTHONPATH:${{ github.workspace }}/ ${{ github.workspace }}/scripts/manage-powersave.py --enable
-
-
-  publish:
-    concurrency:
-      # We do a bit of a hack here to avoid canceling the publishing job if a new commit comes in while we're publishing by adding the sha to the group name.
-      # This means that if multiple commits come in while we're publishing, they will be queued up and publish one after the other.
-      # Otherwise, if a job is waiting to be published due to environment wait time, it would be canceled by a new commit and restart the wait time.
-      group: ${{ needs.prepare_strategy.outputs.publish_concurrency_group }}
-      cancel-in-progress: ${{ needs.prepare_strategy.outputs.cancel_publish_in_progress == 'true' }}
-    if: ${{ (always() && !cancelled() && !failure()) && needs.build.result == 'success' && needs.prepare_strategy.result == 'success' && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt')) }}
-    needs: [ build, prepare_strategy ]
-    runs-on: ubuntu-24.04
-    environment: ${{ needs.prepare_strategy.outputs.environment }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: prebuilt
-
-      - name: Untar prebuilt
-        run: |
-          mkdir -p ${{ env.OUTPUT_DIR }}
-          tar xzf prebuilt.tar.gz -C ${{ env.OUTPUT_DIR }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.email "github-actions[bot]@users.noreply.github.com"
-          git config --global user.name "github-actions[bot]"
-
-      - name: Publish to Public Repository
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-        run: |
-          echo '${{ toJSON(needs.build.outputs) }}'
-          ls -la ${{ env.OUTPUT_DIR }}
-
-          ${{ env.CI_DIR }}/publish.sh \
-            "${{ github.workspace }}" \
-            "${{ env.OUTPUT_DIR }}" \
-            "${{ needs.build.outputs.new_branch }}" \
-            "${{ needs.build.outputs.version }}" \
-            "https://x-access-token:${{github.token}}@github.com/sunnypilot/sunnypilot.git" \
-            "${{ needs.build.outputs.extra_version_identifier }}"
-
-          echo ""
-          echo "----   ℹ️ To update the list of branches that auto deploy prebuilts  -----"
-          echo ""
-          echo "1. Go to: ${{ github.server_url }}/${{ github.repository }}/settings/variables/actions/AUTO_DEPLOY_PREBUILT_BRANCHES"
-          echo "2. Current value: ${{ vars.AUTO_DEPLOY_PREBUILT_BRANCHES }}"
-          echo "3. Update as needed (JSON array with no spaces)"
-
-      - name: Tag ${{ needs.prepare_strategy.outputs.environment }}
-        if: ${{ needs.prepare_strategy.outputs.is_stable_branch == 'true' && (github.event_name != 'push' || !startsWith(github.ref, 'refs/tags/')) }}
-        run: |
-            TAG="${{ needs.prepare_strategy.outputs.environment }}/${{ needs.prepare_strategy.outputs.version }}/${{ needs.prepare_strategy.outputs.build }}"
-            git tag -f -a ${TAG} -m "${{ needs.prepare_strategy.outputs.environment }} @ ${{ needs.prepare_strategy.outputs.version }} of build ${{ needs.build.outputs.build }}."
-            git push -f origin ${TAG}
-
-  notify:
-    needs:
-    - prepare_strategy
-    - build
-    - publish
-    runs-on: ubuntu-24.04
-    if: ${{ (always() && !cancelled() && !failure())
-      && needs.publish.result == 'success'
-      && (!contains(github.event_name, 'pull_request') || (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-      && (fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name] != null) }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Prepare notification message
-        id: message
-        run: |
-          TEMPLATE='${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}'
-          export VERSION="${{ needs.prepare_strategy.outputs.version }}"
-          export branch_name="${{ env.SOURCE_BRANCH }}"
-          export new_branch="${{ needs.prepare_strategy.outputs.new_branch }}"
-          export commit_sha="${{ github.sha }}"
-          export commit_short_sha="${{ github.sha }}"
-          export commit_short_sha="${commit_short_sha:0:7}"
-          export extra_version_identifier="${{ needs.prepare_strategy.outputs.extra_version_identifier || github.run_number }}"
-          export PUBLIC_REPO_URL="${{ env.PUBLIC_REPO_URL }}"
-
-          MESSAGE=$(cat << 'EOF' | envsubst
-          ${{ vars.DISCOURSE_GENERAL_UPDATE_NOTICE }}
-          EOF
-          )
-
-          {
-            echo 'content<<EOFMARKER'
-            echo "$MESSAGE"
-            echo 'EOFMARKER'
-          } >> $GITHUB_OUTPUT
-        shell: bash
-
-      - name: Post to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: "system"
-          topic-id: ${{ fromJSON(vars.DEV_FEEDBACK_NOTIFICATION_BRANCHES_V2)[github.head_ref || github.ref_name].topic_id }}
-          message: ${{ steps.message.outputs.content }}
-
-  manage-pr-labels:
-    name: Remove prebuilt label
-    runs-on: ubuntu-latest
-    if: (always() && contains(github.event_name, 'pull_request') && (github.event.action == 'labeled' && github.event.label.name == 'prebuilt'))
-    env:
-      LABEL: prebuilt
-    steps:
-      - name: Remove trust-fork-pr label if present
-        uses: actions/github-script@v7
-        with:
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-          script: |
-            const prNumber = context.payload.pull_request.number;
-
-            await github.rest.issues.removeLabel({
-              owner: context.repo.owner,
-              repo: context.repo.repo,
-              issue_number: prNumber,
-              name: process.env.LABEL
-            });
-
-            console.log(`Removed '${process.env.LABEL}' label from PR #${prNumber}`);

.github/workflows/sunnypilot-master-dev-prep.yaml

@@ -1,222 +0,0 @@
-name: Build dev
-
-env:
-  DEFAULT_SOURCE_BRANCH: "master"
-  DEFAULT_TARGET_BRANCH: "master-dev"
-  LFS_URL: 'https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs'
-  LFS_PUSH_URL: 'ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git'
-
-on:
-  push:
-    branches:
-      - master
-  pull_request_target:
-    types: [ labeled ]
-    branches:
-      - 'master'
-  workflow_dispatch:
-    inputs:
-      source_branch:
-        description: 'Source branch to reset from'
-        required: true
-        default: 'master'
-        type: string
-      target_branch:
-        description: 'Target branch to reset and squash into'
-        required: true
-        default: 'master-dev'
-        type: string
-      cancel_in_progress:
-        description: 'Cancel any in-progress runs of this workflow'
-        required: false
-        default: true
-        type: boolean
-
-concurrency:
-  group: ${{ github.workflow }}
-  cancel-in-progress: ${{ inputs.cancel_in_progress || github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch) }}
-
-jobs:
-  reset-and-squash:
-    runs-on: ubuntu-latest
-    if: (
-      (github.event_name == 'workflow_dispatch')
-      || (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-      || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-      )
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0  # Fetch all history for all branches
-          token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Wait for Tests
-        uses: ./.github/workflows/wait-for-action # Path to where you place the action
-        if: (
-          (github.event_name == 'push' && github.ref == format('refs/heads/{0}', github.event.repository.default_branch))
-          || (contains(github.event_name, 'pull_request') && ((github.event.action == 'labeled' && (github.event.label.name == vars.PREBUILT_PR_LABEL || github.event.label.name == 'trust-fork-pr') && contains(github.event.pull_request.labels.*.name, vars.PREBUILT_PR_LABEL))))
-          )
-        with:
-          workflow: tests.yaml # The workflow file to monitor
-          github-token: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Configure Git
-        run: |
-          git config --global user.name 'github-actions[bot]'
-          git config --global user.email 'github-actions[bot]@users.noreply.github.com'
-
-      - name: Set up SSH
-        uses: webfactory/ssh-agent@v0.9.0
-        with:
-          ssh-private-key: ${{ secrets.SSH_PRIVATE_KEY }}
-
-      - name: Add GitLab public keys
-        run: |
-          ssh-keyscan -H gitlab.com >> ~/.ssh/known_hosts
-
-      - name: Set up Python
-        uses: actions/setup-python@v5
-        with:
-          python-version: '3.10'
-
-      - name: Install dependencies
-        run: |
-          python -m pip install --upgrade pip
-          pip install PyGithub
-
-      - name: Check branches exist
-        run: |
-          # Check if source branch exists
-          if ! git ls-remote --heads origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} | grep -q "${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"; then
-            echo "Source branch ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }} does not exist!"
-            exit 1
-          fi
-
-          # Make sure we have the latest source branch
-          git fetch origin ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-          # Check if target branch exists
-          if ! git ls-remote --heads origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} | grep -q "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"; then
-            echo "Target branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} does not exist, creating it from ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-            git checkout -b ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-            git push origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          else
-            # Fetch target branch if it exists
-            git fetch origin ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}
-          fi
-
-      - name: Reset target branch
-        run: |
-          echo "Resetting ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} to match ${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}"
-          # Delete if exists and recreate pointing to source
-          git branch -D ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} || true
-          git branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} origin/${{ inputs.source_branch || env.DEFAULT_SOURCE_BRANCH }}
-
-      - name: Get PRs to squash
-        id: get-prs
-        run: |
-          # Use GitHub API to get PRs with specific label, ordered by creation date
-          PR_LIST=$(gh api graphql -f query='
-            query($search_query:String!) {
-              search(query: $search_query, type:ISSUE, first:40) {
-                nodes {
-                  ... on PullRequest {
-                    number
-                    headRefName
-                    title
-                    createdAt
-                    labels(last:10) {
-                      nodes {
-                        name
-                      }
-                    }
-                    headRepository {
-                      name
-                      nameWithOwner
-                      url
-                      isFork
-                    }
-                    commits(last: 1) {
-                      nodes {
-                        commit {
-                          statusCheckRollup {
-                            state
-                          }
-                        }
-                      }
-                    }
-                  }
-                }
-              }
-            }' -F search_query="repo:${{ github.repository }} is:pr is:open label:${{ vars.PREBUILT_PR_LABEL }},${{ vars.PREBUILT_PR_LABEL }}-c3 draft:false sort:created-asc")
-
-          PR_LIST=${PR_LIST//\'/}
-          echo "PR_LIST=${PR_LIST}" >> $GITHUB_OUTPUT
-        env:
-          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Process PRs
-        run: |
-          cp ${{ github.workspace }}/release/ci/squash_and_merge.py /tmp/squash_and_merge.py && \
-          chmod +x /tmp/squash_and_merge.py && \
-          python3 ${{ github.workspace }}/release/ci/squash_and_merge_prs.py \
-            --pr-data '${{ steps.get-prs.outputs.PR_LIST }}' \
-            --target-branch ${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }} \
-            --squash-script-path '/tmp/squash_and_merge.py'
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Update LFS Config
-        run: |
-          echo '[lfs]' > .lfsconfig
-          echo '    url = ${{ env.LFS_URL }}' >> .lfsconfig
-          echo '    pushurl = ${{ env.LFS_PUSH_URL }}' >> .lfsconfig
-          echo '    locksverify = false' >> .lfsconfig
-
-      - name: Push changes if there are diffs
-        id: push-changes  # Add an id so we can reference this step
-        run: |
-          TARGET_BRANCH="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          # Fetch the latest from remote
-          git fetch origin $TARGET_BRANCH
-
-          # Check for diffs between local and remote
-          if git diff $TARGET_BRANCH origin/$TARGET_BRANCH --quiet; then
-            echo "No changes to push - local and remote branches are identical"
-            echo "has_changes=false" >> $GITHUB_OUTPUT
-            exit 0
-          fi
-
-          # If we get here, there are diffs, so push
-          if ! git push origin $TARGET_BRANCH --force; then
-            echo "Failed to push changes to $TARGET_BRANCH"
-            exit 1
-          fi
-
-          echo "Branch $TARGET_BRANCH has been reset and updated with squashed PRs"
-          echo "has_changes=true" >> $GITHUB_OUTPUT
-
-      - name: Trigger and wait for selfdrive tests
-        if: steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          echo "Triggering selfdrive tests..."
-          gh workflow run tests.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-
-          echo "Sleeping for 120s to give plenty of time for the action to start and then we wait"
-          sleep 120
-
-          echo "Getting latest run ID..."
-          RUN_ID=$(gh run list --workflow=tests.yaml --branch="${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}" --limit=1 --json databaseId --jq '.[0].databaseId')
-
-          echo "Watching run ID: $RUN_ID"
-          gh run watch "$RUN_ID"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
-
-      - name: Trigger prebuilt workflow
-        if: success() && steps.push-changes.outputs.has_changes == 'true'
-        run: |
-          gh workflow run sunnypilot-build-prebuilt.yaml --ref "${{ inputs.target_branch || env.DEFAULT_TARGET_BRANCH }}"
-        env:
-          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}

.github/workflows/test-discourse.yaml.yml

@@ -1,78 +0,0 @@
-name: Debug Discourse Posting
-
-on:
-  push:
-
-jobs:
-  test-discourse-post:
-    runs-on: ubuntu-latest
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Post test message to Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      
-      
-      - name: Create topic on Discourse
-        uses: ./.github/workflows/post-to-discourse
-        with:
-          discourse-url: ${{ vars.DISCOURSE_URL }}
-          api-key: ${{ secrets.DISCOURSE_API_KEY }}
-          api-username: ${{ secrets.DISCOURSE_API_USERNAME }}
-          #topic-id: ${{ vars.DISCOURSE_UPDATES_TOPIC_ID }}
-          category-id: 4
-          title: "This is a test of a new topic instead of a reply"
-          message: |
-            ## 🧪 Test Post from GitHub Actions
-            
-            **This is a test post to verify Discourse integration**
-            
-            - **Workflow**: ${{ github.workflow }}
-            - **Run Number**: #${{ github.run_number }}
-            - **Branch**: `${{ github.ref_name }}`
-            - **Commit**: ${{ github.sha }}
-            - **Actor**: @${{ github.actor }}
-            - **Timestamp**: ${{ github.event.head_commit.timestamp }}
-            
-            ---
-            
-            ### Fake Build Info (for testing)
-            - **Version**: 0.9.8-test
-            - **Build**: #42
-            - **Branch**: release-test
-            
-            [View workflow run](${{ github.server_url }}/${{ github.repository }}/actions/runs/${{ github.run_id }})
-            
-            *This is an automated test message. Drive safe! 🚗💨*
-      - name: Display results
-        if: always()
-        run: |
-          echo "::notice::Discourse post test completed"
-          echo "Check your Discourse topic to verify the post appeared correctly"

.github/workflows/tests.yaml

@@ -19,11 +19,11 @@ concurrency:
 
 env:
   PYTHONWARNINGS: error
-  BASE_IMAGE: sunnypilot-base
+  BASE_IMAGE: openpilot-base
   AZURE_TOKEN: ${{ secrets.AZURE_COMMADATACI_OPENPILOTCI_TOKEN }}
 
   DOCKER_LOGIN: docker login ghcr.io -u ${{ github.actor }} -p ${{ secrets.GITHUB_TOKEN }}
-  BUILD: release/ci/docker_build_sp.sh base
+  BUILD: selfdrive/test/docker_build.sh base
 
   RUN: docker run --shm-size 2G -v $PWD:/tmp/openpilot -w /tmp/openpilot -e CI=1 -e PYTHONWARNINGS=error -e FILEREADER_CACHE=1 -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 $GITHUB_WORKSPACE/.ci_cache/scons_cache:/tmp/scons_cache -v $GITHUB_WORKSPACE/.ci_cache/comma_download_cache:/tmp/comma_download_cache -v $GITHUB_WORKSPACE/.ci_cache/openpilot_cache:/tmp/openpilot_cache $BASE_IMAGE /bin/bash -c
 
@@ -65,25 +65,9 @@ jobs:
         cd $STRIPPED_DIR
         ${{ env.RUN }} "release/check-dirty.sh"
     - name: Check submodules
-      if: github.repository == 'sunnypilot/sunnypilot'
+      if: github.repository == 'commaai/openpilot'
       timeout-minutes: 3
-      run: |
-        if [ "${{ github.ref }}" != "refs/heads/master" ]; then
-          git fetch  origin master:refs/remotes/origin/master
-
-          SUBMODULE_PATHS=$(git diff origin/master HEAD --name-only | grep -E '^[^/]+$' | while read path; do
-            if git ls-files --stage "$path" | grep -q "^160000"; then
-              echo "$path"
-            fi
-          done | tr '\n' ' ')
-
-          if [ -n "$SUBMODULE_PATHS" ]; then
-            echo "Changed submodule paths: $SUBMODULE_PATHS"
-            export SUBMODULE_PATHS="$SUBMODULE_PATHS"
-            export CHECK_PR_REFS=true
-          fi
-        fi
-        release/check-submodules.sh
+      run: release/check-submodules.sh
 
   build:
     runs-on: ${{
@@ -97,7 +81,7 @@ jobs:
       with:
         submodules: true
     - name: Setup docker push
-      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'sunnypilot/sunnypilot'
+      if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
@@ -116,28 +100,20 @@ jobs:
     - name: Homebrew cache
       uses: ./.github/workflows/auto-cache
       with:
-        save: false # No need save here if we manually save it later conditionally
         path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
+        key: brew-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          brew-macos-${{ hashFiles('tools/Brewfile') }}
-          brew-macos-
+          brew-macos-${{ env.CACHE_COMMIT_DATE }}
+          brew-macos
     - name: Install dependencies
       run: ./tools/mac_setup.sh
       env:
         PYTHONWARNINGS: default  # package install has DeprecationWarnings
         HOMEBREW_DISPLAY_INSTALL_TIMES: 1
-    - name: Save Homebrew cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: ~/Library/Caches/Homebrew
-        key: brew-macos-${{ hashFiles('tools/Brewfile') }}-${{ github.sha }}
     - run: git lfs pull
     - name: Getting scons cache
       uses: ./.github/workflows/auto-cache
       with:
-        save: false # No need save here if we manually save it later conditionally
         path: /tmp/scons_cache
         key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
@@ -145,12 +121,6 @@ jobs:
           scons-${{ runner.arch }}-macos
     - name: Building openpilot
       run: . .venv/bin/activate && scons -j$(nproc)
-    - name: Save scons cache
-      uses: actions/cache/save@v4
-      if: github.ref == 'refs/heads/master'
-      with:
-        path: /tmp/scons_cache
-        key: scons-${{ runner.arch }}-macos-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
 
   static_analysis:
     name: static analysis
@@ -188,7 +158,7 @@ jobs:
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 999 }}
+      timeout-minutes: ${{ contains(runner.name, 'nsc') && ((steps.setup-step.outputs.duration < 18) && 1 || 2) || 20 }}
       run: |
         ${{ env.RUN }} "source selfdrive/test/setup_xvfb.sh && \
                         # Pre-compile Python bytecode so each pytest worker doesn't need to
@@ -198,7 +168,6 @@ jobs:
 
   process_replay:
     name: process replay
-    if: false  # disable process_replay for forks
     runs-on: ${{
       (github.repository == 'commaai/openpilot') &&
       ((github.event_name != 'pull_request') ||

.github/workflows/wait-for-action/action.yaml

@@ -1,52 +0,0 @@
-name: 'Wait for Tests'
-description: 'Action to wait for workflow tests to start and complete'
-inputs:
-  workflow:
-    description: 'The workflow file name to monitor'
-    required: true
-    default: 'tests.yaml'
-  branch:
-    description: 'The branch to monitor (defaults to current branch)'
-    required: false
-    default: ''
-  github-token:
-    description: 'GitHub token for API access'
-    required: true
-  wait-time:
-    description: 'Initial sleep time in seconds before monitoring starts'
-    required: false
-    default: '30'
-  should-wait-for-start:
-    description: 'Whether to wait for tests to start'
-    required: false
-    default: false
-
-runs:
-  using: 'composite'
-  steps:
-    - name: Wait for tests to start
-      if: inputs.should-wait-for-start == 'true'
-      shell: bash
-      run: |
-        echo "Sleeping for ${{ inputs.wait-time }} seconds to give some time for the action to start and then we'll wait"
-        sleep ${{ inputs.wait-time }}
-
-    - name: Wait for tests to finish
-      shell: bash
-      run: |
-        BRANCH="${{ inputs.branch || github.head_ref || github.ref_name }}"
-        
-        echo "Looking for workflow runs of ${{ inputs.workflow }} on branch $BRANCH"
-        RUN_ID=$(gh run list --workflow=${{ inputs.workflow }} --branch="$BRANCH" --limit=1 --json databaseId --jq '.[0].databaseId')
-        echo "Watching run ID: $RUN_ID"
-        gh run watch "$RUN_ID"
-
-        CONCLUSION=$(gh run view "$RUN_ID" --json conclusion --jq '.conclusion')
-        echo "Run concluded with: $CONCLUSION"
-
-        if [[ "$CONCLUSION" != "success" ]]; then
-          echo "❌ Workflow run failed with conclusion: $CONCLUSION"
-          exit 1
-        fi
-      env:
-        GITHUB_TOKEN: ${{ inputs.github-token }}

.gitignore

@@ -65,9 +65,6 @@ cppcheck_report.txt
 comma*.sh
 
 selfdrive/modeld/models/*.pkl
-sunnypilot/modeld*/thneed/compile
-sunnypilot/modeld*/models/*.thneed
-sunnypilot/modeld*/models/*.pkl
 
 # openpilot log files
 *.bz2
@@ -98,8 +95,3 @@ Pipfile
 # Ignore all local history of files
 .history
 .ionide
-
-### JetBrains ###
-!.idea/customTargets.xml
-!.idea/tools/*
-!.run/*

.gitmodules

@@ -1,21 +1,18 @@
 [submodule "panda"]
   path = panda
-  url = https://github.com/sunnyhaibin/panda.git
+  url = ../../commaai/panda.git
 [submodule "opendbc"]
   path = opendbc_repo
-  url = https://github.com/sunnypilot/opendbc.git
+  url = ../../commaai/opendbc.git
 [submodule "msgq"]
   path = msgq_repo
-  url = https://github.com/commaai/msgq.git
+  url = ../../commaai/msgq.git
 [submodule "rednose_repo"]
   path = rednose_repo
-  url = https://github.com/commaai/rednose.git
+  url = ../../commaai/rednose.git
 [submodule "teleoprtc_repo"]
   path = teleoprtc_repo
-  url = https://github.com/commaai/teleoprtc
+  url = ../../commaai/teleoprtc
 [submodule "tinygrad"]
   path = tinygrad_repo
-  url = https://github.com/commaai/tinygrad.git
-[submodule "sunnypilot/neural_network_data"]
-  path = sunnypilot/neural_network_data
-  url = https://github.com/sunnypilot/neural-network-data.git
+  url = https://github.com/tinygrad/tinygrad.git

.idea/customTargets.xml

@@ -1,25 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="CLionExternalBuildManager">
-    <target id="a62f99e8-5ec4-434c-8122-49efed5af108" name="uv Scons Build Debug" defaultType="TOOL">
-      <configuration id="b93ec964-16e5-4962-a12e-3ed360ce8f02" name="uv Scons Build Debug">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Debug" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-    <target id="edd8ad9d-183b-467c-a355-0d9a0ecab026" name="uv Scons Build Release" defaultType="TOOL">
-      <configuration id="09523339-5ce3-4223-ab9e-904f38ad7752" name="uv Scons Build Release">
-        <build type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Build Release" />
-        </build>
-        <clean type="TOOL">
-          <tool actionId="Tool_External Tools_uv Scons Clean" />
-        </clean>
-      </configuration>
-    </target>
-  </component>
-</project>

.idea/tools/External Tools.xml

@@ -1,23 +0,0 @@
-<toolSet name="External Tools">
-  <tool name="uv Scons Build Debug" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc) --ccflags=\&quot;-fno-inline\&quot;&quot;" />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Clean" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -c&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-  <tool name="uv Scons Build Release" showInMainMenu="false" showInEditor="false" showInProject="false" showInSearchPopup="false" disabled="false" useConsole="true" showConsoleOnStdOut="false" showConsoleOnStdErr="false" synchronizeAfterRun="true">
-    <exec>
-      <option name="COMMAND" value="bash" />
-      <option name="PARAMETERS" value="-c &quot;source .venv/bin/activate &amp;&amp; scons -u -j$(nproc)&quot; " />
-      <option name="WORKING_DIRECTORY" value="$ProjectFileDir$" />
-    </exec>
-  </tool>
-</toolSet>

.lfsconfig

@@ -1,4 +1,4 @@
 [lfs]
-	url = https://gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/sunnypilot/public/sunnypilot-new-lfs.git
+	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
+	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
 	locksverify = false

.lfsconfig-comma

@@ -1,4 +0,0 @@
-[lfs]
-	url = https://gitlab.com/commaai/openpilot-lfs.git/info/lfs
-	pushurl = ssh://git@gitlab.com/commaai/openpilot-lfs.git
-	locksverify = false

.run/Build Debug.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Debug" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Debug" CONFIG_NAME="uv Scons Build Debug" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build Release.run.xml

@@ -1,10 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build Release" type="CLionExternalRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" WORKING_DIR="file://$ProjectFileDir$/selfdrive/ui" PASS_PARENT_ENVS_2="true" PROJECT_NAME="sunnypilot" TARGET_NAME="uv Scons Build Release" CONFIG_NAME="uv Scons Build Release" RUN_PATH="ui">
-    <envs>
-      <env name="QT_DBL_CLICK_DIST" value="150" />
-    </envs>
-    <method v="2">
-      <option name="CLION.EXTERNAL.BUILD" enabled="true" />
-    </method>
-  </configuration>
-</component>

.run/Build_BIG_UI.run.xml

@@ -1,26 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_BIG_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <envs>
-      <env name="BIG" value="1" />
-    </envs>
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

.run/Build_SMALL_UI.run.xml

@@ -1,23 +0,0 @@
-<component name="ProjectRunConfigurationManager">
-  <configuration default="false" name="Build_SMALL_UI" type="PythonConfigurationType" factoryName="Python">
-    <module name="sunnypilot" />
-    <option name="ENV_FILES" value="" />
-    <option name="INTERPRETER_OPTIONS" value="" />
-    <option name="PARENT_ENVS" value="true" />
-    <option name="SDK_HOME" value="" />
-    <option name="WORKING_DIRECTORY" value="$ProjectFileDir$/" />
-    <option name="IS_MODULE_SDK" value="true" />
-    <option name="ADD_CONTENT_ROOTS" value="true" />
-    <option name="ADD_SOURCE_ROOTS" value="true" />
-    <option name="SCRIPT_NAME" value="$ProjectFileDir$/selfdrive/ui/ui.py" />
-    <option name="PARAMETERS" value="" />
-    <option name="SHOW_COMMAND_LINE" value="false" />
-    <option name="EMULATE_TERMINAL" value="false" />
-    <option name="MODULE_MODE" value="false" />
-    <option name="REDIRECT_INPUT" value="false" />
-    <option name="INPUT_FILE" value="" />
-    <method v="2">
-      <option name="ToolBeforeRunTask" enabled="true" actionId="Tool_External Tools_uv Scons Build Debug" />
-    </method>
-  </configuration>
-</component>

Dockerfile.openpilot_base

@@ -60,7 +60,6 @@ ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
 ENV QTWEBENGINE_DISABLE_SANDBOX=1
 
 RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
 
 ARG USER=batman
 ARG USER_UID=1001

Dockerfile.sunnypilot

@@ -1,12 +0,0 @@
-FROM ghcr.io/sunnypilot/sunnypilot-base:latest
-
-ENV PYTHONUNBUFFERED=1
-
-ENV OPENPILOT_PATH=/home/batman/openpilot
-
-RUN mkdir -p ${OPENPILOT_PATH}
-WORKDIR ${OPENPILOT_PATH}
-
-COPY . ${OPENPILOT_PATH}/
-
-RUN scons --cache-readonly -j$(nproc)

Dockerfile.sunnypilot_base

@@ -1,83 +0,0 @@
-FROM ubuntu:24.04
-
-ENV PYTHONUNBUFFERED=1
-
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt-get update && \
-    apt-get install -y --no-install-recommends sudo tzdata locales ssh pulseaudio xvfb x11-xserver-utils gnome-screenshot python3-tk python3-dev && \
-    rm -rf /var/lib/apt/lists/*
-
-RUN sed -i -e 's/# en_US.UTF-8 UTF-8/en_US.UTF-8 UTF-8/' /etc/locale.gen && locale-gen
-ENV LANG=en_US.UTF-8
-ENV LANGUAGE=en_US:en
-ENV LC_ALL=en_US.UTF-8
-
-COPY tools/install_ubuntu_dependencies.sh /tmp/tools/
-RUN /tmp/tools/install_ubuntu_dependencies.sh && \
-    rm -rf /var/lib/apt/lists/* /tmp/* && \
-    cd /usr/lib/gcc/arm-none-eabi/* && \
-    rm -rf arm/ thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
-
-# Add OpenCL
-RUN apt-get update && apt-get install -y --no-install-recommends \
-    apt-utils \
-    alien \
-    unzip \
-    tar \
-    curl \
-    xz-utils \
-    dbus \
-    gcc-arm-none-eabi \
-    tmux \
-    vim \
-    libx11-6 \
-    wget \
-    rsync \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN mkdir -p /tmp/opencl-driver-intel && \
-    cd /tmp/opencl-driver-intel && \
-    wget https://github.com/intel/llvm/releases/download/2024-WW14/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    wget https://github.com/oneapi-src/oneTBB/releases/download/v2021.12.0/oneapi-tbb-2021.12.0-lin.tgz && \
-    mkdir -p /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    cd /opt/intel/oclcpuexp_2024.17.3.0.09_rel && \
-    tar -zxvf /tmp/opencl-driver-intel/oclcpuexp-2024.17.3.0.09_rel.tar.gz && \
-    mkdir -p /etc/OpenCL/vendors && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64/libintelocl.so > /etc/OpenCL/vendors/intel_expcpu.icd && \
-    cd /opt/intel && \
-    tar -zxvf /tmp/opencl-driver-intel/oneapi-tbb-2021.12.0-lin.tgz && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbb.so.12 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    ln -s /opt/intel/oneapi-tbb-2021.12.0/lib/intel64/gcc4.8/libtbbmalloc.so.2 /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 && \
-    mkdir -p /etc/ld.so.conf.d && \
-    echo /opt/intel/oclcpuexp_2024.17.3.0.09_rel/x64 > /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    ldconfig -f /etc/ld.so.conf.d/libintelopenclexp.conf && \
-    cd / && \
-    rm -rf /tmp/opencl-driver-intel
-
-ENV NVIDIA_VISIBLE_DEVICES=all
-ENV NVIDIA_DRIVER_CAPABILITIES=graphics,utility,compute
-ENV QTWEBENGINE_DISABLE_SANDBOX=1
-
-RUN dbus-uuidgen > /etc/machine-id
-RUN apt-get update && apt-get install -y fonts-noto-cjk fonts-noto-color-emoji
-
-ARG USER=batman
-ARG USER_UID=1001
-RUN useradd -m -s /bin/bash -u $USER_UID $USER
-RUN usermod -aG sudo $USER
-RUN echo '%sudo ALL=(ALL) NOPASSWD:ALL' >> /etc/sudoers
-USER $USER
-
-COPY --chown=$USER pyproject.toml uv.lock /home/$USER
-COPY --chown=$USER tools/install_python_dependencies.sh /home/$USER/tools/
-
-ENV VIRTUAL_ENV=/home/$USER/.venv
-ENV PATH="$VIRTUAL_ENV/bin:$PATH"
-RUN cd /home/$USER && \
-    tools/install_python_dependencies.sh && \
-    rm -rf tools/ pyproject.toml uv.lock .cache
-
-USER root
-RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -22,7 +22,7 @@ shopt -s huponexit # kill all child processes when the shell exits
 
 export CI=1
 export PYTHONWARNINGS=error
-export LOGPRINT=debug
+#export LOGPRINT=debug # this has gotten too spammy...
 export TEST_DIR=${env.TEST_DIR}
 export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}

LICENSE.md

@@ -1,21 +0,0 @@
-# Custom MIT License
-
-Copyright (c) 2024, Haibin Wen, SUNNYPILOT LLC
-
-Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to view and modify the Software, subject to the following conditions:
-
-1. **Permission Required**: Permission Required for Commercial, For-Profit, or Closed Source Use: Use of the Software, in whole or in part, for any commercial purposes, for-profit projects, or in closed source projects requires explicit written permission from the original author(s).
-
-2. **Redistribution**: Any redistribution of the Software, modified or unmodified, must retain this license notice and the following acknowledgment:
-   "This software is licensed under a custom license requiring permission for use."
-
-3. **Visibility**: Any project that uses the Software must visibly mention the following acknowledgment:
-   "This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use."
-
-4. **No Warranty**: THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-
-Contact sunnypilot Support <support@sunnypilot.ai> for permission requests.
-
----
-
-Haibin Wen, SUNNYPILOT LLC

README.md

@@ -1,130 +1,111 @@
-![](https://user-images.githubusercontent.com/47793918/233812617-beab2e71-57b9-479e-8bff-c3931347ca40.png)
+<div align="center" style="text-align: center;">
 
-## 🌞 What is sunnypilot?
-[sunnypilot](https://github.com/sunnyhaibin/sunnypilot) is a fork of comma.ai's openpilot, an open source driver assistance system. sunnypilot offers the user a unique driving experience for over 300+ supported car makes and models with modified behaviors of driving assist engagements. sunnypilot complies with comma.ai's safety rules as accurately as possible.
+<h1>openpilot</h1>
 
-## 💭 Join our Community Forum
-Join the official sunnypilot community forum to stay up to date with all the latest features and be a part of shaping the future of sunnypilot!
-* https://community.sunnypilot.ai/
+<p>
+  <b>openpilot is an operating system for robotics.</b>
+  <br>
+  Currently, it upgrades the driver assistance system in 300+ supported cars.
+</p>
 
-## Documentation
-https://docs.sunnypilot.ai/ is your one stop shop for everything from features to installation to FAQ about the sunnypilot
+<h3>
+  <a href="https://docs.comma.ai">Docs</a>
+  <span> · </span>
+  <a href="https://docs.comma.ai/contributing/roadmap/">Roadmap</a>
+  <span> · </span>
+  <a href="https://github.com/commaai/openpilot/blob/master/docs/CONTRIBUTING.md">Contribute</a>
+  <span> · </span>
+  <a href="https://discord.comma.ai">Community</a>
+  <span> · </span>
+  <a href="https://comma.ai/shop">Try it on a comma 3X</a>
+</h3>
 
-## 🚘 Running on a dedicated device in a car
-* A supported device to run this software
-    * a [comma three](https://comma.ai/shop/products/three) or a [C3X](https://comma.ai/shop/comma-3x)
-* This software
-* One of [the 325+ supported cars](https://github.com/sunnypilot/sunnypilot/blob/master/docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run sunnypilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car
+Quick start: `bash <(curl -fsSL openpilot.comma.ai)`
 
-Detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+[![openpilot tests](https://github.com/commaai/openpilot/actions/workflows/tests.yaml/badge.svg)](https://github.com/commaai/openpilot/actions/workflows/tests.yaml)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+[![X Follow](https://img.shields.io/twitter/follow/comma_ai)](https://x.com/comma_ai)
+[![Discord](https://img.shields.io/discord/469524606043160576)](https://discord.comma.ai)
 
-## Installation
-Please refer to [Recommended Branches](#recommended-branches) to find your preferred/supported branch. This guide will assume you want to install the latest `staging` branch.
+</div>
 
-### If you want to use our newest branches (our rewrite)
-> [!TIP]
->You can see the rewrite state on our [rewrite project board](https://github.com/orgs/sunnypilot/projects/2), and to install the new branches, you can use the following links
+<table>
+  <tr>
+    <td><a href="https://youtu.be/NmBfgOanCyk" title="Video By Greer Viau"><img src="https://github.com/commaai/openpilot/assets/8762862/2f7112ae-f748-4f39-b617-fabd689c3772"></a></td>
+    <td><a href="https://youtu.be/VHKyqZ7t8Gw" title="Video By Logan LeGrand"><img src="https://github.com/commaai/openpilot/assets/8762862/92351544-2833-40d7-9e0b-7ef7ae37ec4c"></a></td>
+    <td><a href="https://youtu.be/SUIZYzxtMQs" title="A drive to Taco Bell"><img src="https://github.com/commaai/openpilot/assets/8762862/05ceefc5-2628-439c-a9b2-89ce77dc6f63"></a></td>
+  </tr>
+</table>
 
-* sunnypilot not installed or you installed a version before 0.8.17?
-  1. [Factory reset/uninstall](https://github.com/commaai/openpilot/wiki/FAQ#how-can-i-reset-the-device) the previous software if you have another software/fork installed.
-  2. After factory reset/uninstall and upon reboot, select `Custom Software` when given the option.
-  3. Input the installation URL per [Recommended Branches](#recommended-branches). Example: ```https://staging.sunnypilot.ai```.
-  4. Complete the rest of the installation following the onscreen instructions.
 
-* sunnypilot already installed and you installed a version after 0.8.17?
-  1. On the comma three/3X, go to `Settings` ▶️ `Software`.
-  2. At the `Download` option, press `CHECK`. This will fetch the list of latest branches from sunnypilot.
-  3. At the `Target Branch` option, press `SELECT` to open the Target Branch selector.
-  4. Scroll to select the desired branch per  Recommended Branches (see below). Example: `staging`
+Using openpilot in a car
+------
 
-### Recommended Branches
-|      Branch     |                 Installation URL              |
-|:---------------:|:---------------------------------------------:|
-| `release`       | `https://release.sunnypilot.ai`               |
-| `staging`       | `https://staging.sunnypilot.ai`               |
-|   `dev`         | `https://dev.sunnypilot.ai`                   |
-| `custom-branch` | `https://install.sunnypilot.ai/{branch_name}` |
+To use openpilot in a car, you need four things:
+1. **Supported Device:** a comma 3X, available at [comma.ai/shop](https://comma.ai/shop/comma-3x).
+2. **Software:** The setup procedure for the comma 3X allows users to enter a URL for custom software. Use the URL `openpilot.comma.ai` to install the release version.
+3. **Supported Car:** Ensure that you have one of [the 275+ supported cars](docs/CARS.md).
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3X to your car.
 
-> [!TIP]
-> You can use sunnypilot/targetbranch as an install URL. Example: 'sunnypilot/staging'.
+We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup). Note that it's possible to run openpilot on [other hardware](https://blog.comma.ai/self-driving-car-for-free/), although it's not plug-and-play.
 
-> [!NOTE]
-> Do you require further assistance with software installation? Join the [sunnypilot community forum](https://community.sunnypilot.ai/new-topic?category=general/qa) and create a topic in the General/Q&A Category channel.
 
+### Branches
+
+Running `master` and other branches directly is supported, but it's recommended to run one of the following prebuilt branches:
+
+| comma four branch      | comma 3X branch        | URL                                    | description                                                                         |
+|------------------------|------------------------|----------------------------------------|-------------------------------------------------------------------------------------|
+| `release-mici`         | `release-tizi`         | openpilot.comma.ai                     | This is openpilot's release branch.                                                 |
+| `release-mici-staging` | `release-tizi-staging` | openpilot-test.comma.ai                | This is the staging branch for releases. Use it to get new releases slightly early. |
+| `nightly`              | `nightly`              | openpilot-nightly.comma.ai             | This is the bleeding edge development branch. Do not expect this to be stable.      |
+| `nightly-dev`          | `nightly-dev`          | installer.comma.ai/commaai/nightly-dev | Same as nightly, but includes experimental development features for some cars.      |
+
+To start developing openpilot
+------
+
+openpilot is developed by [comma](https://comma.ai/) and by users like you. We welcome both pull requests and issues on [GitHub](http://github.com/commaai/openpilot).
+
+* Join the [community Discord](https://discord.comma.ai)
+* Check out [the contributing docs](docs/CONTRIBUTING.md)
+* Check out the [openpilot tools](tools/)
+* Code documentation lives at https://docs.comma.ai
+* Information about running openpilot lives on the [community wiki](https://github.com/commaai/openpilot/wiki)
+
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions) and offers lots of [bounties](https://comma.ai/bounties) for external contributors.
+
+Safety and Testing
+----
+
+* openpilot observes [ISO26262](https://en.wikipedia.org/wiki/ISO_26262) guidelines, see [SAFETY.md](docs/SAFETY.md) for more details.
+* openpilot has software-in-the-loop [tests](.github/workflows/tests.yaml) that run on every commit.
+* The code enforcing the safety model lives in panda and is written in C, see [code rigor](https://github.com/commaai/panda#code-rigor) for more details.
+* panda has software-in-the-loop [safety tests](https://github.com/commaai/panda/tree/master/tests/safety).
+* Internally, we have a hardware-in-the-loop Jenkins test suite that builds and unit tests the various processes.
+* panda has additional hardware-in-the-loop [tests](https://github.com/commaai/panda/blob/master/Jenkinsfile).
+* We run the latest openpilot in a testing closet containing 10 comma devices continuously replaying routes.
 
 <details>
+<summary>MIT Licensed</summary>
 
-<summary>Older legacy branches</summary>
+openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
 
-### If you want to use our older legacy branches (*not recommended*)
-
-> [**IMPORTANT**]
-> It is recommended to [re-flash AGNOS](https://flash.comma.ai/) if you intend to downgrade from the new branches.
-> You can still restore the latest sunnylink backup made on the old branches.
-
-|    Branch    |         Installation URL         |
-|:------------:|:--------------------------------:|
-| `release-c3` | https://release-c3.sunnypilot.ai |
-| `staging-c3` | https://staging-c3.sunnypilot.ai |
-|   `dev-c3`   | https://dev-c3.sunnypilot.ai     |
+Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
 
+**THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
+YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
+NO WARRANTY EXPRESSED OR IMPLIED.**
 </details>
 
+<details>
+<summary>User Data and comma Account</summary>
 
-## 🎆 Pull Requests
-We welcome both pull requests and issues on GitHub. Bug fixes are encouraged.
+By default, openpilot uploads the driving data to our servers. You can also access your data through [comma connect](https://connect.comma.ai/). We use your data to train better models and improve openpilot for everyone.
 
-Pull requests should be against the most current `master` branch.
+openpilot is open source software: the user is free to disable data collection if they wish to do so.
 
-## 📊 User Data
-
-By default, sunnypilot uploads the driving data to comma servers. You can also access your data through [comma connect](https://connect.comma.ai/).
-
-sunnypilot is open source software. The user is free to disable data collection if they wish to do so.
-
-sunnypilot logs the road-facing camera, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
+openpilot logs the road-facing cameras, CAN, GPS, IMU, magnetometer, thermal sensors, crashes, and operating system logs.
 The driver-facing camera and microphone are only logged if you explicitly opt-in in settings.
 
-By using this software, you understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
-
-## Licensing
-
-sunnypilot is released under the [MIT License](LICENSE). This repository includes original work as well as significant portions of code derived from [openpilot by comma.ai](https://github.com/commaai/openpilot), which is also released under the MIT license with additional disclaimers.
-
-The original openpilot license notice, including comma.ai’s indemnification and alpha software disclaimer, is reproduced below as required:
-
-> openpilot is released under the MIT license. Some parts of the software are released under other licenses as specified.
->
-> Any user of this software shall indemnify and hold harmless Comma.ai, Inc. and its directors, officers, employees, agents, stockholders, affiliates, subcontractors and customers from and against all allegations, claims, actions, suits, demands, damages, liabilities, obligations, losses, settlements, judgments, costs and expenses (including without limitation attorneys’ fees and costs) which arise out of, relate to or result from any use of this software by user.
->
-> **THIS IS ALPHA QUALITY SOFTWARE FOR RESEARCH PURPOSES ONLY. THIS IS NOT A PRODUCT.
-> YOU ARE RESPONSIBLE FOR COMPLYING WITH LOCAL LAWS AND REGULATIONS.
-> NO WARRANTY EXPRESSED OR IMPLIED.**
-
-For full license terms, please see the [`LICENSE`](LICENSE) file.
-
-## 💰 Support sunnypilot
-If you find any of the features useful, consider becoming a [sponsor on GitHub](https://github.com/sponsors/sunnyhaibin) to support future feature development and improvements.
-
-
-By becoming a sponsor, you will gain access to exclusive content, early access to new features, and the opportunity to directly influence the project's development.
-
-
-<h3>GitHub Sponsor</h3>
-
-<a href="https://github.com/sponsors/sunnyhaibin">
-  <img src="https://user-images.githubusercontent.com/47793918/244135584-9800acbd-69fd-4b2b-bec9-e5fa2d85c817.png" alt="Become a Sponsor" width="300" style="max-width: 100%; height: auto;">
-</a>
-<br>
-
-<h3>PayPal</h3>
-
-<a href="https://paypal.me/sunnyhaibin0850" target="_blank">
-<img src="https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif" alt="PayPal this" title="PayPal - The safer, easier way to pay online!" border="0" />
-</a>
-<br></br>
-
-Your continuous love and support are greatly appreciated! Enjoy 🥰
-
-<span>-</span> Jason, Founder of sunnypilot
+By using openpilot, you agree to [our Privacy Policy](https://comma.ai/privacy). You understand that use of this software or its related services will generate certain types of user data, which may be logged and stored at the sole discretion of comma. By accepting this agreement, you grant an irrevocable, perpetual, worldwide right to comma for the use of this data.
+</details>

RELEASES.md

@@ -1,5 +1,15 @@
-Version 0.10.3 (2025-12-10)
+Version 0.10.4 (2026-02-17)
 ========================
+* Lexus LS 2018 support thanks to Hacheoy!
+
+Version 0.10.3 (2025-12-17)
+========================
+* New driving model #36249
+  * New temporal policy architecture
+  * New on-policy training physics noise model
+* New driver monitoring model #36409
+  * Trained on a new dataset, including comma four data
+* Improved inter-process communication memory efficiency
 
 Version 0.10.2 (2025-11-19)
 ========================

SConstruct

@@ -101,7 +101,7 @@ if arch == "larch64":
     "/system/vendor/lib64",
     "/usr/lib/aarch64-linux-gnu",
   ])
-  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57", "-DQCOM2"]
+  arch_flags = ["-D__TICI__", "-mcpu=cortex-a57"]
   env.Append(CCFLAGS=arch_flags)
   env.Append(CXXFLAGS=arch_flags)
 elif arch == "Darwin":
@@ -168,8 +168,7 @@ Export('envCython', 'np_version')
 Export('env', 'arch')
 
 # Setup cache dir
-default_cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
-cache_dir = ARGUMENTS.get('cache_dir', default_cache_dir)
+cache_dir = '/data/scons_cache' if arch == "larch64" else '/tmp/scons_cache'
 CacheDir(cache_dir)
 Clean(["."], cache_dir)
 
@@ -215,8 +214,6 @@ SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/SConscript'])
 
-SConscript(['sunnypilot/SConscript'])
-
 if Dir('#tools/cabana/').exists() and GetOption('extras'):
   SConscript(['tools/replay/SConscript'])
   if arch != "larch64":

cereal/custom.capnp

@@ -10,448 +10,34 @@ $Cxx.namespace("cereal");
 # DO rename the structs
 # DON'T change the identifier (e.g. @0x81c2f05a394cf4af)
 
-struct ModularAssistiveDrivingSystem {
-  state @0 :ModularAssistiveDrivingSystemState;
-  enabled @1 :Bool;
-  active @2 :Bool;
-  available @3 :Bool;
-
-  enum ModularAssistiveDrivingSystemState {
-    disabled @0;
-    paused @1;
-    enabled @2;
-    softDisabling @3;
-    overriding @4;
-  }
+struct CustomReserved0 @0x81c2f05a394cf4af {
 }
 
-struct IntelligentCruiseButtonManagement {
-  state @0 :IntelligentCruiseButtonManagementState;
-  sendButton @1 :SendButtonState;
-  vTarget @2 :Float32;
-
-  enum IntelligentCruiseButtonManagementState {
-    inactive @0;      # No button press or default state
-    preActive @1;     # Pre-active state before transitioning to increasing or decreasing
-    increasing @2;    # Increasing speed
-    decreasing @3;    # Decreasing speed
-    holding @4;       # Holding steady speed
-  }
-
-  enum SendButtonState {
-    none @0;
-    increase @1;
-    decrease @2;
-  }
+struct CustomReserved1 @0xaedffd8f31e7b55d {
 }
 
-# Same struct as Log.RadarState.LeadData
-struct LeadData {
-  dRel @0 :Float32;
-  yRel @1 :Float32;
-  vRel @2 :Float32;
-  aRel @3 :Float32;
-  vLead @4 :Float32;
-  dPath @6 :Float32;
-  vLat @7 :Float32;
-  vLeadK @8 :Float32;
-  aLeadK @9 :Float32;
-  fcw @10 :Bool;
-  status @11 :Bool;
-  aLeadTau @12 :Float32;
-  modelProb @13 :Float32;
-  radar @14 :Bool;
-  radarTrackId @15 :Int32 = -1;
-
-  aLeadDEPRECATED @5 :Float32;
+struct CustomReserved2 @0xf35cc4560bbf6ec2 {
 }
 
-struct SelfdriveStateSP @0x81c2f05a394cf4af {
-  mads @0 :ModularAssistiveDrivingSystem;
-  intelligentCruiseButtonManagement @1 :IntelligentCruiseButtonManagement;
-
-  enum AudibleAlert {
-    none @0;
-
-    engage @1;
-    disengage @2;
-    refuse @3;
-
-    warningSoft @4;
-    warningImmediate @5;
-
-    prompt @6;
-    promptRepeat @7;
-    promptDistracted @8;
-
-    # unused, these are reserved for upstream events so we don't collide
-    reserved9 @9;
-    reserved10 @10;
-    reserved11 @11;
-    reserved12 @12;
-    reserved13 @13;
-    reserved14 @14;
-    reserved15 @15;
-    reserved16 @16;
-    reserved17 @17;
-    reserved18 @18;
-    reserved19 @19;
-    reserved20 @20;
-    reserved21 @21;
-    reserved22 @22;
-    reserved23 @23;
-    reserved24 @24;
-    reserved25 @25;
-    reserved26 @26;
-    reserved27 @27;
-    reserved28 @28;
-    reserved29 @29;
-    reserved30 @30;
-
-    promptSingleLow @31;
-    promptSingleHigh @32;
-  }
+struct CustomReserved3 @0xda96579883444c35 {
 }
 
-struct ModelManagerSP @0xaedffd8f31e7b55d {
-  activeBundle @0 :ModelBundle;
-  selectedBundle @1 :ModelBundle;
-  availableBundles @2 :List(ModelBundle);
-
-  struct DownloadUri {
-    uri @0 :Text;
-    sha256 @1 :Text;
-  }
-
-  enum DownloadStatus {
-    notDownloading @0;
-    downloading @1;
-    downloaded @2;
-    cached @3;
-    failed @4;
-  }
-
-  struct DownloadProgress {
-    status @0 :DownloadStatus;
-    progress @1 :Float32;
-    eta @2 :UInt32;
-  }
-
-  struct Artifact {
-    fileName @0 :Text;
-    downloadUri @1 :DownloadUri;
-    downloadProgress @2 :DownloadProgress;
-  }
-
-  struct Model {
-    type @0 :Type;
-    artifact @1 :Artifact;  # Main artifact
-    metadata @2 :Artifact;  # Metadata artifact
-
-    enum Type {
-      supercombo @0;
-      navigation @1;
-      vision @2;
-      policy @3;
-    }
-  }
-
-  enum Runner {
-    snpe @0;
-    tinygrad @1;
-    stock @2;
-  }
-
-  struct Override {
-    key @0 :Text;
-    value @1 :Text;
-  }
-
-  struct ModelBundle {
-    index @0 :UInt32;
-    internalName @1 :Text;
-    displayName @2 :Text;
-    models @3 :List(Model);
-    status @4 :DownloadStatus;
-    generation @5 :UInt32;
-    environment @6 :Text;
-    runner @7 :Runner;
-    is20hz @8 :Bool;
-    ref @9 :Text;
-    minimumSelectorVersion @10 :UInt32;
-    overrides @11 :List(Override);
-  }
+struct CustomReserved4 @0x80ae746ee2596b11 {
 }
 
-struct LongitudinalPlanSP @0xf35cc4560bbf6ec2 {
-  dec @0 :DynamicExperimentalControl;
-  longitudinalPlanSource @1 :LongitudinalPlanSource;
-  smartCruiseControl @2 :SmartCruiseControl;
-  speedLimit @3 :SpeedLimit;
-  vTarget @4 :Float32;
-  aTarget @5 :Float32;
-  events @6 :List(OnroadEventSP.Event);
-  e2eAlerts @7 :E2eAlerts;
-
-  struct DynamicExperimentalControl {
-    state @0 :DynamicExperimentalControlState;
-    enabled @1 :Bool;
-    active @2 :Bool;
-
-    enum DynamicExperimentalControlState {
-      acc @0;
-      blended @1;
-    }
-  }
-
-  struct SmartCruiseControl {
-    vision @0 :Vision;
-    map @1 :Map;
-
-    struct Vision {
-      state @0 :VisionState;
-      vTarget @1 :Float32;
-      aTarget @2 :Float32;
-      currentLateralAccel @3 :Float32;
-      maxPredictedLateralAccel @4 :Float32;
-      enabled @5 :Bool;
-      active @6 :Bool;
-    }
-
-    struct Map {
-      state @0 :MapState;
-      vTarget @1 :Float32;
-      aTarget @2 :Float32;
-      enabled @3 :Bool;
-      active @4 :Bool;
-    }
-
-    enum VisionState {
-      disabled @0; # System disabled or inactive.
-      enabled @1; # No predicted substantial turn on vision range.
-      entering @2; # A substantial turn is predicted ahead, adapting speed to turn comfort levels.
-      turning @3; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-      leaving @4; # Road ahead straightens. Start to allow positive acceleration.
-      overriding @5; # System overriding with manual control.
-    }
-
-    enum MapState {
-      disabled @0; # System disabled or inactive.
-      enabled @1; # No predicted substantial turn on map range.
-      turning @2; # Actively turning. Managing acceleration to provide a roll on turn feeling.
-      overriding @3; # System overriding with manual control.
-    }
-  }
-
-  struct SpeedLimit {
-    resolver @0 :Resolver;
-    assist @1 :Assist;
-
-    struct Resolver {
-      speedLimit @0 :Float32;
-      distToSpeedLimit @1 :Float32;
-      source @2 :Source;
-      speedLimitOffset @3 :Float32;
-      speedLimitLast @4 :Float32;
-      speedLimitFinal @5 :Float32;
-      speedLimitFinalLast @6 :Float32;
-      speedLimitValid @7 :Bool;
-      speedLimitLastValid @8 :Bool;
-    }
-
-    struct Assist {
-      state @0 :AssistState;
-      enabled @1 :Bool;
-      active @2 :Bool;
-      vTarget @3 :Float32;
-      aTarget @4 :Float32;
-    }
-
-    enum Source {
-      none @0;
-      car @1;
-      map @2;
-    }
-
-    enum AssistState {
-      disabled @0;
-      inactive @1; # No speed limit set or not enabled by parameter.
-      preActive @2;
-      pending @3; # Awaiting new speed limit.
-      adapting @4; # Reducing speed to match new speed limit.
-      active @5; # Cruising at speed limit.
-    }
-  }
-
-  enum LongitudinalPlanSource {
-    cruise @0;
-    sccVision @1;
-    sccMap @2;
-    speedLimitAssist @3;
-  }
-
-  struct E2eAlerts {
-    greenLightAlert @0 :Bool;
-    leadDepartAlert @1 :Bool;
-  }
+struct CustomReserved5 @0xa5cd762cd951a455 {
 }
 
-struct OnroadEventSP @0xda96579883444c35 {
-  events @0 :List(Event);
-
-  struct Event {
-    name @0 :EventName;
-
-    # event types
-    enable @1 :Bool;
-    noEntry @2 :Bool;
-    warning @3 :Bool;   # alerts presented only when  enabled or soft disabling
-    userDisable @4 :Bool;
-    softDisable @5 :Bool;
-    immediateDisable @6 :Bool;
-    preEnable @7 :Bool;
-    permanent @8 :Bool; # alerts presented regardless of openpilot state
-    overrideLateral @10 :Bool;
-    overrideLongitudinal @9 :Bool;
-  }
-
-  enum EventName {
-    lkasEnable @0;
-    lkasDisable @1;
-    manualSteeringRequired @2;
-    manualLongitudinalRequired @3;
-    silentLkasEnable @4;
-    silentLkasDisable @5;
-    silentBrakeHold @6;
-    silentWrongGear @7;
-    silentReverseGear @8;
-    silentDoorOpen @9;
-    silentSeatbeltNotLatched @10;
-    silentParkBrake @11;
-    controlsMismatchLateral @12;
-    hyundaiRadarTracksConfirmed @13;
-    experimentalModeSwitched @14;
-    wrongCarModeAlertOnly @15;
-    pedalPressedAlertOnly @16;
-    laneTurnLeft @17;
-    laneTurnRight @18;
-    speedLimitPreActive @19;
-    speedLimitActive @20;
-    speedLimitChanged @21;
-    speedLimitPending @22;
-    e2eChime @23;
-  }
+struct CustomReserved6 @0xf98d843bfd7004a3 {
 }
 
-struct CarParamsSP @0x80ae746ee2596b11 {
-  flags @0 :UInt32;        # flags for car specific quirks in sunnypilot
-  safetyParam @1 : Int16;  # flags for sunnypilot's custom safety flags
-  pcmCruiseSpeed @3 :Bool;
-  intelligentCruiseButtonManagementAvailable @4 :Bool;
-  enableGasInterceptor @5 :Bool;
-
-  neuralNetworkLateralControl @2 :NeuralNetworkLateralControl;
-
-  struct NeuralNetworkLateralControl {
-    model @0 :Model;
-    fuzzyFingerprint @1 :Bool;
-
-    struct Model {
-      path @0 :Text;
-      name @1 :Text;
-    }
-  }
+struct CustomReserved7 @0xb86e6369214c01c8 {
 }
 
-struct CarControlSP @0xa5cd762cd951a455 {
-  mads @0 :ModularAssistiveDrivingSystem;
-  params @1 :List(Param);
-  leadOne @2 :LeadData;
-  leadTwo @3 :LeadData;
-  intelligentCruiseButtonManagement @4 :IntelligentCruiseButtonManagement;
-
-  struct Param {
-    key @0 :Text;
-    type @2 :ParamType;
-    value @3 :Data;
-
-    valueDEPRECATED @1 :Text; # The data type change may cause issues with backwards compatibility.
-  }
-
-  enum ParamType {
-    string @0;
-    bool @1;
-    int @2;
-    float @3;
-    time @4;
-    json @5;
-    bytes @6;
-  }
+struct CustomReserved8 @0xf416ec09499d9d19 {
 }
 
-struct BackupManagerSP @0xf98d843bfd7004a3 {
-  backupStatus @0 :Status;
-  restoreStatus @1 :Status;
-  backupProgress @2 :Float32;
-  restoreProgress @3 :Float32;
-  lastError @4 :Text;
-  currentBackup @5 :BackupInfo;
-  backupHistory @6 :List(BackupInfo);
-
-  enum Status {
-    idle @0;
-    inProgress @1;
-    completed @2;
-    failed @3;
-  }
-
-  struct Version {
-    major @0 :UInt16;
-    minor @1 :UInt16;
-    patch @2 :UInt16;
-    build @3 :UInt16;
-    branch @4 :Text;
-  }
-
-  struct MetadataEntry {
-    key @0 :Text;
-    value @1 :Text;
-    tags @2 :List(Text);
-  }
-
-  struct BackupInfo {
-    deviceId @0 :Text;
-    version @1 :UInt32;
-    config @2 :Text;
-    isEncrypted @3 :Bool;
-    createdAt @4 :Text;  # ISO timestamp
-    updatedAt @5 :Text;  # ISO timestamp
-    sunnypilotVersion @6 :Version;
-    backupMetadata @7 :List(MetadataEntry);
-  }
-}
-
-struct CarStateSP @0xb86e6369214c01c8 {
-  speedLimit @0 :Float32;
-}
-
-struct LiveMapDataSP @0xf416ec09499d9d19 {
-  speedLimitValid @0 :Bool;
-  speedLimit @1 :Float32;
-  speedLimitAheadValid @2 :Bool;
-  speedLimitAhead @3 :Float32;
-  speedLimitAheadDistance @4 :Float32;
-  roadName @5 :Text;
-}
-
-struct ModelDataV2SP @0xa1680744031fdb2d {
-  laneTurnDirection @0 :TurnDirection;
-
-  enum TurnDirection {
-    none @0;
-    turnLeft @1;
-    turnRight @2;
-  }
+struct CustomReserved9 @0xa1680744031fdb2d {
 }
 
 struct CustomReserved10 @0xcb9fd56c7057593a {

cereal/log.capnp

@@ -87,6 +87,7 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     laneChange @50;
     lowMemory @51;
     stockAeb @52;
+    stockLkas @98;
     ldw @53;
     carUnrecognized @54;
     invalidLkasSetting @55;
@@ -2226,9 +2227,9 @@ struct DriverMonitoringState @0xb83cda094a1da284 {
   isActiveMode @16 :Bool;
   isRHD @4 :Bool;
   uncertainCount @19 :UInt32;
-  phoneProbOffset @20 :Float32;
-  phoneProbValidCount @21 :UInt32;
 
+  phoneProbOffsetDEPRECATED @20 :Float32;
+  phoneProbValidCountDEPRECATED @21 :UInt32;
   isPreviewDEPRECATED @15 :Bool;
   rhdCheckedDEPRECATED @5 :Bool;
   eventsDEPRECATED @0 :List(Car.OnroadEventDEPRECATED);
@@ -2524,13 +2525,10 @@ struct Event {
     controlsState @7 :ControlsState;
     selfdriveState @130 :SelfdriveState;
     gyroscope @99 :SensorEventData;
-    gyroscope2 @100 :SensorEventData;
     accelerometer @98 :SensorEventData;
-    accelerometer2 @101 :SensorEventData;
     magnetometer @95 :SensorEventData;
     lightSensor @96 :SensorEventData;
     temperatureSensor @97 :SensorEventData;
-    temperatureSensor2 @123 :SensorEventData;
     pandaStates @81 :List(PandaState);
     peripheralState @80 :PeripheralState;
     radarState @13 :RadarState;
@@ -2628,16 +2626,16 @@ struct Event {
     # DO change the name of the field and struct
     # DON'T change the ID (e.g. @107)
     # DON'T change which struct it points to
-    selfdriveStateSP @107 :Custom.SelfdriveStateSP;
-    modelManagerSP @108 :Custom.ModelManagerSP;
-    longitudinalPlanSP @109 :Custom.LongitudinalPlanSP;
-    onroadEventsSP @110 :Custom.OnroadEventSP;
-    carParamsSP @111 :Custom.CarParamsSP;
-    carControlSP @112 :Custom.CarControlSP;
-    backupManagerSP @113 :Custom.BackupManagerSP;
-    carStateSP @114 :Custom.CarStateSP;
-    liveMapDataSP @115 :Custom.LiveMapDataSP;
-    modelDataV2SP @116 :Custom.ModelDataV2SP;
+    customReserved0 @107 :Custom.CustomReserved0;
+    customReserved1 @108 :Custom.CustomReserved1;
+    customReserved2 @109 :Custom.CustomReserved2;
+    customReserved3 @110 :Custom.CustomReserved3;
+    customReserved4 @111 :Custom.CustomReserved4;
+    customReserved5 @112 :Custom.CustomReserved5;
+    customReserved6 @113 :Custom.CustomReserved6;
+    customReserved7 @114 :Custom.CustomReserved7;
+    customReserved8 @115 :Custom.CustomReserved8;
+    customReserved9 @116 :Custom.CustomReserved9;
     customReserved10 @136 :Custom.CustomReserved10;
     customReserved11 @137 :Custom.CustomReserved11;
     customReserved12 @138 :Custom.CustomReserved12;
@@ -2690,8 +2688,11 @@ struct Event {
     lateralPlanDEPRECATED @64 :LateralPlan;
     navModelDEPRECATED @104 :NavModelData;
     uiPlanDEPRECATED @106 :UiPlan;
-    liveLocationKalman @72 :LiveLocationKalman;
+    liveLocationKalmanDEPRECATED @72 :LiveLocationKalman;
     liveTracksDEPRECATED @16 :List(LiveTracksDEPRECATED);
     onroadEventsDEPRECATED @68: List(Car.OnroadEventDEPRECATED);
+    gyroscope2DEPRECATED @100 :SensorEventData;
+    accelerometer2DEPRECATED @101 :SensorEventData;
+    temperatureSensor2DEPRECATED @123 :SensorEventData;
   }
 }

cereal/messaging/__init__.py

@@ -1,10 +1,8 @@
 # must be built with scons
-from msgq.ipc_pyx import Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
-                                set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
-from msgq.ipc_pyx import MultiplePublishersError, IpcError
-from msgq import fake_event_handle, pub_sock, sub_sock, drain_sock_raw
+from msgq import fake_event_handle, drain_sock_raw, MultiplePublishersError, IpcError, \
+                 Context, Poller, SubSocket, PubSocket, SocketEventHandle, toggle_fake_events, \
+                 set_fake_prefix, get_fake_prefix, delete_fake_prefix, wait_for_one_event
 import msgq
-
 import os
 import capnp
 import time
@@ -13,11 +11,25 @@ from typing import Optional, List, Union, Dict
 
 from cereal import log
 from cereal.services import SERVICE_LIST
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 
 NO_TRAVERSAL_LIMIT = 2**64-1
 
 
+def pub_sock(endpoint: str) -> PubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.pub_sock(endpoint, segment_size)
+
+
+def sub_sock(endpoint: str, poller: Optional[Poller] = None, addr: str = "127.0.0.1",
+             conflate: bool = False, timeout: Optional[int] = None) -> SubSocket:
+  service = SERVICE_LIST.get(endpoint)
+  segment_size = service.queue_size if service else 0
+  return msgq.sub_sock(endpoint, poller=poller, addr=addr, conflate=conflate,
+                       timeout=timeout, segment_size=segment_size)
+
+
 def reset_context():
   msgq.context = Context()
 

cereal/messaging/bridge.cc

@@ -33,7 +33,8 @@ void zmq_to_msgq(const std::vector<std::string> &endpoints, const std::string &i
   for (auto endpoint : endpoints) {
     auto pub_sock = new MSGQPubSocket();
     auto sub_sock = new ZMQSubSocket();
-    pub_sock->connect(pub_context.get(), endpoint);
+    size_t queue_size = services.at(endpoint).queue_size;
+    pub_sock->connect(pub_context.get(), endpoint, true, queue_size);
     sub_sock->connect(sub_context.get(), endpoint, ip, false);
 
     poller->registerSocket(sub_sock);

cereal/messaging/msgq_to_zmq.cc

@@ -2,6 +2,7 @@
 
 #include <cassert>
 
+#include "cereal/services.h"
 #include "common/util.h"
 
 extern ExitHandler do_exit;
@@ -108,7 +109,8 @@ void MsgqToZmq::zmqMonitorThread() {
           if (++pair.connected_clients == 1) {
             // Create new MSGQ subscriber socket and map to ZMQ publisher
             pair.sub_sock = std::make_unique<MSGQSubSocket>();
-            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1");
+            size_t queue_size = services.at(pair.endpoint).queue_size;
+            pair.sub_sock->connect(msgq_context.get(), pair.endpoint, "127.0.0.1", false, true, queue_size);
             sub2pub[pair.sub_sock.get()] = pair.pub_sock.get();
             registerSockets();
           }

cereal/messaging/socketmaster.cc

@@ -50,7 +50,7 @@ SubMaster::SubMaster(const std::vector<const char *> &service_list, const std::v
     assert(services.count(std::string(name)) > 0);
 
     service serv = services.at(std::string(name));
-    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true);
+    SubSocket *socket = SubSocket::create(message_context.context(), name, address ? address : "127.0.0.1", true, true, serv.queue_size);
     assert(socket != 0);
     bool is_polled = inList(poll, name) || poll.empty();
     if (is_polled) poller_->registerSocket(socket);
@@ -187,7 +187,8 @@ SubMaster::~SubMaster() {
 PubMaster::PubMaster(const std::vector<const char *> &service_list) {
   for (auto name : service_list) {
     assert(services.count(name) > 0);
-    PubSocket *socket = PubSocket::create(message_context.context(), name);
+    service serv = services.at(std::string(name));
+    PubSocket *socket = PubSocket::create(message_context.context(), name, true, serv.queue_size);
     assert(socket);
     sockets_[name] = socket;
   }

cereal/messaging/tests/validate_sp_cereal_upstream.py

@@ -1,222 +0,0 @@
-#!/usr/bin/env python3
-import argparse
-import sys
-from typing import Any, List, Tuple
-
-DEBUG = False
-
-
-def print_debug(string: str) -> None:
-  if DEBUG:
-    print(string)
-
-
-def create_schema_instance(struct: Any, prop: Tuple[str, Any]) -> Any:
-  """
-  Create a new instance of a schema type, handling different field types.
-
-  Args:
-      struct: The Cap'n Proto schema structure
-      prop: A tuple containing the field name and field metadata
-
-  Returns:
-      A new initialized schema instance
-  """
-  struct_instance = struct.new_message()
-  field_name, field_metadata = prop
-
-  try:
-    field_type = field_metadata.proto.slot.type.which()
-
-    # Initialize different types of fields
-    if field_type in ('list', 'text', 'data'):
-      struct_instance.init(field_name, 1)
-      print_debug(f"Initialized list/text/data field: {field_name}")
-    elif field_type in ('struct', 'object'):
-      struct_instance.init(field_name)
-      print_debug(f"Initialized struct/object field: {field_name}")
-
-    return struct_instance
-
-  except Exception as e:
-    print(f"Error creating instance for {field_name}: {e}")
-    return None
-
-
-def get_schema_fields(schema_struct: Any) -> List[Tuple[str, Any]]:
-  """
-  Retrieve all fields from a given schema structure.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of field names and their metadata
-  """
-  try:
-    # Get all fields from the schema
-    schema_fields = list(schema_struct.schema.fields.items())
-
-    print_debug("Discovered schema fields:")
-    for field_name, field_metadata in schema_fields:
-      print_debug(f"- {field_name}")
-
-    return schema_fields
-
-  except Exception as e:
-    print(f"Error retrieving schema fields: {e}")
-    return []
-
-
-def generate_schema_instances(schema_struct: Any) -> List[Any]:
-  """
-  Generate instances for all fields in a given schema.
-
-  Args:
-      schema_struct: The Cap'n Proto schema structure
-
-  Returns:
-      A list of schema instances
-  """
-  schema_fields = get_schema_fields(schema_struct)
-  instances = []
-
-  for field_prop in schema_fields:
-    try:
-      instance = create_schema_instance(schema_struct, field_prop)
-      if instance is not None:
-        instances.append(instance)
-    except Exception as e:
-      print(f"Skipping field due to error: {e}")
-
-  print(f"Generated {len(instances)} schema instances")
-  return instances
-
-
-def persist_instances(instances: List[Any], filename: str) -> None:
-  """
-  Write schema instances to a binary file.
-
-  Args:
-      instances: List of schema instances
-      filename: Output file path
-  """
-  try:
-    with open(filename, 'wb') as f:
-      for instance in instances:
-        f.write(instance.to_bytes())
-
-    print(f"Successfully wrote {len(instances)} instances to {filename}")
-
-  except Exception as e:
-    print(f"Error persisting instances: {e}")
-    sys.exit(1)
-
-
-def read_instances(filename: str, schema_type: Any) -> List[Any]:
-  """
-  Read schema instances from a binary file.
-
-  Args:
-      filename: Input file path
-      schema_type: The schema type to use for reading
-
-  Returns:
-      A list of read schema instances
-  """
-  try:
-    with open(filename, 'rb') as f:
-      data = f.read()
-
-    instances = list(schema_type.read_multiple_bytes(data))
-
-    print(f"Read {len(instances)} instances from {filename}")
-    return instances
-
-  except Exception as e:
-    print(f"Error reading instances: {e}")
-    sys.exit(1)
-
-
-def compare_schemas(original_instances: List[Any], read_instances: List[Any]) -> bool:
-  """
-  Compare original and read-back instances to detect potential breaking changes.
-
-  Args:
-      original_instances: List of originally generated instances
-      read_instances: List of instances read back from file
-
-  Returns:
-      Boolean indicating whether schemas appear compatible
-  """
-  if len(original_instances) != len(read_instances):
-    print("❌ Schema Compatibility Warning: Instance count mismatch")
-    return False
-
-  compatible = True
-  for struct in read_instances:
-    try:
-      getattr(struct, struct.which())  # Attempting to access the field to validate readability
-    except Exception as e:
-      print(f"❌ Structural change detected: {struct.which()} is not readable.\nFull error: {e}")
-      compatible = False
-
-  return compatible
-
-
-def main():
-  """
-  CLI entry point for schema compatibility testing.
-  """
-  # Setup argument parser
-  parser = argparse.ArgumentParser(
-    description='Cap\'n Proto Schema Compatibility Testing Tool',
-    epilog='Test schema compatibility by generating and reading back instances.'
-  )
-
-  # Add mutually exclusive group for generation or reading mode
-  mode_group = parser.add_mutually_exclusive_group(required=True)
-  mode_group.add_argument('-g', '--generate', action='store_true',
-                          help='Generate schema instances')
-  mode_group.add_argument('-r', '--read', action='store_true',
-                          help='Read and validate schema instances')
-
-  # Common arguments
-  parser.add_argument('-f', '--file',
-                      default='schema_instances.bin',
-                      help='Output/input binary file (default: schema_instances.bin)')
-
-  # Parse arguments
-  args = parser.parse_args()
-
-  # Import the schema dynamically 
-  try:
-    from cereal import log
-    schema_type = log.Event
-  except ImportError:
-    print("Error: Unable to import schema. Ensure 'cereal' is installed.")
-    sys.exit(1)
-
-  # Execute based on mode
-  if args.generate:
-    print("🔧 Generating Schema Instances")
-    instances = generate_schema_instances(schema_type)
-    persist_instances(instances, args.file)
-    print("✅ Instance generation complete")
-
-  elif args.read:
-    print("🔍 Reading and Validating Schema Instances")
-    generated_instances = generate_schema_instances(schema_type)
-    read_back_instances = read_instances(args.file, schema_type)
-
-    # Compare schemas
-    if compare_schemas(generated_instances, read_back_instances):
-      print("✅ Schema Compatibility: No breaking changes detected")
-      sys.exit(0)
-    else:
-      print("❌ Potential Schema Breaking Changes Detected")
-      sys.exit(1)
-
-
-if __name__ == "__main__":
-  main()

cereal/services.py

@@ -1,37 +1,44 @@
 #!/usr/bin/env python3
+from enum import IntEnum
 from typing import Optional
 
 
+# TODO: this should be automatically determined using the capnp schema
+class QueueSize(IntEnum):
+  BIG = 10 * 1024 * 1024      # 10MB - video frames, large AI outputs
+  MEDIUM = 2 * 1024 * 1024    # 2MB - high freq (CAN), livestream
+  SMALL = 250 * 1024          # 250KB - most services
+
+
 class Service:
-  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None):
+  def __init__(self, should_log: bool, frequency: float, decimation: Optional[int] = None,
+               queue_size: QueueSize = QueueSize.SMALL):
     self.should_log = should_log
     self.frequency = frequency
     self.decimation = decimation
+    self.queue_size = queue_size
 
 
 _services: dict[str, tuple] = {
   # service: (should_log, frequency, qlog decimation (optional))
   # note: the "EncodeIdx" packets will still be in the log
   "gyroscope": (True, 104., 104),
-  "gyroscope2": (True, 100., 100),
   "accelerometer": (True, 104., 104),
-  "accelerometer2": (True, 100., 100),
   "magnetometer": (True, 25.),
   "lightSensor": (True, 100., 100),
   "temperatureSensor": (True, 2., 200),
-  "temperatureSensor2": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
   "touch": (True, 20., 1),
-  "can": (True, 100., 2053),  # decimation gives ~3 msgs in a full segment
-  "controlsState": (True, 100., 10),
+  "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
+  "controlsState": (True, 100., 10, QueueSize.MEDIUM),
   "selfdriveState": (True, 100., 10),
   "pandaStates": (True, 10., 1),
   "peripheralState": (True, 2., 1),
   "radarState": (True, 20., 5),
   "roadEncodeIdx": (False, 20., 1),
   "liveTracks": (True, 20.),
-  "sendcan": (True, 100., 139),
+  "sendcan": (True, 100., 139, QueueSize.MEDIUM),
   "logMessage": (True, 0.),
   "errorLogMessage": (True, 0., 1),
   "liveCalibration": (True, 4., 4),
@@ -43,7 +50,7 @@ _services: dict[str, tuple] = {
   "carOutput": (True, 100., 10),
   "longitudinalPlan": (True, 20., 10),
   "driverAssistance": (True, 20., 20),
-  "procLog": (True, 0.5, 15),
+  "procLog": (True, 0.5, 15, QueueSize.BIG),
   "gpsLocationExternal": (True, 10., 10),
   "gpsLocation": (True, 1., 1),
   "ubloxGnss": (True, 10.),
@@ -65,7 +72,7 @@ _services: dict[str, tuple] = {
   "wideRoadEncodeIdx": (False, 20., 1),
   "wideRoadCameraState": (True, 20., 20),
   "drivingModelData": (True, 20., 10),
-  "modelV2": (True, 20.),
+  "modelV2": (True, 20., None, QueueSize.BIG),
   "managerState": (True, 2., 1),
   "uploaderState": (True, 0., 1),
   "navInstruction": (True, 1., 10),
@@ -77,34 +84,21 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
-
-  # sunnypilot
-  "modelManagerSP": (False, 1., 1),
-  "backupManagerSP": (False, 1., 1),
-  "selfdriveStateSP": (True, 100., 10),
-  "longitudinalPlanSP": (True, 20., 10),
-  "onroadEventsSP": (True, 1., 1),
-  "carParamsSP": (True, 0.02, 1),
-  "carControlSP": (True, 100., 10),
-  "carStateSP": (True, 100., 10),
-  "liveMapDataSP": (True, 1., 1),
-  "modelDataV2SP": (True, 20.),
-  "liveLocationKalman": (True, 20.),
+  "roadEncodeData": (False, 20., None, QueueSize.BIG),
+  "driverEncodeData": (False, 20., None, QueueSize.BIG),
+  "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),
+  "qRoadEncodeData": (False, 20., None, QueueSize.BIG),
 
   # debug
   "uiDebug": (True, 0., 1),
   "testJoystick": (True, 0.),
   "alertDebug": (True, 20., 5),
-  "roadEncodeData": (False, 20.),
-  "driverEncodeData": (False, 20.),
-  "wideRoadEncodeData": (False, 20.),
-  "qRoadEncodeData": (False, 20.),
   "livestreamWideRoadEncodeIdx": (False, 20.),
   "livestreamRoadEncodeIdx": (False, 20.),
   "livestreamDriverEncodeIdx": (False, 20.),
-  "livestreamWideRoadEncodeData": (False, 20.),
-  "livestreamRoadEncodeData": (False, 20.),
-  "livestreamDriverEncodeData": (False, 20.),
+  "livestreamWideRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
+  "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),
@@ -122,13 +116,13 @@ def build_header():
   h += "#include <map>\n"
   h += "#include <string>\n"
 
-  h += "struct service { std::string name; bool should_log; float frequency; int decimation; };\n"
+  h += "struct service { std::string name; bool should_log; float frequency; int decimation; size_t queue_size; };\n"
   h += "static std::map<std::string, service> services = {\n"
   for k, v in SERVICE_LIST.items():
     should_log = "true" if v.should_log else "false"
     decimation = -1 if v.decimation is None else v.decimation
-    h += '  { "%s", {"%s", %s, %f, %d}},\n' % \
-         (k, k, should_log, v.frequency, decimation)
+    h += '  { "%s", {"%s", %s, %f, %d, %d}},\n' % \
+         (k, k, should_log, v.frequency, decimation, v.queue_size)
   h += "};\n"
 
   h += "#endif\n"

common/SConscript

@@ -19,11 +19,6 @@ if GetOption('extras'):
 # Cython bindings
 params_python = envCython.Program('params_pyx.so', 'params_pyx.pyx', LIBS=envCython['LIBS'] + [_common, 'zmq', 'json11'])
 
-SConscript([
-  'transformations/SConscript',
-])
-
-Import('transformations_python')
-common_python = [params_python, transformations_python]
+common_python = [params_python]
 
 Export('common_python')

common/api.py

@@ -0,0 +1,62 @@
+import jwt
+import os
+import requests
+from datetime import datetime, timedelta, UTC
+from openpilot.system.hardware.hw import Paths
+from openpilot.system.version import get_version
+
+API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
+
+# name: jwt signature algorithm
+KEYS = {"id_rsa": "RS256",
+        "id_ecdsa": "ES256"}
+
+
+class Api:
+  def __init__(self, dongle_id):
+    self.dongle_id = dongle_id
+    self.jwt_algorithm, self.private_key, _ = get_key_pair()
+
+  def get(self, *args, **kwargs):
+    return self.request('GET', *args, **kwargs)
+
+  def post(self, *args, **kwargs):
+    return self.request('POST', *args, **kwargs)
+
+  def request(self, method, endpoint, timeout=None, access_token=None, **params):
+    return api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
+
+  def get_token(self, payload_extra=None, expiry_hours=1):
+    now = datetime.now(UTC).replace(tzinfo=None)
+    payload = {
+      'identity': self.dongle_id,
+      'nbf': now,
+      'iat': now,
+      'exp': now + timedelta(hours=expiry_hours)
+    }
+    if payload_extra is not None:
+      payload.update(payload_extra)
+    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
+    if isinstance(token, bytes):
+      token = token.decode('utf8')
+    return token
+
+
+def api_get(endpoint, method='GET', timeout=None, access_token=None, session=None, **params):
+  headers = {}
+  if access_token is not None:
+    headers['Authorization'] = "JWT " + access_token
+
+  headers['User-Agent'] = "openpilot-" + get_version()
+
+  # TODO: add session to Api
+  req = requests if session is None else session
+  return req.request(method, API_HOST + "/" + endpoint, timeout=timeout, headers=headers, params=params)
+
+
+def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
+  for key in KEYS:
+    if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
+      with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
+        return KEYS[key], private.read(), public.read()
+  return None, None, None

common/api/__init__.py

@@ -1,26 +0,0 @@
-from openpilot.common.api.comma_connect import CommaConnectApi
-
-
-class Api:
-  def __init__(self, dongle_id):
-    self.service = CommaConnectApi(dongle_id)
-
-  def request(self, method, endpoint, **params):
-    return self.service.request(method, endpoint, **params)
-
-  def get(self, *args, **kwargs):
-    return self.service.get(*args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.service.post(*args, **kwargs)
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self.service.get_token(payload_extra, expiry_hours)
-
-
-def api_get(endpoint, method='GET', timeout=None, access_token=None, **params):
-  return CommaConnectApi(None).api_get(endpoint, method, timeout, access_token, **params)
-
-
-def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-  return CommaConnectApi(None).get_key_pair()

common/api/base.py

@@ -1,70 +0,0 @@
-import jwt
-import os
-import requests
-import unicodedata
-from datetime import datetime, timedelta, UTC
-from openpilot.system.hardware.hw import Paths
-from openpilot.system.version import get_version
-
-# name: jwt signature algorithm
-KEYS = {"id_rsa": "RS256",
-        "id_ecdsa": "ES256"}
-
-
-class BaseApi:
-  def __init__(self, dongle_id, api_host, user_agent="openpilot-"):
-    self.dongle_id = dongle_id
-    self.api_host = api_host
-    self.user_agent = user_agent
-    self.jwt_algorithm, self.private_key, _ = self.get_key_pair()
-
-  def get(self, *args, **kwargs):
-    return self.request('GET', *args, **kwargs)
-
-  def post(self, *args, **kwargs):
-    return self.request('POST', *args, **kwargs)
-
-  def request(self, method, endpoint, timeout=None, access_token=None, **params):
-    return self.api_get(endpoint, method=method, timeout=timeout, access_token=access_token, **params)
-
-  def _get_token(self, payload_extra=None, expiry_hours=1, **extra_payload):
-    now = datetime.now(UTC).replace(tzinfo=None)
-    payload = {
-      'identity': self.dongle_id,
-      'nbf': now,
-      'iat': now,
-      'exp': now + timedelta(hours=expiry_hours),
-      **extra_payload
-    }
-    if payload_extra is not None:
-      payload.update(payload_extra)
-    token = jwt.encode(payload, self.private_key, algorithm=self.jwt_algorithm)
-    if isinstance(token, bytes):
-      token = token.decode('utf8')
-    return token
-
-  def get_token(self, payload_extra=None, expiry_hours=1):
-    return self._get_token(payload_extra, expiry_hours)
-
-  def remove_non_ascii_chars(self, text):
-    normalized_text = unicodedata.normalize('NFD', text)
-    ascii_encoded_text = normalized_text.encode('ascii', 'ignore')
-    return ascii_encoded_text.decode()
-
-  def api_get(self, endpoint, method='GET', timeout=None, access_token=None, json=None, **params):
-    headers = {}
-    if access_token is not None:
-      headers['Authorization'] = "JWT " + access_token
-
-    version = self.remove_non_ascii_chars(get_version())
-    headers['User-Agent'] = self.user_agent + version
-
-    return requests.request(method, f"{self.api_host}/{endpoint}", timeout=timeout, headers=headers, json=json, params=params)
-
-  @staticmethod
-  def get_key_pair() -> tuple[str, str, str] | tuple[None, None, None]:
-    for key in KEYS:
-      if os.path.isfile(Paths.persist_root() + f'/comma/{key}') and os.path.isfile(Paths.persist_root() + f'/comma/{key}.pub'):
-        with open(Paths.persist_root() + f'/comma/{key}') as private, open(Paths.persist_root() + f'/comma/{key}.pub') as public:
-          return KEYS[key], private.read(), public.read()
-    return None, None, None

common/api/comma_connect.py

@@ -1,11 +0,0 @@
-import os
-
-from openpilot.common.api.base import BaseApi
-
-API_HOST = os.getenv('API_HOST', 'https://api.commadotai.com')
-
-
-class CommaConnectApi(BaseApi):
-  def __init__(self, dongle_id):
-    super().__init__(dongle_id, API_HOST)
-    self.user_agent = "openpilot-"

common/git.py

@@ -4,27 +4,27 @@ from openpilot.common.utils import run_cmd, run_cmd_default
 
 
 @cache
-def get_commit(cwd: str = None, branch: str = "HEAD") -> str:
+def get_commit(cwd: str | None = None, branch: str = "HEAD") -> str:
   return run_cmd_default(["git", "rev-parse", branch], cwd=cwd)
 
 
 @cache
-def get_commit_date(cwd: str = None, commit: str = "HEAD") -> str:
+def get_commit_date(cwd: str | None = None, commit: str = "HEAD") -> str:
   return run_cmd_default(["git", "show", "--no-patch", "--format='%ct %ci'", commit], cwd=cwd)
 
 
 @cache
-def get_short_branch(cwd: str = None) -> str:
+def get_short_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "HEAD"], cwd=cwd)
 
 
 @cache
-def get_branch(cwd: str = None) -> str:
+def get_branch(cwd: str | None = None) -> str:
   return run_cmd_default(["git", "rev-parse", "--abbrev-ref", "--symbolic-full-name", "@{u}"], cwd=cwd)
 
 
 @cache
-def get_origin(cwd: str = None) -> str:
+def get_origin(cwd: str | None = None) -> str:
   try:
     local_branch = run_cmd(["git", "name-rev", "--name-only", "HEAD"], cwd=cwd)
     tracking_remote = run_cmd(["git", "config", "branch." + local_branch + ".remote"], cwd=cwd)
@@ -34,7 +34,7 @@ def get_origin(cwd: str = None) -> str:
 
 
 @cache
-def get_normalized_origin(cwd: str = None) -> str:
+def get_normalized_origin(cwd: str | None = None) -> str:
   return get_origin(cwd) \
     .replace("git@", "", 1) \
     .replace(".git", "", 1) \

common/model.h

@@ -1 +0,0 @@
-#define DEFAULT_MODEL "Dark Souls 2 (Default)"

common/params.cc

@@ -103,12 +103,10 @@ Params::~Params() {
   assert(queue.empty());
 }
 
-std::vector<std::string> Params::allKeys(ParamKeyFlag flag) const {
+std::vector<std::string> Params::allKeys() const {
   std::vector<std::string> ret;
   for (auto &p : keys) {
-    if (flag == ALL || (p.second.flags & flag)) {
-      ret.push_back(p.first);
-    }
+    ret.push_back(p.first);
   }
   return ret;
 }

common/params.h

@@ -18,7 +18,6 @@ enum ParamKeyFlag {
   DONT_LOG = 0x20,
   DEVELOPMENT_ONLY = 0x40,
   CLEAR_ON_IGNITION_ON = 0x80,
-  BACKUP = 0x100,
   ALL = 0xFFFFFFFF
 };
 
@@ -46,7 +45,7 @@ public:
   Params(const Params&) = delete;
   Params& operator=(const Params&) = delete;
 
-  std::vector<std::string> allKeys(ParamKeyFlag flag = ALL) const;
+  std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyFlag getKeyFlag(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);

common/params_keys.h

@@ -7,8 +7,8 @@
 
 inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"AccessToken", {CLEAR_ON_MANAGER_START | DONT_LOG, STRING}},
-    {"AdbEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"AlwaysOnDM", {PERSISTENT | BACKUP, BOOL}},
+    {"AdbEnabled", {PERSISTENT, BOOL}},
+    {"AlwaysOnDM", {PERSISTENT, BOOL}},
     {"ApiCache_Device", {PERSISTENT, STRING}},
     {"ApiCache_FirehoseStats", {PERSISTENT, JSON}},
     {"AssistNowToken", {PERSISTENT, STRING}},
@@ -29,36 +29,36 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CurrentBootlog", {PERSISTENT, STRING}},
     {"CurrentRoute", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, STRING}},
     {"DisableLogging", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
-    {"DisablePowerDown", {PERSISTENT | BACKUP, BOOL}},
-    {"DisableUpdates", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"DisengageOnAccelerator", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"DisablePowerDown", {PERSISTENT, BOOL}},
+    {"DisableUpdates", {PERSISTENT, BOOL}},
+    {"DisengageOnAccelerator", {PERSISTENT, BOOL, "0"}},
     {"DongleId", {PERSISTENT, STRING}},
     {"DoReboot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoShutdown", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DoUninstall", {CLEAR_ON_MANAGER_START, BOOL}},
     {"DriverTooDistracted", {CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON, BOOL}},
-    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY | BACKUP, BOOL}},
-    {"ExperimentalMode", {PERSISTENT | BACKUP, BOOL}},
-    {"ExperimentalModeConfirmed", {PERSISTENT | BACKUP, BOOL}},
+    {"AlphaLongitudinalEnabled", {PERSISTENT | DEVELOPMENT_ONLY, BOOL}},
+    {"ExperimentalMode", {PERSISTENT, BOOL}},
+    {"ExperimentalModeConfirmed", {PERSISTENT, BOOL}},
     {"FirmwareQueryDone", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ForcePowerDown", {PERSISTENT, BOOL}},
     {"GitBranch", {PERSISTENT, STRING}},
     {"GitCommit", {PERSISTENT, STRING}},
     {"GitCommitDate", {PERSISTENT, STRING}},
     {"GitDiff", {PERSISTENT, STRING}},
-    {"GithubSshKeys", {PERSISTENT | BACKUP, STRING}},
-    {"GithubUsername", {PERSISTENT | BACKUP, STRING}},
+    {"GithubSshKeys", {PERSISTENT, STRING}},
+    {"GithubUsername", {PERSISTENT, STRING}},
     {"GitRemote", {PERSISTENT, STRING}},
-    {"GsmApn", {PERSISTENT | BACKUP, STRING}},
-    {"GsmMetered", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"GsmRoaming", {PERSISTENT | BACKUP, BOOL}},
+    {"GsmApn", {PERSISTENT, STRING}},
+    {"GsmMetered", {PERSISTENT, BOOL, "1"}},
+    {"GsmRoaming", {PERSISTENT, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
     {"InstallDate", {PERSISTENT, TIME}},
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
-    {"IsLdwEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"IsMetric", {PERSISTENT | BACKUP, BOOL}},
+    {"IsLdwEnabled", {PERSISTENT, BOOL}},
+    {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
     {"IsRhdDetected", {PERSISTENT, BOOL}},
@@ -66,7 +66,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsTakingSnapshot", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsTestedBranch", {CLEAR_ON_MANAGER_START, BOOL}},
     {"JoystickDebugMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LanguageSetting", {PERSISTENT | BACKUP, STRING, "en"}},
+    {"LanguageSetting", {PERSISTENT, STRING, "en"}},
     {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
     {"LastGPSPosition", {PERSISTENT, STRING}},
     {"LastManagerExitReason", {CLEAR_ON_MANAGER_START, STRING}},
@@ -77,14 +77,14 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LastUpdateRouteCount", {PERSISTENT, INT, "0"}},
     {"LastUpdateTime", {PERSISTENT, TIME}},
     {"LastUpdateUptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
-    {"LiveDelay", {PERSISTENT | BACKUP, BYTES}},
+    {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
     {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"LongitudinalPersonality", {PERSISTENT | BACKUP, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
-    {"NetworkMetered", {PERSISTENT | BACKUP, BOOL}},
+    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"NetworkMetered", {PERSISTENT, BOOL}},
     {"ObdMultiplexingChanged", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"ObdMultiplexingEnabled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"Offroad_CarUnrecognized", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
@@ -100,22 +100,20 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"Offroad_UpdateFailed", {CLEAR_ON_MANAGER_START, JSON}},
     {"Offroad_DriverMonitoringUncertain", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
     {"OnroadCycleRequested", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"OpenpilotEnabledToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
+    {"OpenpilotEnabledToggle", {PERSISTENT, BOOL, "1"}},
     {"PandaHeartbeatLost", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSomResetTriggered", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"PandaSignatures", {CLEAR_ON_MANAGER_START, BYTES}},
     {"PrimeType", {PERSISTENT, INT}},
-    {"RecordAudio", {PERSISTENT | BACKUP, BOOL}},
-    {"RecordAudioFeedback", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RecordFront", {PERSISTENT | BACKUP, BOOL}},
+    {"RecordAudio", {PERSISTENT, BOOL}},
+    {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
+    {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
-    {"SecOCKey", {PERSISTENT | DONT_LOG | BACKUP, STRING}},
+    {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
-    {"SshEnabled", {PERSISTENT | BACKUP, BOOL}},
-    {"TermsVersion", {PERSISTENT, STRING}},
-    {"TrainingVersion", {PERSISTENT, STRING}},
+    {"SshEnabled", {PERSISTENT, BOOL}},
     {"UbloxAvailable", {PERSISTENT, BOOL}},
     {"UpdateAvailable", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL}},
     {"UpdateFailedCount", {CLEAR_ON_MANAGER_START, INT}},
@@ -131,136 +129,4 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOffroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"Version", {PERSISTENT, STRING}},
-
-    // --- sunnypilot params --- //
-    {"ApiCache_DriveStats", {PERSISTENT, JSON}},
-    {"AutoLaneChangeBsmDelay", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"AutoLaneChangeTimer", {PERSISTENT | BACKUP, INT, "0"}},
-    {"BlinkerMinLateralControlSpeed", {PERSISTENT | BACKUP, INT, "20"}},  // MPH or km/h
-    {"BlinkerPauseLateralControl", {PERSISTENT | BACKUP, INT, "0"}},
-    {"Brightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"CarParamsSP", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
-    {"CarParamsSPCache", {CLEAR_ON_MANAGER_START, BYTES}},
-    {"CarParamsSPPersistent", {PERSISTENT, BYTES}},
-    {"CarPlatformBundle", {PERSISTENT | BACKUP, JSON}},
-    {"ChevronInfo", {PERSISTENT | BACKUP, INT, "4"}},
-    {"CustomAccIncrementsEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"CustomAccLongPressIncrement", {PERSISTENT | BACKUP, INT, "5"}},
-    {"CustomAccShortPressIncrement", {PERSISTENT | BACKUP, INT, "1"}},
-    {"DeviceBootMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"DevUIInfo", {PERSISTENT | BACKUP, INT, "0"}},
-    {"EnableCopyparty", {PERSISTENT | BACKUP, BOOL}},
-    {"EnableGithubRunner", {PERSISTENT | BACKUP, BOOL}},
-    {"GreenLightAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"GithubRunnerSufficientVoltage", {CLEAR_ON_MANAGER_START , BOOL}},
-    {"HideVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"IntelligentCruiseButtonManagement", {PERSISTENT | BACKUP , BOOL}},
-    {"InteractivityTimeout", {PERSISTENT | BACKUP, INT, "0"}},
-    {"IsDevelopmentBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"IsReleaseSpBranch", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"LastGPSPositionLLK", {PERSISTENT, STRING}},
-    {"LeadDepartAlert", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"MaxTimeOffroad", {PERSISTENT | BACKUP, INT, "1800"}},
-    {"ModelRunnerTypeCache", {CLEAR_ON_ONROAD_TRANSITION, INT}},
-    {"OffroadMode", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"Offroad_TiciSupport", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OnroadScreenOffBrightness", {PERSISTENT | BACKUP, INT, "0"}},
-    {"OnroadScreenOffControl", {PERSISTENT | BACKUP, BOOL}},
-    {"OnroadScreenOffTimer", {PERSISTENT | BACKUP, INT, "15"}},
-    {"OnroadUploads", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"StandstillTimer", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TrueVEgoUI", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // MADS params
-    {"Mads", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"MadsMainCruiseAllowed", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"MadsSteeringMode", {PERSISTENT | BACKUP, INT, "0"}},
-    {"MadsUnifiedEngagementMode", {PERSISTENT | BACKUP, BOOL, "1"}},
-
-    // Model Manager params
-    {"ModelManager_ActiveBundle", {PERSISTENT, JSON}},
-    {"ModelManager_ClearCache", {CLEAR_ON_MANAGER_START, BOOL}},
-    {"ModelManager_DownloadIndex", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_Favs", {PERSISTENT | BACKUP, STRING}},
-    {"ModelManager_LastSyncTime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, INT, "0"}},
-    {"ModelManager_ModelsCache", {PERSISTENT | BACKUP, JSON}},
-
-    // Neural Network Lateral Control
-    {"NeuralNetworkLateralControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // sunnylink params
-    {"EnableSunnylinkUploader", {PERSISTENT | BACKUP, BOOL}},
-    {"LastSunnylinkPingTime", {CLEAR_ON_MANAGER_START, INT}},
-    {"SunnylinkCache_Roles", {PERSISTENT, STRING}},
-    {"SunnylinkCache_Users", {PERSISTENT, STRING}},
-    {"SunnylinkDongleId", {PERSISTENT, STRING}},
-    {"SunnylinkdPid", {PERSISTENT, INT}},
-    {"SunnylinkEnabled", {PERSISTENT, BOOL, "1"}},
-    {"SunnylinkTempFault", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0"}},
-
-    // Backup Manager params
-    {"BackupManager_CreateBackup", {PERSISTENT, BOOL}},
-    {"BackupManager_RestoreVersion", {PERSISTENT, STRING}},
-
-    // sunnypilot car specific params
-    {"HyundaiLongitudinalTuning", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SubaruStopAndGo", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SubaruStopAndGoManualParkingBrake", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TeslaCoopSteering", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    {"DynamicExperimentalControl", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"BlindSpot", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // sunnypilot model params
-    {"LagdToggle", {PERSISTENT | BACKUP, BOOL, "1"}},
-    {"LagdToggleDelay", {PERSISTENT | BACKUP, FLOAT, "0.2"}},
-    {"LagdValueCache", {PERSISTENT, FLOAT, "0.2"}},
-    {"LaneTurnDesire", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"LaneTurnValue", {PERSISTENT | BACKUP, FLOAT, "19.0"}},
-
-    // mapd
-    {"MapAdvisorySpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT}},
-    {"MapdVersion", {PERSISTENT, STRING}},
-    {"MapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, FLOAT, "0.0"}},
-    {"NextMapSpeedLimit", {CLEAR_ON_ONROAD_TRANSITION, JSON}},
-    {"Offroad_OSMUpdateRequired", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OsmDbUpdatesCheck", {CLEAR_ON_MANAGER_START, BOOL}},  // mapd database update happens with device ON, reset on boot
-    {"OSMDownloadBounds", {PERSISTENT, STRING}},
-    {"OsmDownloadedDate", {PERSISTENT, STRING, "0.0"}},
-    {"OSMDownloadLocations", {PERSISTENT, JSON}},
-    {"OSMDownloadProgress", {CLEAR_ON_MANAGER_START, JSON}},
-    {"OsmLocal", {PERSISTENT, BOOL}},
-    {"OsmLocationName", {PERSISTENT, STRING}},
-    {"OsmLocationTitle", {PERSISTENT, STRING}},
-    {"OsmLocationUrl", {PERSISTENT, STRING}},
-    {"OsmStateName", {PERSISTENT, STRING, "All"}},
-    {"OsmStateTitle", {PERSISTENT, STRING}},
-    {"OsmWayTest", {PERSISTENT, STRING}},
-    {"RoadName", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"RoadNameToggle", {PERSISTENT, STRING}},
-
-    // Speed Limit
-    {"SpeedLimitMode", {PERSISTENT | BACKUP, INT, "1"}},
-    {"SpeedLimitOffsetType", {PERSISTENT | BACKUP, INT, "0"}},
-    {"SpeedLimitPolicy", {PERSISTENT | BACKUP, INT, "3"}},
-    {"SpeedLimitValueOffset", {PERSISTENT | BACKUP, INT, "0"}},
-
-    // Smart Cruise Control
-    {"MapTargetVelocities", {CLEAR_ON_ONROAD_TRANSITION, STRING}},
-    {"SmartCruiseControlMap", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"SmartCruiseControlVision", {PERSISTENT | BACKUP, BOOL, "0"}},
-
-    // Torque lateral control custom params
-    {"CustomTorqueParams", {PERSISTENT | BACKUP , BOOL}},
-    {"EnforceTorqueControl", {PERSISTENT | BACKUP, BOOL}},
-    {"LiveTorqueParamsToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"LiveTorqueParamsRelaxedToggle", {PERSISTENT | BACKUP , BOOL}},
-    {"TorqueParamsOverrideEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
-    {"TorqueParamsOverrideFriction", {PERSISTENT | BACKUP, FLOAT, "0.1"}},
-    {"TorqueParamsOverrideLatAccelFactor", {PERSISTENT | BACKUP, FLOAT, "2.5"}},
 };

common/params_pyx.pyx

@@ -18,7 +18,6 @@ cdef extern from "common/params.h":
     CLEAR_ON_OFFROAD_TRANSITION
     DEVELOPMENT_ONLY
     CLEAR_ON_IGNITION_ON
-    BACKUP
     ALL
 
   cpdef enum ParamKeyType:
@@ -44,7 +43,7 @@ cdef extern from "common/params.h":
     optional[string] getKeyDefaultValue(string) nogil
     string getParamPath(string) nogil
     void clearAll(ParamKeyFlag)
-    vector[string] allKeys(ParamKeyFlag)
+    vector[string] allKeys()
 
 PYTHON_2_CPP = {
   (str, STRING): lambda v: v,
@@ -182,8 +181,8 @@ cdef class Params:
   def get_type(self, key):
     return self.p.getKeyType(self.check_key(key))
 
-  def all_keys(self, flag=ParamKeyFlag.ALL):
-    return self.p.allKeys(flag)
+  def all_keys(self):
+    return self.p.allKeys()
 
   def get_default_value(self, key):
     cdef string k = self.check_key(key)

common/pid.py

@@ -3,15 +3,9 @@ from numbers import Number
 
 class PIDController:
   def __init__(self, k_p, k_i, k_d=0., pos_limit=1e308, neg_limit=-1e308, rate=100):
-    self._k_p = k_p
-    self._k_i = k_i
-    self._k_d = k_d
-    if isinstance(self._k_p, Number):
-      self._k_p = [[0], [self._k_p]]
-    if isinstance(self._k_i, Number):
-      self._k_i = [[0], [self._k_i]]
-    if isinstance(self._k_d, Number):
-      self._k_d = [[0], [self._k_d]]
+    self._k_p: list[list[float]] = [[0], [k_p]] if isinstance(k_p, Number) else k_p
+    self._k_i: list[list[float]] = [[0], [k_i]] if isinstance(k_i, Number) else k_i
+    self._k_d: list[list[float]] = [[0], [k_d]] if isinstance(k_d, Number) else k_d
 
     self.set_limits(pos_limit, neg_limit)
 

common/prefix.h

@@ -13,7 +13,11 @@ public:
     if (prefix.empty()) {
       prefix = util::random_string(15);
     }
-    msgq_path = Path::shm_path() + "/" + prefix;
+#ifdef __APPLE__
+    msgq_path = "/tmp/msgq_" + prefix;
+#else
+    msgq_path = "/dev/shm/msgq_" + prefix;
+#endif
     bool ret = util::create_directories(msgq_path, 0777);
     assert(ret);
     setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);

common/prefix.py

@@ -1,4 +1,5 @@
 import os
+import platform
 import shutil
 import uuid
 
@@ -9,9 +10,10 @@ from openpilot.system.hardware.hw import Paths
 from openpilot.system.hardware.hw import DEFAULT_DOWNLOAD_CACHE_ROOT
 
 class OpenpilotPrefix:
-  def __init__(self, prefix: str = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
+  def __init__(self, prefix: str | None = None, create_dirs_on_enter: bool = True, clean_dirs_on_exit: bool = True, shared_download_cache: bool = False):
     self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
-    self.msgq_path = os.path.join(Paths.shm_path(), self.prefix)
+    shm_path = "/tmp" if platform.system() == "Darwin" else "/dev/shm"
+    self.msgq_path = os.path.join(shm_path, "msgq_" + self.prefix)
     self.create_dirs_on_enter = create_dirs_on_enter
     self.clean_dirs_on_exit = clean_dirs_on_exit
     self.shared_download_cache = shared_download_cache

common/realtime.py

@@ -6,7 +6,7 @@ import time
 
 from setproctitle import getproctitle
 
-from openpilot.common.util import MovingAverage
+from openpilot.common.utils import MovingAverage
 from openpilot.system.hardware import PC
 
 

common/swaglog.cc

@@ -15,8 +15,6 @@
 #include "common/version.h"
 #include "system/hardware/hw.h"
 
-#include "sunnypilot/common/version.h"
-
 class SwaglogState {
 public:
   SwaglogState() {
@@ -58,7 +56,7 @@ public:
     if (char* daemon_name = getenv("MANAGER_DAEMON")) {
       ctx_j["daemon"] = daemon_name;
     }
-    ctx_j["version"] = SUNNYPILOT_VERSION;
+    ctx_j["version"] = COMMA_VERSION;
     ctx_j["dirty"] = !getenv("CLEAN");
     ctx_j["device"] = Hardware::get_name();
   }

common/tests/test_markdown.py

@@ -6,7 +6,7 @@ from openpilot.common.markdown import parse_markdown
 
 class TestMarkdown:
   def test_all_release_notes(self):
-    with open(os.path.join(BASEDIR, "CHANGELOG.md")) as f:
+    with open(os.path.join(BASEDIR, "RELEASES.md")) as f:
       release_notes = f.read().split("\n\n")
       assert len(release_notes) > 10
 

common/tests/test_swaglog.cc

@@ -9,8 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
-#include "sunnypilot/common/version.h"
-
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -55,7 +53,7 @@ void recv_log(int thread_cnt, int thread_msg_cnt) {
     REQUIRE(ctx["dongle_id"].string_value() == dongle_id);
     REQUIRE(ctx["dirty"].bool_value() == true);
 
-    REQUIRE(ctx["version"].string_value() == SUNNYPILOT_VERSION);
+    REQUIRE(ctx["version"].string_value() == COMMA_VERSION);
 
     std::string device = Hardware::get_name();
     REQUIRE(ctx["device"].string_value() == device);

common/transformations/SConscript

@@ -1,5 +0,0 @@
-Import('env', 'envCython')
-
-transformations = env.Library('transformations', ['orientation.cc', 'coordinates.cc'])
-transformations_python = envCython.Program('transformations.so', 'transformations.pyx')
-Export('transformations', 'transformations_python')

common/transformations/coordinates.cc

@@ -1,100 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include "common/transformations/coordinates.hpp"
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-double a = 6378137; // lgtm [cpp/short-global-name]
-double b = 6356752.3142; // lgtm [cpp/short-global-name]
-double esq = 6.69437999014 * 0.001; // lgtm [cpp/short-global-name]
-double e1sq = 6.73949674228 * 0.001;
-
-
-static Geodetic to_degrees(Geodetic geodetic){
-  geodetic.lat = RAD2DEG(geodetic.lat);
-  geodetic.lon = RAD2DEG(geodetic.lon);
-  return geodetic;
-}
-
-static Geodetic to_radians(Geodetic geodetic){
-  geodetic.lat = DEG2RAD(geodetic.lat);
-  geodetic.lon = DEG2RAD(geodetic.lon);
-  return geodetic;
-}
-
-
-ECEF geodetic2ecef(const Geodetic &geodetic) {
-  auto g = to_radians(geodetic);
-  double xi = sqrt(1.0 - esq * pow(sin(g.lat), 2));
-  double x = (a / xi + g.alt) * cos(g.lat) * cos(g.lon);
-  double y = (a / xi + g.alt) * cos(g.lat) * sin(g.lon);
-  double z = (a / xi * (1.0 - esq) + g.alt) * sin(g.lat);
-  return {x, y, z};
-}
-
-Geodetic ecef2geodetic(const ECEF &e) {
-  // Convert from ECEF to geodetic using Ferrari's methods
-  // https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#Ferrari.27s_solution
-  double x = e.x;
-  double y = e.y;
-  double z = e.z;
-
-  double r = sqrt(x * x + y * y);
-  double Esq = a * a - b * b;
-  double F = 54 * b * b * z * z;
-  double G = r * r + (1 - esq) * z * z - esq * Esq;
-  double C = (esq * esq * F * r * r) / (pow(G, 3));
-  double S = cbrt(1 + C + sqrt(C * C + 2 * C));
-  double P = F / (3 * pow((S + 1 / S + 1), 2) * G * G);
-  double Q = sqrt(1 + 2 * esq * esq * P);
-  double r_0 = -(P * esq * r) / (1 + Q) + sqrt(0.5 * a * a*(1 + 1.0 / Q) - P * (1 - esq) * z * z / (Q * (1 + Q)) - 0.5 * P * r * r);
-  double U = sqrt(pow((r - esq * r_0), 2) + z * z);
-  double V = sqrt(pow((r - esq * r_0), 2) + (1 - esq) * z * z);
-  double Z_0 = b * b * z / (a * V);
-  double h = U * (1 - b * b / (a * V));
-
-  double lat = atan((z + e1sq * Z_0) / r);
-  double lon = atan2(y, x);
-
-  return to_degrees({lat, lon, h});
-}
-
-LocalCoord::LocalCoord(const Geodetic &geodetic, const ECEF &e) {
-  init_ecef <<  e.x, e.y, e.z;
-
-  auto g = to_radians(geodetic);
-
-  ned2ecef_matrix <<
-    -sin(g.lat)*cos(g.lon), -sin(g.lon), -cos(g.lat)*cos(g.lon),
-    -sin(g.lat)*sin(g.lon), cos(g.lon), -cos(g.lat)*sin(g.lon),
-    cos(g.lat), 0, -sin(g.lat);
-  ecef2ned_matrix = ned2ecef_matrix.transpose();
-}
-
-NED LocalCoord::ecef2ned(const ECEF &e) {
-  Eigen::Vector3d ecef;
-  ecef << e.x, e.y, e.z;
-
-  Eigen::Vector3d ned = (ecef2ned_matrix * (ecef - init_ecef));
-  return {ned[0], ned[1], ned[2]};
-}
-
-ECEF LocalCoord::ned2ecef(const NED &n) {
-  Eigen::Vector3d ned;
-  ned << n.n, n.e, n.d;
-
-  Eigen::Vector3d ecef = (ned2ecef_matrix * ned) + init_ecef;
-  return {ecef[0], ecef[1], ecef[2]};
-}
-
-NED LocalCoord::geodetic2ned(const Geodetic &g) {
-  ECEF e = ::geodetic2ecef(g);
-  return ecef2ned(e);
-}
-
-Geodetic LocalCoord::ned2geodetic(const NED &n) {
-  ECEF e = ned2ecef(n);
-  return ::ecef2geodetic(e);
-}

common/transformations/coordinates.hpp

@@ -1,43 +0,0 @@
-#pragma once
-
-#include <eigen3/Eigen/Dense>
-
-#define DEG2RAD(x) ((x) * M_PI / 180.0)
-#define RAD2DEG(x) ((x) * 180.0 / M_PI)
-
-struct ECEF {
-  double x, y, z;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(x, y, z);
-  }
-};
-
-struct NED {
-  double n, e, d;
-  Eigen::Vector3d to_vector() const {
-    return Eigen::Vector3d(n, e, d);
-  }
-};
-
-struct Geodetic {
-  double lat, lon, alt;
-  bool radians=false;
-};
-
-ECEF geodetic2ecef(const Geodetic &g);
-Geodetic ecef2geodetic(const ECEF &e);
-
-class LocalCoord {
-public:
-  Eigen::Matrix3d ned2ecef_matrix;
-  Eigen::Matrix3d ecef2ned_matrix;
-  Eigen::Vector3d init_ecef;
-  LocalCoord(const Geodetic &g, const ECEF &e);
-  LocalCoord(const Geodetic &g) : LocalCoord(g, ::geodetic2ecef(g)) {}
-  LocalCoord(const ECEF &e) : LocalCoord(::ecef2geodetic(e), e) {}
-
-  NED ecef2ned(const ECEF &e);
-  ECEF ned2ecef(const NED &n);
-  NED geodetic2ned(const Geodetic &g);
-  Geodetic ned2geodetic(const NED &n);
-};

common/transformations/orientation.cc

@@ -1,144 +0,0 @@
-#define _USE_MATH_DEFINES
-
-#include <iostream>
-#include <cmath>
-#include <eigen3/Eigen/Dense>
-
-#include "common/transformations/orientation.hpp"
-#include "common/transformations/coordinates.hpp"
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat) {
-  if (quat.w() > 0){
-    return quat;
-  } else {
-    return Eigen::Quaterniond(-quat.w(), -quat.x(), -quat.y(), -quat.z());
-  }
-}
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler) {
-  Eigen::Quaterniond q;
-
-  q = Eigen::AngleAxisd(euler(2), Eigen::Vector3d::UnitZ())
-    * Eigen::AngleAxisd(euler(1), Eigen::Vector3d::UnitY())
-    * Eigen::AngleAxisd(euler(0), Eigen::Vector3d::UnitX());
-  return ensure_unique(q);
-}
-
-
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat) {
-  // TODO: switch to eigen implementation if the range of the Euler angles doesn't matter anymore
-  // Eigen::Vector3d euler = quat.toRotationMatrix().eulerAngles(2, 1, 0);
-  // return {euler(2), euler(1), euler(0)};
-  double gamma = atan2(2 * (quat.w() * quat.x() + quat.y() * quat.z()), 1 - 2 * (quat.x()*quat.x() + quat.y()*quat.y()));
-  double asin_arg_clipped = std::clamp(2 * (quat.w() * quat.y() - quat.z() * quat.x()), -1.0, 1.0);
-  double theta = asin(asin_arg_clipped);
-  double psi = atan2(2 * (quat.w() * quat.z() + quat.x() * quat.y()), 1 - 2 * (quat.y()*quat.y() + quat.z()*quat.z()));
-  return {gamma, theta, psi};
-}
-
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat) {
-  return quat.toRotationMatrix();
-}
-
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot) {
-  return ensure_unique(Eigen::Quaterniond(rot));
-}
-
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler) {
-  return quat2rot(euler2quat(euler));
-}
-
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot) {
-  return quat2euler(rot2quat(rot));
-}
-
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw) {
-  return euler2rot({roll, pitch, yaw});
-}
-
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle) {
-  Eigen::Quaterniond q;
-  q = Eigen::AngleAxisd(angle, axis);
-  return q.toRotationMatrix();
-}
-
-
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-  Eigen::Vector3d zero = ecef_init.to_vector();
-
-  Eigen::Vector3d x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  Eigen::Vector3d y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  Eigen::Vector3d z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  Eigen::Vector3d x1 = rot(z0, ned_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ned_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ned_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ned_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ned_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ned_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ned_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ned_pose(0)) * y2;
-
-
-  x0 = Eigen::Vector3d(1, 0, 0);
-  y0 = Eigen::Vector3d(0, 1, 0);
-  z0 = Eigen::Vector3d(0, 0, 1);
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose) {
-  /*
-    Using Rotations to Build Aerospace Coordinate Systems
-    Don Koks
-    https://apps.dtic.mil/dtic/tr/fulltext/u2/a484864.pdf
-  */
-  LocalCoord converter = LocalCoord(ecef_init);
-
-  Eigen::Vector3d x0 = Eigen::Vector3d(1, 0, 0);
-  Eigen::Vector3d y0 = Eigen::Vector3d(0, 1, 0);
-  Eigen::Vector3d z0 = Eigen::Vector3d(0, 0, 1);
-
-  Eigen::Vector3d x1 = rot(z0, ecef_pose(2)) * x0;
-  Eigen::Vector3d y1 = rot(z0, ecef_pose(2)) * y0;
-  Eigen::Vector3d z1 = rot(z0, ecef_pose(2)) * z0;
-
-  Eigen::Vector3d x2 = rot(y1, ecef_pose(1)) * x1;
-  Eigen::Vector3d y2 = rot(y1, ecef_pose(1)) * y1;
-  Eigen::Vector3d z2 = rot(y1, ecef_pose(1)) * z1;
-
-  Eigen::Vector3d x3 = rot(x2, ecef_pose(0)) * x2;
-  Eigen::Vector3d y3 = rot(x2, ecef_pose(0)) * y2;
-
-  Eigen::Vector3d zero = ecef_init.to_vector();
-  x0 = converter.ned2ecef({1, 0, 0}).to_vector() - zero;
-  y0 = converter.ned2ecef({0, 1, 0}).to_vector() - zero;
-  z0 = converter.ned2ecef({0, 0, 1}).to_vector() - zero;
-
-  double psi = atan2(x3.dot(y0), x3.dot(x0));
-  double theta = atan2(-x3.dot(z0), sqrt(pow(x3.dot(x0), 2) + pow(x3.dot(y0), 2)));
-
-  y2 = rot(z0, psi) * y0;
-  z2 = rot(y2, theta) * z0;
-
-  double phi = atan2(y3.dot(z2), y3.dot(y2));
-
-  return {phi, theta, psi};
-}
-

common/transformations/orientation.hpp

@@ -1,17 +0,0 @@
-#pragma once
-#include <eigen3/Eigen/Dense>
-#include "common/transformations/coordinates.hpp"
-
-
-Eigen::Quaterniond ensure_unique(const Eigen::Quaterniond &quat);
-
-Eigen::Quaterniond euler2quat(const Eigen::Vector3d &euler);
-Eigen::Vector3d quat2euler(const Eigen::Quaterniond &quat);
-Eigen::Matrix3d quat2rot(const Eigen::Quaterniond &quat);
-Eigen::Quaterniond rot2quat(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d euler2rot(const Eigen::Vector3d &euler);
-Eigen::Vector3d rot2euler(const Eigen::Matrix3d &rot);
-Eigen::Matrix3d rot_matrix(double roll, double pitch, double yaw);
-Eigen::Matrix3d rot(const Eigen::Vector3d &axis, double angle);
-Eigen::Vector3d ecef_euler_from_ned(const ECEF &ecef_init, const Eigen::Vector3d &ned_pose);
-Eigen::Vector3d ned_euler_from_ecef(const ECEF &ecef_init, const Eigen::Vector3d &ecef_pose);

common/transformations/tests/test_coordinates.py

@@ -102,3 +102,36 @@ class TestNED:
     np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
                                                            ecef_positions_offset_batch,
                                                            rtol=1e-9, atol=1e-7)
+
+  def test_errors(self):
+    # Test wrong shape/type for geodetic2ecef
+    # numpy_wrap raises IndexError for scalar input
+    with np.testing.assert_raises(IndexError):
+      coord.geodetic2ecef(1.0)
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0])
+
+    with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
+      coord.geodetic2ecef([0, 0, 0, 0])
+
+    with np.testing.assert_raises(TypeError):
+      coord.geodetic2ecef(['a', 'b', 'c'])
+
+    # Test LocalCoord constructor errors
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic([0, 0])
+
+    with np.testing.assert_raises(ValueError):
+      coord.LocalCoord.from_geodetic(1)
+
+    with np.testing.assert_raises(TypeError):
+      coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
+
+    # Test wrong shape/type for ecef2geodetic
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2])
+    with np.testing.assert_raises(ValueError):
+      coord.ecef2geodetic([1, 2, 3, 4])
+    with np.testing.assert_raises(IndexError):
+      coord.ecef2geodetic(1.0)

common/transformations/tests/test_orientation.py

@@ -1,4 +1,5 @@
 import numpy as np
+import pytest
 
 from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
                                                rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
       np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
       #np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
     # np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
+
+  def test_inputs(self):
+    with pytest.raises(ValueError):
+      euler2quat([1, 2])
+
+    with pytest.raises(ValueError):
+      quat2rot([1, 2, 3])
+
+    with pytest.raises(IndexError):
+      rot2quat(np.zeros((2, 2)))
+
+  def test_euler_rot_consistency(self):
+    rpy = [0.1, 0.2, 0.3]
+    R = euler2rot(rpy)
+
+    # R -> q -> R
+    q = rot2quat(R)
+    R_new = quat2rot(q)
+    np.testing.assert_allclose(R, R_new, atol=1e-15)
+
+    # q -> R -> Euler (quat2euler) -> R
+    rpy_new = quat2euler(q)
+    R_new2 = euler2rot(rpy_new)
+    np.testing.assert_allclose(R, R_new2, atol=1e-15)
+
+    # R -> Euler (rot2euler) -> R
+    rpy_from_rot = rot2euler(R)
+    R_new3 = euler2rot(rpy_from_rot)
+    np.testing.assert_allclose(R, R_new3, atol=1e-15)

common/transformations/transformations.pxd

@@ -1,72 +0,0 @@
-# cython: language_level=3
-from libcpp cimport bool
-
-cdef extern from "orientation.cc":
-  pass
-
-cdef extern from "orientation.hpp":
-  cdef cppclass Quaternion "Eigen::Quaterniond":
-    Quaternion()
-    Quaternion(double, double, double, double)
-    double w()
-    double x()
-    double y()
-    double z()
-
-  cdef cppclass Vector3 "Eigen::Vector3d":
-    Vector3()
-    Vector3(double, double, double)
-    double operator()(int)
-
-  cdef cppclass Matrix3 "Eigen::Matrix3d":
-    Matrix3()
-    Matrix3(double*)
-
-    double operator()(int, int)
-
-  Quaternion euler2quat(const Vector3 &)
-  Vector3 quat2euler(const Quaternion &)
-  Matrix3 quat2rot(const Quaternion &)
-  Quaternion rot2quat(const Matrix3 &)
-  Vector3 rot2euler(const Matrix3 &)
-  Matrix3 euler2rot(const Vector3 &)
-  Matrix3 rot_matrix(double, double, double)
-  Vector3 ecef_euler_from_ned(const ECEF &, const Vector3 &)
-  Vector3 ned_euler_from_ecef(const ECEF &, const Vector3 &)
-
-
-cdef extern from "coordinates.cc":
-  cdef struct ECEF:
-    double x
-    double y
-    double z
-
-  cdef struct NED:
-    double n
-    double e
-    double d
-
-  cdef struct Geodetic:
-    double lat
-    double lon
-    double alt
-    bool radians
-
-  ECEF geodetic2ecef(const Geodetic &)
-  Geodetic ecef2geodetic(const ECEF &)
-
-  cdef cppclass LocalCoord_c "LocalCoord":
-    Matrix3 ned2ecef_matrix
-    Matrix3 ecef2ned_matrix
-
-    LocalCoord_c(const Geodetic &, const ECEF &)
-    LocalCoord_c(const Geodetic &)
-    LocalCoord_c(const ECEF &)
-
-    NED ecef2ned(const ECEF &)
-    ECEF ned2ecef(const NED &)
-    NED geodetic2ned(const Geodetic &)
-    Geodetic ned2geodetic(const NED &)
-
-cdef extern from "coordinates.hpp":
-  pass

common/transformations/transformations.py

@@ -0,0 +1,342 @@
+import numpy as np
+
+
+# Constants
+a = 6378137.0
+b = 6356752.3142
+esq = 6.69437999014e-3
+e1sq = 6.73949674228e-3
+
+
+def geodetic2ecef_single(g):
+  """
+  Convert geodetic coordinates (latitude, longitude, altitude) to ECEF.
+  """
+  try:
+    if len(g) != 3:
+      raise ValueError("Geodetic must be size 3")
+  except TypeError:
+    raise ValueError("Geodetic must be a sequence of length 3") from None
+
+  lat, lon, alt = g
+  lat = np.radians(lat)
+  lon = np.radians(lon)
+  xi = np.sqrt(1.0 - esq * np.sin(lat)**2)
+  x = (a / xi + alt) * np.cos(lat) * np.cos(lon)
+  y = (a / xi + alt) * np.cos(lat) * np.sin(lon)
+  z = (a / xi * (1.0 - esq) + alt) * np.sin(lat)
+  return np.array([x, y, z])
+
+
+def ecef2geodetic_single(e):
+  """
+  Convert ECEF to geodetic coordinates using Ferrari's solution.
+  """
+  x, y, z = e
+  r = np.sqrt(x**2 + y**2)
+  Esq = a**2 - b**2
+  F = 54 * b**2 * z**2
+  G = r**2 + (1 - esq) * z**2 - esq * Esq
+  C = (esq**2 * F * r**2) / (G**3)
+  S = np.cbrt(1 + C + np.sqrt(C**2 + 2 * C))
+  P = F / (3 * (S + 1 / S + 1)**2 * G**2)
+  Q = np.sqrt(1 + 2 * esq**2 * P)
+  r_0 = -(P * esq * r) / (1 + Q) + np.sqrt(0.5 * a**2 * (1 + 1.0 / Q) - P * (1 - esq) * z**2 / (Q * (1 + Q)) - 0.5 * P * r**2)
+  U = np.sqrt((r - esq * r_0)**2 + z**2)
+  V = np.sqrt((r - esq * r_0)**2 + (1 - esq) * z**2)
+  Z_0 = b**2 * z / (a * V)
+  h = U * (1 - b**2 / (a * V))
+  lat = np.arctan((z + e1sq * Z_0) / r)
+  lon = np.arctan2(y, x)
+  return np.array([np.degrees(lat), np.degrees(lon), h])
+
+
+def euler2quat_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a quaternion.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  c_phi, s_phi = np.cos(phi / 2), np.sin(phi / 2)
+  c_theta, s_theta = np.cos(theta / 2), np.sin(theta / 2)
+  c_psi, s_psi = np.cos(psi / 2), np.sin(psi / 2)
+
+  w = c_phi * c_theta * c_psi + s_phi * s_theta * s_psi
+  x = s_phi * c_theta * c_psi - c_phi * s_theta * s_psi
+  y = c_phi * s_theta * c_psi + s_phi * c_theta * s_psi
+  z = c_phi * c_theta * s_psi - s_phi * s_theta * c_psi
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def quat2euler_single(q):
+  """
+  Convert a quaternion to Euler angles (roll, pitch, yaw).
+  """
+  w, x, y, z = q
+  gamma = np.arctan2(2 * (w * x + y * z), 1 - 2 * (x**2 + y**2))
+  sin_arg = 2 * (w * y - z * x)
+  sin_arg = np.clip(sin_arg, -1.0, 1.0)
+  theta = np.arcsin(sin_arg)
+  psi = np.arctan2(2 * (w * z + x * y), 1 - 2 * (y**2 + z**2))
+  return np.array([gamma, theta, psi])
+
+
+def quat2rot_single(q):
+  """
+  Convert a quaternion to a 3x3 rotation matrix.
+  """
+  w, x, y, z = q
+  xx, yy, zz = x * x, y * y, z * z
+  xy, xz, yz = x * y, x * z, y * z
+  wx, wy, wz = w * x, w * y, w * z
+
+  mat = np.array([
+    [1 - 2 * (yy + zz), 2 * (xy - wz), 2 * (xz + wy)],
+    [2 * (xy + wz), 1 - 2 * (xx + zz), 2 * (yz - wx)],
+    [2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy)]
+  ])
+  return mat
+
+
+def rot2quat_single(rot):
+  """
+  Convert a 3x3 rotation matrix to a quaternion.
+  """
+  trace = np.trace(rot)
+  if trace > 0:
+    s = 0.5 / np.sqrt(trace + 1.0)
+    w = 0.25 / s
+    x = (rot[2, 1] - rot[1, 2]) * s
+    y = (rot[0, 2] - rot[2, 0]) * s
+    z = (rot[1, 0] - rot[0, 1]) * s
+  else:
+    if rot[0, 0] > rot[1, 1] and rot[0, 0] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[0, 0] - rot[1, 1] - rot[2, 2])
+      w = (rot[2, 1] - rot[1, 2]) / s
+      x = 0.25 * s
+      y = (rot[0, 1] + rot[1, 0]) / s
+      z = (rot[0, 2] + rot[2, 0]) / s
+    elif rot[1, 1] > rot[2, 2]:
+      s = 2.0 * np.sqrt(1.0 + rot[1, 1] - rot[0, 0] - rot[2, 2])
+      w = (rot[0, 2] - rot[2, 0]) / s
+      x = (rot[0, 1] + rot[1, 0]) / s
+      y = 0.25 * s
+      z = (rot[1, 2] + rot[2, 1]) / s
+    else:
+      s = 2.0 * np.sqrt(1.0 + rot[2, 2] - rot[0, 0] - rot[1, 1])
+      w = (rot[1, 0] - rot[0, 1]) / s
+      x = (rot[0, 2] + rot[2, 0]) / s
+      y = (rot[1, 2] + rot[2, 1]) / s
+      z = 0.25 * s
+
+  if w < 0:
+    return np.array([-w, -x, -y, -z])
+  return np.array([w, x, y, z])
+
+
+def euler2rot_single(euler):
+  """
+  Convert Euler angles (roll, pitch, yaw) to a 3x3 rotation matrix.
+  Rotation order: Z-Y-X (yaw, pitch, roll).
+  """
+  phi, theta, psi = euler
+
+  cx, sx = np.cos(phi), np.sin(phi)
+  cy, sy = np.cos(theta), np.sin(theta)
+  cz, sz = np.cos(psi), np.sin(psi)
+
+  Rx = np.array([[1, 0, 0], [0, cx, -sx], [0, sx, cx]])
+  Ry = np.array([[cy, 0, sy], [0, 1, 0], [-sy, 0, cy]])
+  Rz = np.array([[cz, -sz, 0], [sz, cz, 0], [0, 0, 1]])
+
+  return Rz @ Ry @ Rx
+
+
+def rot2euler_single(rot):
+  """
+  Convert a 3x3 rotation matrix to Euler angles (roll, pitch, yaw).
+  """
+  return quat2euler_single(rot2quat_single(rot))
+
+
+def rot_matrix(roll, pitch, yaw):
+  """
+  Create a 3x3 rotation matrix from roll, pitch, and yaw angles.
+  """
+  return euler2rot_single([roll, pitch, yaw])
+
+
+def axis_angle_to_rot(axis, angle):
+  """
+  Convert an axis-angle representation to a 3x3 rotation matrix.
+  """
+  c = np.cos(angle / 2)
+  s = np.sin(angle / 2)
+  q = np.array([c, s*axis[0], s*axis[1], s*axis[2]])
+  return quat2rot_single(q)
+
+
+class LocalCoord:
+  """
+  A class to handle conversions between ECEF and local NED coordinates.
+  """
+  def __init__(self, geodetic=None, ecef=None):
+    """
+    Initialize LocalCoord with either geodetic or ECEF coordinates.
+    """
+    if geodetic is not None:
+      self.init_ecef = geodetic2ecef_single(geodetic)
+      lat, lon, _ = geodetic
+    elif ecef is not None:
+      self.init_ecef = np.array(ecef)
+      lat, lon, _ = ecef2geodetic_single(ecef)
+    else:
+      raise ValueError("Must provide geodetic or ecef")
+
+    lat = np.radians(lat)
+    lon = np.radians(lon)
+
+    self.ned2ecef_matrix = np.array([
+      [-np.sin(lat) * np.cos(lon), -np.sin(lon), -np.cos(lat) * np.cos(lon)],
+      [-np.sin(lat) * np.sin(lon), np.cos(lon), -np.cos(lat) * np.sin(lon)],
+      [np.cos(lat), 0, -np.sin(lat)]
+    ])
+    self.ecef2ned_matrix = self.ned2ecef_matrix.T
+
+  @classmethod
+  def from_geodetic(cls, geodetic):
+    """
+    Create a LocalCoord instance from geodetic coordinates.
+    """
+    return cls(geodetic=geodetic)
+
+  @classmethod
+  def from_ecef(cls, ecef):
+    """
+    Create a LocalCoord instance from ECEF coordinates.
+    """
+    return cls(ecef=ecef)
+
+  def ecef2ned_single(self, ecef):
+    """
+    Convert a single ECEF point to NED coordinates relative to the origin.
+    """
+    return self.ecef2ned_matrix @ (ecef - self.init_ecef)
+
+  def ned2ecef_single(self, ned):
+    """
+    Convert a single NED point to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix @ ned + self.init_ecef
+
+  def geodetic2ned_single(self, geodetic):
+    """
+    Convert a single geodetic point to NED coordinates.
+    """
+    ecef = geodetic2ecef_single(geodetic)
+    return self.ecef2ned_single(ecef)
+
+  def ned2geodetic_single(self, ned):
+    """
+    Convert a single NED point to geodetic coordinates.
+    """
+    ecef = self.ned2ecef_single(ned)
+    return ecef2geodetic_single(ecef)
+
+  @property
+  def ned_from_ecef_matrix(self):
+    """
+    Returns the rotation matrix from ECEF to NED coordinates.
+    """
+    return self.ecef2ned_matrix
+
+  @property
+  def ecef_from_ned_matrix(self):
+    """
+    Returns the rotation matrix from NED to ECEF coordinates.
+    """
+    return self.ned2ecef_matrix
+
+
+def ecef_euler_from_ned_single(ecef_init, ned_pose):
+  """
+  Convert NED Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent ECEF Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+  zero = np.array(ecef_init)
+
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  phi, theta, psi = ned_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])
+
+
+def ned_euler_from_ecef_single(ecef_init, ecef_pose):
+  """
+  Convert ECEF Euler angles (roll, pitch, yaw) at a given ECEF origin
+  to equivalent NED Euler angles.
+  """
+  converter = LocalCoord(ecef=ecef_init)
+
+  x0 = np.array([1.0, 0, 0])
+  y0 = np.array([0, 1.0, 0])
+  z0 = np.array([0, 0, 1.0])
+
+  phi, theta, psi = ecef_pose
+
+  x1 = axis_angle_to_rot(z0, psi) @ x0
+  y1 = axis_angle_to_rot(z0, psi) @ y0
+  z1 = axis_angle_to_rot(z0, psi) @ z0
+
+  x2 = axis_angle_to_rot(y1, theta) @ x1
+  y2 = axis_angle_to_rot(y1, theta) @ y1
+  z2 = axis_angle_to_rot(y1, theta) @ z1
+
+  x3 = axis_angle_to_rot(x2, phi) @ x2
+  y3 = axis_angle_to_rot(x2, phi) @ y2
+
+  zero = np.array(ecef_init)
+  x0 = converter.ned2ecef_single([1, 0, 0]) - zero
+  y0 = converter.ned2ecef_single([0, 1, 0]) - zero
+  z0 = converter.ned2ecef_single([0, 0, 1]) - zero
+
+  psi_out = np.arctan2(np.dot(x3, y0), np.dot(x3, x0))
+  theta_out = np.arctan2(-np.dot(x3, z0), np.sqrt(np.dot(x3, x0)**2 + np.dot(x3, y0)**2))
+
+  y2 = axis_angle_to_rot(z0, psi_out) @ y0
+  z2 = axis_angle_to_rot(y2, theta_out) @ z0
+
+  phi_out = np.arctan2(np.dot(y3, z2), np.dot(y3, y2))
+
+  return np.array([phi_out, theta_out, psi_out])

common/transformations/transformations.pyx

@@ -1,173 +0,0 @@
-# distutils: language = c++
-# cython: language_level = 3
-from openpilot.common.transformations.transformations cimport Matrix3, Vector3, Quaternion
-from openpilot.common.transformations.transformations cimport ECEF, NED, Geodetic
-
-from openpilot.common.transformations.transformations cimport euler2quat as euler2quat_c
-from openpilot.common.transformations.transformations cimport quat2euler as quat2euler_c
-from openpilot.common.transformations.transformations cimport quat2rot as quat2rot_c
-from openpilot.common.transformations.transformations cimport rot2quat as rot2quat_c
-from openpilot.common.transformations.transformations cimport euler2rot as euler2rot_c
-from openpilot.common.transformations.transformations cimport rot2euler as rot2euler_c
-from openpilot.common.transformations.transformations cimport rot_matrix as rot_matrix_c
-from openpilot.common.transformations.transformations cimport ecef_euler_from_ned as ecef_euler_from_ned_c
-from openpilot.common.transformations.transformations cimport ned_euler_from_ecef as ned_euler_from_ecef_c
-from openpilot.common.transformations.transformations cimport geodetic2ecef as geodetic2ecef_c
-from openpilot.common.transformations.transformations cimport ecef2geodetic as ecef2geodetic_c
-from openpilot.common.transformations.transformations cimport LocalCoord_c
-
-
-import numpy as np
-cimport numpy as np
-
-cdef np.ndarray[double, ndim=2] matrix2numpy(Matrix3 m):
-    return np.array([
-        [m(0, 0), m(0, 1), m(0, 2)],
-        [m(1, 0), m(1, 1), m(1, 2)],
-        [m(2, 0), m(2, 1), m(2, 2)],
-    ])
-
-cdef Matrix3 numpy2matrix(np.ndarray[double, ndim=2, mode="fortran"] m):
-    assert m.shape[0] == 3
-    assert m.shape[1] == 3
-    return Matrix3(<double*>m.data)
-
-cdef ECEF list2ecef(ecef):
-    cdef ECEF e
-    e.x = ecef[0]
-    e.y = ecef[1]
-    e.z = ecef[2]
-    return e
-
-cdef NED list2ned(ned):
-    cdef NED n
-    n.n = ned[0]
-    n.e = ned[1]
-    n.d = ned[2]
-    return n
-
-cdef Geodetic list2geodetic(geodetic):
-    cdef Geodetic g
-    g.lat = geodetic[0]
-    g.lon = geodetic[1]
-    g.alt = geodetic[2]
-    return g
-
-def euler2quat_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Quaternion q = euler2quat_c(e)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def quat2euler_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Vector3 e = quat2euler_c(q)
-    return [e(0), e(1), e(2)]
-
-def quat2rot_single(quat):
-    cdef Quaternion q = Quaternion(quat[0], quat[1], quat[2], quat[3])
-    cdef Matrix3 r = quat2rot_c(q)
-    return matrix2numpy(r)
-
-def rot2quat_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Quaternion q = rot2quat_c(r)
-    return [q.w(), q.x(), q.y(), q.z()]
-
-def euler2rot_single(euler):
-    cdef Vector3 e = Vector3(euler[0], euler[1], euler[2])
-    cdef Matrix3 r = euler2rot_c(e)
-    return matrix2numpy(r)
-
-def rot2euler_single(rot):
-    cdef Matrix3 r = numpy2matrix(np.asfortranarray(rot, dtype=np.double))
-    cdef Vector3 e = rot2euler_c(r)
-    return [e(0), e(1), e(2)]
-
-def rot_matrix(roll, pitch, yaw):
-    return matrix2numpy(rot_matrix_c(roll, pitch, yaw))
-
-def ecef_euler_from_ned_single(ecef_init, ned_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ned_pose[0], ned_pose[1], ned_pose[2])
-
-    cdef Vector3 e = ecef_euler_from_ned_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def ned_euler_from_ecef_single(ecef_init, ecef_pose):
-    cdef ECEF init = list2ecef(ecef_init)
-    cdef Vector3 pose = Vector3(ecef_pose[0], ecef_pose[1], ecef_pose[2])
-
-    cdef Vector3 e = ned_euler_from_ecef_c(init, pose)
-    return [e(0), e(1), e(2)]
-
-def geodetic2ecef_single(geodetic):
-    cdef Geodetic g = list2geodetic(geodetic)
-    cdef ECEF e = geodetic2ecef_c(g)
-    return [e.x, e.y, e.z]
-
-def ecef2geodetic_single(ecef):
-    cdef ECEF e = list2ecef(ecef)
-    cdef Geodetic g = ecef2geodetic_c(e)
-    return [g.lat, g.lon, g.alt]
-
-
-cdef class LocalCoord:
-    cdef LocalCoord_c * lc
-
-    def __init__(self, geodetic=None, ecef=None):
-        assert (geodetic is not None) or (ecef is not None)
-        if geodetic is not None:
-            self.lc = new LocalCoord_c(list2geodetic(geodetic))
-        elif ecef is not None:
-            self.lc = new LocalCoord_c(list2ecef(ecef))
-
-    @property
-    def ned2ecef_matrix(self):
-        return matrix2numpy(self.lc.ned2ecef_matrix)
-
-    @property
-    def ecef2ned_matrix(self):
-        return matrix2numpy(self.lc.ecef2ned_matrix)
-
-    @property
-    def ned_from_ecef_matrix(self):
-        return self.ecef2ned_matrix
-
-    @property
-    def ecef_from_ned_matrix(self):
-        return self.ned2ecef_matrix
-
-    @classmethod
-    def from_geodetic(cls, geodetic):
-        return cls(geodetic=geodetic)
-
-    @classmethod
-    def from_ecef(cls, ecef):
-        return cls(ecef=ecef)
-
-    def ecef2ned_single(self, ecef):
-        assert self.lc
-        cdef ECEF e = list2ecef(ecef)
-        cdef NED n = self.lc.ecef2ned(e)
-        return [n.n, n.e, n.d]
-
-    def ned2ecef_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef ECEF e = self.lc.ned2ecef(n)
-        return [e.x, e.y, e.z]
-
-    def geodetic2ned_single(self, geodetic):
-        assert self.lc
-        cdef Geodetic g = list2geodetic(geodetic)
-        cdef NED n = self.lc.geodetic2ned(g)
-        return [n.n, n.e, n.d]
-
-    def ned2geodetic_single(self, ned):
-        assert self.lc
-        cdef NED n = list2ned(ned)
-        cdef Geodetic g = self.lc.ned2geodetic(n)
-        return [g.lat, g.lon, g.alt]
-
-    def __dealloc__(self):
-        del self.lc

common/util.h

@@ -36,7 +36,6 @@ const double MS_TO_KPH = 3.6;
 const double MS_TO_MPH = MS_TO_KPH * KM_TO_MILE;
 const double METER_TO_MILE = KM_TO_MILE / 1000.0;
 const double METER_TO_FOOT = 3.28084;
-const double METER_TO_KM = 1. / 1000.0;
 
 #define ALIGNED_SIZE(x, align) (((x) + (align)-1) & ~((align)-1))
 

common/util.py

@@ -1,46 +0,0 @@
-import os
-import subprocess
-
-def sudo_write(val: str, path: str) -> None:
-  try:
-    with open(path, 'w') as f:
-      f.write(str(val))
-  except PermissionError:
-    os.system(f"sudo chmod a+w {path}")
-    try:
-      with open(path, 'w') as f:
-        f.write(str(val))
-    except PermissionError:
-      # fallback for debugfs files
-      os.system(f"sudo su -c 'echo {val} > {path}'")
-
-def sudo_read(path: str) -> str:
-  try:
-    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
-  except Exception:
-    return ""
-
-class MovingAverage:
-  def __init__(self, window_size: int):
-    self.window_size: int = window_size
-    self.buffer: list[float] = [0.0] * window_size
-    self.index: int = 0
-    self.count: int = 0
-    self.sum: float = 0.0
-
-  def add_value(self, new_value: float):
-    # Update the sum: subtract the value being replaced and add the new value
-    self.sum -= self.buffer[self.index]
-    self.buffer[self.index] = new_value
-    self.sum += new_value
-
-    # Update the index in a circular manner
-    self.index = (self.index + 1) % self.window_size
-
-    # Track the number of added values (for partial windows)
-    self.count = min(self.count + 1, self.window_size)
-
-  def get_average(self) -> float:
-    if self.count == 0:
-      return float('nan')
-    return self.sum / self.count

common/utils.py

@@ -7,14 +7,61 @@ import time
 import functools
 from subprocess import Popen, PIPE, TimeoutExpired
 import zstandard as zstd
-from openpilot.common.swaglog import cloudlog
 
 LOG_COMPRESSION_LEVEL = 10  # little benefit up to level 15. level ~17 is a small step change
 
 
+def sudo_write(val: str, path: str) -> None:
+  try:
+    with open(path, 'w') as f:
+      f.write(str(val))
+  except PermissionError:
+    os.system(f"sudo chmod a+w {path}")
+    try:
+      with open(path, 'w') as f:
+        f.write(str(val))
+    except PermissionError:
+      # fallback for debugfs files
+      os.system(f"sudo su -c 'echo {val} > {path}'")
+
+
+def sudo_read(path: str) -> str:
+  try:
+    return subprocess.check_output(f"sudo cat {path}", shell=True, encoding='utf8').strip()
+  except Exception:
+    return ""
+
+
+class MovingAverage:
+  def __init__(self, window_size: int):
+    self.window_size: int = window_size
+    self.buffer: list[float] = [0.0] * window_size
+    self.index: int = 0
+    self.count: int = 0
+    self.sum: float = 0.0
+
+  def add_value(self, new_value: float):
+    # Update the sum: subtract the value being replaced and add the new value
+    self.sum -= self.buffer[self.index]
+    self.buffer[self.index] = new_value
+    self.sum += new_value
+
+    # Update the index in a circular manner
+    self.index = (self.index + 1) % self.window_size
+
+    # Track the number of added values (for partial windows)
+    self.count = min(self.count + 1, self.window_size)
+
+  def get_average(self) -> float:
+    if self.count == 0:
+      return float('nan')
+    return self.sum / self.count
+
+
 class CallbackReader:
   """Wraps a file, but overrides the read method to also
   call a callback function with the number of bytes read so far."""
+
   def __init__(self, f, callback, *args):
     self.f = f
     self.callback = callback
@@ -107,11 +154,11 @@ def retry(attempts=3, delay=1.0, ignore_failure=False):
         try:
           return func(*args, **kwargs)
         except Exception:
-          cloudlog.exception(f"{func.__name__} failed, trying again")
+          print(f"{func.__name__} failed, trying again")
           time.sleep(delay)
 
       if ignore_failure:
-        cloudlog.error(f"{func.__name__} failed after retry")
+        print(f"{func.__name__} failed after retry")
       else:
         raise Exception(f"{func.__name__} failed after retry")
     return wrapper

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.10.4"

conftest.py

@@ -17,7 +17,6 @@ collect_ignore = [
 collect_ignore_glob = [
   "selfdrive/debug/*.py",
   "selfdrive/modeld/*.py",
-  "sunnypilot/modeld*/*.py",
 ]
 
 

docs/CARS.md

@@ -4,28 +4,26 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 341 Supported Cars
+# 327 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
+|Acura|MDX 2025-26|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025-26">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
 |Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
 |Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Acura|TLX 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2025">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
 |Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2017|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2017">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EV Non-ACC 2018-21|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV Non-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Malibu Non-ACC 2016-23|Adaptive Cruise Control (ACC)|Stock|24 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Non-ACC 2016-23">Buy Here</a></sub></details>|||
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
@@ -34,33 +32,33 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
-|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
-|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
+|Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
-|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
@@ -82,7 +80,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
 |Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>5</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
@@ -90,12 +88,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Clarity 2018-21|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector + Honda Clarity Proxy Board<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://shop.retropilot.org/product/honda-clarity-proxy-board-kit">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
 |Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
 |Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
 |Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-26">Buy Here</a></sub></details>|||
 |Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
@@ -120,7 +117,6 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
@@ -134,13 +130,10 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
-|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
@@ -164,13 +157,11 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
-|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed Plug-in Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
-|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte Non-SCC 2019">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
@@ -202,171 +193,165 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
-|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
-|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
+|Lexus|ES Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES Hybrid 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES Hybrid 2019-25">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Lexus|GS F 2016|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus GS F 2016">Buy Here</a></sub></details>|||
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2017-19">Buy Here</a></sub></details>|||
 |Lexus|IS 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus IS 2022-24">Buy Here</a></sub></details>|||
 |Lexus|LC 2024-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LC 2024-25">Buy Here</a></sub></details>|||
-|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
+|Lexus|LS 2018|All except Lexus Safety System+ A|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus LS 2018">Buy Here</a></sub></details>|||
+|Lexus|NX 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX 2020-21">Buy Here</a></sub></details>|||
-|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
+|Lexus|NX Hybrid 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2018-19">Buy Here</a></sub></details>|||
 |Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus NX Hybrid 2020-21">Buy Here</a></sub></details>|||
 |Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2018-20">Buy Here</a></sub></details>|||
 |Lexus|RC 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RC 2023">Buy Here</a></sub></details>|||
-|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
-|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2016">Buy Here</a></sub></details>|||
+|Lexus|RX 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX 2020-22">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
-|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2016">Buy Here</a></sub></details>|||
+|Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
 |Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Ram|2500 2020-24|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 2500 2020-24">Buy Here</a></sub></details>|||
-|Ram|3500 2019-22|Adaptive Cruise Control (ACC)|Stock|0 mph|36 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 3500 2019-22">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2017-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2017-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2015-18|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2015-18">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2015-17|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2015-17">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
-|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Avalon 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2022">Buy Here</a></sub></details>|||
-|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
+|Toyota|Avalon Hybrid 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon Hybrid 2022">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
-|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2020-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross (Non-US only) 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Cross Hybrid (Non-US only) 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hatchback 2019-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Toyota|Corolla Hybrid (South America only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla Hybrid (South America only) 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Highlander 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2017-19">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander 2020-23">Buy Here</a></sub></details>|||
-|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Toyota|Highlander Hybrid 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Highlander Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Mirai 2021">Buy Here</a></sub></details>|||
-|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2016|Toyota Safety Sense P|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Prius Prime 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2017-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius Prime 2021-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
-|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
+|Toyota|Prius v 2017|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius v 2017">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2016">Buy Here</a></sub></details>|||
+|Toyota|RAV4 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2017-18">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2022">Buy Here</a></sub></details>|||
 |Toyota|RAV4 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 2023-25">Buy Here</a></sub></details>|||
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2016">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|RAV4 Hybrid 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2019-21">Buy Here</a></sub></details>|||
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Jetta 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2019-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
-<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>3</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
-<sup>4</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
-<sup>5</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</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>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
+<sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>10</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>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).

launch_env.sh

@@ -16,7 +16,7 @@ export VECLIB_MAXIMUM_THREADS=1
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="15.1"
+  export AGNOS_VERSION="16"
 fi
 
 export STAGING_ROOT="/data/safe_staging"

launch_openpilot.sh

@@ -1,20 +1,3 @@
 #!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-
-# On any failure, run the fallback launcher
-trap 'exec ./launch_chffrplus.sh' ERR
-C3_LAUNCH_SH="./sunnypilot/system/hardware/c3/launch_chffrplus.sh"
-
-MODEL="$(tr -d '\0' < "/sys/firmware/devicetree/base/model")"
-export MODEL
-
-if [ "$MODEL" = "comma tici" ]; then
-  # Force a failure if the launcher doesn't exist
-  [ -x "$C3_LAUNCH_SH" ] || false
-
-  # If it exists, run it
-  exec "$C3_LAUNCH_SH"
-fi
 
 exec ./launch_chffrplus.sh

openpilot/sunnypilot

@@ -1 +0,0 @@
-../sunnypilot

pyproject.toml

@@ -14,7 +14,7 @@ dependencies = [
   "pyserial",     # pigeond + qcomgpsd
   "requests",     # many one-off uses
   "sympy",        # rednose + friends
-  "crcmod",       # cars + qcomgpsd
+  "crcmod-plus",  # cars + qcomgpsd
   "tqdm",         # cars (fw_versions.py) on start + many one-off uses
 
   # hardwared
@@ -49,7 +49,7 @@ dependencies = [
   # logging
   "pyzmq",
   "sentry-sdk",
-  "xattr", # used in place of 'os.getxattr' for macos compatibility
+  "xattr",  # used in place of 'os.getxattr' for macOS compatibility
 
   # athena
   "PyJWT",
@@ -72,7 +72,7 @@ dependencies = [
   "zstandard",
 
   # ui
-  "raylib < 5.5.0.3", # TODO: unpin when they fix https://github.com/electronstudio/raylib-python-cffi/issues/186
+  "raylib > 5.5.0.3",
   "qrcode",
   "mapbox-earcut",
 ]
@@ -87,7 +87,7 @@ docs = [
 testing = [
   "coverage",
   "hypothesis ==6.47.*",
-  "mypy",
+  "ty",
   "pytest",
   "pytest-cpp",
   "pytest-subtests",
@@ -107,15 +107,13 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "dbus-next", # TODO: remove once we moved everything to jeepney
   "dictdiffer",
   "jeepney",
   "matplotlib",
   "opencv-python-headless",
   "parameterized >=0.8, <0.9",
   "pyautogui",
-  "pygame",
-  "pyopencl; platform_machine != 'aarch64'", # broken on arm64
+  "pyopencl",
   "pytools>=2025.1.6; platform_machine != 'aarch64'",
   "pywinctl",
   "pyprof2calltree",
@@ -171,7 +169,6 @@ testpaths = [
   "tools/replay",
   "tools/cabana",
   "cereal/messaging/tests",
-  "sunnypilot",
 ]
 
 [tool.codespell]
@@ -181,42 +178,6 @@ ignore-words-list = "bu,ro,te,ue,alo,hda,ois,nam,nams,ned,som,parm,setts,inout,w
 builtin = "clear,rare,informal,code,names,en-GB_to_en-US"
 skip = "./third_party/*, ./tinygrad/*, ./tinygrad_repo/*, ./msgq/*, ./panda/*, ./opendbc/*, ./opendbc_repo/*, ./rednose/*, ./rednose_repo/*, ./teleoprtc/*, ./teleoprtc_repo/*, *.po, uv.lock, *.onnx, ./cereal/gen/*, */c_generated_code/*, docs/assets/*, tools/plotjuggler/layouts/*, selfdrive/assets/offroad/mici_fcc.html"
 
-[tool.mypy]
-python_version = "3.11"
-exclude = [
-  "cereal/",
-  "msgq/",
-  "msgq_repo/",
-  "opendbc/",
-  "opendbc_repo/",
-  "panda/",
-  "rednose/",
-  "rednose_repo/",
-  "tinygrad/",
-  "tinygrad_repo/",
-  "teleoprtc/",
-  "teleoprtc_repo/",
-  "third_party/",
-]
-
-# third-party packages
-ignore_missing_imports=true
-
-# helpful warnings
-warn_redundant_casts=true
-warn_unreachable=true
-warn_unused_ignores=true
-
-# restrict dynamic typing
-warn_return_any=true
-
-# allow implicit optionals for default args
-implicit_optional = true
-
-local_partial_types=true
-explicit_package_bases=true
-disable_error_code = "annotation-unchecked"
-
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
 indent-width = 2
@@ -275,3 +236,43 @@ lint.flake8-implicit-str-concat.allow-multiline = false
 
 [tool.ruff.format]
 quote-style = "preserve"
+
+[tool.ty.src]
+exclude = [
+  "cereal/",
+  "msgq/",
+  "msgq_repo/",
+  "opendbc/",
+  "opendbc_repo/",
+  "panda/",
+  "rednose/",
+  "rednose_repo/",
+  "tinygrad/",
+  "tinygrad_repo/",
+  "teleoprtc/",
+  "teleoprtc_repo/",
+  "third_party/",
+]
+
+[tool.ty.rules]
+# Ignore unresolved imports for Cython-compiled modules (.pyx)
+unresolved-import = "ignore"
+# Ignore unresolved attributes - many from capnp and Cython modules
+unresolved-attribute = "ignore"
+# Ignore invalid method overrides - signature variance issues
+invalid-method-override = "ignore"
+# Ignore possibly-missing-attribute - too many false positives
+possibly-missing-attribute = "ignore"
+# Ignore invalid assignment - often intentional monkey-patching
+invalid-assignment = "ignore"
+# Ignore no-matching-overload - numpy/ctypes overload matching issues
+no-matching-overload = "ignore"
+# Ignore invalid-argument-type - many false positives from raylib, ctypes, numpy
+invalid-argument-type = "ignore"
+# Ignore call-non-callable - false positives from dynamic types
+call-non-callable = "ignore"
+# Ignore unsupported-operator - false positives from dynamic types
+unsupported-operator = "ignore"
+# Ignore not-subscriptable - false positives from dynamic types
+not-subscriptable = "ignore"
+# not-iterable errors are now fixed

release/README.md

@@ -4,18 +4,17 @@
 ## release checklist
 
 ### Go to staging
-- [ ] make a GitHub issue to track release
+- [ ] make a GitHub issue to track release with this checklist
 - [ ] create release master branch
-- [ ] update RELEASES.md
+  - [ ] create a branch from upstream master named `zerotentwo` for release `v0.10.2`
+  - [ ] revert risky commits (double check with autonomy team)
+  - [ ] push the new branch
+- [ ] push to staging:
+  - [ ] make sure you are on the newly created release master branch (`zerotentwo`)
+  - [ ] run `BRANCH=devel-staging release/build_stripped.sh`. Jenkins will then automatically build staging on device, run `test_onroad` and update the staging branch
 - [ ] bump version on master: `common/version.h` and `RELEASES.md`
-- [ ] build new userdata partition from `release3-staging`
 - [ ] post on Discord, tag `@release crew`
 
-Updating staging:
-1. either rebase on master or cherry-pick changes
-2. run this to update: `BRANCH=devel-staging release/build_devel.sh`
-3. build new userdata partition from `release3-staging`
-
 ### Go to release
 - [ ] before going to release, test the following:
   - [ ] update from previous release -> new release
@@ -26,7 +25,7 @@ Updating staging:
   - [ ] check sentry, MTBF, etc.
   - [ ] stress test passes in production
 - [ ] publish the blog post
-- [ ] `git reset --hard origin/release3-staging`
+- [ ] `git reset --hard origin/release-mici-staging`
 - [ ] tag the release: `git tag v0.X.X <commit-hash> && git push origin v0.X.X`
 - [ ] create GitHub release
 - [ ] final test install on `openpilot.comma.ai`

release/build_release.sh

@@ -39,7 +39,7 @@ cd $BUILD_DIR
 rm -f panda/board/obj/panda.bin.signed
 rm -f panda/board/obj/panda_h7.bin.signed
 
-VERSION=$(cat sunnypilot/common/version.h | awk -F[\"-]  '{print $2}')
+VERSION=$(cat common/version.h | awk -F[\"-]  '{print $2}')
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git commit -a -m "openpilot v$VERSION release"
@@ -74,7 +74,6 @@ find . -name '__pycache__' -delete
 rm -rf .sconsign.dblite Jenkinsfile release/
 rm selfdrive/modeld/models/driving_vision.onnx
 rm selfdrive/modeld/models/driving_policy.onnx
-rm sunnypilot/modeld*/models/supercombo.onnx
 
 find third_party/ -name '*x86*' -exec rm -r {} +
 find third_party/ -name '*Darwin*' -exec rm -r {} +

release/build_stripped.sh

@@ -25,7 +25,7 @@ cd $TARGET_DIR
 git checkout --orphan tmp
 
 # remove everything except .git
-echo "[-] erasing old sunnypilot T=$SECONDS"
+echo "[-] erasing old openpilot T=$SECONDS"
 git submodule deinit -f --all
 git rm -rf --cached .
 find . -maxdepth 1 -not -path './.git' -not -name '.' -not -name '..' -exec rm -rf '{}' \;
@@ -49,7 +49,7 @@ rm -f panda/board/obj/panda.bin.signed
 GIT_HASH=$(git --git-dir=$SOURCE_DIR/.git rev-parse HEAD)
 GIT_COMMIT_DATE=$(git --git-dir=$SOURCE_DIR/.git show --no-patch --format='%ct %ci' HEAD)
 DATETIME=$(date '+%Y-%m-%dT%H:%M:%S')
-VERSION=$(cat $SOURCE_DIR/sunnypilot/common/version.h | awk -F\" '{print $2}')
+VERSION=$(cat $SOURCE_DIR/common/version.h | awk -F\" '{print $2}')
 
 echo -n "$GIT_HASH" > git_src_commit
 echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
@@ -57,7 +57,7 @@ echo -n "$GIT_COMMIT_DATE" > git_src_commit_date
 echo "[-] committing version $VERSION T=$SECONDS"
 git add -f .
 git status
-git commit -a -m "sunnypilot v$VERSION release
+git commit -a -m "openpilot v$VERSION release
 
 date: $DATETIME
 master commit: $GIT_HASH

release/check-submodules.sh

@@ -1,43 +1,17 @@
 #!/usr/bin/env bash
 
-has_submodule_changes() {
-  local submodule_path="$1"
-  if [ -n "$SUBMODULE_PATHS" ]; then
-    echo "$SUBMODULE_PATHS" | grep -q "$submodule_path"
-    return $?
-  fi
-  return 1
-}
-
 while read hash submodule ref; do
-  if [ -z "$hash" ] || [ -z "$submodule" ]; then
-    continue
-  fi
-
-  hash=$(echo "$hash" | sed 's/^[+-]//')
-
   if [ "$submodule" = "tinygrad_repo" ]; then
     echo "Skipping $submodule"
     continue
   fi
 
-  if [ "$CHECK_PR_REFS" = "true" ] && has_submodule_changes "$submodule"; then
-    echo "Checking $submodule (non-master): verifying hash $hash exists"
-    git -C $submodule fetch --depth 100 origin
-    if git -C $submodule cat-file -e $hash 2>/dev/null; then
-      echo "$submodule ok (hash exists)"
-    else
-      echo "$submodule: $hash does not exist in the repository"
-      exit 1
-    fi
+  git -C $submodule fetch --depth 100 origin master
+  git -C $submodule branch -r --contains $hash | grep "origin/master"
+  if [ "$?" -eq 0 ]; then
+    echo "$submodule ok"
   else
-    git -C $submodule fetch --depth 100 origin master
-    git -C $submodule branch -r --contains $hash | grep "origin/master"
-    if [ "$?" -eq 0 ]; then
-      echo "$submodule ok"
-    else
-      echo "$submodule: $hash is not on master"
-      exit 1
-    fi
+    echo "$submodule: $hash is not on master"
+    exit 1
   fi
 done <<< $(git submodule status --recursive)

release/ci/docker_build_sp.sh

@@ -1,26 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-# To build sim and docs, you can run the following to mount the scons cache to the same place as in CI:
-# mkdir -p .ci_cache/scons_cache
-# sudo mount --bind /tmp/scons_cache/ .ci_cache/scons_cache
-
-SCRIPT_DIR=$(dirname "$0")
-OPENPILOT_DIR=$SCRIPT_DIR/../../
-if [ -n "$TARGET_ARCHITECTURE" ]; then
-  PLATFORM="linux/$TARGET_ARCHITECTURE"
-  TAG_SUFFIX="-$TARGET_ARCHITECTURE"
-else
-  PLATFORM="linux/$(uname -m)"
-  TAG_SUFFIX=""
-fi
-
-source $SCRIPT_DIR/docker_common_sp.sh $1 "$TAG_SUFFIX"
-
-DOCKER_BUILDKIT=1 docker buildx build --provenance false --pull --platform $PLATFORM --load --cache-to type=inline --cache-from type=registry,ref=$REMOTE_TAG -t $DOCKER_IMAGE:latest -t $REMOTE_TAG -t $LOCAL_TAG -f $OPENPILOT_DIR/$DOCKER_FILE $OPENPILOT_DIR
-
-if [ -n "$PUSH_IMAGE" ]; then
-  docker push $REMOTE_TAG
-  docker tag $REMOTE_TAG $REMOTE_SHA_TAG
-  docker push $REMOTE_SHA_TAG
-fi