files

Adapted from commaai/opendbc#3249 by @lukasloetkolben.

.github/FUNDING.yml

@@ -0,0 +1,6 @@
+github: firestar5683
+patreon: firestar4430
+custom:
+  - "https://cash.app/$domkthompson"
+  - "https://account.venmo.com/u/firestar4430"
+  - "https://www.paypal.com/paypalme/firestar4430"

.github/workflows/auto-cache/action.yaml

@@ -34,7 +34,7 @@ runs:
     - name: setup github cache
       id: gha-cache
       if: ${{ !contains(runner.name, 'nsc') && inputs.save != 'false' }}
-      uses: 'actions/cache@v4'
+      uses: 'actions/cache@v5'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}
@@ -43,7 +43,7 @@ runs:
     - name: setup github cache
       id: gha-cache-ro
       if: ${{ !contains(runner.name, 'nsc') && inputs.save == 'false' }}
-      uses: 'actions/cache/restore@v4'
+      uses: 'actions/cache/restore@v5'
       with:
         path: ${{ inputs.path }}
         key: ${{ inputs.key }}

.github/workflows/compile-openpilot/action.yaml

@@ -14,7 +14,7 @@ runs:
           ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
                           scons -j$(nproc) --cache-populate"
     - name: Save scons cache
-      uses: actions/cache/save@v4
+      uses: actions/cache/save@v5
       if: github.ref == 'refs/heads/master'
       with:
         path: .ci_cache/scons_cache

.github/workflows/compile_bluescreens.yaml

@@ -23,11 +23,6 @@ on:
         type: boolean
         default: true
         required: false
-      build_ui:
-        description: "Build UI (selfdrive/ui)"
-        type: boolean
-        default: true
-        required: false
       build_params:
         description: "Build params Python extension"
         type: boolean
@@ -88,7 +83,7 @@ jobs:
           fi
 
       - name: Checkout target branch
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ env.BUILD_BRANCH }}
           fetch-depth: 0
@@ -156,7 +151,6 @@ jobs:
           fi
 
           TARGETS=()
-          [[ "${{ inputs.build_ui }}" == "true" ]] && TARGETS+=("selfdrive/ui/ui")
           [[ "${{ inputs.build_params }}" == "true" ]] && TARGETS+=("common/params_pyx.so")
           [[ "${{ inputs.build_cereal }}" == "true" ]] && TARGETS+=("cereal/messaging/bridge")
           if [[ "${{ inputs.build_panda }}" == "true" ]]; then
@@ -184,8 +178,8 @@ jobs:
           fi
 
           if [[ ${#TARGETS[@]} -eq 0 ]]; then
-            echo "No partial targets selected; defaulting to UI + panda"
+            echo "No partial targets selected; defaulting to panda"
-            TARGETS=("selfdrive/ui/ui" "panda/board/obj/panda.bin.signed")
+            TARGETS=("panda/board/obj/panda.bin.signed")
           fi
 
           echo "Running partial build for targets: ${TARGETS[*]}"

.github/workflows/compile_starpilot.yaml

@@ -48,7 +48,7 @@ jobs:
           fi
 
       - name: Checkout target branch
-        uses: actions/checkout@v4
+        uses: actions/checkout@v6
         with:
           ref: ${{ env.BUILD_BRANCH }}
           fetch-depth: 0

.github/workflows/publish_truenas_runner.yaml

@@ -17,17 +17,17 @@ jobs:
   publish:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@v6
 
       - name: Log in to GHCR
-        uses: docker/login-action@v3
+        uses: docker/login-action@v4
         with:
           registry: ghcr.io
           username: ${{ github.actor }}
           password: ${{ secrets.GITHUB_TOKEN }}
 
       - name: Build and push runner image
-        uses: docker/build-push-action@v6
+        uses: docker/build-push-action@v7
         with:
           context: .
           file: tools/truenas_github_runner/Dockerfile

.gitignore

@@ -54,9 +54,6 @@ cereal/gen
 selfdrive/ui/translations/tmp
 selfdrive/car/tests/cars_dump
 system/camerad/test/ae_gray_test
-selfdrive/ui/ui.macos
-selfdrive/ui/ui.larch64
-
 .coverage*
 coverage.xml
 htmlcov

.vscode/launch.json

@@ -11,14 +11,6 @@
         "tools/sim/run_bridge.py"
       ]
     },
-    {
-      "id": "cpp_process",
-      "type": "pickString",
-      "description": "Select the process to debug",
-      "options": [
-        "selfdrive/ui/ui"
-      ]
-    },
     {
       "id": "args",
       "description": "Arguments to pass to the process",
@@ -40,13 +32,6 @@
       "justMyCode": true,
       "args": "${input:args}"
     },
-    {
-      "name": "C++: openpilot Process",
-      "type": "cppdbg",
-      "request": "launch",
-      "program": "${workspaceFolder}/${input:cpp_process}",
-      "cwd": "${workspaceFolder}"
-    },
     {
       "name": "Attach LLDB to Replay drive",
       "type": "lldb",

SConstruct

@@ -1,4 +1,5 @@
 import os
+import importlib
 import shutil
 import subprocess
 import sys
@@ -37,10 +38,6 @@ AddOption('--coverage',
           action='store_true',
           help='build with test coverage options')
 
-AddOption('--clazy',
-          action='store_true',
-          help='build with clazy')
-
 AddOption('--ccflags',
           action='store',
           type='string',
@@ -132,6 +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'
@@ -273,7 +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",
@@ -292,11 +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",
@@ -354,116 +389,7 @@ else:
 np_version = SCons.Script.Value(np.__version__)
 Export('envCython', 'np_version')
 
-# Qt build environment
+Export('env', 'arch', 'real_arch')
-qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "DBus", "Xml"]
-
-qt_libs = []
-if arch == "Darwin":
-  qt_env['QTDIR'] = f"{brew_prefix}/opt/qt@5"
-  qt_dirs = [
-    os.path.join(qt_env['QTDIR'], "include"),
-  ]
-  qt_dirs += [f"{qt_env['QTDIR']}/include/Qt{m}" for m in qt_modules]
-  qt_env["LINKFLAGS"] += ["-F" + os.path.join(qt_env['QTDIR'], "lib")]
-  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
-  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
-else:
-  if arch == "larch64":
-    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
-  # For laptop/device builds that mount an AGNOS sysroot, always prefer Qt
-  # headers from that sysroot to keep headers/libs ABI-matched (Qt 5.12.x).
-  if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-    qt_install_prefix = tici_libpath("/usr")
-    qt_install_headers = tici_libpath("/usr/include/aarch64-linux-gnu/qt5")
-  else:
-    qmake = os.environ.get("SP_QMAKE", "qmake")
-    qt_install_prefix = subprocess.check_output([qmake, '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
-    qt_install_headers = subprocess.check_output([qmake, '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
-
-  qt_env['QTDIR'] = qt_install_prefix
-  qt_dirs = [
-    f"{qt_install_headers}",
-  ]
-
-  qt_gui_path = os.path.join(qt_install_headers, "QtGui")
-  qt_gui_dirs = [d for d in os.listdir(qt_gui_path) if os.path.isdir(os.path.join(qt_gui_path, d))]
-  qt_dirs += [f"{qt_install_headers}/QtGui/{qt_gui_dirs[0]}/QtGui", ] if qt_gui_dirs else []
-  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]
-
-  qt_libs = [f"Qt5{m}" for m in qt_modules]
-  if arch == "larch64":
-    qt_libs += ["GLESv2", "wayland-client"]
-  elif arch != "Darwin":
-    qt_libs += ["GL"]
-qt_env['QT3DIR'] = qt_env['QTDIR']
-qt_env.Tool('qt3')
-if arch == "larch64" and os.environ.get("SP_TICI_SYSROOT"):
-  qt_tool_bin = tici_libpath("/usr/lib/qt5/bin")
-  qt_tool_root = tici_libpath("/")
-  qt_arm_moc = os.path.join(qt_tool_bin, "moc")
-  qt_arm_uic = os.path.join(qt_tool_bin, "uic")
-  qt_arm_rcc = os.path.join(qt_tool_bin, "rcc")
-  qt_host_bin = os.environ.get("SP_QT_HOST_BIN", "/usr/lib/qt5/bin")
-  qt_host_moc = os.environ.get("SP_QT_HOST_MOC", os.path.join(qt_host_bin, "moc"))
-  qt_host_uic = os.environ.get("SP_QT_HOST_UIC", os.path.join(qt_host_bin, "uic"))
-  qt_host_rcc = os.environ.get("SP_QT_HOST_RCC", "rcc")
-  if platform.machine() in ("aarch64", "arm64"):
-    if "SP_QT_HOST_MOC" in os.environ:
-      qt_env['QT3_MOC'] = qt_host_moc
-    elif os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = qt_arm_moc
-    if "SP_QT_HOST_UIC" in os.environ:
-      qt_env['QT3_UIC'] = qt_host_uic
-    elif os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = qt_arm_uic
-    if "SP_QT_HOST_RCC" in os.environ:
-      qt_env['SP_QT_RCC'] = qt_host_rcc
-    elif os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = qt_arm_rcc
-  else:
-    qt_qemu = shutil.which("qemu-aarch64-static") or shutil.which("qemu-aarch64")
-
-    if qt_qemu and os.path.isfile(qt_arm_moc):
-      qt_env['QT3_MOC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_moc}"
-    else:
-      qt_env['QT3_MOC'] = qt_host_moc
-
-    if qt_qemu and os.path.isfile(qt_arm_uic):
-      qt_env['QT3_UIC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_uic}"
-    else:
-      qt_env['QT3_UIC'] = qt_host_uic
-
-    if qt_qemu and os.path.isfile(qt_arm_rcc):
-      qt_env['SP_QT_RCC'] = f"{qt_qemu} -L {qt_tool_root} {qt_arm_rcc}"
-    else:
-      qt_env['SP_QT_RCC'] = qt_host_rcc
-
-qt_env['CPPPATH'] += qt_dirs + ["#third_party/qrcode"]
-qt_flags = [
-  "-D_REENTRANT",
-  "-DQT_NO_DEBUG",
-  "-DQT_WIDGETS_LIB",
-  "-DQT_GUI_LIB",
-  "-DQT_CORE_LIB",
-  "-DQT_MESSAGELOGCONTEXT",
-]
-qt_env['CXXFLAGS'] += qt_flags
-qt_env['LIBPATH'] += ['#selfdrive/ui', ]
-qt_env['LIBS'] = qt_libs
-
-if GetOption("clazy"):
-  checks = [
-    "level0",
-    "level1",
-    "no-range-loop",
-    "no-non-pod-global-static",
-  ]
-  qt_env['CXX'] = 'clazy'
-  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
-  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
-
-Export('env', 'qt_env', 'arch', 'real_arch')
 
 # Build common module
 SConscript(['common/SConscript'])
@@ -484,7 +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')
 
 

build

@@ -46,9 +46,6 @@ while [[ $# -gt 0 ]]; do
       shortcut_includes_panda=1
       add_panda_targets
       ;;
-    --ui|-ui)
-      shortcut_targets+=("selfdrive/ui/ui")
-      ;;
     --cereal|-cereal)
       shortcut_targets+=(
         "cereal/libcereal.a"

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_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,
+                             schema_files,
-            f"capnpc --src-prefix={cereal_dir.path} $SOURCES -o c++:{gen_dir.path}/cpp/")
+                             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

@@ -98,6 +98,7 @@ struct StarPilotCarState @0xf35cc4560bbf6ec2 {
   teslaCCNotArmed @27 :Bool;  # lateral engaged but DI_cruiseState != STANDBY/ENABLED
   accelHardCruise @28 :Bool;  # current/releasing accel cruise button came from GM hard-press signal
   decelHardCruise @29 :Bool;  # current/releasing decel cruise button came from GM hard-press signal
+  pulseAndGlide @30 :Bool;  # developer-only wheel-button pulse-and-glide mode is enabled
 }
 
 struct StarPilotDeviceState @0xda96579883444c35 {
@@ -219,11 +220,27 @@ 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 {
   leadLeft @0 :LeadData;
   leadRight @1 :LeadData;
+  adjacentStopped @2 :AdjacentStopped;
+
+  # A vehicle in an adjacent lane that was observed MOVING and then came to rest.
+  # Distinct from leadLeft/leadRight, which are moving-target-only by design.
+  struct AdjacentStopped {
+    status @0 :Bool;
+    dRel @1 :Float32;
+    yRel @2 :Float32;
+    radarTrackId @3 :Int32 = -1;
+  }
 
   struct LeadData {
     dRel @0 :Float32;
@@ -253,6 +270,7 @@ struct StarPilotSelfdriveState @0xf416ec09499d9d19 {
   alertSize @3 :AlertSize;
   alertType @4 :Text;
   alertSound @5 :Car.CarControl.HUDControl.AudibleAlert;
+  vEgo @6 :Float32;
 
   enum AlertStatus {
     normal @0;
@@ -282,7 +300,15 @@ struct StarPilotLateralManeuverPlanDEPRECATED @0xcb9fd56c7057593a {
   desiredCurvature @0 :Float32;  # 1/m
 }
 
-struct CustomReserved11 @0xc2243c65e0340384 {
+struct StarPilotLateralState @0xc2243c65e0340384 {
+  active @0 :Bool;
+  frictionThreshold @1 :Float32;
+  frictionScale @2 :Float32;
+  feedforward @3 :Float32;
+  frictionJerk @4 :Float32;
+  frictionJerkDeadzone @5 :Float32;
+  lowSpeedFactor @6 :Float32;
+  unwindDetected @7 :Bool;
 }
 
 struct CustomReserved12 @0x9ccdc8676701b412 {

cereal/log.capnp

@@ -130,8 +130,13 @@ struct OnroadEvent @0xc4fa6047f024e718 {
     userBookmark @95;
     excessiveActuation @96;
     audioFeedback @97;
+    bigModelLoading @100;
+    bigModelFailed @102;
 
     soundsUnavailableDEPRECATED @47;
+    stockLkasDEPRECATED @98;
+    lateralManeuverDEPRECATED @99;
+    bigModelReadyDEPRECATED @101;
   }
 }
 
@@ -467,6 +472,10 @@ struct CanData {
 struct DeviceState @0xa4d8b5af2aa492eb {
   deviceType @45 :InitData.DeviceType;
 
+  # usb
+  chestnutPresent @51 :Bool;
+  usbState @52 :UsbState;
+
   networkType @22 :NetworkType;
   networkInfo @31 :NetworkInfo;
   networkStrength @24 :NetworkStrength;
@@ -498,7 +507,8 @@ 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);
   thermalStatus @14 :ThermalStatus;
@@ -512,10 +522,10 @@ struct DeviceState @0xa4d8b5af2aa492eb {
   }
 
   enum ThermalStatus {
-    green @0;
+    ok @0;
-    yellow @1;
+    warmDEPRECATED @1;
-    red @2;
+    overheated @2;
-    danger @3;
+    critical @3;
   }
 
   enum NetworkType {
@@ -731,6 +741,41 @@ struct PeripheralState {
   }
 }
 
+struct UsbState {
+  devices @0 :List(Device);
+
+  struct Device {
+    busnum @0 :UInt8;
+    devnum @1 :UInt8;
+    vendorId @2 :UInt16;
+    productId @3 :UInt16;
+    speedMbps @4 :UInt16;
+    manufacturer @6 :Text;
+    product @5 :Text;
+    linkErrorCount @7 :UInt16;
+    usb3Lane @8 :Usb3Lane;
+
+    enum Usb3Lane {
+      unknown @0;
+      a @1;
+      b @2;
+    }
+  }
+}
+
+struct ChestnutState {
+  tempC @0 :Float32;
+  memoryTempC @1 :Float32;
+  powerDrawW @2 :Float32;
+  powerLimitW @3 :Float32;
+  gpuUsagePercent @4 :UInt8;
+  gpuClockMhz @5 :UInt16;
+  fanSpeedRpm @6 :UInt16;
+  pcieLtssm @7 :UInt8;
+  supplyVoltage @8 :UInt16;  # mV
+  supplyCurrent @9 :Int16;  # mA
+}
+
 struct RadarState @0x9a185389d6fdd05f {
   mdMonoTime @6 :UInt64;
   carStateMonoTime @11 :UInt64;
@@ -1282,6 +1327,11 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
 
   solverExecutionTime @35 :Float32;
 
+  leadTrajectoryX0 @40 :List(Float32);
+  leadTrajectoryV0 @41 :List(Float32);
+  leadTrajectoryX1 @42 :List(Float32);
+  leadTrajectoryV1 @43 :List(Float32);
+
   enum LongitudinalPlanSource {
     cruise @0;
     lead0 @1;
@@ -2687,6 +2737,7 @@ struct Event {
     procLog @33 :ProcLog;
     clocks @35 :Clocks;
     deviceState @6 :DeviceState;
+    chestnutState @152 :ChestnutState;
     logMessage @18 :Text;
     errorLogMessage @85 :Text;
 
@@ -2706,6 +2757,7 @@ struct Event {
     userBookmark @93 :UserBookmark;
     bookmarkButton @148 :UserBookmark;
     audioFeedback @149 :AudioFeedback;
+    visionSpeedLimitBookmark @153 :UserBookmark;
 
     lateralManeuverPlan @150 :LateralManeuverPlan;
     # *********** debug ***********
@@ -2742,7 +2794,7 @@ struct Event {
     starpilotSelfdriveState @115 :Custom.StarPilotSelfdriveState;
     customReserved9 @116 :Custom.CustomReserved9;
     starpilotLateralManeuverPlanDEPRECATED @136 :Custom.StarPilotLateralManeuverPlanDEPRECATED;
-    customReserved11 @137 :Custom.CustomReserved11;
+    starpilotLateralState @137 :Custom.StarPilotLateralState;
     customReserved12 @138 :Custom.CustomReserved12;
     customReserved13 @139 :Custom.CustomReserved13;
     customReserved14 @140 :Custom.CustomReserved14;

cereal/messaging/__init__.py

@@ -268,6 +268,7 @@ class SubMaster:
 class PubMaster:
   def __init__(self, services: List[str]):
     self.sock = {}
+    self._zmq_readers_settled = set()
     for s in services:
       self.sock[s] = pub_sock(s)
 
@@ -277,6 +278,13 @@ class PubMaster:
     self.sock[s].send(dat)
 
   def wait_for_readers_to_update(self, s: str, timeout: int, dt: float = 0.05) -> bool:
+    if "ZMQ" in os.environ:
+      if s not in self._zmq_readers_settled:
+        time.sleep(min(timeout, 1.0))
+        self._zmq_readers_settled.add(s)
+      elif dt >= 0.05:
+        time.sleep(min(timeout, 1.0))
+      return True
     for _ in range(int(timeout*(1./dt))):
       if self.sock[s].all_readers_updated():
         return True

cereal/services.h

@@ -12,6 +12,7 @@ static std::map<std::string, service> services = {
   { "temperatureSensor", {"temperatureSensor", true, 2.000000, 200, 256000}},
   { "gpsNMEA", {"gpsNMEA", true, 9.000000, -1, 256000}},
   { "deviceState", {"deviceState", true, 2.000000, 1, 256000}},
+  { "chestnutState", {"chestnutState", true, 10.000000, 10, 256000}},
   { "touch", {"touch", true, 20.000000, 1, 256000}},
   { "can", {"can", true, 100.000000, 2053, 10485760}},
   { "controlsState", {"controlsState", true, 100.000000, 10, 2097152}},
@@ -68,6 +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}},
@@ -82,6 +84,7 @@ static std::map<std::string, service> services = {
   { "livestreamRoadEncodeData", {"livestreamRoadEncodeData", false, 20.000000, -1, 2097152}},
   { "livestreamDriverEncodeData", {"livestreamDriverEncodeData", false, 20.000000, -1, 2097152}},
   { "customReserved9", {"customReserved9", true, 0.000000, 1, 256000}},
+  { "starpilotLateralState", {"starpilotLateralState", true, 100.000000, 10, 256000}},
   { "customReservedRawData0", {"customReservedRawData0", true, 0.000000, -1, 256000}},
   { "customReservedRawData1", {"customReservedRawData1", true, 0.000000, -1, 256000}},
   { "customReservedRawData2", {"customReservedRawData2", true, 0.000000, -1, 256000}},

cereal/services.py

@@ -29,6 +29,7 @@ _services: dict[str, tuple] = {
   "temperatureSensor": (True, 2., 200),
   "gpsNMEA": (True, 9.),
   "deviceState": (True, 2., 1),
+  "chestnutState": (True, 10., 10),
   "touch": (True, 20., 1),
   "can": (True, 100., 2053, QueueSize.BIG),  # decimation gives ~3 msgs in a full segment
   "controlsState": (True, 100., 10, QueueSize.MEDIUM),
@@ -85,6 +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),
@@ -101,6 +103,7 @@ _services: dict[str, tuple] = {
   "livestreamRoadEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "livestreamDriverEncodeData": (False, 20., None, QueueSize.MEDIUM),
   "customReserved9": (True, 0., 1),
+  "starpilotLateralState": (True, 100., 10),
   "customReservedRawData0": (True, 0.),
   "customReservedRawData1": (True, 0.),
   "customReservedRawData2": (True, 0.),

common/file_chunker.py

@@ -58,26 +58,34 @@ def file_chunked_exists(path) -> bool:
 class ChunkStream(io.RawIOBase):
   def __init__(self, paths):
     self._paths = iter(paths)
-    self._buffer = memoryview(b"")
+    self._file = None
 
   def readable(self):
     return True
 
   def readinto(self, buffer):
     count = 0
+    view = memoryview(buffer)
     while count < len(buffer):
-      if not self._buffer:
+      if self._file is None:
         path = next(self._paths, None)
         if path is None:
           break
-        self._buffer = memoryview(Path(path).read_bytes())
+        self._file = open(path, "rb")
+      bytes_read = self._file.readinto(view[count:])
+      if not bytes_read:
+        self._file.close()
+        self._file = None
         continue
-      take = min(len(buffer) - count, len(self._buffer))
+      count += bytes_read
-      buffer[count:count + take] = self._buffer[:take]
-      self._buffer = self._buffer[take:]
-      count += take
     return count
 
+  def close(self):
+    if self._file is not None:
+      self._file.close()
+      self._file = None
+    super().close()
+
 
 def open_file_chunked(path):
   chunks = get_existing_chunks(path)

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}},
@@ -70,6 +76,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IsDriverViewEnabled", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsEngaged", {PERSISTENT, BOOL}},
     {"IsLdwEnabled", {PERSISTENT, BOOL}},
+    {"IsLiveStreaming", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsMetric", {PERSISTENT, BOOL}},
     {"IsOffroad", {CLEAR_ON_MANAGER_START, BOOL}},
     {"IsOnroad", {PERSISTENT, BOOL}},
@@ -80,6 +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}},
@@ -94,6 +102,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"LiveDelay", {PERSISTENT, BYTES}},
     {"LiveParameters", {PERSISTENT, JSON}},
     {"LiveParametersV2", {PERSISTENT, BYTES}},
+    {"LivestreamEncoderBitrate", {CLEAR_ON_MANAGER_START | DONT_LOG, INT}},
+    {"LivestreamRequestKeyframe", {CLEAR_ON_MANAGER_START | DONT_LOG, BOOL}},
     {"LiveTorqueParameters", {PERSISTENT | DONT_LOG, BYTES}},
     {"LateralManeuverMode", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"LocationFilterInitialState", {PERSISTENT, BYTES}},
@@ -125,11 +135,17 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"RecordAudioFeedback", {PERSISTENT, BOOL, "0"}},
     {"RecordFront", {PERSISTENT, BOOL}},
     {"RecordFrontLock", {PERSISTENT, BOOL}},  // for the internal fleet
+    {"SentryModeEnabled", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
+    {"SentryModeCapture", {CLEAR_ON_MANAGER_START, BOOL}},
+    {"SentryModeLastEvent", {PERSISTENT, JSON, "{}", "{}"}},
+    {"SentryModeNtfyUrl", {PERSISTENT, STRING}},
+    {"SentryModeSensitivity", {PERSISTENT, FLOAT, "0.04", "0.04", 0, SETTINGS_SIMPLE}},
+    {"SentryModeStatus", {CLEAR_ON_MANAGER_START | DONT_LOG, JSON}},
+    {"SentryModeWarningTime", {PERSISTENT, FLOAT, "1.0", "1.0", 0, SETTINGS_SIMPLE}},
+    {"SentryModeWebhook", {PERSISTENT, STRING}},
     {"SecOCKey", {PERSISTENT | DONT_LOG, STRING}},
     {"ShowDebugInfo", {PERSISTENT, BOOL}},
     {"ShowAllToggles", {PERSISTENT, BOOL, "0", "0", 3}},
-    {"TryRaylibUI", {PERSISTENT, BOOL, "1"}},
-    {"UseOldUI", {PERSISTENT, BOOL, "0", std::nullopt, 0, SETTINGS_SIMPLE}},
     {"UsePrebuilt", {PERSISTENT, BOOL, "1"}},
     {"RouteCount", {PERSISTENT, INT, "0"}},
     {"SnoozeUpdate", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
@@ -152,6 +168,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UptimeOnroad", {PERSISTENT, FLOAT, "0.0"}},
     {"UsbGpuActive", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuCompiled", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
+    {"UsbGpuLoading", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"UsbGpuPresent", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, BOOL}},
     {"Version", {PERSISTENT, STRING}},
 
@@ -178,6 +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}},
@@ -193,7 +211,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CalibratedLateralAcceleration", {PERSISTENT, FLOAT, "2.0", "2.0", 2}},
     {"CalibrationProgress", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"CameraOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
-    {"CameraView", {PERSISTENT, INT, "3", "0", 2, SETTINGS_SIMPLE}},
+    {"CameraView", {PERSISTENT, INT, "2", "0", 2, SETTINGS_SIMPLE}},
     {"CancelDownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DisableWideRoad", {PERSISTENT, BOOL, "0", "0", 3}},
     {"CancelModelDownload", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
@@ -204,7 +222,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"CECurves", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"CECurvesLead", {PERSISTENT, BOOL, "0", "0", 1}},
     {"CELead", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
-    {"CEModelStopTime", {PERSISTENT, FLOAT, "7.0", "0.0", 2, SETTINGS_SIMPLE}},
+    {"CEModelStopTime", {PERSISTENT, FLOAT, "7.7", "0.0", 2, SETTINGS_SIMPLE}},
+    {"CEOpenRoad", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"CESignalLaneDetection", {PERSISTENT, BOOL, "1", "0", 2}},
     {"CESignalSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 2, SETTINGS_SIMPLE}},
     {"CESlowerLead", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
@@ -229,6 +248,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ConditionalExperimental", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"CurvatureData", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"CurveSpeedController", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
+    {"CurveSpeedControllerNoLead", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"CustomAlerts", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"CustomAccelProfile", {PERSISTENT, BOOL, "0", "0", 3}},
     {"CustomAccelProfileInitialized", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -266,7 +286,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"GalaxyDeveloperMode", {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, "9", "33", 1, SETTINGS_SIMPLE}},
+    {"DeviceShutdown", {PERSISTENT, INT, "6", "6", 1, SETTINGS_SIMPLE}},
     {"DisableOnroadUploads", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"DisableOpenpilotLongitudinal", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"DiscordUsername", {PERSISTENT, STRING, "", "", 0}},
@@ -284,11 +304,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"DownloadAllModels", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DownloadMaps", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"DriverCamera", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
-    {"Model", {PERSISTENT, STRING, "sc2", "sc2", 1}},
+    {"Model", {PERSISTENT, STRING, "rdf43", "rdf43", 1}},
-    {"ModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
+    {"ModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
-    {"DrivingModel", {PERSISTENT, STRING, "sc2", "sc2", 1}},
+    {"DrivingModel", {PERSISTENT, STRING, "rdf43", "rdf43", 1}},
-    {"DrivingModelName", {PERSISTENT, STRING, "South Carolina", "South Carolina", 1}},
+    {"DrivingModelName", {PERSISTENT, STRING, "Regret Driven Framework V4", "Regret Driven Framework V4", 1}},
-    {"DrivingModelVersion", {PERSISTENT, STRING, "v11", "v11", 1}},
+    {"DrivingModelVersion", {PERSISTENT, STRING, "v15", "v15", 1}},
     {"DynamicPathWidth", {PERSISTENT, BOOL, "0", "0", 2, SETTINGS_SIMPLE}},
     {"DynamicPedalsOnUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"EngageVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
@@ -324,9 +344,22 @@ 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}},
+    {"FordAngleHighSpeedFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    {"FordAngleLaneChangeFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    {"FordAngleLowSpeedFactor", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
+    {"FordCurvatureBlendHigh", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
+    {"FordCurvatureBlendLow", {PERSISTENT, FLOAT, "0.4", "0.4", 2}},
+    {"FordCurvatureLaneChangeFactor", {PERSISTENT, FLOAT, "0.85", "0.85", 2}},
+    {"FordHandsFreeCluster", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"FordHumanTurnDetection", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"FordLateralMode", {PERSISTENT, INT, "1", "1", 2}},
     {"FLMActiveOverrides", {PERSISTENT, JSON, "{}", "{}", 2}},
     {"FLMActiveProfileId", {PERSISTENT, STRING, "", "", 2}},
+    {"FLMSubmittedTune", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
     {"FLMTrialBaseline", {PERSISTENT | DONT_LOG, JSON, "{}", "{}"}},
     {"FLMTrialApplied", {PERSISTENT, BOOL, "0", "0", 2}},
     {"FPSCounter", {PERSISTENT, BOOL, "0", "0", 3}},
@@ -336,9 +369,14 @@ 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"}},
-    {"FrogsGoMoosTweak", {PERSISTENT, BOOL, "1", "0", 2}},
     {"GoatScream", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"GoatScreamCriticalAlerts", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
     {"GreenLightAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
@@ -371,13 +409,21 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"IssueReported", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
     {"KonikDongleId", {PERSISTENT, STRING, "", "", 0}},
     {"KonikMinutes", {PERSISTENT, INT, "0", "0", 0}},
+    {"LaneCentering", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"LaneCenteringPauseOnSignal", {PERSISTENT, BOOL, "1", "1", 2}},
+    {"LaneCenteringE2EAuthority", {PERSISTENT, FLOAT, "1.0", "1.0", 3}},
+    {"LaneCenterOffset", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"LaneChanges", {PERSISTENT, BOOL, "1", "1", 0, SETTINGS_SIMPLE}},
+    {"LaneChangeCloseGap", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"LaneChangeCloseGapSeconds", {PERSISTENT, FLOAT, "0.6", "0.6", 1, SETTINGS_SIMPLE}},
     {"LaneChangeSmoothing", {PERSISTENT, INT, "5", "10", 1, SETTINGS_SIMPLE}},
     {"LaneChangeTime", {PERSISTENT, FLOAT, "1.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"LaneDetectionWidth", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"LaneLinesColor", {PERSISTENT, STRING, "", "", 2, SETTINGS_SIMPLE}},
     {"LaneLinesWidth", {PERSISTENT, FLOAT, "4.0", "2.0", 2, SETTINGS_SIMPLE}},
     {"LastMapsUpdate", {PERSISTENT, STRING, "", ""}},
+    {"MapsDownloadProgress", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
+    {"MapsDownloadSizeCache", {PERSISTENT, STRING, "{}", "{}"}},
     {"LateralTune", {PERSISTENT, BOOL, "1", "0", 1}},
     {"LeadDepartingAlert", {PERSISTENT, BOOL, "0", "0", 0, SETTINGS_SIMPLE}},
     {"LeadDetectionThreshold", {PERSISTENT, INT, "35", "50", 3}},
@@ -415,6 +461,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
     {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
     {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"NavLanePositioningAllowed", {PERSISTENT, BOOL, "0", "0", 2}},
     {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
     {"ClearNavOnOffroad", {PERSISTENT, BOOL, "1", "1", 2, SETTINGS_SIMPLE}},
     {"ClearNavOnOffroadTimeoutMinutes", {PERSISTENT, INT, "0", "0", 2, SETTINGS_SIMPLE}},
@@ -439,6 +486,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"ModelDrivesAndScores", {PERSISTENT, JSON, "{}", "{}"}},
     {"ModelReleasedDates", {PERSISTENT, STRING, "", "", 1}},
     {"ModelRandomizer", {PERSISTENT, BOOL, "0", "0", 2}},
+    {"LatSmoothSeconds", {PERSISTENT, FLOAT, "0.1", "0.1", 3}},
+    {"LongSmoothSeconds", {PERSISTENT, FLOAT, "0.3", "0.3", 3}},
     {"ModelSortMode", {PERSISTENT, STRING, "alphabetical", "alphabetical", 1}},
     {"ModelToDownload", {CLEAR_ON_MANAGER_START, STRING, "", ""}},
     {"ModelUI", {PERSISTENT, BOOL, "1", "0", 2, SETTINGS_SIMPLE}},
@@ -466,7 +515,11 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"OnroadDistanceButtonPressed", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
     {"FavoriteVirtualAccelCruiseCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
     {"FavoriteVirtualDecelCruiseCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"FavoriteTrafficModeCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
     {"WheelButtonBookmarkCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlAOLCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlForceCoastCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
+    {"WheelControlPulseGlideCounter", {CLEAR_ON_MANAGER_START, INT, "0", "0"}},
     {"openpilotMinutes", {PERSISTENT, INT, "0", "0", 0}},
     {"OverpassRequests", {PERSISTENT, JSON, "{}", "{}"}},
     {"PathColor", {PERSISTENT, STRING, "", "", 2, SETTINGS_SIMPLE}},
@@ -478,12 +531,18 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"PauseLateralSpeed", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"LateralResumeDelay", {PERSISTENT, FLOAT, "0.0", "0.0", 1, SETTINGS_SIMPLE}},
     {"PedalsOnUI", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"PIPPreviewEnabled", {PERSISTENT, BOOL, "0", "0", 1}},
+    {"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}},
     {"PreviousSpeedLimit", {PERSISTENT, FLOAT, "0.0", "0.0"}},
     {"PromptDistractedVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
     {"PromptVolume", {PERSISTENT, INT, "101", "101", 2, SETTINGS_SIMPLE}},
+    {"PulseGlideSpeedDelta", {PERSISTENT, FLOAT, "5.0", "5.0", 3}},
     {"QOLLateral", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"QOLLongitudinal", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
     {"QOLVisuals", {PERSISTENT, BOOL, "1", "0", 0, SETTINGS_SIMPLE}},
@@ -509,7 +568,9 @@ 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"}},
     {"RecoveryPower", {PERSISTENT, FLOAT, "1.0", "1.0", 2}},
     {"RoadEdgesWidth", {PERSISTENT, FLOAT, "2.0", "2.0", 2, SETTINGS_SIMPLE}},
     {"RoadNameUI", {PERSISTENT, BOOL, "1", "0", 1, SETTINGS_SIMPLE}},
@@ -575,6 +636,8 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"VisionSpeedLimitAutoBookmark", {PERSISTENT, BOOL, "0", "0", 0}},
     {"VisionSpeedLimitAutoPreserveSegment", {PERSISTENT, BOOL, "0", "0", 0}},
     {"VisionSpeedLimitDetection", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"VisionSpeedLimitLowLimitFilter", {PERSISTENT, BOOL, "0", "0", 0}},
+    {"VisionSpeedLimitLowLimitThreshold", {PERSISTENT, INT, "25", "25", 0}},
     {"VisionSpeedLimitTrainingCollector", {PERSISTENT, BOOL, "1", "1", 0}},
     {"StandardFollow", {PERSISTENT, FLOAT, "1.45", "1.45", 2}},
     {"StandardFollowHigh", {PERSISTENT, FLOAT, "1.2", "1.2", 2}},
@@ -615,6 +678,8 @@ 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}},
+    {"SubaruAvhOnAtStartup", {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, "", ""}},
@@ -635,6 +700,7 @@ 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"}},
@@ -647,6 +713,16 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
     {"UseSI", {PERSISTENT, BOOL, "1", "1", 3}},
     {"UserFavorites", {PERSISTENT, STRING, "", "", 1}},
     {"UseVienna", {PERSISTENT, BOOL, "0", "0", 1, SETTINGS_SIMPLE}},
+    {"VASMAnnotationConfig", {PERSISTENT, JSON, "{}", "{}", 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}},
+    {"VASMLastUpdateMonoTime", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
+    {"VASMRightActive", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
+    {"VASMRightConfidence", {CLEAR_ON_MANAGER_START, STRING, "0.0", "0.0", 2}},
+    {"VASMSmoothSeconds", {PERSISTENT, FLOAT, "0.2", "0.2", 2}},
+    {"VASMTimestampEof", {CLEAR_ON_MANAGER_START, STRING, "0", "0", 2}},
     {"VEgoStarting", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"VEgoStartingStock", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},
     {"VEgoStopping", {PERSISTENT, FLOAT, "0.0", "0.0", 3}},

common/prefix.py

@@ -50,7 +50,10 @@ class OpenpilotPrefix:
     symlink_path = Params().get_param_path()
     if os.path.exists(symlink_path):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
-      os.remove(symlink_path)
+      # when the params path is a real directory rather than a symlink, rmtree above already
+      # removed it and there is no link left to unlink
+      if os.path.islink(symlink_path):
+        os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
     if PC:
       shutil.rmtree(Paths.log_root(), ignore_errors=True)

common/realtime.py

@@ -22,6 +22,7 @@ class Priority:
   # - modeld = 55
   # - camerad = 54
   CTRL_LOW = 51 # plannerd & radard
+  UI = 50
 
   # CORE 3
   # - pandad = 55

common/spinner.py

@@ -7,19 +7,6 @@ class Spinner:
   def __init__(self):
     self.spinner_proc = None
 
-    # Prefer the legacy compiled spinner on device.
-    legacy_spinner = os.path.join(BASEDIR, "selfdrive", "ui", "spinner")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_spinner) and os.access(legacy_spinner, os.X_OK):
-      try:
-        self.spinner_proc = subprocess.Popen([legacy_spinner],
-                                             stdin=subprocess.PIPE,
-                                             cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                             close_fds=True)
-        return
-      except OSError:
-        self.spinner_proc = None
-
-    # Raylib spinner requires Python deps from the repo virtualenv.
     spinner_cwd = os.path.join(BASEDIR, "system", "ui")
     venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
     python_exec = venv_python if os.path.isfile(venv_python) else "python3"

common/tests/test_file_chunker.py

@@ -1,3 +1,5 @@
+from pathlib import Path
+
 from openpilot.common import file_chunker
 
 
@@ -14,3 +16,19 @@ def test_chunked_stream_round_trip(tmp_path, monkeypatch):
   assert file_chunker.read_file_chunked(path) == payload
   with file_chunker.open_file_chunked(path) as stream:
     assert stream.read(9) + stream.read() == payload
+
+
+def test_unchunked_stream_does_not_materialize_file(tmp_path, monkeypatch):
+  path = tmp_path / "fat.onnx"
+  payload = b"large model read through bounded buffers"
+  path.write_bytes(payload)
+  original_read_bytes = Path.read_bytes
+
+  def reject_whole_file_read(candidate):
+    if candidate == path:
+      raise AssertionError("streaming must not call Path.read_bytes()")
+    return original_read_bytes(candidate)
+
+  monkeypatch.setattr(Path, "read_bytes", reject_whole_file_read)
+  with file_chunker.open_file_chunked(path) as stream:
+    assert stream.read() == payload

common/tests/test_lateral_only_experimental.py

@@ -0,0 +1,44 @@
+from types import SimpleNamespace
+
+from opendbc.car.hyundai.values import CAR as HYUNDAI_CAR
+
+from openpilot.starpilot.common.lateral_only_experimental import (
+  experimental_mode_available,
+  lateral_only_experimental_available,
+)
+
+
+def test_telluride_platform_allows_lateral_only_experimental_mode():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_PALISADE_2023,
+    openpilotLongitudinalControl=False,
+  )
+
+  assert lateral_only_experimental_available(CP)
+  assert experimental_mode_available(CP)
+
+
+def test_lateral_only_mode_does_not_expand_other_stock_acc_cars():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_SONATA,
+    openpilotLongitudinalControl=False,
+  )
+
+  assert not lateral_only_experimental_available(CP)
+  assert not experimental_mode_available(CP)
+
+  old_palisade = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_PALISADE,
+    openpilotLongitudinalControl=False,
+  )
+  assert not lateral_only_experimental_available(old_palisade)
+
+
+def test_normal_experimental_mode_remains_available_with_openpilot_long():
+  CP = SimpleNamespace(
+    carFingerprint=HYUNDAI_CAR.HYUNDAI_SONATA,
+    openpilotLongitudinalControl=True,
+  )
+
+  assert not lateral_only_experimental_available(CP)
+  assert experimental_mode_available(CP)

common/tests/test_params.py

@@ -50,11 +50,8 @@ class TestParams:
     assert self.params.get("CarParams", block=True) == b"test"
 
   def test_params_unknown_key_fails(self):
-    with pytest.raises(UnknownKeyName):
+    assert self.params.get("swag") is None
-      self.params.get("swag")
+    assert not self.params.get_bool("swag")
-
-    with pytest.raises(UnknownKeyName):
-      self.params.get_bool("swag")
 
     with pytest.raises(UnknownKeyName):
       self.params.put("swag", "abc")

common/text_window.py

@@ -9,18 +9,6 @@ class TextWindow:
   def __init__(self, text):
     self.text_proc = None
 
-    # Prefer the legacy compiled text window on device.
-    legacy_text = os.path.join(BASEDIR, "selfdrive", "ui", "text")
-    if os.path.isfile("/TICI") and os.path.isfile(legacy_text) and os.access(legacy_text, os.X_OK):
-      try:
-        self.text_proc = subprocess.Popen([legacy_text, text],
-                                          stdin=subprocess.PIPE,
-                                          cwd=os.path.join(BASEDIR, "selfdrive", "ui"),
-                                          close_fds=True)
-        return
-      except OSError:
-        self.text_proc = None
-
     text_cwd = os.path.join(BASEDIR, "system", "ui")
     venv_python = os.path.join(BASEDIR, ".venv", "bin", "python")
     python_exec = venv_python if os.path.isfile(venv_python) else "python3"

common/time_helpers.py

@@ -2,14 +2,18 @@ import datetime
 from pathlib import Path
 
 MIN_DATE = datetime.datetime(year=2025, month=2, day=21)
+MAX_DATE = datetime.datetime(year=2035, month=1, day=1)
+
+def _utc_now_naive():
+  return datetime.datetime.now(datetime.UTC).replace(tzinfo=None)
 
 def min_date():
   # on systemd systems, the default time is the systemd build time
   systemd_path = Path("/lib/systemd/systemd")
   if systemd_path.exists():
-    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime)
+    d = datetime.datetime.fromtimestamp(systemd_path.stat().st_mtime, datetime.UTC).replace(tzinfo=None)
     return max(MIN_DATE, d + datetime.timedelta(days=1))
   return MIN_DATE
 
 def system_time_valid():
-  return datetime.datetime.now() > min_date()
+  return min_date() < _utc_now_naive() < MAX_DATE

common/utils.py

@@ -5,7 +5,7 @@ import contextlib
 import subprocess
 import time
 import functools
-from subprocess import Popen, PIPE, TimeoutExpired
+from subprocess import Popen, PIPE, STDOUT, TimeoutExpired
 import zstandard as zstd
 from openpilot.common.swaglog import cloudlog
 
@@ -87,16 +87,20 @@ def run_cmd_default(cmd: list[str], default: str = "", cwd=None, env=None) -> st
 
 @contextlib.contextmanager
 def managed_proc(cmd: list[str], env: dict[str, str]):
-  proc = Popen(cmd, env=env, stdout=PIPE, stderr=PIPE)
+  # capture output to a temp file rather than a pipe. nothing drains the pipe while the process
-  try:
+  # runs, so a long lived, chatty child would eventually fill the pipe buffer and block forever.
-    yield proc
+  with tempfile.TemporaryFile() as log_file:
-  finally:
+    proc = Popen(cmd, env=env, stdout=log_file, stderr=STDOUT)
-    if proc.poll() is None:
+    proc.log_file = log_file
-      proc.terminate()
     try:
-      proc.wait(timeout=5)
+      yield proc
-    except TimeoutExpired:
+    finally:
-      proc.kill()
+      if proc.poll() is None:
+        proc.terminate()
+      try:
+        proc.wait(timeout=5)
+      except TimeoutExpired:
+        proc.kill()
 
 
 def retry(attempts=3, delay=1.0, ignore_failure=False):

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.10.3"
+#define COMMA_VERSION "0.11.2"

conftest.py

@@ -8,6 +8,15 @@ from pathlib import Path
 import pytest
 
 
+try:
+  int(os.environ.get("DEBUG", "0"))
+except ValueError:
+  os.environ["DEBUG"] = "0"
+
+if platform.system() == "Darwin":
+  os.environ["SP_HEADLESS_TEST"] = "1"
+
+
 def _prepend_host_pytest_runtime() -> None:
   if platform.system() != "Darwin" or os.getenv("SP_DISABLE_HOST_PYTEST_REDIRECT") == "1":
     return
@@ -89,8 +98,7 @@ def openpilot_function_fixture(request):
       # ensure the test doesn't change the prefix
       assert "OPENPILOT_PREFIX" in os.environ and prefix == os.environ["OPENPILOT_PREFIX"]
 
-    # cleanup any started processes
+      manager.manager_cleanup()
-    manager.manager_cleanup()
 
     # some processes disable gc for performance, re-enable here
     if not gc.isenabled():
@@ -118,6 +126,9 @@ def tici_setup_fixture(request, openpilot_function_fixture):
 @pytest.hookimpl(tryfirst=True)
 def pytest_collection_modifyitems(config, items):
   skipper = pytest.mark.skip(reason="Skipping tici test on PC")
+  darwin_fake_event_skipper = pytest.mark.skip(reason="Fake socket events are unavailable on macOS")
+  darwin_tmpfs_skipper = pytest.mark.skip(reason="tmpfs mount tests require Linux")
+  darwin_proxy_skipper = pytest.mark.skip(reason="Athena local proxy socket test requires Linux select semantics")
   for item in items:
     if "tici" in item.keywords:
       if not TICI:
@@ -130,6 +141,15 @@ def pytest_collection_modifyitems(config, items):
       class_property_value = getattr(item.cls, class_property_name)
       item.add_marker(pytest.mark.xdist_group(class_property_value))
 
+    if platform.system() == "Darwin" and item.path.name in ("test_fuzzy.py", "test_processes.py") and "process_replay" in item.path.parts:
+      item.add_marker(darwin_fake_event_skipper)
+
+    if platform.system() == "Darwin" and item.path.name == "test_git.py" and "updated" in item.path.parts:
+      item.add_marker(darwin_tmpfs_skipper)
+
+    if platform.system() == "Darwin" and item.name == "test_start_local_proxy" and "athena" in item.path.parts:
+      item.add_marker(darwin_proxy_skipper)
+
 
 @pytest.hookimpl(trylast=True)
 def pytest_configure(config):

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
+# 453 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|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|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|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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|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|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|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>|||
+|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>|||
-|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>||
+|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>|||
-|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>|||
+|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 Harness)|Redneck ACC|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-II connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chevrolet Volt No-ACC 2016-18 (OBD Harness)">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2017-18">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2019-20">Buy Here</a></sub></details>|||
 |Chrysler|Pacifica 2021-23|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Chrysler Pacifica 2021-23">Buy Here</a></sub></details>|||
 |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|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|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|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 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|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 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|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 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|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|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|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 Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Ford Q3 connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Ford Kuga Hybrid 2020-23">Buy Here</a></sub></details>|||
+|Ford|Kuga 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 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|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 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|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 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|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 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>||
+|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>|||
-|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>||
+|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>|||
-|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>|||
+|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>||
-|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>|||
+|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>||
-|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>|||
+|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>||
-|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>|||
+|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 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</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 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</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 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</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 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</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 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</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 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</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 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</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 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 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|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 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</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 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|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Bosch C connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Honda CR-V Hybrid 2023-25">Buy Here</a></sub></details>|||
+|Honda|CR-V Hybrid 2023-25|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</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|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|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</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|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</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|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</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|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>|||
@@ -215,44 +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 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|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>|||
+|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>1,14</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|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>1,14</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>||
+|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>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>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>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>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>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>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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|
+|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|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>|
+|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>|
-|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>|||
+|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>|||
-|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>|||
+|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>|
-|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>|||
+|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>|||
-|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>||
+|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>|||
-|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>|||
+|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|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|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|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|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|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|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|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|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|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|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|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|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|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>|||
+|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>|||
-|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)|||
+|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>|||
-|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)|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>|||
-|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>|||
+|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>||
-|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)|||
+|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|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>|||
+|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>|||
-|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>|||
+|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>|||
-|Tesla[<sup>9</sup>](#footnotes)|Model 3 (with HW4) 2024-25[<sup>8</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Tesla B connector<br>- 1 USB-C coupler<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Tesla Model 3 (with HW4) 2024-25">Buy Here</a></sub></details>|||
+|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)|||
-|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>|||
+|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)|||
-|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>|||
+|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>|||
@@ -265,8 +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 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>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 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>|||
@@ -298,62 +419,91 @@ 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 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>1,14</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 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>1,14</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 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>1,14</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|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>1,14</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 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>1,14</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|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>1,14</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|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>1,14</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|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>1,14</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|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>1,14</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|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>1,14</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-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>1,14</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|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>1,14</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 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>1,14</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 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>1,14</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 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>1,14</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 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>1,14</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 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>1,14</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 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>1,14</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|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>1,14</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|Grand California 2019-24|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,15</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 USB-C coupler<br>- 1 VW J533 connector<br>- 1 comma four<br>- 1 harness box<br>- 1 long OBD-C cable (9.5 ft)<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Volkswagen Grand California 2019-24">Buy Here</a></sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>||
-|Volkswagen|Jetta 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,14</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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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|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.
+
+# 17 Community Cars
+
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|Setup Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|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|Ray EV 2025|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Ray EV 2025">Buy Here</a></sub></details>|||
+|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 OBD-C cable (2 ft)<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Kia Seltos Non-SCC 2023-24">Buy Here</a></sub></details>|||
+|Tesla|Model S (Pre-AP) 2012-14|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None|||
+|Toyota|Matrix Retrofit 2005|Custom retrofit|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 OBD-C cable (2 ft)<br>- 1 Toyota A connector<br>- 1 comma four<br>- 1 comma power v3<br>- 1 harness box<br>- 1 mount<br><a href="https://comma.ai/shop/comma-3x?harness=Toyota Matrix Retrofit 2005">Buy Here</a></sub></details>|||
+|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>5</sup>Enabling longitudinal control (alpha) will disable all CMBS functionality, including AEB and FCW. <br />
-<sup>6</sup>In the non-US market, openpilot requires the car to come equipped with EyeSight with Lane Keep Assistance. <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>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <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>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>8</sup>Enabling longitudinal control (alpha) will disable all EyeSight functionality, including AEB, LDW, and RAB. <br />
-<sup>9</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <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>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>10</sup>See more setup details for <a href="https://github.com/commaai/openpilot/wiki/tesla" target="_blank">Tesla</a>. <br />
-<sup>11</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <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>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>12</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <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>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>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>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>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />
+<sup>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 />
-## 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/).
 
 # Don't see your car here?
 

docs/MODEL_REBUILD.md

@@ -4,8 +4,8 @@ This workflow rebuilds StarPilot driving and driver-monitoring artifacts for the
 
 ## Safety
 
-- The supported build device is `comma@192.168.3.110`.
+- The supported build device is `comma@192.168.3.109`.
-- Never run these commands against `192.168.3.109`.
+- Never run these commands against `192.168.3.110`.
 - Normal artifacts target QCOM. External-GPU artifacts must be compiled explicitly and tagged in the manifest.
 - Keep source ONNX files and compiled PKLs on the T5 workspace, not the comma.
 
@@ -26,7 +26,8 @@ Important directories:
 - Oversized models are represented by repository-safe `.p00`, `.p01`, and `.sha256` files in `ready-for-resources/`.
 - `logs/`: one remote compilation log per model.
 - `results/`: source and artifact checksum records.
-- `manifests/`: generated `model_names_v22.json`.
+- `manifests/`: source `model_names_v22.json` and namespaced release `model_names_v23.json`.
+- The v23 manifest and compiled artifacts are published together in the resource repository's `Models` branch.
 
 ## Initialize And Extract
 
@@ -46,7 +47,10 @@ python3 scripts/model_rebuild_pipeline.py extract \
   --base-manifest /path/to/model_names_v21.json
 ```
 
-Source commits are defined in `scripts/model_source_map_v22.json`.
+The original catalog sources are defined in `scripts/model_source_map_v22.json`.
+Recovered late-model and supercombo sources, including RDF2, are defined in
+`scripts/model_source_map_v23.json`. The v23 map is intentionally separate so
+adding a recovered iteration cannot alter the older model source history.
 
 ## Compile
 
@@ -65,7 +69,7 @@ python3 scripts/model_rebuild_pipeline.py compile \
   --base-manifest /path/to/model_names_v21.json
 ```
 
-Existing artifacts are skipped unless `--force` is passed. Each model is staged in its own remote input directory, compiled on `.110`, copied back to the T5, hashed, and copied into `ready-for-resources/`. Failures are written to `results/<id>_failure.json`; rerunning the same command resumes incomplete models.
+Existing artifacts are skipped unless `--force` is passed. Each model is staged in its own remote input directory, compiled on `.109`, copied back to the T5, hashed, and copied into `ready-for-resources/`. Failures are written to `results/<id>_failure.json`; rerunning the same command resumes incomplete models.
 
 Validate one or all completed artifacts with synthetic camera inputs on QCOM:
 
@@ -88,6 +92,12 @@ For a model that cannot run on the device GPU, compile with the USB AMD GPU atta
 ./models --lebowski --gpu
 ```
 
+The ASM2464PD bridge must run the current tinygrad custom firmware from
+https://github.com/tinygrad/asm2464pd-firmware. Its USB product string starts
+with `custom`; the legacy `USB 3.2 PCIe TinyEnclosure` patch is not compatible
+with comma's current external-GPU runtime. Firmware flashing is a separate,
+explicit hardware setup step and StarPilot never performs it automatically.
+
 The dynamic flag (`--lebowski` above) sets the output and manifest model ID;
 when only one source model is staged, its ONNX filename does not need to match
 that ID. Input format and behavior version are inferred. `--external-gpu`
@@ -149,15 +159,51 @@ All four files must be updated together.
 
 ## Manifest
 
-Generate v22 after compilation:
+The current test branch uses manifest v25 and requests v25 only. Seed the new
+manifest from the previous catalog, then replace entries as artifacts are
+rebuilt with the pinned runtime:
+
+```bash
+cp /path/to/model_names_v24.json /path/to/model_names_v25.json
+```
+
+The current tinygrad pin is `f6fc4e3f2c3db5fae1e19cbfbc3ad9fc579a12ae`, from
+`openpilot` `origin/master` (`bump tg + TC_MIN_GLOBALS`). StarPilot's
+multi-model `modeld` remains in place; do not replace it with upstream's
+single-model `modeld`.
+
+For the older namespace migration workflow, generate the base manifest after
+compilation and namespace the release artifacts as v23:
 
 ```bash
 python3 scripts/model_rebuild_pipeline.py manifest \
   --base-manifest /path/to/model_names_v21.json
 ```
 
-The generator preserves existing IDs and behavioral metadata and adds
+```bash
-`deeprl3v2`. Manifest v22 implies the unified single-PKL runtime layout.
+python3 scripts/namespace_model_artifacts.py \
+  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22 \
+  --base-manifest /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22/manifests/model_names_v22.json \
+  --manifest-version v23 --suffix 3
+```
+
+The namespace command changes IDs such as `tr1422` to `tr14223`, renames the
+compiled and upload-ready files, and writes an ID map. It preserves display
+names and behavioral versions. The current model manager requests v25 only; the
+manifest is fetched from `Models/model_names_v25.json`. Devices still running
+the prior branch continue to request their existing manifest version.
+
+After importing newly compiled sources, normalize the release namespace before
+copying files into either resource repository:
+
+```bash
+python3 scripts/reconcile_v23_artifacts.py \
+  --workspace /Volumes/T5/StarPilot-Model-Rebuild-2026-06-22
+```
+
+This maps recovered source IDs to their v23 release IDs, removes duplicate
+macOS metadata files, and adds `rdf23` for Regret Driven Framework V2. It does
+not overwrite a conflicting artifact.
 Repository-hosted multipart files are discovered by naming convention, so no
 size, hash, format, or part-count metadata is required.
 
@@ -171,6 +217,6 @@ Compilation validates JIT capture/replay, pickle round-trip, finite outputs, met
 2. Confirm `modeld` stays running.
 3. Confirm finite `modelV2` path, lane-line, lead, pose, and action data.
 4. Confirm `driverStateV2` on both supported camera resolutions.
-5. Test download, selection, deletion, randomization, migration, and fallback in QT, raylib/mici, and Galaxy.
+5. Test download, selection, deletion, randomization, migration, and fallback in both device UIs and Galaxy.
 
-The built-in South Carolina artifact is `selfdrive/modeld/models/driving_tinygrad.pkl`. If migration cannot download the selected v22 artifact, StarPilot switches to that built-in model.
+The built-in RDF artifact is `selfdrive/modeld/models/driving_tinygrad.pkl`. If migration cannot download the selected v25 artifact, StarPilot switches to that built-in model.

docs/contributing/contribute.md

@@ -48,7 +48,7 @@ Use `./dev` for host-native tools. It creates and reuses an isolated environment
 ./dev shell
 ```
 
-For desktop UI work, use `./c3`, `./c4`, or `./raybig`. These commands use the same isolated host environment.
+For desktop UI work, use `./c3` or `./c4`. These commands use the same isolated host environment.
 
 Use `./build` when you need comma-compatible device artifacts. This is the expected validation for changes that affect compiled device code or runtime behavior:
 

docs/how-to/laptop-device-build.md

@@ -2,7 +2,7 @@
 
 This flow builds **device-target (`larch64`) binaries on your laptop** using a Linux/aarch64 container and a synced comma sysroot.
 
-For the full StarPilot branch workflow, including host-native shorthand tools such as `./dev`, `./c3`, `./c4`, and `./raybig`, see the [StarPilot development guide](https://github.com/firestar5683/StarPilot/blob/Dom/tools/STARPILOT_DEVELOPMENT.md).
+For the full StarPilot branch workflow, including host-native shorthand tools such as `./dev`, `./c3`, and `./c4`, see the [StarPilot development guide](https://github.com/firestar5683/StarPilot/blob/Dom/tools/STARPILOT_DEVELOPMENT.md).
 
 ## Prerequisites
 
@@ -71,10 +71,10 @@ This runs:
   - `SP_TICI_SYSROOT=/opt/tici-sysroot`
 - `touch prebuilt`
 
-To run `scons` targets explicitly in the same device-compatible environment:
+To run SCons targets explicitly in the same device-compatible environment:
 
 ```bash
-scripts/laptop_device_build.sh scons selfdrive/ui/ui
+scripts/laptop_device_build.sh scons common/params_pyx.so
 ```
 
 On macOS, once `.comma_sysroot` is present, plain `scons ...` auto-routes to this containerized device build.
@@ -112,7 +112,6 @@ Preferred host-side shorthand commands on this branch:
 ```bash
 ./c3
 ./c4
-./raybig
 ./dev replay
 ./dev cabana
 ./dev plotjuggler
@@ -120,10 +119,9 @@ Preferred host-side shorthand commands on this branch:
 
 These commands use the isolated `.host_runtime` cache so host-native artifacts do not churn the main tree.
 
-Legacy direct script entrypoints still exist if needed:
+Direct script entrypoints are also available:
 
 ```bash
-scripts/launch_ui_desktop.sh
+scripts/launch_ui_c3_desktop.sh
 scripts/launch_ui_c4_desktop.sh
-scripts/launch_ui_raybig_desktop.sh
 ```

launch_chffrplus.sh

@@ -51,8 +51,6 @@ function agnos_init {
   # StarPilot variables
   sudo chmod 0777 /cache
 
-  sudo rm -f /data/misc/display/color_cal/color_cal /data/misc/display/color_cal/source.sha256
-
   # Check if AGNOS update is required
   AGNOS_CURRENT_VERSION="$(< /VERSION)"
   AGNOS_UPDATE_REQUIRED=1
@@ -149,86 +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
-
-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_files = [
-  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",
-  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_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 $DIR/prebuilt ] && ! prebuilt_runtime_compatible; then
+  # Published trees carry this marker and must never compile on-device.
-    echo "Prebuilt runtime artifacts are incompatible on this device; rebuilding locally."
+  # Developers can remove it explicitly when working from a source tree.
-    USE_PREBUILT=0
+  if [ ! -f "$DIR/prebuilt" ]; then
-  fi
-  sp_launch_timing "prebuilt_compat_done"
-
-  if [ "$USE_PREBUILT" != "1" ] || [ ! -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="12.8.28"
+  export AGNOS_VERSION="19.6.16"
 fi
 
 if [ -z "$AGNOS_ACCEPTED_VERSIONS" ]; then

modelgrab

@@ -0,0 +1,5 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+exec python3 "$DIR/scripts/model_release.py" "$@"

msgq_repo/msgq/impl_zmq.cc

@@ -21,6 +21,9 @@ static size_t fnv1a_hash(const std::string &str) {
 
 static std::string namespaced_endpoint(std::string endpoint) {
     const char *namespace_env = std::getenv("OPENPILOT_ZMQ_NAMESPACE");
+    if (namespace_env == nullptr || namespace_env[0] == '\0') {
+        namespace_env = std::getenv("OPENPILOT_PREFIX");
+    }
     if (namespace_env != nullptr && namespace_env[0] != '\0') {
         endpoint = std::string(namespace_env) + ":" + endpoint;
     }

msgq_repo/msgq/ipc.cc

@@ -15,10 +15,6 @@ const bool MUST_USE_ZMQ = false;
 
 bool messaging_use_zmq(){
   if (std::getenv("ZMQ") || MUST_USE_ZMQ) {
-    if (std::getenv("OPENPILOT_PREFIX")) {
-      std::cerr << "OPENPILOT_PREFIX not supported with ZMQ backend\n";
-      assert(false);
-    }
     return true;
   }
   return false;

opendbc_repo/docs/CARS.md

@@ -1,24 +1,36 @@
 <!--- AUTOGENERATED FROM selfdrive/car/CARS_template.md, DO NOT EDIT. --->
 
-# Support Information for 384 Known Cars
+# Support Information for 518 Known Cars
 
 |Make|Model|Package|Support Level|
 |---|---|---|:---:|
+|Acura|ADX 2025-26|All|[Upstream](#upstream)|
 |Acura|ILX 2016-18|Technology Plus Package or AcuraWatch Plus|[Upstream](#upstream)|
 |Acura|ILX 2019|All|[Upstream](#upstream)|
 |Acura|Integra 2023-25|All|[Community](#community)|
+|Acura|Integra 2023-26|All|[Upstream](#upstream)|
+|Acura|MDX 2014-16|Advance Package|[Upstream](#upstream)|
 |Acura|MDX 2015-16|Advance Package|[Community](#community)|
+|Acura|MDX 2017-19|All|[Upstream](#upstream)|
 |Acura|MDX 2017-20|All|[Community](#community)|
+|Acura|MDX 2020|All|[Upstream](#upstream)|
+|Acura|MDX 2022-24|All|[Upstream](#upstream)|
 |Acura|MDX 2022-24|All|[Community](#community)|
 |Acura|MDX 2025|All except Type S|[Upstream](#upstream)|
+|Acura|MDX Hybrid 2017-19|All|[Upstream](#upstream)|
+|Acura|MDX Hybrid 2020|All|[Upstream](#upstream)|
 |Acura|RDX 2016-18|AcuraWatch Plus or Advance Package|[Upstream](#upstream)|
 |Acura|RDX 2019-21|All|[Upstream](#upstream)|
 |Acura|RDX 2022-25|All|[Community](#community)|
+|Acura|RDX 2022-26|All|[Upstream](#upstream)|
 |Acura|RLX 2017|Advance Package or Technology Package|[Community](#community)|
+|Acura|TLX 2015-17|Advance Package|[Upstream](#upstream)|
 |Acura|TLX 2015-17|Advance Package|[Community](#community)|
+|Acura|TLX 2018-20|All|[Upstream](#upstream)|
 |Acura|TLX 2018-20|All|[Community](#community)|
 |Acura|TLX 2021|All|[Upstream](#upstream)|
 |Acura|TLX 2022-23|All|[Community](#community)|
+|Acura|TLX 2024-25|All|[Upstream](#upstream)|
 |Acura|ZDX 2024|All|[Not compatible](#can-bus-security)|
 |Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
@@ -26,14 +38,54 @@
 |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|[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)|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim, without Super Cruise Package|[Upstream](#upstream)|
+|Buick|Baby Enclave 2020-23|Driver Assist Package|[Upstream](#upstream)|
-|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|[Upstream](#upstream)|
+|Buick|LaCrosse 2017-19|Driver Confidence Package 2|[Upstream](#upstream)|
+|Buick|LaCrosse ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Buick|LaCrosse US ASCM Harness 2019|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Buick|Regal Essence 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|ATS Premium Performance 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|CT6 No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|Escalade 2017|Driver Assist Package|[Upstream](#upstream)|
+|Cadillac|Escalade ASCM Harness 2018|Driver Assist Package|[Upstream](#upstream)|
+|Cadillac|Escalade ESV 2016|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|Cadillac|Escalade ESV 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|Cadillac|Escalade ESV Platinum ASCM Harness 2019|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|Cadillac|XT4 2023|Driver Assist Package|[Upstream](#upstream)|
+|Cadillac|XT4 No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|XT5 2022|Driver Assist Package|[Upstream](#upstream)|
+|Cadillac|XT5 No-ACC 2022|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Cadillac|XT6 2020|Driver Assist Package|[Upstream](#upstream)|
+|Chevrolet|Blazer 2019-25|Driver Assist Package|[Upstream](#upstream)|
+|Chevrolet|Bolt EV & EUV ACC 2022-23|Premier or Premier Redline Trim without Super Cruise Package|[Upstream](#upstream)|
+|Chevrolet|Bolt EV & EUV ACC w Pedal 2022-23|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Bolt EV & EUV No-ACC 2022-23|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Bolt EV No-ACC 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Bolt EV No-ACC 2018-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Equinox 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Equinox No-ACC 2019-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Malibu 2019|SDGM Harness (Optional SASCM)|[Upstream](#upstream)|
+|Chevrolet|Malibu ASCM Harness 2017-19|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Malibu Hybrid No-ACC 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Malibu No-ACC 2023|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Malibu Premier 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Silverado 1500 2020-21|Safety Package II|[Upstream](#upstream)|
+|Chevrolet|Silverado 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Suburban Premier 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Suburban Premier No-ACC 2016-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Trailblazer No-ACC 2021-22|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Traverse 2022-23|RS, Premier, or High Country Trim|[Upstream](#upstream)|
+|Chevrolet|TRAX 2024-25|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Chevrolet|Volt 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|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 2016-18 (OBD Harness)|Redneck ACC|[Upstream](#upstream)|
 |Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Chrysler|Pacifica 2021-23|All|[Upstream](#upstream)|
@@ -41,8 +93,10 @@
 |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|[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)|
 |Ford|Escape 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape 2023-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|Escape Hybrid 2020-22|Co-Pilot360 Assist+|[Upstream](#upstream)|
@@ -54,8 +108,9 @@
 |Ford|Explorer Hybrid 2020-24|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Ford|F-150 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
 |Ford|F-150 Hybrid 2021-23|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
-|Ford|Focus 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|F-150 Lightning 2022-25|Co-Pilot360 Assist 2.0|[Upstream](#upstream)|
-|Ford|Focus Hybrid 2018|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Focus 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Focus Hybrid 2018-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2020-23|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Kuga Hybrid 2024|All|[Upstream](#upstream)|
@@ -65,11 +120,14 @@
 |Ford|Maverick 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2022|LARIAT Luxury|[Upstream](#upstream)|
 |Ford|Maverick Hybrid 2023-24|Co-Pilot360 Assist|[Upstream](#upstream)|
+|Ford|Mondeo 2014-22|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
 |Ford|Mustang Mach-E 2021-24|All|[Upstream](#upstream)|
 |Ford|Ranger 2024|Adaptive Cruise Control with Lane Centering|[Upstream](#upstream)|
+|Ford|Transit 2025|Co-Pilot360 Assist+|[Upstream](#upstream)|
 |Genesis|G70 2018|All|[Upstream](#upstream)|
 |Genesis|G70 2019-21|All|[Upstream](#upstream)|
 |Genesis|G70 2022-23|All|[Upstream](#upstream)|
+|Genesis|G70 Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Genesis|G80 2017|All|[Upstream](#upstream)|
 |Genesis|G80 2018-19|All|[Upstream](#upstream)|
 |Genesis|G80 (2.5T Advanced Trim, with HDA II) 2024|Highway Driving Assist II|[Upstream](#upstream)|
@@ -78,14 +136,24 @@
 |Genesis|GV60 (Performance Trim) 2022-23|All|[Upstream](#upstream)|
 |Genesis|GV70 (2.5T Trim, without HDA II) 2022-24|All|[Upstream](#upstream)|
 |Genesis|GV70 (3.5T Trim, without HDA II) 2022-23|All|[Upstream](#upstream)|
+|Genesis|GV70 Electrified 2026|All|[Upstream](#upstream)|
 |Genesis|GV70 Electrified (Australia Only) 2022|All|[Upstream](#upstream)|
 |Genesis|GV70 Electrified (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Genesis|GV80 2023|All|[Upstream](#upstream)|
+|Genesis|GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
+|Genesis|GV80 Coupe (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
+|GMC|Acadia 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|GMC|Acadia ASCM Harness 2018|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |GMC|Sierra 1500 2020-21|Driver Alert Package II|[Upstream](#upstream)|
-|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Dashcam mode](#dashcam)|
+|GMC|Sierra 1500 No-ACC 2020-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|GMC|Yukon 2019-20|Adaptive Cruise Control (ACC) & LKAS|[Upstream](#upstream)|
+|GMC|Yukon No-ACC 2019-20|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Holden|Astra 2017|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
+|Honda|Accord 2016-17|Honda Sensing|[Upstream](#upstream)|
 |Honda|Accord 2016-17|Honda Sensing|[Community](#community)|
 |Honda|Accord 2018-22|All|[Upstream](#upstream)|
 |Honda|Accord 2023-25|All|[Upstream](#upstream)|
+|Honda|Accord Hybrid 2017|All|[Upstream](#upstream)|
 |Honda|Accord Hybrid 2018-22|All|[Upstream](#upstream)|
 |Honda|Accord Hybrid 2023-25|All|[Upstream](#upstream)|
 |Honda|City (Brazil only) 2023|All|[Upstream](#upstream)|
@@ -98,6 +166,7 @@
 |Honda|Civic Hatchback Hybrid 2025-26|All|[Upstream](#upstream)|
 |Honda|Civic Hatchback Hybrid (Europe only) 2023|All|[Upstream](#upstream)|
 |Honda|Civic Hybrid 2025-26|All|[Upstream](#upstream)|
+|Honda|Clarity 2018-21|All|[Upstream](#upstream)|
 |Honda|Clarity 2018-21|All|[Community](#community)|
 |Honda|CR-V 2015-16|Touring Trim|[Upstream](#upstream)|
 |Honda|CR-V 2017-22|Honda Sensing|[Upstream](#upstream)|
@@ -106,6 +175,8 @@
 |Honda|CR-V Hybrid 2023-25|All|[Upstream](#upstream)|
 |Honda|e 2020|All|[Upstream](#upstream)|
 |Honda|Fit 2018-20|Honda Sensing|[Upstream](#upstream)|
+|Honda|Fit (Taiwan) 2021|All|[Upstream](#upstream)|
+|Honda|Fit (Taiwan) 2024-25|All|[Upstream](#upstream)|
 |Honda|Freed 2020|Honda Sensing|[Upstream](#upstream)|
 |Honda|HR-V 2019-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|HR-V 2023-25|All|[Upstream](#upstream)|
@@ -114,27 +185,40 @@
 |Honda|N-Box 2018|All|[Upstream](#upstream)|
 |Honda|Odyssey 2018-20|Honda Sensing|[Upstream](#upstream)|
 |Honda|Odyssey 2021-26|All|[Upstream](#upstream)|
+|Honda|Odyssey (Singapore) 2021|Honda Sensing|[Upstream](#upstream)|
+|Honda|Odyssey (Taiwan) 2018-19|Honda Sensing|[Upstream](#upstream)|
 |Honda|Passport 2019-25|All|[Upstream](#upstream)|
 |Honda|Passport 2026|All|[Upstream](#upstream)|
 |Honda|Pilot 2016-22|Honda Sensing|[Upstream](#upstream)|
 |Honda|Pilot 2023-25|All|[Upstream](#upstream)|
+|Honda|Prelude 2026|All|[Upstream](#upstream)|
 |Honda|Prologue 2024-25|All|[Not compatible](#can-bus-security)|
 |Honda|Ridgeline 2017-25|Honda Sensing|[Upstream](#upstream)|
 |Hyundai|Azera 2022|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2019|All|[Upstream](#upstream)|
 |Hyundai|Azera Hybrid 2020|All|[Upstream](#upstream)|
+|Hyundai|Azera Hybrid (with HDA II & LFA2) 2025|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
+|Hyundai|Bayon Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Custin 2023|All|[Upstream](#upstream)|
 |Hyundai|Elantra 2017-18|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Elantra 2024-25|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra GT 2017-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Elantra Hybrid 2024-26|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Elantra Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
+|Hyundai|Elantra Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|i30 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|i30 Hybrid 2024|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (Southeast Asia and Europe only) 2022-24|All|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Hyundai|Ioniq 5 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
+|Hyundai|Ioniq 5 N (with HDA II) 2024|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Ioniq 5 PE (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
 |Hyundai|Ioniq 6 (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
+|Hyundai|Ioniq 9 (with HDA II & LFA2) 2025-26|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Ioniq Electric 2020|All|[Upstream](#upstream)|
 |Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
@@ -143,40 +227,68 @@
 |Hyundai|Ioniq Plug-in Hybrid 2020-22|All|[Upstream](#upstream)|
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona 2022-23|Smart Cruise Control (SCC)|[Dashcam mode](#dashcam)|
+|Hyundai|Kona (without HDA II) 2024-25|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Electric (without HDA II) 2024|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Electric Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Hybrid (without HDA II) 2024|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Kona Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Hyundai|Nexo 2021|All|[Upstream](#upstream)|
 |Hyundai|Palisade 2020-22|All|[Upstream](#upstream)|
-|Hyundai|Palisade 2023-24|HDA2|[Community](#community)|
+|Hyundai|Palisade 2023-25|HDA2|[Community](#community)|
+|Hyundai|Palisade (with HDA II) 2023-25|Highway Driving Assist II|[Upstream](#upstream)|
+|Hyundai|Palisade (without HDA II) 2023-25|Highway Driving Assist|[Upstream](#upstream)|
 |Hyundai|Santa Cruz 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Hyundai|Santa Cruz (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2019-20|All|[Upstream](#upstream)|
 |Hyundai|Santa Fe 2021-23|All|[Upstream](#upstream)|
 |Hyundai|Santa Fe Hybrid 2022-23|All|[Upstream](#upstream)|
+|Hyundai|Santa Fe Hybrid (with HDA II & LFA2) 2024-25|Highway Driving Assist II & Lane Follow Assist 2|[Upstream](#upstream)|
+|Hyundai|Santa Fe Hybrid (without HDA II, LFA2) 2025-26|Lane Follow Assist 2|[Upstream](#upstream)|
 |Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|[Upstream](#upstream)|
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Sonata 2020-23|All|[Upstream](#upstream)|
+|Hyundai|Sonata (without HDA II) 2024-25|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Sonata Hybrid 2020-23|All|[Upstream](#upstream)|
+|Hyundai|Sonata Hybrid (without HDA II) 2024-25|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Staria 2023|All|[Upstream](#upstream)|
 |Hyundai|Tucson 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Tucson 2022|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Tucson 2023-24|All|[Upstream](#upstream)|
+|Hyundai|Tucson (without HDA II) 2025-26|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Tucson Hybrid 2022-24|All|[Upstream](#upstream)|
+|Hyundai|Tucson Hybrid (without HDA II) 2025-26|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Tucson Plug-in Hybrid 2024|All|[Upstream](#upstream)|
+|Hyundai|Tucson Plug-in Hybrid (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|[Upstream](#upstream)|
 |Kia|Carnival 2022-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Carnival 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Carnival (China only) 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Carnival (with HDA II) 2025|Highway Driving Assist II|[Upstream](#upstream)|
+|Kia|Carnival Hybrid 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Carnival Hybrid 2026|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Carnival Hybrid (with HDA II) 2025-26|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|Ceed 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Ceed Plug-in Hybrid Non-SCC 2022|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Kia|EV6 (Southeast Asia only) 2022-24|All|[Upstream](#upstream)|
+|Kia|EV6 (with HDA I) 2025|Highway Driving Assist I|[Upstream](#upstream)|
 |Kia|EV6 (with HDA II) 2022-24|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|EV6 (without HDA II) 2022-24|Highway Driving Assist|[Upstream](#upstream)|
+|Kia|EV9 2025-26|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Forte 2022-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Forte Non-SCC 2019|No Smart Cruise Control (Non-SCC)|[Community](community)|
+|Kia|Forte Non-SCC 2021|No Smart Cruise Control (Non-SCC)|[Community](community)|
+|Kia|K4 (with HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|K4 (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 2021-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|K5 (without HDA II) 2025|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|K8 Hybrid (with HDA II) 2023|Highway Driving Assist II|[Upstream](#upstream)|
 |Kia|Niro EV 2019|All|[Upstream](#upstream)|
@@ -198,17 +310,25 @@
 |Kia|Optima Hybrid 2017|Advanced Smart Cruise Control|[Dashcam mode](#dashcam)|
 |Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Seltos Non-SCC 2023-24|No Smart Cruise Control (Non-SCC)|[Community](community)|
 |Kia|Sorento 2018|Advanced Smart Cruise Control & LKAS|[Upstream](#upstream)|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Sorento 2021-23|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Sorento (without HDA II) 2024-25|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Sorento Hybrid 2021-23|All|[Upstream](#upstream)|
+|Kia|Sorento Hybrid 2026|All|[Upstream](#upstream)|
 |Kia|Sorento Plug-in Hybrid 2022-23|All|[Upstream](#upstream)|
 |Kia|Sportage 2023-24|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Sportage (without HDA II) 2026|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Sportage Hybrid 2023|Smart Cruise Control (SCC)|[Upstream](#upstream)|
+|Kia|Sportage Hybrid 2026|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2018-20|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Kia|Stinger 2022-23|All|[Upstream](#upstream)|
 |Kia|Telluride 2020-22|All|[Upstream](#upstream)|
 |Kia|Telluride 2023-24|HDA2|[Community](#community)|
+|Kia|Telluride (with HDA II) 2023-24|Highway Driving Assist II|[Upstream](#upstream)|
+|Kia|Telluride (without HDA II) 2023-25|Highway Driving Assist|[Upstream](#upstream)|
+|Kia|XCeed Plug-in Hybrid 2021|Smart Cruise Control (SCC)|[Upstream](#upstream)|
 |Lexus|CT Hybrid 2017-18|Lexus Safety System+|[Upstream](#upstream)|
 |Lexus|ES 2017-18|All|[Upstream](#upstream)|
 |Lexus|ES 2019-25|All|[Upstream](#upstream)|
@@ -243,7 +363,8 @@
 |Mazda|CX-9 2016-20|All|[Dashcam mode](#dashcam)|
 |Mazda|CX-9 2021-23|All|[Upstream](#upstream)|
 |Nissan|Altima 2019-20, 2024|ProPILOT Assist|[Upstream](#upstream)|
-|Nissan|Leaf 2018-23|ProPILOT Assist|[Upstream](#upstream)|
+|Nissan|Leaf 2018-25|ProPILOT Assist|[Upstream](#upstream)|
+|Nissan|Leaf Instrument Cluster 2018-25|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|Rogue 2018-20|ProPILOT Assist|[Upstream](#upstream)|
 |Nissan|X-Trail 2017|ProPILOT Assist|[Upstream](#upstream)|
 |Peugeot|208 2019-25|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
@@ -252,30 +373,36 @@
 |Ram|2500 2020-24|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
 |Ram|3500 2019-22|Adaptive Cruise Control (ACC)|[Dashcam mode](#dashcam)|
 |Rivian|R1S 2022-24|All|[Upstream](#upstream)|
+|Rivian|R1S 2025|All|[Upstream](#upstream)|
 |Rivian|R1T 2022-24|All|[Upstream](#upstream)|
+|Rivian|R1T 2025|All|[Upstream](#upstream)|
 |SEAT|Alhambra 2018-20|Adaptive Cruise Control (ACC) & Lane Assist|[Dashcam mode](#dashcam)|
 |SEAT|Ateca 2016-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Subaru|Ascent 2019-21|All|[Upstream](#upstream)|
-|Subaru|Ascent 2023|All|[Dashcam mode](#dashcam)|
+|Subaru|Ascent 2023-25|All|[Upstream](#upstream)|
 |Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|[Upstream](#upstream)|
+|Subaru|Crosstrek 2025|All|[Upstream](#upstream)|
 |Subaru|Crosstrek Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Forester 2017-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Forester 2019-21|All|[Upstream](#upstream)|
-|Subaru|Forester 2022-24|All|[Dashcam mode](#dashcam)|
+|Subaru|Forester 2022-24|All|[Upstream](#upstream)|
 |Subaru|Forester Hybrid 2020|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Impreza 2017-19|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Impreza 2020-22|EyeSight Driver Assistance|[Upstream](#upstream)|
 |Subaru|Legacy 2015-18|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Legacy 2020-22|All|[Upstream](#upstream)|
+|Subaru|Legacy 2025|All|[Upstream](#upstream)|
 |Subaru|Outback 2015-17|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Outback 2018-19|EyeSight Driver Assistance|[Dashcam mode](#dashcam)|
 |Subaru|Outback 2020-22|All|[Upstream](#upstream)|
-|Subaru|Outback 2023|All|[Dashcam mode](#dashcam)|
+|Subaru|Outback 2023-24|All|[Upstream](#upstream)|
 |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|[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)|
@@ -286,7 +413,8 @@
 |Škoda|Scala 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|[Upstream](#upstream)|
 |Tesla|Model 3 (with HW3) 2019-23|All|[Upstream](#upstream)|
-|Tesla|Model 3 (with HW4) 2024-25|All|[Upstream](#upstream)|
+|Tesla|Model 3 (with HW4) 2024-26|All|[Upstream](#upstream)|
+|Tesla|Model S (Pre-AP) 2012-14|All|[Community](#community)|
 |Tesla|Model X (with HW4) 2024|All|[Dashcam mode](#dashcam)|
 |Tesla|Model Y (with HW3) 2020-23|All|[Upstream](#upstream)|
 |Tesla|Model Y (with HW4) 2024-25|All|[Upstream](#upstream)|
@@ -321,6 +449,7 @@
 |Toyota|Highlander 2025|Any|[Not compatible](#can-bus-security)|
 |Toyota|Highlander Hybrid 2017-19|All|[Upstream](#upstream)|
 |Toyota|Highlander Hybrid 2020-23|All|[Upstream](#upstream)|
+|Toyota|Matrix Retrofit 2005|Custom retrofit|[Community](#community)|
 |Toyota|Mirai 2021|All|[Upstream](#upstream)|
 |Toyota|Prius 2016|Toyota Safety Sense P|[Upstream](#upstream)|
 |Toyota|Prius 2017-20|All|[Upstream](#upstream)|
@@ -342,7 +471,7 @@
 |Toyota|RAV4 Prime 2024-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Sequoia 2023-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Sienna 2018-20|All|[Upstream](#upstream)|
-|Toyota|Sienna 2021-23|All|[Community](#community)|
+|Toyota|Sienna 2021-25|All|[Community](#community)|
 |Toyota|Sienna 2024-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Tundra 2022-25|Any|[Not compatible](#can-bus-security)|
 |Toyota|Venza 2021-25|Any|[Not compatible](#can-bus-security)|
@@ -369,6 +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|[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)|

opendbc_repo/lefthook.yml

@@ -19,7 +19,7 @@ test:
       run: codespell {files} -L tge,stdio -S *.dbc
       files: git ls-tree -r HEAD --name-only
     cpplint:
-      run: cpplint --exclude=opendbc/safety/tests/misra/cppcheck/ --exclude=opendbc/can/*_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces opendbc/
+      run: cpplint --exclude=opendbc/safety/tests/misra/cppcheck/ --exclude=opendbc/safety/tests/.venv/ --exclude=opendbc/can/*_pyx.cpp --recursive --quiet --counting=detailed --linelength=240 --filter=-build,-legal,-readability,-runtime,-whitespace,+build/include_subdir,+build/forward_decl,+build/include_what_you_use,+build/deprecated,+whitespace/comma,+whitespace/line_length,+whitespace/empty_if_body,+whitespace/empty_loop_body,+whitespace/empty_conditional_body,+whitespace/forcolon,+whitespace/parens,+whitespace/semicolon,+whitespace/tab,+readability/braces opendbc/
     misra:
       run: opendbc/safety/tests/misra/test_misra.sh
 

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

@@ -374,6 +374,7 @@ struct CarControl {
     brake @1: Float32; # [0.0, 1.0]
     torqueOutputCan @8: Float32;   # value sent over can to the car
     speed @6: Float32;  # m/s
+    lateralControlMode @9: LateralControlMode;
 
     enum LongControlState @0xe40f3a917d908282{
       off @0;
@@ -381,6 +382,13 @@ struct CarControl {
       stopping @2;
       starting @3;
     }
+
+    enum LateralControlMode {
+      inactive @0;
+      torque @1;
+      angle @2;
+      torqueRecovering @3;
+    }
   }
 
   struct CruiseControl {
@@ -510,6 +518,7 @@ struct CarParams {
   startingState @70 :Bool; # Does this car make use of special starting state
 
   steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
+  lateralSmoothSeconds @78 :Float32; # Speed-scheduled curvature smoothing used by select angle-control platforms
   longitudinalActuatorDelay @58 :Float32; # Gas/Brake actuator delay in seconds
   openpilotLongitudinalControl @37 :Bool; # is openpilot doing the longitudinal control?
   carVin @38 :Text; # VIN number queried during fingerprinting
@@ -635,6 +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/disable_ecu.py

@@ -23,9 +23,11 @@ def ecu_log(msg):
     pass
 
 
-def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, reset=False):
+def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_req=b'\x28\x83\x01', timeout=0.1, retry=10, reset=False,
+                require_response=False, diag_request=EXT_DIAG_REQUEST, diag_response=EXT_DIAG_RESPONSE, response_offset=0x8):
   """Silence an ECU by disabling sending and receiving messages using UDS 0x28.
   The ECU will stay silent as long as openpilot keeps sending Tester Present.
+  Set require_response for takeovers that must fail closed unless the ECU confirms communication control.
 
   This is used to disable the radar in some cars. Openpilot will emulate the radar.
   WARNING: THIS DISABLES AEB!"""
@@ -34,7 +36,8 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
   if reset:
     try:
       ecu_log("sending ECU reset before communication control...")
-      reset_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [RESET_REQUEST], [RESET_RESPONSE])
+      reset_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [RESET_REQUEST], [RESET_RESPONSE],
+                                       response_offset=response_offset)
       reset_query.get_data(timeout=timeout)
       time.sleep(0.2)
     except Exception as e:
@@ -45,7 +48,8 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
     try:
       # Enter extended diagnostic session
       ecu_log(f"attempt {i+1}/{retry}: diag session...")
-      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [EXT_DIAG_REQUEST], [EXT_DIAG_RESPONSE])
+      query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [diag_request], [diag_response],
+                                 response_offset=response_offset)
 
       for _, _ in query.get_data(timeout).items():
         ecu_log("diag session OK")
@@ -55,14 +59,15 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
 
         # Send CC command and log the response
         ecu_log("sending CC...")
-        cc_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [b''])
+        cc_query = IsoTpParallelQuery(can_send, can_recv, bus, [(addr, sub_addr)], [com_cont_req], [b''],
+                                      response_offset=response_offset)
         cc_response = cc_query.get_data(timeout)
 
         # Log what we got back
         cc_success = False
         cc_rejected = False
         cc_nrc = None
-        for (rx_addr, _), data in cc_response.items():
+        for (_rx_addr, _), data in cc_response.items():
           ecu_log(f"CC response: {data.hex() if data else 'empty'}")
           # Check for positive response (0x68 = 0x28 + 0x40)
           if len(data) >= 1 and data[0] == 0x68:
@@ -93,6 +98,9 @@ def disable_ecu(can_recv, can_send, bus=0, addr=0x7d0, sub_addr=None, com_cont_r
           # ECU explicitly rejected - don't retry, it won't work
           ecu_log("=== ECU DISABLE REJECTED ===")
           return False
+        elif require_response:
+          ecu_log("CC response required but none received; retrying...")
+          continue
         else:
           # No response - consider it sent (ECU might have stopped responding)
           ecu_log("=== ECU DISABLE SENT (no response) ===")

opendbc_repo/opendbc/car/docs_definitions.py

@@ -142,6 +142,7 @@ class CarHarness(EnumBase):
   ford_q3 = BaseCarHarness("Ford Q3 connector")
   ford_q4 = BaseCarHarness("Ford Q4 connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
   rivian = BaseCarHarness("Rivian A connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
+  rivian_b = BaseCarHarness("Rivian B connector", parts=[Accessory.harness_box, Accessory.comma_power, Cable.long_obdc_cable, Cable.usbc_coupler])
   tesla_a = BaseCarHarness("Tesla A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   tesla_b = BaseCarHarness("Tesla B connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])
   psa_a = BaseCarHarness("PSA A connector", parts=[Accessory.harness_box, Cable.long_obdc_cable, Cable.usbc_coupler])

opendbc_repo/opendbc/car/extra_cars.py

@@ -55,7 +55,7 @@ class CAR(Platforms):
 
   EXTRA_HYUNDAI = ExtraPlatformConfig(
     [
-      CommunityCarDocs("Hyundai Palisade 2023-24", package="HDA2"),
+      CommunityCarDocs("Hyundai Palisade 2023-25", package="HDA2"),
       CommunityCarDocs("Kia Telluride 2023-24", package="HDA2"),
     ],
   )

opendbc_repo/opendbc/car/fingerprints.py

@@ -245,7 +245,6 @@ MIGRATION = {
   "KIA SELTOS 2021": HYUNDAI.KIA_SELTOS,
   "KIA SPORTAGE 5TH GEN": HYUNDAI.KIA_SPORTAGE_5TH_GEN,
   "KIA SPORTAGE 2026": HYUNDAI.KIA_SPORTAGE_2026,
-  "KIA SPORTAGE HYBRID 2026": HYUNDAI.KIA_SPORTAGE_HEV_2026,
   "KIA SORENTO GT LINE 2018": HYUNDAI.KIA_SORENTO,
   "KIA SORENTO 4TH GEN": HYUNDAI.KIA_SORENTO_4TH_GEN,
   "KIA SORENTO 2024": HYUNDAI.KIA_SORENTO_2024,
@@ -265,6 +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

@@ -6,6 +6,8 @@ from opendbc.car.lateral import ISO_LATERAL_ACCEL, apply_std_steer_angle_limits
 from opendbc.car.ford import fordcan
 from opendbc.car.ford.values import CarControllerParams, FordFlags, CAR
 from opendbc.car.interfaces import CarControllerBase, V_CRUISE_MAX
+from openpilot.starpilot.car.ford import fordcan as starpilot_fordcan
+from openpilot.starpilot.car.ford.lateral import FordLateralController, FordLateralMode, FordLateralResult
 
 LongCtrlState = structs.CarControl.Actuators.LongControlState
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
@@ -80,6 +82,9 @@ class CarController(CarControllerBase):
     self.steer_alert_last = False
     self.lead_distance_bars_last = None
     self.distance_bar_frame = 0
+    self.ford_lateral = None if CP.flags & FordFlags.LKA_STEERING else FordLateralController(CP)
+    self.ford_shadow_curvature = 0.0
+    self.ford_lateral_announced_mode = FordLateralMode.native
 
   def update(self, CC, CS, now_nanos, starpilot_toggles):
     can_sends = []
@@ -91,6 +96,9 @@ class CarController(CarControllerBase):
     steer_alert = hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw)
     fcw_alert = hud_control.visualAlert == VisualAlert.fcw
 
+    if self.ford_lateral is not None:
+      self.ford_lateral.update_inputs()
+
     ### acc buttons ###
     if CC.cruiseControl.cancel:
       can_sends.append(fordcan.create_button_msg(self.packer, self.CAN.camera, CS.buttons_stock_values, cancel=True))
@@ -128,38 +136,70 @@ class CarController(CarControllerBase):
         can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN, active=lka_active, apply_angle=self.apply_angle_last,
                                                direction=direction, ramp_type=ramp_type, curvature=-self.apply_curvature_last))
     else:
-      # send steer msg at 20Hz
+      lateral_mode = self.ford_lateral.mode
-      if (self.frame % CarControllerParams.STEER_STEP) == 0:
+      lateral_mode_ready = lateral_mode == self.ford_lateral_announced_mode
-        # Bronco and some other cars consistently overshoot curv requests
+
-        # Apply some deadzone + smoothing convergence to avoid oscillations
+      # Keep the original Ford path available without changing its command behavior.
-        if self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
+      if lateral_mode == FordLateralMode.native:
-          self.anti_overshoot_curvature_last = anti_overshoot(actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
+        if (self.frame % CarControllerParams.STEER_STEP) == 0:
-          apply_curvature = self.anti_overshoot_curvature_last
+          if not lateral_mode_ready:
+            self.apply_curvature_last = 0.0
+            apply_curvature = 0.0
+          elif self.CP.carFingerprint in (CAR.FORD_BRONCO_SPORT_MK1, CAR.FORD_F_150_MK14):
+            self.anti_overshoot_curvature_last = anti_overshoot(
+              actuators.curvature, self.anti_overshoot_curvature_last, CS.out.vEgoRaw)
+            apply_curvature = self.anti_overshoot_curvature_last
+          else:
+            apply_curvature = actuators.curvature
+
+          current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
+          self.apply_curvature_last = apply_ford_curvature_limits(
+            apply_curvature, self.apply_curvature_last, current_curvature,
+            CS.out.vEgoRaw, 0., CC.latActive and lateral_mode_ready, self.CP)
+
+          if self.CP.flags & FordFlags.CANFD:
+            mode = 1 if CC.latActive and lateral_mode_ready else 0
+            counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
+            can_sends.append(fordcan.create_lat_ctl2_msg(
+              self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
+          else:
+            can_sends.append(fordcan.create_lat_ctl_msg(
+              self.packer, self.CAN, CC.latActive and lateral_mode_ready, 0., 0., -self.apply_curvature_last, 0.))
+      elif (self.frame % CarControllerParams.STEER_STEP) == 0:
+        if not lateral_mode_ready:
+          lateral = FordLateralResult(shadow_curvature=self.ford_lateral._current_curvature(CS))
+        elif lateral_mode == FordLateralMode.angle:
+          lateral = self.ford_lateral.update_angle(CC, CS, actuators)
         else:
-          apply_curvature = actuators.curvature
+          lateral = self.ford_lateral.update_curvature(CC, CS, actuators)
-
-        # apply rate limits, curvature error limit, and clip to signal range
-        current_curvature = -CS.out.yawRate / max(CS.out.vEgoRaw, 0.1)
-
-        self.apply_curvature_last = apply_ford_curvature_limits(apply_curvature, self.apply_curvature_last, current_curvature,
-                                                                CS.out.vEgoRaw, 0., CC.latActive, self.CP)
 
+        self.apply_curvature_last = lateral.curvature
+        self.ford_shadow_curvature = lateral.shadow_curvature
         if self.CP.flags & FordFlags.CANFD:
-          # TODO: extended mode
-          # Ford uses four individual signals to dictate how to drive to the car. Curvature alone (limited to 0.02m/s^2)
-          # can actuate the steering for a large portion of any lateral movements. However, in order to get further control on
-          # steer actuation, the other three signals are necessary. Ford controls vehicles differently than most other makes.
-          # A detailed explanation on ford control can be found here:
-          # https://www.f150gen14.com/forum/threads/introducing-bluepilot-a-ford-specific-fork-for-comma3x-openpilot.24241/#post-457706
-          mode = 1 if CC.latActive else 0
           counter = (self.frame // CarControllerParams.STEER_STEP) % 0x10
-          can_sends.append(fordcan.create_lat_ctl2_msg(self.packer, self.CAN, mode, 0., 0., -self.apply_curvature_last, 0., counter))
+          can_sends.append(starpilot_fordcan.create_lat_ctl2_msg(
+            self.packer, self.CAN, 1 if lateral.active else 0,
+            lateral.ramp_type, lateral.precision_type,
+            -lateral.path_offset, -lateral.path_angle,
+            -lateral.curvature, -lateral.curvature_rate, counter))
         else:
-          can_sends.append(fordcan.create_lat_ctl_msg(self.packer, self.CAN, CC.latActive, 0., 0., -self.apply_curvature_last, 0.))
+          can_sends.append(starpilot_fordcan.create_lat_ctl_msg(
+            self.packer, self.CAN, lateral.active,
+            lateral.ramp_type, lateral.precision_type,
+            -lateral.path_offset, -lateral.path_angle,
+            -lateral.curvature, -lateral.curvature_rate))
 
-      # send lka msg at 33Hz
       if (self.frame % CarControllerParams.LKA_STEP) == 0:
-        can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
+        if lateral_mode == FordLateralMode.native:
+          can_sends.append(fordcan.create_lka_msg(self.packer, self.CAN))
+        else:
+          angle_mode = lateral_mode == FordLateralMode.angle
+          shadow_curvature = -self.ford_lateral._current_curvature(CS)
+          if angle_mode:
+            shadow_curvature = -self.ford_shadow_curvature
+          can_sends.append(starpilot_fordcan.create_lka_msg(
+            self.packer, self.CAN, angle_mode=angle_mode, shadow_curvature=shadow_curvature))
+        self.ford_lateral_announced_mode = lateral_mode
 
     ### longitudinal control ###
     # send acc msg at 50Hz
@@ -215,9 +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
@@ -16,26 +17,71 @@ class CarState(CarStateBase):
     super().__init__(CP, FPCP)
     can_define = CANDefine(DBC[CP.carFingerprint][Bus.pt])
     if CP.transmissionType == TransmissionType.automatic:
-      self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
+      if CP.flags & FordFlags.CANFD:
+        self.shifter_values = can_define.dv["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"]
+      elif CP.flags & FordFlags.ALT_STEER_ANGLE:
+        self.shifter_values = can_define.dv["TransGearData"]["GearLvrPos_D_Actl"]
+      else:
+        self.shifter_values = can_define.dv["PowertrainData_10"]["TrnRng_D_Rq"]
 
     self.distance_button = 0
     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()
 
-    # Occasionally on startup, the ABS module recalibrates the steering pinion offset, so we need to block engagement
+    if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
-    # The vehicle usually recovers out of this state within a minute of normal driving
+      sensors_valid = (
-    ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
+        int((cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"] + 1000) * 10) not in (32766, 32767)
+        and cp.vl["ParkAid_Data"]["EPASExtAngleStatReq"] == 0
+        and cp.vl["ParkAid_Data"]["ApaSys_D_Stat"] in (0, 1)
+      )
+      ret.vehicleSensorsInvalid = not sensors_valid
+    else:
+      # The ABS can recalibrate the steering pinion offset briefly after startup.
+      ret.vehicleSensorsInvalid = cp.vl["SteeringPinion_Data"]["StePinCompAnEst_D_Qf"] != 3
 
     # car speed
     ret.vEgoRaw = cp.vl["BrakeSysFeatures"]["Veh_V_ActlBrk"] * CV.KPH_TO_MS
     ret.vEgo, ret.aEgo = self.update_speed_kf(ret.vEgoRaw)
+    if self.CP.flags & FordFlags.CANFD:
+      ret.vEgoCluster = ((cp.vl["Cluster_Info_3_FD1"]["DISPLAY_SPEED_SCALING"] / 100) *
+                         cp.vl["EngVehicleSpThrottle2"]["Veh_V_ActlEng"] +
+                         cp.vl["Cluster_Info_3_FD1"]["DISPLAY_SPEED_OFFSET"]) * CV.KPH_TO_MS
     ret.yawRate = cp.vl["Yaw_Data_FD1"]["VehYaw_W_Actl"]
     ret.standstill = cp.vl["DesiredTorqBrk"]["VehStop_D_Stat"] == 1
 
@@ -48,7 +94,14 @@ class CarState(CarStateBase):
     ret.parkingBrake = cp.vl["DesiredTorqBrk"]["PrkBrkStatus"] in (1, 2)
 
     # steering wheel
-    ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
+    if self.CP.flags & FordFlags.ALT_STEER_ANGLE:
+      steering_angle_init = cp.vl["SteeringPinion_Data_Alt"]["StePinRelInit_An_Sns"]
+      if not ret.vehicleSensorsInvalid:
+        steering_angle_est = cp.vl["ParkAid_Data"]["ExtSteeringAngleReq2"]
+        self.steering_angle_offset_deg = steering_angle_est - steering_angle_init
+      ret.steeringAngleDeg = steering_angle_init + self.steering_angle_offset_deg
+    else:
+      ret.steeringAngleDeg = cp.vl["SteeringPinion_Data"]["StePinComp_An_Est"]
     ret.steeringTorque = cp.vl["EPAS_INFO"]["SteeringColumnTorque"]
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > CarControllerParams.STEER_DRIVER_ALLOWANCE, 5)
     ret.steerFaultTemporary = cp.vl["EPAS_INFO"]["EPAS_Failure"] == 1
@@ -57,10 +110,12 @@ 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 False
+    is_metric = cp.vl["INSTRUMENT_PANEL"]["METRIC_UNITS"] == 1 if not self.CP.flags & FordFlags.CANFD else \
+      cp_cam.vl["IPMA_Data2"]["IsaVLimUnit_D_Rq"] == 1
     ret.cruiseState.speed = cp.vl["EngBrakeData"]["Veh_V_DsplyCcSet"] * (CV.KPH_TO_MS if is_metric else CV.MPH_TO_MS)
     ret.cruiseState.enabled = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (4, 5)
     ret.cruiseState.available = cp.vl["EngBrakeData"]["CcStat_D_Actl"] in (3, 4, 5)
@@ -72,7 +127,12 @@ class CarState(CarStateBase):
 
     # gear
     if self.CP.transmissionType == TransmissionType.automatic:
-      gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
+      if self.CP.flags & FordFlags.CANFD:
+        gear = self.shifter_values.get(cp.vl["Gear_Shift_by_Wire_FD1"]["TrnRng_D_RqGsm"])
+      elif self.CP.flags & FordFlags.ALT_STEER_ANGLE:
+        gear = self.shifter_values.get(cp.vl["TransGearData"]["GearLvrPos_D_Actl"])
+      else:
+        gear = self.shifter_values.get(cp.vl["PowertrainData_10"]["TrnRng_D_Rq"])
       ret.gearShifter = self.parse_gear_shifter(gear)
     elif self.CP.transmissionType == TransmissionType.manual:
       if bool(cp.vl["BCM_Lamp_Stat_FD1"]["RvrseLghtOn_B_Stat"]):
@@ -126,12 +186,102 @@ class CarState(CarStateBase):
     ]
 
     fp_ret = custom.StarPilotCarState.new_message()
+    fp_ret.brakeLights = ret.brakePressed
+    try:
+      fp_ret.brakeLights = bool(cp.vl["BCM_Lamp_Stat_FD1"]["StopLghtOn_B_Stat"])
+    except (KeyError, AttributeError):
+      try:
+        fp_ret.brakeLights = cp.vl["BrakeSysFeatures_2"]["BrkLamp_B_Rq"] == 1
+      except (KeyError, AttributeError):
+        pass
+
+    try:
+      speed_limit = cp_cam.vl["Traffic_RecognitnData"]["TsrVLim1MsgTxt_D_Rq"]
+      speed_limit_unit = cp_cam.vl["Traffic_RecognitnData"]["TsrVlUnitMsgTxt_D_Rq"]
+      speed_factor = CV.MPH_TO_MS if speed_limit_unit == 2 else CV.KPH_TO_MS if speed_limit_unit == 1 else 0.0
+      fp_ret.dashboardSpeedLimit = speed_limit * speed_factor if speed_limit not in (0, 255) else 0.0
+    except (KeyError, AttributeError):
+      fp_ret.dashboardSpeedLimit = 0.0
 
     return ret, fp_ret
 
   @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.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], pt_messages, CanBus(CP).main),
-      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
+      Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], cam_messages, CanBus(CP).camera),
     }

opendbc_repo/opendbc/car/ford/fingerprints.py

@@ -12,6 +12,8 @@ FW_VERSIONS = {
       b'LX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'LX6C-2D053-KF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX6C-2D053-KG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'LX6C-2D053-RF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -24,6 +26,21 @@ FW_VERSIONS = {
       b'M1PT-14F397-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
+  CAR.FORD_EDGE_MK2: {
+    (Ecu.eps, 0x730, None): [
+      b'M2GC-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'M2GC-2D053-CB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'M2GC-2D053-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdCamera, 0x706, None): [
+      b'KT4T-14F397-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.FORD_ESCAPE_MK4: {
     (Ecu.eps, 0x730, None): [
       b'LX6C-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -49,7 +66,9 @@ FW_VERSIONS = {
   },
   CAR.FORD_ESCAPE_MK4_5: {
     (Ecu.eps, 0x730, None): [
+      b'PZ11-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PZ11-14D003-EA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PZ11-14D003-FA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'PZ1C-2D053-EJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -58,11 +77,20 @@ FW_VERSIONS = {
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
+      b'PJ6T-14H102-ABE\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PJ6T-14H102-ABL\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-MDC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-MDF\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-SCD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PJ6T-14H102-SCG\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FORD_EXPLORER_MK6: {
     (Ecu.eps, 0x730, None): [
+      b'R1MC-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'R1MC-14D003-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'R1MC-14D003-AG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'R1MC-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'L1MC-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -96,6 +124,7 @@ FW_VERSIONS = {
     ],
     (Ecu.abs, 0x760, None): [
       b'RL14-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PL14-2D053-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -106,6 +135,7 @@ FW_VERSIONS = {
   },
   CAR.FORD_F_150_MK14: {
     (Ecu.eps, 0x730, None): [
+      b'MB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3V-14D003-BA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3V-14D003-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3V-14D003-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -136,8 +166,11 @@ FW_VERSIONS = {
   },
   CAR.FORD_F_150_LIGHTNING_MK1: {
     (Ecu.abs, 0x760, None): [
+      b'NL38-2D053-AF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PL38-2D053-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'RL38-2D053-BC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RL38-2D053-BD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'TL38-2D053-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'ML3T-14H102-ABT\x00\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -145,9 +178,13 @@ FW_VERSIONS = {
       b'RJ6T-14H102-BBC\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'RB5T-14D049-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.eps, 0x730, None): [
+      b'NL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NL38-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RL38-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
@@ -164,6 +201,8 @@ FW_VERSIONS = {
       b'LK9C-2D053-CN\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
+      b'ML3T-14D049-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'ML3T-14D049-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
@@ -174,15 +213,42 @@ FW_VERSIONS = {
   CAR.FORD_FOCUS_MK4: {
     (Ecu.eps, 0x730, None): [
       b'JX6C-14D003-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'JX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'JX6C-14D003-BB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX6C-14D003-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
       b'JX61-2D053-CJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'LX61-2D053-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NX61-2D053-MD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
       b'JX7T-14D049-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [
       b'JX7T-14F397-AH\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'N1BT-14F397-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.FORD_MONDEO_MK5: {
+    (Ecu.fwdCamera, 0x706, None): [
+      b'KT4T-14F397-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.abs, 0x760, None): [
+      b'KG9C-2D053-DF\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.eps, 0x730, None): [
+      b'K2GC-14D003-AJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.fwdRadar, 0x764, None): [
+      b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'HS7A-14C204-CJD\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+    (Ecu.debug, 0x7d0, None): [
+      b'1U5T-14G374-DA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
   },
   CAR.FORD_MAVERICK_MK1: {
@@ -207,17 +273,25 @@ FW_VERSIONS = {
   },
   CAR.FORD_RANGER_MK2: {
     (Ecu.eps, 0x730, None): [
+      b'JR3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NB3C-14D003-AB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'NL14-14D003-AC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'NL14-14D003-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RB3C-14D003-AA\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.abs, 0x760, None): [
+      b'MB3C-2D053-AE\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'MB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB3C-2D053-ZB\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB3C-2D053-ZC\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PB3C-2D053-ZD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PB3C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'PB3C-2D053-ZJ\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
+      b'PB9C-2D053-ZG\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'RB3C-2D053-AK\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdRadar, 0x764, None): [
+      b'JX7T-14D049-AD\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
       b'ML3T-14D049-AL\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00',
     ],
     (Ecu.fwdCamera, 0x706, None): [

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

@@ -31,12 +31,13 @@ class CarInterface(CarInterfaceBase):
 
     ret.radarUnavailable = Bus.radar not in DBC[candidate]
     ret.steerControlType = structs.CarParams.SteerControlType.angle
-    ret.steerActuatorDelay = 0.05 if ret.flags & FordFlags.LKA_STEERING else 0.2
+    ret.steerActuatorDelay = 0.05 if ret.flags & FordFlags.LKA_STEERING else 0.22
     ret.steerLimitTimer = 1.0
     ret.steerAtStandstill = True
 
     ret.longitudinalTuning.kiBP = [0.]
     ret.longitudinalTuning.kiV = [0.5]
+    ret.longitudinalTuning.kpV = [0.]
 
     if not ret.radarUnavailable and DBC[candidate][Bus.radar] == RADAR.DELPHI_MRR:
       # average of 33.3 Hz radar timestep / 4 scan modes = 60 ms
@@ -44,15 +45,19 @@ class CarInterface(CarInterfaceBase):
       ret.radarDelay = 0.06
 
     CAN = CanBus(fingerprint=fingerprint)
+    if 0x365 in fingerprint[CAN.main]:
+      ret.flags |= int(FordFlags.HEV_CLUSTER_DATA)
+    if all(address in fingerprint[CAN.main] for address in (0x07A, 0x24B, 0x24C)):
+      ret.flags |= int(FordFlags.HEV_BATTERY_DATA)
     cfgs = [get_safety_config(structs.CarParams.SafetyModel.ford)]
     if CAN.main >= 4:
       cfgs.insert(0, get_safety_config(structs.CarParams.SafetyModel.noOutput))
     ret.safetyConfigs = cfgs
 
-    ret.alphaLongitudinalAvailable = ret.radarUnavailable
+    ret.alphaLongitudinalAvailable = True
-    if alpha_long or not ret.radarUnavailable:
+    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/radar_interface.py

@@ -1,4 +1,5 @@
 import numpy as np
+from collections import deque
 from typing import cast
 from collections import defaultdict
 from math import cos, sin
@@ -19,6 +20,7 @@ DELPHI_MRR_RADAR_MSG_COUNT = 64
 DELPHI_MRR_RADAR_RANGE_COVERAGE = {0: 42, 1: 164, 2: 45, 3: 175}  # scan index to detection range (m)
 DELPHI_MRR_MIN_LONG_RANGE_DIST = 30  # meters
 DELPHI_MRR_CLUSTER_THRESHOLD = 5  # meters, lateral distance and relative velocity are weighted
+STEER_ASSIST_DATA_ADDR = 0x3D7
 
 
 @dataclass
@@ -89,12 +91,17 @@ def _create_delphi_mrr_radar_can_parser(CP) -> CANParser:
   return CANParser(RADAR.DELPHI_MRR, messages, CanBus(CP).radar)
 
 
+def _create_steer_assist_radar_can_parser(CP) -> CANParser:
+  return CANParser(RADAR.STEER_ASSIST_DATA, [("Steer_Assist_Data", 20)], CanBus(CP).camera)
+
+
 class RadarInterface(RadarInterfaceBase):
   def __init__(self, CP):
     super().__init__(CP)
 
     self.points: list[list[float]] = []
     self.clusters: list[Cluster] = []
+    self.v_rel_history = deque(maxlen=20)
 
     self.updated_messages = set()
     self.track_id = 0
@@ -111,6 +118,9 @@ class RadarInterface(RadarInterfaceBase):
     elif self.radar == RADAR.DELPHI_MRR:
       self.rcp = _create_delphi_mrr_radar_can_parser(CP)
       self.trigger_msg = DELPHI_MRR_RADAR_HEADER_ADDR
+    elif self.radar == RADAR.STEER_ASSIST_DATA:
+      self.rcp = _create_steer_assist_radar_can_parser(CP)
+      self.trigger_msg = STEER_ASSIST_DATA_ADDR
     else:
       raise ValueError(f"Unsupported radar: {self.radar}")
 
@@ -135,10 +145,45 @@ class RadarInterface(RadarInterfaceBase):
       _update = self._update_delphi_mrr(ret)
       if not _update:
         return None
+    elif self.radar == RADAR.STEER_ASSIST_DATA:
+      self._update_steer_assist()
 
     ret.points = list(self.pts.values())
     return ret
 
+  def _update_steer_assist(self):
+    msg = self.rcp.vl["Steer_Assist_Data"]
+    confidence = msg["CmbbObjConfdnc_D_Stat"]
+    if confidence <= 0:
+      self.pts.pop(0, None)
+      self.v_rel_history.clear()
+      return
+
+    d_rel = msg["CmbbObjDistLong_L_Actl"]
+    v_rel = msg["CmbbObjRelLong_V_Actl"]
+    new_track = 0 not in self.pts
+    if new_track:
+      self.pts[0] = structs.RadarData.RadarPoint()
+      self.pts[0].trackId = self.track_id
+      self.track_id += 1
+    elif abs(v_rel) < 1e-2:
+      self.v_rel_history.append(d_rel - self.pts[0].dRel)
+      v_rel = sum(self.v_rel_history)
+    else:
+      self.v_rel_history.clear()
+
+    if not new_track and (abs(self.pts[0].vRel - v_rel) > 2.0 or abs(self.pts[0].dRel - d_rel) > 5.0):
+      self.pts[0].trackId = self.track_id
+      self.track_id += 1
+      self.v_rel_history.clear()
+
+    self.pts[0].dRel = d_rel
+    self.pts[0].yRel = msg["CmbbObjDistLat_L_Actl"]
+    self.pts[0].vRel = v_rel
+    self.pts[0].aRel = float('nan')
+    self.pts[0].yvRel = msg["CmbbObjRelLat_V_Actl"]
+    self.pts[0].measured = True
+
   def _update_delphi_esr(self):
     for ii in sorted(self.updated_messages):
       cpt = self.rcp.vl[ii]

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
+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
@@ -20,6 +27,7 @@ ECU_ADDRESSES = {
   Ecu.engine: 0x7E0,       # Powertrain Control Module (PCM)
   Ecu.shiftByWire: 0x732,  # Gear Shift Module (GSM)
   Ecu.debug: 0x7D0,        # Accessory Protocol Interface Module (APIM)
+  Ecu.hud: 0x720,          # Instrument Cluster Module (ICM)
 }
 
 
@@ -41,6 +49,16 @@ ECU_PART_NUMBER = {
 
 
 class TestFordFW:
+  def test_vin_fallback(self):
+    def vin(wmi, vds, powertrain, year):
+      return f"{wmi}{vds}{powertrain}0{year}1234567"
+
+    assert match_vin_to_car(vin("2FM", "PK4A", "A", "N")) == {str(CAR.FORD_EDGE_MK2)}
+    assert match_vin_to_car(vin("3FM", "K1RA", "A", "M")) == {str(CAR.FORD_MUSTANG_MACH_E_MK1)}
+    assert match_vin_to_car(vin("1FT", "F1CA", "A", "M")) == {str(CAR.FORD_F_150_MK14)}
+    assert match_vin_to_car(vin("1FT", "F1CA", "L", "N")) == {str(CAR.FORD_F_150_LIGHTNING_MK1)}
+    assert match_vin_to_car("0" * 17) == set()
+
   def test_fw_query_config(self):
     for (ecu, addr, subaddr) in FW_QUERY_CONFIG.extra_ecus:
       assert ecu in ECU_ADDRESSES, "Unknown ECU"
@@ -50,10 +68,13 @@ class TestFordFW:
   @parameterized.expand(FW_VERSIONS.items())
   def test_fw_versions(self, car_model: str, fw_versions: dict[tuple[int, int, int | None], Iterable[bytes]]):
     for (ecu, addr, subaddr), fws in fw_versions.items():
-      assert ecu in ECU_PART_NUMBER, "Unexpected ECU"
+      assert ecu in ECU_ADDRESSES, "Unknown ECU"
       assert addr == ECU_ADDRESSES[ecu], "ECU address mismatch"
       assert subaddr is None, "Unexpected ECU subaddress"
 
+      if ecu not in ECU_PART_NUMBER:
+        continue
+
       for fw in fws:
         assert len(fw) == 24, "Expected ECU response to be 24 bytes"
 
@@ -140,3 +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/ford/values.py

@@ -8,6 +8,7 @@ from opendbc.car.lateral import AngleSteeringLimits
 from opendbc.car.structs import CarParams
 from opendbc.car.docs_definitions import CarFootnote, CarHarness, CarDocs, CarParts, Column
 from opendbc.car.fw_query_definitions import FwQueryConfig, LiveFwVersions, OfflineFwVersions, Request, StdQueries, p16
+from opendbc.car.vin import Vin, is_valid_vin
 
 Ecu = CarParams.Ecu
 
@@ -53,11 +54,15 @@ class FordFlags(IntFlag):
   # Static flags
   CANFD = 1
   LKA_STEERING = 2
+  ALT_STEER_ANGLE = 4
+  HEV_CLUSTER_DATA = 8
+  HEV_BATTERY_DATA = 16
 
 
 class RADAR:
   DELPHI_ESR = 'ford_fusion_2018_adas'
   DELPHI_MRR = 'FORD_CADS'
+  STEER_ASSIST_DATA = 'ford_lincoln_base_pt'
 
 
 class Footnote(Enum):
@@ -87,6 +92,10 @@ class FordCarDocs(CarDocs):
 
 @dataclass
 class FordPlatformConfig(PlatformConfig):
+  wmis: set[str] = field(default_factory=set)
+  vds_codes: set[str] = field(default_factory=set)
+  years: set[str] = field(default_factory=set)
+
   dbc_dict: DbcDict = field(default_factory=lambda: {
     Bus.pt: 'ford_lincoln_base_pt',
     Bus.radar: RADAR.DELPHI_MRR,
@@ -106,6 +115,7 @@ class FordPlatformConfig(PlatformConfig):
 class FordCANFDPlatformConfig(FordPlatformConfig):
   dbc_dict: DbcDict = field(default_factory=lambda: {
     Bus.pt: 'ford_lincoln_base_pt',
+    Bus.radar: RADAR.STEER_ASSIST_DATA,
   })
 
   def init(self):
@@ -122,17 +132,26 @@ class FordLKASteeringPlatformConfig(FordPlatformConfig):
 
 @dataclass
 class FordF150LightningPlatform(FordCANFDPlatformConfig):
-  def init(self):
+  pass
-    super().init()
 
-    # Don't show in docs until this issue is resolved. See https://github.com/commaai/openpilot/issues/30302
+
-    self.car_docs = []
+MY_2020, MY_2021, MY_2022, MY_2023, MY_2024, MY_2025 = 'L', 'M', 'N', 'P', 'R', 'S'
+F150_VDS_CODES = {'F1C', 'F1E', 'W1C', 'W1E', 'X1C', 'X1E', 'W1R', 'W1P', 'W1S', 'W1T'}
+F150_ELECTRIC_CODES = {'L', 'V'}
+MACH_E_VDS_CODES = {'K1R', 'K1S', 'K2S', 'K3R', 'K3S', 'K4S'}
 
 
 class CAR(Platforms):
   FORD_BRONCO_SPORT_MK1 = FordPlatformConfig(
     [FordCarDocs("Ford Bronco Sport 2021-24")],
     CarSpecs(mass=1625, wheelbase=2.67, steerRatio=17.7),
+    wmis={'3FM'}, vds_codes={'CR9'}, years={MY_2021, MY_2022, MY_2023, MY_2024},
+  )
+  FORD_EDGE_MK2 = FordPlatformConfig(
+    [FordCarDocs("Ford Edge 2022")],
+    CarSpecs(mass=1933, wheelbase=2.824, steerRatio=15.3),
+    flags=FordFlags.ALT_STEER_ANGLE,
+    wmis={'2FM'}, vds_codes={'PK4'}, years={MY_2022},
   )
   FORD_ESCAPE_MK4 = FordPlatformConfig(
     [
@@ -140,6 +159,7 @@ class CAR(Platforms):
       FordCarDocs("Ford Kuga 2020-23", "Adaptive Cruise Control with Lane Centering", hybrid=True, plug_in_hybrid=True),
     ],
     CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
+    wmis={'1FM'}, vds_codes={'CU0', 'CU9'}, years={MY_2020, MY_2021, MY_2022},
   )
   FORD_ESCAPE_MK4_5 = FordCANFDPlatformConfig(
     [
@@ -148,6 +168,7 @@ class CAR(Platforms):
       FordCarDocs("Ford Kuga Plug-in Hybrid 2024", "All"),
     ],
     CarSpecs(mass=1750, wheelbase=2.71, steerRatio=16.7),
+    wmis={'1FM'}, vds_codes={'CU0', 'CU9'}, years={MY_2023, MY_2024},
   )
   FORD_EXPLORER_MK6 = FordPlatformConfig(
     [
@@ -155,37 +176,49 @@ class CAR(Platforms):
       FordCarDocs("Lincoln Aviator 2020-24", "Co-Pilot360 Plus", plug_in_hybrid=True),  # Hybrid: Grand Touring only
     ],
     CarSpecs(mass=2050, wheelbase=3.025, steerRatio=16.8),
+    wmis={'1FM', '5LM'}, vds_codes={'5K7', '5K8', '5J7'},
+    years={MY_2020, MY_2021, MY_2022, MY_2023, MY_2024},
   )
   FORD_EXPEDITION_MK4 = FordCANFDPlatformConfig(
     [FordCarDocs("Ford Expedition 2022-24", "Co-Pilot360 Assist 2.0", hybrid=False)],
     CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
+    wmis={'1FM'}, vds_codes={'JU1', 'JU2', 'JK1'}, years={MY_2022, MY_2023, MY_2024},
   )
   FORD_F_150_MK14 = FordCANFDPlatformConfig(
     [FordCarDocs("Ford F-150 2021-23", "Co-Pilot360 Assist 2.0", hybrid=True)],
-    CarSpecs(mass=2000, wheelbase=3.69, steerRatio=17.0),
+    CarSpecs(mass=3334, wheelbase=3.99, steerRatio=17.0),
+    wmis={'1FT'}, vds_codes=F150_VDS_CODES, years={MY_2021, MY_2022, MY_2023},
   )
   FORD_F_150_LIGHTNING_MK1 = FordF150LightningPlatform(
-    [FordCarDocs("Ford F-150 Lightning 2022-23", "Co-Pilot360 Assist 2.0")],
+    [FordCarDocs("Ford F-150 Lightning 2022-25", "Co-Pilot360 Assist 2.0")],
     CarSpecs(mass=2948, wheelbase=3.70, steerRatio=16.9),
+    wmis={'1FT'}, vds_codes=F150_VDS_CODES, years={MY_2022, MY_2023, MY_2024, MY_2025},
   )
   FORD_FOCUS_MK4 = FordPlatformConfig(
-    [FordCarDocs("Ford Focus 2018", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
+    [FordCarDocs("Ford Focus 2018-22", "Adaptive Cruise Control with Lane Centering", footnotes=[Footnote.FOCUS], hybrid=True)],  # mHEV only
     CarSpecs(mass=1350, wheelbase=2.7, steerRatio=15.0),
   )
+  FORD_MONDEO_MK5 = FordCANFDPlatformConfig(
+    [FordCarDocs("Ford Mondeo 2014-22", "Adaptive Cruise Control with Lane Centering")],
+    CarSpecs(mass=1550, wheelbase=2.85, steerRatio=14.8),
+  )
   FORD_MAVERICK_MK1 = FordPlatformConfig(
     [
       FordCarDocs("Ford Maverick 2022", "LARIAT Luxury", hybrid=True),
       FordCarDocs("Ford Maverick 2023-24", "Co-Pilot360 Assist", hybrid=True),
     ],
     CarSpecs(mass=1650, wheelbase=3.076, steerRatio=17.0),
+    wmis={'3FT'}, vds_codes={'TW8'}, years={MY_2022, MY_2023, MY_2024},
   )
   FORD_MUSTANG_MACH_E_MK1 = FordCANFDPlatformConfig(
     [FordCarDocs("Ford Mustang Mach-E 2021-24", "All", setup_video="https://www.youtube.com/watch?v=AR4_eTF3b_A")],
     CarSpecs(mass=2200, wheelbase=2.984, steerRatio=17.0),  # TODO: check steer ratio
+    wmis={'3FM'}, vds_codes=MACH_E_VDS_CODES, years={MY_2021, MY_2022, MY_2023, MY_2024},
   )
   FORD_RANGER_MK2 = FordCANFDPlatformConfig(
     [FordCarDocs("Ford Ranger 2024", "Adaptive Cruise Control with Lane Centering", setup_video="https://www.youtube.com/watch?v=2oJlXCKYOy0")],
     CarSpecs(mass=2000, wheelbase=3.27, steerRatio=17.0),
+    wmis={'1FT'}, vds_codes={'ER4'}, years={MY_2024},
   )
   FORD_TRANSIT_MK5 = FordLKASteeringPlatformConfig(
     [FordCarDocs("Ford Transit 2025", "Co-Pilot360 Assist+")],
@@ -257,7 +290,25 @@ def match_fw_to_car_fuzzy(live_fw_versions: LiveFwVersions, vin: str, offline_fw
     if valid_expected_ecus.issubset(valid_found_ecus):
       candidates.add(candidate)
 
-  return candidates
+  return candidates or match_vin_to_car(vin)
+
+
+def match_vin_to_car(vin: str) -> set[str]:
+  if not is_valid_vin(vin):
+    return set()
+
+  vin_obj = Vin(vin)
+  vds = vin[3:7]
+  model_year = vin[9]
+  candidates = {platform for platform in CAR if vin_obj.wmi in platform.config.wmis and
+                model_year in platform.config.years and
+                any(code in vds for code in platform.config.vds_codes)}
+
+  if {CAR.FORD_F_150_MK14, CAR.FORD_F_150_LIGHTNING_MK1} & candidates:
+    electric = vin[7] in F150_ELECTRIC_CODES
+    candidates.discard(CAR.FORD_F_150_MK14 if electric else CAR.FORD_F_150_LIGHTNING_MK1)
+
+  return {str(candidate) for candidate in candidates}
 
 
 # All of these ECUs must be present and are expected to have platform codes we can match
@@ -266,10 +317,10 @@ PLATFORM_CODE_ECUS = (Ecu.abs, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.eps)
 DATA_IDENTIFIER_FORD_ASBUILT = 0xDE00
 
 ASBUILT_BLOCKS: list[tuple[int, list]] = [
-  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps]),
+  (1, [Ecu.debug, Ecu.fwdCamera, Ecu.eps, Ecu.hud]),
-  (2, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (2, [Ecu.abs, Ecu.debug, Ecu.eps, Ecu.hud]),
-  (3, [Ecu.abs, Ecu.debug, Ecu.eps]),
+  (3, [Ecu.abs, Ecu.debug, Ecu.eps, Ecu.hud]),
-  (4, [Ecu.debug, Ecu.fwdCamera]),
+  (4, [Ecu.debug, Ecu.fwdCamera, Ecu.hud]),
   (5, [Ecu.debug]),
   (6, [Ecu.debug]),
   (7, [Ecu.debug]),
@@ -297,13 +348,13 @@ FW_QUERY_CONFIG = FwQueryConfig(
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire, Ecu.hud],
       logging=True,
     ),
     Request(
       [StdQueries.TESTER_PRESENT_REQUEST, StdQueries.MANUFACTURER_SOFTWARE_VERSION_REQUEST],
       [StdQueries.TESTER_PRESENT_RESPONSE, StdQueries.MANUFACTURER_SOFTWARE_VERSION_RESPONSE],
-      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire],
+      whitelist_ecus=[Ecu.abs, Ecu.debug, Ecu.engine, Ecu.eps, Ecu.fwdCamera, Ecu.fwdRadar, Ecu.shiftByWire, Ecu.hud],
       bus=0,
       auxiliary=True,
     ),
@@ -320,7 +371,9 @@ FW_QUERY_CONFIG = FwQueryConfig(
                                       # Note: We are unlikely to get a response from behind the gateway
     (Ecu.shiftByWire, 0x732, None),   # Gear Shift Module
     (Ecu.debug, 0x7d0, None),         # Accessory Protocol Interface Module
+    (Ecu.hud, 0x720, None),           # Instrument Cluster Module
   ],
+  non_essential_ecus={Ecu.eps: [CAR.FORD_F_150_LIGHTNING_MK1, CAR.FORD_EXPEDITION_MK4]},
   # Custom fuzzy fingerprinting function using platform and model year hints
   match_fw_to_car_fuzzy=match_fw_to_car_fuzzy,
 )

opendbc_repo/opendbc/car/fw_query_definitions.py

@@ -101,6 +101,7 @@ class Request:
 @dataclass
 class FwQueryConfig:
   requests: list[Request]
+  non_tester_present_ecus: list[Ecu] = field(default_factory=list)
   # TODO: make this automatic and remove hardcoded lists, or do fingerprinting with ecus
   # Overrides and removes from essential ecus for specific models and ecus (exact matching)
   non_essential_ecus: dict[Ecu, list[str]] = field(default_factory=dict)
@@ -109,8 +110,13 @@ class FwQueryConfig:
   # Function a brand can implement to provide better fuzzy matching. Takes in FW versions and VIN,
   # returns set of candidates. Only will match if one candidate is returned
   match_fw_to_car_fuzzy: Callable[[LiveFwVersions, str, OfflineFwVersions], set[str]] | None = None
+  # Platforms whose shared firmware must be disambiguated by the brand fuzzy matcher.
+  fuzzy_only_platforms: set[str] = field(default_factory=set)
 
   def __post_init__(self):
+    assert not self.fuzzy_only_platforms or self.match_fw_to_car_fuzzy is not None, \
+      "Fuzzy-only platforms require a brand fuzzy matcher"
+
     # Asserts that a request exists if extra ecus are used
     if len(self.extra_ecus):
       assert len(self.requests), "Must define a request with extra ecus"

opendbc_repo/opendbc/car/fw_versions.py

@@ -111,7 +111,8 @@ def match_fw_to_car_exact(live_fw_versions: LiveFwVersions, match_brand: str = N
 
   invalid = set()
   candidates = {c: f for c, f in FW_VERSIONS.items() if
-                is_brand(MODEL_TO_BRAND[c], match_brand)}
+                is_brand(MODEL_TO_BRAND[c], match_brand) and
+                c not in FW_QUERY_CONFIGS[MODEL_TO_BRAND[c]].fuzzy_only_platforms}
 
   for candidate, fws in candidates.items():
     config = FW_QUERY_CONFIGS[MODEL_TO_BRAND[candidate]]
@@ -181,6 +182,9 @@ def get_present_ecus(can_recv: CanRecvCallable, can_send: CanSendCallable, set_o
       continue
 
     for ecu_type, addr, sub_addr in config.get_all_ecus(VERSIONS[brand]):
+      if ecu_type in config.non_tester_present_ecus:
+        continue
+
       # Only query ecus in whitelist if whitelist is not empty
       if len(r.whitelist_ecus) == 0 or ecu_type in r.whitelist_ecus:
         a = (addr, sub_addr, r.bus)
@@ -216,6 +220,9 @@ def get_brand_ecu_matches(ecu_rx_addrs: set[EcuAddrBusType]) -> dict[str, list[b
   # Since we can't know what request an ecu responded to, add matches for all possible rx offsets
   for brand, config, r in REQUESTS:
     for ecu in config.get_all_ecus(VERSIONS[brand]):
+      if ecu[0] in config.non_tester_present_ecus:
+        continue
+
       if len(r.whitelist_ecus) == 0 or ecu[0] in r.whitelist_ecus:
         brand_rx_addrs[brand].add((uds.get_rx_addr_for_tx_addr(ecu[1], r.rx_offset), ecu[2]))
 

opendbc_repo/opendbc/car/gm/carcontroller.py

@@ -69,6 +69,9 @@ TRUCK_LONG_SMOOTH_CARS = {
 TRUCK_FRICTION_BRAKE_ENGAGE = 40
 TRUCK_FRICTION_BRAKE_RELEASE = 8
 TRUCK_FRICTION_BRAKE_IMMEDIATE_ACCEL = -0.85
+TRUCK_FOLLOW_MICRO_ACCEL_MAX = 0.55
+TRUCK_FOLLOW_MICRO_ACCEL_MIN = -0.10
+TRUCK_FOLLOW_MICRO_ACCEL_SLEW = 1.5
 ACC_DASHBOARD_ZERO_RESERVED_CARS = {
   CAR.CHEVROLET_BLAZER,
   CAR.CHEVROLET_EQUINOX,
@@ -215,11 +218,11 @@ def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool,
   if not enabled or accel <= 0.0 or v_ego < 12.0:
     return accel
 
-  low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.93, 0.84, 0.76, 0.70]))
+  low_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.93, 0.84, 0.76, 0.76]))
-  mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.97, 0.91, 0.85, 0.79]))
+  mid_scale = float(np.interp(v_ego, [12.0, 18.0, 25.0, 35.0], [0.97, 0.91, 0.85, 0.85]))
 
   if lead_visible and set_speed_error > 0.0:
-    follow_relief = float(np.interp(set_speed_error, [0.0, 1.0, 2.5, 4.0, 6.0], [0.0, 0.04, 0.10, 0.18, 0.30]))
+    follow_relief = float(np.interp(set_speed_error, [0.0, 1.0, 2.5, 4.0, 6.0], [0.0, 0.04, 0.10, 0.24, 0.42]))
     low_scale += (1.0 - low_scale) * follow_relief
     mid_scale += (1.0 - mid_scale) * follow_relief
 
@@ -232,6 +235,27 @@ def shape_truck_positive_accel(accel: float, v_ego: float, enabled: bool,
   return accel
 
 
+def smooth_truck_follow_accel(accel: float, previous_accel: float, v_ego: float,
+                              enabled: bool, lead_visible: bool, stopping: bool) -> float:
+  if (
+    not enabled or not lead_visible or stopping or v_ego < 25.0 or
+    accel > TRUCK_FOLLOW_MICRO_ACCEL_MAX or accel < TRUCK_FOLLOW_MICRO_ACCEL_MIN or
+    previous_accel > TRUCK_FOLLOW_MICRO_ACCEL_MAX or previous_accel < TRUCK_FOLLOW_MICRO_ACCEL_MIN
+  ):
+    return accel
+
+  max_delta = TRUCK_FOLLOW_MICRO_ACCEL_SLEW * DT_CTRL * 4
+  return previous_accel + float(np.clip(accel - previous_accel, -max_delta, max_delta))
+
+
+def shape_truck_pitch_accel(pitch_accel: float, v_ego: float, enabled: bool) -> float:
+  if not enabled:
+    return pitch_accel
+
+  scale = float(np.interp(v_ego, [8.0, 15.0, 25.0, 35.0], [0.60, 0.45, 0.30, 0.25]))
+  return pitch_accel * scale
+
+
 def shape_truck_friction_brake(apply_brake: int, accel_cmd: float, stopping: bool, active: bool) -> tuple[int, bool]:
   if apply_brake <= 0:
     return 0, False
@@ -484,6 +508,10 @@ class CarController(CarControllerBase):
     self.xt4_cc_button_burst_last_counter = -1
     self.xt4_cc_button_observed_counter = -1
     self.xt4_cc_button_counter_frame = 0
+    self.gm_cc_last_direction_button = CruiseButtons.INIT
+    self.gm_cc_last_direction_frame = 0
+    self.gm_cc_pending_reverse_button = CruiseButtons.INIT
+    self.gm_cc_pending_reverse_frame = 0
 
     self.lka_steering_cmd_counter = 0
     self.lka_icon_status_last = (False, False)
@@ -545,6 +573,7 @@ class CarController(CarControllerBase):
     self.bolt_acc_pedal_friction_release_frames = 0
     self.bolt_acc_pedal_friction_low_speed_active = False
     self.truck_friction_brake_active = False
+    self.truck_follow_accel = 0.0
 
   def _reset_volt_one_pedal(self):
     self.volt_one_pedal_pid.reset()
@@ -966,10 +995,12 @@ class CarController(CarControllerBase):
           self.regen_release_counter = 0
           self.regen_min_on_frames = 0
           self.regen_min_off_frames = 0
+          self.truck_follow_accel = 0.0
         elif should_use_fixed_stopping_brake(self.CP, near_stop, stopping, CC.cruiseControl.resume):
           stop_accel = getattr(starpilot_toggles, "stopAccel", self.CP.stopAccel)
           self.apply_gas = self.params.INACTIVE_REGEN
           self.apply_brake = int(min(-100 * stop_accel, self.params.MAX_BRAKE))
+          self.truck_follow_accel = 0.0
         else:
           long_pitch_enabled = bool(getattr(starpilot_toggles, "long_pitch", True))
           pedal_long_path = bool(self.CP.enableGasInterceptorDEPRECATED and (self.CP.flags & GMFlags.PEDAL_LONG.value))
@@ -1016,6 +1047,7 @@ class CarController(CarControllerBase):
               getattr(self.CP, "transmissionType", None) == TransmissionType.automatic and
               not self.CP.enableGasInterceptorDEPRECATED
             )
+            accel_due_to_pitch = shape_truck_pitch_accel(accel_due_to_pitch, CS.out.vEgo, truck_long_smoothing)
             accel_input = actuators.accel + accel_due_to_pitch
             if truck_long_smoothing:
               accel_input = shape_truck_positive_accel(
@@ -1027,6 +1059,16 @@ class CarController(CarControllerBase):
               )
 
             accel_cmd = float(np.clip(accel_input, self.params.ACCEL_MIN, accel_max))
+            if truck_long_smoothing:
+              accel_cmd = smooth_truck_follow_accel(
+                accel_cmd,
+                self.truck_follow_accel,
+                CS.out.vEgo,
+                True,
+                CC.hudControl.leadVisible,
+                stopping,
+              )
+            self.truck_follow_accel = accel_cmd
             torque = self.tireRadius * ((self.mass * accel_cmd) + (0.5 * self.coeffDrag * self.frontalArea * self.airDensity * CS.out.vEgo ** 2))
             scaled_torque = torque + self.params.ZERO_GAS
             apply_gas_torque = np.clip(scaled_torque, self.params.MAX_ACC_REGEN, gas_max)

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: [
+  CAR.CHEVROLET_VOLT_CC: [
-  # FIXME: Need a message to distinguish flashed from non-flashed
+  # Captured no-ACC Volt fingerprints for OBD-C/L&P harness installations
-  # Volt Premier w/o acc 2016
+  # 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
+    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
+    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
+  # 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
+    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
@@ -20,6 +20,14 @@ MALIBU_BUTTON_MAP = {
 ACC_CRUISE_STATE_ADAPTIVE = 2
 XT4_CC_BUTTON_BURST_FRAMES = 6
 XT4_CC_BUTTON_COUNTER_DELAY_FRAMES = 1
+BOLT_CC_BUTTON_CARS = {
+  CAR.CHEVROLET_BOLT_CC_2017,
+  CAR.CHEVROLET_BOLT_CC_2018_2021,
+  CAR.CHEVROLET_BOLT_CC_2022_2023,
+}
+BOLT_CC_TARGET_DEADBAND_MPH = 0.75
+BOLT_CC_REVERSE_CONFIRM_S = 0.6
+BOLT_CC_DIRECTION_MEMORY_S = 1.5
 
 
 def malibu_phase_map_for_button(button):
@@ -298,26 +306,65 @@ def create_lka_icon_command(bus, active, critical, steer):
   return CanData(0x104c006c, dat, bus)
 
 
+def stabilize_bolt_cc_button(controller, CP, requested_button):
+  if CP.carFingerprint not in BOLT_CC_BUTTON_CARS:
+    return requested_button
+
+  direction_buttons = (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET)
+  if requested_button not in direction_buttons:
+    controller.gm_cc_pending_reverse_button = CruiseButtons.INIT
+    return requested_button
+
+  last_button = getattr(controller, "gm_cc_last_direction_button", CruiseButtons.INIT)
+  last_frame = getattr(controller, "gm_cc_last_direction_frame", -int(BOLT_CC_DIRECTION_MEMORY_S / DT_CTRL) - 1)
+  recently_sent = (controller.frame - last_frame) * DT_CTRL <= BOLT_CC_DIRECTION_MEMORY_S
+  reversing_to_accel = (last_button == CruiseButtons.DECEL_SET and
+                        requested_button == CruiseButtons.RES_ACCEL and recently_sent)
+
+  if reversing_to_accel:
+    pending_button = getattr(controller, "gm_cc_pending_reverse_button", CruiseButtons.INIT)
+    if pending_button != requested_button:
+      controller.gm_cc_pending_reverse_button = requested_button
+      controller.gm_cc_pending_reverse_frame = controller.frame
+      return CruiseButtons.INIT
+
+    pending_frame = getattr(controller, "gm_cc_pending_reverse_frame", controller.frame)
+    if (controller.frame - pending_frame) * DT_CTRL < BOLT_CC_REVERSE_CONFIRM_S:
+      return CruiseButtons.INIT
+
+  controller.gm_cc_pending_reverse_button = CruiseButtons.INIT
+  return requested_button
+
+
 def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggles):
   accel = actuators.accel
   v_ego = CS.out.vEgo
   cruise_btn = CruiseButtons.INIT
   rate = 1 if abs(accel) <= 0.15 else 0.2
-  ms_convert = CV.MS_TO_KPH if getattr(starpilot_toggles, "is_metric", False) else CV.MS_TO_MPH
+  is_metric = getattr(starpilot_toggles, "is_metric", False)
+  ms_convert = CV.MS_TO_KPH if is_metric else CV.MS_TO_MPH
   speed_setpoint = int(round(CS.out.cruiseState.speed * ms_convert))
-  desired_setpoint = int(round((v_ego * 1.01 + 3 * accel) * ms_convert))
+  projected_setpoint = (v_ego * 1.01 + 3 * accel) * ms_convert
+  desired_setpoint = int(round(projected_setpoint))
+  bolt_cc = CS.CP.carFingerprint in BOLT_CC_BUTTON_CARS
+  target_deadband = BOLT_CC_TARGET_DEADBAND_MPH * (CV.MPH_TO_KPH if is_metric else 1.0) if bolt_cc else 0.0
+  comparison_setpoint = projected_setpoint if bolt_cc else desired_setpoint
 
   if CS.CP.minEnableSpeed - (desired_setpoint / ms_convert) > 3.25:
     cruise_btn = CruiseButtons.CANCEL
-    controller.apply_speed = 0
+  elif comparison_setpoint < speed_setpoint - target_deadband and speed_setpoint > CS.CP.minEnableSpeed * ms_convert + 1:
-  elif desired_setpoint < speed_setpoint and speed_setpoint > CS.CP.minEnableSpeed * ms_convert + 1:
     cruise_btn = CruiseButtons.DECEL_SET
-    controller.apply_speed = speed_setpoint - 1
+  elif comparison_setpoint > speed_setpoint + target_deadband:
-  elif desired_setpoint > speed_setpoint:
     cruise_btn = CruiseButtons.RES_ACCEL
+
+  cruise_btn = stabilize_bolt_cc_button(controller, CS.CP, cruise_btn)
+  if cruise_btn == CruiseButtons.CANCEL:
+    controller.apply_speed = 0
+  elif cruise_btn == CruiseButtons.DECEL_SET:
+    controller.apply_speed = speed_setpoint - 1
+  elif cruise_btn == CruiseButtons.RES_ACCEL:
     controller.apply_speed = speed_setpoint + 1
   else:
-    cruise_btn = CruiseButtons.INIT
     controller.apply_speed = speed_setpoint
 
   if CS.CP.carFingerprint == CAR.CADILLAC_XT4_CC:
@@ -360,6 +407,9 @@ def create_gm_cc_spam_command(packer, controller, CS, actuators, starpilot_toggl
   # Or bus 2, since we're forwarding... but I think it does
   if (cruise_btn != CruiseButtons.INIT) and ((controller.frame - controller.last_button_frame) * DT_CTRL > rate):
     controller.last_button_frame = controller.frame
+    if bolt_cc and cruise_btn in (CruiseButtons.RES_ACCEL, CruiseButtons.DECEL_SET):
+      controller.gm_cc_last_direction_button = cruise_btn
+      controller.gm_cc_last_direction_frame = controller.frame
     if CS.CP.carFingerprint == CAR.CHEVROLET_MALIBU_HYBRID_CC:
       phase_map = malibu_phase_map_for_button(cruise_btn)
       if phase_map:
@@ -370,9 +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
+    # A camera-forward Volt CC install needs the button spoof on both sides.
-    # camera side. Removed-camera installs set NO_CAMERA and keep this PT-only.
+    # The OBD-C/L&P gateway variant has no camera bus and remains PT-only.
-    if CS.CP.carFingerprint == CAR.CHEVROLET_VOLT_CC and not (CS.CP.flags & GMFlags.NO_CAMERA.value):
+    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

@@ -70,6 +70,10 @@ NON_LINEAR_TORQUE_PARAMS = {
     "left": [1.525, 1.05, 0.155, 0.0],
     "right": [1.525, 0.95, 0.150, 0.0],
   },
+  CAR.CHEVROLET_TRAX: {
+    "left": [3.8060, 0.8282, 0.1702, 0],
+    "right": [3.8060, 0.8282, 0.1702, 0],
+  },
 }
 
 NON_LINEAR_TORQUE_PARAM_ALIASES = {
@@ -269,7 +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 = {
@@ -603,6 +606,7 @@ class CarInterface(CarInterfaceBase):
           ret.longitudinalTuning.kpV = [0.095, 0.085, 0.065, 0.050]
           ret.longitudinalTuning.kiV = [0.07, 0.10, 0.15, 0.24]
           ret.longitudinalTuning.kfDEPRECATED = 0.20
+          ret.longitudinalActuatorDelay = 0.6
         else:
           ret.longitudinalTuning.kfDEPRECATED = 0.25
 
@@ -680,6 +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
@@ -693,7 +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
 
@@ -779,6 +785,7 @@ class CarInterface(CarInterfaceBase):
       ret.alternativeExperience |= ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
 
     if candidate == CAR.CHEVROLET_TRAX:
+      ret.steerActuatorDelay = 0.46
       CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
     return ret

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

@@ -55,7 +55,9 @@ from opendbc.car.gm.carcontroller import (
   get_stock_cc_active_for_cancel,
   shape_bolt_acc_pedal_low_speed_friction,
   shape_truck_friction_brake,
+  shape_truck_pitch_accel,
   shape_truck_positive_accel,
+  smooth_truck_follow_accel,
   should_use_fixed_stopping_brake,
   should_activate_auto_hold,
   should_activate_volt_one_pedal,
@@ -361,6 +363,8 @@ def test_live_camera_path_does_not_send_pt_keepalive():
 def test_acc_2cd_replacement_only_used_with_live_camera_path():
   assert should_send_acc_2cd(SimpleNamespace(
     carFingerprint=CAR.CHEVROLET_TRAILBLAZER, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0))
+  assert should_send_acc_2cd(SimpleNamespace(
+    carFingerprint=CAR.CHEVROLET_SILVERADO, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=0))
   assert not should_send_acc_2cd(SimpleNamespace(
     carFingerprint=CAR.CHEVROLET_TRAILBLAZER, networkLocation=CarParams.NetworkLocation.fwdCamera, flags=GMFlags.NO_CAMERA.value))
   assert not should_send_acc_2cd(SimpleNamespace(
@@ -861,6 +865,36 @@ def test_shape_truck_positive_accel_does_not_relax_without_speed_error():
   assert no_error == base
 
 
+def test_shape_truck_positive_accel_keeps_more_highway_follow_authority():
+  city = shape_truck_positive_accel(0.28, 26.0, True)
+  highway = shape_truck_positive_accel(0.28, 34.0, True)
+
+  assert highway >= city
+
+
+def test_smooth_truck_follow_accel_slews_small_highway_commands():
+  shaped = smooth_truck_follow_accel(0.50, 0.0, 30.0, True, True, False)
+
+  assert shaped == pytest.approx(0.06)
+
+
+def test_smooth_truck_follow_accel_does_not_delay_safety_requests():
+  assert smooth_truck_follow_accel(-0.40, 0.20, 30.0, True, True, False) == -0.40
+  assert smooth_truck_follow_accel(0.20, -0.40, 30.0, True, True, False) == 0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 30.0, True, True, True) == -0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 20.0, True, True, False) == -0.20
+  assert smooth_truck_follow_accel(-0.20, 0.20, 30.0, True, False, False) == -0.20
+
+
+def test_shape_truck_pitch_accel_attenuates_highway_grade_feedforward():
+  assert shape_truck_pitch_accel(-0.30, 30.0, True) == pytest.approx(-0.0825)
+  assert shape_truck_pitch_accel(0.30, 30.0, True) == pytest.approx(0.0825)
+
+
+def test_shape_truck_pitch_accel_is_inactive_without_truck_tuning():
+  assert shape_truck_pitch_accel(-0.30, 30.0, False) == pytest.approx(-0.30)
+
+
 def test_shape_truck_friction_brake_suppresses_boundary_chatter():
   assert shape_truck_friction_brake(14, -0.3, False, False) == (0, False)
 

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
@@ -65,7 +66,76 @@ 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,
+    CAR.CHEVROLET_BOLT_CC_2018_2021,
+    CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL,
+    CAR.CHEVROLET_BOLT_CC_2022_2023,
+    CAR.CHEVROLET_MALIBU_HYBRID_CC,
+  ])
+  def test_bolt_pedal_long_uses_shared_planning_delay_without_retuning_pid(self, car_model):
+    CarInterface = interfaces[car_model]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0x201] = 8
+    params = Params()
+
+    try:
+      params.put_bool("GMPedalLongitudinal", True)
+      car_params = CarInterface.get_params(
+        car_model,
+        fingerprint,
+        [],
+        alpha_long=False,
+        is_release=False,
+        docs=False,
+        starpilot_toggles=_test_starpilot_toggles(),
+      )
+    finally:
+      params.remove("GMPedalLongitudinal")
+
+    assert car_params.longitudinalActuatorDelay == pytest.approx(0.6)
+    assert list(car_params.longitudinalTuning.kpV) == pytest.approx([0.095, 0.085, 0.065, 0.050])
+    assert list(car_params.longitudinalTuning.kiV) == pytest.approx([0.07, 0.10, 0.15, 0.24])
+    assert car_params.longitudinalTuning.kfDEPRECATED == pytest.approx(0.20)
+
   def test_bolt_acc_pedal_pid_accel_limits_keep_full_negative_authority(self):
     cp = SimpleNamespace(
       enableGasInterceptorDEPRECATED=True,
@@ -169,6 +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 = {
@@ -501,6 +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,
@@ -522,6 +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,
@@ -557,6 +668,80 @@ class TestGMCarController:
 
     assert [msg[2] for msg in msgs] == [0]
 
+  @parameterized.expand([
+    CAR.CHEVROLET_BOLT_CC_2017,
+    CAR.CHEVROLET_BOLT_CC_2018_2021,
+    CAR.CHEVROLET_BOLT_CC_2022_2023,
+  ])
+  def test_bolt_cc_redneck_ignores_small_setpoint_error(self, car_model):
+    packer = CANPacker(DBC[car_model][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=car_model,
+        minEnableSpeed=24 * CV.MPH_TO_MS,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=(60.6 * CV.MPH_TO_MS) / 1.01,
+        cruiseState=SimpleNamespace(speed=60 * CV.MPH_TO_MS),
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(packer, controller, cs, SimpleNamespace(accel=0.0), SimpleNamespace(is_metric=False))
+
+    assert msgs == []
+    assert controller.apply_speed == 60
+
+  def test_non_bolt_cc_redneck_keeps_existing_setpoint_selector(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_EQUINOX_CC][Bus.pt])
+    controller = SimpleNamespace(frame=int(2.0 / DT_CTRL), last_button_frame=0, apply_speed=0)
+    cs = SimpleNamespace(
+      CP=SimpleNamespace(
+        carFingerprint=CAR.CHEVROLET_EQUINOX_CC,
+        flags=GMFlags.CC_LONG.value,
+        minEnableSpeed=24 * CV.MPH_TO_MS,
+      ),
+      buttons_counter=2,
+      out=SimpleNamespace(
+        vEgo=(60.6 * CV.MPH_TO_MS) / 1.01,
+        cruiseState=SimpleNamespace(speed=60 * CV.MPH_TO_MS),
+      ),
+    )
+
+    msgs = gmcan.create_gm_cc_spam_command(packer, controller, cs, SimpleNamespace(accel=0.0), SimpleNamespace(is_metric=False))
+
+    assert len(msgs) == 1
+    assert controller.apply_speed == 61
+
+  def test_bolt_cc_redneck_requires_persistent_acceleration_after_deceleration(self):
+    cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021)
+    controller = SimpleNamespace(
+      frame=100,
+      gm_cc_last_direction_button=CruiseButtons.DECEL_SET,
+      gm_cc_last_direction_frame=100,
+      gm_cc_pending_reverse_button=CruiseButtons.INIT,
+      gm_cc_pending_reverse_frame=0,
+    )
+
+    assert gmcan.stabilize_bolt_cc_button(controller, cp, CruiseButtons.RES_ACCEL) == CruiseButtons.INIT
+    controller.frame += int(0.5 / DT_CTRL)
+    assert gmcan.stabilize_bolt_cc_button(controller, cp, CruiseButtons.RES_ACCEL) == CruiseButtons.INIT
+    controller.frame += int(0.11 / DT_CTRL)
+    assert gmcan.stabilize_bolt_cc_button(controller, cp, CruiseButtons.RES_ACCEL) == CruiseButtons.RES_ACCEL
+
+  def test_bolt_cc_redneck_deceleration_is_not_debounced(self):
+    cp = SimpleNamespace(carFingerprint=CAR.CHEVROLET_BOLT_CC_2018_2021)
+    controller = SimpleNamespace(
+      frame=100,
+      gm_cc_last_direction_button=CruiseButtons.RES_ACCEL,
+      gm_cc_last_direction_frame=100,
+      gm_cc_pending_reverse_button=CruiseButtons.INIT,
+      gm_cc_pending_reverse_frame=0,
+    )
+
+    assert gmcan.stabilize_bolt_cc_button(controller, cp, CruiseButtons.DECEL_SET) == CruiseButtons.DECEL_SET
+
   def test_xt4_cc_redneck_spam_matches_physical_button_burst(self):
     packer = CANPacker(DBC[CAR.CADILLAC_XT4_CC][Bus.pt])
     controller = SimpleNamespace(

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

@@ -69,7 +69,6 @@ class TestGMCan:
     assert bus == 0
     assert dat.hex() == "20000000000000"
 
-
   def test_gas_regen_command_matches_starpilot_volt_2019(self):
     packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_2019]["pt"])
     addr, dat, bus = gmcan.create_gas_regen_command(packer, 0, 5000, 1, True, False, include_always_one3=True, use_volt_layout=True)

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):
@@ -214,16 +215,12 @@ class GMPlatformConfig(PlatformConfig):
 
 @dataclass
 class GMASCMPlatformConfig(GMPlatformConfig):
-  def init(self):
+  pass
-    # ASCM is supported, but due to a janky install and hardware configuration, we are not showing in the car docs
-    self.car_docs = []
 
 
 @dataclass
 class GMSDGMPlatformConfig(GMPlatformConfig):
-  def init(self):
+  pass
-    # Don't show in docs until the harness is sold. See https://github.com/commaai/openpilot/issues/32471
-    self.car_docs = []
 
 
 class CAR(Platforms):
@@ -241,17 +238,17 @@ class CAR(Platforms):
     },
   )
   CHEVROLET_VOLT_ASCM = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt 2017-18 ASCM Harness", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
+    [GMCarDocs("Chevrolet Volt ASCM Harness 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
     CHEVROLET_VOLT.specs,
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )
   CHEVROLET_VOLT_CAMERA = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt 2017-18 Camera Harness", "Flashed camera-forward integration with ACC")],
+    [GMCarDocs("Chevrolet Volt Camera Harness 2017-18", "Flashed camera-forward integration with ACC")],
     CHEVROLET_VOLT.specs,
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )
   CHEVROLET_VOLT_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Volt 2017-18 - No-ACC", min_enable_speed=0)],
+    [GMCarDocs("Chevrolet Volt No-ACC 2016-18 (OBD Harness)", "Redneck ACC", min_enable_speed=0)],
     CHEVROLET_VOLT.specs,
     dbc_dict=CHEVROLET_VOLT.dbc_dict,
   )
@@ -264,7 +261,7 @@ class CAR(Platforms):
     GMCarSpecs(mass=1496, wheelbase=2.83, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   CHEVROLET_MALIBU_ASCM = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu 2017-19 ASCM Harness")],
+    [GMCarDocs("Chevrolet Malibu ASCM Harness 2017-19")],
     CHEVROLET_MALIBU.specs,
   )
   GMC_ACADIA = GMASCMPlatformConfig(
@@ -272,7 +269,7 @@ class CAR(Platforms):
     GMCarSpecs(mass=1975, wheelbase=2.86, steerRatio=14.4, centerToFrontRatio=0.4),
   )
   GMC_ACADIA_ASCM = GMPlatformConfig(
-    [GMCarDocs("GMC Acadia 2018 ASCM Harness", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
+    [GMCarDocs("GMC Acadia ASCM Harness 2018", video="https://www.youtube.com/watch?v=0ZN6DdsBUZo")],
     GMC_ACADIA.specs,
   )
   BUICK_LACROSSE = GMASCMPlatformConfig(
@@ -280,11 +277,11 @@ class CAR(Platforms):
     GMCarSpecs(mass=1712, wheelbase=2.91, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   BUICK_LACROSSE_ASCM = GMPlatformConfig(
-    [GMCarDocs("Buick LaCrosse 2017-19 ASCM Harness")],
+    [GMCarDocs("Buick LaCrosse ASCM Harness 2017-19")],
     BUICK_LACROSSE.specs,
   )
   BUICK_LACROSSE_ASCM_19US = GMPlatformConfig(
-    [GMCarDocs("Buick LaCrosse 2019 US ASCM Harness")],
+    [GMCarDocs("Buick LaCrosse US ASCM Harness 2019")],
     BUICK_LACROSSE.specs,
   )
   BUICK_REGAL = GMASCMPlatformConfig(
@@ -296,7 +293,7 @@ class CAR(Platforms):
     GMCarSpecs(mass=2564, wheelbase=2.95, steerRatio=17.3),
   )
   CADILLAC_ESCALADE_ASCM = GMPlatformConfig(
-    [GMCarDocs("Cadillac Escalade 2018 ASCM Harness", "Driver Assist Package")],
+    [GMCarDocs("Cadillac Escalade ASCM Harness 2018", "Driver Assist Package")],
     CADILLAC_ESCALADE.specs,
   )
   CADILLAC_ESCALADE_ESV = GMASCMPlatformConfig(
@@ -308,29 +305,29 @@ class CAR(Platforms):
     CADILLAC_ESCALADE_ESV.specs,
   )
   CADILLAC_ESCALADE_ESV_2019_ASCM = GMPlatformConfig(
-    [GMCarDocs("Cadillac Escalade ESV Platinum 2019 ASCM Harness", "Adaptive Cruise Control (ACC) & LKAS")],
+    [GMCarDocs("Cadillac Escalade ESV Platinum ASCM Harness 2019", "Adaptive Cruise Control (ACC) & LKAS")],
     CADILLAC_ESCALADE_ESV_2019.specs,
   )
   CHEVROLET_BOLT_ACC_2022_2023 = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Bolt ACC 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
+      GMCarDocs("Chevrolet Bolt EV & EUV ACC 2022-23", "Premier or Premier Redline Trim without Super Cruise Package", video="https://youtu.be/xvwzGMUA210"),
     ],
     GMCarSpecs(mass=1669, wheelbase=2.63779, steerRatio=16.8, centerToFrontRatio=0.4, tireStiffnessFactor=1.0),
   )
   CHEVROLET_BOLT_ACC_2022_2023_PEDAL = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2022-23 ACC w Pedal")],
+    [GMCarDocs("Chevrolet Bolt EV & EUV ACC w Pedal 2022-23")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_CC_2022_2023 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2022-23 - No-ACC")],
+    [GMCarDocs("Chevrolet Bolt EV & EUV No-ACC 2022-23")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_CC_2018_2021 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2018-21 - No-ACC")],
+    [GMCarDocs("Chevrolet Bolt EV No-ACC 2018-21")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
   CHEVROLET_BOLT_CC_2017 = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Bolt EV 2017 - No-ACC")],
+    [GMCarDocs("Chevrolet Bolt EV No-ACC 2017")],
     CHEVROLET_BOLT_ACC_2022_2023.specs,
   )
 
@@ -343,8 +340,8 @@ class CAR(Platforms):
   )
   CHEVROLET_SILVERADO_CC = GMPlatformConfig(
     [
-      GMCarDocs("Chevrolet Silverado 1500 - No-ACC"),
+      GMCarDocs("Chevrolet Silverado 1500 No-ACC 2020-21"),
-      GMCarDocs("GMC Sierra 1500 - No-ACC"),
+      GMCarDocs("GMC Sierra 1500 No-ACC 2020-21"),
     ],
     CHEVROLET_SILVERADO.specs,
   )
@@ -361,7 +358,7 @@ class CAR(Platforms):
     CarSpecs(mass=2731, wheelbase=3.302, steerRatio=17.3, centerToFrontRatio=0.49),
   )
   GMC_YUKON_CC = GMPlatformConfig(
-    [GMCarDocs("GMC Yukon - No-ACC")],
+    [GMCarDocs("GMC Yukon No-ACC 2019-20")],
     CarSpecs(mass=2541, wheelbase=2.95, steerRatio=16.3, centerToFrontRatio=0.4),
   )
   GMC_YUKON = GMPlatformConfig(
@@ -373,7 +370,7 @@ class CAR(Platforms):
     GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
   )
   CADILLAC_XT4_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT4 - No-ACC")],
+    [GMCarDocs("Cadillac XT4 No-ACC 2023")],
     CADILLAC_XT4.specs,
   )
   CADILLAC_XT5 = GMSDGMPlatformConfig(
@@ -405,35 +402,35 @@ class CAR(Platforms):
     CarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.0, centerToFrontRatio=0.5),
   )
   CADILLAC_CT6_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac CT6 - No-ACC")],
+    [GMCarDocs("Cadillac CT6 No-ACC 2016-20")],
     CarSpecs(mass=2358, wheelbase=3.11, steerRatio=17.7, centerToFrontRatio=0.4),
   )
   CADILLAC_XT5_CC = GMPlatformConfig(
-    [GMCarDocs("Cadillac XT5 - No-ACC")],
+    [GMCarDocs("Cadillac XT5 No-ACC 2022")],
     CADILLAC_XT5.specs,
   )
   CHEVROLET_EQUINOX_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
+    [GMCarDocs("Chevrolet Equinox No-ACC 2019-22")],
     CHEVROLET_EQUINOX.specs,
   )
   CHEVROLET_MALIBU_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu 2023 - No-ACC")],
+    [GMCarDocs("Chevrolet Malibu No-ACC 2023")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=18.25, centerToFrontRatio=0.4, tireStiffnessFactor=0.997),
   )
   CHEVROLET_MALIBU_HYBRID_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Malibu Hybrid 2017 - No-ACC")],
+    [GMCarDocs("Chevrolet Malibu Hybrid No-ACC 2017")],
     CarSpecs(mass=1450, wheelbase=2.8, steerRatio=15.8, centerToFrontRatio=0.4),
   )
   CHEVROLET_SUBURBAN_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Suburban Premier 2016-20 - No-ACC")],
+    [GMCarDocs("Chevrolet Suburban Premier No-ACC 2016-20")],
     CHEVROLET_SUBURBAN.specs,
   )
   CHEVROLET_TRAILBLAZER_CC = GMPlatformConfig(
-    [GMCarDocs("Chevrolet Trailblazer 2021-22 - No-ACC")],
+    [GMCarDocs("Chevrolet Trailblazer No-ACC 2021-22")],
     CHEVROLET_TRAILBLAZER.specs,
   )
   CHEVROLET_TRAX = GMPlatformConfig(
-    [GMCarDocs("Chevrolet TRAX 2024")],
+    [GMCarDocs("Chevrolet TRAX 2024-25")],
     CarSpecs(mass=1365, wheelbase=2.7, steerRatio=16.4, centerToFrontRatio=0.4),
   )
 

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))
+          if self.mvl_accord_mode and (accel < min_gas) and (1e-3 < CS.out.vEgo < 3.0):
-          gas_pedal_force = self.accel + hill_brake
+            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(
+          if not self.mvl_accord_mode or mvl_radar_owned:
-            hondacan.create_acc_commands(self.packer, self.CAN, CC.enabled, CC.longActive, self.accel, self.gas, self.stopping_counter, self.CP.carFingerprint)
+            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:
+    if self.CP.carFingerprint in (HONDA_BOSCH_ALT_RADAR | {CAR.HONDA_ACCORD_11G}):
-      # TODO: See if this logic works for all other Honda
+      # 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
@@ -201,17 +227,18 @@ class CarState(CarStateBase):
     if self.CP.flags & HondaFlags.BOSCH_ALT_BRAKE:
       ret.brakePressed = cp.vl["BRAKE_MODULE"]["BRAKE_PRESSED"] != 0
     else:
+      powertrain_data = cp.vl["POWERTRAIN_DATA"]
       # brake switch has shown some single time step noise, so only considered when
       # switch is on for at least 2 consecutive CAN samples
       # brake switch rises earlier than brake pressed but is never 1 when in park
       brake_switch_vals = cp.vl_all["POWERTRAIN_DATA"]["BRAKE_SWITCH"]
       if len(brake_switch_vals):
-        brake_switch = cp.vl["POWERTRAIN_DATA"]["BRAKE_SWITCH"] != 0
+        brake_switch = powertrain_data["BRAKE_SWITCH"] != 0
         if len(brake_switch_vals) > 1:
           self.brake_switch_prev = brake_switch_vals[-2] != 0
         self.brake_switch_active = brake_switch and self.brake_switch_prev
         self.brake_switch_prev = brake_switch
-      ret.brakePressed = (cp.vl["POWERTRAIN_DATA"]["BRAKE_PRESSED"] != 0) or self.brake_switch_active
+      ret.brakePressed = (powertrain_data["BRAKE_PRESSED"] != 0) or self.brake_switch_active
 
     ret.brake = cp.vl["VSA_STATUS"]["USER_BRAKE"]
     ret.cruiseState.enabled = cp.vl["POWERTRAIN_DATA"]["ACC_STATUS"] != 0
@@ -248,6 +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
@@ -269,11 +353,27 @@ class CarState(CarStateBase):
     return ret, fp_ret
 
   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
+      pt_parser.message_states[0x201].ignore_counter = True
+
     parsers = {
-      Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).pt),
+      Bus.pt: pt_parser,
       Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [], CanBus(CP).camera),
     }
     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

@@ -257,7 +257,6 @@ FW_VERSIONS = {
     (Ecu.eps, 0x18da30f1, None): [
       b'39990-TBA-C120\x00\x00',
       b'39990-TBA-C020\x00\x00',
-      b'39990-TBA-C120\x00\x00',
       b'39990-TEA-T330\x00\x00',
       b'39990-TEA-T820\x00\x00',
       b'39990-TEZ-T020\x00\x00',
@@ -994,6 +993,7 @@ FW_VERSIONS = {
       b'36161-T47-A060\x00\x00',
       b'36161-T47-A070\x00\x00',
       b'8S102-T20-AA10\x00\x00',
+      b'8S102-T20-AA20\x00\x00',
       b'8S102-T43-J540\x00\x00',
       b'8S102-T47-AA10\x00\x00',
       b'8S102-T47-AA20\x00\x00',
@@ -1002,6 +1002,7 @@ FW_VERSIONS = {
       b'8S102-T56-A070\x00\x00',
       b'8S102-T60-AA10\x00\x00',
       b'8S102-T64-A040\x00\x00',
+      b'8S102-T64-A050\x00\x00',
     ],
     (Ecu.vsa, 0x18da28f1, None): [
       b'57114-T20-AB40\x00\x00',
@@ -1038,6 +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
+    # Preserve StarPilot's existing Bosch HUD behavior outside CAN-FD. MVL's CAN-FD
-    acc_hud_values['FCM_OFF_2'] = 1
+    # 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
+  # Existing StarPilot callers should retain their previous payload; only the CAN-FD camera
-  bus = CAN.camera if car_fingerprint in HONDA_BOSCH_RADARLESS else CAN.pt
+  # 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
+      # MVL Boston sp-honda-dev-202608 tuning (48211d6a63).
-      ret.lateralParams.torqueBP, ret.lateralParams.torqueV = [[0, 2560, 5200], [0, 2560, 12747]]
+      ret.longitudinalActuatorDelay = 0.05
-      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
+      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
+    if self.radar_off_can or self.rcp is None:
-    # radard at 20Hz and return no points
-    if self.radar_off_can:
       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
@@ -32,6 +34,7 @@ HYUNDAI_CANFD_SCC_DECEL_STEP = 12.5 / 50.0
 IONIQ_6_RESPONSE_MULTIPLIER = 1.2
 IONIQ_6_CANFD_SCC_ACCEL_STEP = (6.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_CANFD_SCC_DECEL_STEP = (15.0 / 50.0) * IONIQ_6_RESPONSE_MULTIPLIER
+EV9_CANFD_SCC_DECEL_STEP = 10.0 / 50.0
 GENESIS_G90_STOP_HOLD_SPEED_BP = [0.0, 0.03, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
 GENESIS_G90_STOP_HOLD_ACCEL_V = [-0.10, -0.10, -0.12, -0.18, -0.30, -0.50, -0.75, -1.00, -1.40, -1.80]
 GENESIS_G90_STOP_HOLD_RELAX_SPEED_BP = [0.0, 0.08, 0.16, 0.3, 0.5, 0.8, 1.2, 2.0, 3.0]
@@ -42,6 +45,7 @@ GENESIS_G90_RELEASE_DECEL_STEP_V = [0.16, 0.18, 0.18]
 GENESIS_G90_RELEASE_MAX_SPEED = 0.8
 IONIQ_6_LONG_MIN_JERK = 0.5 * IONIQ_6_RESPONSE_MULTIPLIER
 IONIQ_6_LONG_JERK_LIMIT = 4.8 * IONIQ_6_RESPONSE_MULTIPLIER
+EV9_LONG_DECEL_JERK = 2.0
 IONIQ_6_LONG_LOOKAHEAD_JERK_BP = [2.0, 5.0, 20.0]
 IONIQ_6_LONG_LOOKAHEAD_JERK_V = [0.3 / IONIQ_6_RESPONSE_MULTIPLIER,
                                  0.45 / IONIQ_6_RESPONSE_MULTIPLIER,
@@ -76,12 +80,22 @@ BLINDSPOT_WARNING_SOUND_SAMPLES = 36
 
 
 def egmp_dynamic_longitudinal_tuning(CP) -> bool:
-  return CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9) or \
+  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:
+  return EV9_CANFD_SCC_DECEL_STEP if CP.carFingerprint == CAR.KIA_EV9 else IONIQ_6_CANFD_SCC_DECEL_STEP
 
 
 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
 
 
@@ -152,6 +166,15 @@ def should_track_stop_accel_directly(stopping: bool, v_ego: float,
   return bool(stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)
 
 
+def should_track_stop_accel_directly_for_car(car_fingerprint, stopping: bool, v_ego: float,
+                                             accel_cmd: float, actual_accel: float) -> bool:
+  # EV9 uses the low-speed stop cap to avoid a harsh lead re-brake handoff.
+  # Keep direct tracking for the other CCNC angle-steering platform.
+  return car_fingerprint != CAR.KIA_EV9 and should_track_stop_accel_directly(
+    stopping, v_ego, accel_cmd, actual_accel,
+  )
+
+
 def should_use_ev6_gt_line_stop_direct_tracking(ev6_gt_line: bool, stopping: bool, v_ego: float,
                                                  accel_cmd: float, actual_accel: float) -> bool:
   return bool(ev6_gt_line and stopping and v_ego > EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED and accel_cmd < actual_accel)
@@ -233,7 +256,8 @@ def reset_egmp_longitudinal_tuning(state: Ioniq6LongitudinalTuningState) -> Ioni
 
 def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, accel_cmd: float, v_ego: float, a_ego: float,
                                        long_control_state: LongCtrlState, long_active: bool,
-                                       ev6_gt_line: bool = False, low_speed_stop_brake_cap: bool = False) -> Ioniq6LongitudinalTuningState:
+                                       ev6_gt_line: bool = False, low_speed_stop_brake_cap: bool = False,
+                                       ev9: bool = False) -> Ioniq6LongitudinalTuningState:
   starting = long_control_state == LongCtrlState.starting
   stopping = long_control_state == LongCtrlState.stopping
   restart_from_stop = state.long_control_state_last in (LongCtrlState.stopping, LongCtrlState.starting) and \
@@ -273,6 +297,8 @@ def update_ioniq_6_longitudinal_tuning(state: Ioniq6LongitudinalTuningState, acc
   dynamic_lower_jerk = _calculate_ioniq_6_dynamic_lower_jerk(dynamic_accel_error)
   state.jerk_upper = desired_jerk_upper
   state.jerk_lower = min(dynamic_lower_jerk, lower_speed_limit)
+  if ev9:
+    state.jerk_lower = min(state.jerk_lower, EV9_LONG_DECEL_JERK)
 
   if state.stopping:
     stop_brake_cap_max_speed = EV6_GT_LINE_STOP_BRAKE_CAP_MAX_SPEED if ev6_gt_line or low_speed_stop_brake_cap else \
@@ -390,6 +416,27 @@ def process_hud_alert(enabled, fingerprint, hud_control):
   return sys_warning, sys_state, left_lane_warning, right_lane_warning
 
 
+def preserve_stock_canfd_lfa_status(car_fingerprint) -> bool:
+  return car_fingerprint not in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN)
+
+
+def preserve_stock_canfd_lkas_status(car_fingerprint) -> bool:
+  return car_fingerprint not in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN)
+
+
+def suppress_redundant_gv70_brake_cancel(CP, brake_pressed: bool, lat_active: bool) -> bool:
+  return bool(
+    CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and
+    not CP.openpilotLongitudinalControl and brake_pressed and lat_active
+  )
+
+
+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)
@@ -411,11 +458,11 @@ class CarController(CarControllerBase):
     self.ecu_disable_failed = False
     self._ecu_disable_checked = False
     self._params = Params()
-    if CP.carFingerprint == CAR.KIA_EV9:
+    if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR:
       self._ev9_long_tuning = EV9LongitudinalTuningState()
       self._left_blindspot_warning = BlindspotWarningState()
       self._right_blindspot_warning = BlindspotWarningState()
-    self.long_active_ecu = self.CP.openpilotLongitudinalControl
+    self.long_active_ecu = self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.NON_SCC)
     self._ioniq_6_lane_change_ui_side = None
     self._ioniq_6_lane_change_ui_frames = 0
     self._ioniq_6_long_tuning = Ioniq6LongitudinalTuningState()
@@ -423,6 +470,7 @@ class CarController(CarControllerBase):
     self._dash_lat_disengage_blink_frame = 0
     self._dash_lat_disengage_init = False
     self._dash_prev_lat_active = False
+    self._ray_lkas11_active = False
 
   def _update_dash_icon_state(self, CC):
     if CC.latActive:
@@ -515,6 +563,8 @@ class CarController(CarControllerBase):
       drive_gear = CS.out.gearShifter == structs.CarState.GearShifter.drive
       angle_lat_active = direct_angle_request_allowed(CS.out.vEgoRaw, measured_steering_angle, self.apply_angle_last,
                                                       drive_gear, self.BASELINE_VM, self.params) and not CS.angle_steering_fault
+    if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_5_PE and CS.out.standstill:
+      angle_lat_active = False
     self.direct_angle_request_allowed = angle_lat_active
     apply_angle = measured_steering_angle
 
@@ -570,6 +620,8 @@ 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
@@ -592,13 +644,16 @@ class CarController(CarControllerBase):
 
     # When ECU disable was skipped (car started in READY mode), don't send any
     # longitudinal messages - stock ECU is still active and these would conflict
-    self.long_active_ecu = self.CP.openpilotLongitudinalControl and not self.ecu_disable_failed
+    self.long_active_ecu = self.CP.openpilotLongitudinalControl and not (self.CP.flags & HyundaiFlags.NON_SCC) and not self.ecu_disable_failed
 
     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(
-    is_ev9 = self.CP.carFingerprint == CAR.KIA_EV9
+      self.CP.carFingerprint, getattr(self.CP, "carVin", ""),
-    if is_ev9 and (self._ev9_long_tuning.stop_request or not CC.enabled or CC.cruiseControl.override):
+      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)
     if should_reset_ev6_gt_line_longitudinal_tuning(self.CP, actuators.longControlState):
       self._ioniq_6_long_tuning = reset_ev6_gt_line_longitudinal_tuning(self._ioniq_6_long_tuning, self.CP,
@@ -608,25 +663,30 @@ class CarController(CarControllerBase):
                                                                       CS.out.vEgo, CS.out.aEgo,
                                                                       actuators.longControlState, self.long_active_ecu,
                                                                       ev6_gt_line=is_ev6_gt_line,
-                                                                      low_speed_stop_brake_cap=is_ev9)
+                                                                      low_speed_stop_brake_cap=is_ccnc_angle_long,
+                                                                      ev9=self.CP.carFingerprint == CAR.KIA_EV9)
     use_egmp_smoothed_accel = use_egmp_dynamic_long_tuning and (
       accel_cmd >= self._ioniq_6_long_tuning.actual_accel or
       self._ioniq_6_long_tuning.launch_active or
-      self._ioniq_6_long_tuning.stopping
+      self._ioniq_6_long_tuning.stopping or
+      self.CP.carFingerprint == CAR.KIA_EV9
     )
     if should_use_ev6_gt_line_stop_direct_tracking(is_ev6_gt_line, self._ioniq_6_long_tuning.stopping,
                                                    CS.out.vEgo, accel_cmd, self._ioniq_6_long_tuning.actual_accel):
       use_egmp_smoothed_accel = False
-    if is_ev9 and should_track_stop_accel_directly(self._ioniq_6_long_tuning.stopping, CS.out.vEgo,
+    if is_ccnc_angle_long and should_track_stop_accel_directly_for_car(
-                                                   accel_cmd, self._ioniq_6_long_tuning.actual_accel):
+      self.CP.carFingerprint, self._ioniq_6_long_tuning.stopping, CS.out.vEgo,
+      accel_cmd, self._ioniq_6_long_tuning.actual_accel,
+    ):
       use_egmp_smoothed_accel = False
     if use_egmp_dynamic_long_tuning:
       if use_egmp_smoothed_accel:
         accel = self._ioniq_6_long_tuning.actual_accel
         stopping = self._ioniq_6_long_tuning.stopping
       else:
+        decel_step = get_canfd_scc_decel_step(self.CP)
         accel = float(np.clip(accel_cmd,
-                              self.accel_last - IONIQ_6_CANFD_SCC_DECEL_STEP,
+                              self.accel_last - decel_step,
                               self.accel_last + IONIQ_6_CANFD_SCC_ACCEL_STEP))
         self._ioniq_6_long_tuning.desired_accel = accel_cmd
         self._ioniq_6_long_tuning.actual_accel = accel
@@ -663,7 +723,7 @@ class CarController(CarControllerBase):
                                               stopping, hud_control, CS, CC, starpilot_toggles, lka_icon, lfa_icon))
     else:
       can_sends.extend(self.create_can_msgs(apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel,
-                                            stopping, hud_control, actuators, CS, CC, lfa_icon))
+                                            stopping, hud_control, actuators, CS, CC, lka_icon, lfa_icon))
 
     new_actuators = actuators.as_builder()
     if self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
@@ -678,24 +738,45 @@ class CarController(CarControllerBase):
     self.frame += 1
     return new_actuators, can_sends
 
-  def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC, lfa_icon):
+  def create_can_msgs(self, apply_steer_req, apply_torque, torque_fault, set_speed_in_units, accel, stopping, hud_control, actuators, CS, CC, lka_icon, lfa_icon):
     can_sends = []
     can_canfd_blended = bool(self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED)
+    blended_hda2 = can_canfd_blended and bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
 
     # HUD messages
     sys_warning, sys_state, left_lane_warning, right_lane_warning = process_hud_alert(CC.enabled, self.car_fingerprint,
                                                                                       hud_control)
 
-    if can_canfd_blended:
+    if blended_hda2:
+      can_sends.extend(hyundaicanfd.create_steering_messages(
+        self.packer, self.CP, self.CAN, CC.enabled, apply_steer_req, apply_torque, 0.0,
+      ))
+      if self.long_active_ecu:
+        can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(
+          self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
+          torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+          hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+          left_lane_warning, right_lane_warning, CS.msg_364,
+          include_alerts=False,
+          counter_mod=0xF,
+        ))
+      if self.frame % 5 == 0:
+        can_sends.append(hyundaicanfd.create_suppress_lfa(
+          self.packer, self.CAN, CS.lfa_block_msg, False,
+        ))
+    elif can_canfd_blended:
       can_sends.extend(hyundaican.create_lkas11_can_canfd_blended(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
                                                                   torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
                                                                   hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                                   left_lane_warning, right_lane_warning, CS.msg_364))
     else:
-      can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
+      if self.CP.carFingerprint != CAR.KIA_RAY_EV or self._ray_lkas11_active:
-                                                torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
+        can_sends.append(hyundaican.create_lkas11(self.packer, self.frame, self.CP, apply_torque, apply_steer_req,
-                                                hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  torque_fault, CS.lkas11, sys_warning, sys_state, CC.enabled,
-                                                left_lane_warning, right_lane_warning))
+                                                  hud_control.leftLaneVisible, hud_control.rightLaneVisible,
+                                                  left_lane_warning, right_lane_warning, lka_icon))
+      if self.CP.carFingerprint == CAR.KIA_RAY_EV:
+        self._ray_lkas11_active = True
 
     # Button messages
     if not self.long_active_ecu:
@@ -712,13 +793,23 @@ class CarController(CarControllerBase):
         can_sends.extend(self._create_can_redneck_button_messages(CS))
 
     if self.long_active_ecu and can_canfd_blended:
-      can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame))
+      if blended_hda2:
+        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame, blended_hda2=True))
+      can_sends.extend(hyundaican.create_radar_aux_messages(self.packer, self.CAN, self.frame, hda2=blended_hda2))
 
     if self.frame % 2 == 0 and self.long_active_ecu:
       # 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
-      if can_canfd_blended:
+      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(
+          self.packer, CC.enabled, accel, self.accel_last, jerk, int(self.frame / 2), hud_control,
+          set_speed_in_units, stopping, CC.cruiseControl.override, use_fca, self.CP,
+        ))
+        self.accel_last = accel
+      elif can_canfd_blended:
         can_sends.extend(hyundaican.create_acc_commands_can_canfd_blended(self.packer, CC.enabled, accel, jerk,
                                                                           int(self.frame / 2), hud_control,
                                                                           set_speed_in_units, stopping,
@@ -726,10 +817,11 @@ 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:
+    if self.frame % 5 == 0 and (self.CP.flags & HyundaiFlags.SEND_LFA.value or (self.long_active_ecu and blended_hda2)):
       can_sends.append(hyundaican.create_lfahda_mfc(self.packer, CC.enabled, self.frame, self.CP, lfa_icon))
 
     # 5 Hz ACC options
@@ -758,7 +850,12 @@ class CarController(CarControllerBase):
     )
 
     # steering control
-    preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and not self.long_active_ecu
+    # The first-generation Electrified GV70 expects the synthesized LKAS status
+    # payload. Forwarding its stock status bits leaves lane-safety state asserted
+    # while StarPilot is suppressing the stock LFA path.
+    preserve_stock_lkas = bool(self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING) and \
+      not self.long_active_ecu and self.CP.carFingerprint != CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN and \
+      preserve_stock_canfd_lkas_status(self.CP.carFingerprint)
     angle_lkas_alt = bool(self.CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and
                           self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT)
     ccnc_angle_long = self.CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and \
@@ -777,10 +874,11 @@ class CarController(CarControllerBase):
     forward_stock_lkas = angle_lkas_alt and (
       angle_lkas_alt_standstill_handoff or not (drive_gear and (CC.latActive or CC.enabled))
     )
+    preserve_stock_lfa_status = preserve_stock_canfd_lfa_status(self.CP.carFingerprint)
     if not forward_stock_lkas and not ccnc_angle_long:
       can_sends.extend(hyundaicanfd.create_steering_messages(self.packer, self.CP, self.CAN, CC.enabled,
                                                              steering_msg_active, apply_torque, apply_angle,
-                                                             CS.stock_lfa_msg,
+                                                             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))
     direct_steering_active = ccnc_angle_long and drive_gear and CC.latActive and self.direct_angle_request_allowed and not CS.angle_steering_fault
@@ -812,7 +910,8 @@ class CarController(CarControllerBase):
                                                   CC.leftBlinker, CC.rightBlinker, CS.msg_161, CS.msg_162, CS.msg_1b5,
                                                   CS.is_metric, CS.out, CS.out.cruiseState.available, lfa_icon))
       else:
-        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
+        cluster_base_values = CS.stock_lfahda_cluster_msg if preserve_stock_lfa_status else None
+        can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, cluster_base_values,
                                                             lfa_icon=lfa_icon))
 
     # blinkers
@@ -897,16 +996,19 @@ class CarController(CarControllerBase):
                                                                                  CC.leftBlinker,
                                                                                  CC.rightBlinker))
       if self.frame % 2 == 0:
-        lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
+        if self.CP.carFingerprint == CAR.GENESIS_GV70_ELECTRIFIED_1ST_GEN:
-        acc_kwargs = {
+          acc_kwargs = {}
-          "main_mode_acc": int(CS.out.cruiseState.available),
+        else:
-          "direct_accel": True,
+          lead_visible, lead_distance, lead_rel_speed = self._get_canfd_scc_lead_state(CC, CS, now_nanos)
-          "jerk_lower": 5.0,
+          acc_kwargs = {
-          "jerk_upper": 3.0 if CC.actuators.longControlState == LongCtrlState.pid else 1.0,
+            "main_mode_acc": int(CS.out.cruiseState.available),
-          "lead_distance": lead_distance,
+            "direct_accel": True,
-          "lead_rel_speed": lead_rel_speed,
+            "jerk_lower": 5.0,
-          "lead_visible": lead_visible,
+            "jerk_upper": 3.0 if CC.actuators.longControlState == LongCtrlState.pid else 1.0,
-        }
+            "lead_distance": lead_distance,
+            "lead_rel_speed": lead_rel_speed,
+            "lead_visible": lead_visible,
+          }
         if use_egmp_dynamic_long_tuning:
           if use_egmp_smoothed_accel:
             acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
@@ -938,7 +1040,10 @@ class CarController(CarControllerBase):
       if (self.frame - self.last_button_frame) * DT_CTRL > 0.25:
         # cruise cancel - suppress when stock ACC is the fallback (ECU disable failed),
         # so openpilot doesn't fight/cancel the user's stock cruise
-        if CC.cruiseControl.cancel and not self.ecu_disable_failed:
+        suppress_brake_cancel = suppress_redundant_gv70_brake_cancel(
+          self.CP, CS.out.brakePressed, CC.latActive,
+        )
+        if CC.cruiseControl.cancel and not self.ecu_disable_failed and not suppress_brake_cancel:
           if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
             can_sends.append(hyundaicanfd.create_acc_cancel(self.packer, self.CP, self.CAN, CS.cruise_info))
             self.last_button_frame = self.frame
@@ -949,9 +1054,13 @@ class CarController(CarControllerBase):
 
         # cruise standstill resume
         elif CC.cruiseControl.resume:
-          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS:
+          if self.CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS and self.CP.carFingerprint in CANFD_ALT_BUTTONS_RESUME_CAR:
-            # TODO: resume for alt button cars
+            for _ in range(20):
-            pass
+              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:
@@ -49,6 +55,15 @@ def calculate_canfd_speed_limit(CP, FPCP, cp, cp_cam, speed_factor):
     return 0.0
 
 
+def get_canfd_cruise_available(CP, cp, scc_available: bool) -> bool:
+  # The EV9 fallback keeps stock ACC active when ECU disable is skipped. Its
+  # SCC status remains inactive in that mode, while TCS still reports whether
+  # ACC is fault-free and available.
+  if CP.carFingerprint == CAR.KIA_EV9 and not CP.openpilotLongitudinalControl:
+    return cp.vl["TCS"]["ACCEnable"] == 0
+  return scc_available
+
+
 def decode_ioniq_6_blindspot_radar_state(state: int) -> tuple[bool, bool]:
   state_int = int(state)
   return bool(state_int & IONIQ_6_BLINDSPOT_LEFT_MASK), bool(state_int & IONIQ_6_BLINDSPOT_RIGHT_MASK)
@@ -117,12 +132,15 @@ class CarState(CarStateBase):
                                  "CRUISE_BUTTONS"
     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 = {}
     self.msg_162 = {}
     self.msg_1b5 = {}
     self.msg_364 = {}
+    self.lfa_block_msg = {}
     self.stock_lkas_msg = {}
     self.stock_lfa_msg = {}
     self.stock_lfahda_cluster_msg = {}
@@ -137,7 +155,7 @@ class CarState(CarStateBase):
     self.blindspots_front_corner_1_ts = 0
     self.left_blindspot_from_radar = False
     self.right_blindspot_from_radar = False
-    if CP.carFingerprint == CAR.KIA_EV9:
+    if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR:
       self.hba_icon = 0
       self.main_cruise_on = False
       self.angle_steering_angle = 0.0
@@ -155,8 +173,10 @@ class CarState(CarStateBase):
     # Main button also can trigger an engagement on these cars
     return any(btn in ENABLE_BUTTONS for btn in self.cruise_buttons) or any(self.main_buttons)
 
-  def update_main_cruise(self, ret: structs.CarState) -> bool:
+  def update_main_cruise(self, ret: structs.CarState,
-    if any(be.type == ButtonType.mainCruise and be.pressed for be in ret.buttonEvents):
+                         button_events: list[structs.CarState.ButtonEvent] | None = None) -> bool:
+    button_events = ret.buttonEvents if button_events is None else button_events
+    if any(be.type == ButtonType.mainCruise and be.pressed for be in button_events):
       self.main_cruise_on = not self.main_cruise_on
 
     return bool(ret.cruiseState.available and self.main_cruise_on)
@@ -222,15 +242,23 @@ class CarState(CarStateBase):
     return button_events
 
   def create_lkas_button_events(self, cp: CANParser, prev_lda_button: int) -> list[structs.CarState.ButtonEvent]:
-    if self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
+    if self.CP.carFingerprint == CAR.HYUNDAI_SONATA:
+      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0
+    elif self.CP.carFingerprint == CAR.HYUNDAI_SONATA_HYBRID:
       self.lda_button = self.get_sonata_hybrid_lkas_button_state(cp)
-    # Some classic HKG platforms publish the LKAS button on the cluster bus instead of BCM_PO_11.
+    elif self.CP.carFingerprint == CAR.HYUNDAI_ELANTRA_HEV_2024:
-    elif cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0:
+      lda_samples = [
-      self.lda_button = int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"])
+        *cp.vl_all["CLU13"]["CF_Clu_LdwsLkasSW"],
-    elif cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0:
+        *cp.vl_all["BCM_PO_11"]["LDA_BTN"],
-      self.lda_button = int(cp.vl["BCM_PO_11"]["LDA_BTN"])
+      ]
+      if lda_samples:
+        self.lda_button = int(any(lda_samples))
     else:
-      self.lda_button = 0
+      source_states = (
+        int(cp.vl["CLU13"]["CF_Clu_LdwsLkasSW"]) if cp.ts_nanos["CLU13"]["CF_Clu_LdwsLkasSW"] > 0 else 0,
+        int(cp.vl["BCM_PO_11"]["LDA_BTN"]) if cp.ts_nanos["BCM_PO_11"]["LDA_BTN"] > 0 else 0,
+      )
+      self.lda_button = int(any(source_states))
 
     return create_button_events(self.lda_button, prev_lda_button, {1: ButtonType.lkas})
 
@@ -308,14 +336,19 @@ class CarState(CarStateBase):
     ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
     ret.steerFaultTemporary = cp.vl["MDPS12"]["CF_Mdps_ToiUnavail"] != 0 or cp.vl["MDPS12"]["CF_Mdps_ToiFlt"] != 0
 
+    prev_cruise_buttons = self.cruise_buttons[-1]
+    prev_main_buttons = self.main_buttons[-1]
+    prev_lda_button = self.lda_button
+    main_button_events = []
+    if self.main_cruise_tracking:
+      self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
+      self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+      main_button_events = create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})
+
     # cruise state
     no_scc = bool(self.CP.flags & HyundaiFlags.NON_SCC)
-    if self.CP.openpilotLongitudinalControl:
+    if self.CP.carFingerprint == CAR.KIA_RAY_EV:
-      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      pass
-      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
-      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
-      ret.cruiseState.standstill = False
-      ret.cruiseState.nonAdaptive = False
     elif no_scc:
       cruise_available_msg, cruise_available_sig, cruise_enabled_msg, cruise_enabled_sig, cruise_speed_msg, cruise_speed_sig = get_non_scc_cruise_signals(self.CP)
       ret.cruiseState.available = cp.vl[cruise_available_msg][cruise_available_sig] != 0
@@ -323,6 +356,12 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
       ret.cruiseState.nonAdaptive = False
       ret.cruiseState.speed = cp.vl[cruise_speed_msg][cruise_speed_sig] * speed_conv
+    elif self.CP.openpilotLongitudinalControl:
+      # These are not used for engage/disengage since openpilot keeps track of state using the buttons
+      ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
+      ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
+      ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       scc_msg = "SCC12" if self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED else "SCC11"
       ret.cruiseState.available = cp_cruise.vl[scc_msg]["MainMode_ACC"] == 1
@@ -331,8 +370,14 @@ class CarState(CarStateBase):
       ret.cruiseState.nonAdaptive = cp_cruise.vl[scc_msg]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl[scc_msg]["VSetDis"] * speed_conv
 
+    if self.CP.openpilotLongitudinalControl and self.main_cruise_tracking:
+      ret.cruiseState.available = self.update_main_cruise(ret, main_button_events)
+
     if self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-      self.msg_364 = copy.copy(cp_cam.vl["ALERTS_364"])
+      if self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
+        self.lfa_block_msg = copy.copy(cp_cam.vl["CAM_0x2a4"])
+      else:
+        self.msg_364 = copy.copy(cp_cam.vl["ALERTS_364"])
 
     # TODO: Find brake pressure
     ret.brake = 0
@@ -391,22 +436,24 @@ class CarState(CarStateBase):
       ret.rightBlindspot = cp.vl["LCA11"]["CF_Lca_IndRight"] != 0
 
     # save the entire LKAS11 and CLU11
-    self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
+    if self.CP.flags & HyundaiFlags.CAN_CANFD_BLENDED and self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
+      self.lkas11 = {}
+    else:
+      self.lkas11 = copy.copy(cp_cam.vl["LKAS11"])
     self.clu11 = copy.copy(cp.vl["CLU11"])
     self.steer_state = cp.vl["MDPS12"]["CF_Mdps_ToiActive"]  # 0 NOT ACTIVE, 1 ACTIVE
-    prev_cruise_buttons = self.cruise_buttons[-1]
+    if not self.main_cruise_tracking:
-    prev_main_buttons = self.main_buttons[-1]
+      self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
-    prev_lda_button = self.lda_button
+      self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
+      main_button_events = create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise})
     lkas_button_events = []
-    self.cruise_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwState"])
-    self.main_buttons.extend(cp.vl_all["CLU11"]["CF_Clu_CruiseSwMain"])
     if self.CP.carFingerprint in ALT_BUS_LDA_BUTTON_CARS and cp_alt is not None and self.get_alt_bus_lda_button_raw_state(cp_alt)[1] > 0:
       lkas_button_events = self.create_alt_bus_lda_button_events(cp_alt)
     else:
       lkas_button_events = self.create_lkas_button_events(cp, prev_lda_button)
 
     ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
-                        *create_button_events(self.main_buttons[-1], prev_main_buttons, {1: ButtonType.mainCruise}),
+                        *main_button_events,
                         *lkas_button_events]
 
     ret.blockPcmEnable = not self.recent_button_interaction()
@@ -419,6 +466,9 @@ 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
 
@@ -511,7 +561,8 @@ class CarState(CarStateBase):
       ret.cruiseState.standstill = False
     else:
       cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
-      ret.cruiseState.available = cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1
+      ret.cruiseState.available = get_canfd_cruise_available(
+        self.CP, cp, cp_cruise_info.vl["SCC_CONTROL"]["MainMode_ACC"] == 1)
       ret.cruiseState.enabled = cp_cruise_info.vl["SCC_CONTROL"]["ACCMode"] in (1, 2)
       ret.cruiseState.standstill = cp_cruise_info.vl["SCC_CONTROL"]["CRUISE_STANDSTILL"] == 1
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
@@ -531,7 +582,9 @@ 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"]
@@ -564,7 +617,7 @@ 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()
@@ -591,14 +644,18 @@ 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:
-      # TODO: this can be removed once we add dynamic support to vl_all
+      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 += [
-        # this message is 50Hz but the ECU frequently stops transmitting for ~0.5s
+        ("CRUISE_BUTTONS", 0 if CP.carFingerprint == CAR.KIA_EV9 else 1)
-        ("CRUISE_BUTTONS", 1)
       ]
     if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
-      msgs.append(("FR_CMR_02_100ms", 10))
+      # EV9 camera status can disappear for an extended period when the
+      # documented ECU startup sequence is skipped.
+      msgs.append(("FR_CMR_02_100ms", 0 if CP.carFingerprint == CAR.KIA_EV9 else 10))
       msgs.append(("FR_CMR_03_50ms", 0))
       cam_msgs.append(("LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS", 0))
     else:
@@ -614,8 +671,7 @@ class CarState(CarStateBase):
       ("LFAHDA_CLUSTER", 0),  # optional: carries cluster icon state on some variants
       ("BLINKER_STALKS", 0),  # optional: some trims publish live stalk/light state on ECAN during turn camera events
     ]
-    if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and CP.enableBsm:
+    if CP.enableBsm:
-      # Keep the suppressed ADAS BSM output optional.
       msgs.append(("BLINDSPOTS_REAR_CORNERS", 0))
     if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR:
       msgs.append(("BLINDSPOTS_FRONT_CORNER_2", 0))
@@ -634,10 +690,41 @@ class CarState(CarStateBase):
     if CP.flags & HyundaiFlags.CANFD:
       return self.get_can_parsers_canfd(CP)
 
+    if CP.flags & HyundaiFlags.CAN_CANFD_BLENDED and CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
+      msgs = [
+        ("MDPS12", 100),
+        ("TCS11", 100),
+        ("TCS13", 50),
+        ("TCS15", 10),
+        ("CLU11", 50),
+        ("CLU15", 5),
+        ("ESP12", 100),
+        ("CGW1", 10),
+        ("CGW2", 5),
+        ("WHL_SPD11", 50),
+        ("SAS11", 100),
+        ("SCC12", 0 if CP.openpilotLongitudinalControl and CP.flags & HyundaiFlags.CANFD_LKA_STEERING else 50),
+        ("EMS12", 100),
+        ("EMS16", 100),
+        ("LVR12", 100),
+        ("BCM_PO_11", 0),
+        ("CLU13", 0),
+      ]
+      if CP.enableBsm:
+        msgs.append(("LCA11", 20))
+
+      return {
+        Bus.pt: CANParser(DBC[CP.carFingerprint][Bus.pt], msgs, CanBus(CP).ECAN),
+        Bus.cam: CANParser(DBC[CP.carFingerprint][Bus.pt], [("CAM_0x2a4", 20)], CanBus(CP).CAM),
+      }
+
     msgs = [
       ("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         ',
@@ -1688,4 +1696,9 @@ FW_VERSIONS = {
       b'\xf1\x00BC3 LKA  AT EUR LHD 1.00 1.01 99211-Q0100 261',
     ],
   },
+  CAR.KIA_RAY_EV: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TAM MFC  AT KOR LHD 1.00 1.02 99211-E2000 230901',
+    ],
+  },
 }

opendbc_repo/opendbc/car/hyundai/hyundaican.py

@@ -8,7 +8,7 @@ hyundai_checksum = crcmod.mkCrcFun(0x11D, initCrc=0xFD, rev=False, xorOut=0xdf)
 def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                   torque_fault, lkas11, sys_warning, sys_state, enabled,
                   left_lane, right_lane,
-                  left_lane_depart, right_lane_depart):
+                  left_lane_depart, right_lane_depart, lka_icon):
   values = {s: lkas11[s] for s in [
     "CF_Lkas_LdwsActivemode",
     "CF_Lkas_LdwsSysState",
@@ -40,7 +40,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
                            CAR.HYUNDAI_ELANTRA_HEV_2021, CAR.HYUNDAI_SONATA_HYBRID, CAR.HYUNDAI_KONA_EV, CAR.HYUNDAI_KONA_HEV, CAR.HYUNDAI_KONA_EV_2022,
                            CAR.HYUNDAI_SANTA_FE_2022, CAR.KIA_K5_2021, CAR.HYUNDAI_IONIQ_HEV_2022, CAR.HYUNDAI_SANTA_FE_HEV_2022,
                            CAR.HYUNDAI_SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED, CAR.KIA_XCEED_PHEV,
-                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022,
+                           CAR.HYUNDAI_AZERA_6TH_GEN, CAR.HYUNDAI_AZERA_HEV_6TH_GEN, CAR.HYUNDAI_CUSTIN_1ST_GEN, CAR.HYUNDAI_KONA_2022, CAR.KIA_RAY_EV,
                            CAR.HYUNDAI_ELANTRA_2024, CAR.HYUNDAI_ELANTRA_HEV_2024):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
@@ -51,7 +51,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     # FcwOpt_USM 2 = Green car + lanes
     # FcwOpt_USM 1 = White car + lanes
     # FcwOpt_USM 0 = No car + lanes
-    values["CF_Lkas_FcwOpt_USM"] = 2 if enabled else 1
+    values["CF_Lkas_FcwOpt_USM"] = lka_icon if CP.carFingerprint == CAR.GENESIS_G70_2020 else 2 if enabled else 1
 
     # SysWarning 4 = keep hands on wheel
     # SysWarning 5 = keep hands on wheel (red)
@@ -60,7 +60,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
   # Likely cars lacking the ability to show individual lane lines in the dash
-  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL):
+  elif CP.carFingerprint in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.HYUNDAI_KONA_NON_SCC):
     # SysWarning 4 = keep hands on wheel + beep
     values["CF_Lkas_SysWarning"] = 4 if sys_warning else 0
 
@@ -68,7 +68,7 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     # SysState 1-2 = white car + lanes
     # SysState 3 = green car + lanes, green steering wheel
     # SysState 4 = green car + lanes
-    values["CF_Lkas_LdwsSysState"] = 3 if enabled else 1
+    values["CF_Lkas_LdwsSysState"] = lka_icon if CP.carFingerprint == CAR.HYUNDAI_KONA_NON_SCC else 3 if enabled else 1
     values["CF_Lkas_LdwsOpt_USM"] = 2  # non-2 changes above SysState definition
 
     # these have no effect
@@ -80,6 +80,10 @@ def create_lkas11(packer, frame, CP, apply_torque, steer_req,
     # Genesis and Optima fault when forwarding while engaged
     values["CF_Lkas_LdwsActivemode"] = 2
 
+  if CP.carFingerprint == CAR.KIA_RAY_EV:
+    values["CF_Lkas_LdwsOpt_USM"] = 0
+    values["CF_Lkas_Chksum"] = 0
+
   dat = packer.make_can_msg("LKAS11", 0, values)[1]
 
   if CP.flags & HyundaiFlags.CHECKSUM_CRC8:
@@ -106,7 +110,8 @@ def create_checksum_can_canfd_blended(packer, bus, addr, values):
 def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
                                     torque_fault, lkas11, sys_warning, sys_state, enabled,
                                     left_lane, right_lane,
-                                    left_lane_depart, right_lane_depart, msg_364):
+                                    left_lane_depart, right_lane_depart, msg_364,
+                                    include_alerts=True, counter_mod=0x10):
   bus = CanBus(CP).ECAN
   values = {
     "CF_Lkas_LdwsActivemode": int(left_lane) + (int(right_lane) << 1),
@@ -116,7 +121,7 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
     "CR_Lkas_StrToqReq": apply_steer,
     "CF_Lkas_ActToi": steer_req,
     "CF_Lkas_ToiFlt": torque_fault,
-    "CF_Lkas_MsgCount": frame % 0x10,
+    "CF_Lkas_MsgCount": frame % counter_mod,
     "NEW_SIGNAL_1": 0,
     "NEW_SIGNAL_5": 100,
   }
@@ -130,13 +135,13 @@ def create_lkas11_can_canfd_blended(packer, frame, CP, apply_steer, steer_req,
   alerts_364.setdefault("BYTE5", 0)
   alerts_364.setdefault("BYTE6", 0)
   alerts_364.setdefault("BYTE7", 0)
-  alerts_364["COUNTER"] = frame % 0x10
+  alerts_364["COUNTER"] = frame % counter_mod
   alerts_364["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, "ALERTS_364", alerts_364)
 
-  return [
+  ret = [packer.make_can_msg("LKAS11", bus, values)]
-    packer.make_can_msg("LKAS11", bus, values),
+  if include_alerts:
-    packer.make_can_msg("ALERTS_364", bus, alerts_364),
+    ret.append(packer.make_can_msg("ALERTS_364", bus, alerts_364))
-  ]
+  return ret
 
 
 def create_clu11(packer, frame, clu11, button, CP):
@@ -233,11 +238,62 @@ def create_acc_commands_can_canfd_blended(packer, enabled, accel, upper_jerk, id
   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_can_canfd_blended_hda2(packer, enabled, accel, accel_last, upper_jerk, idx,
+                                               hud_control, set_speed, stopping, long_override, use_fca, CP):
+  commands = []
+  bus = CanBus(CP).ECAN
+  jerk = 5.0
+
+  if not enabled or long_override:
+    accel_raw, accel_value = 0.0, 0.0
+  else:
+    accel_raw = accel
+    accel_value = max(accel_last - jerk / 50.0, min(accel, accel_last + jerk / 50.0))
+
+  message_values = [
+    ("SCC11", {
+      "aReqRaw": accel_raw,
+      "aReqValue": accel_value,
+      "JerkUpperLimit": upper_jerk,
+      "JerkLowerLimit": jerk if enabled else 1.0,
+    }),
+    ("SCC12", {
+      "MainMode_ACC": 1,
+      "ACCMode_Inactive": 0 if enabled else 1,
+      "TauGapSet": hud_control.leadDistanceBars,
+      "VSetDis": set_speed,
+      "ACC_ObjDist": 1,
+      "ACCMode": 2 if enabled and long_override else 1 if enabled else 0,
+      "StopReq": 1 if stopping else 0,
+    }),
+    ("SCC14", {
+      "ACC_ObjRelSpd": 0,
+      "ObjValid": 0,
+      "ObjStatus": 2 if hud_control.leadVisible and enabled else 1 if hud_control.leadVisible else 0,
+    }),
+  ]
+
+  if use_fca and not (CP.flags & HyundaiFlags.CAMERA_SCC):
+    # These values reproduce the stock status bytes without requesting AEB/FCA actuation.
+    message_values.append(("FCA11", {
+      "cr_vsm_deccmd": 255,
+      "cf_vsm_deccmdact": 0,
+    }))
+
+  for name, values in message_values:
+    values["COUNTER"] = idx % 0xF
+    values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, bus, name, values)
+    commands.append(packer.make_can_msg(name, bus, values))
+
+  return commands
+
+
+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,
@@ -324,17 +380,27 @@ def create_frt_radar_opt(packer):
   return packer.make_can_msg("FRT_RADAR11", 0, frt_radar11_values)
 
 
-def create_radar_aux_messages(packer, CAN, frame):
+def create_radar_aux_messages(packer, CAN, frame, hda2=False):
   commands = []
 
-  for addr, freq, values in (
+  message_specs = (
+    ("RADAR_0x363", 2, {"FCA_ESA": 1}),
+    ("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x5D}),
+    ("RADAR_0x399", 5, {"BYTE2": 0x02}),
+    ("RADAR_0x39a", 5, {"BYTE7": 0xFF}),
+    ("RADAR_0x39b", 5, {}),
+    ("RADAR_0x39c", 5, {"BYTE5": 0xE0, "BYTE6": 0x79}),
+    ("RADAR_0x43a", 20, {"BYTE2": 0x07}),
+  ) if hda2 else (
     ("RADAR_0x363", 2, {"FCA_ESA": 1}),
     ("RADAR_0x398", 5, {"BYTE4": 0x80, "BYTE5": 0x10}),
-  ):
+  )
+
+  for addr, freq, values in message_specs:
     if frame % freq != 0:
       continue
 
-    msg_values = values | {"COUNTER": frame % 0x10}
+    msg_values = values | {"COUNTER": frame % (0xF if hda2 else 0x10)}
     msg_values["CHECKSUM"] = create_checksum_can_canfd_blended(packer, CAN.ECAN, addr, msg_values)
     commands.append(packer.make_can_msg(addr, CAN.ECAN, msg_values))
 

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:
@@ -63,6 +63,61 @@ def _update_checksum(packer, address: int, dat: bytearray) -> None:
   _set_value(dat, sig_checksum, checksum)
 
 
+def _set_little_endian_bits(dat: bytearray, lsb: int, size: int, value: int) -> None:
+  """Write the legacy HDA-II field layout without changing the generated DBC aliases."""
+  value &= (1 << size) - 1
+  bit = lsb
+  remaining = size
+  while remaining:
+    byte = bit // 8
+    shift = bit % 8
+    chunk_size = min(remaining, 8 - shift)
+    mask = ((1 << chunk_size) - 1) << shift
+    dat[byte] = (dat[byte] & ~mask) | ((value & ((1 << chunk_size) - 1)) << shift)
+    value >>= chunk_size
+    bit += chunk_size
+    remaining -= chunk_size
+
+
+def _create_gv70_lka_status_msg(packer, CAN, message_name: str, bus: int, enabled: bool,
+                                lat_active: bool, apply_torque: int):
+  values = {
+    "LKA_MODE": 2,
+    "LKA_ICON": 2 if enabled else 1,
+    "TORQUE_REQUEST": apply_torque,
+    "STEER_REQ": 1 if lat_active else 0,
+    "LKA_ASSIST": 0,
+    "STEER_MODE": 0,
+    "DAMP_FACTOR": 100,
+  }
+  address, raw, _ = packer.make_can_msg(message_name, bus, values)
+  dat = bytearray(raw)
+
+  legacy_fields = (
+    (24, 3, 2),
+    (27, 3, 0),
+    (30, 2, 0),
+    (32, 2, 0),
+    (34, 2, 0),
+    (36, 2, 0),
+    (38, 3, 2 if enabled else 1),
+    (52, 2, 1 if lat_active else 0),
+    (54, 2, 0),
+    (56, 1, 0),
+    (60, 4, 0),
+    (80, 2, 0),
+  )
+  for lsb, size, value in legacy_fields:
+    _set_little_endian_bits(dat, lsb, size, value)
+
+  _set_little_endian_bits(dat, 64 if message_name == "LKAS" else 104, 8, 100)
+  if message_name == "LKAS":
+    _set_little_endian_bits(dat, 84, 3, 0)
+
+  _update_checksum(packer, address, dat)
+  return address, bytes(dat), bus
+
+
 def _create_angle_lfa_msg(packer, CAN, values, apply_angle: float, lat_active: bool, torque_reduction_gain: float):
   address = packer.dbc.name_to_msg["LFA"].address
   dat = packer.pack(address, values)
@@ -100,6 +155,14 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
                              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:
+      ret.append(_create_gv70_lka_status_msg(packer, CAN, "LFA", CAN.ECAN, enabled, lat_active, apply_torque))
+    ret.append(_create_gv70_lka_status_msg(packer, CAN, "LKAS", CAN.ACAN, enabled, lat_active, apply_torque))
+    return ret
+
   angle_lkas_alt = CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING and CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT
 
   control_values = {
@@ -117,6 +180,8 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   else:
     lkas_values = copy.copy(control_values)
     lkas_values["LKA_AVAILABLE"] = 0
+    if CP.carFingerprint in (CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN):
+      lkas_values["DAMP_FACTOR"] = 100
 
   if lfa_base_values:
     # Preserve stock UI/status fields and only override the actuation-relevant signals.
@@ -190,7 +255,7 @@ def create_steering_messages(packer, CP, CAN, enabled, lat_active, apply_torque,
   ret = []
   if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
     lkas_msg = "LKAS_ALT" if CP.flags & HyundaiFlags.CANFD_LKA_STEERING_ALT else "LKAS"
-    if CP.openpilotLongitudinalControl:
+    if CP.openpilotLongitudinalControl and not CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
       ret.append(packer.make_can_msg("LFA", CAN.ECAN, lfa_values))
     ret.append(packer.make_can_msg(lkas_msg, CAN.ACAN, lkas_values))
   else:
@@ -241,16 +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)
 
 
@@ -750,7 +826,7 @@ def create_fca_warning_light(packer, CAN, frame):
   return ret
 
 
-def create_adrv_messages(packer, CAN, frame):
+def create_adrv_messages(packer, CAN, frame, blended_hda2=False):
   # messages needed to car happy after disabling
   # the ADAS Driving ECU to do longitudinal control
 
@@ -760,6 +836,9 @@ def create_adrv_messages(packer, CAN, frame):
   }
   ret.append(packer.make_can_msg("ADRV_0x51", CAN.ACAN, values))
 
+  if blended_hda2:
+    return ret
+
   ret.extend(create_fca_warning_light(packer, CAN, frame))
 
   if frame % 5 == 0:
@@ -843,6 +922,7 @@ def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
 # brake, and accelerator bits are updated for the radar heartbeat.
 _ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("000000020000fcff000000000020000055ff000068000000")
 _KIA_EV9_ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("00000000ff006f00e80400001201030055ffff0000000000")
+_HYUNDAI_IONIQ_5_PE_ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("000000000000000000000000ff1fffff55ffff00a8000000")
 # Neutral bodies verified across stock and successful suppression routes. Only
 # rolling integrity fields and the decoded state above are changed at runtime.
 _CCNC_ADRV_TEMPLATES = {
@@ -859,6 +939,19 @@ _CCNC_ADRV_TEMPLATES = {
     0x1E0: bytes.fromhex("00000002000000000000000000000000"),
     0x38C: bytes.fromhex("000000f71f000000000000000000000000000000000000000000000000000000"),
   },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    0x160: bytes.fromhex("0000000000000000fffc0100a8001000"),
+    0x1DA: bytes.fromhex("0000002200010000000000000000000000000000000000000000000000000000"),
+    0x1EA: bytes.fromhex("000000080000000000000000000000ff000000000000000000000000000f0f00"),
+    0x200: bytes.fromhex("00000014401b0000"),
+    0x345: bytes.fromhex("0000001500560000"),
+    0x161: bytes.fromhex("0000000000000000c0fff0c003000040000000000000000000ff000000000000"),
+    0x162: bytes.fromhex("0000002700000000c0ff00000000000000000000000000000000000000000000"),
+    0x1BA: bytes.fromhex("00000000000000880200000000000000000100000000000f"),
+    0x1E5: bytes.fromhex("00000000000000000000220200000080"),
+    0x1E0: bytes.fromhex("00000002000000000000000000000000"),
+    0x38C: bytes.fromhex("000000f79f000000000000000000000000000000000000000000000000000000"),
+  },
 }
 _CCNC_ADRV_PERIODS = {
   CAR.KIA_EV9: {
@@ -870,12 +963,26 @@ _CCNC_ADRV_PERIODS = {
     0x1E0: 5,
     0x38C: 20,
   },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    0x160: 2,
+    0x1DA: 100,
+    0x1EA: 5,
+    0x200: 5,
+    0x345: 20,
+    0x1E0: 5,
+    0x38C: 20,
+  },
 }
 
 
 def create_accelerator_brake_alt_spoof(bus: int, counter: int, brake_pressed: bool, accelerator_pressed: bool,
                                        car_fingerprint=None) -> CanData:
-  template = _KIA_EV9_ACCEL_BRAKE_ALT_TEMPLATE if car_fingerprint == CAR.KIA_EV9 else _ACCEL_BRAKE_ALT_TEMPLATE
+  if car_fingerprint == CAR.KIA_EV9:
+    template = _KIA_EV9_ACCEL_BRAKE_ALT_TEMPLATE
+  elif car_fingerprint == CAR.HYUNDAI_IONIQ_5_PE:
+    template = _HYUNDAI_IONIQ_5_PE_ACCEL_BRAKE_ALT_TEMPLATE
+  else:
+    template = _ACCEL_BRAKE_ALT_TEMPLATE
   d = bytearray(template)
   d[2] = counter & 0xFF                              # COUNTER (bit 16, 8-bit)
   d[4] = (d[4] & ~0x01) | (0x01 if brake_pressed else 0x00)         # BRAKE_PRESSED (bit 32)

opendbc_repo/opendbc/car/hyundai/interface.py

@@ -9,15 +9,18 @@ from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                    RADAR_LIVE_LONGITUDINAL_CAR, \
                                                    UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
                                                    LEGACY_LONGITUDINAL_CAR, \
+                                                   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
@@ -28,6 +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 = 2.2
 
 
 def apply_platform_longitudinal_params(ret: structs.CarParams) -> None:
@@ -61,6 +65,25 @@ def apply_ecu_disable_failure_fallback(CP: structs.CarParams, params) -> None:
   CP.pcmCruise = True
 
 
+def egmp_in_ready_state(can_recv, bus: int, timeout_s: float = 0.5) -> bool:
+  accelerator_addr = 0x35
+  ready_bit_mask = 0x40
+  deadline = time.monotonic() + timeout_s
+
+  while time.monotonic() < deadline:
+    try:
+      can_packets = can_recv(wait_for_one=True)
+    except Exception:
+      break
+
+    for packet in can_packets:
+      for msg in packet:
+        if msg.address == accelerator_addr and msg.src == bus and len(msg.dat) > 3 and msg.dat[3] & ready_bit_mask:
+          return True
+
+  return False
+
+
 def detect_kona_non_scc_radar_fca(candidate, fingerprint, car_fw) -> bool:
   if candidate != CAR.HYUNDAI_KONA_NON_SCC:
     return False
@@ -80,11 +103,13 @@ class CarInterface(CarInterfaceBase):
 
   @staticmethod
   def get_pid_accel_limits(CP, current_speed, cruise_speed):
-    return ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    accel_max = KIA_EV9_ACCEL_MAX if CP.carFingerprint == CAR.KIA_EV9 else CarControllerParams.ACCEL_MAX
+    return ACCEL_MIN, accel_max
 
   @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
@@ -97,6 +122,10 @@ class CarInterface(CarInterfaceBase):
     # "LFA steering" if camera directly sends LFA to the MDPS
     cam_can = CanBus(None, fingerprint).CAM
     lka_steering = 0x50 in fingerprint[cam_can] or 0x110 in fingerprint[cam_can]
+    if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+      lka_steering = Ecu.adas in [fw.ecu for fw in car_fw] or 0x50 in fingerprint[cam_can]
+      if lka_steering:
+        ret.flags |= HyundaiFlags.CANFD_LKA_STEERING.value
     CAN = CanBus(None, fingerprint, lka_steering)
 
     if ret.flags & HyundaiFlags.CANFD:
@@ -123,7 +152,8 @@ class CarInterface(CarInterfaceBase):
           ret.flags |= HyundaiFlags.CANFD_LKA_STEERING_ALT.value
         # This HDA II Carnival uses the alternate 0x1AA cruise-button frame even
         # though other LKA-steering platforms use 0x1CF.
-        if candidate == CAR.KIA_CARNIVAL_2025 and 0x1aa in fingerprint[CAN.ECAN] and 0x1cf not in fingerprint[CAN.ECAN]:
+        if candidate in (CAR.KIA_CARNIVAL_2025, CAR.KIA_CARNIVAL_HEV_4TH_GEN) and \
+            0x1aa in fingerprint[CAN.ECAN] and 0x1cf not in fingerprint[CAN.ECAN]:
           ret.flags |= HyundaiFlags.CANFD_ALT_BUTTONS.value
       else:
         # no LKA steering
@@ -165,12 +195,17 @@ class CarInterface(CarInterfaceBase):
         # panda safety or the carcontroller; the MDPS tolerating held torque at 0 speed
         # is being validated on-road.
         ret.steerAtStandstill = True
+      if candidate == CAR.HYUNDAI_IONIQ_5_PE:
+        ret.steerAtStandstill = True
       if ret.flags & HyundaiFlags.CCNC and not ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CCNC.value
 
     else:
       # Shared configuration for non CAN-FD cars
       ret.alphaLongitudinalAvailable = candidate not in UNSUPPORTED_LONGITUDINAL_CAR or candidate in LEGACY_LONGITUDINAL_CAR
+      if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED and ret.flags & HyundaiFlags.CANFD_LKA_STEERING and \
+          candidate not in CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR:
+        ret.alphaLongitudinalAvailable = False
       ret.enableBsm = 0x58b in fingerprint[CAN.ECAN]
 
       # Send LFA message on cars with HDA
@@ -195,13 +230,20 @@ class CarInterface(CarInterfaceBase):
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_REFRESH_MSGS.value
 
       # These cars expose an LKAS/LFA steering-wheel button that StarPilot can customize.
-      if 0x391 in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
+      if 0x391 in fingerprint[0] or 0x50C in fingerprint[0] or ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
       if ret.flags & HyundaiFlags.CAN_CANFD_BLENDED:
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CAN_CANFD_BLENDED.value
+        if ret.flags & HyundaiFlags.CANFD_LKA_STEERING:
+          ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_LKA_STEERING.value
       if hyundai_cancel_button_enables_cruise(candidate):
         ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANCEL_BTN_ENABLE.value
 
+      if 0x2AA in fingerprint[0]:
+        ret.minSteerSpeed = 0.0
+        ret.flags &= ~HyundaiFlags.MIN_STEER_32_MPH.value
+        ret.steerAtStandstill = True
+
     # Common lateral control setup
 
     ret.centerToFront = ret.wheelbase * 0.4
@@ -261,8 +303,8 @@ class CarInterface(CarInterfaceBase):
 
     if candidate == CAR.HYUNDAI_ELANTRA_2021:
       ret.longitudinalActuatorDelay = 0.22
-      ret.stopAccel = -1.5
+      ret.stopAccel = -0.85
-      ret.stoppingDecelRate = 0.5
+      ret.stoppingDecelRate = 0.35
 
     if candidate == CAR.HYUNDAI_ELANTRA_HEV_2024:
       ret.longitudinalActuatorDelay = 0.22
@@ -270,6 +312,17 @@ class CarInterface(CarInterfaceBase):
     if candidate == CAR.HYUNDAI_IONIQ_6:
       ret.longitudinalActuatorDelay = 0.6
 
+    if candidate == CAR.HYUNDAI_SANTA_FE_2022:
+      ret.longitudinalActuatorDelay = 0.4
+      ret.longitudinalTuning.kpBP = [0.0, 8.0, 20.0, 35.0]
+      ret.longitudinalTuning.kpV = [0.20, 0.17, 0.12, 0.08]
+      ret.longitudinalTuning.kiBP = [0.0, 8.0, 20.0, 35.0]
+      ret.longitudinalTuning.kiV = [0.02, 0.03, 0.05, 0.07]
+
+    if candidate == CAR.HYUNDAI_IONIQ_5_PE:
+      ret.longitudinalActuatorDelay = 0.35
+      ret.vEgoStarting = 0.4
+
     if candidate == CAR.KIA_EV9 and ret.openpilotLongitudinalControl:
       apply_kia_ev9_longitudinal_params(ret)
 
@@ -306,35 +359,42 @@ class CarInterface(CarInterfaceBase):
 
     ecu_log(f"=== init() called: opLong={CP.openpilotLongitudinalControl}, flags=0x{CP.flags:x}, safetyParam={CP.safetyConfigs[-1].safetyParam} ===")
 
-    if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
+    if CP.openpilotLongitudinalControl and not (CP.flags & (HyundaiFlags.NON_SCC | HyundaiFlags.CANFD_CAMERA_SCC | HyundaiFlags.CAMERA_SCC)):
       addr, bus = 0x7d0, CanBus(CP).ECAN if CP.flags & (HyundaiFlags.CANFD | HyundaiFlags.CAN_CANFD_BLENDED) else 0
       if CP.flags & HyundaiFlags.CANFD_LKA_STEERING.value:
         addr, bus = 0x730, CanBus(CP).ECAN
 
-      # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
+      skip_disable_ecu = False
-      # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
+      if CP.carFingerprint in CANFD_ANGLE_LONGITUDINAL_CAR and egmp_in_ready_state(can_recv, bus):
-      # so panda forwards stock SCC messages normally (lateral-only mode).
+        apply_ecu_disable_failure_fallback(CP, params)
-      ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
+        ecu_log(f"=== ECU DISABLE SKIPPED - READY detected, safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
-      ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
+        skip_disable_ecu = True
-                                 reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
 
-      if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      if not skip_disable_ecu:
-        # Ioniq 6: track success/failure to auto-switch between openpilot long and stock ACC
+        # Try ECU disable. If it succeeds (IGN-ON mode), enable longitudinal.
-        if ecu_disabled:
+        # If it fails (READY mode returns NRC 0x22, or timeout), strip LONG safety flag
-          ECU_DISABLE_TIMESTAMP = time.monotonic()
+        # so panda forwards stock SCC messages normally (lateral-only mode).
-          params.put_bool("EcuDisableFailed", False)
+        ecu_log(f"=== ECU DISABLE attempt: addr=0x{addr:x}, bus={bus} ===")
-          params.put_bool("ExperimentalMode", True)
+        ecu_disabled = disable_ecu(can_recv, can_send, bus=bus, addr=addr, com_cont_req=communication_control,
-          ecu_log("=== ECU DISABLE SUCCESS - Longitudinal + Experimental ENABLED ===")
+                                   reset=bool(CP.flags & HyundaiFlags.CAN_CANFD_BLENDED))
+
+        if CP.carFingerprint in (CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_IONIQ_5_PE):
+          # Track success/failure to auto-switch between openpilot long and stock ACC
+          if ecu_disabled:
+            ECU_DISABLE_TIMESTAMP = time.monotonic()
+            params.put_bool("EcuDisableFailed", False)
+            params.put_bool("ExperimentalMode", True)
+            ecu_log("=== ECU DISABLE SUCCESS - Longitudinal + Experimental ENABLED ===")
+          else:
+            apply_ecu_disable_failure_fallback(CP, params)
+            ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
         else:
-          apply_ecu_disable_failure_fallback(CP, params)
+          if ecu_disabled:
-          ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
+            params.put_bool("EcuDisableFailed", False)
-      else:
+            ecu_log("=== ECU DISABLE SUCCESS ===")
-        if ecu_disabled:
+          else:
-          params.put_bool("EcuDisableFailed", False)
+            apply_ecu_disable_failure_fallback(CP, params)
-          ecu_log("=== ECU DISABLE SUCCESS ===")
+            ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
-        else:
-          apply_ecu_disable_failure_fallback(CP, params)
-          ecu_log(f"=== ECU DISABLE FAILED - safetyParam stripped to {CP.safetyConfigs[-1].safetyParam}, lateral-only mode ===")
 
     # for blinkers
     if CP.flags & HyundaiFlags.ENABLE_BLINKERS:

opendbc_repo/opendbc/car/hyundai/values.py

@@ -45,8 +45,12 @@ class CarControllerParams:
       self.STEER_DRIVER_MULTIPLIER = 2
       self.STEER_THRESHOLD = 100
       if vEgoRaw < 15.0:  # below ~34 mph - more aggressive for tight turns
-        self.STEER_DELTA_UP = 10
+        if CP.carFingerprint == CAR.KIA_CARNIVAL_HEV_4TH_GEN:
-        self.STEER_DELTA_DOWN = 8
+          self.STEER_DELTA_UP = 2
+          self.STEER_DELTA_DOWN = 3
+        else:
+          self.STEER_DELTA_UP = 10
+          self.STEER_DELTA_DOWN = 8
       else:
         self.STEER_DELTA_UP = 2
         self.STEER_DELTA_DOWN = 3
@@ -77,11 +81,14 @@ class CarControllerParams:
       self.STEER_DELTA_DOWN = 3
 
     elif CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
-      self.STEER_MAX = 404
+      if CP.flags & HyundaiFlags.CANFD_LKA_STEERING:
-      self.STEER_DRIVER_ALLOWANCE = 50
+        self.STEER_MAX = 384
-      self.STEER_THRESHOLD = 150
+      else:
-      self.STEER_DELTA_UP = 2
+        self.STEER_MAX = 404
-      self.STEER_DELTA_DOWN = 3
+        self.STEER_DRIVER_ALLOWANCE = 50
+        self.STEER_THRESHOLD = 150
+        self.STEER_DELTA_UP = 2
+        self.STEER_DELTA_DOWN = 3
 
     # Default for most HKG
     else:
@@ -108,12 +115,15 @@ 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
 
 
 class HyundaiStarPilotFlags(IntFlag):
   SPEED_LIMIT_AVAILABLE = 1
+  MAIN_CRUISE_STATE_TRACKING = 2 ** 2
 
 
 class HyundaiFlags(IntFlag):
@@ -476,8 +486,12 @@ class CAR(Platforms):
     [
       HyundaiCarDocs("Hyundai Palisade (without HDA II) 2023-25", "Highway Driving Assist",
                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Hyundai Palisade (with HDA II) 2023-25", "Highway Driving Assist II",
+                     car_parts=CarParts.common([CarHarness.hyundai_r])),
       HyundaiCarDocs("Kia Telluride (without HDA II) 2023-25", "Highway Driving Assist",
                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+      HyundaiCarDocs("Kia Telluride (with HDA II) 2023-24", "Highway Driving Assist II",
+                     car_parts=CarParts.common([CarHarness.hyundai_p])),
     ],
     HYUNDAI_PALISADE.specs,
     flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.CAN_CANFD_BLENDED | HyundaiFlags.RADAR_SCC,
@@ -513,8 +527,8 @@ class CAR(Platforms):
                      car_parts=CarParts.common([CarHarness.hyundai_q]))
     ],
     HYUNDAI_IONIQ_5.specs,
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
-    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
   )
   HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
     [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
@@ -863,6 +877,16 @@ 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),
@@ -921,6 +945,11 @@ class CAR(Platforms):
     HYUNDAI_KONA_EV.specs,
     flags=HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
   )
+  KIA_RAY_EV = HyundaiNonSccPlatformConfig(
+    [HyundaiNonSccCarDocs("Kia Ray EV 2025", car_parts=CarParts.common([CarHarness.hyundai_h]))],
+    CarSpecs(mass=1295, wheelbase=2.52, steerRatio=14.5),
+    flags=HyundaiFlags.EV | HyundaiFlags.CHECKSUM_CRC8,
+  )
   KIA_CEED_PHEV_2022_NON_SCC = HyundaiNonSccPlatformConfig(
     [HyundaiNonSccCarDocs("Kia Ceed Plug-in Hybrid Non-SCC 2022", car_parts=CarParts.common([CarHarness.hyundai_i]))],
     CarSpecs(mass=1650, wheelbase=2.65, steerRatio=13.75, tireStiffnessFactor=0.5),
@@ -959,32 +988,27 @@ CANCEL_BUTTON_ENABLE_CARS = frozenset({
   CAR.HYUNDAI_PALISADE_2023,
 })
 
+CAN_CANFD_BLENDED_HDA2_LONGITUDINAL_CAR = frozenset({
+  CAR.HYUNDAI_PALISADE_2023,
+})
+
 KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES = frozenset({
   "C4DLC",
 })
+KIA_EV6_GT_LINE_LONG_TUNING_TESTING_GROUND_ID = "5"
 
 
-# These classic HKG platforms publish the LKAS button on CLU13 over the alt bus.
+ALT_BUS_LDA_BUTTON_CARS = frozenset()
-# Keep G90 excluded until its alt-bus path is route-proven without the recent
+ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset()
-# engage/disengage regression.
-ALT_BUS_LDA_BUTTON_CARS = frozenset({
-  CAR.HYUNDAI_SONATA,
-})
-
-# On these Sonata layouts the alt-bus LKAS button pulses through the CLU13
-# steering-wheel-status field instead of the dedicated LKAS bit.
-ALT_BUS_LDA_BUTTON_SWL_STAT_CARS = frozenset({
-  CAR.HYUNDAI_SONATA,
-})
 
 
 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:
+def kia_ev6_gt_line_longitudinal_tuning(car_fingerprint, vin: str, testing_ground_active: bool = False) -> bool:
-  return car_fingerprint == CAR.KIA_EV6 and isinstance(vin, str) and \
+  vin_match = isinstance(vin, str) and len(vin) == 17 and vin[3:8] in KIA_EV6_GT_LINE_LONG_TUNING_VDS_PREFIXES
-    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]]:
@@ -1037,7 +1061,7 @@ def match_fw_to_car_fuzzy(live_fw_versions, vin, offline_fw_versions) -> set[str
       if not any(found_platform_code in expected_platform_codes for found_platform_code in found_platform_codes):
         break
 
-      if ecu[0] in DATE_FW_ECUS:
+      if ecu[0] in DATE_FW_ECUS and candidate not in DATELESS_FUZZY_CARS:
         # If ECU can have a FW date, require it to exist
         # (this excludes candidates in the database without dates)
         if not len(expected_dates) or not len(found_dates):
@@ -1076,7 +1100,7 @@ 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
@@ -1085,6 +1109,8 @@ PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
+DATELESS_FUZZY_CARS = {CAR.HYUNDAI_KONA_NON_SCC}
+
 # Note: an ECU on CAN FD cars may sometimes send 0x30080aaaaaaaaaaa (flow control continue) while we
 # are attempting to query ECUs. This currently does not seem to affect fingerprinting from the camera
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -1173,13 +1199,14 @@ CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with
 
 # CAN-FD cars with ADAS ECUs that work with the communication-control path.
 CANFD_SECURITYACCESS_CAR = {
-  CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_EV9,
+  CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_5_PE, CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN, CAR.KIA_EV9,
 }
 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}
+CANFD_ANGLE_LONGITUDINAL_CAR = {CAR.KIA_EV9, CAR.HYUNDAI_IONIQ_5_PE}
-CANFD_CORNER_RADAR_BSM_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.KIA_EV9}
+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_6, CAR.KIA_EV6, CAR.KIA_EV9, CAR.GENESIS_GV60_EV_1ST_GEN,
+  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,
 }
 RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {
   CAR.HYUNDAI_IONIQ,
@@ -1207,6 +1234,9 @@ 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

@@ -187,12 +187,18 @@ class CarInterfaceBase(ABC):
     ret.rotationalInertia = scale_rot_inertia(ret.mass, ret.wheelbase)
     ret.tireStiffnessFront, ret.tireStiffnessRear = scale_tire_stiffness(ret.mass, ret.wheelbase, ret.centerToFront, ret.tireStiffnessFactor)
 
-    toggles_to_check = ("force_torque_controller", "nnff", "nnff_lite")
+    force_torque_controller = bool(getattr(starpilot_toggles, "force_torque_controller", False))
+    toggles_to_check = ("nnff", "nnff_lite")
     modified_civic_force_torque = (
       candidate == HONDA.HONDA_CIVIC_BOSCH and
       bool(ret.flags & HondaFlags.EPS_MODIFIED)
     )
+    # ForceTorqueController converts PID-based paths to torque control. It must
+    # not reinitialize cars that already selected torque control: those paths
+    # may have vehicle-specific torque tuning applied in their interface.
+    force_torque_conversion = force_torque_controller and ret.lateralTuning.which() != "torque"
     if ret.steerControlType != structs.CarParams.SteerControlType.angle and (
+      force_torque_conversion or
       any(getattr(starpilot_toggles, toggle, False) for toggle in toggles_to_check) or
       modified_civic_force_torque
     ):
@@ -213,9 +219,6 @@ class CarInterfaceBase(ABC):
 
     if platform not in MOCK:
       if platform in CHRYSLER:
-        if candidate == CHRYSLER.RAM_HD_5TH_GEN:
-          if 570 not in fingerprint[0]:
-            fp_ret.flags |= ChryslerStarPilotFlags.RAM_HD_ALT_BUTTONS.value
         if 0x4FF in fingerprint[0]:
           fp_ret.flags |= ChryslerStarPilotFlags.NO_MIN_STEERING_SPEED.value
           CP.minSteerSpeed = 0.
@@ -238,11 +241,14 @@ class CarInterfaceBase(ABC):
             fp_ret.flags |= HyundaiStarPilotFlags.SPEED_LIMIT_AVAILABLE.value
 
         fp_ret.redneckCruiseAvailable = bool(CP.flags & HyundaiFlags.NON_SCC) and not bool(CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS)
-        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise") and \
+        if fp_ret.redneckCruiseAvailable and params.get_bool("RedneckCruise"):
-            not CP.openpilotLongitudinalControl:
           fp_ret.pcmCruiseSpeed = False
+          CP.openpilotLongitudinalControl = True
 
-        hyundai_has_lda_button = (
+        if candidate == HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and CP.openpilotLongitudinalControl:
+          fp_ret.flags |= HyundaiStarPilotFlags.MAIN_CRUISE_STATE_TRACKING.value
+
+        hyundai_has_lda_button = not (CP.flags & HyundaiFlags.CANFD) and (
           0x391 in fingerprint[0] or
           0x50C in fingerprint[0] or
           candidate in ALT_BUS_LDA_BUTTON_CARS or
@@ -251,9 +257,25 @@ class CarInterfaceBase(ABC):
         if hyundai_has_lda_button:
           fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
 
-        # LKASButtonControl == 9 means BUTTON_FUNCTIONS["AOL_TOGGLE"] in starpilot_variables.
+        if getattr(starpilot_toggles, "always_on_lateral_lkas", False):
-        if params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
           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_MAIN_LKAS_ON_ENGAGE.value
+          if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID:
+            fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+
+        # The refresh Elantra's safety mapping comes from the resolved Galaxy
+        # toggle above, not from this legacy persisted-parameter fallback.
+        if candidate != HYUNDAI.HYUNDAI_ELANTRA_HEV_2024 and \
+            params.get_bool("AlwaysOnLateral") and params.get_int("LKASButtonControl") == 9:
+          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
+
+        if candidate == HYUNDAI.HYUNDAI_SONATA_HYBRID and getattr(starpilot_toggles, "always_on_lateral_lkas", False) and \
+            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
@@ -264,7 +286,7 @@ 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/lateral.py

@@ -1,7 +1,7 @@
 import math
 import numpy as np
 from dataclasses import dataclass
-from opendbc.car import structs, rate_limit, DT_CTRL
+from opendbc.car import ACCELERATION_DUE_TO_GRAVITY, structs, rate_limit, DT_CTRL
 from opendbc.car.vehicle_model import VehicleModel
 
 FRICTION_THRESHOLD = 0.3
@@ -10,6 +10,12 @@ FRICTION_THRESHOLD = 0.3
 ISO_LATERAL_ACCEL = 3.0  # m/s^2
 ISO_LATERAL_JERK = 5.0  # m/s^3
 
+# Common angle/curvature safety limits. The road-roll allowance keeps the
+# controller and panda limits aligned on normally banked roads.
+AVERAGE_ROAD_ROLL = 0.06
+MAX_LATERAL_ACCEL = ISO_LATERAL_ACCEL + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+MAX_LATERAL_JERK = 3.0 + (ACCELERATION_DUE_TO_GRAVITY * AVERAGE_ROAD_ROLL)
+
 
 @dataclass
 class AngleSteeringLimits:
@@ -24,6 +30,29 @@ class AngleSteeringLimits:
   MAX_ANGLE_RATE: float = math.inf
 
 
+@dataclass
+class CurvatureSteeringLimits:
+  CURVATURE_MAX: float
+  MAX_LATERAL_ACCEL: float = MAX_LATERAL_ACCEL
+  MAX_LATERAL_JERK: float = MAX_LATERAL_JERK
+
+  def apply_limits(self, apply_curvature: float, apply_curvature_last: float, v_ego: float, curvature: float,
+                   lat_active: bool, steer_step: int) -> float:
+    """Apply lateral acceleration and jerk constraints to curvature."""
+    v_ego = max(v_ego, 1)
+
+    max_curvature = self.MAX_LATERAL_ACCEL / (v_ego ** 2)
+    new_apply_curvature = float(np.clip(apply_curvature, -max_curvature, max_curvature))
+
+    max_jerk = (self.MAX_LATERAL_JERK / (v_ego ** 2)) * (steer_step * DT_CTRL)
+    new_apply_curvature = float(np.clip(new_apply_curvature, apply_curvature_last - max_jerk, apply_curvature_last + max_jerk))
+
+    if not lat_active:
+      new_apply_curvature = curvature
+
+    return float(np.clip(new_apply_curvature, -self.CURVATURE_MAX, self.CURVATURE_MAX))
+
+
 def apply_driver_steer_torque_limits(apply_torque: int, apply_torque_last: int, driver_torque: float, LIMITS, steer_max: int = None):
   # some safety modes utilize a dynamic max steer
   if steer_max is None:

opendbc_repo/opendbc/car/nissan/carcontroller.py

@@ -9,6 +9,7 @@ from opendbc.car.nissan import nissancan
 from opendbc.car.nissan.values import CAR, CarControllerParams
 
 VisualAlert = structs.CarControl.HUDControl.VisualAlert
+LongCtrlState = structs.CarControl.Actuators.LongControlState
 
 
 class CarController(CarControllerBase):
@@ -28,6 +29,34 @@ class CarController(CarControllerBase):
 
     can_sends = []
 
+    if self.CP.openpilotLongitudinalControl and self.car_fingerprint == CAR.NISSAN_LEAF:
+      accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
+      stopping = actuators.longControlState == LongCtrlState.stopping
+      brake_mode = CC.longActive and (accel < CarControllerParams.PROPILOT_ACCEL_MIN or stopping)
+
+      if CC.longActive:
+        if brake_mode:
+          raw_accel = CarControllerParams.PROPILOT_BRAKE_RAW
+        else:
+          propulsion_accel = float(np.clip(accel, CarControllerParams.PROPILOT_ACCEL_MIN,
+                                           CarControllerParams.PROPILOT_ACCEL_MAX))
+          raw_accel = round(propulsion_accel * CarControllerParams.PROPILOT_ACCEL_SCALE +
+                            CarControllerParams.PROPILOT_ACCEL_OFFSET)
+      else:
+        raw_accel = CarControllerParams.PROPILOT_INACTIVE_RAW
+
+      brake_pressure = round(max(0.0, -accel - 1.0) * CarControllerParams.BRAKE_GAIN) if brake_mode else 0
+      if stopping and CS.out.vEgo < self.CP.vEgoStopping:
+        brake_pressure = CarControllerParams.BRAKE_MAX
+      brake_pressure = int(np.clip(brake_pressure, 0, CarControllerParams.BRAKE_MAX))
+
+      can_sends.append(nissancan.create_accel_command(raw_accel, self.frame, CC.longActive))
+      can_sends.append(nissancan.create_brake_command(brake_pressure, self.frame,
+                                                      CC.longActive and brake_pressure > 0, brake_mode))
+
+      if self.frame % 100 == 0:
+        can_sends.append(nissancan.create_leaf_adas_tester_present())
+
     ### STEER ###
     steer_hud_alert = 1 if hud_control.visualAlert in (VisualAlert.steerRequired, VisualAlert.ldw) else 0
 
@@ -64,7 +93,8 @@ class CarController(CarControllerBase):
     # We now cancel by making propilot think the seatbelt is unlatched,
     # this generates a beep and a warning message every time you disengage
     if self.CP.carFingerprint in (CAR.NISSAN_LEAF, CAR.NISSAN_LEAF_IC) and self.frame % 2 == 0:
-      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg, pcm_cancel_cmd))
+      can_sends.append(nissancan.create_cancel_msg(self.packer, CS.cancel_msg,
+                                                    pcm_cancel_cmd and not self.CP.openpilotLongitudinalControl))
 
     can_sends.append(nissancan.create_steering_control(
       self.packer, self.apply_angle_last, self.frame, CC.latActive, lkas_max_torque))
@@ -82,6 +112,8 @@ class CarController(CarControllerBase):
 
     new_actuators = actuators.as_builder()
     new_actuators.steeringAngleDeg = self.apply_angle_last
+    if self.CP.openpilotLongitudinalControl:
+      new_actuators.accel = float(np.clip(actuators.accel, CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX))
 
     self.frame += 1
     return new_actuators, can_sends

opendbc_repo/opendbc/car/nissan/carstate.py

@@ -26,6 +26,9 @@ class CarState(CarStateBase):
     self.distance_button = 0
 
     self.lkas_button = 0
+    self.set_button = 0
+    self.res_button = 0
+    self.cancel_button = 0
 
   def update(self, can_parsers, starpilot_toggles) -> structs.CarState:
     cp = can_parsers[Bus.pt]
@@ -131,6 +134,17 @@ class CarState(CarStateBase):
 
     buttonEvents = create_button_events(self.distance_button, prev_distance_button, {1: ButtonType.gapAdjustCruise})
 
+    if self.CP.openpilotLongitudinalControl and self.CP.carFingerprint == CAR.NISSAN_LEAF:
+      prev_set_button = self.set_button
+      prev_res_button = self.res_button
+      prev_cancel_button = self.cancel_button
+      self.set_button = int(cp.vl["CRUISE_THROTTLE"]["SET_BUTTON"])
+      self.res_button = int(cp.vl["CRUISE_THROTTLE"]["RES_BUTTON"])
+      self.cancel_button = int(cp.vl["CRUISE_THROTTLE"]["CANCEL_BUTTON"])
+      buttonEvents += create_button_events(self.set_button, prev_set_button, {1: ButtonType.decelCruise})
+      buttonEvents += create_button_events(self.res_button, prev_res_button, {1: ButtonType.accelCruise})
+      buttonEvents += create_button_events(self.cancel_button, prev_cancel_button, {1: ButtonType.cancel})
+
     fp_ret = custom.StarPilotCarState.new_message()
 
     self.prev_lkas_button = self.lkas_button

opendbc_repo/opendbc/car/nissan/interface.py

@@ -1,14 +1,124 @@
+import time
+
 from opendbc.car import get_safety_config, structs
+from opendbc.car.disable_ecu import disable_ecu, ecu_log
 from opendbc.car.interfaces import CarInterfaceBase
+from opendbc.car.isotp_parallel_query import IsoTpParallelQuery
 from opendbc.car.nissan.carcontroller import CarController
 from opendbc.car.nissan.carstate import CarState
-from opendbc.car.nissan.values import CAR, NissanSafetyFlags
+from opendbc.car.nissan.values import CAR, CarControllerParams, NissanSafetyFlags, \
+                                       NISSAN_DIAGNOSTIC_REQUEST_KWP, NISSAN_DIAGNOSTIC_RESPONSE_KWP, NISSAN_RX_OFFSET
+
+
+LEAF_ADAS_ECU_ADDR = 0x707
+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
+
+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_TAKEOVER_SESSIONS = (
+  (LEAF_KWP_EXTENDED_REQUEST, LEAF_KWP_EXTENDED_RESPONSE),
+)
+
+
+def is_leaf_2025_sv_plus_longitudinal(candidate, car_fw):
+  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
+  )
+
+
+def leaf_adas_commands_silent(can_recv, settle_time=0.05, observe_time=0.15):
+  """Confirm the stock ADAS command sender stopped while bus 1 is still observable."""
+  if can_recv is None:
+    return False
+
+  try:
+    # Let already-published CAN batches age out, then discard everything queued
+    # before the communication-control response.
+    time.sleep(settle_time)
+    can_recv()
+
+    saw_adas_bus_traffic = False
+    deadline = time.monotonic() + observe_time
+    while time.monotonic() < deadline:
+      packets = can_recv(wait_for_one=True)
+      for packet in packets:
+        for msg in packet:
+          if msg.src != LEAF_ADAS_COMMAND_BUS:
+            continue
+          saw_adas_bus_traffic = True
+          if msg.address in LEAF_ADAS_COMMAND_ADDRS:
+            ecu_log(f"Nissan Leaf ADAS TX still active: {hex(msg.address)} on bus {msg.src}")
+            return False
+  except Exception as e:
+    ecu_log(f"Nissan Leaf ADAS TX silence verification exception: {e}")
+    return False
+
+  if not saw_adas_bus_traffic:
+    ecu_log("Nissan Leaf ADAS TX silence could not be verified: no bus 1 traffic observed")
+  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):
+  """Return to the confirmed KWP default session and verify normal TX resumes."""
+  if can_recv is None or can_send is None:
+    return False
+
+  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
 
 
 class CarInterface(CarInterfaceBase):
   CarState = CarState
   CarController = CarController
 
+  @staticmethod
+  def get_pid_accel_limits(CP, current_speed, cruise_speed):
+    if CP.carFingerprint == CAR.NISSAN_LEAF and CP.openpilotLongitudinalControl:
+      return CarControllerParams.ACCEL_MIN, CarControllerParams.ACCEL_MAX
+    return CarInterfaceBase.get_pid_accel_limits(CP, current_speed, cruise_speed)
+
   @staticmethod
   def _get_params(ret: structs.CarParams, candidate, fingerprint, car_fw, alpha_long, is_release, docs) -> structs.CarParams:
     ret.brand = "nissan"
@@ -22,8 +132,56 @@ class CarInterface(CarInterfaceBase):
     ret.steerControlType = structs.CarParams.SteerControlType.angle
     ret.radarUnavailable = True
 
+    ret.alphaLongitudinalAvailable = is_leaf_2025_sv_plus_longitudinal(candidate, car_fw)
+    ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
+    ret.pcmCruise = not ret.openpilotLongitudinalControl
+
+    if ret.openpilotLongitudinalControl:
+      ret.safetyConfigs[0].safetyParam |= NissanSafetyFlags.LONG_CONTROL.value
+      ret.autoResumeSng = True
+      ret.stopAccel = -2.0
+      ret.vEgoStopping = 0.5
+      ret.vEgoStarting = 0.5
+      ret.stoppingDecelRate = 0.8
+
     if candidate == CAR.NISSAN_ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
       ret.safetyConfigs[0].safetyParam |= NissanSafetyFlags.ALT_EPS_BUS.value
 
     return ret
+
+  @staticmethod
+  def init(CP, can_recv, can_send):
+    if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
+      return
+
+    from openpilot.common.params import Params
+    params = Params()
+    ecu_disabled = False
+    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_NO_RESPONSE, require_response=False, retry=1,
+                                 diag_request=diag_request, diag_response=diag_response, response_offset=NISSAN_RX_OFFSET)
+      if ecu_disabled:
+        break
+
+    takeover_confirmed = ecu_disabled and leaf_adas_commands_silent(can_recv)
+    params.put_bool("EcuDisableFailed", not takeover_confirmed)
+    if takeover_confirmed:
+      ecu_log("Nissan Leaf ADAS TX disable and command silence confirmed; experimental longitudinal control enabled")
+    else:
+      # A response can be lost after the ECU accepts 0x28. Always attempt to
+      # restore stock transmission before falling back to stock longitudinal.
+      restore_leaf_adas_tx(can_recv, can_send)
+      CP.safetyConfigs[-1].safetyParam &= ~NissanSafetyFlags.LONG_CONTROL.value
+      CP.openpilotLongitudinalControl = False
+      CP.pcmCruise = True
+      ecu_log("Nissan Leaf ADAS takeover was not confirmed; falling back to stock longitudinal control")
+
+  @staticmethod
+  def deinit(CP, can_recv, can_send):
+    if not (CP.openpilotLongitudinalControl and CP.alphaLongitudinalAvailable and CP.carFingerprint == CAR.NISSAN_LEAF):
+      return
+
+    restore_leaf_adas_tx(can_recv, can_send)

opendbc_repo/opendbc/car/nissan/nissancan.py

@@ -1,10 +1,48 @@
 import crcmod
+from opendbc.car.can_definitions import CanData
 from opendbc.car.nissan.values import CAR
 
 # TODO: add this checksum to the CANPacker
 nissan_checksum = crcmod.mkCrcFun(0x11d, initCrc=0x00, rev=False, xorOut=0xff)
 
 
+def create_leaf_adas_tester_present():
+  """KWP2000 tester-present with a response requested, for the 2025 Leaf ADAS ECU."""
+  return CanData(0x707, b"\x02\x3E\x01\x00\x00\x00\x00\x00", 0)
+
+
+def create_accel_command(raw_command, frame, active):
+  """Build the Leaf ADAS propulsion/regen request (0x2B0)."""
+  raw_command = int(raw_command)
+  raw12, fraction = divmod(raw_command, 4)
+  inverse = (~raw12) & 0xFFF
+
+  dat = bytes([
+    ((inverse & 0xF) << 4) | ((inverse >> 4) & 0xF),
+    (raw12 >> 4) & 0xFF,
+    (((inverse >> 8) & 0xF) << 4) | (raw12 & 0xF),
+    0xAC,  # normal ADAS ownership state; stock briefly uses 0x6C while handing control back
+    0x5B if active else 0x1B,
+    0x00,
+    ((frame & 0xF) << 4) | 0xE,
+    (fraction << 2) | ((~fraction) & 0x3),
+  ])
+  return CanData(0x2B0, dat, 1)
+
+
+def create_brake_command(pressure, frame, active, brake_mode):
+  """Build the Leaf ADAS friction-brake request (0x1C3), with pressure in 0.5-count units."""
+  pressure = int(pressure)
+  dat = bytearray(8)
+  dat[0] = (pressure >> 4) & 0x3F
+  dat[1] = (pressure & 0xF) << 4
+  dat[4] = 0x64
+  dat[5] = (0x80 if active else 0) | (0x04 if brake_mode else 0) | (frame & 0x3)
+  dat[6] = 0xFF
+  dat[7] = (0x01 + 0xC3 + sum(dat[:7])) & 0xFF
+  return CanData(0x1C3, bytes(dat), 1)
+
+
 def create_steering_control(packer, apply_torque, frame, steer_on, lkas_max_torque):
   values = {
     "COUNTER": frame % 0x10,