build

Slooooow doooooown
BigUI WIP: Try dock
2026-08-24 01:33:46 +08:00 · 2026-05-29 04:33:28 +00:00 · 2026-05-29 00:01:13 -04:00 · 2026-05-28 21:48:23 -04:00 · 2026-05-28 17:38:14 -05:00 · 2026-05-28 15:42:42 -05:00
249 changed files with 10562 additions and 3584 deletions
@@ -2179,6 +2179,7 @@ struct DriverStateV2 {
    rightBlinkProb @8 :Float32;
    sunglassesProb @9 :Float32;
    phoneProb @13 :Float32;
+    sleepProb @14 :Float32;
    notReadyProbDEPRECATED @12 :List(Float32);
    occludedProbDEPRECATED @10 :Float32;
    readyProbDEPRECATED @11 :List(Float32);
@@ -367,6 +367,9 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"LoudBlindspotAlert", {PERSISTENT, BOOL, "0", "0", 0}},
    {"LowVoltageShutdown", {PERSISTENT, FLOAT, "11.8", "11.8", 3}},
    {"ManualUpdateInitiated", {CLEAR_ON_MANAGER_START, BOOL, "0", "0"}},
+    {"AMapKey1", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"AMapKey2", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
+    {"ApiCache_NavDestinations", {PERSISTENT, JSON, "[]", "[]"}},
    {"MapAcceleration", {PERSISTENT, BOOL, "0", "0", 1}},
    {"MapboxPublicKey", {PERSISTENT | DONT_LOG, STRING, "", "", 0}},
    {"MapBoxRequests", {PERSISTENT, JSON, "{}", "{}"}},
@@ -376,6 +379,10 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"MapGears", {PERSISTENT, BOOL, "0", "0", 2}},
    {"MapsSelected", {PERSISTENT, STRING, "", "", 0}},
    {"MapSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
+    {"NavDesiresAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"NavLongitudinalAllowed", {PERSISTENT, BOOL, "1", "0", 2}},
+    {"NavDestination", {PERSISTENT, STRING, "", ""}},
+    {"NavInstructionState", {CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION, JSON, "{}", "{}"}},
    {"NextMapSpeedLimit", {CLEAR_ON_MANAGER_START, JSON, "{}", "{}"}},
    {"VisionSpeedLimit", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
    {"VisionSpeedLimitConfidence", {CLEAR_ON_MANAGER_START, FLOAT, "0.0", "0.0"}},
@@ -403,7 +410,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"NNFFModelName", {CLEAR_ON_MANAGER_START, STRING, "", "", 0}},
    {"NoLogging", {PERSISTENT, BOOL, "0", "0", 2}},
    {"NoUploads", {PERSISTENT, BOOL, "0", "0", 2}},
-    {"NudgelessLaneChange", {PERSISTENT, BOOL, "1", "0", 0}},
+    {"NudgelessLaneChange", {PERSISTENT, BOOL, "0", "0", 0}},
    {"NumericalTemp", {PERSISTENT, BOOL, "1", "0", 3}},
    {"Offset1", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
    {"Offset2", {PERSISTENT, FLOAT, "5.0", "0.0", 0}},
@@ -33,64 +33,7 @@ function agnos_init {
  # StarPilot variables
  sudo chmod 0777 /cache

-  # Weston loads display color correction from /data/misc/display/color_cal/color_cal.
-  # Prefer a factory /persist/comma/color_cal blob when present. Otherwise, derive a
-  # Weston-compatible calibration blob from the device's legacy dwo gamma tables.
-  COLOR_CAL_SRC="/persist/comma/color_cal"
-  DWO_GAMMA_SRC="/persist/comma/dwo_gamma_curves"
-  COLOR_CAL_DST_DIR="/data/misc/display/color_cal"
-  COLOR_CAL_DST="${COLOR_CAL_DST_DIR}/color_cal"
-  COLOR_CAL_HASH_PATH="${COLOR_CAL_DST_DIR}/source.sha256"
-  DWO_REFERENCE="$DIR/tools/reference_dwo_gamma_curves.txt"
-  DWO_GENERATOR="$DIR/tools/generate_color_cal_from_dwo.py"
-  COLOR_CAL_UPDATED=0
-  COLOR_CAL_TMP=""
-  DWO_SOURCE_HASH=""
-
-  if [ -f "$COLOR_CAL_SRC" ]; then
-    sudo mkdir -p "$COLOR_CAL_DST_DIR"
-    if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_SRC" "$COLOR_CAL_DST"; then
-      sudo cp "$COLOR_CAL_SRC" "$COLOR_CAL_DST"
-      sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-      sudo chmod 664 "$COLOR_CAL_DST"
-      sudo rm -f "$COLOR_CAL_HASH_PATH"
-      COLOR_CAL_UPDATED=1
-    fi
-  elif [ -f "$DWO_GAMMA_SRC" ] && [ -f "$DWO_REFERENCE" ] && [ -f "$DWO_GENERATOR" ]; then
-    DWO_SOURCE_HASH="$(cat "$DWO_GAMMA_SRC" "$DWO_REFERENCE" "$DWO_GENERATOR" | sha256sum | awk '{print $1}')"
-    if [ ! -f "$COLOR_CAL_DST" ] || [ ! -f "$COLOR_CAL_HASH_PATH" ] || [ "$(cat "$COLOR_CAL_HASH_PATH" 2>/dev/null)" != "$DWO_SOURCE_HASH" ]; then
-      COLOR_CAL_TMP="$(mktemp)"
-      if python3 "$DWO_GENERATOR" --reference "$DWO_REFERENCE" --input "$DWO_GAMMA_SRC" --output "$COLOR_CAL_TMP"; then
-        sudo mkdir -p "$COLOR_CAL_DST_DIR"
-        if [ ! -f "$COLOR_CAL_DST" ] || ! cmp -s "$COLOR_CAL_TMP" "$COLOR_CAL_DST"; then
-          sudo cp "$COLOR_CAL_TMP" "$COLOR_CAL_DST"
-          COLOR_CAL_UPDATED=1
-        fi
-        printf '%s' "$DWO_SOURCE_HASH" | sudo tee "$COLOR_CAL_HASH_PATH" >/dev/null
-        sudo chown -R comma:comma "$COLOR_CAL_DST_DIR"
-        sudo chmod 664 "$COLOR_CAL_DST" "$COLOR_CAL_HASH_PATH"
-      fi
-      rm -f "$COLOR_CAL_TMP"
-    fi
-  fi
-
-  if [ "$COLOR_CAL_UPDATED" = "1" ] && systemctl is-active --quiet weston.service; then
-    sudo systemctl restart weston.service
-
-    # Weston can recreate wayland-0 as root on service restart before weston-ready
-    # fixes ownership. Repair it here so the Qt UI can always reconnect.
-    if [ -d /var/tmp/weston ]; then
-      for _ in $(seq 1 50); do
-        if [ -S /var/tmp/weston/wayland-0 ]; then
-          sudo chown -R comma:comma /var/tmp/weston 2>/dev/null || true
-          sudo chmod -R 700 /var/tmp/weston 2>/dev/null || true
-          SOCKET_OWNER="$(stat -c '%U:%G' /var/tmp/weston/wayland-0 2>/dev/null || true)"
-          [ "$SOCKET_OWNER" = "comma:comma" ] && break
-        fi
-        sleep 0.1
-      done
-    fi
-  fi
+  sudo rm -f /data/misc/display/color_cal/color_cal /data/misc/display/color_cal/source.sha256

  # Check if AGNOS update is required
  if [ $(< /VERSION) != "$AGNOS_VERSION" ]; then
@@ -1,6 +1,7 @@
 #!/usr/bin/env python3
 import argparse
 import os
+from types import SimpleNamespace
 from typing import get_args

 from collections import defaultdict
@@ -32,7 +33,8 @@ def get_params_for_docs(platform) -> CarParams:
  cp_platform = platform if platform in interfaces else MOCK.MOCK
  CP: CarParams = interfaces[cp_platform].get_params(cp_platform, fingerprint=gen_empty_fingerprint(),
                                                     car_fw=[CarParams.CarFw(ecu=CarParams.Ecu.unknown)],
-                                                     alpha_long=True, is_release=False, docs=True)
+                                                     alpha_long=True, is_release=False, docs=True,
+                                                     starpilot_toggles=SimpleNamespace())
  return CP


@@ -131,6 +131,7 @@ class CarHarness(EnumBase):
  hyundai_p = BaseCarHarness("Hyundai P connector")
  hyundai_q = BaseCarHarness("Hyundai Q connector")
  hyundai_r = BaseCarHarness("Hyundai R connector")
+  hyundai_s = BaseCarHarness("Hyundai S connector")
  custom = BaseCarHarness("Developer connector")
  obd_ii = BaseCarHarness("OBD-II connector", parts=[Cable.long_obdc_cable, Cable.usbc_coupler], has_connector=False)
  gm = BaseCarHarness("GM connector", parts=[Accessory.harness_box])
@@ -193,29 +193,43 @@ MIGRATION = {
  "HYUNDAI IONIQ PLUG-IN HYBRID 2019": HYUNDAI.HYUNDAI_IONIQ_PHEV_2019,
  "HYUNDAI IONIQ PHEV 2020": HYUNDAI.HYUNDAI_IONIQ_PHEV,
  "HYUNDAI KONA 2020": HYUNDAI.HYUNDAI_KONA,
+  "HYUNDAI KONA 2ND GEN": HYUNDAI.HYUNDAI_KONA_2ND_GEN,
  "HYUNDAI KONA ELECTRIC 2019": HYUNDAI.HYUNDAI_KONA_EV,
  "HYUNDAI KONA ELECTRIC 2022": HYUNDAI.HYUNDAI_KONA_EV_2022,
  "HYUNDAI KONA ELECTRIC 2ND GEN": HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN,
  "HYUNDAI KONA HYBRID 2020": HYUNDAI.HYUNDAI_KONA_HEV,
+  "HYUNDAI KONA HYBRID 2ND GEN": HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN,
  "HYUNDAI SANTA FE 2019": HYUNDAI.HYUNDAI_SANTA_FE,
  "HYUNDAI SANTA FE 2022": HYUNDAI.HYUNDAI_SANTA_FE_2022,
  "HYUNDAI SANTA FE HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022,
+  "HYUNDAI SANTA FE HYBRID 5TH GEN": HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
  "HYUNDAI SANTA FE PlUG-IN HYBRID 2022": HYUNDAI.HYUNDAI_SANTA_FE_PHEV_2022,
  "HYUNDAI SONATA 2020": HYUNDAI.HYUNDAI_SONATA,
+  "HYUNDAI SONATA 2024": HYUNDAI.HYUNDAI_SONATA_2024,
  "HYUNDAI SONATA 2019": HYUNDAI.HYUNDAI_SONATA_LF,
  "HYUNDAI STARIA 4TH GEN": HYUNDAI.HYUNDAI_STARIA_4TH_GEN,
  "HYUNDAI TUCSON 2019": HYUNDAI.HYUNDAI_TUCSON,
+  "HYUNDAI TUCSON 2025": HYUNDAI.HYUNDAI_TUCSON_2025,
+  "HYUNDAI TUCSON HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_HEV_2025,
+  "HYUNDAI TUCSON PLUG-IN HYBRID 2025": HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
  "HYUNDAI PALISADE 2020": HYUNDAI.HYUNDAI_PALISADE,
  "HYUNDAI PALISADE 2023": HYUNDAI.HYUNDAI_PALISADE_2023,
  "HYUNDAI VELOSTER 2019": HYUNDAI.HYUNDAI_VELOSTER,
  "HYUNDAI SONATA HYBRID 2021": HYUNDAI.HYUNDAI_SONATA_HYBRID,
+  "HYUNDAI SONATA HYBRID 2024": HYUNDAI.HYUNDAI_SONATA_HEV_2024,
  "HYUNDAI IONIQ 5 2022": HYUNDAI.HYUNDAI_IONIQ_5,
+  "HYUNDAI IONIQ 5 2025": HYUNDAI.HYUNDAI_IONIQ_5_PE,
+  "HYUNDAI IONIQ 5 N 2024": HYUNDAI.HYUNDAI_IONIQ_5_N,
  "HYUNDAI IONIQ 6 2023": HYUNDAI.HYUNDAI_IONIQ_6,
+  "HYUNDAI IONIQ 9 2025": HYUNDAI.HYUNDAI_IONIQ_9,
  "HYUNDAI TUCSON 4TH GEN": HYUNDAI.HYUNDAI_TUCSON_4TH_GEN,
  "HYUNDAI SANTA CRUZ 1ST GEN": HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  "HYUNDAI SANTA CRUZ 2025": HYUNDAI.HYUNDAI_SANTA_CRUZ_2025,
  "HYUNDAI CUSTIN 1ST GEN": HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN,
  "KIA FORTE E 2018 & GT 2021": HYUNDAI.KIA_FORTE,
+  "KIA K4 2025": HYUNDAI.KIA_K4_2025,
  "KIA K5 2021": HYUNDAI.KIA_K5_2021,
+  "KIA K5 2025": HYUNDAI.KIA_K5_2025,
  "KIA K5 HYBRID 2020": HYUNDAI.KIA_K5_HEV_2020,
  "KIA K8 HYBRID 1ST GEN": HYUNDAI.KIA_K8_HEV_1ST_GEN,
  "KIA NIRO EV 2020": HYUNDAI.KIA_NIRO_EV,
@@ -230,22 +244,29 @@ MIGRATION = {
  "KIA OPTIMA HYBRID 4TH GEN FACELIFT": HYUNDAI.KIA_OPTIMA_H_G4_FL,
  "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,
  "KIA SORENTO HYBRID 4TH GEN": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN,
+  "KIA SORENTO HYBRID 4TH GEN LFA2": HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
  "KIA STINGER GT2 2018": HYUNDAI.KIA_STINGER,
  "KIA STINGER 2022": HYUNDAI.KIA_STINGER_2022,
  "KIA CEED INTRO ED 2019": HYUNDAI.KIA_CEED,
  "KIA EV6 2022": HYUNDAI.KIA_EV6,
+  "KIA EV6 2025": HYUNDAI.KIA_EV6_2025,
+  "KIA EV9 2025": HYUNDAI.KIA_EV9,
  "KIA CARNIVAL 4TH GEN": HYUNDAI.KIA_CARNIVAL_4TH_GEN,
  "GENESIS GV60 ELECTRIC 1ST GEN": HYUNDAI.GENESIS_GV60_EV_1ST_GEN,
  "GENESIS G70 2018": HYUNDAI.GENESIS_G70,
  "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 G80 2017": HYUNDAI.GENESIS_G80,
  "GENESIS G90 2017": HYUNDAI.GENESIS_G90,
  "GENESIS GV80 2023": HYUNDAI.GENESIS_GV80,
+  "GENESIS GV80 2025": HYUNDAI.GENESIS_GV80_2025,
  "MAZDA CX-5": MAZDA.MAZDA_CX5,
  "MAZDA CX-9": MAZDA.MAZDA_CX9,
  "MAZDA 3": MAZDA.MAZDA_3,
@@ -92,6 +92,29 @@ def get_acc_dashboard_fcw_alert(hud_alert, CS):
  return 0


+def get_acc_dashboard_status_values(enabled, target_speed_kph, hud_control, CS):
+  if enabled:
+    return {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": int(hud_control.leadVisible) & 0x1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": target_speed_kph,
+      "ACCGapLevel": int(hud_control.leadDistanceBars) & 0x3,
+      "ACCCmdActive": 1,
+    }
+
+  # Replay the stock camera dashboard context when openpilot long is enabled
+  # but openpilot itself is not actively driving the ACC cluster state.
+  return {
+    "ACCCruiseState": int(getattr(CS, "stock_acc_cruise_state", 0)) & 0x7,
+    "ACCLeadCar": int(getattr(CS, "stock_acc_lead_car", 0)) & 0x1,
+    "ACCResumeButton": int(getattr(CS, "stock_acc_resume_button", 0)) & 0x1,
+    "ACCSpeedSetpoint": float(getattr(CS, "stock_acc_speed_setpoint_kph", 0.0)),
+    "ACCGapLevel": int(getattr(CS, "stock_acc_gap_level", 0)) & 0x3,
+    "ACCCmdActive": int(getattr(CS, "stock_acc_cmd_active", 0)) & 0x1,
+  }
+
+
 ECM_CRUISE_SPOOF_CARS = {
  CAR.CHEVROLET_BOLT_CC_2017,
  CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -703,9 +726,10 @@ class CarController(CarControllerBase):
            CS.auto_hold_engaged = False

        if should_send_acc_dashboard_status(self.CP, dash_speed_spoof_active):
+          acc_dashboard_status = get_acc_dashboard_status_values(CC.enabled, hud_v_cruise * CV.MS_TO_KPH, hud_control, CS)
          fcw_alert = get_acc_dashboard_fcw_alert(hud_alert, CS)
-          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN, CC.enabled,
-                                                              hud_v_cruise * CV.MS_TO_KPH, hud_control, fcw_alert))
+          can_sends.append(gmcan.create_acc_dashboard_command(self.packer_pt, CanBus.POWERTRAIN,
+                                                              acc_dashboard_status, fcw_alert))

      # Radar needs to know current speed and yaw rate (50hz),
      # and that ADAS is alive (10hz)
@@ -81,6 +81,12 @@ class CarState(CarStateBase):
    self.lkas_enabled = 0
    self.pcm_acc_status = AccState.OFF
    self.stock_fcw_alert = 0
+    self.stock_acc_cruise_state = 0
+    self.stock_acc_lead_car = 0
+    self.stock_acc_resume_button = 0
+    self.stock_acc_speed_setpoint_kph = 0.0
+    self.stock_acc_gap_level = 0
+    self.stock_acc_cmd_active = 0

  def update_button_enable(self, buttonEvents: list[structs.CarState.ButtonEvent]):
    if not self.CP.pcmCruise:
@@ -267,17 +273,25 @@ class CarState(CarStateBase):
    ret.cruiseState.enabled = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] != AccState.OFF
    ret.cruiseState.standstill = pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.STANDSTILL
    self.stock_fcw_alert = 0
+    ret.stockFcw = False
    if self.CP.networkLocation == NetworkLocation.fwdCamera and not self.CP.flags & GMFlags.NO_CAMERA.value:
      has_acc_dashboard_status = self.CP.carFingerprint not in CC_ONLY_CAR or self.CP.carFingerprint == CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL
      if has_acc_dashboard_status:
        acc_dashboard_status = cam_cp.vl["ASCMActiveCruiseControlStatus"]
        if self.CP.carFingerprint not in CC_ONLY_CAR:
          ret.cruiseState.speed = acc_dashboard_status["ACCSpeedSetpoint"] * CV.KPH_TO_MS
+        self.stock_acc_cruise_state = int(acc_dashboard_status["ACCCruiseState"])
+        self.stock_acc_lead_car = int(acc_dashboard_status["ACCLeadCar"])
+        self.stock_acc_resume_button = int(acc_dashboard_status["ACCResumeButton"])
+        self.stock_acc_speed_setpoint_kph = float(acc_dashboard_status["ACCSpeedSetpoint"])
+        self.stock_acc_gap_level = int(acc_dashboard_status["ACCGapLevel"])
+        self.stock_acc_cmd_active = int(acc_dashboard_status["ACCCmdActive"])
        # Preserve the stock camera FCW level from 0x370 so the controller can
        # replay it when that message is blocked and spoofed by openpilot long.
        self.stock_fcw_alert = int(acc_dashboard_status["FCWAlert"])
+        ret.stockFcw = self.stock_fcw_alert != 0

-      if self.CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+      if self.CP.carFingerprint not in SDGM_CAR:
        ret.stockAeb = cam_cp.vl["AEBCmd"]["AEBCmdActive"] != 0
      else:
        ret.stockAeb = False
@@ -424,7 +438,7 @@ class CarState(CarStateBase):
        ("ASCMSteeringButton", 33),
      ]
      if CP.enableBsm:
-        pt_messages.append(("BCMBlindSpotMonitor", 10))
+        pt_messages.append(("BCMBlindSpotMonitor", 0))

    if CP.flags & GMFlags.NO_ACCELERATOR_POS_MSG.value:
      if ("ECMAcceleratorPos", 80) in pt_messages:
@@ -466,8 +480,14 @@ class CarState(CarStateBase):
          ("ASCMSteeringButton", 33),
        ]
        if CP.enableBsm:
-          cam_messages.append(("BCMBlindSpotMonitor", 10))
-      elif CP.carFingerprint not in (SDGM_CAR | ASCM_INT):
+          cam_messages.append(("BCMBlindSpotMonitor", 0))
+      elif CP.carFingerprint in ASCM_INT:
+        # Volt/ASCM-int variants don't reliably have AEBCmd present at startup,
+        # but when it appears we still want to surface OEM AEB state.
+        cam_messages += [
+          ("AEBCmd", 0),
+        ]
+      elif CP.carFingerprint not in SDGM_CAR:
        cam_messages += [
          ("AEBCmd", 10),
        ]
@@ -216,6 +216,7 @@ FINGERPRINTS.update({
  CAR.CHEVROLET_BLAZER: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
  CAR.CHEVROLET_MALIBU_SDGM: FINGERPRINTS[CAR.CHEVROLET_MALIBU_CC],
  CAR.BUICK_BABYENCLAVE: FINGERPRINTS[CAR.CHEVROLET_TRAVERSE],
+  CAR.CHEVROLET_SILVERADO_CC: FINGERPRINTS[CAR.CHEVROLET_SILVERADO],
 })

 FW_VERSIONS: dict[str, dict[tuple, list[bytes]]] = {
@@ -209,17 +209,18 @@ def create_friction_brake_command(packer, bus, apply_brake, idx, enabled, near_s
  return packer.make_can_msg("EBCMFrictionBrakeCmd", bus, values)


-def create_acc_dashboard_command(packer, bus, enabled, target_speed_kph, hud_control, fcw_alert):
-  target_speed = min(target_speed_kph, 255)
+def create_acc_dashboard_command(packer, bus, status_values, fcw_alert):
+  target_speed = min(max(float(status_values.get("ACCSpeedSetpoint", 0.0)), 0.0), 255.0)

  values = {
    "ACCAlwaysOne": 1,
-    "ACCResumeButton": 0,
+    "ACCCruiseState": int(status_values.get("ACCCruiseState", 0)) & 0x7,
+    "ACCResumeButton": int(status_values.get("ACCResumeButton", 0)) & 0x1,
    "ACCSpeedSetpoint": target_speed,
-    "ACCGapLevel": hud_control.leadDistanceBars * enabled,  # 3 "far", 0 "inactive"
-    "ACCCmdActive": enabled,
+    "ACCGapLevel": int(status_values.get("ACCGapLevel", 0)) & 0x3,
+    "ACCCmdActive": int(status_values.get("ACCCmdActive", 0)) & 0x1,
    "ACCAlwaysOne2": 1,
-    "ACCLeadCar": hud_control.leadVisible,
+    "ACCLeadCar": int(status_values.get("ACCLeadCar", 0)) & 0x1,
    "FCWAlert": int(fcw_alert) & 0x3,
  }

@@ -58,6 +58,14 @@ NON_LINEAR_TORQUE_PARAMS = {
    "left": [3.8, 0.81, 0.24, 0.0465122],
    "right": [3.8, 0.81, 0.24, 0.0465122],
  },
+  CAR.CHEVROLET_SILVERADO_CC: {
+    "left": [3.8, 0.81, 0.24, 0.0465122],
+    "right": [3.8, 0.81, 0.24, 0.0465122],
+  },
+  CAR.CHEVROLET_VOLT: {
+    "left": [1.5, 1.0, 0.155, 0.0],
+    "right": [1.5, 1.0, 0.155, 0.0],
+  },
 }

 PEDAL_MSG = 0x201
@@ -85,6 +93,14 @@ VOLT_LONG_TEST_TUNE_CARS = {
  CAR.CHEVROLET_VOLT_CC,
 }

+VOLT_BSM_CARS = {
+  CAR.CHEVROLET_VOLT,
+  CAR.CHEVROLET_VOLT_2019,
+  CAR.CHEVROLET_VOLT_ASCM,
+  CAR.CHEVROLET_VOLT_CAMERA,
+  CAR.CHEVROLET_VOLT_CC,
+}
+
 BOLT_PEDAL_LONG_CARS = {
  CAR.CHEVROLET_BOLT_CC_2017,
  CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -201,7 +217,8 @@ class CarInterface(CarInterfaceBase):
    ret.brand = "gm"
    ret.safetyConfigs = [get_safety_config(structs.CarParams.SafetyModel.gm)]
    ret.autoResumeSng = False
-    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN]
+    # Some Volt installs don't expose the BSM frame during startup fingerprinting.
+    ret.enableBsm = 0x142 in fingerprint[CanBus.POWERTRAIN] or candidate in VOLT_BSM_CARS
    has_sascm = 0x2FF in fingerprint[CanBus.POWERTRAIN]
    if has_sascm:
      ret.flags |= GMFlags.SASCM.value
@@ -452,7 +469,7 @@ class CarInterface(CarInterfaceBase):
        # ACC Bolts use pedal for full longitudinal control, not just SNG.
        ret.flags |= GMFlags.PEDAL_LONG.value

-    elif candidate == CAR.CHEVROLET_SILVERADO:
+    elif candidate in (CAR.CHEVROLET_SILVERADO, CAR.CHEVROLET_SILVERADO_CC):
      # On the Bolt, the ECM and camera independently check that you are either above 5 kph or at a stop
      # with foot on brake to allow engagement, but this platform only has that check in the camera.
      # TODO: check if this is split by EV/ICE with more platforms in the future
@@ -489,7 +506,7 @@ class CarInterface(CarInterfaceBase):
      ret.minSteerSpeed = 7 * CV.MPH_TO_MS
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

-    elif candidate == CAR.CADILLAC_XT5_CC:
+    elif candidate in (CAR.CADILLAC_XT5, CAR.CADILLAC_XT5_CC):
      ret.steerActuatorDelay = 0.2
      CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)

@@ -3,12 +3,14 @@ from types import SimpleNamespace
 from parameterized import parameterized

 from opendbc.can import CANPacker, CANParser
-from opendbc.car import Bus, DT_CTRL
+from opendbc.car import Bus, DT_CTRL, structs
 from opendbc.car.car_helpers import interfaces
 from opendbc.car.gm import gmcan
+from opendbc.car.gm.carstate import CarState as GMCarState
 from opendbc.car.gm.carcontroller import (
  VisualAlert,
  get_acc_dashboard_fcw_alert,
+  get_acc_dashboard_status_values,
  should_send_acc_dashboard_status,
  should_send_cc_button_spam,
  should_spoof_dash_speed,
@@ -130,6 +132,44 @@ class TestGMInterface:
    assert "ECMAcceleratorPos" not in pt_parser.vl
    assert "EBCMBrakePedalPosition" in pt_parser.vl

+  @parameterized.expand(VOLT_CARS)
+  def test_volt_bsm_is_enabled_without_fingerprint_match(self, car_model):
+    CarInterface = interfaces[car_model]
+    car_params = CarInterface.get_params(car_model, _empty_fingerprint(), [], alpha_long=False, is_release=False, docs=False,
+                                         starpilot_toggles=_test_starpilot_toggles())
+
+    assert car_params.enableBsm
+
+  def test_volt_bsm_parser_is_optional(self):
+    cp = SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=True,
+    )
+
+    pt_parser = GMCarState.get_can_parsers(cp)[Bus.pt]
+    bsm_addr = pt_parser.dbc.name_to_msg["BCMBlindSpotMonitor"].address
+
+    assert "BCMBlindSpotMonitor" in pt_parser.vl
+    assert pt_parser.message_states[bsm_addr].ignore_alive
+
+  def test_volt_ascm_cam_parser_includes_optional_aeb_cmd(self):
+    cam_parser = GMCarState.get_can_parsers(SimpleNamespace(
+      carFingerprint=CAR.CHEVROLET_VOLT_ASCM,
+      networkLocation=structs.CarParams.NetworkLocation.fwdCamera,
+      flags=0,
+      transmissionType=structs.CarParams.TransmissionType.direct,
+      enableGasInterceptorDEPRECATED=False,
+      enableBsm=False,
+    ))[Bus.cam]
+    aeb_addr = cam_parser.dbc.name_to_msg["AEBCmd"].address
+
+    assert "AEBCmd" in cam_parser.vl
+    assert cam_parser.message_states[aeb_addr].ignore_alive
+
  def test_bolt_gen2_pedal_cancel_remap_sets_alt_exp(self):
    CarInterface = interfaces[CAR.CHEVROLET_BOLT_ACC_2022_2023_PEDAL]
    fingerprint = _empty_fingerprint()
@@ -147,6 +187,30 @@ class TestGMInterface:
    assert car_params.alternativeExperience & ALTERNATIVE_EXPERIENCE.GM_REMAP_CANCEL_TO_DISTANCE
    assert car_params.safetyConfigs[0].safetyParam & GMSafetyFlags.FLAG_GM_BOLT_2022_PEDAL.value

+  def test_cadillac_xt5_sdgm_sascm_gates_alpha_long(self):
+    CarInterface = interfaces[CAR.CADILLAC_XT5]
+    fingerprint = _empty_fingerprint()
+    fingerprint[0][0xBE] = 6
+
+    stock_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert stock_params.networkLocation == structs.CarParams.NetworkLocation.fwdCamera
+    assert stock_params.pcmCruise
+    assert stock_params.alphaLongitudinalAvailable is False
+    assert stock_params.openpilotLongitudinalControl is False
+    assert stock_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_SDGM.value
+
+    fingerprint[0][0x2FF] = 8
+    sascm_params = CarInterface.get_params(CAR.CADILLAC_XT5, fingerprint, [], alpha_long=True, is_release=False,
+                                           docs=False, starpilot_toggles=_test_starpilot_toggles())
+
+    assert sascm_params.flags & GMFlags.SASCM.value
+    assert sascm_params.alphaLongitudinalAvailable
+    assert sascm_params.openpilotLongitudinalControl
+    assert not sascm_params.pcmCruise
+    assert sascm_params.safetyConfigs[0].safetyParam & GMSafetyFlags.HW_CAM_LONG.value
+

 class TestGMCarController:
  def test_dash_speed_spoof_respects_live_stock_acc_toggles(self):
@@ -259,9 +323,14 @@ class TestGMCarController:
    msg = gmcan.create_acc_dashboard_command(
      packer,
      0,
-      True,
-      100,
-      SimpleNamespace(leadDistanceBars=3, leadVisible=True),
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 100,
+        "ACCGapLevel": 3,
+        "ACCCmdActive": 1,
+      },
      0x2,
    )

@@ -269,6 +338,24 @@ class TestGMCarController:

    assert parser.vl["ASCMActiveCruiseControlStatus"]["FCWAlert"] == 2

+  def test_acc_dashboard_command_can_replay_stock_status_payload(self):
+    packer = CANPacker(DBC[CAR.CHEVROLET_VOLT_ASCM][Bus.pt])
+    msg = gmcan.create_acc_dashboard_command(
+      packer,
+      0,
+      {
+        "ACCCruiseState": 0,
+        "ACCLeadCar": 1,
+        "ACCResumeButton": 0,
+        "ACCSpeedSetpoint": 50,
+        "ACCGapLevel": 2,
+        "ACCCmdActive": 0,
+      },
+      0x3,
+    )
+
+    assert msg[1].hex() == "010023200113"
+
  def test_acc_dashboard_fcw_alert_prefers_openpilot_alert(self):
    cs = SimpleNamespace(
      stock_fcw_alert=1,
@@ -292,3 +379,53 @@ class TestGMCarController:
    )

    assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
+
+  def test_acc_dashboard_fcw_alert_falls_back_to_stock_fcw_event(self):
+    cs = SimpleNamespace(
+      stock_fcw_alert=0,
+      out=SimpleNamespace(stockAeb=False, stockFcw=True),
+    )
+
+    assert get_acc_dashboard_fcw_alert(VisualAlert.none, cs) == 0x3
+
+  def test_acc_dashboard_status_values_use_openpilot_hud_when_enabled(self):
+    cs = SimpleNamespace(
+      stock_acc_cruise_state=5,
+      stock_acc_lead_car=0,
+      stock_acc_resume_button=1,
+      stock_acc_speed_setpoint_kph=42.0,
+      stock_acc_gap_level=1,
+      stock_acc_cmd_active=0,
+    )
+
+    values = get_acc_dashboard_status_values(True, 105.0, SimpleNamespace(leadDistanceBars=3, leadVisible=True), cs)
+
+    assert values == {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": 1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": 105.0,
+      "ACCGapLevel": 3,
+      "ACCCmdActive": 1,
+    }
+
+  def test_acc_dashboard_status_values_reuse_stock_camera_status_when_disabled(self):
+    cs = SimpleNamespace(
+      stock_acc_cruise_state=0,
+      stock_acc_lead_car=1,
+      stock_acc_resume_button=0,
+      stock_acc_speed_setpoint_kph=50.0,
+      stock_acc_gap_level=2,
+      stock_acc_cmd_active=0,
+    )
+
+    values = get_acc_dashboard_status_values(False, 0.0, SimpleNamespace(leadDistanceBars=0, leadVisible=False), cs)
+
+    assert values == {
+      "ACCCruiseState": 0,
+      "ACCLeadCar": 1,
+      "ACCResumeButton": 0,
+      "ACCSpeedSetpoint": 50.0,
+      "ACCGapLevel": 2,
+      "ACCCmdActive": 0,
+    }
@@ -233,7 +233,7 @@ class CAR(Platforms):
  )
  CHEVROLET_VOLT = GMASCMPlatformConfig(
    [GMCarDocs("Chevrolet Volt 2017-18", min_enable_speed=0, video="https://youtu.be/QeMCN_4TFfQ")],
-    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45, tireStiffnessFactor=0.469, minEnableSpeed=-1),
+    GMCarSpecs(mass=1607, wheelbase=2.69, steerRatio=15.7, centerToFrontRatio=0.45, tireStiffnessFactor=1.0, minEnableSpeed=-1), #tire stiffness factor hasn't been updated since 2018 and every other gm is on 1.0
    dbc_dict={
      Bus.pt: "gm_global_a_powertrain_volt",
      Bus.radar: "gm_global_a_object",
@@ -329,6 +329,13 @@ class CAR(Platforms):
    ],
    GMCarSpecs(mass=2994, wheelbase=3.75, steerRatio=16.3, tireStiffnessFactor=1.0),
  )
+  CHEVROLET_SILVERADO_CC = GMPlatformConfig(
+    [
+      GMCarDocs("Chevrolet Silverado 1500 - No-ACC"),
+      GMCarDocs("GMC Sierra 1500 - No-ACC"),
+    ],
+    CHEVROLET_SILVERADO.specs,
+  )
  CHEVROLET_EQUINOX = GMPlatformConfig(
    [GMCarDocs("Chevrolet Equinox 2019-22")],
    GMCarSpecs(mass=1588, wheelbase=2.72, steerRatio=14.4, centerToFrontRatio=0.4),
@@ -353,6 +360,10 @@ class CAR(Platforms):
    [GMCarDocs("Cadillac XT4 2023", "Driver Assist Package")],
    GMCarSpecs(mass=1660, wheelbase=2.78, steerRatio=14.4, centerToFrontRatio=0.4),
  )
+  CADILLAC_XT5 = GMSDGMPlatformConfig(
+    [GMCarDocs("Cadillac XT5 2022", "Driver Assist Package")],
+    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+  )
  CADILLAC_XT6 = GMPlatformConfig(
    [GMCarDocs("Cadillac XT6 2020", "Driver Assist Package")],
    GMCarSpecs(mass=2050, wheelbase=2.86, steerRatio=16.5, centerToFrontRatio=0.4),
@@ -383,7 +394,7 @@ class CAR(Platforms):
  )
  CADILLAC_XT5_CC = GMPlatformConfig(
    [GMCarDocs("Cadillac XT5 - No-ACC")],
-    CarSpecs(mass=1810, wheelbase=2.86, steerRatio=16.34, centerToFrontRatio=0.5),
+    CADILLAC_XT5.specs,
  )
  CHEVROLET_EQUINOX_CC = GMPlatformConfig(
    [GMCarDocs("Chevrolet Equinox 2019-22 - No-ACC")],
@@ -527,6 +538,7 @@ ALT_ACCS = {CAR.GMC_YUKON, CAR.GMC_YUKON_CC}
 # We're integrated at the Safety Data Gateway Module on these cars
 SDGM_CAR = {
  CAR.CADILLAC_XT4,
+  CAR.CADILLAC_XT5,
  CAR.CADILLAC_XT6,
  CAR.CHEVROLET_TRAVERSE,
  CAR.CHEVROLET_BLAZER,
@@ -549,6 +561,7 @@ CC_ONLY_CAR = {
  CAR.CADILLAC_XT5_CC,
  CAR.CHEVROLET_MALIBU_CC,
  CAR.CHEVROLET_MALIBU_HYBRID_CC,
+  CAR.CHEVROLET_SILVERADO_CC,
 }
 CC_REGEN_PADDLE_CAR = {
  CAR.CHEVROLET_BOLT_CC_2018_2021,
@@ -7,7 +7,7 @@ from opendbc.car.lateral import apply_driver_steer_torque_limits, apply_steer_an
 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
+from opendbc.car.hyundai.values import HyundaiFlags, Buttons, CarControllerParams, CAR, CANFD_RADAR_LIVE_LONGITUDINAL_CAR
 from opendbc.car.interfaces import CarControllerBase
 from opendbc.car.vehicle_model import VehicleModel
 from openpilot.common.params import Params
@@ -527,6 +527,7 @@ class CarController(CarControllerBase):

    lka_steering = self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
    lka_steering_long = lka_steering and self.long_active_ecu
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not lka_steering
    use_ioniq_6_dynamic_long_tuning = self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.long_active_ecu and \
                                      CC.actuators.longControlState == LongCtrlState.pid
    use_ioniq_6_smoothed_accel = use_ioniq_6_dynamic_long_tuning and CC.actuators.accel >= self._ioniq_6_long_tuning.actual_accel
@@ -546,8 +547,13 @@ class CarController(CarControllerBase):

    # LFA and HDA icons
    if self.frame % 5 == 0 and (not lka_steering or lka_steering_long):
-      can_sends.append(hyundaicanfd.create_lfahda_cluster(self.packer, self.CAN, CC.enabled, CS.stock_lfahda_cluster_msg,
-                                                          lfa_icon=lfa_icon))
+      if ccnc_non_hda2:
+        can_sends.extend(hyundaicanfd.create_ccnc(self.packer, self.CAN, self.long_active_ecu, CC.enabled, CC.hudControl,
+                                                  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,
+                                                            lfa_icon=lfa_icon))

    # blinkers
    if lka_steering and self.CP.flags & HyundaiFlags.ENABLE_BLINKERS:
@@ -577,7 +583,12 @@ class CarController(CarControllerBase):
    if self.long_active_ecu:
      if lka_steering:
        can_sends.extend(hyundaicanfd.create_adrv_messages(self.packer, self.CAN, self.frame))
-      else:
+        # Ioniq 5/6: front radar treats ADAS_DRV's 0x100 broadcast as its host heartbeat
+        # and stops publishing object tracks when it disappears. Spoof it periodically on
+        # PT bus so the radar keeps tracking.
+        if self.CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR and self.frame % 4 == 0:
+          can_sends.append(hyundaicanfd.create_accelerator_brake_alt_spoof(0, self.frame // 4, CS.out.brakePressed, CS.out.gasPressed))
+      elif not ccnc_non_hda2:
        can_sends.extend(hyundaicanfd.create_fca_warning_light(self.packer, self.CAN, self.frame))
      if self.CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and self.frame % 5 == 0:
        rear_stale = now_nanos - CS.blindspots_rear_corners_ts > CANFD_BLINDSPOT_STATUS_STALE_NS
@@ -612,7 +623,8 @@ class CarController(CarControllerBase):
            acc_kwargs["jerk_lower"] = self._ioniq_6_long_tuning.jerk_lower
            acc_kwargs["jerk_upper"] = self._ioniq_6_long_tuning.jerk_upper
        can_sends.append(hyundaicanfd.create_acc_control(self.packer, self.CAN, CC.enabled, self.accel_last, accel, stopping, CC.cruiseControl.override,
-                                                         set_speed_in_units, hud_control, **acc_kwargs))
+                                                         set_speed_in_units, hud_control, cruise_info=CS.cruise_info if ccnc_non_hda2 else None,
+                                                         **acc_kwargs))
        self.accel_last = accel
    else:
      # button presses
@@ -7,7 +7,7 @@ from opendbc.can import CANDefine, CANParser
 from opendbc.car import Bus, create_button_events, structs
 from opendbc.car.common.conversions import Conversions as CV
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, CAR, DBC, Buttons, CarControllerParams, \
+from opendbc.car.hyundai.values import HyundaiFlags, HyundaiStarPilotFlags, HyundaiStarPilotSafetyFlags, CAR, DBC, Buttons, CarControllerParams, \
                                       hyundai_cancel_button_enables_cruise
 from opendbc.car.interfaces import CarStateBase

@@ -108,6 +108,9 @@ class CarState(CarStateBase):
    self.buttons_counter = 0

    self.cruise_info = {}
+    self.msg_161 = {}
+    self.msg_162 = {}
+    self.msg_1b5 = {}
    self.msg_364 = {}
    self.stock_lkas_msg = {}
    self.stock_lfa_msg = {}
@@ -306,7 +309,7 @@ class CarState(CarStateBase):
    prev_lda_button = self.lda_button
    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.flags & HyundaiFlags.HAS_LDA_BUTTON:
+    if self.FPCP.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON:
      self.lda_button = cp.vl["BCM_PO_11"]["LDA_BTN"]

    ret.buttonEvents = [*self.create_cruise_button_events(self.cruise_buttons[-1], prev_cruise_buttons),
@@ -365,8 +368,16 @@ class CarState(CarStateBase):
    ret.steeringPressed = self.update_steering_pressed(abs(ret.steeringTorque) > self.params.STEER_THRESHOLD, 5)
    ret.steerFaultTemporary = cp.vl["MDPS"]["LKA_FAULT"] != 0

-    left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint,
-                                                                           cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1)
+    ccnc_non_hda2 = self.CP.flags & HyundaiFlags.CCNC and not self.CP.flags & HyundaiFlags.CANFD_LKA_STEERING
+    if ccnc_non_hda2:
+      self.msg_161 = copy.copy(cp_cam.vl["CCNC_0x161"])
+      self.msg_162 = copy.copy(cp_cam.vl["CCNC_0x162"])
+      self.msg_1b5 = copy.copy(cp_cam.vl["FR_CMR_03_50ms"])
+      cp_cruise_info = cp_cam if self.CP.flags & HyundaiFlags.CANFD_CAMERA_SCC else cp
+      self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
+
+    use_alt_lamp = cp.vl["BLINKERS"]["USE_ALT_LAMP"] == 1 or bool(self.CP.flags & HyundaiFlags.CCNC)
+    left_blinker_sig, right_blinker_sig = self.get_canfd_blinker_sig_names(self.CP.carFingerprint, use_alt_lamp)
    ret.leftBlinker, ret.rightBlinker = self.update_blinker_from_lamp(50, cp.vl["BLINKERS"][left_blinker_sig],
                                                                      cp.vl["BLINKERS"][right_blinker_sig])
    self.left_blindspot_from_radar = False
@@ -380,6 +391,9 @@ class CarState(CarStateBase):
                             self.left_blindspot_from_radar)
        ret.rightBlindspot = (bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"]) or
                              self.right_blindspot_from_radar)
+      elif self.CP.flags & HyundaiFlags.CCNC:
+        ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
+        ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
      else:
        ret.leftBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_LtIndSta"])
        ret.rightBlindspot = bool(cp.vl["BLINDSPOTS_REAR_CORNERS"]["BCW_RtIndSta"])
@@ -487,6 +501,11 @@ class CarState(CarStateBase):
    else:
      cam_msgs.append(("FR_CMR_02_100ms", 0))  # optional: not all non-LKA CANFD cars have this on CAM bus
      cam_msgs.append(("FR_CMR_03_50ms", 0))  # optional: camera lead/cipv data is not present on every CAN-FD trim
+      if CP.flags & HyundaiFlags.CCNC:
+        cam_msgs += [
+          ("CCNC_0x161", 0),
+          ("CCNC_0x162", 0),
+        ]
    msgs += [
      ("LFA", 0),             # optional: may stop once OP takes over, but preserve stock UI fields when present
      ("LFAHDA_CLUSTER", 0),  # optional: carries cluster icon state on some variants
@@ -741,6 +741,27 @@ FW_VERSIONS = {
    ],
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00SX2EMFC  AT KOR LHD 1.00 1.00 99211-BF000 230410',
+      b'\xf1\x00SX2EMFC  AT USA LHD 1.00 1.02 99211-BF000 230823',
+    ],
+  },
+  CAR.HYUNDAI_KONA_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.03 99211-BE000 230517',
+      b'\xf1\x00SX2 MFC  AT USA LHD 1.00 1.07 99211-BE000 240611',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
+    ],
+  },
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00SX2HMFC  AT AUS RHD 1.00 1.00 99211-BE001 241015',
+      b'\xf1\x00SX2HMFC  AT EUR RHD 1.00 1.04 99211-BE000 231010',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE000         ',
+      b'\xf1\x00SX2_ RDR -----      1.00 1.02 99110-BE500         ',
    ],
  },
  CAR.KIA_NIRO_EV: {
@@ -1159,6 +1180,186 @@ FW_VERSIONS = {
      b'\xf1\x00NQ5__               1.00 1.04 99110CH100          ',
    ],
  },
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MX5HMFC  AT CAN LHD 1.00 1.07 99211-P6000 231218',
+      b'\xf1\x00MX5HMFC  AT KOR LHD 1.00 1.07 99211-P6000 231218',
+      b'\xf1\x00MX5HMFC  AT USA LHD 1.00 1.06 99211-R6000 231218',
+      b'\xf1\x00MX5HMFC  AT USA LHD 1.00 1.09 99211-R6200 250519',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-P6000         ',
+      b'\xf1\x00MX5_ RDR -----      1.00 1.01 99110-R6000         ',
+    ],
+  },
+  CAR.HYUNDAI_SONATA_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8 MFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8 MFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
+  CAR.HYUNDAI_SONATA_HEV_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DN8HMFC  AT KOR LHD 1.00 1.01 99211-L1800 230512',
+      b'\xf1\x00DN8HMFC  AT USA LHD 1.00 1.01 99211-L1800 230512',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DN8_ RDR -----      1.00 1.00 99110-L1800         ',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_5_PE: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE__ RDR -----      1.00 1.00 99110-PI000         ',
+      b'\xf1\x00NE__ RDR -----      1.00 1.01 99110-GI500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.01 99211-PI000 240905',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.03 99211-GI500 240809',
+      b'\xf1\x00NE  MFC  AT USA LHD 1.00 1.00 99211-PI010 250407',
+      b'\xf1\x00NE  MFC  AT EUR LHD 1.00 1.00 99211-GI510 250513',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_5_N: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NE1N RDR -----      1.00 1.00 99110-NI000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.04 99211-NI000 231219',
+      b'\xf1\x00NE1NMFC  AT KOR LHD 1.00 1.00 99211-NI010 240712',
+      b'\xf1\x00NE1NMFC  AT USA LHD 1.00 1.04 99211-NI000 231219',
+    ],
+  },
+  CAR.HYUNDAI_IONIQ_9: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MEev RDR -----      1.00 1.00 99110-GO000         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.00 99211-GO000 241007',
+      b'\xf1\x00ME  MFC  AT KOR LHD 1.00 1.01 99211-GO000 250103',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.01 99211-N7050 C5A',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_HEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+      b'\xf1\x00NX4 FR_CMR AT EUR LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7000          ',
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+      b'\xf1\x00NX4__               1.00 1.03 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_TUCSON_PHEV_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT CAN LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.02 99110N7100          ',
+    ],
+  },
+  CAR.HYUNDAI_SANTA_CRUZ_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NX4 FR_CMR AT USA LHD 1.00 1.00 99211-N7030 C55',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NX4__               1.00 1.00 99110K5500          ',
+    ],
+  },
+  CAR.KIA_K4_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CL4 MFC  AT CAN LHD 1.00 1.02 99210-GG000 240708',
+      b'\xf1\x00CL4 MFC  AT USA LHD 1.00 1.02 99210-GG000 240708',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG000         ',
+      b'\xf1\x00CL4_ RDR -----      1.00 1.01 99110-GG100         ',
+    ],
+  },
+  CAR.KIA_K5_2025: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L2500 240117',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00DL3_ RDR -----      1.00 1.01 99110-L2500         ',
+    ],
+  },
+  CAR.KIA_SPORTAGE_2026: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00NQ51.011.021.012551000HKP_NQ524_50509099211P1110',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00NQ5__               1.00 1.04 99110P1100          ',
+    ],
+  },
+  CAR.KIA_SORENTO_2024: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4 MFC  AT AUS RHD 1.01 1.04 99210-P2550 231127',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
+  CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MQ4HMFC  AT USA LHD 1.00 1.00 99210-P2600 250617',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MQ4_ RDR -----      1.00 1.01 99110-P2500         ',
+    ],
+  },
+  CAR.KIA_EV6_2025: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00CV__ RDR -----      1.00 1.00 99110-XG500         ',
+      b'\xf1\x00CV__ RDR -----      1.00 1.01 99110-CV500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CV  MFC  AT KOR LHD 1.00 1.01 99210-CV500 240405',
+      b'\xf1\x00CV  MFC  AT USA LHD 1.00 1.02 99210-XG500 241223',
+    ],
+  },
+  CAR.KIA_EV9: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.03 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.04 99110-DO000         ',
+      b'\xf1\x00MV__ RDR -----      1.00 1.02 99110-DO700         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00MV  MFC  AT KOR LHD 1.00 1.01 99211-DO000 230419',
+      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.02 99211-DO000 230616',
+      b'\xf1\x00MV  MFC  AT EUR LHD 1.00 1.02 99211-DO000 230616',
+      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.00 99211-DO100 240403',
+      b'\xf1\x00MV  MFC  AT USA LHD 1.00 1.01 99211-XA000 241023',
+      b'\xf1\x00MV  MFC  AT CAN LHD 1.00 1.01 99211-DO100 241023',
+    ],
+  },
+  CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JK  MFC  AT USA LHD 1.00 1.03 99211-DS600 241125',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JK__ RDR -----      1.00 1.01 99110-DS500         ',
+    ],
+  },
+  CAR.GENESIS_GV80_2025: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JX__ RDR -----      1.00 1.03 99110-T6500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JX  MFC  AT USA LHD 1.00 1.03 99211-T6510 240124',
+    ],
+  },
  CAR.GENESIS_GV70_1ST_GEN: {
    (Ecu.fwdCamera, 0x7c4, None): [
      b'\xf1\x00JK1 MFC  AT CAN LHD 1.00 1.02 99211-IY000 230627',
@@ -1,6 +1,7 @@
 import copy
 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

@@ -219,6 +220,102 @@ def create_lfahda_cluster(packer, CAN, enabled, base_values=None, lfa_icon=None)
  return packer.make_can_msg("LFAHDA_CLUSTER", CAN.ECAN, values)


+def create_ccnc(packer, CAN, openpilot_longitudinal, enabled, hud, left_blinker, right_blinker, msg_161, msg_162, msg_1b5,
+                is_metric, out, main_cruise_enabled, lfa_icon):
+  for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"):
+    msg_162[fault] = 0
+
+  if msg_161["ALERTS_2"] == 5:
+    msg_161.update({"ALERTS_2": 0, "SOUNDS_2": 0})
+  if msg_161["ALERTS_3"] == 17:
+    msg_161["ALERTS_3"] = 0
+  if msg_161["ALERTS_5"] in (2, 5):
+    msg_161["ALERTS_5"] = 0
+  if msg_161["SOUNDS_4"] == 2 and msg_161["LFA_ICON"] in (3, 0):
+    msg_161["SOUNDS_4"] = 0
+
+  lane_change_speed_min = 8.9408
+  any_blinker = left_blinker or right_blinker
+  curvature = {i: (31 if i == -1 else 13 - abs(i + 15)) if i < 0 else 15 + i for i in range(-15, 16)}
+
+  msg_161.update({
+    "DAW_ICON": 0,
+    "LKA_ICON": 0,
+    "LFA_ICON": 2 if lfa_icon else 0,
+    "CENTERLINE": 1 if lfa_icon else 0,
+    "LANELINE_CURVATURE": curvature.get(max(-15, min(int(out.steeringAngleDeg / 4.5), 15)), 14) if lfa_icon and not any_blinker else 15,
+    "LANELINE_LEFT": 0 if not lfa_icon else 1 if not hud.leftLaneVisible else 4 if hud.leftLaneDepart else 6 if any_blinker else 2,
+    "LANELINE_RIGHT": 0 if not lfa_icon else 1 if not hud.rightLaneVisible else 4 if hud.rightLaneDepart else 6 if any_blinker else 2,
+    "LCA_LEFT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.leftBlindspot else 2 if any_blinker else 4,
+    "LCA_RIGHT_ICON": 0 if not lfa_icon or out.vEgo < lane_change_speed_min else 1 if out.rightBlindspot else 2 if any_blinker else 4,
+    "LCA_LEFT_ARROW": 2 if left_blinker else 0,
+    "LCA_RIGHT_ARROW": 2 if right_blinker else 0,
+  })
+
+  if lfa_icon and any_blinker:
+    left_lane_raw = msg_1b5["Info_LftLnPosVal"]
+    right_lane_raw = msg_1b5["Info_RtLnPosVal"]
+    scale_per_m = 15 / 1.7
+    left_lane = abs(int(round(15 + (left_lane_raw - 1.7) * scale_per_m)))
+    right_lane = abs(int(round(15 + (right_lane_raw - 1.7) * scale_per_m)))
+
+    if msg_1b5["Info_LftLnQualSta"] not in (2, 3):
+      left_lane = 0
+    if msg_1b5["Info_RtLnQualSta"] not in (2, 3):
+      right_lane = 0
+
+    if left_lane_raw == -2.0248375:
+      left_lane = 30 - right_lane
+    if right_lane_raw == 2.0248375:
+      right_lane = 30 - left_lane
+
+    if left_lane_raw == right_lane_raw == 0:
+      left_lane = right_lane = 15
+    elif left_lane_raw == 0:
+      left_lane = 30 - right_lane
+    elif right_lane_raw == 0:
+      right_lane = 30 - left_lane
+
+    total = left_lane + right_lane
+    if total == 0:
+      left_lane = right_lane = 15
+    else:
+      left_lane = round((left_lane / total) * 30)
+      right_lane = 30 - left_lane
+
+    msg_161["LANELINE_LEFT_POSITION"] = left_lane
+    msg_161["LANELINE_RIGHT_POSITION"] = right_lane
+
+  if hud.leftLaneDepart or hud.rightLaneDepart:
+    msg_162["VIBRATE"] = 1
+
+  if openpilot_longitudinal:
+    if msg_161["ALERTS_3"] in (1, 2, 3, 4, 7, 8, 9, 10):
+      msg_161["ALERTS_3"] = 0
+    if msg_161["ALERTS_5"] == 4:
+      msg_161["ALERTS_5"] = 0
+    if msg_161["SOUNDS_3"] == 5:
+      msg_161["SOUNDS_3"] = 0
+
+    cruise_speed = round(out.vCruiseCluster * (1 if is_metric else CV.KPH_TO_MPH))
+    msg_161.update({
+      "SETSPEED": 3 if enabled else 1,
+      "SETSPEED_HUD": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SETSPEED_SPEED": 255 if not main_cruise_enabled else (40 if is_metric else 25) if cruise_speed > (145 if is_metric else 90) else cruise_speed,
+      "DISTANCE": hud.leadDistanceBars,
+      "DISTANCE_SPACING": 0 if not main_cruise_enabled else 1 if enabled else 3,
+      "DISTANCE_LEAD": 0 if not main_cruise_enabled else 2 if enabled and hud.leadVisible else 1 if hud.leadVisible else 0,
+      "DISTANCE_CAR": 0 if not main_cruise_enabled else 2 if enabled else 1,
+      "SLA_ICON": 0,
+      "NAV_ICON": 0,
+      "TARGET": 0,
+    })
+    msg_162["LEAD"] = 0 if not main_cruise_enabled else 2 if enabled else 1
+    msg_162["LEAD_DISTANCE"] = msg_1b5["Longitudinal_Distance"]
+
+  return [packer.make_can_msg(msg, CAN.ECAN, values) for msg, values in (("CCNC_0x161", msg_161), ("CCNC_0x162", msg_162))]
+
+
 def create_blindspot_status_messages(packer, CAN, rear_values, front_corner_values,
                                     left_blindspot=False, right_blindspot=False,
                                     left_blinker=False, right_blinker=False):
@@ -463,7 +560,7 @@ def create_ioniq_6_cluster_lane_change_messages(CAN, frame, side=None):

 def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_override, set_speed, hud_control,
                       main_mode_acc=1, jerk_lower=None, jerk_upper=None, direct_accel=False,
-                       lead_distance=None, lead_rel_speed=None, lead_visible=None):
+                       lead_distance=None, lead_rel_speed=None, lead_visible=None, cruise_info=None):
  jerk = 5
  jn = jerk / 50
  if not enabled or gas_override:
@@ -506,6 +603,8 @@ def create_acc_control(packer, CAN, enabled, accel_last, accel, stopping, gas_ov
    "SET_ME_TMP_64": 0x64,
    "DISTANCE_SETTING": hud_control.leadDistanceBars,
  }
+  if cruise_info:
+    values.update({s: cruise_info[s] for s in ("ACC_ObjDist", "ACC_ObjRelSpd")})

  return packer.make_can_msg("SCC_CONTROL", CAN.ECAN, values)

@@ -603,3 +702,22 @@ def hkg_can_fd_checksum(address: int, sig, d: bytearray) -> int:
  elif len(d) == 32:
    crc ^= 0x9F5B
  return crc
+
+
+# Ioniq 5/6 / HKG LKA-steering: ADAS_DRV broadcasts ACCELERATOR_BRAKE_ALT (0x100) on bus 0.
+# The front radar uses this as its "host alive" heartbeat. When we disable ADAS_DRV the
+# radar stops publishing real object tracks. Spoof this message ourselves with valid CRC
+# and current pedal state so the radar keeps tracking.
+# Length is 24 bytes on Ioniq 6 (DBC declares 32 for ICE Hyundais, but EV firmware uses 24).
+# Byte template captured from a real ADAS broadcast; bytes 6-23 appear static / config.
+_ACCEL_BRAKE_ALT_TEMPLATE = bytes.fromhex("000000020000fcff000000000020000055ff000068000000")
+
+def create_accelerator_brake_alt_spoof(bus: int, counter: int, brake_pressed: bool, accelerator_pressed: bool) -> CanData:
+  d = bytearray(_ACCEL_BRAKE_ALT_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)
+  d[22] = (d[22] & ~0x01) | (0x01 if accelerator_pressed else 0x00) # ACCELERATOR_PEDAL_PRESSED (bit 176)
+  crc = hkg_can_fd_checksum(0x100, None, d)
+  d[0] = crc & 0xFF
+  d[1] = (crc >> 8) & 0xFF
+  return CanData(0x100, bytes(d), bus)
@@ -1,12 +1,15 @@
 import time
-from opendbc.car import Bus, get_safety_config, structs, uds
+from opendbc.car import get_safety_config, structs, uds
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.values import HyundaiFlags, CAR, DBC, CarControllerParams, \
+from opendbc.car.hyundai.values import HyundaiFlags, CAR, CarControllerParams, \
                                                   CANFD_UNSUPPORTED_LONGITUDINAL_CAR, \
                                                   CANFD_SECURITYACCESS_CAR, \
+                                                   CANFD_RADAR_LIVE_LONGITUDINAL_CAR, \
+                                                   RADAR_LIVE_LONGITUDINAL_CAR, \
                                                   UNSUPPORTED_LONGITUDINAL_CAR, HyundaiSafetyFlags, \
+                                                   HyundaiStarPilotSafetyFlags, \
                                                   hyundai_cancel_button_enables_cruise
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.radar_interface import get_radar_track_config
 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
@@ -70,6 +73,9 @@ class CarInterface(CarInterfaceBase):
        # this needs to be figured out for cars without an ADAS ECU
        # Cars in CANFD_SECURITYACCESS_CAR are known to have ADAS ECUs that work with SecurityAccess
        ret.alphaLongitudinalAvailable = False
+      if lka_steering and ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
+        # Angle-steering LKA platforms still need stock longitudinal validation.
+        ret.alphaLongitudinalAvailable = False

      ret.enableBsm = 0x1ba in fingerprint[CAN.ECAN]

@@ -115,6 +121,8 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & HyundaiFlags.CANFD_ANGLE_STEERING:
        ret.steerControlType = structs.CarParams.SteerControlType.angle
        ret.safetyConfigs[-1].safetyParam |= HyundaiSafetyFlags.CANFD_ANGLE_STEERING.value
+      if 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
@@ -138,9 +146,9 @@ class CarInterface(CarInterfaceBase):
      if ret.flags & HyundaiFlags.CAMERA_SCC:
        ret.safetyConfigs[0].safetyParam |= HyundaiSafetyFlags.CAMERA_SCC.value

-      # These cars have the LFA button on the steering wheel
+      # 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:
-        ret.flags |= HyundaiFlags.HAS_LDA_BUTTON.value
+        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 hyundai_cancel_button_enables_cruise(candidate):
@@ -168,13 +176,13 @@ class CarInterface(CarInterfaceBase):

    # Common longitudinal control setup

-    ret.radarUnavailable = RADAR_START_ADDR not in fingerprint[1] or Bus.radar not in DBC[ret.carFingerprint]
+    radar_config = get_radar_track_config(ret.carFingerprint)
+    radar_tracks_available = radar_config is not None and radar_config.start_addr in fingerprint[radar_config.bus]
+    ret.radarUnavailable = not radar_tracks_available
    if ret.flags & HyundaiFlags.NON_SCC:
      ret.alphaLongitudinalAvailable = False
    ret.openpilotLongitudinalControl = alpha_long and ret.alphaLongitudinalAvailable
-    # When longitudinal is enabled, we disable the ADAS ECU which stops radar messages
-    # Force radarUnavailable to prevent CAN Error from missing radar messages
-    if ret.openpilotLongitudinalControl:
+    if ret.openpilotLongitudinalControl and not (candidate in RADAR_LIVE_LONGITUDINAL_CAR and radar_tracks_available):
      ret.radarUnavailable = True
    ret.pcmCruise = not ret.openpilotLongitudinalControl
    apply_platform_longitudinal_params(ret)
@@ -226,7 +234,7 @@ class CarInterface(CarInterfaceBase):
    params = Params()

    if communication_control is None:
-      if CP.carFingerprint == CAR.HYUNDAI_IONIQ_6:
+      if CP.carFingerprint in CANFD_RADAR_LIVE_LONGITUDINAL_CAR:
        # Don't use 0x80 suppress bit so we can read the ECU response.
        # Use ENABLE_RX_DISABLE_TX (0x01) so the ECU can still receive from rear radars for BSM
        # while blocking SCC TX.
@@ -1,30 +1,58 @@
 import math
+from dataclasses import dataclass

 from opendbc.can import CANParser
 from opendbc.car import Bus, structs
 from opendbc.car.interfaces import RadarInterfaceBase
-from opendbc.car.hyundai.values import CAR, DBC
+from opendbc.car.hyundai.values import CAR, DBC, HYUNDAI_MANDO_FRONT_RADAR_DBC, HYUNDAI_MRR30_RADAR_DBC, \
+                                       HYUNDAI_MRR35_RADAR_DBC
 from openpilot.common.swaglog import cloudlog

 RADAR_START_ADDR = 0x500
 RADAR_MSG_COUNT = 32
+MRR30_RADAR_START_ADDR = 0x210
+MRR30_RADAR_MSG_COUNT = 16
+MRR35_RADAR_START_ADDR = 0x3A5
+MRR35_RADAR_MSG_COUNT = 32
+
+
+@dataclass(frozen=True)
+class RadarTrackConfig:
+  start_addr: int
+  msg_count: int
+  radar_type: str
+  bus: int = 1
+  frequency: int = 50
+
+
+RADAR_TRACK_CONFIGS = {
+  HYUNDAI_MANDO_FRONT_RADAR_DBC: RadarTrackConfig(RADAR_START_ADDR, RADAR_MSG_COUNT, "mando"),
+  HYUNDAI_MRR30_RADAR_DBC: RadarTrackConfig(MRR30_RADAR_START_ADDR, MRR30_RADAR_MSG_COUNT, "mrr30"),
+  HYUNDAI_MRR35_RADAR_DBC: RadarTrackConfig(MRR35_RADAR_START_ADDR, MRR35_RADAR_MSG_COUNT, "mrr35", bus=0, frequency=20),
+}

 # POC for parsing corner radars: https://github.com/commaai/openpilot/pull/24221/


-def get_radar_can_parser(CP):
-  if Bus.radar not in DBC[CP.carFingerprint]:
+def get_radar_track_config(car_fingerprint) -> RadarTrackConfig | None:
+  radar_dbc = DBC[car_fingerprint].get(Bus.radar)
+  return RADAR_TRACK_CONFIGS.get(radar_dbc)
+
+
+def get_radar_can_parser(CP, radar_config):
+  if radar_config is None:
    return None

-  messages = [(f"RADAR_TRACK_{addr:x}", 50) for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT)]
-  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, 1)
+  messages = [(f"RADAR_TRACK_{addr:x}", radar_config.frequency) for addr in range(radar_config.start_addr, radar_config.start_addr + radar_config.msg_count)]
+  return CANParser(DBC[CP.carFingerprint][Bus.radar], messages, radar_config.bus)


 class RadarInterface(RadarInterfaceBase):
  def __init__(self, CP):
    super().__init__(CP)
+    self.radar_config = get_radar_track_config(CP.carFingerprint)
    self.updated_messages = set()
-    self.trigger_msg = RADAR_START_ADDR + RADAR_MSG_COUNT - 1
+    self.trigger_msg = (self.radar_config.start_addr + self.radar_config.msg_count - 1) if self.radar_config is not None else RADAR_START_ADDR
    self.track_id = 0

    self.radar_off_can = CP.radarUnavailable
@@ -33,7 +61,16 @@ class RadarInterface(RadarInterfaceBase):
    self.ioniq_6_radar_probe = CP.carFingerprint == CAR.HYUNDAI_IONIQ_6 and CP.openpilotLongitudinalControl and self.radar_off_can
    self.ioniq_6_radar_probe_logged = False
    self.ioniq_6_radar_probe_updates = 0
-    self.rcp = get_radar_can_parser(CP)
+    self.rcp = get_radar_can_parser(CP, self.radar_config)
+
+    # Precompute (addr, "RADAR_TRACK_xxx") pairs once. _update runs on the
+    # CAN-driven card loop (core 4, shared with controlsd/selfdrived), so avoid
+    # rebuilding 32 f-strings per radar frame.
+    self.track_addrs: list[tuple[int, str]] = []
+    if self.radar_config is not None:
+      self.track_addrs = [(addr, f"RADAR_TRACK_{addr:x}")
+                          for addr in range(self.radar_config.start_addr,
+                                            self.radar_config.start_addr + self.radar_config.msg_count)]

  def update(self, can_strings):
    if self.ioniq_6_radar_probe and self.rcp is not None and not self.ioniq_6_radar_probe_logged:
@@ -73,8 +110,56 @@ class RadarInterface(RadarInterfaceBase):
    if not self.rcp.can_valid:
      ret.errors.canError = True

-    for addr in range(RADAR_START_ADDR, RADAR_START_ADDR + RADAR_MSG_COUNT):
-      msg = self.rcp.vl[f"RADAR_TRACK_{addr:x}"]
+    if self.radar_config is None:
+      return ret
+
+    radar_type = self.radar_config.radar_type
+    vl = self.rcp.vl
+
+    for addr, track_name in self.track_addrs:
+      msg = vl[track_name]
+
+      if radar_type == "mrr30":
+        for i in ("1", "2"):
+          track_key = addr * 2 + int(i) - 1
+          if track_key not in self.pts:
+            self.pts[track_key] = structs.RadarData.RadarPoint()
+            self.pts[track_key].trackId = self.track_id
+            self.track_id += 1
+
+          valid = msg[f"{i}_STATE"] in (3, 4)
+          if valid:
+            pt = self.pts[track_key]
+            pt.measured = True
+            pt.dRel = msg[f"{i}_LONG_DIST"]
+            pt.yRel = msg[f"{i}_LAT_DIST"]
+            pt.vRel = msg[f"{i}_REL_SPEED"]
+            pt.aRel = float("nan")
+            pt.yvRel = float("nan")
+          else:
+            del self.pts[track_key]
+        continue
+
+      if radar_type == "mrr35":
+        # Most of the 32 channels are empty each frame. Only allocate a point
+        # when the channel is valid; drop it otherwise. Avoids the per-frame
+        # alloc-then-delete churn on the ~27 idle channels.
+        if msg["STATE"] in (3, 4):
+          pt = self.pts.get(addr)
+          if pt is None:
+            pt = structs.RadarData.RadarPoint()
+            pt.trackId = self.track_id
+            self.track_id += 1
+            self.pts[addr] = pt
+          pt.measured = True
+          pt.dRel = msg["LONG_DIST"]
+          pt.yRel = msg["LAT_DIST"]
+          pt.vRel = msg["REL_SPEED"]
+          pt.aRel = msg["REL_ACCEL"]
+          pt.yvRel = float("nan")
+        elif addr in self.pts:
+          del self.pts[addr]
+        continue

      if addr not in self.pts:
        self.pts[addr] = structs.RadarData.RadarPoint()
@@ -14,11 +14,12 @@ from opendbc.car.hyundai.carstate import CarState, decode_canfd_camera_lead, dec
 from opendbc.car.hyundai.interface import CarInterface
 from opendbc.car.hyundai import hyundaican, hyundaicanfd
 from opendbc.car.hyundai.hyundaicanfd import CanBus
-from opendbc.car.hyundai.radar_interface import RADAR_START_ADDR
+from opendbc.car.hyundai.radar_interface import MRR30_RADAR_START_ADDR, MRR35_RADAR_START_ADDR, RADAR_START_ADDR, get_radar_track_config
 from opendbc.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, LEGACY_SAFETY_MODE_CAR, CANFD_FUZZY_WHITELIST, \
                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
-                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, Buttons
+                                         CarControllerParams, DBC, HyundaiFlags, get_platform_codes, HyundaiSafetyFlags, \
+                                         HyundaiStarPilotSafetyFlags, Buttons

 LongCtrlState = CarControl.Actuators.LongControlState
 from opendbc.car.hyundai.fingerprints import FW_VERSIONS
@@ -32,7 +33,12 @@ NO_DATES_PLATFORMS = {
  CAR.KIA_SPORTAGE_5TH_GEN,
  CAR.KIA_SPORTAGE_HEV_2026,
  CAR.HYUNDAI_SANTA_CRUZ_1ST_GEN,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
  CAR.HYUNDAI_TUCSON_4TH_GEN,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
+  CAR.KIA_SPORTAGE_2026,
  # CAN
  CAR.HYUNDAI_ELANTRA,
  CAR.HYUNDAI_ELANTRA_GT_I30,
@@ -65,6 +71,37 @@ HYUNDAI_NON_SCC_CARS = (
 )
 HYUNDAI_NON_SCC_FW_CARS = tuple(car_model for car_model in HYUNDAI_NON_SCC_CARS if car_model in FW_VERSIONS)

+CCNC_NON_HDA2_CARS = (
+  CAR.HYUNDAI_KONA_2ND_GEN,
+  CAR.HYUNDAI_KONA_HEV_2ND_GEN,
+  CAR.HYUNDAI_KONA_EV_2ND_GEN,
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  CAR.HYUNDAI_SONATA_2024,
+  CAR.HYUNDAI_SONATA_HEV_2024,
+  CAR.HYUNDAI_IONIQ_5_N,
+  CAR.HYUNDAI_TUCSON_2025,
+  CAR.HYUNDAI_TUCSON_HEV_2025,
+  CAR.HYUNDAI_TUCSON_PHEV_2025,
+  CAR.HYUNDAI_SANTA_CRUZ_2025,
+  CAR.KIA_K4_2025,
+  CAR.KIA_K5_2025,
+  CAR.KIA_SPORTAGE_2026,
+  CAR.KIA_SORENTO_2024,
+)
+
+ANGLE_STEERING_CARS = (
+  CAR.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  CAR.HYUNDAI_IONIQ_5_PE,
+  CAR.HYUNDAI_IONIQ_9,
+  CAR.KIA_SPORTAGE_2026,
+  CAR.KIA_SPORTAGE_HEV_2026,
+  CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2,
+  CAR.KIA_EV6_2025,
+  CAR.KIA_EV9,
+  CAR.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
+  CAR.GENESIS_GV80_2025,
+)
+

 def get_test_toggles() -> SimpleNamespace:
  return SimpleNamespace(always_on_lateral_lkas=False, force_torque_controller=False, nnff=False, nnff_lite=False)
@@ -83,12 +120,62 @@ class TestHyundaiFingerprint:
        assert bool(CP.flags & HyundaiFlags.CANFD_LKA_STEERING) == lka_steering

    # radar available
-    for radar in (True, False):
-      fingerprint = gen_empty_fingerprint()
-      if radar:
-        fingerprint[1][RADAR_START_ADDR] = 8
-      CP = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
-      assert CP.radarUnavailable != radar
+    for candidate in (CAR.HYUNDAI_SONATA, CAR.GENESIS_G90):
+      assert get_radar_track_config(candidate).start_addr == RADAR_START_ADDR
+      for radar in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if radar:
+          fingerprint[1][RADAR_START_ADDR] = 8
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert CP.radarUnavailable != radar
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1][RADAR_START_ADDR] = 8
+    CP = CarInterface.get_params(CAR.GENESIS_G90, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable
+
+    for candidate, radar_addr in (
+      (CAR.HYUNDAI_IONIQ_5, MRR30_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_5_N, MRR30_RADAR_START_ADDR),
+      (CAR.KIA_EV6_2025, MRR30_RADAR_START_ADDR),
+      (CAR.HYUNDAI_KONA_EV_2ND_GEN, MRR35_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_6, MRR35_RADAR_START_ADDR),
+      (CAR.HYUNDAI_IONIQ_9, MRR35_RADAR_START_ADDR),
+    ):
+      radar_config = get_radar_track_config(candidate)
+      assert radar_config.start_addr == radar_addr
+      for radar in (True, False):
+        fingerprint = gen_empty_fingerprint()
+        if radar:
+          fingerprint[radar_config.bus][radar_addr] = 8
+        CP = CarInterface.get_params(candidate, fingerprint, [], False, False, False, None)
+        assert CP.radarUnavailable != radar
+
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).start_addr == MRR35_RADAR_START_ADDR
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[1][MRR35_RADAR_START_ADDR] = 24
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)
+    assert not CP.openpilotLongitudinalControl
+    assert CP.radarUnavailable
+
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, gen_empty_fingerprint(), [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert CP.radarUnavailable
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_6).bus][MRR35_RADAR_START_ADDR] = 24
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable
+    assert get_radar_track_config(CAR.HYUNDAI_IONIQ_6).frequency == 20
+
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[CanBus(None, fingerprint).CAM][0x50] = 32
+    fingerprint[get_radar_track_config(CAR.HYUNDAI_IONIQ_5).bus][MRR30_RADAR_START_ADDR] = 32
+    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_5, fingerprint, [], True, False, False, None)
+    assert CP.openpilotLongitudinalControl
+    assert not CP.radarUnavailable

    for candidate in HYUNDAI_NON_SCC_CARS:
      CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], True, False, False, None)
@@ -106,12 +193,42 @@ class TestHyundaiFingerprint:
    CP = CarInterface.get_params(CAR.KIA_SPORTAGE_HEV_2026, fingerprint, [], False, False, False, None)
    assert CP.flags & HyundaiFlags.SEND_LFA

+  @pytest.mark.parametrize("candidate", CCNC_NON_HDA2_CARS)
+  def test_ccnc_non_hda2_platforms_set_ccnc_safety(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CCNC
+    assert CP.flags & HyundaiFlags.CANFD_CAMERA_SCC
+    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAMERA_SCC
+
+  @pytest.mark.parametrize("candidate", ANGLE_STEERING_CARS)
+  def test_angle_steering_platforms_use_angle_control(self, candidate):
+    CP = CarInterface.get_params(candidate, gen_empty_fingerprint(), [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CANFD_ANGLE_STEERING
+    assert CP.steerControlType == CarParams.SteerControlType.angle
+    assert CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANFD_ANGLE_STEERING
+
+  def test_ccnc_hda2_lka_layout_does_not_set_ccnc_safety_param(self):
+    fingerprint = gen_empty_fingerprint()
+    cam_can = CanBus(None, fingerprint).CAM
+    fingerprint[cam_can] = {0x50: 16}
+
+    CP = CarInterface.get_params(CAR.KIA_K4_2025, fingerprint, [], False, False, False, None)
+
+    assert CP.flags & HyundaiFlags.CCNC
+    assert CP.flags & HyundaiFlags.CANFD_LKA_STEERING
+    assert not (CP.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CCNC)
+
  def test_ioniq_6_hda1_layout_stays_non_lka(self):
    fingerprint = gen_empty_fingerprint()
    fingerprint[1] = {0x100: 8, 0x110: 8}

    CP = CarInterface.get_params(CAR.HYUNDAI_IONIQ_6, fingerprint, [], False, False, False, None)

+    assert not (CP.flags & HyundaiFlags.CCNC)
    assert not (CP.flags & HyundaiFlags.CANFD_LKA_STEERING)
    assert bool(CP.flags & HyundaiFlags.CANFD_CAMERA_SCC)

@@ -121,6 +238,19 @@ class TestHyundaiFingerprint:
    assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CAN_CANFD_BLENDED
    assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiSafetyFlags.CANCEL_BTN_ENABLE

+  def test_hyundai_lkas_button_sets_starpilot_safety_flag(self):
+    fingerprint = gen_empty_fingerprint()
+    fingerprint[0][0x391] = 8
+
+    sonata = CarInterface.get_params(CAR.HYUNDAI_SONATA, fingerprint, [], False, False, False, None)
+    assert sonata.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
+    sonata_without_lda = CarInterface.get_params(CAR.HYUNDAI_SONATA, gen_empty_fingerprint(), [], False, False, False, None)
+    assert not (sonata_without_lda.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON)
+
+    palisade_2023 = CarInterface.get_params(CAR.HYUNDAI_PALISADE_2023, gen_empty_fingerprint(), [], True, False, False, None)
+    assert palisade_2023.safetyConfigs[-1].safetyParam & HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON
+
  def test_non_scc_flag_quirks(self):
    elantra_hev = CarInterface.get_params(CAR.HYUNDAI_ELANTRA_HEV_2022_NON_SCC, gen_empty_fingerprint(), [], True, False, False, None)
    assert elantra_hev.flags & HyundaiFlags.HYBRID
@@ -604,6 +734,124 @@ class TestHyundaiFingerprint:
    assert parser.vl["SCC_CONTROL"]["ObjValid"] == 1
    assert parser.vl["SCC_CONTROL"]["OBJ_STATUS"] == 0

+  def test_canfd_acc_control_preserves_stock_ccnc_object_fields(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("SCC_CONTROL", 0)], can_bus.ECAN)
+
+    msg = hyundaicanfd.create_acc_control(packer, can_bus, enabled=True, accel_last=0.0, accel=0.1, stopping=False,
+                                          gas_override=False, set_speed=42, hud_control=SimpleNamespace(leadDistanceBars=3),
+                                          direct_accel=True, lead_distance=27.5, lead_rel_speed=-1.2, lead_visible=True,
+                                          cruise_info={"ACC_ObjDist": 13.5, "ACC_ObjRelSpd": -0.4})
+    parser.update([(1, [msg])])
+
+    assert parser.can_valid
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjDist"] == pytest.approx(13.5)
+    assert parser.vl["SCC_CONTROL"]["ACC_ObjRelSpd"] == pytest.approx(-0.4)
+
+  def test_ccnc_hud_helper_clears_faults_and_generates_ui_fields(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+    CP.openpilotLongitudinalControl = True
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
+
+    msg_161 = {
+      "ALERTS_2": 5,
+      "ALERTS_3": 17,
+      "ALERTS_5": 5,
+      "SOUNDS_3": 5,
+      "SOUNDS_4": 2,
+      "LFA_ICON": 3,
+    }
+    msg_162 = {fault: 1 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")}
+    msg_162["VIBRATE"] = 0
+    msg_1b5 = {
+      "Info_LftLnPosVal": 1.4,
+      "Info_RtLnPosVal": 1.9,
+      "Info_LftLnQualSta": 3,
+      "Info_RtLnQualSta": 3,
+      "Longitudinal_Distance": 42.0,
+    }
+    hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=True, rightLaneDepart=False,
+                          leadDistanceBars=3, leadVisible=True)
+    out = SimpleNamespace(steeringAngleDeg=22.5, vEgo=15.0, leftBlindspot=True, rightBlindspot=False,
+                          vCruiseCluster=88.0)
+
+    msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=True, enabled=True, hud=hud,
+                                    left_blinker=False, right_blinker=False, msg_161=msg_161, msg_162=msg_162,
+                                    msg_1b5=msg_1b5, is_metric=False, out=out, main_cruise_enabled=True, lfa_icon=2)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["CCNC_0x161"]["DAW_ICON"] == 0
+    assert parser.vl["CCNC_0x161"]["LKA_ICON"] == 0
+    assert parser.vl["CCNC_0x161"]["LFA_ICON"] == 2
+    assert parser.vl["CCNC_0x161"]["CENTERLINE"] == 1
+    assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 20
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 4
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 1
+    assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ICON"] == 4
+    assert parser.vl["CCNC_0x161"]["ALERTS_2"] == 0
+    assert parser.vl["CCNC_0x161"]["ALERTS_3"] == 0
+    assert parser.vl["CCNC_0x161"]["ALERTS_5"] == 0
+    assert parser.vl["CCNC_0x161"]["SOUNDS_3"] == 0
+    assert parser.vl["CCNC_0x161"]["SOUNDS_4"] == 0
+    assert parser.vl["CCNC_0x161"]["SETSPEED"] == 3
+    assert parser.vl["CCNC_0x161"]["SETSPEED_HUD"] == 2
+    assert parser.vl["CCNC_0x161"]["SETSPEED_SPEED"] == 55
+    assert parser.vl["CCNC_0x161"]["DISTANCE"] == 3
+    assert parser.vl["CCNC_0x161"]["DISTANCE_LEAD"] == 2
+    assert all(parser.vl["CCNC_0x162"][fault] == 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS"))
+    assert parser.vl["CCNC_0x162"]["VIBRATE"] == 1
+    assert parser.vl["CCNC_0x162"]["LEAD"] == 2
+    assert parser.vl["CCNC_0x162"]["LEAD_DISTANCE"] == pytest.approx(42.0)
+
+  def test_ccnc_hud_helper_generates_lane_position_animation_and_lca_arrows(self):
+    CP = CarParams.new_message()
+    CP.carFingerprint = CAR.HYUNDAI_SONATA_2024
+    CP.flags = int(HyundaiFlags.CANFD | HyundaiFlags.CCNC)
+
+    packer = CANPacker(DBC[CP.carFingerprint][Bus.pt])
+    can_bus = CanBus(CP)
+    parser = CANParser(DBC[CP.carFingerprint][Bus.pt], [("CCNC_0x161", 0), ("CCNC_0x162", 0)], can_bus.ECAN)
+    hud = SimpleNamespace(leftLaneVisible=True, rightLaneVisible=True, leftLaneDepart=False, rightLaneDepart=False,
+                          leadDistanceBars=1, leadVisible=False)
+    out = SimpleNamespace(steeringAngleDeg=0.0, vEgo=15.0, leftBlindspot=False, rightBlindspot=False,
+                          vCruiseCluster=55.0)
+    msg_1b5 = {
+      "Info_LftLnPosVal": 1.4,
+      "Info_RtLnPosVal": 1.9,
+      "Info_LftLnQualSta": 3,
+      "Info_RtLnQualSta": 3,
+      "Longitudinal_Distance": 0.0,
+    }
+
+    msgs = hyundaicanfd.create_ccnc(packer, can_bus, openpilot_longitudinal=False, enabled=True, hud=hud,
+                                    left_blinker=True, right_blinker=False,
+                                    msg_161={"ALERTS_2": 0, "ALERTS_3": 0, "ALERTS_5": 0, "SOUNDS_4": 0, "LFA_ICON": 2},
+                                    msg_162={fault: 0 for fault in ("FAULT_LSS", "FAULT_HDA", "FAULT_DAS", "FAULT_LFA", "FAULT_DAW", "FAULT_ESS")},
+                                    msg_1b5=msg_1b5, is_metric=True, out=out, main_cruise_enabled=True, lfa_icon=2)
+    parser.update([(1, msgs)])
+
+    assert parser.can_valid
+    assert parser.vl["CCNC_0x161"]["LANELINE_CURVATURE"] == 15
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT"] == 6
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT"] == 6
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ICON"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_LEFT_ARROW"] == 2
+    assert parser.vl["CCNC_0x161"]["LCA_RIGHT_ARROW"] == 0
+    assert parser.vl["CCNC_0x161"]["LANELINE_LEFT_POSITION"] == 12
+    assert parser.vl["CCNC_0x161"]["LANELINE_RIGHT_POSITION"] == 18
+
  def test_canfd_scc_lead_state_prefers_openpilot_lead_distance(self):
    CP = CarParams.new_message()
    CP.carFingerprint = CAR.KIA_EV6
@@ -1196,7 +1444,7 @@ class TestHyundaiFingerprint:

          # Hyundai places the ECU part number in their FW versions, assert all parsable
          # Some examples of valid formats: b"56310-L0010", b"56310L0010", b"56310/M6300"
-          if car_model != CAR.KIA_SPORTAGE_HEV_2026:
+          if car_model not in (CAR.KIA_SPORTAGE_2026, CAR.KIA_SPORTAGE_HEV_2026):
            assert all(b"-" in code for code, _ in codes), \
                            f"FW does not have part number: {fw}"

@@ -18,6 +18,9 @@ SPORTAGE_HEV_2026_LOW_SPEED_JERK_SPEED = 11.0
 SPORTAGE_HEV_2026_LOW_SPEED_JERK_WIDTH = 5.0
 SPORTAGE_HEV_2026_MAX_ANGLE_RATE = 6.5
 SPORTAGE_HEV_2026_STEER_ANGLE_MAX = 220.0
+HYUNDAI_MANDO_FRONT_RADAR_DBC = "hyundai_kia_mando_front_radar_generated"
+HYUNDAI_MRR30_RADAR_DBC = "hyundai_mrr30_radar_generated"
+HYUNDAI_MRR35_RADAR_DBC = "hyundai_mrr35_radar_generated"


 class CarControllerParams:
@@ -121,6 +124,7 @@ class HyundaiSafetyFlags(IntFlag):
  NON_SCC = 4096
  CAN_CANFD_BLENDED = 8192
  CANCEL_BTN_ENABLE = 16384
+  CCNC = 32768


 class HyundaiStarPilotSafetyFlags(IntFlag):
@@ -184,8 +188,6 @@ class HyundaiFlags(IntFlag):

  MIN_STEER_32_MPH = 2 ** 23

-  HAS_LDA_BUTTON = 2 ** 24
-
  FCEV = 2 ** 25

  ALT_LIMITS_2 = 2 ** 26
@@ -203,6 +205,9 @@ class HyundaiFlags(IntFlag):
  NON_SCC_NO_FCA = 2 ** 30
  NON_SCC_RADAR_FCA = 2 ** 31

+  # Connected Car Navigation Cockpit CAN-FD platforms.
+  CCNC = 2 ** 24
+

@dataclass
 class HyundaiCarDocs(CarDocs):
@@ -222,7 +227,7 @@ class HyundaiPlatformConfig(PlatformConfig):

  def init(self):
    if self.flags & HyundaiFlags.MANDO_RADAR:
-      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: 'hyundai_kia_mando_front_radar_generated'}
+      self.dbc_dict = {Bus.pt: "hyundai_kia_generic", Bus.radar: HYUNDAI_MANDO_FRONT_RADAR_DBC}

    if self.flags & HyundaiFlags.MIN_STEER_32_MPH:
      self.specs = self.specs.override(minSteerSpeed=32 * CV.MPH_TO_MS)
@@ -234,9 +239,12 @@ class HyundaiPlatformConfig(PlatformConfig):
@dataclass
 class HyundaiCanFDPlatformConfig(PlatformConfig):
  dbc_dict: DbcDict = field(default_factory=lambda: {Bus.pt: "hyundai_canfd_generated"})
+  radar_dbc: str | None = None

  def init(self):
    self.flags |= HyundaiFlags.CANFD
+    if self.radar_dbc is not None:
+      self.dbc_dict = {Bus.pt: "hyundai_canfd_generated", Bus.radar: self.radar_dbc}


@dataclass
@@ -342,6 +350,16 @@ class CAR(Platforms):
    CarSpecs(mass=1491, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.ALT_LIMITS_2,
  )
+  HYUNDAI_KONA_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_KONA_HEV_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Kona Hybrid (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_l]))],
+    CarSpecs(mass=1590, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_KONA_EV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g]))],
    CarSpecs(mass=1685, wheelbase=2.6, steerRatio=13.42, tireStiffnessFactor=0.385),
@@ -353,10 +371,14 @@ class CAR(Platforms):
    flags=HyundaiFlags.CAMERA_SCC | HyundaiFlags.EV | HyundaiFlags.ALT_LIMITS,
  )
  HYUNDAI_KONA_EV_2ND_GEN = HyundaiCanFDPlatformConfig(
-    [HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
-                    car_parts=CarParts.common([CarHarness.hyundai_r]))],
+    [
+      HyundaiCarDocs("Hyundai Kona Electric (with HDA II, Korea only) 2023", video="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                    car_parts=CarParts.common([CarHarness.hyundai_r])),
+      HyundaiCarDocs("Hyundai Kona Electric (without HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    ],
    CarSpecs(mass=1740, wheelbase=2.66, steerRatio=13.6, tireStiffnessFactor=0.385),
-    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE | HyundaiFlags.CCNC,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
  )
  HYUNDAI_KONA_HEV = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Kona Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_i]))],  # TODO: check packages,
@@ -390,12 +412,27 @@ class CAR(Platforms):
    HYUNDAI_SANTA_FE.specs,
    flags=HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
+  HYUNDAI_SANTA_FE_HEV_5TH_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Santa Fe Hybrid (with HDA II & LFA2) 2024-25", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_p])),
+      HyundaiCarDocs("Hyundai Santa Fe Hybrid (without HDA II, LFA2) 2025-26", "Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_l])),
+    ],
+    CarSpecs(mass=2035, wheelbase=2.81, steerRatio=13.72),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
+  )
  HYUNDAI_SONATA = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2020-23", "All", video="https://www.youtube.com/watch?v=ix63r9kE3Fw",
                   car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=1513, wheelbase=2.84, steerRatio=13.27 * 1.15, tireStiffnessFactor=0.65),  # 15% higher at the center seems reasonable
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8,
  )
+  HYUNDAI_SONATA_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1556, wheelbase=2.84, steerRatio=12.81),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_SONATA_LF = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e]))],
    CarSpecs(mass=1536, wheelbase=2.804, steerRatio=13.27 * 1.15),  # 15% higher at the center seems reasonable
@@ -441,6 +478,11 @@ class CAR(Platforms):
    HYUNDAI_SONATA.specs,
    flags=HyundaiFlags.MANDO_RADAR | HyundaiFlags.CHECKSUM_CRC8 | HyundaiFlags.HYBRID,
  )
+  HYUNDAI_SONATA_HEV_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Sonata Hybrid (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=1616, wheelbase=2.84, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_IONIQ_5 = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Hyundai Ioniq 5 (Southeast Asia and Europe only) 2022-24", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
@@ -449,11 +491,37 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=1948, wheelbase=2.97, steerRatio=14.26, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_5_PE = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Ioniq 5 PE (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q]))
+    ],
+    HYUNDAI_IONIQ_5.specs,
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_5_N = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Ioniq 5 N (with HDA II) 2024", car_parts=CarParts.common([CarHarness.hyundai_s]))],
+    CarSpecs(mass=2205, wheelbase=3.00, steerRatio=14.26, tireStiffnessFactor=1.3),
+    flags=HyundaiFlags.EV | HyundaiFlags.CCNC,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
  )
  HYUNDAI_IONIQ_6 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Ioniq 6 (with HDA II) 2023-24", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))],
    HYUNDAI_IONIQ_5.specs,
    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_NO_RADAR_DISABLE,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
+  HYUNDAI_IONIQ_9 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Hyundai Ioniq 9 (with HDA II & LFA2) 2025-26", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_m]))
+    ],
+    CarSpecs(mass=2700, wheelbase=3.13, steerRatio=16.02),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
  )
  HYUNDAI_TUCSON_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
@@ -464,11 +532,31 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
  )
+  HYUNDAI_TUCSON_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_HEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Hybrid (without HDA II) 2025-26", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
+  HYUNDAI_TUCSON_PHEV_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Tucson Plug-in Hybrid (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1630, wheelbase=2.756, steerRatio=13.7, tireStiffnessFactor=0.385),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_SANTA_CRUZ_1ST_GEN = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Hyundai Santa Cruz 2022-24", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    # weight from Limited trim - the only supported trim, steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
    CarSpecs(mass=1870, wheelbase=3, steerRatio=14.2),
  )
+  HYUNDAI_SANTA_CRUZ_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Hyundai Santa Cruz (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_n]))],
+    CarSpecs(mass=1920, wheelbase=3, steerRatio=14.2),
+    flags=HyundaiFlags.CCNC,
+  )
  HYUNDAI_CUSTIN_1ST_GEN = HyundaiPlatformConfig(
    [HyundaiCarDocs("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k]))],
    CarSpecs(mass=1690, wheelbase=3.055, steerRatio=17),  # mass: from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0, steerRatio: from learner
@@ -483,11 +571,24 @@ class CAR(Platforms):
    ],
    CarSpecs(mass=2878 * CV.LB_TO_KG, wheelbase=2.8, steerRatio=13.75, tireStiffnessFactor=0.5)
  )
+  KIA_K4_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia K4 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_a])),
+      HyundaiCarDocs("Kia K4 (with HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_r])),
+    ],
+    CarSpecs(mass=2987 * CV.LB_TO_KG, wheelbase=2.72, steerRatio=13.4),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_K5_2021 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 2021-24", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    CarSpecs(mass=3381 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27, tireStiffnessFactor=0.5),  # 2021 Kia K5 Steering Ratio (all trims)
    flags=HyundaiFlags.CHECKSUM_CRC8,
  )
+  KIA_K5_2025 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia K5 (without HDA II) 2025", car_parts=CarParts.common([CarHarness.hyundai_m]))],
+    CarSpecs(mass=3230 * CV.LB_TO_KG, wheelbase=2.85, steerRatio=13.27),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_K5_HEV_2020 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a]))],
    KIA_K5_2021.specs,
@@ -580,6 +681,13 @@ class CAR(Platforms):
    # weight from SX and above trims, average of FWD and AWD version, steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
    CarSpecs(mass=1725, wheelbase=2.756, steerRatio=13.6),
  )
+  KIA_SPORTAGE_2026 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia Sportage (without HDA II) 2026", car_parts=CarParts.common([CarHarness.hyundai_n])),
+    ],
+    CarSpecs(mass=1735, wheelbase=2.756, steerRatio=13.7),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING | HyundaiFlags.CCNC,
+  )
  KIA_SPORTAGE_HEV_2026 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Kia Sportage Hybrid 2026", car_parts=CarParts.common([CarHarness.hyundai_n]))],
    CarSpecs(mass=1812, wheelbase=2.756, steerRatio=13.7),
@@ -599,6 +707,11 @@ class CAR(Platforms):
    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
+  KIA_SORENTO_2024 = HyundaiCanFDPlatformConfig(
+    [HyundaiCarDocs("Kia Sorento (without HDA II) 2024-25", car_parts=CarParts.common([CarHarness.hyundai_a]))],
+    CarSpecs(mass=3957 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),
+    flags=HyundaiFlags.CCNC,
+  )
  KIA_SORENTO_HEV_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Sorento Hybrid 2021-23", "All", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -607,6 +720,13 @@ class CAR(Platforms):
    CarSpecs(mass=4395 * CV.LB_TO_KG, wheelbase=2.81, steerRatio=13.5),  # average of the platforms
    flags=HyundaiFlags.RADAR_SCC,
  )
+  KIA_SORENTO_HEV_4TH_GEN_LFA2 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia Sorento Hybrid 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    CarSpecs(mass=1970, wheelbase=2.814, steerRatio=13.27, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+  )
  KIA_STINGER = HyundaiPlatformConfig(
    [HyundaiCarDocs("Kia Stinger 2018-20", video="https://www.youtube.com/watch?v=MJ94qoofYw0",
                    car_parts=CarParts.common([CarHarness.hyundai_c]))],
@@ -630,6 +750,22 @@ class CAR(Platforms):
    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
    flags=HyundaiFlags.EV,
  )
+  KIA_EV6_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia EV6 (with HDA I) 2025", "Highway Driving Assist I", car_parts=CarParts.common([CarHarness.hyundai_p]))
+    ],
+    CarSpecs(mass=2055, wheelbase=2.9, steerRatio=16, tireStiffnessFactor=0.65),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR30_RADAR_DBC,
+  )
+  KIA_EV9 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Kia EV9 2025-26", car_parts=CarParts.common([CarHarness.hyundai_r]))
+    ],
+    CarSpecs(mass=2664, wheelbase=3.1, steerRatio=16),
+    flags=HyundaiFlags.EV | HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )
  KIA_CARNIVAL_4TH_GEN = HyundaiCanFDPlatformConfig(
    [
      HyundaiCarDocs("Kia Carnival 2022-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
@@ -680,6 +816,14 @@ class CAR(Platforms):
    CarSpecs(mass=2260, wheelbase=2.87, steerRatio=17.1),
    flags=HyundaiFlags.EV,
  )
+  GENESIS_GV70_ELECTRIFIED_2ND_GEN = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Genesis GV70 Electrified 2026", "All", car_parts=CarParts.common([CarHarness.hyundai_m])),
+    ],
+    GENESIS_GV70_ELECTRIFIED_1ST_GEN.specs,
+    flags=HyundaiFlags.EV | 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),
@@ -692,12 +836,24 @@ class CAR(Platforms):
  GENESIS_G90 = HyundaiPlatformConfig(
    [HyundaiCarDocs("Genesis G90 2017-20", "All", car_parts=CarParts.common([CarHarness.hyundai_c]))],
    CarSpecs(mass=2200, wheelbase=3.15, steerRatio=12.069),
+    flags=HyundaiFlags.MANDO_RADAR,
  )
  GENESIS_GV80 = HyundaiCanFDPlatformConfig(
    [HyundaiCarDocs("Genesis GV80 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_m]))],
    CarSpecs(mass=2258, wheelbase=2.95, steerRatio=14.14),
    flags=HyundaiFlags.RADAR_SCC,
  )
+  GENESIS_GV80_2025 = HyundaiCanFDPlatformConfig(
+    [
+      HyundaiCarDocs("Genesis GV80 (3.5T Prestige Trim, with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q])),
+      HyundaiCarDocs("Genesis GV80 Coupe (with HDA II & LFA2) 2025", "Highway Driving Assist II & Lane Follow Assist 2",
+                     car_parts=CarParts.common([CarHarness.hyundai_q])),
+    ],
+    GENESIS_GV80.specs,
+    flags=HyundaiFlags.CANFD_ANGLE_STEERING,
+    radar_dbc=HYUNDAI_MRR35_RADAR_DBC,
+  )

  # Hyundai non-SCC extensions
  HYUNDAI_BAYON_1ST_GEN_NON_SCC = HyundaiNonSccPlatformConfig(
@@ -857,7 +1013,7 @@ 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,
                         # TODO: the hybrid variant is not out yet
-                         CAR.KIA_CARNIVAL_4TH_GEN}
+                         CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN_LFA2}

 # 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
@@ -951,9 +1107,11 @@ CAN_GEARS = {
 CANFD_CAR = CAR.with_flags(HyundaiFlags.CANFD)
 CANFD_RADAR_SCC_CAR = CAR.with_flags(HyundaiFlags.RADAR_SCC)  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR

-# Cars with CANFD_NO_RADAR_DISABLE that now work with SecurityAccess handshake
-CANFD_SECURITYACCESS_CAR = {CAR.HYUNDAI_IONIQ_6, CAR.HYUNDAI_KONA_EV_2ND_GEN}
+# 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}
 CANFD_UNSUPPORTED_LONGITUDINAL_CAR = CAR.with_flags(HyundaiFlags.CANFD_NO_RADAR_DISABLE) - CANFD_SECURITYACCESS_CAR  # TODO: merge with UNSUPPORTED_LONGITUDINAL_CAR
+CANFD_RADAR_LIVE_LONGITUDINAL_CAR = {CAR.HYUNDAI_IONIQ_5, CAR.HYUNDAI_IONIQ_6}
+RADAR_LIVE_LONGITUDINAL_CAR = CANFD_RADAR_LIVE_LONGITUDINAL_CAR | {CAR.GENESIS_G90}

 CAMERA_SCC_CAR = CAR.with_flags(HyundaiFlags.CAMERA_SCC)

@@ -233,7 +233,7 @@ class CarInterfaceBase(ABC):
            not CP.openpilotLongitudinalControl:
          fp_ret.pcmCruiseSpeed = False

-        if CP.flags & HyundaiFlags.HAS_LDA_BUTTON:
+        if 0x391 in fingerprint[0] or CP.flags & HyundaiFlags.CAN_CANFD_BLENDED:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.HAS_LDA_BUTTON.value
        if starpilot_toggles.always_on_lateral_lkas:
          fp_ret.safetyConfigs[-1].safetyParam |= HyundaiStarPilotSafetyFlags.AOL_LKAS_ON_ENGAGE.value
@@ -22,9 +22,21 @@ non_tested_cars = [
  MOCK.MOCK,
  GM.CADILLAC_ATS,
  GM.CADILLAC_ESCALADE_ASCM,
+  GM.CADILLAC_XT5,
  GM.HOLDEN_ASTRA,
  GM.CHEVROLET_MALIBU,
  HYUNDAI.GENESIS_G90,
+  HYUNDAI.GENESIS_GV70_ELECTRIFIED_2ND_GEN,
+  HYUNDAI.GENESIS_GV80_2025,
+  HYUNDAI.HYUNDAI_IONIQ_5_PE,
+  HYUNDAI.HYUNDAI_IONIQ_5_N,
+  HYUNDAI.HYUNDAI_SANTA_FE_HEV_5TH_GEN,
+  HYUNDAI.HYUNDAI_TUCSON_PHEV_2025,
+  HYUNDAI.KIA_EV6_2025,
+  HYUNDAI.KIA_EV9,
+  HYUNDAI.KIA_SPORTAGE_2026,
+  HYUNDAI.KIA_SORENTO_2024,
+  HYUNDAI.KIA_SORENTO_HEV_4TH_GEN_LFA2,
  VOLKSWAGEN.VOLKSWAGEN_CRAFTER_MK2,  # need a route from an ACC-equipped Crafter
  SUBARU.SUBARU_FORESTER_HYBRID,
  VOLKSWAGEN.PORSCHE_MACAN_MK1,
@@ -143,6 +155,7 @@ routes = [
  CarTestRoute("66eaa6c3b6b2afc6/00000009--3a5199aabe", HYUNDAI.GENESIS_G80_2ND_GEN_FL),  # LKA steering
  CarTestRoute("0bbe367c98fa1538/2023-09-16--00-16-49", HYUNDAI.HYUNDAI_CUSTIN_1ST_GEN),
  CarTestRoute("f0709d2bc6ca451f/2022-10-15--08-13-54", HYUNDAI.HYUNDAI_SANTA_CRUZ_1ST_GEN),
+  CarTestRoute("6e7904b03a4aafc2/00000010--31034184b6", HYUNDAI.HYUNDAI_SANTA_CRUZ_2025),
  CarTestRoute("4dbd55df87507948/2022-03-01--09-45-38", HYUNDAI.HYUNDAI_SANTA_FE),
  CarTestRoute("bf43d9df2b660eb0/2021-09-23--14-16-37", HYUNDAI.HYUNDAI_SANTA_FE_2022),
  CarTestRoute("37398f32561a23ad/2021-11-18--00-11-35", HYUNDAI.HYUNDAI_SANTA_FE_HEV_2022),
@@ -156,11 +169,14 @@ routes = [
  CarTestRoute("6a42c1197b2a8179/2023-09-21--10-23-44", HYUNDAI.KIA_OPTIMA_H_G4_FL),
  CarTestRoute("c75a59efa0ecd502/2021-03-11--20-52-55", HYUNDAI.KIA_SELTOS),
  CarTestRoute("5b7c365c50084530/2020-04-15--16-13-24", HYUNDAI.HYUNDAI_SONATA),
+  CarTestRoute("4267ea8a353cdb36/00000262--8a427003c7", HYUNDAI.HYUNDAI_SONATA_2024, segment=34),
  CarTestRoute("b2a38c712dcf90bd/2020-05-18--18-12-48", HYUNDAI.HYUNDAI_SONATA_LF),
  CarTestRoute("c344fd2492c7a9d2/2023-12-11--09-03-23", HYUNDAI.HYUNDAI_STARIA_4TH_GEN),
  CarTestRoute("fb3fd42f0baaa2f8/2022-03-30--15-25-05", HYUNDAI.HYUNDAI_TUCSON),
  CarTestRoute("db68bbe12250812c/2022-12-05--00-54-12", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # 2023
  CarTestRoute("36e10531feea61a4/2022-07-25--13-37-42", HYUNDAI.HYUNDAI_TUCSON_4TH_GEN),  # hybrid
+  CarTestRoute("a01ca5d4f394c812/00000000--e98b7e4414", HYUNDAI.HYUNDAI_TUCSON_2025),
+  CarTestRoute("22f9090014364a87/00000002--4cc739c0b2", HYUNDAI.HYUNDAI_TUCSON_HEV_2025),
  CarTestRoute("5875672fc1d4bf57/2020-07-23--21-33-28", HYUNDAI.KIA_SORENTO),
  CarTestRoute("1d0d000db3370fd0/2023-01-04--22-28-42", HYUNDAI.KIA_SORENTO_4TH_GEN, segment=5),
  CarTestRoute("fc19648042eb6896/2023-08-16--11-43-27", HYUNDAI.KIA_SORENTO_HEV_4TH_GEN, segment=14),
@@ -168,6 +184,7 @@ routes = [
  CarTestRoute("9c917ba0d42ffe78/2020-04-17--12-43-19", HYUNDAI.HYUNDAI_PALISADE),
  CarTestRoute("05a8f0197fdac372/2022-10-19--14-14-09", HYUNDAI.HYUNDAI_IONIQ_5),  # LKA steering
  CarTestRoute("eb4eae1476647463/2023-08-26--18-07-04", HYUNDAI.HYUNDAI_IONIQ_6, segment=6),  # LKA steering
+  CarTestRoute("71e4e67d29034771/0000001b--b7b4774ec4", HYUNDAI.HYUNDAI_IONIQ_9),
  CarTestRoute("3f29334d6134fcd4/2022-03-30--22-00-50", HYUNDAI.HYUNDAI_IONIQ_PHEV_2019),
  CarTestRoute("fa8db5869167f821/2021-06-10--22-50-10", HYUNDAI.HYUNDAI_IONIQ_PHEV),
  CarTestRoute("e1107f9d04dfb1e2/2023-09-05--22-32-12", HYUNDAI.HYUNDAI_IONIQ_PHEV),  # openpilot longitudinal enabled
@@ -178,11 +195,13 @@ routes = [
  CarTestRoute("ab59fe909f626921/2021-10-18--18-34-28", HYUNDAI.HYUNDAI_IONIQ_HEV_2022),
  CarTestRoute("22d955b2cd499c22/2020-08-10--19-58-21", HYUNDAI.HYUNDAI_KONA),
  CarTestRoute("0099bdb24d82951b/00000005--c38d940b04", HYUNDAI.HYUNDAI_KONA_2022),
+  CarTestRoute("32025f26789d8fab/00000022--a499e8ffa3", HYUNDAI.HYUNDAI_KONA_2ND_GEN),
  CarTestRoute("efc48acf44b1e64d/2021-05-28--21-05-04", HYUNDAI.HYUNDAI_KONA_EV),
  CarTestRoute("f90d3cd06caeb6fa/2023-09-06--17-15-47", HYUNDAI.HYUNDAI_KONA_EV),  # openpilot longitudinal enabled
  CarTestRoute("ff973b941a69366f/2022-07-28--22-01-19", HYUNDAI.HYUNDAI_KONA_EV_2022, segment=11),
  CarTestRoute("1618132d68afc876/2023-08-27--09-32-14", HYUNDAI.HYUNDAI_KONA_EV_2ND_GEN, segment=13),
  CarTestRoute("49f3c13141b6bc87/2021-07-28--08-05-13", HYUNDAI.HYUNDAI_KONA_HEV),
+  CarTestRoute("97ca61196eb73e0d/00000052--4555329470", HYUNDAI.HYUNDAI_KONA_HEV_2ND_GEN),
  CarTestRoute("a74afe0cf708748f/0000000e--a2885a9a71", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),
  CarTestRoute("a74afe0cf708748f/0000000c--b476a8fd00", HYUNDAI.HYUNDAI_NEXO_1ST_GEN),  # openpilot longitudinal enabled
  CarTestRoute("5dddcbca6eb66c62/2020-07-26--13-24-19", HYUNDAI.KIA_STINGER),
@@ -191,7 +210,9 @@ routes = [
  CarTestRoute("d545129f3ca90f28/2022-10-19--09-22-54", HYUNDAI.KIA_EV6),  # LKA steering
  CarTestRoute("68d6a96e703c00c9/2022-09-10--16-09-39", HYUNDAI.KIA_EV6),  # LFA steering
  CarTestRoute("9b25e8c1484a1b67/2023-04-13--10-41-45", HYUNDAI.KIA_EV6),
+  CarTestRoute("baf39eeaba1217ca/00000002--b36e3fa031", HYUNDAI.KIA_K4_2025),
  CarTestRoute("007d5e4ad9f86d13/2021-09-30--15-09-23", HYUNDAI.KIA_K5_2021),
+  CarTestRoute("c4a804b067623789/0000007c--163f831540", HYUNDAI.KIA_K5_2025),
  CarTestRoute("c58dfc9fc16590e0/2023-01-14--13-51-48", HYUNDAI.KIA_K5_HEV_2020),
  CarTestRoute("78ad5150de133637/2023-09-13--16-15-57", HYUNDAI.KIA_K8_HEV_1ST_GEN),
  CarTestRoute("50c6c9b85fd1ff03/2020-10-26--17-56-06", HYUNDAI.KIA_NIRO_EV),
@@ -210,6 +231,7 @@ routes = [
  CarTestRoute("82e9cdd3f43bf83e/2021-05-15--02-42-51", HYUNDAI.HYUNDAI_ELANTRA_2021),
  CarTestRoute("715ac05b594e9c59/2021-06-20--16-21-07", HYUNDAI.HYUNDAI_ELANTRA_HEV_2021),
  CarTestRoute("7120aa90bbc3add7/2021-08-02--07-12-31", HYUNDAI.HYUNDAI_SONATA_HYBRID),
+  CarTestRoute("bc40c72b728178f2/00000006--ee76ae8c42", HYUNDAI.HYUNDAI_SONATA_HEV_2024),
  CarTestRoute("715ac05b594e9c59/2021-10-27--23-24-56", HYUNDAI.GENESIS_G70_2020),
  CarTestRoute("6b0d44d22df18134/2023-05-06--10-36-55", HYUNDAI.GENESIS_GV80),

@@ -64,13 +64,25 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "VOLKSWAGEN_PASSAT_NMS" = [2.5, 2.5, 0.1]
 "VOLKSWAGEN_SHARAN_MK2" = [2.5, 2.5, 0.1]
 "HYUNDAI_SANTA_CRUZ_1ST_GEN" = [2.7, 2.7, 0.1]
+"HYUNDAI_SANTA_CRUZ_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_SANTA_FE_HEV_5TH_GEN" = [nan, 2.5, nan]
+"HYUNDAI_SONATA_2024" = [2.5, 2.5, 0.1]
+"HYUNDAI_SONATA_HEV_2024" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_KONA_HEV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_TUCSON_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_TUCSON_HEV_2025" = [2.5, 2.5, 0.1]
+"HYUNDAI_TUCSON_PHEV_2025" = [2.5, 2.5, 0.1]
 "KIA_SPORTAGE_5TH_GEN" = [2.6, 2.6, 0.1]
+"KIA_SPORTAGE_2026" = [nan, 2.5, nan]
 "KIA_SPORTAGE_HEV_2026" = [nan, 2.5, nan]
 "GENESIS_GV70_1ST_GEN" = [2.42, 2.42, 0.1]
 "GENESIS_GV60_EV_1ST_GEN" = [2.5, 2.5, 0.1]
 "GMC_YUKON" = [1.2, 2.5, 0.26]
 "KIA_SORENTO_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_2024" = [2.5, 2.5, 0.1]
 "KIA_SORENTO_HEV_4TH_GEN" = [2.5, 2.5, 0.1]
+"KIA_SORENTO_HEV_4TH_GEN_LFA2" = [nan, 2.5, nan]
 "KIA_NIRO_HEV_2ND_GEN" = [2.42, 2.5, 0.12]
 "KIA_NIRO_EV_2ND_GEN" = [2.05, 2.5, 0.14]
 "GENESIS_GV80" = [2.5, 2.5, 0.1]
@@ -78,15 +90,24 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "GMC_ACADIA" = [1.6, 1.6, 0.2]
 "LEXUS_IS_TSS2" = [2.0, 2.0, 0.1]
 "HYUNDAI_KONA_EV_2ND_GEN" = [2.5, 2.5, 0.1]
+"HYUNDAI_IONIQ_5_PE" = [nan, 2.5, nan]
+"HYUNDAI_IONIQ_5_N" = [2.5, 2.5, 0.1]
 "HYUNDAI_IONIQ_6" = [3.0, 3.0, 0.09]
+"HYUNDAI_IONIQ_9" = [nan, 2.5, nan]
 "HYUNDAI_AZERA_6TH_GEN" = [1.8, 1.8, 0.1]
 "HYUNDAI_AZERA_HEV_6TH_GEN" = [1.8, 1.8, 0.1]
 "KIA_K8_HEV_1ST_GEN" = [2.5, 2.5, 0.1]
+"KIA_K4_2025" = [2.5, 2.5, 0.1]
+"KIA_K5_2025" = [2.5, 2.5, 0.1]
+"KIA_EV6_2025" = [nan, 2.5, nan]
+"KIA_EV9" = [nan, 2.5, nan]
 "HYUNDAI_CUSTIN_1ST_GEN" = [2.5, 2.5, 0.1]
 "LEXUS_GS_F" = [2.5, 2.5, 0.08]
 "HYUNDAI_STARIA_4TH_GEN" = [1.8, 2.0, 0.15]
 "GENESIS_GV70_ELECTRIFIED_1ST_GEN" = [1.9, 1.9, 0.09]
+"GENESIS_GV70_ELECTRIFIED_2ND_GEN" = [nan, 2.5, nan]
 "GENESIS_G80_2ND_GEN_FL" = [2.5819356441497803, 2.5, 0.11244568973779678]
+"GENESIS_GV80_2025" = [nan, 2.5, nan]
 # Note that some Rivians achieve significantly less lateral acceleration than this
 "RIVIAN_R1_GEN1" = [2.8, 2.5, 0.07]
 "HYUNDAI_NEXO_1ST_GEN" = [2.5, 2.5, 0.1]
@@ -109,10 +109,12 @@ legend = ["LAT_ACCEL_FACTOR", "MAX_LAT_ACCEL_MEASURED", "FRICTION"]
 "SUBARU_ASCENT" = "SUBARU_FORESTER"

 "CADILLAC_CT6_CC" = "CHEVROLET_VOLT"
+"CADILLAC_XT5" = "GMC_ACADIA"
 "CADILLAC_XT5_CC" = "GMC_ACADIA"
 "BUICK_BABYENCLAVE" = "GMC_ACADIA"
 "CHEVROLET_EQUINOX_CC" = "CHEVROLET_EQUINOX"
 "GMC_YUKON_CC" = "CHEVROLET_SILVERADO"
 "CHEVROLET_TRAILBLAZER_CC" = "CHEVROLET_TRAILBLAZER"
+"CHEVROLET_SILVERADO_CC" = "CHEVROLET_SILVERADO"

 "CHEVROLET_TRAX" = "CHEVROLET_VOLT"
@@ -0,0 +1,72 @@
+#!/usr/bin/env python3
+import os
+
+if __name__ == "__main__":
+  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  with open(os.path.join(hyundai_path, dbc_name), "w", encoding="utf-8") as f:
+    f.write("""
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+""")
+
+    for a in range(0x210, 0x210 + 16):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+""")
@@ -0,0 +1,78 @@
+#!/usr/bin/env python3
+import os
+
+if __name__ == "__main__":
+  dbc_name = os.path.basename(__file__).replace(".py", ".dbc")
+  hyundai_path = os.path.dirname(os.path.realpath(__file__))
+  with open(os.path.join(hyundai_path, dbc_name), "w", encoding="utf-8") as f:
+    f.write("""
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+""")
+
+    for a in range(0x3A5, 0x3A5 + 32):
+      f.write(f"""
+BO_ {a} RADAR_TRACK_{a:x}: 24 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_1 : 25|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_3 : 28|2@0+ (1,0) [0|3] "" XXX
+ SG_ COUNTER_3 : 31|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_2 : 38|7@0- (1,0) [0|127] "" XXX
+ SG_ COUNTER_256 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ NEW_SIGNAL_6 : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ STATE : 54|3@0+ (1,0) [0|7] "" XXX
+ SG_ NEW_SIGNAL_8 : 62|7@0- (1,0) [0|127] "" XXX
+ SG_ LONG_DIST : 63|12@1+ (0.05,0) [0|8191] "m" XXX
+ SG_ LAT_DIST : 76|12@1- (0.05,0) [0|127] "" XXX
+ SG_ REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ NEW_SIGNAL_4 : 103|2@0+ (1,0) [0|3] "" XXX
+ SG_ LAT_DIST_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ REL_ACCEL : 118|10@1- (0.02,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_18 : 129|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_5 : 133|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_10 : 138|5@1+ (1,0) [0|31] "" XXX
+ SG_ NEW_SIGNAL_11 : 149|6@0+ (1,0) [0|63] "" XXX
+ SG_ NEW_SIGNAL_7 : 152|10@1+ (1,0) [0|1023] "" XXX
+ SG_ NEW_SIGNAL_9 : 162|9@1- (1,0) [0|511] "" XXX
+ SG_ NEW_SIGNAL_13 : 175|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_12 : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ NEW_SIGNAL_14 : 181|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_15 : 183|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_16 : 185|2@0+ (1,0) [0|3] "" XXX
+ SG_ NEW_SIGNAL_17 : 187|2@0+ (1,0) [0|3] "" XXX
+""")
@@ -0,0 +1,424 @@
+CM_ "AUTOGENERATED FILE, DO NOT EDIT";
+
+CM_ "hyundai_mrr30_radar.dbc starts here";
+
+VERSION ""
+
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: XXX
+
+BO_ 528 RADAR_TRACK_210: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 529 RADAR_TRACK_211: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 530 RADAR_TRACK_212: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 531 RADAR_TRACK_213: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 532 RADAR_TRACK_214: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 533 RADAR_TRACK_215: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 534 RADAR_TRACK_216: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 535 RADAR_TRACK_217: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 536 RADAR_TRACK_218: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 537 RADAR_TRACK_219: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 538 RADAR_TRACK_21a: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 539 RADAR_TRACK_21b: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 540 RADAR_TRACK_21c: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 541 RADAR_TRACK_21d: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 542 RADAR_TRACK_21e: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
+
+BO_ 543 RADAR_TRACK_21f: 32 RADAR
+ SG_ CHECKSUM : 0|16@1+ (1,0) [0|65535] "" XXX
+ SG_ COUNTER : 16|8@1+ (1,0) [0|255] "" XXX
+ SG_ 1_COUNTER_255 : 47|8@0+ (1,0) [0|255] "" XXX
+ SG_ 1_STATE_ALT : 51|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_STATE : 55|4@0+ (1,0) [0|15] "" XXX
+ SG_ 1_NEW_SIGNAL_3 : 63|8@0- (1,0) [0|255] "" XXX
+ SG_ 1_LONG_DIST : 64|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 1_LAT_DIST : 76|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 1_REL_SPEED : 88|14@1- (0.01,0) [0|16383] "" XXX
+ SG_ 1_NEW_SIGNAL_1 : 102|2@1+ (1,0) [0|3] "" XXX
+ SG_ 1_LAT_ACCEL : 104|13@1- (1,0) [0|8191] "" XXX
+ SG_ 1_REL_ACCEL : 118|10@1- (1,0) [0|1023] "" XXX
+ SG_ 2_COUNTER_255 : 175|8@0+ (1,0) [0|255] "" XXX
+ SG_ 2_STATE_ALT : 179|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_STATE : 183|4@0+ (1,0) [0|15] "" XXX
+ SG_ 2_NEW_SIGNAL_3 : 191|8@0- (1,0) [0|255] "" XXX
+ SG_ 2_LONG_DIST : 192|12@1+ (0.05,0) [0|4095] "" XXX
+ SG_ 2_LAT_DIST : 204|12@1- (0.05,0) [0|4095] "" XXX
+ SG_ 2_REL_SPEED : 216|14@1- (0.01,0) [0|65535] "" XXX
+ SG_ 2_NEW_SIGNAL_1 : 230|2@1+ (1,0) [0|3] "" XXX
+ SG_ 2_LAT_ACCEL : 232|13@1- (1,0) [0|8191] "" XXX
+ SG_ 2_REL_ACCEL : 246|10@1- (1,0) [0|1023] "" XXX
@@ -24,6 +24,9 @@
 #define HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(e_can, longitudinal) \
  {0x1A0, e_can, 32, .check_relay = (longitudinal)},  /* SCC_CONTROL */ \

+#define HYUNDAI_CANFD_MRR35_RADAR_TRACK_START 0x3A5
+#define HYUNDAI_CANFD_MRR35_RADAR_TRACK_END 0x3C4
+
 #define HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(e_can) \
  {0x1BA, e_can, 24, .check_relay = false},  /* BLINDSPOTS_REAR_CORNERS */ \
  {0x1E5, e_can, 16, .check_relay = false},  /* BLINDSPOTS_FRONT_CORNER_1 */ \
@@ -56,6 +59,7 @@
 static bool hyundai_canfd_alt_buttons = false;
 static bool hyundai_canfd_lka_steering_alt = false;
 static bool hyundai_canfd_angle_steering = false;
+static bool hyundai_ccnc = false;

 static unsigned int hyundai_canfd_get_lka_addr(void) {
  return hyundai_canfd_lka_steering_alt ? 0x110U : 0x50U;
@@ -80,6 +84,15 @@ static void hyundai_canfd_rx_all_hook(const CANPacket_t *msg) {
  SAFETY_UNUSED(msg);
 }

+static bool hyundai_canfd_fwd_hook(int bus_num, int addr) {
+  const bool mrr35_radar_track = (addr >= HYUNDAI_CANFD_MRR35_RADAR_TRACK_START) && (addr <= HYUNDAI_CANFD_MRR35_RADAR_TRACK_END);
+
+  // On LKA-steering long-control cars using live MRR35 radar tracks, openpilot parses
+  // the tracks directly from bus 0. Forwarding them to bus 2 creates a returned TX copy
+  // of every object frame on the logged CAN stream without adding planner data.
+  return hyundai_longitudinal && hyundai_canfd_lka_steering && (bus_num == 0) && mrr35_radar_track;
+}
+
 static void hyundai_canfd_rx_hook(const CANPacket_t *msg) {

  const unsigned pt_bus = hyundai_canfd_lka_steering ? 1U : 0U;
@@ -289,6 +302,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
  const uint16_t HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT = 128;
  const uint16_t HYUNDAI_PARAM_CANFD_ALT_BUTTONS = 32;
  const uint16_t HYUNDAI_PARAM_CANFD_ANGLE_STEERING = 1024;
+  const uint16_t HYUNDAI_PARAM_CCNC = 32768U;

  static const CanMsg HYUNDAI_CANFD_LKA_STEERING_TX_MSGS[] = {
    HYUNDAI_CANFD_LKA_STEERING_COMMON_TX_MSGS(0, 1)
@@ -304,6 +318,7 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(1, true)
    HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(1)
    {0x51,  0, 32, .check_relay = false},  // ADRV_0x51
+    {0x100, 0, 24, .check_relay = false},  // Ioniq 5/6: ACCELERATOR_BRAKE_ALT radar heartbeat spoof
    {0x730, 1,  8, .check_relay = false},  // tester present for ADAS ECU disable
    {0x160, 1, 16, .check_relay = false},  // ADRV_0x160
    {0x1EA, 1, 32, .check_relay = false},  // ADRV_0x1ea
@@ -335,12 +350,22 @@ static safety_config hyundai_canfd_init(uint16_t param) {
    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
    {0x160, 0, 16, .check_relay = (longitudinal)}, /* ADRV_0x160 */ \

+#define HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(longitudinal) \
+    HYUNDAI_CANFD_CRUISE_BUTTON_TX_MSGS(2) \
+    HYUNDAI_CANFD_LFA_STEERING_COMMON_TX_MSGS(0) \
+    HYUNDAI_CANFD_SCC_CONTROL_COMMON_TX_MSGS(0, (longitudinal)) \
+    {0x161, 0, 32, .check_relay = true}, /* CCNC_0x161 */ \
+    {0x162, 0, 32, .check_relay = true}, /* CCNC_0x162 */ \
+    {0x7C4, 2, 8, .check_relay = true},  /* camera support frame */ \
+    {0xEA, 2, 24, .check_relay = true},  /* MDPS support frame */ \
+
  hyundai_common_init(param);

  gen_crc_lookup_table_16(0x1021, hyundai_canfd_crc_lut);
  hyundai_canfd_alt_buttons = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ALT_BUTTONS);
  hyundai_canfd_lka_steering_alt = GET_FLAG(param, HYUNDAI_PARAM_CANFD_LKA_STEERING_ALT);
  hyundai_canfd_angle_steering = GET_FLAG(param, HYUNDAI_PARAM_CANFD_ANGLE_STEERING);
+  hyundai_ccnc = GET_FLAG(param, HYUNDAI_PARAM_CCNC);

  safety_config ret;
  if (hyundai_longitudinal) {
@@ -367,6 +392,10 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_BLINDSPOT_DASH_TX_MSGS(0)
      };

+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(true)
+      };
+
      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_long_rx_checks, ret);
      } else {
@@ -374,7 +403,11 @@ static safety_config hyundai_canfd_init(uint16_t param) {
      }

      if (hyundai_camera_scc) {
-        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        if (hyundai_ccnc) {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+        } else {
+          SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+        }
      } else {
        SET_TX_MSGS(HYUNDAI_CANFD_LFA_STEERING_LONG_TX_MSGS, ret);
      }
@@ -435,7 +468,15 @@ static safety_config hyundai_canfd_init(uint16_t param) {
        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_TX_MSGS(false)
      };

-      SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      static CanMsg hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs[] = {
+        HYUNDAI_CANFD_LFA_STEERING_CAMERA_SCC_CCNC_TX_MSGS(false)
+      };
+
+      if (hyundai_ccnc) {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_ccnc_tx_msgs, ret);
+      } else {
+        SET_TX_MSGS(hyundai_canfd_lfa_steering_camera_scc_tx_msgs, ret);
+      }

      if (hyundai_canfd_alt_buttons) {
        SET_RX_CHECKS(hyundai_canfd_alt_buttons_rx_checks, ret);
@@ -456,4 +497,5 @@ const safety_hooks hyundai_canfd_hooks = {
  .get_counter = hyundai_canfd_get_counter,
  .get_checksum = hyundai_canfd_get_checksum,
  .compute_checksum = hyundai_common_canfd_compute_checksum,
+  .fwd = hyundai_canfd_fwd_hook,
 };
@@ -26,6 +26,8 @@ ALL_GAS_EV_HYBRID_COMBOS = [
  {"GAS_MSG": ("ACCELERATOR_ALT", "ACCELERATOR_PEDAL"), "SCC_BUS": 2, "SAFETY_PARAM": HyundaiSafetyFlags.HYBRID_GAS | HyundaiSafetyFlags.CAMERA_SCC},
 ]

+MRR35_RADAR_TRACK_ADDRS = list(range(0x3A5, 0x3C5))
+

 def _set_value(msg: bytearray, sig, ival: int) -> None:
  i = sig.lsb // 8
@@ -422,6 +424,37 @@ class TestHyundaiCanfdLFASteeringAltButtons(TestHyundaiCanfdLFASteeringAltButton
  pass


+class TestHyundaiCanfdCCNCSupportFrames(common.SafetyTestBase):
+  TX_MSGS = [[0x161, 0], [0x162, 0], [0x7C4, 2], [0xEA, 2]]
+
+  def setUp(self):
+    self.packer = CANPackerSafety("hyundai_canfd_generated")
+    self.safety = libsafety_py.libsafety
+
+  def _set_hooks(self, param):
+    self.safety.set_safety_hooks(CarParams.SafetyModel.hyundaiCanfd, param)
+    self.safety.init_tests()
+
+  def test_ccnc_support_frames_require_ccnc_flag(self):
+    support_msgs = (
+      self.packer.make_can_msg_safety("CCNC_0x161", 0, {}),
+      self.packer.make_can_msg_safety("CCNC_0x162", 0, {}),
+      common.make_msg(2, 0x7C4, 8),
+      common.make_msg(2, 0xEA, 24),
+    )
+
+    for longitudinal in (False, True):
+      base_param = HyundaiSafetyFlags.CAMERA_SCC | (HyundaiSafetyFlags.LONG if longitudinal else 0)
+
+      self._set_hooks(base_param)
+      for msg in support_msgs:
+        self.assertFalse(self._tx(msg))
+
+      self._set_hooks(base_param | HyundaiSafetyFlags.CCNC)
+      for msg in support_msgs:
+        self.assertTrue(self._tx(msg))
+
+
 class TestHyundaiCanfdLKASteeringEV(TestHyundaiCanfdBase):

  TX_MSGS = [[0x50, 0], [0x1CF, 1], [0x2A4, 0]]
@@ -485,6 +518,7 @@ class TestHyundaiCanfdLKASteeringLongEV(HyundaiLongitudinalBase, TestHyundaiCanf
             [0x1a0, 1], [0x1ea, 1], [0x200, 1], [0x345, 1], [0x1da, 1]]

  RELAY_MALFUNCTION_ADDRS = {0: (0x50, 0x2a4), 1: (0x1a0,)}  # LKAS, CAM_0x2A4, SCC_CONTROL
+  FWD_BLACKLISTED_ADDRS = {0: MRR35_RADAR_TRACK_ADDRS, 2: [0x50, 0x2a4]}

  DISABLED_ECU_UDS_MSG = (0x730, 1)
  DISABLED_ECU_ACTUATION_MSG = (0x1a0, 1)
@@ -1,2 +1,2 @@
 extern const uint8_t gitversion[19];
-const uint8_t gitversion[19] = "DEV-da88d20b-DEBUG";
+const uint8_t gitversion[19] = "DEV-b12fdf18-DEBUG";
@@ -1 +1 @@
-DEV-da88d20b-DEBUG
+DEV-b12fdf18-DEBUG
@@ -27,18 +27,20 @@ env_var_truthy() {
 usage() {
  cat <<'EOF'
 Usage:
-  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [--prefix name] <route-or-replay-args...>
+  ./onroad [jobs] (--c3 | --c4 | --raybig | --all | --replay-only) [-nav] [--prefix name] <route-or-replay-args...>

 Examples:
-  ./onroad --c3 f08912a233c1584f/2022-08-11--18-02-41/1
-  ./onroad --c4 f08912a233c1584f/2022-08-11--18-02-41/1 --start 30
-  ./onroad --all f08912a233c1584f/2022-08-11--18-02-41/1
+  ./onroad --c3 <route>
+  ./onroad --c4 <route> --start 30
+  ./onroad --c4 -nav <route>
+  ./onroad --all <route>
  ./onroad --replay-only --demo --no-vipc --no-loop

 Notes:
  - This is host/dev only. It uses the isolated host worktree and does not touch the device path.
  - A private comma connect route still requires tools/lib/auth.py before replay can download it.
  - Use multiple UI flags together if you want more than one desktop UI at once.
+  - -nav injects a fake navigation demo stream and blocks replay from publishing navInstruction/navRoute.
 EOF
 }

@@ -53,7 +55,9 @@ REPLAY_ARGS=()
 UI_TARGETS=()
 LEGACY_UI_SELECTION=""
 REPLAY_ONLY=0
+NAV_DEMO=0
 REPLAY_PID=""
+NAV_PID=""
 UI_PIDS=()

 parse_args() {
@@ -83,6 +87,10 @@ parse_args() {
        REPLAY_ONLY=1
        shift
        ;;
+      -nav|--nav)
+        NAV_DEMO=1
+        shift
+        ;;
      --ui)
        if [[ $# -lt 2 ]]; then
          echo "Missing value for --ui" >&2
@@ -194,6 +202,9 @@ cleanup() {
  if [[ -n "${REPLAY_PID}" ]]; then
    kill "${REPLAY_PID}" >/dev/null 2>&1 || true
  fi
+  if [[ -n "${NAV_PID}" ]]; then
+    kill "${NAV_PID}" >/dev/null 2>&1 || true
+  fi

  for pid in "${UI_PIDS[@]-}"; do
    if [[ -n "${pid}" ]]; then
@@ -203,6 +214,9 @@ cleanup() {
  if [[ -n "${REPLAY_PID}" ]]; then
    wait "${REPLAY_PID}" >/dev/null 2>&1 || true
  fi
+  if [[ -n "${NAV_PID}" ]]; then
+    wait "${NAV_PID}" >/dev/null 2>&1 || true
+  fi

  if [[ -n "${OPENPILOT_PREFIX:-}" && "${OPENPILOT_PREFIX}" == desktop-onroad-* ]]; then
    echo "Cleaning up temporary prefix environment (${OPENPILOT_PREFIX})..."
@@ -214,6 +228,68 @@ cleanup() {
  exit "${exit_code}"
 }

+append_blocked_service_names() {
+  local existing="$1"
+  local required="$2"
+  local combined="${existing}"
+
+  if [[ -n "${combined}" ]]; then
+    combined+=",${required}"
+  else
+    combined="${required}"
+  fi
+
+  local deduped=()
+  local seen=","
+  local part=""
+  local parts=()
+  IFS=',' read -r -a parts <<< "${combined}"
+  for part in "${parts[@]-}"; do
+    part="${part// /}"
+    if [[ -z "${part}" ]]; then
+      continue
+    fi
+    if [[ "${seen}" != *",${part},"* ]]; then
+      deduped+=("${part}")
+      seen+="${part},"
+    fi
+  done
+
+  local joined=""
+  for part in "${deduped[@]-}"; do
+    if [[ -n "${joined}" ]]; then
+      joined+=","
+    fi
+    joined+="${part}"
+  done
+
+  printf '%s' "${joined}"
+}
+
+ensure_nav_demo_replay_blocklist() {
+  local nav_services="navInstruction,navRoute"
+  local idx=0
+
+  for ((idx=0; idx<${#REPLAY_ARGS[@]}; idx++)); do
+    case "${REPLAY_ARGS[$idx]}" in
+      -b|--block)
+        if (( idx + 1 >= ${#REPLAY_ARGS[@]} )); then
+          echo "Missing value for ${REPLAY_ARGS[$idx]}" >&2
+          exit 1
+        fi
+        REPLAY_ARGS[$((idx + 1))]="$(append_blocked_service_names "${REPLAY_ARGS[$((idx + 1))]}" "${nav_services}")"
+        return
+        ;;
+      --block=*)
+        REPLAY_ARGS[$idx]="--block=$(append_blocked_service_names "${REPLAY_ARGS[$idx]#*=}" "${nav_services}")"
+        return
+        ;;
+    esac
+  done
+
+  REPLAY_ARGS=(-b "${nav_services}" "${REPLAY_ARGS[@]}")
+}
+
 prepare_env() {
  source .venv/bin/activate

@@ -238,6 +314,7 @@ prepare_env() {
  export SP_C4_FAKE_WIFI=0
  export SP_RAYBIG_FAKE_WIFI=0
  export SP_ALLOW_DESKTOP_FAKE_WIFI=0
+  export SP_ONROAD_NAV_DEMO="${NAV_DEMO}"

  if [[ "$(uname -s)" == "Darwin" ]] || env_var_truthy "${ZMQ:-0}"; then
    export OPENPILOT_ZMQ_NAMESPACE="${PREFIX_ARG:-${OPENPILOT_ZMQ_NAMESPACE:-desktop-onroad-$$}}"
@@ -250,6 +327,8 @@ prepare_env() {

 seed_params() {
  "${ROOT_DIR}/.venv/bin/python3" - <<'PY'
+import os
+
 from openpilot.common.params import Params
 from openpilot.system.version import terms_version, training_version

@@ -260,6 +339,8 @@ params.put_bool("OpenpilotEnabledToggle", True)
 params.put_bool("IsDriverViewEnabled", False)
 params.put_bool("ForceOnroad", False)
 params.put_bool("ForceOffroad", False)
+if os.getenv("SP_ONROAD_NAV_DEMO", "").lower() in {"1", "true", "yes", "on"}:
+  params.put_bool("NavigationUI", True)
 PY
 }

@@ -302,6 +383,18 @@ launch_replay() {
  fi
 }

+launch_nav_demo() {
+  echo "Starting fake nav demo publisher..."
+  "${ROOT_DIR}/.venv/bin/python3" "${ROOT_DIR}/tools/replay/fake_nav_demo.py" &
+  NAV_PID=$!
+
+  sleep 0.5
+  if ! kill -0 "${NAV_PID}" >/dev/null 2>&1; then
+    wait "${NAV_PID}"
+    return 1
+  fi
+}
+
 launch_c3_ui() {
  local os_ext="linux"
  if [[ "$(uname -s)" == "Darwin" ]]; then
@@ -339,6 +432,10 @@ else
  dedupe_ui_targets
 fi

+if [[ "${NAV_DEMO}" == "1" ]]; then
+  ensure_nav_demo_replay_blocklist
+fi
+
 if [[ ${#REPLAY_ARGS[@]} -eq 0 ]]; then
  usage >&2
  exit 1
@@ -378,6 +475,10 @@ seed_starpilot_theme
 echo "Starting replay: ${REPLAY_ARGS[*]}"
 launch_replay

+if [[ "${NAV_DEMO}" == "1" ]]; then
+  launch_nav_demo
+fi
+
 if [[ ${#UI_TARGETS[@]} -eq 0 ]]; then
  echo "Replay is running without UI windows. Press Ctrl-C to stop."
  wait "${REPLAY_PID}"
@@ -3,6 +3,7 @@ import argparse
 import codecs
 import os
 import pickle
+import json
 import re
 import shutil
 import subprocess
@@ -10,11 +11,18 @@ import sys

 from pathlib import Path

-
 REPO_ROOT = Path(__file__).resolve().parents[1]
+if str(REPO_ROOT) not in sys.path:
+  sys.path.insert(0, str(REPO_ROOT))
+
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.starpilot.common.model_versions import uses_combined_driving_artifacts
+
 DEFAULT_INPUT_ROOT = Path("/data/openpilot/uncompiledmodels")
 DEFAULT_OUTPUT_ROOT = Path("/data/openpilot/compiledmodels")
 COMPILE_SCRIPT = REPO_ROOT / "tinygrad_repo/examples/openpilot/compile3.py"
+COMBINED_COMPILE_SCRIPT = REPO_ROOT / "selfdrive/modeld/compile_modeld.py"
+MODEL_VERSIONS_CACHE = Path("/data/models/.model_versions.json")
 DM_MODEL_KEY = "dm"
 DM_MODEL_NAME = "dmonitoring_model"
 DM_TARGET_ALIASES = {DM_MODEL_KEY, "dmonitoring", DM_MODEL_NAME}
@@ -26,7 +34,33 @@ COMPONENT_ALIASES = {
  "driving_policy": ("driving_policy", "policy"),
  "driving_vision": ("driving_vision", "vision"),
 }
-REQUIRED_COMPONENTS = {"driving_policy", "driving_vision"}
+MEDMODEL_INPUT_SIZE = (512, 256)
+DEFAULT_CAMERA_RESOLUTIONS = (
+  (1928, 1208),
+  (1344, 760),
+)
+
+
+def build_compile_env(*, combined: bool = False) -> dict[str, str]:
+  env = os.environ.copy()
+  existing_pythonpath = env.get("PYTHONPATH", "")
+  env["PYTHONPATH"] = f"{REPO_ROOT}:{existing_pythonpath}" if existing_pythonpath else str(REPO_ROOT)
+
+  numeric_defaults = {
+    "DEBUG": "0",
+    "FLOAT16": "1",
+    "IMAGE": "2",
+    "JIT_BATCH_SIZE": "0",
+    "NOLOCALS": "1",
+  }
+  for key, default in numeric_defaults.items():
+    value = env.get(key)
+    try:
+      int(str(value), 0)
+    except (TypeError, ValueError):
+      env[key] = default
+
+  return env


 def parse_args() -> argparse.Namespace:
@@ -37,6 +71,7 @@ def parse_args() -> argparse.Namespace:
  parser.add_argument("--dm", action="store_true", help="Compile the driver monitoring model into dmonitoring_model_tinygrad.pkl.")
  parser.add_argument("--input-dir", type=Path, default=DEFAULT_INPUT_ROOT, help="Directory containing staged ONNX files. Flat root files like driving_policy.onnx are preferred.")
  parser.add_argument("--output-dir", type=Path, default=DEFAULT_OUTPUT_ROOT, help="Directory for compiled tinygrad pkls and metadata.")
+  parser.add_argument("--version", help="Model version. v16+ uses the combined driving_tinygrad artifact path. If omitted, split-policy staged models default to the combined build.")
  parser.add_argument("--list", action="store_true", help="List detected staged models and exit.")
  parser.add_argument("--force", action="store_true", help="Legacy no-op. Compiled outputs are always cleared before a build.")

@@ -66,14 +101,6 @@ def detect_component(path: Path) -> str | None:
  return None


-def normalize_model_files(model_files: dict[str, Path]) -> dict[str, Path]:
-  normalized = dict(model_files)
-  on_policy_path = normalized.pop("driving_on_policy", None)
-  if on_policy_path is not None and "driving_policy" not in normalized and "driving_off_policy" in normalized:
-    normalized["driving_policy"] = on_policy_path
-  return normalized
-
-
 def find_staged_dm(input_root: Path) -> Path | None:
  if not input_root.is_dir():
    return None
@@ -107,7 +134,6 @@ def find_staged_models(input_root: Path) -> dict[str, dict[str, Path]]:
      component = detect_component(onnx_file)
      if component:
        model_files[component] = onnx_file
-    model_files = normalize_model_files(model_files)
    if model_files:
      found[child.name] = model_files

@@ -137,7 +163,7 @@ def find_staged_models(input_root: Path) -> dict[str, dict[str, Path]]:
      flat_root_files[component] = onnx_file

  if flat_root_files:
-    found["_root"] = normalize_model_files(flat_root_files)
+    found["_root"] = flat_root_files

  return found

@@ -156,7 +182,7 @@ def resolve_model_files(input_root: Path, model_key: str) -> dict[str, Path]:
    component = detect_component(onnx_file)
    if component:
      prefixed_files[component] = onnx_file
-  return normalize_model_files(prefixed_files)
+  return prefixed_files


 def get_metadata_value_by_name(model, name: str):
@@ -190,17 +216,94 @@ def write_metadata(onnx_path: Path, output_path: Path) -> None:


 def compile_component(onnx_path: Path, output_path: Path) -> None:
-  env = os.environ.copy()
-  existing_pythonpath = env.get("PYTHONPATH", "")
-  env["PYTHONPATH"] = f"{REPO_ROOT}:{existing_pythonpath}" if existing_pythonpath else str(REPO_ROOT)
  subprocess.run(
    [sys.executable, str(COMPILE_SCRIPT), str(onnx_path), str(output_path)],
    cwd=REPO_ROOT,
-    env=env,
+    env=build_compile_env(combined=False),
    check=True,
  )


+def compile_combined_model(component_paths: dict[str, Path], output_path: Path) -> None:
+  vision_path = component_paths["driving_vision"]
+  off_policy_path = component_paths["driving_off_policy"]
+  on_policy_path = component_paths.get("driving_on_policy") or component_paths.get("driving_policy")
+  if on_policy_path is None:
+    raise ValueError("Combined compile requires driving_on_policy.onnx (or driving_policy.onnx) alongside driving_off_policy.onnx")
+
+  frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+  camera_resolutions = [f"{width}x{height}" for width, height in DEFAULT_CAMERA_RESOLUTIONS]
+  subprocess.run(
+    [
+      sys.executable,
+      str(COMBINED_COMPILE_SCRIPT),
+      "--model-size",
+      f"{MEDMODEL_INPUT_SIZE[0]}x{MEDMODEL_INPUT_SIZE[1]}",
+      "--camera-resolutions",
+      *camera_resolutions,
+      "--vision-onnx",
+      str(vision_path),
+      "--off-policy-onnx",
+      str(off_policy_path),
+      "--on-policy-onnx",
+      str(on_policy_path),
+      "--output",
+      str(output_path),
+      "--frame-skip",
+      str(frame_skip),
+    ],
+    cwd=REPO_ROOT,
+    env=build_compile_env(combined=True),
+    check=True,
+  )
+
+
+def infer_model_version(model_key: str, explicit_version: str | None) -> str:
+  if explicit_version:
+    return explicit_version.strip()
+
+  if MODEL_VERSIONS_CACHE.is_file():
+    try:
+      version_map = json.loads(MODEL_VERSIONS_CACHE.read_text())
+      version = version_map.get(model_key)
+      if isinstance(version, str) and version.strip():
+        return version.strip()
+    except Exception:
+      pass
+
+  return ""
+
+
+def should_use_combined_artifacts(model_version: str, model_files: dict[str, Path]) -> bool:
+  if uses_combined_driving_artifacts(model_version):
+    return True
+  if model_version.strip():
+    return False
+
+  has_vision = "driving_vision" in model_files
+  has_off_policy = "driving_off_policy" in model_files
+  has_on_policy = "driving_on_policy" in model_files or "driving_policy" in model_files
+  return has_vision and has_off_policy and has_on_policy
+
+
+def resolve_split_component_inputs(model_files: dict[str, Path]) -> dict[str, Path]:
+  resolved: dict[str, Path] = {}
+
+  vision_path = model_files.get("driving_vision")
+  if vision_path is not None:
+    resolved["driving_vision"] = vision_path
+
+  policy_path = model_files.get("driving_policy") or model_files.get("driving_on_policy")
+  if policy_path is not None:
+    resolved["driving_policy"] = policy_path
+
+  off_policy_path = model_files.get("driving_off_policy")
+  if off_policy_path is not None:
+    resolved["driving_off_policy"] = off_policy_path
+
+  return resolved
+
+
 def clear_existing_outputs(output_dir: Path) -> list[Path]:
  removed = []
  for existing in sorted(output_dir.iterdir()):
@@ -277,18 +380,38 @@ def main() -> int:
      f"or optionally {args.input_dir / model_key}/*.onnx"
    )

-  missing = sorted(REQUIRED_COMPONENTS - set(files))
-  if missing:
-    raise SystemExit(f"Missing required ONNX files for {model_key}: {', '.join(missing)}")
+  model_version = infer_model_version(model_key, args.version)
+  use_combined_artifacts = should_use_combined_artifacts(model_version, files)

  args.output_dir.mkdir(parents=True, exist_ok=True)
-  print(f"Compiling {model_key} from {args.input_dir} -> {args.output_dir}")
+  mode_label = "combined" if use_combined_artifacts else "split"
+  version_label = model_version or ("auto-combined" if use_combined_artifacts else "legacy-default")
+  print(f"Compiling {model_key} ({version_label}, {mode_label}) from {args.input_dir} -> {args.output_dir}")

  removed = clear_existing_outputs(args.output_dir)
  if removed:
    print(f"  cleared {len(removed)} existing output entries")

-  for component, onnx_path in sorted(files.items()):
+  if use_combined_artifacts:
+    required_components = {"driving_vision", "driving_off_policy"}
+    if not (files.get("driving_on_policy") or files.get("driving_policy")):
+      required_components.add("driving_on_policy")
+    missing = sorted(component for component in required_components if component not in files)
+    if missing:
+      raise SystemExit(f"Missing required ONNX files for combined compile of {model_key}: {', '.join(missing)}")
+
+    output_pkl = args.output_dir / f"{model_key}_driving_tinygrad.pkl"
+    compile_combined_model(files, output_pkl)
+    print(f"  saved {output_pkl.name}")
+    print("Done.")
+    return 0
+
+  split_components = resolve_split_component_inputs(files)
+  missing = sorted(component for component in ("driving_policy", "driving_vision") if component not in split_components)
+  if missing:
+    raise SystemExit(f"Missing required ONNX files for {model_key}: {', '.join(missing)}")
+
+  for component, onnx_path in sorted(split_components.items()):
    output_pkl = args.output_dir / f"{model_key}_{component}_tinygrad.pkl"
    output_metadata = args.output_dir / f"{model_key}_{component}_metadata.pkl"

@@ -1,5 +1,10 @@
+import json
+
+import numpy as np
+
 from cereal import log
 from openpilot.common.constants import CV
+from openpilot.common.params import Params
 from openpilot.common.realtime import DT_MDL

 LaneChangeState = log.LaneChangeState
@@ -7,6 +12,8 @@ LaneChangeDirection = log.LaneChangeDirection

 LANE_CHANGE_SPEED_MIN = 20 * CV.MPH_TO_MS
 LANE_CHANGE_TIME_MAX = 10.
+NAV_TURN_DISTANCE_SPEED_BREAKPOINTS = [0.0, 5.0, 10.0]
+NAV_TURN_DISTANCE_BREAKPOINTS = [20.0, 25.0, 30.0]

 DESIRES = {
  LaneChangeDirection.none: {
@@ -40,6 +47,8 @@ TURN_DESIRES = {

 class DesireHelper:
  def __init__(self):
+    self.params = Params()
+    self.params_memory = Params(memory=True)
    self.lane_change_state = LaneChangeState.off
    self.lane_change_direction = LaneChangeDirection.none
    self.lane_change_timer = 0.0
@@ -51,6 +60,95 @@ class DesireHelper:
    self.lane_change_completed = False

    self.lane_change_wait_timer = 0.0
+    self.nav_desires_allowed = False
+    self._nav_param_counter = -1
+    self._nav_instruction_state_raw: object = None
+    self._nav_instruction_state: dict[str, object] = {}
+
+  def _update_nav_params(self):
+    self._nav_param_counter += 1
+    if self._nav_param_counter % 60 == 0:
+      self.nav_desires_allowed = self.params.get_bool("NavDesiresAllowed")
+
+    raw = self.params_memory.get("NavInstructionState") or {}
+    if raw == self._nav_instruction_state_raw:
+      return
+
+    self._nav_instruction_state_raw = raw
+    if not raw:
+      self._nav_instruction_state = {}
+      return
+
+    if isinstance(raw, dict):
+      self._nav_instruction_state = raw
+      return
+
+    if isinstance(raw, str):
+      try:
+        parsed = json.loads(raw)
+        self._nav_instruction_state = parsed if isinstance(parsed, dict) else {}
+        return
+      except Exception:
+        pass
+
+    self._nav_instruction_state = {}
+
+  @staticmethod
+  def _nav_keep_direction_is_clear(carstate, lane_change_direction):
+    return not (
+      (lane_change_direction == LaneChangeDirection.left and carstate.leftBlindspot) or
+      (lane_change_direction == LaneChangeDirection.right and carstate.rightBlindspot)
+    )
+
+  @staticmethod
+  def _nav_torque_applied(carstate, lane_change_direction):
+    return carstate.steeringPressed and (
+      (lane_change_direction == LaneChangeDirection.left and carstate.steeringTorque > 0) or
+      (lane_change_direction == LaneChangeDirection.right and carstate.steeringTorque < 0)
+    )
+
+  @staticmethod
+  def _nav_turn_is_imminent(carstate, maneuver_distance):
+    try:
+      distance = float(maneuver_distance)
+    except (TypeError, ValueError):
+      return False
+
+    return distance <= float(np.interp(carstate.vEgo, NAV_TURN_DISTANCE_SPEED_BREAKPOINTS, NAV_TURN_DISTANCE_BREAKPOINTS))
+
+  def _navigation_desire(self, carstate, lateral_active, starpilotPlan, starpilot_toggles):
+    self._update_nav_params()
+    if not self.nav_desires_allowed or not lateral_active or not bool(self._nav_instruction_state.get("valid", False)):
+      return log.Desire.none
+
+    modifier = str(self._nav_instruction_state.get("maneuverModifier", ""))
+    if modifier == "":
+      return log.Desire.none
+
+    maneuver_distance = self._nav_instruction_state.get("maneuverDistance", 0.0)
+
+    if modifier == "slightLeft":
+      lane_change_direction = LaneChangeDirection.left
+      desired_lane_width = starpilotPlan.laneWidthLeft
+      nudgeless_allowed = starpilot_toggles.nudgeless and desired_lane_width >= starpilot_toggles.lane_detection_width
+      if not carstate.rightBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
+        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+          return log.Desire.keepLeft
+    elif modifier == "slightRight":
+      lane_change_direction = LaneChangeDirection.right
+      desired_lane_width = starpilotPlan.laneWidthRight
+      nudgeless_allowed = starpilot_toggles.nudgeless and desired_lane_width >= starpilot_toggles.lane_detection_width
+      if not carstate.leftBlinker and self._nav_keep_direction_is_clear(carstate, lane_change_direction):
+        if self._nav_torque_applied(carstate, lane_change_direction) or nudgeless_allowed:
+          return log.Desire.keepRight
+    elif modifier in ("left", "sharpLeft"):
+      if not carstate.rightBlinker and not carstate.leftBlindspot and carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill and self._nav_turn_is_imminent(carstate, maneuver_distance):
+        return log.Desire.turnLeft
+    elif modifier in ("right", "sharpRight"):
+      if not carstate.leftBlinker and not carstate.rightBlindspot and carstate.vEgo < starpilot_toggles.minimum_lane_change_speed and not carstate.standstill and self._nav_turn_is_imminent(carstate, maneuver_distance):
+        return log.Desire.turnRight
+
+    return log.Desire.none

  @staticmethod
  def get_lane_change_direction(CS):
@@ -155,3 +253,7 @@ class DesireHelper:
      self.lane_change_completed = False

      self.lane_change_wait_timer = 0.0
+
+    nav_desire = self._navigation_desire(carstate, lateral_active, starpilotPlan, starpilot_toggles)
+    if nav_desire != log.Desire.none and self.lane_change_state == LaneChangeState.off:
+      self.desire = nav_desire
@@ -244,10 +244,10 @@ VOLT_STANDARD_CENTER_TAPER_LAT_WIDTH = 0.018
 VOLT_STANDARD_CENTER_TAPER_SPEED = 20.0
 VOLT_STANDARD_CENTER_TAPER_SPEED_WIDTH = 2.5

-SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.04
-SONATA_HYBRID_FF_REDUCTION_LEFT = 0.07
-SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.22
-SONATA_HYBRID_FF_ONSET = 0.22
+SONATA_HYBRID_BASE_LAT_ACCEL_FACTOR_MULT = 1.05
+SONATA_HYBRID_FF_REDUCTION_LEFT = 0.09
+SONATA_HYBRID_FF_REDUCTION_RIGHT = 0.24
+SONATA_HYBRID_FF_ONSET = 0.18
 SONATA_HYBRID_FF_ONSET_WIDTH = 0.08
 SONATA_HYBRID_FF_CUTOFF = 1.35
 SONATA_HYBRID_FF_CUTOFF_WIDTH = 0.40
@@ -257,15 +257,15 @@ SONATA_HYBRID_TURN_IN_BOOST_LEFT = 0.12
 SONATA_HYBRID_TURN_IN_BOOST_RIGHT = 0.00
 SONATA_HYBRID_UNWIND_TAPER_LEFT = 0.18
 SONATA_HYBRID_UNWIND_TAPER_RIGHT = 0.10
-SONATA_HYBRID_CENTER_TAPER_MAX = 0.05
-SONATA_HYBRID_CENTER_TAPER_LAT = 0.14
+SONATA_HYBRID_CENTER_TAPER_MAX = 0.07
+SONATA_HYBRID_CENTER_TAPER_LAT = 0.16
 SONATA_HYBRID_CENTER_TAPER_LAT_WIDTH = 0.025
 SONATA_HYBRID_CENTER_TAPER_SPEED = 22.0
 SONATA_HYBRID_CENTER_TAPER_SPEED_WIDTH = 2.5
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.12
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.09
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_MAX = 0.14
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT = 0.10
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_LAT_WIDTH = 0.02
-SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 6.0
+SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_MAX = 7.5
 SONATA_HYBRID_LOW_SPEED_CENTER_TAPER_SPEED_WIDTH = 1.0

 ELANTRA_NON_SCC_FF_ADJUST_LEFT = 0.02
@@ -281,21 +281,21 @@ ELANTRA_NON_SCC_TURN_IN_BOOST_RIGHT = 0.12
 ELANTRA_NON_SCC_UNWIND_TAPER_LEFT = 0.22
 ELANTRA_NON_SCC_UNWIND_TAPER_RIGHT = 0.12

-KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.08
-KIA_FORTE_FF_REDUCTION_LEFT = 0.08
-KIA_FORTE_FF_REDUCTION_RIGHT = 0.20
+KIA_FORTE_BASE_LAT_ACCEL_FACTOR_MULT = 1.10
+KIA_FORTE_FF_REDUCTION_LEFT = 0.10
+KIA_FORTE_FF_REDUCTION_RIGHT = 0.24
 KIA_FORTE_FF_ONSET = 0.16
 KIA_FORTE_FF_ONSET_WIDTH = 0.06
 KIA_FORTE_FF_CUTOFF = 1.20
 KIA_FORTE_FF_CUTOFF_WIDTH = 0.36
 KIA_FORTE_TRANSITION_SPEED = 9.0
 KIA_FORTE_PHASE_SCALE = 0.10
-KIA_FORTE_TURN_IN_BOOST_LEFT = 0.06
+KIA_FORTE_TURN_IN_BOOST_LEFT = 0.10
 KIA_FORTE_TURN_IN_BOOST_RIGHT = 0.00
-KIA_FORTE_UNWIND_TAPER_LEFT = 0.18
-KIA_FORTE_UNWIND_TAPER_RIGHT = 0.08
-KIA_FORTE_CENTER_TAPER_MAX = 0.11
-KIA_FORTE_CENTER_TAPER_LAT = 0.14
+KIA_FORTE_UNWIND_TAPER_LEFT = 0.26
+KIA_FORTE_UNWIND_TAPER_RIGHT = 0.04
+KIA_FORTE_CENTER_TAPER_MAX = 0.14
+KIA_FORTE_CENTER_TAPER_LAT = 0.16
 KIA_FORTE_CENTER_TAPER_LAT_WIDTH = 0.03
 KIA_FORTE_CENTER_TAPER_SPEED = 24.0
 KIA_FORTE_CENTER_TAPER_SPEED_WIDTH = 2.5
@@ -325,27 +325,32 @@ GENESIS_G90_TURN_IN_FRICTION_BOOST_RIGHT = 0.14
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_LEFT = 0.04
 GENESIS_G90_UNWIND_FRICTION_REDUCTION_RIGHT = 0.30

-IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.18
+IONIQ_5_BASE_LAT_ACCEL_FACTOR_MULT = 1.22
 IONIQ_5_FF_ONSET = 0.10
 IONIQ_5_FF_ONSET_WIDTH = 0.05
 IONIQ_5_FF_CUTOFF = 1.20
 IONIQ_5_FF_CUTOFF_WIDTH = 0.30
 IONIQ_5_TRANSITION_SPEED = 11.0
 IONIQ_5_PHASE_SCALE = 0.10
-IONIQ_5_FF_REDUCTION_LEFT = 0.10
+IONIQ_5_FF_REDUCTION_LEFT = 0.14
 IONIQ_5_FF_REDUCTION_RIGHT = 0.18
 IONIQ_5_TURN_IN_BOOST_LEFT = 0.04
 IONIQ_5_TURN_IN_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_TAPER_LEFT = 0.40
-IONIQ_5_UNWIND_TAPER_RIGHT = 0.70
+IONIQ_5_UNWIND_TAPER_LEFT = 0.52
+IONIQ_5_UNWIND_TAPER_RIGHT = 0.82
 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.05
 IONIQ_5_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.00
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.18
-IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.32
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_LEFT = 0.24
+IONIQ_5_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.38
 IONIQ_5_TURN_IN_FRICTION_BOOST_LEFT = 0.02
 IONIQ_5_TURN_IN_FRICTION_BOOST_RIGHT = 0.00
-IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.15
-IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.26
+IONIQ_5_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
+IONIQ_5_UNWIND_FRICTION_REDUCTION_RIGHT = 0.32
+IONIQ_5_CENTER_TAPER_MAX = 0.08
+IONIQ_5_CENTER_TAPER_LAT = 0.16
+IONIQ_5_CENTER_TAPER_LAT_WIDTH = 0.03
+IONIQ_5_CENTER_TAPER_SPEED = 20.0
+IONIQ_5_CENTER_TAPER_SPEED_WIDTH = 2.5

 IONIQ_EV_OLD_BASE_LAT_ACCEL_FACTOR_MULT = 1.16
 IONIQ_EV_OLD_FF_REDUCTION_LEFT = 0.16
@@ -439,7 +444,7 @@ IONIQ_6_OUTPUT_DIRECTIONAL_TAPER_BLEND = 0.97
 KIA_EV6_LATERAL_TESTING_GROUND_ID = testing_ground.id_6
 KIA_EV6_LATERAL_TESTING_GROUND_VARIANT = "C"
 KIA_EV6_FF_GAIN_LEFT = 0.07
-KIA_EV6_FF_GAIN_RIGHT = 0.10
+KIA_EV6_FF_GAIN_RIGHT = 0.075
 KIA_EV6_FF_ONSET = 0.08
 KIA_EV6_FF_ONSET_WIDTH = 0.04
 KIA_EV6_FF_CUTOFF = 0.60
@@ -447,20 +452,25 @@ KIA_EV6_FF_CUTOFF_WIDTH = 0.14
 KIA_EV6_TRANSITION_SPEED = 11.0
 KIA_EV6_PHASE_SCALE = 0.09
 KIA_EV6_TURN_IN_BOOST_LEFT = 0.14
-KIA_EV6_TURN_IN_BOOST_RIGHT = 0.22
-KIA_EV6_UNWIND_TAPER_LEFT = 0.26
-KIA_EV6_UNWIND_TAPER_RIGHT = 0.34
+KIA_EV6_TURN_IN_BOOST_RIGHT = 0.16
+KIA_EV6_UNWIND_TAPER_LEFT = 0.40
+KIA_EV6_UNWIND_TAPER_RIGHT = 0.36
 KIA_EV6_FRICTION_MULT = 1.01
 KIA_EV6_FRICTION_LAT_RISE = 0.18
 KIA_EV6_FRICTION_JERK_RISE = 0.22
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_LEFT = 0.10
 KIA_EV6_TURN_IN_THRESHOLD_REDUCTION_RIGHT = 0.14
-KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.14
+KIA_EV6_UNWIND_THRESHOLD_INCREASE_LEFT = 0.22
 KIA_EV6_UNWIND_THRESHOLD_INCREASE_RIGHT = 0.18
 KIA_EV6_TURN_IN_FRICTION_BOOST_LEFT = 0.03
 KIA_EV6_TURN_IN_FRICTION_BOOST_RIGHT = 0.05
-KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.12
-KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.15
+KIA_EV6_UNWIND_FRICTION_REDUCTION_LEFT = 0.22
+KIA_EV6_UNWIND_FRICTION_REDUCTION_RIGHT = 0.16
+KIA_EV6_CENTER_TAPER_MAX = 0.08
+KIA_EV6_CENTER_TAPER_LAT = 0.16
+KIA_EV6_CENTER_TAPER_LAT_WIDTH = 0.035
+KIA_EV6_CENTER_TAPER_SPEED = 18.0
+KIA_EV6_CENTER_TAPER_SPEED_WIDTH = 3.0

 VOLT_PLEXY_LATERAL_TESTING_GROUND_ID = testing_ground.id_7
 VOLT_PLEXY_FF_GAIN_LEFT = 0.12
@@ -1211,6 +1221,13 @@ def get_ioniq_5_friction_scale(v_ego: float, desired_lateral_accel: float, desir
  return min(max(friction_scale, 0.86), 1.04)


+def get_ioniq_5_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _ioniq_5_sigmoid((v_ego - IONIQ_5_CENTER_TAPER_SPEED) / IONIQ_5_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _ioniq_5_sigmoid((IONIQ_5_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / IONIQ_5_CENTER_TAPER_LAT_WIDTH)
+  reduction = IONIQ_5_CENTER_TAPER_MAX * speed_weight * center_weight
+  return 1.0 - reduction
+
+
 def _ioniq_ev_old_sigmoid(x: float) -> float:
  return _sigmoid(x)

@@ -1454,6 +1471,13 @@ def get_kia_ev6_friction_scale(v_ego: float, desired_lateral_accel: float, desir
  return min(max(friction_scale, 0.90), 1.10)


+def get_kia_ev6_center_taper_scale(desired_lateral_accel: float, v_ego: float) -> float:
+  speed_weight = _kia_ev6_sigmoid((v_ego - KIA_EV6_CENTER_TAPER_SPEED) / KIA_EV6_CENTER_TAPER_SPEED_WIDTH)
+  center_weight = _kia_ev6_sigmoid((KIA_EV6_CENTER_TAPER_LAT - abs(desired_lateral_accel)) / KIA_EV6_CENTER_TAPER_LAT_WIDTH)
+  reduction = KIA_EV6_CENTER_TAPER_MAX * speed_weight * center_weight
+  return 1.0 - reduction
+
+
 def volt_plexy_lateral_testing_ground_active() -> bool:
  return testing_ground.use(VOLT_PLEXY_LATERAL_TESTING_GROUND_ID)

@@ -1687,11 +1711,13 @@ class LatControlTorque(LatControl):
      kia_forte_active = self.is_kia_forte
      kia_ev6_test_active = self.is_kia_ev6 and kia_ev6_lateral_testing_ground_active()
      volt_plexy_test_active = self.is_volt_cc and volt_plexy_lateral_testing_ground_active()
+      ioniq_5_center_taper = get_ioniq_5_center_taper_scale(setpoint, CS.vEgo) if ioniq_5_active else 1.0
      volt_standard_center_taper = get_volt_standard_center_taper_scale(setpoint, CS.vEgo) if volt_standard_test_active else 1.0
      ioniq_ev_old_center_taper = get_ioniq_ev_old_center_taper_scale(setpoint, CS.vEgo) if ioniq_ev_old_active else 1.0
      ioniq_6_center_taper = get_ioniq_6_center_taper_scale(setpoint, CS.vEgo) if ioniq_6_active else 1.0
      sonata_hybrid_center_taper = get_sonata_hybrid_center_taper_scale(setpoint, CS.vEgo) if sonata_hybrid_active else 1.0
      kia_forte_center_taper = get_kia_forte_center_taper_scale(setpoint, CS.vEgo) if kia_forte_active else 1.0
+      kia_ev6_center_taper = get_kia_ev6_center_taper_scale(setpoint, CS.vEgo) if kia_ev6_test_active else 1.0
      civic_bosch_modified_a_center_taper = get_civic_bosch_modified_a_center_taper_scale(setpoint, CS.vEgo) if (
        self.is_civic_bosch_modified and civic_bosch_modified_a_lateral_testing_ground_active()
      ) else 1.0
@@ -1714,9 +1740,10 @@ class LatControlTorque(LatControl):
        friction_threshold = get_genesis_g90_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_genesis_g90_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
      elif ioniq_5_active:
-        ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        ff *= get_ioniq_5_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_5_center_taper
        friction_threshold = get_ioniq_5_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_ioniq_5_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_5_center_taper)
      elif ioniq_ev_old_active:
        ff *= get_ioniq_ev_old_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * ioniq_ev_old_center_taper
        friction_scale = 1.0 + ((friction_scale - 1.0) * ioniq_ev_old_center_taper)
@@ -1732,9 +1759,10 @@ class LatControlTorque(LatControl):
      elif kia_forte_active:
        ff *= get_kia_forte_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_forte_center_taper
      elif kia_ev6_test_active:
-        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
+        ff *= get_kia_ev6_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo) * kia_ev6_center_taper
        friction_threshold = get_kia_ev6_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
        friction_scale = get_kia_ev6_friction_scale(CS.vEgo, setpoint, desired_lateral_jerk)
+        friction_scale = 1.0 + ((friction_scale - 1.0) * kia_ev6_center_taper)
      elif volt_plexy_test_active:
        ff *= get_volt_plexy_ff_scale(setpoint, desired_lateral_jerk, CS.vEgo)
        friction_threshold = get_volt_plexy_friction_threshold(CS.vEgo, setpoint, desired_lateral_jerk)
@@ -8,6 +8,7 @@ from openpilot.common.constants import CV
 from openpilot.common.filter_simple import FirstOrderFilter
 from openpilot.common.realtime import DT_MDL
 from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.starpilot.common.model_versions import is_tinygrad_model_version
 from openpilot.selfdrive.controls.lib.longcontrol import LongCtrlState
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import LongitudinalMpc
 from openpilot.selfdrive.controls.lib.longitudinal_mpc_lib.long_mpc import desired_follow_distance
@@ -434,7 +435,7 @@ class LongitudinalPlanner:

  @property
  def mlsim(self):
-    return self.generation in ("v8", "v10", "v11", "v12", "v13", "v14", "v15")
+    return is_tinygrad_model_version(self.generation)

  def get_mpc_mode(self) -> str:
    if not self.mlsim:
@@ -43,6 +43,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_ioniq_5_ff_scale,
  get_ioniq_5_friction_scale,
  get_ioniq_5_friction_threshold,
+  get_ioniq_5_center_taper_scale,
  get_ioniq_ev_old_center_taper_scale,
  get_ioniq_ev_old_ff_scale,
  get_ioniq_6_center_taper_scale,
@@ -53,6 +54,7 @@ from openpilot.selfdrive.controls.lib.latcontrol_torque import (
  get_ioniq_6_friction_threshold,
  get_kia_forte_center_taper_scale,
  get_kia_forte_ff_scale,
+  get_kia_ev6_center_taper_scale,
  get_kia_ev6_ff_scale,
  get_kia_ev6_friction_scale,
  get_kia_ev6_friction_threshold,
@@ -338,6 +340,10 @@ class TestLatControl:
    assert unwind_left_scale < 1.0
    assert unwind_right_scale < unwind_left_scale

+  def test_ioniq_5_center_taper_curve(self):
+    assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.0, 10.0)
+    assert get_ioniq_5_center_taper_scale(0.0, 25.0) < get_ioniq_5_center_taper_scale(0.20, 25.0) <= 1.0
+
  def test_ioniq_ev_old_ff_scale_curve(self):
    assert get_ioniq_ev_old_ff_scale(0.0, 0.0, 20.0) == 1.0
    assert get_ioniq_ev_old_ff_scale(0.35, 0.0, 20.0) > get_ioniq_ev_old_ff_scale(-0.35, 0.0, 20.0)
@@ -420,7 +426,7 @@ class TestLatControl:
    right_turn_in = get_kia_ev6_friction_threshold(6.0, -0.5, -0.8)
    left_unwind = get_kia_ev6_friction_threshold(6.0, 0.5, -0.8)
    right_unwind = get_kia_ev6_friction_threshold(6.0, -0.5, 0.8)
-    assert right_turn_in < left_turn_in < base < left_unwind < right_unwind
+    assert right_turn_in < left_turn_in < base < right_unwind < left_unwind

  def test_kia_ev6_friction_scale_curve(self):
    base = get_kia_ev6_friction_scale(25.0, 0.5, 0.8)
@@ -493,7 +499,7 @@ class TestLatControl:
    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)

    assert lac_log.active
-    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.18)
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.22)

  def test_ioniq_6_default_update_path(self):
    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -521,7 +527,7 @@ class TestLatControl:
    _, _, lac_log = controller.update(True, CS, VM, params, False, 0.0025, False, 0.2, None, None, starpilot_toggles)

    assert lac_log.active
-    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.08)
+    assert controller.torque_params.latAccelFactor == pytest.approx(CP.lateralTuning.torque.latAccelFactor * 1.10)

  def test_ioniq_6_update_path_does_not_post_taper_output(self, monkeypatch):
    base_controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(HYUNDAI.HYUNDAI_IONIQ_6)
@@ -688,6 +694,25 @@ class TestLatControl:

    assert lac_log.active

+  def test_kia_ev6_ff_scale_curve(self):
+    assert get_kia_ev6_ff_scale(0.0, 0.0, 20.0) == 1.0
+    steady_left = get_kia_ev6_ff_scale(0.45, 0.0, 25.0)
+    steady_right = get_kia_ev6_ff_scale(-0.45, 0.0, 25.0)
+    turn_in_left = get_kia_ev6_ff_scale(0.45, 0.7, 10.0)
+    turn_in_right = get_kia_ev6_ff_scale(-0.45, -0.7, 10.0)
+    unwind_left = get_kia_ev6_ff_scale(0.45, -0.7, 10.0)
+    unwind_right = get_kia_ev6_ff_scale(-0.45, 0.7, 10.0)
+    assert steady_left > 1.0
+    assert steady_right > steady_left
+    assert turn_in_left > steady_left
+    assert turn_in_right > steady_right
+    assert unwind_left < steady_left
+    assert unwind_right < steady_right
+
+  def test_kia_ev6_center_taper_curve(self):
+    assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.0, 10.0)
+    assert get_kia_ev6_center_taper_scale(0.0, 25.0) < get_kia_ev6_center_taper_scale(0.20, 25.0) <= 1.0
+
  def test_volt_plexy_testing_ground_update_path(self, monkeypatch):
    controller, VM, CS, params, starpilot_toggles = self._build_torque_controller(GM.CHEVROLET_VOLT_CC)
    monkeypatch.setattr(latcontrol_torque, "volt_plexy_lateral_testing_ground_active", lambda: True)
@@ -0,0 +1,130 @@
+from types import SimpleNamespace
+
+from cereal import log
+
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper, LaneChangeDirection, LaneChangeState
+
+
+def make_car_state(**overrides):
+  defaults = {
+    "vEgo": 20.0,
+    "leftBlinker": False,
+    "rightBlinker": False,
+    "leftBlindspot": False,
+    "rightBlindspot": False,
+    "steeringPressed": False,
+    "steeringTorque": 0.0,
+    "standstill": False,
+  }
+  defaults.update(overrides)
+  return SimpleNamespace(**defaults)
+
+
+def make_toggles(**overrides):
+  defaults = {
+    "lane_changes": True,
+    "lane_change_delay": 0.0,
+    "lane_detection_width": 3.0,
+    "minimum_lane_change_speed": 10.0,
+    "nudgeless": True,
+    "one_lane_change": False,
+    "use_turn_desires": False,
+  }
+  defaults.update(overrides)
+  return SimpleNamespace(**defaults)
+
+
+def make_plan(**overrides):
+  defaults = {
+    "laneWidthLeft": 4.0,
+    "laneWidthRight": 4.0,
+  }
+  defaults.update(overrides)
+  return SimpleNamespace(**defaults)
+
+def test_nav_desires_keep_left_when_route_requests_it():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightLeft"}
+
+  helper.update(
+    make_car_state(vEgo=20.0),
+    True,
+    0.0,
+    make_plan(laneWidthLeft=4.2),
+    make_toggles(nudgeless=True),
+  )
+
+  assert helper.desire == log.Desire.keepLeft
+
+
+def test_nav_desires_turn_right_below_lane_change_speed():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "right", "maneuverDistance": 10.0}
+
+  helper.update(
+    make_car_state(vEgo=5.0),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(minimum_lane_change_speed=10.0),
+  )
+
+  assert helper.desire == log.Desire.turnRight
+
+
+def test_nav_desires_turn_right_waits_until_turn_is_close():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "right", "maneuverDistance": 300.0}
+
+  helper.update(
+    make_car_state(vEgo=5.0),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(minimum_lane_change_speed=10.0),
+  )
+
+  assert helper.desire == log.Desire.none
+
+
+def test_nav_desires_do_not_override_lane_change_state_machine():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = True
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "slightRight"}
+  helper.lane_change_state = LaneChangeState.laneChangeStarting
+  helper.lane_change_direction = LaneChangeDirection.left
+  helper.lane_change_ll_prob = 0.5
+
+  helper.update(
+    make_car_state(vEgo=25.0, leftBlinker=True),
+    True,
+    0.5,
+    make_plan(),
+    make_toggles(),
+  )
+
+  assert helper.desire == log.Desire.laneChangeLeft
+
+
+def test_nav_desires_disabled_leave_desire_unchanged():
+  helper = DesireHelper()
+  helper.nav_desires_allowed = False
+  helper._update_nav_params = lambda: None
+  helper._nav_instruction_state = {"valid": True, "maneuverModifier": "left"}
+
+  helper.update(
+    make_car_state(vEgo=5.0),
+    True,
+    0.0,
+    make_plan(),
+    make_toggles(minimum_lane_change_speed=10.0),
+  )
+
+  assert helper.desire == log.Desire.none
@@ -6,8 +6,12 @@ from types import SimpleNamespace


 class FakeParams:
+  def __init__(self, values=None):
+    self.values = dict(values or {})
+
  def get(self, *args, **kwargs):
-    return None
+    key = args[0] if args else None
+    return self.values.get(key)

  def get_float(self, *args, **kwargs):
    return 0.0
@@ -16,10 +20,10 @@ class FakeParams:
    pass


-def make_vcruise(*, red_light=False, raw_model_stopped=False, forcing_stop=False):
+def make_vcruise(*, red_light=False, raw_model_stopped=False, forcing_stop=False, nav_state=None):
  planner = SimpleNamespace(
    params=FakeParams(),
-    params_memory=FakeParams(),
+    params_memory=FakeParams({"NavInstructionState": nav_state or {}}),
    lead_one=SimpleNamespace(status=False, dRel=float("inf"), vLead=0.0),
    starpilot_cem=SimpleNamespace(stop_light_detected=red_light),
    tracking_lead=False,
@@ -35,10 +39,11 @@ def make_vcruise(*, red_light=False, raw_model_stopped=False, forcing_stop=False
  return planner, vcruise


-def make_sm(*, standstill=True):
+def make_sm(*, standstill=True, min_steer_speed=0.0):
  return {
    "carControl": SimpleNamespace(longActive=True),
    "carState": SimpleNamespace(standstill=standstill, gasPressed=False, vCruiseCluster=0.0, vEgoCluster=0.0),
+    "carParams": SimpleNamespace(minSteerSpeed=min_steer_speed),
    "starpilotCarState": SimpleNamespace(accelPressed=False, dashboardStopSign=0, dashboardSpeedLimit=0),
  }

@@ -48,6 +53,7 @@ def make_toggles():
    force_stops=True,
    force_standstill=False,
    curve_speed_controller=False,
+    nav_longitudinal_allowed=False,
    speed_limit_controller=False,
    show_speed_limits=False,
    force_stop_distance_offset=0,
@@ -133,3 +139,164 @@ def test_force_stop_stays_committed_while_moving_even_if_scene_opens():
  assert result == pytest.approx(0.0)
  assert vcruise.force_stop_timer >= 0.5
  assert vcruise.forcing_stop
+
+
+def test_nav_turn_speed_control_default_off():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "turn",
+    "maneuverModifier": "right",
+    "maneuverDistance": 30.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=20.0,
+    sm=make_sm(standstill=False),
+    starpilot_toggles=make_toggles(),
+  )
+
+  assert result == pytest.approx(20.0)
+  assert vcruise.nav_turn_target == pytest.approx(0.0)
+
+
+def test_nav_turn_speed_control_slows_for_imminent_turn():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "turn",
+    "maneuverModifier": "right",
+    "maneuverDistance": 30.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  toggles = make_toggles()
+  toggles.nav_longitudinal_allowed = True
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=20.0,
+    sm=make_sm(standstill=False),
+    starpilot_toggles=toggles,
+  )
+
+  assert result < 20.0
+  assert result == pytest.approx(vcruise.nav_turn_target)
+  assert result > 0.0
+
+
+def test_nav_turn_speed_control_ignores_distant_turn():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "turn",
+    "maneuverModifier": "right",
+    "maneuverDistance": 400.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  toggles = make_toggles()
+  toggles.nav_longitudinal_allowed = True
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=20.0,
+    sm=make_sm(standstill=False),
+    starpilot_toggles=toggles,
+  )
+
+  assert result == pytest.approx(20.0)
+  assert vcruise.nav_turn_target == pytest.approx(0.0)
+
+
+def test_nav_turn_speed_control_ignores_off_ramp():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "off ramp",
+    "maneuverModifier": "slightRight",
+    "maneuverDistance": 40.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  toggles = make_toggles()
+  toggles.nav_longitudinal_allowed = True
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=30.0,
+    v_ego=30.0,
+    sm=make_sm(standstill=False),
+    starpilot_toggles=toggles,
+  )
+
+  assert result == pytest.approx(30.0)
+  assert vcruise.nav_turn_target == pytest.approx(0.0)
+
+
+def test_nav_turn_speed_control_respects_car_min_steer_speed():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "turn",
+    "maneuverModifier": "uturn",
+    "maneuverDistance": 8.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  toggles = make_toggles()
+  toggles.nav_longitudinal_allowed = True
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=20.0,
+    sm=make_sm(standstill=False, min_steer_speed=7.0 * CV.MPH_TO_MS),
+    starpilot_toggles=toggles,
+  )
+
+  assert result == pytest.approx(vcruise.nav_turn_target)
+  assert vcruise.nav_turn_target >= 7.0 * CV.MPH_TO_MS
+
+
+def test_nav_turn_speed_control_does_not_floor_steer_to_zero_cars():
+  _, vcruise = make_vcruise(nav_state={
+    "valid": True,
+    "maneuverType": "turn",
+    "maneuverModifier": "uturn",
+    "maneuverDistance": 8.0,
+    "nextManeuverType": "",
+    "nextManeuverModifier": "",
+    "nextManeuverDistance": 0.0,
+  })
+
+  toggles = make_toggles()
+  toggles.nav_longitudinal_allowed = True
+  result = vcruise.update(
+    controls_enabled=True,
+    now=0.0,
+    time_validated=True,
+    v_cruise=20.0,
+    v_ego=20.0,
+    sm=make_sm(standstill=False, min_steer_speed=0.0),
+    starpilot_toggles=toggles,
+  )
+
+  assert result == pytest.approx(vcruise.nav_turn_target)
+  assert vcruise.nav_turn_target == pytest.approx(5.0 * CV.MPH_TO_MS)
@@ -283,7 +283,6 @@ def main():
  filter_initialized = False
  critcal_services = ["accelerometer", "gyroscope", "cameraOdometry"]
  observation_input_invalid = defaultdict(int)
-
  input_invalid_limit = {s: round(INPUT_INVALID_LIMIT * (SERVICE_LIST[s].frequency / 20.)) for s in critcal_services}
  input_invalid_threshold = {s: input_invalid_limit[s] - 0.5 for s in critcal_services}
  input_invalid_decay = {s: calculate_invalid_input_decay(input_invalid_limit[s], INPUT_INVALID_RECOVERY, SERVICE_LIST[s].frequency) for s in critcal_services}
@@ -45,326 +45,326 @@ const static double MAHA_THRESH_31 = 3.8414588206941227;
 *                                                                            *
 *                         This file is part of 'ekf'                         *
 ******************************************************************************/
-void err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) {
-   out_3568804456057098654[0] = delta_x[0] + nom_x[0];
-   out_3568804456057098654[1] = delta_x[1] + nom_x[1];
-   out_3568804456057098654[2] = delta_x[2] + nom_x[2];
-   out_3568804456057098654[3] = delta_x[3] + nom_x[3];
-   out_3568804456057098654[4] = delta_x[4] + nom_x[4];
-   out_3568804456057098654[5] = delta_x[5] + nom_x[5];
-   out_3568804456057098654[6] = delta_x[6] + nom_x[6];
-   out_3568804456057098654[7] = delta_x[7] + nom_x[7];
-   out_3568804456057098654[8] = delta_x[8] + nom_x[8];
+void err_fun(double *nom_x, double *delta_x, double *out_1972702472511725479) {
+   out_1972702472511725479[0] = delta_x[0] + nom_x[0];
+   out_1972702472511725479[1] = delta_x[1] + nom_x[1];
+   out_1972702472511725479[2] = delta_x[2] + nom_x[2];
+   out_1972702472511725479[3] = delta_x[3] + nom_x[3];
+   out_1972702472511725479[4] = delta_x[4] + nom_x[4];
+   out_1972702472511725479[5] = delta_x[5] + nom_x[5];
+   out_1972702472511725479[6] = delta_x[6] + nom_x[6];
+   out_1972702472511725479[7] = delta_x[7] + nom_x[7];
+   out_1972702472511725479[8] = delta_x[8] + nom_x[8];
 }
-void inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
-   out_1840397183166108031[0] = -nom_x[0] + true_x[0];
-   out_1840397183166108031[1] = -nom_x[1] + true_x[1];
-   out_1840397183166108031[2] = -nom_x[2] + true_x[2];
-   out_1840397183166108031[3] = -nom_x[3] + true_x[3];
-   out_1840397183166108031[4] = -nom_x[4] + true_x[4];
-   out_1840397183166108031[5] = -nom_x[5] + true_x[5];
-   out_1840397183166108031[6] = -nom_x[6] + true_x[6];
-   out_1840397183166108031[7] = -nom_x[7] + true_x[7];
-   out_1840397183166108031[8] = -nom_x[8] + true_x[8];
+void inv_err_fun(double *nom_x, double *true_x, double *out_3741555659818717473) {
+   out_3741555659818717473[0] = -nom_x[0] + true_x[0];
+   out_3741555659818717473[1] = -nom_x[1] + true_x[1];
+   out_3741555659818717473[2] = -nom_x[2] + true_x[2];
+   out_3741555659818717473[3] = -nom_x[3] + true_x[3];
+   out_3741555659818717473[4] = -nom_x[4] + true_x[4];
+   out_3741555659818717473[5] = -nom_x[5] + true_x[5];
+   out_3741555659818717473[6] = -nom_x[6] + true_x[6];
+   out_3741555659818717473[7] = -nom_x[7] + true_x[7];
+   out_3741555659818717473[8] = -nom_x[8] + true_x[8];
 }
-void H_mod_fun(double *state, double *out_8921258435077713963) {
-   out_8921258435077713963[0] = 1.0;
-   out_8921258435077713963[1] = 0.0;
-   out_8921258435077713963[2] = 0.0;
-   out_8921258435077713963[3] = 0.0;
-   out_8921258435077713963[4] = 0.0;
-   out_8921258435077713963[5] = 0.0;
-   out_8921258435077713963[6] = 0.0;
-   out_8921258435077713963[7] = 0.0;
-   out_8921258435077713963[8] = 0.0;
-   out_8921258435077713963[9] = 0.0;
-   out_8921258435077713963[10] = 1.0;
-   out_8921258435077713963[11] = 0.0;
-   out_8921258435077713963[12] = 0.0;
-   out_8921258435077713963[13] = 0.0;
-   out_8921258435077713963[14] = 0.0;
-   out_8921258435077713963[15] = 0.0;
-   out_8921258435077713963[16] = 0.0;
-   out_8921258435077713963[17] = 0.0;
-   out_8921258435077713963[18] = 0.0;
-   out_8921258435077713963[19] = 0.0;
-   out_8921258435077713963[20] = 1.0;
-   out_8921258435077713963[21] = 0.0;
-   out_8921258435077713963[22] = 0.0;
-   out_8921258435077713963[23] = 0.0;
-   out_8921258435077713963[24] = 0.0;
-   out_8921258435077713963[25] = 0.0;
-   out_8921258435077713963[26] = 0.0;
-   out_8921258435077713963[27] = 0.0;
-   out_8921258435077713963[28] = 0.0;
-   out_8921258435077713963[29] = 0.0;
-   out_8921258435077713963[30] = 1.0;
-   out_8921258435077713963[31] = 0.0;
-   out_8921258435077713963[32] = 0.0;
-   out_8921258435077713963[33] = 0.0;
-   out_8921258435077713963[34] = 0.0;
-   out_8921258435077713963[35] = 0.0;
-   out_8921258435077713963[36] = 0.0;
-   out_8921258435077713963[37] = 0.0;
-   out_8921258435077713963[38] = 0.0;
-   out_8921258435077713963[39] = 0.0;
-   out_8921258435077713963[40] = 1.0;
-   out_8921258435077713963[41] = 0.0;
-   out_8921258435077713963[42] = 0.0;
-   out_8921258435077713963[43] = 0.0;
-   out_8921258435077713963[44] = 0.0;
-   out_8921258435077713963[45] = 0.0;
-   out_8921258435077713963[46] = 0.0;
-   out_8921258435077713963[47] = 0.0;
-   out_8921258435077713963[48] = 0.0;
-   out_8921258435077713963[49] = 0.0;
-   out_8921258435077713963[50] = 1.0;
-   out_8921258435077713963[51] = 0.0;
-   out_8921258435077713963[52] = 0.0;
-   out_8921258435077713963[53] = 0.0;
-   out_8921258435077713963[54] = 0.0;
-   out_8921258435077713963[55] = 0.0;
-   out_8921258435077713963[56] = 0.0;
-   out_8921258435077713963[57] = 0.0;
-   out_8921258435077713963[58] = 0.0;
-   out_8921258435077713963[59] = 0.0;
-   out_8921258435077713963[60] = 1.0;
-   out_8921258435077713963[61] = 0.0;
-   out_8921258435077713963[62] = 0.0;
-   out_8921258435077713963[63] = 0.0;
-   out_8921258435077713963[64] = 0.0;
-   out_8921258435077713963[65] = 0.0;
-   out_8921258435077713963[66] = 0.0;
-   out_8921258435077713963[67] = 0.0;
-   out_8921258435077713963[68] = 0.0;
-   out_8921258435077713963[69] = 0.0;
-   out_8921258435077713963[70] = 1.0;
-   out_8921258435077713963[71] = 0.0;
-   out_8921258435077713963[72] = 0.0;
-   out_8921258435077713963[73] = 0.0;
-   out_8921258435077713963[74] = 0.0;
-   out_8921258435077713963[75] = 0.0;
-   out_8921258435077713963[76] = 0.0;
-   out_8921258435077713963[77] = 0.0;
-   out_8921258435077713963[78] = 0.0;
-   out_8921258435077713963[79] = 0.0;
-   out_8921258435077713963[80] = 1.0;
+void H_mod_fun(double *state, double *out_4845788339544047954) {
+   out_4845788339544047954[0] = 1.0;
+   out_4845788339544047954[1] = 0.0;
+   out_4845788339544047954[2] = 0.0;
+   out_4845788339544047954[3] = 0.0;
+   out_4845788339544047954[4] = 0.0;
+   out_4845788339544047954[5] = 0.0;
+   out_4845788339544047954[6] = 0.0;
+   out_4845788339544047954[7] = 0.0;
+   out_4845788339544047954[8] = 0.0;
+   out_4845788339544047954[9] = 0.0;
+   out_4845788339544047954[10] = 1.0;
+   out_4845788339544047954[11] = 0.0;
+   out_4845788339544047954[12] = 0.0;
+   out_4845788339544047954[13] = 0.0;
+   out_4845788339544047954[14] = 0.0;
+   out_4845788339544047954[15] = 0.0;
+   out_4845788339544047954[16] = 0.0;
+   out_4845788339544047954[17] = 0.0;
+   out_4845788339544047954[18] = 0.0;
+   out_4845788339544047954[19] = 0.0;
+   out_4845788339544047954[20] = 1.0;
+   out_4845788339544047954[21] = 0.0;
+   out_4845788339544047954[22] = 0.0;
+   out_4845788339544047954[23] = 0.0;
+   out_4845788339544047954[24] = 0.0;
+   out_4845788339544047954[25] = 0.0;
+   out_4845788339544047954[26] = 0.0;
+   out_4845788339544047954[27] = 0.0;
+   out_4845788339544047954[28] = 0.0;
+   out_4845788339544047954[29] = 0.0;
+   out_4845788339544047954[30] = 1.0;
+   out_4845788339544047954[31] = 0.0;
+   out_4845788339544047954[32] = 0.0;
+   out_4845788339544047954[33] = 0.0;
+   out_4845788339544047954[34] = 0.0;
+   out_4845788339544047954[35] = 0.0;
+   out_4845788339544047954[36] = 0.0;
+   out_4845788339544047954[37] = 0.0;
+   out_4845788339544047954[38] = 0.0;
+   out_4845788339544047954[39] = 0.0;
+   out_4845788339544047954[40] = 1.0;
+   out_4845788339544047954[41] = 0.0;
+   out_4845788339544047954[42] = 0.0;
+   out_4845788339544047954[43] = 0.0;
+   out_4845788339544047954[44] = 0.0;
+   out_4845788339544047954[45] = 0.0;
+   out_4845788339544047954[46] = 0.0;
+   out_4845788339544047954[47] = 0.0;
+   out_4845788339544047954[48] = 0.0;
+   out_4845788339544047954[49] = 0.0;
+   out_4845788339544047954[50] = 1.0;
+   out_4845788339544047954[51] = 0.0;
+   out_4845788339544047954[52] = 0.0;
+   out_4845788339544047954[53] = 0.0;
+   out_4845788339544047954[54] = 0.0;
+   out_4845788339544047954[55] = 0.0;
+   out_4845788339544047954[56] = 0.0;
+   out_4845788339544047954[57] = 0.0;
+   out_4845788339544047954[58] = 0.0;
+   out_4845788339544047954[59] = 0.0;
+   out_4845788339544047954[60] = 1.0;
+   out_4845788339544047954[61] = 0.0;
+   out_4845788339544047954[62] = 0.0;
+   out_4845788339544047954[63] = 0.0;
+   out_4845788339544047954[64] = 0.0;
+   out_4845788339544047954[65] = 0.0;
+   out_4845788339544047954[66] = 0.0;
+   out_4845788339544047954[67] = 0.0;
+   out_4845788339544047954[68] = 0.0;
+   out_4845788339544047954[69] = 0.0;
+   out_4845788339544047954[70] = 1.0;
+   out_4845788339544047954[71] = 0.0;
+   out_4845788339544047954[72] = 0.0;
+   out_4845788339544047954[73] = 0.0;
+   out_4845788339544047954[74] = 0.0;
+   out_4845788339544047954[75] = 0.0;
+   out_4845788339544047954[76] = 0.0;
+   out_4845788339544047954[77] = 0.0;
+   out_4845788339544047954[78] = 0.0;
+   out_4845788339544047954[79] = 0.0;
+   out_4845788339544047954[80] = 1.0;
 }
-void f_fun(double *state, double dt, double *out_3277027219914288776) {
-   out_3277027219914288776[0] = state[0];
-   out_3277027219914288776[1] = state[1];
-   out_3277027219914288776[2] = state[2];
-   out_3277027219914288776[3] = state[3];
-   out_3277027219914288776[4] = state[4];
-   out_3277027219914288776[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
-   out_3277027219914288776[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
-   out_3277027219914288776[7] = state[7];
-   out_3277027219914288776[8] = state[8];
+void f_fun(double *state, double dt, double *out_4185306989729419910) {
+   out_4185306989729419910[0] = state[0];
+   out_4185306989729419910[1] = state[1];
+   out_4185306989729419910[2] = state[2];
+   out_4185306989729419910[3] = state[3];
+   out_4185306989729419910[4] = state[4];
+   out_4185306989729419910[5] = dt*((-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]))*state[6] - 9.8100000000000005*state[8] + stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*state[1]) + (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*state[4])) + state[5];
+   out_4185306989729419910[6] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*state[4])) + state[6];
+   out_4185306989729419910[7] = state[7];
+   out_4185306989729419910[8] = state[8];
 }
-void F_fun(double *state, double dt, double *out_370955893725369602) {
-   out_370955893725369602[0] = 1;
-   out_370955893725369602[1] = 0;
-   out_370955893725369602[2] = 0;
-   out_370955893725369602[3] = 0;
-   out_370955893725369602[4] = 0;
-   out_370955893725369602[5] = 0;
-   out_370955893725369602[6] = 0;
-   out_370955893725369602[7] = 0;
-   out_370955893725369602[8] = 0;
-   out_370955893725369602[9] = 0;
-   out_370955893725369602[10] = 1;
-   out_370955893725369602[11] = 0;
-   out_370955893725369602[12] = 0;
-   out_370955893725369602[13] = 0;
-   out_370955893725369602[14] = 0;
-   out_370955893725369602[15] = 0;
-   out_370955893725369602[16] = 0;
-   out_370955893725369602[17] = 0;
-   out_370955893725369602[18] = 0;
-   out_370955893725369602[19] = 0;
-   out_370955893725369602[20] = 1;
-   out_370955893725369602[21] = 0;
-   out_370955893725369602[22] = 0;
-   out_370955893725369602[23] = 0;
-   out_370955893725369602[24] = 0;
-   out_370955893725369602[25] = 0;
-   out_370955893725369602[26] = 0;
-   out_370955893725369602[27] = 0;
-   out_370955893725369602[28] = 0;
-   out_370955893725369602[29] = 0;
-   out_370955893725369602[30] = 1;
-   out_370955893725369602[31] = 0;
-   out_370955893725369602[32] = 0;
-   out_370955893725369602[33] = 0;
-   out_370955893725369602[34] = 0;
-   out_370955893725369602[35] = 0;
-   out_370955893725369602[36] = 0;
-   out_370955893725369602[37] = 0;
-   out_370955893725369602[38] = 0;
-   out_370955893725369602[39] = 0;
-   out_370955893725369602[40] = 1;
-   out_370955893725369602[41] = 0;
-   out_370955893725369602[42] = 0;
-   out_370955893725369602[43] = 0;
-   out_370955893725369602[44] = 0;
-   out_370955893725369602[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
-   out_370955893725369602[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
-   out_370955893725369602[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_370955893725369602[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
-   out_370955893725369602[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
-   out_370955893725369602[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
-   out_370955893725369602[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
-   out_370955893725369602[52] = dt*stiffness_front*state[0]/(mass*state[1]);
-   out_370955893725369602[53] = -9.8100000000000005*dt;
-   out_370955893725369602[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
-   out_370955893725369602[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
-   out_370955893725369602[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_370955893725369602[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_370955893725369602[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
-   out_370955893725369602[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
-   out_370955893725369602[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
-   out_370955893725369602[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
-   out_370955893725369602[62] = 0;
-   out_370955893725369602[63] = 0;
-   out_370955893725369602[64] = 0;
-   out_370955893725369602[65] = 0;
-   out_370955893725369602[66] = 0;
-   out_370955893725369602[67] = 0;
-   out_370955893725369602[68] = 0;
-   out_370955893725369602[69] = 0;
-   out_370955893725369602[70] = 1;
-   out_370955893725369602[71] = 0;
-   out_370955893725369602[72] = 0;
-   out_370955893725369602[73] = 0;
-   out_370955893725369602[74] = 0;
-   out_370955893725369602[75] = 0;
-   out_370955893725369602[76] = 0;
-   out_370955893725369602[77] = 0;
-   out_370955893725369602[78] = 0;
-   out_370955893725369602[79] = 0;
-   out_370955893725369602[80] = 1;
+void F_fun(double *state, double dt, double *out_8252178874365212967) {
+   out_8252178874365212967[0] = 1;
+   out_8252178874365212967[1] = 0;
+   out_8252178874365212967[2] = 0;
+   out_8252178874365212967[3] = 0;
+   out_8252178874365212967[4] = 0;
+   out_8252178874365212967[5] = 0;
+   out_8252178874365212967[6] = 0;
+   out_8252178874365212967[7] = 0;
+   out_8252178874365212967[8] = 0;
+   out_8252178874365212967[9] = 0;
+   out_8252178874365212967[10] = 1;
+   out_8252178874365212967[11] = 0;
+   out_8252178874365212967[12] = 0;
+   out_8252178874365212967[13] = 0;
+   out_8252178874365212967[14] = 0;
+   out_8252178874365212967[15] = 0;
+   out_8252178874365212967[16] = 0;
+   out_8252178874365212967[17] = 0;
+   out_8252178874365212967[18] = 0;
+   out_8252178874365212967[19] = 0;
+   out_8252178874365212967[20] = 1;
+   out_8252178874365212967[21] = 0;
+   out_8252178874365212967[22] = 0;
+   out_8252178874365212967[23] = 0;
+   out_8252178874365212967[24] = 0;
+   out_8252178874365212967[25] = 0;
+   out_8252178874365212967[26] = 0;
+   out_8252178874365212967[27] = 0;
+   out_8252178874365212967[28] = 0;
+   out_8252178874365212967[29] = 0;
+   out_8252178874365212967[30] = 1;
+   out_8252178874365212967[31] = 0;
+   out_8252178874365212967[32] = 0;
+   out_8252178874365212967[33] = 0;
+   out_8252178874365212967[34] = 0;
+   out_8252178874365212967[35] = 0;
+   out_8252178874365212967[36] = 0;
+   out_8252178874365212967[37] = 0;
+   out_8252178874365212967[38] = 0;
+   out_8252178874365212967[39] = 0;
+   out_8252178874365212967[40] = 1;
+   out_8252178874365212967[41] = 0;
+   out_8252178874365212967[42] = 0;
+   out_8252178874365212967[43] = 0;
+   out_8252178874365212967[44] = 0;
+   out_8252178874365212967[45] = dt*(stiffness_front*(-state[2] - state[3] + state[7])/(mass*state[1]) + (-stiffness_front - stiffness_rear)*state[5]/(mass*state[4]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[6]/(mass*state[4]));
+   out_8252178874365212967[46] = -dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(mass*pow(state[1], 2));
+   out_8252178874365212967[47] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8252178874365212967[48] = -dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8252178874365212967[49] = dt*((-1 - (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*pow(state[4], 2)))*state[6] - (-stiffness_front*state[0] - stiffness_rear*state[0])*state[5]/(mass*pow(state[4], 2)));
+   out_8252178874365212967[50] = dt*(-stiffness_front*state[0] - stiffness_rear*state[0])/(mass*state[4]) + 1;
+   out_8252178874365212967[51] = dt*(-state[4] + (-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(mass*state[4]));
+   out_8252178874365212967[52] = dt*stiffness_front*state[0]/(mass*state[1]);
+   out_8252178874365212967[53] = -9.8100000000000005*dt;
+   out_8252178874365212967[54] = dt*(center_to_front*stiffness_front*(-state[2] - state[3] + state[7])/(rotational_inertia*state[1]) + (-center_to_front*stiffness_front + center_to_rear*stiffness_rear)*state[5]/(rotational_inertia*state[4]) + (-pow(center_to_front, 2)*stiffness_front - pow(center_to_rear, 2)*stiffness_rear)*state[6]/(rotational_inertia*state[4]));
+   out_8252178874365212967[55] = -center_to_front*dt*stiffness_front*(-state[2] - state[3] + state[7])*state[0]/(rotational_inertia*pow(state[1], 2));
+   out_8252178874365212967[56] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8252178874365212967[57] = -center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8252178874365212967[58] = dt*(-(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])*state[5]/(rotational_inertia*pow(state[4], 2)) - (-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])*state[6]/(rotational_inertia*pow(state[4], 2)));
+   out_8252178874365212967[59] = dt*(-center_to_front*stiffness_front*state[0] + center_to_rear*stiffness_rear*state[0])/(rotational_inertia*state[4]);
+   out_8252178874365212967[60] = dt*(-pow(center_to_front, 2)*stiffness_front*state[0] - pow(center_to_rear, 2)*stiffness_rear*state[0])/(rotational_inertia*state[4]) + 1;
+   out_8252178874365212967[61] = center_to_front*dt*stiffness_front*state[0]/(rotational_inertia*state[1]);
+   out_8252178874365212967[62] = 0;
+   out_8252178874365212967[63] = 0;
+   out_8252178874365212967[64] = 0;
+   out_8252178874365212967[65] = 0;
+   out_8252178874365212967[66] = 0;
+   out_8252178874365212967[67] = 0;
+   out_8252178874365212967[68] = 0;
+   out_8252178874365212967[69] = 0;
+   out_8252178874365212967[70] = 1;
+   out_8252178874365212967[71] = 0;
+   out_8252178874365212967[72] = 0;
+   out_8252178874365212967[73] = 0;
+   out_8252178874365212967[74] = 0;
+   out_8252178874365212967[75] = 0;
+   out_8252178874365212967[76] = 0;
+   out_8252178874365212967[77] = 0;
+   out_8252178874365212967[78] = 0;
+   out_8252178874365212967[79] = 0;
+   out_8252178874365212967[80] = 1;
 }
-void h_25(double *state, double *unused, double *out_8154090013633331696) {
-   out_8154090013633331696[0] = state[6];
+void h_25(double *state, double *unused, double *out_4739826667919645243) {
+   out_4739826667919645243[0] = state[6];
 }
-void H_25(double *state, double *unused, double *out_8415923992877417251) {
-   out_8415923992877417251[0] = 0;
-   out_8415923992877417251[1] = 0;
-   out_8415923992877417251[2] = 0;
-   out_8415923992877417251[3] = 0;
-   out_8415923992877417251[4] = 0;
-   out_8415923992877417251[5] = 0;
-   out_8415923992877417251[6] = 1;
-   out_8415923992877417251[7] = 0;
-   out_8415923992877417251[8] = 0;
+void H_25(double *state, double *unused, double *out_2698629402266667542) {
+   out_2698629402266667542[0] = 0;
+   out_2698629402266667542[1] = 0;
+   out_2698629402266667542[2] = 0;
+   out_2698629402266667542[3] = 0;
+   out_2698629402266667542[4] = 0;
+   out_2698629402266667542[5] = 0;
+   out_2698629402266667542[6] = 1;
+   out_2698629402266667542[7] = 0;
+   out_2698629402266667542[8] = 0;
 }
-void h_24(double *state, double *unused, double *out_7351280482288278166) {
-   out_7351280482288278166[0] = state[4];
-   out_7351280482288278166[1] = state[5];
+void h_24(double *state, double *unused, double *out_6091047700113278923) {
+   out_6091047700113278923[0] = state[4];
+   out_6091047700113278923[1] = state[5];
 }
-void H_24(double *state, double *unused, double *out_8301956961654820296) {
-   out_8301956961654820296[0] = 0;
-   out_8301956961654820296[1] = 0;
-   out_8301956961654820296[2] = 0;
-   out_8301956961654820296[3] = 0;
-   out_8301956961654820296[4] = 1;
-   out_8301956961654820296[5] = 0;
-   out_8301956961654820296[6] = 0;
-   out_8301956961654820296[7] = 0;
-   out_8301956961654820296[8] = 0;
-   out_8301956961654820296[9] = 0;
-   out_8301956961654820296[10] = 0;
-   out_8301956961654820296[11] = 0;
-   out_8301956961654820296[12] = 0;
-   out_8301956961654820296[13] = 0;
-   out_8301956961654820296[14] = 1;
-   out_8301956961654820296[15] = 0;
-   out_8301956961654820296[16] = 0;
-   out_8301956961654820296[17] = 0;
+void H_24(double *state, double *unused, double *out_2121692102389320721) {
+   out_2121692102389320721[0] = 0;
+   out_2121692102389320721[1] = 0;
+   out_2121692102389320721[2] = 0;
+   out_2121692102389320721[3] = 0;
+   out_2121692102389320721[4] = 1;
+   out_2121692102389320721[5] = 0;
+   out_2121692102389320721[6] = 0;
+   out_2121692102389320721[7] = 0;
+   out_2121692102389320721[8] = 0;
+   out_2121692102389320721[9] = 0;
+   out_2121692102389320721[10] = 0;
+   out_2121692102389320721[11] = 0;
+   out_2121692102389320721[12] = 0;
+   out_2121692102389320721[13] = 0;
+   out_2121692102389320721[14] = 1;
+   out_2121692102389320721[15] = 0;
+   out_2121692102389320721[16] = 0;
+   out_2121692102389320721[17] = 0;
 }
-void h_30(double *state, double *unused, double *out_4292406537204830044) {
-   out_4292406537204830044[0] = state[4];
+void h_30(double *state, double *unused, double *out_7687552658275130204) {
+   out_7687552658275130204[0] = state[4];
 }
-void H_30(double *state, double *unused, double *out_1499233651385800496) {
-   out_1499233651385800496[0] = 0;
-   out_1499233651385800496[1] = 0;
-   out_1499233651385800496[2] = 0;
-   out_1499233651385800496[3] = 0;
-   out_1499233651385800496[4] = 1;
-   out_1499233651385800496[5] = 0;
-   out_1499233651385800496[6] = 0;
-   out_1499233651385800496[7] = 0;
-   out_1499233651385800496[8] = 0;
+void H_30(double *state, double *unused, double *out_2569290455123427472) {
+   out_2569290455123427472[0] = 0;
+   out_2569290455123427472[1] = 0;
+   out_2569290455123427472[2] = 0;
+   out_2569290455123427472[3] = 0;
+   out_2569290455123427472[4] = 1;
+   out_2569290455123427472[5] = 0;
+   out_2569290455123427472[6] = 0;
+   out_2569290455123427472[7] = 0;
+   out_2569290455123427472[8] = 0;
 }
-void h_26(double *state, double *unused, double *out_7000316085453517212) {
-   out_7000316085453517212[0] = state[7];
+void h_26(double *state, double *unused, double *out_7946639312164568029) {
+   out_7946639312164568029[0] = state[7];
 }
-void H_26(double *state, double *unused, double *out_6289316761958078141) {
-   out_6289316761958078141[0] = 0;
-   out_6289316761958078141[1] = 0;
-   out_6289316761958078141[2] = 0;
-   out_6289316761958078141[3] = 0;
-   out_6289316761958078141[4] = 0;
-   out_6289316761958078141[5] = 0;
-   out_6289316761958078141[6] = 0;
-   out_6289316761958078141[7] = 1;
-   out_6289316761958078141[8] = 0;
+void H_26(double *state, double *unused, double *out_1042873916607388682) {
+   out_1042873916607388682[0] = 0;
+   out_1042873916607388682[1] = 0;
+   out_1042873916607388682[2] = 0;
+   out_1042873916607388682[3] = 0;
+   out_1042873916607388682[4] = 0;
+   out_1042873916607388682[5] = 0;
+   out_1042873916607388682[6] = 0;
+   out_1042873916607388682[7] = 1;
+   out_1042873916607388682[8] = 0;
 }
-void h_27(double *state, double *unused, double *out_3964284714812858416) {
-   out_3964284714812858416[0] = state[3];
+void h_27(double *state, double *unused, double *out_3665830151724581410) {
+   out_3665830151724581410[0] = state[3];
 }
-void H_27(double *state, double *unused, double *out_3673996963186225407) {
-   out_3673996963186225407[0] = 0;
-   out_3673996963186225407[1] = 0;
-   out_3673996963186225407[2] = 0;
-   out_3673996963186225407[3] = 1;
-   out_3673996963186225407[4] = 0;
-   out_3673996963186225407[5] = 0;
-   out_3673996963186225407[6] = 0;
-   out_3673996963186225407[7] = 0;
-   out_3673996963186225407[8] = 0;
+void H_27(double *state, double *unused, double *out_394527143323002561) {
+   out_394527143323002561[0] = 0;
+   out_394527143323002561[1] = 0;
+   out_394527143323002561[2] = 0;
+   out_394527143323002561[3] = 1;
+   out_394527143323002561[4] = 0;
+   out_394527143323002561[5] = 0;
+   out_394527143323002561[6] = 0;
+   out_394527143323002561[7] = 0;
+   out_394527143323002561[8] = 0;
 }
-void h_29(double *state, double *unused, double *out_3689090652528352527) {
-   out_3689090652528352527[0] = state[1];
+void h_29(double *state, double *unused, double *out_8290868542951607721) {
+   out_8290868542951607721[0] = state[1];
 }
-void H_29(double *state, double *unused, double *out_989002307071408312) {
-   out_989002307071408312[0] = 0;
-   out_989002307071408312[1] = 1;
-   out_989002307071408312[2] = 0;
-   out_989002307071408312[3] = 0;
-   out_989002307071408312[4] = 0;
-   out_989002307071408312[5] = 0;
-   out_989002307071408312[6] = 0;
-   out_989002307071408312[7] = 0;
-   out_989002307071408312[8] = 0;
+void H_29(double *state, double *unused, double *out_3079521799437819656) {
+   out_3079521799437819656[0] = 0;
+   out_3079521799437819656[1] = 1;
+   out_3079521799437819656[2] = 0;
+   out_3079521799437819656[3] = 0;
+   out_3079521799437819656[4] = 0;
+   out_3079521799437819656[5] = 0;
+   out_3079521799437819656[6] = 0;
+   out_3079521799437819656[7] = 0;
+   out_3079521799437819656[8] = 0;
 }
-void h_28(double *state, double *unused, double *out_1914000772745856672) {
-   out_1914000772745856672[0] = state[0];
+void h_28(double *state, double *unused, double *out_6846547824895893173) {
+   out_6846547824895893173[0] = state[0];
 }
-void H_28(double *state, double *unused, double *out_6071401324140938886) {
-   out_6071401324140938886[0] = 1;
-   out_6071401324140938886[1] = 0;
-   out_6071401324140938886[2] = 0;
-   out_6071401324140938886[3] = 0;
-   out_6071401324140938886[4] = 0;
-   out_6071401324140938886[5] = 0;
-   out_6071401324140938886[6] = 0;
-   out_6071401324140938886[7] = 0;
-   out_6071401324140938886[8] = 0;
+void H_28(double *state, double *unused, double *out_2002877217631710918) {
+   out_2002877217631710918[0] = 1;
+   out_2002877217631710918[1] = 0;
+   out_2002877217631710918[2] = 0;
+   out_2002877217631710918[3] = 0;
+   out_2002877217631710918[4] = 0;
+   out_2002877217631710918[5] = 0;
+   out_2002877217631710918[6] = 0;
+   out_2002877217631710918[7] = 0;
+   out_2002877217631710918[8] = 0;
 }
-void h_31(double *state, double *unused, double *out_8205050127743358283) {
-   out_8205050127743358283[0] = state[8];
+void h_31(double *state, double *unused, double *out_3141445982834403942) {
+   out_3141445982834403942[0] = state[8];
 }
-void H_31(double *state, double *unused, double *out_8385278031000456823) {
-   out_8385278031000456823[0] = 0;
-   out_8385278031000456823[1] = 0;
-   out_8385278031000456823[2] = 0;
-   out_8385278031000456823[3] = 0;
-   out_8385278031000456823[4] = 0;
-   out_8385278031000456823[5] = 0;
-   out_8385278031000456823[6] = 0;
-   out_8385278031000456823[7] = 0;
-   out_8385278031000456823[8] = 1;
+void H_31(double *state, double *unused, double *out_2729275364143627970) {
+   out_2729275364143627970[0] = 0;
+   out_2729275364143627970[1] = 0;
+   out_2729275364143627970[2] = 0;
+   out_2729275364143627970[3] = 0;
+   out_2729275364143627970[4] = 0;
+   out_2729275364143627970[5] = 0;
+   out_2729275364143627970[6] = 0;
+   out_2729275364143627970[7] = 0;
+   out_2729275364143627970[8] = 1;
 }
 #include <eigen3/Eigen/Dense>
 #include <iostream>
@@ -518,68 +518,68 @@ void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea) {
  update<1, 3, 0>(in_x, in_P, h_31, H_31, NULL, in_z, in_R, in_ea, MAHA_THRESH_31);
 }
-void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654) {
-  err_fun(nom_x, delta_x, out_3568804456057098654);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1972702472511725479) {
+  err_fun(nom_x, delta_x, out_1972702472511725479);
 }
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031) {
-  inv_err_fun(nom_x, true_x, out_1840397183166108031);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3741555659818717473) {
+  inv_err_fun(nom_x, true_x, out_3741555659818717473);
 }
-void car_H_mod_fun(double *state, double *out_8921258435077713963) {
-  H_mod_fun(state, out_8921258435077713963);
+void car_H_mod_fun(double *state, double *out_4845788339544047954) {
+  H_mod_fun(state, out_4845788339544047954);
 }
-void car_f_fun(double *state, double dt, double *out_3277027219914288776) {
-  f_fun(state,  dt, out_3277027219914288776);
+void car_f_fun(double *state, double dt, double *out_4185306989729419910) {
+  f_fun(state,  dt, out_4185306989729419910);
 }
-void car_F_fun(double *state, double dt, double *out_370955893725369602) {
-  F_fun(state,  dt, out_370955893725369602);
+void car_F_fun(double *state, double dt, double *out_8252178874365212967) {
+  F_fun(state,  dt, out_8252178874365212967);
 }
-void car_h_25(double *state, double *unused, double *out_8154090013633331696) {
-  h_25(state, unused, out_8154090013633331696);
+void car_h_25(double *state, double *unused, double *out_4739826667919645243) {
+  h_25(state, unused, out_4739826667919645243);
 }
-void car_H_25(double *state, double *unused, double *out_8415923992877417251) {
-  H_25(state, unused, out_8415923992877417251);
+void car_H_25(double *state, double *unused, double *out_2698629402266667542) {
+  H_25(state, unused, out_2698629402266667542);
 }
-void car_h_24(double *state, double *unused, double *out_7351280482288278166) {
-  h_24(state, unused, out_7351280482288278166);
+void car_h_24(double *state, double *unused, double *out_6091047700113278923) {
+  h_24(state, unused, out_6091047700113278923);
 }
-void car_H_24(double *state, double *unused, double *out_8301956961654820296) {
-  H_24(state, unused, out_8301956961654820296);
+void car_H_24(double *state, double *unused, double *out_2121692102389320721) {
+  H_24(state, unused, out_2121692102389320721);
 }
-void car_h_30(double *state, double *unused, double *out_4292406537204830044) {
-  h_30(state, unused, out_4292406537204830044);
+void car_h_30(double *state, double *unused, double *out_7687552658275130204) {
+  h_30(state, unused, out_7687552658275130204);
 }
-void car_H_30(double *state, double *unused, double *out_1499233651385800496) {
-  H_30(state, unused, out_1499233651385800496);
+void car_H_30(double *state, double *unused, double *out_2569290455123427472) {
+  H_30(state, unused, out_2569290455123427472);
 }
-void car_h_26(double *state, double *unused, double *out_7000316085453517212) {
-  h_26(state, unused, out_7000316085453517212);
+void car_h_26(double *state, double *unused, double *out_7946639312164568029) {
+  h_26(state, unused, out_7946639312164568029);
 }
-void car_H_26(double *state, double *unused, double *out_6289316761958078141) {
-  H_26(state, unused, out_6289316761958078141);
+void car_H_26(double *state, double *unused, double *out_1042873916607388682) {
+  H_26(state, unused, out_1042873916607388682);
 }
-void car_h_27(double *state, double *unused, double *out_3964284714812858416) {
-  h_27(state, unused, out_3964284714812858416);
+void car_h_27(double *state, double *unused, double *out_3665830151724581410) {
+  h_27(state, unused, out_3665830151724581410);
 }
-void car_H_27(double *state, double *unused, double *out_3673996963186225407) {
-  H_27(state, unused, out_3673996963186225407);
+void car_H_27(double *state, double *unused, double *out_394527143323002561) {
+  H_27(state, unused, out_394527143323002561);
 }
-void car_h_29(double *state, double *unused, double *out_3689090652528352527) {
-  h_29(state, unused, out_3689090652528352527);
+void car_h_29(double *state, double *unused, double *out_8290868542951607721) {
+  h_29(state, unused, out_8290868542951607721);
 }
-void car_H_29(double *state, double *unused, double *out_989002307071408312) {
-  H_29(state, unused, out_989002307071408312);
+void car_H_29(double *state, double *unused, double *out_3079521799437819656) {
+  H_29(state, unused, out_3079521799437819656);
 }
-void car_h_28(double *state, double *unused, double *out_1914000772745856672) {
-  h_28(state, unused, out_1914000772745856672);
+void car_h_28(double *state, double *unused, double *out_6846547824895893173) {
+  h_28(state, unused, out_6846547824895893173);
 }
-void car_H_28(double *state, double *unused, double *out_6071401324140938886) {
-  H_28(state, unused, out_6071401324140938886);
+void car_H_28(double *state, double *unused, double *out_2002877217631710918) {
+  H_28(state, unused, out_2002877217631710918);
 }
-void car_h_31(double *state, double *unused, double *out_8205050127743358283) {
-  h_31(state, unused, out_8205050127743358283);
+void car_h_31(double *state, double *unused, double *out_3141445982834403942) {
+  h_31(state, unused, out_3141445982834403942);
 }
-void car_H_31(double *state, double *unused, double *out_8385278031000456823) {
-  H_31(state, unused, out_8385278031000456823);
+void car_H_31(double *state, double *unused, double *out_2729275364143627970) {
+  H_31(state, unused, out_2729275364143627970);
 }
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt) {
  predict(in_x, in_P, in_Q, dt);
@@ -9,27 +9,27 @@ void car_update_27(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void car_update_29(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_28(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void car_update_31(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void car_err_fun(double *nom_x, double *delta_x, double *out_3568804456057098654);
-void car_inv_err_fun(double *nom_x, double *true_x, double *out_1840397183166108031);
-void car_H_mod_fun(double *state, double *out_8921258435077713963);
-void car_f_fun(double *state, double dt, double *out_3277027219914288776);
-void car_F_fun(double *state, double dt, double *out_370955893725369602);
-void car_h_25(double *state, double *unused, double *out_8154090013633331696);
-void car_H_25(double *state, double *unused, double *out_8415923992877417251);
-void car_h_24(double *state, double *unused, double *out_7351280482288278166);
-void car_H_24(double *state, double *unused, double *out_8301956961654820296);
-void car_h_30(double *state, double *unused, double *out_4292406537204830044);
-void car_H_30(double *state, double *unused, double *out_1499233651385800496);
-void car_h_26(double *state, double *unused, double *out_7000316085453517212);
-void car_H_26(double *state, double *unused, double *out_6289316761958078141);
-void car_h_27(double *state, double *unused, double *out_3964284714812858416);
-void car_H_27(double *state, double *unused, double *out_3673996963186225407);
-void car_h_29(double *state, double *unused, double *out_3689090652528352527);
-void car_H_29(double *state, double *unused, double *out_989002307071408312);
-void car_h_28(double *state, double *unused, double *out_1914000772745856672);
-void car_H_28(double *state, double *unused, double *out_6071401324140938886);
-void car_h_31(double *state, double *unused, double *out_8205050127743358283);
-void car_H_31(double *state, double *unused, double *out_8385278031000456823);
+void car_err_fun(double *nom_x, double *delta_x, double *out_1972702472511725479);
+void car_inv_err_fun(double *nom_x, double *true_x, double *out_3741555659818717473);
+void car_H_mod_fun(double *state, double *out_4845788339544047954);
+void car_f_fun(double *state, double dt, double *out_4185306989729419910);
+void car_F_fun(double *state, double dt, double *out_8252178874365212967);
+void car_h_25(double *state, double *unused, double *out_4739826667919645243);
+void car_H_25(double *state, double *unused, double *out_2698629402266667542);
+void car_h_24(double *state, double *unused, double *out_6091047700113278923);
+void car_H_24(double *state, double *unused, double *out_2121692102389320721);
+void car_h_30(double *state, double *unused, double *out_7687552658275130204);
+void car_H_30(double *state, double *unused, double *out_2569290455123427472);
+void car_h_26(double *state, double *unused, double *out_7946639312164568029);
+void car_H_26(double *state, double *unused, double *out_1042873916607388682);
+void car_h_27(double *state, double *unused, double *out_3665830151724581410);
+void car_H_27(double *state, double *unused, double *out_394527143323002561);
+void car_h_29(double *state, double *unused, double *out_8290868542951607721);
+void car_H_29(double *state, double *unused, double *out_3079521799437819656);
+void car_h_28(double *state, double *unused, double *out_6846547824895893173);
+void car_H_28(double *state, double *unused, double *out_2002877217631710918);
+void car_h_31(double *state, double *unused, double *out_3141445982834403942);
+void car_H_31(double *state, double *unused, double *out_2729275364143627970);
 void car_predict(double *in_x, double *in_P, double *in_Q, double dt);
 void car_set_mass(double x);
 void car_set_rotational_inertia(double x);
@@ -5,18 +5,18 @@ void pose_update_4(double *in_x, double *in_P, double *in_z, double *in_R, doubl
 void pose_update_10(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_13(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
 void pose_update_14(double *in_x, double *in_P, double *in_z, double *in_R, double *in_ea);
-void pose_err_fun(double *nom_x, double *delta_x, double *out_3667758909157266385);
-void pose_inv_err_fun(double *nom_x, double *true_x, double *out_3255008687637156165);
-void pose_H_mod_fun(double *state, double *out_1678148223451849404);
-void pose_f_fun(double *state, double dt, double *out_4390690219844123460);
-void pose_F_fun(double *state, double dt, double *out_5251920544283288288);
-void pose_h_4(double *state, double *unused, double *out_2086181486544094617);
-void pose_H_4(double *state, double *unused, double *out_141550502454447457);
-void pose_h_10(double *state, double *unused, double *out_2304974017593414723);
-void pose_H_10(double *state, double *unused, double *out_521311265061217175);
-void pose_h_13(double *state, double *unused, double *out_6563098082746675966);
-void pose_H_13(double *state, double *unused, double *out_3070723322877885344);
-void pose_h_14(double *state, double *unused, double *out_4832039927491863335);
-void pose_H_14(double *state, double *unused, double *out_3821690353885037072);
+void pose_err_fun(double *nom_x, double *delta_x, double *out_867342344380239798);
+void pose_inv_err_fun(double *nom_x, double *true_x, double *out_2946458972277190645);
+void pose_H_mod_fun(double *state, double *out_8034808007713849348);
+void pose_f_fun(double *state, double dt, double *out_5448742405462655453);
+void pose_F_fun(double *state, double dt, double *out_582733379073092242);
+void pose_h_4(double *state, double *unused, double *out_959952002277923346);
+void pose_H_4(double *state, double *unused, double *out_1467574399937880926);
+void pose_h_10(double *state, double *unused, double *out_315403293584823803);
+void pose_H_10(double *state, double *unused, double *out_2334763542090568144);
+void pose_h_13(double *state, double *unused, double *out_5013407308002664142);
+void pose_H_13(double *state, double *unused, double *out_4679848225270213727);
+void pose_h_14(double *state, double *unused, double *out_6338305732819674146);
+void pose_H_14(double *state, double *unused, double *out_1615214032357491370);
 void pose_predict(double *in_x, double *in_P, double *in_Q, double dt);
 }
@@ -0,0 +1,389 @@
+#!/usr/bin/env python3
+import argparse
+import atexit
+import os
+import pickle
+import time
+from collections import defaultdict, namedtuple
+from functools import partial
+
+import numpy as np
+
+
+def _patch_tinygrad_fetch_fw():
+  import hashlib
+  import pathlib
+
+  import zstandard
+  from tinygrad import helpers
+
+  original_fetch_fw = getattr(helpers, "fetch_fw", None)
+  if original_fetch_fw is None:
+    return
+
+  def fetch_fw(path, name, sha256):
+    firmware_path = pathlib.Path(f"/lib/firmware/{path}/{name}.zst")
+    if firmware_path.is_file():
+      blob = zstandard.ZstdDecompressor().stream_reader(firmware_path.read_bytes()).read()
+      if hashlib.sha256(blob).hexdigest() == sha256:
+        return blob
+    return original_fetch_fw(path, name, sha256)
+
+  helpers.fetch_fw = fetch_fw
+
+
+_patch_tinygrad_fetch_fw()
+
+from tinygrad.device import Device
+from tinygrad.engine.jit import TinyJit
+from tinygrad.helpers import Context
+from tinygrad.tensor import Tensor
+
+
+NV12Frame = namedtuple("NV12Frame", ["width", "height", "stride", "y_height", "uv_height", "size"])
+WARP_INPUTS = ["img_q", "big_img_q", "tfm", "big_tfm"]
+POLICY_INPUTS = ["feat_q", "desire_q", "desire", "traffic_convention", "action_t"]
+
+WARP_DEV = os.getenv("WARP_DEV")
+
+
+def make_random_images(keys, shape, device=None):
+  return {key: Tensor.randint(shape, low=0, high=256, dtype="uint8", device=device).realize() for key in keys}
+
+
+class _BlobTensorInputs(dict):
+  _backing_arrays: dict[str, np.ndarray]
+
+
+def make_random_blob_images(keys, shape, device=None):
+  blob_shape = shape if isinstance(shape, tuple) else (shape,)
+  backing_arrays = {
+    key: np.random.randint(0, 256, size=blob_shape, dtype=np.uint8)
+    for key in keys
+  }
+  inputs = _BlobTensorInputs({
+    key: Tensor.from_blob(array.ctypes.data, array.shape, dtype="uint8", device=device).realize()
+    for key, array in backing_arrays.items()
+  })
+  # Keep the numpy storage alive for the duration of the JIT capture/replay call.
+  inputs._backing_arrays = backing_arrays
+  return inputs
+
+
+def warp_perspective_tinygrad(src_flat, matrix_inverse, dst_shape, src_shape, stride_pad, border_fill_val=None):
+  width_dst, height_dst = dst_shape
+  height_src, width_src = src_shape
+
+  x = Tensor.arange(width_dst, device=WARP_DEV).reshape(1, width_dst).expand(height_dst, width_dst).reshape(-1)
+  y = Tensor.arange(height_dst, device=WARP_DEV).reshape(height_dst, 1).expand(height_dst, width_dst).reshape(-1)
+
+  # Inline 3x3 matmul as elementwise to avoid reduce ops and enable fusion with gather.
+  src_x = matrix_inverse[0, 0] * x + matrix_inverse[0, 1] * y + matrix_inverse[0, 2]
+  src_y = matrix_inverse[1, 0] * x + matrix_inverse[1, 1] * y + matrix_inverse[1, 2]
+  src_w = matrix_inverse[2, 0] * x + matrix_inverse[2, 1] * y + matrix_inverse[2, 2]
+
+  src_x = src_x / src_w
+  src_y = src_y / src_w
+
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, width_src - 1).cast("int")
+  y_nn_clipped = y_round.clip(0, height_src - 1).cast("int")
+  idx = y_nn_clipped * (width_src + stride_pad) + x_nn_clipped
+  sampled = src_flat[idx]
+
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= width_src - 1) &
+               (y_round >= 0) & (y_round <= height_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)
+
+
+def frames_to_tensor(frames):
+  height = (frames.shape[0] * 2) // 3
+  width = frames.shape[1]
+  return Tensor.cat(
+    frames[0:height:2, 0::2],
+    frames[1:height:2, 0::2],
+    frames[0:height:2, 1::2],
+    frames[1:height:2, 1::2],
+    frames[height:height + height // 4].reshape((height // 2, width // 2)),
+    frames[height + height // 4:height + height // 2].reshape((height // 2, width // 2)),
+    dim=0,
+  ).reshape((6, height // 2, width // 2))
+
+
+def make_frame_prepare(nv12: NV12Frame, model_w, model_h):
+  cam_w, cam_h, stride, y_height, uv_height, _ = nv12
+  uv_offset = stride * y_height
+  stride_pad = stride - cam_w
+
+  def frame_prepare_tinygrad(input_frame, matrix_inverse):
+    # UV_SCALE @ M_inv @ UV_SCALE_INV simplifies to elementwise scaling.
+    matrix_inverse_uv = matrix_inverse * Tensor([[1.0, 1.0, 0.5], [1.0, 1.0, 0.5], [2.0, 2.0, 1.0]], device=WARP_DEV)
+    # Deinterleave NV12 UV plane (UVUV... -> separate U, V).
+    uv = input_frame[uv_offset:uv_offset + uv_height * stride].reshape(uv_height, stride)
+    with Context(SPLIT_REDUCEOP=0):
+      y = warp_perspective_tinygrad(
+        input_frame[:cam_h * stride],
+        matrix_inverse,
+        (model_w, model_h),
+        (cam_h, cam_w),
+        stride_pad,
+      ).realize()
+      u = warp_perspective_tinygrad(
+        uv[:cam_h // 2, :cam_w:2].flatten(),
+        matrix_inverse_uv,
+        (model_w // 2, model_h // 2),
+        (cam_h // 2, cam_w // 2),
+        0,
+      ).realize()
+      v = warp_perspective_tinygrad(
+        uv[:cam_h // 2, 1:cam_w:2].flatten(),
+        matrix_inverse_uv,
+        (model_w // 2, model_h // 2),
+        (cam_h // 2, cam_w // 2),
+        0,
+      ).realize()
+    yuv = y.cat(u).cat(v).reshape((model_h * 3 // 2, model_w))
+    return frames_to_tensor(yuv)
+
+  return frame_prepare_tinygrad
+
+
+def make_tensor_inputs(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  img = vision_input_shapes["img"]
+  n_frames = img[1] // 6
+  img_buf_shape = (frame_skip * (n_frames - 1) + 1, 6, img[2], img[3])
+
+  features_buffer = policy_input_shapes["features_buffer"]
+  desire_pulse = policy_input_shapes["desire_pulse"]
+
+  return {
+    "img_q": Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    "big_img_q": Tensor(np.zeros(img_buf_shape, dtype=np.uint8), device=device).contiguous().realize(),
+    "feat_q": Tensor(
+      np.zeros((frame_skip * (features_buffer[1] - 1) + 1, features_buffer[0], features_buffer[2]), dtype=np.float32),
+      device=device,
+    ).contiguous().realize(),
+    "desire_q": Tensor(
+      np.zeros((frame_skip * desire_pulse[1], desire_pulse[0], desire_pulse[2]), dtype=np.float32),
+      device=device,
+    ).contiguous().realize(),
+  }
+
+
+def make_npy_inputs(policy_input_shapes):
+  desire_pulse = policy_input_shapes["desire_pulse"]
+  traffic_convention = policy_input_shapes["traffic_convention"]
+
+  npy = {
+    "desire": np.zeros(desire_pulse[2], dtype=np.float32),
+    "traffic_convention": np.zeros(traffic_convention, dtype=np.float32),
+    "tfm": np.zeros((3, 3), dtype=np.float32),
+    "big_tfm": np.zeros((3, 3), dtype=np.float32),
+  }
+  if "action_t" in policy_input_shapes:
+    npy["action_t"] = np.zeros(policy_input_shapes["action_t"], dtype=np.float32)
+  npy_tensors = {key: Tensor(value, device="NPY").realize() for key, value in npy.items()}
+  return npy, npy_tensors
+
+
+def make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, device):
+  tensor_inputs = make_tensor_inputs(vision_input_shapes, policy_input_shapes, frame_skip, device)
+  npy, npy_tensors = make_npy_inputs(policy_input_shapes)
+  return {**tensor_inputs, **npy_tensors}, npy
+
+
+def shift_and_sample(buf, new_val, sample_fn):
+  buf.assign(buf[1:].cat(new_val, dim=0).contiguous())
+  return sample_fn(buf)
+
+
+def sample_skip(buf, frame_skip):
+  return buf[::frame_skip].contiguous().flatten(0, 1).unsqueeze(0)
+
+
+def sample_desire(buf, frame_skip):
+  return buf.reshape(-1, frame_skip, *buf.shape[1:]).max(1).flatten(0, 1).unsqueeze(0)
+
+
+def make_warp(nv12, model_w, model_h, frame_skip):
+  frame_prepare = make_frame_prepare(nv12, model_w, model_h)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def warp_enqueue(img_q, big_img_q, tfm, big_tfm, frame, big_frame):
+    tfm = tfm.to(WARP_DEV)
+    big_tfm = big_tfm.to(WARP_DEV)
+    Tensor.realize(tfm, big_tfm)
+
+    warped_frame = frame_prepare(frame, tfm).unsqueeze(0).to(Device.DEFAULT)
+    warped_big_frame = frame_prepare(big_frame, big_tfm).unsqueeze(0).to(Device.DEFAULT)
+    img = shift_and_sample(img_q, warped_frame, sample_skip_fn)
+    big_img = shift_and_sample(big_img_q, warped_big_frame, sample_skip_fn)
+    return img, big_img
+
+  return warp_enqueue
+
+
+def make_run_policy(vision_runner, off_policy_runner, on_policy_runner, vision_features_slice, frame_skip):
+  sample_desire_fn = partial(sample_desire, frame_skip=frame_skip)
+  sample_skip_fn = partial(sample_skip, frame_skip=frame_skip)
+
+  def run_policy(img, big_img, feat_q, desire_q, desire, traffic_convention, action_t):
+    desire = desire.to(Device.DEFAULT)
+    traffic_convention = traffic_convention.to(Device.DEFAULT)
+    action_t = action_t.to(Device.DEFAULT)
+    Tensor.realize(desire, traffic_convention, action_t)
+
+    desire_buf = shift_and_sample(desire_q, desire.reshape(1, 1, -1), sample_desire_fn)
+    vision_out = next(iter(vision_runner({"img": img, "big_img": big_img}).values())).cast("float32")
+
+    new_feat = vision_out[:, vision_features_slice].reshape(1, -1).unsqueeze(0)
+    feat_buf = shift_and_sample(feat_q, new_feat, sample_skip_fn)
+
+    inputs = {
+      "features_buffer": feat_buf,
+      "desire_pulse": desire_buf,
+      "traffic_convention": traffic_convention,
+      "action_t": action_t,
+    }
+    on_policy_out = next(iter(on_policy_runner(inputs).values())).cast("float32")
+    off_policy_out = next(iter(off_policy_runner(inputs).values())).cast("float32")
+    return vision_out, on_policy_out, off_policy_out
+
+  return run_policy
+
+
+def compile_jit(jit, make_random_inputs, input_keys, frame_skip, vision_metadata, policy_metadata):
+  vision_input_shapes = vision_metadata["input_shapes"]
+  policy_input_shapes = policy_metadata["input_shapes"]
+
+  seed = 42
+  validation_rtol = 5e-3 if Device.DEFAULT == "QCOM" else 0.0
+  validation_atol = 5e-3 if Device.DEFAULT == "QCOM" else 0.0
+
+  def arrays_match(lhs, rhs):
+    if lhs.shape != rhs.shape:
+      return False
+    if np.issubdtype(lhs.dtype, np.floating) or np.issubdtype(rhs.dtype, np.floating):
+      return np.allclose(lhs, rhs, rtol=validation_rtol, atol=validation_atol, equal_nan=True)
+    return np.array_equal(lhs, rhs)
+
+  def random_inputs_run(fn, current_seed, test_val=None, test_buffers=None, expect_match=True):
+    input_queues, npy = make_input_queues(vision_input_shapes, policy_input_shapes, frame_skip, Device.DEFAULT)
+    np.random.seed(current_seed)
+    Tensor.manual_seed(current_seed)
+
+    testing = test_val is not None or test_buffers is not None
+    n_runs = 1 if testing else 3
+
+    for idx in range(n_runs):
+      for value in npy.values():
+        value[:] = np.random.randn(*value.shape).astype(value.dtype)
+      Device.default.synchronize()
+      random_inputs = make_random_inputs()
+      start = time.perf_counter()
+      outs = fn(**{key: input_queues[key] for key in input_keys}, **random_inputs)
+      mid = time.perf_counter()
+      Device.default.synchronize()
+      end = time.perf_counter()
+      print(f"  [{idx + 1}/{n_runs}] enqueue {(mid - start) * 1e3:6.2f} ms -- total {(end - start) * 1e3:6.2f} ms")
+
+      if idx == 0:
+        val = [np.copy(value.numpy()) for value in outs]
+        buffers = [np.copy(value.numpy().copy()) for value in input_queues.values()]
+
+    if Device.DEFAULT != "QCOM":
+      if test_val is not None:
+        match = all(arrays_match(lhs, rhs) for lhs, rhs in zip(val, test_val, strict=True))
+        assert match == expect_match, f"outputs {'differ from' if expect_match else 'match'} baseline (seed={current_seed})"
+      if test_buffers is not None:
+        match = all(arrays_match(lhs, rhs) for lhs, rhs in zip(buffers, test_buffers, strict=True))
+        assert match == expect_match, f"buffers {'differ from' if expect_match else 'match'} baseline (seed={current_seed})"
+    return val, buffers
+
+  print("capture + replay")
+  test_val, test_buffers = random_inputs_run(jit, seed)
+  print("pickle round trip")
+  jit = pickle.loads(pickle.dumps(jit))
+  random_inputs_run(jit, seed, test_val, test_buffers, expect_match=True)
+  random_inputs_run(jit, seed + 1, test_val, test_buffers, expect_match=False)
+  return jit
+
+
+def _parse_size(size):
+  width, height = size.lower().split("x")
+  return int(width), int(height)
+
+
+def read_file_chunked_to_shm(path):
+  from openpilot.common.file_chunker import read_file_chunked
+  from openpilot.system.hardware.hw import Paths
+
+  shm_path = os.path.join(Paths.shm_path(), os.path.basename(path))
+  atexit.register(lambda: os.path.exists(shm_path) and os.remove(shm_path))
+  with open(shm_path, "wb") as f:
+    f.write(read_file_chunked(path))
+  return shm_path
+
+
+if __name__ == "__main__":
+  from tinygrad.nn.onnx import OnnxRunner
+  from openpilot.selfdrive.modeld.get_model_metadata import make_metadata_dict
+  from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+
+  parser = argparse.ArgumentParser()
+  parser.add_argument("--model-size", type=_parse_size, required=True, help="model input WxH")
+  parser.add_argument("--camera-resolutions", type=_parse_size, nargs="+", required=True, help="camera resolutions WxH (one or more)")
+  parser.add_argument("--vision-onnx", required=True)
+  parser.add_argument("--off-policy-onnx", required=True)
+  parser.add_argument("--on-policy-onnx", required=True)
+  parser.add_argument("--output", required=True)
+  parser.add_argument("--frame-skip", type=int, required=True)
+  args = parser.parse_args()
+
+  out = defaultdict(dict)
+  vision_path = read_file_chunked_to_shm(args.vision_onnx)
+  off_policy_path = read_file_chunked_to_shm(args.off_policy_onnx)
+  on_policy_path = read_file_chunked_to_shm(args.on_policy_onnx)
+  model_w, model_h = args.model_size
+
+  vision_runner = OnnxRunner(vision_path)
+  off_policy_runner = OnnxRunner(off_policy_path)
+  on_policy_runner = OnnxRunner(on_policy_path)
+  vision_metadata = make_metadata_dict(vision_path)
+  off_policy_metadata = make_metadata_dict(off_policy_path)
+  on_policy_metadata = make_metadata_dict(on_policy_path)
+  assert off_policy_metadata["input_shapes"] == on_policy_metadata["input_shapes"]
+
+  run_policy_jit = TinyJit(
+    make_run_policy(
+      vision_runner,
+      off_policy_runner,
+      on_policy_runner,
+      vision_metadata["output_slices"]["hidden_state"],
+      args.frame_skip,
+    ),
+    prune=True,
+  )
+
+  out["metadata"]["vision"] = vision_metadata
+  out["metadata"]["off_policy"] = off_policy_metadata
+  out["metadata"]["on_policy"] = on_policy_metadata
+  out["tensor_inputs"] = make_tensor_inputs(vision_metadata["input_shapes"], on_policy_metadata["input_shapes"], args.frame_skip, Device.DEFAULT)
+
+  make_random_model_inputs = partial(make_random_images, keys=["img", "big_img"], shape=vision_metadata["input_shapes"]["img"])
+  out["run_policy"] = compile_jit(run_policy_jit, make_random_model_inputs, POLICY_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+
+  for cam_w, cam_h in args.camera_resolutions:
+    nv12 = NV12Frame(cam_w, cam_h, *get_nv12_info(cam_w, cam_h))
+    # Capture warp against blob-backed frames so the JIT ABI matches runtime VisionBuf inputs.
+    make_random_warp_inputs = partial(make_random_blob_images, keys=["frame", "big_frame"], shape=nv12.size, device=WARP_DEV)
+    warp_enqueue = TinyJit(make_warp(nv12, model_w, model_h, args.frame_skip), prune=True)
+    out[(cam_w, cam_h)] = compile_jit(warp_enqueue, make_random_warp_inputs, WARP_INPUTS, args.frame_skip, vision_metadata, on_policy_metadata)
+
+  with open(args.output, "wb") as f:
+    pickle.dump(out, f)
+  print(f"Saved JITs to {args.output} ({os.path.getsize(args.output) / 1e6:.2f} MB)")
@@ -66,7 +66,7 @@ def dm_warp_pkl_path(w, h):
  return MODELS_DIR / f'dm_warp_{w}x{h}_tinygrad.pkl'


-def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad):
+def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad, border_fill_val=None):
  w_dst, h_dst = dst_shape
  h_src, w_src = src_shape

@@ -81,11 +81,19 @@ def warp_perspective_tinygrad(src_flat, M_inv, dst_shape, src_shape, stride_pad)
  src_x = src_x / src_w
  src_y = src_y / src_w

-  x_nn_clipped = Tensor.round(src_x).clip(0, w_src - 1).cast('int')
-  y_nn_clipped = Tensor.round(src_y).clip(0, h_src - 1).cast('int')
+  x_round = Tensor.round(src_x)
+  y_round = Tensor.round(src_y)
+  x_nn_clipped = x_round.clip(0, w_src - 1).cast('int')
+  y_nn_clipped = y_round.clip(0, h_src - 1).cast('int')
  idx = y_nn_clipped * (w_src + stride_pad) + x_nn_clipped

-  return src_flat[idx]
+  sampled = src_flat[idx]
+  if border_fill_val is None:
+    return sampled
+
+  in_bounds = ((x_round >= 0) & (x_round <= w_src - 1) &
+               (y_round >= 0) & (y_round <= h_src - 1)).cast(sampled.dtype)
+  return sampled * in_bounds + Tensor(border_fill_val, dtype=sampled.dtype) * (1 - in_bounds)


 def frames_to_tensor(frames, model_w, model_h):
@@ -152,7 +160,9 @@ def make_warp_dm(cam_w, cam_h, dm_w, dm_h):

  def warp_dm(input_frame, M_inv):
    M_inv = M_inv.to(Device.DEFAULT)
-    result = warp_perspective_tinygrad(input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad).reshape(-1, dm_h * dm_w)
+    result = warp_perspective_tinygrad(
+      input_frame[:cam_h*stride], M_inv, (dm_w, dm_h), (cam_h, cam_w), stride_pad, border_fill_val=16
+    ).reshape(-1, dm_h * dm_w)
    return result
  return warp_dm

@@ -80,6 +80,11 @@ def parse_model_output(model_output):
    parsed[f'face_descs_{ds_suffix}_std'] = safe_exp(face_descs[:, -6:])
    for key in ['face_prob', 'left_eye_prob', 'right_eye_prob', 'left_blink_prob', 'right_blink_prob', 'sunglasses_prob', 'using_phone_prob']:
      parsed[f'{key}_{ds_suffix}'] = sigmoid(model_output[f'{key}_{ds_suffix}'])
+    sleep_key = f'sleep_prob_{ds_suffix}'
+    if sleep_key in model_output:
+      parsed[sleep_key] = sigmoid(model_output[sleep_key])
+    else:
+      parsed[sleep_key] = np.zeros((1, 1), dtype=np.float32)
  return parsed


@@ -95,6 +100,7 @@ def fill_driver_data(msg, model_output, ds_suffix):
  msg.rightBlinkProb = model_output[f'right_blink_prob_{ds_suffix}'][0, 0].item()
  msg.sunglassesProb = model_output[f'sunglasses_prob_{ds_suffix}'][0, 0].item()
  msg.phoneProb = model_output[f'using_phone_prob_{ds_suffix}'][0, 0].item()
+  msg.sleepProb = model_output[f'sleep_prob_{ds_suffix}'][0, 0].item()


 def get_driverstate_packet(model_output, frame_id: int, location_ts: int, exec_time: float, gpu_exec_time: float):
@@ -1,11 +1,12 @@
 #!/usr/bin/env python3
-import sys
-import pathlib
-import onnx
 import codecs
 import pickle
+import pathlib
+import sys
 from typing import Any

+import onnx
+
 def get_name_and_shape(value_info:onnx.ValueInfoProto) -> tuple[str, tuple[int,...]]:
  shape = tuple([int(dim.dim_value) for dim in value_info.type.tensor_type.shape.dim])
  name = value_info.name
@@ -17,19 +18,23 @@ def get_metadata_value_by_name(model:onnx.ModelProto, name:str) -> str | Any:
      return prop.value
  return None

-if __name__ == "__main__":
-  model_path = pathlib.Path(sys.argv[1])
+
+def make_metadata_dict(model_path: str | pathlib.Path) -> dict[str, Any]:
  model = onnx.load(str(model_path))
  output_slices = get_metadata_value_by_name(model, 'output_slices')
  assert output_slices is not None, 'output_slices not found in metadata'

-  metadata = {
+  return {
    'model_checkpoint': get_metadata_value_by_name(model, 'model_checkpoint'),
    'output_slices': pickle.loads(codecs.decode(output_slices.encode(), "base64")),
    'input_shapes': dict([get_name_and_shape(x) for x in model.graph.input]),
-    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output])
+    'output_shapes': dict([get_name_and_shape(x) for x in model.graph.output]),
  }

+if __name__ == "__main__":
+  model_path = pathlib.Path(sys.argv[1])
+  metadata = make_metadata_dict(model_path)
+
  metadata_path = model_path.parent / (model_path.stem + '_metadata.pkl')
  with open(metadata_path, 'wb') as f:
    pickle.dump(metadata, f)
@@ -0,0 +1,73 @@
+import json
+import os
+from pathlib import Path
+
+from tinygrad.device import Device
+
+MODELS_DIR = Path(__file__).resolve().parent / "models"
+TG_INPUT_DEVICES_PATH = MODELS_DIR / "tg_input_devices.json"
+USBGPU_VID = 0xADD1
+USBGPU_PID = 0x0001
+
+
+def _default_tinygrad_backend() -> str:
+  env_dev = os.getenv("DEV", "").strip()
+  if env_dev:
+    return env_dev.split(":", 1)[0].split("+", 1)[-1] or env_dev
+
+  try:
+    default = Device.DEFAULT
+  except Exception:
+    default = ""
+
+  if isinstance(default, str) and default:
+    return default.split(":", 1)[0].split("+", 1)[-1] or default
+  return "QCOM" if Path("/dev/kgsl-3d0").exists() else "CPU"
+
+
+def _load_tg_devices() -> dict:
+  if not TG_INPUT_DEVICES_PATH.is_file():
+    return {}
+  with open(TG_INPUT_DEVICES_PATH) as f:
+    return json.load(f)
+
+
+def _fallback_tg_devices(process_name: str, usbgpu: bool) -> dict[str, str]:
+  backend = _default_tinygrad_backend()
+  if process_name == "selfdrive.modeld.dmonitoringmodeld":
+    return {"DEV": backend}
+
+  queue_dev = backend
+  if usbgpu:
+    try:
+      available = {name.split(":", 1)[0] for name in Device.get_available_devices()}
+    except Exception:
+      available = set()
+    if "AMD" in available:
+      queue_dev = "AMD"
+  return {"WARP_DEV": backend, "QUEUE_DEV": queue_dev}
+
+
+def get_tg_input_devices(process_name: str, usbgpu: bool) -> dict[str, str]:
+  tg_devices = _load_tg_devices()
+  process_devices = tg_devices.get(process_name, {})
+  profile = "usbgpu" if usbgpu else "default"
+  if profile in process_devices:
+    return process_devices[profile]
+  return _fallback_tg_devices(process_name, usbgpu)
+
+
+def modeld_pkl_path(usbgpu: bool):
+  prefix = "big_" if usbgpu else ""
+  return MODELS_DIR / f"{prefix}driving_tinygrad.pkl"
+
+
+def usbgpu_present() -> bool:
+  for d in Path("/sys/bus/usb/devices").glob("*"):
+    try:
+      if int((d / "idVendor").read_text(), 16) == USBGPU_VID and \
+          int((d / "idProduct").read_text(), 16) == USBGPU_PID:
+        return True
+    except Exception:
+      pass
+  return False
@@ -28,6 +28,11 @@ from openpilot.selfdrive.modeld.fill_model_msg import fill_model_msg, fill_pose_
 from openpilot.selfdrive.modeld.constants import ModelConstants, Plan
 from openpilot.selfdrive.modeld.models.commonmodel_pyx import DrivingModelFrame, CLContext
 from openpilot.selfdrive.modeld.runners.tinygrad_helpers import qcom_tensor_from_opencl_address
+from openpilot.starpilot.common.model_versions import (
+  is_tinygrad_model_version,
+  uses_combined_driving_artifacts,
+  uses_split_off_policy_artifacts,
+)
 from openpilot.starpilot.common.starpilot_variables import get_starpilot_toggles, MODELS_PATH, params_memory


@@ -309,7 +314,7 @@ class ModelState:
    self.is_v14 = (self.policy_generation == "v14")
    self.is_v15 = (self.policy_generation == "v15")
    self.is_v9 = (self.policy_generation == "v9")
-    self.mlsim = (self.policy_generation in ("v8", "v10", "v11", "v12", "v13", "v14", "v15"))
+    self.mlsim = is_tinygrad_model_version(self.policy_generation)
    self.policy_has_plan = 'plan' in self.policy_output_slices

    self.frames = {name: DrivingModelFrame(context, ModelConstants.TEMPORAL_SKIP) for name in self.vision_input_names}
@@ -334,7 +339,7 @@ class ModelState:
    self.off_policy_output: np.ndarray | None = None

    off_policy_metadata = None
-    if self.policy_generation in ("v12", "v13", "v14", "v15") or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
+    if uses_split_off_policy_artifacts(self.policy_generation) or OFF_POLICY_METADATA_PATH.is_file() or OFF_POLICY_PKL_PATH.is_file():
      resolved_off_policy_meta = ensure_artifact(OFF_POLICY_METADATA_PATH, "driving_off_policy_metadata.pkl", optional=True)
      if resolved_off_policy_meta is not None:
        with open(resolved_off_policy_meta, 'rb') as f:
@@ -453,14 +458,14 @@ class ModelState:
      self.full_prev_desired_curv[0,-1,:] = policy_outputs_dict['desired_curvature'][0, :]

      if self.prev_desired_curv_key is not None:
-        # v9/v10/v11/v12/v13/v14/v15 models expect zeros for prev_desired_curv(s); others use history
-        if self.is_v9 or self.is_v10 or self.is_v11 or self.is_v12 or self.is_v13 or self.is_v14 or self.is_v15:
+        # Tinygrad-era policy models expect zeros for prev_desired_curv(s); older ones use history.
+        if is_tinygrad_model_version(self.policy_generation):
          self.numpy_inputs[self.prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
        else:
          self.numpy_inputs[self.prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]

      if self.off_policy_enabled and self.off_policy_prev_desired_curv_key is not None:
-        if self.is_v9 or self.is_v12 or self.is_v13 or self.is_v14 or self.is_v15:
+        if self.is_v9 or uses_split_off_policy_artifacts(self.policy_generation) or uses_combined_driving_artifacts(self.policy_generation):
          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = 0 * self.full_prev_desired_curv[0, self.temporal_idxs]
        else:
          self.off_policy_numpy_inputs[self.off_policy_prev_desired_curv_key][:] = self.full_prev_desired_curv[0, self.temporal_idxs]
@@ -486,6 +491,13 @@ class ModelState:


 def main(demo=False):
+  params = Params()
+  selected_version = _resolve_mirrored_param(params, "ModelVersion", "DrivingModelVersion")
+  if uses_combined_driving_artifacts(selected_version):
+    from openpilot.selfdrive.modeld.modeld_v16 import main as combined_main
+
+    return combined_main(demo=demo)
+
  cloudlog.warning("modeld init")

  sentry.set_tag("daemon", PROCESS_NAME)
@@ -527,8 +539,6 @@ def main(demo=False):
  sm = SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay", "starpilotPlan"])

  publish_state = PublishState()
-  params = Params()
-
  # setup filter to track dropped frames
  frame_dropped_filter = FirstOrderFilter(0., 10., 1. / ModelConstants.MODEL_FREQ)
  frame_id = 0
@@ -0,0 +1,459 @@
+#!/usr/bin/env python3
+from __future__ import annotations
+
+import os
+import pickle
+import time
+from pathlib import Path
+
+from openpilot.system.hardware import TICI
+
+os.environ["GMMU"] = "0"  # noop on qcom, improves load path when a USB GPU is present
+os.environ["DEV"] = "QCOM" if TICI else "LLVM"
+
+import cereal.messaging as messaging
+import numpy as np
+from cereal import car, log
+from msgq.visionipc import VisionBuf, VisionIpcClient, VisionStreamType
+from opendbc.car.car_helpers import get_demo_car_params
+from setproctitle import setproctitle
+from tinygrad.tensor import Tensor
+
+from openpilot.common.file_chunker import read_file_chunked
+from openpilot.common.filter_simple import FirstOrderFilter
+from openpilot.common.params import Params
+from openpilot.common.realtime import DT_MDL, config_realtime_process
+from openpilot.common.swaglog import cloudlog
+from openpilot.common.transformations.camera import DEVICE_CAMERAS
+from openpilot.common.transformations.model import get_warp_matrix
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.selfdrive.controls.lib.drive_helpers import smooth_value
+from openpilot.selfdrive.modeld.compile_modeld import POLICY_INPUTS, WARP_INPUTS, make_npy_inputs, make_tensor_inputs
+from openpilot.selfdrive.modeld.constants import ModelConstants
+from openpilot.selfdrive.modeld.fill_model_msg import PublishState, fill_model_msg, fill_pose_msg
+from openpilot.selfdrive.modeld.helpers import get_tg_input_devices
+from openpilot.selfdrive.modeld.parse_model_outputs import Parser
+from openpilot.starpilot.assets.model_manager import ModelManager
+from openpilot.starpilot.common.model_versions import uses_combined_driving_artifacts
+from openpilot.starpilot.common.starpilot_variables import MODELS_PATH, get_starpilot_toggles, params_memory
+from openpilot.system import sentry
+from openpilot.system.camerad.cameras.nv12_info import get_nv12_info
+
+
+PROCESS_NAME = "selfdrive.modeld.modeld"
+SEND_RAW_PRED = os.getenv("SEND_RAW_PRED")
+
+BUILTIN_MODEL_KEY = "sc2"
+BUILTIN_MODEL_ALIASES = {BUILTIN_MODEL_KEY, "sc"}
+
+LAT_SMOOTH_SECONDS = 0.0
+LONG_SMOOTH_SECONDS = 0.3
+MIN_LAT_CONTROL_SPEED = 0.3
+
+
+def _get_param_str(params: Params, key: str, default: str = "") -> str:
+  try:
+    value = params.get(key)
+  except Exception:
+    return default
+  if value is None:
+    return default
+  if isinstance(value, bytes):
+    try:
+      return value.decode("utf-8")
+    except Exception:
+      return default
+  if isinstance(value, (dict, list)):
+    return default
+  return str(value)
+
+
+def _get_default_param_str(params: Params, key: str) -> str:
+  try:
+    value = params.get_default_value(key)
+  except Exception:
+    return ""
+  if value is None:
+    return ""
+  if isinstance(value, bytes):
+    try:
+      return value.decode("utf-8")
+    except Exception:
+      return ""
+  return str(value)
+
+
+def _resolve_mirrored_param(params: Params, primary_key: str, secondary_key: str) -> str:
+  primary_val = _get_param_str(params, primary_key).strip()
+  secondary_val = _get_param_str(params, secondary_key).strip()
+  if primary_val == secondary_val:
+    return secondary_val or primary_val
+
+  primary_default = _get_default_param_str(params, primary_key).strip()
+  secondary_default = _get_default_param_str(params, secondary_key).strip()
+  primary_non_default = bool(primary_val) and primary_val != primary_default
+  secondary_non_default = bool(secondary_val) and secondary_val != secondary_default
+
+  if secondary_non_default:
+    return secondary_val
+  if primary_non_default:
+    return primary_val
+  return secondary_val or primary_val
+
+
+def _canonical_model_id(model_id: str) -> str:
+  key = (model_id or "").strip().lower()
+  return BUILTIN_MODEL_KEY if key in BUILTIN_MODEL_ALIASES else key
+
+
+def _combined_model_path(model_id: str, use_builtin_model: bool) -> Path:
+  if use_builtin_model:
+    return Path(__file__).parent / "models" / "driving_tinygrad.pkl"
+  return MODELS_PATH / f"{model_id}_driving_tinygrad.pkl"
+
+
+def get_action_from_model(model_output: dict[str, np.ndarray], prev_action: log.ModelDataV2.Action, v_ego: float) -> log.ModelDataV2.Action:
+  desired_curv_unscaled, desired_accel = model_output["action"][0]
+  desired_curvature = float(desired_curv_unscaled) / max(1.0, v_ego) ** 2
+  should_stop = (v_ego < 0.3 and desired_accel < 0.1)
+
+  desired_accel = smooth_value(float(desired_accel), prev_action.desiredAcceleration, LONG_SMOOTH_SECONDS)
+  if v_ego > MIN_LAT_CONTROL_SPEED:
+    desired_curvature = smooth_value(desired_curvature, prev_action.desiredCurvature, LAT_SMOOTH_SECONDS)
+  else:
+    desired_curvature = prev_action.desiredCurvature
+
+  return log.ModelDataV2.Action(
+    desiredCurvature=float(desired_curvature),
+    desiredAcceleration=float(desired_accel),
+    shouldStop=bool(should_stop),
+  )
+
+
+class FrameMeta:
+  frame_id: int = 0
+  timestamp_sof: int = 0
+  timestamp_eof: int = 0
+
+  def __init__(self, vipc=None):
+    if vipc is not None:
+      self.frame_id, self.timestamp_sof, self.timestamp_eof = vipc.frame_id, vipc.timestamp_sof, vipc.timestamp_eof
+
+
+class ModelState:
+  prev_desire: np.ndarray
+
+  def __init__(self, cam_w: int, cam_h: int, usbgpu: bool):
+    params = Params()
+    model_id_raw = _resolve_mirrored_param(params, "Model", "DrivingModel") or BUILTIN_MODEL_KEY
+    self.model_id = _canonical_model_id(model_id_raw)
+    self.model_version = _resolve_mirrored_param(params, "ModelVersion", "DrivingModelVersion")
+    if not uses_combined_driving_artifacts(self.model_version):
+      raise ValueError(f"Combined runtime requested for non-combined version {self.model_version!r}")
+
+    use_builtin_model = self.model_id == BUILTIN_MODEL_KEY
+    model_path = _combined_model_path(self.model_id, use_builtin_model)
+    if not model_path.is_file():
+      if use_builtin_model:
+        raise FileNotFoundError(
+          f"Missing builtin combined model artifact: {model_path}. "
+          "Rebuild/deploy the combined builtin model before selecting this version."
+        )
+
+      cloudlog.error(f"Missing combined model artifact {model_path}, downloading {self.model_id}...")
+      ModelManager(params, params_memory).download_model(self.model_id)
+      if not model_path.is_file():
+        raise FileNotFoundError(model_path)
+
+    jits = pickle.loads(read_file_chunked(model_path))
+
+    vision_metadata = jits["metadata"]["vision"]
+    off_policy_metadata = jits["metadata"]["off_policy"]
+    on_policy_metadata = jits["metadata"]["on_policy"]
+
+    self.vision_input_shapes = vision_metadata["input_shapes"]
+    self.vision_input_names = list(self.vision_input_shapes.keys())
+    self.vision_output_slices = vision_metadata["output_slices"]
+    self.off_policy_output_slices = off_policy_metadata["output_slices"]
+    self.policy_input_shapes = on_policy_metadata["input_shapes"]
+    self.policy_output_slices = on_policy_metadata["output_slices"]
+    self.desire_key = "desire_pulse" if "desire_pulse" in self.policy_input_shapes else next(
+      key for key in self.policy_input_shapes if key.startswith("desire")
+    )
+
+    self.frame_skip = ModelConstants.MODEL_RUN_FREQ // ModelConstants.MODEL_CONTEXT_FREQ
+    input_devices = get_tg_input_devices(PROCESS_NAME, usbgpu)
+    self.WARP_DEV, self.QUEUE_DEV = input_devices["WARP_DEV"], input_devices["QUEUE_DEV"]
+    tensor_inputs = jits.get("tensor_inputs")
+    if tensor_inputs is None:
+      tensor_inputs = make_tensor_inputs(self.vision_input_shapes, self.policy_input_shapes, self.frame_skip, device=self.QUEUE_DEV)
+    self.npy, npy_tensors = make_npy_inputs(self.policy_input_shapes)
+    self.input_queues = {**tensor_inputs, **npy_tensors}
+    self.full_frames: dict[str, Tensor] = {}
+    self._blob_cache: dict[tuple[str, int], Tensor] = {}
+    self.parser = Parser()
+    self.frame_buf_params = {key: get_nv12_info(cam_w, cam_h) for key in ("img", "big_img")}
+    self.prev_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+
+    camera_jit = jits[(cam_w, cam_h)]
+    self.split_warp_layout = "run_policy" in jits and not isinstance(camera_jit, dict)
+    if self.split_warp_layout:
+      self.run_policy = jits["run_policy"]
+      self.warp_enqueue = camera_jit
+    else:
+      self.run_policy = camera_jit["run_policy"]
+      self.warp_enqueue = camera_jit["warp_enqueue"]
+
+  def slice_outputs(self, model_outputs: np.ndarray, output_slices: dict[str, slice]) -> dict[str, np.ndarray]:
+    return {key: model_outputs[np.newaxis, value] for key, value in output_slices.items()}
+
+  def run(self, bufs: dict[str, VisionBuf], transforms: dict[str, np.ndarray], inputs: dict[str, np.ndarray], prepare_only: bool) -> dict[str, np.ndarray] | None:
+    for key in bufs.keys():
+      ptr = np.frombuffer(bufs[key].data, dtype=np.uint8).ctypes.data
+      yuv_size = self.frame_buf_params[key][3]
+      cache_key = (key, ptr)
+      if cache_key not in self._blob_cache:
+        self._blob_cache[cache_key] = Tensor.from_blob(ptr, (yuv_size,), dtype="uint8", device=self.WARP_DEV)
+      self.full_frames[key] = self._blob_cache[cache_key]
+
+    inputs[self.desire_key][0] = 0
+    self.npy["desire"][:] = np.where(inputs[self.desire_key] - self.prev_desire > 0.99, inputs[self.desire_key], 0)
+    self.prev_desire[:] = inputs[self.desire_key]
+    self.npy["traffic_convention"][:] = inputs["traffic_convention"]
+    if "action_t" in self.npy:
+      self.npy["action_t"][:] = inputs["action_t"]
+    self.npy["tfm"][:, :] = transforms["img"][:, :]
+    self.npy["big_tfm"][:, :] = transforms["big_img"][:, :]
+
+    if self.split_warp_layout:
+      img, big_img = self.warp_enqueue(
+        **{key: self.input_queues[key] for key in WARP_INPUTS},
+        frame=self.full_frames["img"],
+        big_frame=self.full_frames["big_img"],
+      )
+      if prepare_only:
+        return None
+      policy_inputs = {key: self.input_queues[key] for key in POLICY_INPUTS if key in self.input_queues}
+      vision_output, policy_output, off_policy_output = self.run_policy(**policy_inputs, img=img, big_img=big_img)
+    else:
+      if prepare_only:
+        self.warp_enqueue(**self.input_queues, frame=self.full_frames["img"], big_frame=self.full_frames["big_img"])
+        return None
+      vision_output, policy_output, off_policy_output = self.run_policy(
+        **self.input_queues,
+        frame=self.full_frames["img"],
+        big_frame=self.full_frames["big_img"],
+      )
+
+    vision_output = vision_output.numpy().flatten()
+    policy_output = policy_output.numpy().flatten()
+    off_policy_output = off_policy_output.numpy().flatten()
+
+    vision_outputs_dict = self.parser.parse_vision_outputs(self.slice_outputs(vision_output, self.vision_output_slices))
+    off_policy_outputs_dict = self.parser.parse_off_policy_outputs(self.slice_outputs(off_policy_output, self.off_policy_output_slices))
+    policy_outputs_dict = self.parser.parse_policy_outputs(self.slice_outputs(policy_output, self.policy_output_slices))
+    combined_outputs_dict = {**vision_outputs_dict, **off_policy_outputs_dict, **policy_outputs_dict}
+
+    if SEND_RAW_PRED:
+      combined_outputs_dict["raw_pred"] = np.concatenate([vision_output.copy(), policy_output.copy(), off_policy_output.copy()])
+    return combined_outputs_dict
+
+
+def main(demo=False):
+  cloudlog.warning("modeld init")
+
+  sentry.set_tag("daemon", PROCESS_NAME)
+  cloudlog.bind(daemon=PROCESS_NAME)
+  setproctitle(PROCESS_NAME)
+  config_realtime_process(7, 54)
+
+  # Combined downloaded models currently ship one runtime artifact, so stay on the default
+  # queue profile until a separate USBGPU artifact path exists for custom models.
+  usbgpu = False
+
+  while True:
+    available_streams = VisionIpcClient.available_streams("camerad", block=False)
+    if available_streams:
+      use_extra_client = VisionStreamType.VISION_STREAM_WIDE_ROAD in available_streams and VisionStreamType.VISION_STREAM_ROAD in available_streams
+      main_wide_camera = VisionStreamType.VISION_STREAM_ROAD not in available_streams
+      break
+    time.sleep(0.1)
+
+  vipc_client_main_stream = VisionStreamType.VISION_STREAM_WIDE_ROAD if main_wide_camera else VisionStreamType.VISION_STREAM_ROAD
+  vipc_client_main = VisionIpcClient("camerad", vipc_client_main_stream, True)
+  vipc_client_extra = VisionIpcClient("camerad", VisionStreamType.VISION_STREAM_WIDE_ROAD, False)
+  cloudlog.warning(f"vision stream set up, main_wide_camera: {main_wide_camera}, use_extra_client: {use_extra_client}")
+
+  while not vipc_client_main.connect(False):
+    time.sleep(0.1)
+  while use_extra_client and not vipc_client_extra.connect(False):
+    time.sleep(0.1)
+
+  cloudlog.warning(f"connected main cam with buffer size: {vipc_client_main.buffer_len} ({vipc_client_main.width} x {vipc_client_main.height})")
+  if use_extra_client:
+    cloudlog.warning(f"connected extra cam with buffer size: {vipc_client_extra.buffer_len} ({vipc_client_extra.width} x {vipc_client_extra.height})")
+
+  start_time = time.monotonic()
+  cloudlog.warning("loading combined model")
+  model = ModelState(vipc_client_main.width, vipc_client_main.height, usbgpu)
+  cloudlog.warning(f"combined model loaded in {time.monotonic() - start_time:.1f}s, modeld starting")
+
+  pm = messaging.PubMaster(["modelV2", "drivingModelData", "cameraOdometry", "starpilotModelV2"])
+  sm = messaging.SubMaster(["deviceState", "carState", "roadCameraState", "liveCalibration", "driverMonitoringState", "carControl", "liveDelay", "starpilotPlan"])
+
+  publish_state = PublishState()
+  params = Params()
+
+  frame_dropped_filter = FirstOrderFilter(0.0, 10.0, 1.0 / ModelConstants.MODEL_RUN_FREQ)
+  last_vipc_frame_id = 0
+  run_count = 0
+
+  model_transform_main = np.zeros((3, 3), dtype=np.float32)
+  model_transform_extra = np.zeros((3, 3), dtype=np.float32)
+  live_calib_seen = False
+  buf_main, buf_extra = None, None
+  meta_main = FrameMeta()
+  meta_extra = FrameMeta()
+
+  if demo:
+    CP = get_demo_car_params()
+  else:
+    CP = messaging.log_from_bytes(params.get("CarParams", block=True), car.CarParams)
+  cloudlog.info("modeld got CarParams: %s", CP.brand)
+
+  long_delay = CP.longitudinalActuatorDelay + LONG_SMOOTH_SECONDS
+  prev_action = log.ModelDataV2.Action()
+  desire_helper = DesireHelper()
+  starpilot_toggles = get_starpilot_toggles(sm)
+
+  while True:
+    while meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+      buf_main = vipc_client_main.recv()
+      meta_main = FrameMeta(vipc_client_main)
+      if buf_main is None:
+        break
+
+    if buf_main is None:
+      cloudlog.debug("vipc_client_main no frame")
+      continue
+
+    if use_extra_client:
+      while True:
+        buf_extra = vipc_client_extra.recv()
+        meta_extra = FrameMeta(vipc_client_extra)
+        if buf_extra is None or meta_main.timestamp_sof < meta_extra.timestamp_sof + 25000000:
+          break
+
+      if buf_extra is None:
+        cloudlog.debug("vipc_client_extra no frame")
+        continue
+
+      if abs(meta_main.timestamp_sof - meta_extra.timestamp_sof) > 10000000:
+        cloudlog.error(
+          f"frames out of sync! main: {meta_main.frame_id} ({meta_main.timestamp_sof / 1e9:.5f}), "
+          f"extra: {meta_extra.frame_id} ({meta_extra.timestamp_sof / 1e9:.5f})"
+        )
+    else:
+      buf_extra = buf_main
+      meta_extra = meta_main
+
+    sm.update(0)
+    desire = desire_helper.desire
+    is_rhd = sm["driverMonitoringState"].isRHD
+    frame_id = sm["roadCameraState"].frameId
+    v_ego = max(sm["carState"].vEgo, 0.0)
+    lat_delay = sm["liveDelay"].lateralDelay + LAT_SMOOTH_SECONDS
+
+    if sm.updated["liveCalibration"] and sm.seen["roadCameraState"] and sm.seen["deviceState"]:
+      device_from_calib_euler = np.array(sm["liveCalibration"].rpyCalib, dtype=np.float32)
+      dc = DEVICE_CAMERAS[(str(sm["deviceState"].deviceType), str(sm["roadCameraState"].sensor))]
+      model_transform_main = get_warp_matrix(
+        device_from_calib_euler,
+        dc.ecam.intrinsics if main_wide_camera else dc.fcam.intrinsics,
+        False,
+      ).astype(np.float32)
+      model_transform_extra = get_warp_matrix(device_from_calib_euler, dc.ecam.intrinsics, True).astype(np.float32)
+      live_calib_seen = True
+
+    traffic_convention = np.zeros(2, dtype=np.float32)
+    traffic_convention[int(is_rhd)] = 1
+
+    vec_desire = np.zeros(ModelConstants.DESIRE_LEN, dtype=np.float32)
+    if 0 <= desire < ModelConstants.DESIRE_LEN:
+      vec_desire[desire] = 1
+
+    vipc_dropped_frames = max(0, meta_main.frame_id - last_vipc_frame_id - 1)
+    frames_dropped = frame_dropped_filter.update(min(vipc_dropped_frames, 10))
+    if run_count < 10:
+      frame_dropped_filter.x = 0.0
+      frames_dropped = 0.0
+    run_count += 1
+
+    frame_drop_ratio = frames_dropped / (1 + frames_dropped)
+    prepare_only = vipc_dropped_frames > 0
+    if prepare_only:
+      cloudlog.error(f"skipping model eval. Dropped {vipc_dropped_frames} frames")
+
+    bufs = {name: buf_extra if "big" in name else buf_main for name in model.vision_input_names}
+    transforms = {name: model_transform_extra if "big" in name else model_transform_main for name in model.vision_input_names}
+
+    frame_delay = DT_MDL
+    action_delay = DT_MDL / 2
+    lat_action_t = lat_delay + frame_delay + action_delay
+    long_action_t = long_delay + frame_delay + action_delay
+
+    inputs: dict[str, np.ndarray] = {
+      model.desire_key: vec_desire,
+      "traffic_convention": traffic_convention,
+    }
+    if "action_t" in model.npy:
+      inputs["action_t"] = np.array([lat_action_t, long_action_t], dtype=np.float32)
+
+    start = time.perf_counter()
+    model_output = model.run(bufs, transforms, inputs, prepare_only)
+    end = time.perf_counter()
+    model_execution_time = end - start
+
+    if model_output is not None:
+      modelv2_send = messaging.new_message("modelV2")
+      starpilot_modelv2_send = messaging.new_message("starpilotModelV2")
+      drivingdata_send = messaging.new_message("drivingModelData")
+      posenet_send = messaging.new_message("cameraOdometry")
+
+      action = get_action_from_model(model_output, prev_action, v_ego)
+      prev_action = action
+      fill_model_msg(
+        drivingdata_send,
+        modelv2_send,
+        model_output,
+        action,
+        publish_state,
+        meta_main.frame_id,
+        meta_extra.frame_id,
+        frame_id,
+        frame_drop_ratio,
+        meta_main.timestamp_eof,
+        model_execution_time,
+        live_calib_seen,
+      )
+
+      desire_state = modelv2_send.modelV2.meta.desireState
+      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
+      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
+      lane_change_prob = l_lane_change_prob + r_lane_change_prob
+      desire_helper.update(sm["carState"], sm["carControl"].latActive, lane_change_prob, sm["starpilotPlan"], starpilot_toggles)
+      modelv2_send.modelV2.meta.laneChangeState = desire_helper.lane_change_state
+      modelv2_send.modelV2.meta.laneChangeDirection = desire_helper.lane_change_direction
+      starpilot_modelv2_send.starpilotModelV2.turnDirection = desire_helper.turn_direction
+      drivingdata_send.drivingModelData.meta.laneChangeState = desire_helper.lane_change_state
+      drivingdata_send.drivingModelData.meta.laneChangeDirection = desire_helper.lane_change_direction
+
+      fill_pose_msg(posenet_send, model_output, meta_main.frame_id, vipc_dropped_frames, meta_main.timestamp_eof, live_calib_seen)
+      pm.send("modelV2", modelv2_send)
+      pm.send("starpilotModelV2", starpilot_modelv2_send)
+      pm.send("drivingModelData", drivingdata_send)
+      pm.send("cameraOdometry", posenet_send)
+
+    last_vipc_frame_id = meta_main.frame_id
+    if sm.updated["starpilotPlan"]:
+      starpilot_toggles = get_starpilot_toggles(sm)
@@ -120,6 +120,12 @@ class Parser:
    if 'lead_prob' in outs:
      self.parse_binary_crossentropy('lead_prob', outs)

+  def parse_off_policy_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
+    self.split_outputs(outs)
+    if 'desire_state' in outs:
+      self.parse_categorical_crossentropy('desire_state', outs, out_shape=(ModelConstants.DESIRE_PRED_WIDTH,))
+    return outs
+
  def parse_vision_outputs(self, outs: dict[str, np.ndarray]) -> dict[str, np.ndarray]:
    self.parse_mdn('pose', outs, in_N=0, out_N=0, out_shape=(ModelConstants.POSE_WIDTH,))
    self.parse_mdn('wide_from_device_euler', outs, in_N=0, out_N=0, out_shape=(ModelConstants.WIDE_FROM_DEVICE_WIDTH,))
@@ -57,7 +57,7 @@ class DRIVER_MONITOR_SETTINGS:
    self._YAW_MIN_OFFSET = -0.0246

    self._DCAM_UNCERTAIN_ALERT_THRESHOLD = 0.1
-    self._DCAM_UNCERTAIN_RESET_COUNT = int(20  / self._DT_DMON)
+    self._DCAM_UNCERTAIN_RESET_COUNT = int(2  / self._DT_DMON)
    self._POSESTD_THRESHOLD = 0.3
    self._HI_STD_FALLBACK_TIME = int(10  / self._DT_DMON)  # fall back to wheel touch if model is uncertain for 10s
    self._DISTRACTED_FILTER_TS = 0.25  # 0.6Hz
@@ -957,10 +957,16 @@ EVENTS: dict[int, dict[str, Alert | AlertCallbackType]] = {
  # ten times the regular interval, or the average interval is more than 10% too high.
  EventName.commIssue: {
    ET.SOFT_DISABLE: soft_disable_alert("Communication Issue Between Processes"),
+    ET.PERMANENT: Alert("Communication Issue Between Processes", "",
+                        AlertStatus.normal, AlertSize.small,
+                        Priority.LOWER, VisualAlert.none, AudibleAlert.none, 1., creation_delay=30.),
    ET.NO_ENTRY: comm_issue_alert,
  },
  EventName.commIssueAvgFreq: {
    ET.SOFT_DISABLE: soft_disable_alert("Low Communication Rate Between Processes"),
+    ET.PERMANENT: Alert("Low Communication Rate Between Processes", "",
+                        AlertStatus.normal, AlertSize.small,
+                        Priority.LOWER, VisualAlert.none, AudibleAlert.none, 1., creation_delay=30.),
    ET.NO_ENTRY: NoEntryAlert("Low Communication Rate Between Processes"),
  },

@@ -161,7 +161,6 @@ class SelfdriveD:

    self.cancel_pressed_previously = False
    self.distance_pressed_previously = False
-
    self.display_timer = 0
    self.last_below_steer_speed_alert_time = -float("inf")
    self.last_steer_saturated_alert_time = -float("inf")
@@ -17,11 +17,15 @@ from openpilot.starpilot.assets.model_manager import (
  MODEL_DOWNLOAD_ALL_PARAM,
  MODEL_DOWNLOAD_PARAM,
  ModelManager,
-  TINYGRAD_VERSIONS,
  canonical_model_key,
  is_builtin_model_key,
  model_key_aliases,
 )
+from openpilot.starpilot.common.model_versions import (
+  is_tinygrad_model_version,
+  uses_combined_driving_artifacts,
+  uses_split_off_policy_artifacts,
+)
 from openpilot.starpilot.common.starpilot_variables import MODELS_PATH, update_starpilot_toggles
 from openpilot.system.ui.lib.application import FontWeight, MouseEvent, MousePos, gui_app
 from openpilot.system.ui.lib.multilang import tr
@@ -674,7 +678,7 @@ class StarPilotDrivingModelLayout(_SettingsPage):
    if f"{model_key}.thneed" in files:
      return True

-    if version in TINYGRAD_VERSIONS:
+    if is_tinygrad_model_version(version):
      required_files = set(self._required_files_for_version(model_key, version))
      return required_files.issubset(files)

@@ -684,6 +688,9 @@ class StarPilotDrivingModelLayout(_SettingsPage):
    return any(file.startswith(f"{model_key}.") or file.startswith(f"{model_key}_") for file in files)

  def _required_files_for_version(self, key: str, version: str) -> list[str]:
+    if uses_combined_driving_artifacts(version):
+      return [f"{key}_driving_tinygrad.pkl"]
+
    files = [
      f"{key}_driving_policy_tinygrad.pkl",
      f"{key}_driving_vision_tinygrad.pkl",
@@ -691,7 +698,7 @@ class StarPilotDrivingModelLayout(_SettingsPage):
      f"{key}_driving_vision_metadata.pkl",
    ]

-    if version in {"v12", "v13", "v14", "v15"}:
+    if uses_split_off_policy_artifacts(version):
      files.extend(
        [
          f"{key}_driving_off_policy_tinygrad.pkl",
@@ -242,6 +242,11 @@ class StarPilotLateralLayout(_SettingsPage):
                   get_state=lambda: self._params.get_bool("TurnDesires"),
                   set_state=lambda s: self._params.put_bool("TurnDesires", s),
                   visible=lambda: self._params.get_bool("LateralTune")),
+        SettingRow("NavDesiresAllowed", "toggle", tr_noop("Use Route Desires"),
+                   subtitle=tr_noop("Allow an active navigation route to request keep-left, keep-right, and low-speed turn desires."),
+                   get_state=lambda: self._params.get_bool("NavDesiresAllowed"),
+                   set_state=lambda s: self._params.put_bool("NavDesiresAllowed", s),
+                   visible=lambda: self._params.get_bool("LateralTune")),
        SettingRow("NNFF", "toggle", tr_noop("Neural Network Feedforward (NNFF)"),
                   subtitle=tr_noop("Use the full neural-network feedforward steering controller when available."),
                   get_state=lambda: self._params.get_bool("NNFF"),
@@ -382,6 +382,11 @@ class StarPilotLongitudinalTuneLayout(_SettingsPage):
                   get_state=lambda: self._params.get_bool("TacoTune"),
                   set_state=lambda s: self._params.put_bool("TacoTune", s),
                   visible=self._longitudinal_enabled),
+        SettingRow("NavLongitudinalAllowed", "toggle", tr_noop("Use Route Speed Control"),
+                   subtitle=tr_noop("Allow an active navigation route to reduce cruise speed for upcoming turns, ramps, and roundabouts."),
+                   get_state=lambda: self._params.get_bool("NavLongitudinalAllowed"),
+                   set_state=lambda s: self._params.put_bool("NavLongitudinalAllowed", s),
+                   visible=self._longitudinal_enabled),
      ], column_pair="detection_tune"),
    ]
    self._manager_view = AetherSettingsView(
@@ -1,68 +0,0 @@
-import time
-
-import pyray as rl
-
-from openpilot.selfdrive.ui.lib.starpilot_status import get_border_color, get_mode_transition_banner_text
-from openpilot.selfdrive.ui.ui_state import ui_state
-from openpilot.system.ui.lib.application import FontWeight
-from openpilot.system.ui.widgets.label import UnifiedLabel
-
-
-class ModeTransitionBanner:
-  SHOW_TIME_SECONDS = 2.5
-
-  def __init__(self, *, font_size: int = 34, width: int = 520, height: int = 72, top_margin: int = 22):
-    self._last_mode: str | None = None
-    self._visible_until = 0.0
-    self._width = width
-    self._height = height
-    self._top_margin = top_margin
-    self._label = UnifiedLabel(
-      "",
-      font_size,
-      FontWeight.BOLD,
-      text_color=rl.WHITE,
-      alignment=rl.GuiTextAlignment.TEXT_ALIGN_CENTER,
-      alignment_vertical=rl.GuiTextAlignmentVertical.TEXT_ALIGN_MIDDLE,
-    )
-
-  def update(self):
-    current_mode = get_mode_transition_banner_text(ui_state) if ui_state.started else None
-
-    if not ui_state.started:
-      self._last_mode = None
-      self._visible_until = 0.0
-      return
-
-    if not ui_state.params.get_bool("ShowModeStatusBanner", default=True):
-      self._last_mode = current_mode
-      self._visible_until = 0.0
-      return
-
-    if self._last_mode is None:
-      self._last_mode = current_mode
-      return
-
-    if current_mode != self._last_mode:
-      self._last_mode = current_mode
-      if current_mode is not None:
-        self._label.set_text(f"{current_mode} MODE")
-        self._visible_until = time.monotonic() + self.SHOW_TIME_SECONDS
-
-  def render(self, rect: rl.Rectangle):
-    if (not ui_state.started or
-        not ui_state.params.get_bool("ShowModeStatusBanner", default=True) or
-        time.monotonic() > self._visible_until):
-      return
-
-    banner_width = min(rect.width - 120, self._width)
-    banner_rect = rl.Rectangle(
-      rect.x + (rect.width - banner_width) / 2,
-      rect.y + self._top_margin,
-      banner_width,
-      self._height,
-    )
-
-    rl.draw_rectangle_rounded(banner_rect, 0.3, 12, rl.Color(0, 0, 0, 175))
-    rl.draw_rectangle_rounded_lines_ex(banner_rect, 0.3, 12, 4, get_border_color(ui_state))
-    self._label.render(banner_rect)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
StarPilot Build Bot	3c2f0f4a14	build	2026-05-29 04:33:28 +00:00
firestarsdog	b12fdf182d	Slooooow doooooown	2026-05-29 00:01:13 -04:00
firestarsdog	75b1deaf60	BigUI WIP: Try dock	2026-05-28 21:48:23 -04:00
firestar5683	a9930207ba	v16	2026-05-28 17:38:14 -05:00
firestar5683	742c104964	on	2026-05-28 15:42:42 -05:00
firestarsdog	4183698fc6	BigUI: Widget Scale	2026-05-28 16:05:59 -04:00
firestar5683	f06c82b2b8	ev6	2026-05-28 14:19:03 -05:00
firestarsdog	b23b4384f1	BigUI WIP: Aethergauge offset location	2026-05-28 15:11:44 -04:00
firestar5683	93bad13469	patches	2026-05-28 13:31:59 -05:00
firestar5683	31e0a5b8cc	volt bsm	2026-05-28 13:29:45 -05:00
firestar5683	732830b095	g90 radar	2026-05-28 13:18:20 -05:00
firestarsdog	43d42594ef	BigUI WIP: Aethergauge Helpers	2026-05-28 13:58:40 -04:00
firestar5683	e61039bb67	DM ruh roh	2026-05-28 12:27:45 -05:00
firestar5683	8e8225b6ae	Nav Long	2026-05-28 11:41:05 -05:00
firestar5683	01bd291b78	you used to drive me onto sidewalks	2026-05-28 10:41:46 -05:00
firestar5683	61e28a0ac9	build	2026-05-28 10:23:35 -05:00
firestar5683	c744f66b2a	Optimus Prime	2026-05-28 10:21:01 -05:00
firestarsdog	9b177b25b5	Revert "test cycle" This reverts commit `b9d89a3e85`.	2026-05-28 11:05:47 -04:00
firestarsdog	b9d89a3e85	test cycle	2026-05-28 11:04:09 -04:00
firestar5683	903fd2264e	build	2026-05-28 00:37:45 -05:00
firestar5683	0f8142a15c	default on	2026-05-28 00:35:16 -05:00
firestar5683	b95b5b1d53	build	2026-05-28 00:12:16 -05:00
firestar5683	3d0c3a8a45	Powers You Never Knew You Had and What To Do With Them Now You've Wised Up	2026-05-28 00:09:41 -05:00
firestar5683	9af23999d1	navgal	2026-05-28 00:09:34 -05:00
firestar5683	74a9bb5a4e	build	2026-05-28 00:09:34 -05:00
firestar5683	cf506e59b0	nav	2026-05-28 00:09:20 -05:00
firestar5683	68d7fd09e2	Legion	2026-05-27 23:26:52 -05:00
firestarsdog	b70680aa86	Silverado CC	2026-05-27 23:47:46 -04:00
Dom	823ff696ab	Merge pull request #59 from Thinkpad4by3/Dom Dom	2026-05-27 21:55:13 -05:00
firestar5683	9b530d520c	XT5	2026-05-27 21:37:23 -05:00
firestar5683	3d35284a49	build	2026-05-27 19:53:14 -05:00
Jason Jackrel	f425d86457	update tire stiffness	2026-05-27 16:48:27 -07:00
Jason Jackrel	98a9373346	finally the volt tune	2026-05-27 16:47:18 -07:00
firestar5683	35a7e43045	blocky block	2026-05-27 17:40:56 -05:00
firestar5683	b535c0845e	ioniq 5 radar	2026-05-27 17:40:56 -05:00
whoisdomi	0ed821d32d	25hz	2026-05-27 17:35:19 -05:00
whoisdomi	2317057411	50hz poll	2026-05-27 17:35:19 -05:00
whoisdomi	dc3b39a198	are we there?	2026-05-27 17:35:19 -05:00
whoisdomi	ce5611f24c	is this radar data?	2026-05-27 17:35:19 -05:00
firestar5683	f819386399	happy wife happy life	2026-05-26 22:20:19 -05:00
firestar5683	e1812ec3d7	build	2026-05-26 21:59:47 -05:00
firestar5683	e9935624f7	smoosh smoosh	2026-05-26 21:59:46 -05:00
firestar5683	0fec51a5d9	volt	2026-05-26 18:58:11 -05:00
firestar5683	3fa2d370bf	i6	2026-05-26 18:19:51 -05:00
firestar5683	0750072ef0	build	2026-05-26 16:05:46 -05:00
firestar5683	fb93198a92	logg	2026-05-26 16:02:58 -05:00
firestar5683	a4789c9f61	i6	2026-05-26 15:53:05 -05:00
firestar5683	7386073c71	build	2026-05-26 11:36:09 -05:00
firestar5683	7d8be7079c	I h8 u nudgeless	2026-05-26 11:33:49 -05:00
firestar5683	148929d2f1	i5	2026-05-26 11:09:12 -05:00
firestar5683	13e4f301b9	oopsie	2026-05-26 10:42:59 -05:00
firestarsdog	dc91ac13b1	BigUI WIP: Clip lanes	2026-05-26 02:15:52 -04:00
firestar5683	a129d591e7	hkg radar	2026-05-26 00:17:24 -05:00
firestar5683	8aa0cf327a	build	2026-05-26 00:00:25 -05:00
firestar5683	b78e44303d	CCNC	2026-05-25 23:57:56 -05:00
firestarsdog	feba46db30	BigUI WIP: Onroad Path Cleanup	2026-05-26 00:56:31 -04:00
firestarsdog	a8d501fcd9	BigUI WIP: Scissor Borders	2026-05-26 00:40:47 -04:00
firestarsdog	fb17126f68	BigUI WIP: Consolidated Border Effects	2026-05-26 00:32:31 -04:00
firestar5683	693b1f08a3	color calib	2026-05-25 02:12:44 -05:00
firestar5683	6e81630e49	build	2026-05-25 01:42:33 -05:00
firestar5683	76dbf9412a	cameradisableFullDisable	2026-05-25 01:40:01 -05:00
firestar5683	68123093c3	stop UI log	2026-05-25 00:48:26 -05:00
firestar5683	73cbee1b85	tune	2026-05-25 00:48:20 -05:00
firestar5683	0cb613b6ce	volt aeb	2026-05-25 00:48:13 -05:00
firestarsdog	7834d15127	BigUI WIP: Curves again	2026-05-25 01:02:08 -04:00
firestarsdog	71ce49a301	BigUI WIP: Useless banner	2026-05-24 23:17:21 -04:00
firestarsdog	fd7f75578d	BigUI WIP: Remove white border on sign + less steppy movement	2026-05-24 03:59:11 -04:00
firestarsdog	4c8452de78	BigUI WIP: Update Curves Again	2026-05-24 01:48:08 -04:00
firestarsdog	7bebf0ef3c	BigUI WIP: Force Stop -> Aethergauge	2026-05-24 01:01:31 -04:00