OBD

Adapted from commaai/opendbc#3249 by @lukasloetkolben.

SConstruct

@@ -1,4 +1,5 @@
 import os
+import importlib
 import shutil
 import subprocess
 import sys
@@ -128,6 +129,41 @@ elif arch == "aarch64" and AGNOS:
   arch = "larch64"
 assert arch in ["larch64", "aarch64", "x86_64", "Darwin"]
 
+# AGNOS 19.6 ships native dependencies as versioned Python packages. Link
+# Cap'n Proto statically from that managed package so release binaries don't
+# depend on the removed libcapnp-1.0.2.so system library.
+try:
+  capnproto = importlib.import_module("capnproto")
+except ModuleNotFoundError:
+  capnproto = None
+try:
+  ffmpeg = importlib.import_module("ffmpeg")
+except ModuleNotFoundError:
+  ffmpeg = None
+
+capnproto_include_dirs = [capnproto.INCLUDE_DIR] if capnproto is not None else []
+capnproto_lib_dirs = [capnproto.LIB_DIR] if capnproto is not None else []
+ffmpeg_include_dirs = [ffmpeg.INCLUDE_DIR] if ffmpeg is not None else []
+ffmpeg_lib_dirs = [ffmpeg.LIB_DIR] if ffmpeg is not None else []
+
+# Cross-builds install managed dependencies in /work/.venv-linux-arm64, but
+# comma devices expose the same packages from /usr/local/venv. Never embed the
+# host/container mount path in release binaries.
+ffmpeg_runtime_lib_dirs = ffmpeg_lib_dirs
+if arch == "larch64" and ffmpeg is not None:
+  ffmpeg_runtime_lib_dirs = [os.path.join("/usr/local/venv", os.path.relpath(ffmpeg.LIB_DIR, sys.prefix))]
+
+# The managed native-dependency packages keep their tools inside the package
+# instead of installing them into /usr/local/venv/bin. cereal invokes capnpc
+# directly while SConscript files are evaluated, so make the packaged tools
+# discoverable to both SCons actions and configure-time subprocesses.
+dependency_bin_dirs = [
+  package.BIN_DIR for package in (capnproto, ffmpeg)
+  if package is not None and os.path.isdir(package.BIN_DIR)
+]
+if dependency_bin_dirs:
+  os.environ["PATH"] = os.pathsep.join([*dependency_bin_dirs, os.environ["PATH"]])
+
 # Homebrew llvm can shadow Apple clang and break macOS SDK header resolution.
 # Use the system toolchain explicitly on macOS for reliable local builds.
 cc = '/usr/bin/clang' if arch == "Darwin" else 'clang'
@@ -269,7 +305,10 @@ env = Environment(
     "-Wno-vla-cxx-extension",
   ] + cflags + ccflags,
 
-  CPPPATH=cpppath + [
+  # Managed dependencies must precede the compatibility sysroot. The sysroot
+  # can intentionally retain legacy libraries for C3 support, but new release
+  # binaries must link against the versions shipped in the managed venv.
+  CPPPATH=capnproto_include_dirs + ffmpeg_include_dirs + cpppath + [
     "#",
     "#third_party/acados/include",
     "#third_party/acados/include/blasfeo/include",
@@ -288,11 +327,11 @@ env = Environment(
   RANLIB=ranlib,
   LINKFLAGS=ldflags,
 
-  RPATH=rpath,
+  RPATH=ffmpeg_runtime_lib_dirs + rpath,
 
   CFLAGS=["-std=gnu11"] + cflags,
   CXXFLAGS=["-std=c++1z"] + cxxflags,
-  LIBPATH=libpath + [
+  LIBPATH=capnproto_lib_dirs + ffmpeg_lib_dirs + libpath + [
     "#msgq_repo",
     "#third_party",
     "#selfdrive/pandad",
@@ -371,7 +410,15 @@ SConscript(['opendbc_repo/SConscript'], exports={'env': env_swaglog})
 SConscript(['cereal/SConscript'])
 
 Import('socketmaster', 'msgq')
-messaging = [socketmaster, msgq, 'capnp', 'kj',]
+if capnproto is not None:
+  messaging = [
+    socketmaster,
+    msgq,
+    File(os.path.join(capnproto.LIB_DIR, "libcapnp.a")),
+    File(os.path.join(capnproto.LIB_DIR, "libkj.a")),
+  ]
+else:
+  messaging = [socketmaster, msgq, 'capnp', 'kj']
 Export('messaging')
 
 

cereal/SConscript

@@ -1,3 +1,5 @@
+import subprocess
+
 Import('env', 'common', 'msgq')
 
 cereal_dir = Dir('.')
@@ -5,9 +7,15 @@ gen_dir = Dir('gen')
 
 # Build cereal
 schema_files = ['log.capnp', 'car.capnp', 'legacy.capnp', 'custom.capnp']
-env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
-            schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+schema_outputs = env.Command([f'gen/cpp/{s}.c++' for s in schema_files] + [f'gen/cpp/{s}.h' for s in schema_files],
+                             schema_files,
+                             f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+
+# capnpc embeds an exact compiler-version guard in every generated C++ header.
+# Include the tool version in the dependency signature so SCons cannot reuse
+# generated headers from a cache populated by another AGNOS/toolchain version.
+capnp_compiler_version = subprocess.check_output(['capnpc', '--version'], encoding='utf-8').strip()
+env.Depends(schema_outputs, env.Value(capnp_compiler_version))
 
 cereal = env.Library('cereal', [f'gen/cpp/{s}.c++' for s in schema_files])
 

cereal/custom.capnp

@@ -220,6 +220,12 @@ struct StarPilotPlan @0xf98d843bfd7004a3 {
   disableThrottle @35 :Bool;
   trackingLead @36 :Bool;
   stopSignConfirmed @37 :Bool;
+  pulseGlideCoasting @38 :Bool;  # developer-only P&G phase for on-road status UI
+  # Curve Speed Controller diagnostics, for tuning and rollout validation
+  cscOverridden @39 :Bool;          # driver cancelled this curve with RES+
+  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
 }
 
 struct StarPilotRadarState @0xb86e6369214c01c8 {
@@ -264,6 +270,7 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
   alertSize @3 :AlertSize;
   alertType @4 :Text;
   alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
+  vEgo @6 :Float32;
 
   enum AlertStatus {
     normal @0;

cereal/log.capnp

@@ -507,7 +507,7 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   pmicTempC @39 :List(Float32);
   intakeTempC @46 :Float32;
   exhaustTempC @47 :Float32;
-  caseTempC @48 :Float32;
+  gnssTempC @48 :Float32;
   bottomSocTempC @50 :Float32;
   maxTempC @44 :Float32;  # max of other temps, used to control fan
   thermalZones @38 :List(ThermalZone);
@@ -522,10 +522,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
-    yellow @1;
-    red @2;
-    danger @3;
+    ok @0;
+    warmDEPRECATED @1;
+    overheated @2;
+    critical @3;
   }
 
   enum NetworkType {
@@ -2757,6 +2757,7 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
+    visionSpeedLimitBookmark @153 :UserBookmark;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
     # *********** debug ***********

cereal/services.h

@@ -69,6 +69,7 @@ static std::map<std::string, service> services = {
   { "rawAudioData", {"rawAudioData", false, 20.000000, -1, 256000}},
   { "bookmarkButton", {"bookmarkButton", true, 0.000000, 1, 256000}},
   { "audioFeedback", {"audioFeedback", true, 0.000000, 1, 256000}},
+  { "visionSpeedLimitBookmark", {"visionSpeedLimitBookmark", false, 0.000000, 1, 256000}},
   { "roadEncodeData", {"roadEncodeData", false, 20.000000, -1, 10485760}},
   { "driverEncodeData", {"driverEncodeData", false, 20.000000, -1, 10485760}},
   { "wideRoadEncodeData", {"wideRoadEncodeData", false, 20.000000, -1, 10485760}},

cereal/services.py

@@ -86,6 +86,7 @@ _services: dict[str, tuple] = {
   "rawAudioData": (False, 20.),
   "bookmarkButton": (True, 0., 1),
   "audioFeedback": (True, 0., 1),
+  "visionSpeedLimitBookmark": (False, 0., 1),
   "roadEncodeData": (False, 20., None, QueueSize.BIG),
   "driverEncodeData": (False, 20., None, QueueSize.BIG),
   "wideRoadEncodeData": (False, 20., None, QueueSize.BIG),

common/gps.py

@@ -2,7 +2,7 @@ from openpilot.common.params import Params
 
 
 def get_gps_location_service(params: Params) -> str:
-  if params.get_bool("UbloxAvailable"):
+  if params.get_bool("UbloxAvailable") or params.get_bool("CarGpsAvailable"):
     return "gpsLocationExternal"
   else:
     return "gpsLocation"

common/params_keys.h

@@ -16,10 +16,14 @@ 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}},
+    {"BluetoothEnabled", {PERSISTENT, BOOL, "0"}},
     {"CalibrationParams", {PERSISTENT, BYTES}},
     {"CameraDebugExpGain", {CLEAR_ON_MANAGER_START, STRING}},
     {"CameraDebugExpTime", {CLEAR_ON_MANAGER_START, STRING}},
     {"CarBatteryCapacity", {PERSISTENT, INT}},
+    {"CarGpsAvailable", {CLEAR_ON_MANAGER_START, BOOL}},
     {"CarParams", {CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION, BYTES}},
     {"CarParamsCache", {CLEAR_ON_MANAGER_START, BYTES}},
     {"CarParamsPersistent", {PERSISTENT, BYTES}},
@@ -62,6 +66,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GsmRoaming", {PERSISTENT, BOOL}},
     {"HardwareSerial", {PERSISTENT, STRING}},
     {"HasAcceptedTerms", {PERSISTENT, STRING, "0"}},
+    // Internal kill switch; the platform verification allowlist remains the hard safety gate.
+    {"HondaBoschARadar", {PERSISTENT, BOOL, "1"}},
     {"HondaGasFactorParams", {PERSISTENT, FLOAT}},
     {"HondaLateralPidKiScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
     {"HondaLateralPidKpScale", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
@@ -81,6 +87,7 @@ 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}},
@@ -188,6 +195,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ApiCache_DriveStats", {PERSISTENT, JSON, "{}", "{}"}},
     {"AutomaticallyDownloadModels", {PERSISTENT, BOOL, "1", "0", 1}},
     {"AutomaticUpdates", {PERSISTENT, BOOL, "1", "1", 0}},
+    {"AllowGpuModelDownloadWithoutGpu", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"AvailableModelNames", {PERSISTENT, STRING, "", "", 1}},
     {"AvailableModelSeries", {PERSISTENT, STRING, "", "", 1}},
     {"AvailableModels", {PERSISTENT, STRING, "", "", 1}},
@@ -276,7 +284,6 @@ 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}},
-    {"TestModelLeadTrajectory", {PERSISTENT | DONT_LOG, BOOL, "0", "0", 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}},
@@ -337,6 +344,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ForceStops", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"ForceStopDistanceOffset", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
     {"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}},
@@ -346,6 +354,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"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}},
@@ -360,6 +369,12 @@ 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}},
@@ -517,6 +532,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PIPPreviewMask", {PERSISTENT, JSON, "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", "{\"width\":1928,\"height\":1208,\"center_left\":[315,548],\"center_right\":[1571,539],\"crop_size\":580}", 2}},
     {"PIPPreviewShowOnBlinker", {PERSISTENT, BOOL, "0", "0", 1}},
     {"PIPPreviewShowOnBSM", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"PIPPreviewInvert", {PERSISTENT, BOOL, "0", "0", 1}},
     {"GalaxyPaired", {PERSISTENT, BOOL, "0", "0", 0}},
     {"GalaxyUploadPending", {PERSISTENT, BOOL, "0", "0", 0}},
     {"PreferredSchedule", {PERSISTENT, INT, "2", "0", 0}},
@@ -549,7 +565,6 @@ 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}},
     {"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"}},
@@ -660,6 +675,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"SwitchbackModeEnabled", {CLEAR_ON_OFFROAD_TRANSITION, BOOL, "0", "0"}},
     {"SubaruSNG", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
     {"SubaruSNGManualParkingBrake", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
+    {"SubaruStopStartOff", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TacoTune", {PERSISTENT, BOOL, "0", "0", 2}},
     {"TeslaCoopSteering", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"TestAlert", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
@@ -680,6 +696,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"TuningLevel", {PERSISTENT, INT, "0", "0", 0}},
     {"TuningLevelConfirmed", {PERSISTENT, BOOL, "0", "0", 0}},
     {"TurnDesires", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"TurnSteeringLimitMuteSpeed", {PERSISTENT, INT, "0", "0", 0}},
     {"UnlockDoors", {PERSISTENT, BOOL, "1", "0", 0}},
     {"Updated", {PERSISTENT, STRING, "0", "0"}},
     {"UpdateSpeedLimits", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
@@ -693,7 +710,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
     {"UseVienna", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"VASMAnnotationConfig", {PERSISTENT, JSON, "{}", "{}", 2}},
-    {"VASMConfidenceThreshold", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
+    {"VASMConfidenceThreshold", {PERSISTENT, FLOAT, "0.94", "0.94", 2}},
     {"VASMEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
     {"VASMLeftActive", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
     {"VASMLeftConfidence", {CLEAR_ON_MANAGER_START, STRING, "0.0", "0.0", 2}},

docs/CARS.md

@@ -4,108 +4,183 @@
 
 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.
 
-# 326 Supported Cars
+# 452 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ADX 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ADX 2025-26">Buy Here</a></sub></details>|||
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2016-18">Buy Here</a></sub></details>|||
 |Acura|ILX 2019|All|openpilot|26 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura ILX 2019">Buy Here</a></sub></details>|||
-|Acura|MDX 2025|All except Type S|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
+|Acura|Integra 2023-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura Integra 2023-26">Buy Here</a></sub></details>|||
+|Acura|MDX 2014-16|Advance Package|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2014-16">Buy Here</a></sub></details>|||
+|Acura|MDX 2017-19|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2017-19">Buy Here</a></sub></details>|||
+|Acura|MDX 2020|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2020">Buy Here</a></sub></details>|||
+|Acura|MDX 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2022-24">Buy Here</a></sub></details>|||
+|Acura|MDX 2025|All except Type S|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX 2025">Buy Here</a></sub></details>|||
+|Acura|MDX Hybrid 2017-19|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2017-19">Buy Here</a></sub></details>|||
+|Acura|MDX Hybrid 2020|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura MDX Hybrid 2020">Buy Here</a></sub></details>|||
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2016-18">Buy Here</a></sub></details>|||
-|Acura|RDX 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
-|Acura|TLX 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
-|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
-|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
-|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
-|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
-|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
-|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EUV 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV 2022-23">Buy Here</a></sub></details>|||
+|Acura|RDX 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2019-21">Buy Here</a></sub></details>|||
+|Acura|RDX 2022-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura RDX 2022-26">Buy Here</a></sub></details>|||
+|Acura|TLX 2015-17|Advance Package|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2015-17">Buy Here</a></sub></details>|||
+|Acura|TLX 2018-20|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2018-20">Buy Here</a></sub></details>|||
+|Acura|TLX 2021|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2021">Buy Here</a></sub></details>|||
+|Acura|TLX 2024-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Acura TLX 2024-25">Buy Here</a></sub></details>|||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 2014-19">Buy Here</a></sub></details>|||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi A3 Sportback e-tron 2017-18">Buy Here</a></sub></details>|||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q2 2018">Buy Here</a></sub></details>|||
+|Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q3 2019-24">Buy Here</a></sub></details>|||
+|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2021-23">Buy Here</a></sub></details>|||
+|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi Q4 e-tron 2024-25">Buy Here</a></sub></details>|||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi RS3 2018">Buy Here</a></sub></details>|||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Audi S3 2015-17">Buy Here</a></sub></details>|||
+|Buick|Baby Enclave 2020-23|Driver Assist Package|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=Buick Baby Enclave 2020-23">Buy Here</a></sub></details>|||
+|Buick[<sup>3</sup>](#footnotes)|LaCrosse 2017-19|Driver Confidence Package 2|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick LaCrosse 2017-19">Buy Here</a></sub></details>|||
+|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 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=Buick LaCrosse ASCM Harness 2017-19">Buy Here</a></sub></details>|||
+|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|Stock|3 mph|27 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=Buick LaCrosse US ASCM Harness 2019">Buy Here</a></sub></details>|||
+|Buick[<sup>3</sup>](#footnotes)|Regal Essence 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Buick Regal Essence 2018">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac ATS Premium Performance 2018">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac CT6 No-ACC 2016-20">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|Escalade 2017|Driver Assist Package|openpilot|0 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade 2017">Buy Here</a></sub></details>|||
+|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|Stock|3 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=Cadillac Escalade ASCM Harness 2018">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2016">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac Escalade ESV 2019">Buy Here</a></sub></details>|||
+|Cadillac|Escalade ESV Platinum ASCM Harness 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 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=Cadillac Escalade ESV Platinum ASCM Harness 2019">Buy Here</a></sub></details>|||
+|Cadillac|XT4 2023|Driver Assist Package|Stock|0 mph|30 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=Cadillac XT4 2023">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|30 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT4 No-ACC 2023">Buy Here</a></sub></details>|||
+|Cadillac|XT5 2022|Driver Assist Package|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=Cadillac XT5 2022">Buy Here</a></sub></details>|||
+|Cadillac[<sup>3</sup>](#footnotes)|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Cadillac XT5 No-ACC 2022">Buy Here</a></sub></details>|||
+|Cadillac|XT6 2020|Driver Assist Package|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=Cadillac XT6 2020">Buy Here</a></sub></details>|||
+|Chevrolet|Blazer 2019-25|Driver Assist Package|Stock|3 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 Blazer 2019-25">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC 2022-23">Buy Here</a></sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV ACC w Pedal 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV & EUV No-ACC 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Bolt EV No-ACC 2018-21">Buy Here</a></sub></details>|||
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox 2019-22">Buy Here</a></sub></details>|||
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Equinox No-ACC 2019-22">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|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 Malibu 2019">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|Stock|3 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu ASCM Harness 2017-19">Buy Here</a></sub></details>|||
+|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|openpilot|24 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Hybrid No-ACC 2017">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu No-ACC 2023">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Malibu Premier 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Malibu Premier 2017">Buy Here</a></sub></details>|||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Silverado 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier 2016-20">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Suburban Premier No-ACC 2016-20">Buy Here</a></sub></details>|||
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer 2021-22">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Trailblazer No-ACC 2021-22">Buy Here</a></sub></details>|||
+|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|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 Traverse 2022-23">Buy Here</a></sub></details>|||
+|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-empty.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 TRAX 2024-25">Buy Here</a></sub></details>|||
+|Chevrolet[<sup>3</sup>](#footnotes)|Volt 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 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt 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 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 2016-18 (OBD-C / L&P 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-C / L&P 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>|||
 |Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica Hybrid 2019-25">Buy Here</a></sub></details>|||
 |comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|<a href="https://youtu.be/VT-i3yRsX2s?t=2736" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Ateca 2018-23">Buy Here</a></sub></details>|||
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=CUPRA Born 2021-23">Buy Here</a></sub></details>|||
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Dodge Durango 2020-21">Buy Here</a></sub></details>|||
-|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
-|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
+|Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Bronco Sport 2021-24">Buy Here</a></sub></details>|||
+|Ford|Edge 2022|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Edge 2022">Buy Here</a></sub></details>|||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
+|Ford|Escape Plug-in Hybrid 2020-22|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Ford|Escape Plug-in Hybrid 2023-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Escape Plug-in Hybrid 2023-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Expedition 2022-24|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Expedition 2022-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
-|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
+|Ford|Explorer 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer 2020-24">Buy Here</a></sub></details>|||
+|Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Explorer Hybrid 2020-24">Buy Here</a></sub></details>|||
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Hybrid 2021-23">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Focus 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018">Buy Here</a></sub></details>|||
-|Ford|Focus Hybrid 2018[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018">Buy Here</a></sub></details>|||
-|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
-|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford F-150 Lightning 2022-25">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=MewJc9LYp9M" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Focus 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus 2018-22">Buy Here</a></sub></details>|||
+|Ford|Focus Hybrid 2018-22[<sup>2</sup>](#footnotes)|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Focus Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga Plug-in Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2020-23">Buy Here</a></sub></details>|||
 |Ford|Kuga Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Plug-in Hybrid 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Ford|Maverick 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
-|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick 2023-24">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2022|LARIAT Luxury|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2022">Buy Here</a></sub></details>|||
+|Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Maverick Hybrid 2023-24">Buy Here</a></sub></details>|||
+|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mondeo 2014-22">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Mustang Mach-E 2021-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Mustang Mach-E 2021-24">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q4 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Ranger 2024">Buy Here</a></sub></details>||<a href="https://www.youtube.com/watch?v=uUGkH6C_EQU" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Ford|Transit 2025|Co-Pilot360 Assist+|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Transit 2025">Buy Here</a></sub></details>|||
 |Genesis|G70 2018|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2018">Buy Here</a></sub></details>|||
 |Genesis|G70 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2019-21">Buy Here</a></sub></details>|||
 |Genesis|G70 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 2022-23">Buy Here</a></sub></details>|||
 |Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2017">Buy Here</a></sub></details>|||
-|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Genesis G80 2018-19">Buy Here</a></sub></details>|||
+|Genesis|G80 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 2018-19">Buy Here</a></sub></details>|||
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G80 (2.5T Advanced Trim, with HDA II) 2024">Buy Here</a></sub></details>|||
 |Genesis|G90 2017-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G90 2017-20">Buy Here</a></sub></details>|||
 |Genesis|GV60 (Advanced Trim) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Advanced Trim) 2023">Buy Here</a></sub></details>|||
 |Genesis|GV60 (Performance Trim) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV60 (Performance Trim) 2022-23">Buy Here</a></sub></details>|||
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (2.5T Trim, without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Genesis|GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026">Buy Here</a></sub></details>|||
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 (3.5T Trim, without HDA II) 2022-23">Buy Here</a></sub></details>|||
+|Genesis|GV70 Electrified 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified 2026">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (Australia Only) 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (Australia Only) 2022">Buy Here</a></sub></details>|||
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV70 Electrified (with HDA II) 2023-24">Buy Here</a></sub></details>|||
 |Genesis|GV80 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 2023">Buy Here</a></sub></details>|||
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Accord 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
-|Honda|Accord Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
+|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
+|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis GV80 Coupe (with HDA II & LFA2) 2025">Buy Here</a></sub></details>|||
+|GMC[<sup>3</sup>](#footnotes)|Acadia 2018|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 OBD-C cable (2 ft)<br>- 1 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Acadia 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|Stock|3 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=GMC Acadia ASCM Harness 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 2020-21">Buy Here</a></sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|GMC[<sup>3</sup>](#footnotes)|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Sierra 1500 No-ACC 2020-21">Buy Here</a></sub></details>|||
+|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|Stock|0 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 GM connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon 2019-20">Buy Here</a></sub></details>|||
+|GMC[<sup>3</sup>](#footnotes)|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|openpilot|24 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=GMC Yukon No-ACC 2019-20">Buy Here</a></sub></details>|||
+|Holden[<sup>3</sup>](#footnotes)|Astra 2017|Adaptive Cruise Control (ACC)|openpilot|18 mph|7 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 OBD-II connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Holden Astra 2017">Buy Here</a></sub></details>|||
+|Honda|Accord 2016-17|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2016-17">Buy Here</a></sub></details>|||
+|Honda|Accord 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2018-22">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Accord 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord 2023-25">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2017|All|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2017">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2018-22">Buy Here</a></sub></details>|||
+|Honda|Accord Hybrid 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Accord Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|City (Brazil only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda City (Brazil only) 2023">Buy Here</a></sub></details>|||
 |Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2016-18">Buy Here</a></sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
-|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
-|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback 2017-18|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2017-18">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2019-21|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2019-21">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback 2022-24|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback 2022-24">Buy Here</a></sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Honda|Civic Hatchback Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Civic Hatchback Hybrid (Europe only) 2023|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hatchback Hybrid (Europe only) 2023">Buy Here</a></sub></details>|||
+|Honda|Civic Hybrid 2025-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Civic Hybrid 2025-26">Buy Here</a></sub></details>|||
+|Honda|Clarity 2018-21|All|openpilot|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Clarity 2018-21">Buy Here</a></sub></details>|||
 |Honda|CR-V 2015-16|Touring Trim|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2015-16">Buy Here</a></sub></details>|||
-|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V 2023-26|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
-|Honda|CR-V Hybrid 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
-|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|15 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V 2023-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V 2023-26">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2017-22|Honda Sensing|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2017-22">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|e 2020|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda e 2020">Buy Here</a></sub></details>|||
 |Honda|Fit 2018-20|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit 2018-20">Buy Here</a></sub></details>|||
+|Honda|Fit (Taiwan) 2021|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2021">Buy Here</a></sub></details>|||
+|Honda|Fit (Taiwan) 2024-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|14 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Fit (Taiwan) 2024-25">Buy Here</a></sub></details>|||
 |Honda|Freed 2020|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Freed 2020">Buy Here</a></sub></details>|||
 |Honda|HR-V 2019-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2019-22">Buy Here</a></sub></details>|||
-|Honda|HR-V 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
-|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
-|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
-|Honda|N-Box 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
+|Honda|HR-V 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda HR-V 2023-25">Buy Here</a></sub></details>|||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Insight 2019-22">Buy Here</a></sub></details>|||
+|Honda|Inspire 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Inspire 2018">Buy Here</a></sub></details>|||
+|Honda|N-Box 2018|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|11 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda N-Box 2018">Buy Here</a></sub></details>|||
 |Honda|Odyssey 2018-20|Honda Sensing|openpilot|26 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2018-20">Buy Here</a></sub></details>|||
-|Honda|Odyssey 2021-26|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey 2021-26|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|43 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey 2021-26">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Singapore) 2021">Buy Here</a></sub></details>|||
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|openpilot|19 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Odyssey (Taiwan) 2018-19">Buy Here</a></sub></details>|||
 |Honda|Passport 2019-25|All|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2019-25">Buy Here</a></sub></details>|||
-|Honda|Passport 2026|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
+|Honda|Passport 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Passport 2026">Buy Here</a></sub></details>|||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2016-22">Buy Here</a></sub></details>|||
-|Honda|Pilot 2023-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
+|Honda|Pilot 2023-25|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Pilot 2023-25">Buy Here</a></sub></details>|||
+|Honda|Prelude 2026|All|openpilot available[<sup>1,5</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Prelude 2026">Buy Here</a></sub></details>|||
 |Honda|Ridgeline 2017-25|Honda Sensing|openpilot|26 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda Ridgeline 2017-25">Buy Here</a></sub></details>|||
 |Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera 2022">Buy Here</a></sub></details>|||
 |Hyundai|Azera Hybrid 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Azera Hybrid 2019">Buy Here</a></sub></details>|||
@@ -115,14 +190,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2017-18">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2019">Buy Here</a></sub></details>|||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra 2024-25">Buy Here</a></sub></details>|||
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra GT 2017-20">Buy Here</a></sub></details>|||
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid 2024-26">Buy Here</a></sub></details>|||
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai J connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Genesis 2015-16">Buy Here</a></sub></details>|||
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 2017-19">Buy Here</a></sub></details>|||
+|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai i30 Hybrid 2024">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
-|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai S connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 N (with HDA II) 2024">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 6 (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Electric 2020">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Hybrid 2017-19">Buy Here</a></sub></details>|||
@@ -130,39 +211,62 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>|||
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Kona (without HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2018-21">Buy Here</a></sub></details>|||
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric 2022-23">Buy Here</a></sub></details>|||
-|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric (without HDA II) 2024">Buy Here</a></sub></details>|||
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Hybrid 2020">Buy Here</a></sub></details>|||
+|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Kona Hybrid (without HDA II) 2024">Buy Here</a></sub></details>|||
 |Hyundai|Nexo 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Nexo 2021">Buy Here</a></sub></details>|||
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (with HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Palisade (without HDA II) 2023-25">Buy Here</a></sub></details>|||
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Cruz (without HDA II) 2025">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2019-20">Buy Here</a></sub></details>|<a href="https://youtu.be/bjDR0YjM__s" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25">Buy Here</a></sub></details>|||
+|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2018-19">Buy Here</a></sub></details>|||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata (without HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Sonata Hybrid (without HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Hyundai|Staria 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Staria 2023">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.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=Hyundai Tucson 2021">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2022|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2022">Buy Here</a></sub></details>|||
 |Hyundai|Tucson 2023-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson 2023-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson (without HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai 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=Hyundai Tucson Diesel 2019">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Hybrid 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid 2022-24">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Hybrid (without HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Hyundai|Tucson Plug-in Hybrid 2024|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid 2024">Buy Here</a></sub></details>|||
+|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Tucson Plug-in Hybrid (without HDA II) 2025">Buy Here</a></sub></details>|||
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Veloster 2019-20">Buy Here</a></sub></details>|||
 |Jeep|Grand Cherokee 2016-18|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=Jeep Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Jeep Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2022-24">Buy Here</a></sub></details>|||
+|Kia|Carnival 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival 2025">Buy Here</a></sub></details>|||
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (China only) 2023">Buy Here</a></sub></details>|||
+|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2025">Buy Here</a></sub></details>|||
+|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid 2026">Buy Here</a></sub></details>|||
+|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Carnival Hybrid (with HDA II) 2025-26">Buy Here</a></sub></details>|||
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ceed 2019-21">Buy Here</a></sub></details>|||
 |Kia|EV6 (Southeast Asia only) 2022-24|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (Southeast Asia only) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA I) 2025">Buy Here</a></sub></details>|||
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (with HDA II) 2022-24">Buy Here</a></sub></details>|||
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV6 (without HDA II) 2022-24">Buy Here</a></sub></details>|||
+|Kia|EV9 2025-26|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia EV9 2025-26">Buy Here</a></sub></details>|||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|6 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2019-21">Buy Here</a></sub></details>|||
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Forte 2022-23">Buy Here</a></sub></details>|||
+|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (with HDA II) 2025">Buy Here</a></sub></details>|||
+|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K4 (without HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 2021-24">Buy Here</a></sub></details>|||
+|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai M connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 (without HDA II) 2025">Buy Here</a></sub></details>|||
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K5 Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>|||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
@@ -186,13 +290,20 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento (without HDA II) 2024-25">Buy Here</a></sub></details>|||
 |Kia|Sorento Hybrid 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2021-23">Buy Here</a></sub></details>|||
+|Kia|Sorento Hybrid 2026|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Hybrid 2026">Buy Here</a></sub></details>|||
 |Kia|Sorento Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sorento Plug-in Hybrid 2022-23">Buy Here</a></sub></details>|||
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage 2023-24">Buy Here</a></sub></details>|||
+|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage (without HDA II) 2026">Buy Here</a></sub></details>|||
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2023">Buy Here</a></sub></details>|||
+|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Sportage Hybrid 2026">Buy Here</a></sub></details>|||
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Kia|Stinger 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Stinger 2022-23">Buy Here</a></sub></details>|||
 |Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride 2020-22">Buy Here</a></sub></details>|||
+|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (with HDA II) 2023-24">Buy Here</a></sub></details>|||
+|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Telluride (without HDA II) 2023-25">Buy Here</a></sub></details>|||
+|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia XCeed Plug-in Hybrid 2021">Buy Here</a></sub></details>|||
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus CT Hybrid 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2017-18|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2017-18">Buy Here</a></sub></details>|||
 |Lexus|ES 2019-25|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus ES 2019-25">Buy Here</a></sub></details>|||
@@ -215,48 +326,54 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|RX Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2017-19">Buy Here</a></sub></details>|||
 |Lexus|RX Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus RX Hybrid 2020-22">Buy Here</a></sub></details>|||
 |Lexus|UX Hybrid 2019-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lexus UX Hybrid 2019-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
-|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
-|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Lincoln|Aviator 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator 2020-24">Buy Here</a></sub></details>|||
+|Lincoln|Aviator Plug-in Hybrid 2020-24|Co-Pilot360 Plus|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Lincoln Aviator Plug-in Hybrid 2020-24">Buy Here</a></sub></details>|||
+|MAN|eTGE 2020-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN eTGE 2020-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|MAN|TGE 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=MAN TGE 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Mazda|CX-5 2022-25|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-5 2022-25">Buy Here</a></sub></details>|||
 |Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Mazda connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Mazda CX-9 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Nissan[<sup>5</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
-|Nissan[<sup>5</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
-|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
-|Rivian|R1S 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Rivian|R1T 2022-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
-|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
-|Subaru|Ascent 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Ascent 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Crosstrek 2025|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2019-21|All[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Forester 2022-24|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Legacy 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2020-22|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|Outback 2023|All[<sup>6</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>6</sup>](#footnotes)|openpilot available[<sup>1,7</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
-|Škoda|Fabia 2022-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Kamiq 2021-23[<sup>11,13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Karoq 2019-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
-|Škoda|Kodiaq 2017-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
-|Škoda|Octavia 2015-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
-|Škoda|Octavia RS 2016[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
-|Škoda|Octavia Scout 2017-19[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
-|Škoda|Scala 2020-23[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Škoda|Superb 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-26[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-26">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Altima 2019-20, 2024|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Altima 2019-20, 2024">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Leaf Instrument Cluster 2018-25|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Leaf Instrument Cluster 2018-25">Buy Here</a></sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Nissan[<sup>6</sup>](#footnotes)|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan Rogue 2018-20">Buy Here</a></sub></details>|||
+|Nissan[<sup>6</sup>](#footnotes)|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Nissan A connector<br>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Nissan X-Trail 2017">Buy Here</a></sub></details>|||
+|Ram|1500 2019-24|Adaptive Cruise Control (ACC)|Stock|32 mph|1 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Ram connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ram 1500 2019-24">Buy Here</a></sub></details>|||
+|Rivian|R1S 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1S 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1S 2025">Buy Here</a></sub></details>|||
+|Rivian|R1T 2022-24|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2022-24">Buy Here</a></sub></details>||<a href="https://youtu.be/uaISd1j7Z4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Rivian|R1T 2025|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Rivian B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Rivian R1T 2025">Buy Here</a></sub></details>|||
+|SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Ateca 2016-23">Buy Here</a></sub></details>|||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=SEAT Leon 2014-20">Buy Here</a></sub></details>|||
+|Subaru|Ascent 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Ascent 2023-25|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Ascent 2023-25">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2020-23">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Crosstrek 2025|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Crosstrek 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2019-21|All[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2019-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Forester 2022-24|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru C connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Forester 2022-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2017-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Impreza 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Legacy 2025|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Legacy 2025">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2020-22|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru B connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2020-22">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|Outback 2023-24|All[<sup>7</sup>](#footnotes)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru D connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru Outback 2023-24">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Subaru|XV 2018-19|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2018-19">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Subaru|XV 2020-21|EyeSight Driver Assistance[<sup>7</sup>](#footnotes)|openpilot available[<sup>1,8</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Subaru A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Subaru XV 2020-21">Buy Here</a></sub></details><details><summary>Tools</summary><sub>- 1 Pry Tool<br>- 1 Socket Wrench 8mm or 5/16" (deep)</sub></details>|||
+|Škoda|Enyaq 2021-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2021-23">Buy Here</a></sub></details>|||
+|Škoda|Enyaq 2024-25[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Enyaq 2024-25">Buy Here</a></sub></details>|||
+|Škoda|Fabia 2022-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Fabia 2022-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Kamiq 2021-23[<sup>12,14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kamiq 2021-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Karoq 2019-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Karoq 2019-23">Buy Here</a></sub></details>|||
+|Škoda|Kodiaq 2017-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Kodiaq 2017-23">Buy Here</a></sub></details>|||
+|Škoda|Octavia 2015-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia 2015-19">Buy Here</a></sub></details>|||
+|Škoda|Octavia RS 2016[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia RS 2016">Buy Here</a></sub></details>|||
+|Škoda|Octavia Scout 2017-19[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Octavia Scout 2017-19">Buy Here</a></sub></details>|||
+|Škoda|Scala 2020-23[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Scala 2020-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Škoda|Superb 2015-22[<sup>14</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Škoda Superb 2015-22">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW3) 2019-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW3) 2019-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model 3 (with HW4) 2024-26[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-26">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW3) 2020-23[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla A connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW3) 2020-23">Buy Here</a></sub></details>|||
+|Tesla[<sup>10</sup>](#footnotes)|Model Y (with HW4) 2024-25[<sup>9</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model Y (with HW4) 2024-25">Buy Here</a></sub></details>|||
 |Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard 2019-20">Buy Here</a></sub></details>|||
 |Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Alphard Hybrid 2021">Buy Here</a></sub></details>|||
 |Toyota|Avalon 2016|Toyota Safety Sense P|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Avalon 2016">Buy Here</a></sub></details>|||
@@ -269,8 +386,8 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|C-HR 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR 2021">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2017-20">Buy Here</a></sub></details>|||
 |Toyota|C-HR Hybrid 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota C-HR Hybrid 2021-22">Buy Here</a></sub></details>|||
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>10</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Toyota|Camry 2021-24|All|openpilot|0 mph[<sup>11</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Camry Hybrid 2021-24|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Camry Hybrid 2021-24">Buy Here</a></sub></details>|||
 |Toyota|Corolla 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Corolla 2017-19">Buy Here</a></sub></details>|||
@@ -302,62 +419,90 @@ A supported vehicle is one that just works when you install a comma device. All
 |Toyota|RAV4 Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2022">Buy Here</a></sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|RAV4 Hybrid 2023-25|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Hybrid 2023-25">Buy Here</a></sub></details>|<a href="https://youtu.be/4eIsEq4L4Ng" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
 |Toyota|Sienna 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2018-20">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
-|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
-|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
-|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
-|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
-|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Passat 2015-22[<sup>12</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
-|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>15</sup>](#footnotes)|||
-|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
-|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
-|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
-|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+|Volkswagen|Arteon 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon 2018-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon eHybrid 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon eHybrid 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon R 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon R 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Arteon Shooting Brake 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Arteon Shooting Brake 2020-23">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Atlas Cross Sport 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Atlas Cross Sport 2020-22">Buy Here</a></sub></details>|||
+|Volkswagen|California 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen California 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Caravelle 2020">Buy Here</a></sub></details>|||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen CC 2018-22">Buy Here</a></sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|Crafter 2017-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Crafter 2017-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Crafter 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Crafter 2018-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen e-Golf 2014-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf Alltrack 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTD 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTE 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf GTI 2015-21">Buy Here</a></sub></details>|||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf R 2015-19">Buy Here</a></sub></details>|||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Golf SportsVan 2015-20">Buy Here</a></sub></details>|||
+|Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
+|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2020-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.3 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.4 2024-25">Buy Here</a></sub></details>|||
+|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen ID.5 2022-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Jetta GLI 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Passat 2015-22[<sup>13</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat Alltrack 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Passat GTE 2015-22">Buy Here</a></sub></details>|||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Polo GTI 2018-23">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Cross 2021">Buy Here</a></sub></details>[<sup>16</sup>](#footnotes)|||
+|Volkswagen|T-Roc 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen T-Roc 2018-23">Buy Here</a></sub></details>|||
+|Volkswagen|Taos 2022-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Taos 2022-24">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont 2018-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont Cross Sport 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Teramont X 2021-22">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan 2018-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan 2018-24">Buy Here</a></sub></details>|||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Tiguan eHybrid 2021-23">Buy Here</a></sub></details>|||
+|Volkswagen|Touran 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Touran 2016-23">Buy Here</a></sub></details>|||
+
+## StarPilot Community Cars
+
+These additional vehicle ports are maintained by StarPilot rather than upstream openpilot.
+
+# 16 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|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Genesis|G70 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 F connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Genesis G70 Non-SCC 2021">Buy Here</a></sub></details>|||
+|Hyundai|Bayon 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 N connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Bayon Non-SCC 2021">Buy Here</a></sub></details>|||
+|Hyundai|Elantra 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 K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Hybrid Non-SCC 2022">Buy Here</a></sub></details>|||
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Elantra Non-SCC 2022">Buy Here</a></sub></details>|||
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Electric Non-SCC 2019">Buy Here</a></sub></details>|||
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Hyundai Kona Non-SCC 2019">Buy Here</a></sub></details>|||
+|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|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>|||
+|Toyota|Prius 2016-20 with TSS2 EPS retrofit|Custom retrofit|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Prius 2016-20 with TSS2 EPS retrofit">Buy Here</a></sub></details>|||
+|Toyota|RAV4 Prime 2021-23|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota RAV4 Prime 2021-23">Buy Here</a></sub></details>|||
+|Toyota|Sienna 2021-25|All|openpilot|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Sienna 2021-25">Buy Here</a></sub></details>|||
+|Toyota|Yaris (Non-US only) 2020, 2023|All|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Yaris (Non-US only) 2020, 2023">Buy Here</a></sub></details>|||
 
 ### Footnotes
 <sup>1</sup>openpilot Longitudinal Control (Alpha) is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `nightly-dev`. <br />
 <sup>2</sup>Refers only to the Focus Mk4 (C519) available in Europe/China/Taiwan/Australasia, not the Focus Mk3 (C346) in North and South America/Southeast Asia. <br />
 <sup>3</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/gm" target="_blank">GM</a>. <br />
 <sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>5</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
-<sup>7</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>8</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>10</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>12</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>13</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
-<sup>14</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
-<sup>15</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
-
-## Community Maintained Cars
-Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
+<sup>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
+<sup>6</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/nissan" target="_blank">Nissan</a>. <br />
+<sup>7</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <br />
+<sup>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
+<sup>9</sup>Some 2023 model years have HW4. To check which hardware type your vehicle has, look for <b>Autopilot computer</b> under <b>Software -> Additional Vehicle Information</b> on your vehicle's touchscreen. See <a href="https://www.notateslaapp.com/news/2173/how-to-check-if-your-tesla-has-hardware-4-ai4-or-hardware-3">this page</a> for more information. <br />
+<sup>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
+<sup>11</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>13</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>14</sup>Some Škoda vehicles are equipped with heated windshields, which are known to block GPS signal needed for some comma four functionality. <br />
+<sup>15</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>16</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
 
 # Don't see your car here?
 

launch_chffrplus.sh

@@ -147,101 +147,10 @@ function launch {
     while true; do sleep 1; done
   fi
 
-  function prebuilt_runtime_compatible {
-    python3 - <<'PY'
-import importlib
-import os
-from pathlib import Path
-import sys
-import time
-
-from openpilot.common.file_chunker import get_existing_chunks
-
-start = time.monotonic()
-last = start
-log_path = os.environ.get("SP_BOOT_TIMING_LOG")
-
-def emit(line):
-  print(line, flush=True)
-  if log_path:
-    try:
-      with open(log_path, "a") as f:
-        f.write(line + "\n")
-    except OSError:
-      pass
-
-def log_step(label):
-  global last
-  now = time.monotonic()
-  emit(f"SP_BOOT_TIMING prebuilt_compat {label} +{now - last:.3f}s total={now - start:.3f}s")
-  last = now
-
-mods = [
-  "openpilot.common.params_pyx",
-  "msgq.ipc_pyx",
-  "msgq.visionipc.visionipc_pyx",
-  "openpilot.common.transformations.transformations",
-  "openpilot.selfdrive.pandad.pandad_api_impl",
-  "openpilot.selfdrive.controls.lib.lateral_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-  "openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.c_generated_code.acados_ocp_solver_pyx",
-]
-
-for mod in mods:
-  try:
-    importlib.import_module(mod)
-  except Exception as e:
-    print(f"Prebuilt compatibility failure in {mod}: {e}", file=sys.stderr)
-    raise
-  log_step(f"import:{mod}")
-
-repo_root = Path.cwd().parents[1]
-required_model_artifacts = [
-  repo_root / "selfdrive/modeld/models/driving_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_metadata.pkl",
-  repo_root / "selfdrive/modeld/models/dmonitoring_model_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1928x1208_tinygrad.pkl",
-  repo_root / "selfdrive/modeld/models/dm_warp_1344x760_tinygrad.pkl",
-]
-required_files = [
-  repo_root / "selfdrive/pandad/pandad_api_impl.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/lateral_mpc_lib/c_generated_code/libacados_ocp_solver_lat.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/acados_ocp_solver_pyx.so",
-  repo_root / "selfdrive/controls/lib/longitudinal_mpc_lib/c_generated_code/libacados_ocp_solver_long.so",
-  repo_root / "opendbc_repo/opendbc/dbc/gm_global_a_powertrain_generated.dbc",
-]
-
-for path in required_model_artifacts:
-  try:
-    artifact_paths = [Path(p) for p in get_existing_chunks(path)]
-  except Exception as e:
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}") from e
-  missing_chunks = [p for p in artifact_paths if not p.is_file()]
-  if missing_chunks:
-    missing = ", ".join(str(p) for p in missing_chunks)
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact chunks for {path}: {missing}")
-log_step("required_model_artifacts")
-
-for path in required_files:
-  if not path.is_file():
-    raise FileNotFoundError(f"Missing prebuilt runtime artifact: {path}")
-log_step("required_files")
-PY
-  }
-
-  USE_PREBUILT=1
-  if [ -f /data/params/d/UsePrebuilt ]; then
-    USE_PREBUILT=$(tr -d '\n' < /data/params/d/UsePrebuilt)
-  fi
-
   sp_launch_timing "prebuilt_decision_done"
-  if [ "$USE_PREBUILT" = "1" ] && [ -f $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
-    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
-    USE_PREBUILT=0
-  fi
-  sp_launch_timing "prebuilt_compat_done"
-
-  if [ "$USE_PREBUILT" != "1" ] || [ ! -f $DIR/prebuilt ]; then
+  # Published trees carry this marker and must never compile on-device.
+  # Developers can remove it explicitly when working from a source tree.
+  if [ ! -f "$DIR/prebuilt" ]; then
     sp_launch_timing "build_start"
     ./build.py
     sp_launch_timing "build_done"

launch_env.sh

@@ -21,7 +21,7 @@ fi
 export QCOM_PRIORITY=12
 
 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="19.6.1"
+  export AGNOS_VERSION="19.6.13"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

opendbc_repo/docs/CARS.md

@@ -38,8 +38,8 @@
 |Audi|A5 2016-24|All|[Not compatible](#flexray)|
 |Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|Q3 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Audi|Q4 e-tron 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Audi|Q4 e-tron 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|Q5 2017-24|All|[Not compatible](#flexray)|
 |Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -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-C / L&P 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)|
@@ -93,7 +93,7 @@
 |Chrysler|Pacifica Hybrid 2019-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |comma|body|All|[Upstream](#upstream)|
 |CUPRA|Ateca 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|CUPRA|Born 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Dodge|Durango 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Ford|Bronco Sport 2021-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Edge 2022|Co-Pilot360 Assist+|[Upstream](#upstream)|
@@ -401,8 +401,8 @@
 |Subaru|Solterra 2023-25|Any|[Not compatible](#can-bus-security)|
 |Subaru|XV 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|XV 2020-21|EyeSight Driver Assistance|[Upstream](#upstream)|
-|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Škoda|Enyaq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Škoda|Enyaq 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Kamiq 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Karoq 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -498,11 +498,11 @@
 |Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
-|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
-|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
+|Volkswagen|ID.3 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|ID.3 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|ID.4 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|ID.4 2024-25|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
+|Volkswagen|ID.5 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Jetta 2015-18|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Volkswagen|Jetta GLI 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|[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.

opendbc_repo/opendbc/can/parser.py

@@ -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

opendbc_repo/opendbc/can/tests/test_checksums.py

@@ -1,5 +1,6 @@
 import copy
 from opendbc.can import CANPacker, CANParser
+from opendbc.car.honda.hondacan import honda_checksum
 
 
 class TestCanChecksums:
@@ -90,6 +91,13 @@ class TestCanChecksums:
       assert parser.vl['LKAS_HUD']['CHECKSUM'] == std
       assert parser.vl['LKAS_HUD_A']['CHECKSUM'] == ext
 
+  def test_honda_canfd_checksum_offset_is_scoped_to_mvl_messages(self):
+    # Existing high-ID Honda messages retain the legacy extended-ID offset;
+    # only the Accord MVL replacement-radar IDs use the CAN-FD offset.
+    payload = bytearray(8)
+    assert honda_checksum(0xF31AA54, None, payload) == 11  # existing radarless LKAS_HUD_2
+    assert honda_checksum(0xF31AA52, None, payload) == 4   # Accord MVL RADAR_LEAD2
+
   def verify_volkswagen_mqb_crc(self, subtests, msg_name: str, msg_addr: int, test_messages: list[bytes], counter_field: str = 'COUNTER'):
     """Test AUTOSAR E2E Profile 2 CRCs"""
     assert len(test_messages) == 16  # All counter values must be tested

opendbc_repo/opendbc/car/car.capnp

@@ -644,6 +644,8 @@ struct CarParams {
     fcaGiorgio @32;
     rivian @33;
     volkswagenMeb @34;
+    teslaPreAP @35;
+    volvo @36;
   }
 
   enum SteerControlType {

opendbc_repo/opendbc/car/car_helpers.py

@@ -66,7 +66,7 @@ def _normalize_forced_candidate(candidate: str | None) -> str | None:
   return LEGACY_FORCED_CANDIDATE_MAP.get(candidate, candidate)
 
 
-def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int, dict]) -> str | None:
+def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int, dict], vin: str | None = None) -> str | None:
   """
   Normalize ambiguous/mismatched Bolt candidates using robust PT message signatures.
   This guards against occasional wrong variant selection causing persistent canError.
@@ -79,7 +79,22 @@ def _normalize_gm_bolt_candidate(candidate: str | None, fingerprints: dict[int,
   msg_304_len = pt.get(304)  # 8 on 2017 Gen1, 1 on 2018-2021 Gen1
   has_pedal = 513 in pt
 
+  # The 2022-23 Bolt ACC, pedal, and CC variants share the same FPv1
+  # fingerprint. Recover an ambiguous match when the observed traffic
+  # matches the Bolt family and the VIN confirms model year 2022/2023.
+  bolt_2022_2023_signature = (
+    pt.get(190) == 7 and
+    msg_211_len == 3 and
+    pt.get(566) == 8 and
+    pt.get(458) == 5
+  )
+  vin_year = vin[9] if isinstance(vin, str) and len(vin) > 9 else None
+
+  # VIN model-year codes: N=2022, P=2023.
+  if candidate is None and bolt_2022_2023_signature and vin_year in ("N", "P"):
+    return "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" if has_pedal else "CHEVROLET_BOLT_ACC_2022_2023"
   # If detection failed entirely but the signature is clearly Bolt, recover to a sane default.
+
   if candidate is None and 170 in pt and 188 in pt and msg_211_len in (2, 3):
     if msg_211_len == 3:
       return "CHEVROLET_BOLT_ACC_2022_2023_PEDAL" if has_pedal else "CHEVROLET_BOLT_ACC_2022_2023"
@@ -279,7 +294,7 @@ def fingerprint(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_mu
 def get_car(can_recv: CanRecvCallable, can_send: CanSendCallable, set_obd_multiplexing: ObdCallback, alpha_long_allowed: bool,
             is_release: bool, params: Params, num_pandas: int = 1, cached_params: CarParamsT | None = None, starpilot_toggles: SimpleNamespace = None):
   candidate, fingerprints, vin, car_fw, source, exact_match = fingerprint(can_recv, can_send, set_obd_multiplexing, num_pandas, cached_params)
-  candidate = _normalize_gm_bolt_candidate(candidate, fingerprints)
+  candidate = _normalize_gm_bolt_candidate(candidate, fingerprints, vin)
   candidate = _normalize_gm_volt_candidate(candidate, fingerprints)
   candidate = _normalize_forced_candidate(candidate)
   fingerprinted_candidate = candidate

opendbc_repo/opendbc/car/fingerprints.py

@@ -264,6 +264,7 @@ MIGRATION = {
   "GENESIS G70 2020": HYUNDAI.GENESIS_G70_2020,
   "GENESIS GV70 1ST GEN": HYUNDAI.GENESIS_GV70_1ST_GEN,
   "GENESIS GV70 ELECTRIFIED 2026": HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
+  "GENESIS GV70 2026": HYUNDAI.GENESIS_GV70_2026,
   "GENESIS G80 2017": HYUNDAI.GENESIS_G80,
   "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
   "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,

opendbc_repo/opendbc/car/ford/carcontroller.py

@@ -255,9 +255,15 @@ class CarController(CarControllerBase):
 
     if (self.frame % CarControllerParams.ACC_UI_STEP) == 0 or send_ui:
       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_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,
-                                                 hud_control, CS.acc_tja_status_stock_values))
+                                                 hud_control, CS.acc_tja_status_stock_values,
+                                                 hands_free_cluster))
 
     self.main_on_last = main_on
     self.lkas_enabled_last = CC.latActive

opendbc_repo/opendbc/car/ford/carstate.py

@@ -4,6 +4,7 @@ from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.ford.fordcan import CanBus
 from opendbc.car.ford.values import DBC, CarControllerParams, FordFlags
+from opendbc.car.gps import get_car_gps_config
 from opendbc.car.interfaces import CarStateBase
 
 ButtonType = structs.CarState.ButtonEvent.Type
@@ -27,12 +28,40 @@ class CarState(CarStateBase):
     self.lc_button = 0
     self.lkas_available = False
     self.lateral_motion_control = None
+    self.lateral_control_status = None
     self.steering_angle_offset_deg = 0.0
+    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
+
+  def _update_car_gps(self, cp) -> 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
+      self.car_gps = gps
+      self._car_gps_timestamp_nanos = timestamp_nanos
+
+  def get_car_gps(self):
+    return self.car_gps
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
 
+    self._update_car_gps(cp)
+
     ret = structs.CarState()
 
     if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
@@ -81,7 +110,8 @@ class CarState(CarStateBase):
 
     if self.CP.flags & FordFlags.CANFD:
       # this signal is always 0 on non-CAN FD cars
-      ret.steerFaultTemporary |= cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"] not in (1, 2, 3)
+      self.lateral_control_status = int(cp.vl["Lane_Assist_Data3_FD1"]["LatCtlSte_D_Stat"])
+      ret.steerFaultTemporary |= self.lateral_control_status not in (1, 2, 3)
 
     # cruise state
     is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else \
@@ -177,7 +207,81 @@ 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 []
+
+    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], [], 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),
     }

opendbc_repo/opendbc/car/ford/fordcan.py

@@ -181,7 +181,7 @@ def create_acc_msg(packer, CAN: CanBus, long_active: bool, gas: float, accel: fl
 
 
 def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw_alert: bool, standstill: bool,
-                      show_distance_bars: bool, hud_control, stock_values: dict):
+                      show_distance_bars: bool, hud_control, stock_values: dict, hands_free_cluster: bool = False):
   """
   Creates a CAN message for the Ford IPC adaptive cruise, forward collision warning and traffic jam
   assist status.
@@ -197,6 +197,8 @@ def create_acc_ui_msg(packer, CAN: CanBus, CP, main_on: bool, enabled: bool, fcw
       status = 3  # ActiveInterventionLeft
     elif hud_control.rightLaneDepart:
       status = 4  # ActiveInterventionRight
+    elif hands_free_cluster:
+      status = 7  # Hands-free assistance display
     else:
       status = 2  # Active
   elif main_on:

opendbc_repo/opendbc/car/ford/interface.py

@@ -54,10 +54,10 @@ class CarInterface(CarInterfaceBase):
       cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
-    ret.alphaLongitudinalAvailable = ret.radarUnavailable
-    if alpha_long or not ret.radarUnavailable:
+    ret.alphaLongitudinalAvailable = True
+    ret.openpilotLongitudinalControl = bool(alpha_long)
+    if ret.openpilotLongitudinalControl:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.LONG_CONTROL.value
-      ret.openpilotLongitudinalControl = True
 
     if ret.flags & FordFlags.CANFD:
       ret.safetyConfigs[-1].safetyParam |= FordSafetyFlags.CANFD.value

opendbc_repo/opendbc/car/ford/tests/test_ford.py

@@ -1,12 +1,19 @@
 import random
 from collections.abc import Iterable
+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.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
-from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, get_platform_codes, match_vin_to_car
+from opendbc.car.ford.interface import CarInterface
+from opendbc.car.ford.values import CAR, FW_QUERY_CONFIG, FW_PATTERN, FordSafetyFlags, get_platform_codes, match_vin_to_car
 from opendbc.car.ford.fingerprints import FW_VERSIONS
 
 Ecu = CarParams.Ecu
@@ -154,3 +161,158 @@ class TestFordFW:
     live_fw[(0x760, None)] = {b"M1MC-2D053-XX\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00"}
     candidates = FW_QUERY_CONFIG.match_fw_to_car_fuzzy(live_fw, '', {expected_fingerprint: offline_fw})
     assert len(candidates) == 0, "Should not match new model year hint"
+
+
+def test_mach_e_longitudinal_toggle_controls_stock_acc_selection():
+  stock = CarInterface.get_params(
+    CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
+  enhanced = CarInterface.get_params(
+    CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], True, False, False, None)
+
+  assert stock.alphaLongitudinalAvailable
+  assert not stock.openpilotLongitudinalControl
+  assert stock.pcmCruise
+  assert not (stock.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL)
+
+  assert enhanced.alphaLongitudinalAvailable
+  assert enhanced.openpilotLongitudinalControl
+  assert enhanced.safetyConfigs[-1].safetyParam & FordSafetyFlags.LONG_CONTROL
+
+
+def test_mach_e_can_gps_decode():
+  nav1 = {
+    "GpsHsphLattSth_D_Actl": 2,
+    "GpsHsphLongEast_D_Actl": 2,
+    "GPS_Latitude_Degrees": 37,
+    "GPS_Latitude_Minutes": 57,
+    "GPS_Latitude_Min_dec": 0.8864,
+    "GPS_Longitude_Degrees": -121,
+    "GPS_Longitude_Minutes": 44,
+    "GPS_Longitude_Min_dec": 0.22,
+  }
+  nav2 = {
+    "GpsUtcYr_No_Actl": 2026,
+    "GpsUtcMnth_No_Actl": 8,
+    "GpsUtcDay_No_Actl": 26,
+    "GPS_UTC_hours": 0,
+    "GPS_UTC_minutes": 24,
+    "GPS_UTC_seconds": 38,
+    "Gps_B_Falt": 0,
+  }
+  nav3 = {
+    "GPS_dimension": 2,
+    "GPS_Hdop": 0.6,
+    "GPS_Vdop": 0.8,
+    "GPS_Sat_num_in_view": 31,
+    "GPS_MSL_altitude": 90,
+    "GPS_Speed": 10,
+    "GPS_Heading": 180,
+  }
+
+  gps = parse_ford_can_gps(nav1, nav2, nav3)
+
+  assert gps is not None
+  assert gps["latitude"] == 37.96477333333333
+  assert gps["longitude"] == -121.737
+  assert abs(gps["altitude"] - 27.432) < 1e-9
+  assert abs(gps["speed"] - 10 * 0.44704) < 1e-9
+  assert gps["hasFix"]
+  assert gps["satelliteCount"] == 0  # 31 is Ford's invalid sentinel.
+
+
+def test_mach_e_can_gps_fault_invalidates_fix():
+  nav1 = {
+    "GpsHsphLattSth_D_Actl": 2,
+    "GpsHsphLongEast_D_Actl": 2,
+    "GPS_Latitude_Degrees": 37,
+    "GPS_Latitude_Minutes": 57,
+    "GPS_Latitude_Min_dec": 0.8864,
+    "GPS_Longitude_Degrees": -121,
+    "GPS_Longitude_Minutes": 44,
+    "GPS_Longitude_Min_dec": 0.22,
+  }
+  nav2 = {
+    "GpsUtcYr_No_Actl": 2026,
+    "GpsUtcMnth_No_Actl": 8,
+    "GpsUtcDay_No_Actl": 26,
+    "GPS_UTC_hours": 0,
+    "GPS_UTC_minutes": 24,
+    "GPS_UTC_seconds": 38,
+    "Gps_B_Falt": 1,
+  }
+  nav3 = {
+    "GPS_dimension": 2,
+    "GPS_Hdop": 0.6,
+    "GPS_Vdop": 0.8,
+    "GPS_Sat_num_in_view": 31,
+    "GPS_MSL_altitude": 90,
+    "GPS_Speed": 0,
+    "GPS_Heading": 180,
+  }
+
+  gps = parse_ford_can_gps(nav1, nav2, nav3)
+
+  assert gps is not None
+  assert not gps["hasFix"]
+  assert gps["latitude"] == 37.96477333333333
+  assert gps["altitude"] == 0.0
+
+
+def test_mach_e_can_gps_messages_are_optional_main_bus_inputs():
+  cp = CarInterface.get_params(CAR.FORD_MUSTANG_MACH_E_MK1, gen_empty_fingerprint(), [], False, False, False, None)
+  parser = CarInterface.CarState.get_can_parsers(cp)[Bus.pt]
+  gps_config = get_car_gps_config(cp)
+
+  assert gps_config is not None
+  assert gps_config.messages == FORD_MACH_E_GPS_MESSAGES
+  assert gps_config.decoder is parse_ford_can_gps
+  assert set(parser.addresses) >= {0x462, 0x463, 0x464}
+  assert set(FORD_MACH_E_GPS_MESSAGES) == set(gps_config.messages) == {
+    parser.dbc.addr_to_msg[0x462].name,
+    parser.dbc.addr_to_msg[0x463].name,
+    parser.dbc.addr_to_msg[0x464].name,
+  }
+  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)
+  CP = SimpleNamespace(openpilotLongitudinalControl=False)
+  hud = SimpleNamespace(leftLaneDepart=False, rightLaneDepart=False)
+  stock_values = dict.fromkeys([
+    "HaDsply_No_Cs", "HaDsply_No_Cnt", "AccStopStat_D_Dsply", "AccTrgDist2_D_Dsply",
+    "AccStopRes_B_Dsply", "TjaWarn_D_Rq", "TjaMsgTxt_D_Dsply", "IaccLamp_D_Rq",
+    "AccMsgTxt_D2_Rq", "FcwDeny_B_Dsply", "FcwMemStat_B_Actl", "AccTGap_B_Dsply",
+    "CadsAlignIncplt_B_Actl", "AccFllwMde_B_Dsply", "CadsRadrBlck_B_Actl",
+    "CmbbPostEvnt_B_Dsply", "AccStopMde_B_Dsply", "FcwMemSens_D_Actl",
+    "FcwMsgTxt_D_Rq", "AccWarn_D_Dsply", "FcwVisblWarn_B_Rq", "FcwAudioWarn_B_Rq",
+    "AccTGap_D_Dsply", "AccMemEnbl_B_RqDrv", "FdaMem_B_Stat",
+  ], 0)
+
+  regular = fordcan.create_acc_ui_msg(
+    packer, CAN, CP, True, True, False, False, False, hud, stock_values)
+  hands_free = fordcan.create_acc_ui_msg(
+    packer, CAN, CP, True, True, False, False, False, hud, stock_values, True)
+  expected_regular = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 2})
+  expected_hands_free = packer.make_can_msg("ACCDATA_3", 0, {"Tja_D_Stat": 7})
+
+  assert regular == expected_regular
+  assert hands_free == expected_hands_free

opendbc_repo/opendbc/car/gm/carstate.py

@@ -4,6 +4,7 @@ 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,
@@ -104,6 +105,31 @@ class CarState(CarStateBase):
     self.lkas_enabled = 0
     self.pcm_acc_status = AccState.OFF
     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
+
+  def _update_car_gps(self, cp) -> 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
+      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:
@@ -119,6 +145,8 @@ class CarState(CarStateBase):
     cam_cp = can_parsers[Bus.cam]
     loopback_cp = can_parsers[Bus.loopback]
 
+    self._update_car_gps(pt_cp)
+
     ret = structs.CarState()
 
     volt_like = {
@@ -428,6 +456,9 @@ 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 +482,7 @@ class CarState(CarStateBase):
       ("PSCMSteeringAngle", 100),
       ("ECMAcceleratorPos", 80),
       ("SportMode", 0),
+      *gps_messages,
     ]
 
     prndl2_rate = 10 if CP.carFingerprint in kaofui_state_cars else 40

opendbc_repo/opendbc/car/gm/fingerprints.py

@@ -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
   }],
@@ -207,7 +207,6 @@ 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],

opendbc_repo/opendbc/car/gm/gmcan.py

@@ -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
@@ -420,9 +420,11 @@ 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:

opendbc_repo/opendbc/car/gm/interface.py

@@ -273,7 +273,6 @@ class CarInterface(CarInterfaceBase):
 
     kaofui_camera_cars = {
       CAR.CHEVROLET_VOLT_CAMERA,
-      CAR.CHEVROLET_VOLT_CC,
       CAR.CHEVROLET_MALIBU_HYBRID_CC,
     }
     bolt_cc_camera_cars = {
@@ -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
 

opendbc_repo/opendbc/car/gm/tests/test_gm.py

@@ -20,6 +20,7 @@ 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.safety import ALTERNATIVE_EXPERIENCE
@@ -65,6 +66,43 @@ 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
+
+  @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 TestGMInterface:
   @parameterized.expand([
     CAR.CHEVROLET_BOLT_CC_2017,
@@ -201,6 +239,45 @@ 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 = {
@@ -533,6 +610,7 @@ 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,
@@ -554,6 +632,7 @@ 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,

opendbc_repo/opendbc/car/gm/values.py

@@ -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-C / L&P Harness)", "Redneck ACC", min_enable_speed=0)],
     CHEVROLET_VOLT.specs,
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )

opendbc_repo/opendbc/car/gps.py

@@ -0,0 +1,166 @@
+import math
+
+from dataclasses import dataclass
+from datetime import UTC, datetime
+from collections.abc import Callable, Mapping
+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]
+CanGpsDecoder = Callable[..., CarGpsSample | None]
+
+
+@dataclass(frozen=True)
+class CarGpsConfig:
+  """Vehicle-specific CAN GPS inputs and decoder."""
+
+  brand: str
+  messages: tuple[str, ...]
+  decoder: CanGpsDecoder
+
+
+def _dop_accuracy(dop: float, default: float = 500.0) -> float:
+  """Convert Ford's dimensionless DOP into a conservative meter estimate."""
+  return max(1.0, dop * 5.0) if 0.0 <= dop <= 5.8 else default
+
+
+def parse_ford_can_gps(nav1: Mapping[str, float], nav2: Mapping[str, float], nav3: Mapping[str, float]) -> CarGpsSample | None:
+  """Decode the Ford APIM GPS messages into the fields used by gpsLocationExternal."""
+  year = int(nav2["GpsUtcYr_No_Actl"])
+  month = int(nav2["GpsUtcMnth_No_Actl"])
+  day = int(nav2["GpsUtcDay_No_Actl"])
+  hour = int(nav2["GPS_UTC_hours"])
+  minute = int(nav2["GPS_UTC_minutes"])
+  second = int(nav2["GPS_UTC_seconds"])
+  try:
+    timestamp_ms = int(datetime(year, month, day, hour, minute, second, tzinfo=UTC).timestamp() * 1000)
+  except ValueError:
+    return None
+
+  latitude_direction = int(nav1["GpsHsphLattSth_D_Actl"])
+  longitude_direction = int(nav1["GpsHsphLongEast_D_Actl"])
+  latitude_degrees = abs(float(nav1["GPS_Latitude_Degrees"]))
+  longitude_degrees = abs(float(nav1["GPS_Longitude_Degrees"]))
+  latitude_minutes = float(nav1["GPS_Latitude_Minutes"]) + float(nav1["GPS_Latitude_Min_dec"])
+  longitude_minutes = float(nav1["GPS_Longitude_Minutes"]) + float(nav1["GPS_Longitude_Min_dec"])
+
+  coordinates_valid = (
+    latitude_direction in (1, 2) and longitude_direction in (1, 2) and
+    0.0 <= latitude_degrees <= 90.0 and 0.0 <= longitude_degrees <= 180.0 and
+    0.0 <= latitude_minutes < 60.0 and 0.0 <= longitude_minutes < 60.0
+  )
+  latitude = (1.0 if latitude_direction == 2 else -1.0) * (latitude_degrees + latitude_minutes / 60.0) if coordinates_valid else 0.0
+  longitude = (1.0 if longitude_direction == 1 else -1.0) * (longitude_degrees + longitude_minutes / 60.0) if coordinates_valid else 0.0
+
+  dimension = int(nav3["GPS_dimension"])
+  has_fix = coordinates_valid and dimension in (1, 2) and int(nav2["Gps_B_Falt"]) == 0
+
+  speed_mph = float(nav3["GPS_Speed"])
+  speed_mps = speed_mph * CV.MPH_TO_MS
+  heading = float(nav3["GPS_Heading"])
+  if speed_mph in (254.0, 255.0) or not math.isfinite(speed_mps) or not 0.0 <= speed_mps <= 200.0:
+    speed_mps = 0.0
+  if not math.isfinite(heading) or not 0.0 <= heading < 360.0:
+    heading = 0.0
+
+  vertical_accuracy = _dop_accuracy(float(nav3["GPS_Vdop"]))
+  horizontal_accuracy = _dop_accuracy(float(nav3["GPS_Hdop"]))
+  satellite_count = int(nav3["GPS_Sat_num_in_view"])
+  if not 0 <= satellite_count < 30:  # 30 and 31 are Ford's unknown/invalid values.
+    satellite_count = 0
+
+  heading_rad = math.radians(heading)
+  return {
+    "latitude": latitude,
+    "longitude": longitude,
+    "altitude": (float(nav3["GPS_MSL_altitude"]) * 0.3048) if has_fix else 0.0,
+    "speed": speed_mps,
+    "bearingDeg": heading,
+    "horizontalAccuracy": horizontal_accuracy,
+    "unixTimestampMillis": timestamp_ms,
+    "verticalAccuracy": vertical_accuracy,
+    "bearingAccuracyDeg": max(5.0, horizontal_accuracy * 2.0) if speed_mps > 1.0 else 180.0,
+    "speedAccuracy": max(0.5, horizontal_accuracy),
+    "hasFix": has_fix,
+    "satelliteCount": satellite_count,
+    "vNED": [speed_mps * math.cos(heading_rad), speed_mps * math.sin(heading_rad), 0.0],
+  }
+
+
+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": 100.0,
+    "unixTimestampMillis": int(datetime.now(UTC).timestamp() * 1000),
+    "verticalAccuracy": 100.0,
+    "bearingAccuracyDeg": 180.0,
+    "speedAccuracy": 100.0,
+    "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] = {
+  FORD_CAR.FORD_MUSTANG_MACH_E_MK1: CarGpsConfig(
+    brand="ford",
+    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
+  },
+}
+
+
+def get_car_gps_config(CP) -> CarGpsConfig | None:
+  config = CAR_GPS_CONFIGS.get(CP.carFingerprint)
+  return config if config is not None and config.brand == CP.brand else None
+
+
+def car_gps_available(CP) -> bool:
+  return get_car_gps_config(CP) is not None

opendbc_repo/opendbc/car/honda/carcontroller.py

@@ -7,6 +7,7 @@ from opendbc.car.honda import hondacan
 from opendbc.car.honda.values import (
   CAR,
   CruiseButtons,
+  CruiseSettings,
   HONDA_BOSCH,
   HONDA_BOSCH_CANFD,
   HONDA_BOSCH_RADARLESS,
@@ -16,6 +17,7 @@ from opendbc.car.honda.values import (
   HondaFlags,
 )
 from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.common.pid import PIDController
 from openpilot.common.params import Params
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -211,6 +213,14 @@ class CarController(CarControllerBase):
     self.CAN = hondacan.CanBus(CP)
     self.tja_control = CP.carFingerprint in HONDA_BOSCH_TJA_CONTROL
 
+    # MVL CAN-FD ownership state. These do not affect non-CANFD vehicles.
+    self.radar_disable_counter = 0
+    self.radar_mux = 0
+    self.radar_hud_pulse = 0
+    self.last_acc_enabled = False
+    self.lkas_button_send_remaining = 0
+    self.last_lkas_button_frame = 0
+
     self.braking = False
     self.brake_steady = 0.0
     self.brake_last = 0.0
@@ -234,6 +244,10 @@ class CarController(CarControllerBase):
     self.bosch_gas_factor_before_gasmax = self.bosch_gas_factor
     self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
     self.pitch = 0.0
+    self.mvl_accord_mode = CP.carFingerprint == CAR.HONDA_ACCORD_11G
+    # MVL Bosch low-speed extra-brake integrator. Active only for Accord 11G MVL mode.
+    self.mvl_brake_pid = PIDController(k_p=0.0, k_i=1.0, pos_limit=0.0, neg_limit=-2.0, rate=50)
+    self.mvl_brake_pid.reset()
 
   def _modified_civic_standard_active(self) -> bool:
     return self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH and bool(self.CP.flags & HondaFlags.EPS_MODIFIED)
@@ -255,6 +269,7 @@ class CarController(CarControllerBase):
     hud_v_cruise = hud_control.setSpeed / CS.v_cruise_factor if hud_control.speedVisible else 255
     pcm_cancel_cmd = CC.cruiseControl.cancel
     gas_interceptor_command = 0.0
+    min_gas = self.params.BOSCH_GAS_LOOKUP_BP[0]
     if len(CC.orientationNED) == 3:
       self.pitch = CC.orientationNED[1]
     hill_brake = math.sin(self.pitch) * ACCELERATION_DUE_TO_GRAVITY
@@ -308,11 +323,56 @@ class CarController(CarControllerBase):
     # Send CAN commands
     can_sends = []
 
-    # tester present - w/ no response (keeps radar disabled)
+    # Bosch radar ownership. On CAN-FD, leave the stock radar active until the comma relay is open,
+    # then enter extended diagnostics and disable radar RX/TX. This prevents a gap between stock
+    # ACC_CONTROL disappearing and panda permitting openpilot's replacement stream.
     if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and self.CP.openpilotLongitudinalControl:
-      if self.frame % 10 == 0:
+      if self.mvl_accord_mode and CS.stock_acc_alive:
+        if CS.canfd_relay_open:
+          if self.radar_disable_counter % 50 == 0:
+            can_sends.append((0x18DAB0F1, b'\x02\x10\x03\x00\x00\x00\x00\x00', self.CAN.pt))
+          elif self.radar_disable_counter % 50 == 5:
+            can_sends.append((0x18DAB0F1, b'\x03\x28\x83\x03\x00\x00\x00\x00', self.CAN.pt))
+          self.radar_disable_counter += 1
+      elif self.frame % 10 == 0:
         can_sends.append(make_tester_present_msg(0x18DAB0F1, self.CAN.pt, suppress_response=True))
 
+    # After the stock CAN-FD radar is silent, reproduce its low-rate/tick-aligned messages on both
+    # the PT and camera sides of the open relay. Pack once and mirror identical bytes so counters and
+    # checksums stay synchronized. v3 deliberately uses an idle lane/object payload first; model-based
+    # cluster rendering is deferred until the ownership/DTC handover is proven.
+    mvl_radar_owned = self.mvl_accord_mode and CS.canfd_relay_open and not CS.stock_acc_alive
+    if mvl_radar_owned and self.CP.openpilotLongitudinalControl:
+      if CC.enabled and not self.last_acc_enabled:
+        self.radar_hud_pulse = 30
+      self.last_acc_enabled = CC.enabled
+
+      radar_msgs = []
+      if CS.hud_tick:
+        radar_msgs.append(hondacan.create_radar_hud_canfd(self.packer, self.CAN.pt, CC.enabled, self.radar_hud_pulse > 0))
+        if self.radar_hud_pulse > 0:
+          self.radar_hud_pulse -= 1
+      if CS.supp_tick:
+        radar_msgs.append(hondacan.create_canfd_supplemental(self.packer, self.CAN.pt))
+      if CS.radar_50hz_tick:
+        if self.radar_mux >= 58:
+          self.radar_mux = 1
+        elif self.radar_mux == 10:
+          self.radar_mux = 17
+        elif self.radar_mux == 26:
+          self.radar_mux = 33
+        elif self.radar_mux == 42:
+          self.radar_mux = 49
+        else:
+          self.radar_mux += 1
+        radar_msgs.extend(hondacan.create_canfd_50hz_radar_messages(self.packer, self.CAN.pt, self.radar_mux))
+      if CS.radar_5hz_tick:
+        radar_msgs.extend(hondacan.create_canfd_5hz_radar_messages(self.packer, self.CAN.pt, CS.radar_ref_counter))
+
+      for addr, dat, _ in radar_msgs:
+        can_sends.append((addr, dat, self.CAN.pt))
+        can_sends.append((addr, dat, self.CAN.camera))
+
     # Send steering command.
     can_sends.append(hondacan.create_steering_control(self.packer, self.CAN, apply_torque, CC.latActive, self.tja_control))
 
@@ -352,23 +412,37 @@ class CarController(CarControllerBase):
         ts = self.frame * DT_CTRL
 
         if self.CP.carFingerprint in HONDA_BOSCH:
-          self.accel = float(np.clip(accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
-          gas_pedal_force = self.accel + hill_brake
+          if self.mvl_accord_mode and (accel < min_gas) and (1e-3 < CS.out.vEgo < 3.0):
+            brake_addon = self.mvl_brake_pid.update(error=accel - CS.out.aEgo, speed=CS.out.vEgo)
+            target_accel = min(accel, accel + brake_addon)
+          else:
+            if self.mvl_accord_mode:
+              self.mvl_brake_pid.reset()
+            target_accel = accel
+
+          self.accel = float(np.clip(target_accel, self.params.BOSCH_ACCEL_MIN, self.params.BOSCH_ACCEL_MAX))
+          # MVL uses requested accel (not extra-brake-adjusted accel) to decide propulsion crossover.
+          gas_pedal_force = (accel if self.mvl_accord_mode else self.accel) + hill_brake
 
           if self.CP.carFingerprint not in HONDA_BOSCH_RADARLESS:
             gas_pedal_force += wind_brake_mps2 * self.bosch_wind_factor
 
             if actuators.longControlState == LongCtrlState.pid and not CS.out.gasPressed:
-              gas_error = self.accel - CS.out.aEgo
+              gas_error = (accel if self.mvl_accord_mode else self.accel) - CS.out.aEgo
 
-              if gas_error != 0.0 and gas_pedal_force > 0.0:
+              if gas_error != 0.0 and gas_pedal_force > min_gas:
                 if self.CP.carFingerprint == CAR.HONDA_INSIGHT:
                   gas_learn_speed = 150.0
                 elif self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR):
                   gas_learn_speed = 300.0
                 else:
                   gas_learn_speed = 50.0
-                self.bosch_gas_factor = float(np.clip(self.bosch_gas_factor + gas_error / gas_learn_speed * gas_pedal_force, 0.1, 3.0))
+                gas_factor_floor = 0.01 if self.mvl_accord_mode else 0.1
+                gas_learn_force = (gas_pedal_force - min_gas) if self.mvl_accord_mode else gas_pedal_force
+                self.bosch_gas_factor = float(np.clip(
+                  self.bosch_gas_factor + gas_error / gas_learn_speed * gas_learn_force,
+                  gas_factor_floor, 3.0,
+                ))
 
               if gas_error != 0.0 and not CS.out.brakePressed and CS.out.vEgo > 0.0:
                 wind_learn_speed = 100.0 if self.CP.carFingerprint in (CAR.ACURA_RDX_3G, CAR.ACURA_RDX_3G_MMR) else 1000.0
@@ -378,7 +452,8 @@ class CarController(CarControllerBase):
                 else:
                   self.bosch_wind_factor = float(np.clip(self.bosch_wind_factor / wind_adjust, 0.1, 3.0))
 
-              if gas_pedal_force <= 0.0:
+              wind_brake_threshold = min_gas if self.mvl_accord_mode else 0.0
+              if gas_pedal_force <= wind_brake_threshold:
                 self.bosch_wind_factor = max(self.bosch_wind_factor, self.bosch_wind_factor_before_brake)
               else:
                 self.bosch_wind_factor_before_brake = self.bosch_wind_factor
@@ -390,15 +465,21 @@ class CarController(CarControllerBase):
                 self.bosch_gas_factor_before_gasmax = self.bosch_gas_factor
                 self.bosch_wind_factor_before_gasmax = self.bosch_wind_factor
 
-          self.gas = float(np.interp(gas_pedal_force * self.bosch_gas_factor, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
+          gas_lookup_input = ((gas_pedal_force - min_gas) * self.bosch_gas_factor + min_gas) if self.mvl_accord_mode else \
+                             gas_pedal_force * self.bosch_gas_factor
+          self.gas = float(np.interp(gas_lookup_input, self.params.BOSCH_GAS_LOOKUP_BP, self.params.BOSCH_GAS_LOOKUP_V))
           self.gas = min(self.gas, max(60.0, self.bosch_last_gas + 60.0))
           self.bosch_last_gas = self.gas
 
           stopping = actuators.longControlState == LongCtrlState.stopping
           self.stopping_counter = self.stopping_counter + 1 if stopping else 0
-          can_sends.extend(
-            hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP.carFingerprint)
-          )
+          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,
+              )
+            )
         else:
           apply_brake = np.clip(self.brake_last - wind_brake, 0.0, 1.0)
           apply_brake = int(np.clip(apply_brake * self.params.NIDEC_BRAKE_MAX, 0, self.params.NIDEC_BRAKE_MAX - 1))
@@ -440,9 +521,16 @@ class CarController(CarControllerBase):
             idx = (self.frame // 2) % 0x10
             can_sends.append(create_gas_interceptor_command(self.packer, gas_interceptor_command, idx))
 
-    # Send dashboard UI commands.
+    # Send dashboard UI commands. On CAN-FD, ACC_HUD is owned by the radar and must only start
+    # after the handover, aligned to the radar's 10 Hz HUD tick.
+    if (mvl_radar_owned and CS.hud_tick and self.CP.openpilotLongitudinalControl):
+      can_sends.append(
+        hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, actuators.accel,
+                                hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud)
+      )
+
     if self.frame % 10 == 0:
-      if self.CP.openpilotLongitudinalControl:
+      if self.CP.openpilotLongitudinalControl and not self.mvl_accord_mode:
         # On Nidec, this also controls longitudinal positive acceleration
         can_sends.append(
           hondacan.create_acc_hud(self.packer, self.CAN.pt, self.CP, CC.enabled, pcm_speed, pcm_accel, hud_control, hud_v_cruise, CS.is_metric, CS.acc_hud)
@@ -458,7 +546,7 @@ class CarController(CarControllerBase):
 
       if self.CP.openpilotLongitudinalControl:
         # TODO: combining with create_acc_hud block above will change message order and will need replay logs regenerated
-        if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS):
+        if self.CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS - {CAR.HONDA_ACCORD_11G}):
           can_sends.append(hondacan.create_radar_hud(self.packer, self.CAN.pt))
         if self.CP.carFingerprint == CAR.HONDA_CIVIC_BOSCH:
           can_sends.append(hondacan.create_legacy_brake_command(self.packer, self.CAN.pt))
@@ -469,6 +557,29 @@ class CarController(CarControllerBase):
           else:
             self.gas = pcm_accel / self.params.NIDEC_GAS_MAX
 
+    # CAN-FD: while engaged, the camera still needs a valid SCM_BUTTONS stream behind the open relay.
+    # Take over that stream, echoing the live ambient-light byte. Also send a short LKAS-setting pulse
+    # when stock LKAS is ready, matching MVL's workaround for the Honda touch-steering-wheel timer.
+    if (self.mvl_accord_mode and CC.enabled and self.frame % 4 == 0
+        and not pcm_cancel_cmd and not CC.cruiseControl.resume):
+      if (self.lkas_button_send_remaining == 0 and CS.lkas_hud["LKAS_READY"]
+          and self.frame >= self.last_lkas_button_frame + 500):
+        self.lkas_button_send_remaining = 3
+
+      if self.lkas_button_send_remaining > 0:
+        self.last_lkas_button_frame = self.frame
+        self.lkas_button_send_remaining -= 1
+        cruise_setting = CruiseSettings.LKAS
+      elif CS.cruise_setting == CruiseSettings.LKAS:
+        cruise_setting = 0
+      else:
+        cruise_setting = CS.cruise_setting
+
+      can_sends.append(hondacan.spam_buttons_command(
+        self.packer, self.CAN, CS.cruise_buttons, self.CP.carFingerprint,
+        cruise_setting=cruise_setting, ambient_light=CS.scm_ambient_light, bus=self.CAN.camera,
+      ))
+
     if self.frame > 0 and self.frame % 6000 == 0:
       self.param_store.put_float("HondaGasFactorParams", self.bosch_gas_factor)
       self.param_store.put_float("HondaWindFactorParams", self.bosch_wind_factor)

opendbc_repo/opendbc/car/honda/carstate.py

@@ -68,11 +68,33 @@ class CarState(CarStateBase):
     self.initial_accFault_cleared = False
     self.initial_accFault_cleared_timer = int(10 / DT_CTRL)
 
+    # CAN-FD deferred radar handover state. The stock radar remains responsible for ACC_CONTROL
+    # until the relay is open and the controller has silenced it; radar reference/tick messages are
+    # used to keep the replacement radar look-alikes on the stock cadence after the handover.
+    self.radar_ref_counter = 0
+    self.radar_5hz_tick_counter = 0
+    self.radar_5hz_tick = False
+    self.supp_tick_counter = 0
+    self.supp_tick = False
+    self.hud_tick_counter = 0
+    self.hud_tick = False
+    self.radar_50hz_tick_counter = 0
+    self.radar_50hz_tick = False
+    self.scm_ambient_light = 0
+    self.stock_acc_counter = 0
+    self.stock_acc_alive = False
+    self.camera_steer_counter = 0
+    self.camera_steer_seen = False
+    self.canfd_frames = 0
+    self.canfd_relay_open = False
+
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
     cp_cam = can_parsers[Bus.cam]
     if self.CP.enableBsm:
       cp_body = can_parsers[Bus.body]
+    if self.CP.carFingerprint == CAR.HONDA_ACCORD_11G:
+      cp_radar = can_parsers[Bus.radar]
 
     ret = structs.CarState()
 
@@ -85,6 +107,10 @@ class CarState(CarStateBase):
     prev_cruise_setting = self.cruise_setting
     self.cruise_setting = cp.vl["SCM_BUTTONS"]["CRUISE_SETTING"]
     self.cruise_buttons = cp.vl["SCM_BUTTONS"]["CRUISE_BUTTONS"]
+    if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | {CAR.HONDA_ACCORD_11G}):
+      # The camera consumes this byte in SCM_BUTTONS too (adaptive high beam); preserve it when
+      # openpilot temporarily takes over SCM_BUTTONS toward the camera.
+      self.scm_ambient_light = cp.vl["SCM_BUTTONS"]["AMBIENT_LIGHT_MAYBE"]
 
     # used for car hud message
     self.is_metric = self.CP.carFingerprint in (CAR.HONDA_ODYSSEY_TWN,) or not cp.vl["CAR_SPEED"]["IMPERIAL_UNIT"]
@@ -116,8 +142,8 @@ class CarState(CarStateBase):
     steer_status = self.steer_status_values[cp.vl["STEER_STATUS"]["STEER_STATUS"]]
     ret.steerFaultPermanent = steer_status not in ("NORMAL", "NO_TORQUE_ALERT_1", "NO_TORQUE_ALERT_2", "LOW_SPEED_LOCKOUT", "TJA_LOW_SPEED_LOCKOUT",
                                                    "TMP_FAULT")
-    if self.CP.carFingerprint in HONDA_BOSCH_ALT_RADAR:
-      # TODO: See if this logic works for all other Honda
+    if self.CP.carFingerprint in (HONDA_BOSCH_ALT_RADAR | {CAR.HONDA_ACCORD_11G}):
+      # MVL treats CAN-FD low-speed lockout as an expected EPS state too.
       min_steer_speed = max(CarControllerParams.STEER_GLOBAL_MIN_SPEED, self.CP.minSteerSpeed)
       expected_low_speed_lockout = steer_status == "LOW_SPEED_LOCKOUT" and ret.vEgo < min_steer_speed
       ret.steerFaultTemporary = steer_status != "NORMAL" and not expected_low_speed_lockout
@@ -249,6 +275,63 @@ class CarState(CarStateBase):
     if self.CP.carFingerprint in (HONDA_BOSCH_RADARLESS | HONDA_BOSCH_CANFD):
       self.lkas_hud = cp_cam.vl["LKAS_HUD"]
 
+    if self.CP.carFingerprint == CAR.HONDA_ACCORD_11G:
+      # Phase replacement radar messages from the stock radar's tick references. CarState reads the
+      # tick in one 100 Hz cycle and CarController transmits on the next, so pulse one frame before
+      # the expected next stock tick.
+      self.radar_ref_counter = cp.vl["RADAR_REFERENCE"]["COUNTER"]
+
+      ref_tick_vals = cp.vl_all.get("RADAR_REFERENCE", {}).get("COUNTER", [])
+      if len(ref_tick_vals) > 0:
+        self.radar_5hz_tick_counter = 0
+      else:
+        self.radar_5hz_tick_counter += 1
+      self.radar_5hz_tick = self.radar_5hz_tick_counter == 11
+
+      supp_tick_vals = cp_radar.vl_all.get("RADAR_SUPP_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(supp_tick_vals) > 0:
+        self.supp_tick_counter = 0
+      else:
+        self.supp_tick_counter += 1
+      self.supp_tick = self.supp_tick_counter == 99
+
+      hud_tick_vals = cp_radar.vl_all.get("RADAR_HUD_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(hud_tick_vals) > 0:
+        self.hud_tick_counter = 0
+      else:
+        self.hud_tick_counter += 1
+      self.hud_tick = self.hud_tick_counter == 9
+
+      tick_50hz_vals = cp_radar.vl_all.get("RADAR_50HZ_TICK_REFERENCE", {}).get("IGNORE", [])
+      if len(tick_50hz_vals) > 0:
+        self.radar_50hz_tick_counter = 0
+      else:
+        self.radar_50hz_tick_counter += 1
+      self.radar_50hz_tick = self.radar_50hz_tick_counter == 1
+
+      # ACC_CONTROL is normally present every 2 frames. Keep treating the stock radar as alive until
+      # four consecutive frames have passed without it, preventing overlap between stock and OP ACC.
+      self.canfd_frames += 1
+      if len(cp.vl_all.get("ACC_CONTROL", {}).get("COUNTER", [])) > 0:
+        self.stock_acc_counter = 0
+      else:
+        self.stock_acc_counter += 1
+      self.stock_acc_alive = self.stock_acc_counter < 4
+
+      # Before the relay opens, the camera's STEERING_CONTROL is physically visible on PT. Once the
+      # relay opens it disappears. Fallback to 5 seconds in case the camera frame was never observed.
+      if len(cp.vl_all.get("STEERING_CONTROL", {}).get("COUNTER", [])) > 0:
+        self.camera_steer_counter = 0
+        self.camera_steer_seen = True
+      else:
+        self.camera_steer_counter += 1
+      self.canfd_relay_open = (self.camera_steer_seen and self.camera_steer_counter >= 5) or self.canfd_frames >= 500
+    else:
+      self.supp_tick = False
+      self.hud_tick = False
+      self.radar_5hz_tick = False
+      self.radar_50hz_tick = False
+
     if self.CP.enableBsm:
       # BSM messages are on B-CAN, requires a panda forwarding B-CAN messages to CAN 0
       # more info here: https://github.com/commaai/openpilot/pull/1867
@@ -271,6 +354,10 @@ class CarState(CarStateBase):
 
   def get_can_parsers(self, CP):
     pt_messages = [("GAS_SENSOR", 0)] if CP.enableGasInterceptorDEPRECATED else []
+    if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
+      # Both deliberately go silent during the handover, so skip alive/timeout checks.
+      pt_messages += [("ACC_CONTROL", float("nan")), ("STEERING_CONTROL", float("nan"))]
+
     pt_parser = CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).pt)
     if CP.enableGasInterceptorDEPRECATED:
       pt_parser.message_states[0x201].ignore_checksum = True
@@ -282,5 +369,11 @@ class CarState(CarStateBase):
     }
     if CP.enableBsm:
       parsers[Bus.body] = CANParser(DBC[CP.carFingerprint][Bus.body], [], CanBus(CP).radar)
+    if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
+      parsers[Bus.radar] = CANParser(DBC[CP.carFingerprint][Bus.radar], [
+        ("RADAR_SUPP_TICK_REFERENCE", 0),
+        ("RADAR_HUD_TICK_REFERENCE", 0),
+        ("RADAR_50HZ_TICK_REFERENCE", 0),
+      ], CanBus(CP).radar)
 
     return parsers

opendbc_repo/opendbc/car/honda/fingerprints.py

@@ -1039,6 +1039,8 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x18dab5f1, None): [
       b'8S102-30A-A050\x00\x00',
       b'8S102-30A-A060\x00\x00',
+      b'8S102-30A-A070\x00\x00',
+      b'8S102-30A-A080\x00\x00',
     ],
   },
   CAR.HONDA_CRV_6G: {

opendbc_repo/opendbc/car/honda/hondacan.py

@@ -2,6 +2,7 @@ from opendbc.car import CanBusBase
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.honda.values import (HondaFlags, HONDA_BOSCH, HONDA_BOSCH_ALT_RADAR, HONDA_BOSCH_RADARLESS,
                                       HONDA_BOSCH_CANFD, CarControllerParams)
+from opendbc.car.honda.values import CAR
 
 # CAN bus layout with relay
 # 0 = ACC-CAN - radar side
@@ -70,14 +71,16 @@ 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, car_fingerprint):
+def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_counter, CP, gas_force=None):
   commands = []
   min_gas_accel = CarControllerParams.BOSCH_GAS_LOOKUP_BP[0]
 
   control_on = 5 if enabled else 0
-  gas_command = gas if active and accel > min_gas_accel else -30000
+  if gas_force is None:
+    gas_force = accel
+  gas_command = gas if active and gas_force > min_gas_accel else -30000
   accel_command = accel if active else 0
-  braking = 1 if active and accel < min_gas_accel 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
 
@@ -87,7 +90,7 @@ def create_acc_commands(packer, CAN, enabled, active, accel, gas, stopping_count
     'STANDSTILL': standstill,
   }
 
-  if car_fingerprint in HONDA_BOSCH_RADARLESS:
+  if CP.carFingerprint in HONDA_BOSCH_RADARLESS:
     acc_control_values.update({
       "CONTROL_ON": enabled,
       "IDLESTOP_ALLOW": stopping_counter > 200,  # allow idle stop after 4 seconds (50 Hz)
@@ -147,10 +150,20 @@ def create_acc_hud(packer, bus, CP, enabled, pcm_speed, pcm_accel, hud_control,
     'SET_ME_X01_2': 1,
   }
 
+  if CP.carFingerprint == CAR.HONDA_ACCORD_11G:
+    # Stock CAN-FD radar toggles these together with ACC/lead/braking state. Keeping them low when
+    # neither lead nor braking is present matches MVL's observed CAN-FD payload shape.
+    set_me = int(enabled and (bool(acc_hud_values['HUD_LEAD']) or (pcm_accel < 0.2)))
+    acc_hud_values['SET_ME_X01'] = set_me
+    acc_hud_values['SET_ME_X01_2'] = set_me
+
   if CP.carFingerprint in HONDA_BOSCH:
     acc_hud_values['ACC_ON'] = int(enabled)
-    acc_hud_values['FCM_OFF'] = 1
-    acc_hud_values['FCM_OFF_2'] = 1
+    # Preserve StarPilot's existing Bosch HUD behavior outside CAN-FD. MVL's CAN-FD
+    # replacement radar expects FCW/CMBS enabled, while legacy Bosch keeps them off.
+    canfd = CP.carFingerprint == CAR.HONDA_ACCORD_11G
+    acc_hud_values['FCM_OFF'] = 0 if canfd else 1
+    acc_hud_values['FCM_OFF_2'] = 0 if canfd else 1
   else:
     # Shows the distance bars, TODO: stock camera shows updates temporarily while disabled
     acc_hud_values['ACC_ON'] = int(enabled)
@@ -219,16 +232,104 @@ def create_legacy_brake_command(packer, bus):
   return packer.make_can_msg("LEGACY_BRAKE_COMMAND", bus, {})
 
 
-def spam_buttons_command(packer, CAN, button_val, car_fingerprint):
+def spam_buttons_command(packer, CAN, button_val, car_fingerprint, cruise_setting=0, ambient_light=None, bus=None):
   values = {
     'CRUISE_BUTTONS': button_val,
-    'CRUISE_SETTING': 0,
+    'CRUISE_SETTING': cruise_setting,
   }
-  # send buttons to camera on radarless (camera does ACC) cars
-  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
+  # Existing StarPilot callers should retain their previous payload; only the CAN-FD camera
+  # takeover path explicitly echoes the live ambient-light byte.
+  if ambient_light is not None:
+    values['AMBIENT_LIGHT_MAYBE'] = ambient_light
+  if bus is None:
+    # send buttons to camera on radarless (camera does ACC) cars
+    bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
   return packer.make_can_msg("SCM_BUTTONS", bus, values)
 
 
+def create_radar_hud_canfd(packer, bus, acc, acc_pulse=False):
+  values = {
+    'CMBS_ENABLED_MAYBE': 1 if (acc and acc_pulse) else 0,
+    'ACC_ON': acc,
+    'SET_ME_X01': 0x01,
+    'SET_ME_X01_2': 0x01,
+  }
+  return packer.make_can_msg("RADAR_HUD_CANFD", bus, values)
+
+
+def create_canfd_supplemental(packer, bus):
+  values = {
+    'SET_ME_X01': 0x01,
+    'SET_ME_X41': 0x41,
+  }
+  return packer.make_can_msg("BOSCH_SUPPLEMENTAL_CANFD", bus, values)
+
+
+RADAR_MUX_BANK_STARTS = (1, 17, 33, 49)
+PATH_OFFSET_INVALID = 2047
+# These extended IDs use the CAN-FD checksum offset used by the Accord 11G
+# replacement-radar stream. Keep the legacy Honda offset for existing high-ID
+# messages on other Honda platforms.
+HONDA_CANFD_MVL_CHECKSUM_IDS = frozenset((
+  0x6CD5558, 0x6CD5559, 0xF31AA52, 0xF31AA5C, 0x1A45AA4E,
+))
+
+
+def _lane_path_offsets(radar_mux):
+  pos = next((radar_mux - start for start in RADAR_MUX_BANK_STARTS if start <= radar_mux <= start + 9), 0)
+  if pos == 0:
+    return (0, 0, 0, 0)
+  if pos == 1:
+    return (0, 0, PATH_OFFSET_INVALID, PATH_OFFSET_INVALID)
+  return (PATH_OFFSET_INVALID,) * 4
+
+
+def create_canfd_50hz_radar_messages(packer, bus, radar_mux):
+  offsets = _lane_path_offsets(radar_mux)
+  lane_path_values = {
+    'MUX': radar_mux,
+    'PATH_OFFSET_1': offsets[0],
+    'PATH_OFFSET_2': offsets[1],
+    'PATH_OFFSET_3': offsets[2],
+    'PATH_OFFSET_4': offsets[3],
+  }
+  hud_objects_values = {
+    'MUX': radar_mux,
+    'OBJECT_ID': 0,
+    'IS_LEAD_CAR': 0,
+    'CAR_TYPE': -1,
+    'ROTATION': -128,
+    'LONG_DIST': 196.9,
+    'LAT_DIST': 204.7,
+  }
+  return [
+    packer.make_can_msg('LANE_PATH', bus, lane_path_values),
+    packer.make_can_msg('HUD_OBJECTS', bus, hud_objects_values),
+  ]
+
+
+def create_canfd_5hz_radar_messages(packer, bus, radar_ref_cntr):
+  radar_lead_values = {
+    'CNTR_REF': radar_ref_cntr,
+    'SET_ME_X01': 0x01,
+    'TARGET_SPEED_MAYBE': 140,
+    # v3 initially sends MVL's stock-like idle lane state. Model-derived dash rendering can be added
+    # separately after the DTC/ownership handover is proven on-car.
+    'LEFT_LANE': 0,
+    'RIGHT_LANE': 0,
+    'LANE_PATH_LENGTH': 6,
+  }
+  radar_lead2_values = {
+    'SET_ME_X88': 136,
+    'SET_ME_X78': 120,
+    'LEAD_DISTANCE_MAYBE': 0,
+  }
+  return [
+    packer.make_can_msg('RADAR_LEAD', bus, radar_lead_values),
+    packer.make_can_msg('RADAR_LEAD2', bus, radar_lead2_values),
+  ]
+
+
 def honda_checksum(address: int, sig, d: bytearray) -> int:
   s = 0
   extended = address > 0x7FF
@@ -243,5 +344,5 @@ def honda_checksum(address: int, sig, d: bytearray) -> int:
     s += (x & 0xF) + (x >> 4)
   s = 8 - s
   if extended:
-    s += 3
+    s += 10 if address in HONDA_CANFD_MVL_CHECKSUM_IDS else 3
   return s & 0xF

opendbc_repo/opendbc/car/honda/interface.py

@@ -1,10 +1,11 @@
 #!/usr/bin/env python3
 import numpy as np
+from openpilot.common.params import Params, UnknownKeyName
 from opendbc.car import get_safety_config, structs, uds
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.honda.hondacan import CanBus
-from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_CANFD, \
+from opendbc.car.honda.values import CarControllerParams, HondaFlags, CAR, HONDA_BOSCH, HONDA_BOSCH_A, HONDA_BOSCH_A_RADAR_VERIFIED, HONDA_BOSCH_CANFD, \
                                                  HONDA_NIDEC_ALT_SCM_MESSAGES, HONDA_BOSCH_RADARLESS, HondaSafetyFlags
 from opendbc.car.honda.carcontroller import CarController
 from opendbc.car.honda.carstate import CarState
@@ -44,7 +45,17 @@ class CarInterface(CarInterfaceBase):
         cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
       ret.safetyConfigs = cfgs
 
-      ret.radarUnavailable = True
+      # HONDA_BOSCH_A describes the physical harness family. Radar remains unavailable until the
+      # exact platform is added to HONDA_BOSCH_A_RADAR_VERIFIED after real-capture validation.
+      try:
+        # The explicit default keeps the verified platform usable on installs that have not yet
+        # persisted the internal kill-switch parameter; the verified-platform set remains mandatory.
+        bosch_a_radar_tryout = not docs and Params().get_bool("HondaBoschARadar", default=True)
+      except UnknownKeyName:
+        bosch_a_radar_tryout = False
+      ret.radarUnavailable = not (candidate in HONDA_BOSCH_A and
+                                  candidate in HONDA_BOSCH_A_RADAR_VERIFIED and
+                                  bosch_a_radar_tryout)
       # Disable the radar and let openpilot control longitudinal
       # WARNING: THIS DISABLES AEB!
       # If Bosch radarless, this blocks ACC messages from the camera
@@ -143,9 +154,13 @@ class CarInterface(CarInterfaceBase):
         CarControllerParams.BOSCH_GAS_LOOKUP_BP = [-0.2, 2.0]
 
     elif candidate == CAR.HONDA_ACCORD_11G:
-      ret.steerActuatorDelay = 0.22
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 5200], [0, 2560, 12747]]
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      # MVL Boston sp-honda-dev-202608 tuning (48211d6a63).
+      ret.longitudinalActuatorDelay = 0.05
+      ret.steerActuatorDelay = 0.3
+      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 12789], [0, 12789]]
+      ret.lateralTuning.pid.kf = 0.000035
+      ret.lateralTuning.pid.kpV, ret.lateralTuning.pid.kiV = [[0.115], [0.052]]
+      CarControllerParams.BOSCH_GAS_LOOKUP_BP = [0.0, 2.0]
 
     elif candidate == CAR.ACURA_ILX:
       ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 3840], [0, 3840]]  # TODO: determine if there is a dead zone at the top end
@@ -314,6 +329,8 @@ class CarInterface(CarInterfaceBase):
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.RADARLESS.value
     if candidate in HONDA_BOSCH_CANFD:
       ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD.value
+    if candidate == CAR.HONDA_ACCORD_11G:
+      ret.safetyConfigs[-1].safetyParam |= HondaSafetyFlags.BOSCH_CANFD_MVL.value
 
     # min speed to enable ACC. if car can do stop and go, then set enabling speed
     # to a negative value, so it won't matter. Otherwise, add 0.5 mph margin to not
@@ -345,6 +362,13 @@ class CarInterface(CarInterfaceBase):
   @staticmethod
   def init(CP, can_recv, can_send, communication_control=None):
     if CP.carFingerprint in (HONDA_BOSCH - HONDA_BOSCH_RADARLESS) and CP.openpilotLongitudinalControl:
+      # CAN-FD radar ownership is handed over only after the comma relay is confirmed open.
+      # Disabling the radar here can create a gap before panda enters the Honda safety mode and
+      # replacement ACC_CONTROL is permitted, which can latch CRUISE_FAULT/DTCs in the brake module.
+      # deinit() still passes an explicit enable request and therefore falls through to disable_ecu.
+      if CP.carFingerprint == CAR.HONDA_ACCORD_11G and communication_control is None:
+        return
+
       # 0x80 silences response
       if communication_control is None:
         communication_control = bytes([uds.SERVICE_TYPE.COMMUNICATION_CONTROL, 0x80 | uds.CONTROL_TYPE.DISABLE_RX_DISABLE_TX,

opendbc_repo/opendbc/car/honda/radar_interface.py

@@ -1,8 +1,13 @@
 #!/usr/bin/env python3
+import math
+from collections import deque
+from dataclasses import dataclass, field
+
 from opendbc.can import CANParser
 from opendbc.car import Bus, structs
-from opendbc.car.interfaces import RadarInterfaceBase
+from opendbc.car.honda.hondacan import CanBus
 from opendbc.car.honda.values import DBC
+from opendbc.car.interfaces import RadarInterfaceBase
 
 
 def _create_nidec_can_parser(car_fingerprint):
@@ -11,39 +16,615 @@ def _create_nidec_can_parser(car_fingerprint):
   return CANParser(DBC[car_fingerprint][Bus.radar], messages, 1)
 
 
+# ============================================================================
+# Honda Bosch-A 16-slot object bank
+# ============================================================================
+# 16 CAN-visible object slots. Each slot has 4 main frames (f0..f3, one CAN ID each -- NOT sub-frames
+# muxed onto a shared ID) plus one synchronized auxiliary 5th frame. This supersedes any prior model of
+# 0x280/0x284/0x288/0x28C as pieces of one object, or of 0x2C8/0x2C9 as a separate "coarse" list: it is
+# ONE 16-slot bank with one auxiliary frame per slot. See honda_bosch_a_radar.dbc for the bit geometry.
+BOSCH_A_DBC_NAME = 'honda_bosch_a_radar'
+BOSCH_A_NUM_SLOTS = 16
+
+
+def _bosch_a_main_base(slot: int) -> int:
+  return 0x280 + 4 * slot if slot < 4 else 0x2D0 + 4 * (slot - 4)
+
+
+def _bosch_a_aux_id(slot: int) -> int:
+  return 0x2C8 + slot if slot < 8 else 0x290 + (slot - 8)
+
+
+BOSCH_A_MAIN_IDS = [[_bosch_a_main_base(s) + i for i in range(4)] for s in range(BOSCH_A_NUM_SLOTS)]
+BOSCH_A_AUX_IDS = [_bosch_a_aux_id(s) for s in range(BOSCH_A_NUM_SLOTS)]
+BOSCH_A_ALL_IDS = [addr for ids in BOSCH_A_MAIN_IDS for addr in ids] + BOSCH_A_AUX_IDS
+
+# Publish RadarPoints when the last MAIN object frame arrives. Passive captures prove that slot 15's
+# companion frame, 0x297, follows 0x2FF and is the final observed object-family frame in a full sweep:
+#
+#   ... 0x2FC, 0x2FD, 0x2FE, 0x2FF, 0x297
+#
+# Keep 0x2FF as the RadarPoint trigger while the companion data remains optional/debug-only. Making
+# 0x297 the sole trigger would allow one dropped auxiliary frame to suppress an otherwise-valid point
+# update, contrary to the parser's "aux never gates validity" contract.
+BOSCH_A_TRIGGER_MSG = BOSCH_A_MAIN_IDS[BOSCH_A_NUM_SLOTS - 1][3]
+BOSCH_A_SWEEP_END_MSG = BOSCH_A_AUX_IDS[BOSCH_A_NUM_SLOTS - 1]  # 0x297
+
+# Observed coherent Bosch-A sweep cadence is ~14.5-16 Hz in the available captures.
+BOSCH_A_FREQ_HZ = 15
+
+# Range: f0 raw_range (12-bit, B2:B3 high nibble) -> meters. Firmware q16 = 8*raw_range; physical
+# calibration keeps slope/offset as named, replay-refinable constants (do not add a second radar/camera
+# longitudinal offset on top of this).
+BOSCH_A_RANGE_SCALE_M = 0.05712
+BOSCH_A_RANGE_OFFSET_M = -3.0
+
+# Azimuth: f0 raw_angle (11-bit, B4:B5 high 3 bits), offset-binary about 1024.
+#
+# The f3 angular-edge pair independently closes the exact center-angle scale:
+#   azimuth_rad = (raw_angle - 1024) / 2048
+#
+# This supersedes the older empirical 0.032 deg/count fit.
+BOSCH_A_AZIMUTH_SCALE_RAD = 1.0 / 2048.0
+BOSCH_A_AZIMUTH_CENTER = 1024
+
+# Invalid sentinels (section 3/4/5/6 of the spec).
+BOSCH_A_STATUS_INVALID = 0xF
+BOSCH_A_RANGE_RAW_INVALID = 0xFFF
+BOSCH_A_ANGLE_RAW_INVALID = 0x7FF
+BOSCH_A_LIFE_INVALID = 0xFFF
+BOSCH_A_TRACK_ID_MIN = 1
+BOSCH_A_TRACK_ID_MAX = 0x3F
+# AUX logical 0x00CA has an explicit 0x3FF invalid sentinel. Firmware proves the normalization below;
+# captures strongly support interpreting the active value as previous/current range ratio.
+BOSCH_A_RANGE_RATIO_INVALID = 0x3FF
+BOSCH_A_LOGICAL_00CA_INVALID = BOSCH_A_RANGE_RATIO_INVALID  # compatibility/debug alias
+BOSCH_A_RANGE_RATIO_SCALE = 0.001
+BOSCH_A_RANGE_RATIO_OFFSET = 0.5
+
+# The synchronized AUX frame contains an 11-bit offset-binary velocity-like field and a 10-bit
+# companion quality/uncertainty field.  The byte locations are now decoded in the DBC.  The exact
+# Bosch descriptor name is still being verified, so keep the conversion constants isolated here.
+# Capture validation shows active values in [0, 1728], with 0x7FE used as the inactive sentinel.
+BOSCH_A_DIRECT_VREL_INVALID = 0x7FE
+BOSCH_A_DIRECT_VREL_MIN_RAW = 0
+BOSCH_A_DIRECT_VREL_MAX_RAW = 1728
+BOSCH_A_DIRECT_VREL_CENTER_RAW = 864
+BOSCH_A_DIRECT_VREL_SCALE_MPS = 1.0 / 64.0
+# Empirical raw-quality policy. U11 error against an independent range-derivative reference rises
+# with u10 in a graded way, not a cliff: replay evidence bins it roughly as 0-255 clean, 256-511 only
+# mildly degraded, 512-767 clearly degraded, 768+ worst. 511 is set at that mild/clear boundary so
+# U11 is still trusted directly through the mildly-degraded band; only u10 above this triggers the
+# high-u10 coast path below. This is deliberately not presented as a Bosch physical unit or
+# descriptor constant; it keeps saturated/high-uncertainty AUX values from becoming authoritative
+# velocity measurements.
+BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW = 511
+
+# Measurement-authority policy. These are replay-derived safety/tuning gates, not recovered Bosch
+# constants. Range innovation is measured from the previous accepted observation so a reset cannot
+# become the baseline for following sweeps.
+BOSCH_A_RANGE_SIGMA_DEGRADED_RAW = 4
+BOSCH_A_RANGE_INNOVATION_MAX_M = 2.0
+BOSCH_A_RANGE_INNOVATION_HARD_MAX_M = 5.0
+BOSCH_A_FALLBACK_RANGE_RATE_MAX_MPS = 50.0
+BOSCH_A_USE_TAN_LATERAL_PROJECTION = True
+
+# Accepted-range history is retained for continuity and the adjacent two-point fallback. Rejected
+# range resets never enter it, and it is not used for a multi-sample OLS velocity fit.
+BOSCH_A_VREL_MAX_SAMPLES = 8
+
+# Staleness gate -- TUNING constant, reused plumbing pattern (not a firmware fact). At the observed
+# ~15 Hz cadence, 0.20 s is approximately three missed sweeps.
+BOSCH_A_STALE_S = 0.20
+
+
+@dataclass
+class _BoschASlotState:
+  last_seen_nanos: int | None = None
+
+  # Firmware logical-ID companion data -- telemetry/debug only for now, never a RadarPoint validity
+  # gate. 0x00C9 has a firmware transform but no proven physical meaning; 0x00CA has an explicit
+  # invalid sentinel and its physical meaning remains unresolved.
+  logical_00c9_raw: float = float('nan')
+  logical_00ca_raw: float = float('nan')
+  direct_vrel_raw: int | None = None
+  direct_vrel_uncertainty_raw: int | None = None
+
+  def reset(self):
+    self.last_seen_nanos = None
+    self.logical_00c9_raw = float('nan')
+    self.logical_00ca_raw = float('nan')
+    self.direct_vrel_raw = None
+    self.direct_vrel_uncertainty_raw = None
+
+
+@dataclass
+class _BoschATrackState:
+  """Persistent state for one Bosch CAN object identity, independent of wire slot."""
+  track_id: int
+  prev_frame_idx: int | None = None
+  prev_life: int | None = None
+  last_seen_nanos: int | None = None
+  wire_slot: int | None = None
+  samples: deque = field(default_factory=lambda: deque(maxlen=BOSCH_A_VREL_MAX_SAMPLES))
+  last_trusted_vrel: float | None = None
+  last_trusted_vrel_nanos: int | None = None
+
+
+def _bosch_a_direct_vrel(raw_value: int | float | None,
+                         uncertainty_raw: int | float | None = None) -> float | None:
+  """Decode the capture-validated AUX relative-velocity candidate.
+
+  None means that AUX was absent/invalid and the caller should use the existing fallback policy. The [0, 1728]
+  active domain is deliberately enforced here because values above the observed +13.5 m/s rail have
+  not appeared on active objects; 0x7FE is the observed inactive sentinel.
+  """
+  if raw_value is None:
+    return None
+  raw = int(raw_value)
+  if raw == BOSCH_A_DIRECT_VREL_INVALID:
+    return None
+  if not BOSCH_A_DIRECT_VREL_MIN_RAW <= raw <= BOSCH_A_DIRECT_VREL_MAX_RAW:
+    return None
+  # u10 is retained as a raw quality indicator because its physical units remain unresolved.  The
+  # conservative threshold is evidence-backed tuning, not a recovered firmware validity rule.
+  if uncertainty_raw is not None and int(uncertainty_raw) > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW:
+    return None
+  return (raw - BOSCH_A_DIRECT_VREL_CENTER_RAW) * BOSCH_A_DIRECT_VREL_SCALE_MPS
+
+
+def _bosch_a_range_ratio(raw_value: int | float | None) -> float | None:
+  if raw_value is None:
+    return None
+  raw = int(raw_value)
+  if raw == BOSCH_A_RANGE_RATIO_INVALID or not 0 <= raw < BOSCH_A_RANGE_RATIO_INVALID:
+    return None
+  return BOSCH_A_RANGE_RATIO_OFFSET + BOSCH_A_RANGE_RATIO_SCALE * raw
+
+
+def _bosch_a_range_ratio_vrel(raw_value: int | float | None, d_rel: float, dt: float) -> float | None:
+  """Return the range rate implied by the empirical previous/current range ratio."""
+  ratio = _bosch_a_range_ratio(raw_value)
+  if ratio is None or dt <= 0.0 or not math.isfinite(d_rel):
+    return None
+  return d_rel * (1.0 - ratio) / dt
+
+
+def _bosch_a_measurement_degraded(range_sigma_raw: int, existence_raw: int,
+                                  direct_vrel_uncertainty_raw: int | None) -> bool:
+  range_quality_bad = range_sigma_raw >= BOSCH_A_RANGE_SIGMA_DEGRADED_RAW or existence_raw in (0, 0x7F)
+  velocity_quality_bad = (direct_vrel_uncertainty_raw is not None and
+                          direct_vrel_uncertainty_raw > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW)
+  return range_quality_bad or velocity_quality_bad
+
+
+def _create_bosch_a_can_parser(CP):
+  messages = [(addr, BOSCH_A_FREQ_HZ) for addr in BOSCH_A_ALL_IDS]
+  # Bus.radar selects the Bosch-A DBC; the object/fusion feed itself is
+  # physically on the camera-side ACC-CAN.
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, CanBus(CP).camera)
+
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
-    self.track_id = 0
-    self.radar_fault = False
-    self.radar_wrong_config = False
     self.radar_off_can = CP.radarUnavailable
+    self.bosch_a_radar = (not self.radar_off_can and Bus.radar in DBC[CP.carFingerprint] and
+                           DBC[CP.carFingerprint][Bus.radar] == BOSCH_A_DBC_NAME)
 
-    # Nidec
     if self.radar_off_can:
       self.rcp = None
+      self.trigger_msg = 0x445
+    elif self.bosch_a_radar:
+      self.rcp = _create_bosch_a_can_parser(CP)
+      self.trigger_msg = BOSCH_A_TRIGGER_MSG
+      self._slots = [_BoschASlotState() for _ in range(BOSCH_A_NUM_SLOTS)]
+      self._tracks: dict[int, _BoschATrackState] = {}
+      self._slot_track_ids: list[int | None] = [None] * BOSCH_A_NUM_SLOTS
+      self._last_trigger_nanos = -1
     else:
+      # Nidec
       self.rcp = _create_nidec_can_parser(CP.carFingerprint)
-    self.trigger_msg = 0x445
+      self.trigger_msg = 0x445
+      self.track_id = 0
+      self.radar_fault = False
+      self.radar_wrong_config = False
+
     self.updated_messages = set()
 
   def update(self, can_strings):
-    # in Bosch radar and we are only steering for now, so sleep 0.05s to keep
-    # radard at 20Hz and return no points
-    if self.radar_off_can:
+    if self.radar_off_can or self.rcp is None:
       return super().update(None)
 
     vls = self.rcp.update(can_strings)
     self.updated_messages.update(vls)
 
     if self.trigger_msg not in self.updated_messages:
+      if self.bosch_a_radar and self._last_trigger_nanos >= 0:
+        now = self.rcp._last_update_nanos
+        if (now - self._last_trigger_nanos) * 1e-9 > BOSCH_A_STALE_S:
+          return self._bosch_a_stale_radardata()
       return None
 
     rr = self._update(self.updated_messages)
     self.updated_messages.clear()
     return rr
 
+  def _bosch_a_stale_radardata(self):
+    # Whole-bus silence: clear every live point/history and emit an EMPTY RadarData (not None) so
+    # radard drops any lead within a cycle instead of freezing a phantom. The next observation starts
+    # a fresh incarnation for its CAN identity.
+    self.pts.clear()
+    self._tracks.clear()
+    self._slot_track_ids = [None] * BOSCH_A_NUM_SLOTS
+    for slot_state in self._slots:
+      slot_state.reset()
+    self._last_trigger_nanos = -1
+    stale = structs.RadarData()
+    if not self.rcp.can_valid:
+      stale.errors.canError = True
+    stale.errors.radarUnavailableTemporary = True
+    return stale
+
+  def _bosch_a_retire_track(self, track_id: int):
+    self._tracks.pop(track_id, None)
+    self.pts.pop(track_id, None)
+    for slot, slot_track_id in enumerate(self._slot_track_ids):
+      if slot_track_id == track_id:
+        self._slot_track_ids[slot] = None
+
+  def _bosch_a_retire_stale_tracks(self, now: int):
+    for track_id, track in list(self._tracks.items()):
+      if track.last_seen_nanos is not None and (now - track.last_seen_nanos) * 1e-9 > BOSCH_A_STALE_S:
+        self._bosch_a_retire_track(track_id)
+
   def _update(self, updated_messages):
+    if self.bosch_a_radar:
+      return self._update_bosch_a(updated_messages)
+    return self._update_nidec(updated_messages)
+
+  def _update_bosch_a(self, updated_messages):
+    ret = structs.RadarData()
+    if not self.rcp.can_valid:
+      ret.errors.canError = True
+
+    now = self.rcp._last_update_nanos
+    self._last_trigger_nanos = now
+    self._bosch_a_retire_stale_tracks(now)
+
+    observations = []
+
+    for slot in range(BOSCH_A_NUM_SLOTS):
+      f0, f1, f2, f3 = BOSCH_A_MAIN_IDS[slot]
+      aux = BOSCH_A_AUX_IDS[slot]
+      st = self._slots[slot]
+
+      if not (f0 in updated_messages and f1 in updated_messages and
+              f2 in updated_messages and f3 in updated_messages):
+        # Incomplete main-frame set: a missing CAN frame must not be treated as a lifecycle mismatch or
+        # death/replacement. Logical tracks are retired independently by their global staleness gate.
+        continue
+
+      v0 = self.rcp.vl[f0]
+      v1 = self.rcp.vl[f1]
+      v2 = self.rcp.vl[f2]
+      v3 = self.rcp.vl[f3]
+
+      idx0 = int(v0['FRAME_IDX'])
+      if not (idx0 == int(v1['FRAME_IDX']) == int(v2['FRAME_IDX']) == int(v3['FRAME_IDX'])):
+        # The four main frames don't share a common cycle index -- not a coherent observation this
+        # window. Only combine main-frame data from a coherent common frame index (section 2).
+        continue
+
+      status = int(v0['STATUS'])
+      range_raw = int(v0['RANGE_RAW'])
+      angle_raw = int(v0['AZIMUTH_RAW'])
+      range_sigma_raw = int(v0['RANGE_SIGMA_RAW'])
+      existence_raw = int(v1['OBJECT_EXISTENCE_PROBABILITY_RAW'])
+      life = int(v2['LIFECYCLE_RAW'])
+      track_id = int(v3['TRACK_ID'])
+      track_id_valid = BOSCH_A_TRACK_ID_MIN <= track_id <= BOSCH_A_TRACK_ID_MAX
+      st.last_seen_nanos = now
+      direct_vrel_raw = None
+      direct_vrel_uncertainty_raw = None
+      range_ratio_raw = None
+
+      # Attach synchronized companion data only when its cycle matches. Missing AUX never invalidates
+      # an otherwise coherent F0-F3 object; it only removes independent motion/quality evidence.
+      if aux in updated_messages:
+        av = self.rcp.vl[aux]
+        if int(av['FRAME_IDX']) == idx0:
+          direct_vrel_raw = int(av['REL_VELOCITY_RAW'])
+          direct_vrel_uncertainty_raw = int(av['REL_VELOCITY_UNCERTAINTY_RAW'])
+          range_ratio_raw = int(av['RANGE_RATIO_RAW'])
+          logical_00c9_raw = av['FW_LID_00C9_RAW']
+          logical_00ca_raw = av['FW_LID_00CA_RAW']
+          st.logical_00c9_raw = logical_00c9_raw
+          st.logical_00ca_raw = (
+            logical_00ca_raw if logical_00ca_raw != BOSCH_A_LOGICAL_00CA_INVALID else float('nan')
+          )
+          st.direct_vrel_raw = direct_vrel_raw
+          st.direct_vrel_uncertainty_raw = direct_vrel_uncertainty_raw
+
+      object_valid = (status != BOSCH_A_STATUS_INVALID and range_raw != BOSCH_A_RANGE_RAW_INVALID and
+                      angle_raw != BOSCH_A_ANGLE_RAW_INVALID and life != BOSCH_A_LIFE_INVALID)
+
+      observations.append({
+        'slot': slot,
+        'frame_idx': idx0,
+        'life': life,
+        'track_id': track_id,
+        'track_id_valid': track_id_valid,
+        'object_valid': object_valid,
+        'range_sigma_raw': range_sigma_raw,
+        'existence_raw': existence_raw,
+        'direct_vrel_raw': direct_vrel_raw,
+        'direct_vrel_uncertainty_raw': direct_vrel_uncertainty_raw,
+        'range_ratio_raw': range_ratio_raw,
+      })
+
+    # First collapse duplicate wire observations of one CAN identity. The dictionary is also the
+    # output uniqueness boundary: one valid Bosch identity can never create two RadarPoints.
+    valid_by_id = {}
+    for observation in observations:
+      if not (observation['object_valid'] and observation['track_id_valid']):
+        # An invalid observation ends publication for the object currently occupying this wire slot,
+        # but it does not immediately destroy the persistent state. The object may be multiplexed to
+        # another slot or may return before the per-identity stale deadline; a later lifecycle break
+        # or staleness expiry will clear its derivative history.
+        ids_to_hide = {self._slot_track_ids[observation['slot']]}
+        if observation['track_id_valid']:
+          ids_to_hide.add(observation['track_id'])
+        for invalid_id in ids_to_hide - {None}:
+          self.pts.pop(invalid_id, None)
+        continue
+      track_id = observation['track_id']
+      current = valid_by_id.get(track_id)
+      if current is None:
+        valid_by_id[track_id] = observation
+        continue
+
+      # Prefer the wire slot currently associated with the persistent state. If neither candidate is
+      # preferred, retain the lower slot for deterministic handling of a malformed duplicate frame.
+      track = self._tracks.get(track_id)
+      current_score = (0 if track is not None and track.wire_slot == current['slot'] else 1, current['slot'])
+      candidate_score = (0 if track is not None and track.wire_slot == observation['slot'] else 1,
+                         observation['slot'])
+      if candidate_score < current_score:
+        valid_by_id[track_id] = observation
+
+    valid_ids = set(valid_by_id)
+    for track_id, observation in sorted(valid_by_id.items(), key=lambda item: item[1]['slot']):
+      slot = observation['slot']
+      idx0 = observation['frame_idx']
+      life = observation['life']
+
+      # A wire-slot replacement ends publication for the old occupant, but not its persistent
+      # identity/history. If the old ID is still valid in another slot this sweep, keep its point;
+      # otherwise hide it until that ID returns or reaches its own stale deadline.
+      old_id = self._slot_track_ids[slot]
+      if old_id is not None and old_id != track_id and old_id not in valid_ids:
+        self.pts.pop(old_id, None)
+
+      track = self._tracks.get(track_id)
+      if track is None:
+        track = _BoschATrackState(track_id=track_id)
+        self._tracks[track_id] = track
+
+      same_incarnation = False
+      if track.prev_frame_idx is not None and track.prev_life is not None:
+        frame_delta = (idx0 - track.prev_frame_idx) & 0xF
+        life_delta = (life - track.prev_life) & 0xFFF
+        same_incarnation = life_delta == 2 * frame_delta
+
+      if not same_incarnation:
+        # The CAN identity remains the externally-visible key, but a lifecycle discontinuity starts a
+        # new incarnation and must not inherit the previous object's range-rate history.
+        track.samples.clear()
+        track.last_trusted_vrel = None
+        track.last_trusted_vrel_nanos = None
+        self.pts.pop(track_id, None)
+
+      v0 = self.rcp.vl[BOSCH_A_MAIN_IDS[slot][0]]
+      range_raw = int(v0['RANGE_RAW'])
+      angle_raw = int(v0['AZIMUTH_RAW'])
+      dRel = BOSCH_A_RANGE_SCALE_M * range_raw + BOSCH_A_RANGE_OFFSET_M
+      azimuth_rad = BOSCH_A_AZIMUTH_SCALE_RAD * (angle_raw - BOSCH_A_AZIMUTH_CENTER)
+      # The firmware's internal geometry path uses tan(angle) for a forward-axis distance.  The
+      # Bosch object range is consumed as that forward-axis quantity here, so use the same projection
+      # rather than treating it as radial/slant range.  Keep the switch explicit while the final
+      # output bridge remains under static review.
+      #
+      # Sign: AZIMUTH_RAW > center (positive azimuth_rad) is a LEFT-of-center detection in car frame's
+      # y axis (left is positive), matching the Nidec RadarPoint.yRel contract. Confirmed against real
+      # captures 2026-08-22: a stationary cluster of queued vehicles visible on the left in the road
+      # camera was rendering on the right in both the Qt and raylib radar-track overlays with the
+      # previously-flipped sign.
+      lateral_projection = math.tan if BOSCH_A_USE_TAN_LATERAL_PROJECTION else math.sin
+      yRel = dRel * lateral_projection(azimuth_rad)
+
+      now_s = now * 1e-9
+      direct_vrel_raw = observation['direct_vrel_raw']
+      direct_vrel_uncertainty_raw = observation['direct_vrel_uncertainty_raw']
+      direct_vrel = _bosch_a_direct_vrel(direct_vrel_raw, direct_vrel_uncertainty_raw)
+      live_direct_vrel = _bosch_a_direct_vrel(direct_vrel_raw)
+      range_ratio_raw = observation['range_ratio_raw']
+
+      # A live U11 rejected solely by the conservative U10 qualification threshold is neither an
+      # unavailable velocity nor permission to synthesize a one-sweep range derivative. It is also
+      # NOT permission to skip range-innovation checking below: u10 correlates with range_sigma in
+      # replay data, so a high-u10 sweep is exactly the condition where a bad/discontinuous range
+      # (slot migration, reset) is most likely, not less likely. Range acceptance is therefore
+      # decided on the same terms as every other sweep first; only once the range clears that gate
+      # does a high-u10 U11 fall back to coasting instead of publishing a synthesized derivative.
+      high_u10_live_vrel = (direct_vrel is None and live_direct_vrel is not None and
+                            direct_vrel_uncertainty_raw is not None and
+                            direct_vrel_uncertainty_raw > BOSCH_A_DIRECT_VREL_MAX_UNCERTAINTY_RAW)
+
+      # Validate against the previous accepted range. Qualified U11 and the range-ratio field are
+      # independent corroboration paths; high-U10 U11 is deliberately excluded from this decision.
+      previous_sample = track.samples[-1] if track.samples else None
+      fallback_vrel = 0.0
+      ratio_vrel = None
+      range_rejected = False
+      degraded = _bosch_a_measurement_degraded(
+        observation['range_sigma_raw'], observation['existence_raw'], direct_vrel_uncertainty_raw,
+      )
+      if previous_sample is not None:
+        previous_time, previous_range = previous_sample
+        dt = now_s - previous_time
+        if dt <= 0.0:
+          range_rejected = True
+        else:
+          fallback_vrel = (dRel - previous_range) / dt
+          ratio = _bosch_a_range_ratio(range_ratio_raw)
+          ratio_vrel = _bosch_a_range_ratio_vrel(range_ratio_raw, dRel, dt)
+
+          residuals_m = []
+          if direct_vrel is not None:
+            residuals_m.append(abs(dRel - (previous_range + direct_vrel * dt)))
+          if ratio is not None:
+            residuals_m.append(abs(previous_range - dRel * ratio))
+
+          if residuals_m:
+            innovation_m = min(residuals_m)
+            range_rejected = (
+              innovation_m > BOSCH_A_RANGE_INNOVATION_HARD_MAX_M or
+              (degraded and innovation_m > BOSCH_A_RANGE_INNOVATION_MAX_M)
+            )
+          else:
+            range_rejected = abs(fallback_vrel) > BOSCH_A_FALLBACK_RANGE_RATE_MAX_MPS
+
+      if range_rejected:
+        # Keep the last accepted point briefly as an unmeasured coast. The rejected geometry is not
+        # published and never becomes the baseline for a later derivative.
+        accepted_fresh = previous_sample is not None and now_s - previous_sample[0] <= BOSCH_A_STALE_S
+        point = self.pts.get(track_id)
+        if accepted_fresh and point is not None:
+          point.measured = False
+        else:
+          self.pts.pop(track_id, None)
+        track.prev_frame_idx = idx0
+        track.prev_life = life
+        track.last_seen_nanos = now
+        track.wire_slot = slot
+        for old_slot, old_id in enumerate(self._slot_track_ids):
+          if old_slot != slot and old_id == track_id:
+            self._slot_track_ids[old_slot] = None
+        self._slot_track_ids[slot] = track_id
+        continue
+
+      if high_u10_live_vrel:
+        # The range cleared innovation checking above, so geometry here is trustworthy; only vRel is
+        # in question. Preserve current geometry but coast only a recent authoritative motion
+        # estimate without a KF update, rather than publishing a one-sweep-derivative synthesis.
+        trusted_fresh = (track.last_trusted_vrel is not None and track.last_trusted_vrel_nanos is not None and
+                         (now - track.last_trusted_vrel_nanos) * 1e-9 <= BOSCH_A_STALE_S)
+        if trusted_fresh:
+          point = self.pts.get(track_id)
+          if point is not None:
+            point.dRel = dRel
+            point.yRel = yRel
+            point.vRel = track.last_trusted_vrel
+            point.measured = False
+        else:
+          track.last_trusted_vrel = None
+          track.last_trusted_vrel_nanos = None
+          self.pts.pop(track_id, None)
+
+        # Do not let a coast-only range observation become a future derivative baseline.
+        track.prev_frame_idx = idx0
+        track.prev_life = life
+        track.last_seen_nanos = now
+        track.wire_slot = slot
+        for old_slot, old_id in enumerate(self._slot_track_ids):
+          if old_slot != slot and old_id == track_id:
+            self._slot_track_ids[old_slot] = None
+        self._slot_track_ids[slot] = track_id
+        continue
+
+      # Native U11 is unavailable here (sentinel/out-of-range -- the high-u10-but-live case above
+      # already returned before this point) and the range-ratio field is unusable or degraded too.
+      # The remaining option is the raw one-sweep (dRel-previous_range)/dt derivative, which is
+      # structurally the same hazard the high-u10 case guards against: a synthesized rate becoming an
+      # authoritative measurement. Coast a recent trusted velocity instead, on the same terms as above,
+      # rather than publish it.
+      # A true birth observation (no previous accepted range yet) can never mature into a published
+      # point this cycle regardless of vRel source -- `matured` below requires a second sample -- so
+      # only intercept once a fallback derivative would actually have something to poison.
+      u11_and_ratio_unavailable = (direct_vrel is None and (ratio_vrel is None or degraded) and
+                                   previous_sample is not None)
+      if u11_and_ratio_unavailable:
+        trusted_fresh = (track.last_trusted_vrel is not None and track.last_trusted_vrel_nanos is not None and
+                         (now - track.last_trusted_vrel_nanos) * 1e-9 <= BOSCH_A_STALE_S)
+        if trusted_fresh:
+          point = self.pts.get(track_id)
+          if point is not None:
+            point.dRel = dRel
+            point.yRel = yRel
+            point.vRel = track.last_trusted_vrel
+            point.measured = False
+        else:
+          track.last_trusted_vrel = None
+          track.last_trusted_vrel_nanos = None
+          self.pts.pop(track_id, None)
+
+        # Do not let a coast-only range observation become a future derivative baseline.
+        track.prev_frame_idx = idx0
+        track.prev_life = life
+        track.last_seen_nanos = now
+        track.wire_slot = slot
+        for old_slot, old_id in enumerate(self._slot_track_ids):
+          if old_slot != slot and old_id == track_id:
+            self._slot_track_ids[old_slot] = None
+        self._slot_track_ids[slot] = track_id
+        continue
+
+      track.samples.append((now_s, dRel))
+      sample_count = len(track.samples)
+
+      # Prefer qualified native U11; otherwise the range-ratio field. The raw one-sweep derivative is
+      # never published as a measurement -- see the coast/drop branch above, which intercepts before
+      # this point whenever neither native U11 nor the ratio field is usable.
+      if direct_vrel is not None:
+        vRel = direct_vrel
+      else:
+        vRel = ratio_vrel
+      trustworthy_vrel = True
+
+      # A birth observation has no range-rate yet. Keep it as history, but do not publish a RadarPoint
+      # until a second coherent observation of the same CAN identity supplies a finite derivative.
+      matured = sample_count >= 2 and math.isfinite(vRel)
+      if trustworthy_vrel:
+        track.last_trusted_vrel = vRel
+        track.last_trusted_vrel_nanos = now
+      if matured and track_id not in self.pts:
+        self.pts[track_id] = structs.RadarData.RadarPoint()
+        self.pts[track_id].trackId = track_id
+        self.pts[track_id].aRel = float('nan')
+        self.pts[track_id].yvRel = float('nan')
+
+      if matured:
+        self.pts[track_id].dRel = dRel
+        self.pts[track_id].yRel = yRel
+        self.pts[track_id].vRel = vRel
+        self.pts[track_id].measured = True
+      else:
+        self.pts.pop(track_id, None)
+
+      track.prev_frame_idx = idx0
+      track.prev_life = life
+      track.last_seen_nanos = now
+      track.wire_slot = slot
+      for old_slot, old_id in enumerate(self._slot_track_ids):
+        if old_slot != slot and old_id == track_id:
+          self._slot_track_ids[old_slot] = None
+      self._slot_track_ids[slot] = track_id
+
+    ret.points = [self.pts[track_id] for track_id in sorted(self.pts)]
+    return ret
+
+  def _update_nidec(self, updated_messages):
     ret = structs.RadarData()
 
     for ii in sorted(updated_messages):

opendbc_repo/opendbc/car/honda/tests/test_honda.py

@@ -2,7 +2,7 @@ import re
 from types import SimpleNamespace
 import pytest
 
-from opendbc.car import structs
+from opendbc.car import Bus, structs
 from opendbc.car.structs import CarParams
 from opendbc.car import gen_empty_fingerprint
 from opendbc.car.honda.interface import CarInterface
@@ -196,6 +196,16 @@ class TestHondaFingerprint:
     assert CP.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD
     assert CP.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_LONG
 
+  def test_mvl_handover_is_scoped_to_accord_11g(self):
+    toggles = get_test_toggles()
+    accord_cp = CarInterface.get_params(CAR.HONDA_ACCORD_11G, gen_empty_fingerprint(), [], True, False, False, toggles)
+    crv_cp = CarInterface.get_params(CAR.HONDA_CRV_6G, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    assert Bus.radar in DBC[accord_cp.carFingerprint]
+    assert Bus.radar not in DBC[crv_cp.carFingerprint]
+    assert accord_cp.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD_MVL
+    assert not crv_cp.safetyConfigs[-1].safetyParam & HondaSafetyFlags.BOSCH_CANFD_MVL
+
   def test_nidec_pedal_detection_enables_interceptor_path(self):
     toggles = get_test_toggles()
     fingerprint = gen_empty_fingerprint()

opendbc_repo/opendbc/car/honda/values.py

@@ -57,6 +57,9 @@ class HondaSafetyFlags(IntFlag):
   RADARLESS = 8
   BOSCH_CANFD = 16
   GAS_INTERCEPTOR = 32
+  # Accord 11G MVL radar/camera handover messages. Keep the generic CAN-FD
+  # safety profile unchanged for other Honda CAN-FD platforms (for example CR-V 6G).
+  BOSCH_CANFD_MVL = 64
 
 
 class HondaFlags(IntFlag):
@@ -117,11 +120,17 @@ class HondaCarDocs(CarDocs):
 
     self.car_parts = CarParts.common([harness])
 
+    if CP.alphaLongitudinalAvailable:
+      self.footnotes.append(Footnote.EXP_LONG)
+
 
 class Footnote(Enum):
   CIVIC_DIESEL = CarFootnote(
     "2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph.",
     Column.FSR_STEERING)
+  EXP_LONG = CarFootnote(
+    "Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW.",
+    Column.LONGITUDINAL)
 
 
 @dataclass
@@ -162,7 +171,12 @@ class CAR(Platforms):
       HondaCarDocs("Honda N-Box 2018", "All", min_steer_speed=5.),
     ],
     CarSpecs(mass=890., wheelbase=2.520, steerRatio=18.64),
-    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_ACCORD = HondaBoschPlatformConfig(
     [
@@ -172,15 +186,21 @@ class CAR(Platforms):
     ],
     # steerRatio: 11.82 is spec end-to-end
     CarSpecs(mass=3279 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.33, centerToFrontRatio=0.39, tireStiffnessFactor=0.8467),
-    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
     flags=HondaFlags.ALLOW_MANUAL_TRANS,
   )
   HONDA_ACCORD_11G = HondaBoschCANFDPlatformConfig(
     [
       HondaCarDocs("Honda Accord 2023-25", "All"),
       HondaCarDocs("Honda Accord Hybrid 2023-25", "All"),
-  ],
-    CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.0, centerToFrontRatio=0.39),
+    ],
+    CarSpecs(mass=3477 * CV.LB_TO_KG, wheelbase=2.83, steerRatio=16.7, centerToFrontRatio=0.39),
+    {Bus.pt: 'honda_common_canfd_generated', Bus.radar: 'honda_common_canfd_generated'},
   )
   HONDA_CIVIC_BOSCH = HondaBoschPlatformConfig(
     [
@@ -190,12 +210,22 @@ class CAR(Platforms):
       HondaCarDocs("Honda Civic Hatchback 2019-21", "All", min_steer_speed=12. * CV.MPH_TO_MS),
     ],
     CarSpecs(mass=1326, wheelbase=2.7, steerRatio=15.38, centerToFrontRatio=0.4),  # steerRatio: 10.93 is end-to-end spec
-    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_CIVIC_BOSCH_DIESEL = HondaBoschPlatformConfig(
     [],  # don't show in docs
     HONDA_CIVIC_BOSCH.specs,
-    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_CIVIC_2022 = HondaBoschPlatformConfig(
     [
@@ -214,7 +244,12 @@ class CAR(Platforms):
     [HondaCarDocs("Honda CR-V 2017-22", min_steer_speed=15. * CV.MPH_TO_MS)],
     # steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=3410 * CV.LB_TO_KG, wheelbase=2.66, steerRatio=16.0, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
-    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.body: 'honda_crv_ex_2017_body_generated', Bus.radar: 'honda_bosch_a_radar'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   HONDA_CRV_6G = HondaBoschCANFDPlatformConfig(
@@ -228,7 +263,12 @@ class CAR(Platforms):
     [HondaCarDocs("Honda CR-V Hybrid 2017-22", min_steer_speed=12. * CV.MPH_TO_MS)],
     # mass: mean of 4 models in kg, steerRatio: 12.3 is spec end-to-end
     CarSpecs(mass=1667, wheelbase=2.66, steerRatio=16, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),
-    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_civic_hatchback_ex_2017_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_HRV_3G = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda HR-V 2023-25", "All")],
@@ -245,7 +285,12 @@ class CAR(Platforms):
   ACURA_RDX_3G = HondaBoschPlatformConfig(
     [HondaCarDocs("Acura RDX 2019-21", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=4068 * CV.LB_TO_KG, wheelbase=2.75, steerRatio=11.95, centerToFrontRatio=0.41, tireStiffnessFactor=0.677),  # as spec
-    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
     flags=HondaFlags.BOSCH_ALT_BRAKE,
   )
   ACURA_RDX_3G_MMR = HondaBoschPlatformConfig(
@@ -257,17 +302,32 @@ class CAR(Platforms):
   HONDA_INSIGHT = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda Insight 2019-22", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.0, centerToFrontRatio=0.39, tireStiffnessFactor=0.82),  # as spec
-    {Bus.pt: 'honda_insight_ex_2019_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_insight_ex_2019_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_E = HondaBoschPlatformConfig(
     [HondaCarDocs("Honda e 2020", "All", min_steer_speed=3. * CV.MPH_TO_MS)],
     CarSpecs(mass=3338.8 * CV.LB_TO_KG, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
-    {Bus.pt: 'acura_rdx_2020_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'acura_rdx_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_E_ADVANCE = HondaBoschPlatformConfig(
     [],  # don't show in docs, base trim already in docs
     CarSpecs(mass=1527, wheelbase=2.5, centerToFrontRatio=0.5, steerRatio=16.71, tireStiffnessFactor=0.82),
-    {Bus.pt: 'honda_e_advance_2020_can_generated'},
+    # Bus.radar = the hand-written 16-slot Bosch-A object bank DBC (see radar_interface.py for the decode).
+    # RX-parse only; the decode itself takes no CAN authority, so factory AEB/CMBS/FCW stay live as long as
+    # stock longitudinal remains in control. Enabling openpilot longitudinal (alpha) disables all CMBS
+    # functionality, including AEB and FCW -- see Footnote.EXP_LONG and CarInterface.init()'s UDS
+    # CommunicationControl call, which suppresses the stock radar's longitudinal TX for the same reason.
+    {Bus.pt: 'honda_e_advance_2020_can_generated', Bus.radar: 'honda_bosch_a_radar'},
   )
   HONDA_PILOT_4G = HondaBoschCANFDPlatformConfig(
     [HondaCarDocs("Honda Pilot 2023-25", "All")],
@@ -468,6 +528,12 @@ HONDA_BOSCH = CAR.with_flags(HondaFlags.BOSCH)
 HONDA_BOSCH_RADARLESS = CAR.with_flags(HondaFlags.BOSCH_RADARLESS)
 HONDA_BOSCH_CANFD = CAR.with_flags(HondaFlags.BOSCH_CANFD)
 HONDA_BOSCH_ALT_RADAR = CAR.with_flags(HondaFlags.BOSCH_ALT_RADAR)
+# Plain bosch_a harness: not CANFD, not radarless, not alt-radar. These platforms have a firmware-correct
+# RadarInterface (16-slot Bosch-A object bank, RX-only, see radar_interface.py) available behind
+# 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
+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 = {
   CAR.HONDA_ACCORD,

opendbc_repo/opendbc/car/hyundai/carcontroller.py

@@ -9,10 +9,12 @@ 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, kia_ev6_gt_line_longitudinal_tuning
+                                        CANFD_RADAR_LIVE_LONGITUDINAL_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.starpilot.common.testing_grounds import testing_ground
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
 LongCtrlState = structs.CarControl.Actuators.LongControlState
@@ -79,7 +81,10 @@ BLINDSPOT_WARNING_SOUND_SAMPLES = 36
 
 def egmp_dynamic_longitudinal_tuning(CP) -> bool:
   return CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE) or \
-    kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", ""))
+    kia_ev6_gt_line_longitudinal_tuning(
+      CP.carFingerprint, getattr(CP, "carVin", ""),
+      testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+    )
 
 
 def get_canfd_scc_decel_step(CP) -> float:
@@ -87,7 +92,10 @@ def get_canfd_scc_decel_step(CP) -> float:
 
 
 def should_reset_ev6_gt_line_longitudinal_tuning(CP, long_control_state: LongCtrlState) -> bool:
-  return kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, getattr(CP, "carVin", "")) and \
+  return kia_ev6_gt_line_longitudinal_tuning(
+    CP.carFingerprint, getattr(CP, "carVin", ""),
+    testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+  ) and \
     long_control_state == LongCtrlState.off
 
 
@@ -423,6 +431,12 @@ def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bo
   )
 
 
+def clear_ioniq_6_torque_when_request_inactive(CP, apply_torque: int, apply_steer_req: bool) -> int:
+  if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and not apply_steer_req:
+    return 0
+  return apply_torque
+
+
 class CarController(CarControllerBase):
   def __init__(self, dbc_names, CP):
     super().__init__(dbc_names, CP)
@@ -605,6 +619,8 @@ class CarController(CarControllerBase):
       if not CC.latActive:
         apply_torque = 0
 
+      apply_torque = clear_ioniq_6_torque_when_request_inactive(self.CP, apply_torque, apply_steer_req)
+
       # 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
@@ -631,7 +647,10 @@ class CarController(CarControllerBase):
 
     use_egmp_dynamic_long_tuning = egmp_dynamic_longitudinal_tuning(self.CP) and self.long_active_ecu and \
                                    actuators.longControlState in (LongCtrlState.starting, LongCtrlState.pid, LongCtrlState.stopping)
-    is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(self.CP.carFingerprint, getattr(self.CP, "carVin", ""))
+    is_ev6_gt_line = kia_ev6_gt_line_longitudinal_tuning(
+      self.CP.carFingerprint, getattr(self.CP, "carVin", ""),
+      testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID),
+    )
     is_ccnc_angle_long = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR
     if is_ccnc_angle_long and (self._ev9_long_tuning.stop_request or not CC.enabled or CC.cruiseControl.override):
       self._ioniq_6_long_tuning = reset_egmp_longitudinal_tuning(self._ioniq_6_long_tuning)
@@ -778,6 +797,7 @@ class CarController(CarControllerBase):
       # TODO: unclear if this is needed
       jerk = 3.0 if actuators.longControlState == LongCtrlState.pid else 1.0
       use_fca = self.CP.flags & HyundaiFlags.USE_FCA.value
+      main_cruise_enabled = getattr(CS, "main_cruise_on", False) if getattr(CS, "main_cruise_tracking", False) else True
       if blended_hda2:
         stopping = stopping and CS.out.vEgoRaw < 0.1
         can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended_hda2(
@@ -793,7 +813,8 @@ class CarController(CarControllerBase):
       else:
         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))
+                                                        CC.cruiseControl.override, use_fca, self.CP,
+                                                        main_cruise_enabled))
 
     # 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)):
@@ -855,14 +876,7 @@ 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,
-                                                             send_lfa_status=self.ecu_disable_failed and
-                                                             self.CP.carFingerprint == CAR.KIA_EV9))
-    elif self.ecu_disable_failed and self.CP.carFingerprint == CAR.KIA_EV9:
-      can_sends.extend(hyundaicanfd.create_steering_messages(
-        self.packer, self.CP, self.CAN, CC.enabled, False, 0.0, 0.0,
-        CS.stock_lfa_msg, lka_icon=lka_icon, send_lfa_status=True, lfa_only=True,
-      ))
+                                                             lka_icon=lka_icon))
     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,
@@ -1036,9 +1050,13 @@ class CarController(CarControllerBase):
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
-            # TODO: resume for alt button cars
-            pass
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
+            for _ in range(20):
+              can_sends.append(hyundaicanfd.create_buttons(
+                self.packer, self.CP, self.CAN, (CS.buttons_counter + 1) % 0x100,
+                Buttons.RES_ACCEL, base_values=CS.cruise_buttons_msg,
+              ))
+            self.last_button_frame = self.frame
           else:
             for _ in range(20):
               can_sends.append(hyundaicanfd.create_buttons(self.packer, self.CP, self.CAN, CS.buttons_counter + 1, Buttons.RES_ACCEL))

opendbc_repo/opendbc/car/hyundai/carstate.py

@@ -9,6 +9,7 @@ from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
 from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
                                        CANFD_ANGLE_LONGITUDINAL_CAR, CANFD_CORNER_RADAR_BSM_CAR, \
+                                       CANFD_ALT_BUTTONS_RESUME_CAR, \
                                        hyundai_cancel_button_enables_cruise, ALT_BUS_LDA_BUTTON_CARS, ALT_BUS_LDA_BUTTON_SWL_STAT_CARS
 from opendbc.car.interfaces import CarStateBase
 
@@ -28,6 +29,11 @@ IONIQ_6_BLINDSPOT_LEFT_MASK = 0x10
 CANFD_CAMERA_LEAD_MIN_DISTANCE = 0.1
 ALT_BUS_LDA_BUTTON_BURST_DEBOUNCE_NS = int(1.3e9)
 
+CLASSIC_MEDIA_BUTTON_CARS = frozenset({
+  CAR.HYUNDAI_ELANTRA_2024,
+  CAR.HYUNDAI_ELANTRA_HEV_2024,
+})
+
 
 def get_non_scc_cruise_signals(CP) -> tuple[str, str, str, str, str, str]:
   if CP.flags & HyundaiFlags.EV:
@@ -127,6 +133,7 @@ class CarState(CarStateBase):
     self.is_metric = False
     self.buttons_counter = 0
     self.main_cruise_on = False
+    self.main_cruise_tracking = bool(getattr(FPCP, "flags", 0) & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
 
     self.cruise_info = {}
     self.msg_161 = {}
@@ -437,6 +444,9 @@ class CarState(CarStateBase):
     ret.lowSpeedAlert = self.low_speed_alert
 
     fp_ret = custom.StarPilotCarState.new_message()
+    if self.CP.carFingerprint in CLASSIC_MEDIA_BUTTON_CARS:
+      fp_ret.modePressed = bool(cp.vl["GW_SWRC_PE"]["C_ModeSW"])
+      fp_ret.customPressed = bool(cp.vl["GW_SWRC_PE"]["C_MTSSW"])
 
     return ret, fp_ret
 
@@ -550,7 +560,9 @@ class CarState(CarStateBase):
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
     self.lda_button = cp.vl[self.cruise_btns_msg_canfd]["LDA_BTN"]
     self.left_paddle = 0
-    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+    if self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
+      self.cruise_buttons_msg = copy.copy(cp.vl[self.cruise_btns_msg_canfd])
+    elif self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
       self.cruise_buttons_msg = copy.copy(cp.vl["CRUISE_BUTTONS"])
       self.left_paddle = cp.vl["CRUISE_BUTTONS"]["LEFT_PADDLE"]
     self.buttons_counter = cp.vl[self.cruise_btns_msg_canfd]["COUNTER"]
@@ -583,7 +595,7 @@ class CarState(CarStateBase):
                         *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
                         *create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas}),
                         *create_button_events(self.left_paddle, prev_left_paddle, {1: ButtonType.altButton2})]
-    if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint == CAR.KIA_EV9:
+    if self.CP.openpilotLongitudinalControl and (self.CP.carFingerprint == CAR.KIA_EV9 or self.main_cruise_tracking):
       ret.cruiseState.available = self.update_main_cruise(ret)
 
     ret.blockPcmEnable = not self.recent_button_interaction()
@@ -610,7 +622,9 @@ class CarState(CarStateBase):
   def get_can_parsers_canfd(self, CP):
     msgs = []
     cam_msgs = []
-    if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
+    if CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
+      msgs.append(("CRUISE_BUTTONS_ALT", 50))
+    elif not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       # The EV9 can stop publishing this during the non-ECU-disabled startup
       # state. Keep decoding it when present without making CAN invalid.
       msgs += [
@@ -686,6 +700,9 @@ class CarState(CarStateBase):
       ("BCM_PO_11", 0),
       ("CLU13", 0),
     ]
+    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))
     if CP.flags & HyundaiFlags.NON_SCC and not (CP.flags & HyundaiFlags.NON_SCC_NO_FCA):
       msgs.append(("FCA11", 0))  # Non-SCC trims can stop publishing FCA11; don't let it poison canValid
 

opendbc_repo/opendbc/car/hyundai/fingerprints.py

@@ -1402,6 +1402,14 @@ FW_VERSIONS = {
       b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-DS500         ',
     ],
   },
+  CAR.GENESIS_GV70_2026: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JK  MFC  AT USA LHD 1.00 1.11 99211-IY600 241125',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-AR600         ',
+    ],
+  },
   CAR.GENESIS_GV80_2025: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00JX__ RDR -----      1.00 1.03 99110-T6500         ',

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -284,11 +284,12 @@ def create_acc_commands_can_canfd_blended_hda2(packer, enabled, accel, accel_las
   return commands
 
 
-def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP):
+def create_acc_commands(packer, enabled, accel, upper_jerk, idx, hud_control, set_speed, stopping, long_override, use_fca, CP,
+                        main_cruise_enabled=True):
   commands = []
 
   scc11_values = {
-    "MainMode_ACC": 1,
+    "MainMode_ACC": int(bool(main_cruise_enabled)),
     "TauGapSet": hud_control.leadDistanceBars,
     "VSetDis": set_speed if enabled else 0,
     "AliveCounterACC": idx % 0x10,

opendbc_repo/opendbc/car/hyundai/hyundaicanfd.py

@@ -3,7 +3,7 @@ import numpy as np
 from opendbc.car import CanBusBase, CanData
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.crc import CRC16_XMODEM
-from opendbc.car.hyundai.values import HyundaiFlags, CAR
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, CANFD_ALT_BUTTONS_RESUME_CAR
 
 
 def _set_value(msg: bytearray, sig, ival: int) -> None:
@@ -152,17 +152,14 @@ 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,
-                             send_lfa_status=False, lfa_only=False):
+                             lfa_base_values=None, lkas_base_values=None, lka_icon=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 or send_lfa_status:
+    if CP.openpilotLongitudinalControl:
       ret.append(_create_gv70_lka_status_msg(packer, CAN, "LFA", CAN.ECAN, enabled, lat_active, apply_torque))
-    if lfa_only:
-      return ret
     ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
     return ret
 
@@ -258,10 +255,8 @@ 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) or send_lfa_status:
+    if CP.openpilotLongitudinalControl and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
-    if lfa_only:
-      return ret
     ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
   else:
     if CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
@@ -311,16 +306,27 @@ def create_suppress_lfa(packer, CAN, lfa_block_msg, lka_steering_alt):
 
 
 def create_buttons(packer, CP, CAN, cnt, btn=0, base_values=None, left_paddle=False, right_paddle=False):
-  values = {k: v for k, v in base_values.items() if k not in ("_CHECKSUM", "COUNTER")} if base_values else {}
+  values = {k: v for k, v in base_values.items() if k not in ("CHECKSUM", "_CHECKSUM", "COUNTER")} if base_values else {}
   values.update({
     "COUNTER": cnt,
     "SET_ME_1": 1,
     "CRUISE_BUTTONS": btn,
-    "LEFT_PADDLE": int(left_paddle),
-    "RIGHT_PADDLE": int(right_paddle),
   })
+  if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR):
+    values.update({
+      "LEFT_PADDLE": int(left_paddle),
+      "RIGHT_PADDLE": int(right_paddle),
+    })
 
   bus = CAN.ECAN if CP.flags & HyundaiFlags.CANFD_LKA_STEERING else CAN.CAM
+  if CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
+    address, dat, bus = packer.make_can_msg("CRUISE_BUTTONS_ALT", bus, values)
+    dat = bytearray(dat)
+    checksum = hkg_can_fd_checksum(address, None, dat)
+    dat[0] = checksum & 0xFF
+    dat[1] = (checksum >> 8) & 0xFF
+    return address, bytes(dat), bus
+
   return packer.make_can_msg("CRUISE_BUTTONS", bus, values)
 
 

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -12,13 +12,15 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR, \
                                                    HyundaiStarPilotSafetyFlags, \
                                                    hyundai_cancel_button_enables_cruise, \
-                                                   kia_ev6_gt_line_longitudinal_tuning
+                                                   kia_ev6_gt_line_longitudinal_tuning, \
+                                                   KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID
 from opendbc.car.hyundai.radar_interface import get_radar_track_config, radar_tracks_available
 from opendbc.car.interfaces import CarInterfaceBase, ACCEL_MIN
 from opendbc.car.disable_ecu import disable_ecu, ecu_log
 from opendbc.car.hyundai.carcontroller import CarController
 from opendbc.car.hyundai.carstate import CarState
 from opendbc.car.hyundai.radar_interface import RadarInterface
+from openpilot.starpilot.common.testing_grounds import testing_ground
 
 ButtonType = structs.CarState.ButtonEvent.Type
 Ecu = structs.CarParams.Ecu
@@ -29,7 +31,7 @@ ENABLE_BUTTONS = (ButtonType.accelCruise, ButtonType.decelCruise, ButtonType.can
 # Track when ECU disable happened - used to permanently suppress CAN errors from disabled ECU
 ECU_DISABLE_TIMESTAMP = 0.0
 KONA_NON_SCC_FCA_RADAR_ADDR = 0x602
-KIA_EV9_ACCEL_MAX = 2.5
+KIA_EV9_ACCEL_MAX = 2.2
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -106,7 +108,8 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def apply_post_fingerprint_params(CP: structs.CarParams, candidate, fingerprint, car_fw) -> None:
-    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin):
+    gt_line_testing_ground = testing_ground.use(KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID)
+    if kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, gt_line_testing_ground):
       apply_kia_ev6_gt_line_longitudinal_params(CP)
 
   @staticmethod

opendbc_repo/opendbc/car/hyundai/tests/test_hyundai.py

@@ -20,12 +20,13 @@ from opendbc.car.hyundai.carcontroller import CarController, Ioniq6LongitudinalT
                                              should_track_stop_accel_directly_for_car, \
                                              preserve_stock_canfd_lfa_status, \
                                              preserve_stock_canfd_lkas_status, \
-                                             suppress_redundant_gv70_brake_cancel
+                                             suppress_redundant_gv70_brake_cancel, \
+                                             clear_ioniq_6_torque_when_request_inactive
 from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, decode_ioniq_6_blindspot_radar_state, \
                                              get_canfd_cruise_available
 from opendbc.car.hyundai.interface import CarInterface, KIA_EV9_ACCEL_MAX
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
-from opendbc.car.hyundai.hyundaicanfd import CanBus
+from opendbc.car.hyundai.hyundaicanfd import CanBus, hkg_can_fd_checksum
 from opendbc.car.hyundai.radar_interface import MRREVO14F_RADAR_START_ADDR, MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, \
                                              RADAR_START_ADDR, get_radar_track_config
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, DATELESS_FUZZY_CARS, \
@@ -117,6 +118,7 @@ ANGLE_STEERING_CARS = (
   CAR.KIA_EV6_2025,
   CAR.KIA_EV9,
   CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
+  CAR.GENESIS_GV70_2026,
   CAR.GENESIS_GV80_2025,
 )
 
@@ -522,6 +524,27 @@ class TestHyundaiFingerprint:
     k4_cp = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
     assert not (k4_cp.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
 
+  @pytest.mark.parametrize("candidate", (CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN))
+  def test_carnival_hda1_resume_uses_alternate_button_frame(self, candidate):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0] = {0x1AA: 16}
+    CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+    assert CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS
+    assert not CP.openpilotLongitudinalControl
+    assert "CRUISE_BUTTONS_ALT" in {
+      state.name for state in CarState(CP, None).get_can_parsers(CP)[Bus.pt].message_states.values()
+    }
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    address, dat, bus = hyundaicanfd.create_buttons(
+      packer, CP, CanBus(CP), 0x41, Buttons.RES_ACCEL,
+      base_values={"SET_ME_1": 1, "DISTANCE_UNIT": 0},
+    )
+    assert (address, bus) == (0x1AA, CanBus(CP).CAM)
+    assert dat[2] == 0x41
+    assert (dat[4] >> 4) & 0x7 == Buttons.RES_ACCEL
+    assert int.from_bytes(dat[:2], "little") == hkg_can_fd_checksum(address, None, bytearray(dat))
+
   def test_ioniq_6_hda1_layout_stays_non_lka(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[1] = {0x100: 8, 0x110: 8}
@@ -532,6 +555,14 @@ class TestHyundaiFingerprint:
     assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
     assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)
 
+  def test_ioniq_6_clears_torque_with_inactive_safety_request(self):
+    ioniq_6_cp = SimpleNamespace(carFingerprint=CAR.HYUNDAI_IONIQ_6)
+    other_cp = SimpleNamespace(carFingerprint=CAR.KIA_EV6)
+
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, False) == 0
+    assert clear_ioniq_6_torque_when_request_inactive(ioniq_6_cp, -409, True) == -409
+    assert clear_ioniq_6_torque_when_request_inactive(other_cp, -409, False) == -409
+
     palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
     assert palisade_2023.flags & HyundaiFlags.CAN_CANFD_BLENDED
     assert DBC[palisade_2023.carFingerprint][Bus.pt] == "hyundai_palisade_2023_generated"
@@ -654,6 +685,22 @@ class TestHyundaiFingerprint:
     assert DBC[CP.carFingerprint][Bus.pt] == "hyundai_can_refresh_generated"
     assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_REFRESH_MSGS
 
+  def test_elantra_refresh_decodes_classic_media_buttons(self):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], True, False, False, toggles)
+    FPCP = CarInterface.get_starpilot_params(CAR.HYUNDAI_ELANTRA_HEV_2024, gen_empty_fingerprint(), [], CP, toggles)
+
+    car_state = CarState(CP, FPCP)
+    can_parsers = car_state.get_can_parsers(CP)
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    media_msg = packer.make_can_msg("GW_SWRC_PE", 0, {"C_ModeSW": 1, "C_MTSSW": 1})
+
+    can_parsers[Bus.pt].update([(1_000_000_000, [media_msg])])
+    _, fp_ret = car_state.update(can_parsers, toggles)
+
+    assert fp_ret.modePressed
+    assert fp_ret.customPressed
+
   def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
     fingerprint = gen_empty_fingerprint()
     fingerprint[0][0x391] = 8
@@ -690,38 +737,18 @@ class TestHyundaiFingerprint:
     assert combined_safety_param & HyundaiSafetyFlags.LONG
     assert combined_safety_param & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE
 
-  def test_sonata_hybrid_aol_main_lkas_sync_is_scoped(self):
-    toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=True)
-
-    sonata_hybrid_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], False, False, False, None)
-    sonata_hybrid_fpcp = CarInterface.get_starpilot_params(
-      CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, toggles,
-    )
-    assert sonata_hybrid_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC
-
-    sonata_cp = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
-    sonata_fpcp = CarInterface.get_starpilot_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], sonata_cp, toggles)
-    assert not (sonata_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
-
-    disabled_toggles = SimpleNamespace(always_on_lateral_lkas=True, main_cruise_aol_toggle=False)
-    disabled_fpcp = CarInterface.get_starpilot_params(
-      CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, disabled_toggles,
-    )
-    assert not (disabled_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
-
-    minimal_fpcp = CarInterface.get_starpilot_params(
-      CAR.HYUNDAI_SONATA_HYBRID, gen_empty_fingerprint(), [], sonata_hybrid_cp, SimpleNamespace(),
-    )
-    assert not (minimal_fpcp.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC)
-
-  @pytest.mark.parametrize("candidate", (CAR.HYUNDAI_ELANTRA_2021, CAR.HYUNDAI_SONATA_HYBRID))
-  def test_legacy_hyundai_long_does_not_gate_availability_on_main_cruise(self, candidate):
+  @pytest.mark.parametrize("candidate, tracks_main_cruise", (
+    (CAR.HYUNDAI_ELANTRA_2021, False),
+    (CAR.HYUNDAI_ELANTRA_HEV_2024, False),
+    (CAR.HYUNDAI_SONATA_HYBRID, False),
+  ))
+  def test_legacy_hyundai_long_main_cruise_tracking_is_vehicle_specific(self, candidate, tracks_main_cruise):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, toggles)
     FPCP = CarInterface.get_starpilot_params(
       candidate, gen_empty_fingerprint(), [], CP, toggles,
     )
-    assert not (FPCP.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING)
+    assert bool(FPCP.flags & HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING) is tracks_main_cruise
 
     ioniq_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
     ioniq_fpcp = CarInterface.get_starpilot_params(
@@ -996,6 +1023,45 @@ class TestHyundaiFingerprint:
     assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.HYBRID_GAS
     assert long_xceed.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
 
+  def test_g80_alpha_long_preserves_legacy_safety(self):
+    toggles = get_test_toggles()
+
+    stock_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], False, False, False, toggles)
+    assert CAR.GENESIS_G80 in LEGACY_LONGITUDINAL_CAR
+    assert stock_g80.alphaLongitudinalAvailable
+    assert not stock_g80.openpilotLongitudinalControl
+    assert stock_g80.pcmCruise
+    assert stock_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert not (stock_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG)
+
+    long_g80 = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
+    assert long_g80.alphaLongitudinalAvailable
+    assert long_g80.openpilotLongitudinalControl
+    assert not long_g80.pcmCruise
+    assert long_g80.safetyConfigs[-1].safetyModel == CarParams.SafetyModel.hyundaiLegacy
+    assert long_g80.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG
+
+  @pytest.mark.parametrize("ecu_disabled", (True, False))
+  def test_g80_alpha_long_disables_stock_scc(self, monkeypatch, ecu_disabled):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.GENESIS_G80, gen_empty_fingerprint(), [], True, False, False, toggles)
+
+    called = {}
+
+    def fake_disable_ecu(*args, **kwargs):
+      called.update(kwargs)
+      return ecu_disabled
+
+    monkeypatch.setattr("opendbc.car.hyundai.interface.disable_ecu", fake_disable_ecu)
+    CarInterface.init(CP, None, None)
+
+    assert called["addr"] == 0x7d0
+    assert called["bus"] == 0
+    assert called["reset"] is False
+    assert CP.openpilotLongitudinalControl == ecu_disabled
+    assert CP.pcmCruise != ecu_disabled
+    assert bool(CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.LONG) == ecu_disabled
+
   def test_xceed_phev_disable_failure_falls_back_to_stock_acc(self, monkeypatch):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_XCEED_PHEV, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -1051,6 +1117,24 @@ class TestHyundaiFingerprint:
     assert reset_state.accel_last == pytest.approx(0.0)
     assert reset_state.long_control_state_last == LongCtrlState.off
 
+  def test_kia_ev6_gt_line_testing_ground_longitudinal_params(self, monkeypatch):
+    toggles = get_test_toggles()
+    CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
+    CP.carVin = "00000000000000000"
+
+    monkeypatch.setattr(
+      "opendbc.car.hyundai.interface.testing_ground",
+      SimpleNamespace(use=lambda slot_id: slot_id == "5"),
+    )
+    CarInterface.apply_post_fingerprint_params(CP, CAR.KIA_EV6, gen_empty_fingerprint(), [])
+
+    assert CP.startAccel == pytest.approx(1.4)
+    assert CP.vEgoStarting == pytest.approx(0.5)
+    assert CP.longitudinalActuatorDelay == pytest.approx(0.35)
+
+    assert kia_ev6_gt_line_longitudinal_tuning(CP.carFingerprint, CP.carVin, testing_ground_active=True)
+    assert not kia_ev6_gt_line_longitudinal_tuning(CAR.KIA_EV6_2025, CP.carVin, testing_ground_active=True)
+
   def test_kia_ev6_non_gt_line_keeps_family_longitudinal_params(self):
     toggles = get_test_toggles()
     CP = CarInterface.get_params(CAR.KIA_EV6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -1165,6 +1249,28 @@ class TestHyundaiFingerprint:
     assert exact
     assert matches == {CAR.KIA_CARNIVAL_2025}
 
+  def test_genesis_gv70_2026_route_fw_exact_matches(self):
+    route_fw = {
+      (Ecu.fwdCamera, 0x7c4): b'\xf1\x00JK  MFC  AT USA LHD 1.00 1.11 99211-IY600 241125',
+      (Ecu.fwdRadar, 0x7d0): b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-AR600         ',
+    }
+    car_fw = [
+      CarParams.CarFw(ecu=ecu, fwVersion=version, address=address, subAddress=0, brand="hyundai")
+      for (ecu, address), version in route_fw.items()
+    ]
+
+    exact, matches = match_fw_to_car(car_fw, "", allow_exact=True, allow_fuzzy=False, log=False)
+    assert exact
+    assert matches == {CAR.GENESIS_GV70_2026}
+
+  def test_genesis_gv70_2026_uses_gas_angle_configuration(self):
+    CP = CarInterface.get_params(CAR.GENESIS_GV70_2026, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
+    assert not (CP.flags & HyundaiFlags.EV)
+    assert CP.steerControlType == CarParams.SteerControlType.angle
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
+
   def test_kona_non_scc_fca_radar_fw_is_optional(self):
     fw_versions = FW_VERSIONS[CAR.HYUNDAI_KONA_NON_SCC]
     car_fw = [
@@ -1579,6 +1685,7 @@ class TestHyundaiFingerprint:
     assert CP.startAccel == pytest.approx(0.2)
     assert CP.vEgoStarting == pytest.approx(0.5)
     assert CP.longitudinalActuatorDelay == pytest.approx(0.3)
+    assert KIA_EV9_ACCEL_MAX == pytest.approx(2.2)
     assert CarInterface.get_pid_accel_limits(CP, 0.0, 0.0)[1] == pytest.approx(KIA_EV9_ACCEL_MAX)
 
     ioniq_6_cp = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, toggles)
@@ -2403,6 +2510,22 @@ class TestHyundaiFingerprint:
     assert parser.vl["SCC14"]["ComfortBandLower"] == pytest.approx(0.0)
     assert parser.vl["SCC14"]["JerkLowerLimit"] == pytest.approx(5.0)
 
+  def test_can_acc_commands_follow_sonata_main_cruise_state(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_HYBRID
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC11", 0)], 0)
+
+    msgs = hyundaican.create_acc_commands(packer, enabled=False, accel=0.0, upper_jerk=1.0, idx=3,
+                                          hud_control=SimpleNamespace(leadDistanceBars=3, leadVisible=False), set_speed=42,
+                                          stopping=False, long_override=False, use_fca=False, CP=CP,
+                                          main_cruise_enabled=False)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["SCC11"]["MainMode_ACC"] == 0
+
   def test_can_acc_commands_use_enabled_fca_status(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.GENESIS_G90
@@ -2621,26 +2744,47 @@ class TestHyundaiFingerprint:
       ("LKAS", can_bus.ACAN),
     ]
 
-  def test_ev9_fallback_keeps_lfa_status_without_longitudinal_control(self):
+  def test_ev9_fallback_active_lateral_uses_lkas_without_injecting_lfa(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
                    HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CANFD_LKA_STEERING |
                    HyundaiFlags.CANFD_LKA_STEERING_ALT)
-    CP.openpilotLongitudinalControl = False
+    CP.openpilotLongitudinalControl = True
 
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.frame = 1
+    controller.ecu_disable_failed = True
+    controller.long_active_ecu = False
+    CP.openpilotLongitudinalControl = False
     packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
     can_bus = CanBus(CP)
-    msgs = hyundaicanfd.create_steering_messages(
-      packer, CP, can_bus, True, True, 0.44, -31.5, send_lfa_status=True,
+    cc = SimpleNamespace(
+      enabled=True,
+      latActive=True,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      cruiseControl=SimpleNamespace(cancel=False, resume=False),
+      leftBlinker=False,
+      rightBlinker=False,
+      hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg={},
+      stock_lkas_msg={},
+      out=SimpleNamespace(
+        standstill=False,
+        steeringAngleDeg=-31.5,
+        gearShifter=structs.CarState.GearShifter.drive,
+      ),
     )
 
+    msgs = controller.create_canfd_msgs(0, True, 0.44, -31.5, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=2, lfa_icon=2)
     assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
-      ("LFA", can_bus.ECAN),
       ("LKAS_ALT", can_bus.ACAN),
     ]
 
-  def test_ev9_fallback_lfa_only_does_not_send_lkas_at_standstill(self):
+  def test_ev9_fallback_does_not_inject_lfa_while_parked(self):
     CP = CarParams.new_message()
     CP.carFingerprint = CAR.KIA_EV9
     CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.EV | HyundaiFlags.CCNC |
@@ -2648,15 +2792,31 @@ class TestHyundaiFingerprint:
                    HyundaiFlags.CANFD_LKA_STEERING_ALT)
     CP.openpilotLongitudinalControl = False
 
-    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
-    can_bus = CanBus(CP)
-    msgs = hyundaicanfd.create_steering_messages(
-      packer, CP, can_bus, True, False, 0.0, 0.0, send_lfa_status=True, lfa_only=True,
+    controller = CarController(DBC[CP.carFingerprint], CP)
+    controller.ecu_disable_failed = True
+    cc = SimpleNamespace(
+      enabled=False,
+      latActive=False,
+      actuators=SimpleNamespace(longControlState=LongCtrlState.off),
+      cruiseControl=SimpleNamespace(cancel=False, resume=False),
+      leftBlinker=False,
+      rightBlinker=False,
+      hudControl=SimpleNamespace(),
+    )
+    cs = SimpleNamespace(
+      stock_lfa_msg={},
+      stock_lkas_msg={},
+      out=SimpleNamespace(
+        standstill=True,
+        steeringAngleDeg=0.0,
+        gearShifter=structs.CarState.GearShifter.park,
+      ),
     )
 
-    assert [(packer.dbc.addr_to_msg[addr].name, bus) for addr, _, bus in msgs] == [
-      ("LFA", can_bus.ECAN),
-    ]
+    msgs = controller.create_canfd_msgs(0, False, 0.0, 0.0, 0.0, 0.0, False,
+                                        cc.hudControl, cs, cc, get_test_toggles(), lka_icon=1, lfa_icon=1)
+
+    assert not [msg for msg in msgs if msg[0] in (0x110, 0x12A)]
 
   def test_kia_ev6_lkas_helper_preserves_stock_camera_fields_with_stock_long(self):
     CP = CarParams.new_message()

opendbc_repo/opendbc/car/hyundai/values.py

@@ -111,6 +111,7 @@ class HyundaiSafetyFlags(IntFlag):
 
 
 class HyundaiStarPilotSafetyFlags(IntFlag):
+  AOL_MAIN_LKAS_ON_ENGAGE = 128
   AOL_MAIN_LKAS_SYNC = 32
   HAS_LDA_BUTTON = 1024
   AOL_LKAS_ON_ENGAGE = 2048
@@ -872,6 +873,16 @@ class CAR(Platforms):
     flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
     radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
   )
+  GENESIS_GV70_2026 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Genesis GV70 (3.5T Sport Prestige Trim, with HDA II & LFA2) 2026",
+                     "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_m])),
+    ],
+    GENESIS_GV70_1ST_GEN.specs,
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
   GENESIS_G80 = HyundaiPlatformConfig(
     [HyundaiCarDocs("Genesis G80 2018-19", "All", car_parts=CarParts.common([CarHarness.hyundai_h]))],
     CarSpecs(mass=2060, wheelbase=3.01, steerRatio=16.5),
@@ -975,6 +986,7 @@ CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
 KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
   "C4DLC",
 })
+KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"
 
 
 ALT_BUS_LDA_BUTTON_CARS = frozenset()
@@ -985,9 +997,9 @@ def hyundai_cancel_button_enables_cruise(car_fingerprint) -> bool:
   return car_fingerprint in CANCEL_BUTTON_ENABLE_CARS
 
 
-def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str) -> bool:
-  return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
-    len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_ground_active: bool = False) -> bool:
+  vin_match = isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
+  return car_fingerprint == CAR.KIA_EV6 and (vin_match or testing_ground_active)
 
 
 def get_platform_codes(fw_versions: list[bytes]) -> set[tuple[bytes, bytes | None]]:
@@ -1079,7 +1091,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # We've seen both ICE and hybrid for these platforms, and they have hybrid descriptors (e.g. MQ4 vs MQ4H)
 CANFD_FUZZY_WHITELIST = {CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_K8_HEV_1ST_GEN,
                          CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN,
-                         CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}
+                         CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2, CAR.GENESIS_GV70_2026}
 
 # List of ECUs expected to have platform codes, camera and radar should exist on all cars
 # TODO: use abs, it has the platform code and part number on many platforms
@@ -1182,6 +1194,7 @@ CANFD_SECURITYACCESS_CAR = {
 }
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
 CANFD_ANGLE_LONGITUDINAL_CAR = {CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE}
+CANFD_ALT_BUTTONS_RESUME_CAR = {CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN}
 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,
@@ -1212,6 +1225,9 @@ NON_SCC_CAR = CAR.with_flags(HyundaiFlags.NON_SCC)
 #       HyundaiFlags.CANFD_RADAR_SCC | HyundaiFlags.CANFD_NO_RADAR_DISABLE | )
 UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.LEGACY) | CAR.with_flags(HyundaiFlags.UNSUPPORTED_LONGITUDINAL)
 
-LEGACY_LONGITUDINAL_CAR = {CAR.KIA_XCEED_PHEV}
+LEGACY_LONGITUDINAL_CAR = {
+  CAR.GENESIS_G80,
+  CAR.KIA_XCEED_PHEV,
+}
 
 DBC = CAR.create_dbc_map()

opendbc_repo/opendbc/car/interfaces.py

@@ -257,6 +257,11 @@ class CarInterfaceBase(ABC):
         if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
 
+        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_LKAS_ON_ENGAGE.value
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_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:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
@@ -264,6 +269,7 @@ class CarInterfaceBase(ABC):
         if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
             getattr(starpilot_toggles, "main_cruise_aol_toggle", False):
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_MAIN_LKAS_SYNC.value
+
       elif platform in TOYOTA:
         fp_ret.canUsePedal = not CP.autoResumeSng
         fp_ret.canUseSDSU = candidate not in UNSUPPORTED_DSU_CAR and candidate not in TSS2_CAR
@@ -274,7 +280,7 @@ class CarInterfaceBase(ABC):
         if 0x2FF in fingerprint[0] or (0x2AA in fingerprint[0] and candidate in NO_DSU_CAR):
           fp_ret.flags |= ToyotaStarPilotFlags.SMART_DSU.value
 
-        if candidate == TOYOTA.TOYOTA_PRIUS:
+        if candidate in (TOYOTA.TOYOTA_PRIUS, TOYOTA.TOYOTA_PRIUS_RETROFIT):
           if 0x23 in fingerprint[0]:
             fp_ret.flags |= ToyotaStarPilotFlags.ZSS.value
 

opendbc_repo/opendbc/car/nissan/interface.py

@@ -15,22 +15,19 @@ LEAF_ADAS_ECU_BUS = 0
 LEAF_ADAS_COMMAND_BUS = 1
 LEAF_ADAS_COMMAND_ADDRS = frozenset((0x1C3, 0x2B0))
 LEAF_2025_SV_PLUS_CAMERA_FW = b'6WK2CDB\x04\x18\x00\x00\x00\x00\x00R=1\x18\x99\x10\x00\x00\x00\x80'
+LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED = False
 
-# This Leaf camera uses KWP2000 rather than UDS for session management.
-LEAF_KWP_AFTER_SALES_REQUEST = b"\x10\xC0"
-LEAF_KWP_AFTER_SALES_RESPONSE = b"\x50\xC0"
-LEAF_KWP_DISABLE_NORMAL_TX = b"\x28\x01"
-LEAF_KWP_ENABLE_NORMAL_TX = b"\x29\x01"
-LEAF_KWP_ENABLE_NORMAL_TX_RESPONSE = b"\x69"
+LEAF_KWP_EXTENDED_REQUEST = b"\x10\xC0"
+LEAF_KWP_EXTENDED_RESPONSE = b"\x50\xC0"
+LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE = b"\x28\x02"
 
-LEAF_KWP_SESSIONS = (
-  (LEAF_KWP_AFTER_SALES_REQUEST, LEAF_KWP_AFTER_SALES_RESPONSE),
-  (NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_DIAGNOSTIC_RESPONSE_KWP),
+LEAF_KWP_TAKEOVER_SESSIONS = (
+  (LEAF_KWP_EXTENDED_REQUEST, LEAF_KWP_EXTENDED_RESPONSE),
 )
 
 
 def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
-  return candidate == CAR.NISSAN_LEAF and any(
+  return LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED and candidate == CAR.NISSAN_LEAF and any(
     fw.address == LEAF_ADAS_ECU_ADDR and bytes(fw.fwVersion) == LEAF_2025_SV_PLUS_CAMERA_FW
     for fw in car_fw
   )
@@ -68,25 +65,45 @@ def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
   return saw_adas_bus_traffic
 
 
+def leaf_adas_commands_present(can_recv, settle_time=0.05, observe_time=0.15):
+  """Confirm the stock ADAS command sender resumed on bus 1."""
+  if can_recv is None:
+    return False
+
+  try:
+    time.sleep(settle_time)
+    can_recv()
+
+    deadline = time.monotonic() + observe_time
+    while time.monotonic() < deadline:
+      for packet in can_recv(wait_for_one=True):
+        if any(msg.src == LEAF_ADAS_COMMAND_BUS and msg.address in LEAF_ADAS_COMMAND_ADDRS for msg in packet):
+          return True
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX recovery verification exception: {e}")
+    return False
+
+  ecu_log("Nissan Leaf ADAS normal TX recovery could not be verified")
+  return False
+
+
 def restore_leaf_adas_tx(can_recv, can_send):
-  """Re-enable normal KWP message transmission, trying both safe diagnostic sessions."""
+  """Return to the confirmed KWP default session and verify normal TX resumes."""
   if can_recv is None or can_send is None:
     return False
 
-  for diag_request, diag_response in LEAF_KWP_SESSIONS:
-    try:
-      ecu_log(f"Nissan Leaf ADAS TX restore using KWP session {diag_request.hex()}")
-      query = IsoTpParallelQuery(
-        can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
-        [diag_request, LEAF_KWP_ENABLE_NORMAL_TX],
-        [diag_response, LEAF_KWP_ENABLE_NORMAL_TX_RESPONSE],
-        response_offset=NISSAN_RX_OFFSET,
-      )
-      if query.get_data(0.2):
-        ecu_log("Nissan Leaf ADAS normal TX restored")
-        return True
-    except Exception as e:
-      ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
+  try:
+    ecu_log("Nissan Leaf ADAS TX restore using KWP default session 1081")
+    query = IsoTpParallelQuery(
+      can_send, can_recv, LEAF_ADAS_ECU_BUS, [LEAF_ADAS_ECU_ADDR],
+      [NISSAN_DIAGNOSTIC_REQUEST_KWP], [NISSAN_DIAGNOSTIC_RESPONSE_KWP],
+      response_offset=NISSAN_RX_OFFSET,
+    )
+    if query.get_data(0.2) and leaf_adas_commands_present(can_recv):
+      ecu_log("Nissan Leaf ADAS normal TX restored and command traffic confirmed")
+      return True
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX restore exception: {e}")
 
   ecu_log("Nissan Leaf ADAS normal TX restore was not confirmed")
   return False
@@ -141,10 +158,10 @@ class CarInterface(CarInterfaceBase):
     from openpilot.common.params import Params
     params = Params()
     ecu_disabled = False
-    for diag_request, diag_response in LEAF_KWP_SESSIONS:
+    for diag_request, diag_response in LEAF_KWP_TAKEOVER_SESSIONS:
       ecu_log(f"Nissan Leaf ADAS takeover using KWP session {diag_request.hex()}")
       ecu_disabled = disable_ecu(can_recv, can_send, bus=LEAF_ADAS_ECU_BUS, addr=LEAF_ADAS_ECU_ADDR,
-                                 com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX, require_response=True, retry=3,
+                                 com_cont_req=LEAF_KWP_DISABLE_NORMAL_TX_NO_RESPONSE, require_response=False, retry=1,
                                  diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
       if ecu_disabled:
         break

opendbc_repo/opendbc/car/nissan/tests/test_nissan.py

@@ -4,8 +4,10 @@ import pytest
 
 from opendbc.car import Bus, ButtonType, gen_empty_fingerprint, structs
 from opendbc.car.can_definitions import CanData
+from opendbc.car.nissan import interface as nissan_interface
 from opendbc.car.nissan.carstate import CarState
-from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_silent, restore_leaf_adas_tx
+from opendbc.car.nissan.interface import CarInterface, LEAF_2025_SV_PLUS_CAMERA_FW, leaf_adas_commands_present, \
+                                          leaf_adas_commands_silent, restore_leaf_adas_tx
 from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags
 
 
@@ -17,6 +19,12 @@ SUPPORTED_LEAF_FW = [structs.CarParams.CarFw(
 )]
 
 
+@pytest.fixture
+def experimental_leaf_long(monkeypatch):
+  """Exercise the dormant implementation without making it available in production."""
+  monkeypatch.setattr(nissan_interface, "LEAF_2025_SV_PLUS_ALPHA_LONG_ENABLED", True)
+
+
 def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.CarControl.Actuators.LongControlState.pid):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, alpha_long, False, False, TEST_TOGGLES)
   FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
@@ -32,7 +40,28 @@ def run_controller(alpha_long, accel=0.0, long_active=True, long_state=structs.C
   return {msg[0]: msg for msg in can_sends}
 
 
-def test_leaf_2025_sv_plus_alpha_long_params():
+def test_leaf_2025_sv_plus_alpha_long_is_disabled(monkeypatch):
+  stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
+  alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
+
+  assert not stock.alphaLongitudinalAvailable
+  assert not stock.openpilotLongitudinalControl
+  assert stock.pcmCruise
+  assert not (stock.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
+
+  assert not alpha_long.alphaLongitudinalAvailable
+  assert not alpha_long.openpilotLongitudinalControl
+  assert alpha_long.pcmCruise
+  assert not alpha_long.autoResumeSng
+  assert not (alpha_long.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL)
+
+  disable_calls = []
+  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: disable_calls.append((args, kwargs)))
+  CarInterface.init(alpha_long, None, None)
+  assert not disable_calls
+
+
+def test_dormant_leaf_2025_sv_plus_alpha_long_params(experimental_leaf_long):
   stock = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, False, False, False, None)
   alpha_long = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
 
@@ -78,7 +107,13 @@ def test_stock_controller_does_not_send_longitudinal_messages():
   assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
 
 
-def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
+def test_disabled_alpha_long_controller_does_not_send_longitudinal_messages():
+  can_sends = run_controller(True)
+
+  assert not ({0x2B0, 0x1C3, 0x707} & can_sends.keys())
+
+
+def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive(experimental_leaf_long):
   can_sends = run_controller(True)
 
   assert can_sends[0x2B0][1].hex() == "ff6090ac5b000e03"
@@ -88,13 +123,13 @@ def test_alpha_long_controller_sends_stock_shaped_commands_and_keepalive():
   assert can_sends[0x707][2] == 0
 
 
-def test_alpha_long_controller_clamps_to_panda_accel_limit():
+def test_alpha_long_controller_clamps_to_panda_accel_limit(experimental_leaf_long):
   can_sends = run_controller(True, accel=5.0)
 
   assert can_sends[0x2B0][1].hex() == "007f8fac5b000e0c"
 
 
-def test_alpha_long_controller_blends_friction_brake_below_regen_limit():
+def test_alpha_long_controller_blends_friction_brake_below_regen_limit(experimental_leaf_long):
   can_sends = run_controller(True, accel=-2.0)
 
   assert can_sends[0x2B0][1].hex() == "a827d5ac5b000e09"
@@ -103,7 +138,7 @@ def test_alpha_long_controller_blends_friction_brake_below_regen_limit():
   assert brake[5] & 0x84 == 0x84
 
 
-def test_alpha_long_controller_sends_inactive_commands_when_disengaged():
+def test_alpha_long_controller_sends_inactive_commands_when_disengaged(experimental_leaf_long):
   can_sends = run_controller(True, accel=1.0, long_active=False)
 
   assert can_sends[0x2B0][1].hex() == "dc53a2ac1b000e03"
@@ -112,7 +147,7 @@ def test_alpha_long_controller_sends_inactive_commands_when_disengaged():
 
 @pytest.mark.parametrize(("signal", "button_type"), [("SET_BUTTON", ButtonType.decelCruise),
                                                         ("RES_BUTTON", ButtonType.accelCruise)])
-def test_leaf_set_resume_release_enables_alpha_long(signal, button_type):
+def test_leaf_set_resume_release_enables_alpha_long(signal, button_type, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, TEST_TOGGLES)
   FPCP = CarInterface.get_starpilot_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, CP, TEST_TOGGLES)
   CS = CarState(CP, FPCP)
@@ -129,7 +164,7 @@ def test_leaf_set_resume_release_enables_alpha_long(signal, button_type):
 
 
 @pytest.mark.parametrize("ecu_disabled", [False, True])
-def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
+def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
   calls = []
 
@@ -143,28 +178,24 @@ def test_leaf_ecu_disable_is_strict_and_falls_back(monkeypatch, ecu_disabled):
   monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
   CarInterface.init(CP, None, None)
 
-  assert len(calls) == (1 if ecu_disabled else 2)
+  assert len(calls) == 1
   assert calls[0]["addr"] == 0x707
   assert calls[0]["bus"] == 0
   assert calls[0]["response_offset"] == 0x20
-  assert calls[0]["require_response"] is True
+  assert calls[0]["require_response"] is False
   assert calls[0]["diag_request"] == b"\x10\xc0"
   assert calls[0]["diag_response"] == b"\x50\xc0"
-  assert calls[0]["com_cont_req"] == b"\x28\x01"
-  assert calls[0]["retry"] == 3
-  if not ecu_disabled:
-    assert calls[1]["diag_request"] == b"\x10\x81"
-    assert calls[1]["diag_response"] == b"\x50\x81"
+  assert calls[0]["com_cont_req"] == b"\x28\x02"
+  assert calls[0]["retry"] == 1
   assert CP.openpilotLongitudinalControl is ecu_disabled
   assert CP.pcmCruise is not ecu_disabled
   assert bool(CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL) is ecu_disabled
 
 
-def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
+def test_leaf_kwp_no_response_disable_can_confirm_ecu_silence(monkeypatch, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
-  results = iter((False, True))
 
-  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: next(results))
+  monkeypatch.setattr("opendbc.car.nissan.interface.disable_ecu", lambda *args, **kwargs: True)
   monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_silent", lambda *_: True)
   monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
   CarInterface.init(CP, None, None)
@@ -174,7 +205,7 @@ def test_leaf_kwp_session_can_confirm_ecu_disable(monkeypatch):
   assert CP.safetyConfigs[-1].safetyParam & NissanSafetyFlags.LONG_CONTROL
 
 
-def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch):
+def test_leaf_positive_disable_response_without_command_silence_falls_back(monkeypatch, experimental_leaf_long):
   CP = CarInterface.get_params(CAR.NISSAN_LEAF, gen_empty_fingerprint(), SUPPORTED_LEAF_FW, True, False, False, None)
   restore_calls = []
 
@@ -205,7 +236,17 @@ def test_leaf_adas_command_silence_requires_live_bus_without_stock_commands(monk
   assert not leaf_adas_commands_silent(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
 
 
-def test_leaf_adas_restore_uses_kwp_enable_normal_transmission(monkeypatch):
+def test_leaf_adas_command_recovery_requires_stock_command(monkeypatch):
+  monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
+
+  def stock_command_traffic(wait_for_one=False):
+    return [] if not wait_for_one else [[CanData(0x1C3, b"\x00" * 8, 1)]]
+
+  assert leaf_adas_commands_present(stock_command_traffic, settle_time=0, observe_time=0.001)
+  assert not leaf_adas_commands_present(lambda wait_for_one=False: [], settle_time=0, observe_time=0.001)
+
+
+def test_leaf_adas_restore_returns_to_kwp_default_session(monkeypatch):
   queries = []
 
   class FakeQuery:
@@ -216,7 +257,8 @@ def test_leaf_adas_restore_uses_kwp_enable_normal_transmission(monkeypatch):
       return {(0x707, None): b""}
 
   monkeypatch.setattr("opendbc.car.nissan.interface.IsoTpParallelQuery", FakeQuery)
+  monkeypatch.setattr("opendbc.car.nissan.interface.leaf_adas_commands_present", lambda *_: True)
   monkeypatch.setattr("opendbc.car.nissan.interface.ecu_log", lambda *_: None)
 
   assert restore_leaf_adas_tx(lambda **kwargs: [], lambda msgs: None)
-  assert queries == [(0, [0x707], [b"\x10\xc0", b"\x29\x01"], [b"\x50\xc0", b"\x69"], 0x20)]
+  assert queries == [(0, [0x707], [b"\x10\x81"], [b"\x50\x81"], 0x20)]

opendbc_repo/opendbc/car/subaru/carcontroller.py

@@ -4,7 +4,7 @@ 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.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
@@ -22,14 +22,21 @@ _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
-_ASCENT_OVERRIDE_HOLD_FRAMES = 10
-_ASCENT_REENGAGE_SETTLE_FRAMES = 8
-_ASCENT_REENGAGE_MAX_STEER_RATE = 2.0
-_ASCENT_REENGAGE_MAX_ANGLE_DELTA = 1.0
-_ASCENT_RECLAIM_FRAMES = 36
-_ASCENT_RECLAIM_EXPONENT = 2.5
-_ASCENT_MADS_MIN_SPEED = 0.44704
-_ASCENT_MADS_MAX_STEER_ANGLE = 120.0
+_ANGLE_OVERRIDE_CONFIRM_FRAMES = 2
+_ANGLE_OVERRIDE_HOLD_FRAMES = 10
+_ANGLE_REENGAGE_SETTLE_FRAMES = 8
+_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
+_STOP_START_STARTUP_DELAY_FRAMES = 100
+# 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
 
 
 def get_safety_CP():
@@ -43,6 +50,7 @@ class CarController(CarControllerBase):
     self.apply_torque_last = 0
     self.apply_steer_last = 0
     self.driver_override = False
+    self.angle_override_confirm_frames = 0
     self.legacy_2025_lkas_active = False
     self.legacy_2025_handoff_active = False
     self.legacy_2025_override_hold_frames = 0
@@ -50,13 +58,13 @@ class CarController(CarControllerBase):
     self.legacy_2025_reengage_reference_angle = 0.0
     self.legacy_2025_reclaim_frames = 0
     self.legacy_2025_reclaim_start_angle = 0.0
-    self.ascent_lkas_active = False
-    self.ascent_handoff_active = False
-    self.ascent_override_hold_frames = 0
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reengage_reference_angle = 0.0
-    self.ascent_reclaim_frames = 0
-    self.ascent_reclaim_start_angle = 0.0
+    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.cruise_button_prev = 0
     self.steer_rate_counter = 0
@@ -73,8 +81,71 @@ class CarController(CarControllerBase):
     self.prev_close_distance = 0
     self.epb_resume_frames_remaining = -1
     self.last_standstill_frame = 0
+    self.stop_start_attempted = False
+    self.stop_start_request_started = False
+    self.stop_start_request_frame = 0
+    self.stop_start_initial_state = None
+    self.stop_start_counter = 0
+    self.stop_start_acknowledged = False
+
+  def _stop_start_off_request(self, CC, CS, starpilot_toggles):
+    """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 not in SUBARU_STOP_START_CARS or \
+       not getattr(starpilot_toggles, "subaru_stop_start_off", False) or self.stop_start_attempted:
+      return None
+
+    if self.frame > _STOP_START_STARTUP_DEADLINE_FRAMES or getattr(CC, "enabled", False):
+      self.stop_start_attempted = True
+      return None
+
+    if self.frame < _STOP_START_STARTUP_DELAY_FRAMES or not getattr(getattr(CS, "out", None), "canValid", True):
+      return None
+
+    out = CS.out
+    if not getattr(out, "standstill", False) or out.gearShifter not in (
+      structs.CarState.GearShifter.park,
+      structs.CarState.GearShifter.neutral,
+    ):
+      return None
+
+    dashlights_msg = getattr(CS, "dashlights_msg", None)
+    if not dashlights_msg:
+      return None
+
+    if not self.stop_start_request_started:
+      self.stop_start_request_started = True
+      self.stop_start_request_frame = self.frame
+      self.stop_start_initial_state = getattr(CS, "stop_start_state", None)
+      self.stop_start_counter = (int(dashlights_msg.get("COUNTER", 0)) + 1) % 0x10
+
+    current_state = getattr(CS, "stop_start_state", None)
+    if self.stop_start_initial_state is not None and self.stop_start_initial_state != 3 and current_state == 3:
+      self.stop_start_attempted = True
+      self.stop_start_acknowledged = True
+      return None
+
+    elapsed = self.frame - self.stop_start_request_frame
+    if elapsed >= _STOP_START_PULSE_FRAMES:
+      self.stop_start_attempted = True
+      return None
+
+    if elapsed % _STOP_START_PULSE_PERIOD_FRAMES != 0:
+      return None
+
+    msg = subarucan.create_stop_start_control(
+      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.driver_override = False
+    self.angle_override_confirm_frames = 0
     self.legacy_2025_handoff_active = False
     self.legacy_2025_override_hold_frames = 0
     self.legacy_2025_reengage_settle_frames = 0
@@ -87,7 +158,8 @@ class CarController(CarControllerBase):
       self._reset_legacy_2025_handoff()
       return False
 
-    if CS.out.steeringPressed:
+    driver_override = self._update_angle_driver_override(CS)
+    if driver_override:
       self.legacy_2025_handoff_active = True
       self.legacy_2025_override_hold_frames = _LEGACY_2025_OVERRIDE_HOLD_FRAMES
       self.legacy_2025_reengage_settle_frames = 0
@@ -96,7 +168,7 @@ class CarController(CarControllerBase):
       return True
 
     if not self.legacy_2025_handoff_active and not self.legacy_2025_lkas_active and \
-       abs(CS.out.steeringRateDeg) > _LEGACY_2025_REENGAGE_MAX_STEER_RATE:
+       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
 
@@ -109,7 +181,7 @@ class CarController(CarControllerBase):
         self.legacy_2025_reengage_reference_angle = CS.out.steeringAngleDeg
       return True
 
-    wheel_stable = abs(CS.out.steeringRateDeg) <= _LEGACY_2025_REENGAGE_MAX_STEER_RATE and \
+    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
@@ -137,67 +209,86 @@ class CarController(CarControllerBase):
     self.legacy_2025_reclaim_frames -= 1
     return target_angle
 
-  def _reset_ascent_handoff(self):
-    self.ascent_handoff_active = False
-    self.ascent_override_hold_frames = 0
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reengage_reference_angle = 0.0
-    self.ascent_reclaim_frames = 0
-    self.ascent_reclaim_start_angle = 0.0
+  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 _ascent_manual_handoff(self, CS, lat_active):
+  def _angle_manual_handoff(self, CS, lat_active):
     if not lat_active:
-      self._reset_ascent_handoff()
+      self._reset_angle_handoff()
       return False
 
-    if CS.out.steeringPressed:
-      self.ascent_handoff_active = True
-      self.ascent_override_hold_frames = _ASCENT_OVERRIDE_HOLD_FRAMES
-      self.ascent_reengage_settle_frames = 0
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
-      self.ascent_reclaim_frames = 0
+    driver_override = self._update_angle_driver_override(CS)
+    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.ascent_handoff_active and not self.ascent_lkas_active and \
-       abs(CS.out.steeringRateDeg) > _ASCENT_REENGAGE_MAX_STEER_RATE:
-      self.ascent_handoff_active = True
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+    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 not self.ascent_handoff_active:
+    if not self.angle_handoff_active:
       return False
 
-    if self.ascent_override_hold_frames > 0:
-      self.ascent_override_hold_frames -= 1
-      if self.ascent_override_hold_frames == 0:
-        self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+    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(CS.out.steeringRateDeg) <= _ASCENT_REENGAGE_MAX_STEER_RATE and \
-      abs(CS.out.steeringAngleDeg - self.ascent_reengage_reference_angle) <= _ASCENT_REENGAGE_MAX_ANGLE_DELTA
+    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.ascent_reengage_settle_frames += 1
+      self.angle_reengage_settle_frames += 1
     else:
-      self.ascent_reengage_settle_frames = 0
-      self.ascent_reengage_reference_angle = CS.out.steeringAngleDeg
+      self.angle_reengage_settle_frames = 0
+      self.angle_reengage_reference_angle = CS.out.steeringAngleDeg
 
-    if self.ascent_reengage_settle_frames < _ASCENT_REENGAGE_SETTLE_FRAMES:
+    if self.angle_reengage_settle_frames < _ANGLE_REENGAGE_SETTLE_FRAMES:
       return True
 
-    self.ascent_handoff_active = False
-    self.ascent_reengage_settle_frames = 0
-    self.ascent_reclaim_frames = _ASCENT_RECLAIM_FRAMES
-    self.ascent_reclaim_start_angle = CS.out.steeringAngleDeg
+    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 _ascent_reclaim_target(self, target_angle):
-    if self.ascent_reclaim_frames <= 0:
+  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 _angle_reclaim_target(self, target_angle):
+    if self.angle_reclaim_frames <= 0:
       return target_angle
 
-    progress = (_ASCENT_RECLAIM_FRAMES - self.ascent_reclaim_frames + 1) / _ASCENT_RECLAIM_FRAMES
-    eased_progress = progress ** _ASCENT_RECLAIM_EXPONENT
-    target_angle = self.ascent_reclaim_start_angle + eased_progress * \
-      (target_angle - self.ascent_reclaim_start_angle)
-    self.ascent_reclaim_frames -= 1
+    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
 
   def lateral_angle(self, CC, CS):
@@ -224,41 +315,56 @@ class CarController(CarControllerBase):
       self.legacy_2025_lkas_active = lkas_active
       return subarucan.create_steering_control_angle(self.packer, apply_steer, lkas_active, self.angle_bus)
 
-    if self.CP.carFingerprint == CAR.SUBARU_ASCENT_2023:
+    if self.CP.carFingerprint in (CAR.SUBARU_ASCENT_2023, CAR.SUBARU_OUTBACK_2023):
       mads_only = CC.latActive and not CC.enabled
-      mads_only_ok = CS.out.vEgoRaw > _ASCENT_MADS_MIN_SPEED and \
-        abs(CS.out.steeringAngleDeg) < _ASCENT_MADS_MAX_STEER_ANGLE
+      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
 
-      manual_handoff = self._ascent_manual_handoff(CS, lkas_available)
+      manual_handoff = self._angle_manual_handoff(CS, lkas_available)
       lkas_active = lkas_available and not manual_handoff
 
-      if lkas_active and not self.ascent_lkas_active:
+      if lkas_active and not self.angle_lkas_active:
         self.apply_steer_last = CS.out.steeringAngleDeg
 
-      steer_target = self._ascent_reclaim_target(CC.actuators.steeringAngleDeg) if lkas_active else CC.actuators.steeringAngleDeg
-      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,
-      )
+      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,
+        )
       self.apply_steer_last = apply_steer
-      self.ascent_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)
 
-    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
-
-    lat_active = CC.latActive and not self.driver_override
+    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
+    lkas_available = CC.latActive and (not mads_only or mads_only_ok) and \
+      getattr(CS.out, "gearShifter", structs.CarState.GearShifter.drive) == structs.CarState.GearShifter.drive and \
+      not getattr(CS.out, "standstill", False)
+    manual_handoff = self._angle_manual_handoff(CS, lkas_available)
+    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(
-      CC.actuators.steeringAngleDeg,
+      steer_target,
       self.apply_steer_last,
       CS.out.vEgoRaw,
       CS.out.steeringAngleDeg,
@@ -271,6 +377,7 @@ class CarController(CarControllerBase):
       apply_steer = CS.out.steeringAngleDeg
 
     self.apply_steer_last = apply_steer
+    self.angle_lkas_active = lat_active
     return subarucan.create_steering_control_angle(self.packer, apply_steer, lat_active, self.angle_bus)
 
   def lateral_torque(self, CC, CS):
@@ -305,6 +412,10 @@ class CarController(CarControllerBase):
 
     can_sends = []
 
+    stop_start_msg = self._stop_start_off_request(CC, CS, starpilot_toggles)
+    if stop_start_msg is not None:
+      can_sends.append(stop_start_msg)
+
     # *** steering ***
     if (self.frame % self.p.STEER_STEP) == 0:
       if self.CP.flags & SubaruFlags.LKAS_ANGLE:

opendbc_repo/opendbc/car/subaru/carstate.py

@@ -4,7 +4,7 @@ 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.subaru.values import DBC, CanBus, SubaruFlags
+from opendbc.car.subaru.values import DBC, CanBus, SUBARU_STOP_START_CARS, SubaruFlags
 from opendbc.car import CanSignalRateCalculator
 
 
@@ -15,6 +15,9 @@ class CarState(CarStateBase):
     self.shifter_values = can_define.dv["Transmission"]["Gear"]
 
     self.angle_rate_calulator = CanSignalRateCalculator(50)
+    self.dashlights_msg = {}
+    self.dashlights_dat = b""
+    self.stop_start_state = 0
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -24,6 +27,12 @@ class CarState(CarStateBase):
     cp_angle = cp_main if self.CP.flags & SubaruFlags.D_PLATFORM else cp
     ret = structs.CarState()
 
+    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
     if self.CP.flags & SubaruFlags.PREGLOBAL:

opendbc_repo/opendbc/car/subaru/interface.py

@@ -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):
@@ -40,6 +40,8 @@ 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 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):
         ret.safetyConfigs[0].safetyParam |= SubaruSafetyFlags.FIXED_ANGLE_LIMITS.value
 
@@ -51,6 +53,8 @@ class CarInterface(CarInterfaceBase):
 
     if ret.flags & SubaruFlags.LKAS_ANGLE:
       ret.steerControlType = structs.CarParams.SteerControlType.angle
+      if candidate == CAR.SUBARU_OUTBACK_2023:
+        ret.lateralSmoothSeconds = 0.4
 
     elif candidate in (CAR.SUBARU_ASCENT, CAR.SUBARU_ASCENT_2023):
       ret.steerActuatorDelay = 0.3  # end-to-end angle controller

opendbc_repo/opendbc/car/subaru/subarucan.py

@@ -182,6 +182,32 @@ 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, 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 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
+  values["COUNTER"] = counter % 0x10
+  values["STOP_START"] = 1
+  return packer.make_can_msg("Dashlights", bus, values)
+
+
 def create_es_brake(packer, frame, es_brake_msg, long_enabled, long_active, brake_value, bus=CanBus.main):
   values = {s: es_brake_msg[s] for s in [
     "CHECKSUM",

opendbc_repo/opendbc/car/subaru/tests/test_subaru.py

@@ -193,6 +193,7 @@ 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 CanBus.main_for_cp(CP) == CanBus.alt
   assert CanBus.angle_for_cp(CP) == CanBus.main
@@ -202,6 +203,77 @@ def test_outback_2023_uses_d_platform_bus_layout():
   assert parsers[Bus.main].bus == CanBus.main
   assert controller.angle_bus == CanBus.main
   assert controller.status_bus == CanBus.main
+  assert CP.lateralSmoothSeconds == pytest.approx(0.4)
+
+
+@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 = start_frame
+
+  class TestActuators:
+    steeringAngleDeg = 0.0
+
+    def as_builder(self):
+      return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
+
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=False,
+    longActive=False,
+    actuators=TestActuators(),
+    hudControl=SimpleNamespace(leadVisible=False),
+    cruiseControl=SimpleNamespace(cancel=False),
+  )
+  CS = SimpleNamespace(
+    canValid=True,
+    dashlights_msg={"COUNTER": 6, "STOP_START": 0},
+    dashlights_dat=bytes.fromhex("13061407875a8100"),
+    stop_start_state=0,
+    out=SimpleNamespace(
+      standstill=True,
+      gearShifter=structs.CarState.GearShifter.park,
+    ),
+  )
+  toggles = SimpleNamespace(subaru_stop_start_off=True, subaru_sng=False)
+
+  _, 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] == 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
+
+  controller.frame = 103
+  CS.stop_start_state = 3
+  _, can_sends = controller.update(CC, CS, 0, toggles)
+  assert not any(msg[0] == 0x390 for msg in can_sends)
+  assert controller.stop_start_acknowledged
 
 
 def test_legacy_2025_uses_gen2_angle_bus_layout():
@@ -214,6 +286,7 @@ 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
@@ -303,6 +376,7 @@ 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,
@@ -311,10 +385,14 @@ def test_legacy_2025_waits_for_manual_steering_to_settle_before_reengaging():
 
   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 = -113.78
   msg = controller.lateral_angle(CC, CS)
   parser.update([(2, [msg])])
@@ -363,6 +441,7 @@ 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,
@@ -371,9 +450,13 @@ 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)
@@ -428,14 +511,66 @@ def test_angle_controller_tracks_driver_override():
   CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
   controller = CarController({}, CP)
   CC = SimpleNamespace(latActive=True, actuators=SimpleNamespace(steeringAngleDeg=15.0))
-  CS = SimpleNamespace(out=SimpleNamespace(vEgoRaw=15.0, steeringAngleDeg=2.0, steeringTorque=250.0))
+  CS = SimpleNamespace(out=SimpleNamespace(vEgoRaw=15.0, steeringAngleDeg=2.0, steeringTorque=175.0))
+
+  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
   assert controller.apply_steer_last == CS.out.steeringAngleDeg
   assert msg[0] == 0x124
 
+  CS.out.steeringTorque = 125.0
+  controller.lateral_angle(CC, CS)
+  assert controller.driver_override
+
+  CS.out.steeringTorque = 75.0
+  controller.lateral_angle(CC, CS)
+  assert not controller.driver_override
+
+
+def test_angle_controller_blocks_low_speed_mads_engagement():
+  CP = CarInterface.get_non_essential_params(CAR.SUBARU_CROSSTREK_2025)
+  controller = CarController({}, CP)
+  CC = SimpleNamespace(
+    enabled=False,
+    latActive=True,
+    actuators=SimpleNamespace(steeringAngleDeg=15.0),
+  )
+  CS = SimpleNamespace(out=SimpleNamespace(
+    vEgoRaw=0.3,
+    steeringAngleDeg=80.0,
+    steeringTorque=0.0,
+    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"] == 0
+  assert parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] == pytest.approx(CS.out.steeringAngleDeg)
+
+  CS.out.vEgoRaw = 1.0
+  CS.out.steeringAngleDeg = 130.0
+  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.steeringAngleDeg = 0.0
+  msg = controller.lateral_angle(CC, CS)
+  parser.update([(3, [msg])])
+
+  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)
@@ -445,7 +580,7 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
     vEgoRaw=21.66,
     steeringAngleDeg=-25.77,
     steeringRateDeg=0.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
     steeringPressed=False,
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
@@ -458,15 +593,16 @@ def test_ascent_angle_controller_uses_fixed_angle_rate_limits():
   assert CS.out.steeringAngleDeg < parser.vl["ES_LKAS_ANGLE"]["LKAS_Output"] < -25.0
 
 
-def test_ascent_angle_controller_yields_until_manual_steering_settles():
-  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_yields_until_manual_steering_settles(platform):
+  CP = CarInterface.get_non_essential_params(platform)
   controller = CarController({}, CP)
   CC = SimpleNamespace(enabled=True, latActive=True, actuators=SimpleNamespace(steeringAngleDeg=-10.0))
   CS = SimpleNamespace(out=SimpleNamespace(
     vEgoRaw=21.66,
     steeringAngleDeg=-25.06,
     steeringRateDeg=35.0,
-    steeringTorque=-149.0,
+    steeringTorque=-250.0,
     steeringPressed=True,
     gearShifter=structs.CarState.GearShifter.drive,
     standstill=False,
@@ -475,10 +611,14 @@ def test_ascent_angle_controller_yields_until_manual_steering_settles():
 
   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):

opendbc_repo/opendbc/car/subaru/values.py

@@ -37,6 +37,11 @@ class CarControllerParams:
     self.STEER_OVERRIDE_TORQUE_HIGH = 200
     self.STEER_OVERRIDE_TORQUE_LOW = 150
 
+    # Crosstrek 2025 reports manual parking-lot inputs below the generic handoff threshold.
+    if CP.carFingerprint == CAR.SUBARU_CROSSTREK_2025:
+      self.STEER_OVERRIDE_TORQUE_HIGH = 150
+      self.STEER_OVERRIDE_TORQUE_LOW = 100
+
     if CP.flags & SubaruFlags.GLOBAL_GEN2:
       # TODO: lower rate limits, this reaches min/max in 0.5s which negatively affects tuning
       self.STEER_MAX = 1500
@@ -83,6 +88,7 @@ class SubaruSafetyFlags(IntFlag):
   D_PLATFORM = 32
   D_PLATFORM_CAMERA = 64
   FIXED_ANGLE_LIMITS = 128
+  STOP_START_BUTTON = 256
   LEGACY_2025_ANGLE_LIMITS = FIXED_ANGLE_LIMITS
 
 
@@ -264,6 +270,12 @@ class CAR(Platforms):
   )
 
 
+SUBARU_STOP_START_CARS = (
+  CAR.SUBARU_OUTBACK_2023,
+  CAR.SUBARU_LEGACY_2025,
+)
+
+
 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]) + \

opendbc_repo/opendbc/car/tesla/carcontroller.py

@@ -68,13 +68,13 @@ 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))
+        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))
+        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()

opendbc_repo/opendbc/car/tesla/teslacan.py

@@ -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,

opendbc_repo/opendbc/car/tesla/tests/test_teslacan.py

@@ -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

opendbc_repo/opendbc/car/tesla/values.py

@@ -125,7 +125,6 @@ class CarControllerParams:
   ACCEL_MAX = 2.0    # m/s^2
   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
 
 
 class TeslaSafetyFlags(IntFlag):

opendbc_repo/opendbc/car/tests/routes.py

@@ -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
 
@@ -105,6 +106,11 @@ non_tested_cars = [
   TOYOTA.TOYOTA_COROLLA,
   TOYOTA.TOYOTA_RAV4H,
 
+  # No recorded routes yet
+  VOLVO.VOLVO_XC40_RECHARGE,
+  VOLVO.VOLVO_S60_RECHARGE,
+  VOLVO.POLESTAR_2,
+
 ]
 
 non_tested_cars.extend(CC_ONLY_CAR)

opendbc_repo/opendbc/car/tests/test_can_fingerprint.py

@@ -27,7 +27,7 @@ class TestCanFingerprint:
       fingerprint_iter = iter([can])
       car_fingerprint, finger = can_fingerprint(lambda **kwargs: [next(fingerprint_iter, [])])  # noqa: B023
 
-      if car_model == TOYOTA.TOYOTA_MATRIX_RETROFIT:
+      if car_model in (TOYOTA.TOYOTA_MATRIX_RETROFIT, TOYOTA.TOYOTA_PRIUS_RETROFIT):
         assert fingerprint == {}
         assert car_fingerprint is None
       elif car_fingerprint is None and str(car_model).startswith(("BUICK_", "CADILLAC_", "CHEVROLET_", "GMC_", "HOLDEN_")):

opendbc_repo/opendbc/car/tests/test_car_interfaces.py

@@ -74,7 +74,6 @@ def get_test_starpilot_toggles() -> SimpleNamespace:
     disable_openpilot_long=False,
     force_fingerprint=False,
     lock_doors=False,
-    reverse_cruise_increase=False,
     sng_hack=False,
     subaru_sng=False,
     subaru_sng_manual_parking_brake=False,
@@ -165,13 +164,18 @@ class TestCarInterfaces:
       "Center_Stack_2": {"LKAS_Button": 1},
     }, is_ram=True)
 
-  def test_chrysler_wd_mod_enables_steer_to_zero(self):
+  @pytest.mark.parametrize("candidate", (
+    CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+    CHRYSLER_CAR.JEEP_GRAND_CHEROKEE,
+    CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019,
+  ))
+  def test_chrysler_steer_to_zero_module(self, candidate):
     fingerprint = {bus: {} for bus in range(8)}
     fingerprint[0][0x4FF] = 8
     toggles = get_test_starpilot_toggles()
 
     car_params = ChryslerCarInterface.get_params(
-      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      candidate,
       fingerprint,
       [],
       alpha_long=False,
@@ -182,7 +186,7 @@ class TestCarInterfaces:
     assert car_params.minSteerSpeed > 0.
 
     fp_car_params = ChryslerCarInterface.get_starpilot_params(
-      CHRYSLER_CAR.CHRYSLER_PACIFICA_2020,
+      candidate,
       fingerprint,
       [],
       car_params,
@@ -206,11 +210,14 @@ class TestCarInterfaces:
       button_message="CRUISE_BUTTONS",
       auto_high_beam=0,
     )
+    controller.update(CC, CS, 0, toggles)
+    controller.update(CC, CS, 0, toggles)
     _, can_sends = controller.update(CC, CS, 0, toggles)
 
     lkas_parser = CANParser(CHRYSLER_DBC[car_params.carFingerprint][Bus.pt], [("LKAS_COMMAND", 50)], 0)
     lkas_parser.update([0, can_sends])
     assert lkas_parser.vl["LKAS_COMMAND"]["LKAS_CONTROL_BIT"] == 1
+    assert lkas_parser.vl["LKAS_COMMAND"]["STEERING_TORQUE"] != 0
 
   @pytest.mark.parametrize("candidate", (CHRYSLER_CAR.JEEP_GRAND_CHEROKEE, CHRYSLER_CAR.JEEP_GRAND_CHEROKEE_2019))
   def test_jeep_brake_hold_safety_capability_is_provisioned(self, candidate):
@@ -293,6 +300,64 @@ class TestCarInterfaces:
     )
     assert fp_car_params.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
 
+  def test_hyundai_elantra_hev_auto_aol_sets_lkas_on_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_LKAS_ON_ENGAGE.value
+    assert 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)}

opendbc_repo/opendbc/car/tests/test_fw_fingerprint.py

@@ -283,6 +283,7 @@ class TestFwFingerprintTiming:
         'tesla': 0.1,
         'toyota': 0.7,
         'volkswagen': 0.65,
+        'volvo': 0.0,
         'rivian': 0.3,
         'psa': 0.1,
       },

opendbc_repo/opendbc/car/torque_data/override.toml

@@ -126,12 +126,13 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
 "GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
+"GENESIS_GV70_2026" = [nan, 2.5, nan]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
 "GENESIS_GV80_2025" = [nan, 2.5, nan]
 # Note that some Rivians achieve significantly less lateral acceleration than this
 "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
 "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
-"HONDA_ACCORD_11G" = [1.35, 1.35, 0.17]
+"HONDA_ACCORD_11G" = [3.0, 1.35, 0.16]
 "HONDA_PILOT_4G" = [1.25, 1.25, 0.21]
 "HONDA_PASSPORT_4G" = [1.2, 1.2, 0.16]
 "ACURA_MDX_4G_MMR" = [1.25, 1.25, 0.15]
@@ -141,6 +142,8 @@ 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]
 
 # Dashcam or fallback configured as ideal car
 "MOCK" = [10.0, 10, 0.0]

opendbc_repo/opendbc/car/torque_data/substitute.toml

@@ -9,6 +9,7 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 
 "TOYOTA_ALPHARD_TSS2" = "TOYOTA_SIENNA"
 "TOYOTA_PRIUS_V" = "TOYOTA_PRIUS"
+"TOYOTA_PRIUS_RETROFIT" = "TOYOTA_PRIUS"
 "TOYOTA_SIENNA_4TH_GEN" = "TOYOTA_RAV4_PRIME"
 "LEXUS_IS" = "LEXUS_NX"
 "LEXUS_CTH" = "LEXUS_NX"
@@ -135,3 +136,5 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "CHEVROLET_SILVERADO_CC" = "CHEVROLET_SILVERADO"
 "CADILLAC_XT4_CC" = "CADILLAC_XT4"
 "CADILLAC_XT6" = "GMC_ACADIA"
+
+"POLESTAR_2" = "VOLVO_XC40_RECHARGE"

opendbc_repo/opendbc/car/toyota/carcontroller.py

@@ -11,7 +11,7 @@ from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.toyota import toyotacan
 from opendbc.car.toyota.values import CAR, MIN_ACC_SPEED, NO_STOP_TIMER_CAR, PEDAL_TRANSITION, TSS2_CAR, \
                                         CarControllerParams, ToyotaFlags, \
-                                        UNSUPPORTED_DSU_CAR
+                                        UNSUPPORTED_DSU_CAR, LEGACY_PRIUS_CAR
 from opendbc.can import CANPacker
 
 Ecu = structs.CarParams.Ecu
@@ -59,13 +59,17 @@ def is_camry_hybrid(CP) -> bool:
 
 
 def is_ths_hybrid(CP) -> bool:
-  return CP.carFingerprint == CAR.TOYOTA_PRIUS or is_camry_hybrid(CP)
+  return CP.carFingerprint in LEGACY_PRIUS_CAR or is_camry_hybrid(CP)
 
 
-def should_bypass_toyota_long_pid(CP) -> bool:
+def should_bypass_toyota_long_pid(CP, starpilot_toggles=None) -> bool:
+  highlander_sdsu = (
+    CP.carFingerprint == CAR.TOYOTA_HIGHLANDER and
+    bool(getattr(starpilot_toggles, "has_sdsu", False))
+  )
   return bool(CP.enableGasInterceptorDEPRECATED or (
     CP.carFingerprint == CAR.TOYOTA_CAMRY and not is_camry_hybrid(CP)
-  ))
+  ) or highlander_sdsu)
 
 
 def get_long_tune(CP, params):
@@ -74,7 +78,7 @@ def get_long_tune(CP, params):
   k_f = 1.0
 
   if is_ths_hybrid(CP):
-    k_f = 0.8 if CP.carFingerprint == CAR.TOYOTA_PRIUS else 1.0
+    k_f = 0.8 if CP.carFingerprint in LEGACY_PRIUS_CAR else 1.0
   elif CP.carFingerprint not in TSS2_CAR:
     kiBP = [0., 5., 35.]
     kiV = [3.6, 2.4, 1.5]
@@ -341,8 +345,10 @@ class CarController(CarControllerBase):
     apply_torque = apply_meas_steer_torque_limits(new_torque, self.last_torque, CS.out.steeringTorqueEps, self.params)
 
     # >100 degree/sec steering fault prevention
-    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
-                                                                      self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+    self.steer_rate_counter, apply_steer_req = common_fault_avoidance(
+      abs(CS.out.steeringRateDeg) >= MAX_STEER_RATE, lat_active,
+      self.steer_rate_counter, MAX_STEER_RATE_FRAMES,
+    )
 
     if not lat_active:
       apply_torque = 0
@@ -454,7 +460,7 @@ class CarController(CarControllerBase):
         a_ego_future = a_ego_blended + j_ego * future_t
 
         if CC.longActive:
-          if should_bypass_toyota_long_pid(self.CP):
+          if should_bypass_toyota_long_pid(self.CP, starpilot_toggles):
             # Pedal/SDSU Toyotas have shown better behavior when we trust the planner
             # target directly instead of letting the Toyota longitudinal PID swing it
             # around. Keep the shared rate limits above, but bypass the extra
@@ -477,7 +483,7 @@ class CarController(CarControllerBase):
               pcm_accel_cmd += pitch_compensation
 
             feedforward = pcm_accel_cmd
-            if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
+            if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
               feedforward = get_prius_feedforward(feedforward, CS.out.vEgo)
             elif is_camry_hybrid(self.CP) and feedforward > 0.0:
               # Preserve the established Camry Hybrid acceleration response while
@@ -507,14 +513,15 @@ class CarController(CarControllerBase):
         else:
           pcm_accel_cmd = limit_no_lead_cruise_sign_flip(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo,
                                                          CS.out.cruiseState.speed, bool(hud_control.leadVisible))
-          if self.CP.carFingerprint == CAR.TOYOTA_PRIUS:
+          if self.CP.carFingerprint in LEGACY_PRIUS_CAR:
             pcm_accel_cmd = limit_prius_stopping_accel(pcm_accel_cmd, actuators.accel, stopping, CS.out.vEgo, lead)
 
         pcm_accel_cmd = float(np.clip(pcm_accel_cmd, self.params.ACCEL_MIN, self.params.ACCEL_MAX))
 
         main_accel_cmd = 0. if self.CP.flags & ToyotaFlags.SECOC.value else pcm_accel_cmd
         can_sends.append(toyotacan.create_accel_command(self.packer, main_accel_cmd, pcm_cancel_cmd, self.permit_braking, self.standstill_req, lead,
-                                                        CS.acc_type, fcw_alert, self.distance_button, starpilot_toggles.reverse_cruise_increase))
+                                                        CS.acc_type, fcw_alert, self.distance_button,
+                                                        getattr(starpilot_toggles, "reverse_cruise_increase", False)))
         if self.CP.flags & ToyotaFlags.SECOC.value:
           acc_cmd_2 = toyotacan.create_accel_command_2(self.packer, pcm_accel_cmd)
           acc_cmd_2 = add_mac(self.secoc_key,
@@ -534,7 +541,8 @@ class CarController(CarControllerBase):
           can_sends.append(toyotacan.create_acc_cancel_command(self.packer))
         else:
           can_sends.append(toyotacan.create_accel_command(self.packer, 0, pcm_cancel_cmd, True, False, lead, CS.acc_type, False,
-                                                          self.distance_button, starpilot_toggles.reverse_cruise_increase))
+                                                          self.distance_button,
+                                                          getattr(starpilot_toggles, "reverse_cruise_increase", False)))
 
     # *** hud ui ***
     if self.CP.carFingerprint != CAR.TOYOTA_PRIUS_V:

opendbc_repo/opendbc/car/toyota/carstate.py

@@ -8,7 +8,7 @@ from opendbc.car.common.filter_simple import FirstOrderFilter
 from opendbc.car.interfaces import CarStateBase
 from opendbc.car.toyota.values import ToyotaFlags, ToyotaStarPilotFlags, CAR, DBC, STEER_THRESHOLD, NO_STOP_TIMER_CAR, \
                                                   TSS2_CAR, RADAR_ACC_CAR, EPS_SCALE, UNSUPPORTED_DSU_CAR, \
-                                                  SECOC_CAR
+                                                  SECOC_CAR, LEGACY_PRIUS_CAR
 
 ButtonType = structs.CarState.ButtonEvent.Type
 SteerControlType = structs.CarParams.SteerControlType
@@ -23,7 +23,7 @@ TEMP_STEER_FAULTS = (0, 9, 11, 21, 25)
 # - lka/lta msg drop out: 3 (recoverable)
 # - prolonged high driver torque: 17 (permanent)
 PERM_STEER_FAULTS = (3, 17)
-LKAS_BUTTON_CAR = TSS2_CAR | {CAR.TOYOTA_PRIUS}
+LKAS_BUTTON_CAR = TSS2_CAR | LEGACY_PRIUS_CAR
 DISTANCE_BUTTON_CAR = {CAR.TOYOTA_SIENNA_4TH_GEN}
 
 
@@ -245,6 +245,11 @@ class CarState(CarStateBase):
 
         buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
+    if self.CP.carFingerprint in LEGACY_PRIUS_CAR and not self.has_SDSU:
+      prev_distance_button = self.distance_button
+      self.distance_button = cp_acc.vl["ACC_CONTROL"]["DISTANCE"]
+      buttonEvents += create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
+
     if self.CP.carFingerprint in DISTANCE_BUTTON_CAR:
       prev_distance_button = self.distance_button
       self.distance_button = cp.vl["PCM_CRUISE_4"]["DISTANCE"]
@@ -294,14 +299,20 @@ class CarState(CarStateBase):
     pt_messages = [
       ("BLINKERS_STATE", float('nan')),
     ]
+    cam_messages = []
 
     if CP.enableGasInterceptorDEPRECATED:
       pt_messages.append(("GAS_SENSOR", 50))
 
+    if CP.carFingerprint in LEGACY_PRIUS_CAR:
+      pt_messages.append(("ACC_CONTROL", float('nan')))
+      if CP.flags & ToyotaFlags.DSU_BYPASS.value:
+        cam_messages.append(("ACC_CONTROL", float('nan')))
+
     if CP.carFingerprint in DISTANCE_BUTTON_CAR:
       pt_messages.append(("PCM_CRUISE_4", 1))
 
     return {
       Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, 0),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 2),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, 2),
     }

opendbc_repo/opendbc/car/toyota/fingerprints.py

@@ -6,6 +6,7 @@ Ecu = CarParams.Ecu
 
 FINGERPRINTS = {
   CAR.TOYOTA_MATRIX_RETROFIT: [{}],
+  CAR.TOYOTA_PRIUS_RETROFIT: [{}],
 }
 
 FW_VERSIONS = {
@@ -1359,6 +1360,7 @@ FW_VERSIONS = {
       b'\x018966333T5100\x00\x00\x00\x00',
       b'\x018966333X6000\x00\x00\x00\x00',
       b'\x01896633T07000\x00\x00\x00\x00',
+      b'\x01896633T24000\x00\x00\x00\x00',
       b'\x01896633T38000\x00\x00\x00\x00',
       b'\x01896633T58000\x00\x00\x00\x00',
       b'\x01896633T63000\x00\x00\x00\x00',
@@ -1376,6 +1378,7 @@ FW_VERSIONS = {
       b'\x01F152606461\x00\x00\x00\x00\x00\x00',
       b'\x01F15260646200\x00\x00\x00\x00',
       b'\x01F152633A71\x00\x00\x00\x00\x00\x00',
+      b'\x01F152633E2100\x00\x00\x00\x00',
       b'F152633423\x00\x00\x00\x00\x00\x00',
       b'F152633680\x00\x00\x00\x00\x00\x00',
       b'F152633681\x00\x00\x00\x00\x00\x00',
@@ -1410,6 +1413,7 @@ FW_VERSIONS = {
       b'\x028646F3309100\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
       b'\x028646F3309100\x00\x00\x00\x008646G5301200\x00\x00\x00\x00',
       b'\x028646F3309400\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
+      b'\x028646F3313000\x00\x00\x00\x008646G3304000\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_ES: {
@@ -1447,21 +1451,26 @@ FW_VERSIONS = {
   CAR.LEXUS_GS_F: {
     (Ecu.engine, 0x7e0, None): [
       b'\x0233075200\x00\x00\x00\x00\x00\x00\x00\x00530B9000\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'\x02330Y8000\x00\x00\x00\x00\x00\x00\x00\x00A4701000\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x7b0, None): [
       b'F152630700\x00\x00\x00\x00\x00\x00',
+      b'F152630400\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.dsu, 0x791, None): [
       b'881513016200\x00\x00\x00\x00',
+      b'881513011300\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x7a1, None): [
       b'8965B30551\x00\x00\x00\x00\x00\x00',
+      b'8965B30431\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x750, 0xf): [
       b'8821F4702000\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x750, 0x6d): [
       b'8646F3002100\x00\x00\x00\x00',
+      b'8646F3001200\x00\x00\x00\x00',
     ],
   },
   CAR.LEXUS_NX: {

opendbc_repo/opendbc/car/toyota/interface.py

@@ -4,7 +4,7 @@ from opendbc.car.toyota.carcontroller import CarController
 from opendbc.car.toyota.radar_interface import RadarInterface
 from opendbc.car.toyota.values import Ecu, CAR, DBC, ToyotaFlags, CarControllerParams, TSS2_CAR, RADAR_ACC_CAR, SECOC_CAR, NO_DSU_CAR, \
                                                   MIN_ACC_SPEED, EPS_SCALE, NO_STOP_TIMER_CAR, ANGLE_CONTROL_CAR, \
-                                                  ToyotaSafetyFlags
+                                                  ToyotaSafetyFlags, LEGACY_PRIUS_CAR
 from opendbc.car.disable_ecu import disable_ecu
 from opendbc.car.interfaces import CarInterfaceBase
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
@@ -67,11 +67,12 @@ class CarInterface(CarInterfaceBase):
     # These messages are normally absent there on pre-TSS2 platforms.
     camera_fingerprint = fingerprint.get(2, {})
     has_dsu_bypass = 0x343 in camera_fingerprint or 0x4CB in camera_fingerprint
-    late_prius_camera = candidate == CAR.TOYOTA_PRIUS and any(
+    late_prius_camera = candidate in LEGACY_PRIUS_CAR and any(
       fw.ecu == Ecu.fwdCamera and bytes(fw.fwVersion).startswith(b'8646F4705') for fw in car_fw
     )
-    if candidate == CAR.LEXUS_IS or late_prius_camera:
-      has_dsu_bypass = ((0x343 in camera_fingerprint and 0x343 not in fingerprint.get(1, {})) or
+    if candidate in (CAR.LEXUS_IS, CAR.TOYOTA_CAMRY) or late_prius_camera:
+      native_acc_fingerprints = (fingerprint.get(0, {}), fingerprint.get(1, {}))
+      has_dsu_bypass = ((0x343 in camera_fingerprint and not any(0x343 in native_bus for native_bus in native_acc_fingerprints)) or
                         (0x4CB in camera_fingerprint and 0x4CB not in fingerprint.get(0, {})))
     if not use_sdsu and candidate not in TSS2_CAR and has_dsu_bypass:
       ret.flags |= ToyotaFlags.DSU_BYPASS.value
@@ -82,7 +83,7 @@ class CarInterface(CarInterfaceBase):
     if Ecu.hybrid in found_ecus:
       ret.flags |= ToyotaFlags.HYBRID.value
 
-    if candidate == CAR.TOYOTA_PRIUS:
+    if candidate in LEGACY_PRIUS_CAR:
       stop_and_go = True
       ret.flags |= ToyotaFlags.HYBRID.value
       # Only give steer angle deadzone to for bad angle sensor prius
@@ -174,7 +175,7 @@ class CarInterface(CarInterfaceBase):
     # to a negative value, so it won't matter.
     ret.minEnableSpeed = -1. if (stop_and_go or ret.enableGasInterceptorDEPRECATED) else MIN_ACC_SPEED
 
-    prius_long_defaults = candidate == CAR.TOYOTA_PRIUS and ret.openpilotLongitudinalControl
+    prius_long_defaults = candidate in LEGACY_PRIUS_CAR and ret.openpilotLongitudinalControl
     camry_hybrid_long_defaults = (candidate == CAR.TOYOTA_CAMRY and ret.openpilotLongitudinalControl and
                                   bool(ret.flags & ToyotaFlags.HYBRID.value))
 

opendbc_repo/opendbc/car/toyota/tests/test_toyota.py

@@ -19,7 +19,7 @@ from opendbc.car.toyota.interface import CarInterface
 from opendbc.car.toyota.radar_interface import RadarInterface, TSSP_RADAR_EGO_SPEED_SCALE
 from opendbc.car.toyota.values import CAR, DBC, TSS2_CAR, ANGLE_CONTROL_CAR, RADAR_ACC_CAR, SECOC_CAR, \
                                                   FW_QUERY_CONFIG, PLATFORM_CODE_ECUS, FUZZY_EXCLUDED_PLATFORMS, \
-                                                  ToyotaFlags, ToyotaSafetyFlags, get_platform_codes
+                                                  ToyotaFlags, ToyotaSafetyFlags, ToyotaStarPilotFlags, get_platform_codes
 from opendbc.safety import ALTERNATIVE_EXPERIENCE
 from openpilot.common.params import Params
 
@@ -40,6 +40,32 @@ class TestToyotaInterfaces:
     # At this time, only RAV4 2023 is expected to use LTA/angle control
     assert ANGLE_CONTROL_CAR == {CAR.TOYOTA_RAV4_TSS2_2023}
 
+  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_RAV4_TSS2, CAR.TOYOTA_RAV4_TSS2_2023])
+  def test_rav4_can_filter_is_optional(self, candidate):
+    def get_params(has_can_filter):
+      fingerprint = {bus: {} for bus in range(8)}
+      if has_can_filter:
+        fingerprint[0][0x2AA] = 8
+
+      car_params = CarInterface.get_params(
+        candidate,
+        fingerprint,
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+      )
+      return CarInterface.get_starpilot_params(candidate, fingerprint, [], car_params, SimpleNamespace())
+
+    without_filter = get_params(False)
+    with_filter = get_params(True)
+
+    assert not without_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
+    assert not without_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
+    assert with_filter.flags & ToyotaStarPilotFlags.RADAR_CAN_FILTER.value
+    assert with_filter.flags & ToyotaStarPilotFlags.SMART_DSU.value
+
   def test_rav4_prime_force_torque_controller(self):
     fingerprint = {bus: {} for bus in range(8)}
 
@@ -75,6 +101,22 @@ class TestToyotaInterfaces:
     assert default_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
     assert forced_params.lateralTuning.torque.steeringAngleDeadzoneDeg == pytest.approx(0.3)
 
+  def test_prius_tss2_eps_retrofit_uses_legacy_body_and_eps_scale(self):
+    params = CarInterface.get_params(
+      CAR.TOYOTA_PRIUS_RETROFIT,
+      {bus: {} for bus in range(8)},
+      [],
+      False,
+      False,
+      False,
+      SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+
+    assert params.lateralTuning.which() == "torque"
+    assert params.safetyConfigs[0].safetyParam & 0xFF == 73
+    assert params.flags & ToyotaFlags.TSS2.value == 0
+    assert params.steerRatio == pytest.approx(15.74)
+
   def test_sienna_4th_gen_uses_torque_controller(self):
     params = CarInterface.get_params(
       CAR.TOYOTA_SIENNA_4TH_GEN,
@@ -284,6 +326,36 @@ class TestToyotaInterfaces:
     assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
     assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.ALT_CRUISE.value
 
+  def test_camry_ignores_startup_acc_bus_mirror(self):
+    fingerprint = {bus: {} for bus in range(8)}
+    fingerprint[0][0x343] = 8
+    fingerprint[2][0x343] = 8
+
+    car_params = CarInterface.get_params(
+      CAR.TOYOTA_CAMRY,
+      fingerprint,
+      [CarParams.CarFw(ecu=Ecu.hybrid, address=0x7D2, fwVersion=b"test")],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(),
+    )
+
+    assert car_params.flags & ToyotaFlags.HYBRID.value
+    assert not car_params.flags & ToyotaFlags.DSU_BYPASS.value
+    assert not car_params.openpilotLongitudinalControl
+    assert car_params.safetyConfigs[0].safetyParam & ToyotaSafetyFlags.STOCK_LONGITUDINAL.value
+
+    starpilot_params = CarInterface.get_starpilot_params(
+      CAR.TOYOTA_CAMRY, fingerprint, [], car_params, SimpleNamespace(),
+    )
+    car_state = CarState(car_params, starpilot_params)
+    can_parsers = car_state.get_can_parsers(car_params)
+    car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert "PRE_COLLISION" in can_parsers[Bus.pt].vl
+    for message in ("ACC_CONTROL", "PRE_COLLISION"):
+      assert message not in can_parsers[Bus.cam].vl
+
   @pytest.mark.parametrize(("native_bus", "message"), [(1, 0x343), (0, 0x4CB)])
   def test_prius_dsu_bypass_allows_native_bus_message(self, native_bus, message):
     fingerprint = {bus: {} for bus in range(8)}
@@ -439,6 +511,15 @@ class TestToyotaInterfaces:
 
     assert not should_bypass_toyota_long_pid(car_params)
 
+  def test_highlander_sdsu_bypasses_toyota_longitudinal_pid(self):
+    car_params = SimpleNamespace(
+      carFingerprint=CAR.TOYOTA_HIGHLANDER,
+      enableGasInterceptorDEPRECATED=False,
+    )
+
+    assert should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=True))
+    assert not should_bypass_toyota_long_pid(car_params, SimpleNamespace(has_sdsu=False))
+
   def test_camry_continental_radar_converts_absolute_target_speed(self):
     radar_interface = RadarInterface.__new__(RadarInterface)
     radar_interface.CP = SimpleNamespace(wheelSpeedFactor=1.0)
@@ -790,6 +871,22 @@ class TestToyotaCarController:
     parser.update([(1, [reverse_msg])])
     assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 2
 
+  def test_acc_control_accepts_toggle_namespace_without_reverse_cruise_option(self):
+    # Older or partially refreshed toggle broadcasts do not include this optional field.
+    toggles = SimpleNamespace()
+    assert getattr(toggles, "reverse_cruise_increase", False) is False
+
+    packer = CANPacker(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt])
+    msg = toyotacan.create_accel_command(
+      packer, 0.0, False, True, False, False, 1, False, 0,
+      getattr(toggles, "reverse_cruise_increase", False),
+    )
+    parser = CANParser(DBC[CAR.TOYOTA_HIGHLANDER_TSS2][Bus.pt], [("ACC_CONTROL", 0)], 0)
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["ACC_CONTROL"]["ALLOW_LONG_PRESS"] == 1
+
   def test_auto_brake_hold_sends_modified_pre_collision_after_timer(self):
     controller = self._make_controller()
     controller.packer = CANPacker(DBC[CAR.TOYOTA_CAMRY_TSS2][Bus.pt])
@@ -941,6 +1038,36 @@ class TestToyotaCarController:
 
 
 class TestToyotaCarState:
+  @pytest.mark.parametrize("candidate", [CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT])
+  def test_legacy_prius_distance_button_generates_events(self, candidate):
+    params = CarInterface.get_params(
+      candidate,
+      {bus: {} for bus in range(8)},
+      [],
+      alpha_long=False,
+      is_release=False,
+      docs=False,
+      starpilot_toggles=SimpleNamespace(force_torque_controller=False, nnff=False, nnff_lite=False),
+    )
+    starpilot_params = CarInterface.get_starpilot_params(candidate, {bus: {} for bus in range(8)}, [], params, SimpleNamespace())
+    car_state = CarState(params, starpilot_params)
+    can_parsers = car_state.get_can_parsers(params)
+
+    assert "ACC_CONTROL" in can_parsers[Bus.pt].vl
+    assert ("ACC_CONTROL" in can_parsers[Bus.cam].vl) == bool(params.flags & ToyotaFlags.DSU_BYPASS.value)
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 1
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, True),
+    ]
+
+    can_parsers[Bus.pt].vl["ACC_CONTROL"]["DISTANCE"] = 0
+    ret, _ = car_state.update(can_parsers, SimpleNamespace(cluster_offset=1.0))
+    assert [(event.type, event.pressed) for event in ret.buttonEvents] == [
+      (structs.CarState.ButtonEvent.Type.gapAdjustCruise, False),
+    ]
+
   def test_lkas_button_platforms(self):
     assert CAR.TOYOTA_PRIUS in LKAS_BUTTON_CAR
     assert TSS2_CAR <= LKAS_BUTTON_CAR

opendbc_repo/opendbc/car/toyota/values.py

@@ -250,6 +250,11 @@ class CAR(Platforms):
     CarSpecs(mass=3045. * CV.LB_TO_KG, wheelbase=2.7, steerRatio=15.74, tireStiffnessFactor=0.6371),
     dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
   )
+  TOYOTA_PRIUS_RETROFIT = PlatformConfig(
+    [ToyotaCommunityCarDocs("Toyota Prius 2016-20 with TSS2 EPS retrofit", package="Custom retrofit")],
+    TOYOTA_PRIUS.specs,
+    dbc_dict('toyota_nodsu_pt_generated', 'toyota_adas'),
+  )
   TOYOTA_PRIUS_V = PlatformConfig(
     [ToyotaCarDocs("Toyota Prius v 2017", "Toyota Safety Sense P", min_enable_speed=MIN_ACC_SPEED)],
     CarSpecs(mass=3340. * CV.LB_TO_KG, wheelbase=2.78, steerRatio=17.4, tireStiffnessFactor=0.5533),
@@ -599,9 +604,11 @@ STEER_THRESHOLD = 100
 
 # These cars have non-standard EPS torque scale factors. All others are 73
 EPS_SCALE = defaultdict(lambda: 73,
-                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
+                        {CAR.TOYOTA_PRIUS: 66, CAR.TOYOTA_PRIUS_RETROFIT: 73, CAR.TOYOTA_COROLLA: 88, CAR.TOYOTA_MATRIX_RETROFIT: 88,
                          CAR.LEXUS_IS: 77, CAR.LEXUS_RC: 77, CAR.LEXUS_CTH: 100, CAR.TOYOTA_PRIUS_V: 100})
 
+LEGACY_PRIUS_CAR = frozenset((CAR.TOYOTA_PRIUS, CAR.TOYOTA_PRIUS_RETROFIT))
+
 # Toyota/Lexus Safety Sense 2.0 and 2.5
 TSS2_CAR = CAR.with_flags(ToyotaFlags.TSS2)
 

opendbc_repo/opendbc/car/values.py

@@ -14,8 +14,9 @@ from opendbc.car.subaru.values import CAR as SUBARU
 from opendbc.car.tesla.values import CAR as TESLA
 from opendbc.car.toyota.values import CAR as TOYOTA
 from opendbc.car.volkswagen.values import CAR as VOLKSWAGEN
+from opendbc.car.volvo.values import CAR as VOLVO
 
-Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN
+Platform = BODY | CHRYSLER | FORD | GM | HONDA | HYUNDAI | MAZDA | MOCK | NISSAN | PSA | RIVIAN | SUBARU | TESLA | TOYOTA | VOLKSWAGEN | VOLVO
 BRANDS = get_args(Platform)
 
 PLATFORMS: dict[str, Platform] = {str(platform): platform for brand in BRANDS for platform in brand}

opendbc_repo/opendbc/car/volkswagen/interface.py

@@ -62,7 +62,7 @@ class CarInterface(CarInterfaceBase):
       ret.lateralTuning.pid.kiV = [0., 0.12]
       ret.lateralTuning.pid.kf = 1.
 
-      if any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
+      if docs or any(msg in fingerprint[1] for msg in (0x520, 0x86, 0xFD, 0x13D)):
         ret.networkLocation = NetworkLocation.gateway
         ret.radarUnavailable = Bus.radar not in DBC[candidate]
       else:

opendbc_repo/opendbc/car/volkswagen/tests/test_volkswagen.py

@@ -45,6 +45,14 @@ class TestVolkswagenPlatformConfigs:
     assert not cp.openpilotLongitudinalControl
     assert not (cp.safetyConfigs[-1].safetyParam & VolkswagenSafetyFlags.LONG_CONTROL)
 
+  def test_meb_docs_assume_required_gateway_harness(self):
+    fingerprint = {bus: {} for bus in range(8)}
+    cp = CarInterface.get_params(CAR.VOLKSWAGEN_ID4_MK1, fingerprint, [], True, False, True, None)
+
+    assert cp.networkLocation == CarParams.NetworkLocation.gateway
+    assert not cp.dashcamOnly
+    assert cp.alphaLongitudinalAvailable
+
   def test_meb_gateway_longitudinal(self):
     cp = self._get_meb_params(CAR.VOLKSWAGEN_ID4_MK1, gateway=True, alpha_long=True)
     assert cp.alphaLongitudinalAvailable

opendbc_repo/opendbc/car/volvo/__init__.py

@@ -0,0 +1 @@
+# Volvo CMA platform support for openpilot

opendbc_repo/opendbc/car/volvo/carcontroller.py

@@ -0,0 +1,287 @@
+import numpy as np
+
+from opendbc.can.packer import CANPacker
+from opendbc.car import Bus
+from opendbc.car.interfaces import CarControllerBase
+from opendbc.car.lateral import apply_std_steer_angle_limits
+from opendbc.car.volvo.helpers import LCA3CounterSync
+from opendbc.car.volvo.volvocan import (create_lca_message, create_pscm_message, create_lca_3_message, create_lca_2_message, create_lca_4_message,
+                                        create_lca_5_message, create_lca_6_message, create_lca_7_message, create_pscm_related_message)
+from opendbc.car.volvo.values import CarControllerParams
+
+
+class CarController(CarControllerBase):
+  def __init__(self, dbc_names, CP):
+    super().__init__(dbc_names, CP)
+    self.packer = CANPacker(dbc_names[Bus.party])
+    self.apply_angle_last = 0.0  # Track last applied steering angle
+
+    self.gear_acc = 60
+    self.lca_4_acc = 0  # Bresenham accumulator for 29 Hz
+
+    # Counter management for LCA_2
+    self.lca_2_counter_1 = None  # Will grab initial value from CarState
+    self.lca_2_counter_2 = None
+
+    # Counter management for PSCM_RELATED
+    self.pscm_related_counter = None  # Will grab initial value from CarState
+
+    # Counter management for LCA_3 (pattern-based)
+    self.lca_3_counter_sync = LCA3CounterSync()
+
+    # Counter management for LCA_5 (formerly SPEED_1)
+    self.lca_5_counter = None  # Will grab initial value from CarState
+
+    self.last_lat_active = False  # Track state
+
+    self.lca_7_acc = 0  # Bresenham accumulator for 29 Hz
+    self.lca_7_last_steer = 0 # used to calculate change in steer from last update
+
+    # LCA torque-authority envelope state. Both arms are persistent across frames.
+    # See CarControllerParams.LCA_AUTH_* and route_analysis/lca_override_mechanism.md.
+    # When lat_active goes True they ramp up from 0 to ±MAX at REBUILD_RATE; on
+    # driver override they collapse at COLLAPSE_RATE (symmetric until SPLIT, then
+    # asymmetric: yielding arm → 0, counter arm holds at ±PLATEAU).
+    self.lca_auth_pos = 0.0
+    self.lca_auth_neg = 0.0
+    # "Light contact" rising-edge detector for haptic-ack on resting hands.
+    # Per-frame |drv| derivative; LIGHT_HOLD_FRAMES counter ticks down while
+    # the brief-yield window is active and does not re-arm during that window.
+    self.lca_auth_drv_prev = 0.0
+    self.lca_auth_light_frames = 0
+    # Frames since real_override was last active — used to gate light_collapse
+    # re-arming during active co-steering (must be > LIGHT_COOLDOWN_FRAMES).
+    self.lca_auth_real_off_frames = 1000  # large initial → light can fire immediately
+    # Override-mode latch with hysteresis (enter at ENTER, exit at EXIT).
+    # Prevents threshold flapping when driver torque hovers near the boundary,
+    # which caused ~10 Hz EPS-torque ripple felt during lane-change overrides.
+    self.lca_auth_override_active = False
+    # LP-filtered |drv| for yield-arm magnitude calculation. Suppresses 1-2
+    # unit driver-torque jitter that would otherwise propagate (~10x amplified
+    # via YIELD_SLOPE) into envelope ripple felt at the wheel.
+    self.lca_auth_drv_mag_filt = 0.0
+
+  def update(self, CC, CS, now_nanos, starpilot_toggles):
+    can_sends = []
+    actuators = CC.actuators
+
+    # Detect disengagement
+    if not CC.latActive and self.last_lat_active:
+      #self.lca_commands.reset()  # Clear state ← IMPORTANT!
+      pass
+
+    lat_active = CC.latActive
+
+    # lateral control - angle-based steering
+    # NOTE: LCA message is sent every frame (even when inactive) to replace stock LCA
+    # Stock LCA is permanently blocked by panda safety, so we must always send
+    if self.frame % CarControllerParams.STEER_STEP == 0:  # 100 Hz
+      # Get desired steering angle from controlsd (LatControlAngle)
+      apply_angle = actuators.steeringAngleDeg  # degrees
+
+      # Clamp commanded angle to actual ± ANGLE_ERROR. Without this, a driver override
+      # lets the model's plan drift far from the wheel's actual position; on release,
+      # the EPS slams back toward that stale command and overshoots. Stock Volvo Pilot
+      # Assist keeps this gap inside ~2° even under sustained override.
+      apply_angle = float(np.clip(
+        apply_angle,
+        CS.out.steeringAngleDeg - CarControllerParams.ANGLE_ERROR,
+        CS.out.steeringAngleDeg + CarControllerParams.ANGLE_ERROR,
+      ))
+
+      # Rate limit + inactive passthrough (apply_angle = steering angle when not lat_active)
+      apply_angle = apply_std_steer_angle_limits(apply_angle, self.apply_angle_last, CS.out.vEgoRaw,
+                                                 CS.out.steeringAngleDeg, lat_active, CarControllerParams.ANGLE_LIMITS)
+
+      # Update LCA torque-authority envelope (replicates stock Pilot Assist's
+      # easy-override and bounce-free release). Stock holds both arms at ±614
+      # in steady state; on override the arms collapse to a shifted plateau
+      # (counter arm deeper than yielding arm); rebuilds at +230 c/s.
+      P = CarControllerParams
+      DT = 0.01  # 100 Hz
+      # Override trigger uses an explicit |steeringTorque| threshold rather than
+      # CS.steeringPressed, which is a very-sensitive DM-fallback floor (raw>2)
+      # — fires from resting hands alone and is not an override-intent signal.
+      drv_mag = abs(CS.out.steeringTorque)
+      drv_rate = drv_mag - self.lca_auth_drv_prev
+      self.lca_auth_drv_prev = drv_mag
+      # LP filter on |drv| used for yield-arm magnitude — absorbs 1-2 unit
+      # driver-torque jitter that would otherwise propagate into ~10 unit
+      # envelope ripple via the YIELD_SLOPE multiplier.
+      self.lca_auth_drv_mag_filt = ((1.0 - P.LCA_AUTH_YIELD_LP_ALPHA) * self.lca_auth_drv_mag_filt
+                                    + P.LCA_AUTH_YIELD_LP_ALPHA * drv_mag)
+      # Hysteretic override latch — enter at ENTER, hold until drv drops below
+      # EXIT. Eliminates ~10 Hz envelope flapping when |drv| hovers near a
+      # single threshold during sustained co-steering.
+      if not self.lca_auth_override_active and drv_mag > P.LCA_AUTH_OVERRIDE_ENTER:
+        self.lca_auth_override_active = True
+      elif self.lca_auth_override_active and drv_mag < P.LCA_AUTH_OVERRIDE_EXIT:
+        self.lca_auth_override_active = False
+      real_override = self.lca_auth_override_active
+      # Track frames since real_override was last active. Used to gate light
+      # contact re-firing — light_collapse must NOT trigger while the driver
+      # is actively co-steering (real_override repeatedly entering/exiting).
+      if real_override:
+        self.lca_auth_real_off_frames = 0
+      else:
+        self.lca_auth_real_off_frames += 1
+      # Per-frame rising edge into the "light contact" zone arms a brief-yield
+      # window for haptic acknowledgment of hand-on-wheel. Suppressed while
+      # the window is already active OR real_override has been off less than
+      # LIGHT_COOLDOWN_FRAMES (i.e., user is actively co-steering).
+      if (drv_mag > P.LCA_AUTH_LIGHT_THRESH and
+          drv_rate > P.LCA_AUTH_LIGHT_RISE_DELTA and
+          self.lca_auth_light_frames == 0 and
+          self.lca_auth_real_off_frames > P.LCA_AUTH_LIGHT_COOLDOWN_FRAMES):
+        self.lca_auth_light_frames = P.LCA_AUTH_LIGHT_HOLD_FRAMES
+      else:
+        self.lca_auth_light_frames = max(0, self.lca_auth_light_frames - 1)
+      light_collapse = self.lca_auth_light_frames > 0
+      overriding = real_override or light_collapse
+      # Collapse rate scales with driver torque so a sharp pothole jolt drops the
+      # envelope faster than a soft sustained press. Floor at base rate so light
+      # contact still produces a perceptible (but small) dip.
+      collapse_rate = P.LCA_AUTH_COLLAPSE_RATE * max(1.0, drv_mag / float(P.LCA_AUTH_OVERRIDE_ENTER))
+      step = collapse_rate * DT
+      if not lat_active:
+        self.lca_auth_pos = 0.0
+        self.lca_auth_neg = 0.0
+        self.lca_auth_drv_prev = 0.0
+        self.lca_auth_light_frames = 0
+        self.lca_auth_override_active = False
+        self.lca_auth_drv_mag_filt = 0.0
+        self.lca_auth_real_off_frames = 1000
+      elif overriding:
+        if self.lca_auth_pos > P.LCA_AUTH_SPLIT or -self.lca_auth_neg > P.LCA_AUTH_SPLIT:
+          # Symmetric collapse phase: both arms shrink toward ±SPLIT
+          self.lca_auth_pos = max(float(P.LCA_AUTH_SPLIT), self.lca_auth_pos - step)
+          self.lca_auth_neg = min(-float(P.LCA_AUTH_SPLIT), self.lca_auth_neg + step)
+        else:
+          # Asymmetric plateau phase. CS.out.steeringTorque > 0 in openpilot
+          # convention = driver pushing right → yields right authority
+          # (LOOSELY/+ arm), retains left (INV/- arm).
+          # Yield arm scales with |drv| above OVERRIDE_THRESH — strong presses
+          # (potholes, hard corrections) cross past zero so EPS hands the wheel
+          # to the driver in their direction.
+          excess = max(0.0, self.lca_auth_drv_mag_filt - float(P.LCA_AUTH_OVERRIDE_ENTER))
+          yield_signed = float(P.LCA_AUTH_YIELD_BASE) - P.LCA_AUTH_YIELD_SLOPE * excess
+          yield_signed = max(float(P.LCA_AUTH_YIELD_MIN), min(yield_signed, float(P.LCA_AUTH_YIELD_BASE)))
+          if CS.out.steeringTorque > 0:  # driver pushing right
+            target_pos = yield_signed                              # yield arm (+ side)
+            target_neg = -float(P.LCA_AUTH_PLATEAU_COUNTER)        # counter arm
+          else:  # driver pushing left (or zero — default to symmetric collapse direction)
+            target_pos = float(P.LCA_AUTH_PLATEAU_COUNTER)         # counter arm
+            target_neg = -yield_signed                             # yield arm (− side)
+          # Drive each arm toward its plateau target at COLLAPSE_RATE
+          self.lca_auth_pos = max(target_pos, self.lca_auth_pos - step) \
+                              if self.lca_auth_pos > target_pos \
+                              else min(target_pos, self.lca_auth_pos + step)
+          self.lca_auth_neg = min(target_neg, self.lca_auth_neg + step) \
+                              if self.lca_auth_neg < target_neg \
+                              else max(target_neg, self.lca_auth_neg - step)
+      else:
+        # No override → rebuild both arms toward saturation
+        rebuild_step = P.LCA_AUTH_REBUILD_RATE * DT
+        self.lca_auth_pos = min(float(P.LCA_AUTH_MAX), self.lca_auth_pos + rebuild_step)
+        self.lca_auth_neg = max(-float(P.LCA_AUTH_MAX), self.lca_auth_neg - rebuild_step)
+
+      # LCA - 0x58 - 100 Hz (angle-based)
+      can_sends.append(create_lca_message(self.packer, lat_active, apply_angle, CS.msg_lca,
+                                          authority_pos=int(round(self.lca_auth_pos)),
+                                          authority_neg=int(round(self.lca_auth_neg))))
+      self.apply_angle_last = apply_angle
+
+      # PSCM (bus 2 -> 0) - 0x16 - 100 Hz
+      can_sends.append(create_pscm_message(self.packer, lat_active, CS.msg_pscm, self.frame))
+      # EGSM - 0x45 - 100 Hz
+      #can_sends.append(create_egsm_message(self.packer, CS.msg_egsm))
+
+      # PSCM_RELATED (bus 2 -> 0) - 0x17 - 100 Hz
+      # Initialize counter from CarState on first run
+      if self.pscm_related_counter is None:
+        self.pscm_related_counter = CS.msg_pscm_related['SIG1_BYTE_1_HI_NIBBLE']
+
+      # Increment counter by +1, wrap from 14 → 0 (modulo 15)
+      self.pscm_related_counter = (self.pscm_related_counter + 1) % 15
+
+      can_sends.append(create_pscm_related_message(self.packer, lat_active, CS.pilot_assist_engaged,
+                                                     CS.msg_pscm_related, self.pscm_related_counter))
+
+    # LCA_3 - 0x57 - avg 66.66 Hz
+    #if (self.frame * 67) % 100 < 67: # if (self.frame % 3) < 2:
+    # 0x57 at ~66.67 Hz: send on 2 out of every 3 frames
+    # Pattern: send on frame % 3 == 0 or 2, skip when frame % 3 == 1
+    if self.frame % 3 != 1:  # → 2/3 * 100 Hz = 66.67 Hz
+      # Update counter with observed value, get counter to send
+      counter, is_synced = self.lca_3_counter_sync.update(CS.msg_lca_3['COUNTER_1'])
+      can_sends.append(create_lca_3_message(self.packer, lat_active, apply_angle, CS.msg_lca_3, counter))
+      #can_sends.append(create_0x1a_message(self.packer, CS.msg_0x1a))
+
+    # SPEED messages - 0x60, 0x68 - 50 Hz
+    if self.frame % 2 == 0: # 50 Hz
+      #can_sends.append(create_speed_message(self.packer, CS.msg_speed))
+      #can_sends.append(create_speed_2_message(self.packer, CS.msg_speed_2))
+      pass
+
+    # LCA_2 - 0x69 - 50 Hz
+    # Spoof PILOT_ASSIST_ENGAGED to keep PSCM accepting LCA commands
+    if self.frame % 2 == 0: # 50 Hz
+      # Initialize counters from CarState on first run
+      if self.lca_2_counter_1 is None:
+        self.lca_2_counter_1 = CS.msg_lca_2['COUNTER_1']
+        self.lca_2_counter_2 = CS.msg_lca_2['COUNTER_2']
+
+      # Increment counters (COUNTER_1 by +2, COUNTER_2 by +4, both modulo 16)
+      self.lca_2_counter_1 = (self.lca_2_counter_1 + 2) % 16
+      self.lca_2_counter_2 = (self.lca_2_counter_2 + 4) % 16
+
+      can_sends.append(create_lca_2_message(self.packer, lat_active, CS.msg_lca_2,
+                                            self.lca_2_counter_1, self.lca_2_counter_2))
+
+    # LCA_5 (formerly SPEED_1) - 0x67 - 50 Hz
+    # Contains wheel speeds + LCA signals (LCA_TURN_BITS, LCA_5_STEER)
+    if self.frame % 2 == 0: # 50 Hz
+      # Initialize counter from CarState on first run
+      if self.lca_5_counter is None:
+        self.lca_5_counter = CS.msg_lca_5['COUNTER']
+
+      # Increment counter by +4, wrap at 15 (0xF never used)
+      self.lca_5_counter = (self.lca_5_counter + 4) % 15
+
+      can_sends.append(create_lca_5_message(self.packer, lat_active, apply_angle,
+                                            CS.msg_lca_5, self.lca_5_counter))
+
+    # LCA_4 - 0x90 - 29 Hz
+    # Spoof LCA_ENABLE bits to maintain PA ON state when openpilot is active
+    # Using Bresenham-style accumulator for precise 29 Hz
+    self.lca_4_acc += 29
+    if self.lca_4_acc >= 100:
+      self.lca_4_acc -= 100
+      can_sends.append(create_lca_4_message(self.packer, lat_active, CS.msg_lca_4, apply_angle))
+
+    # LCA_6 - 0X97 - 25 Hz
+    if self.frame % 4 == 0: # 25 Hz
+        can_sends.append(create_lca_6_message(self.packer, lat_active, CS.msg_lca_6, apply_angle))
+
+    # LCA_7 - 0x92 - 29 Hz
+    # Using Bresenham-style accumulator for precise 29 Hz
+    self.lca_7_acc += 29
+    if self.lca_7_acc >= 100:
+      self.lca_7_acc -= 100
+      delta_steer = apply_angle - self.lca_7_last_steer
+      can_sends.append(create_lca_7_message(self.packer, lat_active, CS.msg_lca_7, apply_angle, delta_steer))
+      self.lca_7_last_steer = apply_angle
+
+    # GEAR_POSITION - 0x80 - 40 Hz
+    #self.gear_acc += 40 # Bresenham-style approach
+    #if self.gear_acc >= 100:
+    #    self.gear_acc -= 100
+    if self.frame % 5 == 0 or self.frame % 5 == 2:  # 2/5 * 100 Hz = 40 Hz # openpilot forward delay causes DTC in EGSM, but fixes DTC in PSCM
+      #can_sends.append(create_gear_position_message(self.packer, CS.msg_gear_position))
+      pass
+
+    new_actuators = actuators.as_builder()
+    new_actuators.steeringAngleDeg = self.apply_angle_last
+    self.frame += 1
+    self.last_lat_active = CC.latActive
+    return new_actuators, can_sends

opendbc_repo/opendbc/car/volvo/carstate.py

@@ -0,0 +1,145 @@
+from cereal import custom
+from opendbc.car import structs, Bus
+from opendbc.can.parser import CANParser
+from opendbc.car.volvo.values import DBC, VolvoSPAPlatformConfig, CAR
+from opendbc.car.interfaces import CarStateBase
+
+GearShifter = structs.CarState.GearShifter
+TransmissionType = structs.CarParams.TransmissionType
+
+# main-bus SPEED (0x60) is raw counts in the DBC; measured against GPS ground speed.
+# Must match VOLVO_SPEED_TO_MS in opendbc/safety/modes/volvo.h.
+SPEED_TO_MS = 0.003977
+
+
+class CarState(CarStateBase):
+  def __init__(self, CP, FPCP):
+    super().__init__(CP, FPCP)
+    self.is_spa = isinstance(CAR(CP.carFingerprint).config, VolvoSPAPlatformConfig)
+    self.gas_pressed_prev = False
+    self.dispatch_lca_2_msg = False
+    self.msg_pscm = {}
+    self.msg_lca = {}
+    self.msg_lca_2 = {}
+    self.msg_lca_3 = {}
+    self.msg_gear_position = {}
+    self.pilot_assist_engaged = False
+    self.msg_lca_5 = {}  # Formerly msg_speed_1
+    self.msg_speed = {}
+    self.msg_speed_2 = {}
+    self.msg_0x1a = {}
+    self.msg_egsm = {}
+    self.msg_pscm_related = {}
+    self.msg_lca_4 = {}
+    self.msg_lca_6 = {}
+    self.msg_lca_7 = {}
+
+  def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
+    cp_main = can_parsers[Bus.main]
+    cp_pt = can_parsers[Bus.pt]
+    cp_party = can_parsers[Bus.party]
+    ret = structs.CarState()
+
+    # car speed
+    # SPEED on the main bus, not BUS1_SPEED on the PT bus: the main bus is identical
+    # across harnesses, while which car bus lands on PT (bus 1) is not, and the PT DBC
+    # in use depends on the fingerprint. Regressed against GPS ground speed over two
+    # routes on different harnesses: r=0.99989 both, residual sd 0.35-0.40 km/h.
+    ret.vEgoRaw = cp_main.vl["SPEED"]["SPEED"] * SPEED_TO_MS
+    ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    ret.standstill = ret.vEgoRaw <= 0.1 # 0.1 m/s
+
+    # gas
+    # CMA ECM_1.ACCELERATOR_PEDAL_POS is raw 0-255 (DBC factor 1, idle ~20).
+    # SPA ECM_1.ACCELERATOR_PEDAL_POS is DBC-scaled to percent (factor 0.00390625, idle ~0).
+    # Thresholds must match volvo.h (see opendbc/safety/modes/volvo.h GAS_PRESSED_THRESHOLD_*)
+    # and opendbc/safety/tests/test_volvo.py::test_gas_threshold_self_consistent.
+    if self.is_spa:
+      ret.gasPressed = cp_pt.vl["ECM_1"]["ACCELERATOR_PEDAL_POS"] > 1.0  # percent
+    else:
+      ret.gasPressed = cp_pt.vl["ECM_1"]["ACCELERATOR_PEDAL_POS"] > 20+1  # raw counts, 20 baseline + 1 tolerance
+
+    # brake
+    #ret.brakePressed = bool(cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_A"] or cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_B"])
+    # BRAKE_PEDAL_PRESSED_A goes active when user starts pressing brake pedal, but no brake light is on yet due to tolerance
+    # BRAKE_PEDAL_PRESSED_B goes active when when the brake pedal is pressed above minimum threshold, brake light is on
+    ret.brakePressed = cp_main.vl["LCA_2"]["BRAKE_PEDAL_PRESSED_B"] == 1
+    ret.parkingBrake = False # TODO: add parking brake
+
+    # stability control - becomes true when ESC intervenes (e.g., aquaplaning)
+    ret.espActive = cp_main.vl["LCA_2"]["ESC_ACTUATING"] == 1 and cp_main.vl["LCA_2"]["ESC_ELIGIBLE"] == 1
+
+    # steering wheel
+    ret.steeringAngleDeg = cp_party.vl['PSCM']['PSCM_ANGLE_SENSOR'] # openpilot expects a negative value for a right turn
+    #ret.steeringAngleDeg = cp_party.vl['SAS']['SAS_ANGLE_SENSOR']
+
+    # Driver steering torque feedback (used for driver override detection)
+    ret.steeringTorque = -cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']  # Car right turn is negative, openpilot right turn is positive
+    ret.steeringPressed = abs(cp_party.vl['DRIVER_INPUT']['STEERING_DRIVER_INPUT']) > 2
+
+    # EPS status - placeholder until actual signal is found
+    self.eps_active = True  # Assume EPS is active for now
+
+    if self.is_spa:
+      # SPA: byte 0 bit 1, inverted (0 = cruise on, 1 = cruise off)
+      cruise_raw = cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_SPA_ENABLED"] == 1
+    else:
+      # CMA: two separate boolean signals
+      cruise_raw = cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_ENABLED"] == 1 or cp_pt.vl["BUS1_CRUISE_CONTROL"]["CRUISE_CONTROL_ENABLED_IDLE_TRAFFIC"] == 1
+
+    ret.cruiseState.enabled = cruise_raw
+
+    self.gas_pressed_prev = ret.gasPressed
+    ret.cruiseState.available = True  # TODO: Determine actual availability
+    ret.cruiseState.speed = 0  # TODO: Find cruise set speed (not required for lateral control)
+    ret.cruiseState.nonAdaptive = False
+    ret.cruiseState.standstill = ret.standstill # False # Todo: Find cruise control standstill signal
+
+    # gear
+    gearPosition = cp_main.vl['GEAR_POSITION']['GEAR_POSITION'] # 0: P; 1: R; 2: N; 3: D; 4: B;
+    if gearPosition == 0:
+      ret.gearShifter = GearShifter.park
+    elif gearPosition == 1:
+      ret.gearShifter = GearShifter.reverse
+    elif gearPosition == 2:
+      ret.gearShifter = GearShifter.neutral
+    elif gearPosition == 3:
+      ret.gearShifter = GearShifter.drive
+    elif gearPosition == 4:
+      ret.gearShifter = GearShifter.drive
+
+    # blinkers TODO FlexRay
+    ret.leftBlinker = False
+    ret.rightBlinker = False
+
+    # lock info TODO FlexRay
+    ret.doorOpen = False # TODO: add door open
+    ret.seatbeltUnlatched = False # TODO: add seatbelt unlatched
+
+    # Store entire message dictionaries
+    self.msg_pscm = cp_party.vl['PSCM']
+    self.msg_lca = cp_main.vl['LCA']
+    self.msg_lca_2 = cp_main.vl['LCA_2']
+    self.msg_lca_3 = cp_main.vl['LCA_3']
+    self.msg_lca_4 = cp_main.vl['LCA_4']
+    self.msg_lca_5 = cp_main.vl['LCA_5']
+    self.msg_lca_6 = cp_main.vl['LCA_6']
+    self.msg_lca_7 = cp_main.vl['LCA_7']
+    self.msg_speed = cp_main.vl['SPEED']
+    self.msg_speed_2 = cp_main.vl['SPEED_2']
+    self.msg_gear_position = cp_main.vl['GEAR_POSITION']
+    self.msg_egsm = cp_party.vl['EGSM']
+    self.msg_pscm_related = cp_party.vl['PSCM_RELATED']
+
+    self.pilot_assist_engaged = cp_main.vl['LCA_2']['PILOT_ASSIST_ENGAGED'] == 1
+
+    fp_ret = custom.StarPilotCarState.new_message()
+    return ret, fp_ret
+
+  @staticmethod
+  def get_can_parsers(CP):
+    return {
+      Bus.main: CANParser(DBC[CP.carFingerprint][Bus.main], [], 0),
+      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], 1),
+      Bus.party: CANParser(DBC[CP.carFingerprint][Bus.party], [], 2),
+    }

opendbc_repo/opendbc/car/volvo/fingerprints.py

@@ -0,0 +1,18 @@
+# ruff: noqa: E501
+""" AUTO-FORMATTED USING opendbc/car/debug/format_fingerprints.py, EDIT STRUCTURE THERE."""
+from opendbc.car.volvo.values import CAR
+
+FINGERPRINTS = {
+  CAR.VOLVO_XC40_RECHARGE: [{
+    21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 304: 8, 336: 8, 339: 8, 341: 8, 394: 8, 395: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1302: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8
+  }],
+  CAR.VOLVO_S60_RECHARGE: [{
+    21: 8, 22: 8, 23: 8, 26: 8, 69: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 128: 8, 144: 8, 146: 8, 147: 8, 151: 8, 336: 8, 339: 8, 341: 8, 395: 8, 587: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 1072: 8, 1120: 8, 1298: 8, 1302: 8, 1319: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8, 1554: 8, 1587: 8, 1718: 8, 1792: 8, 1793: 8, 1798: 8, 1799: 8, 1810: 8, 1813: 8, 1824: 8, 1825: 8, 1840: 8, 1842: 8, 1843: 8, 1856: 8, 1858: 8, 1859: 8, 1860: 8, 1862: 8, 1863: 8, 1871: 8, 1872: 8, 1875: 8, 1879: 8, 1882: 8, 1888: 8, 1889: 8, 1892: 8, 1920: 8, 1927: 8, 1937: 8, 1943: 8, 1953: 8, 1954: 8, 1955: 8, 1968: 8, 1969: 8, 1971: 8, 1975: 8, 1988: 8, 1990: 8, 2000: 8, 2001: 8, 2002: 8, 2004: 8, 2017: 8, 2018: 8, 2020: 8
+  }],
+  CAR.POLESTAR_2: [{
+    7: 4, 21: 8, 22: 8, 23: 8, 26: 8, 35: 8, 37: 8, 53: 8, 58: 8, 67: 8, 69: 8, 70: 8, 85: 8, 87: 8, 88: 8, 96: 8, 103: 8, 104: 8, 105: 8, 112: 8, 117: 8, 128: 8, 133: 8, 138: 8, 144: 8, 146: 8, 147: 8, 151: 8, 256: 8, 277: 8, 278: 8, 284: 8, 293: 8, 309: 8, 320: 8, 325: 8, 336: 8, 339: 8, 341: 8, 348: 8, 349: 8, 352: 8, 368: 8, 370: 8, 373: 8, 375: 8, 376: 8, 389: 8, 395: 8, 400: 8, 408: 8, 411: 8, 417: 8, 420: 8, 426: 8, 429: 8, 435: 8, 440: 8, 464: 8, 556: 8, 640: 8, 656: 8, 666: 8, 773: 8, 778: 8, 789: 8, 791: 8, 800: 8, 805: 8, 807: 8, 816: 8, 821: 8, 832: 8, 837: 8, 841: 8, 848: 8, 853: 8, 854: 8, 858: 8, 860: 8, 873: 8, 882: 8, 889: 8, 890: 8, 891: 8, 892: 8, 893: 8, 896: 8, 899: 8, 901: 8, 917: 8, 919: 8, 1043: 8, 1045: 8, 1061: 8, 1072: 8, 1077: 8, 1088: 8, 1093: 8, 1120: 8, 1127: 8, 1160: 8, 1168: 8, 1171: 8, 1174: 8, 1175: 8, 1177: 8, 1296: 8, 1302: 8, 1320: 8, 1334: 8, 1336: 8, 1407: 8, 1422: 8, 1423: 8, 1424: 8, 1425: 8, 1426: 8, 1428: 8, 1429: 8, 1430: 8, 1431: 8, 1432: 8, 1554: 8, 1584: 8, 1587: 8, 2022: 8
+  }],
+}
+
+FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
+}

opendbc_repo/opendbc/car/volvo/helpers.py

@@ -0,0 +1,397 @@
+def checksum_lca_2_message(b0: int, b5: int) -> int:
+  """
+  Compute checksum for VCU1 CAN ID 0x69 from bytes b0 and b5.
+
+  b0: first data byte (MSB) of the frame (usually 0x18 in your logs)
+  b5: sixth data byte of the frame (what you called Byte5)
+
+  Returns: checksum byte (0..255) that goes into byte index 6.
+  """
+  if b0 == 0 and b5 == 128: # Hotfix openpilot test (don't know where this alleged test message comes from)
+    return 0
+
+  # Masks per checksum bit (bit 0..7) for b0 and b5
+  M0 = [0x08, 0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00]
+  M5 = [0x83, 0x86, 0xCF, 0xCD, 0x09, 0x02, 0x44, 0x89]
+
+  def parity8(x: int) -> int:
+    # 1 if x has an odd number of bits set, else 0
+    x ^= x >> 4
+    x ^= x >> 2
+    x ^= x >> 1
+    return x & 1
+
+  b0 &= 0xFF
+  b5 &= 0xFF
+
+  c = 0
+  for bit in range(8):
+    p = 0
+    if M0[bit]:
+      p ^= parity8(b0 & M0[bit])
+    if M5[bit]:
+      p ^= parity8(b5 & M5[bit])
+    c |= (p << bit)
+
+  return c & 0xFF
+
+def checksum_2_0x69_message(b0: int, b1: int, b3: int = 0, b4: int = 0) -> int:
+  """
+  Compute checksum byte (b2) for CAN ID 0x69 (LCA_2 message).
+
+  The checksum depends on bytes 0, 1, 3, and 4. During normal driving (BYTE_1_MSBS_3=0),
+  bytes 3-4 (NEW_SIGNAL_2) are always 0, so only b0 and b1 matter. During stability
+  control events (aquaplaning, etc.), BYTE_1_MSBS_3 becomes non-zero and bytes 3-4
+  contain non-zero values that affect the checksum.
+
+  Args:
+      b0: Byte 0 (usually 0x18)
+      b1: Byte 1 ([7:5] BYTE_1_MSBS_3 | [4] PILOT_ASSIST_ENGAGED | [3:0] COUNTER_1)
+      b3: Byte 3 (NEW_SIGNAL_2 high byte, default 0)
+      b4: Byte 4 (NEW_SIGNAL_2 low byte, default 0)
+
+  Returns:
+      Checksum byte (0-255) for position 2
+  """
+  b0 &= 0xFF
+  b1 &= 0xFF
+  b3 &= 0xFF
+  b4 &= 0xFF
+
+  def bit(byte, pos):
+    return (byte >> pos) & 1
+
+  c = 0
+  # Bit 0
+  c |= (bit(b0, 0) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^ bit(b1, 5) ^ bit(b4, 0) ^ bit(b4, 1)) << 0
+  # Bit 1
+  c |= (bit(b0, 1) ^ bit(b0, 3) ^ bit(b1, 0) ^ bit(b1, 3) ^ bit(b1, 5) ^ bit(b1, 6) ^
+        bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 1) ^ bit(b4, 2)) << 1
+  # Bit 2
+  c |= (bit(b0, 0) ^ bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^ bit(b1, 5) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 2) ^ bit(b4, 3)) << 2
+  # Bit 3
+  c |= (bit(b0, 0) ^ bit(b0, 1) ^ bit(b1, 0) ^ bit(b1, 4) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b3, 1) ^ bit(b4, 0) ^ bit(b4, 3) ^ bit(b4, 4)) << 3
+  # Bit 4
+  c |= (bit(b0, 0) ^ bit(b0, 1) ^ bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 4) ^
+        bit(b4, 4) ^ bit(b4, 5)) << 4
+  # Bit 5
+  c |= (bit(b0, 1) ^ bit(b1, 0) ^ bit(b1, 2) ^ bit(b1, 3) ^ bit(b1, 5) ^
+        bit(b3, 1) ^ bit(b4, 5) ^ bit(b4, 6)) << 5
+  # Bit 6
+  c |= (bit(b0, 3) ^ bit(b1, 0) ^ bit(b1, 1) ^ bit(b1, 3) ^ bit(b1, 6) ^
+        bit(b3, 0) ^ bit(b4, 6) ^ bit(b4, 7)) << 6
+  # Bit 7
+  c |= (bit(b0, 3) ^ bit(b1, 1) ^ bit(b1, 2) ^ bit(b1, 4) ^ bit(b4, 0) ^ bit(b4, 7)) << 7
+  return c & 0xFF
+
+def checksum_1_pscm_related_message(b1, b2):
+  """
+  Computes checksum #1 (goes in byte[0]) for PSCM-related 0x17 message.
+  Depends only on (byte[1], byte[2]).
+
+  b1 = SIG1 counter (high nibble) | LCA_ENABLED_ECHO (low nibble)
+  b2 = 0x80 | SIG1 counter replica (low nibble)
+
+  Linear over GF(2), same shape as checksum_lca_2_message: each output bit is
+  the parity of a fixed mask over b1 and b2. Solved from 137,965 logged PSCM
+  frames (60 distinct (b1,b2) keys, leave-one-out cross-validated 60/60).
+
+  This replaces a 45-entry lookup table that covered only LCA_ENABLED_ECHO in
+  {0, 1, 4} and returned 0 on a miss. During an ESC intervention the rack
+  reports ECHO=6, so openpilot transmitted 128 consecutive frames with an
+  invalid checksum (0x00) before this fix.
+
+  Note: bit 3 of b1 (LCA_ENABLED_ECHO >= 8) has never been observed on the bus,
+  so its contribution is unconstrained by the data and is taken to be zero.
+  """
+  # Masks per checksum bit (bit 0..7) for b1 and b2
+  M1 = [0x41, 0x82, 0x55, 0xF3, 0xA7, 0x46, 0x94, 0x20]
+  M2 = [0x00, 0x00, 0x80, 0x00, 0x80, 0x00, 0x80, 0x80]
+
+  def parity8(x: int) -> int:
+    # 1 if x has an odd number of bits set, else 0
+    x ^= x >> 4
+    x ^= x >> 2
+    x ^= x >> 1
+    return x & 1
+
+  b1 &= 0xFF
+  b2 &= 0xFF
+
+  c = 0
+  for bit in range(8):
+    p = 0
+    if M1[bit]:
+      p ^= parity8(b1 & M1[bit])
+    if M2[bit]:
+      p ^= parity8(b2 & M2[bit])
+    c |= (p << bit)
+
+  return c & 0xFF
+
+
+def checksum_2_pscm_related_message(b2):
+  """
+  Computes checksum #2 (goes in byte[3]) for PSCM-related 0x17 message.
+  Depends only on byte[2].
+  """
+
+  lut = {
+    0x80: 0xBF,
+    0x81: 0xF3,
+    0x82: 0x27,
+    0x83: 0x6B,
+    0x84: 0x92,
+    0x85: 0xDE,
+    0x86: 0x0A,
+    0x87: 0x46,
+    0x88: 0xE5,
+    0x89: 0xA9,
+    0x8A: 0x7D,
+    0x8B: 0x31,
+    0x8C: 0xC8,
+    0x8D: 0x84,
+    0x8E: 0x50,
+  }
+
+  return lut.get(b2, 0)
+
+
+def checksum_lca_4_message(*args) -> int:
+  """
+  Placeholder for LCA_4 (0x90) checksum calculation.
+
+  TODO: Implementation will be provided after checksum analysis is complete.
+  For now, returns 0 as a placeholder.
+
+  Args:
+      *args: Byte values needed for checksum calculation (TBD)
+
+  Returns:
+      Checksum byte (0-255)
+  """
+  # Placeholder - will be replaced with actual checksum algorithm
+  return 0
+
+
+class LCA3CounterSync:
+  """
+  Best-effort pattern synchronization for LCA_3 COUNTER_1.
+
+  The counter follows a 20-element pattern that cycles based on transmission count.
+  We track recent observed counter values and match them against the pattern to
+  determine the current index. While not synchronized, we pass through stock values.
+  Once synchronized, we permanently use the pattern.
+  """
+
+  PATTERN = [2, 2, 1, 2, 2, 2, 1, 2, 2, 3, 0, 2, 3, 2, 0, 2, 3, 2, 0, 3]
+  PATTERN_LEN = 20
+  WINDOW_SIZE = 5  # Track last 5 values for matching
+  MIN_CONFIDENCE = 4  # Need 4 consecutive matches to sync
+
+  def __init__(self):
+    self.pattern_index = None  # Current index in pattern (None = not synced)
+    self.observed_window = []  # Circular buffer of last N observed values
+    self.confidence = 0  # Number of consecutive successful matches
+
+  def update(self, observed_counter: int) -> tuple:
+    """
+    Update with newly observed counter value from stock message.
+
+    Args:
+        observed_counter: Counter value from CS.msg_lca_3['COUNTER_1']
+
+    Returns:
+        Tuple of (counter_to_send, is_synchronized)
+    """
+    # If already synchronized, ignore stock and use our pattern permanently
+    if self.pattern_index is not None:
+      counter_to_send = self.PATTERN[self.pattern_index]
+      self.pattern_index = (self.pattern_index + 1) % self.PATTERN_LEN
+      return counter_to_send, True
+
+    # Not synchronized yet - try to find pattern index
+    self.observed_window.append(observed_counter)
+    if len(self.observed_window) > self.WINDOW_SIZE:
+      self.observed_window.pop(0)
+
+    # Attempt to sync if we have enough samples
+    if len(self.observed_window) >= 3:
+      self._attempt_sync()
+
+    # While not synced, pass through stock counter
+    return observed_counter, False
+
+  def _attempt_sync(self):
+    """Try to find current pattern index based on observed window."""
+    # Try to match observation window against all positions in pattern
+    best_match_idx = None
+    best_match_len = 0
+
+    for start_idx in range(self.PATTERN_LEN):
+      match_len = self._count_match(start_idx)
+      if match_len > best_match_len:
+        best_match_len = match_len
+        best_match_idx = start_idx
+
+    # Require MIN_CONFIDENCE matching values to declare sync
+    if best_match_len >= self.MIN_CONFIDENCE:
+      # The match tells us where we WERE in the pattern
+      # We need to set index to NEXT position for next transmission
+      self.pattern_index = (best_match_idx + len(self.observed_window)) % self.PATTERN_LEN
+      self.confidence = best_match_len
+
+  def _count_match(self, pattern_start_idx: int) -> int:
+    """
+    Count how many values in observed_window match pattern starting at pattern_start_idx.
+
+    Returns:
+        Number of consecutive matching values from start
+    """
+    match_count = 0
+    for i, observed in enumerate(self.observed_window):
+      pattern_idx = (pattern_start_idx + i) % self.PATTERN_LEN
+      if observed == self.PATTERN[pattern_idx]:
+        match_count += 1
+      else:
+        break  # Stop at first mismatch
+    return match_count
+
+  def is_synchronized(self) -> bool:
+    """Returns True if we have synchronized to the pattern."""
+    return self.pattern_index is not None
+
+def checksum_lca_5_message(byte0: int, byte1: int, byte3: int, byte4: int, byte5: int) -> int:
+  """
+  Calculate checksum for LCA_5 message 0x67 (byte 2)
+
+  Args:
+    byte0: Byte 0 (0-255)
+    byte1: Byte 1 (0-255)
+    byte3: Byte 3 (0-255)
+    byte4: Byte 4 (0-255)
+    byte5: Byte 5 (0-255)
+
+  Returns:
+    int: Checksum value (0-255) for byte 2
+
+  Example:
+    >>> checksum = checksum_lca_5_message(0x80, 0x00, 0x4F, 0x00, 0x00)
+    >>> print(f"0x{checksum:02X}")
+    0x32
+  """
+
+  # Helper function to extract a bit (LSB = bit 0)
+  def bit(byte_val, pos):
+    return (byte_val >> pos) & 1
+
+  checksum = 0
+
+  # Bit 0: XOR of 13 bits
+  checksum |= (
+    bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 5) ^ bit(byte0, 7) ^
+    bit(byte1, 2) ^
+    bit(byte3, 4) ^ bit(byte3, 6) ^
+    bit(byte4, 0) ^ bit(byte4, 1) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 3) ^ bit(byte5, 6)
+  ) << 0
+
+  # Bit 1: XOR of 12 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 3) ^ bit(byte0, 4) ^ bit(byte0, 7) ^
+    bit(byte1, 0) ^ bit(byte1, 3) ^
+    bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 2) ^ bit(byte4, 6) ^
+    bit(byte5, 4) ^ bit(byte5, 7)
+  ) << 1
+
+  # Bit 2: XOR of 17 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 4) ^
+    bit(byte1, 0) ^ bit(byte1, 1) ^ bit(byte1, 2) ^ bit(byte1, 4) ^
+    bit(byte3, 4) ^
+    bit(byte4, 1) ^ bit(byte4, 3) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 1) ^ bit(byte5, 3) ^ bit(byte5, 5) ^ bit(byte5, 6)
+  ) << 2
+
+  # Bit 3: XOR of 19 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 4) ^ bit(byte0, 7) ^
+    bit(byte1, 1) ^ bit(byte1, 3) ^ bit(byte1, 5) ^
+    bit(byte3, 4) ^ bit(byte3, 5) ^ bit(byte3, 6) ^
+    bit(byte4, 0) ^ bit(byte4, 1) ^ bit(byte4, 2) ^ bit(byte4, 4) ^ bit(byte4, 5) ^
+    bit(byte5, 1) ^ bit(byte5, 2) ^ bit(byte5, 3) ^ bit(byte5, 4) ^ bit(byte5, 7)
+  ) << 3
+
+  # Bit 4: XOR of 16 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 7) ^
+    bit(byte1, 4) ^ bit(byte1, 6) ^
+    bit(byte3, 4) ^ bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 1) ^ bit(byte4, 2) ^ bit(byte4, 3) ^
+    bit(byte5, 2) ^ bit(byte5, 4) ^ bit(byte5, 5) ^ bit(byte5, 6)
+  ) << 4
+
+  # Bit 5: XOR of 15 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 2) ^ bit(byte0, 3) ^ bit(byte0, 4) ^
+    bit(byte1, 5) ^ bit(byte1, 7) ^
+    bit(byte3, 5) ^ bit(byte3, 6) ^
+    bit(byte4, 2) ^ bit(byte4, 3) ^ bit(byte4, 4) ^
+    bit(byte5, 3) ^ bit(byte5, 5) ^ bit(byte5, 6) ^ bit(byte5, 7)
+  ) << 5
+
+  # Bit 6: XOR of 19 bits
+  checksum |= (
+    bit(byte0, 0) ^ bit(byte0, 1) ^ bit(byte0, 3) ^ bit(byte0, 4) ^ bit(byte0, 5) ^ bit(byte0, 7) ^
+    bit(byte1, 0) ^ bit(byte1, 6) ^
+    bit(byte3, 4) ^ bit(byte3, 6) ^ bit(byte3, 7) ^
+    bit(byte4, 0) ^ bit(byte4, 3) ^ bit(byte4, 4) ^ bit(byte4, 5) ^
+    bit(byte5, 1) ^ bit(byte5, 4) ^ bit(byte5, 6) ^ bit(byte5, 7)
+  ) << 6
+
+  # Bit 7: XOR of 15 bits
+  checksum |= (
+    bit(byte0, 1) ^ bit(byte0, 2) ^ bit(byte0, 4) ^ bit(byte0, 5) ^
+    bit(byte1, 1) ^ bit(byte1, 7) ^
+    bit(byte3, 5) ^ bit(byte3, 7) ^
+    bit(byte4, 0) ^ bit(byte4, 4) ^ bit(byte4, 5) ^ bit(byte4, 6) ^
+    bit(byte5, 2) ^ bit(byte5, 5) ^ bit(byte5, 7)
+  ) << 7
+
+  return checksum
+
+
+# Test examples
+if __name__ == "__main__":
+  print("CAN 0x67 Checksum Calculator")
+  print("=" * 60)
+
+  # Test cases
+  tests = [
+    ([0x80, 0x00, 0x4F, 0x00, 0x00, 0xBA, 0x00], 0x32),
+    ([0x80, 0x00, 0x8F, 0x00, 0x00, 0xBA, 0x00], 0x89),
+    ([0x80, 0x00, 0xCF, 0x00, 0x00, 0xBA, 0x00], 0xE0),
+    ([0x80, 0x00, 0x1F, 0x00, 0x00, 0xBA, 0x00], 0x06),
+  ]
+
+  all_passed = True
+  for i, (bytes_list, expected) in enumerate(tests, 1):
+    calculated = checksum_lca_5_message(*bytes_list[:5])
+    status = "✓" if calculated == expected else "✗"
+
+    print(f"\nTest {i}: {status}")
+    print(f"  Bytes:      {' '.join(f'{b:02X}' for b in bytes_list)}")
+    print(f"  Expected:   0x{expected:02X}")
+    print(f"  Calculated: 0x{calculated:02X}")
+
+    if calculated != expected:
+      all_passed = False
+
+  print("\n" + "=" * 60)
+  if all_passed:
+    print("All tests passed! ✓")
+  else:
+    print("Some tests failed! ✗")

opendbc_repo/opendbc/car/volvo/interface.py

@@ -0,0 +1,42 @@
+from opendbc.car import structs, get_safety_config
+from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.volvo.carcontroller import CarController
+from opendbc.car.volvo.carstate import CarState
+from opendbc.car.volvo.values import VolvoSPAPlatformConfig, CAR
+
+TransmissionType = structs.CarParams.TransmissionType
+
+VOLVO_FLAG_SPA = 1
+SAFETY_VOLVO = structs.CarParams.SafetyModel.volvo
+
+
+class CarInterface(CarInterfaceBase):
+  CarState = CarState
+  CarController = CarController
+
+  @staticmethod
+  def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
+    ret.brand = 'volvo'
+
+    safety_param = 0
+    if isinstance(CAR(candidate).config, VolvoSPAPlatformConfig):
+      safety_param = VOLVO_FLAG_SPA
+    ret.safetyConfigs = [get_safety_config(SAFETY_VOLVO, safety_param)]
+    #ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.noOutput)]
+
+    ret.dashcamOnly = False
+
+    ret.steerActuatorDelay = 0.3
+    ret.steerLimitTimer = 0.1
+    ret.steerAtStandstill = True
+
+    # Use angle-based steering control for Volvo CMA platform
+    ret.steerControlType = structs.CarParams.SteerControlType.angle
+    # Note: No lateral tuning configuration needed for basic angle control
+    ret.radarUnavailable = True
+
+    ret.alphaLongitudinalAvailable = False
+
+    ret.pcmCruise = True
+
+    return ret

opendbc_repo/opendbc/car/volvo/tests/__init__.py

@@ -0,0 +1 @@
+

opendbc_repo/opendbc/car/volvo/tests/test_checksums.py

@@ -0,0 +1,59 @@
+import unittest
+
+from opendbc.car.volvo.helpers import (
+  checksum_1_pscm_related_message,
+  checksum_2_pscm_related_message,
+)
+
+# (b1, b2) -> byte[0], observed on the bus.
+# b1 = SIG1 counter (high nibble) | LCA_ENABLED_ECHO (low nibble), b2 = 0x80 | counter.
+# ECHO 0/1/4 are normal driving; ECHO 6 only appears while ESC is intervening and was
+# the case that used to fall through to a 0x00 checksum.
+PSCM_RELATED_CHECKSUM_1 = {
+  (0x00, 0x80): 0xD4, (0x01, 0x80): 0xC9, (0x04, 0x80): 0xA0, (0x06, 0x80): 0x9A,
+  (0x10, 0x81): 0x98, (0x11, 0x81): 0x85, (0x14, 0x81): 0xEC, (0x16, 0x81): 0xD6,
+  (0x20, 0x82): 0x4C, (0x21, 0x82): 0x51, (0x24, 0x82): 0x38, (0x26, 0x82): 0x02,
+  (0x30, 0x83): 0x00, (0x31, 0x83): 0x1D, (0x34, 0x83): 0x74, (0x36, 0x83): 0x4E,
+  (0x40, 0x84): 0xF9, (0x41, 0x84): 0xE4, (0x44, 0x84): 0x8D, (0x46, 0x84): 0xB7,
+  (0x50, 0x85): 0xB5, (0x51, 0x85): 0xA8, (0x54, 0x85): 0xC1, (0x56, 0x85): 0xFB,
+  (0x60, 0x86): 0x61, (0x61, 0x86): 0x7C, (0x64, 0x86): 0x15, (0x66, 0x86): 0x2F,
+  (0x70, 0x87): 0x2D, (0x71, 0x87): 0x30, (0x74, 0x87): 0x59, (0x76, 0x87): 0x63,
+  (0x80, 0x88): 0x8E, (0x81, 0x88): 0x93, (0x84, 0x88): 0xFA, (0x86, 0x88): 0xC0,
+  (0x90, 0x89): 0xC2, (0x91, 0x89): 0xDF, (0x94, 0x89): 0xB6, (0x96, 0x89): 0x8C,
+  (0xA0, 0x8A): 0x16, (0xA1, 0x8A): 0x0B, (0xA4, 0x8A): 0x62, (0xA6, 0x8A): 0x58,
+  (0xB0, 0x8B): 0x5A, (0xB1, 0x8B): 0x47, (0xB4, 0x8B): 0x2E, (0xB6, 0x8B): 0x14,
+  (0xC0, 0x8C): 0xA3, (0xC1, 0x8C): 0xBE, (0xC4, 0x8C): 0xD7, (0xC6, 0x8C): 0xED,
+  (0xD0, 0x8D): 0xEF, (0xD1, 0x8D): 0xF2, (0xD4, 0x8D): 0x9B, (0xD6, 0x8D): 0xA1,
+  (0xE0, 0x8E): 0x3B, (0xE1, 0x8E): 0x26, (0xE4, 0x8E): 0x4F, (0xE6, 0x8E): 0x75,
+}
+
+# b2 -> byte[3], same source
+PSCM_RELATED_CHECKSUM_2 = {
+  0x80: 0xBF, 0x81: 0xF3, 0x82: 0x27, 0x83: 0x6B, 0x84: 0x92,
+  0x85: 0xDE, 0x86: 0x0A, 0x87: 0x46, 0x88: 0xE5, 0x89: 0xA9,
+  0x8A: 0x7D, 0x8B: 0x31, 0x8C: 0xC8, 0x8D: 0x84, 0x8E: 0x50,
+}
+
+
+class TestPscmRelatedChecksums(unittest.TestCase):
+  def test_checksum_1_matches_the_car(self):
+    for (b1, b2), expected in PSCM_RELATED_CHECKSUM_1.items():
+      with self.subTest(b1=hex(b1), b2=hex(b2)):
+        assert checksum_1_pscm_related_message(b1, b2) == expected
+
+  def test_checksum_1_covers_esc_echo(self):
+    # regression: ECHO=6 used to miss the lookup table and return 0x00, which the
+    # receiving ECU logged as a checksum fault for as long as ESC was active
+    for counter in range(15):
+      b1, b2 = (counter << 4) | 6, 0x80 | counter
+      with self.subTest(counter=counter):
+        assert checksum_1_pscm_related_message(b1, b2) == PSCM_RELATED_CHECKSUM_1[(b1, b2)]
+
+  def test_checksum_2_matches_the_car(self):
+    for b2, expected in PSCM_RELATED_CHECKSUM_2.items():
+      with self.subTest(b2=hex(b2)):
+        assert checksum_2_pscm_related_message(b2) == expected
+
+
+if __name__ == "__main__":
+  unittest.main()

opendbc_repo/opendbc/car/volvo/tests/test_controller.py

@@ -0,0 +1,69 @@
+from collections import defaultdict
+from types import SimpleNamespace
+
+from opendbc.car.volvo.carcontroller import CarController
+from opendbc.car.volvo.helpers import checksum_lca_5_message
+from opendbc.car.volvo.interface import CarInterface
+from opendbc.car.volvo.values import DBC
+
+
+def _zero_message():
+  return defaultdict(int)
+
+
+def _state():
+  return SimpleNamespace(
+    out=SimpleNamespace(steeringAngleDeg=0.0, vEgoRaw=12.0, steeringTorque=0.0),
+    msg_lca=_zero_message(),
+    msg_pscm=_zero_message(),
+    msg_pscm_related=_zero_message(),
+    msg_lca_3=_zero_message(),
+    msg_lca_2=_zero_message(),
+    msg_lca_5=_zero_message(),
+    msg_lca_4=_zero_message(),
+    msg_lca_6=_zero_message(),
+    msg_lca_7=_zero_message(),
+    pilot_assist_engaged=False,
+  )
+
+
+class _Actuators:
+  steeringAngleDeg = 30.0
+
+  def as_builder(self):
+    return SimpleNamespace(steeringAngleDeg=self.steeringAngleDeg)
+
+
+def test_controller_emits_valid_eight_byte_messages_and_lca5_checksum():
+  cp = CarInterface.get_non_essential_params("POLESTAR_2")
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _state()
+  cc = SimpleNamespace(latActive=True, actuators=_Actuators())
+
+  actuators, can_sends = controller.update(cc, cs, 0, None)
+
+  assert can_sends
+  assert {msg[2] for msg in can_sends} == {0, 2}
+  assert all(len(msg[1]) == 8 for msg in can_sends)
+  assert 0.0 < actuators.steeringAngleDeg < 540.0
+
+  lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+  data = lca5[1]
+  assert data[2] == checksum_lca_5_message(data[0], data[1], data[3], data[4], data[5])
+
+
+def test_controller_relays_stock_lca5_angle_when_inactive():
+  cp = CarInterface.get_non_essential_params("VOLVO_XC40_RECHARGE")
+  controller = CarController(DBC[cp.carFingerprint], cp)
+  cs = _state()
+  cs.msg_lca_5["LCA_5_STEER"] = 12.0
+  cc = SimpleNamespace(latActive=False, actuators=_Actuators())
+
+  _, can_sends = controller.update(cc, cs, 0, None)
+  lca5 = next(msg for msg in can_sends if msg[0] == 0x67)
+
+  # The inactive path must not manufacture a new angle command.
+  raw = ((lca5[1][6] & 0x7F) << 8) | lca5[1][7]
+  if raw & (1 << 14):
+    raw -= 1 << 15
+  assert abs(raw * 0.05596 - 12.0) < 0.1

opendbc_repo/opendbc/car/volvo/values.py

@@ -0,0 +1,154 @@
+from dataclasses import dataclass, field
+
+from opendbc.car.structs import CarParams
+from opendbc.car import Bus, CarSpecs, DbcDict, PlatformConfig, Platforms
+from opendbc.car.lateral import AngleSteeringLimits
+from opendbc.car.docs_definitions import CarDocs, CarHarness, CarParts
+from opendbc.car.fw_query_definitions import FwQueryConfig
+
+Ecu = CarParams.Ecu
+
+
+class CarControllerParams:
+  STEER_STEP = 1  # 100 Hz LCA command frequency (controlsd runs at 100 Hz)
+
+  # Max commanded-vs-actual steering angle error (deg). Stock Volvo Pilot Assist holds
+  # commanded within ~1.7° of actual even under sustained driver override; bounding the
+  # command to actual ± this error prevents the stale-command snap-back that causes
+  # aggressive post-release overcorrection.
+  ANGLE_ERROR = 3.0
+
+  # LCA torque-authority envelope, modeled after stock Pilot Assist behavior.
+  # LCA_STEER_LOOSELY (positive arm) and LCA_STEER_LOOSELY_INV (negative arm)
+  # form a directional envelope that PSCM applies to its EPS torque. Stock PA:
+  #  - holds both arms at saturation (±LCA_AUTH_MAX) when no driver torque
+  #  - on driver override, collapses both arms symmetrically at COLLAPSE_RATE
+  #    until envelope reaches ~±LCA_AUTH_SPLIT, then splits asymmetrically:
+  #    the arm matching driver direction (yielding) settles at ±PLATEAU_YIELD,
+  #    the counter arm holds at ±PLATEAU_COUNTER (yield is shallower than counter)
+  #  - rebuilds at REBUILD_RATE after release (~3 s back to saturation)
+  # See route_analysis/lca_override_mechanism.md for the data behind these.
+  LCA_AUTH_MAX = 614              # signal saturation
+  LCA_AUTH_PLATEAU_COUNTER = 130  # counter-arm magnitude during sustained override
+  # Override trigger thresholds on |CS.out.steeringTorque| (op-convention raw
+  # units, mirror of DRIVER_INPUT). Must be ABOVE the resting-hand noise floor
+  # (CS.steeringPressed uses |raw|>2 as a sensitive DM-fallback floor and does
+  # NOT indicate override intent — don't use it for envelope triggering).
+  # Hysteresis: enter override at ENTER, exit at EXIT (< ENTER) to prevent the
+  # envelope flapping between collapse and rebuild when driver torque hovers
+  # near a single threshold (was causing ~10 Hz EPS-torque ripple in lane
+  # changes when driver applied 6-8 raw to "ride along" with op).
+  LCA_AUTH_OVERRIDE_ENTER = 5
+  LCA_AUTH_OVERRIDE_EXIT = 3
+  # "Light contact" / haptic-acknowledgment region. When |drv| crosses into
+  # [LIGHT_THRESH, OVERRIDE_THRESH] from below, briefly collapse the envelope
+  # for LIGHT_HOLD_FRAMES (a haptic confirmation of hand-on-wheel detection),
+  # then rebuild even while the contact persists. Prevents the driver from
+  # needing to sustain force just to feel that the system noticed them — helps
+  # with hand-fatigue / RSI.
+  # Rising edge detected via per-frame derivative; the brief-yield window does
+  # NOT re-arm while still active, so a steady elevated torque only triggers
+  # one yield and then the envelope rebuilds.
+  # Cooldown: light_collapse only fires when real_override has been off for
+  # LIGHT_COOLDOWN_FRAMES — suppresses repeated firings during active
+  # co-steering (lane changes), where |drv| oscillates and would otherwise
+  # re-arm the haptic-ack window each time, causing felt ripple.
+  LCA_AUTH_LIGHT_THRESH = 3            # min |drv| to consider as contact
+  LCA_AUTH_LIGHT_RISE_DELTA = 1.0      # min per-frame increase in |drv| to count as rising contact
+  LCA_AUTH_LIGHT_HOLD_FRAMES = 15      # ~150 ms of yield on fresh light contact
+  LCA_AUTH_LIGHT_COOLDOWN_FRAMES = 30  # ~300 ms quiet-time on real_override before light contact re-arms
+  # Yield-arm plateau scales with driver-torque magnitude so brief strong presses
+  # (potholes, lane corrections) get full yield while light sustained pressure
+  # only gets a soft yield. yield_signed = YIELD_BASE − YIELD_SLOPE *
+  # max(0, drv_mag_filt − OVERRIDE_ENTER), clamped to [YIELD_MIN, YIELD_BASE].
+  # At |drv|=7 (just over threshold): yield = +60 (light resistance).
+  # At |drv|=14: yield ≈ -4 (crosses past zero — EPS hands wheel to driver).
+  # drv_mag_filt is a low-pass of |drv| (alpha=0.04, ~250 ms time constant) —
+  # without it, 1-2 unit driver-torque jitter became ~10 unit yield-arm jitter
+  # which PSCM converted to felt ripple at sustained co-steering pressure.
+  LCA_AUTH_YIELD_BASE = 60        # yield-arm magnitude at the override threshold
+  LCA_AUTH_YIELD_SLOPE = 8        # counts of yield reduction per unit |drv torque| above threshold
+  LCA_AUTH_YIELD_MIN = -30        # cap how far past zero the yield arm can go (full hand-over)
+  LCA_AUTH_YIELD_LP_ALPHA = 0.04  # LP-filter coefficient on |drv| for yield calc (~250 ms tau)
+  LCA_AUTH_SPLIT = 200            # symmetric → asymmetric handover
+  LCA_AUTH_REBUILD_RATE = 230     # counts/s (≈ 2.7 s rebuild from 0 to 614)
+  LCA_AUTH_COLLAPSE_RATE = 2500   # counts/s base (scales with |drv|/THRESH for sharper pothole jolts)
+
+  # Angle limits for rate limiting
+  ANGLE_LIMITS: AngleSteeringLimits = AngleSteeringLimits(
+    540, # deg - 1.5 turns to lock
+    ([0., 5., 25.], [2.5, 1.5, .2]),  # rate up limits at different speeds
+    ([0., 5., 25.], [5., 2., .3]),    # rate down limits at different speeds
+  )
+
+
+@dataclass
+class VolvoCarDocs(CarDocs):
+  package: str = "Pilot Assist & Adaptive Cruise Control"
+  car_parts: CarParts = field(default_factory=CarParts.common([CarHarness.custom]))
+
+
+@dataclass
+class VolvoCMAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.main: 'volvo_mid_1',
+    Bus.party: 'volvo_mid_1',
+    Bus.pt: 'volvo_front_1_cma',
+  })
+
+@dataclass
+class VolvoSPAPlatformConfig(PlatformConfig):
+  dbc_dict: DbcDict = field(default_factory=lambda: {
+    Bus.main: 'volvo_mid_1',
+    Bus.party: 'volvo_mid_1',
+    Bus.pt: 'volvo_front_1_spa',
+  })
+
+
+class CAR(Platforms):
+  VOLVO_XC40_RECHARGE = VolvoCMAPlatformConfig(
+    [VolvoCarDocs("Volvo XC40 Recharge 2021-23")],
+    CarSpecs(
+      mass=2170,
+      wheelbase=2.702,
+      steerRatio=15.8,
+      centerToFrontRatio=0.52,
+    ),
+  )
+
+  VOLVO_S60_RECHARGE = VolvoSPAPlatformConfig(
+    [VolvoCarDocs("Volvo S60 Recharge 2024")],
+    CarSpecs(
+      mass=2020,
+      wheelbase=2.872,
+      steerRatio=16.2,
+      centerToFrontRatio=0.516,
+    ),
+  )
+
+  # Polestar 2 is technically CMA, but appears to use SPA DBC for CAN 1 bus
+  POLESTAR_2 = VolvoSPAPlatformConfig(
+    [VolvoCarDocs("Polestar 2 2020-25")],
+    CarSpecs(
+      mass=2123,
+      wheelbase=2.735,
+      steerRatio=15.8,
+      centerToFrontRatio=0.52,
+    ),
+  )
+
+# FW Query configuration for Volvo CMA platform
+# FW_QUERY_CONFIG = FwQueryConfig(
+#   requests=[
+#     Request(
+#       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.UDS_VERSION_REQUEST],
+#       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.UDS_VERSION_RESPONSE],
+#       bus=0,
+#     ),
+#   ],
+# )
+FW_QUERY_CONFIG = FwQueryConfig(
+  requests=[]
+)
+
+DBC = CAR.create_dbc_map()

opendbc_repo/opendbc/car/volvo/volvocan.py

@@ -0,0 +1,464 @@
+from opendbc.car.volvo.helpers import (checksum_lca_2_message, checksum_2_0x69_message, checksum_1_pscm_related_message,
+                                       checksum_2_pscm_related_message, checksum_lca_5_message)
+from opendbc.car.carlog import carlog
+
+def create_lca_message(packer, lat_active: bool, apply_angle: float, msg_lca: dict,
+                       authority_pos: int = 614, authority_neg: int = -614,
+                       overrides: dict | None = None):
+  """
+  Create LCA (Lane Centering Assist) steering command for Volvo CMA platform.
+  Uses angle-based control via the LCA_STEER signal.
+
+  NOTE: This message must be sent continuously (even when inactive) because
+  stock LCA is permanently blocked by panda safety. When lat_active=False,
+  we send a safe/inactive LCA message to maintain PSCM communication.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    apply_angle: Steering angle in degrees (positive = left, negative = right)
+    msg_lca: Dictionary containing LCA message values
+    authority_pos: LCA_STEER_LOOSELY value [0..614] — right-pull torque-authority
+                   envelope. Saturated (614) for stock-equivalent stiff feel; the
+                   carcontroller envelope tracker collapses this on driver override
+                   and rebuilds slowly to reproduce stock PA's easy-override feel.
+    authority_neg: LCA_STEER_LOOSELY_INV value [-614..0] — left-pull authority.
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+  """
+  if not lat_active:
+    return packer.make_can_msg('LCA', 2, msg_lca)
+
+  # In openpilot, a positive angle corresponds to a LEFT turn.
+  # In Volvo, a positive LCA_STEER value corresponds to a LEFT turn.
+
+  values = {
+    'NEW_SIGNAL_1': 3,
+    'LCA_ENABLE_INV': 0 if lat_active else 1,
+    'LANE_KEEP_ACTIVE_INV': 3,
+    'LCA_STEER_LOOSELY': int(authority_pos) if lat_active else 0,
+    'NEW_SIGNAL_7': 7,
+    'LCA_STEER_LOOSELY_INV': int(authority_neg) if lat_active else 0,
+    # Steering rate - Stock LCA increased from 35 to 39 steppedly when steering request was overridden by openpilot that couldn't steer enough
+    'LCA_RATE_OF_CHANGE': 80 if lat_active else 251,
+    'LCA_STEER': msg_lca['LCA_STEER'],
+    'NEW_SIGNAL_6': 15,
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA', 2, values)
+
+def create_pscm_message(packer, lat_active: bool, msg_pscm: dict, frame: int):
+  values = {
+    'PSCM_ANGLE_SENSOR': msg_pscm['PSCM_ANGLE_SENSOR'],
+    'BIT_0': msg_pscm['BIT_0'],
+    'HANDS_ON_STEERING_WHEEL_A': msg_pscm['HANDS_ON_STEERING_WHEEL_A'],
+    'HANDS_ON_STEERING_WHEEL_B': msg_pscm['HANDS_ON_STEERING_WHEEL_B'],
+    'BYTE_4': msg_pscm['BYTE_4'],
+    'DRIVER_INPUT_DEVIATION': msg_pscm['DRIVER_INPUT_DEVIATION'],
+    'BYTE_6': msg_pscm['BYTE_6'],
+    'BYTE_7': msg_pscm['BYTE_7'],
+  }
+
+  # Spoof hands on wheel while openpilot is actively steering, so the stock EPS
+  # doesn't fault/nag on torque that didn't come from a human.
+  if lat_active:
+    values['HANDS_ON_STEERING_WHEEL_B'] = 186 if frame % 2 == 0 else 154 # msg_pscm['HANDS_ON_STEERING_WHEEL_B']
+    values['HANDS_ON_STEERING_WHEEL_A'] = 195 if frame % 2 == 0 else 249 # msg_pscm['HANDS_ON_STEERING_WHEEL_A']
+
+  return packer.make_can_msg('PSCM', 0, values)
+
+def create_lca_3_message(packer, lat_active: bool, apply_angle: float, msg_lca_3: dict, counter_value: int):
+  """
+  Create LCA_3 message for Volvo CMA platform.
+  This message enables PSCM to accept LCA commands.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    apply_angle: Steering angle in degrees (used for direction indicator)
+    msg_lca_3: Dictionary containing LCA_3 message values
+    counter_value: Counter value to use (from pattern or stock)
+  """
+  values = {
+    'NEW_SIGNAL_3': 0 if lat_active else msg_lca_3['NEW_SIGNAL_3'],
+    'LCA_ACCEPT_COMMANDS_RELATED': 15 if lat_active else msg_lca_3['LCA_ACCEPT_COMMANDS_RELATED'],
+    'NEW_SIGNAL_2': 0 if lat_active else msg_lca_3['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_5': 30 if lat_active else msg_lca_3['NEW_SIGNAL_5'],
+    'LCA_ACCEPT_COMMANDS_INV': 0 if lat_active else msg_lca_3['LCA_ACCEPT_COMMANDS_INV'],
+    'NEW_SIGNAL_4': 3 if lat_active else msg_lca_3['NEW_SIGNAL_4'],
+    'SPEED_A': msg_lca_3['SPEED_A'],
+    'SPEED_B': msg_lca_3['SPEED_B'],
+    'NEW_SIGNAL_8': 1 if lat_active else msg_lca_3['NEW_SIGNAL_8'],
+    'NEW_SIGNAL_7': 3 if lat_active else msg_lca_3['NEW_SIGNAL_7'],
+    'NEW_SIGNAL_9': msg_lca_3['NEW_SIGNAL_9'],
+    'COUNTER_1': counter_value,
+  }
+
+  return packer.make_can_msg('LCA_3', 2, values)
+
+def diff_dicts(a, b):
+  only_in_a = a.keys() - b.keys()
+  only_in_b = b.keys() - a.keys()
+  in_both = a.keys() & b.keys()
+
+  changed = {k: (a[k], b[k]) for k in in_both if a[k] != b[k]}
+
+  return {
+    "only_in_a": {k: a[k] for k in only_in_a},
+    "only_in_b": {k: b[k] for k in only_in_b},
+    "changed": changed,
+  }
+
+def create_lca_2_message(packer, lat_active: bool, msg_lca_2: dict, counter_1: int, counter_2: int):
+  """
+  Create LCA_2 message to spoof PILOT_ASSIST_ENGAGED when openpilot is active.
+
+  When lat_active=True, we set PILOT_ASSIST_ENGAGED=1 to make PSCM accept LCA commands,
+  even if the driver has disabled stock Pilot Assist.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    msg_lca_2: Dictionary containing LCA_2 message values from car
+    counter_1: Managed COUNTER_1 value (increments by +2 mod 16)
+    counter_2: Managed COUNTER_2 value (increments by +4 mod 16)
+  """
+  #return packer.make_can_msg('LCA_2', 2, msg_lca_2)
+  #if not lat_active:
+  #  return packer.make_can_msg('LCA_2', 2, msg_lca_2)
+
+  #values = dict(msg_lca_2)
+
+  values = {
+    'BYTE_0': 24 if lat_active else msg_lca_2['BYTE_0'], # 24 always
+    'COUNTER_1': msg_lca_2['COUNTER_1'], # Byte 1 Low Nibble [5:8] - 4-bit counter that increments by +2 (modulo 16)
+    'PILOT_ASSIST_ENGAGED': 1 if lat_active else msg_lca_2['PILOT_ASSIST_ENGAGED'], # Byte 1 [4]
+    'BYTE_1_BITFIELD_0': msg_lca_2['BYTE_1_BITFIELD_0'],
+    'ESC_ACTUATING': msg_lca_2['ESC_ACTUATING'],
+    'ESC_ELIGIBLE': msg_lca_2['ESC_ELIGIBLE'],
+    'CHECKSUM_2': msg_lca_2['CHECKSUM_2'], # Checksum on bytes 0 and 1
+    'NEW_SIGNAL_2': 0 if lat_active else msg_lca_2['NEW_SIGNAL_2'],
+    'COUNTER_2': msg_lca_2['COUNTER_2'], # Byte 5 Low Nibble - 4-bit counter that increments by +4 (modulo 16)
+    'NEW_SIGNAL_3': 3 if lat_active else msg_lca_2['NEW_SIGNAL_3'],
+    'BRAKE_PEDAL_PRESSED_B': msg_lca_2['BRAKE_PEDAL_PRESSED_B'],
+    'BRAKE_PEDAL_PRESSED_A': msg_lca_2['BRAKE_PEDAL_PRESSED_A'],
+    'CHECKSUM_1': msg_lca_2['CHECKSUM_1'], # Byte 6 is a checksum based on Bytes 1, 2, and 5 only
+    'BYTE_7': 0 if lat_active else msg_lca_2['BYTE_7'],
+  }
+
+  dat = packer.make_can_msg('LCA_2', 2, values)
+
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b0 = built_bytes[0]
+  b1 = built_bytes[1]
+  b2 = built_bytes[2]
+  b3 = built_bytes[3]
+  b4 = built_bytes[4]
+  b5 = built_bytes[5]
+
+  values['CHECKSUM_1'] = checksum_lca_2_message(b0, b5)
+
+  # Only validate when not active and message is valid (BYTE_0 should be 24, not 0)
+  if not lat_active:
+    #assert values['CHECKSUM_1'] == msg_lca_2['CHECKSUM_1']
+    if values['CHECKSUM_1'] != msg_lca_2['CHECKSUM_1']:
+      carlog.warning("[volvocan.py] LCA_2 CHECKSUM mismatch")
+      print(f"b0={b0}, b1={b1}, b2={b2}, b5={b5}, calculated={values['CHECKSUM_1']}, expected={msg_lca_2['CHECKSUM_1']}")
+      #assert False
+
+  # Checksum 2 - depends on bytes 0, 1, 3, and 4
+  checksum_2 = checksum_2_0x69_message(b0, b1, b3, b4)
+  values['CHECKSUM_2'] = checksum_2
+  if not lat_active:
+    if values['CHECKSUM_2'] != msg_lca_2['CHECKSUM_2']:
+      carlog.warning("[volvocan.py] LCA_2 CHECKSUM_2 mismatch")
+      print(f"b0={b0}, b1={b1}, b3={b3}, b4={b4}, calculated={values['CHECKSUM_2']}, expected={msg_lca_2['CHECKSUM_2']}")
+      #assert False
+  values['COUNTER_1'] = counter_1
+  values['COUNTER_2'] = counter_2
+  # Re-pack with updated counters to get correct bytes for checksum calculation
+  dat = packer.make_can_msg('LCA_2', 2, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b0 = built_bytes[0]
+  b1 = built_bytes[1]
+  b3 = built_bytes[3]
+  b4 = built_bytes[4]
+  b5 = built_bytes[5]
+  values['CHECKSUM_1'] = checksum_lca_2_message(b0, b5)
+  values['CHECKSUM_2'] = checksum_2_0x69_message(b0, b1, b3, b4)
+  return packer.make_can_msg('LCA_2', 2, values)
+
+def create_lca_5_message(packer, lat_active: bool, target_angle_deg: float, msg_lca_5: dict, counter: int,
+                         overrides: dict | None = None):
+  """
+  Create LCA_5 message (0x67) with angle-based steering control.
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    target_angle_deg: Target steering angle in degrees (positive = left, negative = right)
+    msg_lca_5: Stock LCA_5 values from car
+    counter: Counter value (0-15, increments by 4)
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+
+  Returns:
+    CAN message for LCA_5 on bus 2
+  """
+
+  # DBC defines LCA_5_STEER as 15-bit signed with scale 0.05596 deg/count
+  # Packer handles the encoding automatically - just pass the angle in degrees
+
+  # Build values dictionary (wheel speeds and counter unchanged)
+  values = {
+    'WHEEL_SPEED_1': msg_lca_5['WHEEL_SPEED_1'],
+    'NEW_SIGNAL_4': msg_lca_5['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_1': msg_lca_5['NEW_SIGNAL_1'],
+    'WHEEL_SPEED_2': msg_lca_5['WHEEL_SPEED_2'],
+    'NEW_SIGNAL_5': msg_lca_5['NEW_SIGNAL_5'],
+    'NEW_SIGNAL_2': msg_lca_5['NEW_SIGNAL_2'],
+    'LCA_5_STEER': target_angle_deg if lat_active else msg_lca_5['LCA_5_STEER'],
+    'COUNTER': counter,
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  dat = packer.make_can_msg('LCA_5', 2, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  values['CHECKSUM'] = checksum_lca_5_message(built_bytes[0], built_bytes[1], built_bytes[3], built_bytes[4], built_bytes[5])
+  return packer.make_can_msg('LCA_5', 2, values)
+
+def create_speed_message(packer, msg_speed: dict):
+  """
+  Forward SPEED message (0x60) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed: Dictionary containing SPEED message values from car
+  """
+  values = {
+    'SPEED': msg_speed['SPEED'],
+    'NEW_SIGNAL_1': msg_speed['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_speed['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_speed['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_speed['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_5': msg_speed['NEW_SIGNAL_5'],
+    'NEW_SIGNAL_6': msg_speed['NEW_SIGNAL_6'],
+  }
+
+  return packer.make_can_msg('SPEED', 2, values)
+
+def create_speed_2_message(packer, msg_speed_2: dict):
+  """
+  Forward SPEED_2 message (0x68) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed_2: Dictionary containing SPEED_2 message values from car
+  """
+  values = {
+    'WHEEL_SPEED_LEFT': msg_speed_2['WHEEL_SPEED_LEFT'],
+    'WHEEL_SPEED_RIGHT': msg_speed_2['WHEEL_SPEED_RIGHT'],
+    'NEW_SIGNAL_1': msg_speed_2['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_speed_2['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_speed_2['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_speed_2['NEW_SIGNAL_4'],
+    'COUNTER_1': msg_speed_2['COUNTER_1'],
+    'COUNTER_2': msg_speed_2['COUNTER_2'],
+  }
+
+  return packer.make_can_msg('SPEED_2', 2, values)
+
+def create_speed_3_message(packer, msg_speed_3: dict):
+  """
+  Forward SPEED_3 message (0x60) by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_speed_3: Dictionary containing SPEED_3 message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_speed_3['ALL_BYTES'],
+  }
+
+  return packer.make_can_msg('SPEED_3', 2, values)
+
+def create_0x1a_message(packer, msg_0x1a: dict):
+  """
+  Forward 0x1A message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_0x1a: Dictionary containing 0x1A message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_0x1a['ALL_BYTES'],
+  }
+  return packer.make_can_msg('NEW_MSG_1A', 2, values)
+
+def create_gear_position_message(packer, msg_gear_position: dict):
+  """
+  Forward GEAR_POSITION message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_gear_position: Dictionary containing GEAR_POSITION message values from car
+  """
+  values = dict(msg_gear_position)
+  values['GEAR_POSITION'] = msg_gear_position['GEAR_POSITION'] # 3
+  return packer.make_can_msg('GEAR_POSITION', 2, values)
+
+def create_egsm_message(packer, msg_egsm: dict):
+  """
+  Forward EGSM message by copying all bytes.
+
+  Args:
+    packer: CAN packer instance
+    msg_egsm: Dictionary containing EGSM message values from car
+  """
+  values = {
+    'ALL_BYTES': msg_egsm['ALL_BYTES'],
+  }
+  return packer.make_can_msg('EGSM', 0, values)
+
+def create_pscm_related_message(packer, lat_active: bool, stock_lca_engaged: bool, msg_pscm_related: dict, sig1_counter: int):
+  # BO_ 23 PSCM_RELATED: 8 XXX
+  # SG_ CHECKSUM : 7|8@0+ (1,0) [0|255] "" XXX
+  # SG_ LCA_ENABLED_ECHO : 11|4@0+ (1,0) [0|15] "" XXX
+  # SG_ SIG1_BYTE_1_HI_NIBBLE : 15|4@0+ (1,0) [0|15] "" XXX
+  # SG_ SIG1_REPLICA_BYTE_2_LO_NIBLE : 19|4@0+ (1,0) [0|15] "" XXX
+  # SG_ NEW_SIGNAL_2 : 23|4@0+ (1,0) [0|15] "" XXX
+  # SG_ BYTE_3 : 31|8@0+ (1,0) [0|255] "" XXX
+  # SG_ BYTE_4_5 : 39|16@0+ (1,0) [0|65535] "" XXX
+  # SG_ BYTE_6 : 55|8@0+ (1,0) [0|255] "" XXX
+  # SG_ BYTE_7 : 63|8@0+ (1,0) [0|255] "" XXX
+  values = dict(msg_pscm_related)
+
+  # Update SIG1 counter (same value in both locations for redundancy)
+  values['SIG1_BYTE_1_HI_NIBBLE'] = sig1_counter
+  values['SIG1_REPLICA_BYTE_2_LO_NIBLE'] = sig1_counter
+
+  dat = packer.make_can_msg('PSCM_RELATED', 0, values)
+  built_bytes = dat[1]  # dat is (addr, bytes, bus) tuple - extract bytes
+  b1 = built_bytes[1]
+  b2 = built_bytes[2]
+  values['CHECKSUM_1'] = checksum_1_pscm_related_message(b1, b2)
+  values['CHECKSUM_2'] = checksum_2_pscm_related_message(b2)
+  #assert values['CHECKSUM_1'] == msg_pscm_related['CHECKSUM_1']
+  #assert values['CHECKSUM_2'] == msg_pscm_related['CHECKSUM_2']
+  if lat_active and not stock_lca_engaged:
+    values['LCA_ENABLED_ECHO'] = 0
+    b1 = packer.make_can_msg('PSCM_RELATED', 0, values)[1][1]
+    values['CHECKSUM_1'] = checksum_1_pscm_related_message(b1, b2)
+  return packer.make_can_msg('PSCM_RELATED', 0, values)
+
+def create_lca_4_message(packer, lat_active: bool, msg_lca_4: dict, lca_4_steer: int,
+                         overrides: dict | None = None):
+  """
+  Create LCA_4 (0x90) message to maintain Pilot Assist state when openpilot is active.
+
+  Critical: LCA_ENABLE (byte 1 bits 0-1) must be held at 3 (both bits=1) when lat_active.
+  When PA turns off, these bits start varying (become counters). We need to keep them
+  stable at 3 to fool PSCM into thinking PA is still on, allowing LCA commands to be accepted.
+
+  Based on analysis from route_analysis/pilot_assist_off/BASELINE_FILTERED_FINDINGS.md:
+  - Message 0x090 byte 1 bits 0-1 are PA state signals
+  - During PA ON: bits are stable at 3 (binary 11)
+  - During PA OFF: bits start varying (counters)
+  - PSCM uses this to determine whether to accept LCA steering commands
+
+  Args:
+    packer: CAN packer instance
+    lat_active: Whether lateral control is active
+    msg_lca_4: Dictionary containing LCA_4 message values from car
+    lca_4_steer: Pre-computed signed angle with hysteresis applied
+    overrides: Optional dict of signal overrides (keys are UPPERCASE DBC signal names)
+
+  Returns:
+    CAN message for LCA_4 on bus 2
+  """
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_4', 2, msg_lca_4)
+
+  # When lat_active, force LCA_ENABLE to 3 (PA ON state)
+  values = {
+    'BYTE_0': msg_lca_4['BYTE_0'],
+    'LCA_ENABLE': 3,  # Force bits 0-1 to 1 (value=3 means both bits set)
+    'BYTE_1_FLAGS': msg_lca_4['BYTE_1_FLAGS'],
+    'BYTE_1_NIBBLE_HI': msg_lca_4['BYTE_1_NIBBLE_HI'],
+    'BYTE_2_3': msg_lca_4['BYTE_2_3'],
+    'YAW_RATE': msg_lca_4['YAW_RATE'],
+    'BYTE_6': msg_lca_4['BYTE_6'],
+    'BYTE_7_NIBBLE_LO': msg_lca_4['BYTE_7_NIBBLE_LO'],
+    'BYTE_7_NIBBLE_HI': msg_lca_4['BYTE_7_NIBBLE_HI'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  # TODO: Add checksum calculation when checksum function is implemented
+  # If message has a checksum signal, it would be calculated here like:
+  # values['CHECKSUM'] = checksum_lca_4_message(...)
+
+  # TODO: Add checksum validation when not active (once checksum is known)
+  # if not lat_active and 'CHECKSUM' in msg_lca_4:
+  #   if values['CHECKSUM'] != msg_lca_4['CHECKSUM']:
+  #     carlog.warning("[volvocan.py] LCA_4 CHECKSUM mismatch")
+
+  return packer.make_can_msg('LCA_4', 2, values)
+
+def create_lca_6_message(packer, lat_active: bool, msg_lca_6: dict, lca_6_steer: int,
+                         overrides: dict | None = None):
+
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_6', 2, msg_lca_6)
+
+  values = {
+    'LCA_6_STEER': msg_lca_6['LCA_6_STEER'],
+    'LCA_6_STEER_2': msg_lca_6['LCA_6_STEER_2'],
+    'NEW_SIGNAL_1': msg_lca_6['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_lca_6['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_lca_6['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_lca_6['NEW_SIGNAL_4'],
+    'NEW_SIGNAL_5': msg_lca_6['NEW_SIGNAL_5'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA_6', 2, values)
+
+def create_lca_7_message(packer, lat_active: bool, msg_lca_7: dict, lca_7_steer: int, lca_7_delta_steer: int,
+                         overrides: dict | None = None, steer_active: bool = False):
+
+  if not lat_active:
+    # When not active, just relay stock message unchanged
+    return packer.make_can_msg('LCA_7', 2, msg_lca_7)
+
+  values = {
+    'LCA_7_STEER': msg_lca_7['LCA_7_STEER'],
+    'LCA_7_DELTA_STEER': msg_lca_7['LCA_7_DELTA_STEER'],
+    'NEW_SIGNAL_1': msg_lca_7['NEW_SIGNAL_1'],
+    'NEW_SIGNAL_2': msg_lca_7['NEW_SIGNAL_2'],
+    'NEW_SIGNAL_3': msg_lca_7['NEW_SIGNAL_3'],
+    'NEW_SIGNAL_4': msg_lca_7['NEW_SIGNAL_4'],
+  }
+
+  # Apply any overrides from live testing config
+  if overrides:
+    for key, val in overrides.items():
+      values[key] = val
+
+  return packer.make_can_msg('LCA_7', 2, values)

opendbc_repo/opendbc/dbc/acura_ilx_2016_can_generated.dbc

@@ -430,8 +430,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
 CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
 CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
 
-VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
-VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
+VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
+VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
 VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
 VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
 VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";

opendbc_repo/opendbc/dbc/acura_mdx_2017_can_ext_generated.dbc

@@ -431,8 +431,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
 CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
 CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
 
-VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
-VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
+VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
+VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
 VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
 VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
 VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";

opendbc_repo/opendbc/dbc/acura_rdx_2020_can_generated.dbc

@@ -349,6 +349,7 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
 BO_ 662 SCM_BUTTONS: 4 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
 
@@ -560,8 +561,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
 CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
 CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
 
-VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
-VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
+VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
+VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
 VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
 VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
 VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";

opendbc_repo/opendbc/dbc/generator/honda/_bosch_2018.dbc

@@ -128,6 +128,7 @@ BO_ 586 ADJACENT_RIGHT_LANE_LINE_2: 8 CAM
 BO_ 662 SCM_BUTTONS: 4 SCM
  SG_ CRUISE_BUTTONS : 7|3@0+ (1,0) [0|7] "" EON
  SG_ CRUISE_SETTING : 3|2@0+ (1,0) [0|3] "" EON
+ SG_ AMBIENT_LIGHT_MAYBE : 23|8@0+ (1,0) [0|255] "" EON
  SG_ COUNTER : 29|2@0+ (1,0) [0|3] "" EON
  SG_ CHECKSUM : 27|4@0+ (1,0) [0|15] "" EON
 

opendbc_repo/opendbc/dbc/generator/honda/_gearbox_common.dbc

@@ -34,8 +34,8 @@ CM_ SG_ 419 REGEN_STAGE_SELECTION "Driver-selected regenerative braking threshol
 CM_ SG_ 419 REGEN_MEMORY "Driver-selected persistence setting, M shown in instrument cluster";
 CM_ SG_ 419 REGEN_UNKNOWN "Both bits set when user enables regen, otherwise zero";
 
-VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
-VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S";
+VAL_ 401 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
+VAL_ 419 GEAR_SHIFTER 1 "P" 2 "R" 3 "N" 4 "D" 7 "L" 10 "S" 11 "B";
 VAL_ 419 TRANS_TARGET_GEAR 0 "None / Neutral / Park" 1 "1st" 2 "2nd" 3 "3rd" 4 "4th" 5 "5th" 6 "6th" 7 "7th" 8 "8th" 9 "9th" 10 "10th" 13 "Reverse";
 VAL_ 419 REGEN_STAGE_SELECTION 0 "disabled" 1 "stage_1" 2 "stage_2" 3 "stage_3" 4 "stage_4" 5 "stage_5" 6 "stage_6";
 VAL_ 419 REGEN_MEMORY 0 "disabled" 1 "persistent";

opendbc_repo/opendbc/dbc/generator/honda/honda_common_canfd.dbc

@@ -5,3 +5,71 @@ CM_ "IMPORT _lkas_hud_8byte.dbc";
 CM_ "IMPORT _bosch_standstill.dbc";
 CM_ "IMPORT _steering_sensors_a.dbc";
 CM_ "IMPORT _gearbox_common.dbc";
+
+BO_ 929 RADAR_REFERENCE: 8 XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 784 RADAR_HUD_CANFD: 8 XXX
+ SG_ SET_ME_X01 : 11|1@0+ (1,0) [0|1] "" XXX
+ SG_ SET_ME_X01_2 : 48|1@0+ (1,0) [0|1] "" XXX
+ SG_ CMBS_ENABLED_MAYBE : 53|1@0+ (1,0) [0|1] "" XXX
+ SG_ ACC_ON : 55|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" EON
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" EON
+
+BO_ 114120024 LANE_PATH: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ PATH_OFFSET_1 m1 : 15|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_2 m1 : 19|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_3 m1 : 39|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ PATH_OFFSET_4 m1 : 43|12@0- (1,0) [-2048|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 114120025 HUD_OBJECTS: 8 XXX
+ SG_ MUX M : 7|6@0+ (1,0) [0|63] "" XXX
+ SG_ OBJECT_ID m1 : 15|5@0+ (1,0) [0|31] "" XXX
+ SG_ IS_LEAD_CAR m1 : 17|1@0+ (1,0) [0|1] "" XXX
+ SG_ CAR_TYPE m1 : 23|4@0- (1,0) [-8|7] "" XXX
+ SG_ ROTATION m1 : 31|8@0- (1,0) [-128|127] "" XXX
+ SG_ LONG_DIST m1 : 39|10@0+ (0.209,-16.9) [-16.9|196.9] "m" XXX
+ SG_ LAT_DIST m1 : 43|12@0- (0.1,0) [-204.8|204.7] "m" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 254913106 RADAR_LEAD2: 8 XXX
+ SG_ SET_ME_X88 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X78 : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEAD_DISTANCE_MAYBE : 23|11@0+ (1,0) [0|2047] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 254913116 RADAR_LEAD: 8 XXX
+ SG_ SET_ME_X01 : 5|1@0+ (1,0) [0|1] "" XXX
+ SG_ CNTR_REF : 7|2@0+ (1,0) [0|3] "" XXX
+ SG_ TARGET_SPEED_MAYBE : 15|8@0+ (1,0) [0|255] "" XXX
+ SG_ LEFT_LANE : 23|2@0+ (1,0) [0|3] "" XXX
+ SG_ RIGHT_LANE : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ LANE_PATH_LENGTH : 31|6@0+ (1,0) [0|63] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 440773198 BOSCH_SUPPLEMENTAL_CANFD: 8 XXX
+ SG_ SET_ME_X01 : 7|8@0+ (1,0) [0|255] "" XXX
+ SG_ SET_ME_X41 : 23|8@0+ (1,0) [0|255] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
+BO_ 1808 RADAR_SUPP_TICK_REFERENCE: 32 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1840 RADAR_HUD_TICK_REFERENCE: 6 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 1872 RADAR_50HZ_TICK_REFERENCE: 16 XXX
+ SG_ IGNORE : 11|1@0+ (1,0) [0|1] "" XXX
+
+CM_ SG_ 254913116 LANE_PATH_LENGTH "number of valid LANE_PATH points in the current sweep (6 = idle/no lane, up to 23-24); the dash needs this to match the in-band 2047 terminator to draw the lane lines";
+CM_ SG_ 254913116 LEFT_LANE "3 = left lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 1 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 LEFT_LANE; the dash won't draw the lane lines while both are 0";
+CM_ SG_ 254913116 RIGHT_LANE "3 = right lane line detected, 0 = none; tracks the camera's LKAS_HUD LANE_LINES bit 0 exactly in factory logs. The CAN FD equivalent of radarless LKAS_HUD_2 RIGHT_LANE; the dash won't draw the lane lines while both are 0";