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push it
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2026-10-01 11:53:46 +08:00 · 2026-09-30 11:44:01 -04:00 · 2026-09-30 02:23:29 -04:00 · 2026-09-30 01:36:24 -04:00 · 2026-09-30 00:46:35 -04:00 · 2026-09-29 19:25:10 -04:00
1101 changed files with 123411 additions and 18914 deletions
@@ -0,0 +1,56 @@
+name: Fleet controller safety
+
+on:
+  workflow_dispatch:
+  pull_request:
+    paths:
+      - 'opendbc_repo/**'
+      - 'selfdrive/car/**'
+      - 'starpilot/car/**'
+      - 'starpilot/controls/**'
+      - 'cereal/**'
+      - '.github/workflows/fleet_safety.yaml'
+
+permissions:
+  contents: read
+
+jobs:
+  harness:
+    runs-on: ubuntu-24.04
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
+      - name: Audit accounting and runner failures
+        run: >-
+          python -m pytest --noconftest -o addopts='' -q
+          selfdrive/car/tests/test_fleet_safety_core.py
+          selfdrive/car/tests/test_fleet_safety_runner.py
+          opendbc_repo/opendbc/safety/tests/safety_replay/test_replay_drive.py
+  recorded_fleet:
+    runs-on: ubuntu-24.04
+    timeout-minutes: 90
+    strategy:
+      fail-fast: false
+      matrix:
+        shard: [0, 1, 2, 3, 4, 5, 6, 7]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.12'
+      - run: python -m pip install -r selfdrive/car/tests/fleet_requirements.txt
+      - name: Current controllers against freshly compiled release safety
+        run: >-
+          python -m selfdrive.car.tests.fleet_safety --all --release
+          --shard-count 8 --shard-index ${{ matrix.shard }}
+          --out selfdrive/car/tests/fleet_results/ci
+      - uses: actions/upload-artifact@v4
+        if: always()
+        with:
+          name: fleet-safety-${{ matrix.shard }}
+          path: |
+            selfdrive/car/tests/fleet_results/ci/**/*.json
+            selfdrive/car/tests/fleet_results/ci/**/*.log
@@ -81,6 +81,7 @@ selfdrive/modeld/models/*.pkl
 # openpilot log files
 *.bz2
 *.zst
+!selfdrive/modeld/firmware/amdgpu/*.zst

 build/

@@ -0,0 +1,162 @@
+# Credits and Code Provenance
+
+StarPilot stands on work by comma.ai, FrogPilot, and many other open-source contributors. This
+document records provenance that is not adequately represented by StarPilot's historical commit
+authorship. It is not an assertion that an upstream contributor endorses, maintains, or is
+responsible for StarPilot's adaptation.
+
+## Ford support adapted from BluePilot
+
+StarPilot commit [`3f6ccd104e826643887930b41ad3b4086b833d32`](https://github.com/firestar5683/StarPilot/commit/3f6ccd104e826643887930b41ad3b4086b833d32)
+introduced a substantial adaptation of Ford work from BluePilot's `bp-7.0` branch. That commit's
+message thanked the project, but it did not record a source revision or preserve the upstream
+authors in the code. This file corrects that provenance gap without rewriting published history.
+
+The exact checkout used for the original port was not recorded and therefore cannot now be proven.
+At the time of the import,
+[`3a838bba6d3d280592c2fd0496b3378977ae25f1`](https://github.com/BluePilotDev/bluepilot/commit/3a838bba6d3d280592c2fd0496b3378977ae25f1),
+was the tip of the public `bp-7.0` line. Some imported platform lines instead trace to the
+contemporaneous development line at
+[`59e3f2f16a38ff0c16d173b0ccddded23aaa1cd8`](https://github.com/BluePilotDev/bluepilot/commit/59e3f2f16a38ff0c16d173b0ccddded23aaa1cd8).
+Those histories were merged the next day as
+[`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a),
+which is the complete `bp-7.0` snapshot used for this audit. This reconstruction is deliberately
+recorded as a range rather than pretending that the missing original source SHA can be recovered.
+
+### Upstream authors and work
+
+- **Alan Polk (`alan-polk`)** is the principal upstream author of the Ford curvature controller,
+  angle-primary controller, manual-turn behavior, controller integration, and related panda safety
+  work. Important lineage commits include
+  [`db2bdff05`](https://github.com/BluePilotDev/bluepilot/commit/db2bdff05df103d71df62f45c2a3cb5211aba6e6),
+  [`d0aac605f`](https://github.com/BluePilotDev/bluepilot/commit/d0aac605f99d37e9da205e419f7989c1e9eaa386),
+  [`8f8d6d15f`](https://github.com/BluePilotDev/bluepilot/commit/8f8d6d15f0a590f42b78de964ffb0d0af7f5d63d), and
+  [`97867c1eb`](https://github.com/BluePilotDev/bluepilot/commit/97867c1eb57b7472f6fc3de62f0fef576e5a5497).
+- **John Christman** contributed `bp-7.0` lateral integration, platform data, and the upstream
+  anti-stall work referenced by StarPilot's recovery logic, including
+  [`ec0ab181c`](https://github.com/BluePilotDev/bluepilot/commit/ec0ab181c344dccaae053e763bc6ce269551a2d8) and
+  [`9012f7666`](https://github.com/BluePilotDev/bluepilot/commit/9012f76666a5c90764fcaec40832b9a607488c27),
+  with additional vehicle data in
+  [`f0c6bf51f`](https://github.com/BluePilotDev/bluepilot/commit/f0c6bf51f19bb7b74226ead622cabef56e602125).
+- **Jacob Neulight** contributed measured shadow-curvature and steering-pinion curvature/safety
+  work, including
+  [`699c17d9f`](https://github.com/BluePilotDev/bluepilot/commit/699c17d9fde62c690eed9d68eed7d731744d5137) and
+  [`26030f3cb`](https://github.com/BluePilotDev/bluepilot/commit/26030f3cb56a169ab0cf2b5a5ad15fa9af391b10).
+- **Nathan Ingraham** contributed the separate high-speed damping adjustment in
+  [`1db52bc79`](https://github.com/BluePilotDev/bluepilot/commit/1db52bc79e607ddb00214254dd4d732615e27fe4) and
+  [`3610e3f18`](https://github.com/BluePilotDev/bluepilot/commit/3610e3f18a0ad37d793d7ada61dbc739ab1077a3).
+- **Praeuner** contributed the damping-range update in
+  [`b600a8fdb`](https://github.com/BluePilotDev/bluepilot/commit/b600a8fdb985a2219fad4006ce9444b7071b52da).
+- **tonesto7** contributed to the Ford integration and CAN-message history represented in the
+  imported branch, including
+  [`7f9212f7f`](https://github.com/BluePilotDev/bluepilot/commit/7f9212f7f8dc22c4a0a22443158554f4d3652a3c).
+- **Haibin Wen and sunnypilot contributors** are named in file-level notices on upstream Ford
+  extension files that informed StarPilot's vehicle-state and lateral-limit integration. Their
+  published copyright and license notices are retained in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+- **Dirk Petersen, Alex Troxel, Kacer Aleks, and other BluePilot contributors** supplied Ford
+  fingerprints, VIN/platform data, tests, and integration changes that are represented in the
+  imported vehicle-support set. Examples include
+  [`3706b5645`](https://github.com/BluePilotDev/bluepilot/commit/3706b5645c270ad83cfecc3e92618924f0963166),
+  [`694bdbb7a`](https://github.com/BluePilotDev/bluepilot/commit/694bdbb7a9cc70af04d0118e891df96e47ded7c7), and
+  [`a02c06ef3`](https://github.com/BluePilotDev/bluepilot/commit/a02c06ef37acff518a511ba0a88a4dc65f506353).
+
+This list identifies contributors whose work was found during the repository and blame audit. The
+BluePilot repository and its Git history remain the authoritative record and may identify further
+contributors.
+
+### Local-to-upstream map
+
+| StarPilot area | Upstream lineage | What StarPilot changed |
+| --- | --- | --- |
+| `starpilot/car/ford/lateral.py` | `human_turn.py`, `lateral_curv_ext.py`, and `values_ext.py` at the reference snapshot above; earlier StarPilot revisions also adapted `lateral_angle_ext.py` | Consolidated the runtime implementation on the extended-curvature strategy, integrated StarPilot Params, and added live-delay curvature lookahead and local tuning behavior. |
+| `starpilot/car/ford/fordcan.py` | `fordcan_ext.py` and the extended-lateral protocol, especially `8f8d6d15f` | Reduced the extension to the curvature CAN constructors used by StarPilot and adapted it to the local controller interface. |
+| `opendbc_repo/opendbc/car/ford/` | Ford controller/state/interface/radar/platform changes in the `bp-7.0` snapshot | Integrated the changes directly into StarPilot's opendbc layout instead of retaining sunnypilot mixins; subsequent fixes and behavior differ by file. |
+| `opendbc_repo/opendbc/safety/modes/ford.h` and Ford safety tests | BluePilot panda enforcement for four-signal curvature and angle-primary control, especially `8f8d6d15f`, plus shadow-curvature work | Retained the extended-curvature checks, removed runtime path-angle selection, and continued adding local regression coverage. |
+| Ford Params and settings surfaces | BluePilot's curvature tuning concepts | Renamed and implemented in StarPilot's native Params/Galaxy architecture; no BluePilot or sunnypilot UI classes were retained. |
+
+The local code has materially diverged, but the first four rows remain derivative in design and in
+parts of their implementation. Future ports should cite the exact upstream commit in the importing
+commit and at the relevant source boundary; when history can be retained cleanly, use a merge,
+subtree, or cherry-pick with origin metadata rather than a single squashed attribution.
+
+## Hyundai, Kia, and Genesis support adapted from sunnypilot
+
+Portions of StarPilot's HKG angle steering, CAN integration, panda safety enforcement, safety tests,
+firmware fingerprints, and cruise-button management are adapted from sunnypilot. Some upstream HKG
+authorship is retained in StarPilot's Git history, and StarPilot commit
+[`e33305151`](https://github.com/firestar5683/StarPilot/commit/e33305151ba852ea3350aa9f7a12d1c8bd137c43)
+identified its ICBM/CSLC work as a sunnypilot port. Other substantial imports were committed locally
+without recording an exact source revision, so this section documents the reconstructed lineage.
+
+The exact checkout used for each historical import cannot now be proven. The reference snapshots
+used for this audit are:
+
+- [`sunnypilot/sunnypilot` `hkg-angle-steering-2025`](https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025)
+  at [`cfb38312d`](https://github.com/sunnypilot/sunnypilot/commit/cfb38312db33779f4727c983d372474a56ccb5d8),
+  whose opendbc submodule points to the next snapshot.
+- [`sunnypilot/opendbc` `hkg-angle-steering-2025`](https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025)
+  at [`cc4b08625`](https://github.com/sunnypilot/opendbc/commit/cc4b08625a98e94b318cab15e45e05dad58042bd).
+- [`sunnypilot/opendbc` `master`](https://github.com/sunnypilot/opendbc)
+  at [`f95f996f5`](https://github.com/sunnypilot/opendbc/commit/f95f996f5917dcbbf2e32fe51b606a24cf836af6),
+  used to audit later HKG fingerprints and extension history.
+
+### Upstream authors and work
+
+- **Haibin (Jason) Wen** contributed the original Kia EV9 HDA2/LFA2 angle-steering port, Hyundai
+  angle integration and signals, non-SCC platform support, and Intelligent Cruise Button Management.
+  Important lineage commits include
+  [`abe78de2c`](https://github.com/sunnypilot/opendbc/commit/abe78de2c2f9d8774d343c35c181d27e9d944392),
+  [`333de6f1a`](https://github.com/sunnypilot/opendbc/commit/333de6f1a2097a27709a652d5862bad05d83ed1f),
+  [`559a37426`](https://github.com/sunnypilot/opendbc/commit/559a37426976171ceb56c541bec9362abd8b8bd2), and
+  [`862828ad6`](https://github.com/sunnypilot/opendbc/commit/862828ad6f870fb23dd8670fe2a18dc19313217b).
+- **Shane Smiskol** contributed foundational angle-command limiting, driver-override behavior, and
+  EPS-fault avoidance, including
+  [`228a397a3`](https://github.com/sunnypilot/opendbc/commit/228a397a37618de1ecbaf06b70efe3e0e0a8eec6) and
+  [`42d84ff6c`](https://github.com/sunnypilot/opendbc/commit/42d84ff6ca3d48529b195395d652ad777ad397ca).
+- **DevTekVE** contributed substantial angle-controller integration, tuning, platform support, panda
+  safety logic, and tests, including
+  [`c77c7ec2e`](https://github.com/sunnypilot/opendbc/commit/c77c7ec2e39959b65c42e2d70aa943fccd606361),
+  [`7ded99dba`](https://github.com/sunnypilot/opendbc/commit/7ded99dba145c56754e8bbe47217eb174ec03396),
+  [`3819ca7f0`](https://github.com/sunnypilot/opendbc/commit/3819ca7f0d2576771924bd60f47d3e8676b5d583), and
+  [`8d134e98f`](https://github.com/sunnypilot/opendbc/commit/8d134e98f3151a1aec354f93e81c3a4269788991).
+- **Nicholas Evans, dany7915, janpoo6427, Tinkerpet, royjr, Taylor Hoshino, Intelli, Joshua Mack,
+  Mark McCallister, Discountchubbs, and other sunnypilot contributors** supplied vehicle ports,
+  fingerprints, firmware data, safety-limit updates, and related integration represented in the
+  adapted HKG support.
+
+This list identifies contributors found during the repository, commit, and blame audit. The
+sunnypilot repositories and their Git histories remain the authoritative record and may identify
+additional contributors.
+
+### Local-to-upstream map
+
+| StarPilot area | Upstream lineage | What StarPilot changed |
+| --- | --- | --- |
+| `opendbc_repo/opendbc/car/hyundai/carcontroller.py` | Angle controller and driver-override work in `sunnypilot/opendbc` `hkg-angle-steering-2025` | Integrated the controller into StarPilot's opendbc layout and added substantial local longitudinal, smoothing, recovery, and platform behavior. |
+| `opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py`, `interface.py`, and `values.py` | Angle commands, signal selection, safety flags, limits, and platform integration from the angle branch | Combined later upstream changes with StarPilot flags, Params, platform tuning, and local CAN/CAN-FD behavior. |
+| `opendbc_repo/opendbc/safety/modes/hyundai_canfd.h` and its tests | Angle-command safety enforcement and regression tests from the angle branch | Extended and reorganized the safety mode and tests for StarPilot's current supported modes. |
+| `opendbc_repo/opendbc/car/hyundai/fingerprints.py` and HKG platform data | sunnypilot HKG extension/fingerprint history on `master` plus angle-branch vehicle ports | Flattened extension data into the local opendbc tree and continued adding and updating platforms. |
+| HKG cruise-button management and settings integration | sunnypilot ICBM/CSLC concepts and implementation history, including `862828ad6` and `2277e3d49` | Adapted the feature to StarPilot/FrogPilot controls and settings; later revisions changed or removed portions of the original integration. |
+
+The current implementation is not a wholesale copy of either reference snapshot and has diverged
+substantially. Its HKG angle-control and supporting safety architecture nevertheless remain
+derivative in design and in identifiable portions of the implementation. The applicable upstream
+notices are preserved in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+
+## Policy for future third-party ports
+
+Before publishing a third-party port:
+
+1. Read every repository-level and file-level license that may cover the source. Stop and ask the
+   rightsholder when the terms or their scope conflict.
+2. Record the repository URL, exact commit SHA, source paths/symbols, authors found in the relevant
+   history, and the local destination in the importing commit and this file.
+3. Preserve required copyright and license notices verbatim. Reorganization, translation, and
+   AI-assisted rewriting do not remove source provenance.
+4. Retain authorship/history with a merge, subtree, or `cherry-pick -x` when practical. For a true
+   adaptation, keep the local adapter as commit author and use an `Adapted-from:` trailer and source
+   comments; do not add `Co-authored-by:` for a person without their agreement.
+5. Describe material local deviations and make clear that upstream contributors do not support or
+   endorse the downstream version.
+
+See [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for licensing notices.
@@ -1,4 +1,5 @@
 Copyright (c) 2018, Comma.ai, Inc.
+Copyright (c) 2026, firestar5683 and StarPilot contributors

 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

@@ -21,6 +21,20 @@ but [has expanded to offer Quality-Of-Life improvements for all](#features)!
 StarPilot is built off of [FrogPilot](https://github.com/FrogAi/FrogPilot)
 and supports the major features FrogPilot offers.

+Ford-specific lateral-control and vehicle-support work includes substantial adaptations from
+[BluePilot](https://github.com/BluePilotDev/bluepilot/tree/bp-7.0), principally developed by
+[Alan Polk](https://github.com/alan-polk) with additional BluePilot contributors. StarPilot's
+implementation has since diverged, but that does not erase its lineage. See [CREDITS.md](CREDITS.md)
+for the code-level provenance and [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md) for applicable
+upstream notices and terms. BluePilot and its contributors do not maintain or endorse StarPilot;
+please direct support requests for this adaptation to the StarPilot project.
+
+Hyundai, Kia, and Genesis angle steering and related vehicle support include substantial adaptations
+from [sunnypilot](https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025) and its
+[opendbc angle-steering branch](https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025).
+StarPilot's implementation has diverged significantly; the upstream contributors do not maintain
+this adaptation. Detailed code lineage is recorded in [CREDITS.md](CREDITS.md#hyundai-kia-and-genesis-support-adapted-from-sunnypilot).
+
 StarPilot has a vibrant, welcoming community [discord](https://firestar.link/discord).
 Stop by to chat or ask questions!

@@ -77,4 +91,9 @@ Uses your comma's sysroot/toolchain
 * Custom long maneuver tests, specifically designed for regen-only vehicles

 ## Third-Party Notices
+
 * Portions of this software include modified versions of the Material Design Icons provided by Google under the Apache License 2.0. A copy of the license is included in the `LICENSE-MDI` file.
+* Ford support includes software adapted from BluePilot's `bp-7.0` branch. The source repository contains both a standard MIT notice and a separate custom SUNNYPILOT LLC notice; StarPilot preserves both in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+* Hyundai, Kia, and Genesis support includes software adapted directly from sunnypilot's HKG angle-steering branch and sunnypilot/opendbc. StarPilot preserves the applicable notices in [THIRD_PARTY_NOTICES.md](THIRD_PARTY_NOTICES.md).
+
+> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
@@ -0,0 +1,125 @@
+# Third-Party Notices
+
+This file supplements StarPilot's root `LICENSE`. StarPilot-original contributions are offered
+under that MIT license. Third-party material remains subject to its original terms; inclusion here
+does not relicense it or imply endorsement by an upstream project or contributor.
+
+## BluePilot `bp-7.0` Ford support
+
+Portions of StarPilot's Ford lateral control, CAN integration, panda safety logic, vehicle data,
+and related tests are adapted from the public BluePilot repository:
+
+- Source: <https://github.com/BluePilotDev/bluepilot/tree/bp-7.0>
+- Audited `bp-7.0` snapshot: [`e1d051d7ba270261b4455068bd68f1a58db15a4a`](https://github.com/BluePilotDev/bluepilot/commit/e1d051d7ba270261b4455068bd68f1a58db15a4a)
+- Historical reconstruction: [CREDITS.md](CREDITS.md#ford-support-adapted-from-bluepilot)
+- Provenance and contributors: [CREDITS.md](CREDITS.md)
+
+## sunnypilot Hyundai, Kia, and Genesis support
+
+Portions of StarPilot's HKG angle steering, CAN integration, panda safety enforcement and tests,
+firmware fingerprints, platform data, and cruise-button management are adapted directly from the
+public sunnypilot repositories:
+
+- Source: <https://github.com/sunnypilot/sunnypilot/tree/hkg-angle-steering-2025>
+- Audited superproject snapshot: [`cfb38312db33779f4727c983d372474a56ccb5d8`](https://github.com/sunnypilot/sunnypilot/commit/cfb38312db33779f4727c983d372474a56ccb5d8)
+- Source: <https://github.com/sunnypilot/opendbc/tree/hkg-angle-steering-2025>
+- Audited angle-branch snapshot: [`cc4b08625a98e94b318cab15e45e05dad58042bd`](https://github.com/sunnypilot/opendbc/commit/cc4b08625a98e94b318cab15e45e05dad58042bd)
+- Later HKG history was audited against `sunnypilot/opendbc` `master` at
+  [`f95f996f5917dcbbf2e32fe51b606a24cf836af6`](https://github.com/sunnypilot/opendbc/commit/f95f996f5917dcbbf2e32fe51b606a24cf836af6).
+- Historical reconstruction and contributors: [CREDITS.md](CREDITS.md#hyundai-kia-and-genesis-support-adapted-from-sunnypilot)
+
+## Applicable upstream license notices
+
+The upstream repositories and branches identified above publish both `LICENSE` and `LICENSE.md`.
+Their READMEs point to `LICENSE` for openpilot licensing, while some extension files point to
+`LICENSE.md`. Because the scope of those two notices is not unambiguous, StarPilot preserves both
+and treats the more restrictive notice conservatively for upstream-derived material. This is a
+record of the published notices, not a legal conclusion about their scope.
+
+### Upstream `LICENSE` notice (MIT)
+
+Copyright (c) 2018, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute,
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or
+substantial portions of the Software.
+
+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.
+
+### Upstream `opendbc` `LICENSE` notice (MIT)
+
+Copyright (c) 2020, Comma.ai, Inc.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy of this software and
+associated documentation files (the "Software"), to deal in the Software without restriction,
+including without limitation the rights to use, copy, modify, merge, publish, distribute,
+sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all copies or
+substantial portions of the Software.
+
+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.
+
+### Upstream extension file notice
+
+Several upstream Ford and HKG extension files carry this file-level notice:
+
+> Copyright (c) 2021-, Haibin Wen, sunnypilot, and a number of other contributors.
+>
+> This file is part of sunnypilot and is licensed under the MIT License.
+> See the LICENSE.md file in the root directory for more details.
+
+StarPilot's Ford and HKG integrations were informed by extension files carrying this notice. The
+reference to “MIT License” conflicts with the nonstandard restrictions in the referenced upstream
+`LICENSE.md`; both texts are retained here rather than silently choosing between them.
+
+### Upstream `LICENSE.md` notice (published as “Custom MIT License”)
+
+The following notice is reproduced verbatim from the reference branch:
+
+> # 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
+
+Required upstream acknowledgments:
+
+> This software is licensed under a custom license requiring permission for use.
+>
+> This project uses software from Haibin Wen and SUNNYPILOT LLC and is licensed under a custom license requiring permission for use.
+
+For commercial, for-profit, or closed-source use, consult the upstream notice and obtain any
+permission it requires. The upstream repository's simultaneous publication of two differently
+scoped notices should be clarified with the relevant copyright holders before relying on one to
+the exclusion of the other.
@@ -27,6 +27,10 @@ add_panda_targets() {
    panda_h7_remote_can_ignition_only
    panda_hkg_remote_can_ignition_only
    panda_h7_hkg_remote_can_ignition_only
+    panda_tesla_wake
+    panda_h7_tesla_wake
+    panda_tesla_wake_can_ignition_only
+    panda_h7_tesla_wake_can_ignition_only
    panda_jungle_h7
    body_h7
  )
@@ -14,6 +14,7 @@ using Car = import "car.capnp";

 struct StarPilotCarControl @0x81c2f05a394cf4af {
  hudControl @0 :HUDControl;
+  steeringLimitInfo @1 :SteeringLimitInfo;

  struct HUDControl {
    audibleAlert @0 :AudibleAlert;
@@ -49,6 +50,16 @@ struct StarPilotCarControl @0x81c2f05a394cf4af {
      uwu @22;
    }
  }
+
+  struct SteeringLimitInfo {
+    valid @0 :Bool;
+    modelLimitErrorDeg @1 :Float32;
+    resumeLimitErrorDeg @2 :Float32;
+    cooperativeLimitErrorDeg @3 :Float32;
+    cooperativeOffsetDeg @4 :Float32;
+    monoTime @5 :UInt64;
+    combinedLimitErrorDeg @6 :Float32;
+  }
 }

 struct StarPilotCarParams @0xaedffd8f31e7b55d {
@@ -226,6 +237,8 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
  cscLearnedLatAccel @40 :Float32;  # learned comfort at the current curvature, before margin
  cscBindingDistance @41 :Float32;  # distance to the horizon point setting the target, m
  approachStopLength @42 :Float32;  # pre-commit distance to a detected stop, m; 0 when off
+  slcPresentedSpeedLimitSource @43 :Text;  # source of the shown accepted or pending posted limit
+  slcIsLimitingMaxSet @44 :Bool;  # SLC target is below the configured Max Set
 }

 struct StarPilotRadarState @0xb86e6369214c01c8 {
@@ -774,6 +774,7 @@ struct ChestnutState {
  pcieLtssm @7 :UInt8;
  supplyVoltage @8 :UInt16;  # mV
  supplyCurrent @9 :Int16;  # mA
+  supplyFault @10 :Bool;
 }

 struct RadarState @0x9a185389d6fdd05f {
@@ -152,7 +152,8 @@ class FrequencyTracker:
 class SubMaster:
  def __init__(self, services: List[str], poll: Optional[str] = None,
               ignore_alive: Optional[List[str]] = None, ignore_avg_freq: Optional[List[str]] = None,
-               ignore_valid: Optional[List[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None):
+               ignore_valid: Optional[list[str]] = None, addr: str = "127.0.0.1", frequency: Optional[float] = None,
+               drain_services: list[str] | None = None):
    self.frame = -1
    self.services = services
    self.seen = {s: False for s in services}
@@ -160,6 +161,9 @@ class SubMaster:
    self.recv_time = {s: 0. for s in services}
    self.recv_frame = {s: 0 for s in services}
    self.sock = {}
+    self.drained = {s: [] for s in (drain_services or [])}
+    if not self.drained.keys() <= set(services):
+      raise ValueError("Drained services must be subscribed")
    self.data = {}
    self.logMonoTime = {s: 0 for s in services}

@@ -187,7 +191,7 @@ class SubMaster:

    for s in services:
      p = self.poller if s not in self.non_polled_services else None
-      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=True)
+      self.sock[s] = sub_sock(s, poller=p, addr=addr, conflate=s not in self.drained)

      try:
        data = new_message(s)
@@ -207,14 +211,28 @@ class SubMaster:
  def _check_avg_freq(self, s: str) -> bool:
    return SERVICE_LIST[s].frequency > 0.99 and (s not in self.ignore_average_freq) and (s not in self.ignore_alive)

+  def _recv_socket(self, sock):
+    message = recv_one_or_none(sock)
+    if not self.drained or message is None:
+      return message
+    # Native Poller returns fresh socket wrappers; identify the service by data.
+    service = message.which()
+    if service not in self.drained:
+      return message
+    # Preserve event edges for observers, but update state/frequency only once.
+    self.drained[service] = [message, *drain_sock(sock)]
+    return self.drained[service][-1]
+
  def update(self, timeout: int = 100) -> None:
+    for service in self.drained:
+      self.drained[service] = []
    msgs = []
    for sock in self.poller.poll(timeout):
-      msgs.append(recv_one_or_none(sock))
+      msgs.append(self._recv_socket(sock))

    # non-blocking receive for non-polled sockets
    for s in self.non_polled_services:
-      msgs.append(recv_one_or_none(self.sock[s]))
+      msgs.append(self._recv_socket(self.sock[s]))
    self.update_msgs(time.monotonic(), msgs)

  def update_msgs(self, cur_time: float, msgs: List[capnp.lib.capnp._DynamicStructReader]) -> None:
@@ -262,6 +280,7 @@ class SubMaster:
      ignore_valid=self.ignore_valid,
      addr=self.addr,
      frequency=None if self.poll is not None else self.update_freq,
+      drain_services=list(self.drained),
    )


@@ -1,5 +1,6 @@
 import random
 import time
+import pytest
 from typing import Sized, cast

 import cereal.messaging as messaging
@@ -16,6 +17,29 @@ class TestSubMaster:
    # sleep to prevent multiple publishers error between tests
    zmq_sleep(3)

+  @pytest.mark.parametrize("poll", [None, "deviceState"])
+  def test_drain_preserves_short_events_with_native_socket_wrappers(self, poll):
+    pub = messaging.PubMaster(["carState", "deviceState"])
+    sm = messaging.SubMaster(["carState", "deviceState"], poll=poll, drain_services=["carState"])
+    zmq_sleep()
+    pressed = messaging.new_message("carState", valid=True)
+    button = pressed.carState.init("buttonEvents", 1)[0]
+    button.type, button.pressed = "accelCruise", True
+    pub.send("carState", pressed)
+    latest = messaging.new_message("carState", valid=True)
+    latest.carState.vEgo = 12.0
+    pub.send("carState", latest)
+    pub.send("deviceState", messaging.new_message("deviceState", valid=True))
+    sm.update(1000)
+    assert len(sm.drained["carState"]) == 2
+    assert sm.drained["carState"][0].carState.buttonEvents[0].pressed
+    assert sm["carState"].vEgo == 12.0 and not sm["carState"].buttonEvents
+    assert sm.logMonoTime["carState"] == latest.logMonoTime
+    assert sm.frame == 0 and all(sm.updated.values())
+    sm.update(0)
+    assert sm.drained["carState"] == []
+    assert sm.frame == 1 and not any(sm.updated.values())
+
  def test_init(self):
    sm = messaging.SubMaster(events)
    for p in [sm.updated, sm.recv_time, sm.recv_frame, sm.alive,
@@ -16,6 +16,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AthenadUploadQueue", {PERSISTENT, JSON}},
    {"AthenadRecentlyViewedRoutes", {PERSISTENT, STRING}},
    {"BootCount", {PERSISTENT, INT}},
+    {"BluetoothAudioAddress", {PERSISTENT, STRING}},
+    {"BluetoothAudioTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
+    {"BluetoothDisconnectControllersOffroad", {PERSISTENT, BOOL, "0"}},
+    {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
    {"CalibrationParams", {PERSISTENT, BYTES}},
    {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
    {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
@@ -84,6 +88,7 @@ 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}},
+    {"JoystickControlDevice", {PERSISTENT, STRING}},
    {"LanguageSetting", {PERSISTENT, STRING, "main_en"}},
    {"LastAthenaPingTime", {CLEAR_ON_MANAGER_START, INT}},
    {"LastGPSPosition", {PERSISTENT, STRING}},
@@ -105,10 +110,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LocationFilterInitialState", {PERSISTENT, BYTES}},
    {"LongitudinalManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
    {"LongitudinalPersonality", {PERSISTENT, INT, std::to_string(static_cast<int>(cereal::LongitudinalPersonality::STANDARD))}},
+    {"LongitudinalPersonalityProfiles", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"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}},
+    {"Offroad_ChestnutNotDetected", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutOverheated", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutPcieUnavailable", {CLEAR_ON_MANAGER_START, JSON}},
+    {"Offroad_ChestnutUncompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUpdateFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
+    {"Offroad_ChestnutUsbSlow", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, JSON}},
    {"Offroad_ConnectivityNeeded", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ConnectivityNeededPrompt", {CLEAR_ON_MANAGER_START, JSON}},
    {"Offroad_ExcessiveActuation", {PERSISTENT, JSON}},
@@ -186,7 +198,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"AggressiveJerkSpeedDecrease", {PERSISTENT, FLOAT, "50.0", "50.0", 3}},
    {"AlertVolumeControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"AllowImpossibleAcceleration", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"AlwaysOnLateral", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
+    {"AlwaysOnLateral", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"AlwaysOnLateralLKAS", {PERSISTENT, BOOL, "1", "0", 2}},
    {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
    {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
@@ -242,10 +254,6 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CommunityFavorites", {PERSISTENT, STRING, "", "", 1}},
    {"ConditionalChill", {PERSISTENT, BOOL, "0", "0", 1}},
    {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
-    {"HybridExpBias", {PERSISTENT, FLOAT, "0", "0", 1}},
-    {"HybridExperimental", {PERSISTENT, BOOL, "0", "0", 1}},
-    {"HybridVisionBrakeSensitivity", {PERSISTENT, FLOAT, "1", "1", 1}},
-    {"HEMExpDominant", {CLEAR_ON_MANAGER_START, BOOL, "0", "0", 2}},
    {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
@@ -259,6 +267,32 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"CustomAccelProfile45MPH", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
    {"CustomAccelProfile56MPH", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
    {"CustomAccelProfile89MPH", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
+    {"CustomAccelProfileBreakpointsInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"CustomAccelProfilePointCount", {PERSISTENT, INT, "7", "7", 3}},
+    {"CustomAccelProfileBreakpoint1MPH", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
+    {"CustomAccelProfileBreakpoint2MPH", {PERSISTENT, FLOAT, "11.184681", "11.184681", 3}},
+    {"CustomAccelProfileBreakpoint3MPH", {PERSISTENT, FLOAT, "22.369363", "22.369363", 3}},
+    {"CustomAccelProfileBreakpoint4MPH", {PERSISTENT, FLOAT, "33.554044", "33.554044", 3}},
+    {"CustomAccelProfileBreakpoint5MPH", {PERSISTENT, FLOAT, "44.738726", "44.738726", 3}},
+    {"CustomAccelProfileBreakpoint6MPH", {PERSISTENT, FLOAT, "55.923407", "55.923407", 3}},
+    {"CustomAccelProfileBreakpoint7MPH", {PERSISTENT, FLOAT, "89.477452", "89.477452", 3}},
+    {"CustomAccelProfileBreakpoint8MPH", {PERSISTENT, FLOAT, "100.662133", "100.662133", 3}},
+    {"CustomAccelProfileBreakpoint9MPH", {PERSISTENT, FLOAT, "111.846815", "111.846815", 3}},
+    {"CustomAccelProfileBreakpoint10MPH", {PERSISTENT, FLOAT, "123.031496", "123.031496", 3}},
+    {"CustomAccelProfileBreakpoint11MPH", {PERSISTENT, FLOAT, "134.216178", "134.216178", 3}},
+    {"CustomAccelProfileBreakpoint12MPH", {PERSISTENT, FLOAT, "145.400859", "145.400859", 3}},
+    {"CustomAccelProfilePoint1Accel", {PERSISTENT, FLOAT, "3.0", "3.0", 3}},
+    {"CustomAccelProfilePoint2Accel", {PERSISTENT, FLOAT, "2.5", "2.5", 3}},
+    {"CustomAccelProfilePoint3Accel", {PERSISTENT, FLOAT, "2.0", "2.0", 3}},
+    {"CustomAccelProfilePoint4Accel", {PERSISTENT, FLOAT, "1.5", "1.5", 3}},
+    {"CustomAccelProfilePoint5Accel", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
+    {"CustomAccelProfilePoint6Accel", {PERSISTENT, FLOAT, "0.8", "0.8", 3}},
+    {"CustomAccelProfilePoint7Accel", {PERSISTENT, FLOAT, "0.6", "0.6", 3}},
+    {"CustomAccelProfilePoint8Accel", {PERSISTENT, FLOAT, "0.55", "0.55", 3}},
+    {"CustomAccelProfilePoint9Accel", {PERSISTENT, FLOAT, "0.5", "0.5", 3}},
+    {"CustomAccelProfilePoint10Accel", {PERSISTENT, FLOAT, "0.45", "0.45", 3}},
+    {"CustomAccelProfilePoint11Accel", {PERSISTENT, FLOAT, "0.4", "0.4", 3}},
+    {"CustomAccelProfilePoint12Accel", {PERSISTENT, FLOAT, "0.35", "0.35", 3}},
    {"CustomCruise", {PERSISTENT, FLOAT, "1.0", "1.0", 2, SETTINGS_SIMPLE}},
    {"CustomCruiseLong", {PERSISTENT, FLOAT, "5.0", "5.0", 2, SETTINGS_SIMPLE}},
    {"CustomPersonalities", {PERSISTENT, BOOL, "0", "0", 2}},
@@ -284,6 +318,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DeveloperSidebarMetric7", {PERSISTENT, INT, "7", "0", 3}},
    {"DeveloperUI", {PERSISTENT, BOOL, "0", "0", 3}},
    {"GalaxyDeveloperMode", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"GalaxyDeviceName", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"GalaxyMobileDefault", {PERSISTENT | DONT_LOG, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
    {"DeveloperWidgets", {PERSISTENT, BOOL, "1", "0", 3}},
    {"DeviceManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
@@ -304,6 +340,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
    {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
    {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"ActiveBigModel", {PERSISTENT, STRING}},
+    {"ActiveBigModelName", {PERSISTENT, STRING}},
+    {"ActiveBigModelVersion", {PERSISTENT, STRING}},
+    {"ActiveSmallModel", {PERSISTENT, STRING}},
+    {"ActiveSmallModelName", {PERSISTENT, STRING}},
+    {"ActiveSmallModelVersion", {PERSISTENT, STRING}},
    {"Model", {PERSISTENT, STRING, "rdf43", "rdf43", 1}},
    {"ModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
    {"DrivingModel", {PERSISTENT, STRING, "rdf43", "rdf43", 1}},
@@ -311,6 +353,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"DrivingModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
    {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
+    {"GpuModelReadySound", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"EngageVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
    {"EVTuning", {PERSISTENT, BOOL, "0", "0", 3}},
    {"Fahrenheit", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -321,6 +364,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IgnoreIgnitionLine", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"LongPitch", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"RemoteStartBootsComma", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"TeslaWakeOnCAN", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"RemapCancelToDistance", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"NAPAdaptiveAccel", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
    {"NAPFollowDistance", {PERSISTENT, INT, "4", "4"}},
@@ -346,17 +390,13 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ForceStandstill", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"FordLKASButtonControlMigrated", {PERSISTENT, BOOL, "0", "0"}},
    {"ForceTorqueController", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"FordAngleBlend", {PERSISTENT, FLOAT, "0.5", "0.5", 2}},
-    {"FordAngleHighSpeedDamping", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"FordAngleHighSpeedFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"FordAngleLaneChangeFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
-    {"FordAngleLowSpeedFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    // These Ford curvature tuning concepts descend from BluePilot bp-7.0. StarPilot's key names and
+    // settings integration are local; see /CREDITS.md and /THIRD_PARTY_NOTICES.md for provenance.
    {"FordCurvatureBlendHigh", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
    {"FordCurvatureBlendLow", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
    {"FordCurvatureLaneChangeFactor", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
    {"FordHandsFreeCluster", {PERSISTENT, BOOL, "0", "0", 2}},
    {"FordHumanTurnDetection", {PERSISTENT, BOOL, "1", "1", 2}},
-    {"FordLateralMode", {PERSISTENT, INT, "1", "1", 2}},
    {"FLMActiveOverrides", {PERSISTENT, JSON, "{}", "{}", 2}},
    {"FLMActiveProfileId", {PERSISTENT, STRING, "", "", 2}},
    {"FLMSubmittedTune", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
@@ -369,6 +409,12 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"StarPilotCarParamsPersistent", {PERSISTENT, BYTES, "", ""}},
    {"StarPilotDongleId", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
    {"StarPilotFavoriteSlots", {PERSISTENT, JSON, "[]", "[]", 1}},
+    {"ControllerActionSlots", {PERSISTENT, JSON, "[]", "[]", 1}},
+    {"WheelControlLearnSlot", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
+    {"WheelControlMappings", {PERSISTENT, JSON, "[]", "[]", 1}},
+    {"WheelControlStatus", {CLEAR_ON_MANAGER_START | DONT_LOG, JSON, "{}", "{}"}},
+    {"WheelControlTestActive", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
+    {"WheelControlsEnabled", {PERSISTENT, BOOL, "0"}},
    {"StarPilotStats", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
    {"StarPilotTogglesUpdated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
    {"GoatScream", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
@@ -399,6 +445,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"IncreaseFollowingRain", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
    {"IncreaseFollowingRainStorm", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
    {"IncreaseFollowingSnow", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
+    {"AggressiveCoolingEnabled", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"IncreaseThermalLimits", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
    {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
@@ -422,7 +469,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
    {"LeadIndicator", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
-    {"LeadInfo", {PERSISTENT, BOOL, "1", "0", 3}},
+    {"LeadInfo", {PERSISTENT, BOOL, "0", "0", 3}},
+    {"LeadInfoMode", {PERSISTENT, INT, "2", "2", 3}},
    {"LKASButtonControl", {PERSISTENT, INT, "5", "0", 2, SETTINGS_SIMPLE}},
    {"LockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
    {"LockDoorsTimer", {PERSISTENT, INT, "0", "0", 0}},
@@ -478,6 +526,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"ModeButtonControl", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ModelDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
    {"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
+    {"ModelLabConfig", {PERSISTENT, JSON, "{}", "{}"}},
+    {"ModelLabModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    {"ModelLabRuntime", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
    {"ModelReleasedDates", {PERSISTENT, STRING, "", "", 1}},
    {"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
    {"LatSmoothSeconds", {PERSISTENT, FLOAT, "0.1", "0.1", 3}},
@@ -511,6 +562,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"FavoriteVirtualDecelCruiseCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
    {"FavoriteTrafficModeCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
    {"WheelButtonBookmarkCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlAOLCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlDisengageCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlEngageCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlForceCoastCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlPulseGlideCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
    {"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
    {"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
    {"PathColor", {PERSISTENT, STRING, "", "", 2, SETTINGS_SIMPLE}},
@@ -559,6 +615,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RelaxedJerkDeceleration", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"RelaxedJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
+    {"ReverseCruise", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
    {"RivianAngleControl", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"RivianAngleSaturated", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
    {"RivianToiRecoveryFailed", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BOOL, "0", "0"}},
@@ -568,6 +625,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"RotatingWheel", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenBrightness", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
    {"ScreenBrightnessOnroad", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadManual", {PERSISTENT, INT, "100", "100", 2, SETTINGS_SIMPLE}},
+    {"ScreenBrightnessOnroadOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenManagement", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
    {"ScreenRecorder", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"ScreenTimeout", {PERSISTENT, INT, "30", "30", 2, SETTINGS_SIMPLE}},
@@ -577,6 +638,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SafeModeBackup", {PERSISTENT, JSON, "{}", "{}"}},
    {"SetSpeedLimit", {PERSISTENT, BOOL, "0", "0", 1}},
    {"SetSpeedOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
+    {"ShowBrakeStatus", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"ShowCEMStatus", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"ShowCCMStatus", {PERSISTENT, BOOL, "0", "0", 2}},
    {"ShowCPU", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -638,6 +700,15 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"StandardJerkSpeed", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandardJerkSpeedDecrease", {PERSISTENT, FLOAT, "100.0", "100.0", 3}},
    {"StandbyMode", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"StandbyWakeButton", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"StandbyButtonPressTime", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
+    {"ScreenOffToggleCounter", {CLEAR_ON_MANAGER_START | DONT_LOG, INT, "0", "0"}},
+    {"StandbyWakeEngage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeDisengage", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeInfoAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeWarningAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeCriticalAlert", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
+    {"StandbyWakeTurnSignal", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"StartAccel", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartAccelStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
    {"StartupMessageBottom", {PERSISTENT, STRING, "Always keep hands on wheel and eyes on road", "Always keep hands on wheel and eyes on road", 0}},
@@ -670,7 +741,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"SubaruAvhStartup", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"SubaruRedneckCruise", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"TeslaAOLDisengageOnBrake", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
    {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
    {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
    {"TetheringEnabled", {PERSISTENT, INT, "0", "0", 0}},
@@ -0,0 +1,44 @@
+from types import SimpleNamespace
+
+from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
+
+from openpilot.starpilot.common.lateral_only_experimental import (
+  experimental_mode_available,
+  lateral_only_experimental_available,
+)
+
+
+def test_telluride_platform_allows_lateral_only_experimental_mode():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_PALISADE_2023,
+    openpilotLongitudinalControl=False,
+  )
+
+  assert lateral_only_experimental_available(CP)
+  assert experimental_mode_available(CP)
+
+
+def test_lateral_only_mode_does_not_expand_other_stock_acc_cars():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_SONATA,
+    openpilotLongitudinalControl=False,
+  )
+
+  assert not lateral_only_experimental_available(CP)
+  assert not experimental_mode_available(CP)
+
+  old_palisade = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_PALISADE,
+    openpilotLongitudinalControl=False,
+  )
+  assert not lateral_only_experimental_available(old_palisade)
+
+
+def test_normal_experimental_mode_remains_available_with_openpilot_long():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_SONATA,
+    openpilotLongitudinalControl=True,
+  )
+
+  assert not lateral_only_experimental_available(CP)
+  assert experimental_mode_available(CP)
@@ -5,7 +5,7 @@ import threading
 import time
 import uuid

-from openpilot.common.params import Params, ParamKeyFlag, UnknownKeyName
+from openpilot.common.params import Params, ParamKeyFlag, ParamKeyType, UnknownKeyName

 class TestParams:
  def setup_method(self):
@@ -128,6 +128,31 @@ class TestParams:
    assert self.params.get("LiveParameters") is None
    assert self.params.get("LiveParameters", return_default=True) is None

+  def test_longitudinal_personality_profiles_json_round_trip(self):
+    key = "LongitudinalPersonalityProfiles"
+    value = {
+      "schemaVersion": 1,
+      "enabled": False,
+      "axes": {
+        "acceleration": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "maximum_requested_acceleration"},
+        },
+        "braking": {
+          "speed": {"unit": "mph", "values": [0.0, 11.184681, 22.369363, 33.554044, 44.738726, 55.923407, 89.477452]},
+          "value": {"unit": "m/s^2", "meaning": "cruise_slc_deceleration_magnitude"},
+        },
+        "following": {"speed": {"unit": "mph", "values": [0, 10, 20, 30, 40, 50, 60, 70, 80, 90]}, "value": {"unit": "s", "meaning": "base_time_headway"}},
+      },
+      "profiles": {},
+    }
+    self.params.remove(key)
+
+    assert self.params.get_type(key) == ParamKeyType.JSON
+    assert self.params.get(key) is None
+    self.params.put(key, value)
+    assert self.params.get(key) == value
+
  def test_params_get_type(self):
    # json
    self.params.put("ApiCache_DriveStats", {"a": 0})
@@ -4,7 +4,7 @@

 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.

-# 452 Supported Cars
+# 453 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -76,7 +76,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM SDGM 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=Chevrolet Volt 2019">Buy Here</a></sub></details>|||
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|Stock|0 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 Volt ASCM Harness 2017-18">Buy Here</a></sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|openpilot available[<sup>1</sup>](#footnotes)|0 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 Volt Camera Harness 2017-18">Buy Here</a></sub></details>|||
-|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|openpilot|0 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 Volt No-ACC 2017-18">Buy Here</a></sub></details>|||
+|Chevrolet|Volt No-ACC 2016-18 (OBD Harness)|Redneck ACC|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II 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 Volt No-ACC 2016-18 (OBD Harness)">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>|||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>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 2019-20">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2021-23|All|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 2021-23">Buy Here</a></sub></details>|||
@@ -465,7 +465,7 @@ A supported vehicle is one that just works when you install a comma device. All

 These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.

-# 16 Community Cars
+# 17 Community 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|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -478,6 +478,7 @@ These additional vehicle ports are maintained by StarPilot rather than upstream
 |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|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|Forte Non-SCC 2021|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 2021">Buy Here</a></sub></details>|||
+|Kia|Ray EV 2025|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 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 Ray EV 2025">Buy Here</a></sub></details>|||
 |Kia|Seltos Non-SCC 2023-24|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 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 Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
 |Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|||
 |Toyota|Matrix Retrofit 2005|Custom retrofit|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 Matrix Retrofit 2005">Buy Here</a></sub></details>|||
@@ -545,4 +546,4 @@ openpilot does not yet support these Toyota models due to a new message authenti
 * Toyota Camry 2025+
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
-* Subaru Solterra 2023+
+* Subaru Solterra 2023+
@@ -0,0 +1,86 @@
+# Fleet offline audit — September 21, 2026
+
+This is a first-pass fault and coverage inventory, not fleet driving clearance.
+No hardware was accessed and no controller or safety policy was changed by this
+audit. Other work was concurrently modifying the checkout; per-case source and
+library hashes identify the tested implementations.
+
+The full debug-library run visited all 345 platforms. It evaluated both recorded
+and AOL-main scenarios for 287 registered routes, plus 108 missing-route entries:
+
+| Result | Cases |
+|---|---:|
+| Pass within the stated scope | 103 |
+| Failed checks, requiring triage | 123 |
+| Missing coverage | 288 |
+| Could not evaluate | 168 |
+| Total | 682 |
+
+These are case counts, not numbers of unsafe cars. Missing coverage includes all
+108 platforms without routes and segments without active transitions. Evaluation
+errors include unavailable recordings and identities that do not match the
+registered platform after the existing fingerprint migration. Old logs must be
+normalized explicitly, not quietly substituted for another car.
+
+Full local evidence is under
+`selfdrive/car/tests/fleet_results/full_fleet/results.json`, with per-shard build,
+case and worker logs. Generated evidence is ignored by Git.
+
+The follow-up full release-library run also completed 682 cases: **102 pass,
+153 failed, 289 uncovered, 138 evaluation errors**. Evidence is under
+`selfdrive/car/tests/fleet_results/release_fleet_checked/results.json`.
+The two batches had different download availability and ran against a changing
+working tree; their count difference is not an isolated debug-versus-release
+experiment. Both correctly exit nonzero. The release batch is not fleet clearance.
+
+## Confirmed distinctions from failure triage
+
+**Hyundai Custin — controller/safety capability mismatch.** The registered
+segment `0bbe367c98fa1538/2023-09-16--00-16-49/2` contains 600 camera-bus
+messages at 0x53e, all eight bytes, none six. `CarInterfaceBase.get_starpilot_params`
+in `opendbc_repo/opendbc/car/interfaces.py` enables HAS_LKAS12 by address alone.
+Hyundai `CarState.update` and `CarController.update` then produce six-byte LKAS12
+replacements. In `opendbc_repo/opendbc/safety/modes/hyundai.h`,
+`hyundai_rx_all_hook` only enables replacement after receiving a six-byte camera
+message, and `hyundai_tx_hook` correctly rejects the unsolicited replacement.
+Both scenarios reject 5,799 such packets. A fresh-library probe also reproduced
+the six-byte/eight-byte distinction. Repair requires a controller capability and
+parser regression test; do not broaden the safety allowlist to hide the mismatch.
+
+**Honda Civic Bosch — incompatible historical control requests.** All 5,997
+recorded requests in the inspected 2020 fixture have enabled/latActive/longActive
+false but resume true; all 6,000 cruise-state CAN messages are disabled. Current
+controller output is RES_ACCEL at 0x296, which current safety correctly blocks.
+The AOL probe suppresses resume and passes. Investigate historical command/schema
+semantics before calling this a current steering defect.
+
+**Ford Escape — mid-segment initialization artifact.** The first cruise-enabled
+0x165 enables controls, but the immediately following 0x202 reaches
+`speed_mismatch_check` before safety has nonzero speed history. Controls are
+revoked; cruise stays enabled for the entire segment so `pcm_cruise_check` sees
+no new rising edge. Relay health remains good. This reproduces with both recorded
+and default alternative experience. A two-second scoring warmup does not repair
+the latch. This needs recorded preroll/initialization coverage, not force-setting
+`controls_allowed` or changing vehicle safety.
+
+## Tesla and AOL scope
+
+In the full debug-library run, the Model 3 route and the second Model Y route
+passed both scenarios. The first Model Y route lacked a lateral transition;
+its AOL case also lacked requested steering under AOL-only safety permission.
+Model X was uncovered as a current dashcam-only configuration. The Model S HW1
+and Pre-AP entries have no registered routes. None of these findings reproduces
+or disproves the exact hackathon oscillation without its trace.
+
+The separate actual StarPilotCard synthetic-input suite passed 964 checks with
+72 explicit active-sequence gaps. All 345 disabled configurations were checked;
+309 platforms completed both active modes. These tests check state-machine gates
+and stable sequences, not the entire selfdrived-to-Panda feedback loop.
+
+The test-harness regressions pass 34 tests. They cover pre-hook AOL authorization,
+strict configuration/bus routing, rejected active packets, expected negative
+checks, empty activity, worker crashes, stale reports and build failures.
+
+See `FLEET_SAFETY_TESTING.md` for commands, CI scope and limitations. The workflow
+has been added locally but not published or run on GitHub, and branch protection
+has not been changed. The full fleet is not green.
@@ -0,0 +1,112 @@
+# Offline fleet controller and safety checks
+
+The runner in `selfdrive/car/tests/fleet_safety.py` enumerates every platform in
+the current checkout and uses `opendbc.car.tests.routes`. It runs current
+CarInterface/CarState/CarController code against recorded CAN and actuator
+requests, then checks each newly generated CAN packet with freshly compiled
+current safety hooks. It never connects to a Panda or starts vehicle processes.
+
+Run from the repository root with the repository Python environment:
+
+```sh
+python -m selfdrive.car.tests.fleet_safety --inventory
+python -m selfdrive.car.tests.fleet_safety --platform TESLA_MODEL_Y --release
+python -m selfdrive.car.tests.fleet_safety --all --release
+```
+
+An isolated dependency set is in `selfdrive/car/tests/fleet_requirements.txt`.
+The runner needs a C compiler. It does not use a previously staged libsafety.
+Without `--release`, the safety library enables ALLOW_DEBUG, like the existing
+safety unit tests. Release checks are needed as well: a debug-only hook must not
+be mistaken for an available production configuration. Release host builds retain
+unused-variable warnings without treating that specific diagnostic as an error.
+
+For parallel runs, use separate output directories:
+
+```sh
+python -m selfdrive.car.tests.fleet_safety --all --release \
+  --shard-count 8 --shard-index 0 --out selfdrive/car/tests/fleet_results/shard_0
+```
+
+Run indices 0 through 7. Each has its own library copies, worker processes,
+parameter namespace, logs and results. `--local-log` allows a local rlog for one
+explicitly selected platform. Route IDs and old fingerprint aliases must match;
+the harness does not silently treat another vehicle's log as that platform.
+
+## What is checked
+
+- Recorded commands under the current default feature configuration.
+- A separate AOL MAIN-availability controller/safety probe, using recorded
+  actuator values with longitudinal requests and cruise button requests off.
+- Actual per-Panda safety model, CP/FPCP safety-param OR, alternative-experience
+  OR, and strict four-bus routing, matching production configuration assembly.
+- Incoming CAN, current CarState validity and safety receive health.
+- Every emitted TX, including inactive-state packets; unexpected rejection fails.
+- Pre-hook normal/AOL/longitudinal permissions, so a rejection that revokes
+  authorization cannot disappear from the failure accounting.
+- Active requests, accepted active TX, engagement transitions, and AOL-only
+  safety authorization coverage. Sparse commands and absent transitions cannot
+  qualify as complete coverage.
+
+There is a two-second unscored fixture startup interval. Controller and safety
+history still receive messages during it. The harness does not force safety
+authorization or clear a relay fault to manufacture a passing result.
+
+## Results are deliberately strict
+
+`pass` means the case satisfied these specific checks and coverage requirements.
+`failed` means a hook/health check failed and needs investigation. `uncovered`
+means the scenario was not demonstrated, including missing routes, dashcam-only
+interfaces and segments without transitions. `error` means the case could not be
+evaluated, such as download failure or mismatched fixture identity. Anything
+other than pass makes the command exit nonzero. Existing `non_tested_cars`
+exemptions remain visible coverage gaps.
+
+Reports include frame counters, bounded rejected packet evidence, source hashes,
+effective safety configurations and build provenance. Worker results carry a
+unique execution ID; a crash, stale result or inconsistent exit code cannot be
+reused as a pass. JSON and logs live under the ignored `fleet_results` directory.
+
+The AOL probe is **not** a complete simulation of StarPilotCard, selfdrived,
+controls mismatch handling or a vehicle ECU. Recorded commands may also reflect
+historical settings different from current defaults. A blocked historical resume
+request is not automatically a steering bug. Investigate each failure before
+changing code. Do not widen safety permissions to make tests green.
+
+## Continuous integration and remaining coverage
+
+`starpilot/controls/tests/test_fleet_aol.py` separately exercises the actual
+StarPilotCard state machine with isolated synthetic inputs for every platform.
+It tests feature-off behavior, steady engagement, AOL-only operation, brake
+pause, native/StarPilot immediate-disable alerts, calibration and gear gates.
+It uses empty firmware/fingerprint fixtures, so optional vehicle configurations
+are not covered by these sequences. Run it with a compatible built host runtime:
+
+```sh
+python -m pytest --noconftest -o addopts='' -q starpilot/controls/tests/test_fleet_aol.py
+```
+
+The first run passed 964 checks and explicitly skipped 72 active sequences:
+309 platforms exercised both active modes; 36 platforms had two gaps each
+(30 dashcam-only, one notCar, four Volvo policy exclusions, one Pre-AP external
+authorization dependency). All 345 feature-off checks passed. A separate
+Pre-AP authorization input boundary test is synthetic, not proof of actual
+Panda authorization. These tests were run against the current working tree,
+including concurrent Pre-AP changes; they do not certify an earlier commit.
+The lightweight CI workflow below does not build the native runtime required
+by this separate state-machine suite.
+
+`.github/workflows/fleet_safety.yaml` adds harness tests and eight release-mode
+recorded-route shards on relevant pull requests and manual runs. Missing coverage
+is not converted to a skip or allowed failure. The current fleet is not green;
+this workflow will expose that fact. It has not been executed on GitHub from this
+local task. Requiring it for merge also needs repository branch protection; a
+workflow file alone does not change repository settings.
+
+As of the first September 21 inventory there are 345 platforms, 287 registered
+routes across 237 platforms, and 108 platforms with no registered route. A route
+entry does not guarantee valid, downloadable logs or all necessary maneuvers.
+Every optional harness, longitudinal mode, safety parameter, firmware generation
+and AOL configuration still needs explicit coverage. Offline checks reduce
+blind spots; they do not certify every physical vehicle or reproduce an incident
+whose CAN trace was not retained.
@@ -1,146 +1,128 @@
-# StarPilot Unified Model Rebuild
+# StarPilot Model Rebuild

-This workflow rebuilds StarPilot driving and driver-monitoring artifacts for the vendored tinygrad revision. Driving-model behavior versions remain manifest metadata; every runtime driving artifact uses the `tinygrad_single_v1` layout.
+This is the supported workflow for changing the vendored tinygrad revision and
+releasing a new model manifest generation. A manifest generation represents one
+tinygrad ABI. Model behavior versions (`v8` through `v16`) are independent and
+must remain unchanged when only tinygrad changes.

-## Safety
+The current generation is **v25**, pinned to tinygrad
+`e837e367aac9e1a66e689f4f32ce20ca9367df13`. The supported compiler is
+`comma@192.168.3.110`; never substitute another comma without explicit approval.

- The supported build device is `comma@192.168.3.109`.
- Never run these commands against `192.168.3.110`.
- Normal artifacts target QCOM. External-GPU artifacts must be compiled explicitly and tagged in the manifest.
- Keep source ONNX files and compiled PKLs on the T5 workspace, not the comma.
+## Release Contract

-## Workspace
+- Keep every existing StarPilot model ID stable across manifest generations.
+- Store HF artifacts under `models/v25/<model-id>/`.
+- Store GitHub fallback artifacts on the `Models` branch under `v25/<model-id>/`.
+- Name every logical artifact `<model-id>_driving_tinygrad.pkl`.
+- Publish native chunks as `.chunkNNofNN` plus `.chunkmanifest`.
+- Serialize every v25 driving artifact out-of-band; this applies to normal QCOM
+  models as well as external-GPU models.
+- Include `artifact_sha256` and `artifact_chunk_count` in the manifest.
+- Set `uses_external_gpu: true` only for models compiled for Chestnut.
+- Do not rename an artifact from another tinygrad revision. PKLs must either use
+  the exact v25 pin or be rebuilt with it.
+- Do not add models absent from the existing StarPilot catalog unless the
+  release explicitly requests them.

-The default workspace is:
+The downloader checks Hugging Face first and GitHub second. There is no GitLab
+fallback. The HF manifest lives only at `manifests/model_names_v25.json`, old
+artifacts live under `models/v24/`, and current artifacts live under
+`models/v25/`. The v25 downloader never probes unversioned or v24 artifact
+paths; missing v25 artifacts fail safely instead of loading an incompatible
+pickle.
+
+## Tinygrad Bump
+
+1. Record the exact tinygrad commit used by the compatible source catalog.
+2. Replace `tinygrad_repo/` from that commit, excluding nested Git metadata.
+3. Write the full SHA to `tinygrad_repo/TINYGRAD_COMMIT`.
+4. Review upstream `modeld`, compiler, parser, and camera-warp changes. Merge
+   required ABI changes into StarPilot's existing multi-model runtime; never
+   replace StarPilot `modeld.py` wholesale.
+5. Increment `MANIFEST_CANDIDATES` to a new single version. Do not fall back to
+   the prior manifest because its PKLs target a different tinygrad ABI.
+6. Sync the exact tree to the compiler before building anything:
+
+```bash
+./dev sync
+rsync -az --delete --exclude=.git --exclude=__pycache__ -e ssh \
+  tinygrad_repo/ comma@192.168.3.110:/data/openpilot/tinygrad_repo/
+rsync -az -e ssh selfdrive/modeld/ \
+  comma@192.168.3.110:/data/openpilot/selfdrive/modeld/
+rsync -az -e ssh scripts/model_compiler.py \
+  comma@192.168.3.110:/data/openpilot/scripts/model_compiler.py
+rsync -az -e ssh models comma@192.168.3.110:/data/openpilot/models
+```
+
+Confirm the device marker before compiling:
+
+```bash
+ssh comma@192.168.3.110 \
+  'cat /data/openpilot/tinygrad_repo/TINYGRAD_COMMIT'
+```
+
+## Reuse Compatible Artifacts
+
+Reusing an artifact is preferred when its catalog records the exact same
+tinygrad SHA and exact same source-model commit. Display names and release dates
+are not sufficient proof. Copy compatible chunks server-side so the Mac never
+stores a second multi-gigabyte artifact, but rename every destination chunk to
+the stable StarPilot model ID.
+
+Example:
+
+```bash
+hf buckets cp \
+  'hf://datasets/<source>/<path>/<source-file>.chunk01of02' \
+  'hf://buckets/StarPilot-Driving/StarPilot-Resources/models/v25/pop223/pop223_driving_tinygrad.pkl.chunk01of02'
+```
+
+Write `2` to `pop223_driving_tinygrad.pkl.chunkmanifest`, upload it last, and
+put the source artifact's full SHA-256 and chunk count into the v25 manifest.
+Upload the manifest only after every listed artifact directory is complete.
+
+## Compile Missing Models
+
+Archived sources live under:

 ```text
-/Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/
+hf://buckets/StarPilot-Driving/StarPilot-Resources/onnx/<source-id>/
 ```

-Important directories:
-
- `onnx/<model-id>/`: ID-prefixed source ONNX files.
- `compiled/`: completed unified driving PKLs.
- `driver-monitoring/`: DM ONNX, model PKL, metadata, and camera warps.
- `ready-for-resources/`: flat repository-upload handoff.
- Oversized models are represented by repository-safe `.p00`, `.p01`, and `.sha256` files in `ready-for-resources/`.
- `logs/`: one remote compilation log per model.
- `results/`: source and artifact checksum records.
- `manifests/`: source `model_names_v22.json` and namespaced release `model_names_v23.json`.
- The v23 manifest and compiled artifacts are published together in the resource repository's `Models` branch.
-
-## Initialize And Extract
+Stage one model at a time in `/data/openpilot/uncompiledmodels`; this avoids
+filling the comma and prevents `./models` from selecting stale input files.

 ```bash
-python3 scripts/model_rebuild_pipeline.py init
-python3 scripts/model_rebuild_pipeline.py extract \
-  --base-manifest /path/to/model_names_v21.json
+./models --<model-id> --version <behavior-version>
+./models --<gpu-model-id> --version v16 --gpu
 ```

-Extraction streams Git blobs directly to disk. LFS pointers are resolved from the local object cache or fetched by object ID, then checked against the pointer SHA-256 and size. Binary ONNX data is never stored in a shell variable.
-
-To retry one source:
+The default input is a single supercombo ONNX. For legacy sources use:

 ```bash
-python3 scripts/model_rebuild_pipeline.py extract \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
+./models --<model-id> --input-format split --version <behavior-version>
 ```

-The original catalog sources are defined in `scripts/model_source_map_v22.json`.
-Recovered late-model and supercombo sources, including RDF2, are defined in
-`scripts/model_source_map_v23.json`. The v23 map is intentionally separate so
-adding a recovered iteration cannot alter the older model source history.
+Every non-local release build emits an OOB artifact as native chunks and removes
+the temporary full PKL. `./models --local-<id>` intentionally keeps one OOB PKL
+for local use.

-## Compile
-
-Compile one model:
+The resumable bulk helper is:

 ```bash
+STAR_PILOT_MODEL_REMOTE=comma@192.168.3.110 \
 python3 scripts/model_rebuild_pipeline.py compile \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
+  --workspace /Volumes/T5/StarPilot-Model-Rebuild \
+  --source-map scripts/model_source_map_v25.json \
+  --base-manifest ~/StarPilot-Resources/model_names_v25.json
 ```

-Compile or resume the full catalog:
+Failures are recorded under `results/`; rerun the same command to resume.

-```bash
-python3 scripts/model_rebuild_pipeline.py compile \
-  --base-manifest /path/to/model_names_v21.json
-```
+## Driver Monitoring And Default

-Existing artifacts are skipped unless `--force` is passed. Each model is staged in its own remote input directory, compiled on `.109`, copied back to the T5, hashed, and copied into `ready-for-resources/`. Failures are written to `results/<id>_failure.json`; rerunning the same command resumes incomplete models.
-
-Validate one or all completed artifacts with synthetic camera inputs on QCOM:
-
-```bash
-python3 scripts/model_rebuild_pipeline.py validate \
-  --model pop22 \
-  --base-manifest /path/to/model_names_v21.json
-```
-
-The lower-level device compiler also supports direct use:
-
-```bash
-./models --model pop22 --input-format split --version v11
-./models --model deeprl3v2 --input-format supercombo --version v15
-```
-
-For a model that cannot run on the device GPU, compile with the USB AMD GPU attached:
-
-```bash
-./models --lebowski --gpu
-```
-
-The ASM2464PD bridge must run the current tinygrad custom firmware from
-https://github.com/tinygrad/asm2464pd-firmware. Its USB product string starts
-with `custom`; the legacy `USB 3.2 PCIe TinyEnclosure` patch is not compatible
-with comma's current external-GPU runtime. Firmware flashing is a separate,
-explicit hardware setup step and StarPilot never performs it automatically.
-
-The dynamic flag (`--lebowski` above) sets the output and manifest model ID;
-when only one source model is staged, its ONNX filename does not need to match
-that ID. Input format and behavior version are inferred. `--external-gpu`
-remains available as a compatibility alias for `--gpu`.
-
-This emits a streaming out-of-band pickle and keeps QCOM available for camera warps. Its manifest entry must include:
-
-```json
-{
-  "id": "lebowski",
-  "uses_external_gpu": true
-}
-```
-
-Only tagged models activate the external GPU. If the GPU or artifact is unavailable, runtime falls back to the built-in model; all untagged models retain the existing QCOM path.
-
-`--version` records behavioral semantics only. It does not change artifact layout.
-
-If the compiled PKL exceeds 100 MiB, `./models` automatically keeps the full
-local PKL and creates 95 MiB upload parts beside it:
-
-```text
-deeprl3v2_driving_tinygrad.pkl
-deeprl3v2_driving_tinygrad.pkl.p00
-deeprl3v2_driving_tinygrad.pkl.p01
-deeprl3v2_driving_tinygrad.pkl.sha256
-```
-
-To split an already compiled artifact:
-
-```bash
-./models --split-artifact /path/to/deeprl3v2_driving_tinygrad.pkl \
-  --output-dir /path/to/upload-ready
-```
-
-Upload only the numbered parts and checksum when the full PKL exceeds the
-repository limit. The downloader reassembles into a temporary file, verifies
-the companion SHA-256, and atomically installs the final PKL. No manifest field
-is required for multipart artifacts.
-
-## Driver Monitoring
-
-Stage the current DM ONNX in `uncompiledmodels`, then run:
+Driver monitoring is built once per tinygrad generation:

 ```bash
 ./models --dm \
@@ -148,61 +130,43 @@ Stage the current DM ONNX in `uncompiledmodels`, then run:
  --output-dir /tmp/dm_artifacts
 ```

-This builds:
+Replace these four files together:

 - `dmonitoring_model_tinygrad.pkl`
 - `dmonitoring_model_metadata.pkl`
 - `dm_warp_1928x1208_tinygrad.pkl`
 - `dm_warp_1344x760_tinygrad.pkl`

-All four files must be updated together.
+Recompile RDF V4 with the same pin and replace the built-in
+`selfdrive/modeld/models/driving_tinygrad.pkl` native chunk set. Never commit a
+full built-in PKL over the repository limit.

-## Manifest
+## Validation

-Generate the base manifest after compilation, then namespace the release artifacts as v23:
+Run repository tests first:

 ```bash
-python3 scripts/model_rebuild_pipeline.py manifest \
-  --base-manifest /path/to/model_names_v21.json
+./dev sync
+./.venv/bin/pytest -q -n0 \
+  starpilot/assets/tests/test_model_pipeline.py \
+  common/tests/test_file_chunker.py \
+  scripts/tests/test_model_release.py
 ```

-```bash
-python3 scripts/namespace_model_artifacts.py \
-  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22 \
-  --base-manifest /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/manifests/model_names_v22.json \
-  --manifest-version v23 --suffix 3
-```
+For representative v8, v11, v12, v15, v16, and GPU artifacts, validate both
+camera resolutions on real QCOM and require finite plan, lane-line, road-edge,
+lead, pose, and action outputs. Then start `modeld` and confirm stable
+`modelV2` publication. Validate DM `driverStateV2` at both resolutions.

-The namespace command changes IDs such as `tr1422` to `tr14223`, renames the
-compiled and upload-ready files, and writes an ID map. It preserves display
-names and behavioral versions. The current model manager requests v23 only;
-the manifest is fetched from `Models/model_names_v23.json`, while v22 remains
-available for devices that have not updated yet.
+## Device Migration

-After importing newly compiled sources, normalize the release namespace before
-copying files into either resource repository:
+When `ModelManifestVersion` changes, the model manager retains the selected
+model ID but deletes every non-local downloaded driving artifact from the old
+generation, including full PKLs, `.pNN` parts, native chunks, and chunk
+manifests. It then downloads that ID's v25 chunks. Local models and DM files are
+not deleted. If the selected v25 artifact cannot be downloaded and verified,
+the manager selects the built-in RDF V4 model.

-```bash
-python3 scripts/reconcile_v23_artifacts.py \
-  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22
-```
-
-This maps recovered source IDs to their v23 release IDs, removes duplicate
-macOS metadata files, and adds `rdf23` for Regret Driven Framework V2. It does
-not overwrite a conflicting artifact.
-Repository-hosted multipart files are discovered by naming convention, so no
-size, hash, format, or part-count metadata is required.
-
-`uses_external_gpu` is optional and defaults to `false`.
-
-## Runtime Verification
-
-Compilation validates JIT capture/replay, pickle round-trip, finite outputs, metadata slices, and both camera warps. Before release:
-
-1. Select representative v8, v11, v12, v15, and supercombo models.
-2. Confirm `modeld` stays running.
-3. Confirm finite `modelV2` path, lane-line, lead, pose, and action data.
-4. Confirm `driverStateV2` on both supported camera resolutions.
-5. Test download, selection, deletion, randomization, migration, and fallback in both device UIs and Galaxy.
-
-The built-in RDF artifact is `selfdrive/modeld/models/driving_tinygrad.pkl`. If migration cannot download the selected v23 artifact, StarPilot switches to that built-in model.
+Test this explicitly before release by starting with a v24 selected model and
+checking that no v24 driving artifact remains under `/data/models` after the
+v25 manifest is applied.
@@ -0,0 +1,80 @@
+# Custom personality graphs
+
+Each personality keeps its own Custom acceleration, braking and following curve.
+Selecting a named preset changes the active selection without deleting Custom
+points. Selecting Custom again restores those points, including after a reload
+or restart. If a category has never had Custom points, it is initialized from
+the current selection, as before.
+
+The existing **Reset to default** button, below each Custom graph's numeric
+points in New Galaxy's Advanced section, replaces only that category's Custom
+curve. It leaves the category set to Custom. The server resolves the reset
+values; the dashed **Dom default** line uses the same resolver.
+
+Defaults are Dom's configured base curves sampled at the editor's 10 mph
+points. They include Traffic's dedicated acceleration and braking, following
+settings, global tuning switches and powertrain overrides. Where gear mapping
+is enabled, the reference uses normal gear. Live Eco/Sport gear, weather,
+lead/stop and overspeed adjustments remain on the existing controller paths.
+Sampling cannot reproduce every native breakpoint or between-point value;
+resetting a Custom graph is not the same as delegating to the Dom-default
+runtime path.
+
+Dom-default points outside the ordinary editor range (such as Traffic braking
+at 0.35 m/s², configured Traffic following at 0.5 seconds or truck acceleration
+at 6 m/s²) remain visible and are preserved when another point is edited.
+New point edits still use the existing authoring bounds. This does not expand
+braking authority or change acceleration/braking preset definitions.
+
+## Following presets
+
+Named following presets now match Dom's factory following settings with custom
+personalities enabled. Close follows Aggressive, Medium follows Standard and
+Far follows Relaxed. The presets are available in every personality.
+
+| Preset | Previous curve | Revised curve |
+| --- | --- | --- |
+| Close | 1.25 s at every speed | 1.25 s through 45 mph, falling to 1.0 s at 70 mph |
+| Medium | 1.45 s at every speed | 1.45 s through 45 mph, falling to 1.2 s at 70 mph |
+| Far | 1.75 s at every speed | 1.6 s through 45 mph, falling to 1.4 s at 70 mph |
+| Traffic | No named preset | 0.75 s at rest, rising to 1.6 s at 25 m/s (55.92 mph) |
+
+Interpolation is linear between the stated breakpoints and constant outside
+them. Named presets use the exact native speed axes at runtime. First-use
+Custom conversion samples them onto the existing 10 mph editor grid.
+
+Existing v1/v2 Close, Medium and Far selections keep their old fixed headways
+as `legacy_close`, `legacy_medium` and `legacy_far`. Both Galaxy pickers show
+the selected compatibility entry as **Previous Close**, **Previous Medium**
+or **Previous Far**. Explicitly selecting a current preset adopts its new curve.
+The previous entry disappears when it is no longer selected.
+
+Existing `dom_default` selections continue to inherit configured settings;
+they are not silently converted to fixed named presets. Fresh profiles also
+retain this inheritance. The named curves match untouched factory settings;
+users' changed global following values can still differ from them.
+
+Acceleration and braking presets are unchanged. Standard acceleration and Eco
+braking match the normal factory defaults for Aggressive, Standard and Relaxed
+when named-preset and global powertrain tuning agree. Named presets use detected
+EV/truck tuning; the Dom-default resolver respects the global tuning switches,
+so these can differ. Traffic retains its dedicated acceleration/braking defaults;
+this change adds only its named following preset.
+
+## Storage compatibility
+
+Profile document version 3 retains `curve` and optional `legacyCurve` while
+`preset` is a named preset or `dom_default`. These retained values are dormant;
+only Custom uses them. An actual graph edit or reset retires preserved v1
+interpolation for that category; a preset switch or unchanged submission does
+not.
+
+Valid v2 documents retain their runtime meaning and are upgraded on the next
+normal write, including the fixed following compatibility names above.
+Version 1 keeps its existing explicit, verified migration flow. Reads never
+rewrite Params. Category conflict detection, off-road checks and atomic profile
+document writes still apply to edits and resets.
+
+Older builds do not understand v3 documents. Retain a compatible settings
+backup before rolling back to one of those builds. Curves discarded before
+this change cannot be recovered automatically.
@@ -21,11 +21,11 @@ fi
 export QCOM_PRIORITY=12

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.10"
+  export AGNOS_VERSION="19.8.1"
 fi

 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then
-  export AGNOS_ACCEPTED_VERSIONS="$AGNOS_VERSION"
+  export AGNOS_ACCEPTED_VERSIONS="19.8.1 19.8.2"
 fi

 export STAGING_ROOT="/data/safe_staging"
@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+exec python3 "$DIR/scripts/model_release.py" "$@"
@@ -1,3 +1,4 @@
 include opendbc/car/car.capnp
 include opendbc/car/include/c++.capnp
+include opendbc/dbc/hyundai_kia_ray_pedal.dbc
 recursive-include opendbc/safety *.h
@@ -85,7 +85,7 @@
 |Chevrolet|Volt 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
 |Chevrolet|Volt ASCM Harness 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Volt Camera Harness 2017-18|Flashed camera-forward integration with ACC|[Upstream](#upstream)|
-|Chevrolet|Volt No-ACC 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Volt No-ACC 2016-18 (OBD Harness)|Redneck ACC|[Upstream](#upstream)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
@@ -578,4 +578,4 @@ Toyota, and the GM Global B platform.
 All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wiki/CAN_bus) for communication between all the car's computers, however a
 CAN bus isn't the only way that the computers in your car can communicate. Most, if not all, vehicles from the following
 manufacturers use [FlexRay](https://en.wikipedia.org/wiki/FlexRay) instead of a CAN bus: **BMW, Mercedes, Audi, Land Rover, and some Volvo**. These cars
-may one day be supported, but we have no immediate plans to support FlexRay.
+may one day be supported, but we have no immediate plans to support FlexRay.
@@ -13,7 +13,7 @@ from opendbc.car.subaru.subarucan import subaru_checksum
 from opendbc.car.chrysler.chryslercan import chrysler_checksum, fca_giorgio_checksum
 from opendbc.car.hyundai.hyundaicanfd import hkg_can_fd_checksum
 from opendbc.car.volkswagen.mlbcan import volkswagen_mlb_checksum
-from opendbc.car.volkswagen.mqbcan import volkswagen_mqb_meb_checksum, xor_checksum
+from opendbc.car.volkswagen.mqbcan import volkswagen_meb_alt_crc_checksum, volkswagen_mqb_meb_checksum, xor_checksum
 from opendbc.car.tesla.teslacan import tesla_checksum
 from opendbc.car.body.bodycan import body_checksum
 from opendbc.car.psa.psacan import psa_checksum
@@ -194,8 +194,10 @@ def get_checksum_state(dbc_name: str) -> ChecksumState | None:
    return ChecksumState(4, 2, 3, 5, False, SignalType.HONDA_CHECKSUM, honda_checksum)
  elif dbc_name.startswith(("toyota_", "lexus_")):
    return ChecksumState(8, -1, 7, -1, False, SignalType.TOYOTA_CHECKSUM, toyota_checksum)
-  elif dbc_name.startswith("hyundai_canfd_generated"):
+  elif dbc_name.startswith(("hyundai_canfd_generated", "hyundai_radar_210_21f_generated")):
    return ChecksumState(16, -1, 0, -1, True, SignalType.HKG_CAN_FD_CHECKSUM, hkg_can_fd_checksum)
+  elif dbc_name.startswith("vw_meb_2024"):
+    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_meb_alt_crc_checksum)
  elif dbc_name.startswith(("vw_mqb", "vw_mqbevo", "vw_meb")):
    return ChecksumState(8, 4, 0, 0, True, SignalType.VOLKSWAGEN_MQB_MEB_CHECKSUM, volkswagen_mqb_meb_checksum)
  elif dbc_name.startswith("vw_mlb"):
@@ -132,6 +132,7 @@ class CANParser:
    self.dbc: DBC = DBC(dbc_name)

    self.vl: dict[int | str, dict[str, float]] = VLDict(self)
+    self.vl_raw: dict[int | str, bytes] = {}
    self.vl_all: dict[int | str, dict[str, list[float]]] = {}
    self.ts_nanos: dict[int | str, dict[str, int]] = {}
    self.addresses: set[int] = set()
@@ -166,6 +167,8 @@ class CANParser:
    signals_dict = {s: 0.0 for s in signal_names}
    dict.__setitem__(self.vl, msg.address, signals_dict)
    dict.__setitem__(self.vl, msg.name, signals_dict)
+    self.vl_raw[msg.address] = bytes(msg.size)
+    self.vl_raw[msg.name] = bytes(msg.size)
    self.vl_all[msg.address] = defaultdict(list)
    self.vl_all[msg.name] = self.vl_all[msg.address]
    self.ts_nanos[msg.address] = {s: 0 for s in signal_names}
@@ -247,6 +250,8 @@ class CANParser:
            vl_addr[sig.name] = state.vals[i]
            vl_all_addr[sig.name] = state.all_vals[i]
            ts_addr[sig.name] = state.timestamps[-1]
+          self.vl_raw[address] = bytes(dat)
+          self.vl_raw[state.name] = bytes(dat)

      if not bus_empty:
        self.last_nonempty_nanos = t
@@ -90,6 +90,7 @@ class Bus(StrEnum):
  main = auto()
  party = auto()
  ap_party = auto()
+  ap_pt = auto()


 def rate_limit(new_value, last_value, dw_step, up_step):
@@ -644,6 +644,8 @@ struct CarParams {
    fcaGiorgio @32;
    rivian @33;
    volkswagenMeb @34;
+    teslaPreAP @35;
+    volvo @36;
  }

  enum SteerControlType {
@@ -10,6 +10,7 @@ from opendbc.car.carlog import carlog
 from opendbc.car.structs import CarParams, CarParamsT
 from opendbc.car.fingerprints import eliminate_incompatible_cars, all_legacy_fingerprint_cars
 from opendbc.car.fw_versions import ObdCallback, get_fw_versions_ordered, get_present_ecus, match_fw_to_car
+from opendbc.car.hyundai.values import kia_ray_ev_vin
 from opendbc.car.mock.values import CAR as MOCK
 from opendbc.car.toyota.values import ToyotaSafetyFlags
 from opendbc.car.values import BRANDS
@@ -55,6 +56,20 @@ GM_CANDIDATE_PREFIXES = ("CHEVROLET_", "GMC_", "CADILLAC_", "BUICK_", "HOLDEN_")
 GM_CORE_FINGERPRINT_MSGS = frozenset((190, 201, 209, 211, 241))
 GM_CAMERA_BUS = 2
 GM_VOLT_CAMERA_MSG = 0x320
+GM_SUBURBAN_CAMERA_VIN_PREFIX = "1GNSKJKJ"
+GM_SUBURBAN_CAMERA_PT_SIGNATURE = {
+  190: 6,
+  201: 8,
+  209: 7,
+  211: 2,
+  241: 6,
+  304: 1,
+  320: 3,
+}
+GM_CAMERA_DIAGNOSTIC_MESSAGES = {
+  0x24b: 8,
+  0x64b: 8,
+}


 def _normalize_forced_candidate(candidate: str | None) -> str | None:
@@ -151,6 +166,24 @@ def _normalize_gm_volt_candidate(candidate: str | None, fingerprints: dict[int,
  return candidate


+def _normalize_gm_suburban_camera_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None) -> str | None:
+  """Resolve the 2019 Suburban camera-harness variant when CAN is shared with Yukon."""
+  if candidate not in (None, "GMC_YUKON", "GMC_YUKON_CC"):
+    return candidate
+
+  if not isinstance(vin, str) or not vin.startswith(GM_SUBURBAN_CAMERA_VIN_PREFIX):
+    return candidate
+
+  powertrain = fingerprints.get(0, {})
+  camera = fingerprints.get(GM_CAMERA_BUS, {})
+  if not all(powertrain.get(address) == length for address, length in GM_SUBURBAN_CAMERA_PT_SIGNATURE.items()):
+    return candidate
+  if not all(camera.get(address) == length for address, length in GM_CAMERA_DIAGNOSTIC_MESSAGES.items()):
+    return candidate
+
+  return "CHEVROLET_SUBURBAN_CAMERA"
+
+
 def _is_gm_candidate(candidate: str | None) -> bool:
  return isinstance(candidate, str) and candidate.startswith(GM_CANDIDATE_PREFIXES)

@@ -246,8 +279,13 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
      set_obd_multiplexing(True)
      # VIN query only reliably works through OBDII
      vin_rx_addr, vin_rx_bus, vin = get_vin(can_recv, can_send, (0, 1))
-      ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing, num_pandas=num_pandas)
-      car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs, num_pandas=num_pandas)
+      skip_fw_buses = {1} if kia_ray_ev_vin(vin) else set()
+      if skip_fw_buses:
+        carlog.warning("Kia Ray EV: skipping CAN1 firmware queries")
+      ecu_rx_addrs = get_present_ecus(can_recv, can_send, set_obd_multiplexing,
+                                      num_pandas=num_pandas, skip_buses=skip_fw_buses)
+      car_fw = get_fw_versions_ordered(can_recv, can_send, set_obd_multiplexing, vin, ecu_rx_addrs,
+                                       num_pandas=num_pandas, skip_buses=skip_fw_buses)
      cached = False

    exact_fw_match, fw_candidates = match_fw_to_car(car_fw, vin)
@@ -301,6 +339,10 @@ def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multip
  stored_candidate = _normalize_forced_candidate(params.get("CarModel"))
  cached_candidate = _normalize_forced_candidate(getattr(cached_params, "carFingerprint", None))

+  if candidate is None and stored_candidate is None and cached_candidate is None:
+    candidate = _normalize_gm_suburban_camera_candidate(candidate, fingerprints, vin)
+    fingerprinted_candidate = candidate
+
  if candidate is None:
    gm_fallback_candidate = _get_gm_stored_candidate_fallback(fingerprints, stored_candidate, cached_candidate)
    if gm_fallback_candidate is not None:
@@ -1,13 +1,15 @@
 import math
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, apply_hysteresis, structs
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, DT_CTRL, structs
 from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
-from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
+from opendbc.car.ford.values import CAR, CarControllerParams, FordFlags
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
+# This Ford extension boundary substantially adapts BluePilot bp-7.0 work. See the root CREDITS.md
+# (including Alan Polk's d0aac605f and db2bdff05) and THIRD_PARTY_NOTICES.md.
 from openpilot.starpilot.car.ford import fordcan as starpilot_fordcan
-from openpilot.starpilot.car.ford.lateral import FordLateralController, FordLateralMode, FordLateralResult
+from openpilot.starpilot.car.ford.lateral import FordLateralController, FordLateralResult

 LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -18,27 +20,31 @@ AVERAGE_ROAD_ROLL = 0.06  # ~3.4 degrees, 6% superelevation. higher actual roll
 MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL - (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)  # ~2.4 m/s^2


+class FordStockCruiseButton:
+  """Resolve Ford's context-sensitive cancel/resume switch for stock ACC."""
+
+  def __init__(self):
+    self.pressed = False
+    self.cancel = False
+    self.resume = False
+
+  def update(self, pressed: bool, cruise_available: bool, cruise_enabled: bool) -> tuple[bool, bool]:
+    if pressed and not self.pressed:
+      self.cancel = cruise_available and cruise_enabled
+      self.resume = cruise_available and not cruise_enabled
+    elif not pressed:
+      self.cancel = False
+      self.resume = False
+
+    self.pressed = pressed
+    return self.cancel, self.resume
+
+
 def apply_ford_angle(desired_angle_deg: float, current_angle_deg: float) -> float:
  relative_angle = desired_angle_deg - current_angle_deg
  return float(np.clip(relative_angle, -5.8, 5.8))


-def anti_overshoot(apply_curvature, apply_curvature_last, v_ego):
-  diff = 0.1
-  tau = 5  # 5s smooths over the overshoot
-  dt = DT_CTRL * CarControllerParams.STEER_STEP
-  alpha = 1 - np.exp(-dt / tau)
-
-  lataccel = apply_curvature * (v_ego ** 2)
-  last_lataccel = apply_curvature_last * (v_ego ** 2)
-  last_lataccel = apply_hysteresis(lataccel, last_lataccel, diff)
-  last_lataccel = alpha * lataccel + (1 - alpha) * last_lataccel
-
-  output_curvature = last_lataccel / (max(v_ego, 1) ** 2)
-
-  return float(np.interp(v_ego, [5, 10], [apply_curvature, output_curvature]))
-
-
 def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_curvature, v_ego_raw, steering_angle, lat_active, CP):
  # No blending at low speed due to lack of torque wind-up and inaccurate current curvature
  if v_ego_raw > 9:
@@ -58,7 +64,9 @@ def apply_ford_curvature_limits(apply_curvature, apply_curvature_last, current_c
  return apply_curvature


-def apply_creep_compensation(accel: float, v_ego: float) -> float:
+def apply_creep_compensation(accel: float, v_ego: float, car_fingerprint: str, *, standstill: bool, stopping: bool) -> float:
+  if car_fingerprint == CAR.FORD_MUSTANG_MACH_E_MK1 and not (standstill and stopping):
+    return accel
  creep_accel = np.interp(v_ego, [1., 3.], [0.6, 0.])
  creep_accel = np.interp(accel, [0., 0.2], [creep_accel, 0.])
  accel -= creep_accel
@@ -73,7 +81,6 @@ class CarController(CarControllerBase):

    self.apply_curvature_last = 0
    self.apply_angle_last = 0
-    self.anti_overshoot_curvature_last = 0
    self.accel = 0.0
    self.gas = 0.0
    self.brake_request = False
@@ -83,8 +90,8 @@ class CarController(CarControllerBase):
    self.lead_distance_bars_last = None
    self.distance_bar_frame = 0
    self.ford_lateral = None if CP.flags & FordFlags.LKA_STEERING else FordLateralController(CP)
-    self.ford_shadow_curvature = 0.0
-    self.ford_lateral_announced_mode = FordLateralMode.native
+    self.ford_extended_lateral_announced = False
+    self.stock_cruise_button = FordStockCruiseButton()

  def update(self, CC, CS, now_nanos, starpilot_toggles):
    can_sends = []
@@ -100,9 +107,23 @@ class CarController(CarControllerBase):
      self.ford_lateral.update_inputs()

    ### acc buttons ###
+    stock_cancel = False
+    stock_resume = False
+    if not self.CP.openpilotLongitudinalControl:
+      stock_cancel, stock_resume = self.stock_cruise_button.update(
+        bool(CS.buttons_stock_values["CcAslButtnCnclResPress"]),
+        CS.out.cruiseState.available,
+        CS.out.cruiseState.enabled,
+      )
+
    if CC.cruiseControl.cancel:
      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, cancel=True))
+    elif (stock_cancel or stock_resume) and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
+      can_sends.append(fordcan.create_button_msg(
+        self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
+      can_sends.append(fordcan.create_button_msg(
+        self.packer, self.CAN.main, CS.buttons_stock_values, cancel=stock_cancel, resume=stock_resume))
    elif CC.cruiseControl.resume and (self.frame % CarControllerParams.BUTTONS_STEP) == 0:
      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, resume=True))
      can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.main, CS.buttons_stock_values, resume=True))
@@ -136,82 +157,37 @@ class CarController(CarControllerBase):
        can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN, active=lka_active, apply_angle=self.apply_angle_last,
                                               direction=direction, ramp_type=ramp_type, curvature=-self.apply_curvature_last))
    else:
-      lateral_mode = self.ford_lateral.mode
-      lateral_mode_ready = lateral_mode == self.ford_lateral_announced_mode
-
-      # Keep the original Ford path available without changing its command behavior.
-      if lateral_mode == FordLateralMode.native:
-        if (self.frame % CarControllerParams.STEER_STEP) == 0:
-          if not lateral_mode_ready:
-            self.apply_curvature_last = 0.0
-            apply_curvature = 0.0
-          elif self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
-            self.anti_overshoot_curvature_last = anti_overshoot(
-              actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
-            apply_curvature = self.anti_overshoot_curvature_last
-          else:
-            apply_curvature = actuators.curvature
-
-          current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-          self.apply_curvature_last = apply_ford_curvature_limits(
-            apply_curvature, self.apply_curvature_last, current_curvature,
-            CS.out.vEgoRaw, 0., CC.latActive and lateral_mode_ready, self.CP)
-
-          if self.CP.flags & FordFlags.CANFD:
-            mode = 1 if CC.latActive and lateral_mode_ready else 0
-            counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-            can_sends.append(fordcan.create_lat_ctl2_msg(
-              self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
-          else:
-            can_sends.append(fordcan.create_lat_ctl_msg(
-              self.packer, self.CAN, CC.latActive and lateral_mode_ready, 0., 0., -self.apply_curvature_last, 0.))
-      elif (self.frame % CarControllerParams.STEER_STEP) == 0:
-        if not lateral_mode_ready:
-          lateral = FordLateralResult(shadow_curvature=self.ford_lateral._current_curvature(CS))
-        elif lateral_mode == FordLateralMode.angle:
-          lateral = self.ford_lateral.update_angle(CC, CS, actuators)
-        else:
-          lateral = self.ford_lateral.update_curvature(CC, CS, actuators)
+      if (self.frame % CarControllerParams.STEER_STEP) == 0:
+        lateral = self.ford_lateral.update(CC, CS, actuators) \
+          if self.ford_extended_lateral_announced else FordLateralResult()

        self.apply_curvature_last = lateral.curvature
-        self.ford_shadow_curvature = lateral.shadow_curvature
        if self.CP.flags & FordFlags.CANFD:
          counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
          can_sends.append(starpilot_fordcan.create_lat_ctl2_msg(
            self.packer, self.CAN, 1 if lateral.active else 0,
            lateral.ramp_type, lateral.precision_type,
-            -lateral.path_offset, -lateral.path_angle,
-            -lateral.curvature, -lateral.curvature_rate, counter))
+            -lateral.curvature, -lateral.curvature_rate, counter, -lateral.path_angle))
        else:
          can_sends.append(starpilot_fordcan.create_lat_ctl_msg(
            self.packer, self.CAN, lateral.active,
            lateral.ramp_type, lateral.precision_type,
-            -lateral.path_offset, -lateral.path_angle,
            -lateral.curvature, -lateral.curvature_rate))

      if (self.frame % CarControllerParams.LKA_STEP) == 0:
-        if lateral_mode == FordLateralMode.native:
-          can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
-        else:
-          angle_mode = lateral_mode == FordLateralMode.angle
-          shadow_curvature = -self.ford_lateral._current_curvature(CS)
-          if angle_mode:
-            shadow_curvature = -self.ford_shadow_curvature
-          can_sends.append(starpilot_fordcan.create_lka_msg(
-            self.packer, self.CAN, angle_mode=angle_mode, shadow_curvature=shadow_curvature))
-        self.ford_lateral_announced_mode = lateral_mode
+        can_sends.append(starpilot_fordcan.create_lka_msg(self.packer, self.CAN))
+        self.ford_extended_lateral_announced = True

    ### longitudinal control ###
    # send acc msg at 50Hz
    if self.CP.openpilotLongitudinalControl and (self.frame % CarControllerParams.ACC_CONTROL_STEP) == 0:
      accel = actuators.accel
      gas = accel
+      stopping = actuators.longControlState == LongCtrlState.stopping

      if CC.longActive:
-        # Compensate for engine creep at low speed.
-        # Either the ABS does not account for engine creep, or the correction is very slow
-        # TODO: verify this applies to EV/hybrid
-        accel = apply_creep_compensation(accel, CS.out.vEgo)
+        accel = apply_creep_compensation(accel, CS.out.vEgo, self.CP.carFingerprint,
+                                         standstill=CS.out.standstill, stopping=stopping)

        # The stock system has been seen rate limiting the brake accel to 5 m/s^3,
        # however even 3.5 m/s^3 causes some overshoot with a step response.
@@ -235,7 +211,6 @@ class CarController(CarControllerBase):
      elif accel_pitch_compensated < 0.0:
        self.brake_request = True

-      stopping = CC.actuators.longControlState == LongCtrlState.stopping
      # TODO: look into using the actuators packet to send the desired speed
      can_sends.append(fordcan.create_acc_msg(self.packer, self.CAN, CC.longActive, gas, accel, stopping, self.brake_request, v_ego_kph=V_CRUISE_MAX))

@@ -257,8 +232,7 @@ class CarController(CarControllerBase):
      show_distance_bars = self.frame - self.distance_bar_frame < 400
      hands_free_cluster = bool(
        self.ford_lateral is not None
-        and self.ford_lateral.mode != FordLateralMode.native
-        and self.ford_lateral.mode == self.ford_lateral_announced_mode
+        and self.ford_extended_lateral_announced
        and self.ford_lateral.hands_free_cluster_enabled)
      can_sends.append(fordcan.create_acc_ui_msg(self.packer, self.CAN, self.CP, main_on, CC.latActive,
                                                 fcw_alert, CS.out.cruiseState.standstill, show_distance_bars,
@@ -1,3 +1,6 @@
+# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
+# bp-7.0 vehicle-state work, including a sunnypilot extension with the Haibin Wen/contributors
+# notice retained in THIRD_PARTY_NOTICES.md. See the repository root CREDITS.md for provenance.
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
@@ -209,7 +212,79 @@ class CarState(CarStateBase):
  def get_can_parsers(CP):
    gps_config = get_car_gps_config(CP)
    gps_messages = [(name, 0) for name in gps_config.messages] if gps_config is not None else []
+
+    pt_messages = [
+      ("BrakeSysFeatures", 50),
+      ("Yaw_Data_FD1", 100),
+      ("DesiredTorqBrk", 50),
+      ("EngVehicleSpThrottle", 100),
+      ("EngVehicleSpThrottle2", 50),
+      ("BrakeSnData_4", 50),
+      ("EngBrakeData", 10),
+      ("EPAS_INFO", 50),
+      ("Cluster_Info1_FD1", 10),
+      ("Steering_Data_FD1", 10),
+      ("BodyInfo_3_FD1", 2),
+      ("RCMStatusMessage2_FD1", 10),
+      ("BCM_Lamp_Stat_FD1", 0),
+      *gps_messages,
+    ]
+
+    if CP.flags & FordFlags.ALT_STEER_ANGLE:
+      pt_messages += [
+        ("SteeringPinion_Data_Alt", 100),
+        ("ParkAid_Data", 50),
+      ]
+    else:
+      pt_messages += [("SteeringPinion_Data", 100)]
+
+    if CP.flags & FordFlags.CANFD:
+      pt_messages += [
+        ("Lane_Assist_Data3_FD1", 33),
+        ("Cluster_Info_3_FD1", 10),
+      ]
+    else:
+      pt_messages += [("INSTRUMENT_PANEL", 1)]
+
+    if CP.transmissionType == TransmissionType.automatic:
+      if CP.flags & FordFlags.CANFD:
+        pt_messages += [("Gear_Shift_by_Wire_FD1", 10)]
+      elif CP.flags & FordFlags.ALT_STEER_ANGLE:
+        pt_messages += [("TransGearData", 10)]
+      else:
+        pt_messages += [("PowertrainData_10", 10)]
+
+    if CP.enableBsm and not (CP.flags & FordFlags.CANFD):
+      pt_messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    cam_messages = [
+      ("ACCDATA", 50),
+      ("ACCDATA_2", 50),
+      ("ACCDATA_3", 5),
+      ("IPMA_Data", 1),
+    ]
+
+    if CP.flags & FordFlags.CANFD:
+      cam_messages += [
+        ("Traffic_RecognitnData", 1),
+        ("IPMA_Data2", 1),
+      ]
+    else:
+      cam_messages += [("Traffic_RecognitnData", 0)]
+
+    if CP.enableBsm and CP.flags & FordFlags.CANFD:
+      cam_messages += [
+        ("Side_Detect_L_Stat", 5),
+        ("Side_Detect_R_Stat", 5),
+      ]
+
+    if CP.flags & FordFlags.LKA_STEERING:
+      cam_messages += [("LateralMotionControl", 20)]
+
    return {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], gps_messages, CanBus(CP).main),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).main),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).camera),
    }
@@ -1,4 +1,6 @@
 """ AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+# Some Ford firmware entries first imported in StarPilot 3f6ccd104e came from BluePilot bp-7.0
+# contributors. The exact authors and source revisions are recorded in the root CREDITS.md.
 from opendbc.car.structs import CarParams
 from opendbc.car.ford.values import CAR

@@ -1,3 +1,5 @@
+# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
+# bp-7.0 interface work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.carlog import carlog
@@ -6,7 +8,7 @@ from opendbc.car.ford.carcontroller import CarController
 from opendbc.car.ford.carstate import CarState
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.radar_interface import RadarInterface
-from opendbc.car.ford.values import CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
+from opendbc.car.ford.values import CAR, CarControllerParams, DBC, Ecu, FordFlags, RADAR, FordSafetyFlags
 from opendbc.car.interfaces import CarInterfaceBase

 TransmissionType = structs.CarParams.TransmissionType
@@ -61,6 +63,8 @@ class CarInterface(CarInterfaceBase):

    if ret.flags & FordFlags.CANFD:
      ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value
+      if candidate == CAR.FORD_MUSTANG_MACH_E_MK1:
+        ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.MACH_E_CURVATURE.value

      # TRON (SecOC) platforms are not supported
      # LateralMotionControl2, ACCDATA are 16 bytes on these platforms
@@ -1,3 +1,5 @@
+# Ford-specific additions first imported in StarPilot 3f6ccd104e substantially adapt BluePilot
+# bp-7.0 radar work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from collections import deque
 from typing import cast
@@ -4,10 +4,12 @@ from types import SimpleNamespace

 from hypothesis import settings, given, strategies as st
 from parameterized import parameterized
+import pytest

 from opendbc.car import Bus, gen_empty_fingerprint
 from opendbc.can import CANPacker
 from opendbc.car.ford import fordcan
+from opendbc.car.ford.carcontroller import FordStockCruiseButton, apply_creep_compensation
 from opendbc.car.gps import FORD_MACH_E_GPS_MESSAGES, get_car_gps_config, parse_ford_can_gps
 from opendbc.car.structs import CarParams
 from opendbc.car.fw_versions import build_fw_dict
@@ -18,6 +20,35 @@ from opendbc.car.ford.fingerprints import FW_VERSIONS
 Ecu = CarParams.Ecu


+def test_stock_cruise_button_latches_context_until_release():
+  button = FordStockCruiseButton()
+
+  assert button.update(True, cruise_available=True, cruise_enabled=True) == (True, False)
+  assert button.update(True, cruise_available=True, cruise_enabled=False) == (True, False)
+  assert button.update(False, cruise_available=True, cruise_enabled=False) == (False, False)
+
+  assert button.update(True, cruise_available=True, cruise_enabled=False) == (False, True)
+  assert button.update(True, cruise_available=True, cruise_enabled=True) == (False, True)
+  assert button.update(False, cruise_available=True, cruise_enabled=True) == (False, False)
+
+
+def test_stock_cruise_button_ignores_press_with_cruise_master_off():
+  button = FordStockCruiseButton()
+
+  assert button.update(True, cruise_available=False, cruise_enabled=False) == (False, False)
+
+
+def test_mach_e_does_not_apply_engine_creep_compensation():
+  for accel in (-1.0, -0.1, 0.0, 0.1):
+    assert apply_creep_compensation(accel, 0.5, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                     standstill=False, stopping=False) == accel
+
+  assert apply_creep_compensation(0.0, 0.0, CAR.FORD_MUSTANG_MACH_E_MK1,
+                                   standstill=True, stopping=True) == -0.6
+  assert apply_creep_compensation(0.0, 0.5, CAR.FORD_F_150_MK14,
+                                   standstill=False, stopping=False) == -0.6
+
+
 ECU_ADDRESSES = {
  Ecu.eps: 0x730,          # Power Steering Control Module (PSCM)
  Ecu.abs: 0x760,          # Anti-Lock Brake System (ABS)
@@ -172,10 +203,12 @@ def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
  assert not stock.openpilotLongitudinalControl
  assert stock.pcmCruise
  assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
+  assert stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE

  assert enhanced.alphaLongitudinalAvailable
  assert enhanced.openpilotLongitudinalControl
  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
+  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.MACH_E_CURVATURE


 def test_mach_e_can_gps_decode():
@@ -274,6 +307,23 @@ def test_mach_e_can_gps_messages_are_optional_main_bus_inputs():
  assert all(parser.message_states[address].ignore_alive for address in (0x462, 0x463, 0x464))


+def test_lightning_low_rate_camera_messages_use_declared_frequencies():
+  cp = CarInterface.get_params(CAR.FORD_F_150_LIGHTNING_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+  cp.enableBsm = True
+  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.cam]
+
+  expected_frequencies = {
+    "IPMA_Data": 1,
+    "Traffic_RecognitnData": 1,
+    "Side_Detect_L_Stat": 5,
+    "Side_Detect_R_Stat": 5,
+  }
+  for message, frequency in expected_frequencies.items():
+    state = parser.message_states[parser.dbc.name_to_msg[message].address]
+    assert state.frequency == frequency
+    assert state.timeout_threshold == pytest.approx(10e9 / frequency)
+
+
 def test_hands_free_cluster_status_is_opt_in():
  packer = CANPacker("ford_lincoln_base_pt")
  CAN = SimpleNamespace(main=0)
@@ -1,3 +1,5 @@
+# Ford platform data and limits first imported in StarPilot 3f6ccd104e substantially adapt
+# BluePilot bp-7.0 contributor work. See the repository root CREDITS.md and THIRD_PARTY_NOTICES.md.
 import copy
 import re
 from dataclasses import dataclass, field, replace
@@ -48,6 +50,7 @@ class FordSafetyFlags(IntFlag):
  LONG_CONTROL = 1
  CANFD = 2
  LKA_STEERING = 4
+  MACH_E_CURVATURE = 8


 class FordFlags(IntFlag):
@@ -170,7 +170,9 @@ def match_fw_to_car(fw_versions: list[CarParams.CarFw], vin: str, allow_exact: b
  return True, set()


-def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, num_pandas: int = 1) -> set[EcuAddrBusType]:
+def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback,
+                     num_pandas: int = 1, skip_buses: set[int] | None = None) -> set[EcuAddrBusType]:
+  skip_buses = skip_buses or set()
  # queries are split by OBD multiplexing mode
  queries: dict[bool, list[list[EcuAddrBusType]]] = {True: [], False: []}
  parallel_queries: dict[bool, list[EcuAddrBusType]] = {True: [], False: []}
@@ -178,7 +180,7 @@ def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_o

  for brand, config, r in REQUESTS:
    # Skip query if no panda available
-    if r.bus > num_pandas * 4 - 1:
+    if r.bus > num_pandas * 4 - 1 or r.bus in skip_buses:
      continue

    for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
@@ -235,7 +237,8 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, list[b


 def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, vin: str,
-                            ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
+                            ecu_rx_addrs: set[EcuAddrBusType], timeout: float = 0.1, num_pandas: int = 1,
+                            progress: bool = False, skip_buses: set[int] | None = None) -> list[CarParams.CarFw]:
  """Queries for FW versions ordering brands by likelihood, breaks when exact match is found"""

  all_car_fw = []
@@ -248,7 +251,8 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable
    if True not in brand_matches[brand]:
      continue

-    car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout, num_pandas=num_pandas, progress=progress)
+    car_fw = get_fw_versions(can_recv, can_send, set_obd_multiplexing, query_brand=brand, timeout=timeout,
+                              num_pandas=num_pandas, progress=progress, skip_buses=skip_buses)
    all_car_fw.extend(car_fw)

    # If there is a match using this brand's FW alone, finish querying early
@@ -260,7 +264,9 @@ def get_fw_versions_ordered(can_recv: CanRecvCallable, can_send: CanSendCallable


 def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, query_brand: str = None,
-                    extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False) -> list[CarParams.CarFw]:
+                    extra: OfflineFwVersions = None, timeout: float = 0.1, num_pandas: int = 1, progress: bool = False,
+                    skip_buses: set[int] | None = None) -> list[CarParams.CarFw]:
+  skip_buses = skip_buses or set()
  versions = VERSIONS.copy()

  if query_brand is not None:
@@ -298,7 +304,7 @@ def get_fw_versions(can_recv: CanRecvCallable, can_send: CanSendCallable, set_ob
    for addr_chunk in chunks(addr_group):
      for brand, config, r in requests:
        # Skip query if no panda available
-        if r.bus > num_pandas * 4 - 1:
+        if r.bus > num_pandas * 4 - 1 or r.bus in skip_buses:
          continue

        # Toggle OBD multiplexing for each request
@@ -6,7 +6,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits
 from opendbc.car.gm import gmcan
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import (
-  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, SDGM_CAR, AccState, CanBus, CarControllerParams,
+  ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, CC_REGEN_PADDLE_CAR, DBC, EV_CAR, GM_AUTO_HOLD_CARS, SDGM_CAR, AccState, CanBus, CarControllerParams,
  CruiseButtons, GMFlags, GMSafetyFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
@@ -172,7 +172,7 @@ def should_send_cc_button_spam(CP, CC, CS):
  return (
    bool(CP.flags & GMFlags.CC_LONG.value) and
    CC.longActive and
-    CS.out.vEgo > CP.minEnableSpeed
+    CS.out.vEgo >= CP.minEnableSpeed
  )


@@ -256,6 +256,17 @@ def shape_truck_pitch_accel(pitch_accel: float, v_ego: float, enabled: bool) ->
  return pitch_accel * scale


+MAX_UPHILL_GRADE_FF = 0.20
+
+
+def limit_grade_feedforward(planner_accel: float, pitch_accel: float) -> float:
+  if pitch_accel > 0.0 and planner_accel > 0.0:
+    return 0.0
+  if pitch_accel > MAX_UPHILL_GRADE_FF:
+    return MAX_UPHILL_GRADE_FF
+  return pitch_accel
+
+
 def shape_truck_friction_brake(apply_brake: int, accel_cmd: float, stopping: bool, active: bool) -> tuple[int, bool]:
  if apply_brake <= 0:
    return 0, False
@@ -298,7 +309,7 @@ def supports_volt_auto_hold(CP, auto_hold_enabled: bool):
    auto_hold_enabled and
    getattr(CP, "openpilotLongitudinalControl", False) and
    stock_hold_safety_ready and
-    CP.carFingerprint in AUTO_HOLD_VOLT_CARS
+    CP.carFingerprint in GM_AUTO_HOLD_CARS
  )


@@ -1003,14 +1014,13 @@ class CarController(CarControllerBase):
          self.truck_follow_accel = 0.0
        else:
          long_pitch_enabled = bool(getattr(starpilot_toggles, "long_pitch", True))
-          pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
-          long_pitch_for_powertrain = long_pitch_enabled or pedal_long_path

          if self.is_volt:
-            if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
              volt_pitch_accel = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
            else:
              volt_pitch_accel = 0.0
+            volt_pitch_accel = limit_grade_feedforward(accel, volt_pitch_accel)

            aero_drag_accel = (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2) / self.mass
            accel_cmd = float(np.clip(accel + aero_drag_accel + volt_pitch_accel, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
@@ -1031,7 +1041,7 @@ class CarController(CarControllerBase):
            if self.apply_brake > 0:
              self.apply_gas = self.params.INACTIVE_REGEN
          else:
-            if long_pitch_for_powertrain and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
+            if long_pitch_enabled and len(CC.orientationNED) == 3 and CS.out.vEgo > self.CP.vEgoStopping:
              accel_due_to_pitch = math.sin(CC.orientationNED[1]) * ACCELERATION_DUE_TO_GRAVITY
            else:
              accel_due_to_pitch = 0.0
@@ -1048,6 +1058,7 @@ class CarController(CarControllerBase):
              not self.CP.enableGasInterceptorDEPRECATED
            )
            accel_due_to_pitch = shape_truck_pitch_accel(accel_due_to_pitch, CS.out.vEgo, truck_long_smoothing)
+            accel_due_to_pitch = limit_grade_feedforward(actuators.accel, accel_due_to_pitch)
            accel_input = actuators.accel + accel_due_to_pitch
            if truck_long_smoothing:
              accel_input = shape_truck_positive_accel(
@@ -1148,7 +1159,13 @@ class CarController(CarControllerBase):
          if should_send_cc_button_spam(self.CP, CC, CS):
            if self.CP.carFingerprint != CAR.CADILLAC_XT4_CC:
              # Using extend instead of append since the message is only sent intermittently
-              can_sends.extend(gmcan.create_gm_cc_spam_command(self.packer_pt, self, CS, actuators, starpilot_toggles))
+              longitudinal_adjustment_active = bool(getattr(
+                CS, "openpilot_longitudinal_adjustment_active", CC.hudControl.leadVisible,
+              ))
+              can_sends.extend(gmcan.create_gm_cc_spam_command(
+                self.packer_pt, self, CS, actuators, starpilot_toggles,
+                longitudinal_adjustment_active=longitudinal_adjustment_active,
+              ))
          else:
            if (CS.out.cruiseState.enabled and CC.enabled and self.frame % 52 == 0 and
                CS.cruise_buttons == CruiseButtons.UNPRESS and CS.out.gasPressed and CS.out.cruiseState.speed < CS.out.vEgo < hud_v_cruise):
@@ -1180,7 +1197,7 @@ class CarController(CarControllerBase):
          # cannot linger after a disengage or main-off event.
          if should_send_bolt_acc_pedal_friction:
            can_sends.append(gmcan.create_friction_brake_command(
-              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on,
+              self.packer_ch, friction_brake_bus, experiment_brake, idx, bolt_acc_pedal_friction_main_on and CC.longActive,
              near_stop, at_full_stop, self.CP))
        if self.CP.carFingerprint not in CC_ONLY_CAR:
          friction_brake_bus = get_friction_brake_bus(self.CP)
@@ -1,9 +1,11 @@
 import copy
+import math
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car import DT_CTRL
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.gm.values import (
  ALT_ACCS,
@@ -16,6 +18,7 @@ from opendbc.car.gm.values import (
  AccState,
  CanBus,
  CruiseButtons,
+  GM_AUTO_HOLD_CARS,
  GMFlags,
  SDGM_CAR,
  STEER_THRESHOLD,
@@ -30,6 +33,7 @@ STANDSTILL_THRESHOLD = 10 * 0.0311
 VOLT_EBCM_BRAKE_PRESSED_THRESHOLD = 6 / 0xd0
 AUTO_HOLD_MIN_DRIVE_TIME_S = 3.0
 AUTO_HOLD_REGEN_RELEASE_COOLDOWN_S = 1.0
+ACC_STARTUP_FAULT_GRACE_PERIOD_S = 5.0

 BUTTONS_DICT = {CruiseButtons.RES_ACCEL: ButtonType.accelCruise, CruiseButtons.DECEL_SET: ButtonType.decelCruise,
                CruiseButtons.MAIN: ButtonType.mainCruise, CruiseButtons.CANCEL: ButtonType.cancel}
@@ -65,6 +69,36 @@ def update_auto_hold_drive_timers(in_drive_for_hold: bool, moving_for_hold: bool
  return auto_hold_drive_time, one_pedal_drive_time


+def is_gm_auto_hold_active(car_fingerprint: str, auto_hold_engaged: bool, in_drive_for_hold: bool,
+                           cruise_available: bool, standstill: bool, gas_pressed: bool) -> bool:
+  return (
+    auto_hold_engaged and
+    car_fingerprint in GM_AUTO_HOLD_CARS and
+    in_drive_for_hold and
+    cruise_available and
+    standstill and
+    not gas_pressed
+  )
+
+
+def update_startup_acc_fault_suppression(car_fingerprint: str, system_power_mode: int,
+                                          previous_system_power_mode: int, timer: float,
+                                          acc_state: int, friction_brake_unavailable: bool) -> tuple[float, bool]:
+  if car_fingerprint != CAR.BUICK_LACROSSE:
+    return 0.0, False
+
+  if system_power_mode == 2 and previous_system_power_mode != 2:
+    timer = ACC_STARTUP_FAULT_GRACE_PERIOD_S
+  elif system_power_mode != 2:
+    timer = 0.0
+
+  if timer <= 0.0 or acc_state != AccState.FAULTED:
+    return 0.0, False
+
+  timer = max(timer - DT_CTRL, 0.0)
+  return timer, timer > 0.0 and not friction_brake_unavailable
+
+
 class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
@@ -103,7 +137,56 @@ class CarState(CarStateBase):
    self.lkas_previously_enabled = 0
    self.lkas_enabled = 0
    self.pcm_acc_status = AccState.OFF
+    self.system_power_mode = 0
+    self.startup_acc_fault_suppression_timer = 0.0
    self.stock_fcw_alert = 0
+    self.car_gps_config = get_car_gps_config(CP)
+    self.car_gps_supported = self.car_gps_config is not None
+    self.car_gps = None
+    self._car_gps_timestamp_nanos = 0
+    self._prev_gps_lat = None
+    self._prev_gps_lon = None
+    self._last_gps_bearing = None
+
+  def _update_car_gps(self, cp, v_ego: float = 0.0) -> None:
+    if self.car_gps_config is None:
+      return
+
+    timestamps = [max(cp.ts_nanos[name].values(), default=0) for name in self.car_gps_config.messages]
+    if not all(timestamps) or max(timestamps) - min(timestamps) > 2_000_000_000:
+      return
+
+    timestamp_nanos = max(timestamps)
+    if timestamp_nanos <= self._car_gps_timestamp_nanos:
+      return
+
+    gps = self.car_gps_config.decoder(*(cp.vl[name] for name in self.car_gps_config.messages))
+    if gps is not None:
+      gps["timestamp_nanos"] = timestamp_nanos
+      if gps["hasFix"]:
+        lat, lon = gps["latitude"], gps["longitude"]
+        if self._prev_gps_lat is not None and (lat, lon) != (self._prev_gps_lat, self._prev_gps_lon):
+          d_lat = (lat - self._prev_gps_lat) * 111139.0
+          d_lon = (lon - self._prev_gps_lon) * 111139.0 * math.cos(math.radians(lat))
+          if math.hypot(d_lat, d_lon) > 1.5 and v_ego > 1.0 and not self.moving_backward:
+            self._last_gps_bearing = math.degrees(math.atan2(d_lon, d_lat)) % 360.0
+
+        self._prev_gps_lat, self._prev_gps_lon = lat, lon
+
+        bearing = self._last_gps_bearing if self._last_gps_bearing is not None else 0.0
+        gps["speed"] = max(0.0, v_ego)
+        gps["bearingDeg"] = bearing
+        gps["bearingAccuracyDeg"] = 5.0 if (v_ego > 1.0 and self._last_gps_bearing is not None) else 180.0
+        heading_rad = math.radians(bearing)
+        gps["vNED"] = [v_ego * math.cos(heading_rad), v_ego * math.sin(heading_rad), 0.0]
+      else:
+        self._prev_gps_lat = self._prev_gps_lon = None
+
+      self.car_gps = gps
+      self._car_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self):
+    return self.car_gps

  def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
    if not self.CP.pcmCruise:
@@ -189,6 +272,8 @@ class CarState(CarStateBase):
    ret.standstill = abs(pt_cp.vl["EBCMWheelSpdRear"]["RLWheelSpd"]) <= STANDSTILL_THRESHOLD and \
                     abs(pt_cp.vl["EBCMWheelSpdRear"]["RRWheelSpd"]) <= STANDSTILL_THRESHOLD

+    self._update_car_gps(pt_cp, ret.vEgo)
+
    if pt_cp.vl["ECMPRDNL2"]["ManualMode"] == 1:
      ret.gearShifter = self.parse_gear_shifter("T")
    else:
@@ -299,8 +384,18 @@ class CarState(CarStateBase):

    ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
    ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
-    ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
-                      pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1)
+    acc_state = pt_cp.vl["AcceleratorPedal2"]["CruiseState"]
+    friction_brake_unavailable = pt_cp.vl["EBCMFrictionBrakeStatus"]["FrictionBrakeUnavailable"] == 1
+    self.startup_acc_fault_suppression_timer, suppress_startup_acc_fault = update_startup_acc_fault_suppression(
+      self.CP.carFingerprint,
+      int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"]),
+      self.system_power_mode,
+      self.startup_acc_fault_suppression_timer,
+      acc_state,
+      friction_brake_unavailable,
+    )
+    self.system_power_mode = int(pt_cp.vl["BCMGeneralPlatformStatus"]["SystemPowerMode"])
+    ret.accFaulted = (acc_state == AccState.FAULTED and not suppress_startup_acc_fault) or friction_brake_unavailable

    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
@@ -349,6 +444,11 @@ class CarState(CarStateBase):
      self.auto_hold_fault_suppression_timer = max(self.auto_hold_fault_suppression_timer - DT_CTRL, 0.0)
      ret.accFaulted = False

+    ret.brakeHoldActive = is_gm_auto_hold_active(
+      self.CP.carFingerprint, self.auto_hold_engaged, in_drive_for_hold,
+      ret.cruiseState.available, ret.standstill, ret.gasPressed,
+    )
+
    if self.CP.enableBsm and not sdgm_non_volt:
      ret.leftBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["LeftBSM"] == 1
      ret.rightBlindspot = pt_cp.vl["BCMBlindSpotMonitor"]["RightBSM"] == 1
@@ -428,6 +528,9 @@ class CarState(CarStateBase):

  @staticmethod
  def get_can_parsers(CP):
+    gps_config = get_car_gps_config(CP)
+    gps_messages = [(name, 0) for name in gps_config.messages] if gps_config is not None else []
+
    volt_like = {
      CAR.CHEVROLET_VOLT,
      CAR.CHEVROLET_VOLT_2019,
@@ -451,6 +554,7 @@ class CarState(CarStateBase):
      ("PSCMSteeringAngle", 100),
      ("ECMAcceleratorPos", 80),
      ("SportMode", 0),
+      *gps_messages,
    ]

    prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40
@@ -30,20 +30,20 @@ FINGERPRINTS = {
  CAR.BUICK_LACROSSE: [{
    190: 6, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 2, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 353: 3, 381: 6, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 7, 419: 1, 422: 4, 426: 7, 431: 8, 442: 8, 451: 8, 452: 8, 453: 6, 455: 7, 456: 8, 463: 3, 479: 3, 481: 7, 485: 8, 487: 8, 489: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 8, 503: 1, 508: 8, 510: 8, 528: 5, 532: 6, 534: 2, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 573: 1, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 5, 707: 8, 753: 5, 761: 7, 801: 8, 804: 3, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 872: 1, 882: 8, 890: 1, 892: 2, 893: 1, 894: 1, 961: 8, 967: 4, 969: 8, 977: 8, 979: 8, 985: 5, 1001: 8, 1005: 6, 1009: 8, 1011: 6, 1013: 3, 1017: 8, 1019: 2, 1020: 8, 1022: 1, 1105: 6, 1217: 8, 1221: 5, 1223: 2, 1225: 7, 1233: 8, 1243: 3, 1249: 8, 1257: 6, 1259: 8, 1261: 7, 1263: 4, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1609: 8, 1613: 8, 1649: 8, 1792: 8, 1798: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1858: 8, 1860: 8, 1863: 8, 1872: 8, 1875: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1904: 7, 1906: 7, 1907: 7, 1912: 7, 1913: 7, 1914: 7, 1916: 7, 1918: 7, 1919: 7, 1937: 8, 1953: 8, 1968: 8, 2001: 8, 2017: 8, 2018: 8, 2020: 8, 2026: 8
  }],
-  # CAR.CHEVROLET_VOLT_CC: [
-  # FIXME: Need a message to distinguish flashed from non-flashed
-  # Volt Premier w/o acc 2016
-  # {
-  #   170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
-  # },
-  # {
-  #   201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
-  # },
-  # # Volt Premier w/o ACC 2018 + Pedal
-  # {
-  #   189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
-  # }
-  # ],
+  CAR.CHEVROLET_VOLT_CC: [
+  # Captured no-ACC Volt fingerprints for OBD-C/L&P harness installations
+  # Volt Premier w/o ACC 2016
+  {
+    170: 8, 171: 8, 189: 7, 190: 6, 192: 5, 193: 8, 197: 8, 199: 4, 201: 6, 209: 7, 211: 2, 241: 6, 288: 5, 289: 1, 290: 1, 298: 2, 304: 8, 308: 4, 309: 8, 311: 8, 313: 8, 320: 8, 328: 1, 352: 5, 368: 8, 381: 6, 384: 8, 386: 5, 388: 8, 389: 2, 390: 7, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 454: 8, 456: 8, 458: 8, 479: 3, 481: 7, 485: 8, 489: 5, 493: 8, 495: 4, 497: 8, 499: 3, 500: 6, 501: 3, 508: 8, 512: 3, 528: 4, 530: 8, 532: 6, 537: 4, 539: 8, 542: 7, 546: 7, 550: 8, 554: 3, 558: 8, 560: 6, 562: 8, 563: 5, 564: 5, 565: 8, 566: 5, 567: 3, 568: 1, 577: 8, 578: 8, 594: 8, 647: 3, 707: 8, 711: 6, 717: 5, 761: 7, 800: 6, 810: 8, 821: 4, 823: 7, 832: 8, 840: 5, 842: 6, 844: 8, 866: 4, 869: 4, 961: 8, 969: 8, 977: 8, 979: 7, 988: 6, 989: 8, 995: 7, 1001: 5, 1003: 5, 1005: 6, 1009: 8, 1017: 8, 1019: 2, 1020: 8, 1033: 7, 1034: 7, 1105: 6, 1187: 4, 1217: 8, 1221: 5, 1223: 3, 1225: 7, 1227: 4, 1233: 8, 1249: 8, 1257: 6, 1265: 8, 1267: 1, 1273: 3, 1275: 3, 1280: 4, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1618: 8, 1906: 7, 1907: 7, 1910: 7, 1912: 7, 1922: 7, 1927: 7, 1928: 7, 1930: 7, 2016: 8, 2017: 8, 2018: 8, 2019: 8, 2020: 8, 2024: 8, 2025: 8, 2028: 8
+  },
+  {
+    201: 8, 493: 8, 495: 4, 193: 8, 197: 8, 209: 7, 171: 8, 456: 8, 199: 4, 489: 8, 211: 2, 499: 3, 390: 7, 532: 6, 568: 1, 761: 7, 381: 6, 485: 8, 189: 7, 479: 3, 711: 6, 501: 8, 241: 6, 717: 5, 869: 4, 389: 2, 454: 8, 170: 8, 190: 6, 497: 8, 417: 7, 419: 1, 426: 7, 451: 8, 452: 8, 453: 6, 500: 6, 508: 8, 528: 4, 647: 3, 1105: 6, 1005: 6, 481: 7, 844: 8, 866: 4, 564: 5, 969: 8, 388: 8, 352: 5, 562: 8, 961: 8, 386: 8, 707: 8, 977: 8, 979: 7, 298: 8, 840: 5, 842: 5, 988: 6, 1001: 8, 560: 8, 546: 7, 558: 8, 309: 8, 995: 7, 311: 8, 566: 5, 567:3, 989: 8, 384: 4, 800: 6, 1033: 7, 1034: 7, 313: 8, 554: 3, 810: 8, 1017: 8, 1019: 2, 1020: 8, 1217: 8, 1223: 3, 1233: 8, 1227: 4, 1417: 8, 1009: 8, 1221: 5, 1275: 3, 1225: 7, 289: 8, 550: 8, 1273: 3, 1928: 7, 1187: 4, 1265: 8, 1927: 7, 1267: 1, 1906: 7, 288: 5, 304: 1, 328: 1, 1912: 7, 320: 3, 1910: 7, 563: 5, 1249: 8, 1930: 7, 1257: 6, 1300: 8, 1322: 6, 1323: 4, 1328: 4, 565: 5, 1280: 4, 1907: 7
+  },
+  # Volt Premier w/o ACC 2018 + Pedal
+  {
+    189: 7, 193: 8, 197: 8, 201: 8, 209: 7, 211: 2, 241: 6, 288: 5, 298: 8, 304: 1, 308: 4, 309: 8, 311: 8, 313: 8, 320: 3, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 451: 8, 452: 8, 453: 6, 479: 3, 481: 7, 485: 8, 489: 8, 493: 8, 497: 8, 500: 6, 501: 8, 513: 6, 528: 4, 532: 6, 560: 8, 562: 8, 563: 5, 565: 5, 566: 5, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 707: 8, 717: 5, 761: 7, 800: 6, 810: 8, 840: 5, 842: 5, 844: 8, 869: 4, 977: 8, 1001: 8, 1017: 8, 1020: 8, 1033: 7, 1034: 7, 1217: 8, 1221: 5, 1233: 8, 1249: 8, 1265: 8, 1267: 1, 1280: 4, 1300: 8, 1922: 7, 1930: 7
+  }
+  ],
  CAR.BUICK_REGAL: [{
    190: 8, 193: 8, 197: 8, 199: 4, 201: 8, 209: 7, 211: 8, 241: 6, 249: 8, 288: 5, 298: 8, 304: 1, 309: 8, 311: 8, 313: 8, 320: 3, 322: 7, 328: 1, 352: 5, 381: 6, 384: 4, 386: 8, 388: 8, 393: 7, 398: 8, 407: 7, 413: 8, 417: 8, 419: 8, 422: 4, 426: 8, 431: 8, 442: 8, 451: 8, 452: 8, 453: 8, 455: 7, 456: 8, 463: 3, 479: 8, 481: 7, 485: 8, 487: 8, 489: 8, 495: 8, 497: 8, 499: 3, 500: 8, 501: 8, 508: 8, 528: 5, 532: 6, 554: 3, 560: 8, 562: 8, 563: 5, 564: 5, 565: 5, 567: 5, 569: 3, 573: 1, 577: 8, 578: 8, 579: 8, 587: 8, 608: 8, 609: 6, 610: 6, 611: 6, 612: 8, 613: 8, 647: 3, 707: 8, 715: 8, 717: 5, 753: 5, 761: 7, 810: 8, 840: 5, 842: 5, 844: 8, 866: 4, 869: 4, 880: 6, 882: 8, 884: 8, 890: 1, 892: 2, 893: 2, 894: 1, 961: 8, 967: 8, 969: 8, 977: 8, 979: 8, 985: 8, 1001: 8, 1005: 6, 1009: 8, 1011: 8, 1013: 3, 1017: 8, 1020: 8, 1024: 8, 1025: 8, 1026: 8, 1027: 8, 1028: 8, 1029: 8, 1030: 8, 1031: 8, 1032: 2, 1033: 7, 1034: 7, 1105: 6, 1217: 8, 1221: 5, 1223: 8, 1225: 7, 1233: 8, 1249: 8, 1257: 6, 1259: 8, 1261: 8, 1263: 8, 1265: 8, 1267: 8, 1271: 8, 1280: 4, 1296: 4, 1300: 8, 1322: 6, 1328: 4, 1417: 8, 1601: 8, 1602: 8, 1603: 7, 1611: 8, 1618: 8, 1906: 8, 1907: 7, 1912: 7, 1914: 7, 1916: 7, 1919: 7, 1930: 7, 2016: 8, 2018: 8, 2019: 8, 2024: 8, 2026: 8
  }],
@@ -207,12 +207,15 @@ FINGERPRINTS = {
 FINGERPRINTS.update({
  CAR.CHEVROLET_VOLT_ASCM: FINGERPRINTS[CAR.CHEVROLET_VOLT],
  CAR.CHEVROLET_VOLT_CAMERA: [{**fp, CAMERA_DIAGNOSTIC_ADDRESS: 8, CAMERA_DIAGNOSTIC_RX_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CHEVROLET_VOLT]],
-  CAR.CHEVROLET_VOLT_CC: FINGERPRINTS[CAR.CHEVROLET_VOLT],
  CAR.GMC_ACADIA_ASCM: FINGERPRINTS[CAR.GMC_ACADIA],
  CAR.CHEVROLET_MALIBU_ASCM: FINGERPRINTS[CAR.CHEVROLET_MALIBU],
  CAR.CADILLAC_ESCALADE_ASCM: FINGERPRINTS[CAR.CADILLAC_ESCALADE],
  CAR.CADILLAC_ESCALADE_ESV_2019_ASCM: [{**fp, SASCM_ADDRESS: 8} for fp in FINGERPRINTS[CAR.CADILLAC_ESCALADE_ESV_2019]],
  CAR.CHEVROLET_SUBURBAN: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
+  CAR.CHEVROLET_SUBURBAN_ASCM: FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC],
+  # The camera-harness Suburban shares the observed CAN map with the 2019 Yukon;
+  # VIN and camera-bus diagnostics disambiguate it during live fingerprinting.
+  CAR.CHEVROLET_SUBURBAN_CAMERA: FINGERPRINTS[CAR.GMC_YUKON],
  CAR.GMC_YUKON_CC: FINGERPRINTS[CAR.GMC_YUKON],
  CAR.CADILLAC_XT6: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
  CAR.CADILLAC_XT5: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
@@ -1,4 +1,4 @@
-from opendbc.car import DT_CTRL
+from opendbc.car import DT_CTRL, structs
 from opendbc.car.can_definitions import CanData
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.gm.values import CAR, CanBus, CruiseButtons, GMFlags
@@ -28,6 +28,11 @@ BOLT_CC_BUTTON_CARS = {
 BOLT_CC_TARGET_DEADBAND_MPH = 0.75
 BOLT_CC_REVERSE_CONFIRM_S = 0.6
 BOLT_CC_DIRECTION_MEMORY_S = 1.5
+VOLT_CC_CARS = {
+  CAR.CHEVROLET_VOLT_CC,
+}
+VOLT_CC_FREE_REQUEST_DEADBAND_MPH = 5.0
+VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH = 2.0


 def malibu_phase_map_for_button(button):
@@ -336,7 +341,54 @@ def stabilize_bolt_cc_button(controller, CP, requested_button):
  return requested_button


-def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles):
+def _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active):
+  accel = float(actuators.accel)
+  speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
+  ego_speed = CS.out.vEgo * ms_convert
+  requested_setpoint = (CS.out.vEgo * 1.01 + 3 * accel) * ms_convert
+  deadband_mph = (
+    VOLT_CC_ACTIVE_REQUEST_DEADBAND_MPH if longitudinal_adjustment_active
+    else VOLT_CC_FREE_REQUEST_DEADBAND_MPH
+  )
+  request_deadband = deadband_mph * (CV.MPH_TO_KPH if ms_convert == CV.MS_TO_KPH else 1.0)
+
+  target_setpoint = None
+  v_cruise_kph = float(getattr(CS.out, "vCruise", 0.0))
+  if 0.0 < v_cruise_kph < 255.0:
+    is_metric = ms_convert == CV.MS_TO_KPH
+    target_setpoint = int(round(v_cruise_kph if is_metric else v_cruise_kph * CV.KPH_TO_MPH))
+
+  moving_toward_target = target_setpoint is not None and (
+    (accel > 0.0 and speed_setpoint < target_setpoint) or
+    (accel < 0.0 and speed_setpoint > target_setpoint)
+  )
+  if target_setpoint is not None and accel > 0.0 and speed_setpoint >= target_setpoint:
+    return CruiseButtons.INIT, float("inf")
+  if (target_setpoint is not None and accel < 0.0 and speed_setpoint <= target_setpoint and
+      not longitudinal_adjustment_active):
+    return CruiseButtons.INIT, float("inf")
+
+  if not moving_toward_target and abs(requested_setpoint - speed_setpoint) <= request_deadband:
+    return CruiseButtons.INIT, float("inf")
+
+  if accel == 0.0:
+    return CruiseButtons.INIT, float("inf")
+
+  if accel < 0.0:
+    if speed_setpoint > ego_speed + 3.0:
+      rate = 0.2
+    else:
+      rate = max(1.0 / (-accel * ms_convert), 0.2)
+    return CruiseButtons.DECEL_SET, rate
+
+  if speed_setpoint < ego_speed - 3.0:
+    rate = 0.2
+  else:
+    rate = max(1.0 / (accel * ms_convert), 0.2)
+  return CruiseButtons.RES_ACCEL, rate
+
+
+def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles, longitudinal_adjustment_active=False):
  accel = actuators.accel
  v_ego = CS.out.vEgo
  cruise_btn = CruiseButtons.INIT
@@ -350,12 +402,15 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
  target_deadband = BOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0) if bolt_cc else 0.0
  comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint

-  if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
-    cruise_btn = CruiseButtons.CANCEL
-  elif comparison_setpoint < speed_setpoint - target_deadband and speed_setpoint > CS.CP.minEnableSpeed * ms_convert + 1:
-    cruise_btn = CruiseButtons.DECEL_SET
-  elif comparison_setpoint > speed_setpoint + target_deadband:
-    cruise_btn = CruiseButtons.RES_ACCEL
+  if CS.CP.carFingerprint in VOLT_CC_CARS:
+    cruise_btn, rate = _create_volt_cc_spam_command(CS, actuators, ms_convert, longitudinal_adjustment_active)
+  else:
+    if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
+      cruise_btn = CruiseButtons.CANCEL
+    elif comparison_setpoint < speed_setpoint - target_deadband and speed_setpoint > CS.CP.minEnableSpeed * ms_convert + 1:
+      cruise_btn = CruiseButtons.DECEL_SET
+    elif comparison_setpoint > speed_setpoint + target_deadband:
+      cruise_btn = CruiseButtons.RES_ACCEL

  cruise_btn = stabilize_bolt_cc_button(controller, CS.CP, cruise_btn)
  if cruise_btn == CruiseButtons.CANCEL:
@@ -420,9 +475,11 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
    idx = (CS.buttons_counter + 1) % 4  # Need to predict the next idx for '22-23 EUV
    msgs = [create_buttons(packer, CanBus.POWERTRAIN, idx, cruise_btn)]

-    # Flashed camera-forward Volt CC installs also need the button spoof on the
-    # camera side. Removed-camera installs set NO_CAMERA and keep this PT-only.
-    if CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and not (CS.CP.flags & GMFlags.NO_CAMERA.value):
+    # A camera-forward Volt CC install needs the button spoof on both sides.
+    # The OBD-C/L&P gateway variant has no camera bus and remains PT-only.
+    if (CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and
+        getattr(CS.CP, "networkLocation", None) == structs.CarParams.NetworkLocation.fwdCamera and
+        not (CS.CP.flags & GMFlags.NO_CAMERA.value)):
      msgs.append(create_buttons(packer, CanBus.CAMERA, idx, cruise_btn))
    return msgs
  else:
@@ -15,6 +15,7 @@ from opendbc.car.gm.values import (
  CC_ONLY_CAR,
  CC_REGEN_PADDLE_CAR,
  EV_CAR,
+  GM_AUTO_HOLD_CARS,
  SDGM_CAR,
  CarControllerParams,
  CanBus,
@@ -273,7 +274,6 @@ class CarInterface(CarInterfaceBase):

    kaofui_camera_cars = {
      CAR.CHEVROLET_VOLT_CAMERA,
-      CAR.CHEVROLET_VOLT_CC,
      CAR.CHEVROLET_MALIBU_HYBRID_CC,
    }
    bolt_cc_camera_cars = {
@@ -306,7 +306,7 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.HW_CAM_LONG.value

    elif is_camera_acc:
-      ret.alphaLongitudinalAvailable = (candidate not in CC_ONLY_CAR) and not ret.enableGasInterceptorDEPRECATED
+      ret.alphaLongitudinalAvailable = candidate not in (CC_ONLY_CAR | ALT_ACCS) and not ret.enableGasInterceptorDEPRECATED
      ret.networkLocation = NetworkLocation.fwdCamera
      ret.radarUnavailable = True
      ret.pcmCruise = not ret.enableGasInterceptorDEPRECATED
@@ -409,7 +409,7 @@ class CarInterface(CarInterfaceBase):
    ret.steerActuatorDelay = 0.1  # Default delay, not measured yet

    ret.steerLimitTimer = 0.4
-    ret.radarTimeStepDEPRECATED = 0.0667  # GM radar runs at 15Hz instead of the standard 20Hz
+    ret.radarTimeStepDEPRECATED = 0.15 if candidate == CAR.BUICK_LACROSSE else 0.0667
    ret.longitudinalActuatorDelay = 0.5  # large delay to initially start braking

    if candidate in (
@@ -441,7 +441,7 @@ class CarInterface(CarInterfaceBase):
    elif candidate in (CAR.BUICK_LACROSSE, CAR.BUICK_LACROSSE_ASCM, CAR.BUICK_LACROSSE_ASCM_19US):
      CarInterfaceBase.configure_torque_tune(CAR.BUICK_LACROSSE, ret.lateralTuning)
      if candidate == CAR.BUICK_LACROSSE_ASCM_19US:
-        ret.minSteerSpeed = 27 * CV.MPH_TO_MS
+        ret.minSteerSpeed = 28 * CV.MPH_TO_MS

    elif candidate == CAR.CADILLAC_ESCALADE:
      ret.minEnableSpeed = -1.  # engage speed is decided by pcm
@@ -501,9 +501,7 @@ class CarInterface(CarInterfaceBase):
        ret.flags |= GMFlags.PEDAL_LONG.value

    elif candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
-      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
-      # with foot on brake to allow engagement, but this platform only has that check in the camera.
-      # TODO: check if this is split by EV/ICE with more platforms in the future
+      ret.minEnableSpeed = 0.
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

    elif candidate in (CAR.CHEVROLET_EQUINOX, CAR.CHEVROLET_EQUINOX_CC):
@@ -524,7 +522,7 @@ class CarInterface(CarInterfaceBase):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_CC):
+    elif candidate in (CAR.CHEVROLET_SUBURBAN, CAR.CHEVROLET_SUBURBAN_ASCM, CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.CHEVROLET_SUBURBAN_CC):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

@@ -667,7 +665,8 @@ class CarInterface(CarInterfaceBase):
      ret.alphaLongitudinalAvailable = False
      ret.openpilotLongitudinalControl = not disable_openpilot_long
      ret.pcmCruise = False
-      ret.minEnableSpeed = 24 * CV.MPH_TO_MS
+      if candidate not in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
+        ret.minEnableSpeed = 24 * CV.MPH_TO_MS
      ret.radarUnavailable = True
      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_CC_LONG.value

@@ -685,6 +684,8 @@ class CarInterface(CarInterfaceBase):

    if candidate in CC_ONLY_CAR:
      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_ACC.value
+      if candidate == CAR.CHEVROLET_VOLT_CC and ret.networkLocation == NetworkLocation.gateway:
+        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value

    if candidate in SDGM_CAR and ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
      ret.flags |= GMFlags.FORCE_BRAKE_C9.value
@@ -698,7 +699,7 @@ class CarInterface(CarInterfaceBase):

    if ACCELERATOR_POS_MSG not in fingerprint[CanBus.POWERTRAIN]:
      ret.flags |= GMFlags.NO_ACCELERATOR_POS_MSG.value
-      if candidate == CAR.CHEVROLET_VOLT and ret.networkLocation == NetworkLocation.gateway:
+      if candidate in (CAR.CHEVROLET_VOLT, CAR.CHEVROLET_VOLT_CC) and ret.networkLocation == NetworkLocation.gateway:
        # Reuse the no-camera safety bit as an ASCM Volt selector for the alternate EBCM brake path.
        ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_NO_CAMERA.value

@@ -710,18 +711,19 @@ class CarInterface(CarInterfaceBase):
    if remote_start_boots_comma:
      ret.safetyConfigs[0].safetyParam |= GMSafetyFlags.FLAG_GM_REMOTE_START_BOOTS_COMMA.value

-    volt_stock_friction_brake_safety = (
+    gm_stock_friction_brake_safety = (
      ret.openpilotLongitudinalControl and
-      (gm_auto_hold or volt_one_pedal_mode) and
-      candidate in {
-        CAR.CHEVROLET_VOLT,
-        CAR.CHEVROLET_VOLT_2019,
-        CAR.CHEVROLET_VOLT_ASCM,
-        CAR.CHEVROLET_VOLT_CAMERA,
-      }
+      (
+        (gm_auto_hold and candidate in GM_AUTO_HOLD_CARS) or
+        (volt_one_pedal_mode and candidate in {
+          CAR.CHEVROLET_VOLT,
+          CAR.CHEVROLET_VOLT_2019,
+          CAR.CHEVROLET_VOLT_ASCM,
+          CAR.CHEVROLET_VOLT_CAMERA,
+        })
+      )
    )
-    if volt_stock_friction_brake_safety:
-      # Reuse the paddle-scheduler safety bit as a Volt stock friction-brake
+    if gm_stock_friction_brake_safety:
      # marker on non-pedal paths. Auto hold and one-pedal can run while OP
      # longitudinal is configured but not currently active, so the bit must
      # be present regardless of the current long-control mode. Do not expose
@@ -53,6 +53,7 @@ from opendbc.car.gm.carcontroller import (
  get_testing_ground_1_brake_switch_bias,
  get_acc_dashboard_status_active,
  get_stock_cc_active_for_cancel,
+  limit_grade_feedforward,
  shape_bolt_acc_pedal_low_speed_friction,
  shape_truck_friction_brake,
  shape_truck_pitch_accel,
@@ -430,6 +431,15 @@ def test_volt_auto_hold_requires_toggle_supported_non_cc_only_volt_and_stock_saf
    ),
    True,
  )
+  assert supports_volt_auto_hold(
+    SimpleNamespace(
+      carFingerprint=CAR.BUICK_LACROSSE,
+      openpilotLongitudinalControl=True,
+      networkLocation=CarParams.NetworkLocation.gateway,
+      safetyConfigs=stock_safety,
+    ),
+    True,
+  )
  assert not supports_volt_auto_hold(
    SimpleNamespace(
      carFingerprint=CAR.CHEVROLET_VOLT,
@@ -895,6 +905,20 @@ def test_shape_truck_pitch_accel_is_inactive_without_truck_tuning():
  assert shape_truck_pitch_accel(-0.30, 30.0, False) == pytest.approx(-0.30)


+def test_limit_grade_feedforward_does_not_stack_on_positive_planner():
+  assert limit_grade_feedforward(0.40, 0.50) == 0.0
+
+
+def test_limit_grade_feedforward_caps_uphill_hold():
+  assert limit_grade_feedforward(0.0, 0.50) == pytest.approx(0.20)
+  assert limit_grade_feedforward(-0.10, 0.50) == pytest.approx(0.20)
+
+
+def test_limit_grade_feedforward_keeps_downhill_help():
+  assert limit_grade_feedforward(0.40, -0.30) == pytest.approx(-0.30)
+  assert limit_grade_feedforward(-0.20, -0.30) == pytest.approx(-0.30)
+
+
 def test_shape_truck_friction_brake_suppresses_boundary_chatter():
  assert shape_truck_friction_brake(14, -0.3, False, False) == (0, False)

@@ -8,7 +8,13 @@ from opendbc.can import CANPacker, CANParser
 from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
-from opendbc.car.gm.carstate import CarState as GMCarState, get_hard_cruise_buttons, update_auto_hold_drive_timers
+from opendbc.car.gm.carstate import (
+  CarState as GMCarState,
+  get_hard_cruise_buttons,
+  is_gm_auto_hold_active,
+  update_auto_hold_drive_timers,
+  update_startup_acc_fault_suppression,
+)
 from opendbc.car.gm.carcontroller import (
  VisualAlert,
  get_acc_dashboard_always_one,
@@ -20,8 +26,9 @@ from opendbc.car.gm.carcontroller import (
 )
 import opendbc.car.gm.interface as gm_interface
 from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.gps import CHEVROLET_BOLT_GPS_CARS, CHEVROLET_BOLT_GPS_MESSAGES, get_car_gps_config, parse_chevrolet_bolt_can_gps
 from opendbc.car.gm.fingerprints import FINGERPRINTS
-from opendbc.car.gm.values import ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
+from opendbc.car.gm.values import ALT_ACCS, ASCM_INT, CAMERA_ACC_CAR, CAR, CC_ONLY_CAR, DBC, GM_RX_OFFSET, CarControllerParams, CruiseButtons, GMFlags, GMSafetyFlags
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params

@@ -65,7 +72,317 @@ class TestGMFingerprint:
          assert finger.get(required_addr) == 8, required_addr


+class TestBoltGps:
+  @parameterized.expand(CHEVROLET_BOLT_GPS_CARS)
+  def test_all_bolt_generations_are_registered(self, car_model):
+    config = get_car_gps_config(SimpleNamespace(carFingerprint=car_model, brand="gm"))
+    assert config is not None
+    assert config.messages == CHEVROLET_BOLT_GPS_MESSAGES
+    gps = parse_chevrolet_bolt_can_gps({
+      "GPSLatitude": 145292743.0,
+      "GPSLongitude": -267520892.0,
+    })
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["latitude"] == pytest.approx(40.3590953)
+    assert gps["longitude"] == pytest.approx(-74.3113589)
+
+  def test_invalid_bolt_position_does_not_become_a_fix(self):
+    gps = parse_chevrolet_bolt_can_gps({"GPSLatitude": 0.0, "GPSLongitude": -2147483648.0})
+    assert gps is not None
+    assert not gps["hasFix"]
+    assert gps["latitude"] == 0.0
+    assert gps["longitude"] == 0.0
+
+  def test_bolt_gps_accuracy_metrics(self):
+    gps = parse_chevrolet_bolt_can_gps({"GPSLatitude": 145292743.0, "GPSLongitude": -267520892.0})
+    assert gps is not None
+    assert gps["horizontalAccuracy"] == 6.0
+    assert gps["verticalAccuracy"] == 10.0
+    assert gps["speedAccuracy"] == 0.5
+
+  def test_bolt_gps_heading_and_speed_derivation(self):
+    cp = SimpleNamespace(
+      brand="gm",
+      carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021,
+      flags=0,
+      networkLocation=structs.CarParams.NetworkLocation.gateway,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableBsm=False,
+      enableGasInterceptorDEPRECATED=False,
+      pcmCruise=False,
+    )
+    fpcp = custom.StarPilotCarParams.new_message()
+    cs = GMCarState(cp, fpcp)
+
+    # First position (stationary)
+    mock_cp = SimpleNamespace(
+      ts_nanos={"TCICOnStarGPSPosition": {"GPSLatitude": 1_000_000}},
+      vl={"TCICOnStarGPSPosition": {"GPSLatitude": 145292743.0, "GPSLongitude": -267520892.0}},
+    )
+    cs._update_car_gps(mock_cp, v_ego=0.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["speed"] == 0.0
+    assert gps["bearingDeg"] == 0.0
+    assert gps["bearingAccuracyDeg"] == 180.0
+
+    # Move East at 15 m/s
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 2_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] = -267520892.0 + 1000.0  # Eastward shift
+    cs._update_car_gps(mock_cp, v_ego=15.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["speed"] == 15.0
+    assert gps["bearingDeg"] == pytest.approx(90.0, abs=1.0)
+    assert gps["bearingAccuracyDeg"] == 5.0
+    assert gps["vNED"][1] > 0.0  # East velocity positive
+
+    # Stop moving (v_ego=0.0): heading should be retained, not reset to 0
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 3_000_000_000
+    cs._update_car_gps(mock_cp, v_ego=0.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["speed"] == 0.0
+    assert gps["bearingDeg"] == pytest.approx(90.0, abs=1.0)
+
+    # Reversing: coordinate changes while moving backward should not flip heading
+    cs.moving_backward = True
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 4_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] = -267520892.0 - 1000.0  # Westward shift
+    cs._update_car_gps(mock_cp, v_ego=3.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["bearingDeg"] == pytest.approx(90.0, abs=1.0)
+
+    # Drive True North: verify bearing is 0.0 deg and accuracy is 5.0 deg (not degraded to 180.0)
+    cs.moving_backward = False
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 5_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] = 145292743.0 + 1000.0  # Northward shift
+    cs._update_car_gps(mock_cp, v_ego=12.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["bearingDeg"] == pytest.approx(0.0, abs=1.0)
+    assert gps["bearingAccuracyDeg"] == 5.0
+
+    # Tunnel / fix loss: invalid coordinates cause hasFix=False and clear previous coordinates
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 6_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] = 0.0
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] = 0.0
+    cs._update_car_gps(mock_cp, v_ego=20.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert not gps["hasFix"]
+    assert cs._prev_gps_lat is None and cs._prev_gps_lon is None
+
+    # Tunnel exit: GPS fix re-acquired 5 km away heading South
+    # The first sample after fix loss sets initial coordinates without calculating a phantom jump vector
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 7_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] = 145292743.0 - 50000.0
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLongitude"] = -267520892.0
+    cs._update_car_gps(mock_cp, v_ego=20.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["hasFix"]
+    assert gps["bearingDeg"] == pytest.approx(0.0, abs=1.0)
+    assert cs._prev_gps_lat is not None
+
+    # Second sample: moving Southward -> bearing smoothly updates to 180 deg
+    mock_cp.ts_nanos["TCICOnStarGPSPosition"]["GPSLatitude"] = 8_000_000_000
+    mock_cp.vl["TCICOnStarGPSPosition"]["GPSLatitude"] = 145292743.0 - 51000.0
+    cs._update_car_gps(mock_cp, v_ego=20.0)
+    gps = cs.get_car_gps()
+    assert gps is not None
+    assert gps["bearingDeg"] == pytest.approx(180.0, abs=1.0)
+
+  @parameterized.expand(CHEVROLET_BOLT_GPS_CARS)
+  def test_gps_message_is_added_to_powertrain_parser(self, car_model):
+    cp = SimpleNamespace(
+      brand="gm",
+      carFingerprint=car_model,
+      flags=0,
+      networkLocation=structs.CarParams.NetworkLocation.gateway,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableBsm=False,
+      enableGasInterceptorDEPRECATED=False,
+    )
+    parsers = GMCarState.get_can_parsers(cp)
+    assert all(message in parsers[Bus.pt].vl for message in CHEVROLET_BOLT_GPS_MESSAGES)
+
+
+class TestGMCarState:
+  @parameterized.expand([
+    (CAR.BUICK_LACROSSE, True, True, True, True, False, True),
+    (CAR.CHEVROLET_VOLT, True, True, True, True, False, True),
+    (CAR.CHEVROLET_BOLT_CC_2017, True, True, True, True, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, False, False, False),
+    (CAR.BUICK_LACROSSE, True, True, True, True, True, False),
+  ])
+  def test_auto_hold_alert_state_requires_supported_complete_stop(self, car_fingerprint, engaged, in_drive,
+                                                                    cruise_available, standstill, gas_pressed, expected):
+    assert is_gm_auto_hold_active(
+      car_fingerprint, engaged, in_drive, cruise_available, standstill, gas_pressed,
+    ) is expected
+
+  def test_lacrosse_startup_acc_fault_is_suppressed(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    assert suppressed
+    assert timer == pytest.approx(5.0 - DT_CTRL)
+
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 2, timer, 0, False,
+    )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_persistent_acc_fault_is_reported_after_startup(self):
+    timer, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, False,
+    )
+
+    for _ in range(int(5.0 / DT_CTRL)):
+      timer, suppressed = update_startup_acc_fault_suppression(
+        CAR.BUICK_LACROSSE, 2, 2, timer, 3, False,
+      )
+
+    assert timer == 0.0
+    assert not suppressed
+
+  def test_lacrosse_brake_unavailable_fault_is_never_suppressed(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_LACROSSE, 2, 0, 0.0, 3, True,
+    )
+
+    assert not suppressed
+
+  def test_startup_acc_fault_suppression_is_scoped_to_lacrosse(self):
+    _, suppressed = update_startup_acc_fault_suppression(
+      CAR.BUICK_REGAL, 2, 0, 0.0, 3, False,
+    )
+
+    assert not suppressed
+
+
 class TestGMInterface:
+  def test_suburban_obd_and_ascm_integrations_remain_separate(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
+
+    assert CAR.CHEVROLET_SUBURBAN_ASCM in ASCM_INT
+    assert FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_ASCM] == FINGERPRINTS[CAR.CHEVROLET_SUBURBAN]
+
+    obd_params = interfaces[CAR.CHEVROLET_SUBURBAN].get_params(
+      CAR.CHEVROLET_SUBURBAN,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.CHEVROLET_SUBURBAN_ASCM].get_params(
+      CAR.CHEVROLET_SUBURBAN_ASCM,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert not obd_params.pcmCruise
+    assert obd_params.safetyConfigs[0].safetyParam == 0
+
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.flags & GMFlags.SASCM.value
+    assert not ascm_params.alphaLongitudinalAvailable
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.pcmCruise
+    assert ascm_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value | GMSafetyFlags.HW_ASCM_INT.value
+    assert ascm_params.lateralTuning.torque.latAccelFactor == pytest.approx(obd_params.lateralTuning.torque.latAccelFactor)
+    assert ascm_params.lateralTuning.torque.friction == pytest.approx(obd_params.lateralTuning.torque.friction)
+
+  def test_suburban_camera_harness_preserves_stock_acc(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN][0].copy()
+    fingerprint[2] = fingerprint[0].copy()
+
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in CAMERA_ACC_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA in ALT_ACCS
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in CC_ONLY_CAR
+    assert CAR.CHEVROLET_SUBURBAN_CAMERA not in ASCM_INT
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+    assert all(fp[CAMERA_DIAGNOSTIC_ADDRESS + GM_RX_OFFSET] == 8 for fp in FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CAMERA])
+
+    camera_params = interfaces[CAR.CHEVROLET_SUBURBAN_CAMERA].get_params(
+      CAR.CHEVROLET_SUBURBAN_CAMERA,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert camera_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert camera_params.pcmCruise
+    assert not camera_params.alphaLongitudinalAvailable
+    assert not camera_params.openpilotLongitudinalControl
+    assert camera_params.safetyConfigs[0].safetyParam == GMSafetyFlags.HW_CAM.value
+
+  def test_suburban_cc_remains_no_acc_gateway_profile(self):
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SUBURBAN_CC][0].copy()
+
+    cc_params = interfaces[CAR.CHEVROLET_SUBURBAN_CC].get_params(
+      CAR.CHEVROLET_SUBURBAN_CC,
+      fingerprint,
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert cc_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert cc_params.openpilotLongitudinalControl
+    assert not cc_params.pcmCruise
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
+    assert cc_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
+
+  def test_lacrosse_obd_and_ascm_integrations_remain_separate(self):
+    obd_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+      CAR.BUICK_LACROSSE,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+    ascm_params = interfaces[CAR.BUICK_LACROSSE_ASCM].get_params(
+      CAR.BUICK_LACROSSE_ASCM,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert obd_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert obd_params.openpilotLongitudinalControl
+    assert obd_params.radarTimeStepDEPRECATED == pytest.approx(0.15)
+    assert ascm_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert not ascm_params.openpilotLongitudinalControl
+    assert ascm_params.radarTimeStepDEPRECATED == pytest.approx(0.0667)
+
  @parameterized.expand([
    CAR.CHEVROLET_BOLT_CC_2017,
    CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -152,6 +469,14 @@ class TestGMInterface:

    assert car_params.minSteerSpeed == pytest.approx(7 * CV.MPH_TO_MS)

+  def test_lacrosse_2019_ascm_min_steer_speed_is_28_mph(self):
+    car_model = CAR.BUICK_LACROSSE_ASCM_19US
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minSteerSpeed == pytest.approx(28 * CV.MPH_TO_MS)
+
  @parameterized.expand([
    ("interceptor", True),
    ("ascm_int", False),
@@ -201,6 +526,45 @@ class TestGMInterface:
    assert car_params.flags & GMFlags.NO_CAMERA.value
    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value

+  def test_volt_cc_obd_gateway_uses_cc_long_no_camera_path(self):
+    CarInterface = interfaces[CAR.CHEVROLET_VOLT_CC]
+    car_params = CarInterface.get_params(
+      CAR.CHEVROLET_VOLT_CC,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert car_params.flags & GMFlags.CC_LONG.value
+    assert car_params.flags & GMFlags.NO_CAMERA.value
+    assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM.value)
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_CC_LONG.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_ACC.value
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_NO_CAMERA.value
+
+    parsers = CarInterface.CarState.get_can_parsers(car_params)
+    assert "ECMCruiseControl" in parsers[Bus.pt].vl
+    assert not parsers[Bus.cam].vl
+
+  def test_other_cc_only_gateway_does_not_use_volt_cc_safety_path(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO_CC]
+    car_params = CarInterface.get_params(
+      CAR.CHEVROLET_SILVERADO_CC,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert car_params.networkLocation == structs.CarParams.NetworkLocation.gateway
+    assert not (car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_VOLT_CC_GATEWAY.value)
+
  def test_volt_ascm_sparse_fingerprint_without_camera_does_not_set_no_camera(self):
    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
    fingerprint = {
@@ -226,11 +590,36 @@ class TestGMInterface:

    assert car_params.openpilotLongitudinalControl
    assert not car_params.enableGasInterceptorDEPRECATED
+    assert car_params.minEnableSpeed == pytest.approx(0.0)
    assert list(car_params.longitudinalTuning.kpBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.02, 0.03, 0.028, 0.022])
    assert list(car_params.longitudinalTuning.kiBP) == pytest.approx([0.0, 5.0, 15.0, 35.0])
    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.20, 0.18, 0.13, 0.08])

+  def test_silverado_camera_acc_allows_engage_from_stop(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0] = FINGERPRINTS[CAR.CHEVROLET_SILVERADO][0].copy()
+
+    car_params = CarInterface.get_params(CAR.CHEVROLET_SILVERADO, fingerprint, [], alpha_long=False, is_release=False,
+                                         docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.minEnableSpeed == pytest.approx(0.0)
+
+  def test_silverado_cc_allows_engage_from_stop(self):
+    CarInterface = interfaces[CAR.CHEVROLET_SILVERADO_CC]
+    car_params = CarInterface.get_params(
+      CAR.CHEVROLET_SILVERADO_CC,
+      _empty_fingerprint(),
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=_test_starpilot_toggles(),
+    )
+
+    assert car_params.minEnableSpeed == pytest.approx(0.0)
+
  def test_blazer_uses_softer_low_speed_stop_hold_tune(self):
    CarInterface = interfaces[CAR.CHEVROLET_BLAZER]
    fingerprint = _empty_fingerprint()
@@ -283,6 +672,43 @@ class TestGMInterface:
    assert car_params.openpilotLongitudinalControl
    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value

+  def test_buick_lacrosse_auto_hold_sets_stock_hold_safety_bit_with_op_long_enabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", True)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
+  def test_buick_lacrosse_auto_hold_is_off_when_toggle_is_disabled(self):
+    params = Params()
+    try:
+      params.put_bool("GMAutoHold", False)
+      car_params = interfaces[CAR.BUICK_LACROSSE].get_params(
+        CAR.BUICK_LACROSSE,
+        _empty_fingerprint(),
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMAutoHold")
+
+    assert not car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_PANDA_PADDLE_SCHED.value
+
  def test_volt_auto_hold_does_not_set_stock_hold_safety_bit_with_op_long_disabled(self):
    CarInterface = interfaces[CAR.CHEVROLET_VOLT_ASCM]
    fingerprint = _empty_fingerprint()
@@ -526,6 +952,13 @@ class TestGMCarController:
    assert not should_send_cc_button_spam(SimpleNamespace(flags=GMFlags.CC_LONG.value, minEnableSpeed=10.0), cc, cs)
    assert not should_send_cc_button_spam(SimpleNamespace(flags=0, minEnableSpeed=10.0), cc, cs)

+  def test_cc_button_spam_allows_standstill_when_min_enable_is_zero(self):
+    cp = SimpleNamespace(flags=GMFlags.CC_LONG.value, minEnableSpeed=0.0)
+    cc = SimpleNamespace(longActive=True)
+    cs = SimpleNamespace(out=SimpleNamespace(vEgo=0.0, cruiseState=SimpleNamespace(enabled=False)))
+
+    assert should_send_cc_button_spam(cp, cc, cs)
+
  def test_volt_cc_redneck_spam_is_mirrored_to_camera_bus(self):
    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
    controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
@@ -533,6 +966,7 @@ class TestGMCarController:
      CP=SimpleNamespace(
        carFingerprint=CAR.CHEVROLET_VOLT_CC,
        flags=0,
+        networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
        minEnableSpeed=24 * CV.MPH_TO_MS,
      ),
      buttons_counter=2,
@@ -547,6 +981,267 @@ class TestGMCarController:

    assert [msg[2] for msg in msgs] == [0, 2]

+  def test_volt_cc_redneck_holds_setpoint_without_planner_acceleration(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=60.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=60.0 * CV.KPH_TO_MS),
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 60
+
+  def test_volt_cc_redneck_rate_limits_setpoint_changes_by_planner_acceleration(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.2 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=60.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=60.0 * CV.KPH_TO_MS),
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+
+    controller.frame = int(0.3 / DT_CTRL)
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=1.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+
+  def test_volt_cc_redneck_does_not_raise_stock_setpoint_above_max(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.5), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_tracks_max_inside_request_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=52.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=52.0 * CV.KPH_TO_MS),
+        vCruise=60.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=0.1), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 53
+
+  def test_volt_cc_redneck_tracks_max_down_inside_request_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=68.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=68.0 * CV.KPH_TO_MS),
+        vCruise=60.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 67
+
+  def test_volt_cc_redneck_holds_small_decel_request_at_max(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.1), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_holds_strong_decel_request_at_max_during_free_cruise(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-1.2), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+    assert controller.apply_speed == 100
+
+  def test_volt_cc_redneck_brakes_for_active_lead_inside_free_road_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(3.0 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=100.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=100.0 * CV.KPH_TO_MS),
+        vCruise=100.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-0.5), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 99
+
+  def test_volt_cc_redneck_accelerates_when_pseudo_speed_request_exceeds_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.1 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=44.0 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=44.0 * CV.KPH_TO_MS),
+        vCruise=50.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert msgs == []
+
+    controller.frame = int(0.3 / DT_CTRL)
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=2.0), SimpleNamespace(is_metric=True),
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 45
+
+  def test_volt_cc_redneck_brakes_when_pseudo_speed_request_exceeds_deadband(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_VOLT_CC,
+        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
+        minEnableSpeed=0.0,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=50.7 * CV.KPH_TO_MS,
+        cruiseState=SimpleNamespace(speed=49.0 * CV.KPH_TO_MS),
+        vCruise=49.0,
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(
+      packer, controller, cs, SimpleNamespace(accel=-1.36), SimpleNamespace(is_metric=True), longitudinal_adjustment_active=True,
+    )
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 48
+
  def test_volt_cc_no_camera_redneck_spam_stays_on_powertrain_bus(self):
    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_CC][Bus.pt])
    controller = SimpleNamespace(frame=int(0.3 / DT_CTRL), last_button_frame=0, apply_speed=0, malibu_button_phase=0)
@@ -554,6 +1249,7 @@ class TestGMCarController:
      CP=SimpleNamespace(
        carFingerprint=CAR.CHEVROLET_VOLT_CC,
        flags=GMFlags.NO_CAMERA.value,
+        networkLocation=structs.CarParams.NetworkLocation.gateway,
        minEnableSpeed=24 * CV.MPH_TO_MS,
      ),
      buttons_counter=2,
@@ -175,6 +175,7 @@ class GMSafetyFlags(IntFlag):
  FLAG_GM_REMOTE_START_BOOTS_COMMA = 8192
  FLAG_GM_PANDA_3D1_SCHED = 16384
  FLAG_GM_PANDA_PADDLE_SCHED = 32768
+  FLAG_GM_VOLT_CC_GATEWAY = 16384


 class Footnote(Enum):
@@ -247,7 +248,7 @@ class CAR(Platforms):
    dbc_dict=CHEVROLET_VOLT.dbc_dict,
  )
  CHEVROLET_VOLT_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt No-ACC 2017-18", min_enable_speed=0)],
+    [GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD Harness)", "Redneck ACC", min_enable_speed=0)],
    CHEVROLET_VOLT.specs,
    dbc_dict=CHEVROLET_VOLT.dbc_dict,
  )
@@ -356,6 +357,14 @@ class CAR(Platforms):
    [GMCarDocs("Chevrolet Suburban Premier 2016-20")],
    CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
  )
+  CHEVROLET_SUBURBAN_ASCM = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Suburban Premier ASCM Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    CHEVROLET_SUBURBAN.specs,
+  )
+  CHEVROLET_SUBURBAN_CAMERA = GMPlatformConfig(
+    [GMCarDocs("Chevrolet Suburban Premier Camera Harness 2016-20", "Adaptive Cruise Control (ACC) & LKAS")],
+    CHEVROLET_SUBURBAN.specs,
+  )
  GMC_YUKON_CC = GMPlatformConfig(
    [GMCarDocs("GMC Yukon No-ACC 2019-20")],
    CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
@@ -532,12 +541,21 @@ EV_CAR = {
  CAR.CHEVROLET_MALIBU_HYBRID_CC,
 }

+GM_AUTO_HOLD_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.BUICK_LACROSSE,
+}
+
 # We're integrated at the camera with VOACC on these cars (instead of ASCM w/ OBD-II harness)
 CAMERA_ACC_CAR = {
  CAR.CHEVROLET_BOLT_ACC_2022_2023,
  CAR.CHEVROLET_SILVERADO,
  CAR.CHEVROLET_EQUINOX,
  CAR.CHEVROLET_TRAILBLAZER,
+  CAR.CHEVROLET_SUBURBAN_CAMERA,
  CAR.CHEVROLET_VOLT_CAMERA,
  CAR.CHEVROLET_BLAZER,
  CAR.CHEVROLET_TRAX,
@@ -545,7 +563,7 @@ CAMERA_ACC_CAR = {
 }

 # Alt ASCMActiveCruiseControlStatus
-ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
+ALT_ACCS = {CAR.CHEVROLET_SUBURBAN_CAMERA, CAR.GMC_YUKON, CAR.GMC_YUKON_CC}

 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
@@ -584,9 +602,10 @@ CC_REGEN_PADDLE_CAR = {
 }
 CAMERA_ACC_CAR.update(CC_ONLY_CAR)

-# ASCM-INT paths are only enabled when SASCM (0x2FF) is detected at runtime
+# ASCM-intercept variants preserve stock ACC. SASCM (0x2FF) enables alpha-long where supported.
 ASCM_INT = {
  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_SUBURBAN_ASCM,
  CAR.GMC_ACADIA_ASCM,
  CAR.CHEVROLET_MALIBU_ASCM,
  CAR.CADILLAC_ESCALADE_ASCM,
@@ -7,6 +7,7 @@ from typing import Any

 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.values import CAR as FORD_CAR
+from opendbc.car.gm.values import CAR as GM_CAR


 CarGpsSample = dict[str, Any]
@@ -90,11 +91,53 @@ def parse_ford_can_gps(nav1: Mapping[str, float], nav2: Mapping[str, float], nav
  }


+def parse_chevrolet_bolt_can_gps(position: Mapping[str, float]) -> CarGpsSample | None:
+  """Decode the Bolt's OnStar GPS position message."""
+  try:
+    latitude = float(position["GPSLatitude"]) / 3_600_000.0
+    longitude = float(position["GPSLongitude"]) / 3_600_000.0
+  except (KeyError, TypeError, ValueError):
+    return None
+
+  coordinates_valid = (
+    math.isfinite(latitude) and math.isfinite(longitude) and
+    -90.0 <= latitude <= 90.0 and -180.0 <= longitude <= 180.0 and
+    (latitude != 0.0 or longitude != 0.0)
+  )
+  if not coordinates_valid:
+    latitude = longitude = 0.0
+
+  return {
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": 0.0,
+    "speed": 0.0,
+    "bearingDeg": 0.0,
+    "horizontalAccuracy": 6.0,
+    "unixTimestampMillis": int(datetime.now(UTC).timestamp() * 1000),
+    "verticalAccuracy": 10.0,
+    "bearingAccuracyDeg": 180.0,
+    "speedAccuracy": 0.5,
+    "hasFix": coordinates_valid,
+    "satelliteCount": 0,
+    "vNED": [0.0, 0.0, 0.0],
+  }
+
+
 FORD_MACH_E_GPS_MESSAGES = (
  "APIMGPS_Data_Nav_1_FD1",
  "APIMGPS_Data_Nav_2_FD1",
  "APIMGPS_Data_Nav_3_FD1",
 )
+CHEVROLET_BOLT_GPS_MESSAGES = ("TCICOnStarGPSPosition",)
+
+CHEVROLET_BOLT_GPS_CARS = (
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+  GM_CAR.CHEVROLET_BOLT_CC_2022_2023,
+  GM_CAR.CHEVROLET_BOLT_CC_2018_2021,
+  GM_CAR.CHEVROLET_BOLT_CC_2017,
+)


 CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
@@ -103,6 +146,14 @@ CAR_GPS_CONFIGS: dict[str, CarGpsConfig] = {
    messages=FORD_MACH_E_GPS_MESSAGES,
    decoder=parse_ford_can_gps,
  ),
+  **{
+    car: CarGpsConfig(
+      brand="gm",
+      messages=CHEVROLET_BOLT_GPS_MESSAGES,
+      decoder=parse_chevrolet_bolt_can_gps,
+    )
+    for car in CHEVROLET_BOLT_GPS_CARS
+  },
 }


@@ -23,6 +23,20 @@ from openpilot.common.params import Params
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState

+BOSCH_BRAKE_FORCE_ON = -0.12
+BOSCH_BRAKE_FORCE_RELEASE = -0.02
+
+
+def update_honda_bosch_braking(braking: bool, gas_pedal_force: float, stopping: bool, long_active: bool) -> bool:
+  """Select Bosch brake mode from the same road-load-adjusted force used for gas."""
+  if not long_active:
+    return False
+  if stopping:
+    return True
+  if braking:
+    return gas_pedal_force <= BOSCH_BRAKE_FORCE_RELEASE
+  return gas_pedal_force < BOSCH_BRAKE_FORCE_ON
+

 def get_civic_bosch_modified_torque_lpf_tau(torque_cmd: float, prev_torque_cmd: float, v_ego: float) -> float:
  torque_delta = abs(float(torque_cmd) - float(prev_torque_cmd))
@@ -238,6 +252,7 @@ class CarController(CarControllerBase):
    self.steering_pressed_filter_s = 0.0
    self.steering_pressed_robust_prev = False
    self.bosch_last_gas = 0.0
+    self.bosch_braking = False
    self.bosch_gas_factor = self.param_store.get_float("HondaGasFactorParams", default=1.0)
    self.bosch_wind_factor = self.param_store.get_float("HondaWindFactorParams", default=1.0)
    self.bosch_wind_factor_before_brake = self.bosch_wind_factor
@@ -472,12 +487,16 @@ class CarController(CarControllerBase):
          self.bosch_last_gas = self.gas

          stopping = actuators.longControlState == LongCtrlState.stopping
+          bosch_braking = None
+          if not self.mvl_accord_mode:
+            self.bosch_braking = update_honda_bosch_braking(self.bosch_braking, gas_pedal_force, stopping, CC.longActive)
+            bosch_braking = self.bosch_braking
          self.stopping_counter = self.stopping_counter + 1 if stopping else 0
          if not self.mvl_accord_mode or mvl_radar_owned:
            can_sends.extend(
              hondacan.create_acc_commands(
                self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP,
-                gas_force=gas_pedal_force if self.mvl_accord_mode else None,
+                gas_force=gas_pedal_force, braking=bosch_braking,
              )
            )
        else:
@@ -71,16 +71,18 @@ def create_brake_command(packer, CAN, apply_brake, pump_on, pcm_override, pcm_ca
  return packer.make_can_msg("BRAKE_COMMAND", CAN.pt, values)


-def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None, braking=None):
  commands = []
  min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]

  control_on = 5 if enabled else 0
  if gas_force is None:
    gas_force = accel
-  gas_command = gas if active and gas_force > min_gas_accel else -30000
+  if braking is None:
+    braking = gas_force < min_gas_accel
+  braking = int(active and braking)
+  gas_command = gas if active and gas_force > min_gas_accel and not braking else -30000
  accel_command = accel if active else 0
-  braking = 1 if active and gas_force < min_gas_accel else 0
  standstill = 1 if active and stopping_counter > 0 else 0
  standstill_release = 1 if active and stopping_counter == 0 else 0

@@ -1107,6 +1107,14 @@ def test_crv_5g_bosch_a_radar_dbc_wired_for_parser_unit_tests():
  assert ri.rcp.bus == CanBus(cp).camera


+def test_accord_bosch_a_radar_stays_disabled_until_validated():
+  cp = CarInterface.get_non_essential_params(CAR.HONDA_ACCORD)
+  assert cp.radarUnavailable is True
+  ri = CarInterface.RadarInterface(cp)
+  assert ri.bosch_a_radar is False
+  assert ri.rcp is None
+
+
 def test_civic_bosch_object_feed_uses_camera_side_acc_can():
  ri = make_radar_interface()
  can = CanBus(CP)
@@ -1180,5 +1188,6 @@ def test_bosch_a_toggle_defaults_on_but_allowlist_still_gates_platforms():
    Params().remove("HondaBoschARadar")
    assert CarInterface.get_non_essential_params(CAR.HONDA_CIVIC_BOSCH).radarUnavailable is False
    assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD).radarUnavailable is True
+    assert CarInterface.get_non_essential_params(CAR.HONDA_ACCORD_11G).radarUnavailable is True
  finally:
    Params().put_bool("HondaBoschARadar", original)
@@ -7,13 +7,16 @@ from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
 from opendbc.car.honda.carcontroller import (
+  BOSCH_BRAKE_FORCE_ON,
+  BOSCH_BRAKE_FORCE_RELEASE,
  CarController,
  get_civic_bosch_modified_steering_pressed,
  get_civic_bosch_modified_torque_lpf_tau,
  get_honda_bosch_wind_brake_mps2,
+  update_honda_bosch_braking,
  update_honda_bosch_live_learning,
 )
-from opendbc.car.honda.hondacan import create_lkas_hud
+from opendbc.car.honda.hondacan import create_acc_commands, create_lkas_hud
 from opendbc.car.honda.fingerprints import FW_VERSIONS
 from opendbc.car.honda.values import CAR, DBC, HONDA_BOSCH, HONDA_BOSCH_TJA_CONTROL, CarControllerParams, HondaFlags, HondaSafetyFlags, \
                                     HondaStarPilotFlags
@@ -26,6 +29,67 @@ def get_test_toggles() -> SimpleNamespace:


 class TestHondaFingerprint:
+  @staticmethod
+  def _acc_control_values(active, accel, gas=500, gas_force=0.5, braking=False):
+    class FakePacker:
+      @staticmethod
+      def make_can_msg(name, bus, values):
+        return name, bus, values
+
+    can = SimpleNamespace(pt=1)
+    cp = SimpleNamespace(carFingerprint=CAR.HONDA_CRV_5G)
+    commands = create_acc_commands(FakePacker(), can, True, active, accel, gas, 0, cp, gas_force, braking)
+    assert commands[-1][0] == "ACC_CONTROL"
+    return commands[-1][2]
+
+  def test_bosch_acc_commands_reject_fault_route_gas_brake_conflict(self):
+    braking = update_honda_bosch_braking(False, 0.2, False, True)
+    values = self._acc_control_values(True, -0.27, gas=160, gas_force=0.2, braking=braking)
+
+    assert values["GAS_COMMAND"] == 160
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  @pytest.mark.parametrize("active", [False, True])
+  @pytest.mark.parametrize("accel", [-3.5, -0.27, -0.2, -0.1, 0.0, 0.01, 2.0])
+  @pytest.mark.parametrize("gas_force", [-0.5, 0.0, 0.5])
+  @pytest.mark.parametrize("braking", [False, True])
+  def test_bosch_acc_commands_never_request_gas_and_braking_together(self, active, accel, gas_force, braking):
+    values = self._acc_control_values(active, accel, gas_force=gas_force, braking=braking)
+
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_REQUEST"] == 1)
+    assert not (values["GAS_COMMAND"] > 0 and values["BRAKE_LIGHTS"] == 1)
+    if values["GAS_COMMAND"] > 0:
+      assert active
+
+  def test_bosch_acc_commands_preserve_road_load_gas_above_brake_threshold(self):
+    values = self._acc_control_values(True, -0.27, gas=500, gas_force=0.3)
+
+    assert values["GAS_COMMAND"] == 500
+    assert values["ACCEL_COMMAND"] == pytest.approx(-0.27)
+    assert values["BRAKE_REQUEST"] == 0
+    assert values["BRAKE_LIGHTS"] == 0
+
+  def test_bosch_acc_commands_do_not_send_gas_without_positive_force(self):
+    values = self._acc_control_values(True, 0.2, gas=500, gas_force=-0.4)
+
+    assert values["GAS_COMMAND"] == -30000
+
+  def test_bosch_braking_uses_force_hysteresis(self):
+    braking = update_honda_bosch_braking(False, BOSCH_BRAKE_FORCE_ON - 0.01, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, -0.05, False, True)
+    assert braking
+
+    braking = update_honda_bosch_braking(braking, BOSCH_BRAKE_FORCE_RELEASE + 0.01, False, True)
+    assert not braking
+
+  def test_bosch_braking_preserves_stopping_and_resets_inactive(self):
+    assert update_honda_bosch_braking(False, 0.5, True, True)
+    assert not update_honda_bosch_braking(True, -1.0, False, False)
+
  def test_honda_lkas_hud_shows_lane_lines_when_lateral_only_is_active(self):
    class FakePacker:
      @staticmethod
@@ -533,9 +533,6 @@ HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
 # HondaBoschARadar. This describes hardware compatibility only; it is deliberately separate from the
 # verified set below so a newly supported model cannot start using unvalidated radar data by accident.
 HONDA_BOSCH_A = HONDA_BOSCH - HONDA_BOSCH_RADARLESS - HONDA_BOSCH_CANFD - HONDA_BOSCH_ALT_RADAR
-# Add individual CAR entries only after the exact platform has a real capture and decoder replay
-# validation. The Civic and CR-V 5G captures both exercise the plain Bosch-A object bank; every
-# other Bosch-A variant remains disabled until it gets the same verification.
 HONDA_BOSCH_A_RADAR_VERIFIED = frozenset({CAR.HONDA_CIVIC_BOSCH, CAR.HONDA_CRV_5G})
 HONDA_BOSCH_TJA_CONTROL = CAR.with_flags(HondaFlags.BOSCH_TJA_CONTROL)
 HONDA_CAMERA_MESSAGE_CARS = {
@@ -1,19 +1,23 @@
 from dataclasses import dataclass

+# Provenance: portions of HKG angle control are adapted from sunnypilot/opendbc's
+# hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.can import CANPacker
-from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, rate_limit, structs
+from opendbc.car import Bus, DT_CTRL, create_gas_interceptor_command, make_tester_present_msg, rate_limit, structs
 from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_angle_limits_vm, common_fault_avoidance, get_max_angle_delta_vm, get_max_angle_vm
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai import hyundaicanfd, hyundaican
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                        CANFD_RADAR_LIVE_LONGITUDINAL_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
+from opendbc.car.hyundai.lead_data import CanLeadDataState
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiSafetyFlags, HyundaiStarPilotFlags, Buttons, CarControllerParams, CAR, CANFD_ANGLE_LONGITUDINAL_CAR, \
+                                        CANFD_RADAR_ECU_KEEPALIVE_CAR, CANFD_ALT_BUTTONS_RESUME_CAR, kia_ev6_gt_line_longitudinal_tuning, \
                                        KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
+from openpilot.selfdrive.controls.lib.longitudinal_vehicle_tunes import get_hyundai_canfd_scc_jerk_limits, shape_hyundai_canfd_scc_accel
 from openpilot.starpilot.common.testing_grounds import testing_ground

 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -24,6 +28,9 @@ LongCtrlState = structs.CarControl.Actuators.LongControlState
 MAX_ANGLE = 85
 MAX_ANGLE_FRAMES = 89
 MAX_ANGLE_CONSECUTIVE_FRAMES = 2
+
+CANCEL_BUTTON_DELAY_FRAMES = 10
+
 CANFD_BLINDSPOT_STATUS_STALE_NS = 200_000_000
 CANFD_CAMERA_LEAD_STALE_NS = 300_000_000
 CANFD_LEAD_MIN_DISTANCE = 0.1
@@ -35,6 +42,11 @@ IONIQ_6_RESPONSE_MULTIPLIER = 1.2
 IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
+RAY_PEDAL_COMMAND_CAP = 0.55
+RAY_PEDAL_RATE_UP = 0.02
+RAY_PEDAL_RATE_DOWN = 0.06
+RAY_PEDAL_OVERSPEED_CUTOFF = 0.5
+RAY_PEDAL_TAPER_BELOW_TARGET = 0.75
 GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
 GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
 GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -180,13 +192,6 @@ def should_use_ev6_gt_line_stop_direct_tracking(ev6_gt_line: bool, stopping: boo
  return bool(ev6_gt_line and stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)


-def apply_carnival_steering_override(car_fingerprint, steering_pressed: bool,
-                                     apply_steer_req: bool, apply_torque: int) -> tuple[bool, int]:
-  if car_fingerprint == CAR.KIA_CARNIVAL_2025 and steering_pressed:
-    return False, 0
-  return apply_steer_req, apply_torque
-
-
 def update_ev9_longitudinal_tuning(state: EV9LongitudinalTuningState, enabled: bool,
                                   stopping: bool, v_ego: float) -> EV9LongitudinalTuningState:
  if not enabled:
@@ -455,6 +460,7 @@ class CarController(CarControllerBase):
    self.apply_angle_last = 0.0
    self.car_fingerprint = CP.carFingerprint
    self.last_button_frame = 0
+    self.cancel_counter = 0
    self.redneck_button_frame = 0
    self.ecu_disable_failed = False
    self._ecu_disable_checked = False
@@ -468,9 +474,19 @@ class CarController(CarControllerBase):
    self._ioniq_6_lane_change_ui_frames = 0
    self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
    self._genesis_g90_long_tuning = GenesisG90LongitudinalTuningState()
+    self._can_lead_data = CanLeadDataState()
    self._dash_lat_disengage_blink_frame = 0
    self._dash_lat_disengage_init = False
    self._dash_prev_lat_active = False
+    self._ray_lkas11_active = False
+    self._ray_lfa_8byte = CP.carFingerprint == CAR.KIA_RAY_EV and bool(
+      getattr(CP, "safetyConfigs", None) and
+      CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
+    )
+    self._ray_lfa_packer = CANPacker("hyundai_kia_ray_lfa") if self._ray_lfa_8byte else None
+    self._ray_pedal = CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED
+    self._ray_pedal_packer = CANPacker("hyundai_kia_ray_pedal") if self._ray_pedal else None
+    self._ray_pedal_gas_last = 0.0

  def _update_dash_icon_state(self, CC):
    if CC.latActive:
@@ -491,7 +507,9 @@ class CarController(CarControllerBase):
    return lka_icon, lfa_icon

  def _get_canfd_scc_lead_state(self, CC, CS, now_nanos):
-    openpilot_lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or CC.hudControl.leadVisible)
+    openpilot_lead_visible = bool(
+      getattr(CS, "openpilot_lead_visible", False) or getattr(CC.hudControl, "leadVisible", False)
+    )
    openpilot_lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
    openpilot_lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -16.4, 34.7))
    stock_camera_lead_fresh = now_nanos - getattr(CS, "stock_camera_lead_ts", 0) <= CANFD_CAMERA_LEAD_STALE_NS
@@ -620,10 +638,6 @@ class CarController(CarControllerBase):
      if not CC.latActive:
        apply_torque = 0

-      apply_steer_req, apply_torque = apply_carnival_steering_override(
-        self.CP.carFingerprint, CS.out.steeringPressed, apply_steer_req, apply_torque,
-      )
-
      # Hold torque with induced temporary fault when cutting the actuation bit
      # FIXME: we don't use this with CAN FD?
      torque_fault = CC.latActive and not apply_steer_req
@@ -719,6 +733,8 @@ class CarController(CarControllerBase):
      if self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
        can_sends.append(make_tester_present_msg(0x7b1, self.CAN.ECAN, suppress_response=True))

+    self.cancel_counter = self.cancel_counter + 1 if CC.cruiseControl.cancel else 0
+
    # *** CAN/CAN FD specific ***
    if self.CP.flags & HyundaiFlags.CANFD:
      can_sends.extend(self.create_canfd_msgs(now_nanos, apply_steer_req, apply_torque, apply_angle, set_speed_in_units, accel,
@@ -744,14 +760,25 @@ class CarController(CarControllerBase):
    can_sends = []
    can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
    blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
+    longitudinal_active = bool(self.long_active_ecu and getattr(CC, "longActive", False))
+    lead_visible = bool(getattr(CS, "openpilot_lead_visible", False) or getattr(hud_control, "leadVisible", False))
+    lead_distance = float(np.clip(getattr(CS, "openpilot_lead_distance", 0.0), 0.0, 204.7))
+    lead_rel_speed = float(np.clip(getattr(CS, "openpilot_lead_rel_speed", 0.0), -170.0, 239.5))
+    if lead_visible and lead_distance <= CANFD_LEAD_MIN_DISTANCE:
+      lead_distance = CANFD_FALLBACK_LEAD_DISTANCE
+      lead_rel_speed = 0.0
+    lead_data = self._can_lead_data.update(lead_distance, lead_rel_speed, lead_visible)

    # HUD messages
-    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
+    stinger_hud_enabled = CC.enabled or (self.CP.carFingerprint == CAR.KIA_STINGER_2022 and CC.latActive)
+    sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(stinger_hud_enabled, self.car_fingerprint,
                                                                                      hud_control)

    if blended_hda2:
      can_sends.extend(hyundaicanfd.create_steering_messages(
        self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
+        lka_icon=lka_icon,
+        longitudinal_active=longitudinal_active,
      ))
      if self.long_active_ecu:
        can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(
@@ -761,6 +788,7 @@ class CarController(CarControllerBase):
          left_lane_warning, right_lane_warning, CS.msg_364,
          include_alerts=False,
          counter_mod=0xF,
+          fcw_opt_usm=2 if apply_steer_req or lka_icon == 3 else 1,
        ))
      if self.frame % 5 == 0:
        can_sends.append(hyundaicanfd.create_suppress_lfa(
@@ -772,16 +800,25 @@ class CarController(CarControllerBase):
                                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                                  left_lane_warning, right_lane_warning, CS.msg_364))
    else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
-                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                left_lane_warning, right_lane_warning, lka_icon))
+      if self.CP.carFingerprint != CAR.KIA_RAY_EV or self._ray_lkas11_active:
+        can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
+                                                  torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  left_lane_warning, right_lane_warning, lka_icon))
+      if self.CP.carFingerprint == CAR.KIA_RAY_EV:
+        self._ray_lkas11_active = True
+      if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
+        can_sends.append(hyundaican.create_lkas12(self.packer, CS.lkas12))

    # Button messages
    if not self.long_active_ecu:
-      if CC.cruiseControl.cancel:
+      if self._ray_pedal and CC.enabled and CS.out.cruiseState.enabled:
+        if (self.frame - self.last_button_frame) * DT_CTRL > 0.04:
+          can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
+          self.last_button_frame = self.frame
+      elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
        can_sends.append(hyundaican.create_clu11(self.packer, self.frame, CS.clu11, Buttons.CANCEL, self.CP))
-      elif CC.cruiseControl.resume:
+      elif CC.cruiseControl.resume and not self._ray_pedal:
        # send resume at a max freq of 10Hz
        if (self.frame - self.last_button_frame) * DT_CTRL > 0.1:
          # send 25 messages at a time to increases the likelihood of resume being accepted
@@ -789,7 +826,39 @@ class CarController(CarControllerBase):
          if (self.frame - self.last_button_frame) * DT_CTRL >= 0.15:
            self.last_button_frame = self.frame
      else:
-        can_sends.extend(self._create_can_redneck_button_messages(CS))
+        if not self._ray_pedal:
+          can_sends.extend(self._create_can_redneck_button_messages(CS))
+
+    if self._ray_pedal and self.frame % 4 == 0:
+      pedal_ready = CS.ray_pedal_valid and CS.ray_pedal_state == 0
+      pedal_active = (CC.longActive and pedal_ready and not CC.cruiseControl.override and
+                      not CS.out.gasPressed and not CS.out.brakePressed)
+      if pedal_active:
+        set_speed = hud_control.setSpeed
+        if not np.isfinite(set_speed) or set_speed < 1.0:
+          self._ray_pedal_gas_last = 0.0
+        else:
+          speed_error = set_speed - CS.out.vEgo
+          if speed_error <= -RAY_PEDAL_OVERSPEED_CUTOFF:
+            self._ray_pedal_gas_last = 0.0
+          else:
+            pedal_offset = float(np.interp(CS.out.vEgo, [0., 2., 4., 8., 12., 20.],
+                                           [0.08, 0.13, 0.20, 0.32, 0.42, 0.48]))
+            pedal_gain = 2.0 if accel < 0.0 else 0.22
+            target = float(np.clip(pedal_offset + accel * pedal_gain, 0.0, RAY_PEDAL_COMMAND_CAP))
+            if speed_error < 0.0:
+              target *= float(np.clip(0.65 * (1.0 + speed_error / RAY_PEDAL_OVERSPEED_CUTOFF), 0.0, 1.0))
+            elif speed_error < RAY_PEDAL_TAPER_BELOW_TARGET:
+              target *= 0.65 + 0.35 * speed_error / RAY_PEDAL_TAPER_BELOW_TARGET
+            if target <= 0.001:
+              self._ray_pedal_gas_last = 0.0
+            else:
+              next_gas = rate_limit(target, self._ray_pedal_gas_last, -RAY_PEDAL_RATE_DOWN, RAY_PEDAL_RATE_UP)
+              self._ray_pedal_gas_last = min(next_gas, target)
+      else:
+        self._ray_pedal_gas_last = 0.0
+      can_sends.append(create_gas_interceptor_command(
+        self._ray_pedal_packer, self._ray_pedal_gas_last, (self.frame // 4) & 0xF))

    if self.long_active_ecu and can_canfd_blended:
      if blended_hda2:
@@ -817,11 +886,14 @@ class CarController(CarControllerBase):
        can_sends.extend(hyundaican.create_acc_commands(self.packer, CC.enabled, accel, jerk, int(self.frame / 2),
                                                        hud_control, set_speed_in_units, stopping,
                                                        CC.cruiseControl.override, use_fca, self.CP,
-                                                        main_cruise_enabled))
+                                                        main_cruise_enabled, lead_data))

    # 20 Hz LFA MFA message
    if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
-      can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
+      if self._ray_lfa_8byte:
+        can_sends.append(hyundaican.create_ray_lfahda_mfc(self._ray_lfa_packer, CC.latActive, lfa_icon))
+      else:
+        can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))

    # 5 Hz ACC options
    if self.frame % 20 == 0 and self.long_active_ecu and not can_canfd_blended:
@@ -838,7 +910,14 @@ class CarController(CarControllerBase):
    can_sends = []

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
-    lka_steering_long = lka_steering and self.long_active_ecu
+    persistent_lfa_status_cars = (
+      CAR.HYUNDAI_IONIQ_6,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+      CAR.KIA_EV6,
+    )
+    lfa_longitudinal_active = self.CP.openpilotLongitudinalControl \
+      if self.CP.carFingerprint in persistent_lfa_status_cars else self.long_active_ecu
+    lka_steering_long = lka_steering and lfa_longitudinal_active
    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
    use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
                                   CC.actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
@@ -849,9 +928,6 @@ class CarController(CarControllerBase):
    )

    # steering control
-    # The first-generation Electrified GV70 expects the synthesized LKAS status
-    # payload. Forwarding its stock status bits leaves lane-safety state asserted
-    # while StarPilot is suppressing the stock LFA path.
    preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and \
      not self.long_active_ecu and self.CP.carFingerprint != CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and \
      preserve_stock_canfd_lkas_status(self.CP.carFingerprint)
@@ -867,10 +943,10 @@ class CarController(CarControllerBase):

    gear = getattr(getattr(CS, "out", None), "gearShifter", None)
    drive_gear = gear == structs.CarState.GearShifter.drive
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      steering_msg_active = bool(steering_msg_active and drive_gear)
    angle_lkas_alt_standstill_handoff = bool(getattr(CS.out, "standstill", False) and not CC.latActive)
-    forward_stock_lkas = angle_lkas_alt and (
+    forward_stock_lkas = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and angle_lkas_alt and (
      angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
    )
    preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
@@ -879,7 +955,8 @@ class CarController(CarControllerBase):
                                                             steering_msg_active, apply_torque, apply_angle,
                                                             CS.stock_lfa_msg if preserve_stock_lfa_status else None,
                                                             CS.stock_lkas_msg if preserve_stock_lkas else None,
-                                                             lka_icon=lka_icon))
+                                                             lka_icon=lka_icon,
+                                                             longitudinal_active=lfa_longitudinal_active))
    direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
    inactive_steering_angle = float(np.clip(CS.angle_steering_angle,
                                            -self.params.ANGLE_LIMITS.STEER_ANGLE_MAX,
@@ -896,7 +973,7 @@ class CarController(CarControllerBase):

    # prevent LFA from activating on LKA steering cars by sending "no lane lines detected" to ADAS ECU
    suppress_lfa = bool(lka_steering)
-    if angle_lkas_alt:
+    if angle_lkas_alt and self.CP.carFingerprint != CAR.KIA_SPORTAGE_HEV_2026:
      suppress_lfa = bool(lka_steering and drive_gear and (CC.latActive or (ccnc_angle_long and CC.enabled)))
    if self.frame % 5 == 0 and suppress_lfa:
      can_sends.append(hyundaicanfd.create_suppress_lfa(self.packer, self.CAN, CS.lfa_block_msg,
@@ -966,12 +1043,14 @@ class CarController(CarControllerBase):
            left_sound_active=left_warning.sound_active, right_sound_active=right_warning.sound_active,
          )
        else:
-          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame)
+          adrv_messages = hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame,
+                                                             car_fingerprint=self.CP.carFingerprint,
+                                                             drive_gear=drive_gear)
        can_sends.extend(adrv_messages)
        # The front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
        # and stops publishing object tracks when it disappears.
        radar_heartbeat_step = 1 if ccnc_angle_long else 4
-        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % radar_heartbeat_step == 0:
+        if self.CP.carFingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR and self.frame % radar_heartbeat_step == 0:
          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // radar_heartbeat_step,
                                                                            CS.out.brakePressed, CS.out.gasPressed,
                                                                            self.CP.carFingerprint))
@@ -995,10 +1074,23 @@ class CarController(CarControllerBase):
                                                                                 CC.leftBlinker,
                                                                                 CC.rightBlinker))
      if self.frame % 2 == 0:
+        lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
        if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-          acc_kwargs = {}
+          scc_jerk_limits = get_hyundai_canfd_scc_jerk_limits(self.CP, stopping, accel)
+          raw_accel = accel
+          accel = shape_hyundai_canfd_scc_accel(
+            self.CP, CC.enabled, CC.cruiseControl.override, stopping, accel, self.accel_last,
+          )
+          acc_kwargs = {
+            "direct_accel": True,
+            "raw_accel": raw_accel,
+            "jerk_upper": scc_jerk_limits[0],
+            "jerk_lower": scc_jerk_limits[1],
+            "lead_distance": lead_distance,
+            "lead_rel_speed": lead_rel_speed,
+            "lead_visible": lead_visible,
+          }
        else:
-          lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
          acc_kwargs = {
            "main_mode_acc": int(CS.out.cruiseState.available),
            "direct_accel": True,
@@ -1046,7 +1138,7 @@ class CarController(CarControllerBase):
          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
            can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
            self.last_button_frame = self.frame
-          else:
+          elif self.cancel_counter > CANCEL_BUTTON_DELAY_FRAMES:
            for _ in range(20):
              can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.CANCEL))
            self.last_button_frame = self.frame
@@ -2,6 +2,8 @@ from collections import deque
 import copy
 import math

+# Provenance: portions of HKG angle-state integration are adapted from sunnypilot/opendbc's
+# hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
@@ -36,6 +38,8 @@ CLASSIC_MEDIA_BUTTON_CARS = frozenset({


 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    return "LABEL11", "CC_React", "LABEL11", "CC_Engaged", "E_EMS11", "Cruise_Limit_Target"
  if CP.flags & HyundaiFlags.EV:
    return "LABEL11", "CC_React", "EMS12", "ACC_ACT", "E_EMS11", "Cruise_Limit_Target"
  if CP.flags & HyundaiFlags.HYBRID:
@@ -134,6 +138,9 @@ class CarState(CarStateBase):
    self.buttons_counter = 0
    self.main_cruise_on = False
    self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      self.ray_pedal_state = 5
+      self.ray_pedal_valid = False

    self.cruise_info = {}
    self.msg_161 = {}
@@ -142,6 +149,7 @@ class CarState(CarStateBase):
    self.msg_364 = {}
    self.lfa_block_msg = {}
    self.stock_lkas_msg = {}
+    self.lkas12 = {}
    self.stock_lfa_msg = {}
    self.stock_lfahda_cluster_msg = {}
    self.stock_camera_lead_visible = False
@@ -173,8 +181,10 @@ class CarState(CarStateBase):
    # Main button also can trigger an engagement on these cars
    return any(btn in ENABLE_BUTTONS for btn in self.cruise_buttons) or any(self.main_buttons)

-  def update_main_cruise(self, ret: structs.CarState) -> bool:
-    if any(be.type == ButtonType.mainCruise and be.pressed for be in ret.buttonEvents):
+  def update_main_cruise(self, ret: structs.CarState,
+                         button_events: list[structs.CarState.ButtonEvent] | None = None) -> bool:
+    button_events = ret.buttonEvents if button_events is None else button_events
+    if any(be.type == ButtonType.mainCruise and be.pressed for be in button_events):
      self.main_cruise_on = not self.main_cruise_on

    return bool(ret.cruiseState.available and self.main_cruise_on)
@@ -240,10 +250,20 @@ class CarState(CarStateBase):
    return button_events

  def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
-    if self.CP.carFingerprint == CAR.HYUNDAI_SONATA:
+    if self.CP.carFingerprint == CAR.KIA_RAY_EV:
+      self.lda_button = int(cp.vl["BCM_PO_11"]["RAY_LKAS_BTN"] != 0) \
+        if cp.ts_nanos["BCM_PO_11"]["RAY_LKAS_BTN"] > 0 else 0
+    elif self.CP.carFingerprint == CAR.HYUNDAI_SONATA:
      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0
    elif self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
      self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
+    elif self.CP.carFingerprint == CAR.HYUNDAI_ELANTRA_HEV_2024:
+      lda_samples = [
+        *cp.vl_all["CLU13"]["CF_Clu_LdwsLkasSW"],
+        *cp.vl_all["BCM_PO_11"]["LDA_BTN"],
+      ]
+      if lda_samples:
+        self.lda_button = int(any(lda_samples))
    else:
      source_states = (
        int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"]) if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0 else 0,
@@ -283,6 +303,7 @@ class CarState(CarStateBase):
    cp = can_parsers[Bus.pt]
    cp_cam = can_parsers[Bus.cam]
    cp_alt = can_parsers.get(Bus.alt)
+    cp_pedal = can_parsers.get(Bus.party)

    if self.CP.flags & HyundaiFlags.CANFD:
      return self.update_canfd(can_parsers)
@@ -327,6 +348,15 @@ class CarState(CarStateBase):
    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0

+    prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_main_buttons = self.main_buttons[-1]
+    prev_lda_button = self.lda_button
+    main_button_events = []
+    if self.main_cruise_tracking:
+      self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+      self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+      main_button_events = create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})
+
    # cruise state
    no_scc = bool(self.CP.flags & HyundaiFlags.NON_SCC)
    if no_scc:
@@ -350,6 +380,9 @@ class CarState(CarStateBase):
      ret.cruiseState.nonAdaptive = cp_cruise.vl[scc_msg]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
      ret.cruiseState.speed = cp_cruise.vl[scc_msg]["VSetDis"] * speed_conv

+    if self.CP.openpilotLongitudinalControl and self.main_cruise_tracking:
+      ret.cruiseState.available = self.update_main_cruise(ret, main_button_events)
+
    if self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
      if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
        self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x2a4"])
@@ -364,6 +397,11 @@ class CarState(CarStateBase):
    ret.espDisabled = cp.vl["TCS11"]["TCS_PAS"] == 1
    ret.espActive = cp.vl["TCS11"]["ABS_ACT"] == 1
    ret.accFaulted = False if no_scc else cp.vl["TCS13"]["ACCEnable"] != 0  # 0 ACC CONTROL ENABLED, 1-3 ACC CONTROL DISABLED
+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED:
+      self.ray_pedal_valid = bool(cp_pedal is not None and cp_pedal.can_valid and
+                                  cp_pedal.ts_nanos["GAS_SENSOR"]["STATE"] > 0)
+      self.ray_pedal_state = int(cp_pedal.vl["GAS_SENSOR"]["STATE"]) if cp_pedal is not None else 5
+      ret.accFaulted = not self.ray_pedal_valid or self.ray_pedal_state != 0

    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV | HyundaiFlags.FCEV):
      if self.CP.flags & HyundaiFlags.FCEV:
@@ -375,6 +413,12 @@ class CarState(CarStateBase):
    else:
      ret.gasPressed = bool(cp.vl["EMS16"]["CF_Ems_AclAct"])

+    if self.CP.carFingerprint == CAR.KIA_RAY_EV and self.CP.enableGasInterceptorDEPRECATED and self.ray_pedal_valid:
+      driver_pedal = cp_pedal.vl_raw["GAS_SENSOR"]
+      track1 = int.from_bytes(driver_pedal[:2], "big")
+      track2 = int.from_bytes(driver_pedal[2:4], "big")
+      ret.gasPressed = track1 > 272 or track2 > 513
+
    # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
    # as this seems to be standard over all cars, but is not the preferred method.
    if self.CP.flags & (HyundaiFlags.HYBRID | HyundaiFlags.EV):
@@ -417,21 +461,22 @@ class CarState(CarStateBase):
      self.lkas11 = {}
    else:
      self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
+    if getattr(self.FPCP, "flags", 0) & HyundaiStarPilotFlags.HAS_LKAS12:
+      self.lkas12 = copy.copy(cp_cam.vl["LKAS12"])
    self.clu11 = copy.copy(cp.vl["CLU11"])
    self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    prev_cruise_buttons = self.cruise_buttons[-1]
-    prev_main_buttons = self.main_buttons[-1]
-    prev_lda_button = self.lda_button
+    if not self.main_cruise_tracking:
+      self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+      self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+      main_button_events = create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})
    lkas_button_events = []
-    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
-    self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
    if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and self.get_alt_bus_lda_button_raw_state(cp_alt)[1] > 0:
      lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
    else:
      lkas_button_events = self.create_lkas_button_events(cp, prev_lda_button)

    ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
-                        *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
+                        *main_button_events,
                        *lkas_button_events]

    ret.blockPcmEnable = not self.recent_button_interaction()
@@ -700,6 +745,12 @@ class CarState(CarStateBase):
      ("BCM_PO_11", 0),
      ("CLU13", 0),
    ]
+    if CP.carFingerprint == CAR.KIA_RAY_EV:
+      msgs += [
+        ("LABEL11", 10),
+        ("E_EMS11", 100),
+        ("ELECT_GEAR", 100),
+      ]
    if CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
      # Steering-wheel media switches are event-driven on the refresh Elantra.
      msgs.append(("GW_SWRC_PE", 0))
@@ -708,8 +759,10 @@ class CarState(CarStateBase):

    parsers = {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS12", 0)], 2),
    }
    if CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS:
      parsers[Bus.alt] = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CLU13", 0)], 1)
+    if CP.carFingerprint == CAR.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+      parsers[Bus.party] = CANParser("hyundai_kia_ray_pedal", [("GAS_SENSOR", 50)], 0)
    return parsers
@@ -1,4 +1,6 @@
 """ AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+# Provenance: portions of HKG firmware data are adapted from sunnypilot/opendbc master at
+# f95f996f5 and its hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md.
 from opendbc.car.structs import CarParams
 from opendbc.car.hyundai.values import CAR

@@ -183,6 +185,7 @@ FW_VERSIONS = {
    ],
    (Ecu.abs, 0x7d1, None): [
      b'\xf1\x00DN ESC \x01 102\x19\x04\x13 58910-L1300',
+      b'\xf1\x00DN ESC \x01 107 \x07\x03 58910-L1300',
      b'\xf1\x00DN ESC \x03 100 \x08\x01 58910-L0300',
      b'\xf1\x00DN ESC \x06 104\x19\x08\x01 58910-L0100',
      b'\xf1\x00DN ESC \x06 106 \x07\x01 58910-L0100',
@@ -206,6 +209,7 @@ FW_VERSIONS = {
      b'\xf1\x00DN8 MDPS C 1.00 1.01 56310L0210\x00 4DNAC102',
      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1010 4DNDC103',
      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1030 4DNDC103',
+      b'\xf1\x00DN8 MDPS C 1.00 1.03 56310-L1210 4DNDC103',
      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP100',
      b'\xf1\x00DN8 MDPS R 1.00 1.00 57700-L0000 4DNAP101',
      b'\xf1\x00DN8 MDPS R 1.00 1.02 57700-L1000 4DNDP105',
@@ -213,6 +217,7 @@ FW_VERSIONS = {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.02 99211-L1000 190422',
      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.04 99211-L1000 191016',
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.06 99211-L1000 210325',
      b'\xf1\x00DN8 MFC  AT RUS LHD 1.00 1.03 99211-L1000 190705',
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.00 99211-L0000 190716',
      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L0000 191016',
@@ -1551,6 +1556,7 @@ FW_VERSIONS = {
  },
  CAR.HYUNDAI_STARIA_4TH_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00US4 MFC  AT AUS RHD 1.00 1.04 99211-CG000 210819',
      b'\xf1\x00US4 MFC  AT KOR LHD 1.00 1.06 99211-CG000 230524',
    ],
    (Ecu.fwdRadar, 0x7d0, None): [
@@ -1696,4 +1702,9 @@ FW_VERSIONS = {
      b'\xf1\x00BC3 LKA  AT EUR LHD 1.00 1.01 99211-Q0100 261',
    ],
  },
+  CAR.KIA_RAY_EV: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TAM MFC  AT KOR LHD 1.00 1.02 99211-E2000 230901',
+    ],
+  },
 }
@@ -1,5 +1,6 @@
 import crcmod
 from opendbc.car.hyundai.hyundaicanfd import CanBus
+from opendbc.car.hyundai.lead_data import CanLeadData
 from opendbc.car.hyundai.values import CAR, HyundaiFlags

 hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
@@ -40,7 +41,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                           CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                           CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                           CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.KIA_XCEED_PHEV,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022,
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022, CAR.KIA_RAY_EV,
                           CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):
    values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
    values["CF_Lkas_LdwsOpt_USM"] = 2
@@ -51,7 +52,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    # FcwOpt_USM 2 = Green car + lanes
    # FcwOpt_USM 1 = White car + lanes
    # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
+    values["CF_Lkas_FcwOpt_USM"] = lka_icon

    # SysWarning 4 = keep hands on wheel
    # SysWarning 5 = keep hands on wheel (red)
@@ -60,7 +61,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0

  # Likely cars lacking the ability to show individual lane lines in the dash
-  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
+  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.HYUNDAI_KONA_NON_SCC):
    # SysWarning 4 = keep hands on wheel + beep
    values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0

@@ -68,7 +69,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    # SysState 1-2 = white car + lanes
    # SysState 3 = green car + lanes, green steering wheel
    # SysState 4 = green car + lanes
-    values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
+    values["CF_Lkas_LdwsSysState"] = lka_icon if CP.carFingerprint == CAR.HYUNDAI_KONA_NON_SCC else 3 if enabled else 1
    values["CF_Lkas_LdwsOpt_USM"] = 2  # non-2 changes above SysState definition

    # these have no effect
@@ -80,6 +81,14 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
    # Genesis and Optima fault when forwarding while engaged
    values["CF_Lkas_LdwsActivemode"] = 2

+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    if not enabled:
+      values["CF_Lkas_LdwsActivemode"] = lkas11["CF_Lkas_LdwsActivemode"]
+      values["CF_Lkas_LdwsSysState"] = lkas11["CF_Lkas_LdwsSysState"]
+      values["CF_Lkas_FcwOpt_USM"] = lkas11["CF_Lkas_FcwOpt_USM"]
+    values["CF_Lkas_LdwsOpt_USM"] = 0
+    values["CF_Lkas_Chksum"] = 0
+
  dat = packer.make_can_msg("LKAS11", 0, values)[1]

  if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
@@ -98,6 +107,19 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
  return packer.make_can_msg("LKAS11", 0, values)


+def create_lkas12(packer, lkas12):
+  values = {s: lkas12[s] for s in (
+    "CF_Lkas_TsrSlifOpt",
+    "CF_LkasTsrStatus",
+    "CF_Lkas_TsrSpeed_Display_Clu",
+    "CF_LkasTsrSpeed_Display_Navi",
+    "CF_Lkas_TsrAddinfo_Display",
+    "CF_Lkas_Daw_USM",
+  ) if s in lkas12}
+  values["CF_LkasDawStatus"] = 0
+  return packer.make_can_msg("LKAS12", 0, values)
+
+
 def create_checksum_can_canfd_blended(packer, bus, addr, values):
  dat = packer.make_can_msg(addr, bus, values)[1]
  return hyundai_checksum(dat[1:8])
@@ -107,13 +129,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                    torque_fault, lkas11, sys_warning, sys_state, enabled,
                                    left_lane, right_lane,
                                    left_lane_depart, right_lane_depart, msg_364,
-                                    include_alerts=True, counter_mod=0x10):
+                                    include_alerts=True, counter_mod=0x10, fcw_opt_usm=None):
  bus = CanBus(CP).ECAN
  values = {
    "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
    "CF_Lkas_LdwsLHWarning": left_lane_depart,
    "CF_Lkas_LdwsRHWarning": right_lane_depart,
-    "CF_Lkas_FcwOpt_USM": 2 if enabled else 1,
+    "CF_Lkas_FcwOpt_USM": (2 if enabled else 1) if fcw_opt_usm is None else fcw_opt_usm,
    "CR_Lkas_StrToqReq": apply_steer,
    "CF_Lkas_ActToi": steer_req,
    "CF_Lkas_ToiFlt": torque_fault,
@@ -182,6 +204,17 @@ def create_lfahda_mfc(packer, enabled, frame=None, CP=None, lfa_icon=None):
  return packer.make_can_msg("LFAHDA_MFC", bus, values)


+def create_ray_lfahda_mfc(packer, lat_active, lfa_icon):
+  values = {
+    "HDA_USM": 2,
+    "HDA_Icon_State": 2 if lfa_icon else 0,
+    "HDA_VSetReq": 0,
+    "HDA_Icon_Wheel": int(lat_active),
+    "LFA_Icon_State": lfa_icon,
+  }
+  return packer.make_can_msg("LFAHDA_MFC", 0, values)
+
+
 def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed,
                                          stopping, long_override, use_fca, CP):
  commands = []
@@ -285,19 +318,20 @@ def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_las


 def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
-                        main_cruise_enabled=True):
+                        main_cruise_enabled=True, lead_data: CanLeadData | None = None):
  commands = []
+  lead_data = lead_data or CanLeadData()

  scc11_values = {
    "MainMode_ACC": int(bool(main_cruise_enabled)),
    "TauGapSet": hud_control.leadDistanceBars,
    "VSetDis": set_speed if enabled else 0,
    "AliveCounterACC": idx % 0x10,
-    "ObjValid": 1, # close lead makes controls tighter
-    "ACC_ObjStatus": 1, # close lead makes controls tighter
+    "ObjValid": int(lead_data.lead_visible),
+    "ACC_ObjStatus": int(lead_data.lead_visible),
    "ACC_ObjLatPos": 0,
-    "ACC_ObjRelSpd": 0,
-    "ACC_ObjDist": 1, # close lead makes controls tighter
+    "ACC_ObjRelSpd": lead_data.lead_rel_speed,
+    "ACC_ObjDist": int(lead_data.lead_distance),
    }
  commands.append(packer.make_can_msg("SCC11", 0, scc11_values))

@@ -325,7 +359,8 @@ def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, se
    "JerkUpperLimit": upper_jerk, # stock usually is 1.0 but sometimes uses higher values
    "JerkLowerLimit": 5.0, # stock usually is 0.5 but sometimes uses higher values
    "ACCMode": 2 if enabled and long_override else 1 if enabled else 4, # stock will always be 4 instead of 0 after first disengage
-    "ObjGap": 2 if hud_control.leadVisible else 0, # 5: >30, m, 4: 25-30 m, 3: 20-25 m, 2: < 20 m, 0: no lead
+    "ObjGap": lead_data.object_gap, # 5: >30 m, 4: 25-30 m, 3: 20-25 m, 2: <20 m, 0: no lead
+    "ObjDistStat": lead_data.object_rel_gap,
  }
  commands.append(packer.make_can_msg("SCC14", 0, scc14_values))

@@ -1,4 +1,6 @@
 import copy
+# Provenance: portions of HKG angle-command construction are adapted from sunnypilot/opendbc's
+# hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 import numpy as np
 from opendbc.car import CanBusBase, CanData
 from opendbc.car.common.conversions import Conversions as CV
@@ -6,6 +8,33 @@ from opendbc.car.crc import CRC16_XMODEM
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR


+_adrv_0x51_templates: dict[CAR, bytes] = {}
+
+
+def cache_adrv_0x51_template(car_fingerprint: CAR, dat: bytes | None) -> None:
+  if car_fingerprint not in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN):
+    return
+
+  if dat is None:
+    _adrv_0x51_templates.pop(car_fingerprint, None)
+  elif len(dat) == 32 and any(dat[3:]):
+    _adrv_0x51_templates[car_fingerprint] = bytes(dat)
+
+
+def create_adrv_0x51(packer, CAN, frame: int, car_fingerprint: CAR | None = None, drive_gear: bool = False):
+  template = _adrv_0x51_templates.get(car_fingerprint)
+  if template is None:
+    return packer.make_can_msg("ADRV_0x51", CAN.ACAN, {})
+
+  dat = bytearray(template)
+  dat[2] = (template[2] + frame + 1) & 0xFF
+  dat[3] = (dat[3] & ~0x1) | int(drive_gear)
+  crc = hkg_can_fd_checksum(0x51, None, dat)
+  dat[0] = crc & 0xFF
+  dat[1] = (crc >> 8) & 0xFF
+  return CanData(0x51, bytes(dat), CAN.ACAN)
+
+
 def _set_value(msg: bytearray, sig, ival: int) -> None:
  i = sig.lsb // 8
  bits = sig.size
@@ -63,61 +92,6 @@ def _update_checksum(packer, address: int, dat: bytearray) -> None:
  _set_value(dat, sig_checksum, checksum)


-def _set_little_endian_bits(dat: bytearray, lsb: int, size: int, value: int) -> None:
-  """Write the legacy HDA-II field layout without changing the generated DBC aliases."""
-  value &= (1 << size) - 1
-  bit = lsb
-  remaining = size
-  while remaining:
-    byte = bit // 8
-    shift = bit % 8
-    chunk_size = min(remaining, 8 - shift)
-    mask = ((1 << chunk_size) - 1) << shift
-    dat[byte] = (dat[byte] & ~mask) | ((value & ((1 << chunk_size) - 1)) << shift)
-    value >>= chunk_size
-    bit += chunk_size
-    remaining -= chunk_size
-
-
-def _create_gv70_lka_status_msg(packer, CAN, message_name: str, bus: int, enabled: bool,
-                                lat_active: bool, apply_torque: int):
-  values = {
-    "LKA_MODE": 2,
-    "LKA_ICON": 2 if enabled else 1,
-    "TORQUE_REQUEST": apply_torque,
-    "STEER_REQ": 1 if lat_active else 0,
-    "LKA_ASSIST": 0,
-    "STEER_MODE": 0,
-    "DAMP_FACTOR": 100,
-  }
-  address, raw, _ = packer.make_can_msg(message_name, bus, values)
-  dat = bytearray(raw)
-
-  legacy_fields = (
-    (24, 3, 2),
-    (27, 3, 0),
-    (30, 2, 0),
-    (32, 2, 0),
-    (34, 2, 0),
-    (36, 2, 0),
-    (38, 3, 2 if enabled else 1),
-    (52, 2, 1 if lat_active else 0),
-    (54, 2, 0),
-    (56, 1, 0),
-    (60, 4, 0),
-    (80, 2, 0),
-  )
-  for lsb, size, value in legacy_fields:
-    _set_little_endian_bits(dat, lsb, size, value)
-
-  _set_little_endian_bits(dat, 64 if message_name == "LKAS" else 104, 8, 100)
-  if message_name == "LKAS":
-    _set_little_endian_bits(dat, 84, 3, 0)
-
-  _update_checksum(packer, address, dat)
-  return address, bytes(dat), bus
-
-
 def _create_angle_lfa_msg(packer, CAN, values, apply_angle: float, lat_active: bool, torque_reduction_gain: float):
  address = packer.dbc.name_to_msg["LFA"].address
  dat = packer.pack(address, values)
@@ -152,16 +126,12 @@ def create_angle_adas_cmd(packer, CAN, apply_angle: float, lat_active: bool, tor


 def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque, apply_angle,
-                             lfa_base_values=None, lkas_base_values=None, lka_icon=None):
+                             lfa_base_values=None, lkas_base_values=None, lka_icon=None,
+                             longitudinal_active=None):
  if lka_icon is None:
    lka_icon = 2 if enabled else 1
-
-  if CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
-    ret = []
-    if CP.openpilotLongitudinalControl:
-      ret.append(_create_gv70_lka_status_msg(packer, CAN, "LFA", CAN.ECAN, enabled, lat_active, apply_torque))
-    ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
-    return ret
+  if longitudinal_active is None:
+    longitudinal_active = CP.openpilotLongitudinalControl

  angle_lkas_alt = CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT

@@ -180,7 +150,12 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
  else:
    lkas_values = copy.copy(control_values)
    lkas_values["LKA_AVAILABLE"] = 0
-    if CP.carFingerprint in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN):
+    if CP.carFingerprint in (
+      CAR.KIA_CARNIVAL_4TH_GEN,
+      CAR.KIA_CARNIVAL_2025,
+      CAR.KIA_CARNIVAL_HEV_4TH_GEN,
+      CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+    ):
      lkas_values["DAMP_FACTOR"] = 100

  if lfa_base_values:
@@ -199,7 +174,21 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
    lkas_values["LKAS_ANGLE_ACTIVE"] = 2 if lat_active else 1
    lkas_values["ADAS_ACIAnglTqRedcGainVal"] = apply_torque if lat_active else 0.0
    if angle_lkas_alt:
-      if lat_active:
+      if CP.carFingerprint == CAR.KIA_SPORTAGE_HEV_2026:
+        lkas_values = {
+          "LKA_OptUsmSta": 0,
+          "LKA_SysIndReq": 2 if enabled else 1,
+          "StrTqReqVal": 0,
+          "LKA_SysWrn": 0,
+          "ActToiSta": 0,
+          "LKA_UsmMod": 0,
+          "LKA_RcgSta": 3 if lat_active else 0,
+          "Damping_Gain": 100,
+          "ADAS_StrAnglReqVal": apply_angle,
+          "LKAS_ANGLE_ACTIVE": 2 if lat_active else 1,
+          "ADAS_ACIAnglTqRedcGainVal": apply_torque if lat_active else 0.0,
+        }
+      elif lat_active:
        lkas_values = {
          "LKA_OptUsmSta": 0,
          "LKA_RcgSta": 3,
@@ -255,7 +244,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
  ret = []
  if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
    lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
-    if CP.openpilotLongitudinalControl and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+    if longitudinal_active and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
      ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
    ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
  else:
@@ -742,13 +731,13 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):

 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                       main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None, raw_accel=None):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
    a_val, a_raw = 0, 0
  elif direct_accel:
-    a_raw = accel
+    a_raw = accel if raw_accel is None else raw_accel
    a_val = accel
  else:
    a_raw = accel
@@ -826,15 +815,13 @@ def create_fca_warning_light(packer, CAN, frame):
  return ret


-def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False, car_fingerprint=None, drive_gear=False):
  # messages needed to car happy after disabling
  # the ADAS Driving ECU to do longitudinal control

  ret = []

-  values = {
-  }
-  ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
+  ret.append(create_adrv_0x51(packer, CAN, frame, car_fingerprint, drive_gear))

  if blended_hda2:
    return ret
@@ -1,11 +1,14 @@
 import time
+# Provenance: portions of HKG angle integration are adapted from sunnypilot/opendbc's
+# hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md and THIRD_PARTY_NOTICES.md.
 from opendbc.car import get_safety_config, structs, uds
+from opendbc.car.hyundai import hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                   CANFD_SECURITYACCESS_CAR, \
                                                   CANFD_ANGLE_LONGITUDINAL_CAR, \
-                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   CANFD_RADAR_ECU_KEEPALIVE_CAR, \
                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                   LEGACY_LONGITUDINAL_CAR, \
@@ -25,6 +28,15 @@ from openpilot.starpilot.common.testing_grounds import testing_ground
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu

+
+def get_communication_control_request(car_fingerprint):
+  if car_fingerprint in CANFD_RADAR_ECU_KEEPALIVE_CAR:
+    return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX,
+                  uds.MESSAGE_TYPE.NORMAL])
+
+  return bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,
+                uds.MESSAGE_TYPE.NORMAL])
+
 # Cancel button can sometimes be ACC pause/resume button, main button can also enable on some cars
 ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.cancel, ButtonType.mainCruise)

@@ -32,6 +44,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
 KIA_EV9_ACCEL_MAX = 2.2
+RAY_PEDAL_SENSOR_ADDR = 0x201


 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -48,7 +61,7 @@ def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:

 def apply_kia_ev6_gt_line_longitudinal_params(ret: structs.CarParams) -> None:
  ret.startAccel = 1.4
-  ret.longitudinalActuatorDelay = 0.35
+  ret.longitudinalActuatorDelay = 0.5
  ret.vEgoStarting = 0.5


@@ -188,6 +201,8 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
        ret.steerControlType = structs.CarParams.SteerControlType.angle
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
+        if candidate == CAR.KIA_SPORTAGE_HEV_2026:
+          ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.CANFD_NO_STOCK_LKA.value
      if candidate == CAR.HYUNDAI_IONIQ_6:
        # Keep lateral active through stops: zeroing torque at standstill dropped the
        # stop-turn hold and forced a rate-limit re-ramp from zero on every pull-away
@@ -224,6 +239,9 @@ class CarInterface(CarInterfaceBase):
      else:
        ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.hyundai, 0)]

+      if candidate == CAR.KIA_RAY_EV and fingerprint[CAN.CAM].get(0x485) == 8:
+        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_REFRESH_MSGS.value
+
      if ret.flags & HyundaiFlags.CAMERA_SCC:
        ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value
      if candidate in (CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):
@@ -288,6 +306,18 @@ class CarInterface(CarInterfaceBase):
    elif ret.flags & HyundaiFlags.FCEV:
      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.FCEV_GAS.value

+    if (candidate == CAR.KIA_RAY_EV and fingerprint[0].get(RAY_PEDAL_SENSOR_ADDR) == 6 and
+        ret.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS and
+        ret.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON):
+      ret.enableGasInterceptorDEPRECATED = True
+      ret.alphaLongitudinalAvailable = True
+      ret.openpilotLongitudinalControl = True
+      ret.pcmCruise = False
+      ret.radarUnavailable = True
+      ret.autoResumeSng = False
+      ret.minEnableSpeed = -1.0
+      ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.LONG.value
+
    # Car specific configuration overrides

    if candidate == CAR.GENESIS_G90:
@@ -303,8 +333,8 @@ class CarInterface(CarInterfaceBase):

    if candidate == CAR.HYUNDAI_ELANTRA_2021:
      ret.longitudinalActuatorDelay = 0.22
-      ret.stopAccel = -0.85
-      ret.stoppingDecelRate = 0.35
+      ret.stopAccel = -1.1
+      ret.stoppingDecelRate = 0.55

    if candidate == CAR.HYUNDAI_ELANTRA_HEV_2024:
      ret.longitudinalActuatorDelay = 0.22
@@ -348,14 +378,7 @@ class CarInterface(CarInterfaceBase):
    params = Params()

    if communication_control is None:
-      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
-        # Don't use 0x80 suppress bit so we can read the ECU response.
-        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
-        # while blocking SCC TX.
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, uds.CONTROL_TYPE.ENABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
-      else:
-        # 0x80 silences response for other cars (original behavior)
-        communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX, uds.MESSAGE_TYPE.NORMAL])
+      communication_control = get_communication_control_request(CP.carFingerprint)

    ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")

@@ -371,11 +394,25 @@ class CarInterface(CarInterfaceBase):
        skip_disable_ecu = True

      if not skip_disable_ecu:
+        disable_can_recv = can_recv
+        if CP.carFingerprint in (CAR.KIA_EV6, CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN) and can_recv is not None:
+          hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, None)
+          base_can_recv = can_recv
+          adrv_bus = CanBus(CP).ACAN
+
+          def disable_can_recv(*args, **kwargs):
+            packets = base_can_recv(*args, **kwargs)
+            for packet in packets or []:
+              for msg in packet:
+                if msg.src == adrv_bus and msg.address == 0x51:
+                  hyundaicanfd.cache_adrv_0x51_template(CP.carFingerprint, msg.dat)
+            return packets
+
        # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
        # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
        # so panda forwards stock SCC messages normally (lateral-only mode).
        ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        ecu_disabled = disable_ecu(disable_can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
                                   reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))

        if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
@@ -0,0 +1,63 @@
+from dataclasses import dataclass
+
+
+@dataclass(frozen=True)
+class CanLeadData:
+  object_gap: int = 0
+  lead_distance: float = 0.0
+  lead_rel_speed: float = 0.0
+  lead_visible: bool = False
+
+  @property
+  def object_rel_gap(self) -> int:
+    return 0 if self.lead_distance == 0 else 2 if self.lead_rel_speed < -0.2 else 1
+
+
+def _hysteresis_update(current, new_value, counter, threshold):
+  if new_value == current:
+    return current, 0
+
+  counter += 1
+  return (new_value, 0) if counter >= threshold else (current, counter)
+
+
+class CanLeadDataState:
+  LEAD_HYSTERESIS_FRAMES = 50
+
+  def __init__(self):
+    self._lead_on_counter = 0
+    self._lead_off_counter = 0
+    self._gap_counter = 0
+    self._lead_visible = False
+    self._object_gap = 0
+
+  @staticmethod
+  def _get_object_gap(lead_distance: float) -> int:
+    if lead_distance == 0:
+      return 0
+    if lead_distance < 20:
+      return 2
+    if lead_distance < 25:
+      return 3
+    if lead_distance < 30:
+      return 4
+    return 5
+
+  def update(self, lead_distance: float, lead_rel_speed: float, lead_visible: bool) -> CanLeadData:
+    counter = self._lead_on_counter if lead_visible else self._lead_off_counter
+    self._lead_visible, counter = _hysteresis_update(
+      self._lead_visible, lead_visible, counter, self.LEAD_HYSTERESIS_FRAMES,
+    )
+    if lead_visible:
+      self._lead_on_counter = counter
+      self._lead_off_counter = 0
+    else:
+      self._lead_off_counter = counter
+      self._lead_on_counter = 0
+
+    object_gap = self._get_object_gap(lead_distance)
+    self._object_gap, self._gap_counter = _hysteresis_update(
+      self._object_gap, object_gap, self._gap_counter, self.LEAD_HYSTERESIS_FRAMES,
+    )
+
+    return CanLeadData(self._object_gap, lead_distance, lead_rel_speed, self._lead_visible)
@@ -19,6 +19,9 @@ MRR30_RADAR_START_ADDR = 0x210
 MRR30_RADAR_MSG_COUNT = 16
 MRR35_RADAR_START_ADDR = 0x3A5
 MRR35_RADAR_MSG_COUNT = 32
+GV70_RADAR_START_ADDR = 0x210
+GV70_RADAR_MSG_COUNT = 16
+GV70_RADAR_DBC = "hyundai_radar_210_21f_generated"


@dataclass(frozen=True)
@@ -30,6 +33,7 @@ class RadarTrackConfig:
  frequency: int = 50
  parser_msg_count: int | None = None
  expected_length: int | None = None
+  dbc_name: str | None = None

  @property
  def can_parser_msg_count(self) -> int:
@@ -47,6 +51,10 @@ RADAR_TRACK_CONFIGS = {


 def get_radar_track_config(car_fingerprint, flags: int = 0) -> RadarTrackConfig | None:
+  if car_fingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
+    return RadarTrackConfig(GV70_RADAR_START_ADDR, GV70_RADAR_MSG_COUNT, "gv70_210", bus=0,
+                            frequency=20, expected_length=32, dbc_name=GV70_RADAR_DBC)
+
  radar_dbc = DBC[car_fingerprint].get(Bus.radar)
  if car_fingerprint == CAR.GENESIS_G90 and radar_dbc == HYUNDAI_MANDO_FRONT_RADAR_DBC:
    return RadarTrackConfig(RADAR_START_ADDR, G90_RADAR_MSG_COUNT, "mando", parser_msg_count=RADAR_MSG_COUNT)
@@ -65,6 +73,10 @@ def radar_tracks_available(radar_config: RadarTrackConfig | None, fingerprint) -
  if radar_config is None:
    return False

+  if radar_config.radar_type == "gv70_210":
+    return all(fingerprint[radar_config.bus].get(addr) == radar_config.expected_length
+               for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count))
+
  msg_len = fingerprint[radar_config.bus].get(radar_config.start_addr)
  if msg_len is None:
    return False
@@ -78,7 +90,8 @@ def get_radar_can_parser(CP, radar_config):

  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency)
              for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.can_parser_msg_count)]
-  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)
+  dbc_name = radar_config.dbc_name or DBC[CP.carFingerprint][Bus.radar]
+  return CANParser(dbc_name, messages, radar_config.bus)


 class RadarInterface(RadarInterfaceBase):
@@ -223,6 +236,27 @@ class RadarInterface(RadarInterfaceBase):
            del self.pts[track_key]
        continue

+      if radar_type == "gv70_210":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          valid = msg[f"{i}_STATE"] in (3, 4)
+          if valid:
+            pt = self.pts.get(track_key)
+            if pt is None:
+              pt = structs.RadarData.RadarPoint()
+              pt.trackId = self.track_id
+              self.track_id += 1
+              self.pts[track_key] = pt
+            pt.measured = True
+            pt.dRel = msg[f"{i}_LONG_DIST"]
+            pt.yRel = msg[f"{i}_LAT_DIST"]
+            pt.vRel = msg[f"{i}_REL_SPEED"]
+            pt.aRel = msg[f"{i}_REL_ACCEL"]
+            pt.yvRel = msg[f"{i}_REL_LAT_SPEED"]
+          elif track_key in self.pts:
+            del self.pts[track_key]
+        continue
+
      if radar_type == "mrrevo14f":
        for i in ("1", "2"):
          track_key = addr * 2 + int(i) - 1
@@ -0,0 +1,291 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, gen_empty_fingerprint
+from opendbc.car.hyundai.carcontroller import CarController
+from opendbc.car.hyundai.carstate import CarState
+from opendbc.car.hyundai.interface import CarInterface
+from opendbc.car.hyundai.values import CAR, DBC, HyundaiSafetyFlags
+from opendbc.car.structs import CarControl
+
+
+def ray_fingerprint(sensor_length=6, lfa_length=8):
+  fingerprint = gen_empty_fingerprint()
+  fingerprint[0][0x201] = sensor_length
+  fingerprint[0][0x391] = 8
+  fingerprint[2][0x485] = lfa_length
+  return fingerprint
+
+
+@pytest.mark.parametrize(("candidate", "fingerprint", "has_pedal"), [
+  (CAR.KIA_RAY_EV, ray_fingerprint(), True),
+  (CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), False),
+  (CAR.KIA_RAY_EV, ray_fingerprint(lfa_length=4), False),
+  (CAR.HYUNDAI_KONA_EV_NON_SCC, ray_fingerprint(), False),
+])
+def test_ray_pedal_fingerprint_isolation(candidate, fingerprint, has_pedal):
+  CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+  assert CP.enableGasInterceptorDEPRECATED is has_pedal
+  assert CP.openpilotLongitudinalControl is has_pedal
+  if has_pedal:
+    assert not CP.pcmCruise
+    assert CP.safetyConfigs[-1].safetyParam == 0x9405
+    assert CP.minEnableSpeed == -1.0
+    assert not CP.autoResumeSng
+    FPCP = CarInterface.get_starpilot_params(candidate, fingerprint, [], CP, SimpleNamespace())
+    assert FPCP.canUsePedal
+    assert not FPCP.pcmCruiseSpeed
+    assert not FPCP.redneckCruiseAvailable
+  else:
+    assert CP.pcmCruise
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+
+def test_ray_pedal_safety_signature_is_unique_across_hyundai_platforms():
+  for candidate in CAR:
+    for alpha_long in (False, True):
+      CP = CarInterface.get_params(candidate, ray_fingerprint(), [],
+                                   alpha_long, False, False, None)
+      has_ray_signature = (CP.safetyConfigs[-1].safetyParam & ~(32 | 128 | 2048)) == 0x9405
+      assert has_ray_signature is (candidate == CAR.KIA_RAY_EV)
+      assert CP.enableGasInterceptorDEPRECATED is (candidate == CAR.KIA_RAY_EV)
+
+
+def test_ray_pedal_parser_validates_actual_route_frames():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  parser = CarState(CP, None).get_can_parsers(CP)[Bus.party]
+  assert parser.dbc_name == "hyundai_kia_ray_pedal"
+  # Consecutive bus-0 GAS_SENSOR frames from Sept. 15 Ray rlog segment 4.
+  samples = [bytes.fromhex(s) for s in (
+    "01f403d55de8", "01f603d55ef1", "01f403d55f51", "01f603d3503f",
+    "01f903d551ab", "01f903d552a4", "01f703d55370",
+  )]
+  for idx, dat in enumerate(samples):
+    parser.update([(1_000_000_000 + idx * 20_000_000, [(0x201, dat, 0)])])
+    assert parser.can_valid
+    assert parser.vl["GAS_SENSOR"]["STATE"] == 5  # FAULT_TIMEOUT: no 0x200 was sent
+
+  prior = parser.vl_raw["GAS_SENSOR"]
+  bad = bytearray(samples[-1])
+  bad[-1] ^= 1
+  parser.update([(1_160_000_000, [(0x201, bytes(bad), 0)])])
+  assert parser.vl_raw["GAS_SENSOR"] == prior
+
+
+def test_ray_pedal_fault_clears_only_with_healthy_sensor_state():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  sensor = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": 0, "INTERCEPTOR_GAS2": 0,
+    "STATE": 0, "COUNTER_PEDAL": 1,
+  })
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [sensor])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert state.ray_pedal_state == 0
+  assert not ret.accFaulted
+
+
+def test_ray_driver_override_uses_physical_interceptor_tracks():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  physical_rest = (0x201, bytes.fromhex("010801f30cef"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas, physical_rest])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert state.ray_pedal_valid
+  assert not ret.gasPressed
+
+  packer = CANPacker("hyundai_kia_ray_pedal")
+  physical_press = packer.make_can_msg("GAS_SENSOR", 0, {
+    "INTERCEPTOR_GAS": (310 - 264) * 0.672,
+    "INTERCEPTOR_GAS2": (593 - 497) * 0.332,
+    "STATE": 0, "COUNTER_PEDAL": 13,
+  })
+  for parser in parsers.values():
+    parser.update([(1_020_000_000, [physical_press])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+def test_ray_without_pedal_keeps_native_gas_detection():
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(sensor_length=8), [], False, False, False, None)
+  assert not CP.enableGasInterceptorDEPRECATED
+  state = CarState(CP, None)
+  parsers = state.get_can_parsers(CP)
+  assert Bus.party not in parsers
+  native_gas = (0x371, bytes.fromhex("004e008000ae0700"), 0)
+  for parser in parsers.values():
+    parser.update([(1_000_000_000, [native_gas])])
+  ret, _ = state.update(parsers, SimpleNamespace())
+  assert ret.gasPressed
+
+
+@pytest.mark.parametrize("speed", [0.0, 0.1, 1.0, 4.9, 5.0, 12.0])
+def test_ray_controller_heartbeats_and_only_actuates_when_ready(speed):
+  CP = CarInterface.get_params(CAR.KIA_RAY_EV, ray_fingerprint(), [], False, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
+  CS = SimpleNamespace(
+    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
+    out=SimpleNamespace(vEgo=speed, gasPressed=False, brakePressed=False,
+                        cruiseState=SimpleNamespace(enabled=False)),
+    ray_pedal_valid=True, ray_pedal_state=5, is_metric=True,
+  )
+  CC = SimpleNamespace(
+    enabled=True, longActive=True, latActive=True,
+    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=False),
+  )
+  hud = SimpleNamespace(
+    visualAlert=CarControl.HUDControl.VisualAlert.none,
+    setSpeed=20.0,
+    leftLaneVisible=True, rightLaneVisible=True,
+    leftLaneDepart=False, rightLaneDepart=False,
+  )
+  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.pid)
+
+  def pedal_msg(accel, frame):
+    controller.frame = frame
+    messages = controller.create_can_msgs(True, 0, False, 0.0, accel, False,
+                                          hud, actuators, CS, CC, 2, 0)
+    return next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)
+
+  assert pedal_msg(2.0, 0)[:4] == bytes(4)  # fault timeout: heartbeat only
+  CS.ray_pedal_state = 0
+  assert pedal_msg(2.0, 4)[:4] != bytes(4)
+  CS.out.gasPressed = True
+  assert pedal_msg(2.0, 8)[:4] == bytes(4)
+  CS.out.gasPressed = False
+  assert pedal_msg(-1.0, 12)[:4] == bytes(4)  # decel = EV lift/regen, not gas
+  CS.out.cruiseState.enabled = True
+  controller.frame = 16
+  messages = controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
+                                        hud, actuators, CS, CC, 2, 0)
+  assert next(dat for addr, dat, bus in messages if addr == 0x200 and bus == 0)[4] & 0x80
+  assert any(addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4 for addr, dat, bus in messages)
+
+  CS.out.cruiseState.enabled = False
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 20)[:4] == bytes(4)
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 24)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+  assert pedal_msg(2.0, 28)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
+  CS.out.brakePressed = True
+  assert pedal_msg(2.0, 32)[:4] == bytes(4)
+  assert controller._ray_pedal_gas_last == 0.0
+  CS.out.brakePressed = False
+  assert pedal_msg(2.0, 36)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+
+  CC.longActive = False
+  assert pedal_msg(2.0, 40)[:4] == bytes(4)
+  CC.longActive = True
+  CC.cruiseControl.override = True
+  assert pedal_msg(2.0, 44)[:4] == bytes(4)
+  CC.cruiseControl.override = False
+  CS.ray_pedal_valid = False
+  assert pedal_msg(2.0, 48)[:4] == bytes(4)
+  CS.ray_pedal_valid = True
+  for fault in range(1, 6):
+    CS.ray_pedal_state = fault
+    assert pedal_msg(2.0, 48 + 4 * fault)[:4] == bytes(4)
+
+  CS.ray_pedal_state = 0
+  CS.out.vEgo = 10.0
+  assert pedal_msg(0.0, 72)[4] & 0x80
+  assert pedal_msg(-1.0, 76)[:4] == bytes(4)
+
+  CS.out.vEgo = 12.0
+  for frame in range(80, 80 + 4 * 40, 4):
+    pedal_msg(1.5, frame)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
+  for frame in range(240, 240 + 4 * 12, 4):
+    dat = pedal_msg(-1.5, frame)
+  assert dat[:4] == bytes(4)
+
+  for frame in range(288, 288 + 4 * 40, 4):
+    pedal_msg(1.5, frame)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55)
+  hud.setSpeed = 12.0
+  pedal_msg(1.5, 448)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65)
+  hud.setSpeed = 11.8
+  dat = pedal_msg(1.5, 452)
+  assert controller._ray_pedal_gas_last == pytest.approx(0.55 * 0.65 * 0.6)
+  assert dat[4] & 0x80
+  hud.setSpeed = 11.4
+  assert pedal_msg(1.5, 456)[:4] == bytes(4)
+  hud.setSpeed = float('nan')
+  assert pedal_msg(1.5, 460)[:4] == bytes(4)
+  hud.setSpeed = 20.0
+  assert pedal_msg(-0.3, 464)[:4] == bytes(4)
+  CS.out.vEgo = 15.0
+  hud.setSpeed = 53.0 / 3.6
+  pedal_msg(-0.16, 468)
+  assert controller._ray_pedal_gas_last < 0.1
+  CS.out.vEgo = 12.0
+  hud.setSpeed = 8.0 / 3.6
+  assert pedal_msg(-0.3, 472)[:4] == bytes(4)
+  hud.setSpeed = 145.0 / 3.6
+  assert pedal_msg(1.5, 476)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.02)
+  assert pedal_msg(1.5, 480)[4] & 0x80
+  assert controller._ray_pedal_gas_last == pytest.approx(0.04)
+  assert pedal_msg(-0.3, 484)[:4] == bytes(4)
+
+
+@pytest.mark.parametrize("candidate", [CAR.KIA_RAY_EV, CAR.HYUNDAI_KONA_EV_NON_SCC])
+def test_ray_stock_cruise_cancellation_survives_accelerator_override(candidate):
+  CP = CarInterface.get_params(candidate, ray_fingerprint(), [], False, False, False, None)
+  controller = CarController(DBC[CP.carFingerprint], CP)
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("LKAS11", 0), ("CLU11", 0)], 0)
+  CS = SimpleNamespace(
+    lkas11=parser.vl["LKAS11"], clu11=parser.vl["CLU11"],
+    out=SimpleNamespace(vEgo=12.0, gasPressed=True, brakePressed=False,
+                        cruiseState=SimpleNamespace(enabled=True)),
+    ray_pedal_valid=True, ray_pedal_state=0, is_metric=True,
+  )
+  CC = SimpleNamespace(
+    enabled=True, longActive=False, latActive=True,
+    cruiseControl=SimpleNamespace(cancel=False, resume=False, override=True),
+  )
+  hud = SimpleNamespace(
+    visualAlert=CarControl.HUDControl.VisualAlert.none,
+    setSpeed=20.0,
+    leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
+  )
+  actuators = SimpleNamespace(longControlState=CarControl.Actuators.LongControlState.off)
+  controller._create_can_redneck_button_messages = lambda _: []
+
+  def messages(frame):
+    controller.frame = frame
+    return controller.create_can_msgs(True, 0, False, 0.0, 2.0, False,
+                                      hud, actuators, CS, CC, 2, 0)
+
+  def cancel_frames(msgs):
+    return [dat for addr, dat, bus in msgs if addr == 0x4F1 and bus == 0 and dat[0] & 7 == 4]
+
+  msgs = messages(20)
+  assert bool(cancel_frames(msgs)) is (candidate == CAR.KIA_RAY_EV)
+  if candidate == CAR.KIA_RAY_EV:
+    pedal = next(dat for addr, dat, bus in msgs if addr == 0x200 and bus == 0)
+    assert pedal[:4] == bytes(4)
+    assert not (pedal[4] & 0x80)
+    assert not cancel_frames(messages(24))  # retain the existing cancellation rate limit
+    assert cancel_frames(messages(25))
+    assert cancel_frames(messages(32))
+
+  CS.out.cruiseState.enabled = False
+  assert not cancel_frames(messages(44))
+  CS.out.cruiseState.enabled = True
+  CC.enabled = False
+  assert not cancel_frames(messages(56))  # AOL alone must not cancel native cruise
@@ -2,6 +2,8 @@ import re
 from dataclasses import dataclass, field
 from enum import IntFlag

+# Provenance: portions of HKG angle limits, flags, and platform data are adapted from
+# sunnypilot/opendbc's hkg-angle-steering-2025 branch at cc4b08625. See CREDITS.md.
 from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, Bus, CarSpecs, DbcDict, PlatformConfig, Platforms, uds
 from opendbc.car.lateral import AngleSteeringLimits, ISO_LATERAL_ACCEL
 from opendbc.car.common.conversions import Conversions as CV
@@ -45,8 +47,12 @@ class CarControllerParams:
      self.STEER_DRIVER_MULTIPLIER = 2
      self.STEER_THRESHOLD = 100
      if vEgoRaw < 15.0:  # below ~34 mph - more aggressive for tight turns
-        self.STEER_DELTA_UP = 10
-        self.STEER_DELTA_DOWN = 8
+        if CP.carFingerprint == CAR.KIA_CARNIVAL_HEV_4TH_GEN:
+          self.STEER_DELTA_UP = 2
+          self.STEER_DELTA_DOWN = 3
+        else:
+          self.STEER_DELTA_UP = 10
+          self.STEER_DELTA_DOWN = 8
      else:
        self.STEER_DELTA_UP = 2
        self.STEER_DELTA_DOWN = 3
@@ -111,6 +117,8 @@ class HyundaiSafetyFlags(IntFlag):


 class HyundaiStarPilotSafetyFlags(IntFlag):
+  CANFD_NO_STOCK_LKA = 4096  # CAN-FD only; classic CAN uses this bit for NON_SCC.
+  AOL_MAIN_LKAS_ON_ENGAGE = 128
  AOL_MAIN_LKAS_SYNC = 32
  HAS_LDA_BUTTON = 1024
  AOL_LKAS_ON_ENGAGE = 2048
@@ -119,6 +127,7 @@ class HyundaiStarPilotSafetyFlags(IntFlag):
 class HyundaiStarPilotFlags(IntFlag):
  SPEED_LIMIT_AVAILABLE = 1
  MAIN_CRUISE_STATE_TRACKING = 2 ** 2
+  HAS_LKAS12 = 2 ** 9


 class HyundaiFlags(IntFlag):
@@ -940,6 +949,11 @@ class CAR(Platforms):
    HYUNDAI_KONA_EV.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
+  KIA_RAY_EV = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Ray EV 2025", car_parts=CarParts.common([CarHarness.hyundai_h]))],
+    CarSpecs(mass=1295, wheelbase=2.52, steerRatio=14.5),
+    flags=HyundaiFlags.EV | HyundaiFlags.CHECKSUM_CRC8,
+  )
  KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
    [HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
    CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
@@ -987,6 +1001,10 @@ KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
 })
 KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"

+KIA_RAY_EV_VIN_VDS_PREFIXES = frozenset({
+  "CG81A",
+})
+

 ALT_BUS_LDA_BUTTON_CARS = frozenset()
 ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset()
@@ -1001,6 +1019,10 @@ def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_groun
  return car_fingerprint == CAR.KIA_EV6 and (vin_match or testing_ground_active)


+def kia_ray_ev_vin(vin: str) -> bool:
+  return isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_RAY_EV_VIN_VDS_PREFIXES
+
+
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
  # Returns unique, platform-specific identification codes for a set of versions
  codes = set()  # (code-Optional[part], date)
@@ -1197,6 +1219,13 @@ CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_
 CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE, CAR.KIA_EV9}
 CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {
  CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN,
+}
+CANFD_RADAR_ECU_KEEPALIVE_CAR = {
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_6,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV60_EV_1ST_GEN,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
  CAR.HYUNDAI_IONIQ,
@@ -22,7 +22,7 @@ from opendbc.car.honda.values import CAR as HONDA, HONDA_BOSCH, HondaFlags, Hond
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import CAR as HYUNDAI, CANFD_CAR, HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, ALT_BUS_LDA_BUTTON_CARS
 from opendbc.car.mock.values import CAR as MOCK
-from opendbc.car.subaru.values import CAR as SUBARU, SubaruSafetyFlags
+from opendbc.car.subaru.values import CAR as SUBARU, SUBARU_REDNECK_CRUISE_CARS, SubaruSafetyFlags
 from opendbc.car.toyota.values import CAR as TOYOTA, NO_DSU_CAR, TSS2_CAR, UNSUPPORTED_DSU_CAR, ToyotaStarPilotFlags, ToyotaSafetyFlags
 from opendbc.car.values import PLATFORMS
 from opendbc.can import CANParser
@@ -109,6 +109,7 @@ class RadarInterfaceBase(ABC):
    self.CP = CP
    self.rcp = None
    self.pts: dict[int, structs.RadarData.RadarPoint] = {}
+    self.track_id: int = 0
    self.frame = 0

  def update(self, can_packets: list[tuple[int, list[CanData]]]) -> structs.RadarDataT | None:
@@ -232,6 +233,9 @@ class CarInterfaceBase(ABC):
          fp_ret.flags |= int(HondaStarPilotFlags.HAS_CAMERA_MESSAGES)

      elif platform in HYUNDAI:
+        if candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED:
+          fp_ret.canUsePedal = True
+          fp_ret.pcmCruiseSpeed = False
        if candidate in CANFD_CAR:
          hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
          CAN = CanBus(None, fingerprint, bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING))
@@ -240,10 +244,31 @@ class CarInterfaceBase(ABC):
          if 0x1FA in fingerprint[CAN.ECAN]:
            fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value

-        fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
+        if candidate != HYUNDAI.KIA_RAY_EV and not (CP.flags & HyundaiFlags.CANFD) and 0x53E in fingerprint[2] and \
+            (candidate != HYUNDAI.KIA_STINGER_2022 or fingerprint[2][0x53E] == 6):
+          fp_ret.flags |= HyundaiStarPilotFlags.HAS_LKAS12.value
+
+        sportage_stock_scc_buttons = (
+          candidate == HYUNDAI.KIA_SPORTAGE_HEV_2026 and
+          not CP.openpilotLongitudinalControl and
+          bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and
+          not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
+          fingerprint[CAN.ECAN].get(0x1CF) == 8 and
+          0x1AA not in fingerprint[CAN.ECAN]
+        )
+        fp_ret.redneckCruiseAvailable = (
+          (bool(CP.flags & HyundaiFlags.NON_SCC) and
+           not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS) and
+           not (candidate == HYUNDAI.KIA_RAY_EV and CP.enableGasInterceptorDEPRECATED)) or
+          sportage_stock_scc_buttons
+        )
        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
          fp_ret.pcmCruiseSpeed = False
-          CP.openpilotLongitudinalControl = True
+          if CP.flags & HyundaiFlags.NON_SCC:
+            CP.openpilotLongitudinalControl = True
+
+        if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and CP.openpilotLongitudinalControl:
+          fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value

        hyundai_has_lda_button = not (CP.flags & HyundaiFlags.CANFD) and (
          0x391 in fingerprint[0] or
@@ -257,8 +282,19 @@ class CarInterfaceBase(ABC):
        if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

-        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
-        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
+        if candidate in (HYUNDAI.HYUNDAI_ELANTRA_HEV_2024, HYUNDAI.HYUNDAI_SONATA_HYBRID) and \
+            getattr(starpilot_toggles, "always_on_lateral_main", False):
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value
+          if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID:
+            fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+
+        if candidate == HYUNDAI.KIA_STINGER_2022 and CP.openpilotLongitudinalControl:
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+
+        # The refresh Elantra's safety mapping comes from the resolved Galaxy
+        # toggle above, not from this legacy persisted-parameter fallback.
+        if candidate != HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \
+            params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

        if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
@@ -286,6 +322,14 @@ class CarInterfaceBase(ABC):
        if getattr(starpilot_toggles, "subaru_sng", False):
          fp_ret.safetyConfigs[-1].safetyParam |= SubaruSafetyFlags.STOP_AND_GO.value

+        fp_ret.redneckCruiseAvailable = candidate in SUBARU_REDNECK_CRUISE_CARS
+        if fp_ret.redneckCruiseAvailable and params.get_bool("SubaruRedneckCruise") and \
+            not CP.openpilotLongitudinalControl:
+          fp_ret.pcmCruiseSpeed = False
+          CP.openpilotLongitudinalControl = True
+          CP.safetyConfigs[-1].safetyParam |= SubaruSafetyFlags.REDNECK_CRUISE.value
+          fp_ret.safetyConfigs[-1].safetyParam |= SubaruSafetyFlags.REDNECK_CRUISE.value
+
    return fp_ret

  @staticmethod
@@ -0,0 +1,95 @@
+"""One bounded Legacy AVH ON request; 0x32B is status, never a TX command."""
+
+AVH_REQUEST = 0x6BB
+AVH_STATUS = 0x32B
+INPUTS = (AVH_REQUEST, AVH_STATUS, 0x40, 0x48, 0x13A, 0x174)
+
+
+def checksum(address, data):
+  return ((address & 0xFF) + (address >> 8) + sum(data[1:])) & 0xFF
+
+
+def avh_request(template, step):
+  if len(template) != 8 or checksum(AVH_REQUEST, template) != template[0] or template[2] & 3 or step not in (1, 2):
+    raise ValueError("Invalid AVH template or counter step")
+  data = bytearray(template)
+  data[1] = (data[1] & 0xF0) | ((data[1] + step) & 0xF)
+  data[2] |= 2
+  data[0] = checksum(AVH_REQUEST, data)
+  return AVH_REQUEST, bytes(data), 1
+
+
+class AvhStartup:
+  def __init__(self):
+    self.started = None
+    self.last_time = None
+    self.stable_since = None
+    self.frames = {}
+    self.done = False
+    self.followup = None
+
+  def update(self, now, frames, enabled, can_valid, controls_active):
+    if self.started is None:
+      self.started = now
+    if self.last_time is not None and now < self.last_time:
+      self.done = True
+    self.last_time = now
+    if self.done:
+      return []
+    if now - self.started > 30 or controls_active:
+      self.done = True
+      return []
+
+    for address, (timestamp, data) in frames.items():
+      if address not in INPUTS or timestamp <= 0:
+        continue
+      previous = self.frames.get(address)
+      if previous and timestamp == previous[0]:
+        continue
+      if len(data) != 8 or checksum(address, data) != data[0] or timestamp > now or (previous and timestamp < previous[0]):
+        self.done = True
+        return []
+      if (address == AVH_REQUEST and data[2] & 3) or (address == AVH_STATUS and data[5] & 0x20) or \
+         (address == 0x48 and data[3] != 4) or (address == 0x40 and data[4]) or \
+         (address == 0x13A and any((int.from_bytes(data, 'little') >> bit) & 0x1FFF for bit in (12, 25, 38, 51))):
+        self.done = True
+        return []
+      if previous and (data[1] & 15) == (previous[1][1] & 15):
+        continue  # duplicate counters cannot refresh freshness
+      # Controller snapshots can skip 50/100 Hz samples between updates. Panda
+      # checks their full counter stream; require consecutive head-unit frames here.
+      sequential = bool(previous and (address not in (AVH_REQUEST, AVH_STATUS) or
+                                     (data[1] & 15) == ((previous[1][1] + 1) & 15)))
+      self.frames[address] = (timestamp, data, sequential)
+
+    fresh = all(a in self.frames and self.frames[a][2] and
+                0 <= now - self.frames[a][0] <= (1.5 if a == AVH_REQUEST else 0.3) for a in INPUTS)
+    if not enabled or not can_valid or not fresh:
+      self.stable_since = None
+      if self.followup is not None:
+        self.done = True
+      return []
+    throttle = self.frames[0x40][1]
+    rpm = int.from_bytes(throttle[2:4], 'little') & 0x1FFF
+    if rpm < 400 or not self.frames[0x174][1][2] & 8:
+      self.stable_since = None
+      if self.followup is not None:
+        self.done = True
+      return []
+    if self.stable_since is None:
+      self.stable_since = now
+    if self.followup is not None:
+      sent, timestamp, template = self.followup
+      if now - sent > 0.075 or self.frames[AVH_REQUEST][0] != timestamp:
+        self.done = True
+      elif now - sent >= 0.05:
+        self.done = True
+        return [avh_request(template, 2)]
+      return []
+    if now - self.started < 10 or now - self.stable_since < 3:
+      return []
+    timestamp, template, _ = self.frames[AVH_REQUEST]
+    if now - timestamp > 0.010:
+      return []
+    self.followup = (now, timestamp, template)
+    return [avh_request(template, 1)]
@@ -4,7 +4,8 @@ from opendbc.car import Bus, DT_CTRL, make_tester_present_msg, structs
 from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_std_steer_angle_limits, apply_steer_angle_limits_vm, common_fault_avoidance
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, CanBus, CarControllerParams, SubaruFlags
+from opendbc.car.subaru.avh import AvhStartup
+from opendbc.car.subaru.values import CAR, DBC, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, CanBus, CarControllerParams, SubaruFlags
 from opendbc.car.vehicle_model import VehicleModel

 # FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
@@ -16,24 +17,19 @@ _SNG_ACC_MIN_DIST = 3
 _SNG_ACC_MAX_DIST = 4.5
 _LEGACY_2025_MADS_MIN_SPEED = 0.44704
 _LEGACY_2025_MADS_MAX_STEER_ANGLE = 120.0
-_LEGACY_2025_OVERRIDE_HOLD_FRAMES = 10
-_LEGACY_2025_REENGAGE_SETTLE_FRAMES = 8
-_LEGACY_2025_REENGAGE_MAX_STEER_RATE = 2.0
-_LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_LEGACY_2025_RECLAIM_FRAMES = 36
-_LEGACY_2025_RECLAIM_EXPONENT = 2.5
-_ANGLE_OVERRIDE_HOLD_FRAMES = 10
-_ANGLE_REENGAGE_SETTLE_FRAMES = 8
+_ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
 _ANGLE_REENGAGE_MAX_STEER_RATE = 2.0
-_ANGLE_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_ANGLE_RECLAIM_FRAMES = 36
-_ANGLE_RECLAIM_EXPONENT = 2.5
 _ANGLE_MADS_MIN_SPEED = 0.44704
 _ANGLE_MADS_MAX_STEER_ANGLE = 120.0
+_ASCENT_AOL_ARM_FRAMES = 30
 _STOP_START_STARTUP_DELAY_FRAMES = 100
-_STOP_START_STARTUP_DEADLINE_FRAMES = 300
+# StarPilot's first populated toggle message can arrive several seconds after
+# the car controller starts while fingerprinting and settings settle.
+_STOP_START_STARTUP_DEADLINE_FRAMES = 1000
 _STOP_START_PULSE_FRAMES = 30
 _STOP_START_PULSE_PERIOD_FRAMES = 5
+_REDNECK_BUTTON_INTERVAL_FRAMES = 10
+_REDNECK_BUTTON_COPIES = 2


 def get_safety_CP():
@@ -47,20 +43,11 @@ class CarController(CarControllerBase):
    self.apply_torque_last = 0
    self.apply_steer_last = 0
    self.driver_override = False
-    self.legacy_2025_lkas_active = False
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
+    self.angle_override_confirm_frames = 0
    self.angle_lkas_active = False
    self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0
+    self.ascent_angle_initialized = False
+    self.ascent_aol_arm_frames = 0

    self.cruise_button_prev = 0
    self.steer_rate_counter = 0
@@ -71,7 +58,7 @@ class CarController(CarControllerBase):
    self.angle_bus = CanBus.angle_for_cp(CP)
    self.status_bus = CanBus.camera if CP.flags & SubaruFlags.D_PLATFORM_CAMERA else CanBus.main

-    if CP.flags & SubaruFlags.LKAS_ANGLE:
+    if CP.flags & SubaruFlags.LKAS_ANGLE and CP.carFingerprint != CAR.SUBARU_OUTBACK_2023:
      self.VM = VehicleModel(get_safety_CP())

    self.prev_close_distance = 0
@@ -83,14 +70,16 @@ class CarController(CarControllerBase):
    self.stop_start_initial_state = None
    self.stop_start_counter = 0
    self.stop_start_acknowledged = False
+    self.last_redneck_button_frame = 0
+    self.avh_startup = AvhStartup()

  def _stop_start_off_request(self, CC, CS, starpilot_toggles):
-    """Send one bounded Outback Stop/Start OFF request after ignition.
+    """Send one bounded Subaru Stop/Start OFF request after ignition.

    This is intentionally opt-in and limited to a stationary vehicle in
    Park/Neutral. A single ignition session gets at most one attempt.
    """
-    if self.CP.carFingerprint != CAR.SUBARU_OUTBACK_2023 or \
+    if self.CP.carFingerprint not in SUBARU_STOP_START_CARS or \
       not getattr(starpilot_toggles, "subaru_stop_start_off", False) or self.stop_start_attempted:
      return None

@@ -133,136 +122,64 @@ class CarController(CarControllerBase):
      return None

    msg = subarucan.create_stop_start_control(
-      self.packer, dashlights_msg, counter=self.stop_start_counter, bus=self.main_bus,
+      self.packer, dashlights_msg, raw_dat=getattr(CS, "dashlights_dat", None),
+      counter=self.stop_start_counter, bus=CanBus.alt_for_cp(self.CP),
    )
    self.stop_start_counter = (self.stop_start_counter + 1) % 0x10
    return msg

-  def _reset_legacy_2025_handoff(self):
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_override_hold_frames = 0
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reengage_reference_angle = 0.0
-    self.legacy_2025_reclaim_frames = 0
-    self.legacy_2025_reclaim_start_angle = 0.0
-
-  def _legacy_2025_manual_handoff(self, CS, lkas_available):
-    if not lkas_available:
-      self._reset_legacy_2025_handoff()
-      return False
-
-    if getattr(CS.out, "steeringPressed", False):
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.legacy_2025_reclaim_frames = 0
-      return True
-
-    if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
-      self.legacy_2025_handoff_active = True
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if not self.legacy_2025_handoff_active:
-      return False
-
-    if self.legacy_2025_override_hold_frames > 0:
-      self.legacy_2025_override_hold_frames -= 1
-      if self.legacy_2025_override_hold_frames == 0:
-        self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-      return True
-
-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.legacy_2025_reengage_reference_angle) <= _LEGACY_2025_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.legacy_2025_reengage_settle_frames += 1
-    else:
-      self.legacy_2025_reengage_settle_frames = 0
-      self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.legacy_2025_reengage_settle_frames < _LEGACY_2025_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.legacy_2025_handoff_active = False
-    self.legacy_2025_reengage_settle_frames = 0
-    self.legacy_2025_reclaim_frames = _LEGACY_2025_RECLAIM_FRAMES
-    self.legacy_2025_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
-
-  def _legacy_2025_reclaim_target(self, target_angle):
-    if self.legacy_2025_reclaim_frames <= 0:
-      return target_angle
-
-    progress = (_LEGACY_2025_RECLAIM_FRAMES - self.legacy_2025_reclaim_frames + 1) / _LEGACY_2025_RECLAIM_FRAMES
-    eased_progress = progress ** _LEGACY_2025_RECLAIM_EXPONENT
-    target_angle = self.legacy_2025_reclaim_start_angle + eased_progress * \
-      (target_angle - self.legacy_2025_reclaim_start_angle)
-    self.legacy_2025_reclaim_frames -= 1
-    return target_angle
-
  def _reset_angle_handoff(self):
+    self.driver_override = False
+    self.angle_override_confirm_frames = 0
    self.angle_handoff_active = False
-    self.angle_override_hold_frames = 0
-    self.angle_reengage_settle_frames = 0
-    self.angle_reengage_reference_angle = 0.0
-    self.angle_reclaim_frames = 0
-    self.angle_reclaim_start_angle = 0.0

  def _angle_manual_handoff(self, CS, lat_active):
    if not lat_active:
      self._reset_angle_handoff()
      return False

-    if getattr(CS.out, "steeringPressed", False):
+    driver_override = self._update_angle_driver_override(CS)
+    steering_rate = abs(getattr(CS.out, "steeringRateDeg", 0.0))
+    if driver_override:
      self.angle_handoff_active = True
-      self.angle_override_hold_frames = _ANGLE_OVERRIDE_HOLD_FRAMES
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.angle_reclaim_frames = 0
      return True

-    if not self.angle_handoff_active and not self.angle_lkas_active and \
-       abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE:
-      self.angle_handoff_active = True
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
+    if self.angle_handoff_active:
+      if steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
+        return True

-    if not self.angle_handoff_active:
+      self.angle_handoff_active = False
+      return True
+
+    if not self.angle_lkas_active and steering_rate > _ANGLE_REENGAGE_MAX_STEER_RATE:
+      self.angle_handoff_active = True
+      return True
+
+    return False
+
+  def _update_angle_driver_override(self, CS):
+    """Debounce the higher-confidence raw torque override signal for angle cars."""
+    abs_torque = abs(getattr(CS.out, "steeringTorque", 0.0))
+    if self.driver_override:
+      if abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
+        self.driver_override = False
+    elif abs_torque > self.p.STEER_OVERRIDE_TORQUE_HIGH:
+      self.angle_override_confirm_frames += 1
+      if self.angle_override_confirm_frames >= _ANGLE_OVERRIDE_CONFIRM_FRAMES:
+        self.driver_override = True
+        self.angle_override_confirm_frames = 0
+    else:
+      self.angle_override_confirm_frames = 0
+
+    return self.driver_override
+
+  def _ascent_aol_ready(self, ready):
+    if not ready:
+      self.ascent_aol_arm_frames = 0
      return False

-    if self.angle_override_hold_frames > 0:
-      self.angle_override_hold_frames -= 1
-      if self.angle_override_hold_frames == 0:
-        self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-      return True
-
-    wheel_stable = abs(getattr(CS.out, "steeringRateDeg", 0.0)) <= _ANGLE_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.angle_reengage_reference_angle) <= _ANGLE_REENGAGE_MAX_ANGLE_DELTA
-    if wheel_stable:
-      self.angle_reengage_settle_frames += 1
-    else:
-      self.angle_reengage_settle_frames = 0
-      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
-
-    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
-      return True
-
-    self.angle_handoff_active = False
-    self.angle_reengage_settle_frames = 0
-    self.angle_reclaim_frames = _ANGLE_RECLAIM_FRAMES
-    self.angle_reclaim_start_angle = CS.out.steeringAngleDeg
-    return True
-
-  def _angle_reclaim_target(self, target_angle):
-    if self.angle_reclaim_frames <= 0:
-      return target_angle
-
-    progress = (_ANGLE_RECLAIM_FRAMES - self.angle_reclaim_frames + 1) / _ANGLE_RECLAIM_FRAMES
-    eased_progress = progress ** _ANGLE_RECLAIM_EXPONENT
-    target_angle = self.angle_reclaim_start_angle + eased_progress * \
-      (target_angle - self.angle_reclaim_start_angle)
-    self.angle_reclaim_frames -= 1
-    return target_angle
+    self.ascent_aol_arm_frames = min(self.ascent_aol_arm_frames + 1, _ASCENT_AOL_ARM_FRAMES)
+    return self.ascent_aol_arm_frames >= _ASCENT_AOL_ARM_FRAMES

  def lateral_angle(self, CC, CS):
    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
@@ -272,12 +189,11 @@ class CarController(CarControllerBase):
      lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
        CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill

-      manual_handoff = self._legacy_2025_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
      lkas_active = lkas_available and not manual_handoff

-      steer_target = self._legacy_2025_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
      apply_steer = apply_std_steer_angle_limits(
-        steer_target,
+        CC.actuators.steeringAngleDeg,
        self.apply_steer_last,
        CS.out.vEgoRaw,
        CS.out.steeringAngleDeg,
@@ -285,52 +201,48 @@ class CarController(CarControllerBase):
        self.p.LEGACY_2025_ANGLE_LIMITS,
      )
      self.apply_steer_last = apply_steer
-      self.legacy_2025_lkas_active = lkas_active
+      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)

    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023 and not self.ascent_angle_initialized:
+        self.apply_steer_last = CS.out.steeringAngleDeg
+        self.ascent_angle_initialized = True
+
      mads_only = CC.latActive and not CC.enabled
      mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
        abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
      lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
        CS.out.gearShifter == structs.CarState.GearShifter.drive and not CS.out.standstill
+      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+        if mads_only:
+          cruise_available = getattr(getattr(CS.out, "cruiseState", None), "available", True)
+          lkas_available = self._ascent_aol_ready(lkas_available and cruise_available)
+        else:
+          self.ascent_aol_arm_frames = _ASCENT_AOL_ARM_FRAMES if lkas_available else 0

-      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+      if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
+        manual_handoff = not self.angle_lkas_active and \
+          abs(getattr(CS.out, "steeringRateDeg", 0.0)) > _ANGLE_REENGAGE_MAX_STEER_RATE
+      else:
+        manual_handoff = self._angle_manual_handoff(CS, lkas_available)
      lkas_active = lkas_available and not manual_handoff

-      if lkas_active and not self.angle_lkas_active:
+      if lkas_active and not self.angle_lkas_active and self.CP.carFingerprint != CAR.SUBARU_ASCENT_2023:
        self.apply_steer_last = CS.out.steeringAngleDeg

-      steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
-        apply_steer = apply_std_steer_angle_limits(
-          steer_target,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p.FIXED_ANGLE_LIMITS,
-        )
-      else:
-        apply_steer = apply_steer_angle_limits_vm(
-          steer_target,
-          self.apply_steer_last,
-          CS.out.vEgoRaw,
-          CS.out.steeringAngleDeg,
-          lkas_active,
-          self.p,
-          self.VM,
-        )
+      apply_steer = apply_std_steer_angle_limits(
+        CC.actuators.steeringAngleDeg,
+        self.apply_steer_last,
+        CS.out.vEgoRaw,
+        CS.out.steeringAngleDeg,
+        lkas_active,
+        self.p.FIXED_ANGLE_LIMITS,
+      )
      self.apply_steer_last = apply_steer
      self.angle_lkas_active = lkas_active
      return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)

-    abs_torque = abs(CS.out.steeringTorque)
-    if abs_torque > self.p.STEER_OVERRIDE_TORQUE_HIGH:
-      self.driver_override = True
-    elif abs_torque < self.p.STEER_OVERRIDE_TORQUE_LOW:
-      self.driver_override = False
-
    mads_only = CC.latActive and not getattr(CC, "enabled", False)
    mads_only_ok = CS.out.vEgoRaw > _ANGLE_MADS_MIN_SPEED and \
      abs(CS.out.steeringAngleDeg) < _ANGLE_MADS_MAX_STEER_ANGLE
@@ -341,9 +253,8 @@ class CarController(CarControllerBase):
    lat_active = lkas_available and not self.driver_override and not manual_handoff
    if lat_active and not self.angle_lkas_active:
      self.apply_steer_last = CS.out.steeringAngleDeg
-    steer_target = self._angle_reclaim_target(CC.actuators.steeringAngleDeg) if lat_active else CC.actuators.steeringAngleDeg
    apply_steer = apply_steer_angle_limits_vm(
-      steer_target,
+      CC.actuators.steeringAngleDeg,
      self.apply_steer_last,
      CS.out.vEgoRaw,
      CS.out.steeringAngleDeg,
@@ -384,10 +295,19 @@ class CarController(CarControllerBase):

    return subarucan.create_steering_control(self.packer, apply_torque, apply_steer_req)

+  def _lkas_status_active(self, CC):
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
+      return self.angle_lkas_active
+    return CC.latActive
+
  def update(self, CC, CS, now_nanos, starpilot_toggles):
    actuators = CC.actuators
    hud_control = CC.hudControl
    pcm_cancel_cmd = CC.cruiseControl.cancel
+    subaru_redneck_cruise = bool(
+      self.CP.carFingerprint == CAR.SUBARU_IMPREZA_2020 and
+      getattr(starpilot_toggles, "subaru_redneck_cruise", False)
+    )

    can_sends = []

@@ -395,6 +315,13 @@ class CarController(CarControllerBase):
    if stop_start_msg is not None:
      can_sends.append(stop_start_msg)

+    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      can_sends.extend(self.avh_startup.update(
+        now_nanos / 1e9, getattr(CS, "avh_frames", {}),
+        getattr(starpilot_toggles, "subaru_avh_on", False), getattr(CS.out, "canValid", False),
+        CC.enabled or CC.latActive or CC.longActive,
+      ))
+
    # *** steering ***
    if (self.frame % self.p.STEER_STEP) == 0:
      if self.CP.flags & SubaruFlags.LKAS_ANGLE:
@@ -452,12 +379,15 @@ class CarController(CarControllerBase):
    else:
      if self.frame % 10 == 0:
        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled,
-                                                        self.CP.openpilotLongitudinalControl, CC.longActive, hud_control.leadVisible,
+                                                        self.CP.openpilotLongitudinalControl and not subaru_redneck_cruise,
+                                                        CC.longActive, hud_control.leadVisible,
                                                        self.status_bus))

-        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive, hud_control.visualAlert,
-                                                        hud_control.leftLaneVisible, hud_control.rightLaneVisible,
-                                                        hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus))
+        can_sends.append(subarucan.create_es_lkas_state(
+          self.packer, self.frame // 10, CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert,
+          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          hud_control.leftLaneDepart, hud_control.rightLaneDepart, self.status_bus,
+        ))

        if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg,
@@ -470,7 +400,7 @@ class CarController(CarControllerBase):
          can_sends.append(subarucan.create_brake_pedal(self.packer, self.frame // 2, CS.brake_pedal_msg,
                                                        speed_cmd, pcm_cancel_cmd))

-      if self.CP.openpilotLongitudinalControl:
+      if self.CP.openpilotLongitudinalControl and not subaru_redneck_cruise:
        if self.frame % 5 == 0:
          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
@@ -486,6 +416,20 @@ class CarController(CarControllerBase):
            bus = CanBus.alt_for_cp(self.CP) if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else self.main_bus
            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))

+      if subaru_redneck_cruise:
+        redneck_button = {
+          1: subarucan.CRUISE_BUTTON_RESUME,
+          2: subarucan.CRUISE_BUTTON_SET,
+        }.get(getattr(CS, "redneck_send_button", 0))
+        cruise_buttons_msg = getattr(CS, "cruise_buttons_msg", None)
+        if redneck_button and cruise_buttons_msg and self.frame - self.last_redneck_button_frame >= _REDNECK_BUTTON_INTERVAL_FRAMES:
+          counter = (int(cruise_buttons_msg["COUNTER"]) + 1) % 0x10
+          for copy_idx in range(_REDNECK_BUTTON_COPIES):
+            can_sends.append(subarucan.create_cruise_buttons(
+              self.packer, counter + copy_idx, cruise_buttons_msg, redneck_button, self.main_bus,
+            ))
+          self.last_redneck_button_frame = self.frame
+
      if self.CP.flags & SubaruFlags.DISABLE_EYESIGHT:
        # Tester present (keeps eyesight disabled)
        if self.frame % 100 == 0:
@@ -1,11 +1,20 @@
 import copy
 from cereal import custom
 from opendbc.can import CANDefine, CANParser
-from opendbc.car import Bus, structs
+from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.subaru.values import CAR, DBC, CanBus, SubaruFlags
+from opendbc.car.subaru.values import CAR, DBC, CanBus, SUBARU_REDNECK_CRUISE_CARS, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
+from opendbc.car.subaru.avh import INPUTS as AVH_INPUTS
+
+ButtonType = structs.CarState.ButtonEvent.Type
+
+SUBARU_CRUISE_BUTTONS = {
+  "Main": ButtonType.mainCruise,
+  "Set": ButtonType.decelCruise,
+  "Resume": ButtonType.accelCruise,
+}


 class CarState(CarStateBase):
@@ -16,7 +25,11 @@ class CarState(CarStateBase):

    self.angle_rate_calulator = CanSignalRateCalculator(50)
    self.dashlights_msg = {}
+    self.dashlights_dat = b""
    self.stop_start_state = 0
+    self.avh_frames = {}
+    self.cruise_buttons_msg = {}
+    self.cruise_buttons = {button: 0 for button in SUBARU_CRUISE_BUTTONS}

  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
    cp = can_parsers[Bus.pt]
@@ -26,9 +39,14 @@ class CarState(CarStateBase):
    cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
    ret = structs.CarState()

-    if self.CP.carFingerprint == CAR.SUBARU_OUTBACK_2023:
-      self.dashlights_msg = copy.copy(cp.vl["Dashlights"])
-      self.stop_start_state = cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]
+    if self.CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      self.avh_frames = {a: (cp_alt.ts_nanos[a]["CHECKSUM"] / 1e9, cp_alt.vl_raw[a]) for a in AVH_INPUTS}
+
+    if self.CP.carFingerprint in SUBARU_STOP_START_CARS:
+      stop_start_cp = cp_alt if self.CP.flags & SubaruFlags.GLOBAL_GEN2 else cp
+      self.dashlights_msg = copy.copy(stop_start_cp.vl["Dashlights"])
+      self.dashlights_dat = stop_start_cp.vl_raw["Dashlights"]
+      self.stop_start_state = stop_start_cp.vl["Engine_Stop_Start"]["STOP_START_STATE"]

    throttle_msg = cp.vl["Throttle"] if not (self.CP.flags & SubaruFlags.HYBRID) else cp_alt.vl["Throttle_Hybrid"]
    ret.gasPressed = throttle_msg["Throttle_Pedal"] > 1e-5
@@ -72,14 +90,14 @@ class CarState(CarStateBase):

    if self.CP.flags & SubaruFlags.LKAS_ANGLE:
      ret.steeringAngleDeg = cp_angle.vl["Steering_2"]["Steering_Angle"]
-      steering_updated = len(cp_angle.vl_all["Steering_2"]["Steering_Angle"]) > 0
+      steering_counter = cp_angle.vl["Steering_2"]["COUNTER"]
    else:
      ret.steeringAngleDeg = cp.vl["Steering_Torque"]["Steering_Angle"]
-      steering_updated = len(cp.vl_all["Steering_Torque"]["Steering_Angle"]) > 0
+      steering_counter = cp.vl["Steering_Torque"].get("COUNTER", 0)

    if not (self.CP.flags & SubaruFlags.PREGLOBAL):
      # ideally we get this from the car, but unclear if it exists. diagnostic software doesn't even have it
-      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_updated)
+      ret.steeringRateDeg = self.angle_rate_calulator.update(ret.steeringAngleDeg, steering_counter)

    ret.steeringTorque = cp_angle.vl["Steering_Torque"]["Steer_Torque_Sensor"]
    ret.steeringTorqueEps = cp_angle.vl["Steering_Torque"]["Steer_Torque_Output"]
@@ -133,6 +151,17 @@ class CarState(CarStateBase):
        self.es_status_msg = copy.copy(cp_es_brake.vl["ES_Status"])
        self.cruise_control_msg = copy.copy(cp_cruise.vl["CruiseControl"])

+      if self.CP.carFingerprint in SUBARU_REDNECK_CRUISE_CARS:
+        cruise_buttons = cp.vl["Cruise_Buttons"]
+        if getattr(starpilot_toggles, "subaru_redneck_cruise", False):
+          ret.buttonEvents = []
+          for button, button_type in SUBARU_CRUISE_BUTTONS.items():
+            ret.buttonEvents.extend(create_button_events(
+              int(bool(cruise_buttons[button])), self.cruise_buttons[button], {1: button_type},
+            ))
+        self.cruise_buttons = {button: int(bool(cruise_buttons[button])) for button in SUBARU_CRUISE_BUTTONS}
+        self.cruise_buttons_msg = copy.copy(cruise_buttons)
+
    if not (self.CP.flags & SubaruFlags.HYBRID):
      self.es_distance_msg = copy.copy(cp_es_distance.vl["ES_Distance"])

@@ -153,11 +182,15 @@ class CarState(CarStateBase):

  @staticmethod
  def get_can_parsers(CP):
+    avh_messages = [(a, 0) for a in (0x6BB, 0x32B, 0x40, 0x48)] if CP.carFingerprint == CAR.SUBARU_LEGACY_2025 else []
    parsers = {
      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main_for_cp(CP)),
      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.camera),
-      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.alt_for_cp(CP))
+      Bus.alt: CANParser(DBC[CP.carFingerprint][Bus.pt], avh_messages, CanBus.alt_for_cp(CP))
    }
    if CP.flags & SubaruFlags.D_PLATFORM:
      parsers[Bus.main] = CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus.main)
+    if CP.carFingerprint == CAR.SUBARU_LEGACY_2025:
+      for address in AVH_INPUTS:
+        parsers[Bus.alt].vl[address]
    return parsers
@@ -3,7 +3,7 @@ from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.subaru.carcontroller import CarController
 from opendbc.car.subaru.carstate import CarState
-from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SubaruFlags, SubaruSafetyFlags
+from opendbc.car.subaru.values import CAR, CanBus, GLOBAL_ES_ADDR, SUBARU_STOP_START_CARS, SubaruFlags, SubaruSafetyFlags


 class CarInterface(CarInterfaceBase):
@@ -40,9 +40,11 @@ class CarInterface(CarInterfaceBase):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM.value
      if ret.flags & SubaruFlags.D_PLATFORM_CAMERA:
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.D_PLATFORM_CAMERA.value
-      if candidate == CAR.SUBARU_OUTBACK_2023:
+      if candidate in SUBARU_STOP_START_CARS:
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.STOP_START_BUTTON.value
-      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023):
+      if candidate == CAR.SUBARU_LEGACY_2025:
+        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.AVH_STARTUP.value
+      if candidate in (CAR.SUBARU_LEGACY_2025, CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
        ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value

    ret.steerLimitTimer = 0.4
@@ -3,6 +3,10 @@ from opendbc.car.subaru.values import CanBus

 VisualAlert = structs.CarControl.HUDControl.VisualAlert

+CRUISE_BUTTON_MAIN = 1
+CRUISE_BUTTON_SET = 2
+CRUISE_BUTTON_RESUME = 3
+

 def create_steering_control(packer, apply_torque, steer_req):
  values = {
@@ -67,6 +71,19 @@ def create_es_distance(packer, frame, es_distance_msg, bus, pcm_cancel_cmd, long
  return packer.make_can_msg("ES_Distance", bus, values)


+def create_cruise_buttons(packer, frame, cruise_buttons_msg, button, bus=CanBus.main):
+  values = {s: cruise_buttons_msg[s] for s in [
+    "CHECKSUM",
+    "Signal1",
+    "Signal2",
+  ]}
+  values["COUNTER"] = frame % 0x10
+  values["Main"] = button == CRUISE_BUTTON_MAIN
+  values["Set"] = button == CRUISE_BUTTON_SET
+  values["Resume"] = button == CRUISE_BUTTON_RESUME
+  return packer.make_can_msg("Cruise_Buttons", bus, values)
+
+
 def create_es_lkas_state(packer, frame, es_lkas_state_msg, enabled, visual_alert, left_line, right_line, left_lane_depart, right_lane_depart,
                         bus=CanBus.main):
  values = {s: es_lkas_state_msg[s] for s in [
@@ -182,12 +199,24 @@ def create_es_dashstatus(packer, frame, dashstatus_msg, enabled, long_enabled, l
  return packer.make_can_msg("ES_DashStatus", bus, values)


-def create_stop_start_control(packer, dashlights_msg, counter=None, bus=CanBus.alt):
-  """Create the Outback 2023-24 momentary Stop/Start button request.
+def create_stop_start_control(packer, dashlights_msg, raw_dat=None, counter=None, bus=CanBus.alt):
+  """Create the supported Subaru momentary Stop/Start button request.

  Dashlights is a stock periodic message, so preserve the live frame and only
-  change the event bit. CANPacker calculates the Subaru checksum for us.
+  change the counter, event bit, and checksum. The raw frame is needed because
+  the DBC does not describe every byte in this message.
  """
+  if raw_dat:
+    dat = bytearray(raw_dat)
+    if len(dat) != 8:
+      raise ValueError(f"Dashlights frame must be 8 bytes, got {len(dat)}")
+    if counter is None:
+      counter = (int(dashlights_msg.get("COUNTER", 0)) + 1) % 0x10
+    dat[1] = (dat[1] & 0xF0) | (counter % 0x10)
+    dat[6] |= 0x40  # STOP_START, big-endian bit 54
+    dat[0] = ((0x390 & 0xFF) + ((0x390 >> 8) & 0xFF) + sum(dat[1:])) & 0xFF
+    return 0x390, bytes(dat), bus
+
  values = dict(dashlights_msg)
  if counter is None:
    counter = (int(values.get("COUNTER", 0)) + 1) % 0x10
@@ -0,0 +1,112 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car.subaru.avh import AVH_REQUEST, AVH_STATUS, INPUTS, AvhStartup, avh_request, checksum
+from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.interface import CarInterface
+from opendbc.car.subaru.values import CAR, SubaruSafetyFlags
+from opendbc.car import Bus
+
+
+def sample(address, counter):
+  data = bytearray(8)
+  data[1] = counter & 15
+  if address == AVH_REQUEST:
+    data[3], data[5], data[6] = 1, 0x80, 0x0E  # captured Legacy payload, not Outback constants
+  elif address == 0x40:
+    data[2:4] = (800).to_bytes(2, 'little')
+  elif address == 0x48:
+    data[3] = 4
+  elif address == 0x174:
+    data[2] = 8
+  data[0] = checksum(address, data)
+  return bytes(data)
+
+
+def prepare(fast_counter_step=1):
+  policy = AvhStartup()
+  frames = {}
+  for tick in range(101):
+    now = 100 + tick / 10
+    for address in INPUTS:
+      if address != AVH_REQUEST or tick % 10 == 0:
+        counter = tick // 10 if address == AVH_REQUEST else tick * (1 if address == AVH_STATUS else fast_counter_step)
+        frames[address] = (now, sample(address, counter))
+    sent = policy.update(now, frames, True, True, False)
+    if tick < 100:
+      assert sent == []
+  assert sent == [avh_request(frames[AVH_REQUEST][1], 1)]
+  return policy, frames
+
+
+def test_captured_legacy_press_bytes():
+  template = bytes.fromhex('5b0b000100800e00')
+  assert avh_request(template, 1) == (0x6BB, bytes.fromhex('5e0c020100800e00'), 1)
+  assert avh_request(template, 2) == (0x6BB, bytes.fromhex('5f0d020100800e00'), 1)
+  wrap = sample(AVH_REQUEST, 15)
+  assert avh_request(wrap, 1)[1][1] == 0
+  assert avh_request(wrap, 2)[1][1] == 1
+
+
+def test_two_frames_only_and_no_retry():
+  policy, frames = prepare()
+  assert policy.update(110.04, frames, True, True, False) == []
+  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
+  assert policy.update(110.07, frames, True, True, False) == []
+  assert policy.update(111, frames, True, True, False) == []
+
+
+def test_controller_snapshots_may_skip_fast_can_samples():
+  policy, frames = prepare(fast_counter_step=2)
+  assert policy.update(110.06, frames, True, True, False) == [avh_request(frames[AVH_REQUEST][1], 2)]
+
+
+@pytest.mark.parametrize('reason', ['late', 'new_template', 'manual', 'ack', 'moving', 'gas', 'gear', 'invalid', 'disabled', 'engaged', 'stale'])
+def test_followup_aborts_permanently(reason):
+  policy, frames = prepare()
+  address, offset, value = {
+    'manual': (AVH_REQUEST, 2, 1), 'ack': (AVH_STATUS, 5, 32),
+    'moving': (0x13A, 2, 1), 'gas': (0x40, 4, 1), 'gear': (0x48, 3, 3),
+    'new_template': (AVH_REQUEST, 1, 11),
+  }.get(reason, (None, None, None))
+  if address is not None:
+    data = bytearray(frames[address][1])
+    data[1] = (data[1] + 1) & 15
+    data[offset] = value
+    data[0] = checksum(address, data)
+    frames[address] = (110.05, bytes(data))
+  if reason == 'stale':
+    frames[0x40] = (109, frames[0x40][1])
+  now = 110.08 if reason == 'late' else 110.06
+  assert policy.update(now, frames, reason != 'disabled', reason != 'invalid', reason == 'engaged') == []
+  assert policy.done
+  assert policy.update(111, frames, True, True, False) == []
+
+
+def test_only_legacy_has_avh_safety_permission():
+  for car in CAR:
+    cp = CarInterface.get_non_essential_params(car)
+    assert bool(cp.safetyConfigs[0].safetyParam & SubaruSafetyFlags.AVH_STARTUP) == (car == CAR.SUBARU_LEGACY_2025)
+
+
+def test_existing_required_messages_keep_alive_checks():
+  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
+  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.alt]
+  assert not parser.message_states[0x13A].ignore_alive
+  assert not parser.message_states[0x174].ignore_alive
+  assert parser.message_states[AVH_REQUEST].ignore_alive
+  assert parser.message_states[AVH_STATUS].ignore_alive
+
+
+def test_controller_sends_only_when_opted_in():
+  cp = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
+  controller = CarController({}, cp)
+  cc = SimpleNamespace(enabled=False, latActive=False, longActive=False,
+                       actuators=SimpleNamespace(as_builder=lambda: SimpleNamespace(steeringAngleDeg=0)),
+                       hudControl=SimpleNamespace(leadVisible=False), cruiseControl=SimpleNamespace(cancel=False))
+  cs = SimpleNamespace(out=SimpleNamespace(canValid=True), avh_frames={})
+  toggles = SimpleNamespace(subaru_stop_start_off=False, subaru_avh_on=False, subaru_sng=False)
+  controller.frame = 1
+  _, sent = controller.update(cc, cs, 100_000_000_000, toggles)
+  assert not any(m[0] in (AVH_REQUEST, AVH_STATUS) for m in sent)
@@ -5,10 +5,10 @@ from types import SimpleNamespace
 import pytest

 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, fw_versions, structs
+from opendbc.car import Bus, fw_versions, gen_empty_fingerprint, structs
 from opendbc.car.fw_query_definitions import StdQueries
 from opendbc.car.subaru import subarucan
-from opendbc.car.subaru.carcontroller import CarController
+from opendbc.car.subaru.carcontroller import CarController, _ASCENT_AOL_ARM_FRAMES
 from opendbc.car.subaru.carstate import CarState
 from opendbc.car.subaru.fingerprints import FW_VERSIONS
 from opendbc.car.fw_versions import match_fw_to_car
@@ -67,6 +67,56 @@ def test_preglobal_sng_does_not_send_standstill_keepalive_without_manual_toggle(
  assert speed_cmd is False


+def test_redneck_cruise_buttons_use_resume_for_increase_and_set_for_decrease():
+  dbc = DBC[CAR.SUBARU_IMPREZA_2020][Bus.pt]
+  packer = CANPacker(dbc)
+  parser = CANParser(dbc, [("Cruise_Buttons", 0)], CanBus.main)
+  stock_buttons = defaultdict(int)
+
+  resume_msg = subarucan.create_cruise_buttons(
+    packer, 1, stock_buttons, subarucan.CRUISE_BUTTON_RESUME, CanBus.main,
+  )
+  parser.update([(1, [resume_msg])])
+  assert parser.vl["Cruise_Buttons"]["Resume"] == 1
+  assert parser.vl["Cruise_Buttons"]["Set"] == 0
+
+  set_msg = subarucan.create_cruise_buttons(
+    packer, 2, stock_buttons, subarucan.CRUISE_BUTTON_SET, CanBus.main,
+  )
+  parser.update([(2, [set_msg])])
+  assert parser.vl["Cruise_Buttons"]["Resume"] == 0
+  assert parser.vl["Cruise_Buttons"]["Set"] == 1
+
+
+def test_redneck_cruise_is_only_available_on_the_experimental_impreza(monkeypatch):
+  class FakeParams:
+    def __init__(self, **_kwargs):
+      pass
+
+    def get_bool(self, key):
+      return key == "SubaruRedneckCruise"
+
+  monkeypatch.setattr("opendbc.car.interfaces.Params", FakeParams)
+  toggles = SimpleNamespace(subaru_sng=False)
+
+  impreza_cp = CarInterface.get_non_essential_params(CAR.SUBARU_IMPREZA_2020)
+  impreza_fpcp = CarInterface.get_starpilot_params(
+    CAR.SUBARU_IMPREZA_2020, gen_empty_fingerprint(), [], impreza_cp, toggles,
+  )
+  assert impreza_fpcp.redneckCruiseAvailable
+  assert not impreza_fpcp.pcmCruiseSpeed
+  assert impreza_cp.openpilotLongitudinalControl
+  assert impreza_cp.safetyConfigs[0].safetyParam & SubaruSafetyFlags.REDNECK_CRUISE
+
+  old_impreza_cp = CarInterface.get_non_essential_params(CAR.SUBARU_IMPREZA)
+  old_impreza_fpcp = CarInterface.get_starpilot_params(
+    CAR.SUBARU_IMPREZA, gen_empty_fingerprint(), [], old_impreza_cp, toggles,
+  )
+  assert not old_impreza_fpcp.redneckCruiseAvailable
+  assert old_impreza_fpcp.pcmCruiseSpeed
+  assert not old_impreza_cp.openpilotLongitudinalControl
+
+
 class TestSubaruFingerprint:
  def test_eyesight_queries_do_not_change_diagnostic_state(self, monkeypatch):
    camera_requests = [request for request in FW_QUERY_CONFIG.requests if CarParams.Ecu.fwdCamera in request.whitelist_ecus]
@@ -194,7 +244,7 @@ def test_outback_2023_uses_d_platform_bus_layout():
  assert CP.flags & SubaruFlags.D_PLATFORM
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
-  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.LEGACY_2025_ANGLE_LIMITS)
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
  assert CanBus.main_for_cp(CP) == CanBus.alt
  assert CanBus.angle_for_cp(CP) == CanBus.main
  assert parsers[Bus.pt].bus == CanBus.alt
@@ -206,10 +256,32 @@ def test_outback_2023_uses_d_platform_bus_layout():
  assert CP.lateralSmoothSeconds == pytest.approx(0.4)


-def test_stop_start_request_is_bounded_and_uses_live_dashlights():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+@pytest.mark.parametrize("platform", [CAR.SUBARU_OUTBACK_2023, CAR.SUBARU_LEGACY_2025])
+def test_stop_start_inputs_are_captured_for_supported_models(platform):
+  CP = CarInterface.get_non_essential_params(platform)
+  car_state = CarState(CP, None)
+  parsers = car_state.get_can_parsers(CP)
+  raw_dashlights = bytes.fromhex("13031407875a8100")
+  parsers[Bus.alt].vl["Dashlights"]["COUNTER"] = 6
+  parsers[Bus.alt].vl["Dashlights"]["STOP_START"] = 0
+  parsers[Bus.alt].vl["Engine_Stop_Start"]["STOP_START_STATE"] = 3
+  parsers[Bus.alt].vl_raw["Dashlights"] = raw_dashlights
+
+  car_state.update(parsers, SimpleNamespace(subaru_sng=False))
+
+  assert car_state.dashlights_msg["COUNTER"] == 6
+  assert car_state.dashlights_dat == raw_dashlights
+  assert car_state.stop_start_state == 3
+
+
+@pytest.mark.parametrize("platform, expected_bus, start_frame", [
+  (CAR.SUBARU_OUTBACK_2023, CanBus.alt, 101),
+  (CAR.SUBARU_LEGACY_2025, CanBus.alt, 401),
+])
+def test_stop_start_request_is_bounded_and_uses_live_dashlights(platform, expected_bus, start_frame):
+  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
-  controller.frame = 101
+  controller.frame = start_frame

  class TestActuators:
    steeringAngleDeg = 0.0
@@ -228,6 +300,7 @@ def test_stop_start_request_is_bounded_and_uses_live_dashlights():
  CS = SimpleNamespace(
    canValid=True,
    dashlights_msg={"COUNTER": 6, "STOP_START": 0},
+    dashlights_dat=bytes.fromhex("13061407875a8100"),
    stop_start_state=0,
    out=SimpleNamespace(
      standstill=True,
@@ -239,9 +312,10 @@ def test_stop_start_request_is_bounded_and_uses_live_dashlights():
  _, can_sends = controller.update(CC, CS, 0, toggles)
  stop_start_msgs = [msg for msg in can_sends if msg[0] == 0x390]
  assert len(stop_start_msgs) == 1
-  assert stop_start_msgs[0][2] == CanBus.alt
-  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("Dashlights", 0)], CanBus.alt)
-  parser.update([(1, [stop_start_msgs[0]])])
+  assert stop_start_msgs[0][2] == expected_bus
+  assert stop_start_msgs[0][1] == bytes.fromhex("57071407875ac100")
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("Dashlights", 0)], expected_bus)
+  parser.update([(expected_bus, [stop_start_msgs[0]])])
  assert parser.vl["Dashlights"]["STOP_START"] == 1
  assert parser.vl["Dashlights"]["COUNTER"] == 7

@@ -262,6 +336,7 @@ def test_legacy_2025_uses_gen2_angle_bus_layout():
  assert not (CP.flags & SubaruFlags.D_PLATFORM_CAMERA)
  assert not (CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.D_PLATFORM_CAMERA)
  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.FIXED_ANGLE_LIMITS
+  assert CP.safetyConfigs[0].safetyParam & SubaruSafetyFlags.STOP_START_BUTTON
  assert CanBus.main_for_cp(CP) == CanBus.main
  assert CanBus.angle_for_cp(CP) == CanBus.main
  assert parsers[Bus.pt].bus == CanBus.main
@@ -339,7 +414,7 @@ def test_legacy_2025_engagement_continues_from_last_sent_angle():
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.47)


-def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
+def test_legacy_2025_reengages_immediately_after_manual_steering_stops():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
  controller = CarController({}, CP)
  CC = SimpleNamespace(
@@ -351,6 +426,7 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
    vEgoRaw=6.2,
    steeringAngleDeg=-121.55,
    steeringRateDeg=350.0,
+    steeringTorque=250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -359,47 +435,29 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

-  CS.out.steeringPressed = False
-  CS.out.steeringAngleDeg = -113.78
  msg = controller.lateral_angle(CC, CS)
  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

-  for i in range(9):
-    CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(3 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
-
-  for i in range(6):
-    if i % 2:
-      CS.out.steeringAngleDeg += 0.5
-    CS.out.steeringRateDeg = 0.0 if i % 2 == 0 else 20.0
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(12 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
+  CS.out.steeringAngleDeg = -113.78
+  CS.out.steeringRateDeg = 0.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  CS.out.steeringRateDeg = 0.0
-  for i in range(8):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(18 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
-
-  measured_angle = CS.out.steeringAngleDeg
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(26, [msg])])
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert abs(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] - measured_angle) < 0.1
+  assert -113.78 < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -100.0


-def test_legacy_2025_manual_handoff_reclaim_is_gradual():
+def test_legacy_2025_manual_handoff_reentry_uses_normal_angle_limits():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_LEGACY_2025)
  controller = CarController({}, CP)
  CC = SimpleNamespace(
@@ -411,6 +469,7 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():
    vEgoRaw=3.7,
    steeringAngleDeg=2.5,
    steeringRateDeg=-45.0,
+    steeringTorque=250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -419,26 +478,32 @@ def test_legacy_2025_manual_handoff_reclaim_is_gradual():

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0

  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
  CS.out.steeringRateDeg = 0.0
-  for i in range(19):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(2 + i, [msg])])
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0

+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  first_reclaim_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
-  assert first_reclaim_angle == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  first_reentry_angle = parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"]
+  assert CC.actuators.steeringAngleDeg < first_reentry_angle < CS.out.steeringAngleDeg

-  reclaim_angles = []
+  reentry_angles = []
  for i in range(6):
    msg = controller.lateral_angle(CC, CS)
    parser.update([(20 + i, [msg])])
-    reclaim_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])
+    reentry_angles.append(parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"])

-  assert all(reclaim_angles[i] >= reclaim_angles[i + 1] for i in range(len(reclaim_angles) - 1))
-  assert reclaim_angles[-1] > CC.actuators.steeringAngleDeg
+  assert all(reentry_angles[i] >= reentry_angles[i + 1] for i in range(len(reentry_angles) - 1))
+  assert reentry_angles[-1] > CC.actuators.steeringAngleDeg


 def test_ascent_2023_uses_gen2_angle_bus_layout():
@@ -461,6 +526,25 @@ def test_ascent_2023_uses_gen2_angle_bus_layout():
  assert controller.status_bus == CanBus.main


+def test_ascent_steering_rate_retains_last_can_sample():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  car_state = CarState(CP, None)
+  parsers = car_state.get_can_parsers(CP)
+  toggles = SimpleNamespace(subaru_sng=False)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 1.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 1
+  car_state.update(parsers, toggles)
+
+  parsers[Bus.pt].vl["Steering_2"]["Steering_Angle"] = 2.0
+  parsers[Bus.pt].vl["Steering_2"]["COUNTER"] = 2
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+  state, _ = car_state.update(parsers, toggles)
+  assert state.steeringRateDeg == pytest.approx(50.0)
+
+
 def test_other_angle_platforms_keep_existing_bus_layout():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
  parsers = CarState.get_can_parsers(CP)
@@ -480,6 +564,10 @@ def test_angle_controller_tracks_driver_override():

  msg = controller.lateral_angle(CC, CS)

+  assert not controller.driver_override
+
+  msg = controller.lateral_angle(CC, CS)
+
  assert controller.driver_override
  assert controller.p.STEER_OVERRIDE_TORQUE_HIGH == 150
  assert controller.p.STEER_OVERRIDE_TORQUE_LOW == 100
@@ -533,15 +621,16 @@ def test_angle_controller_blocks_low_speed_mads_engagement():
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1


-def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
-  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
+def test_angle_controller_uses_fixed_angle_rate_limits(platform):
+  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-14.88))
  CS = SimpleNamespace(out=SimpleNamespace(
    vEgoRaw=21.66,
    steeringAngleDeg=-25.77,
    steeringRateDeg=0.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
    steeringPressed=False,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -554,8 +643,8 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0


-@pytest.mark.parametrize("platform", (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023))
-def test_angle_controller_yields_until_manual_steering_settles(platform):
+def test_ascent_angle_controller_reengages_immediately_after_manual_steering_stops():
+  platform = CAR.SUBARU_ASCENT_2023
  CP = CarInterface.get_non_essential_params(platform)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
@@ -563,7 +652,7 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):
    vEgoRaw=21.66,
    steeringAngleDeg=-25.06,
    steeringRateDeg=35.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
    steeringPressed=True,
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
@@ -572,24 +661,50 @@ def test_angle_controller_yields_until_manual_steering_settles(platform):

  msg = controller.lateral_angle(CC, CS)
  parser.update([(1, [msg])])
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  CS.out.steeringPressed = False
+  CS.out.steeringTorque = 0.0
  CS.out.steeringAngleDeg = -17.91
  CS.out.steeringRateDeg = 0.0
-  for i in range(18):
-    msg = controller.lateral_angle(CC, CS)
-    parser.update([(2 + i, [msg])])
-    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)

  msg = controller.lateral_angle(CC, CS)
-  parser.update([(20, [msg])])
+  parser.update([(4, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
-  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg, abs=0.1)
+  assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CC.actuators.steeringAngleDeg


-def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
+def test_ascent_reentry_rate_uses_last_transmitted_angle():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  controller.angle_handoff_active = True
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-1.45))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=30.3, steeringAngleDeg=0.78, steeringRateDeg=-1.5, steeringTorque=56.0,
+    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  parser.update([(1, [controller.lateral_angle(CC, CS)])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.78)
+
+  CS.out.steeringAngleDeg = 0.74
+  CS.out.steeringRateDeg = -1.99
+  parser.update([(2, [controller.lateral_angle(CC, CS)])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(0.53, abs=0.01)
+
+
+def test_ascent_angle_controller_waits_for_parking_lot_safety_envelope():
  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
  controller = CarController({}, CP)
  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-206.12))
@@ -599,6 +714,7 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():
    steeringRateDeg=96.0,
    steeringTorque=7.0,
    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=True),
    gearShifter=structs.CarState.GearShifter.drive,
    standstill=False,
  ))
@@ -611,21 +727,77 @@ def test_ascent_angle_controller_blocks_parking_lot_aol_engagement():

  CS.out.steeringAngleDeg = -100.0
  CS.out.steeringRateDeg = 0.0
+  for frame in range(2, _ASCENT_AOL_ARM_FRAMES + 1):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(2, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1

  CS.out.gearShifter = structs.CarState.GearShifter.reverse
  msg = controller.lateral_angle(CC, CS)
-  parser.update([(3, [msg])])
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 2, [msg])])
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)


-def test_lkas_hud_state_uses_lateral_active():
+def test_ascent_aol_does_not_arm_before_cruise_main_is_available():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    cruiseState=SimpleNamespace(available=False),
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame in range(_ASCENT_AOL_ARM_FRAMES):
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame + 1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 0
+
+  CS.out.cruiseState.available = True
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(_ASCENT_AOL_ARM_FRAMES + 1, [msg])])
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 0
+  assert controller.ascent_aol_arm_frames == 1
+
+
+def test_ascent_angle_controller_does_not_delay_normal_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=5.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=10.0,
+    steeringAngleDeg=0.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=False,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(1, [msg])])
+
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+
+
+def test_lkas_hud_state_uses_angle_request_state():
  update_source = inspect.getsource(CarController.update)

-  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.latActive" in update_source
+  assert "CS.es_lkas_state_msg, self._lkas_status_active(CC), hud_control.visualAlert" in update_source
  assert "create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled" not in update_source


@@ -643,3 +815,73 @@ def test_lkas_hud_active_bit_follows_lateral_state(enabled, expected):

  assert parser.can_valid
  assert parser.vl["ES_LKAS_State"]["LKAS_ACTIVE"] == expected
+
+
+def test_outback_manual_steering_keeps_cooperative_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=-225.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.9,
+    steeringAngleDeg=-57.0,
+    steeringRateDeg=0.0,
+    steeringTorque=0.0,
+    steeringPressed=True,
+    gearShifter=structs.CarState.GearShifter.drive,
+    standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+
+  for frame, steering_torque in enumerate((-79.0, -81.0, -170.0, -250.0, -250.0, 79.0, 81.0, 170.0, 250.0, 250.0), start=1):
+    CS.out.steeringRateDeg = 0.0 if frame == 1 else -45.0
+    CS.out.steeringTorque = steering_torque
+    CS.out.steeringPressed = abs(steering_torque) > 80.0
+    msg = controller.lateral_angle(CC, CS)
+    parser.update([(frame, [msg])])
+
+    assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"] == 1
+    assert CC.actuators.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < CS.out.steeringAngleDeg
+    assert controller._lkas_status_active(CC)
+
+
+def test_outback_waits_for_manual_turn_to_settle_before_reentry():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_OUTBACK_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(enabled=False, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-80.0))
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=7.3, steeringAngleDeg=-121.47, steeringRateDeg=126.5,
+    gearShifter=structs.CarState.GearShifter.drive, standstill=False,
+  ))
+  parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("ES_LKAS_ANGLE", 0)], CanBus.main)
+  for frame, (angle, rate, active) in enumerate([
+    (-121.47, 126.5, False), (-117.96, 122.5, False), (-88.65, 112.0, False),
+    (-0.24, 0.0, True),
+  ], start=1):
+    CS.out.steeringAngleDeg = angle
+    CS.out.steeringRateDeg = rate
+    parser.update([(frame, [controller.lateral_angle(CC, CS)])])
+    assert bool(parser.vl["ES_LKAS_ANGLE"]["LKAS_Request"]) == active
+    if not active:
+      assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(angle, abs=0.01)
+
+
+def test_ascent_hud_waits_for_angle_request():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_ASCENT_2023)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(latActive=True)
+
+  assert not controller._lkas_status_active(CC)
+  controller.angle_lkas_active = True
+  assert controller._lkas_status_active(CC)
+
+
+def test_other_angle_cars_keep_lateral_status_behavior():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  controller.angle_lkas_active = False
+
+  assert controller._lkas_status_active(SimpleNamespace(latActive=True))
@@ -89,6 +89,8 @@ class SubaruSafetyFlags(IntFlag):
  D_PLATFORM_CAMERA = 64
  FIXED_ANGLE_LIMITS = 128
  STOP_START_BUTTON = 256
+  REDNECK_CRUISE = 512
+  AVH_STARTUP = 1024
  LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS


@@ -270,6 +272,15 @@ class CAR(Platforms):
  )


+SUBARU_STOP_START_CARS = (
+  CAR.SUBARU_OUTBACK_2023,
+  CAR.SUBARU_LEGACY_2025,
+)
+
+SUBARU_REDNECK_CRUISE_CARS = (
+  CAR.SUBARU_IMPREZA_2020,
+)
+
 SUBARU_VERSION_REQUEST = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER]) + \
  p16(uds.DATA_IDENTIFIER_TYPE.APPLICATION_DATA_IDENTIFICATION)
 SUBARU_VERSION_RESPONSE = bytes([uds.SERVICE_TYPE.READ_DATA_BY_IDENTIFIER + 0x40]) + \
@@ -5,9 +5,10 @@ from opendbc.car.lateral import apply_steer_angle_limits_vm
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.tesla.coop_steering import CooperativeSteeringController
 from opendbc.car.tesla.teslacan import TeslaCAN
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
 from opendbc.car.tesla.preap.carcontroller import PreAPLongController, init_preap_can
 from opendbc.car.tesla.preap.stock_cc_spoofer import StockCCSpoofer
-from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags
+from opendbc.car.tesla.values import CANBUS, CAR, CarControllerParams, TeslaSafetyFlags, LEGACY_CARS
 from opendbc.car.vehicle_model import VehicleModel

 def get_safety_CP():
@@ -24,6 +25,7 @@ class CarController(CarControllerBase):
    self.coop_enabled = CP.carFingerprint == CAR.TESLA_MODEL_3 and any(
      config.safetyParam & TeslaSafetyFlags.COOP_STEERING.value for config in CP.safetyConfigs
    )
+    self._clear_steering_limit_info()
    self.packer = CANPacker(dbc_names[Bus.party])
    self.tesla_can = TeslaCAN(self.packer)
    self.preap_long = None
@@ -38,9 +40,37 @@ class CarController(CarControllerBase):
      self.stock_cc = StockCCSpoofer()
      from opendbc.car.tesla.interface import CarInterface
      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP))
+    elif CP.carFingerprint in LEGACY_CARS:
+      self.packers = {
+        CANBUS.party: CANPacker(dbc_names[Bus.party]),
+      }
+      self.tesla_can = TeslaCANRaven(self.packers)
+      from opendbc.car.tesla.interface import CarInterface
+      self.VM = VehicleModel(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1))
+
+  def _clear_steering_limit_info(self):
+    self.steering_limit_info_valid = False
+    self.model_limit_error_deg = 0.0
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0
+    self.steering_limit_mono_time = 0
+    self.combined_limit_error_deg = 0.0
+
+  def get_steering_limit_info(self) -> dict[str, bool | float | int]:
+    return {
+      "valid": self.steering_limit_info_valid,
+      "modelLimitErrorDeg": self.model_limit_error_deg,
+      "resumeLimitErrorDeg": self.resume_limit_error_deg,
+      "cooperativeLimitErrorDeg": self.cooperative_limit_error_deg,
+      "cooperativeOffsetDeg": self.cooperative_offset_deg,
+      "monoTime": self.steering_limit_mono_time,
+      "combinedLimitErrorDeg": self.combined_limit_error_deg,
+    }

  def update(self, CC, CS, now_nanos, starpilot_toggles):
    if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
+      self._clear_steering_limit_info()
      return self._update_preap(CC, CS)

    actuators = CC.actuators
@@ -48,8 +78,12 @@ class CarController(CarControllerBase):

    # Preserve the stock controller path unless cooperative steering is explicitly enabled.
    lat_active = CC.latActive and (not CS.out.steeringDisengage if self.coop_enabled else CS.hands_on_level < 3)
+    if not (self.coop_enabled and lat_active):
+      self._clear_steering_limit_info()

    if self.frame % 2 == 0:
+      requested_angle = actuators.steeringAngleDeg
+
      # Angular rate limit based on speed
      self.apply_angle_last = apply_steer_angle_limits_vm(actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
                                                          lat_active, CarControllerParams, self.VM)
@@ -57,9 +91,34 @@ class CarController(CarControllerBase):
      self.apply_angle_command_last, lat_active = self.coop_steer.update(
        self.apply_angle_last, lat_active, self.coop_enabled, CS, self.VM,
      )
-      can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))

-    if self.frame % 10 == 0:
+      if self.coop_enabled and lat_active:
+        model_limit_error_deg = abs(requested_angle - self.apply_angle_last)
+        resume_limit_error_deg = self.coop_steer.resume_limit_error_deg
+        cooperative_limit_error_deg = self.coop_steer.cooperative_limit_error_deg
+        cooperative_offset_deg = self.coop_steer.cooperative_offset_deg
+        combined_limit_error_deg = abs(requested_angle + cooperative_offset_deg - self.apply_angle_command_last)
+        limit_values = (model_limit_error_deg, resume_limit_error_deg, cooperative_limit_error_deg,
+                        cooperative_offset_deg, combined_limit_error_deg)
+
+        if all(np.isfinite(value) for value in limit_values):
+          self.steering_limit_info_valid = True
+          self.model_limit_error_deg = model_limit_error_deg
+          self.resume_limit_error_deg = resume_limit_error_deg
+          self.cooperative_limit_error_deg = cooperative_limit_error_deg
+          self.cooperative_offset_deg = cooperative_offset_deg
+          self.steering_limit_mono_time = now_nanos
+          self.combined_limit_error_deg = combined_limit_error_deg
+        else:
+          self._clear_steering_limit_info()
+
+      if self.CP.carFingerprint in LEGACY_CARS:
+        cntr = (self.frame // 2) % 16
+        can_sends.append(self.tesla_can.create_steering_control(cntr, self.apply_angle_command_last, lat_active))
+      else:
+        can_sends.append(self.tesla_can.create_steering_control(self.apply_angle_command_last, lat_active))
+
+    if self.frame % 10 == 0 and self.CP.carFingerprint not in LEGACY_CARS:
      can_sends.append(self.tesla_can.create_steering_allowed())

    # Longitudinal control
@@ -68,13 +127,21 @@ class CarController(CarControllerBase):
        state = 13 if CC.cruiseControl.cancel else 4  # 4=ACC_ON, 13=ACC_CANCEL_GENERIC_SILENT
        accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
        cntr = (self.frame // 4) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, CS.out.vEgo, CC.longActive))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          hw1_accel = accel if CC.longActive and not CC.cruiseControl.cancel else 0.
+          hw1_active = CC.longActive and not CC.cruiseControl.cancel
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, hw1_accel, cntr, CS.out.vEgo, hw1_active, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(state, accel, cntr, self.frame, CS.out.vEgo, CS.out.gasPressed))

    else:
      # Increment counter so cancel is prioritized even without openpilot longitudinal
      if CC.cruiseControl.cancel:
        cntr = (CS.das_control["DAS_controlCounter"] + 1) % 8
-        can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False))
+        if self.CP.carFingerprint in LEGACY_CARS:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, CS.out.vEgo, False, CS.out.gasPressed))
+        else:
+          can_sends.append(self.tesla_can.create_longitudinal_command(13, 0, cntr, self.frame, CS.out.vEgo, False))

    # TODO: HUD control
    new_actuators = actuators.as_builder()
@@ -86,7 +153,7 @@ class CarController(CarControllerBase):
  def _update_preap(self, CC, CS):
    actuators = CC.actuators
    can_sends = []
-    lat_active = CC.latActive and CS.hands_on_level < 3
+    lat_active = CC.latActive and CS.hands_on_level < 3 and getattr(CS, "preap_lateral_authorized", False)

    if CC.cruiseControl.cancel and CS.cruiseEnabled:
      CS.cruiseEnabled = False
@@ -102,8 +169,10 @@ class CarController(CarControllerBase):
        CS.engagement.pedal_speed_kph = 0.0

    if self.frame % 2 == 0:
+      requested_angle = float(np.clip(actuators.steeringAngleDeg,
+                                       CS.out.steeringAngleDeg - 20., CS.out.steeringAngleDeg + 20.))
      self.apply_angle_last = apply_steer_angle_limits_vm(
-        actuators.steeringAngleDeg, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
+        requested_angle, self.apply_angle_last, CS.out.vEgoRaw, CS.out.steeringAngleDeg,
        lat_active, CarControllerParams, self.VM,
      )
      cntr = (self.frame // 2) % 16
@@ -4,7 +4,10 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.interfaces import CarStateBase
-from opendbc.car.tesla.values import DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import (
+  DBC, CANBUS, GEAR_MAP, STEER_DISENGAGE_THRESHOLD, STEER_THRESHOLD, TeslaSafetyFlags,
+  CAR, LEGACY_CARS,
+)
 from opendbc.car.tesla.preap.carstate import get_preap_can_parsers, update_preap
 from opendbc.car.tesla.preap.engagement import PreAPEngagement
 from opendbc.car.tesla.preap.nap_conf import nap_conf
@@ -25,8 +28,19 @@ class CarState(CarStateBase):
  def __init__(self, CP, FPCP):
    super().__init__(CP, FPCP)
    self.can_define = CANDefine(DBC[CP.carFingerprint][Bus.party])
-    self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
-                          self.can_define.dv["DI_torque2"]["DI_gear"]
+    if CP.carFingerprint in LEGACY_CARS:
+      self.can_define_party = CANDefine(DBC[CP.carFingerprint][Bus.party])
+      self.can_define_pt = CANDefine(DBC[CP.carFingerprint][Bus.pt])
+      self.can_define_chassis = CANDefine(DBC[CP.carFingerprint][Bus.chassis])
+      self.can_defines = {
+        **self.can_define_party.dv,
+        **self.can_define_pt.dv,
+        **self.can_define_chassis.dv,
+      }
+      self.shifter_values = self.can_defines["DI_torque2"]["DI_gear"]
+    else:
+      self.shifter_values = self.can_define.dv["DI_systemStatus"]["DI_gear"] if CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP else \
+                            self.can_define.dv["DI_torque2"]["DI_gear"]

    self.autopark = False
    self.autopark_prev = False
@@ -75,6 +89,8 @@ class CarState(CarStateBase):
  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
    if self.CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return update_preap(self, can_parsers)
+    if self.CP.carFingerprint in LEGACY_CARS:
+      return self.update_legacy(can_parsers)

    cp_party = can_parsers[Bus.party]
    cp_ap_party = can_parsers[Bus.ap_party]
@@ -173,10 +189,94 @@ class CarState(CarStateBase):

    return ret, fp_ret

+  def update_legacy(self, can_parsers):
+    cp_party = can_parsers[Bus.party]
+    cp_ap_party = can_parsers[Bus.ap_party]
+    cp_pt = can_parsers[Bus.pt]
+    cp_ap_pt = can_parsers[Bus.ap_pt]
+    cp_chassis = can_parsers[Bus.chassis]
+    ret = structs.CarState()
+    fp_ret = custom.StarPilotCarState.new_message()
+
+    # Vehicle speed
+    ret.vEgoRaw = cp_chassis.vl["ESP_B"]["ESP_vehicleSpeed"] * CV.KPH_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+
+    # Gas and brake
+    ret.gasPressed = cp_pt.vl["DI_torque1"]["DI_pedalPos"] > 0
+    ret.brake = 0
+    ret.brakePressed = cp_chassis.vl["BrakeMessage"]["driverBrakeStatus"] != 1
+
+    # Steering wheel and EPAS status
+    epas_status = cp_chassis.vl["EPAS_sysStatus"]
+    self.hands_on_level = epas_status["EPAS_handsOnLevel"]
+    ret.steeringAngleDeg = -epas_status["EPAS_internalSAS"]
+    ret.steeringRateDeg = -cp_chassis.vl["STW_ANGLHP_STAT"]["StW_AnglHP_Spd"]
+    ret.steeringTorque = -epas_status["EPAS_torsionBarTorque"]
+    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > STEER_THRESHOLD, 5)
+
+    eac_status = self.can_defines["EPAS_sysStatus"]["EPAS_eacStatus"].get(int(epas_status["EPAS_eacStatus"]), None)
+    ret.steerFaultPermanent = eac_status == "EAC_FAULT"
+    ret.steerFaultTemporary = eac_status == "EAC_INHIBITED"
+    eac_error_code = self.can_defines["EPAS_sysStatus"]["EPAS_eacErrorCode"].get(int(epas_status["EPAS_eacErrorCode"]), None)
+    ret.steeringDisengage = self.hands_on_level >= 3 or (
+      eac_status == "EAC_INHIBITED" and eac_error_code == "EAC_ERROR_HIGH_ANGLE_RATE_SAFETY"
+    )
+
+    # Cruise
+    cruise_state = self.can_defines["DI_state"]["DI_cruiseState"].get(int(cp_chassis.vl["DI_state"]["DI_cruiseState"]), None)
+    speed_units = self.can_defines["DI_state"]["DI_speedUnits"].get(int(cp_chassis.vl["DI_state"]["DI_speedUnits"]), None)
+    cruise_enabled = cruise_state in ("ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
+    ret.cruiseState.enabled = cruise_enabled
+    if speed_units == "KPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.KPH_TO_MS, 1e-3)
+    elif speed_units == "MPH":
+      ret.cruiseState.speed = max(cp_chassis.vl["DI_state"]["DI_hw1CruiseSet"] * CV.MPH_TO_MS, 1e-3)
+    ret.cruiseState.available = cruise_state == "STANDBY" or ret.cruiseState.enabled
+    ret.cruiseState.standstill = False
+    ret.standstill = ret.vEgoRaw < 0.1
+    ret.accFaulted = cruise_state == "FAULT"
+
+    # Gear, body state, and safety state
+    ret.gearShifter = GEAR_MAP[self.can_defines["DI_torque2"]["DI_gear"].get(
+      int(cp_chassis.vl["DI_torque2"]["DI_gear"]), "DI_GEAR_INVALID")]
+
+    doors = ("DOOR_STATE_FL", "DOOR_STATE_FR", "DOOR_STATE_RL", "DOOR_STATE_RR", "DOOR_STATE_FrontTrunk", "BOOT_STATE")
+    ret.doorOpen = any(
+      self.can_defines["GTW_carState"][door].get(int(cp_chassis.vl["GTW_carState"][door]), "OPEN") == "OPEN"
+      for door in doors
+    )
+    ret.leftBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorLStatus"] == 1
+    ret.rightBlinker = cp_chassis.vl["GTW_carState"]["BC_indicatorRStatus"] == 1
+
+    _ = cp_chassis.vl["SDM1"]
+    _ = cp_chassis.vl["RCM_status"]
+    sd_time = cp_chassis.ts_nanos["SDM1"]["SDM_bcklDrivStatus"]
+    rcm_time = cp_chassis.ts_nanos["RCM_status"]["RCM_buckleDriverStatus"]
+    if sd_time and cp_chassis._last_update_nanos - sd_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["SDM1"]["SDM_bcklDrivStatus"] != 1
+    elif rcm_time and cp_chassis._last_update_nanos - rcm_time <= 1_000_000_000:
+      ret.seatbeltUnlatched = cp_chassis.vl["RCM_status"]["RCM_buckleDriverStatus"] != 1
+    else:
+      ret.seatbeltUnlatched = True
+
+    ret.stockAeb = cp_ap_pt.vl["DAS_control"]["DAS_aebEvent"] == 1
+    ret.stockLkas = cp_ap_party.vl["DAS_steeringControl"]["DAS_steeringControlType"] == 2
+    self.das_control = copy.copy(cp_ap_pt.vl["DAS_control"])
+    return ret, fp_ret
+
  @staticmethod
  def get_can_parsers(CP):
    if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_can_parsers(CP)
+    if CP.carFingerprint in LEGACY_CARS:
+      return {
+        Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
+        Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party),
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.party),
+        Bus.ap_pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CANBUS.autopilot_party),
+        Bus.chassis: CANParser(DBC[CP.carFingerprint][Bus.chassis], [("SDM1", 0), ("RCM_status", 0)], CANBUS.party),
+      }
    return {
      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.party),
      Bus.ap_party: CANParser(DBC[CP.carFingerprint][Bus.party], [], CANBUS.autopilot_party)
@@ -62,6 +62,9 @@ class CooperativeSteeringController:
    self.angle_override = 0.0
    self.resume_rate_limiter_delta = SteerRateLimiter()
    self.resume_rate_limiter = SteerRateLimiter()
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0

  def reset_override_state(self, apply_angle: float) -> None:
    self.apply_angle_last = apply_angle
@@ -105,19 +108,25 @@ class CooperativeSteeringController:
    return self.resume_rate_limiter.update(apply_angle, angle_rate_delta)

  def update(self, apply_angle: float, lat_active: bool, enabled: bool, CS, VM: VehicleModel) -> tuple[float, bool]:
+    self.resume_limit_error_deg = 0.0
+    self.cooperative_limit_error_deg = 0.0
+    self.cooperative_offset_deg = 0.0
    if not enabled:
      self.reset_resume_state(apply_angle)
      self.reset_override_state(apply_angle)
      return apply_angle, lat_active

+    requested_angle = apply_angle
    apply_angle = self.apply_resume_rate_limit(lat_active, apply_angle)
+    self.resume_limit_error_deg = abs(requested_angle - apply_angle)
    if not lat_active:
      self.reset_override_state(apply_angle)
      return apply_angle, False

    apply_angle_delta = apply_angle - self.apply_angle_last
    self.apply_angle_last = apply_angle
-    apply_angle += self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
+    self.cooperative_offset_deg = self.update_override_angle(apply_angle_delta, CS.out.steeringTorque, CS.out.vEgo, VM)
+    apply_angle += self.cooperative_offset_deg

    limited_angle = apply_steer_angle_limits_vm(
      apply_angle,
@@ -129,5 +138,6 @@ class CooperativeSteeringController:
      VM,
    )
    self.coop_apply_angle_last = limited_angle
+    self.cooperative_limit_error_deg = abs(apply_angle - limited_angle)
    self.unwind_override_angle(apply_angle - limited_angle)
    return limited_angle, True
@@ -5,6 +5,12 @@ from opendbc.car.tesla.values import CAR
 Ecu = CarParams.Ecu

 FW_VERSIONS = {
+  CAR.TESLA_MODEL_S_HW1: {
+    (Ecu.eps, 0x730, None): [
+      b'1016704-00-HAA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x10\x00A',
+    ],
+  },
  CAR.TESLA_MODEL_3: {
    (Ecu.eps, 0x730, None): [
      b'TeM3_E014p10_0.0.0 (16),E014.17.00',
@@ -1,9 +1,9 @@
-from opendbc.car import get_safety_config, structs
+from opendbc.car import Bus, get_safety_config, structs
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.car.tesla.carcontroller import CarController
 from opendbc.car.tesla.carstate import CarState
 from opendbc.car.tesla.radar_interface import RadarInterface
-from opendbc.car.tesla.values import TeslaSafetyFlags, CAR
+from opendbc.car.tesla.values import TeslaSafetyFlags, CAR, DBC, LEGACY_CARS
 from opendbc.car.tesla.preap.interface import get_preap_accel_limits, get_preap_params


@@ -32,6 +32,21 @@ class CarInterface(CarInterfaceBase):
    if candidate == CAR.TESLA_MODEL_S_PREAP:
      return get_preap_params(ret)

+    if candidate in LEGACY_CARS:
+      ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla, TeslaSafetyFlags.FLAG_HW1.value)]
+      ret.steerLimitTimer = 0.4
+      ret.steerActuatorDelay = 0.1
+      ret.steerAtStandstill = True
+      ret.steerControlType = structs.CarParams.SteerControlType.angle
+      ret.radarUnavailable = Bus.radar not in DBC[candidate]
+      ret.radarTimeStepDEPRECATED = 0.125
+      ret.alphaLongitudinalAvailable = True
+
+      if alpha_long:
+        ret.openpilotLongitudinalControl = True
+        ret.safetyConfigs[0].safetyParam |= TeslaSafetyFlags.LONG_CONTROL.value
+      return ret
+
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.tesla)]

    ret.steerLimitTimer = 0.4
@@ -13,6 +13,8 @@ class PreAPEngagement:
    self.enableDoublePull = double_pull_enabled
    self.double_pull_window_ms = double_pull_window_ms
    self.cruiseEnabled = False
+    self.lateralEnabled = False
+    self.lateralRearmRequired = False
    self.enableLongControl = False
    self.enableJustCC = False
    self.pending_enable = False
@@ -28,6 +30,8 @@ class PreAPEngagement:

  def handle_steering_disengage(self, steering_disengage: bool) -> None:
    if steering_disengage and not self.prev_steering_disengage:
+      self.lateralEnabled = False
+      self.lateralRearmRequired = True
      self.cruiseEnabled = False
      self.enableLongControl = False
      self.enableJustCC = False
@@ -45,6 +49,8 @@ class PreAPEngagement:
    button_events: list[structs.CarState.ButtonEvent] = []

    if cruise_buttons == CruiseButtons.MAIN and prev_cruise_buttons != CruiseButtons.MAIN:
+      self.lateralEnabled = True
+      self.lateralRearmRequired = False
      if self.enableDoublePull:
        self._handle_double_pull(curr_time_ms, v_ego, speed_units, use_pedal, pedal_long_allowed, long_control_allowed, di_cruise_state)
      else:
@@ -75,6 +81,8 @@ class PreAPEngagement:
  def check_can_engage(self, door_open: bool, gear_shifter, seatbelt_unlatched: bool) -> bool:
    can_engage = not door_open and gear_shifter == structs.CarState.GearShifter.drive and not seatbelt_unlatched
    if not can_engage:
+      self.lateralEnabled = False
+      self.lateralRearmRequired = True
      self.cruiseEnabled = False
      self.enableLongControl = False
      self.enableJustCC = False
@@ -118,6 +126,8 @@ class PreAPEngagement:
                ((curr_time_ms - self.preap_last_cc_spoof_ms) < SPOOF_ECHO_WINDOW_MS)
      be.type = ButtonType.unknown if is_echo else ButtonType.cancel
      if not is_echo:
+        self.lateralEnabled = False
+        self.lateralRearmRequired = True
        self.cruiseEnabled = False
        self.enableLongControl = False
        self.enableJustCC = False
@@ -145,4 +155,3 @@ class PreAPEngagement:
  def _capture_target_speed(v_ego: float, speed_units: str) -> float:
    speed_uom_kph = CV.MPH_TO_KPH if speed_units == "MPH" else 1.0
    return max(int(v_ego * CV.MS_TO_KPH / speed_uom_kph + 0.5) * speed_uom_kph, 0.0)
-
@@ -0,0 +1,21 @@
+from opendbc.car import structs
+from opendbc.safety import ALTERNATIVE_EXPERIENCE
+
+
+def preap_lateral_authorized(CP, CS, panda_states, panda_states_valid: bool) -> bool:
+  """Match Pre-AP's existing safety authorization without treating software CC availability as ACC main."""
+  if not panda_states_valid or CS.out.gearShifter != structs.CarState.GearShifter.drive or CS.out.doorOpen or CS.out.steeringDisengage:
+    return False
+  if CS.engagement.lateralRearmRequired:
+    return False
+  config = CP.safetyConfigs[0]
+  matching = [p for p in panda_states if p.safetyModel == config.safetyModel and p.safetyParam == config.safetyParam]
+  if len(matching) != 1 or matching[0].safetyRxChecksInvalid:
+    return False
+  panda = matching[0]
+  # Physical cancel/override/gear changes clear this latch immediately, whereas
+  # Panda telemetry can lag. Longitudinal software cancellation leaves it intact.
+  stalk_authorized = CS.engagement.lateralEnabled and panda.controlsAllowed
+  stock_main = CS.di_cruise_state in ("STANDBY", "ENABLED", "STANDSTILL", "OVERRIDE", "PRE_FAULT", "PRE_CANCEL")
+  aol_authorized = bool(panda.alternativeExperience & ALTERNATIVE_EXPERIENCE.ALWAYS_ON_LATERAL) and stock_main
+  return bool(stalk_authorized or aol_authorized)
@@ -88,8 +88,7 @@ class TeslaCANPreAP:
    else:
      values.update(_STW_DEFAULTS)

-    # Preserve the live stalk layout, but force VSL enable on engage/resume spoofs.
-    values["VSL_Enbl_Rq"] = 0 if button_to_press == 1 else 1
+    values["VSL_Enbl_Rq"] = 1

    data = self.packer.make_can_msg("STW_ACTN_RQ", bus, values)[1]
    values["CRC_STW_ACTN_RQ"] = _crc8_stw(data[:7])
@@ -0,0 +1,36 @@
+from types import SimpleNamespace
+
+import pytest
+
+from opendbc.car import structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC
+
+
+@pytest.mark.parametrize('direction', [-1., 1.])
+def test_preap_stalled_rack_request_stays_within_legacy_tracking_envelope(direction):
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  controller.stock_cc = None
+  cs = SimpleNamespace(out=SimpleNamespace(vEgoRaw=3., steeringAngleDeg=0.),
+                       hands_on_level=0, preap_lateral_authorized=True, cruiseEnabled=False)
+  cc = structs.CarControl.new_message()
+  cc.latActive = True
+  cc.actuators.steeringAngleDeg = direction * 100.
+  previous = 0.
+  for frame in range(100):
+    output, _ = controller.update(cc.as_reader(), cs, frame * 10000000, None)
+    assert abs(output.steeringAngleDeg) <= 20.
+    assert abs(output.steeringAngleDeg - previous) <= 5.
+    previous = output.steeringAngleDeg
+  assert previous == direction * 20.
+
+  cs.out.steeringAngleDeg = -direction * 50.
+  output, _ = controller.update(cc.as_reader(), cs, 1000000000, None)
+  assert abs(output.steeringAngleDeg - previous) <= 5.
+
+  cc.latActive = False
+  controller.frame = 102
+  output, _ = controller.update(cc.as_reader(), cs, 1020000000, None)
+  assert output.steeringAngleDeg == cs.out.steeringAngleDeg
@@ -0,0 +1,29 @@
+"""Byte-level invariants for Pre-AP stalk spoof frames."""
+
+from opendbc.can import CANPacker
+from opendbc.car.tesla.preap.teslacan import TeslaCANPreAP, _STW_DEFAULTS
+from opendbc.car.tesla.values import CANBUS, CruiseButtons
+
+
+def _spoof(button):
+  tc = TeslaCANPreAP(CANPacker("tesla_can"))
+  msg_stw = {"MC_STW_ACTN_RQ": 5, "CRC_STW_ACTN_RQ": 0, "DTR_Dist_Rq": 255}
+  msg_stw.update(_STW_DEFAULTS)
+  msg_stw["VSL_Enbl_Rq"] = 0
+  _, dat, _ = tc.create_action_request(button, CANBUS.party, 6, msg_stw)
+  return dat
+
+
+def test_vsl_enable_bit_is_set_on_cancel():
+  dat = _spoof(CruiseButtons.CANCEL)
+  assert (dat[0] >> 6) & 1 == 1
+
+
+def test_vsl_enable_bit_is_set_on_set_accel():
+  dat = _spoof(CruiseButtons.SET_ACCEL)
+  assert (dat[0] >> 6) & 1 == 1
+
+
+def test_stalk_button_and_vsl_bits_match_real_set_accel_frame():
+  dat = _spoof(CruiseButtons.SET_ACCEL)
+  assert dat[0] == 0x50
@@ -16,7 +16,7 @@ class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)

-    self.radar_off_can = CP.radarUnavailable or CP.carFingerprint != CAR.TESLA_MODEL_S_PREAP
+    self.radar_off_can = CP.radarUnavailable or Bus.radar not in DBC[CP.carFingerprint]
    self.updated_messages: set[int] = set()
    self.track_id = 0
    self.radar_offset = float(nap_conf.radar_offset) if CP.carFingerprint == CAR.TESLA_MODEL_S_PREAP else 0.0
@@ -1,3 +1,5 @@
+import numpy as np
+
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.tesla.values import CANBUS, CarControllerParams

@@ -5,6 +7,7 @@ from opendbc.car.tesla.values import CANBUS, CarControllerParams
 class TeslaCAN:
  def __init__(self, packer):
    self.packer = packer
+    self.gas_release_frame = 0

  def create_steering_control(self, angle, enabled):
    values = {
@@ -15,15 +18,20 @@ class TeslaCAN:

    return self.packer.make_can_msg("DAS_steeringControl", CANBUS.party, values)

-  def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active):
+  def create_longitudinal_command(self, acc_state, accel, counter, frame, v_ego, gas_pressed):
    set_speed = min(max(v_ego + accel, 0) * CV.MS_TO_KPH, 400)

+    if gas_pressed:
+      self.gas_release_frame = frame
+
+    jerk = float(np.interp(frame - self.gas_release_frame, [0, 100], [0.0, CarControllerParams.JERK_LIMIT_MAX]))
+
    values = {
      "DAS_setSpeed": set_speed,
      "DAS_accState": acc_state,
      "DAS_aebEvent": 0,
-      "DAS_jerkMin": CarControllerParams.JERK_LIMIT_MIN,
-      "DAS_jerkMax": CarControllerParams.JERK_LIMIT_MAX,
+      "DAS_jerkMin": -jerk,
+      "DAS_jerkMax": jerk,
      "DAS_accelMin": accel,
      "DAS_accelMax": max(accel, 0),
      "DAS_controlCounter": counter,
@@ -0,0 +1,53 @@
+from opendbc.car.common.conversions import Conversions as CV
+from opendbc.car.interfaces import V_CRUISE_MAX
+from opendbc.car.tesla.values import CANBUS, CarControllerParams
+
+
+class TeslaCANRaven:
+  """CAN commands used by the legacy Model S/X powertrain and EPAS buses."""
+
+  def __init__(self, packers):
+    self.packers = packers
+    self.CCP = CarControllerParams
+    self.jerk_upper = self.CCP.JERK_LIMIT_MAX
+    self.jerk_lower = self.CCP.JERK_LIMIT_MIN
+
+  @staticmethod
+  def checksum(msg_id, dat):
+    return ((msg_id & 0xFF) + ((msg_id >> 8) & 0xFF) + sum(dat)) & 0xFF
+
+  def create_steering_control(self, counter, angle, enabled):
+    values = {
+      "DAS_steeringControlCounter": counter,
+      "DAS_steeringAngleRequest": -angle,
+      "DAS_steeringHapticRequest": 0,
+      "DAS_steeringControlType": 1 if enabled else 0,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)[1]
+    values["DAS_steeringControlChecksum"] = self.checksum(0x488, data[:3])
+    return self.packers[CANBUS.party].make_can_msg("DAS_steeringControl", CANBUS.party, values)
+
+  def create_longitudinal_command(self, acc_state, accel, counter, v_ego, active, gas_pressed):
+    set_speed = max(v_ego * CV.MS_TO_KPH, 0)
+    if active:
+      set_speed = 0 if accel < 0 else V_CRUISE_MAX
+
+    if gas_pressed:
+      self.jerk_upper = self.jerk_lower = 0.0
+    else:
+      self.jerk_lower = max(self.jerk_lower - self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MIN)
+      self.jerk_upper = min(self.jerk_upper + self.CCP.JERK_RAMP_RATE, self.CCP.JERK_LIMIT_MAX)
+
+    values = {
+      "DAS_setSpeed": set_speed,
+      "DAS_accState": acc_state,
+      "DAS_aebEvent": 0,
+      "DAS_jerkMin": self.jerk_lower,
+      "DAS_jerkMax": self.jerk_upper,
+      "DAS_accelMin": accel,
+      "DAS_accelMax": max(accel, 0),
+      "DAS_controlCounter": counter,
+    }
+    data = self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)[1]
+    values["DAS_controlChecksum"] = self.checksum(0x2b9, data[:7])
+    return self.packers[CANBUS.party].make_can_msg("DAS_control", CANBUS.party, values)
@@ -0,0 +1,148 @@
+#!/usr/bin/env python3
+"""Offline AP1/HW1 CAN, radar, controller, and panda-safety replay.
+
+Usage: PYTHONPATH=. python -m opendbc.car.tesla.tests.replay_hw1_route PATH_TO_RLOGS
+
+The supplied Pre-AP recording contains stock AP commands copied to bus 0 while
+ELM327/old firmware forwarded traffic. The counterfactual run skips those copies:
+the HW1 safety mode blocks stock 0x488/0x2b9 forwarding on bus 2. This is NOT a
+physical HW1 drive; it cannot validate engagement or steering actuation on-car.
+"""
+
+import argparse
+from collections import Counter
+from pathlib import Path
+
+from cereal import custom
+from openpilot.tools.lib.logreader import LogReader
+from opendbc.car import Bus, structs
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.radar_interface import RadarInterface
+from opendbc.car.tesla.values import CAR, DBC, TeslaSafetyFlags
+from opendbc.safety.tests.libsafety import libsafety_py
+
+
+def replay(paths: list[Path], simulate_active: bool = False):
+  fp = {0: {0x201: 5}, 1: {}, 2: {}}
+  cp = CarInterface.get_params(CAR.TESLA_MODEL_S_HW1, fp, [], True, False, False, None)
+  assert cp.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert cp.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+  safety = libsafety_py.libsafety
+  assert safety.set_safety_hooks(int(structs.CarParams.SafetyModel.tesla), cp.safetyConfigs[0].safetyParam) == 0
+  safety.init_tests()
+
+  parsers = CarState.get_can_parsers(cp)
+  cs = CarState(cp, custom.StarPilotCarParams.new_message())
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  active_controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp) if simulate_active else None
+  radar = RadarInterface(cp)
+  stats = Counter()
+  first_rejected = []
+  active_rejected = []
+  last_ap_command: dict[tuple[int, bytes], int] = {}
+  suppressed_examples = []
+
+  for path in paths:
+    for event in LogReader(str(path)):
+      if event.which() != "can":
+        continue
+      t = event.logMonoTime
+      frames = [(x.address, bytes(x.dat), x.src) for x in event.can]
+      stock_in_event = {(a, d) for a, d, b in frames if b == 2 and a in (0x488, 0x2b9)}
+      for a, d, b in frames:
+        if b == 2 and a in (0x488, 0x2b9):
+          last_ap_command[(a, d)] = t
+        if b == 0 and a in (0x488, 0x2b9):
+          seen = last_ap_command.get((a, d), -1)
+          if (a, d) in stock_in_event or (0 <= t - seen < 250_000_000):
+            stats["suppressed_bus0_stock_copies"] += 1
+            continue
+          stats["unmatched_bus0_stock_commands"] += 1
+          if len(suppressed_examples) < 5:
+            suppressed_examples.append((path.name, t, hex(a), d.hex()))
+        if b < 128:
+          stats["physical_rx"] += 1
+          if not safety.safety_rx_hook(libsafety_py.make_CANPacket(a, b, d)):
+            stats["rx_rejected"] += 1
+          if b == 2 and a in (0x488, 0x2b9):
+            stats["stock_forward_blocked"] += safety.safety_fwd_hook(b, a) == -1
+
+      safety.set_timer((t // 1000) & 0xffffffff)
+      safety.safety_tick_current_safety_config()
+      stats["safety_invalid_ticks"] += not safety.safety_config_valid()
+      stats["relay_malfunction_ticks"] += safety.get_relay_malfunction()
+      stats["controls_allowed_ticks"] += safety.get_controls_allowed()
+
+      batch = [(t, frames)]
+      for parser in parsers.values():
+        parser.update(batch)
+        stats["invalid_car_parser_ticks"] += not parser.can_valid
+      out, _ = cs.update(parsers, None)
+      cs.out = out
+      stats["carstate_faulted_ticks"] += out.accFaulted
+      stats["seatbelt_unlatched_ticks"] += out.seatbeltUnlatched
+      stats["steering_inhibited_ticks"] += out.steerFaultTemporary
+      stats["cruise_engaged_ticks"] += out.cruiseState.enabled
+
+      radar_data = radar.update(batch)
+      if radar_data is not None:
+        stats["radar_updates"] += 1
+        stats["radar_points"] += len(radar_data.points)
+        stats["radar_error_updates"] += radar_data.errors.canError or radar_data.errors.radarFault
+
+      cc = structs.CarControl.new_message()
+      cc.actuators.steeringAngleDeg = out.steeringAngleDeg
+      cc.actuators.accel = 0.
+      # Do not fabricate engagement on the actual faulted/standby route.
+      _, sends = controller.update(cc.as_reader(), cs, t, None)
+      for a, d, b in sends:
+        stats["generated_tx"] += 1
+        stats[f"generated_{hex(a)}"] += 1
+        if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+          stats["tx_rejected"] += 1
+          if len(first_rejected) < 5:
+            first_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, safety.get_relay_malfunction()))
+
+      if active_controller is not None:
+        # A synthetic gate test only. This recording never engaged cruise, so
+        # enabling controls here does NOT represent an actual car-state transition.
+        eligible = (not (out.steerFaultTemporary or out.steerFaultPermanent or out.steeringDisengage or out.accFaulted or
+                         out.gasPressed or out.brakePressed or out.stockAeb or out.stockLkas) and out.vEgoRaw > 2.)
+        simulated = structs.CarControl.new_message()
+        simulated.latActive = eligible
+        simulated.longActive = eligible
+        simulated.actuators.steeringAngleDeg = out.steeringAngleDeg
+        simulated.actuators.accel = 0.5 if eligible else 0.
+        _, active_sends = active_controller.update(simulated.as_reader(), cs, t, None)
+        if eligible:
+          stats["simulated_eligible_ticks"] += 1
+          safety.set_controls_allowed(True)
+          for a, d, b in active_sends:
+            stats["simulated_tx"] += 1
+            stats[f"simulated_{hex(a)}"] += 1
+            if not safety.safety_tx_hook(libsafety_py.make_CANPacket(a, b, d)):
+              stats["simulated_tx_rejected"] += 1
+              if len(active_rejected) < 5:
+                active_rejected.append((path.name, t, hex(a), d.hex(), out.steeringAngleDeg, out.vEgoRaw))
+          safety.set_controls_allowed(False)
+      stats["can_events"] += 1
+    print(f"{path.name}: {dict(stats)}", flush=True)
+
+  print(f"unmatched bus-0 command examples: {suppressed_examples}")
+  print(f"rejected TX examples: {first_rejected}")
+  print(f"rejected synthetic-active TX examples: {active_rejected}")
+  print(f"final: {dict(stats)}")
+  return stats
+
+
+if __name__ == "__main__":
+  argp = argparse.ArgumentParser(description=__doc__)
+  argp.add_argument("rlogs", type=Path, help="directory containing segment rlog.zst files")
+  argp.add_argument("--simulate-active", action="store_true", help="force safety engagement only on healthy standby samples")
+  args = argp.parse_args()
+  files = sorted(args.rlogs.glob("*.rlog.zst"))
+  if not files:
+    argp.error("no *.rlog.zst files found")
+  replay(files, args.simulate_active)
@@ -1,3 +1,4 @@
+import math
 from types import SimpleNamespace

 import pytest
@@ -73,3 +74,110 @@ def test_safety_flag_is_model_3_only(candidate, enabled, expected):

  if candidate != CAR.TESLA_MODEL_S_PREAP:
    assert CarController(DBC[candidate], params).coop_enabled is expected
+
+
+def assert_finite_nonnegative_limit_errors(controller):
+  errors = (controller.resume_limit_error_deg, controller.cooperative_limit_error_deg)
+  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
+  assert math.isfinite(controller.cooperative_offset_deg)
+
+
+def test_zero_torque_has_zero_cooperative_diagnostics(vehicle_model):
+  controller = CooperativeSteeringController()
+
+  angle, lat_active = controller.update(0.0, True, True, make_car_state(), vehicle_model)
+
+  assert angle == 0.0
+  assert lat_active
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg == 0.0
+  assert controller.cooperative_offset_deg == 0.0
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_steady_light_torque_reports_offset_without_real_limiting(vehicle_model):
+  controller = CooperativeSteeringController()
+
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
+
+  assert controller.cooperative_offset_deg > 2.5
+  assert controller.resume_limit_error_deg < 2.5
+  assert controller.cooperative_limit_error_deg < 2.5
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_torque_reversal_updates_signed_offset_without_negative_errors(vehicle_model):
+  controller = CooperativeSteeringController()
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=0.9), vehicle_model)
+
+  for _ in range(200):
+    controller.update(0.0, True, True, make_car_state(torque=-0.9), vehicle_model)
+
+  assert controller.cooperative_offset_deg < -2.5
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_release_reports_gradual_offset_unwind(vehicle_model):
+  controller = CooperativeSteeringController()
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(torque=1.5), vehicle_model)
+
+  offsets = []
+  for _ in range(100):
+    controller.update(0.0, True, True, make_car_state(), vehicle_model)
+    offsets.append(controller.cooperative_offset_deg)
+
+  assert offsets[0] > offsets[-1] >= 0.0
+  assert all(next_offset <= offset for offset, next_offset in zip(offsets, offsets[1:]))
+  assert offsets[-1] == pytest.approx(0.0, abs=1e-6)
+  assert_finite_nonnegative_limit_errors(controller)
+
+
+def test_resume_ramp_reports_resume_limiting(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(0.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+
+  assert controller.resume_limit_error_deg > 2.5
+  assert controller.cooperative_limit_error_deg < 2.5
+  assert controller.cooperative_offset_deg == 0.0
+
+
+def test_final_limiter_reports_cooperative_target_clipping(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg > 2.5
+  assert controller.cooperative_offset_deg == 0.0
+
+
+def test_final_limiter_remains_visible_with_light_torque(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.reset_override_state(0.0)
+
+  controller.update(20.0, True, True, make_car_state(torque=-0.9), vehicle_model)
+
+  assert abs(controller.cooperative_offset_deg) > 0.0
+  assert controller.cooperative_limit_error_deg > 2.5
+
+
+def test_diagnostics_reset_on_disabled_update(vehicle_model):
+  controller = CooperativeSteeringController()
+  controller.reset_resume_state(20.0)
+  controller.update(20.0, True, True, make_car_state(), vehicle_model)
+  assert controller.cooperative_limit_error_deg > 2.5
+
+  controller.update(4.0, True, False, make_car_state(torque=2.0), vehicle_model)
+
+  assert controller.resume_limit_error_deg == 0.0
+  assert controller.cooperative_limit_error_deg == 0.0
+  assert controller.cooperative_offset_deg == 0.0
@@ -0,0 +1,228 @@
+import json
+import math
+from pathlib import Path
+from types import SimpleNamespace
+
+import pytest
+
+import cereal.messaging as messaging
+
+from cereal import car
+from opendbc.car import gen_empty_fingerprint
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.values import CAR, DBC
+
+
+BASELINE_SHA = "a80064be4fdf4b8765a5e9dec44d8a5c266f48a8"
+BASELINE_SOURCE_SHA256 = {
+  "opendbc_repo/opendbc/car/tesla/coop_steering.py": "9c9d60bbfae2aaa0d8c1fca203a9fa19a14a19feef5aa89e85ecaa6f6502a9f0",
+  "opendbc_repo/opendbc/car/tesla/carcontroller.py": "1ef3cf646bc4b3c398bd12010e624b90e083426152d632fafb5b2e93fd3d8661",
+}
+BASELINE_FIXTURE = Path(__file__).parent / "fixtures" / "coop_steering_baseline_a80064be.json"
+
+
+def make_params(candidate=CAR.TESLA_MODEL_3, cooperative=True):
+  toggles = SimpleNamespace(tesla_cooperative_steering=cooperative, trailer_load_kg=0.0)
+  return CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, toggles)
+
+
+def make_car_state(torque=0.0, speed=15.0, angle=0.0, steering_disengage=False):
+  return SimpleNamespace(
+    out=SimpleNamespace(
+      steeringTorque=torque,
+      steeringAngleDeg=angle,
+      steeringDisengage=steering_disengage,
+      vEgo=speed,
+      vEgoRaw=speed,
+      gasPressed=False,
+    ),
+    hands_on_level=0,
+    das_control={"DAS_controlCounter": 0},
+  )
+
+
+def make_control(requested_angle=0.0, lat_active=True):
+  control = car.CarControl.new_message()
+  control.latActive = lat_active
+  control.actuators.steeringAngleDeg = requested_angle
+  return control.as_reader()
+
+
+def make_controller(candidate=CAR.TESLA_MODEL_3, cooperative=True):
+  params = make_params(candidate, cooperative)
+  return CarController(DBC[candidate], params)
+
+
+def run_frame(controller, requested_angle=0.0, torque=0.0, speed=15.0, measured_angle=0.0,
+              lat_active=True, steering_disengage=False, now_nanos=1_000_000_000):
+  return controller.update(
+    make_control(requested_angle, lat_active),
+    make_car_state(torque, speed, measured_angle, steering_disengage),
+    now_nanos,
+    SimpleNamespace(),
+  )
+
+
+def get_limit_info(controller):
+  return SimpleNamespace(**controller.get_steering_limit_info())
+
+
+def legacy_actuator_dict(actuators):
+  return actuators.to_dict()
+
+
+def test_steering_limit_info_defaults_to_invalid():
+  controller = make_controller()
+
+  info = get_limit_info(controller)
+  assert not info.valid
+  assert info.monoTime == 0
+
+
+def test_steering_limit_info_round_trips_through_custom_message():
+  message = messaging.new_message("starpilotCarControl", valid=True)
+  info = message.starpilotCarControl.steeringLimitInfo
+  info.valid = True
+  info.modelLimitErrorDeg = 1.25
+  info.resumeLimitErrorDeg = 0.5
+  info.cooperativeLimitErrorDeg = 2.0
+  info.cooperativeOffsetDeg = -4.5
+  info.monoTime = 1_234_567_890
+  info.combinedLimitErrorDeg = 3.75
+
+  restored = messaging.log_from_bytes(message.to_bytes())
+  restored_info = restored.starpilotCarControl.steeringLimitInfo
+  assert restored_info.valid
+  assert restored_info.modelLimitErrorDeg == 1.25
+  assert restored_info.resumeLimitErrorDeg == 0.5
+  assert restored_info.cooperativeLimitErrorDeg == 2.0
+  assert restored_info.cooperativeOffsetDeg == -4.5
+  assert restored_info.monoTime == 1_234_567_890
+  assert restored_info.combinedLimitErrorDeg == 3.75
+
+
+def test_active_cooperative_controller_reports_diagnostics():
+  controller = make_controller()
+  requested_angle = 20.0
+  now_nanos = 1_234_567_890
+
+  actuators, _ = run_frame(controller, requested_angle, torque=0.9, measured_angle=0.0, now_nanos=now_nanos)
+
+  info = get_limit_info(controller)
+  assert info.valid
+  assert info.monoTime == now_nanos
+  assert info.modelLimitErrorDeg == pytest.approx(abs(requested_angle - controller.apply_angle_last), abs=1e-5)
+  assert info.resumeLimitErrorDeg == pytest.approx(controller.coop_steer.resume_limit_error_deg, abs=1e-5)
+  assert info.cooperativeLimitErrorDeg == pytest.approx(controller.coop_steer.cooperative_limit_error_deg, abs=1e-5)
+  assert info.cooperativeOffsetDeg == pytest.approx(controller.coop_steer.cooperative_offset_deg, abs=1e-5)
+  assert info.combinedLimitErrorDeg == pytest.approx(
+    abs(requested_angle + info.cooperativeOffsetDeg - actuators.steeringAngleDeg), abs=1e-5,
+  )
+  assert info.modelLimitErrorDeg > 2.5
+  assert info.cooperativeOffsetDeg > 0.0
+  assert info.combinedLimitErrorDeg > 2.5
+  errors = (info.modelLimitErrorDeg, info.resumeLimitErrorDeg,
+            info.cooperativeLimitErrorDeg, info.combinedLimitErrorDeg)
+  assert all(math.isfinite(error) and error >= 0.0 for error in errors)
+
+
+def test_cooperative_offset_alone_does_not_become_limiter_error():
+  controller = make_controller()
+  actuators = None
+
+  for frame in range(200):
+    actuators, _ = run_frame(controller, torque=0.9, now_nanos=1_000_000_000 + frame * 10_000_000)
+
+  assert actuators is not None
+  info = get_limit_info(controller)
+  assert info.valid
+  assert info.cooperativeOffsetDeg > 2.5
+  assert info.modelLimitErrorDeg < 2.5
+  assert info.resumeLimitErrorDeg < 2.5
+  assert info.cooperativeLimitErrorDeg < 2.5
+  assert info.combinedLimitErrorDeg < 2.5
+
+
+def test_combined_error_keeps_two_same_direction_small_limits_visible():
+  controller = make_controller()
+  # Prime the resume limiter to the first-stage output for this literal input.
+  controller.coop_steer.reset_resume_state(-0.9954867959022522)
+
+  actuators, _ = run_frame(controller, -2.5, torque=-1.5, speed=12.5, measured_angle=0.0)
+
+  info = get_limit_info(controller)
+  assert info.modelLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
+  assert info.resumeLimitErrorDeg == pytest.approx(0.0, abs=1e-5)
+  assert info.cooperativeLimitErrorDeg == pytest.approx(1.5045133, abs=1e-5)
+  assert info.modelLimitErrorDeg < 2.5
+  assert info.cooperativeLimitErrorDeg < 2.5
+  assert info.combinedLimitErrorDeg == pytest.approx(3.0090265, abs=1e-5)
+  assert info.combinedLimitErrorDeg > 2.5
+
+
+def test_intervening_100hz_frame_retains_matching_50hz_sample():
+  controller = make_controller()
+  first, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
+  first_info = controller.get_steering_limit_info()
+
+  second, _ = run_frame(controller, -40.0, torque=-1.5, now_nanos=1_010_000_000)
+
+  assert controller.get_steering_limit_info() == first_info
+  assert controller.get_steering_limit_info()["monoTime"] == 1_000_000_000
+
+
+def test_inactive_interval_clears_sample_until_next_steering_update():
+  controller = make_controller()
+  active, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_000_000_000)
+  assert get_limit_info(controller).valid
+
+  inactive, _ = run_frame(controller, 8.0, torque=0.9, lat_active=False, now_nanos=1_010_000_000)
+  assert not get_limit_info(controller).valid
+  assert get_limit_info(controller).monoTime == 0
+
+  resumed, _ = run_frame(controller, 8.0, torque=0.9, now_nanos=1_020_000_000)
+  assert get_limit_info(controller).valid
+  assert get_limit_info(controller).monoTime == 1_020_000_000
+
+
+@pytest.mark.parametrize(("candidate", "cooperative", "steering_disengage"), (
+  (CAR.TESLA_MODEL_3, False, False),
+  (CAR.TESLA_MODEL_Y, True, False),
+  (CAR.TESLA_MODEL_3, True, True),
+))
+def test_diagnostics_invalid_when_not_in_supported_active_path(candidate, cooperative, steering_disengage):
+  controller = make_controller(candidate, cooperative)
+
+  actuators, _ = run_frame(controller, torque=1.5, steering_disengage=steering_disengage)
+
+  info = get_limit_info(controller)
+  assert not info.valid
+  assert info.monoTime == 0
+
+
+def test_actual_actuators_and_steering_can_match_pinned_baseline_fixture():
+  fixture = json.loads(BASELINE_FIXTURE.read_text())
+  assert fixture["metadata"] == {
+    "schemaVersion": 1,
+    "baselineSha": BASELINE_SHA,
+    "baselineSourceSha256": BASELINE_SOURCE_SHA256,
+    "frameCount": 386,
+  }
+
+  candidate = make_controller()
+  for expected in fixture["frames"]:
+    inputs = expected["input"]
+    candidate_actuators, candidate_can = run_frame(
+      candidate,
+      inputs["requestedAngleDeg"],
+      inputs["torqueNm"],
+      inputs["speedMps"],
+      inputs["measuredAngleDeg"],
+      inputs["latActive"],
+      inputs["steeringDisengage"],
+      inputs["nowNanos"],
+    )
+
+    assert legacy_actuator_dict(candidate_actuators) == expected["actuators"]
+    assert [[address, data.hex(), bus] for address, data, bus in candidate_can] == expected["can"]
@@ -0,0 +1,134 @@
+import pytest
+
+from cereal import custom
+
+from opendbc.can import CANPacker, CANParser
+from opendbc.car import Bus, structs
+from opendbc.car.fw_versions import match_fw_to_car
+from opendbc.car.tesla.carcontroller import CarController
+from opendbc.car.tesla.carstate import CarState
+from opendbc.car.tesla.fingerprints import FW_VERSIONS
+from opendbc.car.tesla.interface import CarInterface
+from opendbc.car.tesla.teslacan_legacy import TeslaCANRaven
+from opendbc.car.tesla.values import CANBUS, CAR, DBC, TeslaSafetyFlags
+
+
+def test_hw1_is_distinct_from_preap_and_does_not_change_can_buses():
+  preap = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_PREAP)
+  hw1 = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+
+  assert preap.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.teslaPreAP
+  assert hw1.safetyConfigs[0].safetyModel == structs.CarParams.SafetyModel.tesla
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value
+  assert hw1.radarTimeStepDEPRECATED == pytest.approx(0.125)
+  assert preap.radarTimeStepDEPRECATED == pytest.approx(0.05)
+  assert CANBUS.party == 0 and CANBUS.autopilot_party == 2
+  assert CarState.get_can_parsers(hw1)[Bus.ap_pt].bus == 2
+  assert CarState.get_can_parsers(hw1)[Bus.chassis].message_states[0x211].ignore_alive
+  assert CarState.get_can_parsers(preap)[Bus.party].bus == 0
+
+
+def test_hw1_requires_explicit_alpha_long_for_acceleration():
+  ret = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  hw1 = CarInterface._get_params(ret, CAR.TESLA_MODEL_S_HW1, {0: {0x201: 5}}, [], True, False, False)
+  assert hw1.openpilotLongitudinalControl
+  assert hw1.safetyConfigs[0].safetyParam == TeslaSafetyFlags.FLAG_HW1.value | TeslaSafetyFlags.LONG_CONTROL.value
+
+
+def test_ap1_eps_fw_matches_hw1_without_matching_preap():
+  version = FW_VERSIONS[CAR.TESLA_MODEL_S_HW1][(structs.CarParams.Ecu.eps, 0x730, None)][0]
+  fw = structs.CarParams.CarFw(ecu=structs.CarParams.Ecu.eps, address=0x730, brand="tesla", fwVersion=version)
+  exact, candidates = match_fw_to_car([fw], "", log=False)
+  assert exact and candidates == {CAR.TESLA_MODEL_S_HW1}
+
+
+def test_hw1_display_and_cruise_bytes_do_not_change_preap_signals():
+  # Captured bus-0 DI_state (0x368) from the AP1 route: display 9 MPH, set speed 10 MPH.
+  parser = CANParser("tesla_can", [(0x368, 0)], 0)
+  parser.message_states[0x368].ignore_counter = True
+  frames = [(0x368, bytes.fromhex("84185e3009980a2d"), 0)]
+  parser.update([(1_000_000_000, frames)])
+  parser.update([(2_000_000_000, frames)])
+  state = parser.vl["DI_state"]
+  assert state["DI_hw1DigitalSpeed"] == 9
+  assert state["DI_hw1CruiseSet"] == 10
+  assert state["DI_digitalSpeed"] == 10
+  assert state["DI_cruiseSet"] != 10
+
+
+def test_hw1_packer_emits_bus_zero_with_matching_checksums():
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.party])
+  tesla_can = TeslaCANRaven({CANBUS.party: packer})
+  for msg, expected_addr, checksum_index in (
+    (tesla_can.create_steering_control(0, 0, False), 0x488, 3),
+    (tesla_can.create_longitudinal_command(13, 0, 0, 10, False, False), 0x2b9, 7),
+  ):
+    addr, data, bus = msg
+    assert addr == expected_addr and bus == 0
+    assert data[checksum_index] == TeslaCANRaven.checksum(addr, data[:checksum_index])
+
+
+def test_hw1_cancel_clears_acceleration_and_does_not_request_max_speed():
+  cp = CarInterface._get_params(CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1),
+                                CAR.TESLA_MODEL_S_HW1, {0: {}}, [], True, False, False)
+  controller = CarController(DBC[CAR.TESLA_MODEL_S_HW1], cp)
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  state.out.vEgo = 10.
+  cc = structs.CarControl.new_message()
+  cc.longActive = True
+  cc.cruiseControl.cancel = True
+  cc.actuators.accel = 2.
+  _, sends = controller.update(cc.as_reader(), state, 0, None)
+  _, data, bus = next(msg for msg in sends if msg[0] == 0x2b9)
+  assert bus == 0
+  parser = CANParser("tesla_can", [(0x2b9, 0)], 0)
+  parser.update([(1_000_000_000, [(0x2b9, data, bus)])])
+  decoded = parser.vl["DAS_control"]
+  assert decoded["DAS_accState"] == 13
+  assert decoded["DAS_accelMin"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_accelMax"] == pytest.approx(0, abs=0.05)
+  assert decoded["DAS_setSpeed"] != 200
+
+
+def test_hw1_carstate_uses_ap1_powertrain_and_chassis():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  frames = [
+    (0x155, bytes.fromhex("000000000005e308"), 0),  # ESP speed 15.07 kph
+    (0x368, bytes.fromhex("84185e3009980a2d"), 0),
+    (0x201, bytes.fromhex("5444008df2"), 0),
+  ]
+  for parser in parsers.values():
+    for addr in (0x155, 0x368, 0x201):
+      _ = parser.vl[addr]
+      parser.message_states[addr].ignore_counter = True
+      parser.message_states[addr].ignore_checksum = True
+    parser.update([(1_000_000_000, frames)])
+    parser.update([(2_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  ret, _ = state.update(parsers, None)
+  assert not ret.cruiseState.enabled
+  assert ret.cruiseState.speed == pytest.approx(10 * 0.44704)
+  assert ret.vEgoRaw == pytest.approx(15.07 / 3.6)
+  assert not ret.seatbeltUnlatched
+
+  # A stale belt frame cannot allow an engagement indefinitely.
+  for parser in parsers.values():
+    parser.update([(4_000_000_000, [])])
+  ret, _ = state.update(parsers, None)
+  assert ret.seatbeltUnlatched
+
+
+def test_hw1_can_use_rcm_buckle_when_sdm1_is_absent():
+  cp = CarInterface.get_non_essential_params(CAR.TESLA_MODEL_S_HW1)
+  parsers = CarState.get_can_parsers(cp)
+  packer = CANPacker(DBC[CAR.TESLA_MODEL_S_HW1][Bus.chassis])
+  addr, data, bus = packer.make_can_msg("RCM_status", 0, {"RCM_buckleDriverStatus": 1})
+  assert addr == 0x211 and bus == 0
+  frames = [(addr, data, bus)]
+  for parser in parsers.values():
+    _ = parser.vl["RCM_status"]
+    parser.update([(1_000_000_000, frames)])
+  state = CarState(cp, custom.StarPilotCarParams.new_message())
+  out, _ = state.update(parsers, None)
+  assert not out.seatbeltUnlatched
@@ -3,6 +3,7 @@ import pytest
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.tesla.carstate import update_tesla_gas_pressed
 from opendbc.car.tesla.teslacan import TeslaCAN
+from opendbc.car.tesla.values import CarControllerParams


 class RecordingPacker:
@@ -10,7 +11,6 @@ class RecordingPacker:
    return name, bus, values


-@pytest.mark.parametrize("active", [False, True])
@pytest.mark.parametrize(
  ("v_ego", "accel", "expected_set_speed"),
  [
@@ -20,12 +20,37 @@ class RecordingPacker:
    (120.0, 2.0, 400.0),
  ],
 )
-def test_longitudinal_set_speed_tracks_accel_continuously(active, v_ego, accel, expected_set_speed):
-  _, _, values = TeslaCAN(RecordingPacker()).create_longitudinal_command(4, accel, 0, v_ego, active)
+def test_longitudinal_set_speed_tracks_accel_continuously(v_ego, accel, expected_set_speed):
+  _, _, values = TeslaCAN(RecordingPacker()).create_longitudinal_command(4, accel, 0, 200, v_ego, False)

  assert values["DAS_setSpeed"] == pytest.approx(expected_set_speed)


+def test_longitudinal_jerk_ramps_after_gas_release():
+  can = TeslaCAN(RecordingPacker())
+
+  _, _, pressed = can.create_longitudinal_command(4, 0, 0, 20, 20, True)
+  _, _, halfway = can.create_longitudinal_command(4, 0, 1, 70, 20, False)
+  _, _, complete = can.create_longitudinal_command(4, 0, 2, 120, 20, False)
+
+  assert pressed["DAS_jerkMin"] == pytest.approx(0.0)
+  assert pressed["DAS_jerkMax"] == pytest.approx(0.0)
+  assert halfway["DAS_jerkMin"] == pytest.approx(-CarControllerParams.JERK_LIMIT_MAX / 2)
+  assert halfway["DAS_jerkMax"] == pytest.approx(CarControllerParams.JERK_LIMIT_MAX / 2)
+  assert complete["DAS_jerkMin"] == pytest.approx(-CarControllerParams.JERK_LIMIT_MAX)
+  assert complete["DAS_jerkMax"] == pytest.approx(CarControllerParams.JERK_LIMIT_MAX)
+
+
+def test_longitudinal_jerk_release_timer_resets_while_gas_is_pressed():
+  can = TeslaCAN(RecordingPacker())
+
+  can.create_longitudinal_command(4, 0, 0, 20, 20, True)
+  _, _, values = can.create_longitudinal_command(4, 0, 1, 80, 20, True)
+
+  assert values["DAS_jerkMin"] == pytest.approx(0.0)
+  assert values["DAS_jerkMax"] == pytest.approx(0.0)
+
+
 def test_tesla_gas_pressed_hysteresis_prevents_release_chatter():
  assert update_tesla_gas_pressed(False, 0.4) is False
  assert update_tesla_gas_pressed(False, 0.8) is False
@@ -70,6 +70,16 @@ class CAR(Platforms):
      Bus.radar: 'tesla_radar_bosch_generated',
    },
  )
+  TESLA_MODEL_S_HW1 = TeslaPlatformConfig(
+    [CarDocs("Tesla Model S (with HW1) 2014-16", "All", support_type=SupportType.COMMUNITY, support_link="#community")],
+    CarSpecs(mass=2100., wheelbase=2.960, steerRatio=15.0),
+    {
+      Bus.chassis: 'tesla_can',
+      Bus.party: 'tesla_can',
+      Bus.pt: 'tesla_can',
+      Bus.radar: 'tesla_radar_bosch_generated',
+    },
+  )


 FW_QUERY_CONFIG = FwQueryConfig(
@@ -126,10 +136,13 @@ class CarControllerParams:
  ACCEL_MIN = -3.48  # m/s^2
  JERK_LIMIT_MAX = 4.9  # m/s^3, ACC faults at 5.0
  JERK_LIMIT_MIN = -4.9  # m/s^3, ACC faults at 5.0
+  JERK_RAMP_RATE = JERK_LIMIT_MAX * 0.002


 class TeslaSafetyFlags(IntFlag):
  LONG_CONTROL = 1
+  FLAG_EXTERNAL_PANDA = 4
+  FLAG_HW1 = 8
  COOP_STEERING = 256


@@ -158,5 +171,7 @@ class CruiseButtons:

 DBC = CAR.create_dbc_map()

+LEGACY_CARS = (CAR.TESLA_MODEL_S_HW1,)
+
 STEER_THRESHOLD = 1
 STEER_DISENGAGE_THRESHOLD = 5.0
@@ -14,6 +14,7 @@ from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.values import Platform
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+from opendbc.car.volvo.values import CAR as VOLVO
 from opendbc.car.body.values import CAR as COMMA
 from opendbc.car.psa.values import CAR as PSA

@@ -34,6 +35,8 @@ non_tested_cars = [
  GM.CHEVROLET_MALIBU_ASCM,
  GM.CHEVROLET_MALIBU_SDGM,
  GM.CHEVROLET_SUBURBAN,
+  GM.CHEVROLET_SUBURBAN_ASCM,
+  GM.CHEVROLET_SUBURBAN_CAMERA,
  GM.CHEVROLET_TRAX,
  GM.CHEVROLET_VOLT_ASCM,
  GM.CHEVROLET_VOLT_CAMERA,
@@ -75,6 +78,7 @@ non_tested_cars = [
  HYUNDAI.HYUNDAI_ELANTRA_HEV_2024,
  HYUNDAI.HYUNDAI_KONA_EV_NON_SCC,
  HYUNDAI.HYUNDAI_KONA_NON_SCC,
+  HYUNDAI.KIA_RAY_EV,
  HYUNDAI.HYUNDAI_PALISADE_2023,
  HYUNDAI.KIA_CEED_PHEV_2022_NON_SCC,
  HYUNDAI.KIA_FORTE_2019_NON_SCC,
@@ -105,6 +109,12 @@ non_tested_cars = [
  TOYOTA.TOYOTA_COROLLA,
  TOYOTA.TOYOTA_RAV4H,

+  # No recorded routes yet
+  VOLVO.VOLVO_V40,
+  VOLVO.VOLVO_XC40_RECHARGE,
+  VOLVO.VOLVO_S60_RECHARGE,
+  VOLVO.POLESTAR_2,
+
 ]

 non_tested_cars.extend(CC_ONLY_CAR)
@@ -2,7 +2,7 @@ from types import SimpleNamespace

 import pytest
 from opendbc.car.can_definitions import CanData
-from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, can_fingerprint
+from opendbc.car.car_helpers import FRAME_FINGERPRINT, _apply_starpilot_access_policy, _get_gm_stored_candidate_fallback, _normalize_gm_suburban_camera_candidate, can_fingerprint
 from opendbc.car.fingerprints import _FINGERPRINTS as FINGERPRINTS
 from opendbc.car.gm.values import CAR as GM
 from opendbc.car.toyota.values import CAR as TOYOTA
@@ -116,3 +116,14 @@ class TestCanFingerprint:
    candidate = _apply_starpilot_access_policy("CHEVROLET_VOLT_CC", SimpleNamespace(block_user=True))

    assert candidate == "CHEVROLET_VOLT_CC"
+
+  def test_gm_suburban_camera_variant_uses_vin_and_camera_bus_signature(self):
+    fingerprints = {
+      0: {190: 6, 201: 8, 209: 7, 211: 2, 241: 6, 304: 1, 320: 3},
+      2: {0x24b: 8, 0x64b: 8},
+    }
+
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate("GMC_YUKON", fingerprints, "1GNSKJKJXKR148371") == "CHEVROLET_SUBURBAN_CAMERA"
+    assert _normalize_gm_suburban_camera_candidate(None, fingerprints, "1GNSKCKC5KR255194") is None
+    assert _normalize_gm_suburban_camera_candidate(None, {0: fingerprints[0], 2: {0x320: 3}}, "1GNSKJKJXKR148371") is None
@@ -300,6 +300,89 @@ class TestCarInterfaces:
    )
    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value

+  def test_hyundai_elantra_hev_auto_aol_uses_main_engage_flag(self):
+    toggles = get_test_starpilot_toggles()
+    toggles.always_on_lateral_main = True
+    fingerprint = {bus: {} for bus in range(8)}
+
+    car_params = HyundaiCarInterface.get_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    fp_car_params = HyundaiCarInterface.get_starpilot_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+
+    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value
+    assert not (fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value)
+
+  def test_hyundai_elantra_hev_lkas_aol_uses_lkas_engage_flag(self):
+    toggles = get_test_starpilot_toggles()
+    toggles.always_on_lateral_lkas = True
+    fingerprint = {bus: {} for bus in range(8)}
+
+    car_params = HyundaiCarInterface.get_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    fp_car_params = HyundaiCarInterface.get_starpilot_params(
+      HYUNDAI_CAR.HYUNDAI_ELANTRA_HEV_2024,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+
+    assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+    assert not (fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value)
+
+  @pytest.mark.parametrize(
+    ("candidate", "sets_main_aol_flag"),
+    (
+      (HYUNDAI_CAR.HYUNDAI_SONATA_HYBRID, True),
+      (HYUNDAI_CAR.HYUNDAI_SONATA, False),
+    ),
+  )
+  def test_hyundai_main_aol_engage_flag_is_scoped_to_hybrid(self, candidate, sets_main_aol_flag):
+    toggles = get_test_starpilot_toggles()
+    toggles.always_on_lateral_main = True
+    fingerprint = {bus: {} for bus in range(8)}
+
+    car_params = HyundaiCarInterface.get_params(
+      candidate,
+      fingerprint,
+      [],
+      alpha_long=True,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=toggles,
+    )
+    fp_car_params = HyundaiCarInterface.get_starpilot_params(
+      candidate,
+      fingerprint,
+      [],
+      car_params,
+      toggles,
+    )
+
+    has_main_aol_flag = bool(fp_car_params.safetyConfigs[-1].safetyParam &
+                             HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_ON_ENGAGE.value)
+    assert has_main_aol_flag is sets_main_aol_flag
+
  def test_toyota_disable_openpilot_long_sets_stock_long_safety_flag(self):
    CarInterface = interfaces[TOYOTA_CAR.TOYOTA_PRIUS_TSS2]
    fingerprint = {bus: {} for bus in range(8)}
@@ -283,6 +283,7 @@ class TestFwFingerprintTiming:
        'tesla': 0.1,
        'toyota': 0.7,
        'volkswagen': 0.65,
+        'volvo': 0.0,
        'rivian': 0.3,
        'psa': 0.1,
      },
@@ -26,6 +26,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "TESLA_MODEL_3" = [nan, 2.5, nan]
 "TESLA_MODEL_Y" = [nan, 2.5, nan]
 "TESLA_MODEL_X" = [nan, 2.5, nan]
+"TESLA_MODEL_S_HW1" = [nan, 2.5, nan]

 # Guess
 "VOLKSWAGEN_ID3_MK1" = [nan, 2.5, nan]
@@ -106,6 +107,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "KIA_CARNIVAL_4TH_GEN" = [1.75, 1.75, 0.15]
 "KIA_CARNIVAL_2025" = [1.75, 1.75, 0.15]
 "KIA_CARNIVAL_HEV_4TH_GEN" = [1.75, 1.75, 0.15]
+"KIA_RAY_EV" = [1.8, 2.0, 0.15]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
@@ -142,6 +144,9 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HONDA_NBOX_2G" = [1.2, 1.2, 0.2]
 "ACURA_TLX_2G" = [1.2, 1.2, 0.15]
 "PORSCHE_MACAN_MK1" = [2.0, 2.0, 0.2]
+"VOLVO_XC40_RECHARGE" = [1.5, 1.5, 0.1]
+"VOLVO_S60_RECHARGE" = [1.5, 1.5, 0.1]
+"VOLVO_V40" = [1.5, 1.5, 0.1]

 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]
--- a/Show More
+++ b/Show More