openpilot v0.9.2 release

date: 2023-05-18T22:02:42 master commit: c7d3b28b93faa6c955fb24bc64031512ee985ee9
openpilot v0.9.1 release
2026-08-26 02:33:46 +08:00 · 2023-05-23 22:20:03 -07:00 · 2023-02-23 14:29:12 -08:00 · 2022-11-21 16:30:34 -08:00 · 2022-11-16 06:35:41 +00:00
789 changed files with 36122 additions and 15065 deletions
@@ -36,6 +36,7 @@ a.out
 config.json
 clcache
 compile_commands.json
+compare_runtime*.html

 persist
 board/obj/
@@ -45,12 +46,10 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/test/longitudinal_maneuvers/out
-selfdrive/visiond/visiond
-selfdrive/sensord/_gpsd
-selfdrive/sensord/_sensord
 system/camerad/camerad
 system/camerad/test/ae_gray_test
 selfdrive/modeld/_modeld
+selfdrive/modeld/_navmodeld
 selfdrive/modeld/_dmonitoringmodeld
 /src/

@@ -82,3 +81,5 @@ selfdrive/modeld/models/*.thneed
 build/

 !**/.gitkeep
+
+poetry.toml
@@ -11,11 +11,17 @@ export SOURCE_DIR=${env.SOURCE_DIR}
 export GIT_BRANCH=${env.GIT_BRANCH}
 export GIT_COMMIT=${env.GIT_COMMIT}
 export AZURE_TOKEN='${env.AZURE_TOKEN}'
+export MAPBOX_TOKEN='${env.MAPBOX_TOKEN}'
+
+export GIT_SSH_COMMAND="ssh -i /data/gitkey"

 source ~/.bash_profile
 if [ -f /TICI ]; then
  source /etc/profile
 fi
+if [ -f /data/openpilot/launch_env.sh ]; then
+  source /data/openpilot/launch_env.sh
+fi

 ln -snf ${env.TEST_DIR} /data/pythonpath

@@ -47,20 +53,34 @@ pipeline {
    TEST_DIR = "/data/openpilot"
    SOURCE_DIR = "/data/openpilot_source/"
    AZURE_TOKEN = credentials('azure_token')
+    MAPBOX_TOKEN = credentials('mapbox_token')
  }
  options {
-    timeout(time: 4, unit: 'HOURS')
+    timeout(time: 3, unit: 'HOURS')
+    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
  }

  stages {
-    stage('build release3') {
+    stage('build release3-staging') {
      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
      when {
        branch 'devel-staging'
      }
      steps {
-        phone_steps("tici", [
-          ["build release3-staging & dashcam3-staging", "PUSH=1 $SOURCE_DIR/release/build_release.sh"],
+        phone_steps("tici-needs-can", [
+          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+        ])
+      }
+    }
+
+    stage('build nightly') {
+      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+      when {
+        branch 'master-ci'
+      }
+      steps {
+        phone_steps("tici-needs-can", [
+          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
        ])
      }
    }
@@ -78,6 +98,7 @@ pipeline {

      parallel {

+        /*
        stage('simulator') {
          agent {
            dockerfile {
@@ -87,7 +108,8 @@ pipeline {
            }
          }
          steps {
-            sh "git config --global --add safe.directory ${WORKSPACE}"
+            sh "git config --global --add safe.directory '*'"
+            sh "git submodule update --init --recursive"
            sh "git lfs pull"
            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
              sh "${WORKSPACE}/tools/sim/build_container.sh"
@@ -104,6 +126,22 @@ pipeline {
            }
          }
        }
+        */
+
+        stage('tizi-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tizi", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "SINGLE_PANDA=1 python selfdrive/boardd/tests/test_boardd_loopback.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+              ["test amp", "python system/hardware/tici/tests/test_amplifier.py"],
+            ])
+          }
+        }

        stage('build') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
@@ -111,27 +149,37 @@ pipeline {
            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
          }
          steps {
-            phone_steps("tici", [
+            phone_steps("tici-needs-can", [
              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR EXTRA_FILES='tools/' ./build_devel.sh"],
              ["build openpilot", "cd selfdrive/manager && ./build.py"],
              ["check dirty", "release/check-dirty.sh"],
-              ["test manager", "python selfdrive/manager/test/test_manager.py"],
              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
              ["test car interfaces", "cd selfdrive/car/tests/ && ./test_car_interfaces.py"],
            ])
          }
        }

+        stage('loopback-tests') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-loopback", [
+              ["build openpilot", "cd selfdrive/manager && ./build.py"],
+              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
+            ])
+          }
+        }
+
        stage('HW + Unit Tests') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici2", [
+            phone_steps("tici-common", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              //["test power draw", "python system/hardware/tici/test_power_draw.py"],
-              ["test boardd loopback", "python selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test loggerd", "python selfdrive/loggerd/tests/test_loggerd.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python selfdrive/loggerd/tests/test_encoder.py"],
-              ["test sensord", "python selfdrive/sensord/test/test_sensord.py"],
+              ["test power draw", "python system/hardware/tici/tests/test_power_draw.py"],
+              ["test loggerd", "python system/loggerd/tests/test_loggerd.py"],
+              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib python system/loggerd/tests/test_encoder.py"],
+              ["test pigeond", "python system/sensord/tests/test_pigeond.py"],
+              ["test manager", "python selfdrive/manager/test/test_manager.py"],
+              ["test pandad", "python selfdrive/boardd/tests/test_pandad.py"],
            ])
          }
        }
@@ -139,7 +187,12 @@ pipeline {
        stage('camerad') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici-party", [
+            phone_steps("tici-ar0231", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test camerad", "python system/camerad/test/test_camerad.py"],
+              ["test exposure", "python system/camerad/test/test_exposure.py"],
+            ])
+            phone_steps("tici-ox03c10", [
              ["build", "cd selfdrive/manager && ./build.py"],
              ["test camerad", "python system/camerad/test/test_camerad.py"],
              ["test exposure", "python system/camerad/test/test_exposure.py"],
@@ -147,17 +200,32 @@ pipeline {
          }
        }

-        stage('replay') {
+        stage('sensord') {
          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
          steps {
-            phone_steps("tici3", [
+            phone_steps("tici-lsmc", [
              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
+            ])
+            phone_steps("tici-bmx-lsm", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["test sensord", "cd system/sensord/tests && python -m unittest test_sensord.py"],
            ])
          }
        }
-      }

+        stage('replay') {
+          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
+          steps {
+            phone_steps("tici-common", [
+              ["build", "cd selfdrive/manager && ./build.py"],
+              ["model replay", "cd selfdrive/test/process_replay && NO_NAV=1 ./model_replay.py"],
+            ])
+          }
+        }
+
+      }
    }
+
  }
 }
@@ -42,7 +42,7 @@ To use openpilot in a car, you need four things
 * A supported device to run this software: a [comma three](https://comma.ai/shop/products/three).
 * This software. The setup procedure of the comma three allows the user to enter a URL for custom software.
 The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 150+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
+* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
 * A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.

 We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
@@ -50,7 +50,7 @@ We have detailed instructions for [how to mount the device in a car](https://com
 Running on PC
 ------

-All of openpilot's services can run as normal on a PC, even without special hardware or a car. To develop or experiment with openpilot you can run openpilot on recorded or simulated data.
+All openpilot services can run as usual on a PC without requiring special hardware or a car. You can also run openpilot on recorded or simulated data to develop or experiment with openpilot.

 With openpilot's tools, you can plot logs, replay drives, and watch the full-res camera streams. See [the tools README](tools/README.md) for more information.

@@ -67,7 +67,7 @@ Documentation related to openpilot development can be found on [docs.comma.ai](h

 You can add support for your car by following guides we have written for [Brand](https://blog.comma.ai/how-to-write-a-car-port-for-openpilot/) and [Model](https://blog.comma.ai/openpilot-port-guide-for-toyota-models/) ports. Generally, a car with adaptive cruise control and lane keep assist is a good candidate. [Join our Discord](https://discord.comma.ai) to discuss car ports: most car makes have a dedicated channel.

-Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs/).
+Want to get paid to work on openpilot? [comma is hiring](https://comma.ai/jobs#open-positions).

 And [follow us on Twitter](https://twitter.com/comma_ai).

@@ -103,13 +103,15 @@ Directory Structure
    ├── opendbc             # Files showing how to interpret data from cars
    ├── panda               # Code used to communicate on CAN
    ├── third_party         # External libraries
-    ├── pyextra             # Extra python packages
    └── system              # Generic services
        ├── camerad         # Driver to capture images from the camera sensors
        ├── clocksd         # Broadcasts current time
        ├── hardware        # Hardware abstraction classes
        ├── logcatd         # systemd journal as a service
-        └── proclogd        # Logs information from /proc
+        ├── loggerd         # Logger and uploader of car data
+        ├── proclogd        # Logs information from /proc
+        ├── sensord         # IMU interface code
+        └── ubloxd          # u-blox GNSS module interface code
    └── selfdrive           # Code needed to drive the car
        ├── assets          # Fonts, images, and sounds for UI
        ├── athena          # Allows communication with the app
@@ -118,12 +120,10 @@ Directory Structure
        ├── controls        # Planning and controls
        ├── debug           # Tools to help you debug and do car ports
        ├── locationd       # Precise localization and vehicle parameter estimation
-        ├── loggerd         # Logger and uploader of car data
-        ├── manager         # Deamon that starts/stops all other daemons as needed
+        ├── manager         # Daemon that starts/stops all other daemons as needed
        ├── modeld          # Driving and monitoring model runners
        ├── monitoring      # Daemon to determine driver attention
        ├── navd            # Turn-by-turn navigation
-        ├── sensord         # IMU interface code
        ├── test            # Unit tests, system tests, and a car simulator
        └── ui              # The UI

@@ -143,7 +143,4 @@ NO WARRANTY EXPRESSED OR IMPLIED.**
 <img src="https://d1qb2nb5cznatu.cloudfront.net/startups/i/1061157-bc7e9bf3b246ece7322e6ffe653f6af8-medium_jpg.jpg?buster=1458363130" width="75"></img> <img src="https://cdn-images-1.medium.com/max/1600/1*C87EjxGeMPrkTuVRVWVg4w.png" width="225"></img>

 [![openpilot tests](https://github.com/commaai/openpilot/workflows/openpilot%20tests/badge.svg?event=push)](https://github.com/commaai/openpilot/actions)
-[![Total alerts](https://img.shields.io/lgtm/alerts/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/alerts/)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:python)
-[![Language grade: C/C++](https://img.shields.io/lgtm/grade/cpp/g/commaai/openpilot.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/commaai/openpilot/context:cpp)
 [![codecov](https://codecov.io/gh/commaai/openpilot/branch/master/graph/badge.svg)](https://codecov.io/gh/commaai/openpilot)
@@ -1,3 +1,84 @@
+Version 0.9.2 (2023-05-22)
+========================
+* New driving model
+  * Reduced turn diving
+  * Trained on a new dataset
+* UI updates
+  * New experimental mode visualization
+  * Draw MPC path instead of model-predicted path
+* AGNOS 7
+  * Faster boot time
+  * Fixes rare no sounds bug
+  * Fixes bootsplash bug at extreme temperatures
+* Buick LaCrosse 2017-19 support thanks to koch-cf!
+* Chevrolet Trailblazer 2021-22 support thanks to TurboCE!
+* Ford Bronco Sport 2021-22 support
+* Ford Escape 2020-22 support
+* Ford Explorer 2020-22 support
+* Ford Kuga 2020-22 support
+* Ford Maverick 2022-23 support
+* Genesis GV80 2023 support thanks to JWingate80!
+* Honda HR-V 2023 support thanks to AlexandreSato and galegozi!
+* Kia Niro EV 2023 support thanks to JosselinLecocq!
+* Lexus ES 2017-18 support
+* Lincoln Aviator 2021 support
+* Škoda Fabia 2022-23 support thanks to jyoung8607!
+
+
+Version 0.9.1 (2023-02-28)
+========================
+* New driving model
+  * 30% improved height estimation resulting in better driving performance for tall cars
+* Driver monitoring: removed timer resetting on user interaction if distracted
+* UI updates
+  * Adjust alert volume using ambient noise level
+  * Driver monitoring icon shows driver's head pose
+  * German translation thanks to Vrabetz and CzokNorris!
+* Cadillac Escalade 2017 support thanks to rickygilleland!
+* Chevrolet Bolt EV 2022-23 support thanks to JasonJShuler!
+* Genesis GV60 2023 support thanks to sunnyhaibin!
+* Hyundai Tucson 2022-23 support
+* Kia K5 Hybrid 2020 support thanks to sunnyhaibin!
+* Kia Niro Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Sorento 2022-23 support thanks to sunnyhaibin!
+* Kia Sorento Plug-in Hybrid 2022 support thanks to sunnyhaibin!
+* Toyota C-HR 2021 support thanks to eFiniLan!
+* Toyota C-HR Hybrid 2022 support thanks to Korben00!
+* Volkswagen Crafter and MAN TGE 2017-23 support thanks to jyoung8607!
+
+Version 0.9.0 (2022-11-21)
+========================
+* New driving model
+  * Internal feature space information content increased tenfold during training to ~700 bits, which makes the model dramatically more accurate
+  * Less reliance on previous frames makes model more reactive and snappy
+  * Trained in new reprojective simulator
+  * Trained in 36 hours from scratch, compared to one week for previous releases
+  * Training now simulates both lateral and longitudinal behavior, which allows openpilot to slow down for turns, stop at traffic lights, and more in experimental mode
+* Experimental driving mode
+  * End-to-end longitudinal control
+  * Stops for traffic lights and stop signs
+  * Slows down for turns
+  * openpilot defaults to chill mode, enable experimental mode in settings
+* Driver monitoring updates
+  * New bigger model with added end-to-end distracted trigger
+  * Reduced false positives during driver calibration
+* Self-tuning torque controller: learns parameters live for each car
+* Torque controller used on all Toyota, Lexus, Hyundai, Kia, and Genesis models
+* UI updates
+  * Matched speeds shown on car's dash
+  * Multi-language in navigation
+  * Improved update experience
+  * Border turns grey while overriding steering
+  * Bookmark events while driving; view them in comma connect
+  * New onroad visualization for experimental mode
+* tools: new and improved cabana thanks to deanlee!
+* Experimental longitudinal support for Volkswagen, CAN-FD Hyundai, and new GM models
+* Genesis GV70 2022-23 support thanks to zunichky and sunnyhaibin!
+* Hyundai Santa Cruz 2021-22 support thanks to sunnyhaibin!
+* Kia Sportage 2023 support thanks to sunnyhaibin!
+* Kia Sportage Hybrid 2023 support thanks to sunnyhaibin!
+* Kia Stinger 2022 support thanks to sunnyhaibin!
+
 Version 0.8.16 (2022-08-26)
 ========================
 * New driving model
@@ -73,7 +154,7 @@ Version 0.8.14 (2022-06-01)
 Version 0.8.13 (2022-02-18)
 ========================
 * Improved driver monitoring
-   * Retuned driver pose learner for relaxed driving positions
+   * Re-tuned driver pose learner for relaxed driving positions
   * Added reliance on driving model to be more scene adaptive
   * Matched strictness between comma two and comma three
 * Improved performance in turns by compensating for the road bank angle
@@ -219,7 +300,7 @@ Version 0.8.4 (2021-05-17)
 * Delay controls start until system is ready
 * Fuzzy car identification, enabled with Community Features toggle
 * Localizer optimized for increased precision and less CPU usage
- * Retuned lateral control to be more aggressive when model is confident
+ * Re-tuned lateral control to be more aggressive when model is confident
 * Toyota Mirai 2021 support
 * Lexus NX 300 2020 support thanks to goesreallyfast!
 * Volkswagen Atlas 2018-19 support thanks to jyoung8607!
@@ -384,7 +465,7 @@ Version 0.7 (2019-12-13)
 * Improve GM longitudinal control: proper computations for 15Hz radar
 * Move GM port, Toyota with DSU removed, comma pedal in community features; toggle switch required
 * Remove upload over cellular toggle: only upload qlog and qcamera files if not on wifi
- * Refactor Panda code towards ISO26262 and SIL2 compliancy
+ * Refactor Panda code towards ISO26262 and SIL2 compliance
 * Forward stock FCW for Honda Nidec
 * Volkswagen port now standard: comma Harness intercepts stock camera

@@ -5,15 +5,15 @@ import sysconfig
 import platform
 import numpy as np

+import SCons.Errors
+
+SCons.Warnings.warningAsException(True)
+
 TICI = os.path.isfile('/TICI')
 AGNOS = TICI

 Decider('MD5-timestamp')

-AddOption('--test',
-          action='store_true',
-          help='build test files')
-
 AddOption('--extras',
          action='store_true',
          help='build misc extras, like setup and installer files')
@@ -53,6 +53,17 @@ AddOption('--no-thneed',
          dest='no_thneed',
          help='avoid using thneed')

+AddOption('--pc-thneed',
+          action='store_true',
+          dest='pc_thneed',
+          help='use thneed on pc')
+
+AddOption('--no-test',
+          action='store_false',
+          dest='test',
+          default=os.path.islink(Dir('#laika/').abspath),
+          help='skip building test files')
+
 real_arch = arch = subprocess.check_output(["uname", "-m"], encoding='utf8').rstrip()
 if platform.system() == "Darwin":
  arch = "Darwin"
@@ -60,16 +71,15 @@ if platform.system() == "Darwin":
 if arch == "aarch64" and AGNOS:
  arch = "larch64"

-USE_WEBCAM = os.getenv("USE_WEBCAM") is not None

 lenv = {
  "PATH": os.environ['PATH'],
  "LD_LIBRARY_PATH": [Dir(f"#third_party/acados/{arch}/lib").abspath],
-  "PYTHONPATH": Dir("#").abspath + ":" + Dir("#pyextra/").abspath,
+  "PYTHONPATH": Dir("#").abspath,

  "ACADOS_SOURCE_DIR": Dir("#third_party/acados/include/acados").abspath,
-  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#pyextra/acados_template").abspath,
-  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer",
+  "ACADOS_PYTHON_INTERFACE_PATH": Dir("#third_party/acados/acados_template").abspath,
+  "TERA_PATH": Dir("#").abspath + f"/third_party/acados/{arch}/t_renderer"
 }

 rpath = lenv["LD_LIBRARY_PATH"].copy()
@@ -93,9 +103,6 @@ if arch == "larch64":
    "#third_party/libyuv/larch64/lib",
    "/usr/lib/aarch64-linux-gnu"
  ]
-  cpppath += [
-    "#system/camerad/include",
-  ]
  cflags = ["-DQCOM2", "-mcpu=cortex-a57"]
  cxxflags = ["-DQCOM2", "-mcpu=cortex-a57"]
  rpath += ["/usr/local/lib"]
@@ -106,22 +113,29 @@ else:

  # MacOS
  if arch == "Darwin":
+    if real_arch == "x86_64":
+      lenv["TERA_PATH"] = Dir("#").abspath + f"/third_party/acados/Darwin_x86_64/t_renderer"
+
    brew_prefix = subprocess.check_output(['brew', '--prefix'], encoding='utf8').strip()
    yuv_dir = "mac" if real_arch != "arm64" else "mac_arm64"
    libpath = [
      f"#third_party/libyuv/{yuv_dir}/lib",
      f"{brew_prefix}/lib",
      f"{brew_prefix}/Library",
-      f"{brew_prefix}/opt/openssl/lib",
+      f"{brew_prefix}/opt/openssl@3.0/lib",
      f"{brew_prefix}/Cellar",
-      f"#third_party/acados/{arch}/lib",
      "/System/Library/Frameworks/OpenGL.framework/Libraries",
    ]
+    if real_arch == "x86_64":
+      libpath.append(f"#third_party/acados/Darwin_x86_64/lib")
+    else:
+      libpath.append(f"#third_party/acados/{arch}/lib")
+
    cflags += ["-DGL_SILENCE_DEPRECATION"]
    cxxflags += ["-DGL_SILENCE_DEPRECATION"]
    cpppath += [
      f"{brew_prefix}/include",
-      f"{brew_prefix}/opt/openssl/include",
+      f"{brew_prefix}/opt/openssl@3.0/include",
    ]
  # Linux 86_64
  else:
@@ -187,10 +201,6 @@ env = Environment(
    "#third_party/libyuv/include",
    "#third_party/json11",
    "#third_party/curl/include",
-    "#third_party/libgralloc/include",
-    "#third_party/android_frameworks_native/include",
-    "#third_party/android_hardware_libhardware/include",
-    "#third_party/android_system_core/include",
    "#third_party/linux/include",
    "#third_party/snpe/include",
    "#third_party/mapbox-gl-native-qt/include",
@@ -253,7 +263,7 @@ def abspath(x):
    # rpath works elsewhere
    return x[0].path.rsplit("/", 1)[1][:-3]

-# Cython build enviroment
+# Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
 envCython["CPPPATH"] += [py_include, np.get_include()]
@@ -272,7 +282,7 @@ Export('envCython')

 # Qt build environment
 qt_env = env.Clone()
-qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus"]
+qt_modules = ["Widgets", "Gui", "Core", "Network", "Concurrent", "Multimedia", "Quick", "Qml", "QuickWidgets", "Location", "Positioning", "DBus", "Xml"]

 qt_libs = []
 if arch == "Darwin":
@@ -288,20 +298,30 @@ if arch == "Darwin":
  qt_env["FRAMEWORKS"] += [f"Qt{m}" for m in qt_modules] + ["OpenGL"]
  qt_env.AppendENVPath('PATH', os.path.join(qt_env['QTDIR'], "bin"))
 else:
-  qt_env['QTDIR'] = "/usr"
+  qt_install_prefix = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_PREFIX'], encoding='utf8').strip()
+  qt_install_headers = subprocess.check_output(['qmake', '-query', 'QT_INSTALL_HEADERS'], encoding='utf8').strip()
+
+  qt_env['QTDIR'] = qt_install_prefix
  qt_dirs = [
-    f"/usr/include/{real_arch}-linux-gnu/qt5",
-    f"/usr/include/{real_arch}-linux-gnu/qt5/QtGui/5.12.8/QtGui",
+    f"{qt_install_headers}",
+    f"{qt_install_headers}/QtGui/5.12.8/QtGui",
  ]
-  qt_dirs += [f"/usr/include/{real_arch}-linux-gnu/qt5/Qt{m}" for m in qt_modules]
+  qt_dirs += [f"{qt_install_headers}/Qt{m}" for m in qt_modules]

  qt_libs = [f"Qt5{m}" for m in qt_modules]
  if arch == "larch64":
    qt_libs += ["GLESv2", "wayland-client"]
+    qt_env.PrependENVPath('PATH', Dir("#third_party/qt5/larch64/bin/").abspath)
  elif arch != "Darwin":
    qt_libs += ["GL"]
+qt_env['QT3DIR'] = qt_env['QTDIR']
+
+# compatibility for older SCons versions
+try:
+  qt_env.Tool('qt3')
+except SCons.Errors.UserError:
+  qt_env.Tool('qt')

-qt_env.Tool('qt')
 qt_env['CPPPATH'] += qt_dirs + ["#selfdrive/ui/qt/"]
 qt_flags = [
  "-D_REENTRANT",
@@ -317,6 +337,7 @@ qt_flags = [
 qt_env['CXXFLAGS'] += qt_flags
 qt_env['LIBPATH'] += ['#selfdrive/ui']
 qt_env['LIBS'] = qt_libs
+qt_env['QT_MOCHPREFIX'] = cache_dir + '/moc_files/moc_'

 if GetOption("clazy"):
  checks = [
@@ -329,7 +350,7 @@ if GetOption("clazy"):
  qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
  qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)

-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED', 'USE_WEBCAM')
+Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')

 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
@@ -373,10 +394,10 @@ rednose_config = {
 if arch != "larch64":
  rednose_config['to_build'].update({
    'loc_4': ('#selfdrive/locationd/models/loc_kf.py', True, [], rednose_deps),
+    'lane': ('#selfdrive/locationd/models/lane_kf.py', True, [], rednose_deps),
    'pos_computer_4': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
    'pos_computer_5': ('#rednose/helpers/lst_sq_computer.py', False, [], []),
    'feature_handler_5': ('#rednose/helpers/feature_handler.py', False, [], []),
-    'lane': ('#xx/pipeline/lib/ekf/lane_kf.py', True, [], rednose_deps),
  })

 Export('rednose_config')
@@ -384,21 +405,26 @@ SConscript(['rednose/SConscript'])

 # Build system services
 SConscript([
-  'system/camerad/SConscript',
  'system/clocksd/SConscript',
  'system/proclogd/SConscript',
+  'system/ubloxd/SConscript',
+  'system/loggerd/SConscript',
 ])
 if arch != "Darwin":
-  SConscript(['system/logcatd/SConscript'])
+  SConscript([
+    'system/camerad/SConscript',
+    'system/sensord/SConscript',
+    'system/logcatd/SConscript',
+  ])

 # Build openpilot

 # build submodules
 SConscript([
-  'cereal/SConscript',
  'body/board/SConscript',
-  'panda/board/SConscript',
+  'cereal/SConscript',
  'opendbc/can/SConscript',
+  'panda/SConscript',
 ])

 SConscript(['third_party/SConscript'])
@@ -406,25 +432,17 @@ SConscript(['third_party/SConscript'])
 SConscript(['common/kalman/SConscript'])
 SConscript(['common/transformations/SConscript'])

-SConscript(['selfdrive/modeld/SConscript'])
-
-SConscript(['selfdrive/controls/lib/cluster/SConscript'])
+SConscript(['selfdrive/boardd/SConscript'])
 SConscript(['selfdrive/controls/lib/lateral_mpc_lib/SConscript'])
 SConscript(['selfdrive/controls/lib/longitudinal_mpc_lib/SConscript'])
-
-SConscript(['selfdrive/boardd/SConscript'])
-
-SConscript(['selfdrive/loggerd/SConscript'])
-
 SConscript(['selfdrive/locationd/SConscript'])
-SConscript(['selfdrive/sensord/SConscript'])
-SConscript(['selfdrive/ui/SConscript'])
 SConscript(['selfdrive/navd/SConscript'])
+SConscript(['selfdrive/modeld/SConscript'])
+SConscript(['selfdrive/ui/SConscript'])

-SConscript(['tools/replay/SConscript'])
-
-if GetOption('test'):
-  SConscript('panda/tests/safety/SConscript')
+if (arch in ['x86_64', 'Darwin'] and Dir('#tools/cabana/').exists()) or GetOption('extras'):
+  SConscript(['tools/replay/SConscript'])
+  SConscript(['tools/cabana/SConscript'])

 external_sconscript = GetOption('external_sconscript')
 if external_sconscript:
@@ -40,6 +40,7 @@ void board_detect(void) {
    board.led_portB = GPIOC;

    board.can_addr_offset = 0x0U;
+    board.uds_offset = 0x0U;

  } else if (hw_type == HW_TYPE_KNEE) {
    board.hall_left.hall_portA = GPIOC;
@@ -77,6 +78,7 @@ void board_detect(void) {
    board.led_portB = GPIOB;

    board.can_addr_offset = KNEE_ADDR_OFFSET;
+    board.uds_offset = 0x10U;

    #ifndef BOOTSTUB
    MX_I2C_Init();
@@ -6,10 +6,10 @@
 #define BROADCAST_ADDR    0x7DFU
 #define FALLBACK_ADDR     0x7E0U
 #define FALLBACK_R_ADDR   (FALLBACK_ADDR + OFFSET)
-#define ECU_ADDR          0x720U
-#define ECU_R_ADDR        (ECU_ADDR + OFFSET)
-#define DEBUG_ADDR      0x721U
-#define DEBUG_R_ADDR    (DEBUG_ADDR + OFFSET)
+#define ENGINE_ADDR       0x720U
+#define ENGINE_R_ADDR     (ENGINE_ADDR + OFFSET)
+#define DEBUG_ADDR        0x721U
+#define DEBUG_R_ADDR      (DEBUG_ADDR + OFFSET)

 #include "drivers/llbxcan.h"
 #include "uds.h"
@@ -24,6 +24,8 @@ extern board_t board;
 extern uint32_t enter_bootloader_mode;
 extern volatile uint32_t torque_cmd_timeout;

+extern volatile uint32_t ignition_off_counter;
+
 const uint8_t crc_poly = 0xD5U;  // standard crc8
 uint32_t current_idx = 0;

@@ -84,8 +86,9 @@ void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len) {
 }

 void process_can(void) {
+  __disable_irq();
  CAN_FIFOMailBox_TypeDef to_send;
-  if (board.CAN->TSR & CAN_TSR_TME0) {
+  if ((board.CAN->TSR & CAN_TSR_TME0) == CAN_TSR_TME0) {
    if (can_pop(&can_tx_q, &to_send)) {
      board.CAN->sTxMailBox[0].TDLR = to_send.RDLR;
      board.CAN->sTxMailBox[0].TDHR = to_send.RDHR;
@@ -93,12 +96,13 @@ void process_can(void) {
      board.CAN->sTxMailBox[0].TIR = to_send.RIR;
    }
  }
+  __enable_irq();
 }

 void can_rx(void) {
  while ((board.CAN->RF0R & CAN_RF0R_FMP0) != 0) {
-    int address = board.CAN->sFIFOMailBox[0].RIR >> 21;
-    if (address == (int32_t)(0x250U + board.can_addr_offset)) {
+    uint32_t address = board.CAN->sFIFOMailBox[0].RIR >> 21;
+    if (address == (0x250U + board.can_addr_offset)) {
      if ((GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]) == 0xdeadface) && (GET_MAILBOX_BYTES_48(&board.CAN->sFIFOMailBox[0]) == 0x0ab00b1e)) {
        enter_bootloader_mode = ENTER_SOFTLOADER_MAGIC;
        NVIC_SystemReset();
@@ -121,7 +125,7 @@ void can_rx(void) {
        current_idx = idx;
      }
      out_enable(LED_BLUE, true);
-    } else if (address == (int32_t)(0x251U + board.can_addr_offset)) {
+    } else if (address == (0x251U + board.can_addr_offset)) {
      #define MSG_SPD_LEN 5
      uint8_t dat[MSG_TRQ_LEN];
      for (int i=0; i<MSG_TRQ_LEN; i++) {
@@ -139,11 +143,16 @@ void can_rx(void) {
        }
      }
      out_enable(LED_BLUE, true);
-    } else if ((hw_type == HW_TYPE_BASE) && ((address == BROADCAST_ADDR) || (address == FALLBACK_ADDR) || (address == ECU_ADDR) || (address == DEBUG_ADDR))) { // Process UBS and OBD2 requests, ignore for knee
+    } else if ((address == BROADCAST_ADDR) || // Process UBS and OBD2 requests
+              (address == FALLBACK_ADDR) ||
+              (address == (ENGINE_ADDR + board.uds_offset)) ||
+              (address == (DEBUG_ADDR + board.uds_offset))) {
      process_uds(address, GET_MAILBOX_BYTES_04(&board.CAN->sFIFOMailBox[0]));
      out_enable(LED_BLUE, true);
    } else if ((hw_type == HW_TYPE_BASE) && (address == 0x203U + KNEE_ADDR_OFFSET)) { // detect knee by body and set flag for use with UDS message
      knee_detected = 1;
+    } else if ((hw_type == HW_TYPE_KNEE) && (address == 0x202U)) { // CAN based ignition for knee
+      ignition_off_counter = 0;
    }
    // next
    board.CAN->RF0R |= CAN_RF0R_RFOM0;
@@ -5,23 +5,25 @@
 #include "stm32f4xx_hal.h"

 #define CORE_FREQ               96000000U // MCU frequency in hertz
-#define PWM_FREQ                16000     // PWM frequency in Hz / is also used for buzzer
-#define DEAD_TIME               48     // PWM deadtime
-#define DELAY_IN_MAIN_LOOP      5     // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
-#define A2BIT_CONV              50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+#define I2C_CLOCKSPEED          100     // I2C clock in kHz
+#define PWM_FREQ                16000   // PWM frequency in Hz / is also used for buzzer
+#define DEAD_TIME               48      // PWM deadtime
+#define DELAY_IN_MAIN_LOOP      5       // in ms. default 5. it is independent of all the timing critical stuff. do not touch if you do not know what you are doing.
+#define A2BIT_CONV              50      // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
+
+#define IGNITION_OFF_DELAY      5       // Stop sending CAN messages after 5 seconds

 #define ADC_CONV_CLOCK_CYCLES   (ADC_SAMPLETIME_15CYCLES)
 #define ADC_CLOCK_DIV           (4)
 #define ADC_TOTAL_CONV_TIME     (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV

+#define KNEE_ADDR_OFFSET        0x100U
 #define ANGLE_TO_DEGREES        0.021972656 // Convert 14 bit angle sensor output to degrees
 #define GEARBOX_RATIO_LEFT      19
 #define GEARBOX_RATIO_RIGHT     19
 #define TRQ_LIMIT_LEFT          400      // Torque limit for knee gearbox(left)
 #define TRQ_LIMIT_RIGHT         200      // Torque limit for hip gearbox(right)

-#define KNEE_ADDR_OFFSET        0x100
-
 #define BAT_FILT_COEF           655       // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
 #define BAT_CALIB_REAL_VOLTAGE  3192      // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
 #define BAT_CALIB_ADC           1275      // adc-value measured by mainboard (value nr 5 on UART debug output)
@@ -166,7 +166,8 @@ typedef struct {
  GPIO_TypeDef* ignition_port;
  uint16_t ignition_pin;

-  uint32_t can_addr_offset;
+  uint16_t can_addr_offset;
+  uint8_t uds_offset;

  GPIO_TypeDef* led_portR;
  uint16_t led_pinR;
@@ -177,4 +178,11 @@ typedef struct {

 } board_t;

+typedef struct {
+    uint8_t left_i2c : 1;
+    uint8_t left_angle : 1;
+    uint8_t right_i2c : 1;
+    uint8_t right_angle : 1;
+} fault_status_t;
+
 #endif // DEFINES_H
@@ -19,14 +19,29 @@ extern I2C_HandleTypeDef hi2c1;
 const uint8_t init_imu_regaddr[] = {0x76, 0x4c, 0x4e, 0x4f, 0x50, 0x51, 0x52, 0x53};
 const uint8_t init_imu_data[] =    {0x00, 0x12, 0x2f, 0x26, 0x67, 0x04, 0x00, 0x00};

+fault_status_t fault_status = {0};

 void angle_sensor_read(uint16_t *sensor_angle) {
+
+  if (fault_status.left_i2c && fault_status.right_i2c) { // Try to reinitialize halted I2C
+    if (HAL_I2C_Init(&hi2c1) == HAL_OK) {
+      fault_status.left_i2c = 0;
+      fault_status.right_i2c = 0;
+    }
+  }
+
  uint8_t buf[2];
  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_LEFT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
    sensor_angle[0] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.left_i2c = 0;
+  } else {
+    fault_status.left_i2c = 1;
  }
  if (HAL_I2C_Mem_Read(&hi2c1, (AS5048_ADDRESS_RIGHT<<1), AS5048B_ANGLMSB_REG, I2C_MEMADD_SIZE_8BIT, buf, 2, 10) == HAL_OK) {
    sensor_angle[1] = (buf[0] << 6) | (buf[1] & 0x3F);
+    fault_status.right_i2c = 0;
+  } else {
+    fault_status.right_i2c = 1;
  }
 }

@@ -1,4 +1,4 @@
-#define SW_I2C_WAIT_TIME  22	
+#define SW_I2C_WAIT_TIME  22

 #define I2C_READ       0x01
 #define READ_CMD       1
@@ -7,14 +7,14 @@

 void SW_I2C_init(void)
 {
-  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };

  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
-  
+
  GPIO_InitStructure.Pin = SW_I2C1_SCL_PIN;
  HAL_GPIO_Init(SW_I2C1_SCL_GPIO, &GPIO_InitStructure);
-  GPIO_InitStructure.Pin   = SW_I2C1_SDA_PIN;
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
 }

@@ -24,7 +24,7 @@ uint8_t SW_I2C_ReadVal_SDA(void)
  ret = (uint16_t)HAL_GPIO_ReadPin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN);
  return ret;
 }
-  
+
 void sda_high(void)
 {
  HAL_GPIO_WritePin(SW_I2C1_SDA_GPIO, SW_I2C1_SDA_PIN, GPIO_PIN_SET);
@@ -59,23 +59,23 @@ void sda_out(uint8_t out)

 void sda_in_mode(void)
 {
-  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };

-  GPIO_InitStructure.Speed=GPIO_SPEED_FREQ_HIGH;
-  GPIO_InitStructure.Mode=GPIO_MODE_INPUT;
-  
-  GPIO_InitStructure.Pin   = SW_I2C1_SDA_PIN;
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_INPUT;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
 }

 void sda_out_mode(void)
 {
-  GPIO_InitTypeDef GPIO_InitStructure;
+  GPIO_InitTypeDef GPIO_InitStructure = { 0 };

-  GPIO_InitStructure.Speed=GPIO_SPEED_FREQ_HIGH;
-  GPIO_InitStructure.Mode=GPIO_MODE_OUTPUT_OD;
-  
-  GPIO_InitStructure.Pin   = SW_I2C1_SDA_PIN;
+  GPIO_InitStructure.Speed = GPIO_SPEED_FREQ_HIGH;
+  GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_OD;
+
+  GPIO_InitStructure.Pin = SW_I2C1_SDA_PIN;
  HAL_GPIO_Init(SW_I2C1_SDA_GPIO, &GPIO_InitStructure);
 }

@@ -129,15 +129,15 @@ uint8_t i2c_check_ack(void)
  delay(SW_I2C_WAIT_TIME);

  for (i = 10; i > 0; i--) {
-    temp = !(SW_I2C_ReadVal_SDA());	
-    if (temp)	
+    temp = !(SW_I2C_ReadVal_SDA());
+    if (temp)
    {
      ack = 1;
      break;
    }
  }
  scl_low();
-  sda_out_mode();	
+  sda_out_mode();

  delay(SW_I2C_WAIT_TIME);
  return ack;
@@ -1,13 +1,11 @@
-// maximum 500kbps! (or needs clock change)
+// SAE 2284-3 : minimum 16 tq, SJW 3, sample point at 81.3%
 #define CAN_QUANTA 16U
-#define CAN_SEQ1 13U // roundf(quanta * 0.875f) - 1;
-#define CAN_SEQ2 2U // roundf(quanta * 0.125f);
+#define CAN_SEQ1 12U
+#define CAN_SEQ2 3U
+#define CAN_SJW  3U

 #define CAN_PCLK (CORE_FREQ / 2U / 1000U)
-// 333 = 33.3 kbps
-// 5000 = 500 kbps
 #define can_speed_to_prescaler(x) (CAN_PCLK / CAN_QUANTA * 10U / (x))
-
 #define CAN_INIT_TIMEOUT_MS 500

 bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool silent) {
@@ -30,7 +28,10 @@ bool llcan_set_speed(CAN_TypeDef *CAN_obj, uint32_t speed, bool loopback, bool s

  if(ret){
    // set time quanta from defines
-    CAN_obj->BTR = ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) | (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) | (can_speed_to_prescaler(speed) - 1U));
+    CAN_obj->BTR = ((CAN_BTR_TS1_0 * (CAN_SEQ1-1)) |
+                    (CAN_BTR_TS2_0 * (CAN_SEQ2-1)) |
+                    (CAN_BTR_SJW_0 * (CAN_SJW-1)) |
+                    (can_speed_to_prescaler(speed) - 1U));

    // silent loopback mode for debugging
    if (loopback) {
@@ -58,6 +58,9 @@ extern board_t board;
 extern volatile uint32_t buzzerTimer;
 volatile uint32_t torque_cmd_timeout = 0U;
 volatile uint32_t ignition_off_counter = 0U;
+
+uint16_t cnt_press = 0;
+
 int16_t batVoltageCalib;         // global variable for calibrated battery voltage
 int16_t board_temp_deg_c;        // global variable for calibrated temperature in degrees Celsius
 volatile int16_t cmdL;                    // global variable for Left Command
@@ -66,9 +69,7 @@ volatile int16_t cmdR;                    // global variable for Right Command
 uint8_t hw_type;                 // type of the board detected(0 - base, 3 - knee)
 uint8_t ignition = 0;            // global variable for ignition on SBU2 line
 uint8_t charger_connected = 0;   // status of the charger port
-uint8_t fault_status = 0;        // fault status of the whole system
 uint8_t pkt_idx = 0;             // For CAN msg counter
-
 //------------------------------------------------------------------------
 // Local variables
 //------------------------------------------------------------------------
@@ -120,6 +121,7 @@ int main(void) {
  } else {
    out_enable(POWERSWITCH, false);
    ignition = 1;
+    knee_detected = 1;
  }
  // Reset LEDs on startup
  out_enable(LED_RED, false);
@@ -175,8 +177,10 @@ int main(void) {

        if (hw_type == HW_TYPE_KNEE) {
          // Safety to stop operation if angle sensor reading failed TODO: adjust sensivity and add lowpass to angle sensor?
-          if ((ABS((hall_angle_offset[0] + ((motPosL / 15 / GEARBOX_RATIO_LEFT) % 360)) - (sensor_angle[0] * ANGLE_TO_DEGREES)) > 5) ||
-              (ABS((hall_angle_offset[1] + ((motPosR / 15 / GEARBOX_RATIO_RIGHT) % 360)) - (sensor_angle[1] * ANGLE_TO_DEGREES)) > 5)) {
+          fault_status.left_angle = (ABS((hall_angle_offset[0] + ((motPosL / 15 / GEARBOX_RATIO_LEFT) % 360)) - (sensor_angle[0] * ANGLE_TO_DEGREES)) > 5);
+          fault_status.right_angle = (ABS((hall_angle_offset[1] + ((motPosR / 15 / GEARBOX_RATIO_RIGHT) % 360)) - (sensor_angle[1] * ANGLE_TO_DEGREES)) > 5);
+
+          if (fault_status.left_angle || fault_status.right_angle) {
            cmdL = cmdR = 0;
          }
          // Safety to stop movement when reaching dead angles, around 20 and 340 degrees
@@ -211,7 +215,7 @@ int main(void) {
          }
        }

-        if (ignition_off_counter <= 10) {
+        if (ignition_off_counter <= IGNITION_OFF_DELAY) {
          // MOTORS_DATA: speed_L(2), speed_R(2), counter(1), checksum(1)
          uint8_t dat[8];
          uint16_t speedL = rtY_Left.n_mot;
@@ -287,19 +291,15 @@ int main(void) {
      // runs at 10Hz
       if ((HAL_GetTick() - (main_loop_10Hz - main_loop_10Hz_runtime)) >= 100) {
        main_loop_10Hz_runtime = HAL_GetTick();
-        if (ignition_off_counter <= 10) {
-          // VAR_VALUES: fault_status(0:6), enable_motors(0:1), ignition(0:1), left motor error(1), right motor error(1), global fault status(1)
+        if (ignition_off_counter <= IGNITION_OFF_DELAY) {
+          // VAR_VALUES: fault_status(0:4), enable_motors(0:1), ignition(0:1), left motor error(1), right motor error(1)
          uint8_t dat[2];
-          dat[0] = (((fault_status & 0x3F) << 2U) | (enable_motors << 1U) | ignition);
+          dat[0] = ((fault_status.right_angle << 5U) | (fault_status.right_i2c << 4U) | (fault_status.left_angle << 3U) | (fault_status.left_i2c << 2U) | (enable_motors << 1U) | ignition);
          dat[1] = rtY_Left.z_errCode;
          dat[2] = rtY_Right.z_errCode;
          can_send_msg((0x202U + board.can_addr_offset), 0x0U, ((dat[2] << 16U) | (dat[1] << 8U) | dat[0]), 3U);
        }
        out_enable(LED_GREEN, ignition);
-        
-        if (hw_type == HW_TYPE_BASE) {
-          poweroffPressCheck();
-        }

        main_loop_10Hz_runtime = HAL_GetTick() - main_loop_10Hz_runtime;
        main_loop_10Hz = HAL_GetTick();
@@ -330,7 +330,7 @@ int main(void) {
        out_enable(LED_BLUE, false); // Reset LED after CAN RX
        out_enable(LED_GREEN, true); // Always use LED to show that body is on

-        if (ignition) {
+        if ((hw_type == HW_TYPE_BASE) && ignition) {
          ignition_off_counter = 0;
        } else {
          ignition_off_counter = (ignition_off_counter < MAX_uint32_T) ? (ignition_off_counter+1) : 0;
@@ -341,6 +341,8 @@ int main(void) {
        } else if (rtY_Left.z_errCode || rtY_Right.z_errCode) { // 1 beep (low pitch): Motor error, disable motors
          enable_motors = 0;
          beepCount(1, 24, 1);
+        } else if (fault_status.left_angle || fault_status.left_i2c || fault_status.right_angle || fault_status.right_i2c) { // 2 beeps (low pitch): Motor error, disable motors
+          beepCount(2, 24, 1);
        } else if (TEMP_WARNING_ENABLE && board_temp_deg_c >= TEMP_WARNING) { // 5 beeps (low pitch): Mainboard temperature warning
          beepCount(5, 24, 1);
        } else if (batVoltage < BAT_LVL1) { // 1 beep fast (medium pitch): Low bat 1
@@ -357,6 +359,20 @@ int main(void) {
        main_loop_1Hz = HAL_GetTick();
      }

+      if (hw_type == HW_TYPE_BASE) {
+        if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
+          cnt_press += 1;
+          if (cnt_press == (2 * 1008)) {
+            poweroff();
+          }
+        } else if (cnt_press >= 10) {
+          ignition = !ignition;
+          out_enable(IGNITION, ignition);
+          beepShort(5);
+          cnt_press = 0;
+        }
+      }
+
      process_can();
      tick_prev = HAL_GetTick();
    }
@@ -8,7 +8,6 @@ TIM_HandleTypeDef htim_right;
 TIM_HandleTypeDef htim_left;
 ADC_HandleTypeDef hadc;
 I2C_HandleTypeDef hi2c1;
-// SPI_HandleTypeDef hspi3;

 volatile adc_buf_t adc_buffer;
 extern board_t board;
@@ -26,7 +25,7 @@ void MX_GPIO_Clocks_Init(void) {
 }

 void MX_GPIO_Common_Init(void) {
-  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitTypeDef GPIO_InitStruct = { 0 };

  GPIO_InitStruct.Mode  = GPIO_MODE_INPUT;
  GPIO_InitStruct.Pull  = GPIO_NOPULL;
@@ -167,7 +166,7 @@ void MX_GPIO_Common_Init(void) {


 void MX_I2C_Init(void) {
-  GPIO_InitTypeDef GPIO_InitStruct;
+  GPIO_InitTypeDef GPIO_InitStruct = { 0 };

  GPIO_InitStruct.Pin = GPIO_PIN_6|GPIO_PIN_7;
  GPIO_InitStruct.Mode = GPIO_MODE_AF_OD;
@@ -179,7 +178,7 @@ void MX_I2C_Init(void) {
  __HAL_RCC_I2C1_CLK_ENABLE();

  hi2c1.Instance = I2C1;
-  hi2c1.Init.ClockSpeed = 400000;
+  hi2c1.Init.ClockSpeed = (I2C_CLOCKSPEED * 1000);
  hi2c1.Init.DutyCycle = I2C_DUTYCYCLE_2;
  hi2c1.Init.OwnAddress1 = 0;
  hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
@@ -1,118 +1,125 @@
+extern uint8_t hw_type;
 void can_send_msg(uint32_t addr, uint32_t dhr, uint32_t dlr, uint8_t len);

 uint8_t uid[10];
-uint32_t uds_request = 0;
+uint32_t uds_engine_request = 0;
+uint32_t uds_debug_request = 0;
 uint8_t knee_detected = 0;
+uint8_t sep_time = 0;

 void process_uds(uint32_t addr, uint32_t dlr) {
  memcpy(uid, (void *)0x1FFF7A10U, 0xAU);

-  if ((addr == BROADCAST_ADDR) || (addr == FALLBACK_ADDR)) { // OBD2 broadcast request, redirect to UDS?
+  if ((hw_type == HW_TYPE_BASE) &&
+     ((addr == BROADCAST_ADDR) ||
+      (addr == FALLBACK_ADDR))) { // OBD2 broadcast request, redirect to UDS?
    switch(dlr) {
      // VIN 09 OBD2
      case 0x020902U:
        can_send_msg(FALLBACK_R_ADDR, 0x4D4F4301U, 0x02491410U, 8U);
-        uds_request = 0xF190U;
+        uds_engine_request = 0xF190U;
        break;
      // VIN : F190 on broadcast
      case 0x90F12203U:
        can_send_msg(FALLBACK_R_ADDR, 0x4D4F4390U, 0xF1621410U, 8U);
        break;
      // VIN continue
-      case 0x30U:
-        can_send_msg(FALLBACK_R_ADDR, 0x5659444FU, 0x42414D21U, 8U);
-        can_send_msg(FALLBACK_R_ADDR, 0x314E4F49U, 0x53524522U, 8U);
+      default:
+        if ((dlr & 0xFF) == 0x30U) {
+          sep_time = (dlr >> 16U) & 0xFF;
+          delay(sep_time);
+          can_send_msg(FALLBACK_R_ADDR, 0x5659444FU, 0x42414D21U, 8U);
+          can_send_msg(FALLBACK_R_ADDR, 0x314E4F49U, 0x53524522U, 8U);
+        }
        break;
    }
-  } else if (addr == ECU_ADDR) { // UDS request to "main" ECU
+  } else if (addr == (ENGINE_ADDR + board.uds_offset)) { // UDS request to "main" ECU
    switch(dlr) {
      // TESTER PRESENT
      case 0x3E02U:
-        can_send_msg(ECU_R_ADDR, 0x0U, 0x7E02U, 8U);
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x7E02U, 8U);
        break;
      // DIAGNOSTIC SESSION CONTROL: DEFAULT
      case 0x011002U:
-        can_send_msg(ECU_R_ADDR, 0x0U, 0x015002U, 8U);
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x015002U, 8U);
        break;
      // DIAGNOSTIC SESSION CONTROL: EXTENDED
      case 0x031002U:
-        can_send_msg(ECU_R_ADDR, 0x0U, 0x035002U, 8U);
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x0U, 0x035002U, 8U);
        break;
      // APPLICATION SOFTWARE IDENTIFICATION : F181 (used for fingerprinting, firmware version)
      case 0x81F12203U:
        COMPILE_TIME_ASSERT(sizeof(version) == 6U);
-        can_send_msg(ECU_R_ADDR, ((version[2] << 24U) | (version[1] << 16U) | (version[0] << 8U) | 0x81U), 0xF1620910U, 8U);
-        uds_request = 0xF181U;
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((version[2] << 24U) | (version[1] << 16U) | (version[0] << 8U) | 0x81U), 0xF1620A10U, 8U);
+        uds_engine_request = 0xF181U;
        break;
      // ECU SERIAL NUMBER : F18C
      case 0x8CF12203U:
-        can_send_msg(ECU_R_ADDR, ((uid[2] << 24U) | (uid[1] << 16U) | (uid[0] << 8U) | 0x8CU), 0xF1620D10U, 8U);
-        uds_request = 0xF18CU;
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((uid[2] << 24U) | (uid[1] << 16U) | (uid[0] << 8U) | 0x8CU), 0xF1620D10U, 8U);
+        uds_engine_request = 0xF18CU;
        break;
      // VIN : F190
      case 0x90F12203U:
-        can_send_msg(ECU_R_ADDR, 0x4D4F4390U, 0xF1621410U, 8U);
-        uds_request = 0xF190U;
-        break;
-      // SYSTEM NAME OR ENGINE TYPE : F197
-      case 0x97F12203U:
-        can_send_msg(ECU_R_ADDR, 0x454C4597U, 0xF1620C10U, 8U);
-        uds_request = 0xF197U;
+        can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x4D4F4390U, 0xF1621410U, 8U);
+        uds_engine_request = 0xF190U;
        break;
      // FLOW CONTROL MESSAGE
-      case 0x30U:
-        switch(uds_request) {
-          // APPLICATION SOFTWARE IDENTIFICATION : F181
-          case 0xF181U:
-            can_send_msg(ECU_R_ADDR, 0x0U, ((version[5] << 24U) | (version[4] << 16U) | (version[3] << 8U) | 0x21U), 8U);
-            uds_request = 0;
-            break;
-          // ECU SERIAL NUMBER : F18C
-          case 0xF18CU:
-            can_send_msg(ECU_R_ADDR, ((uid[9] << 24U) | (uid[8] << 16U) | (uid[7]<< 8U) | uid[6]), ((uid[5] << 24U) | (uid[4] << 16U) | (uid[3] << 8U) | 0x21U), 8U);
-            uds_request = 0;
-            break;
-          // VIN : F190
-          case 0xF190U:
-            can_send_msg(ECU_R_ADDR, 0x5659444FU, 0x42414D21U, 8U);
-            can_send_msg(ECU_R_ADDR, 0x314E4F49U, 0x53524522U, 8U);
-            uds_request = 0;
-            break;
-          // SYSTEM NAME OR ENGINE TYPE : F197
-          case 0xF197U:
-            can_send_msg(ECU_R_ADDR, (((knee_detected + 0x30) << 16U) | 0x4349U), 0x52544321U, 8U);
-            uds_request = 0;
-            break;
+      default:
+        if ((dlr & 0xFF) == 0x30U) {
+          sep_time = (dlr >> 16U) & 0xFF;
+          delay(sep_time);
+          switch(uds_engine_request) {
+            // APPLICATION SOFTWARE IDENTIFICATION : F181
+            case 0xF181U:
+              can_send_msg(ENGINE_R_ADDR + board.uds_offset, (knee_detected + 0x61), ((version[5] << 24U) | (version[4] << 16U) | (version[3] << 8U) | 0x21U), 8U);
+              uds_engine_request = 0;
+              break;
+            // ECU SERIAL NUMBER : F18C
+            case 0xF18CU:
+              can_send_msg(ENGINE_R_ADDR + board.uds_offset, ((uid[9] << 24U) | (uid[8] << 16U) | (uid[7]<< 8U) | uid[6]), ((uid[5] << 24U) | (uid[4] << 16U) | (uid[3] << 8U) | 0x21U), 8U);
+              uds_engine_request = 0;
+              break;
+            // VIN : F190
+            case 0xF190U:
+              can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x5659444FU, 0x42414D21U, 8U);
+              can_send_msg(ENGINE_R_ADDR + board.uds_offset, 0x314E4F49U, 0x53524522U, 8U);
+              uds_engine_request = 0;
+              break;
+          }
        }
        break;
    }
-  } else if (addr == DEBUG_ADDR) { // UDS request to "DEBUG" ECU
+  } else if (addr == (DEBUG_ADDR + board.uds_offset)) { // UDS request to "DEBUG" ECU
    switch(dlr) {
      // TESTER PRESENT
      case 0x3E02U:
-        can_send_msg(DEBUG_R_ADDR, 0x0U, 0x7E02U, 8U);
+        can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x7E02U, 8U);
        break;
      // DIAGNOSTIC SESSION CONTROL: DEFAULT
      case 0x011002U:
-        can_send_msg(DEBUG_R_ADDR, 0x0U, 0x015002U, 8U);
+        can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x015002U, 8U);
        break;
      // DIAGNOSTIC SESSION CONTROL: EXTENDED
      case 0x031002U:
-        can_send_msg(DEBUG_R_ADDR, 0x0U, 0x035002U, 8U);
+        can_send_msg(DEBUG_R_ADDR + board.uds_offset, 0x0U, 0x035002U, 8U);
        break;
      // APPLICATION SOFTWARE IDENTIFICATION : F181 (used for git hash logging)
      case 0x81F12203U:
        COMPILE_TIME_ASSERT(sizeof(gitversion) == 8U);
-        can_send_msg(DEBUG_R_ADDR, ((gitversion[2] << 24U) | (gitversion[1] << 16U) | (gitversion[0] << 8U) | 0x81U), 0xF1620B10U, 8U);
-        uds_request = 0xF181U;
+        can_send_msg((DEBUG_R_ADDR + board.uds_offset), ((gitversion[2] << 24U) | (gitversion[1] << 16U) | (gitversion[0] << 8U) | 0x81U), 0xF1620B10U, 8U);
+        uds_debug_request = 0xF181U;
        break;
-      case 0x30U:
-        switch(uds_request) {
-          // APPLICATION SOFTWARE IDENTIFICATION : F181
-          case 0xF181U:
-            can_send_msg(DEBUG_R_ADDR, ((gitversion[7]<< 8U) | gitversion[6]), ((gitversion[5] << 24U) | (gitversion[4] << 16U) | (gitversion[3] << 8U) | 0x21U), 8U);
-            uds_request = 0;
-            break;
+      default:
+        if ((dlr & 0xFF) == 0x30U) {
+          sep_time = (dlr >> 16U) & 0xFF;
+          delay(sep_time);
+          switch(uds_debug_request) {
+            // APPLICATION SOFTWARE IDENTIFICATION : F181
+            case 0xF181U:
+              can_send_msg((DEBUG_R_ADDR + board.uds_offset), ((gitversion[7]<< 8U) | gitversion[6]), ((gitversion[5] << 24U) | (gitversion[4] << 16U) | (gitversion[3] << 8U) | 0x21U), 8U);
+              uds_debug_request = 0;
+              break;
+          }
        }
        break;
    }
@@ -175,22 +175,6 @@ void poweroff(void) {
  }
 }

-void poweroffPressCheck(void) {
-  if(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
-    uint16_t cnt_press = 0;
-    while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
-      HAL_Delay(10);
-      cnt_press++;
-      if (cnt_press == (2 * 100)) { poweroff(); }
-    }
-    if (cnt_press > 8) {
-      ignition = !ignition;
-      out_enable(IGNITION, ignition);
-      beepShort(5);
-    }
-  }
-}
-
 #define PULL_EFFECTIVE_DELAY 4096
 uint8_t detect_with_pull(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint32_t mode) {
  GPIO_InitTypeDef GPIO_InitStruct;
@@ -19,7 +19,6 @@ void calcAvgSpeed(void);

 // Poweroff Functions
 void poweroff(void);
-void poweroffPressCheck(void);

 // GPIO functions
 uint8_t detect_with_pull(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin, uint32_t mode);
@@ -1 +1 @@
-const uint8_t version[6] = "0.0.02";
+const uint8_t version[6] = "0.3.00";
@@ -1,6 +1,4 @@
-gen
-node_modules
-package-lock.json
+/gen/
 *.tmp
 *.pyc
 __pycache__
@@ -18,4 +16,3 @@ services.h
 .sconsign.dblite
 libcereal_shared.*
 .mypy_cache/
-catch2/
@@ -17,7 +17,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
  immediateDisable @6 :Bool;
  preEnable @7 :Bool;
  permanent @8 :Bool; # alerts presented regardless of openpilot state
-  override @9 :Bool;
+  overrideLateral @10 :Bool;
+  overrideLongitudinal @9 :Bool;

  enum EventName @0xbaa8c5d505f727de {
    canError @0;
@@ -33,18 +34,19 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    buttonCancel @11;
    buttonEnable @12;
    pedalPressed @13;  # exits active state
-    pedalPressedPreEnable @73;  # added during pre-enable state for either pedal
+    preEnableStandstill @73;  # added during pre-enable state with brake
    gasPressedOverride @108;  # added when user is pressing gas with no disengage on gas
+    steerOverride @114;
    cruiseDisabled @14;
    speedTooLow @17;
    outOfSpace @18;
    overheat @19;
    calibrationIncomplete @20;
    calibrationInvalid @21;
+    calibrationRecalibrating @117;
    controlsMismatch @22;
    pcmEnable @23;
    pcmDisable @24;
-    noTarget @25;
    radarFault @26;
    brakeHold @28;
    parkBrake @29;
@@ -112,6 +114,8 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    canBusMissing @111;
    controlsdLagging @112;
    resumeBlocked @113;
+    steerTimeLimit @115;
+    vehicleSensorsInvalid @116;

    radarCanErrorDEPRECATED @15;
    communityFeatureDisallowedDEPRECATED @62;
@@ -135,6 +139,7 @@ struct CarEvent @0x9b1657f34caf3ad3 {
    modelLagWarningDEPRECATED @93;
    startupOneplusDEPRECATED @82;
    startupFuzzyFingerprintDEPRECATED @97;
+    noTargetDEPRECATED @25;
  }
 }

@@ -165,6 +170,7 @@ struct CarState {
  # brake pedal, 0.0-1.0
  brake @5 :Float32;      # this is user pedal only
  brakePressed @6 :Bool;  # this is user pedal only
+  regenBraking @45 :Bool; # this is user pedal only
  parkingBrake @39 :Bool;
  brakeHoldActive @38 :Bool;

@@ -201,9 +207,6 @@ struct CarState {
  # clutch (manual transmission only)
  clutchPressed @28 :Bool;

-  # which packets this state came from
-  canMonoTimes @12: List(UInt64);
-
  # blindspot sensors
  leftBlindspot @33 :Bool; # Is there something blocking the left lane change
  rightBlindspot @34 :Bool; # Is there something blocking the right lane change
@@ -263,9 +266,11 @@ struct CarState {
    }
  }

+  # deprecated
  errorsDEPRECATED @0 :List(CarEvent.EventName);
  brakeLightsDEPRECATED @19 :Bool;
  steeringRateLimitedDEPRECATED @29 :Bool;
+  canMonoTimesDEPRECATED @12: List(UInt64);
 }

 # ******* radar state @ 20hz *******
@@ -274,9 +279,6 @@ struct RadarData @0x888ad6581cf0aacb {
  errors @0 :List(Error);
  points @1 :List(RadarPoint);

-  # which packets this state came from
-  canMonoTimes @2 :List(UInt64);
-
  enum Error {
    canError @0;
    fault @1;
@@ -300,6 +302,9 @@ struct RadarData @0x888ad6581cf0aacb {
    # some radars flag measurements VS estimates
    measured @6 :Bool;
  }
+
+  # deprecated
+  canMonoTimesDEPRECATED @2 :List(UInt64);
 }

 # ******* car controls @ 100hz *******
@@ -313,6 +318,9 @@ struct CarControl {
  # Actuator commands as computed by controlsd
  actuators @6 :Actuators;

+  leftBlinker @15: Bool;
+  rightBlinker @16: Bool;
+
  # Any car specific rate limits or quirks applied by
  # the CarController are reflected in actuatorsOutput
  # and matches what is sent to the car
@@ -330,8 +338,12 @@ struct CarControl {
    brake @1: Float32;
    # range from -1.0 - 1.0
    steer @2: Float32;
+    # value sent over can to the car
+    steerOutputCan @8: Float32;
    steeringAngleDeg @3: Float32;

+    curvature @7: Float32;
+
    speed @6: Float32; # m/s
    accel @4: Float32; # m/s^2
    longControlState @5: LongControlState;
@@ -340,15 +352,14 @@ struct CarControl {
      off @0;
      pid @1;
      stopping @2;
-
-      startingDEPRECATED @3;
+      starting @3;
    }
-
  }

  struct CruiseControl {
    cancel @0: Bool;
    resume @1: Bool;
+    override @4: Bool;
    speedOverrideDEPRECATED @2: Float32;
    accelOverrideDEPRECATED @3: Float32;
  }
@@ -414,23 +425,18 @@ struct CarParams {
  enableGasInterceptor @2 :Bool;
  pcmCruise @3 :Bool;        # is openpilot's state tied to the PCM's cruise state?
  enableDsu @5 :Bool;        # driving support unit
-  enableApgs @6 :Bool;       # advanced parking guidance system
  enableBsm @56 :Bool;       # blind spot monitoring
  flags @64 :UInt32;         # flags for car specific quirks
+  experimentalLongitudinalAvailable @71 :Bool;

  minEnableSpeed @7 :Float32;
  minSteerSpeed @8 :Float32;
-  maxSteeringAngleDeg @54 :Float32;
  safetyConfigs @62 :List(SafetyConfig);
  alternativeExperience @65 :Int16;      # panda flag for features like no disengage on gas
-  maxLateralAccel @68 :Float32;

-  steerMaxBPDEPRECATED @11 :List(Float32);
-  steerMaxVDEPRECATED @12 :List(Float32);
-  gasMaxBPDEPRECATED @13 :List(Float32);
-  gasMaxVDEPRECATED @14 :List(Float32);
-  brakeMaxBPDEPRECATED @15 :List(Float32);
-  brakeMaxVDEPRECATED @16 :List(Float32);
+  # Car docs fields
+  maxLateralAccel @68 :Float32;
+  autoResumeSng @69 :Bool;               # describes whether car can resume from a stop automatically

  # things about the car in the manual
  mass @17 :Float32;            # [kg] curb weight: all fluids no cargo
@@ -458,12 +464,13 @@ struct CarParams {

  vEgoStopping @29 :Float32; # Speed at which the car goes into stopping state
  vEgoStarting @59 :Float32; # Speed at which the car goes into starting state
-  directAccelControl @30 :Bool; # Does the car have direct accel control or just gas/brake
-  stoppingControl @31 :Bool; # Does the car allows full control even at lows speeds when stopping
-  stopAccel @60 :Float32; # Required acceleraton to keep vehicle stationary
+  stoppingControl @31 :Bool; # Does the car allow full control even at lows speeds when stopping
  steerControlType @34 :SteerControlType;
-  radarOffCan @35 :Bool; # True when radar objects aren't visible on CAN
+  radarUnavailable @35 :Bool; # True when radar objects aren't visible on CAN or aren't parsed out
+  stopAccel @60 :Float32; # Required acceleration to keep vehicle stationary
  stoppingDecelRate @52 :Float32; # m/s^2/s while trying to stop
+  startAccel @32 :Float32; # Required acceleration to get car moving
+  startingState @70 :Bool; # Does this car make use of special starting state

  steerActuatorDelay @36 :Float32; # Steering wheel actuator delay in seconds
  longitudinalActuatorDelayLowerBound @61 :Float32; # Gas/Brake actuator delay in seconds, lower bound
@@ -507,6 +514,8 @@ struct CarParams {
    friction @3 :Float32;
    kf @4 :Float32;
    steeringAngleDeadzoneDeg @5 :Float32;
+    latAccelFactor @6 :Float32;
+    latAccelOffset @7 :Float32;
  }

  struct LongitudinalPIDTuning {
@@ -572,11 +581,11 @@ struct CarParams {
    noOutput @19;  # like silent but without silent CAN TXs
    hondaBosch @20;
    volkswagenPq @21;
-    subaruLegacy @22;  # pre-Global platform
+    subaruPreglobal @22;  # pre-Global platform
    hyundaiLegacy @23;
    hyundaiCommunity @24;
-    stellantis @25;
-    faw @26;
+    volkswagenMlb @25;
+    hongqi @26;
    body @27;
    hyundaiCanfd @28;
  }
@@ -584,6 +593,7 @@ struct CarParams {
  enum SteerControlType {
    torque @0;
    angle @1;
+    curvature @2;
  }

  enum TransmissionType {
@@ -603,11 +613,13 @@ struct CarParams {
    request @5 :List(Data);
    brand @6 :Text;
    bus @7 :UInt8;
+    logging @8 :Bool;
+    obdMultiplexing @9 :Bool;
  }

  enum Ecu {
    eps @0;
-    esp @1;
+    abs @1;
    fwdRadar @2;
    fwdCamera @3;
    engine @4;
@@ -617,18 +629,25 @@ struct CarParams {
    gateway @10; # can gateway
    hud @11; # heads up display
    combinationMeter @12; # instrument cluster
+    electricBrakeBooster @15;
+    shiftByWire @16;
+    adas @19;
+    cornerRadar @21;
+    hvac @20;
+    parkingAdas @7;  # parking assist system ECU, e.g. Toyota's IPAS, Hyundai's RSPA, etc.

    # Toyota only
    dsu @6;
-    apgs @7;

    # Honda only
    vsa @13; # Vehicle Stability Assist
    programmedFuelInjection @14;
-    electricBrakeBooster @15;
-    shiftByWire @16;
+
+    # Chrysler only
+    hcp @18;  # Hybrid Control Processor

    debug @17;
+    unused @22;
  }

  enum FingerprintSource {
@@ -643,6 +662,7 @@ struct CarParams {
  }

  enableCameraDEPRECATED @4 :Bool;
+  enableApgsDEPRECATED @6 :Bool;
  steerRateCostDEPRECATED @33 :Float32;
  isPandaBlackDEPRECATED @39 :Bool;
  hasStockCameraDEPRECATED @57 :Bool;
@@ -650,7 +670,14 @@ struct CarParams {
  safetyModelDEPRECATED @9 :SafetyModel;
  safetyModelPassiveDEPRECATED @42 :SafetyModel = silent;
  minSpeedCanDEPRECATED @51 :Float32;
-  startAccelDEPRECATED @32 :Float32;
  communityFeatureDEPRECATED @46: Bool;
  startingAccelRateDEPRECATED @53 :Float32;
+  steerMaxBPDEPRECATED @11 :List(Float32);
+  steerMaxVDEPRECATED @12 :List(Float32);
+  gasMaxBPDEPRECATED @13 :List(Float32);
+  gasMaxVDEPRECATED @14 :List(Float32);
+  brakeMaxBPDEPRECATED @15 :List(Float32);
+  brakeMaxVDEPRECATED @16 :List(Float32);
+  directAccelControlDEPRECATED @30 :Bool;
+  maxSteeringAngleDegDEPRECATED @54 :Float32;
 }
@@ -46,6 +46,7 @@ struct InitData {
    chffrIos @3;
    tici @4;
    pc @5;
+    tizi @6;
  }

  struct PandaInfo {
@@ -137,23 +138,11 @@ struct FrameData {
  gain @15 :Float32; # This includes highConversionGain if enabled
  measuredGreyFraction @21 :Float32;
  targetGreyFraction @22 :Float32;
-
-  # Focus
-  lensPos @11 :Int32;
-  lensSag @12 :Float32;
-  lensErr @13 :Float32;
-  lensTruePos @14 :Float32;
-  focusVal @16 :List(Int16);
-  focusConf @17 :List(UInt8);
-  sharpnessScore @18 :List(UInt16);
-  recoverState @19 :Int32;
+  exposureValPercent @27 :Float32;

  transform @10 :List(Float32);

-  androidCaptureResult @9 :AndroidCaptureResult;
-
  image @6 :Data;
-  globalGainDEPRECATED @5 :Int32;

  temperaturesC @24 :List(Float32);

@@ -164,6 +153,23 @@ struct FrameData {
    front @3;
  }

+  sensor @26 :ImageSensor;
+  enum ImageSensor {
+    unknown @0;
+    ar0231 @1;
+    ox03c10 @2;
+  }
+
+  globalGainDEPRECATED @5 :Int32;
+  androidCaptureResultDEPRECATED @9 :AndroidCaptureResult;
+  lensPosDEPRECATED @11 :Int32;
+  lensSagDEPRECATED @12 :Float32;
+  lensErrDEPRECATED @13 :Float32;
+  lensTruePosDEPRECATED @14 :Float32;
+  focusValDEPRECATED @16 :List(Int16);
+  focusConfDEPRECATED @17 :List(UInt8);
+  sharpnessScoreDEPRECATED @18 :List(UInt16);
+  recoverStateDEPRECATED @19 :Int32;
  struct AndroidCaptureResult {
    sensitivity @0 :Int32;
    frameDuration @1 :Int64;
@@ -220,9 +226,9 @@ struct SensorEventData {
    fiber @2;
    velodyne @3;  # Velodyne IMU
    bno055 @4;    # Bosch accelerometer
-    lsm6ds3 @5;   # accelerometer (c2)
-    bmp280 @6;    # barometer (c2)
-    mmc3416x @7;  # magnetometer (c2)
+    lsm6ds3 @5;   # includes LSM6DS3 and LSM6DS3TR, TR = tape reel
+    bmp280 @6;    # barometer
+    mmc3416x @7;  # magnetometer
    bmx055 @8;
    rpr0521 @9;
    lsm6ds3trc @10;
@@ -290,7 +296,6 @@ struct CanData {
 }

 struct DeviceState @0xa4d8b5af2aa492eb {
-  usbOnline @12 :Bool;
  networkType @22 :NetworkType;
  networkInfo @31 :NetworkInfo;
  networkStrength @24 :NetworkStrength;
@@ -308,10 +313,6 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  cpuUsagePercent @34 :List(Int8);  # per-core cpu usage

  # power
-  batteryPercent @8 :Int16;
-  batteryCurrent @15 :Int32;
-  chargingError @17 :Bool;
-  chargingDisabled @18 :Bool;
  offroadPowerUsageUwh @23 :UInt32;
  carBatteryCapacityUwh @25 :UInt32;
  powerDrawW @40 :Float32;
@@ -388,30 +389,52 @@ struct DeviceState @0xa4d8b5af2aa492eb {
  batteryStatusDEPRECATED @9 :Text;
  batteryVoltageDEPRECATED @16 :Int32;
  batteryTempCDEPRECATED @29 :Float32;
+  batteryPercentDEPRECATED @8 :Int16;
+  batteryCurrentDEPRECATED @15 :Int32;
+  chargingErrorDEPRECATED @17 :Bool;
+  chargingDisabledDEPRECATED @18 :Bool;
+  usbOnlineDEPRECATED @12 :Bool;
 }

 struct PandaState @0xa7649e2575e4591e {
  ignitionLine @2 :Bool;
-  controlsAllowed @3 :Bool;
  gasInterceptorDetected @4 :Bool;
-  canSendErrs @7 :UInt32;
-  canFwdErrs @8 :UInt32;
-  canRxErrs @19 :UInt32;
+  rxBufferOverflow @7 :UInt32;
+  txBufferOverflow @8 :UInt32;
  gmlanSendErrs @9 :UInt32;
  pandaType @10 :PandaType;
  ignitionCan @13 :Bool;
-  safetyModel @14 :Car.CarParams.SafetyModel;
-  safetyParam @27 :UInt16;
-  alternativeExperience @23 :Int16;
  faultStatus @15 :FaultStatus;
  powerSaveEnabled @16 :Bool;
  uptime @17 :UInt32;
  faults @18 :List(FaultType);
-  harnessStatus @21 :HarnessStatus;
  heartbeatLost @22 :Bool;
-  blockedCnt @24 :UInt32;
  interruptLoad @25 :Float32;
  fanPower @28 :UInt8;
+  fanStallCount @34 :UInt8;
+
+  spiChecksumErrorCount @33 :UInt16;
+
+  harnessStatus @21 :HarnessStatus;
+  sbu1Voltage @35 :Float32;
+  sbu2Voltage @36 :Float32;
+
+  # can health
+  canState0 @29 :PandaCanState;
+  canState1 @30 :PandaCanState;
+  canState2 @31 :PandaCanState;
+
+  # safety stuff
+  controlsAllowed @3 :Bool;
+  safetyRxInvalid @19 :UInt32;
+  safetyTxBlocked @24 :UInt32;
+  safetyModel @14 :Car.CarParams.SafetyModel;
+  safetyParam @27 :UInt16;
+  alternativeExperience @23 :Int16;
+  safetyRxChecksInvalid @32 :Bool;
+
+  voltage @0 :UInt32;
+  current @1 :UInt32;

  enum FaultStatus {
    none @0;
@@ -443,6 +466,10 @@ struct PandaState @0xa7649e2575e4591e {
    interruptRateClockSource @20;
    interruptRateTick @21;
    interruptRateExti @22;
+    interruptRateSpi @23;
+    interruptRateUart7 @24;
+    sirenMalfunction @25;
+    heartbeatLoopWatchdog @26;
    # Update max fault type in boardd when adding faults
  }

@@ -455,6 +482,8 @@ struct PandaState @0xa7649e2575e4591e {
    uno @5;
    dos @6;
    redPanda @7;
+    redPandaV2 @8;
+    tres @9;
  }

  enum HarnessStatus {
@@ -463,12 +492,45 @@ struct PandaState @0xa7649e2575e4591e {
    flipped @2;
  }

+  struct PandaCanState {
+    busOff @0 :Bool;
+    busOffCnt @1 :UInt32;
+    errorWarning @2 :Bool;
+    errorPassive @3 :Bool;
+    lastError @4 :LecErrorCode;
+    lastStoredError @5 :LecErrorCode;
+    lastDataError @6 :LecErrorCode;
+    lastDataStoredError @7 :LecErrorCode;
+    receiveErrorCnt @8 :UInt8;
+    transmitErrorCnt @9 :UInt8;
+    totalErrorCnt @10 :UInt32;
+    totalTxLostCnt @11 :UInt32;
+    totalRxLostCnt @12 :UInt32;
+    totalTxCnt @13 :UInt32;
+    totalRxCnt @14 :UInt32;
+    totalFwdCnt @15 :UInt32;
+    canSpeed @16 :UInt16;
+    canDataSpeed @17 :UInt16;
+    canfdEnabled @18 :Bool;
+    brsEnabled @19 :Bool;
+    canfdNonIso @20 :Bool;
+
+    enum LecErrorCode {
+      noError @0;
+      stuffError @1;
+      formError @2;
+      ackError @3;
+      bit1Error @4;
+      bit0Error @5;
+      crcError @6;
+      noChange @7;
+    }
+  }
+
  startedSignalDetectedDEPRECATED @5 :Bool;
-  voltageDEPRECATED @0 :UInt32;
-  currentDEPRECATED @1 :UInt32;
  hasGpsDEPRECATED @6 :Bool;
  fanSpeedRpmDEPRECATED @11 :UInt16;
-  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerMode;
+  usbPowerModeDEPRECATED @12 :PeripheralState.UsbPowerModeDEPRECATED;
  safetyParamDEPRECATED @20 :Int16;
  safetyParam2DEPRECATED @26 :UInt32;
 }
@@ -478,9 +540,9 @@ struct PeripheralState {
  voltage @1 :UInt32;
  current @2 :UInt32;
  fanSpeedRpm @3 :UInt16;
-  usbPowerMode @4 :UsbPowerMode;

-  enum UsbPowerMode @0xa8883583b32c9877 {
+  usbPowerModeDEPRECATED @4 :UsbPowerModeDEPRECATED;
+  enum UsbPowerModeDEPRECATED @0xa8883583b32c9877 {
    none @0;
    client @1;
    cdp @2;
@@ -489,7 +551,6 @@ struct PeripheralState {
 }

 struct RadarState @0x9a185389d6fdd05f {
-  canMonoTimes @10 :List(UInt64);
  mdMonoTime @6 :UInt64;
  carStateMonoTime @11 :UInt64;
  radarErrors @12 :List(Car.RadarData.Error);
@@ -524,10 +585,11 @@ struct RadarState @0x9a185389d6fdd05f {
  calStatusDEPRECATED @2 :Int8;
  calCycleDEPRECATED @8 :Int32;
  calPercDEPRECATED @9 :Int8;
+  canMonoTimesDEPRECATED @10 :List(UInt64);
 }

 struct LiveCalibrationData {
-  calStatus @1 :Int8;
+  calStatus @11 :Status;
  calCycle @2 :Int32;
  calPerc @3 :Int8;
  validBlocks @9 :Int32;
@@ -538,10 +600,19 @@ struct LiveCalibrationData {
  # the direction of travel vector in device frame
  rpyCalib @7 :List(Float32);
  rpyCalibSpread @8 :List(Float32);
+  wideFromDeviceEuler @10 :List(Float32);

  warpMatrixDEPRECATED @0 :List(Float32);
+  calStatusDEPRECATED @1 :Int8;
  warpMatrix2DEPRECATED @5 :List(Float32);
  warpMatrixBigDEPRECATED @6 :List(Float32);
+  
+  enum Status {
+    uncalibrated @0;
+    calibrated @1;
+    invalid @2;
+    recalibrating @3;
+  }
 }

 struct LiveTracks {
@@ -559,7 +630,6 @@ struct LiveTracks {

 struct ControlsState @0x97ff69c53601abf1 {
  startMonoTime @48 :UInt64;
-  canMonoTimes @21 :List(UInt64);
  longitudinalPlanMonoTime @28 :UInt64;
  lateralPlanMonoTime @50 :UInt64;

@@ -567,6 +637,8 @@ struct ControlsState @0x97ff69c53601abf1 {
  enabled @19 :Bool;
  active @36 :Bool;

+  experimentalMode @64 :Bool;
+
  longControlState @30 :Car.CarControl.Actuators.LongControlState;
  vPid @2 :Float32;
  vTargetLead @3 :Float32;
@@ -597,10 +669,12 @@ struct ControlsState @0x97ff69c53601abf1 {
  lateralControlState :union {
    indiState @52 :LateralINDIState;
    pidState @53 :LateralPIDState;
-    lqrState @55 :LateralLQRState;
    angleState @58 :LateralAngleState;
    debugState @59 :LateralDebugState;
    torqueState @60 :LateralTorqueState;
+    curvatureState @65 :LateralCurvatureState;
+
+    lqrStateDEPRECATED @55 :LateralLQRState;
  }

  enum OpenpilotState @0xdbe58b96d2d1ac61 {
@@ -608,7 +682,7 @@ struct ControlsState @0x97ff69c53601abf1 {
    preEnabled @1;
    enabled @2;
    softDisabling @3;
-    overriding @4;
+    overriding @4;  # superset of overriding with steering or accelerator
  }

  enum AlertStatus {
@@ -685,6 +759,18 @@ struct ControlsState @0x97ff69c53601abf1 {
    steeringAngleDesiredDeg @4 :Float32;
  }

+  struct LateralCurvatureState {
+    active @0 :Bool;
+    actualCurvature @1 :Float32;
+    desiredCurvature @2 :Float32;
+    error @3 :Float32;
+    p @4 :Float32;
+    i @5 :Float32;
+    f @6 :Float32;
+    output @7 :Float32;
+    saturated @8 :Bool;
+  }
+
  struct LateralDebugState {
    active @0 :Bool;
    steeringAngleDeg @1 :Float32;
@@ -721,6 +807,18 @@ struct ControlsState @0x97ff69c53601abf1 {
  jerkFactorDEPRECATED @12 :Float32;
  steerOverrideDEPRECATED @20 :Bool;
  steeringAngleDesiredDegDEPRECATED @29 :Float32;
+  canMonoTimesDEPRECATED @21 :List(UInt64);
+}
+
+# All SI units and in device frame
+struct XYZTData @0xc3cbae1fd505ae80 {
+  x @0 :List(Float32);
+  y @1 :List(Float32);
+  z @2 :List(Float32);
+  t @3 :List(Float32);
+  xStd @4 :List(Float32);
+  yStd @5 :List(Float32);
+  zStd @6 :List(Float32);
 }

 struct ModelDataV2 {
@@ -753,16 +851,9 @@ struct ModelDataV2 {

  meta @12 :MetaData;

-  # All SI units and in device frame
-  struct XYZTData {
-    x @0 :List(Float32);
-    y @1 :List(Float32);
-    z @2 :List(Float32);
-    t @3 :List(Float32);
-    xStd @4 :List(Float32);
-    yStd @5 :List(Float32);
-    zStd @6 :List(Float32);
-  }
+  # Model perceived motion
+  temporalPose @21 :Pose;
+

  struct LeadDataV2 {
    prob @0 :Float32; # probability that car is your lead at time t
@@ -816,6 +907,13 @@ struct ModelDataV2 {
    brake4MetersPerSecondSquaredProbs @5 :List(Float32);
    brake5MetersPerSecondSquaredProbs @6 :List(Float32);
  }
+
+  struct Pose {
+    trans @0 :List(Float32); # m/s in device frame
+    rot @1 :List(Float32); # rad/s in device frame
+    transStd @2 :List(Float32); # std m/s in device frame
+    rotStd @3 :List(Float32); # std rad/s in device frame
+  }
 }

 struct EncodeIndex {
@@ -914,14 +1012,19 @@ struct LongitudinalPlan @0xe00b5b3eba12876c {
    y @1 :List(Float32);
  }
 }
+struct UiPlan {
+  frameId @2 :UInt32;
+  position @0 :XYZTData;
+  accel @1 :List(Float32);
+}

 struct LateralPlan @0xe1e9318e2ae8b51e {
  modelMonoTime @31 :UInt64;
-  laneWidth @0 :Float32;
-  lProb @5 :Float32;
-  rProb @7 :Float32;
+  laneWidthDEPRECATED @0 :Float32;
+  lProbDEPRECATED @5 :Float32;
+  rProbDEPRECATED @7 :Float32;
  dPathPoints @20 :List(Float32);
-  dProb @21 :Float32;
+  dProbDEPRECATED @21 :Float32;

  mpcSolutionValid @9 :Bool;
  desire @17 :Desire;
@@ -1019,6 +1122,7 @@ struct LiveLocationKalman {
  deviceStable @22 :Bool = true;
  timeSinceReset @23 :Float64;
  excessiveResets @24 :Bool;
+  timeToFirstFix @25 :Float32;

  enum Status {
    uninitialized @0;
@@ -1086,18 +1190,27 @@ struct ProcLog {
 }

 struct GnssMeasurements {
-  ubloxMonoTime @0 :UInt64;
+  measTime @0 :UInt64;
  gpsWeek @1 :Int16;
  gpsTimeOfWeek @2 :Float64;

  correctedMeasurements @3 :List(CorrectedMeasurement);
+  ephemerisStatuses @9 :List(EphemerisStatus);

-  positionECEF @4 :LiveLocationKalman.Measurement;
-  velocityECEF @5 :LiveLocationKalman.Measurement;
-  # Used for debugging:
-  positionFixECEF @6 :LiveLocationKalman.Measurement;
+  kalmanPositionECEF @4 :LiveLocationKalman.Measurement;
+  kalmanVelocityECEF @5 :LiveLocationKalman.Measurement;
+  positionECEF @6 :LiveLocationKalman.Measurement;
+  velocityECEF @7 :LiveLocationKalman.Measurement;
+  timeToFirstFix @8 :Float32;
  # Todo sync this with timing pulse of ublox

+  struct EphemerisStatus {
+    constellationId @0 :ConstellationId;
+    svId @1 :UInt8;
+    type @2 :EphemerisType;
+    source @3 :EphemerisSource;
+  }
+
  struct CorrectedMeasurement {
    constellationId @0 :ConstellationId;
    svId @1 :UInt8;
@@ -1110,32 +1223,40 @@ struct GnssMeasurements {
    # Satellite position and velocity [x,y,z]
    satPos @7 :List(Float64);
    satVel @8 :List(Float64);
-    ephemerisSource @9 :EphemerisSource;
+    ephemerisSourceDEPRECATED @9 :EphemerisSourceDEPRECATED;
  }

-  struct EphemerisSource {
-    type @0 :EphemerisSourceType;
+  struct EphemerisSourceDEPRECATED {
+    type @0 :EphemerisType;
    # first epoch in file:
    gpsWeek @1 :Int16; # -1 if Nav
    gpsTimeOfWeek @2 :Int32; # -1 if Nav. Integer for seconds is good enough for logs.
  }

  enum ConstellationId {
-      # Satellite Constellation using the Ublox gnssid as index
-      gps @0;
-      sbas @1;
-      galileo @2;
-      beidou @3;
-      imes @4;
-      qznss @5;
-      glonass @6;
+    # Satellite Constellation using the Ublox gnssid as index
+    gps @0;
+    sbas @1;
+    galileo @2;
+    beidou @3;
+    imes @4;
+    qznss @5;
+    glonass @6;
  }

-  enum EphemerisSourceType {
+  enum EphemerisType {
    nav @0;
    # Different ultra-rapid files:
    nasaUltraRapid @1;
    glonassIacUltraRapid @2;
+    qcom @3;
+  }
+
+  enum EphemerisSource {
+    gnssChip @0;
+    internet @1;
+    cache @2;
+    unknown @3;
  }
 }

@@ -1146,6 +1267,20 @@ struct UbloxGnss {
    ionoData @2 :IonoData;
    hwStatus @3 :HwStatus;
    hwStatus2 @4 :HwStatus2;
+    glonassEphemeris @5 :GlonassEphemeris;
+    satReport @6 :SatReport;
+  }
+
+  struct SatReport {
+    #received time of week in gps time in seconds and gps week
+    iTow @0 :UInt32;
+    svs @1 :List(SatInfo);
+
+    struct SatInfo {
+      svId @0 :UInt8;
+      gnssId @1 :UInt8;
+      flagsBitfield @2 :UInt32;
+    }
  }

  struct MeasurementReport {
@@ -1198,7 +1333,7 @@ struct UbloxGnss {
        carrierPhaseValid @1 :Bool;
        # half cycle valid
        halfCycleValid @2 :Bool;
-        # half sycle subtracted from phase
+        # half cycle subtracted from phase
        halfCycleSubtracted @3 :Bool;
      }
    }
@@ -1239,7 +1374,7 @@ struct UbloxGnss {

    iDot @26 :Float64;
    codesL2 @27 :Float64;
-    gpsWeek @28 :Float64;
+    gpsWeekDEPRECATED @28 :Float64;
    l2 @29 :Float64;

    svAcc @30 :Float64;
@@ -1256,6 +1391,9 @@ struct UbloxGnss {
    ionoAlpha @38 :List(Float64);
    ionoBeta @39 :List(Float64);

+    towCount @40 :UInt32;
+    toeWeek @41 :UInt16;
+    tocWeek @42 :UInt16;
  }

  struct IonoData {
@@ -1310,6 +1448,49 @@ struct UbloxGnss {
      flash @4;
    }
  }
+
+  struct GlonassEphemeris {
+    svId @0 :UInt16;
+    year @1 :UInt16;
+    dayInYear @2 :UInt16;
+    hour @3 :UInt16;
+    minute @4 :UInt16;
+    second @5 :Float32;
+
+    x @6 :Float64;
+    xVel @7 :Float64;
+    xAccel @8 :Float64;
+    y @9 :Float64;
+    yVel @10 :Float64;
+    yAccel @11 :Float64;
+    z @12 :Float64;
+    zVel @13 :Float64;
+    zAccel @14 :Float64;
+
+    svType @15 :UInt8;
+    svURA @16 :Float32;
+    age @17 :UInt8;
+
+    svHealth @18 :UInt8;
+    tkDEPRECATED @19 :UInt16;
+    tb @20 :UInt16;
+
+    tauN @21 :Float64;
+    deltaTauN @22 :Float64;
+    gammaN @23 :Float64;
+
+    p1 @24 :UInt8;
+    p2 @25 :UInt8;
+    p3 @26 :UInt8;
+    p4 @27 :UInt8;
+
+    freqNumDEPRECATED @28 :UInt32;
+
+    n4 @29 :UInt8;
+    nt @30 :UInt16;
+    freqNum @31 :Int16;
+    tkSeconds @32 :UInt32;
+  }
 }

 struct QcomGnss @0xde94674b07ae51c1 {
@@ -1329,7 +1510,7 @@ struct QcomGnss @0xde94674b07ae51c1 {
    unknown3 @3;
    unknown4 @4;
    unknown5 @5;
-    unknown6 @6;
+    sbas @6;
  }

  enum SVObservationState @0xe81e829a0d6c83e9 {
@@ -1742,7 +1923,6 @@ struct LiveParametersData {
  stiffnessFactor @4 :Float32;
  steerRatio @5 :Float32;
  sensorValid @6 :Bool;
-  yawRate @7 :Float32;
  posenetSpeed @8 :Float32;
  posenetValid @9 :Bool;
  angleOffsetFastStd @10 :Float32;
@@ -1750,6 +1930,24 @@ struct LiveParametersData {
  stiffnessFactorStd @12 :Float32;
  steerRatioStd @13 :Float32;
  roll @14 :Float32;
+
+  yawRateDEPRECATED @7 :Float32;
+}
+
+struct LiveTorqueParametersData {
+  liveValid @0 :Bool;
+  latAccelFactorRaw @1 :Float32;
+  latAccelOffsetRaw @2 :Float32;
+  frictionCoefficientRaw @3 :Float32;
+  latAccelFactorFiltered @4 :Float32;
+  latAccelOffsetFiltered @5 :Float32;
+  frictionCoefficientFiltered @6 :Float32;
+  totalBucketPoints @7 :Float32;
+  decay @8 :Float32;
+  maxResets @9 :Float32;
+  points @10 :List(List(Float32));
+  version @11 :Int32;
+  useParams @12 :Bool;
 }

 struct LiveMapDataDEPRECATED {
@@ -1779,6 +1977,8 @@ struct CameraOdometry {
  rot @1 :List(Float32); # rad/s in device frame
  transStd @2 :List(Float32); # std m/s in device frame
  rotStd @3 :List(Float32); # std rad/s in device frame
+  wideFromDeviceEuler @6 :List(Float32);
+  wideFromDeviceEulerStd @7 :List(Float32);
 }

 struct Sentinel {
@@ -1792,6 +1992,10 @@ struct Sentinel {
  signal @1 :Int32;
 }

+struct UIDebug {
+  drawTimeMillis @0 :Float32;
+}
+
 struct ManagerState {
  processes @0 :List(ProcessState);

@@ -1861,6 +2065,30 @@ struct NavRoute {
  }
 }

+struct MapRenderState {
+  locationMonoTime @0 :UInt64;
+  renderTime @1 :Float32;
+  frameId @2: UInt32;
+}
+
+struct NavModelData {
+  frameId @0 :UInt32;
+  modelExecutionTime @1 :Float32;
+  dspExecutionTime @2 :Float32;
+  features @3 :List(Float32);
+  # predicted future position
+  position @4 :XYData;
+  desirePrediction @5 :List(Float32);
+
+  # All SI units and in device frame
+  struct XYData {
+    x @0 :List(Float32);
+    y @1 :List(Float32);
+    xStd @2 :List(Float32);
+    yStd @3 :List(Float32);
+  }
+}
+
 struct EncodeData {
  idx @0 :EncodeIndex;
  data @1 :Data;
@@ -1871,6 +2099,15 @@ struct EncodeData {
 struct UserFlag {
 }

+struct Microphone {
+  soundPressure @0 :Float32;
+
+  # uncalibrated, A-weighted
+  soundPressureWeighted @3 :Float32;
+  soundPressureWeightedDb @1 :Float32;
+  filteredSoundPressureWeightedDb @2 :Float32;
+}
+
 struct Event {
  logMonoTime @0 :UInt64;  # nanoseconds
  valid @67 :Bool = true;
@@ -1887,7 +2124,13 @@ struct Event {
    gpsNMEA @3 :GPSNMEAData;
    can @5 :List(CanData);
    controlsState @7 :ControlsState;
-    sensorEvents @11 :List(SensorEventData);
+    gyroscope @99 :SensorEventData;
+    gyroscope2 @100 :SensorEventData;
+    accelerometer @98 :SensorEventData;
+    accelerometer2 @101 :SensorEventData;
+    magnetometer @95 :SensorEventData;
+    lightSensor @96 :SensorEventData;
+    temperatureSensor @97 :SensorEventData;
    pandaStates @81 :List(PandaState);
    peripheralState @80 :PeripheralState;
    radarState @13 :RadarState;
@@ -1898,6 +2141,7 @@ struct Event {
    carControl @23 :Car.CarControl;
    longitudinalPlan @24 :LongitudinalPlan;
    lateralPlan @64 :LateralPlan;
+    uiPlan @106 :UiPlan;
    ubloxGnss @34 :UbloxGnss;
    ubloxRaw @39 :Data;
    qcomGnss @31 :QcomGnss;
@@ -1905,6 +2149,7 @@ struct Event {
    gpsLocation @21 :GpsLocationData;
    gnssMeasurements @91 :GnssMeasurements;
    liveParameters @61 :LiveParametersData;
+    liveTorqueParameters @94 :LiveTorqueParametersData;
    cameraOdometry @63 :CameraOdometry;
    thumbnail @66: Thumbnail;
    carEvents @68: List(Car.CarEvent);
@@ -1913,6 +2158,7 @@ struct Event {
    liveLocationKalman @72 :LiveLocationKalman;
    modelV2 @75 :ModelDataV2;
    driverStateV2 @92 :DriverStateV2;
+    navModel @104 :NavModelData;

    # camera stuff, each camera state has a matching encode idx
    roadCameraState @2 :FrameData;
@@ -1923,6 +2169,9 @@ struct Event {
    wideRoadEncodeIdx @77 :EncodeIndex;
    qRoadEncodeIdx @90 :EncodeIndex;

+    # microphone data
+    microphone @103 :Microphone;
+
    # systems stuff
    androidLog @20 :AndroidLogEntry;
    managerState @78 :ManagerState;
@@ -1937,9 +2186,11 @@ struct Event {
    navInstruction @82 :NavInstruction;
    navRoute @83 :NavRoute;
    navThumbnail @84: Thumbnail;
+    mapRenderState @105: MapRenderState;

-    # user flags
+    # UI services
    userFlag @93 :UserFlag;
+    uiDebug @102 :UIDebug;

    # *********** debug ***********
    testJoystick @52 :Joystick;
@@ -1985,5 +2236,6 @@ struct Event {
    uiLayoutStateDEPRECATED @57 :Legacy.UiLayoutState;
    pandaStateDEPRECATED @12 :PandaState;
    driverStateDEPRECATED @59 :DriverStateDEPRECATED;
+    sensorEventsDEPRECATED @11 :List(SensorEventData);
  }
 }
@@ -7,9 +7,9 @@

 typedef void (*sighandler_t)(int sig);

-#include "impl_msgq.h"
-#include "impl_zmq.h"
-#include "services.h"
+#include "cereal/services.h"
+#include "cereal/messaging/impl_msgq.h"
+#include "cereal/messaging/impl_zmq.h"

 std::atomic<bool> do_exit = false;
 static void set_do_exit(int sig) {
@@ -57,7 +57,7 @@ int main(int argc, char** argv) {
  }

  std::map<SubSocket*, PubSocket*> sub2pub;
-  for (auto endpoint: get_services(whitelist_str, zmq_to_msgq)) {
+  for (auto endpoint : get_services(whitelist_str, zmq_to_msgq)) {
    PubSocket * pub_sock;
    SubSocket * sub_sock;
    if (zmq_to_msgq) {
@@ -5,8 +5,8 @@
 #include <csignal>
 #include <cerrno>

-#include "services.h"
-#include "impl_msgq.h"
+#include "cereal/services.h"
+#include "cereal/messaging/impl_msgq.h"


 volatile sig_atomic_t msgq_do_exit = 0;
@@ -1,8 +1,10 @@
 #pragma once
-#include "messaging.h"
-#include "msgq.h"
-#include <zmq.h>
+
 #include <string>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/msgq.h"

 #define MAX_POLLERS 128

@@ -4,10 +4,8 @@
 #include <cstdlib>
 #include <cerrno>

-#include <zmq.h>
-
-#include "services.h"
-#include "impl_zmq.h"
+#include "cereal/services.h"
+#include "cereal/messaging/impl_zmq.h"

 static int get_port(std::string endpoint) {
  int port = -1;
@@ -1,7 +1,10 @@
 #pragma once
-#include "messaging.h"
+
 #include <zmq.h>
 #include <string>
+#include <vector>
+
+#include "cereal/messaging/messaging.h"

 #define MAX_POLLERS 128

@@ -1,9 +1,9 @@
 #include <cassert>
 #include <iostream>

-#include "messaging.h"
-#include "impl_zmq.h"
-#include "impl_msgq.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/messaging/impl_zmq.h"
+#include "cereal/messaging/impl_msgq.h"

 #ifdef __APPLE__
 const bool MUST_USE_ZMQ = true;
@@ -94,20 +94,3 @@ Poller * Poller::create(std::vector<SubSocket*> sockets){
  }
  return p;
 }
-
-extern "C" Context * messaging_context_create() {
-  return Context::create();
-}
-
-extern "C" SubSocket * messaging_subsocket_create(Context* context, const char* endpoint) {
-  return SubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" PubSocket * messaging_pubsocket_create(Context* context, const char* endpoint) {
-  return PubSocket::create(context, std::string(endpoint));
-}
-
-extern "C" Poller * messaging_poller_create(SubSocket** sockets, int size) {
-  std::vector<SubSocket*> socketsVec(sockets, sockets + size);
-  return Poller::create(socketsVec);
-}
@@ -1,10 +1,15 @@
 #pragma once
+
 #include <cstddef>
 #include <map>
 #include <string>
 #include <vector>
+#include <utility>
+#include <time.h>
+
 #include <capnp/serialize.h>
-#include "../gen/cpp/log.capnp.h"
+
+#include "cereal/gen/cpp/log.capnp.h"

 #ifdef __APPLE__
 #define CLOCK_BOOTTIME CLOCK_MONOTONIC
@@ -18,7 +23,7 @@ class Context {
 public:
  virtual void * getRawContext() = 0;
  static Context * create();
-  virtual ~Context(){};
+  virtual ~Context(){}
 };

 class Message {
@@ -6,7 +6,7 @@ from libcpp.vector cimport vector
 from libcpp cimport bool


-cdef extern from "messaging.h":
+cdef extern from "cereal/messaging/messaging.h":
  cdef cppclass Context:
    @staticmethod
    Context * create()
@@ -10,6 +10,7 @@
 #include <csignal>
 #include <random>
 #include <string>
+#include <limits>

 #include <poll.h>
 #include <sys/ioctl.h>
@@ -22,7 +23,7 @@

 #include <stdio.h>

-#include "msgq.h"
+#include "cereal/messaging/msgq.h"

 void sigusr2_handler(int signal) {
  assert(signal == SIGUSR2);
@@ -30,7 +31,7 @@ void sigusr2_handler(int signal) {

 uint64_t msgq_get_uid(void){
  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint32_t>::max());
+  std::uniform_int_distribution<uint64_t> distribution(0, std::numeric_limits<uint32_t>::max());

  #ifdef __APPLE__
    // TODO: this doesn't work
@@ -76,7 +77,7 @@ void msgq_reset_reader(msgq_queue_t * q){

 void msgq_wait_for_subscriber(msgq_queue_t *q){
  while (*q->num_readers == 0){
-    ;
+    // wait for subscriber
  }

  return;
@@ -320,9 +321,11 @@ int msgq_msg_ready(msgq_queue_t * q){

  uint32_t read_cycles, read_pointer;
  UNPACK64(read_cycles, read_pointer, *q->read_pointers[id]);
+  UNUSED(read_cycles);

  uint32_t write_cycles, write_pointer;
  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+  UNUSED(write_cycles);

  // Check if new message is available
  return (read_pointer != write_pointer);
@@ -350,6 +353,7 @@ int msgq_msg_recv(msgq_msg_t * msg, msgq_queue_t * q){

  uint32_t write_cycles, write_pointer;
  UNPACK64(write_cycles, write_pointer, *q->write_pointer);
+  UNUSED(write_cycles);

  char * p = q->data + read_pointer;

@@ -1,15 +1,17 @@
 #pragma once
+
 #include <cstdint>
 #include <cstring>
 #include <string>
 #include <atomic>

 #define DEFAULT_SEGMENT_SIZE (10 * 1024 * 1024)
-#define NUM_READERS 10
+#define NUM_READERS 12
 #define ALIGN(n) ((n + (8 - 1)) & -8)

+#define UNUSED(x) (void)x
 #define UNPACK64(higher, lower, input) do {uint64_t tmp = input; higher = tmp >> 32; lower = tmp & 0xFFFFFFFF;} while (0)
-#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32 ) | ((uint64_t)lower & 0xFFFFFFFF)
+#define PACK64(output, higher, lower) output = ((uint64_t)higher << 32) | ((uint64_t)lower & 0xFFFFFFFF)

 struct  msgq_header_t {
  uint64_t num_readers;
@@ -4,8 +4,8 @@
 #include <string>
 #include <mutex>

-#include "services.h"
-#include "messaging.h"
+#include "cereal/services.h"
+#include "cereal/messaging/messaging.h"

 const bool SIMULATION = (getenv("SIMULATION") != nullptr) && (std::string(getenv("SIMULATION")) == "1");

@@ -116,7 +116,7 @@ void SubMaster::update(int timeout) {
 void SubMaster::update_msgs(uint64_t current_time, const std::vector<std::pair<std::string, cereal::Event::Reader>> &messages){
  if (++frame == UINT64_MAX) frame = 1;

-  for(auto &kv : messages) {
+  for (auto &kv : messages) {
    auto m_find = services_.find(kv.first);
    if (m_find == services_.end()){
      continue;
@@ -21,10 +21,16 @@ class Service:
 services = {
  # service: (should_log, frequency, qlog decimation (optional))
  # note: the "EncodeIdx" packets will still be in the log
-  "sensorEvents": (True, 100., 100),
+  "gyroscope": (True, 104., 104),
+  "gyroscope2": (True, 100., 100),
+  "accelerometer": (True, 104., 104),
+  "accelerometer2": (True, 100., 100),
+  "magnetometer": (True, 100., 100),
+  "lightSensor": (True, 100., 100),
+  "temperatureSensor": (True, 100., 100),
  "gpsNMEA": (True, 9.),
  "deviceState": (True, 2., 1),
-  "can": (True, 100.),
+  "can": (True, 100., 1223),  # decimation gives ~5 msgs in a full segment
  "controlsState": (True, 100., 10),
  "pandaStates": (True, 2., 1),
  "peripheralState": (True, 2., 1),
@@ -35,6 +41,7 @@ services = {
  "logMessage": (True, 0.),
  "errorLogMessage": (True, 0., 1),
  "liveCalibration": (True, 4., 4),
+  "liveTorqueParameters": (True, 4., 1),
  "androidLog": (True, 0.),
  "carState": (True, 100., 10),
  "carControl": (True, 100., 10),
@@ -67,10 +74,15 @@ services = {
  "navInstruction": (True, 1., 10),
  "navRoute": (True, 0.),
  "navThumbnail": (True, 0.),
+  "navModel": (True, 2., 4.),
+  "mapRenderState": (True, 2., 1.),
+  "uiPlan": (True, 20., 40.),
  "qRoadEncodeIdx": (False, 20.),
  "userFlag": (True, 0., 1),
+  "microphone": (True, 10., 10),

  # debug
+  "uiDebug": (True, 0., 1),
  "testJoystick": (True, 0.),
  "roadEncodeData": (False, 20.),
  "driverEncodeData": (False, 20.),
@@ -15,7 +15,7 @@
 #define getsocket() socket(AF_UNIX, SOCK_SEQPACKET, 0)
 #endif

-#include "ipc.h"
+#include "cereal/visionipc/ipc.h"

 int ipc_connect(const char* socket_path) {
  int err;
@@ -1,4 +1,4 @@
-#include "visionbuf.h"
+#include "cereal/visionipc/visionbuf.h"

 #define ALIGN(x, align) (((x) + (align)-1) & ~((align)-1))

@@ -1,5 +1,6 @@
 #pragma once
-#include "visionipc.h"
+
+#include "cereal/visionipc/visionipc.h"

 #define CL_USE_DEPRECATED_OPENCL_1_2_APIS
 #ifdef __APPLE__
@@ -1,4 +1,4 @@
-#include "visionbuf.h"
+#include "cereal/visionipc/visionbuf.h"

 #include <atomic>
 #include <stdio.h>
@@ -14,7 +14,7 @@

 #include <msm_ion.h>

-#include "visionbuf.h"
+#include "cereal/visionipc/visionbuf.h"

 // keep trying if x gets interrupted by a signal
 #define HANDLE_EINTR(x)                                       \
@@ -3,10 +3,11 @@

 from libcpp.string cimport string
 from libcpp.vector cimport vector
+from libcpp.set cimport set
 from libc.stdint cimport uint32_t, uint64_t
 from libcpp cimport bool

-cdef extern from "visionbuf.h":
+cdef extern from "cereal/visionipc/visionbuf.h":
  cdef enum VisionStreamType:
    pass

@@ -19,13 +20,13 @@ cdef extern from "visionbuf.h":
    size_t uv_offset
    void set_frame_id(uint64_t id)

-cdef extern from "visionipc.h":
+cdef extern from "cereal/visionipc/visionipc.h":
  struct VisionIpcBufExtra:
    uint32_t frame_id
    uint64_t timestamp_sof
    uint64_t timestamp_eof

-cdef extern from "visionipc_server.h":
+cdef extern from "cereal/visionipc/visionipc_server.h":
  cdef cppclass VisionIpcServer:
    VisionIpcServer(string, void*, void*)
    void create_buffers(VisionStreamType, size_t, bool, size_t, size_t)
@@ -34,9 +35,11 @@ cdef extern from "visionipc_server.h":
    void send(VisionBuf *, VisionIpcBufExtra *, bool)
    void start_listener()

-cdef extern from "visionipc_client.h":
+cdef extern from "cereal/visionipc/visionipc_client.h":
  cdef cppclass VisionIpcClient:
    VisionIpcClient(string, VisionStreamType, bool, void*, void*)
    VisionBuf * recv(VisionIpcBufExtra *, int)
    bool connect(bool)
    bool is_connected()
+    @staticmethod
+    set[VisionStreamType] getAvailableStreams(string, bool)
@@ -3,10 +3,21 @@
 #include <iostream>
 #include <thread>

-#include "visionipc/ipc.h"
-#include "visionipc/visionipc_client.h"
-#include "visionipc/visionipc_server.h"
-#include "logger/logger.h"
+#include "cereal/visionipc/ipc.h"
+#include "cereal/visionipc/visionipc_client.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/logger/logger.h"
+
+static int connect_to_vipc_server(const std::string &name, bool blocking) {
+  std::string path = "/tmp/visionipc_" + name;
+  int socket_fd = ipc_connect(path.c_str());
+  while (socket_fd < 0 && blocking) {
+    std::cout << "VisionIpcClient connecting" << std::endl;
+    std::this_thread::sleep_for(std::chrono::milliseconds(100));
+    socket_fd = ipc_connect(path.c_str());
+  }
+  return socket_fd;
+}

 VisionIpcClient::VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id, cl_context ctx) : name(name), type(type), device_id(device_id), ctx(ctx) {
  msg_ctx = Context::create();
@@ -29,23 +40,10 @@ bool VisionIpcClient::connect(bool blocking){

  num_buffers = 0;

-  // Connect to server socket and ask for all FDs of type
-  std::string path = "/tmp/visionipc_" + name;
-
-  int socket_fd = -1;
-  while (socket_fd < 0) {
-    socket_fd = ipc_connect(path.c_str());
-
-    if (socket_fd < 0) {
-      if (blocking){
-        std::cout << "VisionIpcClient connecting" << std::endl;
-        std::this_thread::sleep_for(std::chrono::milliseconds(100));
-      } else {
-        return false;
-      }
-    }
+  int socket_fd = connect_to_vipc_server(name, blocking);
+  if (socket_fd < 0) {
+    return false;
  }
-
  // Send stream type to server to request FDs
  int r = ipc_sendrecv_with_fds(true, socket_fd, &type, sizeof(type), nullptr, 0, nullptr);
  assert(r == sizeof(type));
@@ -114,7 +112,22 @@ VisionBuf * VisionIpcClient::recv(VisionIpcBufExtra * extra, const int timeout_m
  return buf;
 }

+std::set<VisionStreamType> VisionIpcClient::getAvailableStreams(const std::string &name, bool blocking) {
+  int socket_fd = connect_to_vipc_server(name, blocking);
+  if (socket_fd < 0) {
+    return {};
+  }
+  // Send VISION_STREAM_MAX to server to request available streams
+  int request = VISION_STREAM_MAX;
+  int r = ipc_sendrecv_with_fds(true, socket_fd, &request, sizeof(request), nullptr, 0, nullptr);
+  assert(r == sizeof(request));

+  VisionStreamType available_streams[VISION_STREAM_MAX] = {};
+  r = ipc_sendrecv_with_fds(false, socket_fd, &available_streams, sizeof(available_streams), nullptr, 0, nullptr);
+  assert(r >= sizeof(VisionStreamType) && r % sizeof(VisionStreamType) == 0);
+  close(socket_fd);
+  return std::set<VisionStreamType>(available_streams, available_streams + r / sizeof(VisionStreamType));
+}

 VisionIpcClient::~VisionIpcClient(){
  for (size_t i = 0; i < num_buffers; i++){
@@ -1,11 +1,13 @@
 #pragma once
-#include <vector>
+
+#include <set>
 #include <string>
+#include <vector>
 #include <unistd.h>

-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionbuf.h"

 class VisionIpcClient {
 private:
@@ -14,8 +16,6 @@ private:
  SubSocket * sock;
  Poller * poller;

-  VisionStreamType type;
-
  cl_device_id device_id = nullptr;
  cl_context ctx = nullptr;

@@ -23,6 +23,7 @@ private:

 public:
  bool connected = false;
+  VisionStreamType type;
  int num_buffers = 0;
  VisionBuf buffers[VISIONIPC_MAX_FDS];
  VisionIpcClient(std::string name, VisionStreamType type, bool conflate, cl_device_id device_id=nullptr, cl_context ctx=nullptr);
@@ -30,4 +31,5 @@ public:
  VisionBuf * recv(VisionIpcBufExtra * extra=nullptr, const int timeout_ms=100);
  bool connect(bool blocking=true);
  bool is_connected() { return connected; }
+  static std::set<VisionStreamType> getAvailableStreams(const std::string &name, bool blocking = true);
 };
@@ -97,3 +97,7 @@ cdef class VisionIpcClient:

  def is_connected(self):
    return self.client.is_connected()
+
+  @staticmethod
+  def available_streams(string name, bool block):
+    return cppVisionIpcClient.getAvailableStreams(name, block)
@@ -2,15 +2,16 @@
 #include <chrono>
 #include <cassert>
 #include <random>
+#include <limits>

 #include <poll.h>
 #include <sys/socket.h>
 #include <unistd.h>

-#include "messaging/messaging.h"
-#include "visionipc/ipc.h"
-#include "visionipc/visionipc_server.h"
-#include "logger/logger.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/ipc.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/logger/logger.h"

 std::string get_endpoint_name(std::string name, VisionStreamType type){
  if (messaging_use_zmq()){
@@ -25,7 +26,7 @@ VisionIpcServer::VisionIpcServer(std::string name, cl_device_id device_id, cl_co
  msg_ctx = Context::create();

  std::random_device rd("/dev/urandom");
-  std::uniform_int_distribution<uint64_t> distribution(0,std::numeric_limits<uint64_t>::max());
+  std::uniform_int_distribution<uint64_t> distribution(0, std::numeric_limits<uint64_t>::max());
  server_id = distribution(rd);
 }

@@ -111,6 +112,19 @@ void VisionIpcServer::listener(){
    VisionStreamType type = VisionStreamType::VISION_STREAM_MAX;
    int r = ipc_sendrecv_with_fds(false, fd, &type, sizeof(type), nullptr, 0, nullptr);
    assert(r == sizeof(type));
+
+    // send available stream types
+    if (type == VisionStreamType::VISION_STREAM_MAX) {
+      std::vector<VisionStreamType> available_stream_types;
+      for (auto& [stream_type, _] : buffers) {
+        available_stream_types.push_back(stream_type);
+      }
+      r = ipc_sendrecv_with_fds(true, fd, available_stream_types.data(), available_stream_types.size() * sizeof(VisionStreamType), nullptr, 0, nullptr);
+      assert(r == available_stream_types.size() * sizeof(VisionStreamType));
+      close(fd);
+      continue;
+    }
+
    if (buffers.count(type) <= 0) {
      std::cout << "got request for invalid buffer type: " << type << std::endl;
      close(fd);
@@ -174,7 +188,7 @@ VisionIpcServer::~VisionIpcServer(){
  listener_thread.join();

  // VisionBuf cleanup
-  for( auto const& [type, buf] : buffers ) {
+  for (auto const& [type, buf] : buffers) {
    for (VisionBuf* b : buf){
      if (b->free() != 0) {
        LOGE("Failed to free buffer");
@@ -184,7 +198,7 @@ VisionIpcServer::~VisionIpcServer(){
  }

  // Messaging cleanup
-  for( auto const& [type, sock] : sockets ) {
+  for (auto const& [type, sock] : sockets) {
    delete sock;
  }
  delete msg_ctx;
@@ -5,9 +5,9 @@
 #include <atomic>
 #include <map>

-#include "messaging/messaging.h"
-#include "visionipc/visionipc.h"
-#include "visionipc/visionbuf.h"
+#include "cereal/messaging/messaging.h"
+#include "cereal/visionipc/visionipc.h"
+#include "cereal/visionipc/visionbuf.h"

 std::string get_endpoint_name(std::string name, VisionStreamType type);

@@ -2,8 +2,8 @@
 #include <chrono>

 #include "catch2/catch.hpp"
-#include "visionipc_server.h"
-#include "visionipc_client.h"
+#include "cereal/visionipc/visionipc_server.h"
+#include "cereal/visionipc/visionipc_client.h"

 static void zmq_sleep(int milliseconds=1000){
  if (messaging_use_zmq()){
@@ -22,6 +22,17 @@ TEST_CASE("Connecting"){
  REQUIRE(client.connected);
 }

+TEST_CASE("getAvailableStreams"){
+  VisionIpcServer server("camerad");
+  server.create_buffers(VISION_STREAM_ROAD, 1, false, 100, 100);
+  server.create_buffers(VISION_STREAM_WIDE_ROAD, 1, false, 100, 100);
+  server.start_listener();
+  auto available_streams = VisionIpcClient::getAvailableStreams("camerad");
+  REQUIRE(available_streams.size() == 2);
+  REQUIRE(available_streams.count(VISION_STREAM_ROAD) == 1);
+  REQUIRE(available_streams.count(VISION_STREAM_WIDE_ROAD) == 1);
+}
+
 TEST_CASE("Check buffers"){
  size_t width = 100, height = 200, num_buffers = 5;
  VisionIpcServer server("camerad");
@@ -10,11 +10,13 @@ common_libs = [
  'statlog.cc',
  'swaglog.cc',
  'util.cc',
-  'gpio.cc',
  'i2c.cc',
  'watchdog.cc',
 ]

+if arch != "Darwin":
+  common_libs.append('gpio.cc')
+
 _common = fxn('common', common_libs, LIBS="json11")

 files = [
@@ -5,6 +5,7 @@
 #include <memory>

 #include "common/util.h"
+#include "common/swaglog.h"

 namespace {  // helper functions

@@ -31,14 +32,14 @@ void cl_print_info(cl_platform_id platform, cl_device_id device) {
    case CL_DEVICE_TYPE_ACCELERATOR: type_str = "CL_DEVICE_TYPE_ACCELERATOR"; break;
  }

-  std::cout << "vendor: " << get_platform_info(platform, CL_PLATFORM_VENDOR) << std::endl
-            << "platform version: " << get_platform_info(platform, CL_PLATFORM_VERSION) << std::endl
-            << "profile: " << get_platform_info(platform, CL_PLATFORM_PROFILE) << std::endl
-            << "extensions: " << get_platform_info(platform, CL_PLATFORM_EXTENSIONS) << std::endl
-            << "name :" << get_device_info(device, CL_DEVICE_NAME) << std::endl
-            << "device version :" << get_device_info(device, CL_DEVICE_VERSION) << std::endl
-            << "max work group size :" << work_group_size << std::endl
-            << "type = " << device_type << " = " << type_str << std::endl;
+  LOGD("vendor: %s", get_platform_info(platform, CL_PLATFORM_VENDOR).c_str());
+  LOGD("platform version: %s", get_platform_info(platform, CL_PLATFORM_VERSION).c_str());
+  LOGD("profile: %s", get_platform_info(platform, CL_PLATFORM_PROFILE).c_str());
+  LOGD("extensions: %s", get_platform_info(platform, CL_PLATFORM_EXTENSIONS).c_str());
+  LOGD("name: %s", get_device_info(device, CL_DEVICE_NAME).c_str());
+  LOGD("device version: %s", get_device_info(device, CL_DEVICE_VERSION).c_str());
+  LOGD("max work group size: %d", work_group_size);
+  LOGD("type = %d = ", device_type, type_str);
 }

 void cl_print_build_errors(cl_program program, cl_device_id device) {
@@ -49,7 +50,7 @@ void cl_print_build_errors(cl_program program, cl_device_id device) {
  std::string log(log_size, '\0');
  clGetProgramBuildInfo(program, device, CL_PROGRAM_BUILD_LOG, log_size, &log[0], NULL);

-  std::cout << "build failed; status=" << status << ", log:" << std::endl << log << std::endl;
+  LOGE("build failed; status=%d, log: %s", status, log.c_str());
 }

 }  // namespace
@@ -61,14 +62,15 @@ cl_device_id cl_get_device_id(cl_device_type device_type) {
  CL_CHECK(clGetPlatformIDs(num_platforms, &platform_ids[0], NULL));

  for (size_t i = 0; i < num_platforms; ++i) {
-    std::cout << "platform[" << i << "] CL_PLATFORM_NAME: " << get_platform_info(platform_ids[i], CL_PLATFORM_NAME) << std::endl;
+    LOGD("platform[%d] CL_PLATFORM_NAME: %s", i, get_platform_info(platform_ids[i], CL_PLATFORM_NAME).c_str());
+
    // Get first device
    if (cl_device_id device_id = NULL; clGetDeviceIDs(platform_ids[i], device_type, 1, &device_id, NULL) == 0 && device_id) {
      cl_print_info(platform_ids[i], device_id);
      return device_id;
    }
  }
-  std::cout << "No valid openCL platform found" << std::endl;
+  LOGE("No valid openCL platform found");
  assert(0);
  return nullptr;
 }
@@ -78,7 +80,8 @@ cl_program cl_program_from_file(cl_context ctx, cl_device_id device_id, const ch
 }

 cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const std::string& src, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, (const char*[]){src.c_str()}, NULL, &err));
+  const char *csrc = src.c_str();
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithSource(ctx, 1, &csrc, NULL, &err));
  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
    cl_print_build_errors(prg, device_id);
    assert(0);
@@ -87,7 +90,7 @@ cl_program cl_program_from_source(cl_context ctx, cl_device_id device_id, const
 }

 cl_program cl_program_from_binary(cl_context ctx, cl_device_id device_id, const uint8_t* binary, size_t length, const char* args) {
-  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, (const uint8_t*[]){binary}, NULL, &err));
+  cl_program prg = CL_CHECK_ERR(clCreateProgramWithBinary(ctx, 1, &device_id, &length, &binary, NULL, &err));
  if (int err = clBuildProgram(prg, 1, &device_id, args, NULL, NULL); err != 0) {
    cl_print_build_errors(prg, device_id);
    assert(0);
@@ -1,14 +1,29 @@
 #include "common/gpio.h"

+#ifdef __APPLE__
+int gpio_init(int pin_nr, bool output) {
+  return 0;
+}
+
+int gpio_set(int pin_nr, bool high) {
+  return 0;
+}
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+  return 0;
+}
+
+#else
+
 #include <fcntl.h>
 #include <unistd.h>

 #include <cstring>
+#include <linux/gpio.h>
+#include <sys/ioctl.h>

 #include "common/util.h"
-
-// We assume that all pins have already been exported on boot,
-// and that we have permission to write to them.
+#include "common/swaglog.h"

 int gpio_init(int pin_nr, bool output) {
  char pin_dir_path[50];
@@ -30,3 +45,38 @@ int gpio_set(int pin_nr, bool high) {
  }
  return util::write_file(pin_val_path, (void*)(high ? "1" : "0"), 1);
 }
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr) {
+
+  // Assumed that all interrupt pins are unexported and rights are given to
+  // read from gpiochip0.
+  std::string gpiochip_path = "/dev/gpiochip" + std::to_string(gpiochiop_id);
+  int fd = open(gpiochip_path.c_str(), O_RDONLY);
+  if (fd < 0) {
+    LOGE("Error opening gpiochip0 fd")
+    return -1;
+  }
+
+  // Setup event
+  struct gpioevent_request rq;
+  rq.lineoffset = pin_nr;
+  rq.handleflags = GPIOHANDLE_REQUEST_INPUT;
+
+  /* Requesting both edges as the data ready pulse from the lsm6ds sensor is
+     very short(75us) and is mostly detected as falling edge instead of rising.
+     So if it is detected as rising the following falling edge is skipped. */
+  rq.eventflags = GPIOEVENT_REQUEST_BOTH_EDGES;
+
+  strncpy(rq.consumer_label, consumer_label, std::size(rq.consumer_label) - 1);
+  int ret = ioctl(fd, GPIO_GET_LINEEVENT_IOCTL, &rq);
+  if (ret == -1) {
+    LOGE("Unable to get line event from ioctl : %s", strerror(errno));
+    close(fd);
+    return -1;
+  }
+
+  close(fd);
+  return rq.fd;
+}
+
+#endif
@@ -8,6 +8,11 @@
  #define GPIO_UBLOX_PWR_EN     34
  #define GPIO_STM_RST_N        124
  #define GPIO_STM_BOOT0        134
+  #define GPIO_BMX_ACCEL_INT    21
+  #define GPIO_BMX_GYRO_INT     23
+  #define GPIO_BMX_MAGN_INT     87
+  #define GPIO_LSM_INT          84
+  #define GPIOCHIP_INT          0
 #else
  #define GPIO_HUB_RST_N        0
  #define GPIO_UBLOX_RST_N      0
@@ -15,7 +20,14 @@
  #define GPIO_UBLOX_PWR_EN     0
  #define GPIO_STM_RST_N        0
  #define GPIO_STM_BOOT0        0
+  #define GPIO_BMX_ACCEL_INT    0
+  #define GPIO_BMX_GYRO_INT     0
+  #define GPIO_BMX_MAGN_INT     0
+  #define GPIO_LSM_INT          0
+  #define GPIOCHIP_INT          0
 #endif

 int gpio_init(int pin_nr, bool output);
 int gpio_set(int pin_nr, bool high);
+
+int gpiochip_get_ro_value_fd(const char* consumer_label, int gpiochiop_id, int pin_nr);
@@ -1,3 +1,6 @@
+import glob
+from typing import Optional, List
+
 def gpio_init(pin: int, output: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/direction", 'wb') as f:
@@ -5,10 +8,29 @@ def gpio_init(pin: int, output: bool) -> None:
  except Exception as e:
    print(f"Failed to set gpio {pin} direction: {e}")

-
 def gpio_set(pin: int, high: bool) -> None:
  try:
    with open(f"/sys/class/gpio/gpio{pin}/value", 'wb') as f:
      f.write(b"1" if high else b"0")
  except Exception as e:
    print(f"Failed to set gpio {pin} value: {e}")
+
+def gpio_read(pin: int) -> Optional[bool]:
+  val = None
+  try:
+    with open(f"/sys/class/gpio/gpio{pin}/value", 'rb') as f:
+      val = bool(int(f.read().strip()))
+  except Exception as e:
+    print(f"Failed to set gpio {pin} value: {e}")
+
+  return val
+
+def get_irq_for_action(action: str) -> List[int]:
+  ret = []
+  for fn in glob.glob('/sys/kernel/irq/*/actions'):
+    with open(fn) as f:
+      actions = f.read().strip().split(',')
+      if action in actions:
+        irq = int(fn.split('/')[-2])
+        ret.append(irq)
+  return ret
@@ -15,7 +15,7 @@
 #define UNUSED(x) (void)(x)

 #ifdef QCOM2
-// TODO: decide if we want to isntall libi2c-dev everywhere
+// TODO: decide if we want to install libi2c-dev everywhere
 extern "C" {
  #include <linux/i2c-dev.h>
  #include <i2c/smbus.h>
@@ -4,7 +4,7 @@
 #include "common/mat.h"
 #include "system/hardware/hw.h"

-const int  TRAJECTORY_SIZE = 33;
+const int TRAJECTORY_SIZE = 33;
 const int LAT_MPC_N = 16;
 const int LON_MPC_N = 32;
 const float MIN_DRAW_DISTANCE = 10.0;
@@ -3,6 +3,7 @@
 #include <dirent.h>
 #include <sys/file.h>

+#include <algorithm>
 #include <csignal>
 #include <unordered_map>

@@ -84,27 +85,33 @@ private:

 std::unordered_map<std::string, uint32_t> keys = {
    {"AccessToken", CLEAR_ON_MANAGER_START | DONT_LOG},
+    {"AssistNowToken", PERSISTENT},
    {"AthenadPid", PERSISTENT},
    {"AthenadUploadQueue", PERSISTENT},
    {"CalibrationParams", PERSISTENT},
+    {"CameraDebugExpGain", CLEAR_ON_MANAGER_START},
+    {"CameraDebugExpTime", CLEAR_ON_MANAGER_START},
    {"CarBatteryCapacity", PERSISTENT},
-    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParams", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CarParamsCache", CLEAR_ON_MANAGER_START},
-    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"CarParamsPersistent", PERSISTENT},
+    {"CarVin", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"CompletedTrainingVersion", PERSISTENT},
-    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
-    {"DashcamOverride", PERSISTENT},
-    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ControlsReady", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"CurrentBootlog", PERSISTENT},
+    {"CurrentRoute", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"DisableLogging", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"DisablePowerDown", PERSISTENT},
-    {"DisableRadar_Allow", PERSISTENT},
-    {"DisableRadar", PERSISTENT}, // WARNING: THIS DISABLES AEB
+    {"ExperimentalMode", PERSISTENT},
+    {"ExperimentalModeConfirmed", PERSISTENT},
+    {"ExperimentalLongitudinalEnabled", PERSISTENT},
    {"DisableUpdates", PERSISTENT},
    {"DisengageOnAccelerator", PERSISTENT},
    {"DongleId", PERSISTENT},
    {"DoReboot", CLEAR_ON_MANAGER_START},
    {"DoShutdown", CLEAR_ON_MANAGER_START},
    {"DoUninstall", CLEAR_ON_MANAGER_START},
+    {"FirmwareQueryDone", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ForcePowerDown", CLEAR_ON_MANAGER_START},
    {"GitBranch", PERSISTENT},
    {"GitCommit", PERSISTENT},
@@ -113,6 +120,7 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"GithubUsername", PERSISTENT},
    {"GitRemote", PERSISTENT},
    {"GsmApn", PERSISTENT},
+    {"GsmMetered", PERSISTENT},
    {"GsmRoaming", PERSISTENT},
    {"HardwareSerial", PERSISTENT},
    {"HasAcceptedTerms", PERSISTENT},
@@ -127,9 +135,10 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"IsRhdDetected", PERSISTENT},
    {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
+    {"IsReleaseBranch", CLEAR_ON_MANAGER_START},
    {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
-    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
-    {"LaikadEphemeris", PERSISTENT | DONT_LOG},
+    {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"LaikadEphemerisV3", PERSISTENT | DONT_LOG},
    {"LanguageSetting", PERSISTENT},
    {"LastAthenaPingTime", CLEAR_ON_MANAGER_START},
    {"LastGPSPosition", PERSISTENT},
@@ -139,29 +148,41 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"LastUpdateException", CLEAR_ON_MANAGER_START},
    {"LastUpdateTime", PERSISTENT},
    {"LiveParameters", PERSISTENT},
-    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"LiveTorqueCarParams", PERSISTENT},
+    {"LiveTorqueParameters", PERSISTENT | DONT_LOG},
+    {"NavDestination", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
+    {"NavDestinationWaypoints", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"NavSettingTime24h", PERSISTENT},
    {"NavSettingLeftSide", PERSISTENT},
    {"NavdRender", PERSISTENT},
+    {"ObdMultiplexingChanged", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
+    {"ObdMultiplexingEnabled", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"OpenpilotEnabledToggle", PERSISTENT},
-    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"PandaHeartbeatLost", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"PandaSignatures", CLEAR_ON_MANAGER_START},
    {"Passive", PERSISTENT},
    {"PrimeType", PERSISTENT},
    {"RecordFront", PERSISTENT},
    {"RecordFrontLock", PERSISTENT},  // for the internal fleet
-    {"ReleaseNotes", PERSISTENT},
-    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"ReplayControlsState", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"ShouldDoUpdate", CLEAR_ON_MANAGER_START},
-    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
+    {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_OFFROAD_TRANSITION},
    {"SshEnabled", PERSISTENT},
    {"SubscriberInfo", PERSISTENT},
-    {"SwitchToBranch", CLEAR_ON_MANAGER_START},
    {"TermsVersion", PERSISTENT},
    {"Timezone", PERSISTENT},
    {"TrainingVersion", PERSISTENT},
-    {"UpdateAvailable", CLEAR_ON_MANAGER_START},
+    {"UbloxAvailable", PERSISTENT},
+    {"UpdateAvailable", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"UpdateFailedCount", CLEAR_ON_MANAGER_START},
+    {"UpdaterState", CLEAR_ON_MANAGER_START},
+    {"UpdaterFetchAvailable", CLEAR_ON_MANAGER_START},
+    {"UpdaterTargetBranch", CLEAR_ON_MANAGER_START},
+    {"UpdaterAvailableBranches", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterCurrentReleaseNotes", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewDescription", CLEAR_ON_MANAGER_START},
+    {"UpdaterNewReleaseNotes", CLEAR_ON_MANAGER_START},
    {"Version", PERSISTENT},
    {"VisionRadarToggle", PERSISTENT},
    {"WideCameraOnly", PERSISTENT},
@@ -170,27 +191,34 @@ std::unordered_map<std::string, uint32_t> keys = {
    {"ApiCache_NavDestinations", PERSISTENT},
    {"ApiCache_Owner", PERSISTENT},
    {"Offroad_BadNvme", CLEAR_ON_MANAGER_START},
-    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_CarUnrecognized", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"Offroad_ConnectivityNeeded", CLEAR_ON_MANAGER_START},
    {"Offroad_ConnectivityNeededPrompt", CLEAR_ON_MANAGER_START},
    {"Offroad_InvalidTime", CLEAR_ON_MANAGER_START},
    {"Offroad_IsTakingSnapshot", CLEAR_ON_MANAGER_START},
    {"Offroad_NeosUpdate", CLEAR_ON_MANAGER_START},
-    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_ON},
+    {"Offroad_NoFirmware", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
    {"Offroad_StorageMissing", CLEAR_ON_MANAGER_START},
    {"Offroad_TemperatureTooHigh", CLEAR_ON_MANAGER_START},
    {"Offroad_UnofficialHardware", CLEAR_ON_MANAGER_START},
    {"Offroad_UpdateFailed", CLEAR_ON_MANAGER_START},
+    {"Offroad_Recalibration", CLEAR_ON_MANAGER_START | CLEAR_ON_ONROAD_TRANSITION},
 };

 } // namespace


 Params::Params(const std::string &path) {
-  const char* env = std::getenv("OPENPILOT_PREFIX");
-  prefix = env ? "/" + std::string(env) : "/d";
-  std::string default_param_path = ensure_params_path(prefix);
-  params_path = path.empty() ? default_param_path : ensure_params_path(prefix, path);
+  prefix = "/" + util::getenv("OPENPILOT_PREFIX", "d");
+  params_path = ensure_params_path(prefix, path);
+}
+
+std::vector<std::string> Params::allKeys() const {
+  std::vector<std::string> ret;
+  for (auto &p : keys) {
+    ret.push_back(p.first);
+  }
+  return ret;
 }

 bool Params::checkKey(const std::string &key) {
@@ -278,11 +306,19 @@ std::map<std::string, std::string> Params::readAll() {
 void Params::clearAll(ParamKeyType key_type) {
  FileLock file_lock(params_path + "/.lock");

-  std::string path;
-  for (auto &[key, type] : keys) {
-    if (type & key_type) {
-      unlink(getParamPath(key).c_str());
+  // 1) delete params of key_type
+  // 2) delete files that are not defined in the keys.
+  if (DIR *d = opendir(getParamPath().c_str())) {
+    struct dirent *de = NULL;
+    while ((de = readdir(d))) {
+      if (de->d_type != DT_DIR) {
+        auto it = keys.find(de->d_name);
+        if (it == keys.end() || (it->second & key_type)) {
+          unlink(getParamPath(de->d_name).c_str());
+        }
+      }
    }
+    closedir(d);
  }

  fsync_dir(getParamPath());
@@ -2,12 +2,13 @@

 #include <map>
 #include <string>
+#include <vector>

 enum ParamKeyType {
  PERSISTENT = 0x02,
  CLEAR_ON_MANAGER_START = 0x04,
-  CLEAR_ON_IGNITION_ON = 0x08,
-  CLEAR_ON_IGNITION_OFF = 0x10,
+  CLEAR_ON_ONROAD_TRANSITION = 0x08,
+  CLEAR_ON_OFFROAD_TRANSITION = 0x10,
  DONT_LOG = 0x20,
  ALL = 0xFFFFFFFF
 };
@@ -15,6 +16,7 @@ enum ParamKeyType {
 class Params {
 public:
  Params(const std::string &path = {});
+  std::vector<std::string> allKeys() const;
  bool checkKey(const std::string &key);
  ParamKeyType getKeyType(const std::string &key);
  inline std::string getParamPath(const std::string &key = {}) {
@@ -27,8 +29,8 @@ public:

  // helpers for reading values
  std::string get(const std::string &key, bool block = false);
-  inline bool getBool(const std::string &key) {
-    return get(key) == "1";
+  inline bool getBool(const std::string &key, bool block = false) {
+    return get(key, block) == "1";
  }
  std::map<std::string, std::string> readAll();

@@ -2,26 +2,28 @@
 # cython: language_level = 3
 from libcpp cimport bool
 from libcpp.string cimport string
+from libcpp.vector cimport vector
 import threading

 cdef extern from "common/params.h":
  cpdef enum ParamKeyType:
    PERSISTENT
    CLEAR_ON_MANAGER_START
-    CLEAR_ON_IGNITION_ON
-    CLEAR_ON_IGNITION_OFF
+    CLEAR_ON_ONROAD_TRANSITION
+    CLEAR_ON_OFFROAD_TRANSITION
    ALL

  cdef cppclass c_Params "Params":
    c_Params(string) nogil
    string get(string, bool) nogil
-    bool getBool(string) nogil
+    bool getBool(string, bool) nogil
    int remove(string) nogil
    int put(string, string) nogil
    int putBool(string, bool) nogil
    bool checkKey(string) nogil
    string getParamPath(string) nogil
    void clearAll(ParamKeyType)
+    vector[string] allKeys()


 def ensure_bytes(v):
@@ -66,11 +68,11 @@ cdef class Params:

    return val if encoding is None else val.decode(encoding)

-  def get_bool(self, key):
+  def get_bool(self, key, bool block=False):
    cdef string k = self.check_key(key)
    cdef bool r
    with nogil:
-      r = self.p.getBool(k)
+      r = self.p.getBool(k, block)
    return r

  def put(self, key, dat):
@@ -90,7 +92,7 @@ cdef class Params:
    with nogil:
      self.p.putBool(k, val)

-  def delete(self, key):
+  def remove(self, key):
    cdef string k = self.check_key(key)
    with nogil:
      self.p.remove(k)
@@ -99,6 +101,9 @@ cdef class Params:
    cdef string key_bytes = ensure_bytes(key)
    return self.p.getParamPath(key_bytes).decode("utf-8")

+  def all_keys(self):
+    return self.p.allKeys()
+
 def put_nonblocking(key, val, d=""):
  threading.Thread(target=lambda: Params(d).put(key, val)).start()

@@ -0,0 +1,34 @@
+#pragma once
+
+#include <cassert>
+#include <string>
+
+#include "common/params.h"
+#include "common/util.h"
+
+class OpenpilotPrefix {
+public:
+  OpenpilotPrefix(std::string prefix = {}) {
+    if (prefix.empty()) {
+      prefix = util::random_string(15);
+    }
+    msgq_path = "/dev/shm/" + prefix;
+    bool ret = util::create_directories(msgq_path, 0777);
+    assert(ret);
+    setenv("OPENPILOT_PREFIX", prefix.c_str(), 1);
+  }
+
+  ~OpenpilotPrefix() {
+    auto param_path = Params().getParamPath();
+    if (util::file_exists(param_path)) {
+      std::string real_path = util::readlink(param_path);
+      system(util::string_format("rm %s -rf", real_path.c_str()).c_str());
+      unlink(param_path.c_str());
+    }
+    system(util::string_format("rm %s -rf", msgq_path.c_str()).c_str());
+    unsetenv("OPENPILOT_PREFIX");
+  }
+
+private:
+  std::string msgq_path;
+};
@@ -31,7 +31,7 @@ class Priority:

 def set_realtime_priority(level: int) -> None:
  if not PC:
-    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # type: ignore[attr-defined] # pylint: disable=no-member
+    os.sched_setscheduler(0, os.SCHED_FIFO, os.sched_param(level))  # pylint: disable=no-member


 def set_core_affinity(cores: List[int]) -> None:
@@ -5,6 +5,7 @@
 #include "common/statlog.h"
 #include "common/util.h"

+#include <cstdarg>
 #include <stdio.h>
 #include <mutex>
 #include <zmq.h>
@@ -5,6 +5,7 @@
 #include "common/swaglog.h"

 #include <cassert>
+#include <cstdarg>
 #include <cstring>
 #include <limits>
 #include <mutex>
@@ -1,5 +1,6 @@
 #include "common/util.h"

+#include <sys/ioctl.h>
 #include <sys/stat.h>
 #include <dirent.h>

@@ -9,6 +10,7 @@
 #include <dirent.h>
 #include <fstream>
 #include <iomanip>
+#include <random>
 #include <sstream>

 #ifdef __linux__
@@ -133,6 +135,14 @@ int safe_fflush(FILE *stream) {
  return ret;
 }

+int safe_ioctl(int fd, unsigned long request, void *argp) {
+  int ret;
+  do {
+    ret = ioctl(fd, request, argp);
+  } while ((ret == -1) && (errno == EINTR));
+  return ret;
+}
+
 std::string readlink(const std::string &path) {
  char buff[4096];
  ssize_t len = ::readlink(path.c_str(), buff, sizeof(buff)-1);
@@ -203,6 +213,18 @@ std::string hexdump(const uint8_t* in, const size_t size) {
  return ss.str();
 }

+std::string random_string(std::string::size_type length) {
+  const char* chrs = "0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ";
+  std::mt19937 rg{std::random_device{}()};
+  std::uniform_int_distribution<std::string::size_type> pick(0, sizeof(chrs) - 2);
+  std::string s;
+  s.reserve(length);
+  while (length--) {
+    s += chrs[pick(rg)];
+  }
+  return s;
+}
+
 std::string dir_name(std::string const &path) {
  size_t pos = path.find_last_of("/");
  if (pos == std::string::npos) return "";
@@ -75,6 +75,7 @@ int getenv(const char* key, int default_val);
 float getenv(const char* key, float default_val);

 std::string hexdump(const uint8_t* in, const size_t size);
+std::string random_string(std::string::size_type length);
 std::string dir_name(std::string const& path);

 // **** file fhelpers *****
@@ -85,6 +86,7 @@ int write_file(const char* path, const void* data, size_t size, int flags = O_WR
 FILE* safe_fopen(const char* filename, const char* mode);
 size_t safe_fwrite(const void * ptr, size_t size, size_t count, FILE * stream);
 int safe_fflush(FILE *stream);
+int safe_ioctl(int fd, unsigned long request, void *argp);

 std::string readlink(const std::string& path);
 bool file_exists(const std::string& fn);
@@ -1 +1 @@
-#define COMMA_VERSION "0.8.16"
+#define COMMA_VERSION "0.9.2"
@@ -2,227 +2,276 @@

 # Supported Cars

-A supported vehicle is one that just works when you install a comma device. Every car performs differently with openpilot, but all supported cars should provide a better experience than any stock system.
+A supported vehicle is one that just works when you install a comma three. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.

-# 205 Supported Cars
+# 252 Supported Cars

-|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Harness|
-|---|---|---|:---:|:---:|:---:|:---:|:---:|
-|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Acura|RDX 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Audi|A3 2014-19|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Audi|A3 Sportback e-tron 2017-18|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Audi|Q2 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Audi|Q3 2020-21|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Audi|RS3 2018|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Audi|S3 2015-17|ACC + Lane Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Cadillac|Escalade ESV 2016[<sup>1</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
-|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
-|Chevrolet|Silverado 1500 2020-21|Safety Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
-|Chevrolet|Volt 2017-18[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
-|Chrysler|Pacifica 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2019-20|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Chrysler|Pacifica Hybrid 2019-22|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|comma|body|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|None|
-|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G70 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Genesis|G80 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Genesis|G90 2017-18|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|GMC|Acadia 2018[<sup>1</sup>](#footnotes)|Adaptive Cruise Control|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|OBD-II|
-|GMC|Sierra 1500 2020-21|Driver Alert Package II|Stock|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|GM|
-|Honda|Accord 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Accord Hybrid 2018-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Civic 2019-21|All|Stock|0 mph|2 mph[<sup>2</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Civic 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|Civic Hatchback 2017-21|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Civic Hatchback 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Honda Bosch B|
-|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|CR-V 2017-22|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|CR-V Hybrid 2017-19|Honda Sensing|Stock|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|e 2020|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Insight 2019-22|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Inspire 2018|All|Stock|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Bosch A|
-|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Passport 2019-21|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Honda|Ridgeline 2017-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|Honda Nidec|
-|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Elantra 2021-22|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Elantra Hybrid 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai K|
-|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC) & LKAS|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai J|
-|Hyundai|Ioniq 5 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai Q|
-|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Electric 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC) & LFA|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Hyundai|Ioniq Plug-in Hybrid 2020-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Kona 2020|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai O|
-|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai I|
-|Hyundai|Palisade 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Hyundai|Santa Fe 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai D|
-|Hyundai|Santa Fe 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Hyundai|Sonata 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Sonata Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai L|
-|Hyundai|Tucson Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai N|
-|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|FCA|
-|Kia|Ceed 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|EV6 2022|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai P|
-|Kia|Forte 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Kia|Forte 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|K5 2021-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Niro Electric 2019|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Electric 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro Electric 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Niro Electric 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Hybrid 2021|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai F|
-|Kia|Niro Hybrid 2022|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Kia|Niro Plug-in Hybrid 2018-19|Smart Cruise Control (SCC) & LKAS|openpilot|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Optima 2017|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai B|
-|Kia|Optima 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai G|
-|Kia|Seltos 2021|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai A|
-|Kia|Sorento 2018|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Sorento 2019|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai E|
-|Kia|Stinger 2018-20|Smart Cruise Control (SCC) & LKAS|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai C|
-|Kia|Telluride 2020|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Hyundai H|
-|Lexus|CT Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2017-18|Lexus Safety System+|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|ES Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2018-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RC 2017-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2016-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Mazda|CX-5 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Mazda|CX-9 2021-22|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|Mazda|
-|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan B|
-|Nissan|Leaf 2018-22|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
-|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
-|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Nissan A|
-|Ram|1500 2019-22|Adaptive Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|Ram|
-|SEAT|Ateca 2018|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|SEAT|Leon 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Crosstrek 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
-|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
-|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
-|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru B|
-|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru B|
-|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|Subaru A|
-|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Subaru A|
-|Škoda|Kamiq 2021[<sup>5</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Karoq 2019-21[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Kodiaq 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Octavia 2015, 2018-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Octavia RS 2016|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Scala 2020|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Škoda|Superb 2015-18|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2019-21|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR 2017-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|C-HR Hybrid 2017-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry 2021-22|All|openpilot|0 mph[<sup>4</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Camry Hybrid 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla 2017-19|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross (Non-US only) 2020-21|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2017-19|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Highlander Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius Prime 2017-20|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Prius v 2017|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2017-18|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2017-18|All|Stock[<sup>3</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Toyota|Sienna 2018-20|All|Stock[<sup>3</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|Toyota|
-|Volkswagen|Arteon 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon eHybrid 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Arteon R 2020-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Atlas Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|California 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Caravelle 2020[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|CC 2018-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|e-Golf 2014-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf 2015-20[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf Alltrack 2015-19|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf GTD 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf GTE 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf GTI 2015-21|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf R 2015-19[<sup>8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Golf SportsVan 2015-20|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
-|Volkswagen|Jetta 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Jetta GLI 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat 2015-22[<sup>6,7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat Alltrack 2015-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Passat GTE 2015-22[<sup>7,8</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Polo GTI 2020-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|T-Cross 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|T-Roc 2021[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Taos 2022[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont 2018-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont Cross Sport 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Teramont X 2021-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Tiguan 2019-22[<sup>7</sup>](#footnotes)|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|J533|
-|Volkswagen|Touran 2017|Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|VW|
+|Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Harness Kit<br>&nbsp;|Video|
+|---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
+|Acura|ILX 2016-19|AcuraWatch Plus|openpilot|25 mph|25 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=ILX 2016-19">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Acura|RDX 2016-18|AcuraWatch Plus|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Acura|RDX 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Acura&model=RDX 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Audi|A3 2014-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 2014-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|A3 Sportback e-tron 2017-18|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=A3 Sportback e-tron 2017-18">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|Q2 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q2 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|Q3 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=Q3 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|RS3 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=RS3 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Audi|S3 2015-17|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Audi&model=S3 2015-17">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Buick|LaCrosse 2017-19[<sup>3</sup>](#footnotes)|Driver Confidence Package 2|openpilot|18 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Buick&model=LaCrosse 2017-19">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
+|Cadillac|Escalade 2017[<sup>3</sup>](#footnotes)|Driver Assist Package|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade 2017">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
+|Cadillac|Escalade ESV 2016[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC) & LKAS|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Cadillac&model=Escalade ESV 2016">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>||
+|Chevrolet|Bolt EUV 2022-23|Premier or Premier Redline Trim without Super Cruise Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EUV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/xvwzGMUA210" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chevrolet|Bolt EV 2022-23|2LT Trim with Adaptive Cruise Control Package|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Bolt EV 2022-23">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chevrolet|Silverado 1500 2020-21|Safety Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Silverado 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chevrolet|Trailblazer 2021-22|Adaptive Cruise Control (ACC)|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Trailblazer 2021-22">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chevrolet|Volt 2017-18[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chevrolet&model=Volt 2017-18">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/QeMCN_4TFfQ" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Chrysler|Pacifica 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica 2019-20|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2019-20">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica 2021|All|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica 2021">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica Hybrid 2017-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2017-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Chrysler|Pacifica Hybrid 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Chrysler&model=Pacifica Hybrid 2019-23">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|comma|body|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|None||
+|Ford|Bronco Sport 2021-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Bronco Sport 2021-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Escape 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Escape 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Explorer 2020-22|Co-Pilot360 Assist+|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Explorer 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Kuga 2020-22|Adaptive Cruise Control with Lane Centering|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Kuga 2020-22">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Ford|Maverick 2022-23|Co-Pilot360 Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ford&model=Maverick 2022-23">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|G70 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2018-19">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|G70 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G70 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|G80 2017|All|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2017">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|G80 2018-19|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G80 2018-19">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|G90 2017-18|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=G90 2017-18">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|GV60 (Advanced Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Advanced Trim) 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|GV60 (Performance Trim) 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV60 (Performance Trim) 2023">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|GV70 (2.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (2.5T Trim) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|GV70 (3.5T Trim) 2022-23[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV70 (3.5T Trim) 2022-23">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Genesis|GV80 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Genesis&model=GV80 2023">Hyundai M connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|GMC|Acadia 2018[<sup>3</sup>](#footnotes)|Adaptive Cruise Control (ACC)|openpilot|0 mph|7 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Acadia 2018">OBD-II connector</a><br>- 1 USB-C coupler<br>- 1 long OBD-C cable</sub></details>|<a href="https://www.youtube.com/watch?v=0ZN6DdsBUZo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|GMC|Sierra 1500 2020-21|Driver Alert Package II|openpilot available[<sup>1</sup>](#footnotes)|3 mph|6 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=GMC&model=Sierra 1500 2020-21">GM connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/5HbNoBLzRwE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=mrUwlj3Mi58" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Accord Hybrid 2018-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Accord Hybrid 2018-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Civic 2016-18|Honda Sensing|openpilot|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2016-18">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/-IkImTe1NYE" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2019-21|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|2 mph[<sup>4</sup>](#footnotes)|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2019-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=4Iz1Mz5LGF8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|Civic Hatchback 2017-21|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2017-21">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Civic Hatchback 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Civic Hatchback 2022">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/ytiOT5lcp6Q" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Honda|CR-V 2015-16|Touring Trim|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2015-16">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|CR-V 2017-22|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V 2017-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|CR-V Hybrid 2017-19|Honda Sensing|openpilot available[<sup>1</sup>](#footnotes)|0 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=CR-V Hybrid 2017-19">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|e 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=e 2020">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Fit 2018-20|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Fit 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Freed 2020|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Freed 2020">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|HR-V 2019-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|HR-V 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=HR-V 2023">Honda Bosch B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Insight 2019-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Insight 2019-22">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Inspire 2018|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|3 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Inspire 2018">Honda Bosch A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Odyssey 2018-20|Honda Sensing|openpilot|25 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Odyssey 2018-20">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Passport 2019-22|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Passport 2019-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Pilot 2016-22">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Honda&model=Ridgeline 2017-23">Honda Nidec connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2017-19">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra GT 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Elantra Hybrid 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Elantra Hybrid 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Genesis 2015-16|Smart Cruise Control (SCC)|Stock|19 mph|37 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Genesis 2015-16">Hyundai J connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|i30 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=i30 2017-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq 5 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (Southeast Asia only) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq 5 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (with HDA II) 2022-23">Hyundai Q connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq 5 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq 5 (without HDA II) 2022-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Electric 2020|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Electric 2020">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona 2020">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2018-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Electric 2022">Hyundai O connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Kona Hybrid 2020">Hyundai I connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Palisade 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Cruz 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Cruz 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2019-20">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Santa Fe 2021-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe 2021-22">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Santa Fe Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2018-19">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata 2020-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Hyundai|Sonata Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Sonata Hybrid 2020-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2021">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson 2022[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2022">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson 2023[<sup>5</sup>](#footnotes)|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson Diesel 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Diesel 2019">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Tucson Hybrid 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Tucson Hybrid 2022-23">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Hyundai&model=Veloster 2019-20">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2016-18">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Jeep&model=Grand Cherokee 2019-21">FCA connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Ceed 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (Southeast Asia only) 2022-23[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (with HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (with HDA II) 2022-23">Hyundai P connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|EV6 (without HDA II) 2022-23[<sup>5</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=EV6 (without HDA II) 2022-23">Hyundai L connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2019-21">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Forte 2023">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 2021-22">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=K5 Hybrid 2020">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2019">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2020">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2021">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2022">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Niro EV 2023[<sup>5</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro EV 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Hybrid 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2021-22">Hyundai F connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Hybrid 2023">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Plug-in Hybrid 2018-19|All|openpilot available[<sup>1</sup>](#footnotes)|10 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2018-19">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Niro Plug-in Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Niro Plug-in Hybrid 2020">Hyundai D connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2017">Hyundai B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Optima 2019-20">Hyundai G connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Seltos 2021">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2018">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2019">Hyundai E connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Sorento 2021-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento 2021-23">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sorento Plug-in Hybrid 2022-23[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sorento Plug-in Hybrid 2022-23">Hyundai A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sportage 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Sportage Hybrid 2023[<sup>5</sup>](#footnotes)|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Sportage Hybrid 2023">Hyundai N connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Stinger 2018-20|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2018-20">Hyundai C connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=MJ94qoofYw0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Kia|Stinger 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Stinger 2022">Hyundai K connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Kia|Telluride 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Kia&model=Telluride 2020-22">Hyundai H connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|CT Hybrid 2017-18|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=CT Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=ES Hybrid 2019-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=IS 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2018-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|NX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=NX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RC 2018-20|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RC 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX Hybrid 2016|Lexus Safety System+|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|RX Hybrid 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=RX Hybrid 2020-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lexus|UX Hybrid 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lexus&model=UX Hybrid 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Lincoln|Aviator 2021|Co-Pilot360 Plus|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Lincoln&model=Aviator 2021">Ford Q3 connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|MAN|eTGE 2020-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=eTGE 2020-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|MAN|TGE 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=MAN&model=TGE 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Mazda|CX-5 2022-23|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-5 2022-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Mazda|CX-9 2021-23|All|Stock|0 mph|28 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Mazda&model=CX-9 2021-23">Mazda connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/dA3duO4a0O4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Altima 2019-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Altima 2019-20">Nissan B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Nissan|Leaf 2018-23|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Leaf 2018-23">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/vaMbtAh_0cY" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Nissan|Rogue 2018-20|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=Rogue 2018-20">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Nissan|X-Trail 2017|ProPILOT Assist|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Nissan&model=X-Trail 2017">Nissan A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Ram|1500 2019-23|Adaptive Cruise Control (ACC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Ram&model=1500 2019-23">Ram connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|SEAT|Ateca 2018|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Ateca 2018">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|SEAT|Leon 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=SEAT&model=Leon 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Subaru|Ascent 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Ascent 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Crosstrek 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|Crosstrek 2020-23|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Crosstrek 2020-23">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Forester 2019-21|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Forester 2019-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Impreza 2017-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2017-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Impreza 2020-22|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Impreza 2020-22">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Legacy 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Legacy 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|Outback 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=Outback 2020-22">Subaru B connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Subaru|XV 2018-19|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2018-19">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/Agww7oE1k-s?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Subaru|XV 2020-21|EyeSight Driver Assistance|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Subaru&model=XV 2020-21">Subaru A connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Škoda|Fabia 2022-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Fabia 2022-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Kamiq 2021[<sup>7</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kamiq 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Karoq 2019-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Karoq 2019-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Kodiaq 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Kodiaq 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Octavia 2015, 2018-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia 2015, 2018-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Octavia RS 2016|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Octavia RS 2016">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Škoda|Scala 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Scala 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Škoda|Superb 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Škoda&model=Superb 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Toyota|Alphard 2019-20|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard 2019-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Alphard Hybrid 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Alphard Hybrid 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon Hybrid 2019-21|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Avalon Hybrid 2022|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Avalon Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR 2021|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR Hybrid 2017-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|C-HR Hybrid 2021-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=C-HR Hybrid 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Camry 2018-20|All|Stock|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=fkcjviZY9CM" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry 2021-23|All|openpilot|0 mph[<sup>6</sup>](#footnotes)|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Camry Hybrid 2018-20|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=Q2DYY0AWKgk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Camry Hybrid 2021-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Camry Hybrid 2021-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Corolla 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Corolla 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Cross (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Corolla Cross Hybrid (Non-US only) 2020-22|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Cross Hybrid (Non-US only) 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Corolla Hatchback 2019-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hatchback 2019-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=_66pXk0CBYA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Corolla Hybrid 2020-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid 2020-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Corolla Hybrid (Non-US only) 2020-23|All|openpilot|17 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Corolla Hybrid (Non-US only) 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Highlander 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=0wS0wXSLzoo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Highlander 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Highlander Hybrid 2017-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2017-19">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Highlander Hybrid 2020-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Highlander Hybrid 2020-23">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Mirai 2021|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Mirai 2021">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|Prius 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2017-20|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2017-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=8zopPJI8XQ0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius Prime 2021-22|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius Prime 2021-22">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=J58TvCpUd4U" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Prius v 2017|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Prius v 2017">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=wJxjDd42gGA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 Hybrid 2016|Toyota Safety Sense P|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2016">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2017-18">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/LhT5VzJVfNI?t=26" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|RAV4 Hybrid 2019-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2019-21">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>||
+|Toyota|RAV4 Hybrid 2022|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=RAV4 Hybrid 2022">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://youtu.be/U0nH9cnrFB0" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Toyota|Sienna 2018-20|All|openpilot available[<sup>2</sup>](#footnotes)|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Toyota&model=Sienna 2018-20">Toyota connector</a><br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 harness box</sub></details>|<a href="https://www.youtube.com/watch?v=q1UPOo4Sh68" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon eHybrid 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon eHybrid 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Arteon R 2020-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Arteon R 2020-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Atlas 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Atlas Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Atlas Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|California 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=California 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Caravelle 2020|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Caravelle 2020">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|CC 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=CC 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/FAomFKPFlDA" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Crafter 2017-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Crafter 2017-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Crafter 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Crafter 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|e-Golf 2014-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=e-Golf 2014-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf Alltrack 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf Alltrack 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTD 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTD 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTE 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTE 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf GTI 2015-21|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf GTI 2015-21">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf R 2015-19|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf R 2015-19">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Golf SportsVan 2015-20|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Golf SportsVan 2015-20">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Grand California 2019-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|31 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Grand California 2019-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>|<a href="https://youtu.be/4100gLeabmo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
+|Volkswagen|Jetta 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Jetta GLI 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Jetta GLI 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat 2015-22[<sup>8</sup>](#footnotes)|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat Alltrack 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat Alltrack 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Passat GTE 2015-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Passat GTE 2015-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Polo 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Polo GTI 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Polo GTI 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|T-Cross 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Cross 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|T-Roc 2021|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=T-Roc 2021">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>[<sup>10</sup>](#footnotes)||
+|Volkswagen|Taos 2022|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Taos 2022">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont 2018-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont 2018-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont Cross Sport 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont Cross Sport 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Teramont X 2021-22|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Teramont X 2021-22">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Tiguan 2018-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan 2018-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Tiguan eHybrid 2021-23|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Tiguan eHybrid 2021-23">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||
+|Volkswagen|Touran 2017|Adaptive Cruise Control (ACC) & Lane Assist|openpilot available[<sup>1,9</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>View</summary><sub>- 1 <a href="https://comma.ai/shop/comma-three.html?make=Volkswagen&model=Touran 2017">J533 connector</a><br>- 1 USB-C coupler<br>- 1 harness box<br>- 1 long OBD-C cable</sub></details>||

 <a id="footnotes"></a>
-<sup>1</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>2</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
-<sup>3</sup>When the Driver Support Unit (DSU) is disconnected, openpilot Adaptive Cruise Control (ACC) will replace stock Adaptive Cruise Control (ACC). <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
-<sup>4</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
-<sup>5</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
-<sup>6</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
-<sup>7</sup>Model-years 2021 and beyond may have a new camera harness design, which isn't yet available from the comma store. Before ordering, remove the Lane Assist camera cover and check to see if the connector is black (older design) or light brown (newer design). In the interim, if your car has a J533 connector CAN gateway inside the dashboard, choose "VW J533 Development" from the vehicle drop-down for a suitable harness. (Some newer models are also observed to not have a J533 connector.) <br />
-<sup>8</sup>Includes versions with extra rear cargo space (may be called Variant, Estate, SportWagen, Shooting Brake, etc.) <br />
+<sup>1</sup>Experimental openpilot longitudinal control is available behind a toggle; the toggle is only available in non-release branches such as `devel` or `master-ci`.  <br />
+<sup>2</sup>By default, this car will use the stock Adaptive Cruise Control (ACC) for longitudinal control. If the Driver Support Unit (DSU) is disconnected, openpilot ACC will replace stock ACC. <b><i>NOTE: disconnecting the DSU disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>3</sup>Requires a <a href="https://github.com/commaai/openpilot/wiki/GM#hardware" target="_blank">community built ASCM harness</a>. <b><i>NOTE: disconnecting the ASCM disables Automatic Emergency Braking (AEB).</i></b> <br />
+<sup>4</sup>2019 Honda Civic 1.6L Diesel Sedan does not have ALC below 12mph. <br />
+<sup>5</sup>Requires a <a href="https://comma.ai/shop/panda" target="_blank">red panda</a> for this <a href="https://en.wikipedia.org/wiki/CAN_FD" target="_blank">CAN FD car</a>. All the hardware needed is sold in the <a href="https://comma.ai/shop/can-fd-panda-kit" target="_blank">CAN FD kit</a>. <br />
+<sup>6</sup>openpilot operates above 28mph for Camry 4CYL L, 4CYL LE and 4CYL SE which don't have Full-Speed Range Dynamic Radar Cruise Control. <br />
+<sup>7</sup>Not including the China market Kamiq, which is based on the (currently) unsupported PQ34 platform. <br />
+<sup>8</sup>Refers only to the MQB-based European B8 Passat, not the NMS Passat in the USA/China/Mideast markets. <br />
+<sup>9</sup>Only available for vehicles using a gateway (J533) harness. At this time, vehicles using a camera harness are limited to using stock ACC. <br />
+<sup>10</sup>Model-years 2022 and beyond may have a combined CAN gateway and BCM, which is supported by openpilot in software, but doesn't yet have a harness available from the comma store. <br />

 ## Community Maintained Cars
 Although they're not upstream, the community has openpilot running on other makes and models. See the 'Community Supported Models' section of each make [on our wiki](https://wiki.comma.ai/).
@@ -230,17 +279,18 @@ Although they're not upstream, the community has openpilot running on other make
 # Don't see your car here?

 **openpilot can support many more cars than it currently does.** There are a few reasons your car may not be supported.
-If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. We don't have a roadmap for car support, and in fact, most car support comes from users like you!
+If your car doesn't fit into any of the incompatibility criteria here, then there's a good chance it can be supported! We're adding support for new cars all the time. **We don't have a roadmap for car support**, and in fact, most car support comes from users like you!

 ### Which cars are able to be supported?

-openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering) and [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control), then it almost certainly has these interfaces. These interfaces generally started shipping on cars around 2016.
+openpilot uses the existing steering, gas, and brake interfaces in your car. If your car lacks any one of these interfaces, openpilot will not be able to control the car. If your car has [ACC](https://en.wikipedia.org/wiki/Adaptive_cruise_control) and any form of [LKAS](https://en.wikipedia.org/wiki/Automated_Lane_Keeping_Systems)/[LCA](https://en.wikipedia.org/wiki/Lane_centering), then it almost certainly has these interfaces. These features generally started shipping on cars around 2016. Note that manufacturers will often make their own [marketing terms](https://en.wikipedia.org/wiki/Adaptive_cruise_control#Vehicle_models_supporting_adaptive_cruise_control) for these features, such as Hyundai's "Smart Cruise Control" branding of Adaptive Cruise Control.

-If your car has the following packages or features, then it's a good candidate for support. If it does not, then it's unlikely able to be supported.
+If your car has the following packages or features, then it's a good candidate for support.

 | Make | Required Package/Features |
 | ---- | ------------------------- |
 | Acura | Any car with AcuraWatch Plus will work. AcuraWatch Plus comes standard on many newer models. |
+| Ford | Any car with Lane Centering will likely work. |
 | Honda | Any car with Honda Sensing will work. Honda Sensing comes standard on many newer models. |
 | Subaru | Any car with EyeSight will work. EyeSight comes standard on many newer models. |
 | Nissan | Any car with ProPILOT will likely work. |
@@ -254,8 +304,9 @@ All the cars that openpilot supports use a [CAN bus](https://en.wikipedia.org/wi

 ### Toyota Security

-Specific new Toyota models are shipping with a new message authentication method that openpilot does not yet support.
-So far, this list includes:
+openpilot does not yet support these Toyota models due to a new message authentication method.
+[Vote](https://comma.ai/shop/products/vote) if you'd like to see openpilot support on these models.
+
 * Toyota RAV4 Prime 2021+
 * Toyota Sienna 2021+
 * Toyota Venza 2021+
@@ -264,4 +315,4 @@ So far, this list includes:
 * Toyota Corolla Cross 2022+ (only US model)
 * Lexus NX 2022+
 * Toyota bZ4x 2023+
-* Subaru Solterra 2023+
+* Subaru Solterra 2023+
@@ -8,4 +8,4 @@ Additionally, on specific supported cars (see ACC column in [supported cars](CAR
 * Stock ACC is replaced by openpilot ACC.
 * openpilot FCW operates in addition to stock FCW.

-openpilot should preserve all other vehicle's stock features, including, but are not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
+openpilot should preserve all other vehicle's stock features, including, but not limited to: FCW, Automatic Emergency Braking (AEB), auto high-beam, blind spot warning, and side collision warning.
@@ -1,2 +1,9 @@
+import logging
+import os
+
 from .astro_dog import AstroDog
 assert AstroDog
+
+# setup logging
+LOGLEVEL = os.environ.get('LOGLEVEL', 'INFO').upper()
+logging.basicConfig(level=LOGLEVEL, format='%(message)s')
@@ -9,7 +9,7 @@ from .ephemeris import Ephemeris, EphemerisType, GLONASSEphemeris, GPSEphemeris,
 from .downloader import download_orbits_gps, download_orbits_russia_src, download_nav, download_ionex, download_dcb, download_prediction_orbits_russia_src
 from .downloader import download_cors_station
 from .trop import saast
-from .iono import IonexMap, parse_ionex
+from .iono import IonexMap, parse_ionex, get_slant_delay
 from .dcb import DCB, parse_dcbs
 from .gps_time import GPSTime
 from .dgps import get_closest_station_names, parse_dgps
@@ -33,9 +33,14 @@ class AstroDog:
  def __init__(self, auto_update=True,
               cache_dir='/tmp/gnss/',
               dgps=False,
-               valid_const=('GPS', 'GLONASS'),
+               valid_const=(ConstellationId.GPS, ConstellationId.GLONASS),
               valid_ephem_types=EphemerisType.all_orbits(),
               clear_old_ephemeris=False):
+
+    for const in valid_const:
+      if not isinstance(const, ConstellationId):
+        raise TypeError(f"valid_const must be a list of ConstellationId, got {const}")
+  
    self.auto_update = auto_update
    self.cache_dir = cache_dir
    self.clear_old_ephemeris = clear_old_ephemeris
@@ -44,22 +49,25 @@ class AstroDog:
      valid_ephem_types = [valid_ephem_types]
    self.pull_orbit = len(set(EphemerisType.all_orbits()) & set(valid_ephem_types)) > 0
    self.pull_nav = EphemerisType.NAV in valid_ephem_types
+    self.use_qcom_poly = EphemerisType.QCOM_POLY in valid_ephem_types
    self.valid_const = valid_const
    self.valid_ephem_types = valid_ephem_types

    self.orbit_fetched_times = TimeRangeHolder()
-    self.nav_fetched_times = TimeRangeHolder()
+    self.navs_fetched_times = TimeRangeHolder()
    self.dcbs_fetched_times = TimeRangeHolder()

    self.dgps_delays = []
    self.ionex_maps: List[IonexMap] = []
    self.orbits: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
-    self.nav: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
+    self.qcom_polys: DefaultDict[str, List[PolyEphemeris]] = defaultdict(list)
+    self.navs: DefaultDict[str, List[Union[GPSEphemeris, GLONASSEphemeris]]] = defaultdict(list)
    self.dcbs: DefaultDict[str, List[DCB]] = defaultdict(list)

    self.cached_ionex: Optional[IonexMap] = None
    self.cached_dgps = None
    self.cached_orbit: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
+    self.cached_qcom_polys: DefaultDict[str, Optional[PolyEphemeris]] = defaultdict(lambda: None)
    self.cached_nav: DefaultDict[str, Union[GPSEphemeris, GLONASSEphemeris, None]] = defaultdict(lambda: None)
    self.cached_dcb: DefaultDict[str, Optional[DCB]] = defaultdict(lambda: None)

@@ -73,8 +81,8 @@ class AstroDog:
    return ionex

  def get_nav(self, prn, time):
-    skip_download = time in self.nav_fetched_times
-    nav = self._get_latest_valid_data(self.nav[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
+    skip_download = time in self.navs_fetched_times
+    nav = self._get_latest_valid_data(self.navs[prn], self.cached_nav[prn], self.get_nav_data, time, skip_download)
    if nav is not None:
      self.cached_nav[prn] = nav
    return nav
@@ -96,10 +104,13 @@ class AstroDog:
      result[prn] = obj
    return result

+  def get_all_ephem_prns(self):
+    return set(self.orbits.keys()).union(set(self.navs.keys())).union(set(self.qcom_polys.keys()))
+
  def get_navs(self, time):
-    if time not in self.nav_fetched_times and self.auto_update:
+    if time not in self.navs_fetched_times:
      self.get_nav_data(time)
-    return AstroDog._select_valid_temporal_items(self.nav, time, self.cached_nav)
+    return AstroDog._select_valid_temporal_items(self.navs, time, self.cached_nav)

  def get_orbit(self, prn: str, time: GPSTime):
    skip_download = time in self.orbit_fetched_times
@@ -108,6 +119,12 @@ class AstroDog:
      self.cached_orbit[prn] = orbit
    return orbit

+  def get_qcom_poly(self, prn: str, time: GPSTime):
+    poly = self._get_latest_valid_data(self.qcom_polys[prn], self.cached_qcom_polys[prn], None, time, True)
+    if poly is not None:
+      self.cached_qcom_polys[prn] = poly
+    return poly
+
  def get_orbits(self, time):
    if time not in self.orbit_fetched_times:
      self.get_orbit_data(time)
@@ -129,13 +146,16 @@ class AstroDog:
      self.cached_dgps = latest_data
    return latest_data

+  def add_qcom_polys(self, new_ephems: Dict[str, List[Ephemeris]]):
+    self._add_ephems(new_ephems, self.qcom_polys)
+
  def add_orbits(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.orbits, self.orbit_fetched_times)
+    self._add_ephems(new_ephems, self.orbits)

  def add_navs(self, new_ephems: Dict[str, List[Ephemeris]]):
-    self._add_ephems(new_ephems, self.nav, self.nav_fetched_times)
+    self._add_ephems(new_ephems, self.navs)

-  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict, fetched_times):
+  def _add_ephems(self, new_ephems: Dict[str, List[Ephemeris]], ephems_dict):
    for k, v in new_ephems.items():
      if len(v) > 0:
        if self.clear_old_ephemeris:
@@ -143,9 +163,10 @@ class AstroDog:
        else:
          ephems_dict[k].extend(v)

+  def add_ephem_fetched_time(self, ephems, fetched_times):
    min_epochs = []
    max_epochs = []
-    for v in new_ephems.values():
+    for v in ephems.values():
      if len(v) > 0:
        min_ephem, max_ephem = self.get_epoch_range(v)
        min_epochs.append(min_ephem)
@@ -162,9 +183,9 @@ class AstroDog:

    fetched_ephems = {}

-    if 'GPS' in self.valid_const:
+    if ConstellationId.GPS in self.valid_const:
      fetched_ephems = download_and_parse(ConstellationId.GPS, parse_rinex_nav_msg_gps)
-    if 'GLONASS' in self.valid_const:
+    if ConstellationId.GLONASS in self.valid_const:
      for k, v in download_and_parse(ConstellationId.GLONASS, parse_rinex_nav_msg_glonass).items():
        fetched_ephems.setdefault(k, []).extend(v)
    self.add_navs(fetched_ephems)
@@ -172,7 +193,7 @@ class AstroDog:
    if sum([len(v) for v in fetched_ephems.values()]) == 0:
      begin_day = GPSTime(time.week, SECS_IN_DAY * (time.tow // SECS_IN_DAY))
      end_day = GPSTime(time.week, SECS_IN_DAY * (1 + (time.tow // SECS_IN_DAY)))
-      self.nav_fetched_times.add(begin_day, end_day)
+      self.navs_fetched_times.add(begin_day, end_day)

  def download_parse_orbit(self, gps_time: GPSTime, skip_before_epoch=None) -> Dict[str, List[PolyEphemeris]]:
    # Download multiple days to be able to polyfit at the start-end of the day
@@ -180,7 +201,7 @@ class AstroDog:
    with ThreadPoolExecutor() as executor:
      futures_other = [executor.submit(download_orbits_russia_src, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]
      futures_gps = None
-      if "GPS" in self.valid_const:
+      if ConstellationId.GPS in self.valid_const:
        futures_gps = [executor.submit(download_orbits_gps, t, self.cache_dir, self.valid_ephem_types) for t in time_steps]

      ephems_other = parse_sp3_orbits([f.result() for f in futures_other if f.result()], self.valid_const, skip_before_epoch)
@@ -195,7 +216,7 @@ class AstroDog:
    result = download_prediction_orbits_russia_src(gps_time, self.cache_dir)
    if result is not None:
      result = [result]
-    elif "GPS" in self.valid_const:
+    elif ConstellationId.GPS in self.valid_const:
      # Slower fallback. Russia src prediction orbits are published from 2022
      result = [download_orbits_gps(t, self.cache_dir, self.valid_ephem_types) for t in [gps_time - SECS_IN_DAY, gps_time]]
    if result is None:
@@ -209,7 +230,7 @@ class AstroDog:
      ephems_sp3 = self.download_parse_orbit(time)
    if sum([len(v) for v in ephems_sp3.values()]) < 5:
      raise RuntimeError(f'No orbit data found. For Time {time.as_datetime()} constellations {self.valid_const} valid ephem types {self.valid_ephem_types}')
-
+    self.add_ephem_fetched_time(ephems_sp3, self.orbit_fetched_times)
    self.add_orbits(ephems_sp3)

  def get_dcb_data(self, time):
@@ -257,7 +278,7 @@ class AstroDog:
      return eph.get_tgd()
    return None

-  def get_sat_info(self, prn, time):
+  def get_eph(self, prn, time):
    if get_constellation(prn) not in self.valid_const:
      return None
    eph = None
@@ -265,7 +286,12 @@ class AstroDog:
      eph = self.get_orbit(prn, time)
    if not eph and self.pull_nav:
      eph = self.get_nav(prn, time)
+    if not eph and self.use_qcom_poly:
+      eph = self.get_qcom_poly(prn, time)
+    return eph

+  def get_sat_info(self, prn, time):
+    eph = self.get_eph(prn, time)
    if eph:
      return eph.get_sat_info(time)
    return None
@@ -286,7 +312,7 @@ class AstroDog:
    return None

  def get_frequency(self, prn, time, signal='C1C'):
-    if get_constellation(prn) == 'GPS':
+    if get_constellation(prn) == ConstellationId.GPS:
      switch = {'1': constants.GPS_L1,
                '2': constants.GPS_L2,
                '5': constants.GPS_L5,
@@ -297,7 +323,7 @@ class AstroDog:
      if freq:
        return freq
      raise NotImplementedError("Dont know this GPS frequency: ", signal, prn)
-    elif get_constellation(prn) == 'GLONASS':
+    elif get_constellation(prn) == ConstellationId.GLONASS:
      n = self.get_glonass_channel(prn, time)
      if n is None:
        return None
@@ -320,7 +346,6 @@ class AstroDog:
    el, az = get_el_az(rcv_pos, sat_pos)
    if el < 0.2:
      return None
-
    if self.dgps and not no_dgps:
      return self._get_delay_dgps(prn, rcv_pos, time)

@@ -331,7 +356,11 @@ class AstroDog:
    # When using internet we expect all data or return None
    if self.auto_update and (ionex is None or dcb is None or freq is None):
      return None
-    iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq) if ionex is not None else 0.
+    if ionex is not None:
+      iono_delay = ionex.get_delay(rcv_pos, az, el, sat_pos, time, freq)
+    else:
+      # 5m vertical delay is a good default
+      iono_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay=5.0)
    trop_delay = saast(rcv_pos, el)
    code_bias = dcb.get_delay(signal) if dcb is not None else 0.
    return iono_delay + trop_delay + code_bias
@@ -5,10 +5,10 @@ from datetime import datetime
 from .gps_time import GPSTime
 from .constants import SECS_IN_YEAR
 from . import raw_gnss as raw
+from . import opt
 from .rinex_file import RINEXFile
 from .downloader import download_cors_coords
-from .helpers import get_constellation
-
+from .helpers import get_constellation, ConstellationId

 def mean_filter(delay):
  d2 = delay.copy()
@@ -78,7 +78,7 @@ def get_station_position(station_id, cache_dir='/tmp/gnss/', time=GPSTime.from_d
  return ((time - epoch)/SECS_IN_YEAR)*np.array(vel) + np.array(pos)


-def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=['GPS']):
+def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, required_constellations=[ConstellationId.GPS]):
  station_pos = get_station_position(station_id, cache_dir=dog.cache_dir)
  obsdata = RINEXFile(station_obs_file_path)
  measurements = raw.read_rinex_obs(obsdata)
@@ -107,8 +107,9 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
    station_delays[signal] = {}
    for i, proc_measurement in enumerate(proc_measurements):
      times.append(proc_measurement[0].recv_time)
-      Fx_pos = raw.pr_residual(proc_measurement, signal=signal)
-      residual = -np.array(Fx_pos(list(station_pos) + [0, 0]))
+      Fx_pos = opt.pr_residual(proc_measurement, signal=signal)
+      residual, _ = Fx_pos(list(station_pos) + [0,0])
+      residual = -np.array(residual)
      for j, m in enumerate(proc_measurement):
        prn = m.prn
        if prn not in station_delays[signal]:
@@ -120,7 +121,7 @@ def parse_dgps(station_id, station_obs_file_path, dog, max_distance=100000, requ
  # could this be biased? Only use GPS for convenience.
  model_delays = {}
  for prn in station_delays['C1C']:
-    if get_constellation(prn) == 'GPS':
+    if get_constellation(prn) == ConstellationId.GPS:
      model_delays[prn] = np.nan*np.zeros(n)
      for i in range(n):
        model_delays[prn][i] = dog.get_delay(prn, times[i], station_pos, no_dgps=True)
@@ -7,18 +7,19 @@ import urllib.error
 import pycurl
 import re
 import time
-import tempfile
 import socket
+import logging

 from datetime import datetime, timedelta
 from urllib.parse import urlparse
 from io import BytesIO
+from ftplib import FTP_TLS

 from atomicwrites import atomic_write

 from laika.ephemeris import EphemerisType
 from .constants import SECS_IN_HR, SECS_IN_DAY, SECS_IN_WEEK
-from .gps_time import GPSTime
+from .gps_time import GPSTime, tow_to_datetime
 from .helpers import ConstellationId

 dir_path = os.path.dirname(os.path.realpath(__file__))
@@ -42,7 +43,7 @@ def retryable(f):
      try:
        return f(url_base, *args, **kwargs)
      except DownloadFailed as e:
-        print(e)
+        logging.warning(e)
    # none of them succeeded
    raise DownloadFailed("Multiple URL failures attempting to pull file(s)")
  return wrapped
@@ -98,7 +99,7 @@ def ftp_download_files(url_base, folder_path, cacheDir, filenames):
    if "/" in filename:
      continue
    filepath = os.path.join(folder_path_abs, filename)
-    print("pulling from", url_base, "to", filepath)
+    logging.debug("pulling from", url_base, "to", filepath)

    if not os.path.isfile(filepath):
      os.makedirs(folder_path_abs, exist_ok=True)
@@ -141,7 +142,7 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
      continue
    filepath = os.path.join(folder_path_abs, filename)
    if not os.path.isfile(filepath):
-      print("pulling from", url_base, "to", filepath)
+      logging.debug("pulling from", url_base, "to", filepath)
      os.makedirs(folder_path_abs, exist_ok=True)
      url_path = url_base + folder_path + filename
      handle = pycurl.Curl()
@@ -170,31 +171,13 @@ def http_download_files(url_base, folder_path, cacheDir, filenames):
  # if there are downloads left to be done, repeat, and don't overwrite
  _, requests_processing = fetcher.perform()
  if requests_processing > 0:
-    print("some requests stalled, retrying them")
+    logging.warning("some requests stalled, retrying them")
    return http_download_files(url_base, folder_path, cacheDir, filenames)

  return filepaths


 def https_download_file(url):
-  if 'nasa.gov/' not in url:
-    netrc_path = None
-    f = None
-  elif os.path.isfile(dir_path + '/.netrc'):
-    netrc_path = dir_path + '/.netrc'
-    f = None
-  else:
-    try:
-      username = os.environ['NASA_USERNAME']
-      password = os.environ['NASA_PASSWORD']
-      f = tempfile.NamedTemporaryFile()
-      netrc = f"machine urs.earthdata.nasa.gov login {username} password {password}"
-      f.write(netrc.encode())
-      f.flush()
-      netrc_path = f.name
-    except KeyError:
-      raise DownloadFailed('Could not find .netrc file and no NASA_USERNAME and NASA_PASSWORD in environment for urs.earthdata.nasa.gov authentication')
-
  crl = pycurl.Curl()
  crl.setopt(crl.CAINFO, certifi.where())
  crl.setopt(crl.URL, url)
@@ -202,17 +185,12 @@ def https_download_file(url):
  crl.setopt(crl.SSL_CIPHER_LIST, 'DEFAULT@SECLEVEL=1')
  crl.setopt(crl.COOKIEJAR, '/tmp/cddis_cookies')
  crl.setopt(pycurl.CONNECTTIMEOUT, 10)
-  if netrc_path is not None:
-    crl.setopt(crl.NETRC_FILE, netrc_path)
-    crl.setopt(crl.NETRC, 2)
-
+  
  buf = BytesIO()
  crl.setopt(crl.WRITEDATA, buf)
  crl.perform()
  response = crl.getinfo(pycurl.RESPONSE_CODE)
  crl.close()
-  if f is not None:
-    f.close()

  if response != 200:
    raise DownloadFailed('HTTPS error ' + str(response))
@@ -228,6 +206,17 @@ def ftp_download_file(url):
  except urllib.error.URLError as e:
    raise DownloadFailed(e)

+def ftps_download_file(url):
+  parsed = urlparse(url)
+  try:
+    buf = BytesIO()
+    with FTP_TLS(parsed.hostname) as ftps:
+      ftps.login(user='anonymous')
+      ftps.prot_p()
+      ftps.retrbinary('RETR ' + parsed.path, buf.write)
+    return buf.getvalue()
+  except ftplib.all_errors as e:
+    raise DownloadFailed(e)

@retryable
 def download_files(url_base, folder_path, cacheDir, filenames):
@@ -241,12 +230,14 @@ def download_files(url_base, folder_path, cacheDir, filenames):
@retryable
 def download_file(url_base, folder_path, filename_zipped):
  url = url_base + folder_path + filename_zipped
-  print('Downloading ' + url)
-  if url.startswith('https'):
+  logging.debug('Downloading ' + url)
+  if url.startswith('https://'):
    return https_download_file(url)
-  if url.startswith('ftp'):
+  elif url.startswith('ftp://'):
    return ftp_download_file(url)
-  raise NotImplementedError('Did find ftp or https preamble')
+  elif url.startswith('sftp://'):
+    return ftps_download_file(url)
+  raise NotImplementedError('Did not find supported url scheme')


 def download_and_cache_file_return_first_success(url_bases, folder_and_file_names, cache_dir, compression='', overwrite=False, raise_error=False):
@@ -308,26 +299,51 @@ def download_nav(time: GPSTime, cache_dir, constellation: ConstellationId):
    if GPSTime.from_datetime(datetime.utcnow()) - time > SECS_IN_DAY:
      url_bases = (
        'https://github.com/commaai/gnss-data/raw/master/gnss/data/daily/',
-        'https://cddis.nasa.gov/archive/gnss/data/daily/',
+        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/daily/',
      )
      filename = t.strftime(f"brdc%j0.%y{c}")
      folder_path = t.strftime(f'%Y/%j/%y{c}/')
      compression = '.gz' if folder_path >= '2020/335/' else '.Z'
      return download_and_cache_file(url_bases, folder_path, cache_dir+'daily_nav/', filename, compression)
-    elif constellation == ConstellationId.GPS:
-      url_base = 'https://cddis.nasa.gov/archive/gnss/data/hourly/'
-      filename = t.strftime(f"hour%j0.%y{c}")
-      folder_path = t.strftime('%Y/%j/')
-      compression = '.gz' if folder_path >= '2020/336/' else '.Z'
-      return download_and_cache_file(url_base, folder_path, cache_dir+'hourly_nav/', filename, compression)
+    else:
+      url_bases = (
+        'https://github.com/commaai/gnss-data-hourly/raw/master/',
+        'sftp://gdc.cddis.eosdis.nasa.gov/gnss/data/hourly/',
+      )
+      times = [t, (t - timedelta(hours=1))]
+      folder_and_filenames = [(t.strftime('%Y/%j/'), t.strftime(f"hour%j0.%y{c}")) for t in times]
+      compression = '.gz' if folder_and_filenames[0][0] >= '2020/336/' else '.Z'
+      # always overwrite as this file is appended
+      return download_and_cache_file_return_first_success(url_bases,
+        folder_and_filenames, cache_dir+'hourly_nav/', compression, overwrite=True)
  except DownloadFailed:
    pass


+def download_orbits_gps_cod0(time, cache_dir, ephem_types):
+  url_bases = (
+    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
+  )
+
+  if EphemerisType.ULTRA_RAPID_ORBIT not in ephem_types:
+    # TODO: raise error here
+    return None
+
+  tm = tow_to_datetime(time.tow, time.week).timetuple()
+  doy = str(tm.tm_yday).zfill(3)
+  filename = f"COD0OPSULT_{tm.tm_year}{doy}0000_02D_05M_ORB.SP3"
+  # TODO: add hour management
+
+  folder_path = "%i/" % time.week
+  folder_file_names = [(folder_path, filename)]
+  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.gz')
+
+
 def download_orbits_gps(time, cache_dir, ephem_types):
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/',
-    'https://cddis.nasa.gov/archive/gnss/products/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/',
    'ftp://igs.ign.fr/pub/igs/products/',
  )
  folder_path = "%i/" % time.week
@@ -344,7 +360,12 @@ def download_orbits_gps(time, cache_dir, ephem_types):
                      f"igu{time_str}_06.sp3",
                      f"igu{time_str}_00.sp3"])
  folder_file_names = [(folder_path, filename) for filename in filenames]
-  return download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
+  ret = download_and_cache_file_return_first_success(url_bases, folder_file_names, cache_dir+'cddis_products/', compression='.Z')
+  if ret is not None:
+    return ret
+
+  # fallback to COD0 Ultra Rapid Orbits
+  return download_orbits_gps_cod0(time, cache_dir, ephem_types)


 def download_prediction_orbits_russia_src(gps_time, cache_dir):
@@ -406,7 +427,7 @@ def download_ionex(time, cache_dir):
  t = time.as_datetime()
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/ionex/',
-    'https://cddis.nasa.gov/archive/gnss/products/ionex/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/ionex/',
    'ftp://igs.ensg.ign.fr/pub/igs/products/ionosphere/',
    'ftp://gssc.esa.int/gnss/products/ionex/',
  )
@@ -422,7 +443,7 @@ def download_dcb(time, cache_dir):
  folder_paths = []
  url_bases = (
    'https://github.com/commaai/gnss-data/raw/master/gnss/products/bias/',
-    'https://cddis.nasa.gov/archive/gnss/products/bias/',
+    'sftp://gdc.cddis.eosdis.nasa.gov/gnss/products/bias/',
    'ftp://igs.ign.fr/pub/igs/products/mgex/dcb/',
  )
  # seem to be a lot of data missing, so try many days
@@ -458,5 +479,5 @@ def download_cors_station(time, station_name, cache_dir):
    filepath = download_and_cache_file(url_bases, folder_path, cache_dir+'cors_obs/', filename, compression='.gz')
    return filepath
  except DownloadFailed:
-    print("File not downloaded, check availability on server.")
+    logging.warning("File not downloaded, check availability on server.")
    return None
@@ -0,0 +1,106 @@
+@0xb3ca6d2462778bb1;
+
+struct Ephemeris {
+  # This is according to the rinex (2?) format
+  svId @0 :UInt16;
+  year @1 :UInt16;
+  month @2 :UInt16;
+  day @3 :UInt16;
+  hour @4 :UInt16;
+  minute @5 :UInt16;
+  second @6 :Float32;
+  af0 @7 :Float64;
+  af1 @8 :Float64;
+  af2 @9 :Float64;
+
+  iode @10 :Float64;
+  crs @11 :Float64;
+  deltaN @12 :Float64;
+  m0 @13 :Float64;
+
+  cuc @14 :Float64;
+  ecc @15 :Float64;
+  cus @16 :Float64;
+  a @17 :Float64; # note that this is not the root!!
+
+  toe @18 :Float64;
+  cic @19 :Float64;
+  omega0 @20 :Float64;
+  cis @21 :Float64;
+
+  i0 @22 :Float64;
+  crc @23 :Float64;
+  omega @24 :Float64;
+  omegaDot @25 :Float64;
+
+  iDot @26 :Float64;
+  codesL2 @27 :Float64;
+  gpsWeekDEPRECATED @28 :Float64;
+  l2 @29 :Float64;
+
+  svAcc @30 :Float64;
+  svHealth @31 :Float64;
+  tgd @32 :Float64;
+  iodc @33 :Float64;
+
+  transmissionTime @34 :Float64;
+  fitInterval @35 :Float64;
+
+  toc @36 :Float64;
+
+  ionoCoeffsValid @37 :Bool;
+  ionoAlpha @38 :List(Float64);
+  ionoBeta @39 :List(Float64);
+
+  towCount @40 :UInt32;
+  toeWeek @41 :UInt16;
+  tocWeek @42 :UInt16;
+}
+
+struct GlonassEphemeris {
+  svId @0 :UInt16;
+  year @1 :UInt16;
+  dayInYear @2 :UInt16;
+  hour @3 :UInt16;
+  minute @4 :UInt16;
+  second @5 :Float32;
+
+  x @6 :Float64;
+  xVel @7 :Float64;
+  xAccel @8 :Float64;
+  y @9 :Float64;
+  yVel @10 :Float64;
+  yAccel @11 :Float64;
+  z @12 :Float64;
+  zVel @13 :Float64;
+  zAccel @14 :Float64;
+
+  svType @15 :UInt8;
+  svURA @16 :Float32;
+  age @17 :UInt8;
+
+  svHealth @18 :UInt8;
+  tkDEPRECATED @19 :UInt16;
+  tb @20 :UInt16;
+
+  tauN @21 :Float64;
+  deltaTauN @22 :Float64;
+  gammaN @23 :Float64;
+
+  p1 @24 :UInt8;
+  p2 @25 :UInt8;
+  p3 @26 :UInt8;
+  p4 @27 :UInt8;
+
+  freqNumDEPRECATED @28 :UInt32;
+
+  n4 @29 :UInt8;
+  nt @30 :UInt16;
+  freqNum @31 :Int16;
+  tkSeconds @32 :UInt32;
+}
+
+struct EphemerisCache {
+  gpsEphemerides @0 :List(Ephemeris);
+  glonassEphemerides @1 :List(GlonassEphemeris);
+}
@@ -1,4 +1,3 @@
-import json
 import warnings
 from abc import ABC, abstractmethod
 from collections import defaultdict
@@ -11,8 +10,15 @@ from datetime import datetime
 from math import sin, cos, sqrt, fabs, atan2

 from .gps_time import GPSTime, utc_to_gpst
-from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, EARTH_ROTATION_RATE, EARTH_GM
-from .helpers import get_constellation
+from .constants import SPEED_OF_LIGHT, SECS_IN_MIN, SECS_IN_HR, SECS_IN_DAY, \
+                       SECS_IN_WEEK, EARTH_ROTATION_RATE, EARTH_GM
+from .helpers import get_constellation, get_prn_from_nmea_id
+
+import capnp
+import os
+capnp.remove_import_hook()
+capnp_path = os.path.abspath(os.path.join(os.path.dirname(os.path.realpath(__file__)), "ephemeris.capnp"))
+ephemeris_structs = capnp.load(capnp_path)


 def read4(f, rinex_ver):
@@ -23,58 +29,13 @@ def read4(f, rinex_ver):
  return float(line[4:23]), float(line[23:42]), float(line[42:61]), float(line[61:80])


-def convert_ublox_ephem(ublox_ephem, current_time: Optional[datetime] = None):
-  # Week time of ephemeris gps msg has a roll-over period of 10 bits (19.6 years)
-  # The latest roll-over was on 2019-04-07
-  week = ublox_ephem.gpsWeek
-  if current_time is None:
-    # Each message is incremented to be greater or equal than week 1877 (2015-12-27).
-    #  To skip this use the current_time argument
-    week += 1024
-    if week < 1877:
-      week += 1024
-  else:
-    roll_overs = GPSTime.from_datetime(current_time).week // 1024
-    week += (roll_overs - (week // 1024)) * 1024
-
-  ephem = {}
-  ephem['sv_id'] = ublox_ephem.svId
-  ephem['toe'] = GPSTime(week, ublox_ephem.toe)
-  ephem['toc'] = GPSTime(week, ublox_ephem.toc)
-  ephem['af0'] = ublox_ephem.af0
-  ephem['af1'] = ublox_ephem.af1
-  ephem['af2'] = ublox_ephem.af2
-  ephem['tgd'] = ublox_ephem.tgd
-
-  ephem['sqrta'] = np.sqrt(ublox_ephem.a)
-  ephem['dn'] = ublox_ephem.deltaN
-  ephem['m0'] = ublox_ephem.m0
-
-  ephem['ecc'] = ublox_ephem.ecc
-  ephem['w'] = ublox_ephem.omega
-  ephem['cus'] = ublox_ephem.cus
-  ephem['cuc'] = ublox_ephem.cuc
-  ephem['crc'] = ublox_ephem.crc
-  ephem['crs'] = ublox_ephem.crs
-  ephem['cic'] = ublox_ephem.cic
-  ephem['cis'] = ublox_ephem.cis
-
-  ephem['inc'] = ublox_ephem.i0
-  ephem['inc_dot'] = ublox_ephem.iDot
-  ephem['omegadot'] = ublox_ephem.omegaDot
-  ephem['omega0'] = ublox_ephem.omega0
-
-  epoch = ephem['toe']
-  return GPSEphemeris(ephem, epoch)
-
-
 class EphemerisType(IntEnum):
  # Matches the enum in log.capnp
  NAV = 0
  FINAL_ORBIT = 1
  RAPID_ORBIT = 2
  ULTRA_RAPID_ORBIT = 3
-  QCOM_POLY = 4  # Currently not supported
+  QCOM_POLY = 4

  @staticmethod
  def all_orbits():
@@ -86,24 +47,23 @@ class EphemerisType(IntEnum):
      return EphemerisType.FINAL_ORBIT
    if "/rapid" in file_name or "/igr" in file_name:
      return EphemerisType.RAPID_ORBIT
-    if "/ultra" in file_name or "/igu" in file_name:
+    if "/ultra" in file_name or "/igu" in file_name or "COD0OPSULT" in file_name:
      return EphemerisType.ULTRA_RAPID_ORBIT
    raise RuntimeError(f"Ephemeris type not found in filename: {file_name}")


 class Ephemeris(ABC):

-  def __init__(self, prn: str, data, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
+  def __init__(self, prn: str, epoch: GPSTime, eph_type: EphemerisType, healthy: bool, max_time_diff: float,
               file_epoch: Optional[GPSTime] = None, file_name=None):
    self.prn = prn
-    self.data = data
    self.epoch = epoch
    self.eph_type = eph_type
    self.healthy = healthy
    self.max_time_diff = max_time_diff
    self.file_epoch = file_epoch
+    self.file_name = file_name
    self.file_source = '' if file_name is None else file_name.split('/')[-1][:3]  # File source for the ephemeris (e.g. igu, igr, Sta)
-    self.__json = None

  def valid(self, time):
    return abs(time - self.epoch) <= self.max_time_diff
@@ -124,56 +84,24 @@ class Ephemeris(ABC):
  def _get_sat_info(self, time):
    pass

-  def to_json(self):
-    if self.__json is None:
-      dict = self.__dict__
-      dict['ephemeris_class'] = self.__class__.__name__
-      self.__json = {'ephemeris': json.dumps(dict, cls=EphemerisSerializer)}
-    return self.__json
-
-  @classmethod
-  def from_json(cls, json_dct):
-    dct = json.loads(json_dct['ephemeris'], object_hook=ephemeris_deserialize_hook)
-    obj = cls.__new__(globals()[dct['ephemeris_class']])
-    obj.__dict__.update(dct)
-    obj.__json = json_dct
-    return obj
-
-
-def ephemeris_deserialize_hook(dct):
-  if 'week' in dct:
-    return GPSTime(dct['week'], dct['tow'])
-  return dct
-
-
-class EphemerisSerializer(json.JSONEncoder):
-
-  def default(self, o):
-    if isinstance(o, GPSTime):
-      return o.__dict__
-    if isinstance(o, np.ndarray):
-      return o.tolist()
-    return json.JSONEncoder.default(self, o)
-

 class GLONASSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, healthy=True, file_name=None):
-    super().__init__(data['prn'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
-    self.channel = data['freq_num']
-    self.to_json()
+  def __init__(self, data, file_name=None):
+    self.epoch = GPSTime.from_glonass(data.n4, data.nt, data.tb*15*SECS_IN_MIN)
+    super().__init__('R%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=25*SECS_IN_MIN, file_name=file_name)
+    self.data = data
+    self.epoch =  GPSTime.from_glonass(data.n4, data.nt, data.tb*15 * SECS_IN_MIN)
+    self.channel = data.freqNum

  def _get_sat_info(self, time: GPSTime):
    # see the russian doc for this:
    # http://gauss.gge.unb.ca/GLONASS.ICD.pdf

    eph = self.data
-    # TODO should handle leap seconds better
-    toc_gps_time = utc_to_gpst(eph['toc'])
-    tdiff = time - toc_gps_time
-
+    tdiff = time - self.epoch
    # Clock correction (except for general relativity which is applied later)
-    clock_err = eph['min_tauN'] + tdiff * (eph['GammaN'])
-    clock_rate_err = eph['GammaN']
+    clock_err = -eph.tauN + tdiff * eph.gammaN
+    clock_rate_err = eph.gammaN

    def glonass_diff_eq(state, acc):
      J2 = 1.0826257e-3
@@ -195,14 +123,14 @@ class GLONASSEphemeris(Ephemeris):
      return ders

    init_state = np.empty(6)
-    init_state[0] = eph['x']
-    init_state[1] = eph['y']
-    init_state[2] = eph['z']
-    init_state[3] = eph['x_vel']
-    init_state[4] = eph['y_vel']
-    init_state[5] = eph['z_vel']
+    init_state[0] = eph.x
+    init_state[1] = eph.y
+    init_state[2] = eph.z
+    init_state[3] = eph.xVel
+    init_state[4] = eph.yVel
+    init_state[5] = eph.zVel
    init_state = 1000*init_state
-    acc = 1000*np.array([eph['x_acc'], eph['y_acc'], eph['z_acc']])
+    acc = 1000*np.array([eph.xAccel, eph.yAccel, eph.zAccel])
    state = init_state
    tstep = 90
    if tdiff < 0:
@@ -225,10 +153,12 @@ class GLONASSEphemeris(Ephemeris):


 class PolyEphemeris(Ephemeris):
-  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType, file_epoch: GPSTime, file_name: str, healthy=True, tgd=0):
-    super().__init__(prn, data, epoch, ephem_type, healthy, max_time_diff=SECS_IN_HR, file_epoch=file_epoch, file_name=file_name)
+  def __init__(self, prn: str, data, epoch: GPSTime, ephem_type: EphemerisType,
+               file_epoch: GPSTime=None, file_name: str=None, healthy=True, tgd=0,
+               max_time_diff: int=SECS_IN_HR):
+    super().__init__(prn, epoch, ephem_type, healthy, max_time_diff=max_time_diff, file_epoch=file_epoch, file_name=file_name)
+    self.data = data
    self.tgd = tgd
-    self.to_json()

  def _get_sat_info(self, time: GPSTime):
    dt = time - self.data['t0']
@@ -245,27 +175,32 @@ class PolyEphemeris(Ephemeris):


 class GPSEphemeris(Ephemeris):
-  def __init__(self, data, epoch, healthy=True, file_name=None):
-    super().__init__('G%02i' % data['sv_id'], data, epoch, EphemerisType.NAV, healthy, max_time_diff=2*SECS_IN_HR, file_name=file_name)
+  def __init__(self, data, file_name=None):
+    self.toe = GPSTime(data.toeWeek, data.toe)
+    self.toc = GPSTime(data.tocWeek, data.toc)
+    self.epoch = self.toc
+
+    super().__init__('G%02i' % data.svId, self.epoch, EphemerisType.NAV, data.svHealth==0, max_time_diff=2*SECS_IN_HR, file_name=file_name)
    self.max_time_diff_tgd = SECS_IN_DAY
-    self.to_json()
+    self.data = data
+    self.sqrta = np.sqrt(data.a)

  def get_tgd(self):
-    return self.data['tgd']
+    return self.datatgd

  def _get_sat_info(self, time: GPSTime):
    eph = self.data
-    tdiff = time - eph['toc']  # Time of clock
-    clock_err = eph['af0'] + tdiff * (eph['af1'] + tdiff * eph['af2'])
-    clock_rate_err = eph['af1'] + 2 * tdiff * eph['af2']
+    tdiff = time - self.toc  # Time of clock
+    clock_err = eph.af0 + tdiff * (eph.af1 + tdiff * eph.af2)
+    clock_rate_err = eph.af1 + 2 * tdiff * eph.af2\

    # Orbit propagation
-    tdiff = time - eph['toe']  # Time of ephemeris (might be different from time of clock)
+    tdiff = time - self.toe  # Time of ephemeris (might be different from time of clock)

    # Calculate position per IS-GPS-200D p 97 Table 20-IV
-    a = eph['sqrta'] * eph['sqrta']  # [m] Semi-major axis
-    ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph['dn']  # [rad/sec] Corrected mean motion
-    ma = eph['m0'] + ma_dot * tdiff  # [rad] Corrected mean anomaly
+    a = self.sqrta * self.sqrta # [m] Semi-major axis
+    ma_dot = sqrt(EARTH_GM / (a * a * a)) + eph.deltaN  # [rad/sec] Corrected mean motion
+    ma = eph.m0 + ma_dot * tdiff  # [rad] Corrected mean anomaly

    # Iteratively solve for the Eccentric Anomaly (from Keith Alter and David Johnston)
    ea = ma  # Starting value for E
@@ -273,37 +208,37 @@ class GPSEphemeris(Ephemeris):
    ea_old = 2222
    while fabs(ea - ea_old) > 1.0E-14:
      ea_old = ea
-      tempd1 = 1.0 - eph['ecc'] * cos(ea_old)
-      ea = ea + (ma - ea_old + eph['ecc'] * sin(ea_old)) / tempd1
+      tempd1 = 1.0 - eph.ecc * cos(ea_old)
+      ea = ea + (ma - ea_old + eph.ecc * sin(ea_old)) / tempd1
    ea_dot = ma_dot / tempd1

    # Relativistic correction term
-    einstein = -4.442807633E-10 * eph['ecc'] * eph['sqrta'] * sin(ea)
+    einstein = -4.442807633E-10 * eph.ecc * self.sqrta * sin(ea)

    # Begin calc for True Anomaly and Argument of Latitude
-    tempd2 = sqrt(1.0 - eph['ecc'] * eph['ecc'])
+    tempd2 = sqrt(1.0 - eph.ecc * eph.ecc)
    # [rad] Argument of Latitude = True Anomaly + Argument of Perigee
-    al = atan2(tempd2 * sin(ea), cos(ea) - eph['ecc']) + eph['w']
+    al = atan2(tempd2 * sin(ea), cos(ea) - eph.ecc) + eph.omega
    al_dot = tempd2 * ea_dot / tempd1

    # Calculate corrected argument of latitude based on position
-    cal = al + eph['cus'] * sin(2.0 * al) + eph['cuc'] * cos(2.0 * al)
-    cal_dot = al_dot * (1.0 + 2.0 * (eph['cus'] * cos(2.0 * al) -
-                                     eph['cuc'] * sin(2.0 * al)))
+    cal = al + eph.cus * sin(2.0 * al) + eph.cuc * cos(2.0 * al)
+    cal_dot = al_dot * (1.0 + 2.0 * (eph.cus * cos(2.0 * al) -
+                                     eph.cuc * sin(2.0 * al)))

    # Calculate corrected radius based on argument of latitude
-    r = a * tempd1 + eph['crc'] * cos(2.0 * al) + eph['crs'] * sin(2.0 * al)
-    r_dot = (a * eph['ecc'] * sin(ea) * ea_dot +
-             2.0 * al_dot * (eph['crs'] * cos(2.0 * al) -
-                             eph['crc'] * sin(2.0 * al)))
+    r = a * tempd1 + eph.crc * cos(2.0 * al) + eph.crs * sin(2.0 * al)
+    r_dot = (a * eph.ecc * sin(ea) * ea_dot +
+             2.0 * al_dot * (eph.crs * cos(2.0 * al) -
+                             eph.crc * sin(2.0 * al)))

    # Calculate inclination based on argument of latitude
-    inc = (eph['inc'] + eph['inc_dot'] * tdiff +
-           eph['cic'] * cos(2.0 * al) +
-           eph['cis'] * sin(2.0 * al))
-    inc_dot = (eph['inc_dot'] +
-               2.0 * al_dot * (eph['cis'] * cos(2.0 * al) -
-                               eph['cic'] * sin(2.0 * al)))
+    inc = (eph.i0 + eph.iDot * tdiff +
+           eph.cic * cos(2.0 * al) +
+           eph.cis * sin(2.0 * al))
+    inc_dot = (eph.iDot +
+               2.0 * al_dot * (eph.cis * cos(2.0 * al) -
+                               eph.cic * sin(2.0 * al)))

    # Calculate position and velocity in orbital plane
    x = r * cos(cal)
@@ -312,8 +247,8 @@ class GPSEphemeris(Ephemeris):
    y_dot = r_dot * sin(cal) + x * cal_dot

    # Corrected longitude of ascending node
-    om_dot = eph['omegadot'] - EARTH_ROTATION_RATE
-    om = eph['omega0'] + tdiff * om_dot - EARTH_ROTATION_RATE * eph['toe'].tow
+    om_dot = eph.omegaDot - EARTH_ROTATION_RATE
+    om = eph.omega0 + tdiff * om_dot - EARTH_ROTATION_RATE * self.toe.tow

    # Compute the satellite's position in Earth-Centered Earth-Fixed coordinates
    pos = np.empty(3)
@@ -401,7 +336,7 @@ def read_prn_data(data, prn, deg=16, deg_t=1):
    measurements = np_data_prn[i:i + deg + 1, 1:5]

    times = (measurements[:, 0] - epoch).astype(float)
-    if (np.diff(times) != 900).any():
+    if not (np.diff(times) != 900).any() and not (np.diff(times) != 300).any():
      continue

    poly_data = {}
@@ -462,24 +397,26 @@ def parse_rinex_nav_msg_gps(file_name):
      line = ' ' + line  # Shift 1 char to the right

    line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'epoch': epoch, 'sv_id': sv_id}
-    e['toc'] = epoch
+    e = {'svId': sv_id}
+    # TODO are TOC and TOE the same?
+    e['toc'] = epoch.tow
+    e['tocWeek'] = epoch.week
    e['af0'] = float(line[23:42])
    e['af1'] = float(line[42:61])
    e['af2'] = float(line[61:80])

-    e['iode'], e['crs'], e['dn'], e['m0'] = read4(f, rinex_ver)
-    e['cuc'], e['ecc'], e['cus'], e['sqrta'] = read4(f, rinex_ver)
-    toe_tow, e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
-    e['inc'], e['crc'], e['w'], e['omegadot'] = read4(f, rinex_ver)
-    e['inc_dot'], e['l2_codes'], toe_week, e['l2_pflag'] = read4(f, rinex_ver)
-    e['sv_accuracy'], e['health'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
+    e['iode'], e['crs'], e['deltaN'], e['m0'] = read4(f, rinex_ver)
+    e['cuc'], e['ecc'], e['cus'], sqrta = read4(f, rinex_ver)
+    e['a'] = sqrta ** 2
+    e['toe'], e['cic'], e['omega0'], e['cis'] = read4(f, rinex_ver)
+    e['i0'], e['crc'], e['omega'], e['omegaDot'] = read4(f, rinex_ver)
+    e['iDot'], e['codesL2'], e['toeWeek'], l2_pflag = read4(f, rinex_ver)
+    e['svAcc'], e['svHealth'], e['tgd'], e['iodc'] = read4(f, rinex_ver)
    f.readline()  # Discard last row

-    e['toe'] = GPSTime(toe_week, toe_tow)
-    e['healthy'] = (e['health'] == 0.0)
+    data_struct = ephemeris_structs.Ephemeris.new_message(**e)

-    ephem = GPSEphemeris(e, epoch, file_name=file_name)
+    ephem = GPSEphemeris(data_struct, file_name=file_name)
    ephems[ephem.prn].append(ephem)
  f.close()
  return ephems
@@ -505,53 +442,62 @@ def parse_rinex_nav_msg_glonass(file_name):
        got_header = True
      continue
    if rinex_ver == 3:
-      prn = line[:3]
-      epoch = GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S"))
+      sv_id = int(line[1:3])
+
+      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[4:23], "%y %m %d %H %M %S")))
    elif rinex_ver == 2:
-      prn = 'R%02i' % int(line[0:2])
-      epoch = GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S"))
+      sv_id = int(line[0:2])
+      epoch = utc_to_gpst(GPSTime.from_datetime(datetime.strptime(line[3:20], "%y %m %d %H %M %S")))
      line = ' ' + line  # Shift 1 char to the right

    line = line.replace('D', 'E')  # Handle bizarro float format
-    e = {'epoch': epoch, 'prn': prn}
-    e['toc'] = epoch
-    e['min_tauN'] = float(line[23:42])
-    e['GammaN'] = float(line[42:61])
-    e['tk'] = float(line[61:80])
+    e = {'svId': sv_id}
+    e['n4'], e['nt'], toe_seconds = epoch.as_glonass()
+    tb = toe_seconds / (15 * SECS_IN_MIN)

-    e['x'], e['x_vel'], e['x_acc'], e['health'] = read4(f, rinex_ver)
-    e['y'], e['y_vel'], e['y_acc'], e['freq_num'] = read4(f, rinex_ver)
-    e['z'], e['z_vel'], e['z_acc'], e['age'] = read4(f, rinex_ver)
+  
+    e['tb'] = tb

-    e['healthy'] = (e['health'] == 0.0)
+    e['tauN'] = -float(line[23:42])
+    e['gammaN'] = float(line[42:61])
+    e['tkSeconds'] = float(line[61:80])

-    ephems[prn].append(GLONASSEphemeris(e, epoch, file_name=file_name))
+    e['x'], e['xVel'], e['xAccel'], e['svHealth'] = read4(f, rinex_ver)
+    e['y'], e['yVel'], e['yAccel'], e['freqNum'] = read4(f, rinex_ver)
+    e['z'], e['zVel'], e['zAccel'], e['age'] = read4(f, rinex_ver)
+    
+    # TODO unclear why glonass sometimes has nav messages 3s after correct one
+    if abs(tb - int(tb)) > 1e-3:
+      continue
+
+    
+    data_struct = ephemeris_structs.GlonassEphemeris.new_message(**e)
+    ephem = GLONASSEphemeris(data_struct, file_name=file_name)
+
+    ephems[ephem.prn].append(ephem)
  f.close()
  return ephems


-'''
+def parse_qcom_ephem(qcom_poly, current_week):
+  svId = qcom_poly.svId
+  data = qcom_poly
+  t0 = data.t0
+  # fix glonass time
+  prn = get_prn_from_nmea_id(svId)
+  if prn[0] == 'R':
+    # TODO should handle leap seconds better
+    epoch = GPSTime(current_week, (t0 - 3*SECS_IN_HR + SECS_IN_DAY) % (SECS_IN_WEEK) + 18)
+  else:
+    epoch = GPSTime(current_week, t0)
+  poly_data = {}
+  poly_data['t0'] = epoch
+  poly_data['xyz'] = np.array([
+                      [data.xyz0[0], data.xyzN[0], data.xyzN[1], data.xyzN[2]],
+                      [data.xyz0[1], data.xyzN[3], data.xyzN[4], data.xyzN[5]],
+                      [data.xyz0[2], data.xyzN[6], data.xyzN[7], data.xyzN[8]] ]).T

-def parse_qcom_ephems(qcom_polys, current_week):
-  ephems = []
-  for qcom_poly in qcom_polys:
-    svId = qcom_poly.qcomGnss.drSvPoly.svId
-    data = qcom_poly.qcomGnss.drSvPoly
-    t0 = data.t0
-    # fix glonass time
-    if get_constellation(svId) == 'GLONASS':
-      # TODO should handle leap seconds better
-      epoch = GPSTime(current_week, (t0 + 3*SECS_IN_WEEK) % (SECS_IN_WEEK) + 18)
-    else:
-      epoch = GPSTime(current_week, t0)
-    poly_data = {}
-    poly_data['t0'] = epoch
-    poly_data['x'] = [data.xyzN[2], data.xyzN[1], data.xyzN[0], data.xyz0[0]]
-    poly_data['y'] = [data.xyzN[5], data.xyzN[4], data.xyzN[3], data.xyz0[1]]
-    poly_data['z'] = [data.xyzN[8], data.xyzN[7], data.xyzN[6], data.xyz0[2]]
-    poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
-    poly_data['deg'] = 3
-    poly_data['deg_t'] = 3
-    ephems.append(PolyEphemeris(svId, poly_data, epoch, eph_type=EphemerisType.QCOM_POLY))
-  return ephems
-'''
+  poly_data['clock'] = [1e-3*data.other[3], 1e-3*data.other[2], 1e-3*data.other[1], 1e-3*data.other[0]]
+  poly_data['deg'] = 3
+  poly_data['deg_t'] = 3
+  return PolyEphemeris(prn, poly_data, epoch, ephem_type=EphemerisType.QCOM_POLY, max_time_diff=300, file_name='qcom')
@@ -62,8 +62,7 @@ def get_leap_seconds(time):
    return 15
  elif time <= GPSTime.from_datetime(datetime.datetime(2015, 7, 1)):
    return 16
-  # TODO is this correct?
-  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 7, 1)):
+  elif time <= GPSTime.from_datetime(datetime.datetime(2017, 1, 1)):
    return 17
  else:
    return 18
@@ -153,6 +152,17 @@ class GPSTime:
  def as_datetime(self):
    return tow_to_datetime(self.tow, self.week)

+  def as_glonass(self):
+    time_utc = gpst_to_utc(self)
+    datetime_utc = time_utc.as_datetime()
+    datetime_glonass = datetime_utc + datetime.timedelta(hours=3)
+
+    year = datetime_glonass.year
+    cycle = (year - 1992) // 4
+    days = (datetime_glonass - datetime.datetime(1992 + cycle*4, 1, 1)).days + 1
+    tod = (datetime_glonass - datetime_glonass.replace(hour=0, minute=0, second=0, microsecond=0)).total_seconds()
+    return cycle, days, tod
+
  def as_unix_timestamp(self):
    return (gpst_to_utc(self).as_datetime() - datetime.datetime(1970, 1, 1)).total_seconds()

@@ -26,17 +26,19 @@ class ConstellationId(IntEnum):
    if c in RINEX_ID_TO_CONSTELLATION:
      return RINEX_ID_TO_CONSTELLATION[c]
    else:
-      return None
+      raise ValueError("Unknown rinex constellation id: ", c)

  @classmethod
  def from_qcom_source(cls, report_source: int):
    if report_source == 0:
      return ConstellationId.GPS
+    if report_source == 1:
+      return ConstellationId.GLONASS
+    if report_source == 2:
+      return ConstellationId.BEIDOU
    if report_source == 6:
      return ConstellationId.SBAS
-    elif report_source == 1:
-      return ConstellationId.GLONASS
-    raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report_source})
+    raise NotImplementedError('Only GPS (0), GLONASS (1), BEIDOU (2) and SBAS (6) are supported from qcom, not:', {report_source})


 # From https://gpsd.gitlab.io/gpsd/NMEA.html#_satellite_ids
@@ -95,14 +97,12 @@ def get_closest(time, candidates, recv_pos=None):
    default=None,
  )

-
 def get_constellation(prn: str):
  identifier = prn[0]
-  constellation = ConstellationId.from_rinex_char(identifier)
-  if constellation is not None:
-    return constellation.name
-  return None
+  return ConstellationId.from_rinex_char(identifier)

+def get_sv_id(prn: str):
+  return int(prn[1:])

 def get_constellation_and_sv_id(nmea_id):
  for c, ranges in CONSTELLATION_TO_NMEA_RANGES.items():
@@ -121,11 +121,8 @@ def get_prn_from_nmea_id(nmea_id: int):

 def get_nmea_id_from_prn(prn: str):
  constellation = get_constellation(prn)
-  if constellation is None:
-    raise ValueError(f"Constellation not found for prn {prn}")
-
  sv_id = int(prn[1:])  # satellite id
-  return get_nmea_id_from_constellation_and_svid(ConstellationId[constellation], sv_id)
+  return get_nmea_id_from_constellation_and_svid(constellation, sv_id)


 def get_nmea_id_from_constellation_and_svid(constellation: ConstellationId, sv_id: int):
@@ -9,6 +9,17 @@ from .gps_time import GPSTime
 # Altitude of Ionospheric-pierce-point
 IPP_ALT = 6821000

+def get_alpha_beta(rcv_pos, el):
+    geocentric_alt = np.linalg.norm(rcv_pos)
+    alpha = np.pi/2 + el
+    beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
+    return alpha, beta
+
+def get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay):
+    alpha, beta = get_alpha_beta(rcv_pos, el)
+    slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
+                                          (EARTH_RADIUS + 3.5e5))**2)**(-0.5))
+    return slant_delay

 def closest_in_list(lst, val, num=2):
  """
@@ -134,18 +145,16 @@ class IonexMap:
    # To get a delay from a TEC map, we need to calculate
    # the ionospheric pierce point, geometry described here
    # https://en.wikipedia.org/wiki/Ionospheric_pierce_point
+    alpha, beta = get_alpha_beta(rcv_pos, el)
    conv = LocalCoord.from_ecef(rcv_pos)
-    geocentric_alt = np.linalg.norm(rcv_pos)
-    alpha = np.pi/2 + el
-    beta = np.arcsin(geocentric_alt*np.sin(alpha)/IPP_ALT)
    gamma = np.pi - alpha - beta
+    geocentric_alt = np.linalg.norm(rcv_pos)
    ipp_dist = geocentric_alt*np.sin(gamma)/np.sin(beta)
    ipp_ned = conv.ecef2ned(sat_pos)*(ipp_dist)/np.linalg.norm(sat_pos)
    ipp_geo = conv.ned2geodetic(ipp_ned)
    factor = 40.30E16 / (freq**2) * 10**(self.exp)
    vertical_delay = self.get_TEC(ipp_geo, time) * factor
-    slant_delay = vertical_delay * ((1 - ((EARTH_RADIUS * np.sin(beta)) /
-                                          (EARTH_RADIUS + 3.5e5))**2)**(-0.5))
+    slant_delay = get_slant_delay(rcv_pos, az, el, sat_pos, time, freq, vertical_delay)
    return slant_delay

  @staticmethod
@@ -0,0 +1,192 @@
+import sympy
+import numpy as np
+from typing import List
+
+from .constants import EARTH_ROTATION_RATE, SPEED_OF_LIGHT
+from .helpers import ConstellationId
+from .raw_gnss import GNSSMeasurement
+
+
+def gauss_newton(fun, b, M, xtol=1e-8, max_n=25):
+
+  W = np.linalg.inv(M)
+  for _ in range(max_n):
+    # Compute function and jacobian on current estimate
+    r, J = fun(b)
+
+    # Update estimate, WLS https://en.wikipedia.org/wiki/Weighted_least_squares
+    delta = np.linalg.pinv(J.T.dot(W).dot(J)).dot(J.T).dot(W) @ r
+    b -= delta
+
+    # Check step size for stopping condition
+    if np.linalg.norm(delta) < xtol:
+      break
+
+  r, J = fun(b)
+  Mb = np.linalg.pinv(J.T.dot(W).dot(J))
+  x_std = np.sqrt(np.diagonal(Mb))
+  return b, r, x_std
+
+
+def calc_pos_fix(measurements, posfix_functions=None, x0=None, signal='C1C', min_measurements=5):
+  '''
+  Calculates gps fix using gauss newton method
+  To solve the problem a minimal of 4 measurements are required.
+    If Glonass is included 5 are required to solve for the additional free variable.
+  returns:
+  0 -> list with positions
+  1 -> pseudorange errs
+  '''
+  if x0 is None:
+    x0 = [0, 0, 0, 0, 0]
+
+  if len(measurements) < min_measurements:
+    return [],[],[]
+
+  Fx_pos = pr_residual(measurements, posfix_functions, signal=signal, no_nans=True)
+  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
+
+  x, residual, x_std = gauss_newton(Fx_pos, x0, meas_cov)
+  return x.tolist(), residual.tolist(), x_std
+
+
+def calc_vel_fix(measurements, est_pos, velfix_function=None, v0=None, signal='D1C', min_measurements=5):
+  '''
+  Calculates gps velocity fix using gauss newton method
+  returns:
+  0 -> list with velocities
+  1 -> pseudorange_rate errs
+  '''
+  if v0 is None:
+    v0 = [0, 0, 0, 0]
+
+  if len(measurements) < min_measurements:
+    return [], [], []
+
+  Fx_vel = prr_residual(measurements, est_pos, velfix_function, signal=signal, no_nans=True)
+  meas_cov = np.diag([meas.observables_std[signal]**2 for meas in measurements])
+
+  v, residual, x_std = gauss_newton(Fx_vel, v0, meas_cov)
+  return v.tolist(), residual.tolist(), x_std
+
+
+def get_posfix_sympy_fun(constellation):
+  # Unknowns
+  x, y, z = sympy.Symbol('x'), sympy.Symbol('y'), sympy.Symbol('z')
+  bc = sympy.Symbol('bc')
+  bg = sympy.Symbol('bg')
+  zero_theta = sympy.Symbol('zero_theta')
+  var = [x, y, z, bc, bg]
+
+  # Knowns
+  pr = sympy.Symbol('pr')
+  sat_x, sat_y, sat_z = sympy.Symbol('sat_x'), sympy.Symbol('sat_y'), sympy.Symbol('sat_z')
+
+  theta = (EARTH_ROTATION_RATE * (pr - bc) / SPEED_OF_LIGHT)*zero_theta
+  val = sympy.sqrt(
+    (sat_x * sympy.cos(theta) + sat_y * sympy.sin(theta) - x) ** 2 +
+    (sat_y * sympy.cos(theta) - sat_x * sympy.sin(theta) - y) ** 2 +
+    (sat_z - z) ** 2
+  )
+
+  if constellation == ConstellationId.GLONASS:
+    res = val - (pr - bc - bg)
+  elif constellation == ConstellationId.GPS:
+    res = val - (pr - bc)
+  else:
+    raise NotImplementedError(f"Constellation {constellation} not supported")
+
+  res = [res] + [sympy.diff(res, v) for v in var]
+
+  return sympy.lambdify([x, y, z, bc, bg, pr, zero_theta, sat_x, sat_y, sat_z], res, modules=["numpy"])
+
+
+def get_velfix_sympy_func():
+  # implementing this without sympy.Matrix gives a 2x speedup at generation
+
+  # knowns, receiver position, satellite position, satellite velocity
+  ep_x, ep_y, ep_z = sympy.Symbol('ep_x'), sympy.Symbol('ep_y'), sympy.Symbol('ep_z')
+  est_pos = np.array([ep_x, ep_y, ep_z])
+  sp_x, sp_y, sp_z = sympy.Symbol('sp_x'), sympy.Symbol('sp_y'), sympy.Symbol('sp_z')
+  sat_pos = np.array([sp_x, sp_y, sp_z])
+  sv_x, sv_y, sv_z = sympy.Symbol('sv_x'), sympy.Symbol('sv_y'), sympy.Symbol('sv_z')
+  sat_vel = np.array([sv_x, sv_y, sv_z])
+  observables = sympy.Symbol('observables')
+
+  # unknown, receiver velocity
+  v_x, v_y, v_z = sympy.Symbol('v_x'), sympy.Symbol('v_y'), sympy.Symbol('v_z')
+  vel = np.array([v_x, v_y, v_z])
+  vel_o = sympy.Symbol('vel_o')
+
+  loss = sat_pos - est_pos
+  loss /= sympy.sqrt(loss.dot(loss))
+  res = loss.dot(sat_vel - vel) - (observables - vel_o)
+
+  res = [res] + [sympy.diff(res, v) for v in [v_x, v_y, v_z, vel_o]]
+
+  return sympy.lambdify([
+      ep_x, ep_y, ep_z, sp_x, sp_y, sp_z,
+      sv_x, sv_y, sv_z, observables,
+      v_x, v_y, v_z, vel_o
+    ],
+    res, modules=["numpy"])
+
+
+def pr_residual(measurements: List[GNSSMeasurement], posfix_functions=None, signal='C1C', no_nans=False):
+
+  if posfix_functions is None:
+    posfix_functions = {constellation: get_posfix_sympy_fun(constellation) for constellation in (ConstellationId.GPS, ConstellationId.GLONASS)}
+
+  def Fx_pos(inp):
+    vals, gradients = [], []
+
+    for meas in measurements:
+      if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
+        pr = meas.observables_final[signal]
+        sat_pos = meas.sat_pos_final
+        zero_theta = 0
+      elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
+        pr = meas.observables[signal]
+        pr += meas.sat_clock_err * SPEED_OF_LIGHT
+        sat_pos = meas.sat_pos
+        zero_theta = 1
+      else:
+        if not no_nans:
+          vals.append(np.nan)
+          gradients.append(np.nan)
+        continue
+
+      val, *gradient = posfix_functions[meas.constellation_id](*inp, pr, zero_theta, *sat_pos)
+      vals.append(val)
+      gradients.append(gradient)
+    return np.asarray(vals), np.asarray(gradients)
+  return Fx_pos
+
+
+def prr_residual(measurements: List[GNSSMeasurement], est_pos, velfix_function=None, signal='D1C', no_nans=False):
+
+  if velfix_function is None:
+    velfix_function = get_velfix_sympy_func()
+
+  def Fx_vel(vel):
+    vals, gradients = [], []
+
+    for meas in measurements:
+      if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
+        if not no_nans:
+          vals.append(np.nan)
+          gradients.append(np.nan)
+        continue
+
+      sat_pos = meas.sat_pos_final if meas.corrected else meas.sat_pos
+
+      val, *gradient = velfix_function(est_pos[0], est_pos[1], est_pos[2],
+                                       sat_pos[0], sat_pos[1], sat_pos[2],
+                                       meas.sat_vel[0], meas.sat_vel[1], meas.sat_vel[2],
+                                       meas.observables[signal],
+                                       vel[0], vel[1], vel[2], vel[3])
+      vals.append(val)
+      gradients.append(gradient)
+
+    return np.asarray(vals), np.asarray(gradients)
+  return Fx_vel
@@ -92,11 +92,14 @@ class GNSSMeasurement:
    self.processed = True
    return True

-  def correct(self, est_pos, dog, allow_incomplete_delay=False):
+  def correct(self, est_pos, dog, correct_delay=True):
    for obs in self.observables:
      if obs[0] == 'C':  # or obs[0] == 'L':
-        delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
-        if delay is not None and (allow_incomplete_delay or delay != 0):
+        if correct_delay:
+          delay = dog.get_delay(self.prn, self.recv_time, est_pos, signal=obs)
+        else:
+          delay = 0.0
+        if delay is not None:
          self.observables_final[obs] = (self.observables[obs] +
                                         self.sat_clock_err*constants.SPEED_OF_LIGHT -
                                         delay)
@@ -147,10 +150,10 @@ def process_measurements(measurements: List[GNSSMeasurement], dog) -> List[GNSSM
  return proc_measurements


-def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, allow_incomplete_delay=False) -> List[GNSSMeasurement]:
+def correct_measurements(measurements: List[GNSSMeasurement], est_pos, dog, correct_delay=True) -> List[GNSSMeasurement]:
  corrected_measurements = []
  for meas in measurements:
-    if meas.correct(est_pos, dog, allow_incomplete_delay):
+    if meas.correct(est_pos, dog, correct_delay=correct_delay):
      corrected_measurements.append(meas)
  return corrected_measurements

@@ -195,12 +198,12 @@ def read_raw_qcom(report):
      time_bias_ms = report.timeBias
  else:
    raise NotImplementedError('Only GPS (0), SBAS (1) and GLONASS (6) are supported from qcom, not:', {report.source})
-  #print(recv_time, report.source, time_bias_ms, dr)
+  # logging.debug(recv_time, report.source, time_bias_ms, dr)
  measurements = []
  for i in report.sv:
    nmea_id = i.svId  # todo change svId to nmea_id in cereal message. Or better: change the publisher to publish correct svId's, since constellation id is also given
    if nmea_id == 255:
-      # todo nmea_id is not valid. Fix publisher
+      # TODO nmea_id is not valid. Fix publisher
      continue
    _, sv_id = get_constellation_and_sv_id(nmea_id)
    if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
@@ -217,9 +220,9 @@ def read_raw_qcom(report):
        observables_std['D1C'] = i.unfilteredSpeedUncertainty
      observables['S1C'] = (i.carrierNoise/100.) if i.carrierNoise != 0 else np.nan
      observables['L1C'] = np.nan
-      #print("  %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
-      #  observables['C1C'], observables_std['C1C'],
-      #  observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
+      # logging.debug("  %.5f %3d %10.2f %7.2f %7.2f %.2f %d" % (recv_time.tow, nmea_id,
+      # observables['C1C'], observables_std['C1C'],
+      # observables_std['D1C'], observables['S1C'], i.latency), i.observationState, i.measurementStatus.fineOrCoarseVelocity)
      glonass_freq = (i.glonassFrequencyIndex - 7) if constellation_id == ConstellationId.GLONASS else np.nan
      measurements.append(GNSSMeasurement(constellation_id, sv_id,
                                          recv_time.week,
@@ -292,108 +295,6 @@ def read_rinex_obs(obsdata) -> List[List[GNSSMeasurement]]:
  return measurements


-def calc_pos_fix(measurements, x0=[0, 0, 0, 0, 0], no_weight=False, signal='C1C', min_measurements=6):
-  '''
-  Calculates gps fix with WLS optimizer
-
-  returns:
-  0 -> list with positions
-  1 -> pseudorange errs
-  '''
-  import scipy.optimize as opt  # Only use scipy here
-
-  n = len(measurements)
-  if n < min_measurements:
-    return []
-
-  Fx_pos = pr_residual(measurements, signal=signal, no_weight=no_weight, no_nans=True)
-  opt_pos = opt.least_squares(Fx_pos, x0).x
-  return opt_pos, Fx_pos(opt_pos, no_weight=True)
-
-
-def calc_vel_fix(measurements, est_pos, v0=[0, 0, 0, 0], no_weight=False, signal='D1C'):
-  '''
-  Calculates gps velocity fix with WLS optimizer
-
-  returns:
-  0 -> list with velocities
-  1 -> pseudorange_rate errs
-  '''
-  import scipy.optimize as opt  # Only use scipy here
-
-  n = len(measurements)
-  if n < 6:
-    return []
-
-  Fx_vel = prr_residual(measurements, est_pos, signal=signal, no_weight=no_weight, no_nans=True)
-  opt_vel = opt.least_squares(Fx_vel, v0).x
-  return opt_vel, Fx_vel(opt_vel, no_weight=True)
-
-
-def pr_residual(measurements: List[GNSSMeasurement], signal='C1C', no_weight=False, no_nans=False):
-  # solve for pos
-  def Fx_pos(xxx_todo_changeme, no_weight=no_weight):
-    (x, y, z, bc, bg) = xxx_todo_changeme
-    rows = []
-
-    for meas in measurements:
-      if signal in meas.observables_final and np.isfinite(meas.observables_final[signal]):
-        pr = meas.observables_final[signal]
-        sat_pos = meas.sat_pos_final
-        theta = 0
-      elif signal in meas.observables and np.isfinite(meas.observables[signal]) and meas.processed:
-        pr = meas.observables[signal]
-        pr += meas.sat_clock_err * constants.SPEED_OF_LIGHT
-        sat_pos = meas.sat_pos
-        theta = constants.EARTH_ROTATION_RATE * (pr - bc) / constants.SPEED_OF_LIGHT
-      else:
-        if not no_nans:
-          rows.append(np.nan)
-        continue
-      if no_weight:
-        weight = 1
-      else:
-        weight = (1 / meas.observables_std[signal])
-
-      val = np.sqrt(
-          (sat_pos[0] * np.cos(theta) + sat_pos[1] * np.sin(theta) - x) ** 2 +
-          (sat_pos[1] * np.cos(theta) - sat_pos[0] * np.sin(theta) - y) ** 2 +
-          (sat_pos[2] - z) ** 2
-      )
-      if meas.constellation_id == ConstellationId.GLONASS:
-        rows.append(weight * (val - (pr - bc - bg)))
-      elif meas.constellation_id == ConstellationId.GPS:
-        rows.append(weight * (val - (pr - bc)))
-    return rows
-  return Fx_pos
-
-
-def prr_residual(measurements, est_pos, signal='D1C', no_weight=False, no_nans=False):
-  # solve for vel
-  def Fx_vel(vel, no_weight=no_weight):
-    rows = []
-    for meas in measurements:
-      if signal not in meas.observables or not np.isfinite(meas.observables[signal]):
-        if not no_nans:
-          rows.append(np.nan)
-        continue
-      if meas.corrected:
-        sat_pos = meas.sat_pos_final
-      else:
-        sat_pos = meas.sat_pos
-      if no_weight:
-        weight = 1
-      else:
-        weight = (1 / meas.observables[signal])
-      los_vector = (sat_pos - est_pos[0:3]
-                    ) / np.linalg.norm(sat_pos - est_pos[0:3])
-      rows.append(
-        weight * ((meas.sat_vel - vel[0:3]).dot(los_vector) -
-                  (meas.observables[signal] - vel[3])))
-    return rows
-  return Fx_vel
-
-
 def get_Q(recv_pos, sat_positions):
  local = LocalCoord.from_ecef(recv_pos)
  sat_positions_rel = local.ecef2ned(sat_positions)
@@ -11,7 +11,7 @@

 import datetime
 import numpy as np
-
+import logging

 def floatornan(x):
  if x == '' or x[-1] == ' ':
@@ -49,10 +49,10 @@ class RINEXFile:
        self._read_header(f)
        self._read_data(f)
    except TypeError:
-      print("TypeError, file likely not downloaded.")
+      logging.exception("TypeError, file likely not downloaded.")
      raise DownloadError("file download failure")
    except FileNotFoundError:
-      print("File not found in directory.")
+      logging.exception("File not found in directory.")
      raise DownloadError("file missing in download cache")
  def _read_header(self, f):
    version_line = padline(f.readline(), 80)
@@ -16,7 +16,7 @@ def saast(pos, el, humi=0.75, temp0=15.0):
    :return:        tropospheric delay (m)
    """
  pos_rad = ecef2geodetic(pos, radians=True)
-  if pos_rad[2] < -100.0 or 1E4 < pos_rad[2] or el <= 0:
+  if pos_rad[2] < -1E3 or 1E4 < pos_rad[2] or el <= 0:
    return 0.0

  # /* standard atmosphere */
@@ -74,7 +74,7 @@ function launch {

  # handle pythonpath
  ln -sfn $(pwd) /data/pythonpath
-  export PYTHONPATH="$PWD:$PWD/pyextra"
+  export PYTHONPATH="$PWD"

  # hardware specific init
  agnos_init
@@ -7,7 +7,7 @@ export OPENBLAS_NUM_THREADS=1
 export VECLIB_MAXIMUM_THREADS=1

 if [ -z "$AGNOS_VERSION" ]; then
-  export AGNOS_VERSION="5.2"
+  export AGNOS_VERSION="7.1"
 fi

 if [ -z "$PASSIVE" ]; then
@@ -9,6 +9,7 @@
 .sconsign.dblite

 can/*.so
+can/*.a
 can/build/
 can/obj/
 can/packer_pyx.cpp
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -255,7 +255,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -5,7 +5,14 @@ import os
 envDBC = env.Clone()
 dbc_file_path = '-DDBC_FILE_PATH=\'"%s"\'' % (envDBC.Dir("..").abspath)
 envDBC['CXXFLAGS'] += [dbc_file_path]
-libdbc = envDBC.SharedLibrary('libdbc', ["dbc.cc", "parser.cc", "packer.cc", "common.cc"], LIBS=[common, "capnp", "kj", "zmq"])
+src = ["dbc.cc", "parser.cc", "packer.cc", "common.cc"]
+libs = [common, "capnp", "kj", "zmq"]
+
+# shared library for openpilot
+libdbc = envDBC.SharedLibrary('libdbc', src, LIBS=libs)
+
+# static library for tools like cabana
+envDBC.Library('libdbc_static', src, LIBS=libs)

 # Build packer and parser
 lenv = envCython.Clone()
@@ -1,4 +1,5 @@
-#include "common.h"
+#include "opendbc/can/common.h"
+

 unsigned int honda_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
  int s = 0;
@@ -34,7 +35,7 @@ unsigned int subaru_checksum(uint32_t address, const Signal &sig, const std::vec
 }

 unsigned int chrysler_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-  /* jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf */
+  // jeep chrysler canbus checksum from http://illmatics.com/Remote%20Car%20Hacking.pdf
  uint8_t checksum = 0xFF;
  for (int j = 0; j < (d.size() - 1); j++) {
    uint8_t shift = 0x80;
@@ -123,64 +124,64 @@ unsigned int volkswagen_mqb_checksum(uint32_t address, const Signal &sig, const
  // Look up and apply the magic final CRC padding byte, which permutes by CAN
  // address, and additionally (for SOME addresses) by the message counter.
  uint8_t counter = d[1] & 0x0F;
-  switch(address) {
+  switch (address) {
    case 0x86:  // LWI_01 Steering Angle
-      crc ^= (uint8_t[]){0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86,0x86}[counter];
+      crc ^= (uint8_t[]){0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86, 0x86}[counter];
      break;
    case 0x9F:  // LH_EPS_03 Electric Power Steering
-      crc ^= (uint8_t[]){0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5,0xF5}[counter];
+      crc ^= (uint8_t[]){0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5, 0xF5}[counter];
      break;
    case 0xAD:  // Getriebe_11 Automatic Gearbox
-      crc ^= (uint8_t[]){0x3F,0x69,0x39,0xDC,0x94,0xF9,0x14,0x64,0xD8,0x6A,0x34,0xCE,0xA2,0x55,0xB5,0x2C}[counter];
+      crc ^= (uint8_t[]){0x3F, 0x69, 0x39, 0xDC, 0x94, 0xF9, 0x14, 0x64, 0xD8, 0x6A, 0x34, 0xCE, 0xA2, 0x55, 0xB5, 0x2C}[counter];
      break;
    case 0xFD:  // ESP_21 Electronic Stability Program
-      crc ^= (uint8_t[]){0xB4,0xEF,0xF8,0x49,0x1E,0xE5,0xC2,0xC0,0x97,0x19,0x3C,0xC9,0xF1,0x98,0xD6,0x61}[counter];
+      crc ^= (uint8_t[]){0xB4, 0xEF, 0xF8, 0x49, 0x1E, 0xE5, 0xC2, 0xC0, 0x97, 0x19, 0x3C, 0xC9, 0xF1, 0x98, 0xD6, 0x61}[counter];
      break;
    case 0x106: // ESP_05 Electronic Stability Program
-      crc ^= (uint8_t[]){0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07,0x07}[counter];
+      crc ^= (uint8_t[]){0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07, 0x07}[counter];
      break;
    case 0x117: // ACC_10 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16,0x16}[counter];
+      crc ^= (uint8_t[]){0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16, 0x16}[counter];
      break;
    case 0x120: // TSK_06 Drivetrain Coordinator
-      crc ^= (uint8_t[]){0xC4,0xE2,0x4F,0xE4,0xF8,0x2F,0x56,0x81,0x9F,0xE5,0x83,0x44,0x05,0x3F,0x97,0xDF}[counter];
+      crc ^= (uint8_t[]){0xC4, 0xE2, 0x4F, 0xE4, 0xF8, 0x2F, 0x56, 0x81, 0x9F, 0xE5, 0x83, 0x44, 0x05, 0x3F, 0x97, 0xDF}[counter];
      break;
    case 0x121: // Motor_20 Driver Throttle Inputs
-      crc ^= (uint8_t[]){0xE9,0x65,0xAE,0x6B,0x7B,0x35,0xE5,0x5F,0x4E,0xC7,0x86,0xA2,0xBB,0xDD,0xEB,0xB4}[counter];
+      crc ^= (uint8_t[]){0xE9, 0x65, 0xAE, 0x6B, 0x7B, 0x35, 0xE5, 0x5F, 0x4E, 0xC7, 0x86, 0xA2, 0xBB, 0xDD, 0xEB, 0xB4}[counter];
      break;
    case 0x122: // ACC_06 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x37,0x7D,0xF3,0xA9,0x18,0x46,0x6D,0x4D,0x3D,0x71,0x92,0x9C,0xE5,0x32,0x10,0xB9}[counter];
+      crc ^= (uint8_t[]){0x37, 0x7D, 0xF3, 0xA9, 0x18, 0x46, 0x6D, 0x4D, 0x3D, 0x71, 0x92, 0x9C, 0xE5, 0x32, 0x10, 0xB9}[counter];
      break;
    case 0x126: // HCA_01 Heading Control Assist
-      crc ^= (uint8_t[]){0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA,0xDA}[counter];
+      crc ^= (uint8_t[]){0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA, 0xDA}[counter];
      break;
    case 0x12B: // GRA_ACC_01 Steering wheel controls for ACC
-      crc ^= (uint8_t[]){0x6A,0x38,0xB4,0x27,0x22,0xEF,0xE1,0xBB,0xF8,0x80,0x84,0x49,0xC7,0x9E,0x1E,0x2B}[counter];
+      crc ^= (uint8_t[]){0x6A, 0x38, 0xB4, 0x27, 0x22, 0xEF, 0xE1, 0xBB, 0xF8, 0x80, 0x84, 0x49, 0xC7, 0x9E, 0x1E, 0x2B}[counter];
      break;
    case 0x12E: // ACC_07 Automatic Cruise Control
-      crc ^= (uint8_t[]){0xF8,0xE5,0x97,0xC9,0xD6,0x07,0x47,0x21,0x66,0xDD,0xCF,0x6F,0xA1,0x94,0x74,0x63}[counter];
+      crc ^= (uint8_t[]){0xF8, 0xE5, 0x97, 0xC9, 0xD6, 0x07, 0x47, 0x21, 0x66, 0xDD, 0xCF, 0x6F, 0xA1, 0x94, 0x74, 0x63}[counter];
      break;
    case 0x187: // EV_Gearshift "Gear" selection data for EVs with no gearbox
-      crc ^= (uint8_t[]){0x7F,0xED,0x17,0xC2,0x7C,0xEB,0x44,0x21,0x01,0xFA,0xDB,0x15,0x4A,0x6B,0x23,0x05}[counter];
+      crc ^= (uint8_t[]){0x7F, 0xED, 0x17, 0xC2, 0x7C, 0xEB, 0x44, 0x21, 0x01, 0xFA, 0xDB, 0x15, 0x4A, 0x6B, 0x23, 0x05}[counter];
      break;
    case 0x30C: // ACC_02 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F,0x0F}[counter];
+      crc ^= (uint8_t[]){0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F, 0x0F}[counter];
      break;
    case 0x30F: // SWA_01 Lane Change Assist (SpurWechselAssistent)
-      crc ^= (uint8_t[]){0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C,0x0C}[counter];
+      crc ^= (uint8_t[]){0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C}[counter];
      break;
    case 0x324: // ACC_04 Automatic Cruise Control
-      crc ^= (uint8_t[]){0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27,0x27}[counter];
+      crc ^= (uint8_t[]){0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27, 0x27}[counter];
      break;
    case 0x3C0: // Klemmen_Status_01 ignition and starting status
-      crc ^= (uint8_t[]){0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3,0xC3}[counter];
+      crc ^= (uint8_t[]){0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3, 0xC3}[counter];
      break;
    case 0x65D: // ESP_20 Electronic Stability Program
-      crc ^= (uint8_t[]){0xAC,0xB3,0xAB,0xEB,0x7A,0xE1,0x3B,0xF7,0x73,0xBA,0x7C,0x9E,0x06,0x5F,0x02,0xD9}[counter];
+      crc ^= (uint8_t[]){0xAC, 0xB3, 0xAB, 0xEB, 0x7A, 0xE1, 0x3B, 0xF7, 0x73, 0xBA, 0x7C, 0x9E, 0x06, 0x5F, 0x02, 0xD9}[counter];
      break;
    default:    // As-yet undefined CAN message, CRC check expected to fail
      printf("Attempt to CRC check undefined Volkswagen message 0x%02X\n", address);
-      crc ^= (uint8_t[]){0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}[counter];
+      crc ^= (uint8_t[]){0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}[counter];
      break;
  }
  crc = crc8_lut_8h2f[crc];
@@ -221,7 +222,6 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect
 }

 unsigned int hkg_can_fd_checksum(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d) {
-
  uint16_t crc = 0;

  for (int i = 2; i < d.size(); i++) {
@@ -1,10 +1,11 @@
 #pragma once

-#include <vector>
 #include <map>
+#include <string>
+#include <utility>
 #include <unordered_map>
+#include <vector>

-#include "common_dbc.h"
 #include <capnp/dynamic.h>
 #include <capnp/serialize.h>

@@ -12,6 +13,8 @@
 #include "cereal/gen/cpp/log.capnp.h"
 #endif

+#include "opendbc/can/common_dbc.h"
+
 #define INFO printf
 #define WARN printf
 #define DEBUG(...)
@@ -34,6 +37,7 @@ unsigned int pedal_checksum(uint32_t address, const Signal &sig, const std::vect

 class MessageState {
 public:
+  std::string name;
  uint32_t address;
  unsigned int size;

@@ -77,11 +81,12 @@ public:
  CANParser(int abus, const std::string& dbc_name, bool ignore_checksum, bool ignore_counter);
  #ifndef DYNAMIC_CAPNP
  void update_string(const std::string &data, bool sendcan);
+  void update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan);
  void UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans);
  #endif
  void UpdateCans(uint64_t sec, const capnp::DynamicStruct::Reader& cans);
  void UpdateValid(uint64_t sec);
-  std::vector<SignalValue> query_latest();
+  void query_latest(std::vector<SignalValue> &vals, uint64_t last_ts = 0);
 };

 class CANPacker {
@@ -61,6 +61,7 @@ cdef extern from "common_dbc.h":

  cdef struct SignalValue:
    uint32_t address
+    uint64_t ts_nanos
    string name
    double value
    vector[double] all_values
@@ -77,9 +78,8 @@ cdef extern from "common.h":
    bool can_valid
    bool bus_timeout
    CANParser(int, string, vector[MessageParseOptions], vector[SignalParseOptions])
-    void update_string(string, bool)
-    vector[SignalValue] query_latest()
+    void update_strings(vector[string]&, vector[SignalValue]&, bool)

  cdef cppclass CANPacker:
   CANPacker(string)
-   vector[uint8_t] pack(uint32_t, vector[SignalPackValue])
+   vector[uint8_t] pack(uint32_t, vector[SignalPackValue]&)
@@ -24,6 +24,7 @@ struct MessageParseOptions {

 struct SignalValue {
  uint32_t address;
+  uint64_t ts_nanos;
  std::string name;
  double value;  // latest value
  std::vector<double> all_values;  // all values from this cycle
@@ -72,6 +73,17 @@ struct DBC {
  std::vector<Val> vals;
 };

+typedef struct ChecksumState {
+  int checksum_size;
+  int counter_size;
+  int checksum_start_bit;
+  int counter_start_bit;
+  bool little_endian;
+  SignalType checksum_type;
+  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
+} ChecksumState;
+
 DBC* dbc_parse(const std::string& dbc_path);
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum = nullptr, bool allow_duplicate_msg_name=false);
 const DBC* dbc_lookup(const std::string& dbc_name);
 std::vector<std::string> get_dbc_names();
@@ -8,9 +8,10 @@
 #include <vector>
 #include <mutex>
 #include <cstring>
+#include <iterator>

-#include "common.h"
-#include "common_dbc.h"
+#include "opendbc/can/common.h"
+#include "opendbc/can/common_dbc.h"

 std::regex bo_regexp(R"(^BO_ (\w+) (\w+) *: (\w+) (\w+))");
 std::regex sg_regexp(R"(^SG_ (\w+) : (\d+)\|(\d+)@(\d+)([\+|\-]) \(([0-9.+\-eE]+),([0-9.+\-eE]+)\) \[([0-9.+\-eE]+)\|([0-9.+\-eE]+)\] \"(.*)\" (.*))");
@@ -47,16 +48,6 @@ inline std::string& trim(std::string& s, const char* t = " \t\n\r\f\v") {
  return s.erase(0, s.find_first_not_of(t));
 }

-typedef struct ChecksumState {
-  int checksum_size;
-  int counter_size;
-  int checksum_start_bit;
-  int counter_start_bit;
-  bool little_endian;
-  SignalType checksum_type;
-  unsigned int (*calc_checksum)(uint32_t address, const Signal &sig, const std::vector<uint8_t> &d);
-} ChecksumState;
-
 ChecksumState* get_checksum(const std::string& dbc_name) {
  ChecksumState* s = nullptr;
  if (startswith(dbc_name, {"honda_", "acura_"})) {
@@ -107,17 +98,11 @@ void set_signal_type(Signal& s, ChecksumState* chk, const std::string& dbc_name,
  }
 }

-DBC* dbc_parse(const std::string& dbc_path) {
-  std::ifstream infile(dbc_path);
-  if (!infile) return nullptr;
-
-  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
-
-  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
-
+DBC* dbc_parse_from_stream(const std::string &dbc_name, std::istream &stream, ChecksumState *checksum, bool allow_duplicate_msg_name) {
  uint32_t address = 0;
  std::set<uint32_t> address_set;
  std::set<std::string> msg_name_set;
+  std::map<uint32_t, std::set<std::string>> signal_name_sets;
  std::map<uint32_t, std::vector<Signal>> signals;
  DBC* dbc = new DBC;
  dbc->name = dbc_name;
@@ -134,7 +119,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
  int line_num = 0;
  std::smatch match;
  // TODO: see if we can speed up the regex statements in this loop, SG_ is specifically the slowest
-  while (std::getline(infile, line)) {
+  while (std::getline(stream, line)) {
    line = trim(line);
    line_num += 1;
    if (startswith(line, "BO_ ")) {
@@ -150,8 +135,11 @@ DBC* dbc_parse(const std::string& dbc_path) {
      // check for duplicates
      DBC_ASSERT(address_set.find(address) == address_set.end(), "Duplicate message address: " << address << " (" << msg.name << ")");
      address_set.insert(address);
-      DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
-      msg_name_set.insert(msg.name);
+
+      if (!allow_duplicate_msg_name) {
+        DBC_ASSERT(msg_name_set.find(msg.name) == msg_name_set.end(), "Duplicate message name: " << msg.name);
+        msg_name_set.insert(msg.name);
+      }
    } else if (startswith(line, "SG_ ")) {
      // new signal
      int offset = 0;
@@ -168,7 +156,7 @@ DBC* dbc_parse(const std::string& dbc_path) {
      sig.is_signed = match[offset + 5].str() == "-";
      sig.factor = std::stod(match[offset + 6].str());
      sig.offset = std::stod(match[offset + 7].str());
-      set_signal_type(sig, checksum.get(), dbc_name, line_num);
+      set_signal_type(sig, checksum, dbc_name, line_num);
      if (sig.is_little_endian) {
        sig.lsb = sig.start_bit;
        sig.msb = sig.start_bit + sig.size - 1;
@@ -178,6 +166,10 @@ DBC* dbc_parse(const std::string& dbc_path) {
        sig.msb = sig.start_bit;
      }
      DBC_ASSERT(sig.lsb < (64 * 8) && sig.msb < (64 * 8), "Signal out of bounds: " << line);
+
+      // Check for duplicate signal names
+      DBC_ASSERT(signal_name_sets[address].find(sig.name) == signal_name_sets[address].end(), "Duplicate signal name: " << sig.name);
+      signal_name_sets[address].insert(sig.name);
    } else if (startswith(line, "VAL_ ")) {
      // new signal value/definition
      bool ret = std::regex_search(line, match, val_regexp);
@@ -213,6 +205,16 @@ DBC* dbc_parse(const std::string& dbc_path) {
  return dbc;
 }

+DBC* dbc_parse(const std::string& dbc_path) {
+  std::ifstream infile(dbc_path);
+  if (!infile) return nullptr;
+
+  const std::string dbc_name = std::filesystem::path(dbc_path).filename();
+
+  std::unique_ptr<ChecksumState> checksum(get_checksum(dbc_name));
+  return dbc_parse_from_stream(dbc_name, infile, checksum.get());
+}
+
 const std::string get_dbc_root_path() {
  char *basedir = std::getenv("BASEDIR");
  if (basedir != NULL) {
@@ -4,7 +4,7 @@
 #include <map>
 #include <cmath>

-#include "common.h"
+#include "opendbc/can/common.h"


 void set_value(std::vector<uint8_t> &msg, const Signal &sig, int64_t ival) {
@@ -1,3 +1,2 @@
-# pylint: skip-file
-from opendbc.can.packer_pyx import CANPacker
+from opendbc.can.packer_pyx import CANPacker # pylint: disable=no-name-in-module, import-error
 assert CANPacker
@@ -21,7 +21,7 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {
    int msb = (int)(sig.msb / 8) == i ? sig.msb : (i+1)*8 - 1;
    int size = msb - lsb + 1;

-    uint8_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
+    uint64_t d = (msg[i] >> (lsb - (i*8))) & ((1ULL << size) - 1);
    ret |= d << (bits - size);

    bits -= size;
@@ -32,9 +32,8 @@ int64_t get_raw_value(const std::vector<uint8_t> &msg, const Signal &sig) {


 bool MessageState::parse(uint64_t sec, const std::vector<uint8_t> &dat) {
-
  for (int i = 0; i < parse_sigs.size(); i++) {
-    auto &sig = parse_sigs[i];
+    const auto &sig = parse_sigs[i];

    int64_t tmp = get_raw_value(dat, sig);
    if (sig.is_signed) {
@@ -94,7 +93,6 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
          const std::vector<MessageParseOptions> &options,
          const std::vector<SignalParseOptions> &sigoptions)
  : bus(abus), aligned_buf(kj::heapArray<capnp::word>(1024)) {
-
  dbc = dbc_lookup(dbc_name);
  assert(dbc);
  init_crc_lookup_tables();
@@ -126,8 +124,9 @@ CANParser::CANParser(int abus, const std::string& dbc_name,
      assert(false);
    }

+    state.name = msg->name;
    state.size = msg->size;
-    assert(state.size < 64);  // max signal size is 64 bytes
+    assert(state.size <= 64);  // max signal size is 64 bytes

    // track checksums and counters for this message
    for (const auto& sig : msg->sigs) {
@@ -164,6 +163,7 @@ CANParser::CANParser(int abus, const std::string& dbc_name, bool ignore_checksum

  for (const auto& msg : dbc->msgs) {
    MessageState state = {
+      .name = msg.name,
      .address = msg.address,
      .size = msg.size,
      .ignore_checksum = ignore_checksum,
@@ -204,14 +204,24 @@ void CANParser::update_string(const std::string &data, bool sendcan) {
  UpdateValid(last_sec);
 }

+void CANParser::update_strings(const std::vector<std::string> &data, std::vector<SignalValue> &vals, bool sendcan) {
+  uint64_t current_sec = 0;
+  for (const auto &d : data) {
+    update_string(d, sendcan);
+    if (current_sec == 0) {
+      current_sec = last_sec;
+    }
+  }
+  query_latest(vals, current_sec);
+}
+
 void CANParser::UpdateCans(uint64_t sec, const capnp::List<cereal::CanData>::Reader& cans) {
  //DEBUG("got %d messages\n", cans.size());

  bool bus_empty = true;

  // parse the messages
-  for (int i = 0; i < cans.size(); i++) {
-    auto cmsg = cans[i];
+  for (const auto cmsg : cans) {
    if (cmsg.getSrc() != bus) {
      // DEBUG("skip %d: wrong bus\n", cmsg.getAddress());
      continue;
@@ -287,10 +297,12 @@ void CANParser::UpdateValid(uint64_t sec) {
    const bool missing = state.last_seen_nanos == 0;
    const bool timed_out = (sec - state.last_seen_nanos) > state.check_threshold;
    if (state.check_threshold > 0 && (missing || timed_out)) {
-      if (missing) {
-        LOGE("0x%X MISSING", state.address);
-      } else if (show_missing) {
-        LOGE("0x%X TIMEOUT", state.address);
+      if (show_missing && !bus_timeout) {
+        if (missing) {
+          LOGE("0x%X '%s' NOT SEEN", state.address, state.name.c_str());
+        } else if (timed_out) {
+          LOGE("0x%X '%s' TIMED OUT", state.address, state.name.c_str());
+        }
      }
      _valid = false;
    }
@@ -299,24 +311,25 @@ void CANParser::UpdateValid(uint64_t sec) {
  can_valid = (can_invalid_cnt < CAN_INVALID_CNT) && _counters_valid;
 }

-std::vector<SignalValue> CANParser::query_latest() {
-  std::vector<SignalValue> ret;
-
+void CANParser::query_latest(std::vector<SignalValue> &vals, uint64_t last_ts) {
+  if (last_ts == 0) {
+    last_ts = last_sec;
+  }
  for (auto& kv : message_states) {
    auto& state = kv.second;
-    if (last_sec != 0 && state.last_seen_nanos != last_sec) continue;
+    if (last_ts != 0 && state.last_seen_nanos < last_ts) {
+      continue;
+    }

    for (int i = 0; i < state.parse_sigs.size(); i++) {
      const Signal &sig = state.parse_sigs[i];
-      ret.push_back((SignalValue){
-        .address = state.address,
-        .name = sig.name,
-        .value = state.vals[i],
-        .all_values = state.all_vals[i],
-      });
+      SignalValue &v = vals.emplace_back();
+      v.address = state.address;
+      v.ts_nanos = state.last_seen_nanos;
+      v.name = sig.name;
+      v.value = state.vals[i];
+      v.all_values = state.all_vals[i];
      state.all_vals[i].clear();
    }
  }
-
-  return ret;
 }
@@ -1,6 +1,7 @@
 # distutils: language = c++
 # cython: c_string_encoding=ascii, language_level=3

+from cython.operator cimport dereference as deref, preincrement as preinc
 from libcpp.string cimport string
 from libcpp.vector cimport vector
 from libcpp.unordered_set cimport unordered_set
@@ -26,6 +27,7 @@ cdef class CANParser:
  cdef readonly:
    dict vl
    dict vl_all
+    dict ts_nanos
    string dbc_name

  def __init__(self, dbc_name, signals, checks=None, bus=0, enforce_checks=True):
@@ -39,6 +41,7 @@ cdef class CANParser:

    self.vl = {}
    self.vl_all = {}
+    self.ts_nanos = {}
    msg_name_to_address = {}

    for i in range(self.dbc[0].msgs.size()):
@@ -49,8 +52,10 @@ cdef class CANParser:
      self.address_to_msg_name[msg.address] = name
      self.vl[msg.address] = {}
      self.vl[name] = self.vl[msg.address]
-      self.vl_all[msg.address] = defaultdict(list)
+      self.vl_all[msg.address] = {}
      self.vl_all[name] = self.vl_all[msg.address]
+      self.ts_nanos[msg.address] = {}
+      self.ts_nanos[name] = self.ts_nanos[msg.address]

    # Convert message names into addresses
    for i in range(len(signals)):
@@ -97,36 +102,29 @@ cdef class CANParser:
      message_options_v.push_back(mpo)

    self.can = new cpp_CANParser(bus, dbc_name, message_options_v, signal_options_v)
-    self.update_vl()
-
-  cdef unordered_set[uint32_t] update_vl(self):
-    cdef unordered_set[uint32_t] updated_addrs
-
-    new_vals = self.can.query_latest()
-    for cv in new_vals:
-      # Cast char * directly to unicode
-      cv_name = <unicode>cv.name
-      self.vl[cv.address][cv_name] = cv.value
-      self.vl_all[cv.address][cv_name].extend(cv.all_values)
-      updated_addrs.insert(cv.address)
-
-    return updated_addrs
-
-  def update_string(self, dat, sendcan=False):
-    for v in self.vl_all.values():
-      v.clear()
-
-    self.can.update_string(dat, sendcan)
-    return self.update_vl()
+    self.update_strings([])

  def update_strings(self, strings, sendcan=False):
    for v in self.vl_all.values():
-      v.clear()
+      for l in v.values():
+        l.clear()
+
+    cdef vector[SignalValue] new_vals
+    cdef unordered_set[uint32_t] updated_addrs
+
+    self.can.update_strings(strings, new_vals, sendcan)
+    cdef vector[SignalValue].iterator it = new_vals.begin()
+    cdef SignalValue* cv
+    while it != new_vals.end():
+      cv = &deref(it)
+      # Cast char * directly to unicode
+      cv_name = <unicode>cv.name
+      self.vl[cv.address][cv_name] = cv.value
+      self.vl_all[cv.address][cv_name] = cv.all_values
+      self.ts_nanos[cv.address][cv_name] = cv.ts_nanos
+      updated_addrs.insert(cv.address)
+      preinc(it)

-    updated_addrs = set()
-    for s in strings:
-      self.can.update_string(s, sendcan)
-      updated_addrs.update(self.update_vl())
    return updated_addrs

  @property
@@ -81,6 +81,7 @@ BO_ 544 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -83,6 +83,7 @@ BO_ 49 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -83,6 +83,7 @@ BO_ 544 EPS_2: 8 XXX
 SG_ TORQUE_OVERLAY_STATUS : 6|4@0+ (1,0) [0|15] "" XXX
 SG_ EPS_TORQUE_MOTOR_RAW : 19|12@0+ (1,-2048) [-2048|2047] "" XXX
 SG_ EPS_TORQUE_MOTOR : 34|11@0+ (1,-1024) [-1024|1023] "" XXX
+ SG_ LKAS_TEMPORARY_FAULT : 38|1@0+ (1,0) [0|1] "" XXX
 SG_ AUTO_PARK_HAS_CONTROL_2 : 51|1@0+ (1,0) [0|1] "" XXX
 SG_ COUNTER : 55|4@0+ (1,0) [0|15] "" XXX
 SG_ CHECKSUM : 63|8@0+ (1,0) [0|255] "" XXX
@@ -153,7 +153,7 @@ VAL_TABLE_ ChrgCordLck_D_Stat 7 "Faulty" 6 "LockFail" 5 "UnlockFail" 4 "LockInPr
 VAL_TABLE_ LkaActvStats_D2_Req 7 "NotUsed" 6 "LkaIncrIntervRight" 5 "LkaSupprRight" 4 "LkaStandIntervRight" 3 "LkaSupprLeft" 2 "LkaStandIntervLeft" 1 "LkaIncrIntervLeft" 0 "LkaNoInterv";
 VAL_TABLE_ OffOnNoDataFaulty 3 "Faulty" 2 "No_Data_Exists" 1 "On" 0 "Off";
 VAL_TABLE_ NoMessage_Msg1_3 3 "Message3" 2 "Message2" 1 "Message1" 0 "NoMessage";
-VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport_DriveSport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
+VAL_TABLE_ TrnRng_D_RqGsm 15 "Fault" 14 "UnknownPosition" 13 "Undefined_2" 12 "Undefined_1" 11 "_6" 10 "_5" 9 "_4" 8 "_3" 7 "_2" 6 "_1" 5 "Low" 4 "Sport" 3 "Drive" 2 "Neutral" 1 "Reverse" 0 "Park";
 VAL_TABLE_ PrkBrkActv_D_RqGsmGear 3 "NotUsed" 2 "RequestParkBrakeEngage" 1 "NoRequest" 0 "Null";
 VAL_TABLE_ TrnPrkSys_D_Actl 15 "Faulty" 14 "NotUsed_5" 13 "NotUsed_4" 12 "NotUsed_3" 11 "NotUsed_2" 10 "NotUsed_1" 9 "FrequencyError" 8 "OutOfRangeHigh" 7 "OutOfRangeLow" 6 "Override" 5 "OutOfPark" 4 "TransitionCloseToOutOfPark" 3 "AtNoSpring" 2 "TransitionCloseToPark" 1 "Park" 0 "NotKnown";
 VAL_TABLE_ OKLowUnknownInvalid 3 "Invalid" 2 "Unknown" 1 "Low" 0 "OK";
@@ -1126,7 +1126,8 @@ BO_ 984 IPMA_Data: 8 IPMA_ADAS
 SG_ DasStats_D_Dsply : 47|2@0+ (1,0) [0|3] "SED" GWM
 SG_ DasWarn_D_Dsply : 44|2@0+ (1,0) [0|3] "SED" GWM
 SG_ AhbHiBeam_D_Rq : 59|2@0+ (1,0) [0|3] "SED" GWM
- SG_ Set_Me_X1 : 63|4@0+ (1,0) [0|15] "" XXX
+ SG_ Passthru_63 : 63|4@0+ (1,0) [0|15] "" XXX
+ SG_ Passthru_48 : 48|1@0+ (1,0) [0|1] "" XXX

 BO_ 985 IPMA_Data2: 8 IPMA_ADAS
 SG_ LdwChime_B_Rq : 34|1@0+ (1,0) [0|1] "SED" GWM
@@ -3645,6 +3646,258 @@ BO_TX_BU_ 357 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 342 : ECM_Diesel,PCM,PCM_HEV;
 BO_TX_BU_ 71 : ECM_Diesel,PCM,PCM_HEV;

+CM_ "New CAN FD network";
+CM_ BU_ CMR_DSMC "Driver Status Monitor Camera";
+CM_ BU_ IPMA_ADAS "Assist Driving Alert System";
+CM_ BU_ PSCM "Passenger Front Climate Control Seat Module";
+CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module";
+CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module";
+CM_ BU_ TCM_DSL "Transmission Control Module";
+CM_ BU_ PCM "Powertrain Control Module";
+CM_ BU_ ECM_Diesel "Diesel";
+CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)";
+CM_ BU_ TSTR "Diagnostic Tester";
+
+CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM";
+CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM";
+CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification";
+CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification.";
+CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St";
+CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal";
+CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants.";
+CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
+CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
+CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV";
+CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants";
+CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants";
+CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St";
+CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment";
+CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment";
+CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD.";
+CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts.  CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls";
+CM_ SG_ 130 SteMdule_U_Meas "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
+CM_ SG_ 130 SteMdule_I_Est "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
+CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
+CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1).";
+CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content";
+CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker.  ABS & IPC implemented as updated.";
+CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
+CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
+CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
+CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
+CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000";
+CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant";
+CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant";
+CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant";
+CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM";
+CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV,  PCM & PCM_HEV do not support or Transmit signal.";
+CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
+CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL";
+CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants.";
+CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants.";
+CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV";
+CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant";
+CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant";
+CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant";
+CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants";
+CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants";
+CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants.";
+CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel.";
+CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants.";
+CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants.";
+CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants.";
+CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs";
+CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs";
+CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants.";
+CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants.";
+CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
+CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants.";
+CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl  until eTracker 8804151 is approved, 11/24/09";
+CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants.";
+CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants.";
+CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants.";
+CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants";
+CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants";
+CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant";
+CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants.";
+CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants.";
+CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants.";
+CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants";
+CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants";
+CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants";
+CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants.";
+CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances.";
+CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs.  PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs,  On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx.";
+CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances.";
+CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants.";
+CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs";
+CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. ";
+CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants.";
+CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel.";
+CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants.";
+CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. ";
+CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature";
+CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
+CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer";
+CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch";
+CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks";
+CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum";
+CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire.";
+CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content";
+CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants.";
+CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)";
+CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles).";
+CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection";
+CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq";
+CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq";
+CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel";
+CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600";
+CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000";
+CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)";
+CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000";
+CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants.";
+CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2";
+CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. ";
+CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants.";
+CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants.";
+CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000";
+CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange";
+CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange";
+CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange";
+
 BA_DEF_ BO_  "OvtpPushApplication" ENUM  "FALSE","TRUE";
 BA_DEF_ BU_  "OvtpOperationMode" ENUM  "SERVER","CLIENT";
 BA_DEF_ BU_  "OvtpEcuAddress" INT 0 1022;
@@ -12440,255 +12693,3 @@ VAL_ 922 DcacRdy_D_Stat 7 "NotUsed_2" 6 "NotUsed_1" 5 "Faulted" 4 "ProtectionTem
 VAL_ 922 DcacPlugPrsnt_B_Stat 1 "Yes" 0 "No";
 VAL_ 922 DcacClntFlw_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off";
 VAL_ 922 CoolFanDcac_D_Rq 3 "High" 2 "Medium" 1 "Low" 0 "Off";
-
-CM_ "New CAN FD network";
-CM_ BU_ CMR_DSMC "Driver Status Monitor Camera";
-CM_ BU_ IPMA_ADAS "Assist Driving Alert System";
-CM_ BU_ PSCM "Passenger Front Climate Control Seat Module";
-CM_ BU_ ABS_ESC "Anti-lock Brake / Traction Control Module";
-CM_ BU_ TCCM "Transfer Case Control Module, 4x4 Control Module";
-CM_ BU_ TCM_DSL "Transmission Control Module";
-CM_ BU_ PCM "Powertrain Control Module";
-CM_ BU_ ECM_Diesel "Diesel";
-CM_ BU_ GWM "Gateway Module CGEA1.3(Star Architecture)";
-CM_ BU_ TSTR "Diagnostic Tester";
-
-CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 524 PrplWhlTotTqRqMxAwd_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 1150 LocationServices_1 "Tx by HS3 APIM";
-CM_ SG_ 542 LocationServices_3 "Tx by HS3 APIM";
-CM_ SG_ 810 NtfyDrvTrgtDist_L_Rq "Object.SetTripRangeAlert_Rq This signal is meant to provide the customer settings for the target distance remote notification";
-CM_ SG_ 810 NtfyDrvSocLvl1_Pc_Rq "Object.SetCustomerLevelAlert_Rq This signal is meant to provide the customer settings for the SOC remote notification.";
-CM_ SG_ 810 PtRmtRprt_D_Stat "Object.RemoteDataReport_St";
-CM_ SG_ 550 PtWakeupActv1_B_Rq "ECG Application signal";
-CM_ SG_ 982 LatCtlPath_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 982 LatCtlPath_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1104 DrvEngageLevel_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1104 DrvEngageLevel_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 1085 ULoRgenTestMde_B_Stat "Signal not transmitted on HEV variants.";
-CM_ SG_ 1085 PwSrcULoComm_B_Falt "Signal not transmitted on HEV variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved4 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved3 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved2 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMReserved1 "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMNodeId "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1445 SOBDMC_AutoSarNMControl "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 1088 HvacPrecondMode2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
-CM_ SG_ 1088 HvacPrecondBlwr2_D_Rq "Signal not transmitted on vehicles that do not have the Fuel operated heater feature.";
-CM_ SG_ 786 ChrgStat_D_Dsply "Signal not transmitted by PCM_HEV";
-CM_ SG_ 66 immoControlData_T2 "Not transmitted on all vehicle variants";
-CM_ SG_ 66 immoControlCmd_T2 "Not transmitted on all vehicle variants";
-CM_ SG_ 549 BeltminderAudioMute "Object.MyKey.BeltMinderAudioMute.St";
-CM_ SG_ 549 Power_Up_Chime_Modules "Object.AlertMethod.IPC _Infotainment";
-CM_ SG_ 549 Chime_Source "Object.AlertMethod.IPC_infotainment";
-CM_ SG_ 611 AwdStat_D_RqDsply "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 611 AwdSrvcRqd_B_Rq "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 611 AwdLck_Tq_Rq "Signal not transmitted on programs that do not have AWD.";
-CM_ SG_ 130 VehVTrlrAid_B_Rq "VR session start- req. limit blower speed no more than X volts.  CC restriction on time msg. will be honored.Double Event msg1st event to request limit, 2nd event to release limit, No msg. CC Grammar v7.xls";
-CM_ SG_ 130 SteMdule_U_Meas "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
-CM_ SG_ 130 SteMdule_I_Est "DCR 1745  to update Tx from GWM to EP100ms. SteMdule_I_Est & SteMdule_U_Meas are used by BMS system & filtered. The filter uses standard periodic rate & changing to EP would adversely affect the filter.(jweinfur)";
-CM_ SG_ 126 StePinRelInit_An_Sns "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
-CM_ SG_ 126 StePinAn_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 1200 BrkTot_Tq_RqDrv "DCR 1836 to update Tx from GWM to EP100ms rejected due MPS6 TCM requires BrkTot_Tq_RqDrv at 20ms (bshu1).";
-CM_ SG_ 1046 TCMode "Signal data set to 0x0 for ABS only vehicle option content";
-CM_ SG_ 1046 DrvAntiLckLamp_D_Rq "update value table v8.34, not align w/GSDB, need etracker.  ABS & IPC implemented as updated.";
-CM_ SG_ 1046 BpedMove_D_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 1044 StePinOffst_An_Est "SASM will transmit these signals on vehicles with SASM and without PSCM.  SCCM will not Tx this signal when SASM is present.";
-CM_ SG_ 1044 StePinOffst_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 534 BrkObdData_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
-CM_ SG_ 534 BrkObdIndex_No_Actl "Signal not transmitted on gas, diesel and HEV.  Only supported on PHEV.";
-CM_ SG_ 534 WhlRotatRr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatRl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatFr_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 534 WhlRotatFl_No_Cnt "DCR 1833 to update Tx from GWM to EP100ms. Wheel Count signals are used by complex algorithm to determine Tire Pressure by Location & can't change from 20msec. (jweinfur)";
-CM_ SG_ 531 VehLongOvrGnd_A_Est "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 1034 VehicleGGCCData "RCMGenSigTimeout=6000";
-CM_ SG_ 1090 Mtr2State_D_ActlMntr "Signal Not transmitted on PCM_HEV variant";
-CM_ SG_ 1090 Inv1Ain_I_ActlMntr "Signal Not transmitted on PCM_HEV variant";
-CM_ SG_ 1090 VehElRnge_L_Dsply "Signal Not transmitted on HPCM variant";
-CM_ SG_ 374 TrnRng_D_Rq "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 TrnPrkSys_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearLvr_D_ActlDrv "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_D_Trg "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 374 GearPos_D_Actl "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 603 WhlDirAvgDrv_D_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 603 PrplTqMnRgen_B_Actl "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 603 BattTracCnnct_D_Rq "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 872 HybMdeStat_D_Dsply "Signal not transmitted by HPCM";
-CM_ SG_ 560 SelDrvMdeSwtch_D_Stat3 "ECM_HEV,  PCM & PCM_HEV do not support or Transmit signal.";
-CM_ SG_ 560 TrnSrvcRqd_B_Rq "Signal not transmitted on Diesel & HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 560 TrnShifActv_B_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 560 GboxOil_Te_Actl "Signal not transmitted on HEV variants. MHT(U611/625) HPCM Rx 0x230 from PCM_HEV. Powersplit FWD HEVs(Cx482/3 430) HPCM Tx 0x230.";
-CM_ SG_ 369 SeatWorkSrfc_B_Falt "Signal Not transmitted by TCM_DSL";
-CM_ SG_ 369 TrnIpcDsplyRng2_D_Actl "Signal not transmitted on HEV variants.";
-CM_ SG_ 369 TrnIpcDsplyRng_D_Stat "Signal not transmitted on HEV variants.";
-CM_ SG_ 92 TrnLvrV_D_Rq "Signal not transmitted on vehicles with PCM_HEV";
-CM_ SG_ 92 TrnSbwSysHlth_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearNtmAllow_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnDtpCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnValidGear_D_Cnfm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnNtrlTowCmd_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_Pc_ActlPt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGear_D_RqPt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnCmdState_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnCmdCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 PrkBrkActv_D_RqTrnGear "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearMsgTxt_D_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 92 TrnGearCmd_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 1087 BattRgenLoChrg_D_RqEng "Signal not transmitted on diesel variant";
-CM_ SG_ 1087 BattRgenLoDChrg_D_RqEng "Signal not transmitted on diesel variant";
-CM_ SG_ 1087 FapLcInhbt_B_Rq "Signal not transmitted on diesel variant";
-CM_ SG_ 1100 EngExhMdeQuiet_D2_Stat "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 HvacCmprLim_D_Stat "Signal not transmitted on Diesel variants";
-CM_ SG_ 1100 WakeAlarm1_T_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 1100 WakeAlarm1_B_Typ "Signal not transmitted on Gas variants";
-CM_ SG_ 1100 Veh_V_DsplyTrailCtlSet "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 TrailCtlPt_B_Falt "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1100 AutoTowAllw_D_StatMnu "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 1100 AutoTowActv_B_Stat "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 1086 EngMnfld_P_Actl "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1086 ElLoadCtl_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 1071 CluPdl_PcRate_Actl "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 CluPdlPosPcMeas_D_Qf "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 CluPdlPos_Pc_Meas "Signal not transmitted on HEV and Gas variants.";
-CM_ SG_ 1071 EngAoutIdl_N_Ntrl "Signal not transmitted on HEV variants and diesel.";
-CM_ SG_ 1069 SlMde_D_Stat "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 SlMde_D_RqDsply "IPC and HUD_ADV Receve from HS3 FGW 0x42D, not HS3 0x38A, MSG DCR 506. Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 IsaOffst_D_Stat "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 1069 ObdWarmUp_B_Complt "Signal not transmitted on diesel variants.";
-CM_ SG_ 1069 EngMsgTxt_D_Rq "Signal not transmitted on diesel variants.";
-CM_ SG_ 1069 EngClnt_Te_ActlDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1069 EngLoad_Pc_CalcDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1069 ApedPos_Pc_ActlDiag "Signal not transmitted on gas variants.";
-CM_ SG_ 1060 RearDiffOilTeWarn_B_Rq "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1060 RearDiffOil_Te_Actl "Signal not transmitted on HEV & Diesel programs";
-CM_ SG_ 1057 FohEng_D_Rq "Signal not transmitted on vehicles that do not have the fuel operated heater feature. Signal not transmitted on HEV programs";
-CM_ SG_ 1057 EngIdlShutDown_D_Stat "Signal not transmitted on diesel variants.";
-CM_ SG_ 1057 FUEL_ALCOHOL_PERCNT "signal not transmitted on diesel and HEV variants.";
-CM_ SG_ 1057 TrnTotTq_Rt_Est "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 TrnTotLss_Tq_Est "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 VehVLimStat_D_Actl "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 1057 VehVLimActv_B_Actl "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 562 GearNtrl_No_Cs "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 562 GearNtrl_No_Cnt "Powersplit HEVs with HF45, HPCM will Tx  this message.  For all other programs it will be Tx by PCM or TCM. ";
-CM_ SG_ 516 EngAoutNActl_D_QF "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 516 EngAout3_N_Actl "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 516 ApedPos_Pc_ActlArb "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 516 ApedPosPcActl_No_Cnt "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 516 ApedPosPcActl_No_Cs "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 514 VehVTrlrAid_B_Avail "Signal not transmitted on HEV variants.";
-CM_ SG_ 514 GearRvrse_D_Actl "Do not implement GearRvrse_D_Actl  until eTracker 8804151 is approved, 11/24/09";
-CM_ SG_ 512 PrplWhlTotTqRq_No_Cs "Signal not transmitted on gas & Diesel variants.";
-CM_ SG_ 512 PrplWhlTotTqRq_No_Cnt "Signal not transmitted on gas & Diesel variants.";
-CM_ SG_ 512 PtDrvMde_D_Stat "Signal not transmitted on Gas & HEV variants.";
-CM_ SG_ 380 EngExhBrkOnLamp_B_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngExhBrkAutoLamp_B_Rq "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngAout_N_MxAllw "Signal not transmitted on Gas variants";
-CM_ SG_ 380 EngExhBrkMde_D_Actl "Signal not transmitted on Gas variants";
-CM_ SG_ 377 HvacAirFullOut_B_Rq "Signal not transmitted on diesel variant";
-CM_ SG_ 377 FuelFlw_Vl_Dsply "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 FuelFillInlet_B_Dsply "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 OdoCount "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 EngOilLife_Pc_Actl "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 FuelFilterLamp_B_Dsply "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 377 AirCondRec_B_Rq "Signal not transmitted on diesel variants.";
-CM_ SG_ 377 AirCondClutch_B_Stats "Signal not transmitted on diesel variants.";
-CM_ SG_ 376 GasPrtc_D_RqDsply "Signal not transmitted on HEV & Diesel variants.";
-CM_ SG_ 376 EngAout_Aa_Actl "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 AslIconDsply_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 AslChime_B_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 376 HvacHtrCore2_Te_Actl "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 376 EcssLamp_D_RqDsply "Signal not transmitted on Gas & HEV variants";
-CM_ SG_ 376 AirAmb_Te_Actl "Signal not transmitted on Gas variants";
-CM_ SG_ 359 PrplWhlRgenMn_Tq_Actl "Signal not transmitted on Gas & Diesel variants";
-CM_ SG_ 359 ElPw_D_StatStrtStop "Signal not transmitted on HEV variants.";
-CM_ SG_ 359 TrnAin_Tq_Actl "Signal not transmitted on HEV variances.";
-CM_ SG_ 359 PlgActvArb_B_Actl "Only supported on PHEV programs.  PlgActvArb_B_Actl HPCM will Tx on Powersplit PHEVs,  On MHT PHEVs the PCM_HEV will Tx and HPCM will Rx.";
-CM_ SG_ 359 TrnAinTq_D_Qf "Signal not transmitted on HEV variances.";
-CM_ SG_ 358 StopStrtStdby_D_Indic "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtIODTxt_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtDrvMde_D_Indic "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 StopStrtMsgTxt_D_Rq "Signal not transmitted on HEV variants.";
-CM_ SG_ 358 HiElPwInhbt_B_Stat "Signal not transmitted on HEV programs";
-CM_ SG_ 358 AutoStopPtDelta_I_Est "Signal not transmitted on HEV variants. ";
-CM_ SG_ 357 BpedDrvAppl_D_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 357 CcStat_D_Actl "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 357 EngAout_N_MnAllw "Signal not transmitted on Gas & Diesel variants.";
-CM_ SG_ 357 AccStopMde_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 342 EngOvrhtMitgActv_D_Ind "Signal not transmitted on diesel.";
-CM_ SG_ 342 EngGoutLss_Tq_Est "Signal not transmitted on gas and diesel variants.";
-CM_ SG_ 342 EngOil_Te_Actl "Signal not transmitted on Gas & HEV variants. ";
-CM_ SG_ 954 GenericSwtch2_No_Actl "U625 Police Wig Wag feature";
-CM_ SG_ 935 SodRight_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 935 Side_Detect_R_Illum "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 935 SodSnsRight_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 935 SodAlrtRight_D_Stat "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 1112 BattTracClntPmp_D_Stat "48V mHEV: ECM_HEVDSL is Tx,  MHT HEV: PCM_HEV is Tx,  Powersplit HEV: SOBDMC_HPCM is Tx";
-CM_ SG_ 1050 Outside_Air_Temp_Stat "Filtered value, i.e. same as disply for customer";
-CM_ SG_ 1009 CenterStackRing_D_Actl "The Center Stack sends the CPLR a signal to turn On or Off the light Ring, This is a customer selectable preference switch";
-CM_ SG_ 1009 APIM_NumberofTracks_St "Object NumberofTracks";
-CM_ SG_ 1009 APIM_ActiveTrackNum_St "Object.ActiveTrackNum";
-CM_ SG_ 360 GsmSrvcRqd_B_Rq "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 360 TrnGearPwmFalt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 360 GearButtnStuck_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGsmNtmState_D_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 DrQltyDrv_D_StatGsm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnBtsiOvrrd_B_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnValidGearRq_D_Stat "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearRqCnt_B_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_U_Actl "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlR0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlP0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlN0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlM0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD2 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD1 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGearButtn_B_ActlD0 "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_No_Cs "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_No_Cnt "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 TrnGear_D_RqDrv "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 90 BrkSwtchPos_B_ActlGsm "Signal not transmitted on vehicles that do not have shift by wire.";
-CM_ SG_ 138 SteWhlRelCalib_An_Sns "Signal is not transmitted on vehicles where PSCM is transmitting the message that contains this signal. Signal data set to 0x0 for ABS only vehicle option content";
-CM_ SG_ 1093 StopLamp_B_RqTrlrBrk "Signal not transmitted on all variants.";
-CM_ SG_ 792 ElTrip_L_Dsply "Key cycle trip distance driven with the engine off (Trip EV Miles)";
-CM_ SG_ 792 ElLongTerm_L_Dsply "Long term distance distance driven with the engine off since the last long term reset (Long Term EV Miles).";
-CM_ SG_ 765 Mc_VehTimeFrmtUsrSel_St "Object.BodyInterface.Settings.VehicleTimeFormatUserSelection";
-CM_ SG_ 765 Mc_VehUntTrpCoUsrSel_St "Object.VehicleSettings.Disp_Miles_Kilometers.Rq";
-CM_ SG_ 765 Mc_VehUnitTempUsrSel_St "Object.VehicleSettings.Disp_Temperature.Rq";
-CM_ SG_ 765 Mc_VehLangUsrSel_St "Object.BodyInterface.Settings.VehicleLanguageUserSelection Object Vehicle Settings.Disp_LangSel";
-CM_ SG_ 934 Side_Detect_L_Illum "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 934 SodLeft_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 934 SodSnsLeft_D_Stat "IPCGenSigTimeoutTime=1600";
-CM_ SG_ 934 SodAlrtLeft_D_Stat "DDMGenSigTimeoutTime=2000";
-CM_ SG_ 1072 MetricActv_B_Actl "0 =Inactive(English), 1=Active(Metric)";
-CM_ SG_ 145 VehYaw_W_Actl "CCMGenSigTimeoutTime=1000";
-CM_ SG_ 931 CrnkInhbt_No_Cs "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 931 CrnkInhbt_No_Cnt "Signal not transmitted on gas and HEV variants.";
-CM_ SG_ 947 Dimming_Lvl "Refer to Vehicle Interior Illum Dimming Ctrl Sys Eng Spec, Table 2";
-CM_ SG_ 947 PrkBrkActv_B_Actl "Signal not transmitted on vehicles with electric park brake. ";
-CM_ SG_ 394 HaDsply_No_Cs "Signal not transmitted on gas variants.";
-CM_ SG_ 394 HaDsply_No_Cnt "Signal not transmitted on gas variants.";
-CM_ SG_ 391 CmbbBrkDecel_A_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBrkPrchg_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 391 CmbbBaSens_D_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkTot_A_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkPrkEl_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccPrpl_A_Rq "PCMGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkPrchg_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccBrkDecel_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 390 AccStopStat_B_Rq "ABSGenSigTimeoutTime=1000";
-CM_ SG_ 942 PrkAidRdiusRight_L_Dsply "MSGDCR 679, set all signals to OnChange";
-CM_ SG_ 942 PrkAidRdiusLeft_L_Dsply "MSGDCR 679, set all signals to OnChange";
-CM_ SG_ 942 PrkAidDrvDir_D_Stat "MSGDCR 679, set all signals to OnChange";
@@ -91,7 +91,7 @@ BO_ 201 ECMEngineStatus: 8 K20_ECM
 SG_ EngineTPS : 39|8@0+ (0.392156863,0) [0|100.000000065] "%" NEO
 SG_ EngineRPM : 15|16@0+ (0.25,0) [0|0] "RPM" NEO
 SG_ CruiseMainOn : 29|1@0+ (1,0) [0|1] "" NEO
- SG_ Brake_Pressed : 40|1@0+ (1,0) [0|1] "" NEO
+ SG_ BrakePressed : 40|1@0+ (1,0) [0|1] "" NEO
 SG_ Standstill : 2|1@0+ (1,0) [0|1] "" NEO
 SG_ CruiseActive : 31|2@0+ (1,0) [0|3] "" NEO

@@ -104,6 +104,7 @@ BO_ 209 EBCMBrakePedalSensors: 7 K17_EBCM
 SG_ BrakeNormalized2 : 47|8@0- (-1,0) [0|255] "" XXX

 BO_ 241 EBCMBrakePedalPosition: 6 K17_EBCM
+ SG_ BrakePressed : 1|1@0+ (1,0) [0|1] "" XXX
 SG_ BrakePedalPosition : 15|8@0+ (1,0) [0|255] ""  NEO

 BO_ 298 BCMDoorBeltStatus: 8 K9_BCM
@@ -143,6 +144,8 @@ BO_ 388 PSCMStatus: 8 K43_PSCM
 SG_ LKADriverAppldTrq : 50|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
 SG_ LKATorqueDelivered : 18|11@0- (0.01,0) [0|1] "" NEO
 SG_ LKATotalTorqueDelivered : 2|11@0- (0.01,0) [-10.24|10.23] "Nm" NEO
+ SG_ RollingCounter : 38|4@0+ (1,0) [0|15] "" XXX
+ SG_ PSCMStatusChecksum : 33|10@0+ (1,0) [0|1023] "" XXX

 BO_ 417 AcceleratorPedal: 7 XXX
 SG_ AcceleratorPedal : 55|8@0+ (1,0) [0|0] ""  NEO
@@ -157,6 +160,7 @@ BO_ 452 AcceleratorPedal2: 8 XXX
 BO_ 481 ASCMSteeringButton: 7 K124_ASCM
 SG_ DistanceButton : 22|1@0+ (1,0) [0|0] ""  NEO
 SG_ LKAButton : 23|1@0+ (1,0) [0|0] ""  NEO
+ SG_ ACCAlwaysOne : 24|1@0+ (1,0) [0|1] "" XXX
 SG_ ACCButtons : 46|3@0+ (1,0) [0|0] ""  NEO
 SG_ DriveModeButton : 39|1@0+ (1,0) [0|1] "" XXX
 SG_ RollingCounter : 33|2@0+ (1,0) [0|3] "" NEO
@@ -184,9 +188,19 @@ BO_ 501 ECMPRDNL2: 8 K20_ECM
 SG_ PRNDL2 : 27|4@0+ (1,0) [0|255] "" NEO
 SG_ ManualMode : 41|1@0+ (1,0) [0|1] "" NEO

+BO_ 532 BRAKE_RELATED: 6 XXX
+ SG_ UserBrakePressure : 0|9@0+ (1,0) [0|511] "" XXX
+
 BO_ 560 EPBStatus: 8 EPB
 SG_ EPBClosed : 12|1@0+ (1,0) [0|1] ""  NEO

+BO_ 562 EBCMFrictionBrakeStatus: 8 XXX
+ SG_ FrictionBrakeUnavailable : 46|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 608 SPEED_RELATED: 8 XXX
+ SG_ RollingCounter : 5|2@0+ (1,0) [0|0] "" XXX
+ SG_ ClusterSpeed : 31|8@0+ (1,0) [0|0] "" XXX
+
 BO_ 711 BECMBatteryVoltageCurrent: 6 K17_EBCM
 SG_ HVBatteryVoltage : 31|12@0+ (0.125,0) [0|511.875] "V"  NEO
 SG_ HVBatteryCurrent : 12|13@0- (0.15,0) [-614.4|614.25] "A"  NEO
@@ -204,6 +218,9 @@ BO_ 715 ASCMGasRegenCmd: 8 K124_ASCM

 BO_ 717 ASCM_2CD: 5 K124_ASCM

+BO_ 761 BRAKE_RELATED_2: 7 XXX
+ SG_ UserBrakePressure2 : 47|9@0+ (1,0) [0|511] "" XXX
+
 BO_ 789 EBCMFrictionBrakeCmd: 5 K124_ASCM
 SG_ RollingCounter : 33|2@0+ (1,0) [0|0] ""  NEO
 SG_ FrictionBrakeMode : 7|4@0+ (1,0) [0|0] ""  NEO
@@ -221,17 +238,22 @@ BO_ 810 TCICOnStarGPSPosition: 8 K73_TCIC
 SG_ GPSLongitude : 39|32@0+ (1,-2147483648) [0|0] "milliarcsecond"  NEO
 SG_ GPSLatitude : 7|32@0+ (1,0) [0|0] "milliarcsecond"  NEO

-BO_ 840 EBCMWheelSpdFront: 4 K17_EBCM
+BO_ 840 EBCMWheelSpdFront: 5 K17_EBCM
 SG_ FLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ FRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO

 BO_ 842 EBCMWheelSpdRear: 5 K17_EBCM
 SG_ RLWheelSpd : 7|16@0+ (0.0311,0) [0|255] "km/h"  NEO
 SG_ RRWheelSpd : 23|16@0+ (0.0311,0) [0|255] "km/h"  NEO
+ SG_ MovingForward : 32|1@0+ (1,0) [0|1] "" XXX
+ SG_ MovingBackward : 33|1@0+ (1,0) [0|1] "" XXX
+ SG_ MovingForward2 : 35|1@1+ (1,0) [0|1] "" XXX
+ SG_ MovingBackward2 : 36|1@0+ (1,0) [0|1] "" XXX

 BO_ 869 ASCM_365: 4 K124_ASCM

 BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
+ SG_ ACCCruiseState : 8|3@1+ (1,0) [0|7] "" XXX
 SG_ ACCLeadCar : 44|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne2 : 32|1@0+ (1,0) [0|0] "" Vector__XXX
 SG_ ACCAlwaysOne : 0|1@0+ (1,0) [0|0] "" Vector__XXX
@@ -241,6 +263,15 @@ BO_ 880 ASCMActiveCruiseControlStatus: 6 K124_ASCM
 SG_ ACCCmdActive : 23|1@0+ (1,0) [0|0] ""  NEO
 SG_ FCWAlert : 41|2@0+ (1,0) [0|3] "" XXX

+BO_ 967 EVDriveMode: 4 XXX
+ SG_ SinglePedalModeActive : 7|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeRisingEdge : 21|1@0+ (1,0) [0|1] "" XXX
+ SG_ SinglePedalModeFallingEdge : 22|1@0+ (1,0) [0|1] "" XXX
+
+BO_ 977 ECMCruiseControl: 8 K20_ECM
+ SG_ CruiseActive : 39|1@0+ (1,0) [0|3] "" NEO
+ SG_ CruiseSetSpeed : 19|12@0+ (0.0625,0) [0|0] "km/h" NEO
+
 BO_ 1001 ECMVehicleSpeed: 8 K20_ECM
 SG_ VehicleSpeed : 7|16@0+ (0.01,0) [0|0] "mph"  NEO
 SG_ VehicleSpeedLeft : 39|16@0+ (0.01,0) [0|0] "mph" NEO
@@ -283,11 +314,17 @@ CM_ BU_ K114B_HPCM "Hybrid Powertrain Control Module";
 CM_ BU_ NEO "Comma NEO";
 CM_ BU_ K124_ASCM "Active Safety Control Module";
 CM_ SG_ 381 MSG17D_AccPower "Need to investigate";
+CM_ BO_ 190 "Length varies from 6 to 8 bytes by car";
 CM_ SG_ 190 GasPedalAndAcc "ACC baseline is 62";
 CM_ SG_ 352 Ignition "Non-zero when ignition is on";
 CM_ SG_ 451 GasPedalAndAcc2 "ACC baseline is 62";
+CM_ SG_ 481 ACCAlwaysOne "Usually 1 if the car is equipped with ACC";
+CM_ SG_ 562 FrictionBrakeUnavailable "1 when ACC brake control is unavailable. Stays high if brake command messages are blocked for a period of time";
 CM_ SG_ 497 Ignition "Describes ignition + preconditioning mode, noisy";
 CM_ SG_ 501 PRNDL2 "When ManualMode is Active, Value is 13=L1 12=L2 11=L3 ... 4=L10";
+CM_ SG_ 532 UserBrakePressure "can be lower than other brake position signals when the brakes are pre-filled from ACC braking and the user presses on the brakes. user-only pressure?";
+CM_ SG_ 608 ClusterSpeed "Cluster speed signal seems to match dash on newer cars, but is a lower rate and can be noisier.";
+CM_ SG_ 761 UserBrakePressure2 "Similar to BRAKE_RELATED->UserBrakePressure";
 CM_ SG_ 1001 VehicleSpeed "Spinouts show here on 2wd. Speed derived from right front wheel (drive tire)";
 BA_DEF_  "UseGMParameterIDs" INT 0 0;
 BA_DEF_  "ProtocolType" STRING ;
@@ -306,6 +343,7 @@ VAL_ 452 CruiseState 4 "Standstill" 3 "Faulted" 1 "Active" 0 "Off" ;
 VAL_ 309 PRNDL 3 "R" 2 "D" 1 "N" 0 "P" ;
 VAL_ 309 ESPButton 1 "Active" 0 "Inactive" ;
 VAL_ 384 LKASteeringCmdActive 1 "Active" 0 "Inactive" ;
+VAL_ 880 ACCCruiseState 2 "Adaptive" 3 "Adaptive" 4 "Non-adaptive" 5 "Non-adaptive" ;
 VAL_ 880 ACCLeadCar 1 "Present" 0 "Not Present" ;
 VAL_ 880 ACCGapLevel 3 "Far" 2 "Med" 1 "Near" 0 "Inactive" ;
 VAL_ 880 ACCResumeButton 1 "Pressed" 0 "Depressed" ;
@@ -357,7 +357,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -378,7 +378,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -436,7 +436,7 @@ BO_ 829 LKAS_HUD: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -375,7 +375,7 @@ BO_ 13274 LKAS_HUD_A: 5 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -396,7 +396,7 @@ BO_ 13275 LKAS_HUD_B: 8 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ SET_ME_X01 : 20|1@0+ (1,0) [0|1] "" BDY
@@ -445,9 +445,16 @@ BO_ 432 STANDSTILL: 7 VSA
 SG_ COUNTER : 53|2@0+ (1,0) [0|3] "" EON
 SG_ CHECKSUM : 51|4@0+ (1,0) [0|15] "" EON

+BO_ 446 BRAKE_MODULE: 3 VSA
+ SG_ BRAKE_PRESSED : 4|1@0+ (1,0) [0|1] "" XXX
+ SG_ CRUISE_FAULT : 22|1@0+ (1,0) [0|1] "" XXX
+ SG_ COUNTER : 21|2@0+ (1,0) [0|3] "" XXX
+ SG_ CHECKSUM : 19|4@0+ (1,0) [0|15] "" XXX
+
 BO_ 456 ACC_CONTROL: 8 XXX
 SG_ ACCEL_COMMAND : 7|12@0- (0.01,0) [0|0] "m/s^2" XXX
- SG_ CONTROL_OFF : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ IDLESTOP_ALLOW : 8|1@0+ (1,0) [0|1] "" XXX
+ SG_ STANDSTILL : 9|1@0+ (1,0) [0|1] "" XXX
 SG_ CONTROL_ON : 10|1@0+ (1,0) [0|1] "" XXX
 SG_ BOH : 23|1@0+ (1,0) [0|1] "" XXX
 SG_ AEB_STATUS : 33|1@1+ (1,0) [0|7] "" XXX
@@ -458,6 +465,11 @@ BO_ 456 ACC_CONTROL: 8 XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX

+BO_ 467 CRUISE_FAULT_STATUS: 8 XXX
+ SG_ CRUISE_FAULT : 3|1@0+ (1,0) [0|1] "" XXX
+ SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX
+ SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
+
 BO_ 829 LKAS_HUD: 8 ADAS
 SG_ CAM_TEMP_HIGH : 7|1@0+ (1,0) [0|255] "" BDY
 SG_ SET_ME_X41 : 6|7@0+ (1,0) [0|127] "" BDY
@@ -469,7 +481,7 @@ BO_ 829 LKAS_HUD: 8 ADAS
 SG_ SOLID_LANES : 10|1@0+ (1,0) [0|1] "" BDY
 SG_ LDW_RIGHT : 9|1@0+ (1,0) [0|1] "" BDY
 SG_ STEERING_REQUIRED : 8|1@0+ (1,0) [0|1] "" BDY
- SG_ BOH : 23|2@0+ (1,0) [0|4] "" BDY
+ SG_ BOH_2 : 23|2@0+ (1,0) [0|4] "" BDY
 SG_ LDW_PROBLEM : 21|1@0+ (1,0) [0|1] "" BDY
 SG_ BEEP : 17|2@0+ (1,0) [0|1] "" BDY
 SG_ LDW_ON : 28|1@0+ (1,0) [0|1] "" BDY
@@ -495,9 +507,9 @@ BO_ 254913108 LKAS_HUD_2: 8 ADAS
 SG_ COUNTER : 61|2@0+ (1,0) [0|3] "" XXX
 SG_ CHECKSUM : 59|4@0+ (1,0) [0|15] "" XXX

-CM_ BO 456 "not sure which bit enables cruise";
-CM_ SG_ 456 ACCEL_COMMAND "seems to be m/s^2? need to verify";
-CM_ SG_ 456 BOH "could be cruise standstill?";
+CM_ 446 "If exists, describes cruise faults and what the PCM uses for brake press detection.";
+CM_ SG_ 456 IDLESTOP_ALLOW "allows car to turn off engine at a standstill";
+CM_ SG_ 456 STANDSTILL "set to 1 when camera requests -4.0 m/s^2";

 VAL_ 401 GEAR_SHIFTER 32 "L" 16 "S" 8 "D" 4 "N" 2 "R" 1 "P";
 VAL_ 401 GEAR 7 "L" 10 "S" 4 "D" 3 "N" 2 "R" 1 "P";
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Vehicle Researcher	cfd8323ccb	openpilot v0.9.2 release date: 2023-05-18T22:02:42 master commit: c7d3b28b93faa6c955fb24bc64031512ee985ee9	2023-05-23 22:20:03 -07:00
Vehicle Researcher	bcd4bb4821	openpilot v0.9.1 release date: 2023-02-17T21:02:50 master commit: 89f68bf0cbf53a81b0553d3816fdbe522f941fa1	2023-02-23 14:29:12 -08:00
Adeeb Shihadeh	75c97aaf3f	enable experimental longitudinal control on devel	2022-11-21 16:30:34 -08:00
Vehicle Researcher	b47ad523a3	openpilot v0.9.0 release date: 2022-11-16T06:35:40 master commit: 58b84fb401a804967aa0dd5ee66fafa90194fd30	2022-11-16 06:35:41 +00:00